logs/train.log

2026-09-29 17:11:44,079 [INFO] open_vision_banana.training.trainer: ======================================================================
2026-09-29 17:11:44,080 [INFO] open_vision_banana.training.trainer: Vision Banana — Unified Training
2026-09-29 17:11:44,080 [INFO] open_vision_banana.training.trainer: ======================================================================
2026-09-29 17:11:44,080 [INFO] open_vision_banana.training.trainer: Model: sana-1600m | Device: cuda | dtype: bfloat16
2026-09-29 17:11:44,080 [INFO] open_vision_banana.training.trainer: LoRA: rank=32, alpha=64, rsLoRA=True
2026-09-29 17:11:44,080 [INFO] open_vision_banana.training.trainer: Steps: 30000 | LR: 5e-05 | eff_batch: 32
2026-09-29 17:11:44,080 [INFO] open_vision_banana.training.trainer: Output: /data/runs/ovb/ctrl_depth_normal
2026-09-29 17:11:44,081 [INFO] open_vision_banana.training.model_backend: Loading model 'sana-1600m' (family=sana, backbone=transformer) on cuda @ torch.bfloat16
2026-09-29 17:11:44,081 [INFO] vb_model_registry: Loading Efficient-Large-Model/Sana_1600M_512px_diffusers (sana) @ torch.bfloat16 ...
2026-09-29 17:11:52,092 [INFO] vb_model_registry: Using local model snapshot: /data/models/Sana_1600M_512px_diffusers
2026-09-29 17:12:17,672 [INFO] vb_model_registry: Backbone (transformer) params: 1604.5M | Text encoders: 1 | added_cond: False
2026-09-29 17:12:17,672 [INFO] open_vision_banana.training.model_backend: Applying LoRA (rank=32, alpha=64, rsLoRA=True)...
2026-09-29 17:12:24,108 [INFO] open_vision_banana.training.model_backend: Trainable params: 14,193,664 / 1,618,656,416 (0.88%)
2026-09-29 17:12:27,016 [INFO] open_vision_banana.training.callbacks: W&B initialized: open-vision-banana/ctrl_depth_normal
2026-09-29 17:12:28,001 [INFO] open_vision_banana.training.trainer:   train/depth: 5800 samples
2026-09-29 17:12:28,008 [INFO] open_vision_banana.training.trainer:   train/normal: 4724 samples
2026-09-29 17:12:28,008 [INFO] open_vision_banana.training.trainer:   Total train: 10524 | Val: 595
2026-09-29 17:12:28,011 [INFO] open_vision_banana.training.optimization: LR scheduler: cosine, total=30000, warmup=1500, min_ratio=0.01
2026-09-29 17:12:28,011 [INFO] open_vision_banana.training.trainer: Setup complete. Starting training...
2026-09-29 17:17:08,222 [INFO] open_vision_banana.training.callbacks:   [step 50/30000] depth_edge_aux_loss=0.0000 flow_loss=1.6179 loss=1.7209 normal_angular_aux_loss=0.3433 lr=1.67e-06 epoch=0 depth=5.3637 normal=3.8627
2026-09-29 17:21:36,079 [INFO] open_vision_banana.training.callbacks:   [step 100/30000] depth_edge_aux_loss=0.0000 flow_loss=1.5800 loss=1.6820 normal_angular_aux_loss=0.3403 lr=3.33e-06 epoch=0 depth=5.3670 normal=3.9285
2026-09-29 17:26:00,010 [INFO] open_vision_banana.training.callbacks:   [step 150/30000] depth_edge_aux_loss=0.0000 flow_loss=1.5039 loss=1.6043 normal_angular_aux_loss=0.3347 lr=5.00e-06 epoch=0 depth=5.0952 normal=3.7837
2026-09-29 17:30:26,397 [INFO] open_vision_banana.training.callbacks:   [step 200/30000] depth_edge_aux_loss=0.0000 flow_loss=1.3679 loss=1.4651 normal_angular_aux_loss=0.3238 lr=6.67e-06 epoch=0 depth=4.7266 normal=3.4621
2026-09-29 17:35:06,463 [INFO] open_vision_banana.training.callbacks:   [step 250/30000] depth_edge_aux_loss=0.0000 flow_loss=1.1314 loss=1.2159 normal_angular_aux_loss=0.2819 lr=8.33e-06 epoch=0 depth=3.5908 normal=2.8835
2026-09-29 17:39:33,191 [INFO] open_vision_banana.training.callbacks:   [step 300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.9711 loss=1.0464 normal_angular_aux_loss=0.2509 lr=1.00e-05 epoch=0 depth=3.0219 normal=2.5100
2026-09-29 17:44:03,471 [INFO] open_vision_banana.training.callbacks:   [step 350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.8511 loss=0.9190 normal_angular_aux_loss=0.2265 lr=1.17e-05 epoch=0 depth=2.6315 normal=2.3496
2026-09-29 17:48:31,922 [INFO] open_vision_banana.training.callbacks:   [step 400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.7910 loss=0.8455 normal_angular_aux_loss=0.1816 lr=1.33e-05 epoch=0 depth=2.3762 normal=2.0630
2026-09-29 17:52:56,929 [INFO] open_vision_banana.training.callbacks:   [step 450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.7514 loss=0.7909 normal_angular_aux_loss=0.1316 lr=1.50e-05 epoch=0 depth=2.1684 normal=1.8856
2026-09-29 17:57:25,789 [INFO] open_vision_banana.training.callbacks:   [step 500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.7114 loss=0.7497 normal_angular_aux_loss=0.1276 lr=1.67e-05 epoch=0 depth=2.0954 normal=1.8387
2026-09-29 17:57:55,965 [INFO] open_vision_banana.training.callbacks:   [val] step=500 val_loss=0.7375
2026-09-29 17:58:08,851 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 500 → /data/runs/ovb/ctrl_depth_normal/checkpoint-500_best
2026-09-29 17:58:08,852 [INFO] open_vision_banana.training.callbacks:   New best val_loss=0.7375
2026-09-29 18:02:43,239 [INFO] open_vision_banana.training.callbacks:   [step 550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.6633 loss=0.7043 normal_angular_aux_loss=0.1367 lr=1.83e-05 epoch=0 depth=1.9973 normal=1.7787
2026-09-29 18:07:12,642 [INFO] open_vision_banana.training.callbacks:   [step 600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.6513 loss=0.6913 normal_angular_aux_loss=0.1331 lr=2.00e-05 epoch=0 depth=1.9165 normal=1.7528
2026-09-29 18:11:39,675 [INFO] open_vision_banana.training.callbacks:   [step 650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.6317 loss=0.6676 normal_angular_aux_loss=0.1197 lr=2.17e-05 epoch=0 depth=1.8837 normal=1.7011
2026-09-29 18:16:21,044 [INFO] open_vision_banana.training.callbacks:   [step 700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.6190 loss=0.6533 normal_angular_aux_loss=0.1145 lr=2.33e-05 epoch=1 depth=1.7890 normal=1.6616
2026-09-29 18:20:49,804 [INFO] open_vision_banana.training.callbacks:   [step 750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.5984 loss=0.6296 normal_angular_aux_loss=0.1042 lr=2.50e-05 epoch=1 depth=1.7718 normal=1.6132
2026-09-29 18:25:21,294 [INFO] open_vision_banana.training.callbacks:   [step 800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.5893 loss=0.6217 normal_angular_aux_loss=0.1080 lr=2.67e-05 epoch=1 depth=1.6744 normal=1.6245
2026-09-29 18:29:54,836 [INFO] open_vision_banana.training.callbacks:   [step 850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.5749 loss=0.6057 normal_angular_aux_loss=0.1027 lr=2.83e-05 epoch=1 depth=1.7193 normal=1.5669
2026-09-29 18:34:24,064 [INFO] open_vision_banana.training.callbacks:   [step 900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.5667 loss=0.5980 normal_angular_aux_loss=0.1042 lr=3.00e-05 epoch=1 depth=1.6934 normal=1.5598
2026-09-29 18:39:00,509 [INFO] open_vision_banana.training.callbacks:   [step 950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.5645 loss=0.5925 normal_angular_aux_loss=0.0933 lr=3.17e-05 epoch=1 depth=1.6070 normal=1.5226
2026-09-29 18:43:38,253 [INFO] open_vision_banana.training.callbacks:   [step 1000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.5428 loss=0.5710 normal_angular_aux_loss=0.0941 lr=3.33e-05 epoch=2 depth=1.5550 normal=1.5047
2026-09-29 18:43:49,408 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 1000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-1000
2026-09-29 18:44:14,912 [INFO] open_vision_banana.training.callbacks:   [val] step=1000 val_loss=0.5279
2026-09-29 18:44:23,812 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 1000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-1000_best
2026-09-29 18:44:23,813 [INFO] open_vision_banana.training.callbacks:   New best val_loss=0.5279
2026-09-29 18:48:58,135 [INFO] open_vision_banana.training.callbacks:   [step 1050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.5390 loss=0.5639 normal_angular_aux_loss=0.0830 lr=3.50e-05 epoch=2 depth=1.5479 normal=1.4482
2026-09-29 18:53:36,218 [INFO] open_vision_banana.training.callbacks:   [step 1100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.5215 loss=0.5508 normal_angular_aux_loss=0.0976 lr=3.67e-05 epoch=2 depth=1.4719 normal=1.4760
2026-09-29 18:58:19,949 [INFO] open_vision_banana.training.callbacks:   [step 1150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.5252 loss=0.5518 normal_angular_aux_loss=0.0886 lr=3.83e-05 epoch=2 depth=1.4634 normal=1.4270
2026-09-29 19:02:50,005 [INFO] open_vision_banana.training.callbacks:   [step 1200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.5319 loss=0.5579 normal_angular_aux_loss=0.0868 lr=4.00e-05 epoch=2 depth=1.4751 normal=1.4172
2026-09-29 19:07:20,304 [INFO] open_vision_banana.training.callbacks:   [step 1250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.5078 loss=0.5333 normal_angular_aux_loss=0.0851 lr=4.17e-05 epoch=2 depth=1.4205 normal=1.4154
2026-09-29 19:11:48,470 [INFO] open_vision_banana.training.callbacks:   [step 1300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.5159 loss=0.5402 normal_angular_aux_loss=0.0808 lr=4.33e-05 epoch=2 depth=1.4303 normal=1.3929
2026-09-29 19:16:16,689 [INFO] open_vision_banana.training.callbacks:   [step 1350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4887 loss=0.5124 normal_angular_aux_loss=0.0791 lr=4.50e-05 epoch=3 depth=1.3520 normal=1.3493
2026-09-29 19:20:46,696 [INFO] open_vision_banana.training.callbacks:   [step 1400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4798 loss=0.5031 normal_angular_aux_loss=0.0777 lr=4.67e-05 epoch=3 depth=1.3512 normal=1.3576
2026-09-29 19:25:21,107 [INFO] open_vision_banana.training.callbacks:   [step 1450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4748 loss=0.5007 normal_angular_aux_loss=0.0863 lr=4.83e-05 epoch=3 depth=1.3404 normal=1.3420
2026-09-29 19:29:56,515 [INFO] open_vision_banana.training.callbacks:   [step 1500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4768 loss=0.4964 normal_angular_aux_loss=0.0653 lr=5.00e-05 epoch=3 depth=1.2824 normal=1.2799
2026-09-29 19:30:22,539 [INFO] open_vision_banana.training.callbacks:   [val] step=1500 val_loss=0.4980
2026-09-29 19:30:29,952 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 1500 → /data/runs/ovb/ctrl_depth_normal/checkpoint-1500_best
2026-09-29 19:30:29,954 [INFO] open_vision_banana.training.callbacks:   New best val_loss=0.4980
2026-09-29 19:35:01,296 [INFO] open_vision_banana.training.callbacks:   [step 1550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4626 loss=0.4840 normal_angular_aux_loss=0.0714 lr=5.00e-05 epoch=3 depth=1.2744 normal=1.2819
2026-09-29 19:39:40,808 [INFO] open_vision_banana.training.callbacks:   [step 1600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4637 loss=0.4835 normal_angular_aux_loss=0.0661 lr=5.00e-05 epoch=3 depth=1.2549 normal=1.2470
2026-09-29 19:44:19,218 [INFO] open_vision_banana.training.callbacks:   [step 1650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4474 loss=0.4678 normal_angular_aux_loss=0.0677 lr=5.00e-05 epoch=4 depth=1.2218 normal=1.2518
2026-09-29 19:48:49,794 [INFO] open_vision_banana.training.callbacks:   [step 1700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4352 loss=0.4549 normal_angular_aux_loss=0.0655 lr=5.00e-05 epoch=4 depth=1.2056 normal=1.2400
2026-09-29 19:53:23,020 [INFO] open_vision_banana.training.callbacks:   [step 1750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4431 loss=0.4633 normal_angular_aux_loss=0.0676 lr=5.00e-05 epoch=4 depth=1.1725 normal=1.2401
2026-09-29 19:57:55,068 [INFO] open_vision_banana.training.callbacks:   [step 1800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4551 loss=0.4739 normal_angular_aux_loss=0.0628 lr=5.00e-05 epoch=4 depth=1.1827 normal=1.2187
2026-09-29 20:02:25,053 [INFO] open_vision_banana.training.callbacks:   [step 1850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4381 loss=0.4565 normal_angular_aux_loss=0.0611 lr=5.00e-05 epoch=4 depth=1.1701 normal=1.1948
2026-09-29 20:06:59,731 [INFO] open_vision_banana.training.callbacks:   [step 1900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4283 loss=0.4454 normal_angular_aux_loss=0.0569 lr=5.00e-05 epoch=4 depth=1.1454 normal=1.1794
2026-09-29 20:11:29,608 [INFO] open_vision_banana.training.callbacks:   [step 1950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4243 loss=0.4430 normal_angular_aux_loss=0.0624 lr=5.00e-05 epoch=4 depth=1.1504 normal=1.1654
2026-09-29 20:16:07,761 [INFO] open_vision_banana.training.callbacks:   [step 2000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4279 loss=0.4455 normal_angular_aux_loss=0.0586 lr=5.00e-05 epoch=5 depth=1.1400 normal=1.1725
2026-09-29 20:16:16,487 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 2000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-2000
2026-09-29 20:16:41,236 [INFO] open_vision_banana.training.callbacks:   [val] step=2000 val_loss=0.4083
2026-09-29 20:16:50,025 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 2000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-2000_best
2026-09-29 20:16:50,026 [INFO] open_vision_banana.training.callbacks:   New best val_loss=0.4083
2026-09-29 20:21:30,400 [INFO] open_vision_banana.training.callbacks:   [step 2050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4124 loss=0.4309 normal_angular_aux_loss=0.0616 lr=5.00e-05 epoch=5 depth=1.0736 normal=1.1488
2026-09-29 20:26:11,416 [INFO] open_vision_banana.training.callbacks:   [step 2100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4219 loss=0.4393 normal_angular_aux_loss=0.0580 lr=4.99e-05 epoch=5 depth=1.0915 normal=1.1635
2026-09-29 20:30:44,270 [INFO] open_vision_banana.training.callbacks:   [step 2150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4047 loss=0.4202 normal_angular_aux_loss=0.0517 lr=4.99e-05 epoch=5 depth=1.1201 normal=1.1232
2026-09-29 20:35:22,190 [INFO] open_vision_banana.training.callbacks:   [step 2200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4160 loss=0.4331 normal_angular_aux_loss=0.0572 lr=4.99e-05 epoch=5 depth=1.1041 normal=1.1566
2026-09-29 20:39:55,097 [INFO] open_vision_banana.training.callbacks:   [step 2250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4082 loss=0.4249 normal_angular_aux_loss=0.0556 lr=4.99e-05 epoch=5 depth=1.0590 normal=1.1141
2026-09-29 20:44:28,171 [INFO] open_vision_banana.training.callbacks:   [step 2300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3975 loss=0.4138 normal_angular_aux_loss=0.0544 lr=4.99e-05 epoch=5 depth=1.0646 normal=1.1039
2026-09-29 20:49:00,459 [INFO] open_vision_banana.training.callbacks:   [step 2350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3856 loss=0.4013 normal_angular_aux_loss=0.0525 lr=4.99e-05 epoch=6 depth=1.0160 normal=1.0873
2026-09-29 20:53:33,872 [INFO] open_vision_banana.training.callbacks:   [step 2400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3857 loss=0.4022 normal_angular_aux_loss=0.0548 lr=4.99e-05 epoch=6 depth=1.0025 normal=1.0923
2026-09-29 20:58:06,235 [INFO] open_vision_banana.training.callbacks:   [step 2450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3966 loss=0.4139 normal_angular_aux_loss=0.0577 lr=4.99e-05 epoch=6 depth=1.0226 normal=1.1171
2026-09-29 21:02:46,499 [INFO] open_vision_banana.training.callbacks:   [step 2500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4068 loss=0.4228 normal_angular_aux_loss=0.0534 lr=4.98e-05 epoch=6 depth=1.0199 normal=1.0937
2026-09-29 21:03:12,370 [INFO] open_vision_banana.training.callbacks:   [val] step=2500 val_loss=0.3918
2026-09-29 21:03:20,619 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 2500 → /data/runs/ovb/ctrl_depth_normal/checkpoint-2500_best
2026-09-29 21:03:20,620 [INFO] open_vision_banana.training.callbacks:   New best val_loss=0.3918
2026-09-29 21:08:02,411 [INFO] open_vision_banana.training.callbacks:   [step 2550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3930 loss=0.4091 normal_angular_aux_loss=0.0535 lr=4.98e-05 epoch=6 depth=1.0486 normal=1.0818
2026-09-29 21:12:37,115 [INFO] open_vision_banana.training.callbacks:   [step 2600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3929 loss=0.4092 normal_angular_aux_loss=0.0544 lr=4.98e-05 epoch=6 depth=1.0021 normal=1.0910
2026-09-29 21:17:10,895 [INFO] open_vision_banana.training.callbacks:   [step 2650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3805 loss=0.3962 normal_angular_aux_loss=0.0524 lr=4.98e-05 epoch=7 depth=1.0117 normal=1.0652
2026-09-29 21:21:44,517 [INFO] open_vision_banana.training.callbacks:   [step 2700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3782 loss=0.3931 normal_angular_aux_loss=0.0495 lr=4.98e-05 epoch=7 depth=0.9860 normal=1.0539
2026-09-29 21:26:21,240 [INFO] open_vision_banana.training.callbacks:   [step 2750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3924 loss=0.4070 normal_angular_aux_loss=0.0487 lr=4.98e-05 epoch=7 depth=0.9840 normal=1.0716
2026-09-29 21:30:54,668 [INFO] open_vision_banana.training.callbacks:   [step 2800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3775 loss=0.3931 normal_angular_aux_loss=0.0522 lr=4.97e-05 epoch=7 depth=0.9913 normal=1.0587
2026-09-29 21:35:33,132 [INFO] open_vision_banana.training.callbacks:   [step 2850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3694 loss=0.3831 normal_angular_aux_loss=0.0458 lr=4.97e-05 epoch=7 depth=0.9683 normal=1.0294
2026-09-29 21:40:08,093 [INFO] open_vision_banana.training.callbacks:   [step 2900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3841 loss=0.3997 normal_angular_aux_loss=0.0520 lr=4.97e-05 epoch=7 depth=0.9480 normal=1.0622
2026-09-29 21:44:47,013 [INFO] open_vision_banana.training.callbacks:   [step 2950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3657 loss=0.3802 normal_angular_aux_loss=0.0483 lr=4.97e-05 epoch=7 depth=0.9539 normal=1.0426
2026-09-29 21:49:38,514 [INFO] open_vision_banana.training.callbacks:   [step 3000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3706 loss=0.3848 normal_angular_aux_loss=0.0471 lr=4.97e-05 epoch=8 depth=0.9418 normal=1.0122
2026-09-29 21:49:46,578 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 3000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-3000
2026-09-29 21:50:13,617 [INFO] open_vision_banana.training.callbacks:   [val] step=3000 val_loss=0.3230
2026-09-29 21:50:22,648 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 3000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-3000_best
2026-09-29 21:50:22,649 [INFO] open_vision_banana.training.callbacks:   New best val_loss=0.3230
2026-09-29 21:54:59,976 [INFO] open_vision_banana.training.callbacks:   [step 3050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3630 loss=0.3766 normal_angular_aux_loss=0.0452 lr=4.96e-05 epoch=8 depth=0.9456 normal=1.0171
2026-09-29 21:59:35,509 [INFO] open_vision_banana.training.callbacks:   [step 3100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3648 loss=0.3790 normal_angular_aux_loss=0.0473 lr=4.96e-05 epoch=8 depth=0.9384 normal=1.0319
2026-09-29 22:04:13,470 [INFO] open_vision_banana.training.callbacks:   [step 3150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3653 loss=0.3798 normal_angular_aux_loss=0.0482 lr=4.96e-05 epoch=8 depth=0.9592 normal=1.0151
