logs/train.log

2026-10-03 13:20:54,897 [INFO] open_vision_banana.training.trainer: ======================================================================
2026-10-03 13:20:54,900 [INFO] open_vision_banana.training.trainer: Vision Banana — Unified Training
2026-10-03 13:20:54,900 [INFO] open_vision_banana.training.trainer: ======================================================================
2026-10-03 13:20:54,900 [INFO] open_vision_banana.training.trainer: Model: sana-1600m | Device: cuda | dtype: bfloat16
2026-10-03 13:20:54,900 [INFO] open_vision_banana.training.trainer: LoRA: rank=32, alpha=64, rsLoRA=True
2026-10-03 13:20:54,900 [INFO] open_vision_banana.training.trainer: Steps: 30000 | LR: 5e-05 | eff_batch: 32 (1 rank(s))
2026-10-03 13:20:54,900 [INFO] open_vision_banana.training.trainer: Output: /data/runs/ovb/fix_ctrl_normal
2026-10-03 13:20:54,901 [INFO] open_vision_banana.training.model_backend: Loading model 'sana-1600m' (family=sana, backbone=transformer) on cuda @ torch.bfloat16
2026-10-03 13:20:54,901 [INFO] vb_model_registry: Loading Efficient-Large-Model/Sana_1600M_512px_diffusers (sana) @ torch.bfloat16 ...
2026-10-03 13:21:19,100 [INFO] vb_model_registry: Using local model snapshot: /data/models/Sana_1600M_512px_diffusers
2026-10-03 13:22:15,756 [INFO] vb_model_registry: Backbone (transformer) params: 1604.5M | Text encoders: 1 | added_cond: False
2026-10-03 13:22:15,756 [INFO] open_vision_banana.training.model_backend: Applying LoRA (rank=32, alpha=64, rsLoRA=True)...
2026-10-03 13:22:27,826 [INFO] open_vision_banana.training.model_backend: Trainable params: 14,193,664 / 1,618,656,416 (0.88%)
2026-10-03 13:22:32,290 [INFO] open_vision_banana.training.callbacks: W&B initialized: open-vision-banana/fix_ctrl_normal
2026-10-03 13:22:32,780 [INFO] open_vision_banana.training.trainer:   train/normal: 4724 samples
2026-10-03 13:22:32,782 [INFO] open_vision_banana.training.trainer:   Total train: 4724 | Val: 276
2026-10-03 13:22:32,782 [INFO] open_vision_banana.training.optimization: LR scheduler: cosine, total=30000, warmup=1500, min_ratio=0.01
2026-10-03 13:22:32,783 [INFO] open_vision_banana.training.trainer: Setup complete. Starting training...
2026-10-03 13:27:06,917 [INFO] open_vision_banana.training.callbacks:   [step 50/30000] depth_edge_aux_loss=0.0000 flow_loss=1.4286 loss=1.5302 normal_angular_aux_loss=0.3386 lr=1.67e-06 epoch=0 normal=3.9977
2026-10-03 13:31:30,559 [INFO] open_vision_banana.training.callbacks:   [step 100/30000] depth_edge_aux_loss=0.0000 flow_loss=1.3946 loss=1.4996 normal_angular_aux_loss=0.3503 lr=3.33e-06 epoch=0 normal=4.0449
2026-10-03 13:35:53,019 [INFO] open_vision_banana.training.callbacks:   [step 150/30000] depth_edge_aux_loss=0.0000 flow_loss=1.3241 loss=1.4266 normal_angular_aux_loss=0.3417 lr=5.00e-06 epoch=0 normal=3.8565
2026-10-03 13:40:16,088 [INFO] open_vision_banana.training.callbacks:   [step 200/30000] depth_edge_aux_loss=0.0000 flow_loss=1.1895 loss=1.2896 normal_angular_aux_loss=0.3338 lr=6.67e-06 epoch=0 normal=3.5046
2026-10-03 13:44:37,876 [INFO] open_vision_banana.training.callbacks:   [step 250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.9401 loss=1.0282 normal_angular_aux_loss=0.2934 lr=8.33e-06 epoch=0 normal=2.7135
2026-10-03 13:48:59,201 [INFO] open_vision_banana.training.callbacks:   [step 300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.7192 loss=0.7844 normal_angular_aux_loss=0.2173 lr=1.00e-05 epoch=1 normal=2.1011
2026-10-03 13:53:28,785 [INFO] open_vision_banana.training.callbacks:   [step 350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.6001 loss=0.6487 normal_angular_aux_loss=0.1621 lr=1.17e-05 epoch=1 normal=1.7593
2026-10-03 13:57:49,650 [INFO] open_vision_banana.training.callbacks:   [step 400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.5545 loss=0.5917 normal_angular_aux_loss=0.1239 lr=1.33e-05 epoch=1 normal=1.5695
2026-10-03 14:02:20,067 [INFO] open_vision_banana.training.callbacks:   [step 450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.5497 loss=0.5786 normal_angular_aux_loss=0.0962 lr=1.50e-05 epoch=2 normal=1.4437
2026-10-03 14:06:39,464 [INFO] open_vision_banana.training.callbacks:   [step 500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4948 loss=0.5206 normal_angular_aux_loss=0.0859 lr=1.67e-05 epoch=2 normal=1.3454
2026-10-03 14:06:57,147 [INFO] open_vision_banana.training.callbacks:   [val] step=500 val_loss=0.5525
2026-10-03 14:07:02,047 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 500 → /data/runs/ovb/fix_ctrl_normal/checkpoint-500_best
2026-10-03 14:07:02,048 [INFO] open_vision_banana.training.callbacks:   New best val_loss=0.5525
2026-10-03 14:11:22,375 [INFO] open_vision_banana.training.callbacks:   [step 550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4678 loss=0.4925 normal_angular_aux_loss=0.0823 lr=1.83e-05 epoch=2 normal=1.2931
