current_works_v2: final_r6_cr30rot10_eg2_rel100

current_works_v2/final_r6_cr30rot10_eg2_rel100/2050/guidance_losses.txt

@@ -0,0 +1,370 @@
+Scene MasterBedroom-33296 - Final Step Collision Loss: 0.0122, Room Outer Loss: 1.0917, Walkable Loss: 4.0376 (C1 Heatmap: 1.1451, C2 Repulsion: 5.5137), Relational Loss: 0.0281
+Scene MasterBedroom-9404 - Final Step Collision Loss: 0.0188, Room Outer Loss: 0.0000, Walkable Loss: 4.4854 (C1 Heatmap: 1.3535, C2 Repulsion: 5.7994), Relational Loss: 0.0428
+Scene SecondBedroom-30034 - Final Step Collision Loss: 0.0162, Room Outer Loss: 0.0000, Walkable Loss: 1.7601 (C1 Heatmap: 0.6904, C2 Repulsion: 1.6389), Relational Loss: 0.0357
+Scene SecondBedroom-6482 - Final Step Collision Loss: 0.0064, Room Outer Loss: 0.1028, Walkable Loss: 2.6731 (C1 Heatmap: 0.8397, C2 Repulsion: 3.3240), Relational Loss: 0.0120
+Scene SecondBedroom-11167 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1521, Walkable Loss: 3.4284 (C1 Heatmap: 0.8017, C2 Repulsion: 5.3641), Relational Loss: 0.0327
+Scene MasterBedroom-27127 - Final Step Collision Loss: 0.0411, Room Outer Loss: 0.0000, Walkable Loss: 3.8939 (C1 Heatmap: 1.0098, C2 Repulsion: 5.6954), Relational Loss: 0.0299
+Scene MasterBedroom-75552 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6804 (C1 Heatmap: 0.8458, C2 Repulsion: 0.8180), Relational Loss: 0.0753
+Scene SecondBedroom-19119 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.1701 (C1 Heatmap: 0.8320, C2 Repulsion: 2.0973), Relational Loss: 0.0183
+Scene Bedroom-2719 - Final Step Collision Loss: 0.0544, Room Outer Loss: 0.0542, Walkable Loss: 3.8659 (C1 Heatmap: 1.0660, C2 Repulsion: 5.4006), Relational Loss: 0.0237
+Scene Bedroom-430 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0918, Walkable Loss: 1.6072 (C1 Heatmap: 0.6656, C2 Repulsion: 1.3556), Relational Loss: 0.0000
+Scene MasterBedroom-18415 - Final Step Collision Loss: 0.0063, Room Outer Loss: 0.0650, Walkable Loss: 3.2222 (C1 Heatmap: 1.0284, C2 Repulsion: 3.9420), Relational Loss: 0.0333
+Scene SecondBedroom-1145 - Final Step Collision Loss: 0.0172, Room Outer Loss: 0.0000, Walkable Loss: 1.8342 (C1 Heatmap: 0.6604, C2 Repulsion: 1.9438), Relational Loss: 0.0654
+Scene SecondBedroom-2787 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0178, Walkable Loss: 1.6512 (C1 Heatmap: 0.6243, C2 Repulsion: 1.6308), Relational Loss: 0.0000
+Scene Bedroom-87322 - Final Step Collision Loss: 0.0142, Room Outer Loss: 0.0000, Walkable Loss: 3.2534 (C1 Heatmap: 0.9503, C2 Repulsion: 4.3322), Relational Loss: 0.0114
+Scene Bedroom-68718 - Final Step Collision Loss: 0.0610, Room Outer Loss: 0.1123, Walkable Loss: 2.8985 (C1 Heatmap: 1.0901, C2 Repulsion: 2.8860), Relational Loss: 0.0552
+Scene SecondBedroom-35821 - Final Step Collision Loss: 0.0698, Room Outer Loss: 0.1378, Walkable Loss: 3.5538 (C1 Heatmap: 1.0743, C2 Repulsion: 4.5870), Relational Loss: 0.0000
+Scene Bedroom-18055 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.6833 (C1 Heatmap: 0.8300, C2 Repulsion: 3.3880), Relational Loss: 0.0262
+Scene SecondBedroom-19262 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0031, Walkable Loss: 2.1047 (C1 Heatmap: 0.9482, C2 Repulsion: 1.4692), Relational Loss: 0.0000
+Scene Bedroom-12864 - Final Step Collision Loss: 0.0126, Room Outer Loss: 0.2039, Walkable Loss: 3.2912 (C1 Heatmap: 1.0021, C2 Repulsion: 4.2195), Relational Loss: 0.0493
+Scene SecondBedroom-266050 - Final Step Collision Loss: 0.0852, Room Outer Loss: 0.0818, Walkable Loss: 2.7996 (C1 Heatmap: 0.9764, C2 Repulsion: 3.0934), Relational Loss: 0.0701
+Scene MasterBedroom-12352 - Final Step Collision Loss: 0.0630, Room Outer Loss: 0.0912, Walkable Loss: 1.8504 (C1 Heatmap: 0.6265, C2 Repulsion: 2.1199), Relational Loss: 0.0261
+Scene MasterBedroom-7894 - Final Step Collision Loss: 0.0091, Room Outer Loss: 0.0566, Walkable Loss: 2.3457 (C1 Heatmap: 1.0186, C2 Repulsion: 1.7896), Relational Loss: 0.0208
+Scene MasterBedroom-118594 - Final Step Collision Loss: 0.0000, Room Outer Loss: 1.7785, Walkable Loss: 2.7098 (C1 Heatmap: 1.2238, C2 Repulsion: 1.8795), Relational Loss: 0.0000
+Scene MasterBedroom-6399 - Final Step Collision Loss: 0.0059, Room Outer Loss: 0.0000, Walkable Loss: 2.1128 (C1 Heatmap: 0.7449, C2 Repulsion: 2.3022), Relational Loss: 0.0254
+Scene SecondBedroom-52584 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3965 (C1 Heatmap: 0.6240, C2 Repulsion: 0.9953), Relational Loss: 0.0610
+Scene SecondBedroom-860 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.9667 (C1 Heatmap: 0.8745, C2 Repulsion: 3.9186), Relational Loss: 0.0387
+Scene MasterBedroom-514 - Final Step Collision Loss: 0.0466, Room Outer Loss: 0.0000, Walkable Loss: 1.4354 (C1 Heatmap: 0.6472, C2 Repulsion: 1.0000), Relational Loss: 0.0586
+Scene SecondBedroom-11204 - Final Step Collision Loss: 0.0388, Room Outer Loss: 0.0184, Walkable Loss: 3.3636 (C1 Heatmap: 0.8380, C2 Repulsion: 5.0572), Relational Loss: 0.0080
+Scene MasterBedroom-4089 - Final Step Collision Loss: 0.0046, Room Outer Loss: 0.1927, Walkable Loss: 3.1605 (C1 Heatmap: 1.0353, C2 Repulsion: 3.7602), Relational Loss: 0.0346
+Scene MasterBedroom-21684 - Final Step Collision Loss: 0.0122, Room Outer Loss: 0.1219, Walkable Loss: 4.0835 (C1 Heatmap: 1.0171, C2 Repulsion: 6.1403), Relational Loss: 0.0304
+Scene SecondBedroom-8497 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5882 (C1 Heatmap: 0.6781, C2 Repulsion: 1.2579), Relational Loss: 0.0000
+Scene MasterBedroom-196 - Final Step Collision Loss: 0.0004, Room Outer Loss: 0.1652, Walkable Loss: 3.2210 (C1 Heatmap: 1.1156, C2 Repulsion: 3.5899), Relational Loss: 0.0157
+Scene MasterBedroom-132469 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1171, Walkable Loss: 1.4187 (C1 Heatmap: 0.7461, C2 Repulsion: 0.5624), Relational Loss: 0.0000
+Scene MasterBedroom-104323 - Final Step Collision Loss: 0.0714, Room Outer Loss: 0.0095, Walkable Loss: 1.4051 (C1 Heatmap: 0.6282, C2 Repulsion: 1.0000), Relational Loss: 0.0425
+Scene SecondBedroom-69556 - Final Step Collision Loss: 0.0014, Room Outer Loss: 0.1376, Walkable Loss: 2.8978 (C1 Heatmap: 0.8476, C2 Repulsion: 3.8543), Relational Loss: 0.0000
+Scene Bedroom-6993 - Final Step Collision Loss: 0.0000, Room Outer Loss: 1.1361, Walkable Loss: 1.8406 (C1 Heatmap: 0.9212, C2 Repulsion: 0.9167), Relational Loss: 0.0000
+Scene MasterBedroom-935 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0729, Walkable Loss: 4.9451 (C1 Heatmap: 1.2466, C2 Repulsion: 7.3762), Relational Loss: 0.0248
+Scene SecondBedroom-2311 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3111 (C1 Heatmap: 0.5894, C2 Repulsion: 0.9203), Relational Loss: 0.0000
+Scene SecondBedroom-69136 - Final Step Collision Loss: 0.0009, Room Outer Loss: 0.0000, Walkable Loss: 3.0831 (C1 Heatmap: 0.9917, C2 Repulsion: 3.7408), Relational Loss: 0.0244
+Scene Bedroom-47437 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7084 (C1 Heatmap: 0.6382, C2 Repulsion: 1.7181), Relational Loss: 0.0000
+Scene SecondBedroom-739 - Final Step Collision Loss: 0.0125, Room Outer Loss: 0.0000, Walkable Loss: 1.9016 (C1 Heatmap: 0.7121, C2 Repulsion: 1.9054), Relational Loss: 0.0769