2026-09-29 22:08:46,681 [INFO] open_vision_banana.training.callbacks:   [step 3200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3676 loss=0.3820 normal_angular_aux_loss=0.0479 lr=4.96e-05 epoch=8 depth=0.9188 normal=1.0416
2026-09-29 22:13:23,005 [INFO] open_vision_banana.training.callbacks:   [step 3250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3613 loss=0.3751 normal_angular_aux_loss=0.0460 lr=4.95e-05 epoch=8 depth=0.9527 normal=1.0164
2026-09-29 22:18:06,732 [INFO] open_vision_banana.training.callbacks:   [step 3300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3714 loss=0.3850 normal_angular_aux_loss=0.0452 lr=4.95e-05 epoch=9 depth=0.9148 normal=0.9974
2026-09-29 22:22:40,194 [INFO] open_vision_banana.training.callbacks:   [step 3350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3441 loss=0.3578 normal_angular_aux_loss=0.0457 lr=4.95e-05 epoch=9 depth=0.8959 normal=0.9850
2026-09-29 22:27:16,941 [INFO] open_vision_banana.training.callbacks:   [step 3400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3577 loss=0.3711 normal_angular_aux_loss=0.0444 lr=4.95e-05 epoch=9 depth=0.9073 normal=0.9933
2026-09-29 22:32:03,105 [INFO] open_vision_banana.training.callbacks:   [step 3450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3614 loss=0.3748 normal_angular_aux_loss=0.0447 lr=4.94e-05 epoch=9 depth=0.9016 normal=0.9931
2026-09-29 22:36:44,028 [INFO] open_vision_banana.training.callbacks:   [step 3500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3532 loss=0.3674 normal_angular_aux_loss=0.0475 lr=4.94e-05 epoch=9 depth=0.8927 normal=1.0053
2026-09-29 22:37:10,947 [INFO] open_vision_banana.training.callbacks:   [val] step=3500 val_loss=0.3397
2026-09-29 22:41:49,484 [INFO] open_vision_banana.training.callbacks:   [step 3550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3618 loss=0.3755 normal_angular_aux_loss=0.0457 lr=4.94e-05 epoch=9 depth=0.8882 normal=0.9988
2026-09-29 22:46:26,153 [INFO] open_vision_banana.training.callbacks:   [step 3600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3508 loss=0.3642 normal_angular_aux_loss=0.0444 lr=4.93e-05 epoch=9 depth=0.8765 normal=0.9710
2026-09-29 22:51:01,929 [INFO] open_vision_banana.training.callbacks:   [step 3650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3431 loss=0.3557 normal_angular_aux_loss=0.0421 lr=4.93e-05 epoch=10 depth=0.8854 normal=0.9806
2026-09-29 22:55:36,635 [INFO] open_vision_banana.training.callbacks:   [step 3700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3582 loss=0.3704 normal_angular_aux_loss=0.0407 lr=4.93e-05 epoch=10 depth=0.8973 normal=0.9662
2026-09-29 23:00:12,935 [INFO] open_vision_banana.training.callbacks:   [step 3750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3411 loss=0.3548 normal_angular_aux_loss=0.0457 lr=4.92e-05 epoch=10 depth=0.8522 normal=0.9668
2026-09-29 23:04:49,504 [INFO] open_vision_banana.training.callbacks:   [step 3800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3450 loss=0.3587 normal_angular_aux_loss=0.0457 lr=4.92e-05 epoch=10 depth=0.8656 normal=0.9599
2026-09-29 23:09:26,246 [INFO] open_vision_banana.training.callbacks:   [step 3850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3457 loss=0.3596 normal_angular_aux_loss=0.0464 lr=4.92e-05 epoch=10 depth=0.8651 normal=0.9973
2026-09-29 23:14:05,216 [INFO] open_vision_banana.training.callbacks:   [step 3900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3335 loss=0.3459 normal_angular_aux_loss=0.0412 lr=4.91e-05 epoch=10 depth=0.8538 normal=0.9455
2026-09-29 23:18:44,983 [INFO] open_vision_banana.training.callbacks:   [step 3950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3538 loss=0.3671 normal_angular_aux_loss=0.0443 lr=4.91e-05 epoch=11 depth=0.8833 normal=0.9603
2026-09-29 23:23:25,955 [INFO] open_vision_banana.training.callbacks:   [step 4000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3261 loss=0.3400 normal_angular_aux_loss=0.0463 lr=4.91e-05 epoch=11 depth=0.8403 normal=0.9502
2026-09-29 23:23:34,141 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 4000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-4000
2026-09-29 23:24:00,968 [INFO] open_vision_banana.training.callbacks:   [val] step=4000 val_loss=0.3439
2026-09-29 23:28:38,482 [INFO] open_vision_banana.training.callbacks:   [step 4050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3276 loss=0.3405 normal_angular_aux_loss=0.0432 lr=4.90e-05 epoch=11 depth=0.8526 normal=0.9295
2026-09-29 23:33:18,032 [INFO] open_vision_banana.training.callbacks:   [step 4100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3420 loss=0.3547 normal_angular_aux_loss=0.0424 lr=4.90e-05 epoch=11 depth=0.8875 normal=0.9401
2026-09-29 23:37:54,888 [INFO] open_vision_banana.training.callbacks:   [step 4150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3465 loss=0.3604 normal_angular_aux_loss=0.0461 lr=4.90e-05 epoch=11 depth=0.8394 normal=0.9406
2026-09-29 23:42:37,524 [INFO] open_vision_banana.training.callbacks:   [step 4200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3501 loss=0.3627 normal_angular_aux_loss=0.0420 lr=4.89e-05 epoch=11 depth=0.8548 normal=0.9505
2026-09-29 23:47:22,026 [INFO] open_vision_banana.training.callbacks:   [step 4250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3326 loss=0.3446 normal_angular_aux_loss=0.0401 lr=4.89e-05 epoch=11 depth=0.8449 normal=0.9320
2026-09-29 23:52:03,962 [INFO] open_vision_banana.training.callbacks:   [step 4300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3469 loss=0.3587 normal_angular_aux_loss=0.0392 lr=4.88e-05 epoch=12 depth=0.8421 normal=0.9326
2026-09-29 23:56:51,400 [INFO] open_vision_banana.training.callbacks:   [step 4350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3332 loss=0.3460 normal_angular_aux_loss=0.0425 lr=4.88e-05 epoch=12 depth=0.8230 normal=0.9422
2026-09-30 00:01:33,308 [INFO] open_vision_banana.training.callbacks:   [step 4400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3210 loss=0.3335 normal_angular_aux_loss=0.0419 lr=4.87e-05 epoch=12 depth=0.8019 normal=0.9287
2026-09-30 00:06:13,817 [INFO] open_vision_banana.training.callbacks:   [step 4450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3280 loss=0.3405 normal_angular_aux_loss=0.0415 lr=4.87e-05 epoch=12 depth=0.8258 normal=0.9116
2026-09-30 00:10:59,843 [INFO] open_vision_banana.training.callbacks:   [step 4500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3208 loss=0.3326 normal_angular_aux_loss=0.0391 lr=4.87e-05 epoch=12 depth=0.8331 normal=0.9221
2026-09-30 00:11:24,913 [INFO] open_vision_banana.training.callbacks:   [val] step=4500 val_loss=0.3046
2026-09-30 00:11:32,890 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 4500 → /data/runs/ovb/ctrl_depth_normal/checkpoint-4500_best
2026-09-30 00:11:32,891 [INFO] open_vision_banana.training.callbacks:   New best val_loss=0.3046
2026-09-30 00:16:16,571 [INFO] open_vision_banana.training.callbacks:   [step 4550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3328 loss=0.3453 normal_angular_aux_loss=0.0415 lr=4.86e-05 epoch=12 depth=0.8251 normal=0.9125
2026-09-30 00:20:55,275 [INFO] open_vision_banana.training.callbacks:   [step 4600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3232 loss=0.3359 normal_angular_aux_loss=0.0425 lr=4.86e-05 epoch=12 depth=0.8079 normal=0.9125
2026-09-30 00:25:37,207 [INFO] open_vision_banana.training.callbacks:   [step 4650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3302 loss=0.3427 normal_angular_aux_loss=0.0417 lr=4.85e-05 epoch=13 depth=0.8310 normal=0.8974
2026-09-30 00:30:23,397 [INFO] open_vision_banana.training.callbacks:   [step 4700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3278 loss=0.3410 normal_angular_aux_loss=0.0439 lr=4.85e-05 epoch=13 depth=0.7958 normal=0.9113
2026-09-30 00:35:01,049 [INFO] open_vision_banana.training.callbacks:   [step 4750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3186 loss=0.3321 normal_angular_aux_loss=0.0449 lr=4.84e-05 epoch=13 depth=0.7898 normal=0.9131
2026-09-30 00:39:40,248 [INFO] open_vision_banana.training.callbacks:   [step 4800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3274 loss=0.3394 normal_angular_aux_loss=0.0401 lr=4.84e-05 epoch=13 depth=0.8173 normal=0.9104
2026-09-30 00:44:19,553 [INFO] open_vision_banana.training.callbacks:   [step 4850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3256 loss=0.3381 normal_angular_aux_loss=0.0417 lr=4.83e-05 epoch=13 depth=0.7958 normal=0.9155
2026-09-30 00:48:58,089 [INFO] open_vision_banana.training.callbacks:   [step 4900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3265 loss=0.3373 normal_angular_aux_loss=0.0358 lr=4.83e-05 epoch=13 depth=0.8039 normal=0.8897
2026-09-30 00:53:39,529 [INFO] open_vision_banana.training.callbacks:   [step 4950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3197 loss=0.3316 normal_angular_aux_loss=0.0399 lr=4.82e-05 epoch=14 depth=0.7809 normal=0.8852
2026-09-30 00:58:14,634 [INFO] open_vision_banana.training.callbacks:   [step 5000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3187 loss=0.3315 normal_angular_aux_loss=0.0427 lr=4.82e-05 epoch=14 depth=0.8029 normal=0.9015
2026-09-30 00:58:22,860 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 5000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-5000
2026-09-30 00:58:49,882 [INFO] open_vision_banana.training.callbacks:   [val] step=5000 val_loss=0.3423
2026-09-30 01:03:28,162 [INFO] open_vision_banana.training.callbacks:   [step 5050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3243 loss=0.3362 normal_angular_aux_loss=0.0396 lr=4.81e-05 epoch=14 depth=0.7843 normal=0.8831
2026-09-30 01:08:04,906 [INFO] open_vision_banana.training.callbacks:   [step 5100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3183 loss=0.3303 normal_angular_aux_loss=0.0400 lr=4.81e-05 epoch=14 depth=0.7885 normal=0.8865
2026-09-30 01:12:38,164 [INFO] open_vision_banana.training.callbacks:   [step 5150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3106 loss=0.3230 normal_angular_aux_loss=0.0411 lr=4.80e-05 epoch=14 depth=0.7823 normal=0.9030
2026-09-30 01:17:13,260 [INFO] open_vision_banana.training.callbacks:   [step 5200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3181 loss=0.3296 normal_angular_aux_loss=0.0385 lr=4.80e-05 epoch=14 depth=0.7797 normal=0.8958
2026-09-30 01:21:48,625 [INFO] open_vision_banana.training.callbacks:   [step 5250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3139 loss=0.3251 normal_angular_aux_loss=0.0371 lr=4.79e-05 epoch=14 depth=0.7713 normal=0.8747
2026-09-30 01:26:26,998 [INFO] open_vision_banana.training.callbacks:   [step 5300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3167 loss=0.3276 normal_angular_aux_loss=0.0364 lr=4.79e-05 epoch=15 depth=0.7671 normal=0.8667
2026-09-30 01:31:04,861 [INFO] open_vision_banana.training.callbacks:   [step 5350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3115 loss=0.3234 normal_angular_aux_loss=0.0399 lr=4.78e-05 epoch=15 depth=0.7613 normal=0.8760
2026-09-30 01:35:39,340 [INFO] open_vision_banana.training.callbacks:   [step 5400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3109 loss=0.3232 normal_angular_aux_loss=0.0410 lr=4.77e-05 epoch=15 depth=0.7761 normal=0.8717
2026-09-30 01:40:20,660 [INFO] open_vision_banana.training.callbacks:   [step 5450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3120 loss=0.3234 normal_angular_aux_loss=0.0382 lr=4.77e-05 epoch=15 depth=0.7583 normal=0.8565
2026-09-30 01:44:53,449 [INFO] open_vision_banana.training.callbacks:   [step 5500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3173 loss=0.3300 normal_angular_aux_loss=0.0424 lr=4.76e-05 epoch=15 depth=0.7689 normal=0.8889
2026-09-30 01:45:19,084 [INFO] open_vision_banana.training.callbacks:   [val] step=5500 val_loss=0.3320
2026-09-30 01:49:55,884 [INFO] open_vision_banana.training.callbacks:   [step 5550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3209 loss=0.3319 normal_angular_aux_loss=0.0368 lr=4.76e-05 epoch=15 depth=0.7808 normal=0.8835
2026-09-30 01:54:30,722 [INFO] open_vision_banana.training.callbacks:   [step 5600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3138 loss=0.3249 normal_angular_aux_loss=0.0370 lr=4.75e-05 epoch=16 depth=0.7581 normal=0.8574
2026-09-30 01:59:06,786 [INFO] open_vision_banana.training.callbacks:   [step 5650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3094 loss=0.3202 normal_angular_aux_loss=0.0360 lr=4.75e-05 epoch=16 depth=0.7400 normal=0.8602
2026-09-30 02:03:41,598 [INFO] open_vision_banana.training.callbacks:   [step 5700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3143 loss=0.3262 normal_angular_aux_loss=0.0397 lr=4.74e-05 epoch=16 depth=0.7455 normal=0.8678
2026-09-30 02:08:23,018 [INFO] open_vision_banana.training.callbacks:   [step 5750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2986 loss=0.3114 normal_angular_aux_loss=0.0427 lr=4.73e-05 epoch=16 depth=0.7702 normal=0.8583
2026-09-30 02:12:56,339 [INFO] open_vision_banana.training.callbacks:   [step 5800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2981 loss=0.3096 normal_angular_aux_loss=0.0384 lr=4.73e-05 epoch=16 depth=0.7697 normal=0.8549
2026-09-30 02:17:31,497 [INFO] open_vision_banana.training.callbacks:   [step 5850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3069 loss=0.3182 normal_angular_aux_loss=0.0377 lr=4.72e-05 epoch=16 depth=0.7661 normal=0.8576
2026-09-30 02:22:05,393 [INFO] open_vision_banana.training.callbacks:   [step 5900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3145 loss=0.3266 normal_angular_aux_loss=0.0403 lr=4.71e-05 epoch=16 depth=0.7533 normal=0.8693
2026-09-30 02:26:47,209 [INFO] open_vision_banana.training.callbacks:   [step 5950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3148 loss=0.3263 normal_angular_aux_loss=0.0382 lr=4.71e-05 epoch=17 depth=0.7628 normal=0.8470
2026-09-30 02:31:22,770 [INFO] open_vision_banana.training.callbacks:   [step 6000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3102 loss=0.3216 normal_angular_aux_loss=0.0381 lr=4.70e-05 epoch=17 depth=0.7498 normal=0.8511
2026-09-30 02:31:30,672 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 6000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-6000
2026-09-30 02:31:57,758 [INFO] open_vision_banana.training.callbacks:   [val] step=6000 val_loss=0.3147
2026-09-30 02:36:34,498 [INFO] open_vision_banana.training.callbacks:   [step 6050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2977 loss=0.3093 normal_angular_aux_loss=0.0385 lr=4.70e-05 epoch=17 depth=0.7486 normal=0.8660
2026-09-30 02:41:15,361 [INFO] open_vision_banana.training.callbacks:   [step 6100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3128 loss=0.3233 normal_angular_aux_loss=0.0349 lr=4.69e-05 epoch=17 depth=0.7399 normal=0.8582
2026-09-30 02:45:50,915 [INFO] open_vision_banana.training.callbacks:   [step 6150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3020 loss=0.3138 normal_angular_aux_loss=0.0393 lr=4.68e-05 epoch=17 depth=0.7697 normal=0.8563
2026-09-30 02:50:31,799 [INFO] open_vision_banana.training.callbacks:   [step 6200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3000 loss=0.3107 normal_angular_aux_loss=0.0357 lr=4.68e-05 epoch=17 depth=0.7509 normal=0.8315
2026-09-30 02:55:07,143 [INFO] open_vision_banana.training.callbacks:   [step 6250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2994 loss=0.3107 normal_angular_aux_loss=0.0378 lr=4.67e-05 epoch=18 depth=0.7392 normal=0.8524
2026-09-30 02:59:38,416 [INFO] open_vision_banana.training.callbacks:   [step 6300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2884 loss=0.2997 normal_angular_aux_loss=0.0375 lr=4.66e-05 epoch=18 depth=0.7331 normal=0.8472
2026-09-30 03:04:10,221 [INFO] open_vision_banana.training.callbacks:   [step 6350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3048 loss=0.3164 normal_angular_aux_loss=0.0388 lr=4.65e-05 epoch=18 depth=0.7152 normal=0.8383
2026-09-30 03:08:42,880 [INFO] open_vision_banana.training.callbacks:   [step 6400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2992 loss=0.3104 normal_angular_aux_loss=0.0374 lr=4.65e-05 epoch=18 depth=0.7081 normal=0.8371
2026-09-30 03:13:18,668 [INFO] open_vision_banana.training.callbacks:   [step 6450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2880 loss=0.2991 normal_angular_aux_loss=0.0370 lr=4.64e-05 epoch=18 depth=0.7052 normal=0.8140
2026-09-30 03:17:53,841 [INFO] open_vision_banana.training.callbacks:   [step 6500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2964 loss=0.3073 normal_angular_aux_loss=0.0364 lr=4.63e-05 epoch=18 depth=0.7249 normal=0.8415
2026-09-30 03:18:21,147 [INFO] open_vision_banana.training.callbacks:   [val] step=6500 val_loss=0.3425
2026-09-30 03:22:57,390 [INFO] open_vision_banana.training.callbacks:   [step 6550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2977 loss=0.3084 normal_angular_aux_loss=0.0355 lr=4.63e-05 epoch=18 depth=0.7157 normal=0.8358
2026-09-30 03:27:36,204 [INFO] open_vision_banana.training.callbacks:   [step 6600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2841 loss=0.2954 normal_angular_aux_loss=0.0377 lr=4.62e-05 epoch=19 depth=0.7260 normal=0.8457
2026-09-30 03:32:12,126 [INFO] open_vision_banana.training.callbacks:   [step 6650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2956 loss=0.3069 normal_angular_aux_loss=0.0377 lr=4.61e-05 epoch=19 depth=0.7176 normal=0.8361
2026-09-30 03:36:50,090 [INFO] open_vision_banana.training.callbacks:   [step 6700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2927 loss=0.3031 normal_angular_aux_loss=0.0347 lr=4.60e-05 epoch=19 depth=0.7264 normal=0.8134
2026-09-30 03:41:23,491 [INFO] open_vision_banana.training.callbacks:   [step 6750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2903 loss=0.3017 normal_angular_aux_loss=0.0379 lr=4.60e-05 epoch=19 depth=0.7092 normal=0.8293
2026-09-30 03:45:58,331 [INFO] open_vision_banana.training.callbacks:   [step 6800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2964 loss=0.3070 normal_angular_aux_loss=0.0351 lr=4.59e-05 epoch=19 depth=0.7106 normal=0.8211
2026-09-30 03:50:32,512 [INFO] open_vision_banana.training.callbacks:   [step 6850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2977 loss=0.3082 normal_angular_aux_loss=0.0352 lr=4.58e-05 epoch=19 depth=0.7225 normal=0.8248
2026-09-30 03:55:07,123 [INFO] open_vision_banana.training.callbacks:   [step 6900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3001 loss=0.3110 normal_angular_aux_loss=0.0362 lr=4.57e-05 epoch=19 depth=0.7220 normal=0.8326
2026-09-30 03:59:47,594 [INFO] open_vision_banana.training.callbacks:   [step 6950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2907 loss=0.3006 normal_angular_aux_loss=0.0331 lr=4.57e-05 epoch=20 depth=0.7011 normal=0.8191
2026-09-30 04:04:22,598 [INFO] open_vision_banana.training.callbacks:   [step 7000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2899 loss=0.3008 normal_angular_aux_loss=0.0361 lr=4.56e-05 epoch=20 depth=0.6952 normal=0.8170
2026-09-30 04:04:32,743 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 7000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-7000
2026-09-30 04:05:03,839 [INFO] open_vision_banana.training.callbacks:   [val] step=7000 val_loss=0.2845