2026-10-03 14:15:44,290 [INFO] open_vision_banana.training.callbacks:   [step 600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4601 loss=0.4825 normal_angular_aux_loss=0.0747 lr=2.00e-05 epoch=3 normal=1.2419
2026-10-03 14:20:25,973 [INFO] open_vision_banana.training.callbacks:   [step 650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4310 loss=0.4521 normal_angular_aux_loss=0.0701 lr=2.17e-05 epoch=3 normal=1.1976
2026-10-03 14:24:48,063 [INFO] open_vision_banana.training.callbacks:   [step 700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4355 loss=0.4557 normal_angular_aux_loss=0.0672 lr=2.33e-05 epoch=3 normal=1.1735
2026-10-03 14:29:09,739 [INFO] open_vision_banana.training.callbacks:   [step 750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4222 loss=0.4424 normal_angular_aux_loss=0.0673 lr=2.50e-05 epoch=4 normal=1.1498
2026-10-03 14:33:30,087 [INFO] open_vision_banana.training.callbacks:   [step 800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4132 loss=0.4309 normal_angular_aux_loss=0.0591 lr=2.67e-05 epoch=4 normal=1.1012
2026-10-03 14:37:52,113 [INFO] open_vision_banana.training.callbacks:   [step 850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4014 loss=0.4199 normal_angular_aux_loss=0.0616 lr=2.83e-05 epoch=4 normal=1.1028
2026-10-03 14:42:26,590 [INFO] open_vision_banana.training.callbacks:   [step 900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3986 loss=0.4164 normal_angular_aux_loss=0.0593 lr=3.00e-05 epoch=5 normal=1.0858
2026-10-03 14:46:55,857 [INFO] open_vision_banana.training.callbacks:   [step 950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.4009 loss=0.4184 normal_angular_aux_loss=0.0583 lr=3.17e-05 epoch=5 normal=1.0660
2026-10-03 14:51:16,856 [INFO] open_vision_banana.training.callbacks:   [step 1000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3808 loss=0.3977 normal_angular_aux_loss=0.0563 lr=3.33e-05 epoch=5 normal=1.0357
2026-10-03 14:51:22,267 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 1000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-1000
2026-10-03 14:51:40,790 [INFO] open_vision_banana.training.callbacks:   [val] step=1000 val_loss=0.3952
2026-10-03 14:51:45,961 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 1000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-1000_best
2026-10-03 14:51:45,962 [INFO] open_vision_banana.training.callbacks:   New best val_loss=0.3952
2026-10-03 14:56:08,754 [INFO] open_vision_banana.training.callbacks:   [step 1050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3868 loss=0.4037 normal_angular_aux_loss=0.0564 lr=3.50e-05 epoch=6 normal=1.0337
2026-10-03 15:00:29,616 [INFO] open_vision_banana.training.callbacks:   [step 1100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3745 loss=0.3907 normal_angular_aux_loss=0.0540 lr=3.67e-05 epoch=6 normal=1.0129
2026-10-03 15:04:49,650 [INFO] open_vision_banana.training.callbacks:   [step 1150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3803 loss=0.3962 normal_angular_aux_loss=0.0531 lr=3.83e-05 epoch=6 normal=1.0014
2026-10-03 15:09:11,533 [INFO] open_vision_banana.training.callbacks:   [step 1200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3782 loss=0.3934 normal_angular_aux_loss=0.0509 lr=4.00e-05 epoch=7 normal=0.9922
2026-10-03 15:13:47,853 [INFO] open_vision_banana.training.callbacks:   [step 1250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3670 loss=0.3833 normal_angular_aux_loss=0.0545 lr=4.17e-05 epoch=7 normal=0.9831
2026-10-03 15:18:07,537 [INFO] open_vision_banana.training.callbacks:   [step 1300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3748 loss=0.3904 normal_angular_aux_loss=0.0520 lr=4.33e-05 epoch=7 normal=0.9727
2026-10-03 15:22:35,734 [INFO] open_vision_banana.training.callbacks:   [step 1350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3693 loss=0.3843 normal_angular_aux_loss=0.0499 lr=4.50e-05 epoch=8 normal=0.9729
2026-10-03 15:26:56,917 [INFO] open_vision_banana.training.callbacks:   [step 1400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3603 loss=0.3756 normal_angular_aux_loss=0.0511 lr=4.67e-05 epoch=8 normal=0.9653
2026-10-03 15:31:18,526 [INFO] open_vision_banana.training.callbacks:   [step 1450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3539 loss=0.3695 normal_angular_aux_loss=0.0518 lr=4.83e-05 epoch=8 normal=0.9495
2026-10-03 15:35:40,112 [INFO] open_vision_banana.training.callbacks:   [step 1500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3629 loss=0.3773 normal_angular_aux_loss=0.0479 lr=5.00e-05 epoch=9 normal=0.9405
2026-10-03 15:35:58,080 [INFO] open_vision_banana.training.callbacks:   [val] step=1500 val_loss=0.4246