+Scene MasterBedroom-6351 - Final Step Collision Loss: 0.0182, Room Outer Loss: 0.0000, Walkable Loss: 1.7158 (C1 Heatmap: 0.5727, C2 Repulsion: 1.9984), Relational Loss: 0.0532
+Scene SecondBedroom-22370 - Final Step Collision Loss: 0.0320, Room Outer Loss: 0.0248, Walkable Loss: 2.6386 (C1 Heatmap: 0.7851, C2 Repulsion: 3.4559), Relational Loss: 0.0364
+Scene SecondBedroom-15551 - Final Step Collision Loss: 0.0801, Room Outer Loss: 0.0000, Walkable Loss: 1.9354 (C1 Heatmap: 0.8128, C2 Repulsion: 1.5873), Relational Loss: 0.0291
+Scene MasterBedroom-13100 - Final Step Collision Loss: 0.0349, Room Outer Loss: 0.0765, Walkable Loss: 3.7413 (C1 Heatmap: 1.1492, C2 Repulsion: 4.7565), Relational Loss: 0.0401
+Scene SecondBedroom-13841 - Final Step Collision Loss: 0.0146, Room Outer Loss: 0.3339, Walkable Loss: 2.3798 (C1 Heatmap: 0.9221, C2 Repulsion: 2.2612), Relational Loss: 0.0094
+Scene MasterBedroom-10364 - Final Step Collision Loss: 0.0139, Room Outer Loss: 0.0000, Walkable Loss: 2.1311 (C1 Heatmap: 0.7321, C2 Repulsion: 2.3994), Relational Loss: 0.0308
+Scene Bedroom-18 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6829 (C1 Heatmap: 0.7319, C2 Repulsion: 1.2795), Relational Loss: 0.0000
+Scene SecondBedroom-11303 - Final Step Collision Loss: 0.0662, Room Outer Loss: 0.0000, Walkable Loss: 4.1773 (C1 Heatmap: 1.0818, C2 Repulsion: 6.1161), Relational Loss: 0.0419
+Scene MasterBedroom-1362 - Final Step Collision Loss: 0.0300, Room Outer Loss: 0.1275, Walkable Loss: 3.2882 (C1 Heatmap: 0.8689, C2 Repulsion: 4.7447), Relational Loss: 0.0305
+Scene SecondBedroom-34317 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0497, Walkable Loss: 1.7213 (C1 Heatmap: 0.7342, C2 Repulsion: 1.3665), Relational Loss: 0.0001
+Scene Bedroom-4098 - Final Step Collision Loss: 0.0037, Room Outer Loss: 0.0724, Walkable Loss: 2.6261 (C1 Heatmap: 0.8735, C2 Repulsion: 3.0710), Relational Loss: 0.0408
+Scene Bedroom-5265 - Final Step Collision Loss: 0.0053, Room Outer Loss: 0.0000, Walkable Loss: 3.8718 (C1 Heatmap: 1.0580, C2 Repulsion: 5.4474), Relational Loss: 0.0290
+Scene MasterBedroom-22121 - Final Step Collision Loss: 0.0255, Room Outer Loss: 0.0000, Walkable Loss: 3.2495 (C1 Heatmap: 0.9734, C2 Repulsion: 4.2301), Relational Loss: 0.0350
+Scene Bedroom-47481 - Final Step Collision Loss: 0.0175, Room Outer Loss: 0.0168, Walkable Loss: 2.6020 (C1 Heatmap: 0.7831, C2 Repulsion: 3.3727), Relational Loss: 0.0357
+Scene Bedroom-2160 - Final Step Collision Loss: 0.0318, Room Outer Loss: 0.0067, Walkable Loss: 2.1693 (C1 Heatmap: 0.8623, C2 Repulsion: 1.9741), Relational Loss: 0.0431
+Scene SecondBedroom-9825 - Final Step Collision Loss: 0.0022, Room Outer Loss: 0.0000, Walkable Loss: 2.3963 (C1 Heatmap: 0.8257, C2 Repulsion: 2.6880), Relational Loss: 0.0000
+Scene Bedroom-1989 - Final Step Collision Loss: 0.0035, Room Outer Loss: 1.1714, Walkable Loss: 3.6223 (C1 Heatmap: 1.1743, C2 Repulsion: 4.3585), Relational Loss: 0.0195
+Scene SecondBedroom-143 - Final Step Collision Loss: 0.0015, Room Outer Loss: 0.1305, Walkable Loss: 4.2501 (C1 Heatmap: 1.0576, C2 Repulsion: 6.3948), Relational Loss: 0.0396
+Scene SecondBedroom-13044 - Final Step Collision Loss: 0.0208, Room Outer Loss: 0.0000, Walkable Loss: 1.8957 (C1 Heatmap: 0.7303, C2 Repulsion: 1.8181), Relational Loss: 0.0548
+Scene Bedroom-8490 - Final Step Collision Loss: 0.0107, Room Outer Loss: 0.2945, Walkable Loss: 2.9490 (C1 Heatmap: 0.9592, C2 Repulsion: 3.5358), Relational Loss: 0.0108
+Scene MasterBedroom-424 - Final Step Collision Loss: 0.0035, Room Outer Loss: 0.0080, Walkable Loss: 2.6007 (C1 Heatmap: 0.8339, C2 Repulsion: 3.1663), Relational Loss: 0.0392
+Scene SecondBedroom-32238 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1828, Walkable Loss: 1.9286 (C1 Heatmap: 0.5636, C2 Repulsion: 2.5673), Relational Loss: 0.0356
+Scene SecondBedroom-258160 - Final Step Collision Loss: 0.0464, Room Outer Loss: 0.0563, Walkable Loss: 3.8486 (C1 Heatmap: 1.1329, C2 Repulsion: 5.0899), Relational Loss: 0.0496
+Scene SecondBedroom-19232 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6084 (C1 Heatmap: 0.5745, C2 Repulsion: 1.7228), Relational Loss: 0.0315
+Scene SecondBedroom-6685 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5246 (C1 Heatmap: 0.7644, C2 Repulsion: 0.7537), Relational Loss: 0.0000
+Scene SecondBedroom-24334 - Final Step Collision Loss: 0.0315, Room Outer Loss: 0.1060, Walkable Loss: 3.9580 (C1 Heatmap: 1.1982, C2 Repulsion: 5.1023), Relational Loss: 0.0303
+Scene Bedroom-35352 - Final Step Collision Loss: 0.0013, Room Outer Loss: 0.0164, Walkable Loss: 2.2328 (C1 Heatmap: 0.7291, C2 Repulsion: 2.6656), Relational Loss: 0.0393
+Scene MasterBedroom-4284 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4326 (C1 Heatmap: 0.6608, C2 Repulsion: 0.9381), Relational Loss: 0.0000
+Scene MasterBedroom-1069 - Final Step Collision Loss: 0.0156, Room Outer Loss: 0.0891, Walkable Loss: 2.5881 (C1 Heatmap: 0.7131, C2 Repulsion: 3.6179), Relational Loss: 0.0359
+Scene MasterBedroom-113 - Final Step Collision Loss: 0.0733, Room Outer Loss: 0.0000, Walkable Loss: 2.7335 (C1 Heatmap: 0.9558, C2 Repulsion: 3.0105), Relational Loss: 0.0450
+Scene SecondBedroom-48968 - Final Step Collision Loss: 0.0079, Room Outer Loss: 0.0000, Walkable Loss: 1.8695 (C1 Heatmap: 0.6819, C2 Repulsion: 1.9461), Relational Loss: 0.0685
+Scene MasterBedroom-9222 - Final Step Collision Loss: 0.0025, Room Outer Loss: 0.0310, Walkable Loss: 3.4104 (C1 Heatmap: 0.9915, C2 Repulsion: 4.5599), Relational Loss: 0.0270
+Scene Bedroom-32051 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8678 (C1 Heatmap: 0.7679, C2 Repulsion: 1.5980), Relational Loss: 0.0008
+Scene MasterBedroom-86835 - Final Step Collision Loss: 0.0073, Room Outer Loss: 0.0000, Walkable Loss: 3.2442 (C1 Heatmap: 0.9752, C2 Repulsion: 4.2096), Relational Loss: 0.0402
+Scene SecondBedroom-86888 - Final Step Collision Loss: 0.0293, Room Outer Loss: 0.0533, Walkable Loss: 2.3858 (C1 Heatmap: 0.7844, C2 Repulsion: 2.8271), Relational Loss: 0.0601
+Scene MasterBedroom-9583 - Final Step Collision Loss: 0.0327, Room Outer Loss: 0.0460, Walkable Loss: 5.4117 (C1 Heatmap: 1.5155, C2 Repulsion: 7.4673), Relational Loss: 0.0365
+Scene SecondBedroom-8823 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2726 (C1 Heatmap: 0.6338, C2 Repulsion: 0.6461), Relational Loss: 0.0000
+Scene SecondBedroom-13218 - Final Step Collision Loss: 0.0384, Room Outer Loss: 0.1142, Walkable Loss: 3.3677 (C1 Heatmap: 1.1226, C2 Repulsion: 3.9289), Relational Loss: 0.0638
+Scene SecondBedroom-36408 - Final Step Collision Loss: 0.0165, Room Outer Loss: 0.2084, Walkable Loss: 4.7006 (C1 Heatmap: 1.1874, C2 Repulsion: 7.0018), Relational Loss: 0.0355
+Scene MasterBedroom-36389 - Final Step Collision Loss: 0.0460, Room Outer Loss: 0.1527, Walkable Loss: 3.7196 (C1 Heatmap: 1.1693, C2 Repulsion: 4.6219), Relational Loss: 0.0173
+Scene SecondBedroom-7635 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0219, Walkable Loss: 2.6630 (C1 Heatmap: 0.8555, C2 Repulsion: 3.2353), Relational Loss: 0.0000
+Scene Bedroom-1541 - Final Step Collision Loss: 0.0555, Room Outer Loss: 0.0522, Walkable Loss: 2.5633 (C1 Heatmap: 0.8540, C2 Repulsion: 2.9920), Relational Loss: 0.0538
