logs/train.log

2026-09-29 17:11:23,145 [INFO] open_vision_banana.training.trainer: ======================================================================
2026-09-29 17:11:23,145 [INFO] open_vision_banana.training.trainer: Vision Banana — Unified Training
2026-09-29 17:11:23,145 [INFO] open_vision_banana.training.trainer: ======================================================================
2026-09-29 17:11:23,145 [INFO] open_vision_banana.training.trainer: Model: sana-1600m | Device: cuda | dtype: bfloat16
2026-09-29 17:11:23,145 [INFO] open_vision_banana.training.trainer: LoRA: rank=32, alpha=64, rsLoRA=True
2026-09-29 17:11:23,145 [INFO] open_vision_banana.training.trainer: Steps: 30000 | LR: 5e-05 | eff_batch: 32
2026-09-29 17:11:23,145 [INFO] open_vision_banana.training.trainer: Output: /data/runs/ovb/ctrl_normal
2026-09-29 17:11:23,146 [INFO] open_vision_banana.training.model_backend: Loading model 'sana-1600m' (family=sana, backbone=transformer) on cuda @ torch.bfloat16
2026-09-29 17:11:23,146 [INFO] vb_model_registry: Loading Efficient-Large-Model/Sana_1600M_512px_diffusers (sana) @ torch.bfloat16 ...
2026-09-29 17:11:33,800 [INFO] vb_model_registry: Using local model snapshot: /data/models/Sana_1600M_512px_diffusers
2026-09-29 17:11:55,571 [INFO] vb_model_registry: Backbone (transformer) params: 1604.5M | Text encoders: 1 | added_cond: False
2026-09-29 17:11:55,571 [INFO] open_vision_banana.training.model_backend: Applying LoRA (rank=32, alpha=64, rsLoRA=True)...
2026-09-29 17:12:02,044 [INFO] open_vision_banana.training.model_backend: Trainable params: 14,193,664 / 1,618,656,416 (0.88%)
2026-09-29 17:12:05,475 [INFO] open_vision_banana.training.callbacks: W&B initialized: open-vision-banana/ctrl_normal
2026-09-29 17:12:06,010 [INFO] open_vision_banana.training.trainer:   train/normal: 4724 samples
2026-09-29 17:12:06,011 [INFO] open_vision_banana.training.trainer:   Total train: 4724 | Val: 276
2026-09-29 17:12:06,014 [INFO] open_vision_banana.training.optimization: LR scheduler: cosine, total=30000, warmup=1500, min_ratio=0.01
2026-09-29 17:12:06,016 [INFO] open_vision_banana.training.trainer: Setup complete. Starting training...
2026-09-29 17:17:06,925 [INFO] open_vision_banana.training.callbacks:   [step 50/30000] depth_edge_aux_loss=0.0000 flow_loss=1.3479 loss=1.4579 normal_angular_aux_loss=0.3667 lr=1.67e-06 epoch=0 normal=3.9032
2026-09-29 17:21:54,768 [INFO] open_vision_banana.training.callbacks:   [step 100/30000] depth_edge_aux_loss=0.0000 flow_loss=1.3138 loss=1.4273 normal_angular_aux_loss=0.3780 lr=3.33e-06 epoch=0 normal=3.9467
2026-09-29 17:26:44,455 [INFO] open_vision_banana.training.callbacks:   [step 150/30000] depth_edge_aux_loss=0.0000 flow_loss=1.2510 loss=1.3607 normal_angular_aux_loss=0.3658 lr=5.00e-06 epoch=0 normal=3.7607
2026-09-29 17:31:39,931 [INFO] open_vision_banana.training.callbacks:   [step 200/30000] depth_edge_aux_loss=0.0000 flow_loss=1.1374 loss=1.2419 normal_angular_aux_loss=0.3485 lr=6.67e-06 epoch=0 normal=3.4444
2026-09-29 17:36:38,623 [INFO] open_vision_banana.training.callbacks:   [step 250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.9468 loss=1.0301 normal_angular_aux_loss=0.2775 lr=8.33e-06 epoch=0 normal=2.7121
2026-09-29 17:41:31,293 [INFO] open_vision_banana.training.callbacks:   [step 300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.7779 loss=0.8381 normal_angular_aux_loss=0.2007 lr=1.00e-05 epoch=1 normal=2.1869
2026-09-29 17:46:23,140 [INFO] open_vision_banana.training.callbacks:   [step 350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.6576 loss=0.7020 normal_angular_aux_loss=0.1480 lr=1.17e-05 epoch=1 normal=1.8766
2026-09-29 17:51:16,035 [INFO] open_vision_banana.training.callbacks:   [step 400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.6217 loss=0.6585 normal_angular_aux_loss=0.1228 lr=1.33e-05 epoch=1 normal=1.7230
2026-09-29 17:56:13,170 [INFO] open_vision_banana.training.callbacks:   [step 450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.6273 loss=0.6602 normal_angular_aux_loss=0.1097 lr=1.50e-05 epoch=2 normal=1.6399
2026-09-29 18:01:18,205 [INFO] open_vision_banana.training.callbacks:   [step 500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.5774 loss=0.6086 normal_angular_aux_loss=0.1037 lr=1.67e-05 epoch=2 normal=1.5615
2026-09-29 18:01:43,013 [INFO] open_vision_banana.training.callbacks:   [val] step=500 val_loss=0.6254
2026-09-29 18:01:50,569 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 500 → /data/runs/ovb/ctrl_normal/checkpoint-500_best
2026-09-29 18:01:50,570 [INFO] open_vision_banana.training.callbacks:   New best val_loss=0.6254
2026-09-29 18:06:46,286 [INFO] open_vision_banana.training.callbacks:   [step 550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.5546 loss=0.5846 normal_angular_aux_loss=0.0998 lr=1.83e-05 epoch=2 normal=1.5249
2026-09-29 18:11:40,074 [INFO] open_vision_banana.training.callbacks:   [step 600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.5459 loss=0.5730 normal_angular_aux_loss=0.0901 lr=2.00e-05 epoch=3 normal=1.4707
2026-09-29 18:16:44,459 [INFO] open_vision_banana.training.callbacks:   [step 650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.5127 loss=0.5378 normal_angular_aux_loss=0.0834 lr=2.17e-05 epoch=3 normal=1.4187
2026-09-29 18:21:43,267 [INFO] open_vision_banana.training.callbacks:   [step 700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.5147 loss=0.5381 normal_angular_aux_loss=0.0779 lr=2.33e-05 epoch=3 normal=1.3780
2026-09-29 18:26:42,084 [INFO] open_vision_banana.training.callbacks:   [step 750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4963 loss=0.5190 normal_angular_aux_loss=0.0757 lr=2.50e-05 epoch=4 normal=1.3345
2026-09-29 18:31:36,142 [INFO] open_vision_banana.training.callbacks:   [step 800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4858 loss=0.5064 normal_angular_aux_loss=0.0687 lr=2.67e-05 epoch=4 normal=1.2902
2026-09-29 18:36:31,555 [INFO] open_vision_banana.training.callbacks:   [step 850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4735 loss=0.4944 normal_angular_aux_loss=0.0699 lr=2.83e-05 epoch=4 normal=1.2857
2026-09-29 18:41:29,932 [INFO] open_vision_banana.training.callbacks:   [step 900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4661 loss=0.4864 normal_angular_aux_loss=0.0676 lr=3.00e-05 epoch=5 normal=1.2573
2026-09-29 18:46:34,000 [INFO] open_vision_banana.training.callbacks:   [step 950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4714 loss=0.4913 normal_angular_aux_loss=0.0663 lr=3.17e-05 epoch=5 normal=1.2381
2026-09-29 18:51:26,116 [INFO] open_vision_banana.training.callbacks:   [step 1000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4447 loss=0.4634 normal_angular_aux_loss=0.0622 lr=3.33e-05 epoch=5 normal=1.1948
2026-09-29 18:51:36,085 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 1000 → /data/runs/ovb/ctrl_normal/checkpoint-1000
2026-09-29 18:52:03,483 [INFO] open_vision_banana.training.callbacks:   [val] step=1000 val_loss=0.4511
2026-09-29 18:52:13,270 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 1000 → /data/runs/ovb/ctrl_normal/checkpoint-1000_best
2026-09-29 18:52:13,271 [INFO] open_vision_banana.training.callbacks:   New best val_loss=0.4511
2026-09-29 18:57:19,907 [INFO] open_vision_banana.training.callbacks:   [step 1050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4514 loss=0.4699 normal_angular_aux_loss=0.0618 lr=3.50e-05 epoch=6 normal=1.1918
2026-09-29 19:02:16,550 [INFO] open_vision_banana.training.callbacks:   [step 1100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4318 loss=0.4489 normal_angular_aux_loss=0.0572 lr=3.67e-05 epoch=6 normal=1.1472
2026-09-29 19:07:11,995 [INFO] open_vision_banana.training.callbacks:   [step 1150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4399 loss=0.4575 normal_angular_aux_loss=0.0587 lr=3.83e-05 epoch=6 normal=1.1437
2026-09-29 19:12:09,317 [INFO] open_vision_banana.training.callbacks:   [step 1200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4361 loss=0.4525 normal_angular_aux_loss=0.0549 lr=4.00e-05 epoch=7 normal=1.1230
2026-09-29 19:17:05,018 [INFO] open_vision_banana.training.callbacks:   [step 1250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4230 loss=0.4399 normal_angular_aux_loss=0.0564 lr=4.17e-05 epoch=7 normal=1.1063
2026-09-29 19:22:02,792 [INFO] open_vision_banana.training.callbacks:   [step 1300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4290 loss=0.4458 normal_angular_aux_loss=0.0558 lr=4.33e-05 epoch=7 normal=1.0998
2026-09-29 19:27:00,752 [INFO] open_vision_banana.training.callbacks:   [step 1350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4229 loss=0.4391 normal_angular_aux_loss=0.0540 lr=4.50e-05 epoch=8 normal=1.0961
2026-09-29 19:32:06,076 [INFO] open_vision_banana.training.callbacks:   [step 1400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4071 loss=0.4229 normal_angular_aux_loss=0.0530 lr=4.67e-05 epoch=8 normal=1.0696
2026-09-29 19:37:06,907 [INFO] open_vision_banana.training.callbacks:   [step 1450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4063 loss=0.4230 normal_angular_aux_loss=0.0558 lr=4.83e-05 epoch=8 normal=1.0650
2026-09-29 19:42:08,514 [INFO] open_vision_banana.training.callbacks:   [step 1500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4096 loss=0.4252 normal_angular_aux_loss=0.0520 lr=5.00e-05 epoch=9 normal=1.0494
2026-09-29 19:42:34,089 [INFO] open_vision_banana.training.callbacks:   [val] step=1500 val_loss=0.4722
2026-09-29 19:47:33,289 [INFO] open_vision_banana.training.callbacks:   [step 1550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3980 loss=0.4137 normal_angular_aux_loss=0.0522 lr=5.00e-05 epoch=9 normal=1.0376
2026-09-29 19:52:31,809 [INFO] open_vision_banana.training.callbacks:   [step 1600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4063 loss=0.4213 normal_angular_aux_loss=0.0500 lr=5.00e-05 epoch=9 normal=1.0421
2026-09-29 19:57:35,526 [INFO] open_vision_banana.training.callbacks:   [step 1650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3941 loss=0.4089 normal_angular_aux_loss=0.0493 lr=5.00e-05 epoch=10 normal=1.0305
2026-09-29 20:02:31,343 [INFO] open_vision_banana.training.callbacks:   [step 1700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3829 loss=0.3974 normal_angular_aux_loss=0.0480 lr=5.00e-05 epoch=10 normal=1.0090
2026-09-29 20:07:34,919 [INFO] open_vision_banana.training.callbacks:   [step 1750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3919 loss=0.4066 normal_angular_aux_loss=0.0490 lr=5.00e-05 epoch=10 normal=1.0089
2026-09-29 20:12:34,295 [INFO] open_vision_banana.training.callbacks:   [step 1800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3977 loss=0.4119 normal_angular_aux_loss=0.0475 lr=5.00e-05 epoch=11 normal=0.9945
2026-09-29 20:17:35,054 [INFO] open_vision_banana.training.callbacks:   [step 1850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3887 loss=0.4027 normal_angular_aux_loss=0.0467 lr=5.00e-05 epoch=11 normal=0.9960
2026-09-29 20:22:42,781 [INFO] open_vision_banana.training.callbacks:   [step 1900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3752 loss=0.3893 normal_angular_aux_loss=0.0470 lr=5.00e-05 epoch=11 normal=0.9796
2026-09-29 20:27:43,208 [INFO] open_vision_banana.training.callbacks:   [step 1950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3768 loss=0.3910 normal_angular_aux_loss=0.0474 lr=5.00e-05 epoch=12 normal=0.9781
2026-09-29 20:32:40,220 [INFO] open_vision_banana.training.callbacks:   [step 2000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3756 loss=0.3891 normal_angular_aux_loss=0.0453 lr=5.00e-05 epoch=12 normal=0.9668
2026-09-29 20:32:47,775 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 2000 → /data/runs/ovb/ctrl_normal/checkpoint-2000
2026-09-29 20:33:14,352 [INFO] open_vision_banana.training.callbacks:   [val] step=2000 val_loss=0.3857
2026-09-29 20:33:23,053 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 2000 → /data/runs/ovb/ctrl_normal/checkpoint-2000_best
2026-09-29 20:33:23,054 [INFO] open_vision_banana.training.callbacks:   New best val_loss=0.3857
2026-09-29 20:38:21,856 [INFO] open_vision_banana.training.callbacks:   [step 2050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3719 loss=0.3859 normal_angular_aux_loss=0.0467 lr=5.00e-05 epoch=12 normal=0.9619
2026-09-29 20:43:18,762 [INFO] open_vision_banana.training.callbacks:   [step 2100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3692 loss=0.3832 normal_angular_aux_loss=0.0466 lr=4.99e-05 epoch=13 normal=0.9509
2026-09-29 20:48:16,491 [INFO] open_vision_banana.training.callbacks:   [step 2150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3588 loss=0.3725 normal_angular_aux_loss=0.0459 lr=4.99e-05 epoch=13 normal=0.9522
2026-09-29 20:53:16,742 [INFO] open_vision_banana.training.callbacks:   [step 2200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3701 loss=0.3836 normal_angular_aux_loss=0.0451 lr=4.99e-05 epoch=13 normal=0.9475
2026-09-29 20:58:16,011 [INFO] open_vision_banana.training.callbacks:   [step 2250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3720 loss=0.3854 normal_angular_aux_loss=0.0445 lr=4.99e-05 epoch=14 normal=0.9435
2026-09-29 21:03:20,616 [INFO] open_vision_banana.training.callbacks:   [step 2300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3557 loss=0.3692 normal_angular_aux_loss=0.0451 lr=4.99e-05 epoch=14 normal=0.9366
2026-09-29 21:08:24,965 [INFO] open_vision_banana.training.callbacks:   [step 2350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3561 loss=0.3693 normal_angular_aux_loss=0.0441 lr=4.99e-05 epoch=14 normal=0.9349
2026-09-29 21:13:23,209 [INFO] open_vision_banana.training.callbacks:   [step 2400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3515 loss=0.3646 normal_angular_aux_loss=0.0436 lr=4.99e-05 epoch=15 normal=0.9193
2026-09-29 21:18:20,294 [INFO] open_vision_banana.training.callbacks:   [step 2450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3531 loss=0.3661 normal_angular_aux_loss=0.0434 lr=4.99e-05 epoch=15 normal=0.9101
2026-09-29 21:23:19,951 [INFO] open_vision_banana.training.callbacks:   [step 2500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3687 loss=0.3821 normal_angular_aux_loss=0.0448 lr=4.98e-05 epoch=15 normal=0.9215
2026-09-29 21:23:46,181 [INFO] open_vision_banana.training.callbacks:   [val] step=2500 val_loss=0.3838
2026-09-29 21:23:55,319 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 2500 → /data/runs/ovb/ctrl_normal/checkpoint-2500_best
2026-09-29 21:23:55,320 [INFO] open_vision_banana.training.callbacks:   New best val_loss=0.3838
2026-09-29 21:28:55,588 [INFO] open_vision_banana.training.callbacks:   [step 2550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3520 loss=0.3650 normal_angular_aux_loss=0.0433 lr=4.98e-05 epoch=16 normal=0.9111
2026-09-29 21:34:01,321 [INFO] open_vision_banana.training.callbacks:   [step 2600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3546 loss=0.3673 normal_angular_aux_loss=0.0423 lr=4.98e-05 epoch=16 normal=0.9029
2026-09-29 21:38:57,590 [INFO] open_vision_banana.training.callbacks:   [step 2650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3451 loss=0.3582 normal_angular_aux_loss=0.0435 lr=4.98e-05 epoch=16 normal=0.8959
2026-09-29 21:44:01,437 [INFO] open_vision_banana.training.callbacks:   [step 2700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3456 loss=0.3581 normal_angular_aux_loss=0.0416 lr=4.98e-05 epoch=17 normal=0.8952
2026-09-29 21:49:03,275 [INFO] open_vision_banana.training.callbacks:   [step 2750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3567 loss=0.3694 normal_angular_aux_loss=0.0423 lr=4.98e-05 epoch=17 normal=0.9047
2026-09-29 21:54:06,012 [INFO] open_vision_banana.training.callbacks:   [step 2800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3495 loss=0.3621 normal_angular_aux_loss=0.0420 lr=4.97e-05 epoch=17 normal=0.8952
2026-09-29 21:59:06,611 [INFO] open_vision_banana.training.callbacks:   [step 2850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3398 loss=0.3520 normal_angular_aux_loss=0.0407 lr=4.97e-05 epoch=18 normal=0.8913
2026-09-29 22:04:04,597 [INFO] open_vision_banana.training.callbacks:   [step 2900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3459 loss=0.3583 normal_angular_aux_loss=0.0413 lr=4.97e-05 epoch=18 normal=0.8739
2026-09-29 22:09:02,400 [INFO] open_vision_banana.training.callbacks:   [step 2950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3316 loss=0.3442 normal_angular_aux_loss=0.0419 lr=4.97e-05 epoch=18 normal=0.8725
2026-09-29 22:14:01,749 [INFO] open_vision_banana.training.callbacks:   [step 3000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3385 loss=0.3505 normal_angular_aux_loss=0.0401 lr=4.97e-05 epoch=19 normal=0.8606
2026-09-29 22:14:10,606 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 3000 → /data/runs/ovb/ctrl_normal/checkpoint-3000
2026-09-29 22:14:38,510 [INFO] open_vision_banana.training.callbacks:   [val] step=3000 val_loss=0.3439
2026-09-29 22:14:46,506 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 3000 → /data/runs/ovb/ctrl_normal/checkpoint-3000_best
2026-09-29 22:14:46,507 [INFO] open_vision_banana.training.callbacks:   New best val_loss=0.3439
2026-09-29 22:19:47,500 [INFO] open_vision_banana.training.callbacks:   [step 3050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3317 loss=0.3437 normal_angular_aux_loss=0.0402 lr=4.96e-05 epoch=19 normal=0.8683
2026-09-29 22:24:49,024 [INFO] open_vision_banana.training.callbacks:   [step 3100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3354 loss=0.3481 normal_angular_aux_loss=0.0421 lr=4.96e-05 epoch=19 normal=0.8767
2026-09-29 22:29:55,532 [INFO] open_vision_banana.training.callbacks:   [step 3150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3288 loss=0.3404 normal_angular_aux_loss=0.0385 lr=4.96e-05 epoch=20 normal=0.8495
2026-09-29 22:34:59,222 [INFO] open_vision_banana.training.callbacks:   [step 3200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3362 loss=0.3482 normal_angular_aux_loss=0.0400 lr=4.96e-05 epoch=20 normal=0.8627