2026-10-03 15:40:24,486 [INFO] open_vision_banana.training.callbacks:   [step 1550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3520 loss=0.3668 normal_angular_aux_loss=0.0492 lr=5.00e-05 epoch=9 normal=0.9371
2026-10-03 15:44:45,821 [INFO] open_vision_banana.training.callbacks:   [step 1600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3589 loss=0.3728 normal_angular_aux_loss=0.0466 lr=5.00e-05 epoch=9 normal=0.9320
2026-10-03 15:49:08,351 [INFO] open_vision_banana.training.callbacks:   [step 1650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3473 loss=0.3611 normal_angular_aux_loss=0.0461 lr=5.00e-05 epoch=10 normal=0.9211
2026-10-03 15:53:30,198 [INFO] open_vision_banana.training.callbacks:   [step 1700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3397 loss=0.3534 normal_angular_aux_loss=0.0456 lr=5.00e-05 epoch=10 normal=0.9111
2026-10-03 15:57:52,898 [INFO] open_vision_banana.training.callbacks:   [step 1750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3509 loss=0.3647 normal_angular_aux_loss=0.0461 lr=5.00e-05 epoch=10 normal=0.9160
2026-10-03 16:02:23,714 [INFO] open_vision_banana.training.callbacks:   [step 1800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3559 loss=0.3696 normal_angular_aux_loss=0.0459 lr=5.00e-05 epoch=11 normal=0.9056
2026-10-03 16:06:53,134 [INFO] open_vision_banana.training.callbacks:   [step 1850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3479 loss=0.3612 normal_angular_aux_loss=0.0443 lr=5.00e-05 epoch=11 normal=0.9076
2026-10-03 16:11:15,800 [INFO] open_vision_banana.training.callbacks:   [step 1900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3369 loss=0.3504 normal_angular_aux_loss=0.0450 lr=5.00e-05 epoch=11 normal=0.8929
2026-10-03 16:15:35,394 [INFO] open_vision_banana.training.callbacks:   [step 1950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3398 loss=0.3537 normal_angular_aux_loss=0.0460 lr=5.00e-05 epoch=12 normal=0.8978
2026-10-03 16:19:56,142 [INFO] open_vision_banana.training.callbacks:   [step 2000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3396 loss=0.3527 normal_angular_aux_loss=0.0434 lr=5.00e-05 epoch=12 normal=0.8847
2026-10-03 16:20:01,774 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 2000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-2000
2026-10-03 16:20:19,733 [INFO] open_vision_banana.training.callbacks:   [val] step=2000 val_loss=0.3530
2026-10-03 16:20:24,835 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 2000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-2000_best
2026-10-03 16:20:24,836 [INFO] open_vision_banana.training.callbacks:   New best val_loss=0.3530
2026-10-03 16:24:45,659 [INFO] open_vision_banana.training.callbacks:   [step 2050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3336 loss=0.3470 normal_angular_aux_loss=0.0445 lr=5.00e-05 epoch=12 normal=0.8773
2026-10-03 16:29:06,094 [INFO] open_vision_banana.training.callbacks:   [step 2100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3329 loss=0.3463 normal_angular_aux_loss=0.0446 lr=4.99e-05 epoch=13 normal=0.8699
2026-10-03 16:33:30,819 [INFO] open_vision_banana.training.callbacks:   [step 2150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3245 loss=0.3376 normal_angular_aux_loss=0.0439 lr=4.99e-05 epoch=13 normal=0.8766
2026-10-03 16:37:54,545 [INFO] open_vision_banana.training.callbacks:   [step 2200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3348 loss=0.3478 normal_angular_aux_loss=0.0433 lr=4.99e-05 epoch=13 normal=0.8705
2026-10-03 16:42:22,723 [INFO] open_vision_banana.training.callbacks:   [step 2250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3363 loss=0.3493 normal_angular_aux_loss=0.0430 lr=4.99e-05 epoch=14 normal=0.8690
2026-10-03 16:46:42,529 [INFO] open_vision_banana.training.callbacks:   [step 2300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3246 loss=0.3382 normal_angular_aux_loss=0.0453 lr=4.99e-05 epoch=14 normal=0.8735
2026-10-03 16:51:03,132 [INFO] open_vision_banana.training.callbacks:   [step 2350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3246 loss=0.3374 normal_angular_aux_loss=0.0428 lr=4.99e-05 epoch=14 normal=0.8650
2026-10-03 16:55:24,457 [INFO] open_vision_banana.training.callbacks:   [step 2400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3209 loss=0.3335 normal_angular_aux_loss=0.0419 lr=4.99e-05 epoch=15 normal=0.8526
2026-10-03 16:59:53,483 [INFO] open_vision_banana.training.callbacks:   [step 2450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3239 loss=0.3365 normal_angular_aux_loss=0.0421 lr=4.99e-05 epoch=15 normal=0.8482
2026-10-03 17:04:21,807 [INFO] open_vision_banana.training.callbacks:   [step 2500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3393 loss=0.3525 normal_angular_aux_loss=0.0441 lr=4.98e-05 epoch=15 normal=0.8596