+Scene Bedroom-11202 - Final Step Collision Loss: 0.0872, Room Outer Loss: 0.0000, Walkable Loss: 2.1090 (C1 Heatmap: 0.8908, C2 Repulsion: 1.7092), Relational Loss: 0.0329
+Scene Bedroom-26487 - Final Step Collision Loss: 0.0063, Room Outer Loss: 0.2566, Walkable Loss: 5.9704 (C1 Heatmap: 1.1196, C2 Repulsion: 10.4477), Relational Loss: 0.0200
+Scene Bedroom-691 - Final Step Collision Loss: 0.0377, Room Outer Loss: 0.0000, Walkable Loss: 1.8120 (C1 Heatmap: 0.8825, C2 Repulsion: 1.0000), Relational Loss: 0.0653
+Scene SecondBedroom-14817 - Final Step Collision Loss: 0.0219, Room Outer Loss: 0.0000, Walkable Loss: 2.9804 (C1 Heatmap: 0.9030, C2 Repulsion: 3.8391), Relational Loss: 0.0304
+Scene MasterBedroom-30192 - Final Step Collision Loss: 0.0305, Room Outer Loss: 0.0196, Walkable Loss: 4.2225 (C1 Heatmap: 1.0869, C2 Repulsion: 6.2084), Relational Loss: 0.0289
+Scene Bedroom-41491 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8114 (C1 Heatmap: 0.6627, C2 Repulsion: 1.8777), Relational Loss: 0.0000
+Scene MasterBedroom-49865 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1112, Walkable Loss: 2.2701 (C1 Heatmap: 0.7339, C2 Repulsion: 2.7399), Relational Loss: 0.0330
+Scene MasterBedroom-16450 - Final Step Collision Loss: 0.0007, Room Outer Loss: 0.0000, Walkable Loss: 1.7967 (C1 Heatmap: 0.6495, C2 Repulsion: 1.8938), Relational Loss: 0.0001
+Scene SecondBedroom-14328 - Final Step Collision Loss: 0.0871, Room Outer Loss: 0.0374, Walkable Loss: 4.0756 (C1 Heatmap: 1.2520, C2 Repulsion: 5.1812), Relational Loss: 0.0434
+Scene SecondBedroom-39108 - Final Step Collision Loss: 0.0032, Room Outer Loss: 0.0000, Walkable Loss: 2.1681 (C1 Heatmap: 0.8213, C2 Repulsion: 2.1350), Relational Loss: 0.0079
+Scene MasterBedroom-19531 - Final Step Collision Loss: 0.0148, Room Outer Loss: 0.0000, Walkable Loss: 3.0375 (C1 Heatmap: 0.9195, C2 Repulsion: 3.9155), Relational Loss: 0.0490
+Scene Bedroom-74 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0465, Walkable Loss: 1.3782 (C1 Heatmap: 0.6678, C2 Repulsion: 0.7744), Relational Loss: 0.0000
+Scene Bedroom-15856 - Final Step Collision Loss: 0.0055, Room Outer Loss: 0.0287, Walkable Loss: 3.0521 (C1 Heatmap: 0.9557, C2 Repulsion: 3.8074), Relational Loss: 0.0224
+Scene MasterBedroom-3845 - Final Step Collision Loss: 0.0076, Room Outer Loss: 0.0264, Walkable Loss: 2.8184 (C1 Heatmap: 0.9383, C2 Repulsion: 3.2926), Relational Loss: 0.0398
+Scene MasterBedroom-14075 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0314, Walkable Loss: 2.3780 (C1 Heatmap: 0.9046, C2 Repulsion: 2.3265), Relational Loss: 0.0000
+Scene Bedroom-22495 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2652 (C1 Heatmap: 0.6930, C2 Repulsion: 0.3911), Relational Loss: 0.0000
+Scene MasterBedroom-22581 - Final Step Collision Loss: 0.0024, Room Outer Loss: 0.0000, Walkable Loss: 3.5775 (C1 Heatmap: 1.1163, C2 Repulsion: 4.4785), Relational Loss: 0.0034
+Scene Bedroom-54381 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7299 (C1 Heatmap: 0.7521, C2 Repulsion: 1.3164), Relational Loss: 0.0000
+Scene Bedroom-5215 - Final Step Collision Loss: 0.0055, Room Outer Loss: 0.0000, Walkable Loss: 2.7582 (C1 Heatmap: 0.8615, C2 Repulsion: 3.4493), Relational Loss: 0.0134
+Scene MasterBedroom-12479 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0891, Walkable Loss: 2.6602 (C1 Heatmap: 0.8664, C2 Repulsion: 3.1849), Relational Loss: 0.0322
+Scene SecondBedroom-37794 - Final Step Collision Loss: 0.0062, Room Outer Loss: 0.0000, Walkable Loss: 2.6169 (C1 Heatmap: 0.8616, C2 Repulsion: 3.0956), Relational Loss: 0.0550
+Scene SecondBedroom-69017 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0819, Walkable Loss: 3.3577 (C1 Heatmap: 0.9628, C2 Repulsion: 4.5430), Relational Loss: 0.0316
+Scene MasterBedroom-1615 - Final Step Collision Loss: 0.0019, Room Outer Loss: 0.2113, Walkable Loss: 3.6603 (C1 Heatmap: 1.0613, C2 Repulsion: 4.9056), Relational Loss: 0.0301
+Scene MasterBedroom-8979 - Final Step Collision Loss: 0.0556, Room Outer Loss: 0.0000, Walkable Loss: 2.9803 (C1 Heatmap: 0.9076, C2 Repulsion: 3.8203), Relational Loss: 0.0660
+Scene MasterBedroom-6631 - Final Step Collision Loss: 0.0181, Room Outer Loss: 0.0000, Walkable Loss: 3.3341 (C1 Heatmap: 1.0381, C2 Repulsion: 4.1829), Relational Loss: 0.0214
+Scene MasterBedroom-58086 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1298, Walkable Loss: 2.4421 (C1 Heatmap: 1.0308, C2 Repulsion: 1.9818), Relational Loss: 0.0563
+Scene MasterBedroom-34041 - Final Step Collision Loss: 0.0094, Room Outer Loss: 2.3630, Walkable Loss: 3.0926 (C1 Heatmap: 0.9901, C2 Repulsion: 3.7710), Relational Loss: 0.0311
+Scene MasterBedroom-63654 - Final Step Collision Loss: 0.0013, Room Outer Loss: 0.0000, Walkable Loss: 1.8061 (C1 Heatmap: 0.6317, C2 Repulsion: 1.9885), Relational Loss: 0.0597
+Scene Bedroom-21085 - Final Step Collision Loss: 0.0141, Room Outer Loss: 0.0350, Walkable Loss: 2.8721 (C1 Heatmap: 0.8485, C2 Repulsion: 3.7861), Relational Loss: 0.0191
+Scene Bedroom-13675 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7146 (C1 Heatmap: 0.9058, C2 Repulsion: 0.6633), Relational Loss: 0.0169
+Scene MasterBedroom-32488 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0807, Walkable Loss: 4.4252 (C1 Heatmap: 1.2342, C2 Repulsion: 6.1261), Relational Loss: 0.0331
+Scene MasterBedroom-45545 - Final Step Collision Loss: 0.0150, Room Outer Loss: 0.0000, Walkable Loss: 3.3889 (C1 Heatmap: 1.0033, C2 Repulsion: 4.4588), Relational Loss: 0.0320
+Scene Bedroom-18759 - Final Step Collision Loss: 0.0107, Room Outer Loss: 0.0078, Walkable Loss: 3.0867 (C1 Heatmap: 1.0137, C2 Repulsion: 3.6619), Relational Loss: 0.0302
+Scene MasterBedroom-29436 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0006, Walkable Loss: 2.7068 (C1 Heatmap: 0.9872, C2 Repulsion: 2.8180), Relational Loss: 0.0000
+Scene Bedroom-15797 - Final Step Collision Loss: 0.0004, Room Outer Loss: 0.0678, Walkable Loss: 2.6871 (C1 Heatmap: 0.8831, C2 Repulsion: 3.1855), Relational Loss: 0.0000
+Scene MasterBedroom-13658 - Final Step Collision Loss: 0.0125, Room Outer Loss: 0.0095, Walkable Loss: 2.5219 (C1 Heatmap: 0.8820, C2 Repulsion: 2.7767), Relational Loss: 0.0413
+Scene Bedroom-53437 - Final Step Collision Loss: 0.0107, Room Outer Loss: 0.0000, Walkable Loss: 2.7739 (C1 Heatmap: 0.7804, C2 Repulsion: 3.8132), Relational Loss: 0.0459
+Scene MasterBedroom-1096 - Final Step Collision Loss: 0.0139, Room Outer Loss: 0.1198, Walkable Loss: 3.0834 (C1 Heatmap: 0.9125, C2 Repulsion: 4.0586), Relational Loss: 0.0128
+Scene Bedroom-20397 - Final Step Collision Loss: 0.0009, Room Outer Loss: 0.0000, Walkable Loss: 5.1730 (C1 Heatmap: 1.1334, C2 Repulsion: 8.3991), Relational Loss: 0.0170
+Scene SecondBedroom-6261 - Final Step Collision Loss: 0.0033, Room Outer Loss: 0.1321, Walkable Loss: 2.4866 (C1 Heatmap: 0.8355, C2 Repulsion: 2.8747), Relational Loss: 0.0432
+Scene SecondBedroom-9923 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0723, Walkable Loss: 1.9675 (C1 Heatmap: 0.9170, C2 Repulsion: 1.2510), Relational Loss: 0.0000
+Scene Bedroom-38427 - Final Step Collision Loss: 0.0159, Room Outer Loss: 0.0000, Walkable Loss: 2.0059 (C1 Heatmap: 0.7002, C2 Repulsion: 2.2141), Relational Loss: 0.0257