2026-09-30 04:05:15,039 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 7000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-7000_best
2026-09-30 04:05:15,040 [INFO] open_vision_banana.training.callbacks:   New best val_loss=0.2845
2026-09-30 04:09:52,789 [INFO] open_vision_banana.training.callbacks:   [step 7050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2908 loss=0.3010 normal_angular_aux_loss=0.0342 lr=4.55e-05 epoch=20 depth=0.7052 normal=0.8102
2026-09-30 04:14:35,669 [INFO] open_vision_banana.training.callbacks:   [step 7100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2916 loss=0.3031 normal_angular_aux_loss=0.0383 lr=4.54e-05 epoch=20 depth=0.7132 normal=0.8333
2026-09-30 04:19:17,483 [INFO] open_vision_banana.training.callbacks:   [step 7150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2897 loss=0.3014 normal_angular_aux_loss=0.0387 lr=4.54e-05 epoch=20 depth=0.7009 normal=0.8233
2026-09-30 04:23:50,790 [INFO] open_vision_banana.training.callbacks:   [step 7200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2875 loss=0.2976 normal_angular_aux_loss=0.0336 lr=4.53e-05 epoch=20 depth=0.6994 normal=0.8083
2026-09-30 04:28:25,967 [INFO] open_vision_banana.training.callbacks:   [step 7250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2899 loss=0.3014 normal_angular_aux_loss=0.0383 lr=4.52e-05 epoch=21 depth=0.7230 normal=0.8226
2026-09-30 04:33:03,185 [INFO] open_vision_banana.training.callbacks:   [step 7300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2856 loss=0.2953 normal_angular_aux_loss=0.0324 lr=4.51e-05 epoch=21 depth=0.6948 normal=0.7966
2026-09-30 04:37:39,166 [INFO] open_vision_banana.training.callbacks:   [step 7350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2757 loss=0.2862 normal_angular_aux_loss=0.0351 lr=4.50e-05 epoch=21 depth=0.6893 normal=0.8138
2026-09-30 04:42:20,022 [INFO] open_vision_banana.training.callbacks:   [step 7400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2852 loss=0.2954 normal_angular_aux_loss=0.0342 lr=4.49e-05 epoch=21 depth=0.6973 normal=0.7913
2026-09-30 04:46:54,052 [INFO] open_vision_banana.training.callbacks:   [step 7450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2922 loss=0.3026 normal_angular_aux_loss=0.0348 lr=4.49e-05 epoch=21 depth=0.7011 normal=0.8081
2026-09-30 04:51:33,040 [INFO] open_vision_banana.training.callbacks:   [step 7500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2807 loss=0.2920 normal_angular_aux_loss=0.0377 lr=4.48e-05 epoch=21 depth=0.7011 normal=0.8180
2026-09-30 04:51:59,202 [INFO] open_vision_banana.training.callbacks:   [val] step=7500 val_loss=0.2703
2026-09-30 04:52:07,357 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 7500 → /data/runs/ovb/ctrl_depth_normal/checkpoint-7500_best
2026-09-30 04:52:07,359 [INFO] open_vision_banana.training.callbacks:   New best val_loss=0.2703
2026-09-30 04:56:45,614 [INFO] open_vision_banana.training.callbacks:   [step 7550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2913 loss=0.3020 normal_angular_aux_loss=0.0356 lr=4.47e-05 epoch=21 depth=0.7052 normal=0.8089
2026-09-30 05:01:30,247 [INFO] open_vision_banana.training.callbacks:   [step 7600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2874 loss=0.2981 normal_angular_aux_loss=0.0358 lr=4.46e-05 epoch=22 depth=0.7023 normal=0.8008
2026-09-30 05:06:03,993 [INFO] open_vision_banana.training.callbacks:   [step 7650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2837 loss=0.2953 normal_angular_aux_loss=0.0386 lr=4.45e-05 epoch=22 depth=0.6941 normal=0.8018
2026-09-30 05:10:35,961 [INFO] open_vision_banana.training.callbacks:   [step 7700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2887 loss=0.2994 normal_angular_aux_loss=0.0357 lr=4.44e-05 epoch=22 depth=0.6987 normal=0.7946
2026-09-30 05:15:08,864 [INFO] open_vision_banana.training.callbacks:   [step 7750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2809 loss=0.2904 normal_angular_aux_loss=0.0319 lr=4.44e-05 epoch=22 depth=0.6680 normal=0.8106
2026-09-30 05:19:45,314 [INFO] open_vision_banana.training.callbacks:   [step 7800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2835 loss=0.2940 normal_angular_aux_loss=0.0350 lr=4.43e-05 epoch=22 depth=0.6917 normal=0.7998
2026-09-30 05:24:21,571 [INFO] open_vision_banana.training.callbacks:   [step 7850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2916 loss=0.3026 normal_angular_aux_loss=0.0367 lr=4.42e-05 epoch=22 depth=0.6950 normal=0.8040
2026-09-30 05:29:04,947 [INFO] open_vision_banana.training.callbacks:   [step 7900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2855 loss=0.2956 normal_angular_aux_loss=0.0335 lr=4.41e-05 epoch=23 depth=0.6847 normal=0.8098
2026-09-30 05:33:44,462 [INFO] open_vision_banana.training.callbacks:   [step 7950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2763 loss=0.2872 normal_angular_aux_loss=0.0363 lr=4.40e-05 epoch=23 depth=0.6758 normal=0.7976
2026-09-30 05:38:19,353 [INFO] open_vision_banana.training.callbacks:   [step 8000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2798 loss=0.2900 normal_angular_aux_loss=0.0339 lr=4.39e-05 epoch=23 depth=0.6688 normal=0.7925
2026-09-30 05:38:29,095 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 8000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-8000
2026-09-30 05:38:55,473 [INFO] open_vision_banana.training.callbacks:   [val] step=8000 val_loss=0.2722
2026-09-30 05:43:31,909 [INFO] open_vision_banana.training.callbacks:   [step 8050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2738 loss=0.2836 normal_angular_aux_loss=0.0329 lr=4.38e-05 epoch=23 depth=0.6606 normal=0.7852
2026-09-30 05:48:11,510 [INFO] open_vision_banana.training.callbacks:   [step 8100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2767 loss=0.2865 normal_angular_aux_loss=0.0326 lr=4.37e-05 epoch=23 depth=0.6783 normal=0.7833
2026-09-30 05:52:48,909 [INFO] open_vision_banana.training.callbacks:   [step 8150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2814 loss=0.2920 normal_angular_aux_loss=0.0352 lr=4.36e-05 epoch=23 depth=0.6959 normal=0.8001
2026-09-30 05:57:25,639 [INFO] open_vision_banana.training.callbacks:   [step 8200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2783 loss=0.2888 normal_angular_aux_loss=0.0347 lr=4.36e-05 epoch=23 depth=0.6678 normal=0.7980
2026-09-30 06:02:01,365 [INFO] open_vision_banana.training.callbacks:   [step 8250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2753 loss=0.2857 normal_angular_aux_loss=0.0347 lr=4.35e-05 epoch=24 depth=0.6647 normal=0.7767
2026-09-30 06:06:34,435 [INFO] open_vision_banana.training.callbacks:   [step 8300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2702 loss=0.2814 normal_angular_aux_loss=0.0373 lr=4.34e-05 epoch=24 depth=0.6643 normal=0.7795
2026-09-30 06:11:09,981 [INFO] open_vision_banana.training.callbacks:   [step 8350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2891 loss=0.2990 normal_angular_aux_loss=0.0330 lr=4.33e-05 epoch=24 depth=0.6745 normal=0.8061
2026-09-30 06:15:50,206 [INFO] open_vision_banana.training.callbacks:   [step 8400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2763 loss=0.2868 normal_angular_aux_loss=0.0351 lr=4.32e-05 epoch=24 depth=0.6678 normal=0.7807
2026-09-30 06:20:26,809 [INFO] open_vision_banana.training.callbacks:   [step 8450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2722 loss=0.2819 normal_angular_aux_loss=0.0324 lr=4.31e-05 epoch=24 depth=0.6676 normal=0.7961
2026-09-30 06:25:03,324 [INFO] open_vision_banana.training.callbacks:   [step 8500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2789 loss=0.2893 normal_angular_aux_loss=0.0347 lr=4.30e-05 epoch=24 depth=0.6538 normal=0.7900
2026-09-30 06:25:29,431 [INFO] open_vision_banana.training.callbacks:   [val] step=8500 val_loss=0.2215
2026-09-30 06:25:37,433 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 8500 → /data/runs/ovb/ctrl_depth_normal/checkpoint-8500_best
2026-09-30 06:25:37,434 [INFO] open_vision_banana.training.callbacks:   New best val_loss=0.2215
2026-09-30 06:30:19,727 [INFO] open_vision_banana.training.callbacks:   [step 8550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2786 loss=0.2889 normal_angular_aux_loss=0.0341 lr=4.29e-05 epoch=24 depth=0.6583 normal=0.7770
2026-09-30 06:34:58,723 [INFO] open_vision_banana.training.callbacks:   [step 8600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2772 loss=0.2879 normal_angular_aux_loss=0.0357 lr=4.28e-05 epoch=25 depth=0.6787 normal=0.7855
2026-09-30 06:39:32,435 [INFO] open_vision_banana.training.callbacks:   [step 8650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2709 loss=0.2809 normal_angular_aux_loss=0.0333 lr=4.27e-05 epoch=25 depth=0.6602 normal=0.7719
2026-09-30 06:44:08,027 [INFO] open_vision_banana.training.callbacks:   [step 8700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2766 loss=0.2864 normal_angular_aux_loss=0.0326 lr=4.26e-05 epoch=25 depth=0.6589 normal=0.7716
2026-09-30 06:48:45,166 [INFO] open_vision_banana.training.callbacks:   [step 8750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2799 loss=0.2895 normal_angular_aux_loss=0.0321 lr=4.25e-05 epoch=25 depth=0.6592 normal=0.7821
2026-09-30 06:53:23,118 [INFO] open_vision_banana.training.callbacks:   [step 8800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2696 loss=0.2811 normal_angular_aux_loss=0.0385 lr=4.24e-05 epoch=25 depth=0.6541 normal=0.7998
2026-09-30 06:58:00,691 [INFO] open_vision_banana.training.callbacks:   [step 8850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2766 loss=0.2863 normal_angular_aux_loss=0.0325 lr=4.23e-05 epoch=25 depth=0.6523 normal=0.7932
2026-09-30 07:02:43,679 [INFO] open_vision_banana.training.callbacks:   [step 8900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2744 loss=0.2853 normal_angular_aux_loss=0.0362 lr=4.22e-05 epoch=26 depth=0.6639 normal=0.7801
2026-09-30 07:07:20,607 [INFO] open_vision_banana.training.callbacks:   [step 8950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2773 loss=0.2877 normal_angular_aux_loss=0.0345 lr=4.21e-05 epoch=26 depth=0.6473 normal=0.7723
2026-09-30 07:11:57,658 [INFO] open_vision_banana.training.callbacks:   [step 9000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2773 loss=0.2869 normal_angular_aux_loss=0.0320 lr=4.20e-05 epoch=26 depth=0.6582 normal=0.7746
2026-09-30 07:12:06,508 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 9000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-9000
2026-09-30 07:12:32,188 [INFO] open_vision_banana.training.callbacks:   [val] step=9000 val_loss=0.3013
2026-09-30 07:17:08,557 [INFO] open_vision_banana.training.callbacks:   [step 9050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2667 loss=0.2764 normal_angular_aux_loss=0.0322 lr=4.19e-05 epoch=26 depth=0.6506 normal=0.7668
2026-09-30 07:21:45,207 [INFO] open_vision_banana.training.callbacks:   [step 9100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2627 loss=0.2725 normal_angular_aux_loss=0.0326 lr=4.18e-05 epoch=26 depth=0.6627 normal=0.7538
2026-09-30 07:26:27,914 [INFO] open_vision_banana.training.callbacks:   [step 9150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2747 loss=0.2849 normal_angular_aux_loss=0.0341 lr=4.17e-05 epoch=26 depth=0.6525 normal=0.7788
2026-09-30 07:31:04,889 [INFO] open_vision_banana.training.callbacks:   [step 9200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2781 loss=0.2877 normal_angular_aux_loss=0.0322 lr=4.16e-05 epoch=26 depth=0.6546 normal=0.7734
2026-09-30 07:35:45,397 [INFO] open_vision_banana.training.callbacks:   [step 9250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2652 loss=0.2750 normal_angular_aux_loss=0.0325 lr=4.15e-05 epoch=27 depth=0.6356 normal=0.7556
2026-09-30 07:40:22,636 [INFO] open_vision_banana.training.callbacks:   [step 9300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2745 loss=0.2842 normal_angular_aux_loss=0.0325 lr=4.14e-05 epoch=27 depth=0.6826 normal=0.7663
2026-09-30 07:44:58,830 [INFO] open_vision_banana.training.callbacks:   [step 9350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2690 loss=0.2792 normal_angular_aux_loss=0.0339 lr=4.13e-05 epoch=27 depth=0.6568 normal=0.7894
2026-09-30 07:49:41,134 [INFO] open_vision_banana.training.callbacks:   [step 9400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2746 loss=0.2854 normal_angular_aux_loss=0.0359 lr=4.12e-05 epoch=27 depth=0.6637 normal=0.7639
2026-09-30 07:54:19,792 [INFO] open_vision_banana.training.callbacks:   [step 9450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2719 loss=0.2816 normal_angular_aux_loss=0.0323 lr=4.11e-05 epoch=27 depth=0.6489 normal=0.7767
2026-09-30 07:58:58,610 [INFO] open_vision_banana.training.callbacks:   [step 9500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2623 loss=0.2716 normal_angular_aux_loss=0.0307 lr=4.10e-05 epoch=27 depth=0.6459 normal=0.7496
2026-09-30 07:59:24,478 [INFO] open_vision_banana.training.callbacks:   [val] step=9500 val_loss=0.2514
2026-09-30 08:04:02,721 [INFO] open_vision_banana.training.callbacks:   [step 9550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2814 loss=0.2911 normal_angular_aux_loss=0.0325 lr=4.09e-05 epoch=28 depth=0.6440 normal=0.7590
2026-09-30 08:08:39,528 [INFO] open_vision_banana.training.callbacks:   [step 9600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2693 loss=0.2793 normal_angular_aux_loss=0.0331 lr=4.08e-05 epoch=28 depth=0.6416 normal=0.7621
2026-09-30 08:13:19,236 [INFO] open_vision_banana.training.callbacks:   [step 9650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2764 loss=0.2862 normal_angular_aux_loss=0.0327 lr=4.07e-05 epoch=28 depth=0.6376 normal=0.7729
2026-09-30 08:17:57,058 [INFO] open_vision_banana.training.callbacks:   [step 9700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2788 loss=0.2885 normal_angular_aux_loss=0.0320 lr=4.06e-05 epoch=28 depth=0.6478 normal=0.7649
2026-09-30 08:22:35,660 [INFO] open_vision_banana.training.callbacks:   [step 9750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2787 loss=0.2884 normal_angular_aux_loss=0.0323 lr=4.05e-05 epoch=28 depth=0.6570 normal=0.7712
2026-09-30 08:27:15,019 [INFO] open_vision_banana.training.callbacks:   [step 9800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2669 loss=0.2775 normal_angular_aux_loss=0.0353 lr=4.03e-05 epoch=28 depth=0.6373 normal=0.7569
2026-09-30 08:32:00,323 [INFO] open_vision_banana.training.callbacks:   [step 9850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2636 loss=0.2740 normal_angular_aux_loss=0.0346 lr=4.02e-05 epoch=28 depth=0.6542 normal=0.7560
2026-09-30 08:36:39,626 [INFO] open_vision_banana.training.callbacks:   [step 9900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2650 loss=0.2750 normal_angular_aux_loss=0.0335 lr=4.01e-05 epoch=29 depth=0.6198 normal=0.7429
2026-09-30 08:41:17,589 [INFO] open_vision_banana.training.callbacks:   [step 9950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2743 loss=0.2844 normal_angular_aux_loss=0.0339 lr=4.00e-05 epoch=29 depth=0.6456 normal=0.7640
2026-09-30 08:45:57,702 [INFO] open_vision_banana.training.callbacks:   [step 10000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2658 loss=0.2755 normal_angular_aux_loss=0.0321 lr=3.99e-05 epoch=29 depth=0.6296 normal=0.7433
2026-09-30 08:46:06,716 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 10000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-10000
2026-09-30 08:46:33,707 [INFO] open_vision_banana.training.callbacks:   [val] step=10000 val_loss=0.2534
2026-09-30 08:51:09,638 [INFO] open_vision_banana.training.callbacks:   [step 10050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2672 loss=0.2768 normal_angular_aux_loss=0.0319 lr=3.98e-05 epoch=29 depth=0.6507 normal=0.7447
2026-09-30 08:55:45,242 [INFO] open_vision_banana.training.callbacks:   [step 10100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2663 loss=0.2764 normal_angular_aux_loss=0.0336 lr=3.97e-05 epoch=29 depth=0.6355 normal=0.7441
2026-09-30 09:00:26,367 [INFO] open_vision_banana.training.callbacks:   [step 10150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2591 loss=0.2690 normal_angular_aux_loss=0.0332 lr=3.96e-05 epoch=29 depth=0.6421 normal=0.7546
2026-09-30 09:05:07,522 [INFO] open_vision_banana.training.callbacks:   [step 10200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2739 loss=0.2832 normal_angular_aux_loss=0.0310 lr=3.95e-05 epoch=30 depth=0.6330 normal=0.7598
2026-09-30 09:09:45,110 [INFO] open_vision_banana.training.callbacks:   [step 10250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2692 loss=0.2786 normal_angular_aux_loss=0.0315 lr=3.94e-05 epoch=30 depth=0.6145 normal=0.7498
2026-09-30 09:14:25,039 [INFO] open_vision_banana.training.callbacks:   [step 10300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2645 loss=0.2734 normal_angular_aux_loss=0.0299 lr=3.92e-05 epoch=30 depth=0.6174 normal=0.7457
2026-09-30 09:19:12,551 [INFO] open_vision_banana.training.callbacks:   [step 10350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2697 loss=0.2796 normal_angular_aux_loss=0.0330 lr=3.91e-05 epoch=30 depth=0.6480 normal=0.7509
2026-09-30 09:23:49,279 [INFO] open_vision_banana.training.callbacks:   [step 10400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2675 loss=0.2774 normal_angular_aux_loss=0.0332 lr=3.90e-05 epoch=30 depth=0.6234 normal=0.7521
2026-09-30 09:28:25,780 [INFO] open_vision_banana.training.callbacks:   [step 10450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2663 loss=0.2762 normal_angular_aux_loss=0.0329 lr=3.89e-05 epoch=30 depth=0.6269 normal=0.7557
2026-09-30 09:33:01,181 [INFO] open_vision_banana.training.callbacks:   [step 10500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2631 loss=0.2722 normal_angular_aux_loss=0.0304 lr=3.88e-05 epoch=30 depth=0.6370 normal=0.7481
2026-09-30 09:33:26,527 [INFO] open_vision_banana.training.callbacks:   [val] step=10500 val_loss=0.3319
2026-09-30 09:38:02,016 [INFO] open_vision_banana.training.callbacks:   [step 10550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2605 loss=0.2692 normal_angular_aux_loss=0.0291 lr=3.87e-05 epoch=31 depth=0.6173 normal=0.7451
2026-09-30 09:42:36,276 [INFO] open_vision_banana.training.callbacks:   [step 10600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2611 loss=0.2701 normal_angular_aux_loss=0.0297 lr=3.86e-05 epoch=31 depth=0.6380 normal=0.7410
2026-09-30 09:47:17,257 [INFO] open_vision_banana.training.callbacks:   [step 10650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2662 loss=0.2761 normal_angular_aux_loss=0.0330 lr=3.84e-05 epoch=31 depth=0.6186 normal=0.7523
2026-09-30 09:51:52,284 [INFO] open_vision_banana.training.callbacks:   [step 10700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2585 loss=0.2685 normal_angular_aux_loss=0.0331 lr=3.83e-05 epoch=31 depth=0.6259 normal=0.7587
2026-09-30 09:56:29,257 [INFO] open_vision_banana.training.callbacks:   [step 10750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2561 loss=0.2657 normal_angular_aux_loss=0.0320 lr=3.82e-05 epoch=31 depth=0.6243 normal=0.7402
2026-09-30 10:01:08,376 [INFO] open_vision_banana.training.callbacks:   [step 10800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2565 loss=0.2662 normal_angular_aux_loss=0.0324 lr=3.81e-05 epoch=31 depth=0.6140 normal=0.7396