2026-09-29 22:40:04,249 [INFO] open_vision_banana.training.callbacks:   [step 3250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3286 loss=0.3409 normal_angular_aux_loss=0.0411 lr=4.95e-05 epoch=21 normal=0.8646
2026-09-29 22:44:59,424 [INFO] open_vision_banana.training.callbacks:   [step 3300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3381 loss=0.3501 normal_angular_aux_loss=0.0401 lr=4.95e-05 epoch=21 normal=0.8499
2026-09-29 22:49:55,555 [INFO] open_vision_banana.training.callbacks:   [step 3350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3223 loss=0.3342 normal_angular_aux_loss=0.0395 lr=4.95e-05 epoch=21 normal=0.8509
2026-09-29 22:54:55,725 [INFO] open_vision_banana.training.callbacks:   [step 3400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3302 loss=0.3417 normal_angular_aux_loss=0.0384 lr=4.95e-05 epoch=22 normal=0.8437
2026-09-29 22:59:56,294 [INFO] open_vision_banana.training.callbacks:   [step 3450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3276 loss=0.3394 normal_angular_aux_loss=0.0392 lr=4.94e-05 epoch=22 normal=0.8308
2026-09-29 23:04:58,961 [INFO] open_vision_banana.training.callbacks:   [step 3500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3241 loss=0.3358 normal_angular_aux_loss=0.0391 lr=4.94e-05 epoch=22 normal=0.8367
2026-09-29 23:05:25,386 [INFO] open_vision_banana.training.callbacks:   [val] step=3500 val_loss=0.3660
2026-09-29 23:10:25,748 [INFO] open_vision_banana.training.callbacks:   [step 3550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3270 loss=0.3385 normal_angular_aux_loss=0.0384 lr=4.94e-05 epoch=23 normal=0.8354
2026-09-29 23:15:23,152 [INFO] open_vision_banana.training.callbacks:   [step 3600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3229 loss=0.3344 normal_angular_aux_loss=0.0383 lr=4.93e-05 epoch=23 normal=0.8239
2026-09-29 23:20:18,343 [INFO] open_vision_banana.training.callbacks:   [step 3650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3174 loss=0.3289 normal_angular_aux_loss=0.0385 lr=4.93e-05 epoch=23 normal=0.8332
2026-09-29 23:25:13,462 [INFO] open_vision_banana.training.callbacks:   [step 3700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3330 loss=0.3442 normal_angular_aux_loss=0.0375 lr=4.93e-05 epoch=24 normal=0.8296
2026-09-29 23:30:07,383 [INFO] open_vision_banana.training.callbacks:   [step 3750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3172 loss=0.3289 normal_angular_aux_loss=0.0390 lr=4.92e-05 epoch=24 normal=0.8212
2026-09-29 23:34:56,966 [INFO] open_vision_banana.training.callbacks:   [step 3800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3225 loss=0.3340 normal_angular_aux_loss=0.0386 lr=4.92e-05 epoch=24 normal=0.8236
2026-09-29 23:39:54,118 [INFO] open_vision_banana.training.callbacks:   [step 3850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3117 loss=0.3229 normal_angular_aux_loss=0.0373 lr=4.92e-05 epoch=25 normal=0.8101
2026-09-29 23:44:51,010 [INFO] open_vision_banana.training.callbacks:   [step 3900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3135 loss=0.3251 normal_angular_aux_loss=0.0386 lr=4.91e-05 epoch=25 normal=0.8150
2026-09-29 23:49:43,184 [INFO] open_vision_banana.training.callbacks:   [step 3950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3227 loss=0.3341 normal_angular_aux_loss=0.0379 lr=4.91e-05 epoch=25 normal=0.8084
2026-09-29 23:54:40,277 [INFO] open_vision_banana.training.callbacks:   [step 4000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3059 loss=0.3171 normal_angular_aux_loss=0.0374 lr=4.91e-05 epoch=26 normal=0.8194
2026-09-29 23:54:49,147 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 4000 → /data/runs/ovb/ctrl_normal/checkpoint-4000
2026-09-29 23:55:17,371 [INFO] open_vision_banana.training.callbacks:   [val] step=4000 val_loss=0.3755
2026-09-30 00:00:15,276 [INFO] open_vision_banana.training.callbacks:   [step 4050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3047 loss=0.3162 normal_angular_aux_loss=0.0384 lr=4.90e-05 epoch=26 normal=0.8000
2026-09-30 00:05:10,446 [INFO] open_vision_banana.training.callbacks:   [step 4100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3112 loss=0.3222 normal_angular_aux_loss=0.0365 lr=4.90e-05 epoch=26 normal=0.7948
2026-09-30 00:10:05,598 [INFO] open_vision_banana.training.callbacks:   [step 4150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3223 loss=0.3336 normal_angular_aux_loss=0.0376 lr=4.90e-05 epoch=27 normal=0.8041
2026-09-30 00:15:03,168 [INFO] open_vision_banana.training.callbacks:   [step 4200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3182 loss=0.3286 normal_angular_aux_loss=0.0349 lr=4.89e-05 epoch=27 normal=0.7917
2026-09-30 00:19:57,492 [INFO] open_vision_banana.training.callbacks:   [step 4250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3064 loss=0.3174 normal_angular_aux_loss=0.0365 lr=4.89e-05 epoch=27 normal=0.7958
2026-09-30 00:24:51,903 [INFO] open_vision_banana.training.callbacks:   [step 4300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3244 loss=0.3352 normal_angular_aux_loss=0.0358 lr=4.88e-05 epoch=28 normal=0.8012
2026-09-30 00:29:47,205 [INFO] open_vision_banana.training.callbacks:   [step 4350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3112 loss=0.3222 normal_angular_aux_loss=0.0369 lr=4.88e-05 epoch=28 normal=0.7941
2026-09-30 00:34:49,708 [INFO] open_vision_banana.training.callbacks:   [step 4400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2979 loss=0.3088 normal_angular_aux_loss=0.0361 lr=4.87e-05 epoch=28 normal=0.7868
2026-09-30 00:39:51,436 [INFO] open_vision_banana.training.callbacks:   [step 4450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3078 loss=0.3185 normal_angular_aux_loss=0.0358 lr=4.87e-05 epoch=29 normal=0.7868
2026-09-30 00:44:51,655 [INFO] open_vision_banana.training.callbacks:   [step 4500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2975 loss=0.3082 normal_angular_aux_loss=0.0358 lr=4.87e-05 epoch=29 normal=0.7829
2026-09-30 00:45:18,178 [INFO] open_vision_banana.training.callbacks:   [val] step=4500 val_loss=0.3304
2026-09-30 00:45:25,932 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 4500 → /data/runs/ovb/ctrl_normal/checkpoint-4500_best
2026-09-30 00:45:25,933 [INFO] open_vision_banana.training.callbacks:   New best val_loss=0.3304
2026-09-30 00:50:24,063 [INFO] open_vision_banana.training.callbacks:   [step 4550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3097 loss=0.3206 normal_angular_aux_loss=0.0363 lr=4.86e-05 epoch=29 normal=0.7869
2026-09-30 00:55:26,072 [INFO] open_vision_banana.training.callbacks:   [step 4600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3012 loss=0.3120 normal_angular_aux_loss=0.0362 lr=4.86e-05 epoch=30 normal=0.7763
2026-09-30 01:00:26,764 [INFO] open_vision_banana.training.callbacks:   [step 4650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3038 loss=0.3147 normal_angular_aux_loss=0.0364 lr=4.85e-05 epoch=30 normal=0.7778
2026-09-30 01:05:26,555 [INFO] open_vision_banana.training.callbacks:   [step 4700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3053 loss=0.3160 normal_angular_aux_loss=0.0355 lr=4.85e-05 epoch=30 normal=0.7720
2026-09-30 01:10:27,185 [INFO] open_vision_banana.training.callbacks:   [step 4750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2974 loss=0.3081 normal_angular_aux_loss=0.0357 lr=4.84e-05 epoch=31 normal=0.7675
2026-09-30 01:15:29,501 [INFO] open_vision_banana.training.callbacks:   [step 4800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3018 loss=0.3124 normal_angular_aux_loss=0.0354 lr=4.84e-05 epoch=31 normal=0.7723
2026-09-30 01:20:25,191 [INFO] open_vision_banana.training.callbacks:   [step 4850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3001 loss=0.3106 normal_angular_aux_loss=0.0350 lr=4.83e-05 epoch=31 normal=0.7673
2026-09-30 01:25:27,134 [INFO] open_vision_banana.training.callbacks:   [step 4900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3058 loss=0.3164 normal_angular_aux_loss=0.0353 lr=4.83e-05 epoch=32 normal=0.7638
2026-09-30 01:30:26,140 [INFO] open_vision_banana.training.callbacks:   [step 4950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2966 loss=0.3073 normal_angular_aux_loss=0.0355 lr=4.82e-05 epoch=32 normal=0.7556
2026-09-30 01:35:25,627 [INFO] open_vision_banana.training.callbacks:   [step 5000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2952 loss=0.3058 normal_angular_aux_loss=0.0352 lr=4.82e-05 epoch=32 normal=0.7687
2026-09-30 01:35:34,633 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 5000 → /data/runs/ovb/ctrl_normal/checkpoint-5000
2026-09-30 01:36:01,904 [INFO] open_vision_banana.training.callbacks:   [val] step=5000 val_loss=0.3769
2026-09-30 01:41:04,901 [INFO] open_vision_banana.training.callbacks:   [step 5050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3029 loss=0.3135 normal_angular_aux_loss=0.0351 lr=4.81e-05 epoch=33 normal=0.7634
2026-09-30 01:46:03,944 [INFO] open_vision_banana.training.callbacks:   [step 5100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2976 loss=0.3082 normal_angular_aux_loss=0.0353 lr=4.81e-05 epoch=33 normal=0.7584
2026-09-30 01:51:03,630 [INFO] open_vision_banana.training.callbacks:   [step 5150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2896 loss=0.2999 normal_angular_aux_loss=0.0345 lr=4.80e-05 epoch=33 normal=0.7571
2026-09-30 01:56:10,379 [INFO] open_vision_banana.training.callbacks:   [step 5200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2955 loss=0.3056 normal_angular_aux_loss=0.0339 lr=4.80e-05 epoch=34 normal=0.7552
2026-09-30 02:01:09,128 [INFO] open_vision_banana.training.callbacks:   [step 5250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2953 loss=0.3057 normal_angular_aux_loss=0.0348 lr=4.79e-05 epoch=34 normal=0.7487
2026-09-30 02:06:11,918 [INFO] open_vision_banana.training.callbacks:   [step 5300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3014 loss=0.3117 normal_angular_aux_loss=0.0342 lr=4.79e-05 epoch=34 normal=0.7564
2026-09-30 02:11:15,576 [INFO] open_vision_banana.training.callbacks:   [step 5350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2920 loss=0.3025 normal_angular_aux_loss=0.0353 lr=4.78e-05 epoch=35 normal=0.7507
2026-09-30 02:16:15,927 [INFO] open_vision_banana.training.callbacks:   [step 5400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2851 loss=0.2959 normal_angular_aux_loss=0.0360 lr=4.77e-05 epoch=35 normal=0.7441
2026-09-30 02:21:17,923 [INFO] open_vision_banana.training.callbacks:   [step 5450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2923 loss=0.3027 normal_angular_aux_loss=0.0345 lr=4.77e-05 epoch=35 normal=0.7482
2026-09-30 02:26:19,844 [INFO] open_vision_banana.training.callbacks:   [step 5500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2934 loss=0.3039 normal_angular_aux_loss=0.0348 lr=4.76e-05 epoch=36 normal=0.7408
2026-09-30 02:26:47,862 [INFO] open_vision_banana.training.callbacks:   [val] step=5500 val_loss=0.3628
2026-09-30 02:31:52,655 [INFO] open_vision_banana.training.callbacks:   [step 5550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2940 loss=0.3041 normal_angular_aux_loss=0.0338 lr=4.76e-05 epoch=36 normal=0.7471
2026-09-30 02:36:53,839 [INFO] open_vision_banana.training.callbacks:   [step 5600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2978 loss=0.3081 normal_angular_aux_loss=0.0341 lr=4.75e-05 epoch=36 normal=0.7452
2026-09-30 02:42:03,487 [INFO] open_vision_banana.training.callbacks:   [step 5650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2940 loss=0.3043 normal_angular_aux_loss=0.0346 lr=4.75e-05 epoch=37 normal=0.7415
2026-09-30 02:47:09,694 [INFO] open_vision_banana.training.callbacks:   [step 5700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2957 loss=0.3060 normal_angular_aux_loss=0.0344 lr=4.74e-05 epoch=37 normal=0.7331
2026-09-30 02:52:13,066 [INFO] open_vision_banana.training.callbacks:   [step 5750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2803 loss=0.2907 normal_angular_aux_loss=0.0345 lr=4.73e-05 epoch=37 normal=0.7389
2026-09-30 02:57:14,140 [INFO] open_vision_banana.training.callbacks:   [step 5800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2817 loss=0.2921 normal_angular_aux_loss=0.0349 lr=4.73e-05 epoch=38 normal=0.7346
2026-09-30 03:02:12,070 [INFO] open_vision_banana.training.callbacks:   [step 5850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2858 loss=0.2961 normal_angular_aux_loss=0.0345 lr=4.72e-05 epoch=38 normal=0.7309
2026-09-30 03:07:10,783 [INFO] open_vision_banana.training.callbacks:   [step 5900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2901 loss=0.3000 normal_angular_aux_loss=0.0327 lr=4.71e-05 epoch=38 normal=0.7291
2026-09-30 03:12:13,242 [INFO] open_vision_banana.training.callbacks:   [step 5950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2937 loss=0.3036 normal_angular_aux_loss=0.0329 lr=4.71e-05 epoch=39 normal=0.7348
2026-09-30 03:17:12,330 [INFO] open_vision_banana.training.callbacks:   [step 6000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2868 loss=0.2965 normal_angular_aux_loss=0.0324 lr=4.70e-05 epoch=39 normal=0.7308
2026-09-30 03:17:20,638 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 6000 → /data/runs/ovb/ctrl_normal/checkpoint-6000
2026-09-30 03:17:45,781 [INFO] open_vision_banana.training.callbacks:   [val] step=6000 val_loss=0.3433
2026-09-30 03:22:53,978 [INFO] open_vision_banana.training.callbacks:   [step 6050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2822 loss=0.2926 normal_angular_aux_loss=0.0348 lr=4.70e-05 epoch=39 normal=0.7322
2026-09-30 03:27:57,528 [INFO] open_vision_banana.training.callbacks:   [step 6100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2972 loss=0.3069 normal_angular_aux_loss=0.0323 lr=4.69e-05 epoch=40 normal=0.7349
2026-09-30 03:33:04,910 [INFO] open_vision_banana.training.callbacks:   [step 6150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2811 loss=0.2912 normal_angular_aux_loss=0.0336 lr=4.68e-05 epoch=40 normal=0.7277
2026-09-30 03:38:08,807 [INFO] open_vision_banana.training.callbacks:   [step 6200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2793 loss=0.2893 normal_angular_aux_loss=0.0333 lr=4.68e-05 epoch=40 normal=0.7164
2026-09-30 03:43:10,199 [INFO] open_vision_banana.training.callbacks:   [step 6250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2793 loss=0.2893 normal_angular_aux_loss=0.0334 lr=4.67e-05 epoch=41 normal=0.7176
2026-09-30 03:48:11,802 [INFO] open_vision_banana.training.callbacks:   [step 6300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2690 loss=0.2788 normal_angular_aux_loss=0.0326 lr=4.66e-05 epoch=41 normal=0.7162
2026-09-30 03:53:11,232 [INFO] open_vision_banana.training.callbacks:   [step 6350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2896 loss=0.2998 normal_angular_aux_loss=0.0339 lr=4.65e-05 epoch=42 normal=0.7239
2026-09-30 03:58:13,840 [INFO] open_vision_banana.training.callbacks:   [step 6400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2773 loss=0.2875 normal_angular_aux_loss=0.0339 lr=4.65e-05 epoch=42 normal=0.7067
2026-09-30 04:03:13,790 [INFO] open_vision_banana.training.callbacks:   [step 6450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2752 loss=0.2854 normal_angular_aux_loss=0.0339 lr=4.64e-05 epoch=42 normal=0.7130
2026-09-30 04:08:24,492 [INFO] open_vision_banana.training.callbacks:   [step 6500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2755 loss=0.2852 normal_angular_aux_loss=0.0322 lr=4.63e-05 epoch=43 normal=0.7136
2026-09-30 04:08:51,080 [INFO] open_vision_banana.training.callbacks:   [val] step=6500 val_loss=0.3832
2026-09-30 04:13:57,319 [INFO] open_vision_banana.training.callbacks:   [step 6550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2752 loss=0.2850 normal_angular_aux_loss=0.0328 lr=4.63e-05 epoch=43 normal=0.7035
2026-09-30 04:18:56,405 [INFO] open_vision_banana.training.callbacks:   [step 6600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2672 loss=0.2771 normal_angular_aux_loss=0.0332 lr=4.62e-05 epoch=43 normal=0.7130
2026-09-30 04:23:57,378 [INFO] open_vision_banana.training.callbacks:   [step 6650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2792 loss=0.2890 normal_angular_aux_loss=0.0328 lr=4.61e-05 epoch=44 normal=0.7172
2026-09-30 04:28:57,572 [INFO] open_vision_banana.training.callbacks:   [step 6700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2752 loss=0.2848 normal_angular_aux_loss=0.0322 lr=4.60e-05 epoch=44 normal=0.7045
2026-09-30 04:33:58,026 [INFO] open_vision_banana.training.callbacks:   [step 6750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2721 loss=0.2824 normal_angular_aux_loss=0.0341 lr=4.60e-05 epoch=44 normal=0.7035
2026-09-30 04:38:59,688 [INFO] open_vision_banana.training.callbacks:   [step 6800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2793 loss=0.2891 normal_angular_aux_loss=0.0327 lr=4.59e-05 epoch=45 normal=0.7057
2026-09-30 04:44:00,309 [INFO] open_vision_banana.training.callbacks:   [step 6850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2793 loss=0.2890 normal_angular_aux_loss=0.0323 lr=4.58e-05 epoch=45 normal=0.7024
2026-09-30 04:49:09,004 [INFO] open_vision_banana.training.callbacks:   [step 6900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2801 loss=0.2896 normal_angular_aux_loss=0.0316 lr=4.57e-05 epoch=45 normal=0.6983
2026-09-30 04:54:13,850 [INFO] open_vision_banana.training.callbacks:   [step 6950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2740 loss=0.2839 normal_angular_aux_loss=0.0330 lr=4.57e-05 epoch=46 normal=0.7046
2026-09-30 04:59:18,239 [INFO] open_vision_banana.training.callbacks:   [step 7000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2718 loss=0.2814 normal_angular_aux_loss=0.0321 lr=4.56e-05 epoch=46 normal=0.6961
2026-09-30 04:59:26,897 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 7000 → /data/runs/ovb/ctrl_normal/checkpoint-7000
2026-09-30 04:59:57,558 [INFO] open_vision_banana.training.callbacks:   [val] step=7000 val_loss=0.2931
2026-09-30 05:00:07,339 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 7000 → /data/runs/ovb/ctrl_normal/checkpoint-7000_best
2026-09-30 05:00:07,340 [INFO] open_vision_banana.training.callbacks:   New best val_loss=0.2931