+Scene SecondBedroom-48379 - Final Step Collision Loss: 0.1929, Room Outer Loss: 0.1599, Walkable Loss: 2.2742 (C1 Heatmap: 0.9184, C2 Repulsion: 2.0118), Relational Loss: 0.0000
+Scene Bedroom-74674 - Final Step Collision Loss: 0.0443, Room Outer Loss: 0.0000, Walkable Loss: 1.1211 (C1 Heatmap: 0.4507, C2 Repulsion: 1.0000), Relational Loss: 0.0520
+Scene MasterBedroom-41843 - Final Step Collision Loss: 0.0001, Room Outer Loss: 0.0000, Walkable Loss: 3.8026 (C1 Heatmap: 0.9709, C2 Repulsion: 5.6228), Relational Loss: 0.0197
+Scene MasterBedroom-21047 - Final Step Collision Loss: 0.0094, Room Outer Loss: 0.0573, Walkable Loss: 2.7186 (C1 Heatmap: 0.7584, C2 Repulsion: 3.7632), Relational Loss: 0.0366
+Scene MasterBedroom-34469 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0045, Walkable Loss: 1.5591 (C1 Heatmap: 0.7799, C2 Repulsion: 0.7781), Relational Loss: 0.0000
+Scene SecondBedroom-35274 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4029 (C1 Heatmap: 0.7474, C2 Repulsion: 0.5176), Relational Loss: 0.0000
+Scene SecondBedroom-66007 - Final Step Collision Loss: 0.0102, Room Outer Loss: 0.1508, Walkable Loss: 3.2966 (C1 Heatmap: 0.9131, C2 Repulsion: 4.5892), Relational Loss: 0.0339
+Scene MasterBedroom-6907 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.4409 (C1 Heatmap: 0.9011, C2 Repulsion: 4.9977), Relational Loss: 0.0203
+Scene MasterBedroom-9302 - Final Step Collision Loss: 0.0046, Room Outer Loss: 0.0120, Walkable Loss: 2.2087 (C1 Heatmap: 0.7158, C2 Repulsion: 2.6585), Relational Loss: 0.0172
+Scene MasterBedroom-3151 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4253, Walkable Loss: 1.0608 (C1 Heatmap: 0.6630), Relational Loss: 0.0414
+Scene SecondBedroom-13281 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.3974 (C1 Heatmap: 1.0098, C2 Repulsion: 4.4545), Relational Loss: 0.0388
+Scene MasterBedroom-74105 - Final Step Collision Loss: 0.0084, Room Outer Loss: 0.0492, Walkable Loss: 3.0238 (C1 Heatmap: 0.8686, C2 Repulsion: 4.0850), Relational Loss: 0.0254
+Scene Bedroom-837 - Final Step Collision Loss: 0.0032, Room Outer Loss: 0.0841, Walkable Loss: 2.2172 (C1 Heatmap: 0.8919, C2 Repulsion: 1.9755), Relational Loss: 0.0317
+Scene SecondBedroom-24075 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0110, Walkable Loss: 1.5963 (C1 Heatmap: 0.6410, C2 Repulsion: 1.4268), Relational Loss: 0.0000
+Scene Bedroom-22570 - Final Step Collision Loss: 0.0000, Room Outer Loss: 1.8238, Walkable Loss: 2.7664 (C1 Heatmap: 1.0579, C2 Repulsion: 2.6845), Relational Loss: 0.0000
+Scene MasterBedroom-40255 - Final Step Collision Loss: 0.0041, Room Outer Loss: 0.0673, Walkable Loss: 2.5165 (C1 Heatmap: 0.7833, C2 Repulsion: 3.1580), Relational Loss: 0.0243
+Scene SecondBedroom-9594 - Final Step Collision Loss: 0.0196, Room Outer Loss: 0.1242, Walkable Loss: 4.1224 (C1 Heatmap: 1.1841, C2 Repulsion: 5.5697), Relational Loss: 0.0000
+Scene MasterBedroom-18517 - Final Step Collision Loss: 0.0032, Room Outer Loss: 0.1338, Walkable Loss: 3.7133 (C1 Heatmap: 0.9327, C2 Repulsion: 5.5526), Relational Loss: 0.0201
+Scene MasterBedroom-116808 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1259, Walkable Loss: 2.0603 (C1 Heatmap: 0.8576, C2 Repulsion: 1.7201), Relational Loss: 0.0000
+Scene MasterBedroom-34912 - Final Step Collision Loss: 0.0062, Room Outer Loss: 0.0437, Walkable Loss: 3.9902 (C1 Heatmap: 1.0784, C2 Repulsion: 5.6622), Relational Loss: 0.0310
+Scene SecondBedroom-3960 - Final Step Collision Loss: 0.0690, Room Outer Loss: 0.0629, Walkable Loss: 2.5379 (C1 Heatmap: 0.8738, C2 Repulsion: 2.8498), Relational Loss: 0.0365
+Scene MasterBedroom-17206 - Final Step Collision Loss: 0.0048, Room Outer Loss: 0.0092, Walkable Loss: 4.5102 (C1 Heatmap: 1.1525, C2 Repulsion: 6.6652), Relational Loss: 0.0324
+Scene MasterBedroom-109561 - Final Step Collision Loss: 0.0104, Room Outer Loss: 0.0430, Walkable Loss: 2.9226 (C1 Heatmap: 0.9845, C2 Repulsion: 3.3686), Relational Loss: 0.0302
+Scene SecondBedroom-30334 - Final Step Collision Loss: 0.0236, Room Outer Loss: 0.1145, Walkable Loss: 4.9500 (C1 Heatmap: 1.2235, C2 Repulsion: 7.4812), Relational Loss: 0.0113
+Scene Bedroom-54233 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0121, Walkable Loss: 2.3517 (C1 Heatmap: 0.7720, C2 Repulsion: 2.7911), Relational Loss: 0.0018
+Scene Bedroom-17102 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0560, Walkable Loss: 1.9783 (C1 Heatmap: 0.7994, C2 Repulsion: 1.7481), Relational Loss: 0.0360
+Scene MasterBedroom-40319 - Final Step Collision Loss: 0.0013, Room Outer Loss: 0.0000, Walkable Loss: 3.4178 (C1 Heatmap: 0.8830, C2 Repulsion: 5.0122), Relational Loss: 0.0179
+Scene MasterBedroom-28978 - Final Step Collision Loss: 0.0616, Room Outer Loss: 0.2606, Walkable Loss: 4.8298 (C1 Heatmap: 1.3097, C2 Repulsion: 6.8354), Relational Loss: 0.0142
+Scene MasterBedroom-392 - Final Step Collision Loss: 0.0068, Room Outer Loss: 0.0607, Walkable Loss: 4.0233 (C1 Heatmap: 1.0235, C2 Repulsion: 5.9642), Relational Loss: 0.0203
+Scene MasterBedroom-3712 - Final Step Collision Loss: 0.0316, Room Outer Loss: 0.0000, Walkable Loss: 2.4603 (C1 Heatmap: 0.9588, C2 Repulsion: 2.3156), Relational Loss: 0.0448
+Scene MasterBedroom-1446 - Final Step Collision Loss: 0.0015, Room Outer Loss: 0.0232, Walkable Loss: 2.3375 (C1 Heatmap: 0.7726, C2 Repulsion: 2.7535), Relational Loss: 0.0094
+Scene SecondBedroom-6847 - Final Step Collision Loss: 0.0373, Room Outer Loss: 0.0000, Walkable Loss: 3.9976 (C1 Heatmap: 1.0079, C2 Repulsion: 5.9626), Relational Loss: 0.0323
+Scene MasterBedroom-12183 - Final Step Collision Loss: 0.0061, Room Outer Loss: 0.0000, Walkable Loss: 2.5659 (C1 Heatmap: 0.7978, C2 Repulsion: 3.2235), Relational Loss: 0.0247
+Scene Bedroom-8136 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7430 (C1 Heatmap: 0.8874, C2 Repulsion: 0.8077), Relational Loss: 0.0000
+Scene MasterBedroom-24714 - Final Step Collision Loss: 0.0333, Room Outer Loss: 0.0000, Walkable Loss: 3.4051 (C1 Heatmap: 1.1503, C2 Repulsion: 3.9115), Relational Loss: 0.0354
+Scene Bedroom-13858 - Final Step Collision Loss: 0.0277, Room Outer Loss: 0.0450, Walkable Loss: 2.9247 (C1 Heatmap: 0.8891, C2 Repulsion: 3.7553), Relational Loss: 0.0767
+Scene MasterBedroom-118 - Final Step Collision Loss: 0.0252, Room Outer Loss: 0.0000, Walkable Loss: 1.3531 (C1 Heatmap: 0.5957, C2 Repulsion: 1.0000), Relational Loss: 0.0510
+Scene LivingRoom-37659 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6826 (C1 Heatmap: 0.6384, C2 Repulsion: 1.6528), Relational Loss: 0.0005
+Scene LivingRoom-1520 - Final Step Collision Loss: 0.0119, Room Outer Loss: 0.0209, Walkable Loss: 5.5225 (C1 Heatmap: 1.1318, C2 Repulsion: 9.2790), Relational Loss: 0.0315
+Scene LivingRoom-17951 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7755 (C1 Heatmap: 0.6699, C2 Repulsion: 1.7592), Relational Loss: 0.0000
+Scene LivingDiningRoom-629 - Final Step Collision Loss: 0.0203, Room Outer Loss: 0.0000, Walkable Loss: 10.0763 (C1 Heatmap: 1.5770, C2 Repulsion: 18.8826), Relational Loss: 0.0194
+Scene LivingRoom-71071 - Final Step Collision Loss: 0.0082, Room Outer Loss: 0.1812, Walkable Loss: 4.4823 (C1 Heatmap: 0.9951, C2 Repulsion: 7.2255), Relational Loss: 0.0148