2026-09-30 10:05:47,973 [INFO] open_vision_banana.training.callbacks:   [step 10850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2588 loss=0.2686 normal_angular_aux_loss=0.0325 lr=3.80e-05 epoch=31 depth=0.6294 normal=0.7322
2026-09-30 10:10:24,080 [INFO] open_vision_banana.training.callbacks:   [step 10900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2485 loss=0.2581 normal_angular_aux_loss=0.0320 lr=3.79e-05 epoch=32 depth=0.6166 normal=0.7465
2026-09-30 10:14:58,463 [INFO] open_vision_banana.training.callbacks:   [step 10950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2636 loss=0.2733 normal_angular_aux_loss=0.0325 lr=3.77e-05 epoch=32 depth=0.6109 normal=0.7323
2026-09-30 10:19:33,840 [INFO] open_vision_banana.training.callbacks:   [step 11000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2555 loss=0.2642 normal_angular_aux_loss=0.0289 lr=3.76e-05 epoch=32 depth=0.6189 normal=0.7360
2026-09-30 10:19:41,947 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 11000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-11000
2026-09-30 10:20:08,193 [INFO] open_vision_banana.training.callbacks:   [val] step=11000 val_loss=0.2679
2026-09-30 10:24:44,893 [INFO] open_vision_banana.training.callbacks:   [step 11050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2683 loss=0.2769 normal_angular_aux_loss=0.0284 lr=3.75e-05 epoch=32 depth=0.6137 normal=0.7329
2026-09-30 10:29:20,463 [INFO] open_vision_banana.training.callbacks:   [step 11100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2617 loss=0.2711 normal_angular_aux_loss=0.0314 lr=3.74e-05 epoch=32 depth=0.6108 normal=0.7423
2026-09-30 10:34:00,722 [INFO] open_vision_banana.training.callbacks:   [step 11150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2656 loss=0.2752 normal_angular_aux_loss=0.0318 lr=3.73e-05 epoch=32 depth=0.6271 normal=0.7481
2026-09-30 10:38:38,341 [INFO] open_vision_banana.training.callbacks:   [step 11200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2588 loss=0.2681 normal_angular_aux_loss=0.0311 lr=3.71e-05 epoch=33 depth=0.6163 normal=0.7320
2026-09-30 10:43:23,192 [INFO] open_vision_banana.training.callbacks:   [step 11250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2631 loss=0.2725 normal_angular_aux_loss=0.0314 lr=3.70e-05 epoch=33 depth=0.6207 normal=0.7446
2026-09-30 10:48:03,029 [INFO] open_vision_banana.training.callbacks:   [step 11300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2590 loss=0.2685 normal_angular_aux_loss=0.0316 lr=3.69e-05 epoch=33 depth=0.6155 normal=0.7359
2026-09-30 10:52:44,389 [INFO] open_vision_banana.training.callbacks:   [step 11350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2645 loss=0.2736 normal_angular_aux_loss=0.0305 lr=3.68e-05 epoch=33 depth=0.6224 normal=0.7313
2026-09-30 10:57:21,782 [INFO] open_vision_banana.training.callbacks:   [step 11400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2552 loss=0.2646 normal_angular_aux_loss=0.0313 lr=3.67e-05 epoch=33 depth=0.6053 normal=0.7235
2026-09-30 11:01:56,755 [INFO] open_vision_banana.training.callbacks:   [step 11450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2498 loss=0.2592 normal_angular_aux_loss=0.0313 lr=3.65e-05 epoch=33 depth=0.6090 normal=0.7320
2026-09-30 11:06:35,403 [INFO] open_vision_banana.training.callbacks:   [step 11500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2586 loss=0.2682 normal_angular_aux_loss=0.0320 lr=3.64e-05 epoch=33 depth=0.6087 normal=0.7328
2026-09-30 11:07:01,040 [INFO] open_vision_banana.training.callbacks:   [val] step=11500 val_loss=0.2820
2026-09-30 11:11:40,664 [INFO] open_vision_banana.training.callbacks:   [step 11550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2571 loss=0.2667 normal_angular_aux_loss=0.0319 lr=3.63e-05 epoch=34 depth=0.6061 normal=0.7290
2026-09-30 11:16:22,302 [INFO] open_vision_banana.training.callbacks:   [step 11600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2659 loss=0.2742 normal_angular_aux_loss=0.0277 lr=3.62e-05 epoch=34 depth=0.6176 normal=0.7125
2026-09-30 11:21:04,271 [INFO] open_vision_banana.training.callbacks:   [step 11650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2659 loss=0.2755 normal_angular_aux_loss=0.0318 lr=3.61e-05 epoch=34 depth=0.6109 normal=0.7339
2026-09-30 11:25:45,311 [INFO] open_vision_banana.training.callbacks:   [step 11700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2617 loss=0.2706 normal_angular_aux_loss=0.0297 lr=3.59e-05 epoch=34 depth=0.6333 normal=0.7348
2026-09-30 11:30:26,547 [INFO] open_vision_banana.training.callbacks:   [step 11750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2596 loss=0.2690 normal_angular_aux_loss=0.0316 lr=3.58e-05 epoch=34 depth=0.6119 normal=0.7310
2026-09-30 11:35:05,094 [INFO] open_vision_banana.training.callbacks:   [step 11800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2649 loss=0.2740 normal_angular_aux_loss=0.0305 lr=3.57e-05 epoch=34 depth=0.6142 normal=0.7309
2026-09-30 11:39:45,744 [INFO] open_vision_banana.training.callbacks:   [step 11850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2616 loss=0.2714 normal_angular_aux_loss=0.0327 lr=3.56e-05 epoch=35 depth=0.5935 normal=0.7385
2026-09-30 11:44:19,526 [INFO] open_vision_banana.training.callbacks:   [step 11900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2468 loss=0.2559 normal_angular_aux_loss=0.0303 lr=3.54e-05 epoch=35 depth=0.5976 normal=0.7297
2026-09-30 11:48:55,253 [INFO] open_vision_banana.training.callbacks:   [step 11950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2641 loss=0.2733 normal_angular_aux_loss=0.0305 lr=3.53e-05 epoch=35 depth=0.6032 normal=0.7282
2026-09-30 11:53:32,384 [INFO] open_vision_banana.training.callbacks:   [step 12000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2634 loss=0.2727 normal_angular_aux_loss=0.0312 lr=3.52e-05 epoch=35 depth=0.5923 normal=0.7234
2026-09-30 11:53:44,861 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 12000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-12000
2026-09-30 11:54:11,704 [INFO] open_vision_banana.training.callbacks:   [val] step=12000 val_loss=0.2705
2026-09-30 11:58:45,457 [INFO] open_vision_banana.training.callbacks:   [step 12050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2556 loss=0.2655 normal_angular_aux_loss=0.0330 lr=3.51e-05 epoch=35 depth=0.5945 normal=0.7176
2026-09-30 12:03:21,823 [INFO] open_vision_banana.training.callbacks:   [step 12100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2559 loss=0.2660 normal_angular_aux_loss=0.0335 lr=3.49e-05 epoch=35 depth=0.6098 normal=0.7438
2026-09-30 12:08:04,644 [INFO] open_vision_banana.training.callbacks:   [step 12150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2550 loss=0.2645 normal_angular_aux_loss=0.0315 lr=3.48e-05 epoch=35 depth=0.6077 normal=0.7265
2026-09-30 12:12:46,198 [INFO] open_vision_banana.training.callbacks:   [step 12200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2587 loss=0.2672 normal_angular_aux_loss=0.0284 lr=3.47e-05 epoch=36 depth=0.6012 normal=0.7135
2026-09-30 12:17:22,136 [INFO] open_vision_banana.training.callbacks:   [step 12250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2506 loss=0.2595 normal_angular_aux_loss=0.0298 lr=3.46e-05 epoch=36 depth=0.5970 normal=0.7150
2026-09-30 12:22:02,290 [INFO] open_vision_banana.training.callbacks:   [step 12300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2611 loss=0.2702 normal_angular_aux_loss=0.0306 lr=3.44e-05 epoch=36 depth=0.5879 normal=0.7175
2026-09-30 12:26:36,796 [INFO] open_vision_banana.training.callbacks:   [step 12350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2541 loss=0.2634 normal_angular_aux_loss=0.0310 lr=3.43e-05 epoch=36 depth=0.5857 normal=0.7104
2026-09-30 12:31:11,108 [INFO] open_vision_banana.training.callbacks:   [step 12400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2513 loss=0.2610 normal_angular_aux_loss=0.0324 lr=3.42e-05 epoch=36 depth=0.6120 normal=0.7219
2026-09-30 12:35:44,198 [INFO] open_vision_banana.training.callbacks:   [step 12450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2467 loss=0.2564 normal_angular_aux_loss=0.0325 lr=3.41e-05 epoch=36 depth=0.6131 normal=0.7197
2026-09-30 12:40:24,026 [INFO] open_vision_banana.training.callbacks:   [step 12500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2562 loss=0.2651 normal_angular_aux_loss=0.0296 lr=3.39e-05 epoch=37 depth=0.5944 normal=0.7268
2026-09-30 12:40:51,319 [INFO] open_vision_banana.training.callbacks:   [val] step=12500 val_loss=0.2863
2026-09-30 12:45:24,055 [INFO] open_vision_banana.training.callbacks:   [step 12550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2503 loss=0.2591 normal_angular_aux_loss=0.0293 lr=3.38e-05 epoch=37 depth=0.5872 normal=0.7221
2026-09-30 12:50:01,268 [INFO] open_vision_banana.training.callbacks:   [step 12600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2446 loss=0.2548 normal_angular_aux_loss=0.0341 lr=3.37e-05 epoch=37 depth=0.6037 normal=0.7207
2026-09-30 12:54:42,629 [INFO] open_vision_banana.training.callbacks:   [step 12650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2538 loss=0.2628 normal_angular_aux_loss=0.0297 lr=3.35e-05 epoch=37 depth=0.5842 normal=0.7069
2026-09-30 12:59:16,845 [INFO] open_vision_banana.training.callbacks:   [step 12700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2577 loss=0.2664 normal_angular_aux_loss=0.0291 lr=3.34e-05 epoch=37 depth=0.5949 normal=0.7158
2026-09-30 13:03:47,912 [INFO] open_vision_banana.training.callbacks:   [step 12750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2561 loss=0.2653 normal_angular_aux_loss=0.0309 lr=3.33e-05 epoch=37 depth=0.5951 normal=0.7288
2026-09-30 13:08:22,807 [INFO] open_vision_banana.training.callbacks:   [step 12800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2523 loss=0.2616 normal_angular_aux_loss=0.0312 lr=3.32e-05 epoch=37 depth=0.5913 normal=0.7263
2026-09-30 13:12:53,755 [INFO] open_vision_banana.training.callbacks:   [step 12850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2533 loss=0.2619 normal_angular_aux_loss=0.0290 lr=3.30e-05 epoch=38 depth=0.5872 normal=0.7020
2026-09-30 13:17:25,553 [INFO] open_vision_banana.training.callbacks:   [step 12900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2523 loss=0.2613 normal_angular_aux_loss=0.0299 lr=3.29e-05 epoch=38 depth=0.6014 normal=0.7141
2026-09-30 13:22:01,306 [INFO] open_vision_banana.training.callbacks:   [step 12950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2536 loss=0.2635 normal_angular_aux_loss=0.0331 lr=3.28e-05 epoch=38 depth=0.5950 normal=0.7250
2026-09-30 13:26:34,201 [INFO] open_vision_banana.training.callbacks:   [step 13000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2484 loss=0.2582 normal_angular_aux_loss=0.0326 lr=3.26e-05 epoch=38 depth=0.5985 normal=0.7161
2026-09-30 13:26:42,786 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 13000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-13000
2026-09-30 13:27:10,521 [INFO] open_vision_banana.training.callbacks:   [val] step=13000 val_loss=0.2633
2026-09-30 13:31:47,197 [INFO] open_vision_banana.training.callbacks:   [step 13050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2500 loss=0.2594 normal_angular_aux_loss=0.0312 lr=3.25e-05 epoch=38 depth=0.5797 normal=0.7103
2026-09-30 13:36:25,758 [INFO] open_vision_banana.training.callbacks:   [step 13100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2516 loss=0.2605 normal_angular_aux_loss=0.0297 lr=3.24e-05 epoch=38 depth=0.5935 normal=0.7180
2026-09-30 13:41:00,815 [INFO] open_vision_banana.training.callbacks:   [step 13150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2402 loss=0.2495 normal_angular_aux_loss=0.0310 lr=3.22e-05 epoch=38 depth=0.5871 normal=0.7061
2026-09-30 13:45:38,328 [INFO] open_vision_banana.training.callbacks:   [step 13200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2429 loss=0.2515 normal_angular_aux_loss=0.0285 lr=3.21e-05 epoch=39 depth=0.5894 normal=0.6964
2026-09-30 13:50:10,851 [INFO] open_vision_banana.training.callbacks:   [step 13250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2434 loss=0.2530 normal_angular_aux_loss=0.0319 lr=3.20e-05 epoch=39 depth=0.5819 normal=0.7121
2026-09-30 13:54:45,774 [INFO] open_vision_banana.training.callbacks:   [step 13300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2566 loss=0.2664 normal_angular_aux_loss=0.0325 lr=3.19e-05 epoch=39 depth=0.5799 normal=0.7161
2026-09-30 13:59:17,273 [INFO] open_vision_banana.training.callbacks:   [step 13350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2418 loss=0.2512 normal_angular_aux_loss=0.0314 lr=3.17e-05 epoch=39 depth=0.6054 normal=0.7099
2026-09-30 14:03:54,465 [INFO] open_vision_banana.training.callbacks:   [step 13400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2472 loss=0.2576 normal_angular_aux_loss=0.0347 lr=3.16e-05 epoch=39 depth=0.5778 normal=0.7125
2026-09-30 14:08:28,461 [INFO] open_vision_banana.training.callbacks:   [step 13450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2394 loss=0.2482 normal_angular_aux_loss=0.0294 lr=3.15e-05 epoch=39 depth=0.5881 normal=0.7140
2026-09-30 14:13:05,481 [INFO] open_vision_banana.training.callbacks:   [step 13500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2488 loss=0.2576 normal_angular_aux_loss=0.0294 lr=3.13e-05 epoch=40 depth=0.5792 normal=0.7148
2026-09-30 14:13:33,255 [INFO] open_vision_banana.training.callbacks:   [val] step=13500 val_loss=0.2940
2026-09-30 14:18:12,207 [INFO] open_vision_banana.training.callbacks:   [step 13550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2448 loss=0.2539 normal_angular_aux_loss=0.0305 lr=3.12e-05 epoch=40 depth=0.5764 normal=0.7128
2026-09-30 14:22:47,038 [INFO] open_vision_banana.training.callbacks:   [step 13600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2464 loss=0.2550 normal_angular_aux_loss=0.0289 lr=3.11e-05 epoch=40 depth=0.5773 normal=0.7025
2026-09-30 14:27:20,393 [INFO] open_vision_banana.training.callbacks:   [step 13650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2476 loss=0.2567 normal_angular_aux_loss=0.0302 lr=3.09e-05 epoch=40 depth=0.5797 normal=0.7013
2026-09-30 14:31:58,354 [INFO] open_vision_banana.training.callbacks:   [step 13700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2524 loss=0.2606 normal_angular_aux_loss=0.0274 lr=3.08e-05 epoch=40 depth=0.5746 normal=0.6972
2026-09-30 14:36:34,133 [INFO] open_vision_banana.training.callbacks:   [step 13750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2373 loss=0.2472 normal_angular_aux_loss=0.0328 lr=3.07e-05 epoch=40 depth=0.5883 normal=0.7039
2026-09-30 14:41:13,558 [INFO] open_vision_banana.training.callbacks:   [step 13800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2423 loss=0.2515 normal_angular_aux_loss=0.0305 lr=3.05e-05 epoch=40 depth=0.5773 normal=0.7108
2026-09-30 14:45:55,454 [INFO] open_vision_banana.training.callbacks:   [step 13850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2438 loss=0.2533 normal_angular_aux_loss=0.0317 lr=3.04e-05 epoch=41 depth=0.5822 normal=0.7133
2026-09-30 14:50:33,083 [INFO] open_vision_banana.training.callbacks:   [step 13900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2422 loss=0.2507 normal_angular_aux_loss=0.0283 lr=3.03e-05 epoch=41 depth=0.5802 normal=0.6910
2026-09-30 14:55:07,603 [INFO] open_vision_banana.training.callbacks:   [step 13950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2423 loss=0.2512 normal_angular_aux_loss=0.0297 lr=3.01e-05 epoch=41 depth=0.5740 normal=0.6939
2026-09-30 14:59:43,050 [INFO] open_vision_banana.training.callbacks:   [step 14000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2497 loss=0.2586 normal_angular_aux_loss=0.0298 lr=3.00e-05 epoch=41 depth=0.5795 normal=0.6969
2026-09-30 14:59:51,363 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 14000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-14000
2026-09-30 15:00:22,028 [INFO] open_vision_banana.training.callbacks:   [val] step=14000 val_loss=0.2800
2026-09-30 15:05:01,109 [INFO] open_vision_banana.training.callbacks:   [step 14050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2513 loss=0.2602 normal_angular_aux_loss=0.0298 lr=2.99e-05 epoch=41 depth=0.5800 normal=0.6945
2026-09-30 15:09:34,961 [INFO] open_vision_banana.training.callbacks:   [step 14100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2427 loss=0.2520 normal_angular_aux_loss=0.0308 lr=2.97e-05 epoch=41 depth=0.5640 normal=0.6950
2026-09-30 15:14:16,880 [INFO] open_vision_banana.training.callbacks:   [step 14150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2451 loss=0.2542 normal_angular_aux_loss=0.0306 lr=2.96e-05 epoch=42 depth=0.5752 normal=0.7078
2026-09-30 15:18:59,217 [INFO] open_vision_banana.training.callbacks:   [step 14200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2356 loss=0.2444 normal_angular_aux_loss=0.0291 lr=2.95e-05 epoch=42 depth=0.5561 normal=0.6862
2026-09-30 15:23:33,967 [INFO] open_vision_banana.training.callbacks:   [step 14250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2471 loss=0.2550 normal_angular_aux_loss=0.0265 lr=2.93e-05 epoch=42 depth=0.5677 normal=0.6924
2026-09-30 15:28:12,851 [INFO] open_vision_banana.training.callbacks:   [step 14300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2466 loss=0.2559 normal_angular_aux_loss=0.0310 lr=2.92e-05 epoch=42 depth=0.5735 normal=0.7082
2026-09-30 15:32:50,296 [INFO] open_vision_banana.training.callbacks:   [step 14350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2354 loss=0.2448 normal_angular_aux_loss=0.0314 lr=2.91e-05 epoch=42 depth=0.5739 normal=0.6976
2026-09-30 15:37:25,956 [INFO] open_vision_banana.training.callbacks:   [step 14400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2447 loss=0.2540 normal_angular_aux_loss=0.0312 lr=2.89e-05 epoch=42 depth=0.5624 normal=0.7069
2026-09-30 15:42:03,428 [INFO] open_vision_banana.training.callbacks:   [step 14450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2444 loss=0.2531 normal_angular_aux_loss=0.0292 lr=2.88e-05 epoch=42 depth=0.5657 normal=0.6833
2026-09-30 15:46:45,511 [INFO] open_vision_banana.training.callbacks:   [step 14500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2412 loss=0.2507 normal_angular_aux_loss=0.0315 lr=2.86e-05 epoch=43 depth=0.5628 normal=0.6977
2026-09-30 15:47:12,928 [INFO] open_vision_banana.training.callbacks:   [val] step=14500 val_loss=0.2659
2026-09-30 15:51:52,043 [INFO] open_vision_banana.training.callbacks:   [step 14550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2415 loss=0.2505 normal_angular_aux_loss=0.0300 lr=2.85e-05 epoch=43 depth=0.5588 normal=0.6878
2026-09-30 15:56:28,131 [INFO] open_vision_banana.training.callbacks:   [step 14600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2411 loss=0.2505 normal_angular_aux_loss=0.0313 lr=2.84e-05 epoch=43 depth=0.5666 normal=0.6894
2026-09-30 16:01:07,889 [INFO] open_vision_banana.training.callbacks:   [step 14650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2501 loss=0.2601 normal_angular_aux_loss=0.0336 lr=2.82e-05 epoch=43 depth=0.5761 normal=0.6954