2026-09-30 05:05:05,430 [INFO] open_vision_banana.training.callbacks:   [step 7050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2722 loss=0.2820 normal_angular_aux_loss=0.0327 lr=4.55e-05 epoch=46 normal=0.7011
2026-09-30 05:10:07,209 [INFO] open_vision_banana.training.callbacks:   [step 7100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2740 loss=0.2836 normal_angular_aux_loss=0.0321 lr=4.54e-05 epoch=47 normal=0.6997
2026-09-30 05:15:08,614 [INFO] open_vision_banana.training.callbacks:   [step 7150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2686 loss=0.2782 normal_angular_aux_loss=0.0320 lr=4.54e-05 epoch=47 normal=0.6883
2026-09-30 05:20:09,342 [INFO] open_vision_banana.training.callbacks:   [step 7200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2726 loss=0.2821 normal_angular_aux_loss=0.0317 lr=4.53e-05 epoch=47 normal=0.6954
2026-09-30 05:25:10,237 [INFO] open_vision_banana.training.callbacks:   [step 7250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2690 loss=0.2788 normal_angular_aux_loss=0.0326 lr=4.52e-05 epoch=48 normal=0.6940
2026-09-30 05:30:18,521 [INFO] open_vision_banana.training.callbacks:   [step 7300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2752 loss=0.2848 normal_angular_aux_loss=0.0321 lr=4.51e-05 epoch=48 normal=0.6975
2026-09-30 05:35:22,603 [INFO] open_vision_banana.training.callbacks:   [step 7350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2590 loss=0.2686 normal_angular_aux_loss=0.0319 lr=4.50e-05 epoch=48 normal=0.6888
2026-09-30 05:40:26,487 [INFO] open_vision_banana.training.callbacks:   [step 7400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2692 loss=0.2787 normal_angular_aux_loss=0.0317 lr=4.49e-05 epoch=49 normal=0.6897
2026-09-30 05:45:26,835 [INFO] open_vision_banana.training.callbacks:   [step 7450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2703 loss=0.2799 normal_angular_aux_loss=0.0318 lr=4.49e-05 epoch=49 normal=0.6874
2026-09-30 05:50:29,559 [INFO] open_vision_banana.training.callbacks:   [step 7500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2643 loss=0.2738 normal_angular_aux_loss=0.0317 lr=4.48e-05 epoch=49 normal=0.6903
2026-09-30 05:50:56,905 [INFO] open_vision_banana.training.callbacks:   [val] step=7500 val_loss=0.2928
2026-09-30 05:51:05,366 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 7500 → /data/runs/ovb/ctrl_normal/checkpoint-7500_best
2026-09-30 05:51:05,367 [INFO] open_vision_banana.training.callbacks:   New best val_loss=0.2928
2026-09-30 05:56:08,105 [INFO] open_vision_banana.training.callbacks:   [step 7550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2705 loss=0.2802 normal_angular_aux_loss=0.0322 lr=4.47e-05 epoch=50 normal=0.6905
2026-09-30 06:01:10,941 [INFO] open_vision_banana.training.callbacks:   [step 7600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2669 loss=0.2763 normal_angular_aux_loss=0.0313 lr=4.46e-05 epoch=50 normal=0.6832
2026-09-30 06:06:11,912 [INFO] open_vision_banana.training.callbacks:   [step 7650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2678 loss=0.2771 normal_angular_aux_loss=0.0311 lr=4.45e-05 epoch=50 normal=0.6835
2026-09-30 06:11:12,723 [INFO] open_vision_banana.training.callbacks:   [step 7700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2718 loss=0.2814 normal_angular_aux_loss=0.0319 lr=4.44e-05 epoch=51 normal=0.6881
2026-09-30 06:16:15,329 [INFO] open_vision_banana.training.callbacks:   [step 7750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2624 loss=0.2719 normal_angular_aux_loss=0.0318 lr=4.44e-05 epoch=51 normal=0.6799
2026-09-30 06:21:22,170 [INFO] open_vision_banana.training.callbacks:   [step 7800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2691 loss=0.2785 normal_angular_aux_loss=0.0312 lr=4.43e-05 epoch=51 normal=0.6899
2026-09-30 06:26:25,581 [INFO] open_vision_banana.training.callbacks:   [step 7850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2697 loss=0.2792 normal_angular_aux_loss=0.0314 lr=4.42e-05 epoch=52 normal=0.6780
2026-09-30 06:31:30,810 [INFO] open_vision_banana.training.callbacks:   [step 7900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2637 loss=0.2730 normal_angular_aux_loss=0.0308 lr=4.41e-05 epoch=52 normal=0.6737
2026-09-30 06:36:34,869 [INFO] open_vision_banana.training.callbacks:   [step 7950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2617 loss=0.2712 normal_angular_aux_loss=0.0317 lr=4.40e-05 epoch=52 normal=0.6770
2026-09-30 06:41:36,491 [INFO] open_vision_banana.training.callbacks:   [step 8000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2626 loss=0.2719 normal_angular_aux_loss=0.0309 lr=4.39e-05 epoch=53 normal=0.6735
2026-09-30 06:41:44,025 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 8000 → /data/runs/ovb/ctrl_normal/checkpoint-8000
2026-09-30 06:42:10,113 [INFO] open_vision_banana.training.callbacks:   [val] step=8000 val_loss=0.2987
2026-09-30 06:47:08,412 [INFO] open_vision_banana.training.callbacks:   [step 8050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2567 loss=0.2662 normal_angular_aux_loss=0.0315 lr=4.38e-05 epoch=53 normal=0.6696
2026-09-30 06:52:07,559 [INFO] open_vision_banana.training.callbacks:   [step 8100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2628 loss=0.2722 normal_angular_aux_loss=0.0314 lr=4.37e-05 epoch=53 normal=0.6714
2026-09-30 06:57:13,930 [INFO] open_vision_banana.training.callbacks:   [step 8150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2620 loss=0.2713 normal_angular_aux_loss=0.0308 lr=4.36e-05 epoch=54 normal=0.6773
2026-09-30 07:02:20,523 [INFO] open_vision_banana.training.callbacks:   [step 8200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2602 loss=0.2696 normal_angular_aux_loss=0.0314 lr=4.36e-05 epoch=54 normal=0.6688
2026-09-30 07:07:25,348 [INFO] open_vision_banana.training.callbacks:   [step 8250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2610 loss=0.2703 normal_angular_aux_loss=0.0309 lr=4.35e-05 epoch=54 normal=0.6748
2026-09-30 07:12:33,563 [INFO] open_vision_banana.training.callbacks:   [step 8300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2552 loss=0.2647 normal_angular_aux_loss=0.0317 lr=4.34e-05 epoch=55 normal=0.6661
2026-09-30 07:17:37,903 [INFO] open_vision_banana.training.callbacks:   [step 8350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2686 loss=0.2776 normal_angular_aux_loss=0.0301 lr=4.33e-05 epoch=55 normal=0.6685
2026-09-30 07:22:41,096 [INFO] open_vision_banana.training.callbacks:   [step 8400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2612 loss=0.2705 normal_angular_aux_loss=0.0309 lr=4.32e-05 epoch=55 normal=0.6636
2026-09-30 07:27:41,721 [INFO] open_vision_banana.training.callbacks:   [step 8450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2544 loss=0.2637 normal_angular_aux_loss=0.0308 lr=4.31e-05 epoch=56 normal=0.6682
2026-09-30 07:32:40,668 [INFO] open_vision_banana.training.callbacks:   [step 8500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2545 loss=0.2638 normal_angular_aux_loss=0.0310 lr=4.30e-05 epoch=56 normal=0.6552
2026-09-30 07:33:07,997 [INFO] open_vision_banana.training.callbacks:   [val] step=8500 val_loss=0.2545
2026-09-30 07:33:16,093 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 8500 → /data/runs/ovb/ctrl_normal/checkpoint-8500_best
2026-09-30 07:33:16,094 [INFO] open_vision_banana.training.callbacks:   New best val_loss=0.2545
2026-09-30 07:38:21,180 [INFO] open_vision_banana.training.callbacks:   [step 8550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2652 loss=0.2743 normal_angular_aux_loss=0.0304 lr=4.29e-05 epoch=56 normal=0.6720
2026-09-30 07:43:22,024 [INFO] open_vision_banana.training.callbacks:   [step 8600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2581 loss=0.2673 normal_angular_aux_loss=0.0307 lr=4.28e-05 epoch=57 normal=0.6595
2026-09-30 07:48:30,214 [INFO] open_vision_banana.training.callbacks:   [step 8650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2554 loss=0.2645 normal_angular_aux_loss=0.0303 lr=4.27e-05 epoch=57 normal=0.6578
2026-09-30 07:53:34,035 [INFO] open_vision_banana.training.callbacks:   [step 8700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2622 loss=0.2711 normal_angular_aux_loss=0.0299 lr=4.26e-05 epoch=57 normal=0.6592
2026-09-30 07:58:33,259 [INFO] open_vision_banana.training.callbacks:   [step 8750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2601 loss=0.2693 normal_angular_aux_loss=0.0305 lr=4.25e-05 epoch=58 normal=0.6595
2026-09-30 08:03:33,103 [INFO] open_vision_banana.training.callbacks:   [step 8800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2522 loss=0.2615 normal_angular_aux_loss=0.0310 lr=4.24e-05 epoch=58 normal=0.6621
2026-09-30 08:08:34,032 [INFO] open_vision_banana.training.callbacks:   [step 8850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2563 loss=0.2654 normal_angular_aux_loss=0.0303 lr=4.23e-05 epoch=58 normal=0.6573
2026-09-30 08:13:35,877 [INFO] open_vision_banana.training.callbacks:   [step 8900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2560 loss=0.2654 normal_angular_aux_loss=0.0314 lr=4.22e-05 epoch=59 normal=0.6596
2026-09-30 08:18:37,191 [INFO] open_vision_banana.training.callbacks:   [step 8950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2566 loss=0.2656 normal_angular_aux_loss=0.0300 lr=4.21e-05 epoch=59 normal=0.6478
2026-09-30 08:23:40,103 [INFO] open_vision_banana.training.callbacks:   [step 9000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2604 loss=0.2694 normal_angular_aux_loss=0.0299 lr=4.20e-05 epoch=59 normal=0.6578
2026-09-30 08:23:49,102 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 9000 → /data/runs/ovb/ctrl_normal/checkpoint-9000
2026-09-30 08:24:15,696 [INFO] open_vision_banana.training.callbacks:   [val] step=9000 val_loss=0.3217
2026-09-30 08:29:17,967 [INFO] open_vision_banana.training.callbacks:   [step 9050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2525 loss=0.2618 normal_angular_aux_loss=0.0312 lr=4.19e-05 epoch=60 normal=0.6581
2026-09-30 08:34:21,217 [INFO] open_vision_banana.training.callbacks:   [step 9100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2440 loss=0.2532 normal_angular_aux_loss=0.0307 lr=4.18e-05 epoch=60 normal=0.6415
2026-09-30 08:39:21,917 [INFO] open_vision_banana.training.callbacks:   [step 9150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2562 loss=0.2652 normal_angular_aux_loss=0.0302 lr=4.17e-05 epoch=60 normal=0.6551
2026-09-30 08:44:22,723 [INFO] open_vision_banana.training.callbacks:   [step 9200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2581 loss=0.2668 normal_angular_aux_loss=0.0292 lr=4.16e-05 epoch=61 normal=0.6466
2026-09-30 08:49:20,181 [INFO] open_vision_banana.training.callbacks:   [step 9250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2505 loss=0.2595 normal_angular_aux_loss=0.0299 lr=4.15e-05 epoch=61 normal=0.6459
2026-09-30 08:54:16,050 [INFO] open_vision_banana.training.callbacks:   [step 9300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2581 loss=0.2672 normal_angular_aux_loss=0.0306 lr=4.14e-05 epoch=61 normal=0.6593
2026-09-30 08:59:17,608 [INFO] open_vision_banana.training.callbacks:   [step 9350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2522 loss=0.2616 normal_angular_aux_loss=0.0313 lr=4.13e-05 epoch=62 normal=0.6514
2026-09-30 09:04:22,883 [INFO] open_vision_banana.training.callbacks:   [step 9400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2520 loss=0.2608 normal_angular_aux_loss=0.0293 lr=4.12e-05 epoch=62 normal=0.6408
2026-09-30 09:09:19,358 [INFO] open_vision_banana.training.callbacks:   [step 9450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2538 loss=0.2626 normal_angular_aux_loss=0.0294 lr=4.11e-05 epoch=63 normal=0.6464
2026-09-30 09:14:25,140 [INFO] open_vision_banana.training.callbacks:   [step 9500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2467 loss=0.2556 normal_angular_aux_loss=0.0297 lr=4.10e-05 epoch=63 normal=0.6453
2026-09-30 09:14:52,477 [INFO] open_vision_banana.training.callbacks:   [val] step=9500 val_loss=0.2725
2026-09-30 09:19:59,197 [INFO] open_vision_banana.training.callbacks:   [step 9550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2570 loss=0.2657 normal_angular_aux_loss=0.0292 lr=4.09e-05 epoch=63 normal=0.6372
2026-09-30 09:25:04,205 [INFO] open_vision_banana.training.callbacks:   [step 9600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2569 loss=0.2662 normal_angular_aux_loss=0.0308 lr=4.08e-05 epoch=64 normal=0.6511
2026-09-30 09:30:02,976 [INFO] open_vision_banana.training.callbacks:   [step 9650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2547 loss=0.2634 normal_angular_aux_loss=0.0290 lr=4.07e-05 epoch=64 normal=0.6366
2026-09-30 09:35:04,843 [INFO] open_vision_banana.training.callbacks:   [step 9700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2574 loss=0.2661 normal_angular_aux_loss=0.0291 lr=4.06e-05 epoch=64 normal=0.6441
2026-09-30 09:40:04,963 [INFO] open_vision_banana.training.callbacks:   [step 9750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2581 loss=0.2672 normal_angular_aux_loss=0.0301 lr=4.05e-05 epoch=65 normal=0.6399
2026-09-30 09:45:08,280 [INFO] open_vision_banana.training.callbacks:   [step 9800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2518 loss=0.2606 normal_angular_aux_loss=0.0294 lr=4.03e-05 epoch=65 normal=0.6395
2026-09-30 09:50:13,555 [INFO] open_vision_banana.training.callbacks:   [step 9850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2444 loss=0.2534 normal_angular_aux_loss=0.0302 lr=4.02e-05 epoch=65 normal=0.6347
2026-09-30 09:55:15,371 [INFO] open_vision_banana.training.callbacks:   [step 9900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2532 loss=0.2623 normal_angular_aux_loss=0.0302 lr=4.01e-05 epoch=66 normal=0.6365
2026-09-30 10:00:15,858 [INFO] open_vision_banana.training.callbacks:   [step 9950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2518 loss=0.2604 normal_angular_aux_loss=0.0287 lr=4.00e-05 epoch=66 normal=0.6347
2026-09-30 10:05:19,554 [INFO] open_vision_banana.training.callbacks:   [step 10000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2503 loss=0.2593 normal_angular_aux_loss=0.0300 lr=3.99e-05 epoch=66 normal=0.6383
2026-09-30 10:05:27,689 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 10000 → /data/runs/ovb/ctrl_normal/checkpoint-10000
2026-09-30 10:05:53,013 [INFO] open_vision_banana.training.callbacks:   [val] step=10000 val_loss=0.2887
2026-09-30 10:10:53,896 [INFO] open_vision_banana.training.callbacks:   [step 10050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2471 loss=0.2558 normal_angular_aux_loss=0.0291 lr=3.98e-05 epoch=67 normal=0.6296
2026-09-30 10:15:52,012 [INFO] open_vision_banana.training.callbacks:   [step 10100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2505 loss=0.2593 normal_angular_aux_loss=0.0293 lr=3.97e-05 epoch=67 normal=0.6291
2026-09-30 10:20:52,007 [INFO] open_vision_banana.training.callbacks:   [step 10150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2418 loss=0.2506 normal_angular_aux_loss=0.0294 lr=3.96e-05 epoch=67 normal=0.6313
2026-09-30 10:25:51,314 [INFO] open_vision_banana.training.callbacks:   [step 10200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2507 loss=0.2598 normal_angular_aux_loss=0.0301 lr=3.95e-05 epoch=68 normal=0.6330
2026-09-30 10:30:53,527 [INFO] open_vision_banana.training.callbacks:   [step 10250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2499 loss=0.2587 normal_angular_aux_loss=0.0294 lr=3.94e-05 epoch=68 normal=0.6273
2026-09-30 10:35:55,829 [INFO] open_vision_banana.training.callbacks:   [step 10300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2480 loss=0.2565 normal_angular_aux_loss=0.0285 lr=3.92e-05 epoch=68 normal=0.6266
2026-09-30 10:41:09,021 [INFO] open_vision_banana.training.callbacks:   [step 10350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2510 loss=0.2599 normal_angular_aux_loss=0.0297 lr=3.91e-05 epoch=69 normal=0.6374
2026-09-30 10:46:12,067 [INFO] open_vision_banana.training.callbacks:   [step 10400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2483 loss=0.2570 normal_angular_aux_loss=0.0291 lr=3.90e-05 epoch=69 normal=0.6282
2026-09-30 10:51:14,607 [INFO] open_vision_banana.training.callbacks:   [step 10450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2480 loss=0.2565 normal_angular_aux_loss=0.0285 lr=3.89e-05 epoch=69 normal=0.6288
2026-09-30 10:56:15,166 [INFO] open_vision_banana.training.callbacks:   [step 10500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2432 loss=0.2521 normal_angular_aux_loss=0.0295 lr=3.88e-05 epoch=70 normal=0.6216
2026-09-30 10:56:41,240 [INFO] open_vision_banana.training.callbacks:   [val] step=10500 val_loss=0.3624
2026-09-30 11:01:44,667 [INFO] open_vision_banana.training.callbacks:   [step 10550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2423 loss=0.2510 normal_angular_aux_loss=0.0289 lr=3.87e-05 epoch=70 normal=0.6273
2026-09-30 11:06:48,046 [INFO] open_vision_banana.training.callbacks:   [step 10600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2441 loss=0.2527 normal_angular_aux_loss=0.0287 lr=3.86e-05 epoch=70 normal=0.6258
2026-09-30 11:11:53,435 [INFO] open_vision_banana.training.callbacks:   [step 10650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2496 loss=0.2584 normal_angular_aux_loss=0.0295 lr=3.84e-05 epoch=71 normal=0.6293
2026-09-30 11:16:56,677 [INFO] open_vision_banana.training.callbacks:   [step 10700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2382 loss=0.2469 normal_angular_aux_loss=0.0291 lr=3.83e-05 epoch=71 normal=0.6224
2026-09-30 11:21:57,928 [INFO] open_vision_banana.training.callbacks:   [step 10750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2414 loss=0.2502 normal_angular_aux_loss=0.0293 lr=3.82e-05 epoch=71 normal=0.6254
2026-09-30 11:27:05,133 [INFO] open_vision_banana.training.callbacks:   [step 10800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2363 loss=0.2449 normal_angular_aux_loss=0.0285 lr=3.81e-05 epoch=72 normal=0.6155
2026-09-30 11:32:02,607 [INFO] open_vision_banana.training.callbacks:   [step 10850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2386 loss=0.2474 normal_angular_aux_loss=0.0293 lr=3.80e-05 epoch=72 normal=0.6232