+Scene LivingDiningRoom-9790 - Final Step Collision Loss: 0.0012, Room Outer Loss: 0.0000, Walkable Loss: 2.7112 (C1 Heatmap: 0.8068, C2 Repulsion: 3.5507), Relational Loss: 0.0079
+Scene LivingRoom-791 - Final Step Collision Loss: 0.0073, Room Outer Loss: 0.0480, Walkable Loss: 4.5189 (C1 Heatmap: 1.1105, C2 Repulsion: 6.8551), Relational Loss: 0.0154
+Scene LivingRoom-24046 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7948 (C1 Heatmap: 0.6828, C2 Repulsion: 1.7559), Relational Loss: 0.0000
+Scene LivingRoom-13599 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0509, Walkable Loss: 2.8062 (C1 Heatmap: 0.8110, C2 Repulsion: 3.7714), Relational Loss: 0.0396
+Scene LivingDiningRoom-13945 - Final Step Collision Loss: 0.0024, Room Outer Loss: 0.2760, Walkable Loss: 4.2153 (C1 Heatmap: 1.1518, C2 Repulsion: 5.9311), Relational Loss: 0.0192
+Scene LivingDiningRoom-758 - Final Step Collision Loss: 0.0109, Room Outer Loss: 0.0637, Walkable Loss: 5.4044 (C1 Heatmap: 1.2436, C2 Repulsion: 8.5368), Relational Loss: 0.0221
+Scene LivingRoom-33324 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0908, Walkable Loss: 2.0340 (C1 Heatmap: 0.7330, C2 Repulsion: 2.1531), Relational Loss: 0.0129
+Scene LivingRoom-30147 - Final Step Collision Loss: 0.0007, Room Outer Loss: 0.0000, Walkable Loss: 4.4401 (C1 Heatmap: 0.7045, C2 Repulsion: 8.2822), Relational Loss: 0.0101
+Scene LivingRoom-29294 - Final Step Collision Loss: 0.0001, Room Outer Loss: 0.0000, Walkable Loss: 3.2177 (C1 Heatmap: 0.9460, C2 Repulsion: 4.2601), Relational Loss: 0.0250
+Scene LivingDiningRoom-35401 - Final Step Collision Loss: 0.0004, Room Outer Loss: 0.0000, Walkable Loss: 2.7970 (C1 Heatmap: 0.7336, C2 Repulsion: 4.0580), Relational Loss: 0.0067
+Scene LivingRoom-35085 - Final Step Collision Loss: 0.0083, Room Outer Loss: 0.0000, Walkable Loss: 3.4311 (C1 Heatmap: 0.9033, C2 Repulsion: 4.9645), Relational Loss: 0.0181
+Scene LivingRoom-25582 - Final Step Collision Loss: 0.0189, Room Outer Loss: 0.0000, Walkable Loss: 4.7453 (C1 Heatmap: 1.0118, C2 Repulsion: 7.8160), Relational Loss: 0.0396
+Scene LivingDiningRoom-109935 - Final Step Collision Loss: 0.0095, Room Outer Loss: 0.0376, Walkable Loss: 6.0652 (C1 Heatmap: 1.3347, C2 Repulsion: 9.8241), Relational Loss: 0.0225
+Scene LivingDiningRoom-76396 - Final Step Collision Loss: 0.0059, Room Outer Loss: 0.0000, Walkable Loss: 5.0371 (C1 Heatmap: 1.0615, C2 Repulsion: 8.3468), Relational Loss: 0.0124
+Scene LivingDiningRoom-18728 - Final Step Collision Loss: 0.0220, Room Outer Loss: 0.0000, Walkable Loss: 5.1854 (C1 Heatmap: 1.2290, C2 Repulsion: 8.0475), Relational Loss: 0.0123
+Scene LivingDiningRoom-46747 - Final Step Collision Loss: 0.0133, Room Outer Loss: 0.0349, Walkable Loss: 5.7480 (C1 Heatmap: 1.0716, C2 Repulsion: 10.0838), Relational Loss: 0.0133
+Scene LivingRoom-88425 - Final Step Collision Loss: 0.0094, Room Outer Loss: 0.0000, Walkable Loss: 6.2098 (C1 Heatmap: 1.1987, C2 Repulsion: 10.7300), Relational Loss: 0.0165
+Scene LivingDiningRoom-35769 - Final Step Collision Loss: 0.0034, Room Outer Loss: 0.4878, Walkable Loss: 4.4496 (C1 Heatmap: 0.6807, C2 Repulsion: 8.4013), Relational Loss: 0.0188
+Scene LivingRoom-1097 - Final Step Collision Loss: 0.0056, Room Outer Loss: 0.0002, Walkable Loss: 6.0569 (C1 Heatmap: 1.2531, C2 Repulsion: 10.1299), Relational Loss: 0.0148
+Scene LivingDiningRoom-2729 - Final Step Collision Loss: 0.0096, Room Outer Loss: 0.0000, Walkable Loss: 5.2047 (C1 Heatmap: 1.0986, C2 Repulsion: 8.6175), Relational Loss: 0.0281
+Scene LivingDiningRoom-19784 - Final Step Collision Loss: 0.0002, Room Outer Loss: 0.0000, Walkable Loss: 3.6405 (C1 Heatmap: 0.9710, C2 Repulsion: 5.2173), Relational Loss: 0.0201
+Scene LivingDiningRoom-10493 - Final Step Collision Loss: 0.0057, Room Outer Loss: 0.1920, Walkable Loss: 3.2599 (C1 Heatmap: 0.7917, C2 Repulsion: 4.9828), Relational Loss: 0.0103
+Scene LivingRoom-23405 - Final Step Collision Loss: 0.0351, Room Outer Loss: 0.0000, Walkable Loss: 3.1907 (C1 Heatmap: 0.5831, C2 Repulsion: 5.6444), Relational Loss: 0.0226
+Scene LivingRoom-3797 - Final Step Collision Loss: 0.0053, Room Outer Loss: 0.0081, Walkable Loss: 5.5617 (C1 Heatmap: 1.0137, C2 Repulsion: 9.8496), Relational Loss: 0.0229
+Scene LivingRoom-50084 - Final Step Collision Loss: 0.0013, Room Outer Loss: 0.0000, Walkable Loss: 2.4202 (C1 Heatmap: 0.7515, C2 Repulsion: 3.0446), Relational Loss: 0.0137
+Scene LivingRoom-1772 - Final Step Collision Loss: 0.0086, Room Outer Loss: 0.0000, Walkable Loss: 4.4165 (C1 Heatmap: 1.0030, C2 Repulsion: 7.0291), Relational Loss: 0.0179
+Scene LivingRoom-30098 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0156, Walkable Loss: 2.6580 (C1 Heatmap: 0.9922, C2 Repulsion: 2.6763), Relational Loss: 0.0008
+Scene LivingRoom-3540 - Final Step Collision Loss: 0.0022, Room Outer Loss: 0.0064, Walkable Loss: 4.6666 (C1 Heatmap: 1.0992, C2 Repulsion: 7.2695), Relational Loss: 0.0271
+Scene LivingDiningRoom-2583 - Final Step Collision Loss: 0.0103, Room Outer Loss: 0.2188, Walkable Loss: 6.6527 (C1 Heatmap: 1.2592, C2 Repulsion: 11.5948), Relational Loss: 0.0173
+Scene LivingRoom-68491 - Final Step Collision Loss: 0.0005, Room Outer Loss: 0.0075, Walkable Loss: 3.8523 (C1 Heatmap: 0.8667, C2 Repulsion: 6.1641), Relational Loss: 0.0290
+Scene LivingRoom-22102 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5806 (C1 Heatmap: 0.7013, C2 Repulsion: 1.1463), Relational Loss: 0.0000
+Scene LivingDiningRoom-2106 - Final Step Collision Loss: 0.0003, Room Outer Loss: 0.0000, Walkable Loss: 2.3463 (C1 Heatmap: 0.7300, C2 Repulsion: 2.9460), Relational Loss: 0.0187
+Scene LivingRoom-38721 - Final Step Collision Loss: 0.0218, Room Outer Loss: 0.0000, Walkable Loss: 4.4088 (C1 Heatmap: 1.2426, C2 Repulsion: 6.0517), Relational Loss: 0.0122
+Scene LivingRoom-2159 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1406, Walkable Loss: 2.9022 (C1 Heatmap: 0.9542, C2 Repulsion: 3.4386), Relational Loss: 0.0084
+Scene LivingRoom-1618 - Final Step Collision Loss: 0.0029, Room Outer Loss: 0.0633, Walkable Loss: 2.9604 (C1 Heatmap: 0.8604, C2 Repulsion: 3.9593), Relational Loss: 0.0068
+Scene LivingDiningRoom-25795 - Final Step Collision Loss: 0.0042, Room Outer Loss: 0.1296, Walkable Loss: 4.2032 (C1 Heatmap: 1.0539, C2 Repulsion: 6.2926), Relational Loss: 0.0149
+Scene LivingDiningRoom-62037 - Final Step Collision Loss: 0.0023, Room Outer Loss: 0.0000, Walkable Loss: 4.6196 (C1 Heatmap: 0.9414, C2 Repulsion: 7.7834), Relational Loss: 0.0210
+Scene LivingDiningRoom-17657 - Final Step Collision Loss: 0.0135, Room Outer Loss: 0.1954, Walkable Loss: 5.5785 (C1 Heatmap: 1.2315, C2 Repulsion: 9.0202), Relational Loss: 0.0169
+Scene LivingRoom-11224 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9609 (C1 Heatmap: 0.7792, C2 Repulsion: 1.7857), Relational Loss: 0.0022
+Scene LivingRoom-13136 - Final Step Collision Loss: 0.0106, Room Outer Loss: 0.0000, Walkable Loss: 3.7455 (C1 Heatmap: 0.9301, C2 Repulsion: 5.6435), Relational Loss: 0.0081
+Scene LivingRoom-40975 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6793 (C1 Heatmap: 0.4812, C2 Repulsion: 2.2733), Relational Loss: 0.0252