2026-10-03 17:04:39,933 [INFO] open_vision_banana.training.callbacks:   [val] step=2500 val_loss=0.3548
2026-10-03 17:09:02,697 [INFO] open_vision_banana.training.callbacks:   [step 2550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3218 loss=0.3346 normal_angular_aux_loss=0.0427 lr=4.98e-05 epoch=16 normal=0.8474
2026-10-03 17:13:23,838 [INFO] open_vision_banana.training.callbacks:   [step 2600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3273 loss=0.3398 normal_angular_aux_loss=0.0415 lr=4.98e-05 epoch=16 normal=0.8445
2026-10-03 17:17:43,937 [INFO] open_vision_banana.training.callbacks:   [step 2650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3191 loss=0.3320 normal_angular_aux_loss=0.0430 lr=4.98e-05 epoch=16 normal=0.8419
2026-10-03 17:22:16,657 [INFO] open_vision_banana.training.callbacks:   [step 2700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3189 loss=0.3313 normal_angular_aux_loss=0.0411 lr=4.98e-05 epoch=17 normal=0.8383
2026-10-03 17:26:42,425 [INFO] open_vision_banana.training.callbacks:   [step 2750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3270 loss=0.3396 normal_angular_aux_loss=0.0417 lr=4.98e-05 epoch=17 normal=0.8458
2026-10-03 17:31:03,780 [INFO] open_vision_banana.training.callbacks:   [step 2800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3224 loss=0.3349 normal_angular_aux_loss=0.0415 lr=4.97e-05 epoch=17 normal=0.8385
2026-10-03 17:35:27,147 [INFO] open_vision_banana.training.callbacks:   [step 2850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3133 loss=0.3253 normal_angular_aux_loss=0.0401 lr=4.97e-05 epoch=18 normal=0.8341
2026-10-03 17:39:47,259 [INFO] open_vision_banana.training.callbacks:   [step 2900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3205 loss=0.3327 normal_angular_aux_loss=0.0407 lr=4.97e-05 epoch=18 normal=0.8211
2026-10-03 17:44:06,780 [INFO] open_vision_banana.training.callbacks:   [step 2950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3085 loss=0.3210 normal_angular_aux_loss=0.0416 lr=4.97e-05 epoch=18 normal=0.8249
2026-10-03 17:48:27,936 [INFO] open_vision_banana.training.callbacks:   [step 3000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3161 loss=0.3281 normal_angular_aux_loss=0.0399 lr=4.97e-05 epoch=19 normal=0.8140
2026-10-03 17:48:33,552 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 3000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-3000
2026-10-03 17:48:51,744 [INFO] open_vision_banana.training.callbacks:   [val] step=3000 val_loss=0.3218
2026-10-03 17:48:57,285 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 3000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-3000_best
2026-10-03 17:48:57,286 [INFO] open_vision_banana.training.callbacks:   New best val_loss=0.3218
2026-10-03 17:53:21,560 [INFO] open_vision_banana.training.callbacks:   [step 3050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3096 loss=0.3213 normal_angular_aux_loss=0.0392 lr=4.96e-05 epoch=19 normal=0.8163
2026-10-03 17:57:48,820 [INFO] open_vision_banana.training.callbacks:   [step 3100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3118 loss=0.3243 normal_angular_aux_loss=0.0417 lr=4.96e-05 epoch=19 normal=0.8283
2026-10-03 18:02:15,690 [INFO] open_vision_banana.training.callbacks:   [step 3150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3068 loss=0.3181 normal_angular_aux_loss=0.0378 lr=4.96e-05 epoch=20 normal=0.8019
2026-10-03 18:06:36,311 [INFO] open_vision_banana.training.callbacks:   [step 3200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3127 loss=0.3245 normal_angular_aux_loss=0.0393 lr=4.96e-05 epoch=20 normal=0.8115
2026-10-03 18:10:59,520 [INFO] open_vision_banana.training.callbacks:   [step 3250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3056 loss=0.3177 normal_angular_aux_loss=0.0402 lr=4.95e-05 epoch=21 normal=0.8148
2026-10-03 18:15:20,088 [INFO] open_vision_banana.training.callbacks:   [step 3300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3170 loss=0.3290 normal_angular_aux_loss=0.0399 lr=4.95e-05 epoch=21 normal=0.8058
2026-10-03 18:19:40,599 [INFO] open_vision_banana.training.callbacks:   [step 3350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3010 loss=0.3128 normal_angular_aux_loss=0.0393 lr=4.95e-05 epoch=21 normal=0.8044
2026-10-03 18:24:05,593 [INFO] open_vision_banana.training.callbacks:   [step 3400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3095 loss=0.3207 normal_angular_aux_loss=0.0375 lr=4.95e-05 epoch=22 normal=0.8004
2026-10-03 18:28:27,123 [INFO] open_vision_banana.training.callbacks:   [step 3450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3081 loss=0.3199 normal_angular_aux_loss=0.0393 lr=4.94e-05 epoch=22 normal=0.7918