2026-09-30 16:05:49,325 [INFO] open_vision_banana.training.callbacks:   [step 14700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2464 loss=0.2550 normal_angular_aux_loss=0.0288 lr=2.81e-05 epoch=43 depth=0.5942 normal=0.6911
2026-09-30 16:10:25,217 [INFO] open_vision_banana.training.callbacks:   [step 14750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2452 loss=0.2537 normal_angular_aux_loss=0.0285 lr=2.80e-05 epoch=43 depth=0.5730 normal=0.7041
2026-09-30 16:15:08,169 [INFO] open_vision_banana.training.callbacks:   [step 14800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2575 loss=0.2665 normal_angular_aux_loss=0.0298 lr=2.78e-05 epoch=44 depth=0.5808 normal=0.6933
2026-09-30 16:19:44,098 [INFO] open_vision_banana.training.callbacks:   [step 14850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2438 loss=0.2530 normal_angular_aux_loss=0.0307 lr=2.77e-05 epoch=44 depth=0.5622 normal=0.6957
2026-09-30 16:24:20,769 [INFO] open_vision_banana.training.callbacks:   [step 14900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2448 loss=0.2532 normal_angular_aux_loss=0.0279 lr=2.76e-05 epoch=44 depth=0.5524 normal=0.6888
2026-09-30 16:29:01,969 [INFO] open_vision_banana.training.callbacks:   [step 14950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2393 loss=0.2484 normal_angular_aux_loss=0.0304 lr=2.74e-05 epoch=44 depth=0.5581 normal=0.6916
2026-09-30 16:33:38,396 [INFO] open_vision_banana.training.callbacks:   [step 15000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2411 loss=0.2500 normal_angular_aux_loss=0.0298 lr=2.73e-05 epoch=44 depth=0.5675 normal=0.6980
2026-09-30 16:33:46,474 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 15000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-15000
2026-09-30 16:34:12,796 [INFO] open_vision_banana.training.callbacks:   [val] step=15000 val_loss=0.2585
2026-09-30 16:38:55,694 [INFO] open_vision_banana.training.callbacks:   [step 15050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2427 loss=0.2519 normal_angular_aux_loss=0.0306 lr=2.72e-05 epoch=44 depth=0.5522 normal=0.6919
2026-09-30 16:43:36,620 [INFO] open_vision_banana.training.callbacks:   [step 15100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2471 loss=0.2554 normal_angular_aux_loss=0.0275 lr=2.70e-05 epoch=44 depth=0.5886 normal=0.6989
2026-09-30 16:48:13,953 [INFO] open_vision_banana.training.callbacks:   [step 15150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2385 loss=0.2472 normal_angular_aux_loss=0.0289 lr=2.69e-05 epoch=45 depth=0.5757 normal=0.6864
2026-09-30 16:52:54,237 [INFO] open_vision_banana.training.callbacks:   [step 15200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2451 loss=0.2536 normal_angular_aux_loss=0.0285 lr=2.67e-05 epoch=45 depth=0.5537 normal=0.6830
2026-09-30 16:57:30,323 [INFO] open_vision_banana.training.callbacks:   [step 15250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2415 loss=0.2500 normal_angular_aux_loss=0.0285 lr=2.66e-05 epoch=45 depth=0.5517 normal=0.6841
2026-09-30 17:02:06,693 [INFO] open_vision_banana.training.callbacks:   [step 15300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2476 loss=0.2564 normal_angular_aux_loss=0.0295 lr=2.65e-05 epoch=45 depth=0.5525 normal=0.6841
2026-09-30 17:06:39,241 [INFO] open_vision_banana.training.callbacks:   [step 15350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2373 loss=0.2460 normal_angular_aux_loss=0.0289 lr=2.63e-05 epoch=45 depth=0.5609 normal=0.6903
2026-09-30 17:11:16,164 [INFO] open_vision_banana.training.callbacks:   [step 15400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2361 loss=0.2447 normal_angular_aux_loss=0.0286 lr=2.62e-05 epoch=45 depth=0.5587 normal=0.6876
2026-09-30 17:15:53,190 [INFO] open_vision_banana.training.callbacks:   [step 15450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2475 loss=0.2572 normal_angular_aux_loss=0.0322 lr=2.61e-05 epoch=45 depth=0.5667 normal=0.6806
2026-09-30 17:20:30,315 [INFO] open_vision_banana.training.callbacks:   [step 15500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2348 loss=0.2430 normal_angular_aux_loss=0.0273 lr=2.59e-05 epoch=46 depth=0.5654 normal=0.6744
2026-09-30 17:20:57,302 [INFO] open_vision_banana.training.callbacks:   [val] step=15500 val_loss=0.2591
2026-09-30 17:25:33,022 [INFO] open_vision_banana.training.callbacks:   [step 15550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2373 loss=0.2467 normal_angular_aux_loss=0.0313 lr=2.58e-05 epoch=46 depth=0.5581 normal=0.6941
2026-09-30 17:30:14,898 [INFO] open_vision_banana.training.callbacks:   [step 15600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2486 loss=0.2576 normal_angular_aux_loss=0.0300 lr=2.57e-05 epoch=46 depth=0.5900 normal=0.6795
2026-09-30 17:34:51,073 [INFO] open_vision_banana.training.callbacks:   [step 15650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2386 loss=0.2469 normal_angular_aux_loss=0.0277 lr=2.55e-05 epoch=46 depth=0.5543 normal=0.6866
2026-09-30 17:39:31,166 [INFO] open_vision_banana.training.callbacks:   [step 15700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2395 loss=0.2488 normal_angular_aux_loss=0.0308 lr=2.54e-05 epoch=46 depth=0.5490 normal=0.6870
2026-09-30 17:44:11,603 [INFO] open_vision_banana.training.callbacks:   [step 15750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2365 loss=0.2453 normal_angular_aux_loss=0.0294 lr=2.53e-05 epoch=46 depth=0.5492 normal=0.6829
2026-09-30 17:48:51,265 [INFO] open_vision_banana.training.callbacks:   [step 15800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2426 loss=0.2509 normal_angular_aux_loss=0.0279 lr=2.51e-05 epoch=47 depth=0.5616 normal=0.6805
2026-09-30 17:53:31,796 [INFO] open_vision_banana.training.callbacks:   [step 15850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2337 loss=0.2430 normal_angular_aux_loss=0.0310 lr=2.50e-05 epoch=47 depth=0.5593 normal=0.6883
2026-09-30 17:58:06,390 [INFO] open_vision_banana.training.callbacks:   [step 15900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2380 loss=0.2463 normal_angular_aux_loss=0.0278 lr=2.48e-05 epoch=47 depth=0.5562 normal=0.6767
2026-09-30 18:02:39,871 [INFO] open_vision_banana.training.callbacks:   [step 15950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2300 loss=0.2389 normal_angular_aux_loss=0.0295 lr=2.47e-05 epoch=47 depth=0.5562 normal=0.6934
2026-09-30 18:07:15,681 [INFO] open_vision_banana.training.callbacks:   [step 16000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2460 loss=0.2549 normal_angular_aux_loss=0.0295 lr=2.46e-05 epoch=47 depth=0.5542 normal=0.6911
2026-09-30 18:07:24,584 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 16000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-16000
2026-09-30 18:07:50,863 [INFO] open_vision_banana.training.callbacks:   [val] step=16000 val_loss=0.2874
2026-09-30 18:12:23,982 [INFO] open_vision_banana.training.callbacks:   [step 16050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2320 loss=0.2406 normal_angular_aux_loss=0.0289 lr=2.44e-05 epoch=47 depth=0.5517 normal=0.6778
2026-09-30 18:17:00,299 [INFO] open_vision_banana.training.callbacks:   [step 16100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2397 loss=0.2488 normal_angular_aux_loss=0.0301 lr=2.43e-05 epoch=47 depth=0.5549 normal=0.6832
2026-09-30 18:21:35,460 [INFO] open_vision_banana.training.callbacks:   [step 16150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2287 loss=0.2374 normal_angular_aux_loss=0.0293 lr=2.42e-05 epoch=48 depth=0.5750 normal=0.6765
2026-09-30 18:26:04,844 [INFO] open_vision_banana.training.callbacks:   [step 16200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2331 loss=0.2415 normal_angular_aux_loss=0.0279 lr=2.40e-05 epoch=48 depth=0.5369 normal=0.6734
2026-09-30 18:30:40,039 [INFO] open_vision_banana.training.callbacks:   [step 16250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2303 loss=0.2386 normal_angular_aux_loss=0.0275 lr=2.39e-05 epoch=48 depth=0.5478 normal=0.6759
2026-09-30 18:35:18,994 [INFO] open_vision_banana.training.callbacks:   [step 16300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2424 loss=0.2516 normal_angular_aux_loss=0.0304 lr=2.38e-05 epoch=48 depth=0.5549 normal=0.6849
2026-09-30 18:39:52,205 [INFO] open_vision_banana.training.callbacks:   [step 16350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2412 loss=0.2501 normal_angular_aux_loss=0.0297 lr=2.36e-05 epoch=48 depth=0.5547 normal=0.6799
2026-09-30 18:44:25,560 [INFO] open_vision_banana.training.callbacks:   [step 16400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2364 loss=0.2447 normal_angular_aux_loss=0.0274 lr=2.35e-05 epoch=48 depth=0.5598 normal=0.6713
2026-09-30 18:49:00,433 [INFO] open_vision_banana.training.callbacks:   [step 16450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2337 loss=0.2423 normal_angular_aux_loss=0.0287 lr=2.33e-05 epoch=49 depth=0.5502 normal=0.6844
2026-09-30 18:53:35,161 [INFO] open_vision_banana.training.callbacks:   [step 16500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2325 loss=0.2412 normal_angular_aux_loss=0.0290 lr=2.32e-05 epoch=49 depth=0.5592 normal=0.6777
2026-09-30 18:54:01,569 [INFO] open_vision_banana.training.callbacks:   [val] step=16500 val_loss=0.2743
2026-09-30 18:58:34,909 [INFO] open_vision_banana.training.callbacks:   [step 16550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2296 loss=0.2383 normal_angular_aux_loss=0.0290 lr=2.31e-05 epoch=49 depth=0.5554 normal=0.6796
2026-09-30 19:03:09,569 [INFO] open_vision_banana.training.callbacks:   [step 16600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2418 loss=0.2503 normal_angular_aux_loss=0.0282 lr=2.29e-05 epoch=49 depth=0.5574 normal=0.6760
2026-09-30 19:07:48,189 [INFO] open_vision_banana.training.callbacks:   [step 16650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2449 loss=0.2541 normal_angular_aux_loss=0.0305 lr=2.28e-05 epoch=49 depth=0.5658 normal=0.6807
2026-09-30 19:12:23,676 [INFO] open_vision_banana.training.callbacks:   [step 16700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2365 loss=0.2447 normal_angular_aux_loss=0.0273 lr=2.27e-05 epoch=49 depth=0.5558 normal=0.6746
2026-09-30 19:17:04,761 [INFO] open_vision_banana.training.callbacks:   [step 16750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2266 loss=0.2353 normal_angular_aux_loss=0.0291 lr=2.25e-05 epoch=49 depth=0.5448 normal=0.6684
2026-09-30 19:21:47,200 [INFO] open_vision_banana.training.callbacks:   [step 16800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2337 loss=0.2423 normal_angular_aux_loss=0.0289 lr=2.24e-05 epoch=50 depth=0.5471 normal=0.6797
2026-09-30 19:26:21,722 [INFO] open_vision_banana.training.callbacks:   [step 16850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2376 loss=0.2462 normal_angular_aux_loss=0.0288 lr=2.23e-05 epoch=50 depth=0.5500 normal=0.6820
2026-09-30 19:30:56,980 [INFO] open_vision_banana.training.callbacks:   [step 16900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2392 loss=0.2474 normal_angular_aux_loss=0.0272 lr=2.21e-05 epoch=50 depth=0.5529 normal=0.6768
2026-09-30 19:35:32,481 [INFO] open_vision_banana.training.callbacks:   [step 16950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2385 loss=0.2472 normal_angular_aux_loss=0.0290 lr=2.20e-05 epoch=50 depth=0.5552 normal=0.6821
2026-09-30 19:40:06,270 [INFO] open_vision_banana.training.callbacks:   [step 17000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2404 loss=0.2489 normal_angular_aux_loss=0.0282 lr=2.19e-05 epoch=50 depth=0.5548 normal=0.6679
2026-09-30 19:40:15,387 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 17000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-17000
2026-09-30 19:40:43,716 [INFO] open_vision_banana.training.callbacks:   [val] step=17000 val_loss=0.2454
2026-09-30 19:45:16,185 [INFO] open_vision_banana.training.callbacks:   [step 17050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2401 loss=0.2488 normal_angular_aux_loss=0.0289 lr=2.17e-05 epoch=50 depth=0.5459 normal=0.6783
2026-09-30 19:49:49,989 [INFO] open_vision_banana.training.callbacks:   [step 17100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2371 loss=0.2464 normal_angular_aux_loss=0.0309 lr=2.16e-05 epoch=50 depth=0.5481 normal=0.6733
2026-09-30 19:54:26,829 [INFO] open_vision_banana.training.callbacks:   [step 17150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2430 loss=0.2516 normal_angular_aux_loss=0.0288 lr=2.14e-05 epoch=51 depth=0.5344 normal=0.6819
2026-09-30 19:59:00,186 [INFO] open_vision_banana.training.callbacks:   [step 17200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2351 loss=0.2437 normal_angular_aux_loss=0.0288 lr=2.13e-05 epoch=51 depth=0.5523 normal=0.6776
2026-09-30 20:03:42,020 [INFO] open_vision_banana.training.callbacks:   [step 17250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2360 loss=0.2441 normal_angular_aux_loss=0.0271 lr=2.12e-05 epoch=51 depth=0.5469 normal=0.6748
2026-09-30 20:08:23,744 [INFO] open_vision_banana.training.callbacks:   [step 17300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2360 loss=0.2452 normal_angular_aux_loss=0.0306 lr=2.10e-05 epoch=51 depth=0.5498 normal=0.6735
2026-09-30 20:12:58,472 [INFO] open_vision_banana.training.callbacks:   [step 17350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2404 loss=0.2486 normal_angular_aux_loss=0.0272 lr=2.09e-05 epoch=51 depth=0.5524 normal=0.6685
2026-09-30 20:17:35,197 [INFO] open_vision_banana.training.callbacks:   [step 17400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2315 loss=0.2399 normal_angular_aux_loss=0.0281 lr=2.08e-05 epoch=51 depth=0.5528 normal=0.6645
2026-09-30 20:22:12,899 [INFO] open_vision_banana.training.callbacks:   [step 17450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2336 loss=0.2423 normal_angular_aux_loss=0.0290 lr=2.06e-05 epoch=52 depth=0.5456 normal=0.6618
2026-09-30 20:26:48,116 [INFO] open_vision_banana.training.callbacks:   [step 17500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2430 loss=0.2521 normal_angular_aux_loss=0.0303 lr=2.05e-05 epoch=52 depth=0.5506 normal=0.6772
2026-09-30 20:27:15,103 [INFO] open_vision_banana.training.callbacks:   [val] step=17500 val_loss=0.2282
2026-09-30 20:31:51,552 [INFO] open_vision_banana.training.callbacks:   [step 17550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2275 loss=0.2362 normal_angular_aux_loss=0.0290 lr=2.04e-05 epoch=52 depth=0.5573 normal=0.6691
2026-09-30 20:36:28,514 [INFO] open_vision_banana.training.callbacks:   [step 17600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2269 loss=0.2355 normal_angular_aux_loss=0.0288 lr=2.02e-05 epoch=52 depth=0.5381 normal=0.6755
2026-09-30 20:41:09,209 [INFO] open_vision_banana.training.callbacks:   [step 17650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2320 loss=0.2406 normal_angular_aux_loss=0.0288 lr=2.01e-05 epoch=52 depth=0.5560 normal=0.6774
2026-09-30 20:45:50,060 [INFO] open_vision_banana.training.callbacks:   [step 17700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2320 loss=0.2409 normal_angular_aux_loss=0.0298 lr=2.00e-05 epoch=52 depth=0.5525 normal=0.6775
2026-09-30 20:50:28,575 [INFO] open_vision_banana.training.callbacks:   [step 17750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2346 loss=0.2427 normal_angular_aux_loss=0.0271 lr=1.98e-05 epoch=52 depth=0.5479 normal=0.6663
2026-09-30 20:55:13,924 [INFO] open_vision_banana.training.callbacks:   [step 17800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2279 loss=0.2368 normal_angular_aux_loss=0.0298 lr=1.97e-05 epoch=53 depth=0.5445 normal=0.6747
2026-09-30 20:59:54,587 [INFO] open_vision_banana.training.callbacks:   [step 17850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2381 loss=0.2466 normal_angular_aux_loss=0.0281 lr=1.96e-05 epoch=53 depth=0.5369 normal=0.6621
2026-09-30 21:04:32,697 [INFO] open_vision_banana.training.callbacks:   [step 17900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2380 loss=0.2473 normal_angular_aux_loss=0.0309 lr=1.94e-05 epoch=53 depth=0.5412 normal=0.6706
2026-09-30 21:09:11,401 [INFO] open_vision_banana.training.callbacks:   [step 17950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2292 loss=0.2386 normal_angular_aux_loss=0.0315 lr=1.93e-05 epoch=53 depth=0.5251 normal=0.6723
2026-09-30 21:13:51,674 [INFO] open_vision_banana.training.callbacks:   [step 18000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2407 loss=0.2492 normal_angular_aux_loss=0.0284 lr=1.92e-05 epoch=53 depth=0.5411 normal=0.6657
2026-09-30 21:14:00,154 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 18000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-18000
2026-09-30 21:14:27,164 [INFO] open_vision_banana.training.callbacks:   [val] step=18000 val_loss=0.2619
2026-09-30 21:19:03,686 [INFO] open_vision_banana.training.callbacks:   [step 18050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2355 loss=0.2435 normal_angular_aux_loss=0.0268 lr=1.90e-05 epoch=53 depth=0.5457 normal=0.6694
2026-09-30 21:23:45,339 [INFO] open_vision_banana.training.callbacks:   [step 18100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2317 loss=0.2407 normal_angular_aux_loss=0.0300 lr=1.89e-05 epoch=54 depth=0.5249 normal=0.6744
2026-09-30 21:28:27,960 [INFO] open_vision_banana.training.callbacks:   [step 18150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2249 loss=0.2337 normal_angular_aux_loss=0.0294 lr=1.88e-05 epoch=54 depth=0.5388 normal=0.6744
2026-09-30 21:33:02,440 [INFO] open_vision_banana.training.callbacks:   [step 18200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2319 loss=0.2403 normal_angular_aux_loss=0.0280 lr=1.86e-05 epoch=54 depth=0.5301 normal=0.6635
2026-09-30 21:37:41,576 [INFO] open_vision_banana.training.callbacks:   [step 18250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2329 loss=0.2412 normal_angular_aux_loss=0.0278 lr=1.85e-05 epoch=54 depth=0.5536 normal=0.6620
2026-09-30 21:42:26,751 [INFO] open_vision_banana.training.callbacks:   [step 18300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2304 loss=0.2390 normal_angular_aux_loss=0.0286 lr=1.84e-05 epoch=54 depth=0.5432 normal=0.6603
2026-09-30 21:47:05,786 [INFO] open_vision_banana.training.callbacks:   [step 18350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2353 loss=0.2438 normal_angular_aux_loss=0.0283 lr=1.83e-05 epoch=54 depth=0.5247 normal=0.6636
2026-09-30 21:51:44,158 [INFO] open_vision_banana.training.callbacks:   [step 18400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2321 loss=0.2413 normal_angular_aux_loss=0.0305 lr=1.81e-05 epoch=54 depth=0.5352 normal=0.6716
2026-09-30 21:56:24,067 [INFO] open_vision_banana.training.callbacks:   [step 18450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2328 loss=0.2411 normal_angular_aux_loss=0.0278 lr=1.80e-05 epoch=55 depth=0.5168 normal=0.6727
2026-09-30 22:01:01,923 [INFO] open_vision_banana.training.callbacks:   [step 18500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2348 loss=0.2432 normal_angular_aux_loss=0.0282 lr=1.79e-05 epoch=55 depth=0.5265 normal=0.6617
2026-09-30 22:01:29,082 [INFO] open_vision_banana.training.callbacks:   [val] step=18500 val_loss=0.2690