+Scene LivingRoom-6045 - Final Step Collision Loss: 0.0117, Room Outer Loss: 0.0000, Walkable Loss: 2.5048 (C1 Heatmap: 0.8678, C2 Repulsion: 2.7908), Relational Loss: 0.0050
+Scene LivingRoom-2050 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.6394 (C1 Heatmap: 1.0044, C2 Repulsion: 2.5811), Relational Loss: 0.0016
+Scene LivingRoom-12271 - Final Step Collision Loss: 0.0055, Room Outer Loss: 0.0000, Walkable Loss: 2.3907 (C1 Heatmap: 0.8843, C2 Repulsion: 2.4396), Relational Loss: 0.0521
+Scene LivingDiningRoom-52564 - Final Step Collision Loss: 0.0020, Room Outer Loss: 0.0000, Walkable Loss: 2.3719 (C1 Heatmap: 0.6605, C2 Repulsion: 3.2878), Relational Loss: 0.0105
+Scene LivingRoom-423 - Final Step Collision Loss: 0.0049, Room Outer Loss: 0.0589, Walkable Loss: 5.5248 (C1 Heatmap: 1.0789, C2 Repulsion: 9.4967), Relational Loss: 0.0064
+Scene LivingRoom-34874 - Final Step Collision Loss: 0.0666, Room Outer Loss: 0.0000, Walkable Loss: 2.7422 (C1 Heatmap: 1.2120, C2 Repulsion: 2.0074), Relational Loss: 0.0310
+Scene LivingDiningRoom-9632 - Final Step Collision Loss: 0.0030, Room Outer Loss: 0.0000, Walkable Loss: 4.4503 (C1 Heatmap: 1.0258, C2 Repulsion: 7.0226), Relational Loss: 0.0286
+Scene LivingRoom-860 - Final Step Collision Loss: 0.0291, Room Outer Loss: 0.0000, Walkable Loss: 4.0625 (C1 Heatmap: 1.0870, C2 Repulsion: 5.8082), Relational Loss: 0.0112
+Scene LivingDiningRoom-8304 - Final Step Collision Loss: 0.0017, Room Outer Loss: 0.1853, Walkable Loss: 4.5138 (C1 Heatmap: 0.8490, C2 Repulsion: 7.8885), Relational Loss: 0.0180
+Scene LivingDiningRoom-13962 - Final Step Collision Loss: 0.0033, Room Outer Loss: 0.0000, Walkable Loss: 5.1862 (C1 Heatmap: 1.0405, C2 Repulsion: 8.8036), Relational Loss: 0.0158
+Scene LivingRoom-41893 - Final Step Collision Loss: 0.0153, Room Outer Loss: 0.0000, Walkable Loss: 5.0392 (C1 Heatmap: 1.1293, C2 Repulsion: 8.0809), Relational Loss: 0.0431
+Scene LivingRoom-18042 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2795 (C1 Heatmap: 0.6607, C2 Repulsion: 0.5558), Relational Loss: 0.0000
+Scene LivingDiningRoom-26816 - Final Step Collision Loss: 0.0079, Room Outer Loss: 0.1350, Walkable Loss: 5.1419 (C1 Heatmap: 1.0065, C2 Repulsion: 8.8287), Relational Loss: 0.0171
+Scene LivingDiningRoom-17385 - Final Step Collision Loss: 0.0007, Room Outer Loss: 0.0000, Walkable Loss: 5.6831 (C1 Heatmap: 1.1885, C2 Repulsion: 9.4535), Relational Loss: 0.0193
+Scene LivingRoom-31397 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0578, Walkable Loss: 2.1311 (C1 Heatmap: 0.7612, C2 Repulsion: 2.2831), Relational Loss: 0.0114
+Scene LivingDiningRoom-14432 - Final Step Collision Loss: 0.0316, Room Outer Loss: 0.1529, Walkable Loss: 7.2421 (C1 Heatmap: 1.4250, C2 Repulsion: 12.4052), Relational Loss: 0.0237
+Scene LivingRoom-5361 - Final Step Collision Loss: 0.0348, Room Outer Loss: 0.0000, Walkable Loss: 6.4054 (C1 Heatmap: 1.2072, C2 Repulsion: 11.1846), Relational Loss: 0.0413
+Scene LivingRoom-5655 - Final Step Collision Loss: 0.0174, Room Outer Loss: 0.0198, Walkable Loss: 5.3734 (C1 Heatmap: 1.2435, C2 Repulsion: 8.4595), Relational Loss: 0.0396
+Scene LivingRoom-55 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.7329 (C1 Heatmap: 0.9867, C2 Repulsion: 2.8855), Relational Loss: 0.0012
+Scene LivingDiningRoom-941 - Final Step Collision Loss: 0.0264, Room Outer Loss: 0.0000, Walkable Loss: 5.0389 (C1 Heatmap: 0.9631, C2 Repulsion: 8.7449), Relational Loss: 0.0238
+Scene LivingRoom-2715 - Final Step Collision Loss: 0.0561, Room Outer Loss: 0.2991, Walkable Loss: 6.8076 (C1 Heatmap: 1.4882, C2 Repulsion: 11.0660), Relational Loss: 0.0248
+Scene LivingDiningRoom-10201 - Final Step Collision Loss: 0.0085, Room Outer Loss: 0.0325, Walkable Loss: 2.3625 (C1 Heatmap: 0.8458, C2 Repulsion: 2.5232), Relational Loss: 0.0085
+Scene LivingRoom-24701 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.2823 (C1 Heatmap: 0.7852, C2 Repulsion: 2.5651), Relational Loss: 0.0244
+Scene LivingDiningRoom-11440 - Final Step Collision Loss: 0.0024, Room Outer Loss: 0.0393, Walkable Loss: 2.6753 (C1 Heatmap: 0.7914, C2 Repulsion: 3.5226), Relational Loss: 0.0096
+Scene LivingRoom-37001 - Final Step Collision Loss: 0.0081, Room Outer Loss: 0.0016, Walkable Loss: 4.8717 (C1 Heatmap: 0.9309, C2 Repulsion: 8.4555), Relational Loss: 0.0102
+Scene LivingRoom-1255 - Final Step Collision Loss: 0.0343, Room Outer Loss: 1.8952, Walkable Loss: 3.3880 (C1 Heatmap: 1.1464, C2 Repulsion: 3.8845), Relational Loss: 0.0387
+Scene LivingRoom-3168 - Final Step Collision Loss: 0.0030, Room Outer Loss: 0.0000, Walkable Loss: 4.6952 (C1 Heatmap: 0.9836, C2 Repulsion: 7.8035), Relational Loss: 0.0172
+Scene LivingRoom-26286 - Final Step Collision Loss: 0.0090, Room Outer Loss: 0.0000, Walkable Loss: 5.9956 (C1 Heatmap: 1.2506, C2 Repulsion: 9.9868), Relational Loss: 0.0263
+Scene LivingRoom-4960 - Final Step Collision Loss: 0.0030, Room Outer Loss: 0.0056, Walkable Loss: 3.2780 (C1 Heatmap: 0.8617, C2 Repulsion: 4.7483), Relational Loss: 0.0148
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+Scene Library-40642 - Final Step Collision Loss: 0.0286, Room Outer Loss: 0.0000, Walkable Loss: 1.8584 (C1 Heatmap: 0.5159, C2 Repulsion: 2.5823), Relational Loss: 0.0080
+Scene Library-58697 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0453, Walkable Loss: 1.6119 (C1 Heatmap: 0.4254, C2 Repulsion: 2.3279), Relational Loss: 0.0129
+Scene Library-145994 - Final Step Collision Loss: 0.0865, Room Outer Loss: 0.0433, Walkable Loss: 7.3842 (C1 Heatmap: 1.5362, C2 Repulsion: 12.3159), Relational Loss: 0.0288
+Scene Library-39529 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2599 (C1 Heatmap: 0.4013, C2 Repulsion: 1.5446), Relational Loss: 0.0000
+Scene Library-56351 - Final Step Collision Loss: 0.3448, Room Outer Loss: 5.6891, Walkable Loss: 4.0480 (C1 Heatmap: 1.4700, C2 Repulsion: 4.2399), Relational Loss: 0.0600
+Scene Library-5406 - Final Step Collision Loss: 0.0002, Room Outer Loss: 0.0852, Walkable Loss: 2.4151 (C1 Heatmap: 0.5003, C2 Repulsion: 4.0366), Relational Loss: 0.0136
+Scene Library-51220 - Final Step Collision Loss: 0.0136, Room Outer Loss: 0.0000, Walkable Loss: 1.4492 (C1 Heatmap: 0.4015, C2 Repulsion: 2.0171), Relational Loss: 0.0285
+Scene Library-5781 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0334, Walkable Loss: 1.1346 (C1 Heatmap: 0.3618, C2 Repulsion: 1.3892), Relational Loss: 0.0000
+Scene Library-123334 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.7699, Walkable Loss: 3.0372 (C1 Heatmap: 0.8476, C2 Repulsion: 4.2023), Relational Loss: 0.0110
+Scene Library-1511 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7418 (C1 Heatmap: 0.2686, C2 Repulsion: 0.7803), Relational Loss: 0.0000
+Scene Library-74566 - Final Step Collision Loss: 0.2621, Room Outer Loss: 0.0727, Walkable Loss: 2.3960 (C1 Heatmap: 0.7500, C2 Repulsion: 2.9899), Relational Loss: 0.0742
+Scene Library-35695 - Final Step Collision Loss: 0.0002, Room Outer Loss: 0.1070, Walkable Loss: 3.4918 (C1 Heatmap: 0.7737, C2 Repulsion: 5.6347), Relational Loss: 0.0221
+Scene Library-934 - Final Step Collision Loss: 0.0044, Room Outer Loss: 0.2097, Walkable Loss: 2.0815 (C1 Heatmap: 0.6725, C2 Repulsion: 2.5139), Relational Loss: 0.0091