2026-09-30 11:37:02,614 [INFO] open_vision_banana.training.callbacks:   [step 10900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2335 loss=0.2424 normal_angular_aux_loss=0.0296 lr=3.79e-05 epoch=72 normal=0.6177
2026-09-30 11:42:07,079 [INFO] open_vision_banana.training.callbacks:   [step 10950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2476 loss=0.2564 normal_angular_aux_loss=0.0294 lr=3.77e-05 epoch=73 normal=0.6230
2026-09-30 11:47:08,851 [INFO] open_vision_banana.training.callbacks:   [step 11000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2349 loss=0.2435 normal_angular_aux_loss=0.0288 lr=3.76e-05 epoch=73 normal=0.6168
2026-09-30 11:47:18,208 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 11000 → /data/runs/ovb/ctrl_normal/checkpoint-11000
2026-09-30 11:47:44,968 [INFO] open_vision_banana.training.callbacks:   [val] step=11000 val_loss=0.3095
2026-09-30 11:52:50,342 [INFO] open_vision_banana.training.callbacks:   [step 11050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2526 loss=0.2609 normal_angular_aux_loss=0.0277 lr=3.75e-05 epoch=73 normal=0.6266
2026-09-30 11:57:58,955 [INFO] open_vision_banana.training.callbacks:   [step 11100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2387 loss=0.2472 normal_angular_aux_loss=0.0284 lr=3.74e-05 epoch=74 normal=0.6081
2026-09-30 12:03:00,439 [INFO] open_vision_banana.training.callbacks:   [step 11150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2419 loss=0.2504 normal_angular_aux_loss=0.0284 lr=3.73e-05 epoch=74 normal=0.6128
2026-09-30 12:08:09,167 [INFO] open_vision_banana.training.callbacks:   [step 11200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2409 loss=0.2497 normal_angular_aux_loss=0.0290 lr=3.71e-05 epoch=74 normal=0.6223
2026-09-30 12:13:13,539 [INFO] open_vision_banana.training.callbacks:   [step 11250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2411 loss=0.2496 normal_angular_aux_loss=0.0285 lr=3.70e-05 epoch=75 normal=0.6136
2026-09-30 12:18:14,799 [INFO] open_vision_banana.training.callbacks:   [step 11300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2425 loss=0.2512 normal_angular_aux_loss=0.0289 lr=3.69e-05 epoch=75 normal=0.6182
2026-09-30 12:23:16,396 [INFO] open_vision_banana.training.callbacks:   [step 11350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2448 loss=0.2531 normal_angular_aux_loss=0.0278 lr=3.68e-05 epoch=75 normal=0.6147
2026-09-30 12:28:23,053 [INFO] open_vision_banana.training.callbacks:   [step 11400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2362 loss=0.2446 normal_angular_aux_loss=0.0280 lr=3.67e-05 epoch=76 normal=0.6083
2026-09-30 12:33:25,163 [INFO] open_vision_banana.training.callbacks:   [step 11450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2340 loss=0.2426 normal_angular_aux_loss=0.0286 lr=3.65e-05 epoch=76 normal=0.6099
2026-09-30 12:38:30,925 [INFO] open_vision_banana.training.callbacks:   [step 11500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2386 loss=0.2473 normal_angular_aux_loss=0.0292 lr=3.64e-05 epoch=76 normal=0.6101
2026-09-30 12:38:58,367 [INFO] open_vision_banana.training.callbacks:   [val] step=11500 val_loss=0.3129
2026-09-30 12:44:03,331 [INFO] open_vision_banana.training.callbacks:   [step 11550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2391 loss=0.2477 normal_angular_aux_loss=0.0285 lr=3.63e-05 epoch=77 normal=0.6105
2026-09-30 12:49:08,997 [INFO] open_vision_banana.training.callbacks:   [step 11600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2484 loss=0.2565 normal_angular_aux_loss=0.0273 lr=3.62e-05 epoch=77 normal=0.6095
2026-09-30 12:54:12,780 [INFO] open_vision_banana.training.callbacks:   [step 11650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2458 loss=0.2542 normal_angular_aux_loss=0.0278 lr=3.61e-05 epoch=77 normal=0.6127
2026-09-30 12:59:17,210 [INFO] open_vision_banana.training.callbacks:   [step 11700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2419 loss=0.2503 normal_angular_aux_loss=0.0280 lr=3.59e-05 epoch=78 normal=0.6158
2026-09-30 13:04:20,659 [INFO] open_vision_banana.training.callbacks:   [step 11750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2404 loss=0.2488 normal_angular_aux_loss=0.0281 lr=3.58e-05 epoch=78 normal=0.6046
2026-09-30 13:09:25,688 [INFO] open_vision_banana.training.callbacks:   [step 11800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2408 loss=0.2493 normal_angular_aux_loss=0.0284 lr=3.57e-05 epoch=78 normal=0.6062
2026-09-30 13:14:31,451 [INFO] open_vision_banana.training.callbacks:   [step 11850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2442 loss=0.2524 normal_angular_aux_loss=0.0274 lr=3.56e-05 epoch=79 normal=0.6026
2026-09-30 13:19:35,629 [INFO] open_vision_banana.training.callbacks:   [step 11900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2338 loss=0.2426 normal_angular_aux_loss=0.0293 lr=3.54e-05 epoch=79 normal=0.6116
2026-09-30 13:24:40,479 [INFO] open_vision_banana.training.callbacks:   [step 11950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2401 loss=0.2483 normal_angular_aux_loss=0.0273 lr=3.53e-05 epoch=79 normal=0.6044
2026-09-30 13:29:43,988 [INFO] open_vision_banana.training.callbacks:   [step 12000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2425 loss=0.2507 normal_angular_aux_loss=0.0273 lr=3.52e-05 epoch=80 normal=0.6010
2026-09-30 13:29:52,461 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 12000 → /data/runs/ovb/ctrl_normal/checkpoint-12000
2026-09-30 13:30:19,164 [INFO] open_vision_banana.training.callbacks:   [val] step=12000 val_loss=0.3247
2026-09-30 13:35:27,954 [INFO] open_vision_banana.training.callbacks:   [step 12050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2408 loss=0.2493 normal_angular_aux_loss=0.0285 lr=3.51e-05 epoch=80 normal=0.6077
2026-09-30 13:40:26,815 [INFO] open_vision_banana.training.callbacks:   [step 12100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2313 loss=0.2398 normal_angular_aux_loss=0.0283 lr=3.49e-05 epoch=80 normal=0.6016
2026-09-30 13:45:27,788 [INFO] open_vision_banana.training.callbacks:   [step 12150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2350 loss=0.2433 normal_angular_aux_loss=0.0277 lr=3.48e-05 epoch=81 normal=0.6012
2026-09-30 13:50:27,751 [INFO] open_vision_banana.training.callbacks:   [step 12200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2415 loss=0.2497 normal_angular_aux_loss=0.0273 lr=3.47e-05 epoch=81 normal=0.6011
2026-09-30 13:55:29,746 [INFO] open_vision_banana.training.callbacks:   [step 12250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2359 loss=0.2443 normal_angular_aux_loss=0.0282 lr=3.46e-05 epoch=81 normal=0.5993
2026-09-30 14:00:33,989 [INFO] open_vision_banana.training.callbacks:   [step 12300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2390 loss=0.2473 normal_angular_aux_loss=0.0275 lr=3.44e-05 epoch=82 normal=0.5954
2026-09-30 14:05:38,513 [INFO] open_vision_banana.training.callbacks:   [step 12350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2348 loss=0.2432 normal_angular_aux_loss=0.0278 lr=3.43e-05 epoch=82 normal=0.5967
2026-09-30 14:10:40,522 [INFO] open_vision_banana.training.callbacks:   [step 12400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2331 loss=0.2418 normal_angular_aux_loss=0.0289 lr=3.42e-05 epoch=82 normal=0.6052
2026-09-30 14:15:45,551 [INFO] open_vision_banana.training.callbacks:   [step 12450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2262 loss=0.2344 normal_angular_aux_loss=0.0274 lr=3.41e-05 epoch=83 normal=0.5970
2026-09-30 14:20:46,426 [INFO] open_vision_banana.training.callbacks:   [step 12500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2352 loss=0.2439 normal_angular_aux_loss=0.0288 lr=3.39e-05 epoch=83 normal=0.6026
2026-09-30 14:21:13,704 [INFO] open_vision_banana.training.callbacks:   [val] step=12500 val_loss=0.3185
2026-09-30 14:26:11,776 [INFO] open_vision_banana.training.callbacks:   [step 12550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2346 loss=0.2427 normal_angular_aux_loss=0.0270 lr=3.38e-05 epoch=84 normal=0.5984
2026-09-30 14:31:09,811 [INFO] open_vision_banana.training.callbacks:   [step 12600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2258 loss=0.2344 normal_angular_aux_loss=0.0286 lr=3.37e-05 epoch=84 normal=0.5965
2026-09-30 14:36:08,537 [INFO] open_vision_banana.training.callbacks:   [step 12650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2336 loss=0.2417 normal_angular_aux_loss=0.0269 lr=3.35e-05 epoch=84 normal=0.5874
2026-09-30 14:41:07,722 [INFO] open_vision_banana.training.callbacks:   [step 12700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2388 loss=0.2473 normal_angular_aux_loss=0.0282 lr=3.34e-05 epoch=85 normal=0.6055
2026-09-30 14:46:04,374 [INFO] open_vision_banana.training.callbacks:   [step 12750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2345 loss=0.2426 normal_angular_aux_loss=0.0271 lr=3.33e-05 epoch=85 normal=0.5928
2026-09-30 14:51:08,351 [INFO] open_vision_banana.training.callbacks:   [step 12800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2287 loss=0.2370 normal_angular_aux_loss=0.0274 lr=3.32e-05 epoch=85 normal=0.5896
2026-09-30 14:56:08,630 [INFO] open_vision_banana.training.callbacks:   [step 12850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2337 loss=0.2421 normal_angular_aux_loss=0.0281 lr=3.30e-05 epoch=86 normal=0.5930
2026-09-30 15:01:14,668 [INFO] open_vision_banana.training.callbacks:   [step 12900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2352 loss=0.2436 normal_angular_aux_loss=0.0280 lr=3.29e-05 epoch=86 normal=0.5946
2026-09-30 15:06:19,718 [INFO] open_vision_banana.training.callbacks:   [step 12950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2359 loss=0.2443 normal_angular_aux_loss=0.0280 lr=3.28e-05 epoch=86 normal=0.5963
2026-09-30 15:11:22,009 [INFO] open_vision_banana.training.callbacks:   [step 13000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2265 loss=0.2347 normal_angular_aux_loss=0.0272 lr=3.26e-05 epoch=87 normal=0.5918
2026-09-30 15:11:31,325 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 13000 → /data/runs/ovb/ctrl_normal/checkpoint-13000
2026-09-30 15:11:59,020 [INFO] open_vision_banana.training.callbacks:   [val] step=13000 val_loss=0.2923
2026-09-30 15:17:02,227 [INFO] open_vision_banana.training.callbacks:   [step 13050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2320 loss=0.2406 normal_angular_aux_loss=0.0285 lr=3.25e-05 epoch=87 normal=0.5877
2026-09-30 15:22:02,550 [INFO] open_vision_banana.training.callbacks:   [step 13100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2316 loss=0.2400 normal_angular_aux_loss=0.0279 lr=3.24e-05 epoch=87 normal=0.5935
2026-09-30 15:27:06,870 [INFO] open_vision_banana.training.callbacks:   [step 13150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2224 loss=0.2307 normal_angular_aux_loss=0.0279 lr=3.22e-05 epoch=88 normal=0.5872
2026-09-30 15:32:10,988 [INFO] open_vision_banana.training.callbacks:   [step 13200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2284 loss=0.2369 normal_angular_aux_loss=0.0282 lr=3.21e-05 epoch=88 normal=0.5926
2026-09-30 15:37:11,851 [INFO] open_vision_banana.training.callbacks:   [step 13250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2251 loss=0.2334 normal_angular_aux_loss=0.0276 lr=3.20e-05 epoch=88 normal=0.5866
2026-09-30 15:42:15,303 [INFO] open_vision_banana.training.callbacks:   [step 13300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2331 loss=0.2411 normal_angular_aux_loss=0.0266 lr=3.19e-05 epoch=89 normal=0.5800
2026-09-30 15:47:21,956 [INFO] open_vision_banana.training.callbacks:   [step 13350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2195 loss=0.2277 normal_angular_aux_loss=0.0273 lr=3.17e-05 epoch=89 normal=0.5862
2026-09-30 15:52:23,693 [INFO] open_vision_banana.training.callbacks:   [step 13400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2335 loss=0.2421 normal_angular_aux_loss=0.0286 lr=3.16e-05 epoch=89 normal=0.5874
2026-09-30 15:57:25,486 [INFO] open_vision_banana.training.callbacks:   [step 13450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2226 loss=0.2307 normal_angular_aux_loss=0.0269 lr=3.15e-05 epoch=90 normal=0.5851
2026-09-30 16:02:24,367 [INFO] open_vision_banana.training.callbacks:   [step 13500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2262 loss=0.2344 normal_angular_aux_loss=0.0271 lr=3.13e-05 epoch=90 normal=0.5876
2026-09-30 16:02:51,303 [INFO] open_vision_banana.training.callbacks:   [val] step=13500 val_loss=0.3352
2026-09-30 16:07:51,007 [INFO] open_vision_banana.training.callbacks:   [step 13550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2213 loss=0.2299 normal_angular_aux_loss=0.0286 lr=3.12e-05 epoch=90 normal=0.5838
2026-09-30 16:12:58,677 [INFO] open_vision_banana.training.callbacks:   [step 13600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2303 loss=0.2384 normal_angular_aux_loss=0.0270 lr=3.11e-05 epoch=91 normal=0.5860
2026-09-30 16:17:59,286 [INFO] open_vision_banana.training.callbacks:   [step 13650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2318 loss=0.2402 normal_angular_aux_loss=0.0279 lr=3.09e-05 epoch=91 normal=0.5839
2026-09-30 16:23:00,950 [INFO] open_vision_banana.training.callbacks:   [step 13700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2340 loss=0.2423 normal_angular_aux_loss=0.0277 lr=3.08e-05 epoch=91 normal=0.5821
2026-09-30 16:28:06,379 [INFO] open_vision_banana.training.callbacks:   [step 13750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2158 loss=0.2237 normal_angular_aux_loss=0.0262 lr=3.07e-05 epoch=92 normal=0.5779
2026-09-30 16:33:05,636 [INFO] open_vision_banana.training.callbacks:   [step 13800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2230 loss=0.2311 normal_angular_aux_loss=0.0269 lr=3.05e-05 epoch=92 normal=0.5848
2026-09-30 16:38:01,915 [INFO] open_vision_banana.training.callbacks:   [step 13850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2249 loss=0.2333 normal_angular_aux_loss=0.0278 lr=3.04e-05 epoch=92 normal=0.5846
2026-09-30 16:42:59,020 [INFO] open_vision_banana.training.callbacks:   [step 13900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2249 loss=0.2331 normal_angular_aux_loss=0.0273 lr=3.03e-05 epoch=93 normal=0.5781
2026-09-30 16:47:56,247 [INFO] open_vision_banana.training.callbacks:   [step 13950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2239 loss=0.2321 normal_angular_aux_loss=0.0272 lr=3.01e-05 epoch=93 normal=0.5798
2026-09-30 16:52:55,689 [INFO] open_vision_banana.training.callbacks:   [step 14000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2275 loss=0.2357 normal_angular_aux_loss=0.0273 lr=3.00e-05 epoch=93 normal=0.5779
2026-09-30 16:53:06,585 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 14000 → /data/runs/ovb/ctrl_normal/checkpoint-14000
2026-09-30 16:53:32,769 [INFO] open_vision_banana.training.callbacks:   [val] step=14000 val_loss=0.3173
2026-09-30 16:58:35,589 [INFO] open_vision_banana.training.callbacks:   [step 14050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2302 loss=0.2383 normal_angular_aux_loss=0.0270 lr=2.99e-05 epoch=94 normal=0.5801
2026-09-30 17:03:38,385 [INFO] open_vision_banana.training.callbacks:   [step 14100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2256 loss=0.2339 normal_angular_aux_loss=0.0276 lr=2.97e-05 epoch=94 normal=0.5771
2026-09-30 17:08:41,133 [INFO] open_vision_banana.training.callbacks:   [step 14150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2265 loss=0.2350 normal_angular_aux_loss=0.0281 lr=2.96e-05 epoch=94 normal=0.5855
2026-09-30 17:13:42,108 [INFO] open_vision_banana.training.callbacks:   [step 14200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2165 loss=0.2245 normal_angular_aux_loss=0.0266 lr=2.95e-05 epoch=95 normal=0.5651
2026-09-30 17:18:42,891 [INFO] open_vision_banana.training.callbacks:   [step 14250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2270 loss=0.2353 normal_angular_aux_loss=0.0274 lr=2.93e-05 epoch=95 normal=0.5782
2026-09-30 17:23:44,409 [INFO] open_vision_banana.training.callbacks:   [step 14300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2255 loss=0.2338 normal_angular_aux_loss=0.0275 lr=2.92e-05 epoch=95 normal=0.5751
2026-09-30 17:28:45,697 [INFO] open_vision_banana.training.callbacks:   [step 14350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2156 loss=0.2238 normal_angular_aux_loss=0.0273 lr=2.91e-05 epoch=96 normal=0.5738
2026-09-30 17:33:45,380 [INFO] open_vision_banana.training.callbacks:   [step 14400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2246 loss=0.2326 normal_angular_aux_loss=0.0268 lr=2.89e-05 epoch=96 normal=0.5753
2026-09-30 17:38:46,963 [INFO] open_vision_banana.training.callbacks:   [step 14450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2231 loss=0.2314 normal_angular_aux_loss=0.0277 lr=2.88e-05 epoch=96 normal=0.5704
2026-09-30 17:43:44,358 [INFO] open_vision_banana.training.callbacks:   [step 14500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2218 loss=0.2297 normal_angular_aux_loss=0.0264 lr=2.86e-05 epoch=97 normal=0.5692
2026-09-30 17:44:10,965 [INFO] open_vision_banana.training.callbacks:   [val] step=14500 val_loss=0.3226
2026-09-30 17:49:14,158 [INFO] open_vision_banana.training.callbacks:   [step 14550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2243 loss=0.2325 normal_angular_aux_loss=0.0275 lr=2.85e-05 epoch=97 normal=0.5727
2026-09-30 17:54:19,734 [INFO] open_vision_banana.training.callbacks:   [step 14600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2234 loss=0.2318 normal_angular_aux_loss=0.0280 lr=2.84e-05 epoch=97 normal=0.5784
2026-09-30 17:59:26,466 [INFO] open_vision_banana.training.callbacks:   [step 14650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2260 loss=0.2339 normal_angular_aux_loss=0.0265 lr=2.82e-05 epoch=98 normal=0.5666
2026-09-30 18:04:31,348 [INFO] open_vision_banana.training.callbacks:   [step 14700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2244 loss=0.2325 normal_angular_aux_loss=0.0271 lr=2.81e-05 epoch=98 normal=0.5760