2026-10-03 18:32:48,276 [INFO] open_vision_banana.training.callbacks:   [step 3500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3042 loss=0.3158 normal_angular_aux_loss=0.0389 lr=4.94e-05 epoch=22 normal=0.7943
2026-10-03 18:33:06,375 [INFO] open_vision_banana.training.callbacks:   [val] step=3500 val_loss=0.3482
2026-10-03 18:37:32,474 [INFO] open_vision_banana.training.callbacks:   [step 3550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3062 loss=0.3175 normal_angular_aux_loss=0.0377 lr=4.94e-05 epoch=23 normal=0.7912
2026-10-03 18:42:02,433 [INFO] open_vision_banana.training.callbacks:   [step 3600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3034 loss=0.3150 normal_angular_aux_loss=0.0385 lr=4.93e-05 epoch=23 normal=0.7825
2026-10-03 18:46:28,762 [INFO] open_vision_banana.training.callbacks:   [step 3650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2985 loss=0.3100 normal_angular_aux_loss=0.0381 lr=4.93e-05 epoch=23 normal=0.7924
2026-10-03 18:50:58,917 [INFO] open_vision_banana.training.callbacks:   [step 3700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3133 loss=0.3244 normal_angular_aux_loss=0.0371 lr=4.93e-05 epoch=24 normal=0.7890
2026-10-03 18:55:22,803 [INFO] open_vision_banana.training.callbacks:   [step 3750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3004 loss=0.3120 normal_angular_aux_loss=0.0386 lr=4.92e-05 epoch=24 normal=0.7842
2026-10-03 18:59:44,242 [INFO] open_vision_banana.training.callbacks:   [step 3800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3025 loss=0.3141 normal_angular_aux_loss=0.0389 lr=4.92e-05 epoch=24 normal=0.7828
2026-10-03 19:04:09,979 [INFO] open_vision_banana.training.callbacks:   [step 3850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2944 loss=0.3055 normal_angular_aux_loss=0.0371 lr=4.92e-05 epoch=25 normal=0.7753
2026-10-03 19:08:31,880 [INFO] open_vision_banana.training.callbacks:   [step 3900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2961 loss=0.3074 normal_angular_aux_loss=0.0378 lr=4.91e-05 epoch=25 normal=0.7760
2026-10-03 19:12:54,058 [INFO] open_vision_banana.training.callbacks:   [step 3950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3049 loss=0.3161 normal_angular_aux_loss=0.0376 lr=4.91e-05 epoch=25 normal=0.7715
2026-10-03 19:17:18,156 [INFO] open_vision_banana.training.callbacks:   [step 4000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2878 loss=0.2993 normal_angular_aux_loss=0.0383 lr=4.91e-05 epoch=26 normal=0.7821
2026-10-03 19:17:23,799 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 4000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-4000
2026-10-03 19:17:42,390 [INFO] open_vision_banana.training.callbacks:   [val] step=4000 val_loss=0.3587
2026-10-03 19:22:09,103 [INFO] open_vision_banana.training.callbacks:   [step 4050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2885 loss=0.3000 normal_angular_aux_loss=0.0385 lr=4.90e-05 epoch=26 normal=0.7671
2026-10-03 19:26:31,004 [INFO] open_vision_banana.training.callbacks:   [step 4100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2955 loss=0.3065 normal_angular_aux_loss=0.0366 lr=4.90e-05 epoch=26 normal=0.7631
2026-10-03 19:30:54,950 [INFO] open_vision_banana.training.callbacks:   [step 4150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3048 loss=0.3160 normal_angular_aux_loss=0.0372 lr=4.90e-05 epoch=27 normal=0.7687
2026-10-03 19:35:23,935 [INFO] open_vision_banana.training.callbacks:   [step 4200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2996 loss=0.3099 normal_angular_aux_loss=0.0345 lr=4.89e-05 epoch=27 normal=0.7522
2026-10-03 19:39:47,042 [INFO] open_vision_banana.training.callbacks:   [step 4250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2906 loss=0.3014 normal_angular_aux_loss=0.0359 lr=4.89e-05 epoch=27 normal=0.7602
2026-10-03 19:44:16,400 [INFO] open_vision_banana.training.callbacks:   [step 4300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.3078 loss=0.3184 normal_angular_aux_loss=0.0352 lr=4.88e-05 epoch=28 normal=0.7643
2026-10-03 19:48:38,805 [INFO] open_vision_banana.training.callbacks:   [step 4350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2962 loss=0.3074 normal_angular_aux_loss=0.0373 lr=4.88e-05 epoch=28 normal=0.7641
2026-10-03 19:52:59,737 [INFO] open_vision_banana.training.callbacks:   [step 4400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2821 loss=0.2928 normal_angular_aux_loss=0.0358 lr=4.87e-05 epoch=28 normal=0.7517
2026-10-03 19:57:25,462 [INFO] open_vision_banana.training.callbacks:   [step 4450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2917 loss=0.3025 normal_angular_aux_loss=0.0357 lr=4.87e-05 epoch=29 normal=0.7534