current_works_v2/final_r6_cr30rot10_eg2_rel100/2050/none_accuracy_analysis.txt

@@ -0,0 +1,3 @@
+acc & L/R: 0.99 & F/B: 0.99 & Bi/Sm: 0.96 & Ta/Sh: 0.96 & Stand: 0.98 & Close: 0.72 & Symm: 0.70. Total: &0.96
+means of mean: 0.90
+

current_works_v2/final_r6_cr30rot10_eg2_rel100/args.json

@@ -0,0 +1,31 @@
+{
+  "batchSize": 60,
+  "nepoch": 10000,
+  "outf": "checkpoint",
+  "model": "",
+  "dataset": "/home/lehoangan/LHAN/SteerScene/echoscene_sizefix/FRONT",
+  "logf": "logs",
+  "exp": "/home/lehoangan/LHAN/SteerScene/echoscene_sizefix/exp_final_r6_cr30rot10_eg2_rel100",
+  "room_type": "all",
+  "residual": true,
+  "pooling": "avg",
+  "large": false,
+  "use_scene_rels": true,
+  "separated": false,
+  "with_SDF": true,
+  "with_CLIP": true,
+  "shuffle_objs": true,
+  "use_canonical": true,
+  "with_angles": true,
+  "bin_angle": false,
+  "num_box_params": 6,
+  "workers": 10,
+  "with_changes": true,
+  "loadmodel": false,
+  "loadepoch": 90,
+  "replace_latent": true,
+  "network_type": "echoscene",
+  "diff_yaml": "/home/lehoangan/LHAN/SteerScene/echoscene_sizefix/code/config/final_r6_cr30rot10_eg2_rel100.yaml",
+  "vis_num": 2,
+  "manualSeed": 8886
+}

current_works_v2/final_r6_cr30rot10_eg2_rel100/eval/pp_col.txt

@@ -0,0 +1,17 @@
+===========================================================================
+          PHYSICAL SCENE COLLISION EVALUATION (Col Scene & Col Obj)          
+===========================================================================
+ Target File                               : /Volumes/SPINNINGHDD/current_works_v2/final_r6_cr30rot10_eg2_rel100/2050/physcene_collision_resolved.json
+ Overall ColObj   (Object Collision Rate) : 0.0225 (57/2535 objects)
+ Overall ColScene (Scene Collision Rate)  : 0.0676 (25/370 scenes)
+---------------------------------------------------------------------------
+ Category           | ColObj   | ColScene | Collided Scenes / Total
+---------------------------------------------------------------------------
+ bedroom            | 0.0690   | 0.1463   | 6/41
+ diningroom         | 0.0000   | 0.0000   | 0/69
+ library            | 0.0426   | 0.0893   | 5/56
+ livingdiningroom   | 0.0000   | 0.0000   | 0/31
+ livingroom         | 0.0000   | 0.0000   | 0/52
+ masterbedroom      | 0.0576   | 0.1304   | 9/69
+ secondbedroom      | 0.0400   | 0.0962   | 5/52
+===========================================================================