2026-09-30 18:09:34,526 [INFO] open_vision_banana.training.callbacks:   [step 14750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2229 loss=0.2309 normal_angular_aux_loss=0.0265 lr=2.80e-05 epoch=98 normal=0.5677
2026-09-30 18:14:37,303 [INFO] open_vision_banana.training.callbacks:   [step 14800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2358 loss=0.2439 normal_angular_aux_loss=0.0272 lr=2.78e-05 epoch=99 normal=0.5770
2026-09-30 18:19:39,556 [INFO] open_vision_banana.training.callbacks:   [step 14850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2229 loss=0.2308 normal_angular_aux_loss=0.0264 lr=2.77e-05 epoch=99 normal=0.5640
2026-09-30 18:24:41,939 [INFO] open_vision_banana.training.callbacks:   [step 14900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2310 loss=0.2390 normal_angular_aux_loss=0.0265 lr=2.76e-05 epoch=99 normal=0.5734
2026-09-30 18:29:42,587 [INFO] open_vision_banana.training.callbacks:   [step 14950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2193 loss=0.2272 normal_angular_aux_loss=0.0264 lr=2.74e-05 epoch=100 normal=0.5632
2026-09-30 18:34:45,699 [INFO] open_vision_banana.training.callbacks:   [step 15000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2218 loss=0.2302 normal_angular_aux_loss=0.0281 lr=2.73e-05 epoch=100 normal=0.5774
2026-09-30 18:34:54,909 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 15000 → /data/runs/ovb/ctrl_normal/checkpoint-15000
2026-09-30 18:35:21,861 [INFO] open_vision_banana.training.callbacks:   [val] step=15000 val_loss=0.3061
2026-09-30 18:40:25,396 [INFO] open_vision_banana.training.callbacks:   [step 15050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2219 loss=0.2298 normal_angular_aux_loss=0.0263 lr=2.72e-05 epoch=100 normal=0.5633
2026-09-30 18:45:28,431 [INFO] open_vision_banana.training.callbacks:   [step 15100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2215 loss=0.2294 normal_angular_aux_loss=0.0264 lr=2.70e-05 epoch=101 normal=0.5699
2026-09-30 18:50:26,939 [INFO] open_vision_banana.training.callbacks:   [step 15150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2157 loss=0.2238 normal_angular_aux_loss=0.0271 lr=2.69e-05 epoch=101 normal=0.5610
2026-09-30 18:55:25,733 [INFO] open_vision_banana.training.callbacks:   [step 15200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2289 loss=0.2369 normal_angular_aux_loss=0.0265 lr=2.67e-05 epoch=101 normal=0.5713
2026-09-30 19:00:27,359 [INFO] open_vision_banana.training.callbacks:   [step 15250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2240 loss=0.2321 normal_angular_aux_loss=0.0271 lr=2.66e-05 epoch=102 normal=0.5658
2026-09-30 19:05:29,278 [INFO] open_vision_banana.training.callbacks:   [step 15300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2252 loss=0.2334 normal_angular_aux_loss=0.0272 lr=2.65e-05 epoch=102 normal=0.5624
2026-09-30 19:10:27,009 [INFO] open_vision_banana.training.callbacks:   [step 15350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2192 loss=0.2270 normal_angular_aux_loss=0.0262 lr=2.63e-05 epoch=102 normal=0.5659
2026-09-30 19:15:27,570 [INFO] open_vision_banana.training.callbacks:   [step 15400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2150 loss=0.2230 normal_angular_aux_loss=0.0269 lr=2.62e-05 epoch=103 normal=0.5629
2026-09-30 19:20:32,833 [INFO] open_vision_banana.training.callbacks:   [step 15450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2254 loss=0.2335 normal_angular_aux_loss=0.0268 lr=2.61e-05 epoch=103 normal=0.5621
2026-09-30 19:25:33,216 [INFO] open_vision_banana.training.callbacks:   [step 15500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2209 loss=0.2288 normal_angular_aux_loss=0.0265 lr=2.59e-05 epoch=103 normal=0.5662
2026-09-30 19:26:00,888 [INFO] open_vision_banana.training.callbacks:   [val] step=15500 val_loss=0.2979
2026-09-30 19:31:05,171 [INFO] open_vision_banana.training.callbacks:   [step 15550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2165 loss=0.2244 normal_angular_aux_loss=0.0261 lr=2.58e-05 epoch=104 normal=0.5606
2026-09-30 19:36:05,178 [INFO] open_vision_banana.training.callbacks:   [step 15600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2261 loss=0.2341 normal_angular_aux_loss=0.0265 lr=2.57e-05 epoch=104 normal=0.5705
2026-09-30 19:41:08,840 [INFO] open_vision_banana.training.callbacks:   [step 15650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2208 loss=0.2289 normal_angular_aux_loss=0.0269 lr=2.55e-05 epoch=105 normal=0.5653
2026-09-30 19:46:09,558 [INFO] open_vision_banana.training.callbacks:   [step 15700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2184 loss=0.2263 normal_angular_aux_loss=0.0266 lr=2.54e-05 epoch=105 normal=0.5545
2026-09-30 19:51:09,960 [INFO] open_vision_banana.training.callbacks:   [step 15750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2197 loss=0.2277 normal_angular_aux_loss=0.0269 lr=2.53e-05 epoch=105 normal=0.5643
2026-09-30 19:56:10,349 [INFO] open_vision_banana.training.callbacks:   [step 15800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2210 loss=0.2290 normal_angular_aux_loss=0.0264 lr=2.51e-05 epoch=106 normal=0.5636
2026-09-30 20:01:10,293 [INFO] open_vision_banana.training.callbacks:   [step 15850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2131 loss=0.2212 normal_angular_aux_loss=0.0269 lr=2.50e-05 epoch=106 normal=0.5603
2026-09-30 20:06:13,289 [INFO] open_vision_banana.training.callbacks:   [step 15900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2171 loss=0.2252 normal_angular_aux_loss=0.0268 lr=2.48e-05 epoch=106 normal=0.5592
2026-09-30 20:11:14,664 [INFO] open_vision_banana.training.callbacks:   [step 15950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2127 loss=0.2205 normal_angular_aux_loss=0.0261 lr=2.47e-05 epoch=107 normal=0.5614
2026-09-30 20:16:16,535 [INFO] open_vision_banana.training.callbacks:   [step 16000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2221 loss=0.2301 normal_angular_aux_loss=0.0268 lr=2.46e-05 epoch=107 normal=0.5584
2026-09-30 20:16:25,221 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 16000 → /data/runs/ovb/ctrl_normal/checkpoint-16000
2026-09-30 20:16:51,024 [INFO] open_vision_banana.training.callbacks:   [val] step=16000 val_loss=0.3370
2026-09-30 20:21:50,667 [INFO] open_vision_banana.training.callbacks:   [step 16050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2128 loss=0.2208 normal_angular_aux_loss=0.0268 lr=2.44e-05 epoch=107 normal=0.5576
2026-09-30 20:26:53,214 [INFO] open_vision_banana.training.callbacks:   [step 16100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2172 loss=0.2249 normal_angular_aux_loss=0.0254 lr=2.43e-05 epoch=108 normal=0.5549
2026-09-30 20:32:00,779 [INFO] open_vision_banana.training.callbacks:   [step 16150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2087 loss=0.2167 normal_angular_aux_loss=0.0267 lr=2.42e-05 epoch=108 normal=0.5563
2026-09-30 20:37:01,191 [INFO] open_vision_banana.training.callbacks:   [step 16200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2150 loss=0.2230 normal_angular_aux_loss=0.0267 lr=2.40e-05 epoch=108 normal=0.5543
2026-09-30 20:42:05,291 [INFO] open_vision_banana.training.callbacks:   [step 16250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2141 loss=0.2221 normal_angular_aux_loss=0.0267 lr=2.39e-05 epoch=109 normal=0.5606
2026-09-30 20:47:06,691 [INFO] open_vision_banana.training.callbacks:   [step 16300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2180 loss=0.2259 normal_angular_aux_loss=0.0265 lr=2.38e-05 epoch=109 normal=0.5554
2026-09-30 20:52:07,281 [INFO] open_vision_banana.training.callbacks:   [step 16350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2218 loss=0.2298 normal_angular_aux_loss=0.0265 lr=2.36e-05 epoch=109 normal=0.5593
2026-09-30 20:57:08,774 [INFO] open_vision_banana.training.callbacks:   [step 16400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2167 loss=0.2244 normal_angular_aux_loss=0.0257 lr=2.35e-05 epoch=110 normal=0.5564
2026-09-30 21:02:07,385 [INFO] open_vision_banana.training.callbacks:   [step 16450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2135 loss=0.2213 normal_angular_aux_loss=0.0260 lr=2.33e-05 epoch=110 normal=0.5558
2026-09-30 21:07:05,374 [INFO] open_vision_banana.training.callbacks:   [step 16500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2120 loss=0.2201 normal_angular_aux_loss=0.0271 lr=2.32e-05 epoch=110 normal=0.5541
2026-09-30 21:07:32,072 [INFO] open_vision_banana.training.callbacks:   [val] step=16500 val_loss=0.3129
2026-09-30 21:12:35,349 [INFO] open_vision_banana.training.callbacks:   [step 16550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2099 loss=0.2177 normal_angular_aux_loss=0.0260 lr=2.31e-05 epoch=111 normal=0.5548
2026-09-30 21:17:37,965 [INFO] open_vision_banana.training.callbacks:   [step 16600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2201 loss=0.2280 normal_angular_aux_loss=0.0263 lr=2.29e-05 epoch=111 normal=0.5495
2026-09-30 21:22:36,604 [INFO] open_vision_banana.training.callbacks:   [step 16650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2200 loss=0.2280 normal_angular_aux_loss=0.0267 lr=2.28e-05 epoch=111 normal=0.5563
2026-09-30 21:27:36,428 [INFO] open_vision_banana.training.callbacks:   [step 16700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2177 loss=0.2256 normal_angular_aux_loss=0.0262 lr=2.27e-05 epoch=112 normal=0.5581
2026-09-30 21:32:37,374 [INFO] open_vision_banana.training.callbacks:   [step 16750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2101 loss=0.2183 normal_angular_aux_loss=0.0272 lr=2.25e-05 epoch=112 normal=0.5550
2026-09-30 21:37:36,118 [INFO] open_vision_banana.training.callbacks:   [step 16800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2113 loss=0.2192 normal_angular_aux_loss=0.0262 lr=2.24e-05 epoch=112 normal=0.5490
2026-09-30 21:42:40,366 [INFO] open_vision_banana.training.callbacks:   [step 16850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2124 loss=0.2201 normal_angular_aux_loss=0.0253 lr=2.23e-05 epoch=113 normal=0.5497
2026-09-30 21:47:38,560 [INFO] open_vision_banana.training.callbacks:   [step 16900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2184 loss=0.2263 normal_angular_aux_loss=0.0265 lr=2.21e-05 epoch=113 normal=0.5576
2026-09-30 21:52:36,885 [INFO] open_vision_banana.training.callbacks:   [step 16950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2176 loss=0.2255 normal_angular_aux_loss=0.0262 lr=2.20e-05 epoch=113 normal=0.5559
2026-09-30 21:57:42,936 [INFO] open_vision_banana.training.callbacks:   [step 17000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2185 loss=0.2260 normal_angular_aux_loss=0.0253 lr=2.19e-05 epoch=114 normal=0.5502
2026-09-30 21:57:51,599 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 17000 → /data/runs/ovb/ctrl_normal/checkpoint-17000
2026-09-30 21:58:18,321 [INFO] open_vision_banana.training.callbacks:   [val] step=17000 val_loss=0.2767
2026-09-30 22:03:16,158 [INFO] open_vision_banana.training.callbacks:   [step 17050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2194 loss=0.2273 normal_angular_aux_loss=0.0264 lr=2.17e-05 epoch=114 normal=0.5503
2026-09-30 22:08:13,803 [INFO] open_vision_banana.training.callbacks:   [step 17100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2169 loss=0.2246 normal_angular_aux_loss=0.0257 lr=2.16e-05 epoch=114 normal=0.5507
2026-09-30 22:13:10,900 [INFO] open_vision_banana.training.callbacks:   [step 17150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2211 loss=0.2288 normal_angular_aux_loss=0.0256 lr=2.14e-05 epoch=115 normal=0.5497
2026-09-30 22:18:08,018 [INFO] open_vision_banana.training.callbacks:   [step 17200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2163 loss=0.2242 normal_angular_aux_loss=0.0263 lr=2.13e-05 epoch=115 normal=0.5536
2026-09-30 22:23:05,171 [INFO] open_vision_banana.training.callbacks:   [step 17250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2149 loss=0.2229 normal_angular_aux_loss=0.0266 lr=2.12e-05 epoch=115 normal=0.5493
2026-09-30 22:28:08,987 [INFO] open_vision_banana.training.callbacks:   [step 17300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2143 loss=0.2219 normal_angular_aux_loss=0.0252 lr=2.10e-05 epoch=116 normal=0.5457
2026-09-30 22:33:06,960 [INFO] open_vision_banana.training.callbacks:   [step 17350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2199 loss=0.2279 normal_angular_aux_loss=0.0267 lr=2.09e-05 epoch=116 normal=0.5548
2026-09-30 22:38:06,225 [INFO] open_vision_banana.training.callbacks:   [step 17400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2091 loss=0.2168 normal_angular_aux_loss=0.0256 lr=2.08e-05 epoch=116 normal=0.5444
2026-09-30 22:43:02,660 [INFO] open_vision_banana.training.callbacks:   [step 17450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2122 loss=0.2203 normal_angular_aux_loss=0.0268 lr=2.06e-05 epoch=117 normal=0.5435
2026-09-30 22:48:00,259 [INFO] open_vision_banana.training.callbacks:   [step 17500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2191 loss=0.2269 normal_angular_aux_loss=0.0263 lr=2.05e-05 epoch=117 normal=0.5466
2026-09-30 22:48:29,055 [INFO] open_vision_banana.training.callbacks:   [val] step=17500 val_loss=0.2673
2026-09-30 22:53:28,304 [INFO] open_vision_banana.training.callbacks:   [step 17550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2080 loss=0.2157 normal_angular_aux_loss=0.0255 lr=2.04e-05 epoch=117 normal=0.5493
2026-09-30 22:58:26,661 [INFO] open_vision_banana.training.callbacks:   [step 17600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2086 loss=0.2165 normal_angular_aux_loss=0.0266 lr=2.02e-05 epoch=118 normal=0.5507
2026-09-30 23:03:22,746 [INFO] open_vision_banana.training.callbacks:   [step 17650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2114 loss=0.2193 normal_angular_aux_loss=0.0264 lr=2.01e-05 epoch=118 normal=0.5503
2026-09-30 23:08:24,270 [INFO] open_vision_banana.training.callbacks:   [step 17700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2073 loss=0.2148 normal_angular_aux_loss=0.0251 lr=2.00e-05 epoch=118 normal=0.5397
2026-09-30 23:13:30,383 [INFO] open_vision_banana.training.callbacks:   [step 17750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2103 loss=0.2181 normal_angular_aux_loss=0.0261 lr=1.98e-05 epoch=119 normal=0.5406
2026-09-30 23:18:32,308 [INFO] open_vision_banana.training.callbacks:   [step 17800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2064 loss=0.2141 normal_angular_aux_loss=0.0257 lr=1.97e-05 epoch=119 normal=0.5433
2026-09-30 23:23:36,506 [INFO] open_vision_banana.training.callbacks:   [step 17850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2202 loss=0.2281 normal_angular_aux_loss=0.0263 lr=1.96e-05 epoch=119 normal=0.5515
2026-09-30 23:28:38,793 [INFO] open_vision_banana.training.callbacks:   [step 17900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2142 loss=0.2220 normal_angular_aux_loss=0.0259 lr=1.94e-05 epoch=120 normal=0.5429
2026-09-30 23:33:42,635 [INFO] open_vision_banana.training.callbacks:   [step 17950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2095 loss=0.2173 normal_angular_aux_loss=0.0260 lr=1.93e-05 epoch=120 normal=0.5434
2026-09-30 23:38:47,240 [INFO] open_vision_banana.training.callbacks:   [step 18000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2204 loss=0.2282 normal_angular_aux_loss=0.0261 lr=1.92e-05 epoch=120 normal=0.5473
2026-09-30 23:38:55,586 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 18000 → /data/runs/ovb/ctrl_normal/checkpoint-18000
2026-09-30 23:39:22,932 [INFO] open_vision_banana.training.callbacks:   [val] step=18000 val_loss=0.3043
2026-09-30 23:44:25,157 [INFO] open_vision_banana.training.callbacks:   [step 18050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2105 loss=0.2182 normal_angular_aux_loss=0.0259 lr=1.90e-05 epoch=121 normal=0.5395
2026-09-30 23:49:27,189 [INFO] open_vision_banana.training.callbacks:   [step 18100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2115 loss=0.2193 normal_angular_aux_loss=0.0262 lr=1.89e-05 epoch=121 normal=0.5433
2026-09-30 23:54:33,411 [INFO] open_vision_banana.training.callbacks:   [step 18150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2047 loss=0.2126 normal_angular_aux_loss=0.0262 lr=1.88e-05 epoch=121 normal=0.5409
2026-09-30 23:59:38,879 [INFO] open_vision_banana.training.callbacks:   [step 18200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2136 loss=0.2214 normal_angular_aux_loss=0.0262 lr=1.86e-05 epoch=122 normal=0.5469
2026-10-01 00:04:44,755 [INFO] open_vision_banana.training.callbacks:   [step 18250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2094 loss=0.2172 normal_angular_aux_loss=0.0259 lr=1.85e-05 epoch=122 normal=0.5381
2026-10-01 00:09:49,299 [INFO] open_vision_banana.training.callbacks:   [step 18300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2091 loss=0.2169 normal_angular_aux_loss=0.0258 lr=1.84e-05 epoch=122 normal=0.5360
2026-10-01 00:14:55,329 [INFO] open_vision_banana.training.callbacks:   [step 18350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2141 loss=0.2218 normal_angular_aux_loss=0.0255 lr=1.83e-05 epoch=123 normal=0.5396
2026-10-01 00:19:59,285 [INFO] open_vision_banana.training.callbacks:   [step 18400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2119 loss=0.2196 normal_angular_aux_loss=0.0258 lr=1.81e-05 epoch=123 normal=0.5453
2026-10-01 00:25:03,566 [INFO] open_vision_banana.training.callbacks:   [step 18450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2111 loss=0.2188 normal_angular_aux_loss=0.0259 lr=1.80e-05 epoch=123 normal=0.5338
2026-10-01 00:30:08,338 [INFO] open_vision_banana.training.callbacks:   [step 18500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2131 loss=0.2208 normal_angular_aux_loss=0.0256 lr=1.79e-05 epoch=124 normal=0.5348
2026-10-01 00:30:36,825 [INFO] open_vision_banana.training.callbacks:   [val] step=18500 val_loss=0.3306
2026-10-01 00:35:39,547 [INFO] open_vision_banana.training.callbacks:   [step 18550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2089 loss=0.2171 normal_angular_aux_loss=0.0272 lr=1.77e-05 epoch=124 normal=0.5415