2026-10-03 20:01:56,508 [INFO] open_vision_banana.training.callbacks:   [step 4500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2819 loss=0.2926 normal_angular_aux_loss=0.0357 lr=4.87e-05 epoch=29 normal=0.7499
2026-10-03 20:02:14,677 [INFO] open_vision_banana.training.callbacks:   [val] step=4500 val_loss=0.3150
2026-10-03 20:02:20,183 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 4500 → /data/runs/ovb/fix_ctrl_normal/checkpoint-4500_best
2026-10-03 20:02:20,184 [INFO] open_vision_banana.training.callbacks:   New best val_loss=0.3150
2026-10-03 20:06:40,763 [INFO] open_vision_banana.training.callbacks:   [step 4550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2944 loss=0.3053 normal_angular_aux_loss=0.0361 lr=4.86e-05 epoch=29 normal=0.7542
2026-10-03 20:11:02,775 [INFO] open_vision_banana.training.callbacks:   [step 4600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2872 loss=0.2981 normal_angular_aux_loss=0.0364 lr=4.86e-05 epoch=30 normal=0.7479
2026-10-03 20:15:24,138 [INFO] open_vision_banana.training.callbacks:   [step 4650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2889 loss=0.2999 normal_angular_aux_loss=0.0365 lr=4.85e-05 epoch=30 normal=0.7476
2026-10-03 20:19:46,277 [INFO] open_vision_banana.training.callbacks:   [step 4700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2904 loss=0.3009 normal_angular_aux_loss=0.0352 lr=4.85e-05 epoch=30 normal=0.7404
2026-10-03 20:24:09,128 [INFO] open_vision_banana.training.callbacks:   [step 4750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2829 loss=0.2935 normal_angular_aux_loss=0.0355 lr=4.84e-05 epoch=31 normal=0.7363
2026-10-03 20:28:36,306 [INFO] open_vision_banana.training.callbacks:   [step 4800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2865 loss=0.2971 normal_angular_aux_loss=0.0353 lr=4.84e-05 epoch=31 normal=0.7399
2026-10-03 20:32:57,831 [INFO] open_vision_banana.training.callbacks:   [step 4850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2854 loss=0.2959 normal_angular_aux_loss=0.0350 lr=4.83e-05 epoch=31 normal=0.7384
2026-10-03 20:37:25,688 [INFO] open_vision_banana.training.callbacks:   [step 4900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2916 loss=0.3021 normal_angular_aux_loss=0.0351 lr=4.83e-05 epoch=32 normal=0.7334
2026-10-03 20:41:52,843 [INFO] open_vision_banana.training.callbacks:   [step 4950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2820 loss=0.2928 normal_angular_aux_loss=0.0360 lr=4.82e-05 epoch=32 normal=0.7271
2026-10-03 20:46:16,071 [INFO] open_vision_banana.training.callbacks:   [step 5000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2814 loss=0.2919 normal_angular_aux_loss=0.0351 lr=4.82e-05 epoch=32 normal=0.7398
2026-10-03 20:46:21,565 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 5000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-5000
2026-10-03 20:46:39,965 [INFO] open_vision_banana.training.callbacks:   [val] step=5000 val_loss=0.3640
2026-10-03 20:51:03,288 [INFO] open_vision_banana.training.callbacks:   [step 5050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2896 loss=0.3002 normal_angular_aux_loss=0.0352 lr=4.81e-05 epoch=33 normal=0.7379
2026-10-03 20:55:29,918 [INFO] open_vision_banana.training.callbacks:   [step 5100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2833 loss=0.2939 normal_angular_aux_loss=0.0352 lr=4.81e-05 epoch=33 normal=0.7275
2026-10-03 20:59:52,084 [INFO] open_vision_banana.training.callbacks:   [step 5150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2765 loss=0.2868 normal_angular_aux_loss=0.0344 lr=4.80e-05 epoch=33 normal=0.7280
2026-10-03 21:04:19,658 [INFO] open_vision_banana.training.callbacks:   [step 5200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2810 loss=0.2911 normal_angular_aux_loss=0.0338 lr=4.80e-05 epoch=34 normal=0.7258
2026-10-03 21:08:41,803 [INFO] open_vision_banana.training.callbacks:   [step 5250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2811 loss=0.2915 normal_angular_aux_loss=0.0347 lr=4.79e-05 epoch=34 normal=0.7197
2026-10-03 21:13:03,829 [INFO] open_vision_banana.training.callbacks:   [step 5300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2880 loss=0.2983 normal_angular_aux_loss=0.0342 lr=4.79e-05 epoch=34 normal=0.7278
2026-10-03 21:17:28,902 [INFO] open_vision_banana.training.callbacks:   [step 5350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2782 loss=0.2887 normal_angular_aux_loss=0.0349 lr=4.78e-05 epoch=35 normal=0.7229
2026-10-03 21:22:07,181 [INFO] open_vision_banana.training.callbacks:   [step 5400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2725 loss=0.2833 normal_angular_aux_loss=0.0360 lr=4.77e-05 epoch=35 normal=0.7188
2026-10-03 21:26:29,027 [INFO] open_vision_banana.training.callbacks:   [step 5450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2781 loss=0.2883 normal_angular_aux_loss=0.0340 lr=4.77e-05 epoch=35 normal=0.7181