2026-09-30 22:06:06,638 [INFO] open_vision_banana.training.callbacks:   [step 18550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2264 loss=0.2352 normal_angular_aux_loss=0.0292 lr=1.77e-05 epoch=55 depth=0.5363 normal=0.6629
2026-09-30 22:10:42,122 [INFO] open_vision_banana.training.callbacks:   [step 18600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2273 loss=0.2356 normal_angular_aux_loss=0.0277 lr=1.76e-05 epoch=55 depth=0.5467 normal=0.6502
2026-09-30 22:15:20,488 [INFO] open_vision_banana.training.callbacks:   [step 18650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2300 loss=0.2384 normal_angular_aux_loss=0.0283 lr=1.75e-05 epoch=55 depth=0.5350 normal=0.6641
2026-09-30 22:19:52,985 [INFO] open_vision_banana.training.callbacks:   [step 18700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2336 loss=0.2424 normal_angular_aux_loss=0.0295 lr=1.73e-05 epoch=55 depth=0.5360 normal=0.6688
2026-09-30 22:24:32,169 [INFO] open_vision_banana.training.callbacks:   [step 18750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2356 loss=0.2440 normal_angular_aux_loss=0.0280 lr=1.72e-05 epoch=56 depth=0.5430 normal=0.6617
2026-09-30 22:29:10,062 [INFO] open_vision_banana.training.callbacks:   [step 18800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2311 loss=0.2399 normal_angular_aux_loss=0.0294 lr=1.71e-05 epoch=56 depth=0.5429 normal=0.6628
2026-09-30 22:33:45,584 [INFO] open_vision_banana.training.callbacks:   [step 18850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2316 loss=0.2402 normal_angular_aux_loss=0.0287 lr=1.70e-05 epoch=56 depth=0.5449 normal=0.6651
2026-09-30 22:38:21,285 [INFO] open_vision_banana.training.callbacks:   [step 18900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2349 loss=0.2434 normal_angular_aux_loss=0.0281 lr=1.68e-05 epoch=56 depth=0.5192 normal=0.6701
2026-09-30 22:42:57,396 [INFO] open_vision_banana.training.callbacks:   [step 18950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2329 loss=0.2418 normal_angular_aux_loss=0.0296 lr=1.67e-05 epoch=56 depth=0.5549 normal=0.6603
2026-09-30 22:47:32,304 [INFO] open_vision_banana.training.callbacks:   [step 19000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2370 loss=0.2451 normal_angular_aux_loss=0.0271 lr=1.66e-05 epoch=56 depth=0.5406 normal=0.6656
2026-09-30 22:47:41,366 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 19000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-19000
2026-09-30 22:48:08,921 [INFO] open_vision_banana.training.callbacks:   [val] step=19000 val_loss=0.2935
2026-09-30 22:52:42,533 [INFO] open_vision_banana.training.callbacks:   [step 19050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2350 loss=0.2436 normal_angular_aux_loss=0.0287 lr=1.64e-05 epoch=56 depth=0.5406 normal=0.6677
2026-09-30 22:57:19,562 [INFO] open_vision_banana.training.callbacks:   [step 19100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2327 loss=0.2410 normal_angular_aux_loss=0.0277 lr=1.63e-05 epoch=57 depth=0.5506 normal=0.6479
2026-09-30 23:01:51,279 [INFO] open_vision_banana.training.callbacks:   [step 19150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2310 loss=0.2388 normal_angular_aux_loss=0.0257 lr=1.62e-05 epoch=57 depth=0.5341 normal=0.6508
2026-09-30 23:06:24,083 [INFO] open_vision_banana.training.callbacks:   [step 19200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2310 loss=0.2393 normal_angular_aux_loss=0.0276 lr=1.61e-05 epoch=57 depth=0.5325 normal=0.6653
2026-09-30 23:11:01,570 [INFO] open_vision_banana.training.callbacks:   [step 19250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2324 loss=0.2406 normal_angular_aux_loss=0.0273 lr=1.59e-05 epoch=57 depth=0.5379 normal=0.6573
2026-09-30 23:15:39,824 [INFO] open_vision_banana.training.callbacks:   [step 19300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2370 loss=0.2451 normal_angular_aux_loss=0.0267 lr=1.58e-05 epoch=57 depth=0.5275 normal=0.6657
2026-09-30 23:20:14,749 [INFO] open_vision_banana.training.callbacks:   [step 19350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2353 loss=0.2438 normal_angular_aux_loss=0.0282 lr=1.57e-05 epoch=57 depth=0.5401 normal=0.6654
2026-09-30 23:24:53,813 [INFO] open_vision_banana.training.callbacks:   [step 19400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2335 loss=0.2422 normal_angular_aux_loss=0.0290 lr=1.56e-05 epoch=57 depth=0.5217 normal=0.6678
2026-09-30 23:29:29,159 [INFO] open_vision_banana.training.callbacks:   [step 19450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2244 loss=0.2322 normal_angular_aux_loss=0.0258 lr=1.54e-05 epoch=58 depth=0.5262 normal=0.6476
2026-09-30 23:34:08,980 [INFO] open_vision_banana.training.callbacks:   [step 19500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2258 loss=0.2340 normal_angular_aux_loss=0.0272 lr=1.53e-05 epoch=58 depth=0.5270 normal=0.6571
2026-09-30 23:34:35,824 [INFO] open_vision_banana.training.callbacks:   [val] step=19500 val_loss=0.2647
2026-09-30 23:39:16,161 [INFO] open_vision_banana.training.callbacks:   [step 19550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2374 loss=0.2458 normal_angular_aux_loss=0.0280 lr=1.52e-05 epoch=58 depth=0.5504 normal=0.6575
2026-09-30 23:43:51,105 [INFO] open_vision_banana.training.callbacks:   [step 19600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2281 loss=0.2362 normal_angular_aux_loss=0.0267 lr=1.51e-05 epoch=58 depth=0.5316 normal=0.6584
2026-09-30 23:48:24,382 [INFO] open_vision_banana.training.callbacks:   [step 19650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2248 loss=0.2335 normal_angular_aux_loss=0.0290 lr=1.49e-05 epoch=58 depth=0.5204 normal=0.6535
2026-09-30 23:53:02,283 [INFO] open_vision_banana.training.callbacks:   [step 19700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2302 loss=0.2385 normal_angular_aux_loss=0.0276 lr=1.48e-05 epoch=58 depth=0.5271 normal=0.6656
2026-09-30 23:57:43,652 [INFO] open_vision_banana.training.callbacks:   [step 19750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2304 loss=0.2385 normal_angular_aux_loss=0.0269 lr=1.47e-05 epoch=59 depth=0.5233 normal=0.6527
2026-10-01 00:02:22,666 [INFO] open_vision_banana.training.callbacks:   [step 19800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2332 loss=0.2416 normal_angular_aux_loss=0.0282 lr=1.46e-05 epoch=59 depth=0.5287 normal=0.6552
2026-10-01 00:07:01,289 [INFO] open_vision_banana.training.callbacks:   [step 19850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2268 loss=0.2354 normal_angular_aux_loss=0.0285 lr=1.44e-05 epoch=59 depth=0.5406 normal=0.6589
2026-10-01 00:11:38,678 [INFO] open_vision_banana.training.callbacks:   [step 19900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2223 loss=0.2306 normal_angular_aux_loss=0.0276 lr=1.43e-05 epoch=59 depth=0.5315 normal=0.6506
2026-10-01 00:16:17,931 [INFO] open_vision_banana.training.callbacks:   [step 19950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2326 loss=0.2413 normal_angular_aux_loss=0.0289 lr=1.42e-05 epoch=59 depth=0.5208 normal=0.6544
2026-10-01 00:20:57,098 [INFO] open_vision_banana.training.callbacks:   [step 20000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2326 loss=0.2414 normal_angular_aux_loss=0.0293 lr=1.41e-05 epoch=59 depth=0.5402 normal=0.6503
2026-10-01 00:21:06,156 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 20000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-20000
2026-10-01 00:21:32,269 [INFO] open_vision_banana.training.callbacks:   [val] step=20000 val_loss=0.2732
2026-10-01 00:26:07,264 [INFO] open_vision_banana.training.callbacks:   [step 20050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2250 loss=0.2333 normal_angular_aux_loss=0.0279 lr=1.40e-05 epoch=59 depth=0.5281 normal=0.6493
2026-10-01 00:30:46,292 [INFO] open_vision_banana.training.callbacks:   [step 20100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2323 loss=0.2411 normal_angular_aux_loss=0.0293 lr=1.38e-05 epoch=60 depth=0.5378 normal=0.6548
2026-10-01 00:35:25,530 [INFO] open_vision_banana.training.callbacks:   [step 20150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2297 loss=0.2382 normal_angular_aux_loss=0.0284 lr=1.37e-05 epoch=60 depth=0.5395 normal=0.6567
2026-10-01 00:40:07,673 [INFO] open_vision_banana.training.callbacks:   [step 20200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2318 loss=0.2403 normal_angular_aux_loss=0.0283 lr=1.36e-05 epoch=60 depth=0.5206 normal=0.6523
2026-10-01 00:44:47,194 [INFO] open_vision_banana.training.callbacks:   [step 20250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2175 loss=0.2255 normal_angular_aux_loss=0.0264 lr=1.35e-05 epoch=60 depth=0.5377 normal=0.6495
2026-10-01 00:49:29,445 [INFO] open_vision_banana.training.callbacks:   [step 20300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2264 loss=0.2350 normal_angular_aux_loss=0.0287 lr=1.34e-05 epoch=60 depth=0.5244 normal=0.6558
2026-10-01 00:54:04,660 [INFO] open_vision_banana.training.callbacks:   [step 20350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2330 loss=0.2416 normal_angular_aux_loss=0.0285 lr=1.32e-05 epoch=60 depth=0.5219 normal=0.6544
2026-10-01 00:58:44,460 [INFO] open_vision_banana.training.callbacks:   [step 20400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2278 loss=0.2359 normal_angular_aux_loss=0.0270 lr=1.31e-05 epoch=61 depth=0.5233 normal=0.6451
2026-10-01 01:03:30,858 [INFO] open_vision_banana.training.callbacks:   [step 20450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2238 loss=0.2326 normal_angular_aux_loss=0.0295 lr=1.30e-05 epoch=61 depth=0.5217 normal=0.6565
2026-10-01 01:08:08,330 [INFO] open_vision_banana.training.callbacks:   [step 20500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2273 loss=0.2362 normal_angular_aux_loss=0.0298 lr=1.29e-05 epoch=61 depth=0.5254 normal=0.6682
2026-10-01 01:08:34,037 [INFO] open_vision_banana.training.callbacks:   [val] step=20500 val_loss=0.2544
2026-10-01 01:13:02,526 [INFO] open_vision_banana.training.callbacks:   [step 20550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2276 loss=0.2355 normal_angular_aux_loss=0.0263 lr=1.28e-05 epoch=61 depth=0.5365 normal=0.6609
2026-10-01 01:17:32,303 [INFO] open_vision_banana.training.callbacks:   [step 20600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2240 loss=0.2318 normal_angular_aux_loss=0.0261 lr=1.26e-05 epoch=61 depth=0.5214 normal=0.6462
2026-10-01 01:22:08,069 [INFO] open_vision_banana.training.callbacks:   [step 20650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2253 loss=0.2338 normal_angular_aux_loss=0.0281 lr=1.25e-05 epoch=61 depth=0.5203 normal=0.6495
2026-10-01 01:26:38,447 [INFO] open_vision_banana.training.callbacks:   [step 20700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2316 loss=0.2403 normal_angular_aux_loss=0.0291 lr=1.24e-05 epoch=61 depth=0.5474 normal=0.6466
2026-10-01 01:31:18,970 [INFO] open_vision_banana.training.callbacks:   [step 20750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2235 loss=0.2318 normal_angular_aux_loss=0.0275 lr=1.23e-05 epoch=62 depth=0.5354 normal=0.6451
2026-10-01 01:35:54,734 [INFO] open_vision_banana.training.callbacks:   [step 20800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2309 loss=0.2399 normal_angular_aux_loss=0.0300 lr=1.22e-05 epoch=62 depth=0.5280 normal=0.6563
2026-10-01 01:40:27,488 [INFO] open_vision_banana.training.callbacks:   [step 20850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2249 loss=0.2335 normal_angular_aux_loss=0.0288 lr=1.21e-05 epoch=62 depth=0.5308 normal=0.6497
2026-10-01 01:45:01,421 [INFO] open_vision_banana.training.callbacks:   [step 20900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2309 loss=0.2398 normal_angular_aux_loss=0.0297 lr=1.19e-05 epoch=62 depth=0.5222 normal=0.6529
2026-10-01 01:49:39,778 [INFO] open_vision_banana.training.callbacks:   [step 20950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2230 loss=0.2307 normal_angular_aux_loss=0.0256 lr=1.18e-05 epoch=62 depth=0.5268 normal=0.6413
2026-10-01 01:54:10,602 [INFO] open_vision_banana.training.callbacks:   [step 21000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2256 loss=0.2338 normal_angular_aux_loss=0.0273 lr=1.17e-05 epoch=62 depth=0.5331 normal=0.6431
2026-10-01 01:54:19,327 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 21000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-21000
2026-10-01 01:54:44,673 [INFO] open_vision_banana.training.callbacks:   [val] step=21000 val_loss=0.2448
2026-10-01 01:59:23,159 [INFO] open_vision_banana.training.callbacks:   [step 21050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2241 loss=0.2325 normal_angular_aux_loss=0.0282 lr=1.16e-05 epoch=63 depth=0.5247 normal=0.6538
2026-10-01 02:03:57,467 [INFO] open_vision_banana.training.callbacks:   [step 21100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2297 loss=0.2384 normal_angular_aux_loss=0.0287 lr=1.15e-05 epoch=63 depth=0.5219 normal=0.6621
2026-10-01 02:08:32,023 [INFO] open_vision_banana.training.callbacks:   [step 21150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2328 loss=0.2412 normal_angular_aux_loss=0.0282 lr=1.14e-05 epoch=63 depth=0.5295 normal=0.6544
2026-10-01 02:13:14,484 [INFO] open_vision_banana.training.callbacks:   [step 21200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2320 loss=0.2401 normal_angular_aux_loss=0.0269 lr=1.13e-05 epoch=63 depth=0.5303 normal=0.6483
2026-10-01 02:17:51,462 [INFO] open_vision_banana.training.callbacks:   [step 21250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2208 loss=0.2305 normal_angular_aux_loss=0.0324 lr=1.11e-05 epoch=63 depth=0.5261 normal=0.6458
2026-10-01 02:22:30,816 [INFO] open_vision_banana.training.callbacks:   [step 21300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2232 loss=0.2309 normal_angular_aux_loss=0.0257 lr=1.10e-05 epoch=63 depth=0.5233 normal=0.6444
2026-10-01 02:27:07,524 [INFO] open_vision_banana.training.callbacks:   [step 21350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2300 loss=0.2377 normal_angular_aux_loss=0.0256 lr=1.09e-05 epoch=63 depth=0.5229 normal=0.6409
2026-10-01 02:31:46,113 [INFO] open_vision_banana.training.callbacks:   [step 21400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2284 loss=0.2368 normal_angular_aux_loss=0.0279 lr=1.08e-05 epoch=64 depth=0.5144 normal=0.6576
2026-10-01 02:36:17,980 [INFO] open_vision_banana.training.callbacks:   [step 21450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2287 loss=0.2368 normal_angular_aux_loss=0.0272 lr=1.07e-05 epoch=64 depth=0.5304 normal=0.6416
2026-10-01 02:40:50,269 [INFO] open_vision_banana.training.callbacks:   [step 21500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2227 loss=0.2308 normal_angular_aux_loss=0.0271 lr=1.06e-05 epoch=64 depth=0.5226 normal=0.6437
2026-10-01 02:41:18,324 [INFO] open_vision_banana.training.callbacks:   [val] step=21500 val_loss=0.2614
2026-10-01 02:45:58,200 [INFO] open_vision_banana.training.callbacks:   [step 21550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2260 loss=0.2347 normal_angular_aux_loss=0.0289 lr=1.05e-05 epoch=64 depth=0.5215 normal=0.6664
2026-10-01 02:50:33,539 [INFO] open_vision_banana.training.callbacks:   [step 21600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2239 loss=0.2319 normal_angular_aux_loss=0.0265 lr=1.04e-05 epoch=64 depth=0.5245 normal=0.6516
2026-10-01 02:55:09,078 [INFO] open_vision_banana.training.callbacks:   [step 21650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2292 loss=0.2380 normal_angular_aux_loss=0.0292 lr=1.03e-05 epoch=64 depth=0.5290 normal=0.6491
2026-10-01 02:59:50,570 [INFO] open_vision_banana.training.callbacks:   [step 21700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2303 loss=0.2387 normal_angular_aux_loss=0.0282 lr=1.02e-05 epoch=64 depth=0.5375 normal=0.6566
2026-10-01 03:04:27,741 [INFO] open_vision_banana.training.callbacks:   [step 21750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2241 loss=0.2321 normal_angular_aux_loss=0.0267 lr=1.00e-05 epoch=65 depth=0.5181 normal=0.6554
2026-10-01 03:09:04,271 [INFO] open_vision_banana.training.callbacks:   [step 21800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2295 loss=0.2372 normal_angular_aux_loss=0.0258 lr=9.94e-06 epoch=65 depth=0.5154 normal=0.6424
2026-10-01 03:13:44,085 [INFO] open_vision_banana.training.callbacks:   [step 21850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2216 loss=0.2300 normal_angular_aux_loss=0.0281 lr=9.83e-06 epoch=65 depth=0.5154 normal=0.6486
2026-10-01 03:18:18,090 [INFO] open_vision_banana.training.callbacks:   [step 21900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2193 loss=0.2271 normal_angular_aux_loss=0.0258 lr=9.73e-06 epoch=65 depth=0.5240 normal=0.6461
2026-10-01 03:22:55,886 [INFO] open_vision_banana.training.callbacks:   [step 21950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2263 loss=0.2348 normal_angular_aux_loss=0.0283 lr=9.62e-06 epoch=65 depth=0.5129 normal=0.6591
2026-10-01 03:27:32,155 [INFO] open_vision_banana.training.callbacks:   [step 22000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2297 loss=0.2380 normal_angular_aux_loss=0.0278 lr=9.52e-06 epoch=65 depth=0.5213 normal=0.6630
2026-10-01 03:27:40,971 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 22000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-22000
2026-10-01 03:28:09,276 [INFO] open_vision_banana.training.callbacks:   [val] step=22000 val_loss=0.2793
2026-10-01 03:32:47,216 [INFO] open_vision_banana.training.callbacks:   [step 22050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2203 loss=0.2284 normal_angular_aux_loss=0.0270 lr=9.41e-06 epoch=66 depth=0.5242 normal=0.6331
2026-10-01 03:37:23,337 [INFO] open_vision_banana.training.callbacks:   [step 22100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2257 loss=0.2341 normal_angular_aux_loss=0.0281 lr=9.31e-06 epoch=66 depth=0.5137 normal=0.6491
2026-10-01 03:42:00,494 [INFO] open_vision_banana.training.callbacks:   [step 22150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2208 loss=0.2286 normal_angular_aux_loss=0.0263 lr=9.20e-06 epoch=66 depth=0.5092 normal=0.6404
2026-10-01 03:46:38,655 [INFO] open_vision_banana.training.callbacks:   [step 22200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2203 loss=0.2286 normal_angular_aux_loss=0.0276 lr=9.10e-06 epoch=66 depth=0.5137 normal=0.6522
2026-10-01 03:51:18,462 [INFO] open_vision_banana.training.callbacks:   [step 22250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2243 loss=0.2328 normal_angular_aux_loss=0.0282 lr=9.00e-06 epoch=66 depth=0.5255 normal=0.6469
2026-10-01 03:55:58,136 [INFO] open_vision_banana.training.callbacks:   [step 22300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2206 loss=0.2288 normal_angular_aux_loss=0.0273 lr=8.89e-06 epoch=66 depth=0.5200 normal=0.6476
2026-10-01 04:00:37,110 [INFO] open_vision_banana.training.callbacks:   [step 22350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2268 loss=0.2347 normal_angular_aux_loss=0.0263 lr=8.79e-06 epoch=66 depth=0.5238 normal=0.6480
2026-10-01 04:05:13,648 [INFO] open_vision_banana.training.callbacks:   [step 22400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2219 loss=0.2314 normal_angular_aux_loss=0.0318 lr=8.69e-06 epoch=67 depth=0.5195 normal=0.6395