2026-10-01 00:40:45,699 [INFO] open_vision_banana.training.callbacks:   [step 18600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2086 loss=0.2161 normal_angular_aux_loss=0.0252 lr=1.76e-05 epoch=124 normal=0.5419
2026-10-01 00:45:48,830 [INFO] open_vision_banana.training.callbacks:   [step 18650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2064 loss=0.2143 normal_angular_aux_loss=0.0263 lr=1.75e-05 epoch=125 normal=0.5390
2026-10-01 00:50:53,395 [INFO] open_vision_banana.training.callbacks:   [step 18700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2092 loss=0.2169 normal_angular_aux_loss=0.0255 lr=1.73e-05 epoch=125 normal=0.5372
2026-10-01 00:55:54,380 [INFO] open_vision_banana.training.callbacks:   [step 18750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2121 loss=0.2197 normal_angular_aux_loss=0.0253 lr=1.72e-05 epoch=126 normal=0.5378
2026-10-01 01:00:59,325 [INFO] open_vision_banana.training.callbacks:   [step 18800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2085 loss=0.2164 normal_angular_aux_loss=0.0263 lr=1.71e-05 epoch=126 normal=0.5395
2026-10-01 01:06:01,102 [INFO] open_vision_banana.training.callbacks:   [step 18850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2084 loss=0.2164 normal_angular_aux_loss=0.0265 lr=1.70e-05 epoch=126 normal=0.5389
2026-10-01 01:11:00,868 [INFO] open_vision_banana.training.callbacks:   [step 18900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2130 loss=0.2205 normal_angular_aux_loss=0.0248 lr=1.68e-05 epoch=127 normal=0.5366
2026-10-01 01:16:00,975 [INFO] open_vision_banana.training.callbacks:   [step 18950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2102 loss=0.2178 normal_angular_aux_loss=0.0252 lr=1.67e-05 epoch=127 normal=0.5368
2026-10-01 01:21:06,538 [INFO] open_vision_banana.training.callbacks:   [step 19000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2116 loss=0.2194 normal_angular_aux_loss=0.0260 lr=1.66e-05 epoch=127 normal=0.5350
2026-10-01 01:21:15,923 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 19000 → /data/runs/ovb/ctrl_normal/checkpoint-19000
2026-10-01 01:21:43,353 [INFO] open_vision_banana.training.callbacks:   [val] step=19000 val_loss=0.3599
2026-10-01 01:26:42,055 [INFO] open_vision_banana.training.callbacks:   [step 19050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2172 loss=0.2248 normal_angular_aux_loss=0.0254 lr=1.64e-05 epoch=128 normal=0.5471
2026-10-01 01:31:47,872 [INFO] open_vision_banana.training.callbacks:   [step 19100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2128 loss=0.2203 normal_angular_aux_loss=0.0252 lr=1.63e-05 epoch=128 normal=0.5373
2026-10-01 01:36:52,230 [INFO] open_vision_banana.training.callbacks:   [step 19150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2106 loss=0.2180 normal_angular_aux_loss=0.0244 lr=1.62e-05 epoch=128 normal=0.5363
2026-10-01 01:41:57,991 [INFO] open_vision_banana.training.callbacks:   [step 19200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2090 loss=0.2168 normal_angular_aux_loss=0.0258 lr=1.61e-05 epoch=129 normal=0.5376
2026-10-01 01:47:04,308 [INFO] open_vision_banana.training.callbacks:   [step 19250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2101 loss=0.2179 normal_angular_aux_loss=0.0263 lr=1.59e-05 epoch=129 normal=0.5362
2026-10-01 01:52:07,328 [INFO] open_vision_banana.training.callbacks:   [step 19300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2110 loss=0.2184 normal_angular_aux_loss=0.0245 lr=1.58e-05 epoch=129 normal=0.5333
2026-10-01 01:57:14,113 [INFO] open_vision_banana.training.callbacks:   [step 19350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2133 loss=0.2209 normal_angular_aux_loss=0.0254 lr=1.57e-05 epoch=130 normal=0.5432
2026-10-01 02:02:16,247 [INFO] open_vision_banana.training.callbacks:   [step 19400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2111 loss=0.2190 normal_angular_aux_loss=0.0261 lr=1.56e-05 epoch=130 normal=0.5384
2026-10-01 02:07:22,537 [INFO] open_vision_banana.training.callbacks:   [step 19450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2024 loss=0.2100 normal_angular_aux_loss=0.0255 lr=1.54e-05 epoch=130 normal=0.5316
2026-10-01 02:12:27,854 [INFO] open_vision_banana.training.callbacks:   [step 19500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2070 loss=0.2146 normal_angular_aux_loss=0.0254 lr=1.53e-05 epoch=131 normal=0.5333
2026-10-01 02:13:04,066 [INFO] open_vision_banana.training.callbacks:   [val] step=19500 val_loss=0.3010
2026-10-01 02:18:08,303 [INFO] open_vision_banana.training.callbacks:   [step 19550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2117 loss=0.2192 normal_angular_aux_loss=0.0250 lr=1.52e-05 epoch=131 normal=0.5302
2026-10-01 02:23:13,621 [INFO] open_vision_banana.training.callbacks:   [step 19600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2034 loss=0.2109 normal_angular_aux_loss=0.0251 lr=1.51e-05 epoch=131 normal=0.5308
2026-10-01 02:28:19,647 [INFO] open_vision_banana.training.callbacks:   [step 19650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2044 loss=0.2126 normal_angular_aux_loss=0.0272 lr=1.49e-05 epoch=132 normal=0.5361
2026-10-01 02:33:23,647 [INFO] open_vision_banana.training.callbacks:   [step 19700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2070 loss=0.2147 normal_angular_aux_loss=0.0259 lr=1.48e-05 epoch=132 normal=0.5361
2026-10-01 02:38:23,944 [INFO] open_vision_banana.training.callbacks:   [step 19750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2064 loss=0.2139 normal_angular_aux_loss=0.0250 lr=1.47e-05 epoch=132 normal=0.5274
2026-10-01 02:43:25,973 [INFO] open_vision_banana.training.callbacks:   [step 19800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2102 loss=0.2175 normal_angular_aux_loss=0.0245 lr=1.46e-05 epoch=133 normal=0.5306
2026-10-01 02:48:24,561 [INFO] open_vision_banana.training.callbacks:   [step 19850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2030 loss=0.2108 normal_angular_aux_loss=0.0260 lr=1.44e-05 epoch=133 normal=0.5330
2026-10-01 02:53:27,701 [INFO] open_vision_banana.training.callbacks:   [step 19900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2013 loss=0.2090 normal_angular_aux_loss=0.0258 lr=1.43e-05 epoch=133 normal=0.5318
2026-10-01 02:58:29,303 [INFO] open_vision_banana.training.callbacks:   [step 19950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2101 loss=0.2179 normal_angular_aux_loss=0.0259 lr=1.42e-05 epoch=134 normal=0.5263
2026-10-01 03:03:29,849 [INFO] open_vision_banana.training.callbacks:   [step 20000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2094 loss=0.2170 normal_angular_aux_loss=0.0253 lr=1.41e-05 epoch=134 normal=0.5308
2026-10-01 03:03:38,494 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 20000 → /data/runs/ovb/ctrl_normal/checkpoint-20000
2026-10-01 03:04:04,969 [INFO] open_vision_banana.training.callbacks:   [val] step=20000 val_loss=0.3333
2026-10-01 03:09:06,212 [INFO] open_vision_banana.training.callbacks:   [step 20050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2054 loss=0.2132 normal_angular_aux_loss=0.0260 lr=1.40e-05 epoch=134 normal=0.5359
2026-10-01 03:14:07,873 [INFO] open_vision_banana.training.callbacks:   [step 20100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2106 loss=0.2182 normal_angular_aux_loss=0.0251 lr=1.38e-05 epoch=135 normal=0.5309
2026-10-01 03:19:04,432 [INFO] open_vision_banana.training.callbacks:   [step 20150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2024 loss=0.2098 normal_angular_aux_loss=0.0248 lr=1.37e-05 epoch=135 normal=0.5258
2026-10-01 03:24:02,485 [INFO] open_vision_banana.training.callbacks:   [step 20200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2083 loss=0.2162 normal_angular_aux_loss=0.0262 lr=1.36e-05 epoch=135 normal=0.5280
2026-10-01 03:29:04,467 [INFO] open_vision_banana.training.callbacks:   [step 20250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1984 loss=0.2062 normal_angular_aux_loss=0.0259 lr=1.35e-05 epoch=136 normal=0.5322
2026-10-01 03:34:11,418 [INFO] open_vision_banana.training.callbacks:   [step 20300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2052 loss=0.2130 normal_angular_aux_loss=0.0260 lr=1.34e-05 epoch=136 normal=0.5297
2026-10-01 03:39:15,367 [INFO] open_vision_banana.training.callbacks:   [step 20350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2078 loss=0.2154 normal_angular_aux_loss=0.0253 lr=1.32e-05 epoch=136 normal=0.5248
2026-10-01 03:44:19,721 [INFO] open_vision_banana.training.callbacks:   [step 20400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2095 loss=0.2170 normal_angular_aux_loss=0.0251 lr=1.31e-05 epoch=137 normal=0.5309
2026-10-01 03:49:23,796 [INFO] open_vision_banana.training.callbacks:   [step 20450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2019 loss=0.2096 normal_angular_aux_loss=0.0256 lr=1.30e-05 epoch=137 normal=0.5271
2026-10-01 03:54:28,196 [INFO] open_vision_banana.training.callbacks:   [step 20500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2071 loss=0.2149 normal_angular_aux_loss=0.0261 lr=1.29e-05 epoch=137 normal=0.5297
2026-10-01 03:54:56,052 [INFO] open_vision_banana.training.callbacks:   [val] step=20500 val_loss=0.3107
2026-10-01 04:00:02,904 [INFO] open_vision_banana.training.callbacks:   [step 20550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2024 loss=0.2102 normal_angular_aux_loss=0.0260 lr=1.28e-05 epoch=138 normal=0.5271
2026-10-01 04:05:04,161 [INFO] open_vision_banana.training.callbacks:   [step 20600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2020 loss=0.2098 normal_angular_aux_loss=0.0260 lr=1.26e-05 epoch=138 normal=0.5286
2026-10-01 04:10:04,229 [INFO] open_vision_banana.training.callbacks:   [step 20650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2047 loss=0.2120 normal_angular_aux_loss=0.0244 lr=1.25e-05 epoch=138 normal=0.5287
2026-10-01 04:15:04,084 [INFO] open_vision_banana.training.callbacks:   [step 20700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2051 loss=0.2129 normal_angular_aux_loss=0.0260 lr=1.24e-05 epoch=139 normal=0.5254
2026-10-01 04:20:08,803 [INFO] open_vision_banana.training.callbacks:   [step 20750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2025 loss=0.2103 normal_angular_aux_loss=0.0260 lr=1.23e-05 epoch=139 normal=0.5296
2026-10-01 04:25:12,341 [INFO] open_vision_banana.training.callbacks:   [step 20800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2054 loss=0.2131 normal_angular_aux_loss=0.0257 lr=1.22e-05 epoch=139 normal=0.5269
2026-10-01 04:30:13,551 [INFO] open_vision_banana.training.callbacks:   [step 20850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2042 loss=0.2119 normal_angular_aux_loss=0.0257 lr=1.21e-05 epoch=140 normal=0.5307
2026-10-01 04:35:18,836 [INFO] open_vision_banana.training.callbacks:   [step 20900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2064 loss=0.2140 normal_angular_aux_loss=0.0256 lr=1.19e-05 epoch=140 normal=0.5230
2026-10-01 04:40:18,740 [INFO] open_vision_banana.training.callbacks:   [step 20950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2006 loss=0.2082 normal_angular_aux_loss=0.0253 lr=1.18e-05 epoch=140 normal=0.5240
2026-10-01 04:45:20,531 [INFO] open_vision_banana.training.callbacks:   [step 21000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2017 loss=0.2092 normal_angular_aux_loss=0.0250 lr=1.17e-05 epoch=141 normal=0.5280
2026-10-01 04:45:29,307 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 21000 → /data/runs/ovb/ctrl_normal/checkpoint-21000
2026-10-01 04:45:55,699 [INFO] open_vision_banana.training.callbacks:   [val] step=21000 val_loss=0.3056
2026-10-01 04:50:49,605 [INFO] open_vision_banana.training.callbacks:   [step 21050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2015 loss=0.2092 normal_angular_aux_loss=0.0254 lr=1.16e-05 epoch=141 normal=0.5251
2026-10-01 04:55:47,708 [INFO] open_vision_banana.training.callbacks:   [step 21100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2065 loss=0.2143 normal_angular_aux_loss=0.0259 lr=1.15e-05 epoch=141 normal=0.5278
2026-10-01 05:00:50,772 [INFO] open_vision_banana.training.callbacks:   [step 21150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2063 loss=0.2137 normal_angular_aux_loss=0.0248 lr=1.14e-05 epoch=142 normal=0.5214
2026-10-01 05:05:55,062 [INFO] open_vision_banana.training.callbacks:   [step 21200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2083 loss=0.2160 normal_angular_aux_loss=0.0257 lr=1.13e-05 epoch=142 normal=0.5285
2026-10-01 05:10:52,175 [INFO] open_vision_banana.training.callbacks:   [step 21250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2011 loss=0.2086 normal_angular_aux_loss=0.0249 lr=1.11e-05 epoch=142 normal=0.5263
2026-10-01 05:15:50,611 [INFO] open_vision_banana.training.callbacks:   [step 21300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2045 loss=0.2119 normal_angular_aux_loss=0.0247 lr=1.10e-05 epoch=143 normal=0.5253
2026-10-01 05:20:56,461 [INFO] open_vision_banana.training.callbacks:   [step 21350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2058 loss=0.2133 normal_angular_aux_loss=0.0249 lr=1.09e-05 epoch=143 normal=0.5221
2026-10-01 05:25:55,458 [INFO] open_vision_banana.training.callbacks:   [step 21400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2054 loss=0.2130 normal_angular_aux_loss=0.0254 lr=1.08e-05 epoch=143 normal=0.5303
2026-10-01 05:30:54,774 [INFO] open_vision_banana.training.callbacks:   [step 21450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2050 loss=0.2123 normal_angular_aux_loss=0.0243 lr=1.07e-05 epoch=144 normal=0.5242
2026-10-01 05:35:55,743 [INFO] open_vision_banana.training.callbacks:   [step 21500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2039 loss=0.2117 normal_angular_aux_loss=0.0259 lr=1.06e-05 epoch=144 normal=0.5247
2026-10-01 05:36:22,861 [INFO] open_vision_banana.training.callbacks:   [val] step=21500 val_loss=0.3190
2026-10-01 05:41:25,118 [INFO] open_vision_banana.training.callbacks:   [step 21550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1996 loss=0.2072 normal_angular_aux_loss=0.0254 lr=1.05e-05 epoch=144 normal=0.5223
2026-10-01 05:46:30,236 [INFO] open_vision_banana.training.callbacks:   [step 21600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1992 loss=0.2070 normal_angular_aux_loss=0.0260 lr=1.04e-05 epoch=145 normal=0.5278
2026-10-01 05:51:37,240 [INFO] open_vision_banana.training.callbacks:   [step 21650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2056 loss=0.2131 normal_angular_aux_loss=0.0250 lr=1.03e-05 epoch=145 normal=0.5231
2026-10-01 05:56:38,898 [INFO] open_vision_banana.training.callbacks:   [step 21700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2050 loss=0.2125 normal_angular_aux_loss=0.0249 lr=1.02e-05 epoch=145 normal=0.5232
2026-10-01 06:01:43,762 [INFO] open_vision_banana.training.callbacks:   [step 21750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2014 loss=0.2089 normal_angular_aux_loss=0.0248 lr=1.00e-05 epoch=146 normal=0.5182
2026-10-01 06:06:42,953 [INFO] open_vision_banana.training.callbacks:   [step 21800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2036 loss=0.2110 normal_angular_aux_loss=0.0245 lr=9.94e-06 epoch=146 normal=0.5193
2026-10-01 06:11:40,818 [INFO] open_vision_banana.training.callbacks:   [step 21850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2009 loss=0.2088 normal_angular_aux_loss=0.0261 lr=9.83e-06 epoch=147 normal=0.5262
2026-10-01 06:16:39,444 [INFO] open_vision_banana.training.callbacks:   [step 21900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1978 loss=0.2053 normal_angular_aux_loss=0.0251 lr=9.73e-06 epoch=147 normal=0.5239
2026-10-01 06:21:35,664 [INFO] open_vision_banana.training.callbacks:   [step 21950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2014 loss=0.2089 normal_angular_aux_loss=0.0248 lr=9.62e-06 epoch=147 normal=0.5213
2026-10-01 06:26:29,467 [INFO] open_vision_banana.training.callbacks:   [step 22000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2044 loss=0.2120 normal_angular_aux_loss=0.0253 lr=9.52e-06 epoch=148 normal=0.5227
2026-10-01 06:26:38,355 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 22000 → /data/runs/ovb/ctrl_normal/checkpoint-22000
2026-10-01 06:27:05,563 [INFO] open_vision_banana.training.callbacks:   [val] step=22000 val_loss=0.3179
2026-10-01 06:32:05,277 [INFO] open_vision_banana.training.callbacks:   [step 22050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1971 loss=0.2047 normal_angular_aux_loss=0.0253 lr=9.41e-06 epoch=148 normal=0.5177
2026-10-01 06:36:59,258 [INFO] open_vision_banana.training.callbacks:   [step 22100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2044 loss=0.2119 normal_angular_aux_loss=0.0251 lr=9.31e-06 epoch=148 normal=0.5231
2026-10-01 06:41:51,792 [INFO] open_vision_banana.training.callbacks:   [step 22150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2012 loss=0.2089 normal_angular_aux_loss=0.0256 lr=9.20e-06 epoch=149 normal=0.5193
2026-10-01 06:46:46,036 [INFO] open_vision_banana.training.callbacks:   [step 22200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1971 loss=0.2045 normal_angular_aux_loss=0.0248 lr=9.10e-06 epoch=149 normal=0.5217
2026-10-01 06:51:40,227 [INFO] open_vision_banana.training.callbacks:   [step 22250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1984 loss=0.2058 normal_angular_aux_loss=0.0247 lr=9.00e-06 epoch=149 normal=0.5150
2026-10-01 06:56:29,392 [INFO] open_vision_banana.training.callbacks:   [step 22300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2021 loss=0.2101 normal_angular_aux_loss=0.0265 lr=8.89e-06 epoch=150 normal=0.5305
2026-10-01 07:01:21,671 [INFO] open_vision_banana.training.callbacks:   [step 22350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2035 loss=0.2108 normal_angular_aux_loss=0.0245 lr=8.79e-06 epoch=150 normal=0.5207
2026-10-01 07:06:13,841 [INFO] open_vision_banana.training.callbacks:   [step 22400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2008 loss=0.2084 normal_angular_aux_loss=0.0255 lr=8.69e-06 epoch=150 normal=0.5167