current_works_v2/final_r6_cr30rot10_eg2_rel100/eval/pp_ob.txt

@@ -0,0 +1,5 @@
+Total number of scenes: 370 (processed 370)
+Total OB objects: 95
+Total furniture objects: 2526
+Average #OB per scene: 0.2568
+OB Object Rate (tot_ob / tot_obj): 0.0376

current_works_v2/final_r6_cr30rot10_eg2_rel100/eval/pp_rel.txt

@@ -0,0 +1,17 @@
+Wrote report to: /Volumes/SPINNINGHDD/current_works_v2/final_r6_cr30rot10_eg2_rel100/2050/relational_accuracy_report.txt
+===========================================================================
+          RELATIONAL ACCURACY EVALUATION REPORT          
+===========================================================================
+ Source File                            : /Volumes/SPINNINGHDD/current_works_v2/final_r6_cr30rot10_eg2_rel100/2050/physcene_collision_resolved.json
+ Evaluated Scenes                       : 370 / 370
+ Micro-Average Accuracy (Total Acc)     : 96.22%
+ Macro-Average Accuracy (Means of Means): 88.76%
+---------------------------------------------------------------------------
+ Left / Right (L/R)       : 98.96%  (Left: 98.71%, Right: 99.20%)
+ Front / Behind (F/B)     : 99.65%  (Front: 99.59%, Behind: 99.70%)
+ Bigger / Smaller (Bi/Sm) : 95.93%  (Bigger: 96.23%, Smaller: 95.63%)
+ Taller / Shorter (Ta/Sh) : 96.35%  (Taller: 96.34%, Shorter: 96.36%)
+ Standing On              : 97.84%
+ Close By                 : 70.93%
+ Symmetrical To           : 61.64%
+===========================================================================

current_works_v2/final_r6_cr30rot10_eg2_rel100/eval/raw_col.txt

@@ -0,0 +1,17 @@
+===========================================================================
+          PHYSICAL SCENE COLLISION EVALUATION (Col Scene & Col Obj)          
+===========================================================================
+ Target File                               : /Volumes/SPINNINGHDD/current_works_v2/final_r6_cr30rot10_eg2_rel100/2050/physcene_collision_input.json
+ Overall ColObj   (Object Collision Rate) : 0.3807 (965/2535 objects)
+ Overall ColScene (Scene Collision Rate)  : 0.7243 (268/370 scenes)
+---------------------------------------------------------------------------
+ Category           | ColObj   | ColScene | Collided Scenes / Total
+---------------------------------------------------------------------------
+ bedroom            | 0.3448   | 0.6098   | 25/41
+ diningroom         | 0.5201   | 0.8986   | 62/69
+ library            | 0.3062   | 0.5714   | 32/56
+ livingdiningroom   | 0.3518   | 0.9677   | 30/31
+ livingroom         | 0.3213   | 0.6923   | 36/52
+ masterbedroom      | 0.3848   | 0.7391   | 51/69
+ secondbedroom      | 0.3400   | 0.6154   | 32/52
+===========================================================================

current_works_v2/final_r6_cr30rot10_eg2_rel100/eval/raw_ob.txt

@@ -0,0 +1,5 @@
+Total number of scenes: 370 (processed 370)
+Total OB objects: 261
+Total furniture objects: 2526
+Average #OB per scene: 0.7054
+OB Object Rate (tot_ob / tot_obj): 0.1033

current_works_v2/final_r6_cr30rot10_eg2_rel100/eval/raw_rel.txt

@@ -0,0 +1,17 @@
+Wrote report to: /Volumes/SPINNINGHDD/current_works_v2/final_r6_cr30rot10_eg2_rel100/2050/relational_accuracy_report.txt
+===========================================================================
+          RELATIONAL ACCURACY EVALUATION REPORT          
+===========================================================================
+ Source File                            : /Volumes/SPINNINGHDD/current_works_v2/final_r6_cr30rot10_eg2_rel100/2050/physcene_collision_input.json
+ Evaluated Scenes                       : 370 / 370
+ Micro-Average Accuracy (Total Acc)     : 96.26%
+ Macro-Average Accuracy (Means of Means): 90.10%
+---------------------------------------------------------------------------
+ Left / Right (L/R)       : 98.75%  (Left: 98.45%, Right: 99.04%)
+ Front / Behind (F/B)     : 99.48%  (Front: 99.43%, Behind: 99.53%)
+ Bigger / Smaller (Bi/Sm) : 95.93%  (Bigger: 96.23%, Smaller: 95.63%)
+ Taller / Shorter (Ta/Sh) : 96.35%  (Taller: 96.34%, Shorter: 96.36%)
+ Standing On              : 97.84%
+ Close By                 : 72.07%
+ Symmetrical To           : 70.26%
+===========================================================================

current_works_v2/final_r6_cr30rot10_eg2_rel100/final_r6_cr30rot10_eg2_rel100.yaml

@@ -0,0 +1,138 @@
+# Sweep winner r6_cr30rot10_eg2_rel100 (revision/sweep, round 6): work41_sizefix + collision.weight=30, rotated room_outer.weight=10,
+# walkable edge_gaussian weight 2 (center_penalty off), relational.weight=100.
+# Exact config saved by eval_3dfront.py during the layout-only sweep.
+hyper:
+  batch_size: 16
+  gpu_ids: 0
+  logs_dir: ../full_mp/diff_crossattn
+  results_dir: ../full_mp/diff_crossattn
+  name: ./
+  isTrain: true
+  device: cuda
+  distributed: 0
+  lr_init: 0.0001
+  lr_step:
+  - 35000
+  - 70000
+  - 140000
+  lr_evo:
+  - 5.0e-05
+  - 1.0e-05
+  - 5.0e-06
+dataset:
+  res: 64
+  trunc_thres: 0.2
+  ratio: 1
+layout_branch:
+  model: diffusion_scene_layout_ddpm
+  angle_dim: 2
+  denoiser: unet1d
+  relation_condition: true
+  denoiser_kwargs:
+    dims: 1
+    in_channels: 8
+    out_channels: 8
+    model_channels: 512
+    channel_mult:
+    - 1
+    - 1
+    - 1
+    - 1
+    num_res_blocks: 2
+    attention_resolutions:
+    - 4
+    - 2
+    num_heads: 8
+    use_spatial_transformer: true
+    transformer_depth: 1
+    conditioning_key: crossattn
+    concat_dim: 1280
+    crossattn_dim: 1280
+    use_checkpoint: true
+    enable_t_emb: true
+  diffusion_kwargs:
+    schedule_type: linear
+    beta_start: 0.0001
+    beta_end: 0.02
+    time_num: 1000
+    model_mean_type: eps
+    model_var_type: fixedsmall
+    loss_separate: true
+    loss_iou: false
+    iou_type: obb
+    train_stats_file: null
+  inference_guidance:
+    enabled: true
+    guide_sizes: false
+    interval: 1
+    start_ratio: 0.9
+    grad_clip: 10.1
+    clip_to_bounds: true
+    constraints:
+      collision:
+        enabled: true
+        strength: 20.0
+        weight: 30
+        iou_threshold: 0.02
+        penetration_threshold: 0.0
+        iou_weight: 0.5
+        penetration_weight: 2.0
+        metric: aabb
+        ignore_labels:
+        - scene
+        - floor
+      room_outer:
+        weight: 10
+        rotated: true
+      walkable:
+        enabled: true
+        weight: 1
+        components:
+          center_penalty:
+            enabled: false
+            weight: 1
+            sigma: 0.5
+          pathfinding:
+            enabled: false
+            weight: 0.1
+            robot_width_real: 0.5
+            robot_hight_real: 1.5
+          edge_gaussian:
+            enabled: true
+            weight: 2
+            robot_width_real: 0.35
+            robot_hight_real: 1.5
+            sigma_scale: 0.5
+            heatmap_weight: 0.8
+            repulsion_weight: 0.2
+      relational:
+        enabled: true
+        weight: 100
+        start_ratio: 0.5
+        interval: 1
+        margin: 0.05
+        close_threshold: 0.45
+        stand_threshold: 0.04
+shape_branch:
+  model: sdfusion-txt2shape_mp
+  sampling: greedy
+  ckpt: null
+  df_cfg: ../config/sdfusion-txt2shape_mp.yaml
+  ddim_steps: 100
+  ddim_eta: 0.0
+  uc_scale: 3.0
+  vq_model: vqvae
+  vq_cfg: ../config/vqvae_snet.yaml
+  vq_dset: None
+  vq_cat: None
+  vq_ckpt: ./checkpoint/vqvae_threedfront_best.pth
+misc:
+  debug: 0
+  seed: 111
+  backend: gloo
+  local_rank: 0
+training:
+  lr: 1.0e-05
+  lr_policy: lambda
+  lr_decay_iters: 50
+  lambda_L1: 10.0

current_works_v2/final_r6_cr30rot10_eg2_rel100/vis_2050.zip

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