2026-10-01 04:09:49,261 [INFO] open_vision_banana.training.callbacks:   [step 22450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2281 loss=0.2365 normal_angular_aux_loss=0.0279 lr=8.59e-06 epoch=67 depth=0.5222 normal=0.6391
2026-10-01 04:14:25,290 [INFO] open_vision_banana.training.callbacks:   [step 22500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2248 loss=0.2332 normal_angular_aux_loss=0.0280 lr=8.49e-06 epoch=67 depth=0.5084 normal=0.6476
2026-10-01 04:14:51,753 [INFO] open_vision_banana.training.callbacks:   [val] step=22500 val_loss=0.2430
2026-10-01 04:19:29,899 [INFO] open_vision_banana.training.callbacks:   [step 22550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2189 loss=0.2272 normal_angular_aux_loss=0.0278 lr=8.39e-06 epoch=67 depth=0.5101 normal=0.6484
2026-10-01 04:24:06,636 [INFO] open_vision_banana.training.callbacks:   [step 22600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2300 loss=0.2385 normal_angular_aux_loss=0.0281 lr=8.29e-06 epoch=67 depth=0.5326 normal=0.6474
2026-10-01 04:28:42,565 [INFO] open_vision_banana.training.callbacks:   [step 22650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2245 loss=0.2334 normal_angular_aux_loss=0.0297 lr=8.19e-06 epoch=67 depth=0.5183 normal=0.6487
2026-10-01 04:33:23,268 [INFO] open_vision_banana.training.callbacks:   [step 22700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2299 loss=0.2387 normal_angular_aux_loss=0.0295 lr=8.09e-06 epoch=68 depth=0.5237 normal=0.6697
2026-10-01 04:38:00,112 [INFO] open_vision_banana.training.callbacks:   [step 22750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2278 loss=0.2361 normal_angular_aux_loss=0.0275 lr=7.99e-06 epoch=68 depth=0.5175 normal=0.6592
2026-10-01 04:42:38,149 [INFO] open_vision_banana.training.callbacks:   [step 22800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2220 loss=0.2299 normal_angular_aux_loss=0.0264 lr=7.89e-06 epoch=68 depth=0.5269 normal=0.6350
2026-10-01 04:47:17,449 [INFO] open_vision_banana.training.callbacks:   [step 22850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2185 loss=0.2266 normal_angular_aux_loss=0.0269 lr=7.80e-06 epoch=68 depth=0.5063 normal=0.6361
2026-10-01 04:51:57,571 [INFO] open_vision_banana.training.callbacks:   [step 22900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2243 loss=0.2323 normal_angular_aux_loss=0.0266 lr=7.70e-06 epoch=68 depth=0.5189 normal=0.6412
2026-10-01 04:56:37,901 [INFO] open_vision_banana.training.callbacks:   [step 22950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2275 loss=0.2359 normal_angular_aux_loss=0.0278 lr=7.61e-06 epoch=68 depth=0.5129 normal=0.6342
2026-10-01 05:01:18,058 [INFO] open_vision_banana.training.callbacks:   [step 23000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2299 loss=0.2377 normal_angular_aux_loss=0.0261 lr=7.51e-06 epoch=68 depth=0.5237 normal=0.6472
2026-10-01 05:01:26,367 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 23000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-23000
2026-10-01 05:01:53,140 [INFO] open_vision_banana.training.callbacks:   [val] step=23000 val_loss=0.2929
2026-10-01 05:06:37,772 [INFO] open_vision_banana.training.callbacks:   [step 23050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2225 loss=0.2305 normal_angular_aux_loss=0.0264 lr=7.41e-06 epoch=69 depth=0.5048 normal=0.6525
2026-10-01 05:11:15,643 [INFO] open_vision_banana.training.callbacks:   [step 23100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2193 loss=0.2280 normal_angular_aux_loss=0.0291 lr=7.32e-06 epoch=69 depth=0.5157 normal=0.6538
2026-10-01 05:15:52,183 [INFO] open_vision_banana.training.callbacks:   [step 23150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2292 loss=0.2376 normal_angular_aux_loss=0.0279 lr=7.23e-06 epoch=69 depth=0.4944 normal=0.6479
2026-10-01 05:20:36,419 [INFO] open_vision_banana.training.callbacks:   [step 23200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2280 loss=0.2365 normal_angular_aux_loss=0.0282 lr=7.13e-06 epoch=69 depth=0.5069 normal=0.6524
2026-10-01 05:25:19,308 [INFO] open_vision_banana.training.callbacks:   [step 23250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2267 loss=0.2354 normal_angular_aux_loss=0.0288 lr=7.04e-06 epoch=69 depth=0.5138 normal=0.6393
2026-10-01 05:29:57,158 [INFO] open_vision_banana.training.callbacks:   [step 23300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2237 loss=0.2326 normal_angular_aux_loss=0.0297 lr=6.95e-06 epoch=69 depth=0.5154 normal=0.6537
2026-10-01 05:34:35,399 [INFO] open_vision_banana.training.callbacks:   [step 23350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2154 loss=0.2234 normal_angular_aux_loss=0.0267 lr=6.86e-06 epoch=69 depth=0.5209 normal=0.6397
2026-10-01 05:39:11,055 [INFO] open_vision_banana.training.callbacks:   [step 23400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2178 loss=0.2258 normal_angular_aux_loss=0.0268 lr=6.77e-06 epoch=70 depth=0.5001 normal=0.6325
2026-10-01 05:43:44,634 [INFO] open_vision_banana.training.callbacks:   [step 23450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2268 loss=0.2352 normal_angular_aux_loss=0.0280 lr=6.68e-06 epoch=70 depth=0.5175 normal=0.6449
2026-10-01 05:48:23,209 [INFO] open_vision_banana.training.callbacks:   [step 23500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2218 loss=0.2298 normal_angular_aux_loss=0.0266 lr=6.59e-06 epoch=70 depth=0.5185 normal=0.6383
2026-10-01 05:48:50,487 [INFO] open_vision_banana.training.callbacks:   [val] step=23500 val_loss=0.2743
2026-10-01 05:53:26,047 [INFO] open_vision_banana.training.callbacks:   [step 23550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2221 loss=0.2304 normal_angular_aux_loss=0.0276 lr=6.50e-06 epoch=70 depth=0.5034 normal=0.6466
2026-10-01 05:58:01,237 [INFO] open_vision_banana.training.callbacks:   [step 23600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2285 loss=0.2372 normal_angular_aux_loss=0.0290 lr=6.41e-06 epoch=70 depth=0.5216 normal=0.6519
2026-10-01 06:02:36,714 [INFO] open_vision_banana.training.callbacks:   [step 23650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2194 loss=0.2282 normal_angular_aux_loss=0.0293 lr=6.32e-06 epoch=70 depth=0.5187 normal=0.6447
2026-10-01 06:07:20,317 [INFO] open_vision_banana.training.callbacks:   [step 23700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2309 loss=0.2388 normal_angular_aux_loss=0.0265 lr=6.23e-06 epoch=71 depth=0.5195 normal=0.6419
2026-10-01 06:11:54,816 [INFO] open_vision_banana.training.callbacks:   [step 23750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2290 loss=0.2374 normal_angular_aux_loss=0.0279 lr=6.15e-06 epoch=71 depth=0.5112 normal=0.6570
2026-10-01 06:16:30,902 [INFO] open_vision_banana.training.callbacks:   [step 23800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2228 loss=0.2317 normal_angular_aux_loss=0.0296 lr=6.06e-06 epoch=71 depth=0.5065 normal=0.6547
2026-10-01 06:21:11,041 [INFO] open_vision_banana.training.callbacks:   [step 23850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2167 loss=0.2255 normal_angular_aux_loss=0.0294 lr=5.97e-06 epoch=71 depth=0.5106 normal=0.6394
2026-10-01 06:25:51,305 [INFO] open_vision_banana.training.callbacks:   [step 23900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2276 loss=0.2359 normal_angular_aux_loss=0.0278 lr=5.89e-06 epoch=71 depth=0.5083 normal=0.6326
2026-10-01 06:30:38,862 [INFO] open_vision_banana.training.callbacks:   [step 23950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2278 loss=0.2375 normal_angular_aux_loss=0.0320 lr=5.80e-06 epoch=71 depth=0.5272 normal=0.6611
2026-10-01 06:35:18,456 [INFO] open_vision_banana.training.callbacks:   [step 24000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2230 loss=0.2309 normal_angular_aux_loss=0.0261 lr=5.72e-06 epoch=71 depth=0.5283 normal=0.6322
2026-10-01 06:35:26,555 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 24000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-24000
2026-10-01 06:35:53,572 [INFO] open_vision_banana.training.callbacks:   [val] step=24000 val_loss=0.2174
2026-10-01 06:36:02,107 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 24000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-24000_best
2026-10-01 06:36:02,108 [INFO] open_vision_banana.training.callbacks:   New best val_loss=0.2174
2026-10-01 06:40:40,920 [INFO] open_vision_banana.training.callbacks:   [step 24050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2247 loss=0.2325 normal_angular_aux_loss=0.0259 lr=5.64e-06 epoch=72 depth=0.5134 normal=0.6299
2026-10-01 06:45:27,561 [INFO] open_vision_banana.training.callbacks:   [step 24100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2271 loss=0.2354 normal_angular_aux_loss=0.0278 lr=5.55e-06 epoch=72 depth=0.5229 normal=0.6453
2026-10-01 06:50:17,253 [INFO] open_vision_banana.training.callbacks:   [step 24150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2257 loss=0.2340 normal_angular_aux_loss=0.0277 lr=5.47e-06 epoch=72 depth=0.5306 normal=0.6444
2026-10-01 06:54:57,579 [INFO] open_vision_banana.training.callbacks:   [step 24200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2278 loss=0.2364 normal_angular_aux_loss=0.0289 lr=5.39e-06 epoch=72 depth=0.5101 normal=0.6414
2026-10-01 06:59:40,544 [INFO] open_vision_banana.training.callbacks:   [step 24250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2262 loss=0.2340 normal_angular_aux_loss=0.0261 lr=5.31e-06 epoch=72 depth=0.5289 normal=0.6331
2026-10-01 07:04:24,246 [INFO] open_vision_banana.training.callbacks:   [step 24300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2296 loss=0.2379 normal_angular_aux_loss=0.0279 lr=5.23e-06 epoch=72 depth=0.5171 normal=0.6471
2026-10-01 07:09:10,567 [INFO] open_vision_banana.training.callbacks:   [step 24350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2249 loss=0.2331 normal_angular_aux_loss=0.0273 lr=5.15e-06 epoch=73 depth=0.5222 normal=0.6486
2026-10-01 07:13:49,732 [INFO] open_vision_banana.training.callbacks:   [step 24400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2291 loss=0.2370 normal_angular_aux_loss=0.0262 lr=5.07e-06 epoch=73 depth=0.5206 normal=0.6388
2026-10-01 07:18:30,545 [INFO] open_vision_banana.training.callbacks:   [step 24450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2163 loss=0.2249 normal_angular_aux_loss=0.0287 lr=4.99e-06 epoch=73 depth=0.5149 normal=0.6352
2026-10-01 07:23:10,340 [INFO] open_vision_banana.training.callbacks:   [step 24500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2237 loss=0.2327 normal_angular_aux_loss=0.0299 lr=4.91e-06 epoch=73 depth=0.5205 normal=0.6432
2026-10-01 07:23:37,162 [INFO] open_vision_banana.training.callbacks:   [val] step=24500 val_loss=0.2705
2026-10-01 07:28:20,202 [INFO] open_vision_banana.training.callbacks:   [step 24550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2212 loss=0.2290 normal_angular_aux_loss=0.0261 lr=4.83e-06 epoch=73 depth=0.5052 normal=0.6452
2026-10-01 07:32:57,744 [INFO] open_vision_banana.training.callbacks:   [step 24600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2221 loss=0.2300 normal_angular_aux_loss=0.0264 lr=4.76e-06 epoch=73 depth=0.5080 normal=0.6383
2026-10-01 07:37:42,930 [INFO] open_vision_banana.training.callbacks:   [step 24650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2177 loss=0.2261 normal_angular_aux_loss=0.0281 lr=4.68e-06 epoch=73 depth=0.4982 normal=0.6450
2026-10-01 07:42:21,260 [INFO] open_vision_banana.training.callbacks:   [step 24700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2272 loss=0.2356 normal_angular_aux_loss=0.0279 lr=4.61e-06 epoch=74 depth=0.5145 normal=0.6516
2026-10-01 07:46:59,092 [INFO] open_vision_banana.training.callbacks:   [step 24750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2242 loss=0.2321 normal_angular_aux_loss=0.0266 lr=4.53e-06 epoch=74 depth=0.5213 normal=0.6297
2026-10-01 07:51:36,047 [INFO] open_vision_banana.training.callbacks:   [step 24800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2162 loss=0.2243 normal_angular_aux_loss=0.0267 lr=4.46e-06 epoch=74 depth=0.5113 normal=0.6368
2026-10-01 07:56:24,814 [INFO] open_vision_banana.training.callbacks:   [step 24850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2249 loss=0.2330 normal_angular_aux_loss=0.0269 lr=4.38e-06 epoch=74 depth=0.5186 normal=0.6483
2026-10-01 08:01:04,703 [INFO] open_vision_banana.training.callbacks:   [step 24900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2270 loss=0.2354 normal_angular_aux_loss=0.0280 lr=4.31e-06 epoch=74 depth=0.5124 normal=0.6486
2026-10-01 08:05:40,582 [INFO] open_vision_banana.training.callbacks:   [step 24950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2224 loss=0.2304 normal_angular_aux_loss=0.0268 lr=4.24e-06 epoch=74 depth=0.5112 normal=0.6375
2026-10-01 08:10:22,972 [INFO] open_vision_banana.training.callbacks:   [step 25000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2252 loss=0.2328 normal_angular_aux_loss=0.0252 lr=4.16e-06 epoch=75 depth=0.5092 normal=0.6387
2026-10-01 08:10:31,579 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 25000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-25000
2026-10-01 08:10:56,479 [INFO] open_vision_banana.training.callbacks:   [val] step=25000 val_loss=0.2420
2026-10-01 08:15:41,113 [INFO] open_vision_banana.training.callbacks:   [step 25050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2225 loss=0.2309 normal_angular_aux_loss=0.0282 lr=4.09e-06 epoch=75 depth=0.5145 normal=0.6390
2026-10-01 08:20:19,715 [INFO] open_vision_banana.training.callbacks:   [step 25100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2246 loss=0.2323 normal_angular_aux_loss=0.0255 lr=4.02e-06 epoch=75 depth=0.5076 normal=0.6375
2026-10-01 08:24:59,334 [INFO] open_vision_banana.training.callbacks:   [step 25150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2263 loss=0.2352 normal_angular_aux_loss=0.0294 lr=3.95e-06 epoch=75 depth=0.5074 normal=0.6585
2026-10-01 08:29:37,617 [INFO] open_vision_banana.training.callbacks:   [step 25200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2261 loss=0.2342 normal_angular_aux_loss=0.0268 lr=3.88e-06 epoch=75 depth=0.5235 normal=0.6384
2026-10-01 08:34:17,003 [INFO] open_vision_banana.training.callbacks:   [step 25250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2346 loss=0.2435 normal_angular_aux_loss=0.0295 lr=3.82e-06 epoch=75 depth=0.5111 normal=0.6393
2026-10-01 08:39:01,981 [INFO] open_vision_banana.training.callbacks:   [step 25300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2202 loss=0.2284 normal_angular_aux_loss=0.0274 lr=3.75e-06 epoch=75 depth=0.5196 normal=0.6306
2026-10-01 08:43:47,419 [INFO] open_vision_banana.training.callbacks:   [step 25350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2281 loss=0.2367 normal_angular_aux_loss=0.0288 lr=3.68e-06 epoch=76 depth=0.5273 normal=0.6504
2026-10-01 08:48:30,937 [INFO] open_vision_banana.training.callbacks:   [step 25400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2216 loss=0.2296 normal_angular_aux_loss=0.0266 lr=3.61e-06 epoch=76 depth=0.5055 normal=0.6380
2026-10-01 08:53:15,189 [INFO] open_vision_banana.training.callbacks:   [step 25450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2247 loss=0.2335 normal_angular_aux_loss=0.0294 lr=3.55e-06 epoch=76 depth=0.5171 normal=0.6420
2026-10-01 08:58:01,004 [INFO] open_vision_banana.training.callbacks:   [step 25500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2216 loss=0.2292 normal_angular_aux_loss=0.0254 lr=3.48e-06 epoch=76 depth=0.5205 normal=0.6285
2026-10-01 08:58:27,620 [INFO] open_vision_banana.training.callbacks:   [val] step=25500 val_loss=0.2501
2026-10-01 09:03:10,033 [INFO] open_vision_banana.training.callbacks:   [step 25550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2306 loss=0.2383 normal_angular_aux_loss=0.0257 lr=3.42e-06 epoch=76 depth=0.5084 normal=0.6314
2026-10-01 09:07:54,519 [INFO] open_vision_banana.training.callbacks:   [step 25600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2217 loss=0.2298 normal_angular_aux_loss=0.0270 lr=3.35e-06 epoch=76 depth=0.5173 normal=0.6336
2026-10-01 09:12:40,873 [INFO] open_vision_banana.training.callbacks:   [step 25650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2281 loss=0.2360 normal_angular_aux_loss=0.0262 lr=3.29e-06 epoch=76 depth=0.5174 normal=0.6351
2026-10-01 09:17:28,499 [INFO] open_vision_banana.training.callbacks:   [step 25700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2231 loss=0.2309 normal_angular_aux_loss=0.0260 lr=3.23e-06 epoch=77 depth=0.5152 normal=0.6324
2026-10-01 09:22:14,383 [INFO] open_vision_banana.training.callbacks:   [step 25750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2226 loss=0.2309 normal_angular_aux_loss=0.0277 lr=3.17e-06 epoch=77 depth=0.5114 normal=0.6475
2026-10-01 09:26:58,481 [INFO] open_vision_banana.training.callbacks:   [step 25800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2243 loss=0.2332 normal_angular_aux_loss=0.0298 lr=3.11e-06 epoch=77 depth=0.5155 normal=0.6368
2026-10-01 09:31:33,990 [INFO] open_vision_banana.training.callbacks:   [step 25850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2234 loss=0.2316 normal_angular_aux_loss=0.0275 lr=3.04e-06 epoch=77 depth=0.4979 normal=0.6347
2026-10-01 09:36:12,945 [INFO] open_vision_banana.training.callbacks:   [step 25900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2240 loss=0.2315 normal_angular_aux_loss=0.0252 lr=2.98e-06 epoch=77 depth=0.5135 normal=0.6368
2026-10-01 09:40:49,454 [INFO] open_vision_banana.training.callbacks:   [step 25950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2246 loss=0.2332 normal_angular_aux_loss=0.0287 lr=2.93e-06 epoch=77 depth=0.5149 normal=0.6324
2026-10-01 09:45:26,960 [INFO] open_vision_banana.training.callbacks:   [step 26000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2159 loss=0.2248 normal_angular_aux_loss=0.0298 lr=2.87e-06 epoch=78 depth=0.5048 normal=0.6497
2026-10-01 09:45:35,004 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 26000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-26000
2026-10-01 09:46:05,424 [INFO] open_vision_banana.training.callbacks:   [val] step=26000 val_loss=0.2524
2026-10-01 09:50:41,218 [INFO] open_vision_banana.training.callbacks:   [step 26050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2259 loss=0.2340 normal_angular_aux_loss=0.0268 lr=2.81e-06 epoch=78 depth=0.5158 normal=0.6414
2026-10-01 09:55:12,457 [INFO] open_vision_banana.training.callbacks:   [step 26100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2232 loss=0.2308 normal_angular_aux_loss=0.0255 lr=2.75e-06 epoch=78 depth=0.5018 normal=0.6394
2026-10-01 09:59:50,112 [INFO] open_vision_banana.training.callbacks:   [step 26150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2188 loss=0.2269 normal_angular_aux_loss=0.0269 lr=2.70e-06 epoch=78 depth=0.5177 normal=0.6467
2026-10-01 10:04:26,535 [INFO] open_vision_banana.training.callbacks:   [step 26200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2258 loss=0.2342 normal_angular_aux_loss=0.0279 lr=2.64e-06 epoch=78 depth=0.5223 normal=0.6365