2026-10-01 07:11:10,330 [INFO] open_vision_banana.training.callbacks:   [step 22450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2060 loss=0.2137 normal_angular_aux_loss=0.0255 lr=8.59e-06 epoch=151 normal=0.5230
2026-10-01 07:16:11,727 [INFO] open_vision_banana.training.callbacks:   [step 22500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2023 loss=0.2099 normal_angular_aux_loss=0.0255 lr=8.49e-06 epoch=151 normal=0.5178
2026-10-01 07:16:39,287 [INFO] open_vision_banana.training.callbacks:   [val] step=22500 val_loss=0.2904
2026-10-01 07:21:34,053 [INFO] open_vision_banana.training.callbacks:   [step 22550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1965 loss=0.2041 normal_angular_aux_loss=0.0252 lr=8.39e-06 epoch=151 normal=0.5183
2026-10-01 07:26:30,569 [INFO] open_vision_banana.training.callbacks:   [step 22600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2063 loss=0.2138 normal_angular_aux_loss=0.0249 lr=8.29e-06 epoch=152 normal=0.5247
2026-10-01 07:31:23,409 [INFO] open_vision_banana.training.callbacks:   [step 22650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2039 loss=0.2115 normal_angular_aux_loss=0.0253 lr=8.19e-06 epoch=152 normal=0.5212
2026-10-01 07:36:19,064 [INFO] open_vision_banana.training.callbacks:   [step 22700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2023 loss=0.2099 normal_angular_aux_loss=0.0254 lr=8.09e-06 epoch=152 normal=0.5216
2026-10-01 07:41:15,447 [INFO] open_vision_banana.training.callbacks:   [step 22750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2045 loss=0.2119 normal_angular_aux_loss=0.0247 lr=7.99e-06 epoch=153 normal=0.5181
2026-10-01 07:46:08,315 [INFO] open_vision_banana.training.callbacks:   [step 22800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1984 loss=0.2058 normal_angular_aux_loss=0.0247 lr=7.89e-06 epoch=153 normal=0.5179
2026-10-01 07:51:02,589 [INFO] open_vision_banana.training.callbacks:   [step 22850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2003 loss=0.2081 normal_angular_aux_loss=0.0259 lr=7.80e-06 epoch=153 normal=0.5213
2026-10-01 07:56:02,749 [INFO] open_vision_banana.training.callbacks:   [step 22900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1993 loss=0.2067 normal_angular_aux_loss=0.0246 lr=7.70e-06 epoch=154 normal=0.5157
2026-10-01 08:00:57,514 [INFO] open_vision_banana.training.callbacks:   [step 22950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2037 loss=0.2113 normal_angular_aux_loss=0.0255 lr=7.61e-06 epoch=154 normal=0.5201
2026-10-01 08:05:50,300 [INFO] open_vision_banana.training.callbacks:   [step 23000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2059 loss=0.2135 normal_angular_aux_loss=0.0253 lr=7.51e-06 epoch=154 normal=0.5199
2026-10-01 08:05:58,785 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 23000 → /data/runs/ovb/ctrl_normal/checkpoint-23000
2026-10-01 08:06:25,676 [INFO] open_vision_banana.training.callbacks:   [val] step=23000 val_loss=0.3627
2026-10-01 08:11:22,384 [INFO] open_vision_banana.training.callbacks:   [step 23050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1961 loss=0.2039 normal_angular_aux_loss=0.0260 lr=7.41e-06 epoch=155 normal=0.5138
2026-10-01 08:16:18,358 [INFO] open_vision_banana.training.callbacks:   [step 23100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1962 loss=0.2038 normal_angular_aux_loss=0.0251 lr=7.32e-06 epoch=155 normal=0.5196
2026-10-01 08:21:09,258 [INFO] open_vision_banana.training.callbacks:   [step 23150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2072 loss=0.2147 normal_angular_aux_loss=0.0251 lr=7.23e-06 epoch=155 normal=0.5128
2026-10-01 08:26:02,366 [INFO] open_vision_banana.training.callbacks:   [step 23200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2064 loss=0.2138 normal_angular_aux_loss=0.0245 lr=7.13e-06 epoch=156 normal=0.5189
2026-10-01 08:30:56,603 [INFO] open_vision_banana.training.callbacks:   [step 23250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2003 loss=0.2079 normal_angular_aux_loss=0.0252 lr=7.04e-06 epoch=156 normal=0.5163
2026-10-01 08:35:52,412 [INFO] open_vision_banana.training.callbacks:   [step 23300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2000 loss=0.2075 normal_angular_aux_loss=0.0250 lr=6.95e-06 epoch=156 normal=0.5198
2026-10-01 08:40:48,228 [INFO] open_vision_banana.training.callbacks:   [step 23350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1936 loss=0.2013 normal_angular_aux_loss=0.0256 lr=6.86e-06 epoch=157 normal=0.5210
2026-10-01 08:45:43,540 [INFO] open_vision_banana.training.callbacks:   [step 23400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1971 loss=0.2050 normal_angular_aux_loss=0.0264 lr=6.77e-06 epoch=157 normal=0.5188
2026-10-01 08:50:35,733 [INFO] open_vision_banana.training.callbacks:   [step 23450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2046 loss=0.2119 normal_angular_aux_loss=0.0244 lr=6.68e-06 epoch=157 normal=0.5160
2026-10-01 08:55:32,278 [INFO] open_vision_banana.training.callbacks:   [step 23500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1963 loss=0.2035 normal_angular_aux_loss=0.0240 lr=6.59e-06 epoch=158 normal=0.5108
2026-10-01 08:55:59,593 [INFO] open_vision_banana.training.callbacks:   [val] step=23500 val_loss=0.3440
2026-10-01 09:00:53,855 [INFO] open_vision_banana.training.callbacks:   [step 23550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2007 loss=0.2083 normal_angular_aux_loss=0.0251 lr=6.50e-06 epoch=158 normal=0.5175
2026-10-01 09:05:48,420 [INFO] open_vision_banana.training.callbacks:   [step 23600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2071 loss=0.2148 normal_angular_aux_loss=0.0255 lr=6.41e-06 epoch=158 normal=0.5229
2026-10-01 09:10:45,849 [INFO] open_vision_banana.training.callbacks:   [step 23650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1987 loss=0.2064 normal_angular_aux_loss=0.0254 lr=6.32e-06 epoch=159 normal=0.5170
2026-10-01 09:15:39,699 [INFO] open_vision_banana.training.callbacks:   [step 23700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2076 loss=0.2153 normal_angular_aux_loss=0.0257 lr=6.23e-06 epoch=159 normal=0.5188
2026-10-01 09:20:35,385 [INFO] open_vision_banana.training.callbacks:   [step 23750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2054 loss=0.2125 normal_angular_aux_loss=0.0238 lr=6.15e-06 epoch=159 normal=0.5128
2026-10-01 09:25:33,838 [INFO] open_vision_banana.training.callbacks:   [step 23800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2003 loss=0.2077 normal_angular_aux_loss=0.0248 lr=6.06e-06 epoch=160 normal=0.5148
2026-10-01 09:30:32,346 [INFO] open_vision_banana.training.callbacks:   [step 23850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1958 loss=0.2033 normal_angular_aux_loss=0.0251 lr=5.97e-06 epoch=160 normal=0.5166
2026-10-01 09:35:32,858 [INFO] open_vision_banana.training.callbacks:   [step 23900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2031 loss=0.2106 normal_angular_aux_loss=0.0251 lr=5.89e-06 epoch=160 normal=0.5127
2026-10-01 09:40:40,816 [INFO] open_vision_banana.training.callbacks:   [step 23950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2000 loss=0.2075 normal_angular_aux_loss=0.0251 lr=5.80e-06 epoch=161 normal=0.5166
2026-10-01 09:45:42,791 [INFO] open_vision_banana.training.callbacks:   [step 24000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1987 loss=0.2060 normal_angular_aux_loss=0.0245 lr=5.72e-06 epoch=161 normal=0.5155
2026-10-01 09:45:53,248 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 24000 → /data/runs/ovb/ctrl_normal/checkpoint-24000
2026-10-01 09:46:22,326 [INFO] open_vision_banana.training.callbacks:   [val] step=24000 val_loss=0.2493
2026-10-01 09:46:30,947 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 24000 → /data/runs/ovb/ctrl_normal/checkpoint-24000_best
2026-10-01 09:46:30,948 [INFO] open_vision_banana.training.callbacks:   New best val_loss=0.2493
2026-10-01 09:51:33,295 [INFO] open_vision_banana.training.callbacks:   [step 24050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2028 loss=0.2103 normal_angular_aux_loss=0.0250 lr=5.64e-06 epoch=161 normal=0.5142
2026-10-01 09:56:37,323 [INFO] open_vision_banana.training.callbacks:   [step 24100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2027 loss=0.2103 normal_angular_aux_loss=0.0252 lr=5.55e-06 epoch=162 normal=0.5136
2026-10-01 10:01:45,691 [INFO] open_vision_banana.training.callbacks:   [step 24150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2028 loss=0.2103 normal_angular_aux_loss=0.0248 lr=5.47e-06 epoch=162 normal=0.5167
2026-10-01 10:06:52,557 [INFO] open_vision_banana.training.callbacks:   [step 24200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2031 loss=0.2105 normal_angular_aux_loss=0.0247 lr=5.39e-06 epoch=162 normal=0.5167
2026-10-01 10:11:59,550 [INFO] open_vision_banana.training.callbacks:   [step 24250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2015 loss=0.2089 normal_angular_aux_loss=0.0248 lr=5.31e-06 epoch=163 normal=0.5128
2026-10-01 10:17:01,108 [INFO] open_vision_banana.training.callbacks:   [step 24300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2021 loss=0.2095 normal_angular_aux_loss=0.0247 lr=5.23e-06 epoch=163 normal=0.5129
2026-10-01 10:22:04,864 [INFO] open_vision_banana.training.callbacks:   [step 24350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2020 loss=0.2096 normal_angular_aux_loss=0.0254 lr=5.15e-06 epoch=163 normal=0.5167
2026-10-01 10:27:07,338 [INFO] open_vision_banana.training.callbacks:   [step 24400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2051 loss=0.2125 normal_angular_aux_loss=0.0248 lr=5.07e-06 epoch=164 normal=0.5150
2026-10-01 10:32:09,764 [INFO] open_vision_banana.training.callbacks:   [step 24450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1936 loss=0.2014 normal_angular_aux_loss=0.0259 lr=4.99e-06 epoch=164 normal=0.5145
2026-10-01 10:37:14,572 [INFO] open_vision_banana.training.callbacks:   [step 24500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2025 loss=0.2098 normal_angular_aux_loss=0.0243 lr=4.91e-06 epoch=164 normal=0.5167
2026-10-01 10:37:40,805 [INFO] open_vision_banana.training.callbacks:   [val] step=24500 val_loss=0.3305
2026-10-01 10:42:42,906 [INFO] open_vision_banana.training.callbacks:   [step 24550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2000 loss=0.2075 normal_angular_aux_loss=0.0251 lr=4.83e-06 epoch=165 normal=0.5160
2026-10-01 10:47:52,260 [INFO] open_vision_banana.training.callbacks:   [step 24600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1989 loss=0.2064 normal_angular_aux_loss=0.0251 lr=4.76e-06 epoch=165 normal=0.5138
2026-10-01 10:52:58,215 [INFO] open_vision_banana.training.callbacks:   [step 24650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1953 loss=0.2028 normal_angular_aux_loss=0.0250 lr=4.68e-06 epoch=165 normal=0.5136
2026-10-01 10:57:57,547 [INFO] open_vision_banana.training.callbacks:   [step 24700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2025 loss=0.2098 normal_angular_aux_loss=0.0241 lr=4.61e-06 epoch=166 normal=0.5125
2026-10-01 11:02:57,146 [INFO] open_vision_banana.training.callbacks:   [step 24750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2037 loss=0.2115 normal_angular_aux_loss=0.0259 lr=4.53e-06 epoch=166 normal=0.5206
2026-10-01 11:08:00,442 [INFO] open_vision_banana.training.callbacks:   [step 24800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1934 loss=0.2008 normal_angular_aux_loss=0.0248 lr=4.46e-06 epoch=166 normal=0.5120
2026-10-01 11:13:04,502 [INFO] open_vision_banana.training.callbacks:   [step 24850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2005 loss=0.2079 normal_angular_aux_loss=0.0246 lr=4.38e-06 epoch=167 normal=0.5161
2026-10-01 11:18:06,179 [INFO] open_vision_banana.training.callbacks:   [step 24900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2021 loss=0.2095 normal_angular_aux_loss=0.0248 lr=4.31e-06 epoch=167 normal=0.5149
2026-10-01 11:23:06,286 [INFO] open_vision_banana.training.callbacks:   [step 24950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2008 loss=0.2082 normal_angular_aux_loss=0.0247 lr=4.24e-06 epoch=168 normal=0.5115
2026-10-01 11:27:56,618 [INFO] open_vision_banana.training.callbacks:   [step 25000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2017 loss=0.2090 normal_angular_aux_loss=0.0243 lr=4.16e-06 epoch=168 normal=0.5103
2026-10-01 11:28:04,569 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 25000 → /data/runs/ovb/ctrl_normal/checkpoint-25000
2026-10-01 11:28:30,023 [INFO] open_vision_banana.training.callbacks:   [val] step=25000 val_loss=0.2996
2026-10-01 11:33:28,160 [INFO] open_vision_banana.training.callbacks:   [step 25050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2041 loss=0.2115 normal_angular_aux_loss=0.0247 lr=4.09e-06 epoch=168 normal=0.5177
2026-10-01 11:38:30,676 [INFO] open_vision_banana.training.callbacks:   [step 25100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2031 loss=0.2107 normal_angular_aux_loss=0.0252 lr=4.02e-06 epoch=169 normal=0.5163
2026-10-01 11:43:24,321 [INFO] open_vision_banana.training.callbacks:   [step 25150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2006 loss=0.2082 normal_angular_aux_loss=0.0254 lr=3.95e-06 epoch=169 normal=0.5169
2026-10-01 11:48:17,373 [INFO] open_vision_banana.training.callbacks:   [step 25200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2025 loss=0.2099 normal_angular_aux_loss=0.0247 lr=3.88e-06 epoch=169 normal=0.5122
2026-10-01 11:53:12,065 [INFO] open_vision_banana.training.callbacks:   [step 25250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2081 loss=0.2155 normal_angular_aux_loss=0.0244 lr=3.82e-06 epoch=170 normal=0.5119
2026-10-01 11:58:08,855 [INFO] open_vision_banana.training.callbacks:   [step 25300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1964 loss=0.2039 normal_angular_aux_loss=0.0252 lr=3.75e-06 epoch=170 normal=0.5136
2026-10-01 12:03:01,259 [INFO] open_vision_banana.training.callbacks:   [step 25350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2007 loss=0.2081 normal_angular_aux_loss=0.0247 lr=3.68e-06 epoch=170 normal=0.5105
2026-10-01 12:07:54,567 [INFO] open_vision_banana.training.callbacks:   [step 25400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1998 loss=0.2072 normal_angular_aux_loss=0.0248 lr=3.61e-06 epoch=171 normal=0.5140
2026-10-01 12:12:47,072 [INFO] open_vision_banana.training.callbacks:   [step 25450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2023 loss=0.2098 normal_angular_aux_loss=0.0251 lr=3.55e-06 epoch=171 normal=0.5166
2026-10-01 12:17:41,937 [INFO] open_vision_banana.training.callbacks:   [step 25500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1963 loss=0.2037 normal_angular_aux_loss=0.0248 lr=3.48e-06 epoch=171 normal=0.5130
2026-10-01 12:18:12,472 [INFO] open_vision_banana.training.callbacks:   [val] step=25500 val_loss=0.3013
2026-10-01 12:23:03,562 [INFO] open_vision_banana.training.callbacks:   [step 25550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2064 loss=0.2140 normal_angular_aux_loss=0.0251 lr=3.42e-06 epoch=172 normal=0.5131
2026-10-01 12:27:59,917 [INFO] open_vision_banana.training.callbacks:   [step 25600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1974 loss=0.2047 normal_angular_aux_loss=0.0245 lr=3.35e-06 epoch=172 normal=0.5118
2026-10-01 12:32:50,973 [INFO] open_vision_banana.training.callbacks:   [step 25650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2040 loss=0.2113 normal_angular_aux_loss=0.0243 lr=3.29e-06 epoch=172 normal=0.5138
2026-10-01 12:37:47,396 [INFO] open_vision_banana.training.callbacks:   [step 25700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1989 loss=0.2065 normal_angular_aux_loss=0.0252 lr=3.23e-06 epoch=173 normal=0.5135
2026-10-01 12:42:44,761 [INFO] open_vision_banana.training.callbacks:   [step 25750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1984 loss=0.2058 normal_angular_aux_loss=0.0245 lr=3.17e-06 epoch=173 normal=0.5142
2026-10-01 12:47:40,917 [INFO] open_vision_banana.training.callbacks:   [step 25800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2024 loss=0.2099 normal_angular_aux_loss=0.0249 lr=3.11e-06 epoch=173 normal=0.5141
2026-10-01 12:52:34,211 [INFO] open_vision_banana.training.callbacks:   [step 25850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1998 loss=0.2072 normal_angular_aux_loss=0.0247 lr=3.04e-06 epoch=174 normal=0.5092
2026-10-01 12:57:28,670 [INFO] open_vision_banana.training.callbacks:   [step 25900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1996 loss=0.2068 normal_angular_aux_loss=0.0242 lr=2.98e-06 epoch=174 normal=0.5119
2026-10-01 13:02:25,042 [INFO] open_vision_banana.training.callbacks:   [step 25950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1999 loss=0.2076 normal_angular_aux_loss=0.0257 lr=2.93e-06 epoch=174 normal=0.5149
2026-10-01 13:07:26,455 [INFO] open_vision_banana.training.callbacks:   [step 26000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1950 loss=0.2026 normal_angular_aux_loss=0.0250 lr=2.87e-06 epoch=175 normal=0.5131
2026-10-01 13:07:35,038 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 26000 → /data/runs/ovb/ctrl_normal/checkpoint-26000
2026-10-01 13:08:03,402 [INFO] open_vision_banana.training.callbacks:   [val] step=26000 val_loss=0.3070
2026-10-01 13:13:01,018 [INFO] open_vision_banana.training.callbacks:   [step 26050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2019 loss=0.2092 normal_angular_aux_loss=0.0240 lr=2.81e-06 epoch=175 normal=0.5166
2026-10-01 13:18:01,066 [INFO] open_vision_banana.training.callbacks:   [step 26100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1964 loss=0.2039 normal_angular_aux_loss=0.0250 lr=2.75e-06 epoch=175 normal=0.5078
2026-10-01 13:22:59,185 [INFO] open_vision_banana.training.callbacks:   [step 26150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1964 loss=0.2039 normal_angular_aux_loss=0.0249 lr=2.70e-06 epoch=176 normal=0.5081
2026-10-01 13:27:54,276 [INFO] open_vision_banana.training.callbacks:   [step 26200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2015 loss=0.2089 normal_angular_aux_loss=0.0245 lr=2.64e-06 epoch=176 normal=0.5124