2026-10-03 21:30:58,300 [INFO] open_vision_banana.training.callbacks:   [step 5500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2798 loss=0.2903 normal_angular_aux_loss=0.0348 lr=4.76e-05 epoch=36 normal=0.7121
2026-10-03 21:31:17,065 [INFO] open_vision_banana.training.callbacks:   [val] step=5500 val_loss=0.3489
2026-10-03 21:35:39,274 [INFO] open_vision_banana.training.callbacks:   [step 5550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2818 loss=0.2919 normal_angular_aux_loss=0.0337 lr=4.76e-05 epoch=36 normal=0.7211
2026-10-03 21:39:59,195 [INFO] open_vision_banana.training.callbacks:   [step 5600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2841 loss=0.2944 normal_angular_aux_loss=0.0342 lr=4.75e-05 epoch=36 normal=0.7185
2026-10-03 21:44:22,217 [INFO] open_vision_banana.training.callbacks:   [step 5650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2795 loss=0.2897 normal_angular_aux_loss=0.0341 lr=4.75e-05 epoch=37 normal=0.7110
2026-10-03 21:48:45,843 [INFO] open_vision_banana.training.callbacks:   [step 5700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2830 loss=0.2933 normal_angular_aux_loss=0.0343 lr=4.74e-05 epoch=37 normal=0.7076
2026-10-03 21:53:08,029 [INFO] open_vision_banana.training.callbacks:   [step 5750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2678 loss=0.2783 normal_angular_aux_loss=0.0350 lr=4.73e-05 epoch=37 normal=0.7142
2026-10-03 21:57:34,237 [INFO] open_vision_banana.training.callbacks:   [step 5800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2684 loss=0.2788 normal_angular_aux_loss=0.0346 lr=4.73e-05 epoch=38 normal=0.7059
2026-10-03 22:02:01,327 [INFO] open_vision_banana.training.callbacks:   [step 5850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2745 loss=0.2849 normal_angular_aux_loss=0.0346 lr=4.72e-05 epoch=38 normal=0.7088
2026-10-03 22:06:23,774 [INFO] open_vision_banana.training.callbacks:   [step 5900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2784 loss=0.2882 normal_angular_aux_loss=0.0328 lr=4.71e-05 epoch=38 normal=0.7056
2026-10-03 22:10:47,397 [INFO] open_vision_banana.training.callbacks:   [step 5950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2812 loss=0.2910 normal_angular_aux_loss=0.0327 lr=4.71e-05 epoch=39 normal=0.7081
2026-10-03 22:15:17,883 [INFO] open_vision_banana.training.callbacks:   [step 6000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2740 loss=0.2837 normal_angular_aux_loss=0.0323 lr=4.70e-05 epoch=39 normal=0.7033
2026-10-03 22:15:23,461 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 6000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-6000
2026-10-03 22:15:42,214 [INFO] open_vision_banana.training.callbacks:   [val] step=6000 val_loss=0.3307
2026-10-03 22:20:05,227 [INFO] open_vision_banana.training.callbacks:   [step 6050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2683 loss=0.2786 normal_angular_aux_loss=0.0343 lr=4.70e-05 epoch=39 normal=0.7008
2026-10-03 22:24:35,518 [INFO] open_vision_banana.training.callbacks:   [step 6100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2829 loss=0.2924 normal_angular_aux_loss=0.0318 lr=4.69e-05 epoch=40 normal=0.7036
2026-10-03 22:28:58,085 [INFO] open_vision_banana.training.callbacks:   [step 6150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2689 loss=0.2791 normal_angular_aux_loss=0.0338 lr=4.68e-05 epoch=40 normal=0.7037
2026-10-03 22:33:23,807 [INFO] open_vision_banana.training.callbacks:   [step 6200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2671 loss=0.2770 normal_angular_aux_loss=0.0328 lr=4.68e-05 epoch=40 normal=0.6900
2026-10-03 22:37:46,736 [INFO] open_vision_banana.training.callbacks:   [step 6250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2669 loss=0.2768 normal_angular_aux_loss=0.0329 lr=4.67e-05 epoch=41 normal=0.6903
2026-10-03 22:42:15,806 [INFO] open_vision_banana.training.callbacks:   [step 6300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2565 loss=0.2661 normal_angular_aux_loss=0.0321 lr=4.66e-05 epoch=41 normal=0.6880
2026-10-03 22:46:38,305 [INFO] open_vision_banana.training.callbacks:   [step 6350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2776 loss=0.2878 normal_angular_aux_loss=0.0338 lr=4.65e-05 epoch=42 normal=0.6995
2026-10-03 22:50:59,897 [INFO] open_vision_banana.training.callbacks:   [step 6400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2659 loss=0.2761 normal_angular_aux_loss=0.0338 lr=4.65e-05 epoch=42 normal=0.6836
2026-10-03 22:55:22,238 [INFO] open_vision_banana.training.callbacks:   [step 6450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2632 loss=0.2733 normal_angular_aux_loss=0.0337 lr=4.64e-05 epoch=42 normal=0.6855