2026-10-01 10:09:05,829 [INFO] open_vision_banana.training.callbacks:   [step 26250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2217 loss=0.2306 normal_angular_aux_loss=0.0298 lr=2.58e-06 epoch=78 depth=0.5096 normal=0.6354
2026-10-01 10:13:47,250 [INFO] open_vision_banana.training.callbacks:   [step 26300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2235 loss=0.2321 normal_angular_aux_loss=0.0285 lr=2.53e-06 epoch=78 depth=0.5168 normal=0.6386
2026-10-01 10:18:29,292 [INFO] open_vision_banana.training.callbacks:   [step 26350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2209 loss=0.2287 normal_angular_aux_loss=0.0258 lr=2.48e-06 epoch=79 depth=0.5201 normal=0.6356
2026-10-01 10:23:12,643 [INFO] open_vision_banana.training.callbacks:   [step 26400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2226 loss=0.2312 normal_angular_aux_loss=0.0287 lr=2.42e-06 epoch=79 depth=0.4968 normal=0.6406
2026-10-01 10:27:50,274 [INFO] open_vision_banana.training.callbacks:   [step 26450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2211 loss=0.2286 normal_angular_aux_loss=0.0248 lr=2.37e-06 epoch=79 depth=0.5163 normal=0.6387
2026-10-01 10:32:27,087 [INFO] open_vision_banana.training.callbacks:   [step 26500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2232 loss=0.2312 normal_angular_aux_loss=0.0265 lr=2.32e-06 epoch=79 depth=0.4966 normal=0.6254
2026-10-01 10:32:52,832 [INFO] open_vision_banana.training.callbacks:   [val] step=26500 val_loss=0.2745
2026-10-01 10:37:29,295 [INFO] open_vision_banana.training.callbacks:   [step 26550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2250 loss=0.2328 normal_angular_aux_loss=0.0258 lr=2.27e-06 epoch=79 depth=0.5190 normal=0.6531
2026-10-01 10:42:13,159 [INFO] open_vision_banana.training.callbacks:   [step 26600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2221 loss=0.2305 normal_angular_aux_loss=0.0278 lr=2.22e-06 epoch=79 depth=0.4967 normal=0.6410
2026-10-01 10:46:56,622 [INFO] open_vision_banana.training.callbacks:   [step 26650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2213 loss=0.2295 normal_angular_aux_loss=0.0275 lr=2.17e-06 epoch=80 depth=0.5208 normal=0.6316
2026-10-01 10:51:46,054 [INFO] open_vision_banana.training.callbacks:   [step 26700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2215 loss=0.2299 normal_angular_aux_loss=0.0280 lr=2.12e-06 epoch=80 depth=0.5075 normal=0.6319
2026-10-01 10:56:19,344 [INFO] open_vision_banana.training.callbacks:   [step 26750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2223 loss=0.2304 normal_angular_aux_loss=0.0270 lr=2.07e-06 epoch=80 depth=0.5240 normal=0.6294
2026-10-01 11:00:52,844 [INFO] open_vision_banana.training.callbacks:   [step 26800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2207 loss=0.2288 normal_angular_aux_loss=0.0271 lr=2.02e-06 epoch=80 depth=0.4938 normal=0.6495
2026-10-01 11:05:33,563 [INFO] open_vision_banana.training.callbacks:   [step 26850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2258 loss=0.2336 normal_angular_aux_loss=0.0258 lr=1.98e-06 epoch=80 depth=0.5174 normal=0.6358
2026-10-01 11:10:32,961 [INFO] open_vision_banana.training.callbacks:   [step 26900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2214 loss=0.2294 normal_angular_aux_loss=0.0267 lr=1.93e-06 epoch=80 depth=0.5010 normal=0.6397
2026-10-01 11:15:16,322 [INFO] open_vision_banana.training.callbacks:   [step 26950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2188 loss=0.2273 normal_angular_aux_loss=0.0283 lr=1.89e-06 epoch=80 depth=0.5051 normal=0.6420
2026-10-01 11:19:59,245 [INFO] open_vision_banana.training.callbacks:   [step 27000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2194 loss=0.2276 normal_angular_aux_loss=0.0273 lr=1.84e-06 epoch=81 depth=0.5153 normal=0.6414
2026-10-01 11:20:07,892 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 27000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-27000
2026-10-01 11:20:33,503 [INFO] open_vision_banana.training.callbacks:   [val] step=27000 val_loss=0.2385
2026-10-01 11:25:05,867 [INFO] open_vision_banana.training.callbacks:   [step 27050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2245 loss=0.2323 normal_angular_aux_loss=0.0259 lr=1.80e-06 epoch=81 depth=0.4981 normal=0.6363
2026-10-01 11:29:41,624 [INFO] open_vision_banana.training.callbacks:   [step 27100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2249 loss=0.2326 normal_angular_aux_loss=0.0258 lr=1.75e-06 epoch=81 depth=0.5173 normal=0.6445
2026-10-01 11:34:13,949 [INFO] open_vision_banana.training.callbacks:   [step 27150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2265 loss=0.2345 normal_angular_aux_loss=0.0269 lr=1.71e-06 epoch=81 depth=0.5122 normal=0.6336
2026-10-01 11:38:51,986 [INFO] open_vision_banana.training.callbacks:   [step 27200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2251 loss=0.2333 normal_angular_aux_loss=0.0273 lr=1.67e-06 epoch=81 depth=0.5082 normal=0.6367
2026-10-01 11:43:24,843 [INFO] open_vision_banana.training.callbacks:   [step 27250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2171 loss=0.2254 normal_angular_aux_loss=0.0276 lr=1.63e-06 epoch=81 depth=0.5081 normal=0.6368
2026-10-01 11:47:58,607 [INFO] open_vision_banana.training.callbacks:   [step 27300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2292 loss=0.2373 normal_angular_aux_loss=0.0267 lr=1.59e-06 epoch=82 depth=0.5154 normal=0.6442
2026-10-01 11:52:32,015 [INFO] open_vision_banana.training.callbacks:   [step 27350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2196 loss=0.2283 normal_angular_aux_loss=0.0293 lr=1.55e-06 epoch=82 depth=0.5026 normal=0.6393
2026-10-01 11:57:11,445 [INFO] open_vision_banana.training.callbacks:   [step 27400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2144 loss=0.2222 normal_angular_aux_loss=0.0260 lr=1.51e-06 epoch=82 depth=0.4958 normal=0.6328
2026-10-01 12:01:43,409 [INFO] open_vision_banana.training.callbacks:   [step 27450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2224 loss=0.2304 normal_angular_aux_loss=0.0265 lr=1.47e-06 epoch=82 depth=0.5189 normal=0.6343
2026-10-01 12:06:14,726 [INFO] open_vision_banana.training.callbacks:   [step 27500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2248 loss=0.2330 normal_angular_aux_loss=0.0271 lr=1.43e-06 epoch=82 depth=0.5096 normal=0.6498
2026-10-01 12:06:39,519 [INFO] open_vision_banana.training.callbacks:   [val] step=27500 val_loss=0.2177
2026-10-01 12:11:14,401 [INFO] open_vision_banana.training.callbacks:   [step 27550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2225 loss=0.2310 normal_angular_aux_loss=0.0281 lr=1.40e-06 epoch=82 depth=0.5084 normal=0.6342
2026-10-01 12:15:57,117 [INFO] open_vision_banana.training.callbacks:   [step 27600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2198 loss=0.2278 normal_angular_aux_loss=0.0267 lr=1.36e-06 epoch=82 depth=0.4995 normal=0.6333
2026-10-01 12:20:34,406 [INFO] open_vision_banana.training.callbacks:   [step 27650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2186 loss=0.2270 normal_angular_aux_loss=0.0279 lr=1.33e-06 epoch=83 depth=0.5100 normal=0.6401
2026-10-01 12:25:15,370 [INFO] open_vision_banana.training.callbacks:   [step 27700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2186 loss=0.2273 normal_angular_aux_loss=0.0290 lr=1.29e-06 epoch=83 depth=0.4958 normal=0.6480
2026-10-01 12:29:52,116 [INFO] open_vision_banana.training.callbacks:   [step 27750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2246 loss=0.2327 normal_angular_aux_loss=0.0269 lr=1.26e-06 epoch=83 depth=0.5157 normal=0.6336
2026-10-01 12:34:26,335 [INFO] open_vision_banana.training.callbacks:   [step 27800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2245 loss=0.2334 normal_angular_aux_loss=0.0296 lr=1.22e-06 epoch=83 depth=0.5124 normal=0.6417
2026-10-01 12:39:08,276 [INFO] open_vision_banana.training.callbacks:   [step 27850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2349 loss=0.2436 normal_angular_aux_loss=0.0290 lr=1.19e-06 epoch=83 depth=0.5183 normal=0.6484
2026-10-01 12:43:47,819 [INFO] open_vision_banana.training.callbacks:   [step 27900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2120 loss=0.2197 normal_angular_aux_loss=0.0259 lr=1.16e-06 epoch=83 depth=0.4952 normal=0.6258
2026-10-01 12:48:24,793 [INFO] open_vision_banana.training.callbacks:   [step 27950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2225 loss=0.2308 normal_angular_aux_loss=0.0276 lr=1.13e-06 epoch=83 depth=0.5103 normal=0.6241
2026-10-01 12:53:03,956 [INFO] open_vision_banana.training.callbacks:   [step 28000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2217 loss=0.2304 normal_angular_aux_loss=0.0291 lr=1.10e-06 epoch=84 depth=0.5037 normal=0.6361
2026-10-01 12:53:12,274 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 28000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-28000
2026-10-01 12:53:38,495 [INFO] open_vision_banana.training.callbacks:   [val] step=28000 val_loss=0.3023
2026-10-01 12:58:16,648 [INFO] open_vision_banana.training.callbacks:   [step 28050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2193 loss=0.2274 normal_angular_aux_loss=0.0271 lr=1.07e-06 epoch=84 depth=0.5264 normal=0.6333
2026-10-01 13:03:04,597 [INFO] open_vision_banana.training.callbacks:   [step 28100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2150 loss=0.2232 normal_angular_aux_loss=0.0273 lr=1.04e-06 epoch=84 depth=0.5199 normal=0.6267
2026-10-01 13:08:01,837 [INFO] open_vision_banana.training.callbacks:   [step 28150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2192 loss=0.2273 normal_angular_aux_loss=0.0271 lr=1.01e-06 epoch=84 depth=0.5033 normal=0.6402
2026-10-01 13:12:50,656 [INFO] open_vision_banana.training.callbacks:   [step 28200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2208 loss=0.2289 normal_angular_aux_loss=0.0269 lr=9.86e-07 epoch=84 depth=0.5090 normal=0.6249
2026-10-01 13:17:42,491 [INFO] open_vision_banana.training.callbacks:   [step 28250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2239 loss=0.2323 normal_angular_aux_loss=0.0282 lr=9.59e-07 epoch=84 depth=0.5174 normal=0.6419
2026-10-01 13:22:33,759 [INFO] open_vision_banana.training.callbacks:   [step 28300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2248 loss=0.2323 normal_angular_aux_loss=0.0251 lr=9.33e-07 epoch=85 depth=0.4987 normal=0.6363
2026-10-01 13:27:22,221 [INFO] open_vision_banana.training.callbacks:   [step 28350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2267 loss=0.2353 normal_angular_aux_loss=0.0285 lr=9.08e-07 epoch=85 depth=0.4925 normal=0.6427
2026-10-01 13:32:05,458 [INFO] open_vision_banana.training.callbacks:   [step 28400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2248 loss=0.2320 normal_angular_aux_loss=0.0239 lr=8.84e-07 epoch=85 depth=0.5078 normal=0.6338
2026-10-01 13:36:46,246 [INFO] open_vision_banana.training.callbacks:   [step 28450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2204 loss=0.2288 normal_angular_aux_loss=0.0281 lr=8.60e-07 epoch=85 depth=0.5207 normal=0.6325
2026-10-01 13:41:19,607 [INFO] open_vision_banana.training.callbacks:   [step 28500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2169 loss=0.2249 normal_angular_aux_loss=0.0268 lr=8.38e-07 epoch=85 depth=0.5162 normal=0.6260
2026-10-01 13:41:45,331 [INFO] open_vision_banana.training.callbacks:   [val] step=28500 val_loss=0.3122
2026-10-01 13:46:24,300 [INFO] open_vision_banana.training.callbacks:   [step 28550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2180 loss=0.2264 normal_angular_aux_loss=0.0280 lr=8.15e-07 epoch=85 depth=0.5092 normal=0.6340
2026-10-01 13:51:06,223 [INFO] open_vision_banana.training.callbacks:   [step 28600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2254 loss=0.2331 normal_angular_aux_loss=0.0258 lr=7.94e-07 epoch=85 depth=0.5146 normal=0.6402
2026-10-01 13:55:50,199 [INFO] open_vision_banana.training.callbacks:   [step 28650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2261 loss=0.2341 normal_angular_aux_loss=0.0267 lr=7.74e-07 epoch=86 depth=0.5194 normal=0.6447
2026-10-01 14:00:33,193 [INFO] open_vision_banana.training.callbacks:   [step 28700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2265 loss=0.2348 normal_angular_aux_loss=0.0277 lr=7.54e-07 epoch=86 depth=0.5104 normal=0.6438
2026-10-01 14:05:10,795 [INFO] open_vision_banana.training.callbacks:   [step 28750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2214 loss=0.2293 normal_angular_aux_loss=0.0265 lr=7.35e-07 epoch=86 depth=0.5149 normal=0.6271
2026-10-01 14:09:49,073 [INFO] open_vision_banana.training.callbacks:   [step 28800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2267 loss=0.2345 normal_angular_aux_loss=0.0262 lr=7.16e-07 epoch=86 depth=0.4975 normal=0.6391
2026-10-01 14:14:28,374 [INFO] open_vision_banana.training.callbacks:   [step 28850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2287 loss=0.2363 normal_angular_aux_loss=0.0254 lr=6.99e-07 epoch=86 depth=0.5073 normal=0.6402
2026-10-01 14:19:07,182 [INFO] open_vision_banana.training.callbacks:   [step 28900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2155 loss=0.2241 normal_angular_aux_loss=0.0284 lr=6.82e-07 epoch=86 depth=0.5075 normal=0.6322
2026-10-01 14:23:48,251 [INFO] open_vision_banana.training.callbacks:   [step 28950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2245 loss=0.2331 normal_angular_aux_loss=0.0285 lr=6.66e-07 epoch=87 depth=0.4914 normal=0.6465
2026-10-01 14:28:26,637 [INFO] open_vision_banana.training.callbacks:   [step 29000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2194 loss=0.2270 normal_angular_aux_loss=0.0253 lr=6.50e-07 epoch=87 depth=0.5014 normal=0.6326
2026-10-01 14:28:34,843 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 29000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-29000
2026-10-01 14:28:59,762 [INFO] open_vision_banana.training.callbacks:   [val] step=29000 val_loss=0.2628
2026-10-01 14:33:37,613 [INFO] open_vision_banana.training.callbacks:   [step 29050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2195 loss=0.2280 normal_angular_aux_loss=0.0282 lr=6.36e-07 epoch=87 depth=0.5036 normal=0.6370
2026-10-01 14:38:15,098 [INFO] open_vision_banana.training.callbacks:   [step 29100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2174 loss=0.2255 normal_angular_aux_loss=0.0271 lr=6.22e-07 epoch=87 depth=0.5045 normal=0.6460
2026-10-01 14:42:53,418 [INFO] open_vision_banana.training.callbacks:   [step 29150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2230 loss=0.2308 normal_angular_aux_loss=0.0260 lr=6.09e-07 epoch=87 depth=0.5126 normal=0.6218
2026-10-01 14:47:40,380 [INFO] open_vision_banana.training.callbacks:   [step 29200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2147 loss=0.2231 normal_angular_aux_loss=0.0279 lr=5.96e-07 epoch=87 depth=0.5016 normal=0.6380
2026-10-01 14:52:19,058 [INFO] open_vision_banana.training.callbacks:   [step 29250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2213 loss=0.2295 normal_angular_aux_loss=0.0273 lr=5.85e-07 epoch=87 depth=0.5055 normal=0.6340
2026-10-01 14:56:55,909 [INFO] open_vision_banana.training.callbacks:   [step 29300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2129 loss=0.2215 normal_angular_aux_loss=0.0287 lr=5.74e-07 epoch=88 depth=0.4981 normal=0.6252
2026-10-01 15:01:35,491 [INFO] open_vision_banana.training.callbacks:   [step 29350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2313 loss=0.2398 normal_angular_aux_loss=0.0283 lr=5.64e-07 epoch=88 depth=0.5111 normal=0.6429
2026-10-01 15:06:12,995 [INFO] open_vision_banana.training.callbacks:   [step 29400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2171 loss=0.2251 normal_angular_aux_loss=0.0267 lr=5.54e-07 epoch=88 depth=0.4976 normal=0.6291
2026-10-01 15:10:52,324 [INFO] open_vision_banana.training.callbacks:   [step 29450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2197 loss=0.2284 normal_angular_aux_loss=0.0290 lr=5.45e-07 epoch=88 depth=0.5084 normal=0.6448
2026-10-01 15:15:27,505 [INFO] open_vision_banana.training.callbacks:   [step 29500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2221 loss=0.2304 normal_angular_aux_loss=0.0277 lr=5.38e-07 epoch=88 depth=0.5204 normal=0.6324
2026-10-01 15:15:53,025 [INFO] open_vision_banana.training.callbacks:   [val] step=29500 val_loss=0.2253
2026-10-01 15:20:30,542 [INFO] open_vision_banana.training.callbacks:   [step 29550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2264 loss=0.2347 normal_angular_aux_loss=0.0279 lr=5.30e-07 epoch=88 depth=0.5065 normal=0.6333
2026-10-01 15:25:19,716 [INFO] open_vision_banana.training.callbacks:   [step 29600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2280 loss=0.2355 normal_angular_aux_loss=0.0249 lr=5.24e-07 epoch=89 depth=0.5169 normal=0.6326
2026-10-01 15:29:57,547 [INFO] open_vision_banana.training.callbacks:   [step 29650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2178 loss=0.2258 normal_angular_aux_loss=0.0266 lr=5.18e-07 epoch=89 depth=0.5035 normal=0.6290
2026-10-01 15:34:40,347 [INFO] open_vision_banana.training.callbacks:   [step 29700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2203 loss=0.2287 normal_angular_aux_loss=0.0279 lr=5.14e-07 epoch=89 depth=0.5068 normal=0.6489
2026-10-01 15:39:32,843 [INFO] open_vision_banana.training.callbacks:   [step 29750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2164 loss=0.2248 normal_angular_aux_loss=0.0281 lr=5.09e-07 epoch=89 depth=0.5029 normal=0.6285
2026-10-01 15:44:03,316 [INFO] open_vision_banana.training.callbacks:   [step 29800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2281 loss=0.2359 normal_angular_aux_loss=0.0262 lr=5.06e-07 epoch=89 depth=0.5201 normal=0.6371
2026-10-01 15:48:30,820 [INFO] open_vision_banana.training.callbacks:   [step 29850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2277 loss=0.2355 normal_angular_aux_loss=0.0260 lr=5.03e-07 epoch=89 depth=0.5265 normal=0.6314
2026-10-01 15:52:56,323 [INFO] open_vision_banana.training.callbacks:   [step 29900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2213 loss=0.2295 normal_angular_aux_loss=0.0273 lr=5.02e-07 epoch=89 depth=0.5090 normal=0.6325
2026-10-01 15:57:24,684 [INFO] open_vision_banana.training.callbacks:   [step 29950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2152 loss=0.2238 normal_angular_aux_loss=0.0286 lr=5.00e-07 epoch=90 depth=0.5102 normal=0.6329
2026-10-01 16:01:49,680 [INFO] open_vision_banana.training.callbacks:   [step 30000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2276 loss=0.2361 normal_angular_aux_loss=0.0282 lr=5.00e-07 epoch=90 depth=0.5144 normal=0.6505
2026-10-01 16:01:57,131 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 30000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-30000
2026-10-01 16:02:20,854 [INFO] open_vision_banana.training.callbacks:   [val] step=30000 val_loss=0.2660
2026-10-01 16:02:28,729 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 30000 → /data/runs/ovb/ctrl_depth_normal/checkpoint-30000_final
2026-10-01 16:02:28,743 [INFO] open_vision_banana.training.callbacks: Training complete! Steps=30000, Best val_loss=0.2174