2026-10-01 13:32:48,769 [INFO] open_vision_banana.training.callbacks:   [step 26250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1984 loss=0.2059 normal_angular_aux_loss=0.0251 lr=2.58e-06 epoch=176 normal=0.5102
2026-10-01 13:37:39,905 [INFO] open_vision_banana.training.callbacks:   [step 26300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1986 loss=0.2062 normal_angular_aux_loss=0.0254 lr=2.53e-06 epoch=177 normal=0.5151
2026-10-01 13:42:34,251 [INFO] open_vision_banana.training.callbacks:   [step 26350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1984 loss=0.2060 normal_angular_aux_loss=0.0254 lr=2.48e-06 epoch=177 normal=0.5154
2026-10-01 13:47:26,582 [INFO] open_vision_banana.training.callbacks:   [step 26400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2001 loss=0.2075 normal_angular_aux_loss=0.0244 lr=2.42e-06 epoch=177 normal=0.5097
2026-10-01 13:52:23,423 [INFO] open_vision_banana.training.callbacks:   [step 26450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1960 loss=0.2031 normal_angular_aux_loss=0.0238 lr=2.37e-06 epoch=178 normal=0.5105
2026-10-01 13:57:17,486 [INFO] open_vision_banana.training.callbacks:   [step 26500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2022 loss=0.2097 normal_angular_aux_loss=0.0249 lr=2.32e-06 epoch=178 normal=0.5103
2026-10-01 13:57:44,450 [INFO] open_vision_banana.training.callbacks:   [val] step=26500 val_loss=0.3303
2026-10-01 14:02:41,617 [INFO] open_vision_banana.training.callbacks:   [step 26550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2007 loss=0.2081 normal_angular_aux_loss=0.0245 lr=2.27e-06 epoch=178 normal=0.5147
2026-10-01 14:07:35,956 [INFO] open_vision_banana.training.callbacks:   [step 26600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1974 loss=0.2050 normal_angular_aux_loss=0.0253 lr=2.22e-06 epoch=179 normal=0.5089
2026-10-01 14:12:27,216 [INFO] open_vision_banana.training.callbacks:   [step 26650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1959 loss=0.2033 normal_angular_aux_loss=0.0247 lr=2.17e-06 epoch=179 normal=0.5105
2026-10-01 14:17:22,545 [INFO] open_vision_banana.training.callbacks:   [step 26700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1976 loss=0.2054 normal_angular_aux_loss=0.0258 lr=2.12e-06 epoch=179 normal=0.5117
2026-10-01 14:22:19,386 [INFO] open_vision_banana.training.callbacks:   [step 26750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2009 loss=0.2083 normal_angular_aux_loss=0.0245 lr=2.07e-06 epoch=180 normal=0.5143
2026-10-01 14:27:15,917 [INFO] open_vision_banana.training.callbacks:   [step 26800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1961 loss=0.2036 normal_angular_aux_loss=0.0252 lr=2.02e-06 epoch=180 normal=0.5071
2026-10-01 14:32:10,224 [INFO] open_vision_banana.training.callbacks:   [step 26850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2027 loss=0.2100 normal_angular_aux_loss=0.0246 lr=1.98e-06 epoch=180 normal=0.5147
2026-10-01 14:37:05,072 [INFO] open_vision_banana.training.callbacks:   [step 26900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1972 loss=0.2046 normal_angular_aux_loss=0.0245 lr=1.93e-06 epoch=181 normal=0.5072
2026-10-01 14:41:58,422 [INFO] open_vision_banana.training.callbacks:   [step 26950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1993 loss=0.2069 normal_angular_aux_loss=0.0253 lr=1.89e-06 epoch=181 normal=0.5144
2026-10-01 14:46:52,552 [INFO] open_vision_banana.training.callbacks:   [step 27000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1951 loss=0.2026 normal_angular_aux_loss=0.0250 lr=1.84e-06 epoch=181 normal=0.5069
2026-10-01 14:47:01,537 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 27000 → /data/runs/ovb/ctrl_normal/checkpoint-27000
2026-10-01 14:47:28,440 [INFO] open_vision_banana.training.callbacks:   [val] step=27000 val_loss=0.2963
2026-10-01 14:52:23,337 [INFO] open_vision_banana.training.callbacks:   [step 27050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2006 loss=0.2081 normal_angular_aux_loss=0.0249 lr=1.80e-06 epoch=182 normal=0.5110
2026-10-01 14:57:14,321 [INFO] open_vision_banana.training.callbacks:   [step 27100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2015 loss=0.2088 normal_angular_aux_loss=0.0245 lr=1.75e-06 epoch=182 normal=0.5146
2026-10-01 15:02:10,074 [INFO] open_vision_banana.training.callbacks:   [step 27150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2046 loss=0.2120 normal_angular_aux_loss=0.0247 lr=1.71e-06 epoch=182 normal=0.5118
2026-10-01 15:07:03,051 [INFO] open_vision_banana.training.callbacks:   [step 27200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1996 loss=0.2071 normal_angular_aux_loss=0.0249 lr=1.67e-06 epoch=183 normal=0.5086
2026-10-01 15:11:58,430 [INFO] open_vision_banana.training.callbacks:   [step 27250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1969 loss=0.2044 normal_angular_aux_loss=0.0250 lr=1.63e-06 epoch=183 normal=0.5142
2026-10-01 15:16:55,854 [INFO] open_vision_banana.training.callbacks:   [step 27300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2038 loss=0.2112 normal_angular_aux_loss=0.0249 lr=1.59e-06 epoch=183 normal=0.5126
2026-10-01 15:21:58,554 [INFO] open_vision_banana.training.callbacks:   [step 27350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1985 loss=0.2059 normal_angular_aux_loss=0.0248 lr=1.55e-06 epoch=184 normal=0.5128
2026-10-01 15:27:01,275 [INFO] open_vision_banana.training.callbacks:   [step 27400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1916 loss=0.1990 normal_angular_aux_loss=0.0246 lr=1.51e-06 epoch=184 normal=0.5091
2026-10-01 15:32:06,830 [INFO] open_vision_banana.training.callbacks:   [step 27450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2018 loss=0.2093 normal_angular_aux_loss=0.0249 lr=1.47e-06 epoch=184 normal=0.5131
2026-10-01 15:37:13,894 [INFO] open_vision_banana.training.callbacks:   [step 27500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1974 loss=0.2049 normal_angular_aux_loss=0.0250 lr=1.43e-06 epoch=185 normal=0.5086
2026-10-01 15:37:42,312 [INFO] open_vision_banana.training.callbacks:   [val] step=27500 val_loss=0.2673
2026-10-01 15:42:38,347 [INFO] open_vision_banana.training.callbacks:   [step 27550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1980 loss=0.2056 normal_angular_aux_loss=0.0251 lr=1.40e-06 epoch=185 normal=0.5080
2026-10-01 15:47:30,672 [INFO] open_vision_banana.training.callbacks:   [step 27600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2003 loss=0.2078 normal_angular_aux_loss=0.0250 lr=1.36e-06 epoch=185 normal=0.5147
2026-10-01 15:52:21,091 [INFO] open_vision_banana.training.callbacks:   [step 27650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1950 loss=0.2024 normal_angular_aux_loss=0.0246 lr=1.33e-06 epoch=186 normal=0.5110
2026-10-01 15:57:11,683 [INFO] open_vision_banana.training.callbacks:   [step 27700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1925 loss=0.2001 normal_angular_aux_loss=0.0254 lr=1.29e-06 epoch=186 normal=0.5076
2026-10-01 16:02:01,652 [INFO] open_vision_banana.training.callbacks:   [step 27750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2015 loss=0.2089 normal_angular_aux_loss=0.0246 lr=1.26e-06 epoch=186 normal=0.5118
2026-10-01 16:07:02,314 [INFO] open_vision_banana.training.callbacks:   [step 27800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2004 loss=0.2077 normal_angular_aux_loss=0.0243 lr=1.22e-06 epoch=187 normal=0.5090
2026-10-01 16:12:01,887 [INFO] open_vision_banana.training.callbacks:   [step 27850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2045 loss=0.2117 normal_angular_aux_loss=0.0240 lr=1.19e-06 epoch=187 normal=0.5084
2026-10-01 16:16:50,637 [INFO] open_vision_banana.training.callbacks:   [step 27900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1937 loss=0.2014 normal_angular_aux_loss=0.0259 lr=1.16e-06 epoch=187 normal=0.5138
2026-10-01 16:21:35,734 [INFO] open_vision_banana.training.callbacks:   [step 27950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2009 loss=0.2083 normal_angular_aux_loss=0.0248 lr=1.13e-06 epoch=188 normal=0.5093
2026-10-01 16:26:20,753 [INFO] open_vision_banana.training.callbacks:   [step 28000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1996 loss=0.2072 normal_angular_aux_loss=0.0253 lr=1.10e-06 epoch=188 normal=0.5113
2026-10-01 16:26:30,378 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 28000 → /data/runs/ovb/ctrl_normal/checkpoint-28000
2026-10-01 16:26:58,692 [INFO] open_vision_banana.training.callbacks:   [val] step=28000 val_loss=0.3764
2026-10-01 16:32:00,983 [INFO] open_vision_banana.training.callbacks:   [step 28050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1949 loss=0.2023 normal_angular_aux_loss=0.0247 lr=1.07e-06 epoch=189 normal=0.5130
2026-10-01 16:36:49,783 [INFO] open_vision_banana.training.callbacks:   [step 28100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1911 loss=0.1985 normal_angular_aux_loss=0.0247 lr=1.04e-06 epoch=189 normal=0.5082
2026-10-01 16:41:39,028 [INFO] open_vision_banana.training.callbacks:   [step 28150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1976 loss=0.2051 normal_angular_aux_loss=0.0251 lr=1.01e-06 epoch=189 normal=0.5167
2026-10-01 16:46:40,900 [INFO] open_vision_banana.training.callbacks:   [step 28200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1981 loss=0.2056 normal_angular_aux_loss=0.0248 lr=9.86e-07 epoch=190 normal=0.5056
2026-10-01 16:51:40,685 [INFO] open_vision_banana.training.callbacks:   [step 28250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2001 loss=0.2076 normal_angular_aux_loss=0.0249 lr=9.59e-07 epoch=190 normal=0.5145
2026-10-01 16:56:38,523 [INFO] open_vision_banana.training.callbacks:   [step 28300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2012 loss=0.2085 normal_angular_aux_loss=0.0245 lr=9.33e-07 epoch=190 normal=0.5085
2026-10-01 17:01:26,648 [INFO] open_vision_banana.training.callbacks:   [step 28350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2016 loss=0.2089 normal_angular_aux_loss=0.0245 lr=9.08e-07 epoch=191 normal=0.5105
2026-10-01 17:06:27,882 [INFO] open_vision_banana.training.callbacks:   [step 28400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2026 loss=0.2099 normal_angular_aux_loss=0.0246 lr=8.84e-07 epoch=191 normal=0.5087
2026-10-01 17:11:17,722 [INFO] open_vision_banana.training.callbacks:   [step 28450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1976 loss=0.2052 normal_angular_aux_loss=0.0254 lr=8.60e-07 epoch=191 normal=0.5119
2026-10-01 17:16:05,665 [INFO] open_vision_banana.training.callbacks:   [step 28500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1946 loss=0.2020 normal_angular_aux_loss=0.0244 lr=8.38e-07 epoch=192 normal=0.5083
2026-10-01 17:16:28,347 [INFO] open_vision_banana.training.callbacks:   [val] step=28500 val_loss=0.3794
2026-10-01 17:21:13,907 [INFO] open_vision_banana.training.callbacks:   [step 28550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1952 loss=0.2026 normal_angular_aux_loss=0.0247 lr=8.15e-07 epoch=192 normal=0.5097
2026-10-01 17:26:04,094 [INFO] open_vision_banana.training.callbacks:   [step 28600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2025 loss=0.2100 normal_angular_aux_loss=0.0251 lr=7.94e-07 epoch=192 normal=0.5184
2026-10-01 17:30:50,141 [INFO] open_vision_banana.training.callbacks:   [step 28650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1983 loss=0.2056 normal_angular_aux_loss=0.0244 lr=7.74e-07 epoch=193 normal=0.5063
2026-10-01 17:36:04,953 [INFO] open_vision_banana.training.callbacks:   [step 28700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2032 loss=0.2106 normal_angular_aux_loss=0.0247 lr=7.54e-07 epoch=193 normal=0.5113
2026-10-01 17:40:48,029 [INFO] open_vision_banana.training.callbacks:   [step 28750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1982 loss=0.2056 normal_angular_aux_loss=0.0247 lr=7.35e-07 epoch=193 normal=0.5094
2026-10-01 17:45:32,705 [INFO] open_vision_banana.training.callbacks:   [step 28800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2031 loss=0.2105 normal_angular_aux_loss=0.0247 lr=7.16e-07 epoch=194 normal=0.5088
2026-10-01 17:50:17,603 [INFO] open_vision_banana.training.callbacks:   [step 28850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2060 loss=0.2136 normal_angular_aux_loss=0.0253 lr=6.99e-07 epoch=194 normal=0.5161
2026-10-01 17:55:17,467 [INFO] open_vision_banana.training.callbacks:   [step 28900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1920 loss=0.1992 normal_angular_aux_loss=0.0237 lr=6.82e-07 epoch=194 normal=0.5060
2026-10-01 18:00:02,415 [INFO] open_vision_banana.training.callbacks:   [step 28950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2005 loss=0.2080 normal_angular_aux_loss=0.0249 lr=6.66e-07 epoch=195 normal=0.5063
2026-10-01 18:05:17,529 [INFO] open_vision_banana.training.callbacks:   [step 29000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1960 loss=0.2035 normal_angular_aux_loss=0.0252 lr=6.50e-07 epoch=195 normal=0.5074
2026-10-01 18:05:24,692 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 29000 → /data/runs/ovb/ctrl_normal/checkpoint-29000
2026-10-01 18:05:46,772 [INFO] open_vision_banana.training.callbacks:   [val] step=29000 val_loss=0.3228
2026-10-01 18:10:30,231 [INFO] open_vision_banana.training.callbacks:   [step 29050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1955 loss=0.2030 normal_angular_aux_loss=0.0250 lr=6.36e-07 epoch=195 normal=0.5095
2026-10-01 18:15:12,961 [INFO] open_vision_banana.training.callbacks:   [step 29100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1933 loss=0.2009 normal_angular_aux_loss=0.0252 lr=6.22e-07 epoch=196 normal=0.5104
2026-10-01 18:19:55,354 [INFO] open_vision_banana.training.callbacks:   [step 29150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1999 loss=0.2072 normal_angular_aux_loss=0.0245 lr=6.09e-07 epoch=196 normal=0.5096
2026-10-01 18:24:42,876 [INFO] open_vision_banana.training.callbacks:   [step 29200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1926 loss=0.2003 normal_angular_aux_loss=0.0257 lr=5.96e-07 epoch=196 normal=0.5119
2026-10-01 18:29:29,472 [INFO] open_vision_banana.training.callbacks:   [step 29250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1992 loss=0.2067 normal_angular_aux_loss=0.0248 lr=5.85e-07 epoch=197 normal=0.5111
2026-10-01 18:34:34,506 [INFO] open_vision_banana.training.callbacks:   [step 29300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1930 loss=0.2006 normal_angular_aux_loss=0.0255 lr=5.74e-07 epoch=197 normal=0.5070
2026-10-01 18:39:40,438 [INFO] open_vision_banana.training.callbacks:   [step 29350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2037 loss=0.2112 normal_angular_aux_loss=0.0247 lr=5.64e-07 epoch=197 normal=0.5099
2026-10-01 18:44:23,663 [INFO] open_vision_banana.training.callbacks:   [step 29400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1956 loss=0.2029 normal_angular_aux_loss=0.0243 lr=5.54e-07 epoch=198 normal=0.5056
2026-10-01 18:49:08,199 [INFO] open_vision_banana.training.callbacks:   [step 29450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1967 loss=0.2045 normal_angular_aux_loss=0.0259 lr=5.45e-07 epoch=198 normal=0.5101
2026-10-01 18:53:54,014 [INFO] open_vision_banana.training.callbacks:   [step 29500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1962 loss=0.2035 normal_angular_aux_loss=0.0245 lr=5.38e-07 epoch=198 normal=0.5099
2026-10-01 18:54:24,240 [INFO] open_vision_banana.training.callbacks:   [val] step=29500 val_loss=0.2897
2026-10-01 18:59:08,208 [INFO] open_vision_banana.training.callbacks:   [step 29550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2010 loss=0.2083 normal_angular_aux_loss=0.0244 lr=5.30e-07 epoch=199 normal=0.5047
2026-10-01 19:03:49,509 [INFO] open_vision_banana.training.callbacks:   [step 29600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2026 loss=0.2101 normal_angular_aux_loss=0.0251 lr=5.24e-07 epoch=199 normal=0.5114
2026-10-01 19:08:48,531 [INFO] open_vision_banana.training.callbacks:   [step 29650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1955 loss=0.2032 normal_angular_aux_loss=0.0256 lr=5.18e-07 epoch=199 normal=0.5090
2026-10-01 19:13:31,037 [INFO] open_vision_banana.training.callbacks:   [step 29700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1959 loss=0.2035 normal_angular_aux_loss=0.0251 lr=5.14e-07 epoch=200 normal=0.5124
2026-10-01 19:18:13,611 [INFO] open_vision_banana.training.callbacks:   [step 29750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1917 loss=0.1992 normal_angular_aux_loss=0.0249 lr=5.09e-07 epoch=200 normal=0.5047
2026-10-01 19:22:58,268 [INFO] open_vision_banana.training.callbacks:   [step 29800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2056 loss=0.2130 normal_angular_aux_loss=0.0245 lr=5.06e-07 epoch=200 normal=0.5163
2026-10-01 19:27:43,121 [INFO] open_vision_banana.training.callbacks:   [step 29850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2014 loss=0.2091 normal_angular_aux_loss=0.0256 lr=5.03e-07 epoch=201 normal=0.5132
2026-10-01 19:32:21,701 [INFO] open_vision_banana.training.callbacks:   [step 29900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2001 loss=0.2076 normal_angular_aux_loss=0.0251 lr=5.02e-07 epoch=201 normal=0.5091
2026-10-01 19:37:33,845 [INFO] open_vision_banana.training.callbacks:   [step 29950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1927 loss=0.2000 normal_angular_aux_loss=0.0243 lr=5.00e-07 epoch=201 normal=0.5070
2026-10-01 19:42:15,456 [INFO] open_vision_banana.training.callbacks:   [step 30000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2007 loss=0.2079 normal_angular_aux_loss=0.0239 lr=5.00e-07 epoch=202 normal=0.5124
2026-10-01 19:42:22,201 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 30000 → /data/runs/ovb/ctrl_normal/checkpoint-30000
2026-10-01 19:42:44,067 [INFO] open_vision_banana.training.callbacks:   [val] step=30000 val_loss=0.3372
2026-10-01 19:42:50,711 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 30000 → /data/runs/ovb/ctrl_normal/checkpoint-30000_final
2026-10-01 19:42:50,739 [INFO] open_vision_banana.training.callbacks: Training complete! Steps=30000, Best val_loss=0.2493