2026-10-03 22:59:44,650 [INFO] open_vision_banana.training.callbacks:   [step 6500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2632 loss=0.2728 normal_angular_aux_loss=0.0319 lr=4.63e-05 epoch=43 normal=0.6879
2026-10-03 23:00:02,842 [INFO] open_vision_banana.training.callbacks:   [val] step=6500 val_loss=0.3716
2026-10-03 23:04:25,940 [INFO] open_vision_banana.training.callbacks:   [step 6550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2645 loss=0.2743 normal_angular_aux_loss=0.0327 lr=4.63e-05 epoch=43 normal=0.6822
2026-10-03 23:08:53,360 [INFO] open_vision_banana.training.callbacks:   [step 6600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2572 loss=0.2671 normal_angular_aux_loss=0.0330 lr=4.62e-05 epoch=43 normal=0.6906
2026-10-03 23:13:19,910 [INFO] open_vision_banana.training.callbacks:   [step 6650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2677 loss=0.2776 normal_angular_aux_loss=0.0329 lr=4.61e-05 epoch=44 normal=0.6925
2026-10-03 23:17:48,005 [INFO] open_vision_banana.training.callbacks:   [step 6700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2645 loss=0.2742 normal_angular_aux_loss=0.0322 lr=4.60e-05 epoch=44 normal=0.6836
2026-10-03 23:22:17,215 [INFO] open_vision_banana.training.callbacks:   [step 6750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2616 loss=0.2718 normal_angular_aux_loss=0.0342 lr=4.60e-05 epoch=44 normal=0.6819
2026-10-03 23:26:42,990 [INFO] open_vision_banana.training.callbacks:   [step 6800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2681 loss=0.2778 normal_angular_aux_loss=0.0324 lr=4.59e-05 epoch=45 normal=0.6826
2026-10-03 23:31:06,671 [INFO] open_vision_banana.training.callbacks:   [step 6850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2693 loss=0.2791 normal_angular_aux_loss=0.0325 lr=4.58e-05 epoch=45 normal=0.6826
2026-10-03 23:35:32,106 [INFO] open_vision_banana.training.callbacks:   [step 6900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2683 loss=0.2777 normal_angular_aux_loss=0.0315 lr=4.57e-05 epoch=45 normal=0.6735
2026-10-03 23:39:58,466 [INFO] open_vision_banana.training.callbacks:   [step 6950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2624 loss=0.2723 normal_angular_aux_loss=0.0331 lr=4.57e-05 epoch=46 normal=0.6805
2026-10-03 23:44:23,966 [INFO] open_vision_banana.training.callbacks:   [step 7000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2612 loss=0.2708 normal_angular_aux_loss=0.0321 lr=4.56e-05 epoch=46 normal=0.6749
2026-10-03 23:44:29,528 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 7000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-7000
2026-10-03 23:44:47,455 [INFO] open_vision_banana.training.callbacks:   [val] step=7000 val_loss=0.2849
2026-10-03 23:44:52,960 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 7000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-7000_best
2026-10-03 23:44:52,962 [INFO] open_vision_banana.training.callbacks:   New best val_loss=0.2849
2026-10-03 23:49:16,002 [INFO] open_vision_banana.training.callbacks:   [step 7050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2609 loss=0.2706 normal_angular_aux_loss=0.0326 lr=4.55e-05 epoch=46 normal=0.6778
2026-10-03 23:53:43,978 [INFO] open_vision_banana.training.callbacks:   [step 7100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2639 loss=0.2735 normal_angular_aux_loss=0.0321 lr=4.54e-05 epoch=47 normal=0.6785
2026-10-03 23:58:17,359 [INFO] open_vision_banana.training.callbacks:   [step 7150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2575 loss=0.2669 normal_angular_aux_loss=0.0315 lr=4.54e-05 epoch=47 normal=0.6642
2026-10-04 00:02:48,956 [INFO] open_vision_banana.training.callbacks:   [step 7200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2615 loss=0.2710 normal_angular_aux_loss=0.0315 lr=4.53e-05 epoch=47 normal=0.6716
2026-10-04 00:07:12,879 [INFO] open_vision_banana.training.callbacks:   [step 7250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2580 loss=0.2676 normal_angular_aux_loss=0.0322 lr=4.52e-05 epoch=48 normal=0.6693
2026-10-04 00:11:45,008 [INFO] open_vision_banana.training.callbacks:   [step 7300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2642 loss=0.2737 normal_angular_aux_loss=0.0317 lr=4.51e-05 epoch=48 normal=0.6744
2026-10-04 00:16:07,311 [INFO] open_vision_banana.training.callbacks:   [step 7350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2485 loss=0.2581 normal_angular_aux_loss=0.0319 lr=4.50e-05 epoch=48 normal=0.6656
2026-10-04 00:20:32,265 [INFO] open_vision_banana.training.callbacks:   [step 7400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2589 loss=0.2683 normal_angular_aux_loss=0.0314 lr=4.49e-05 epoch=49 normal=0.6672
2026-10-04 00:24:57,321 [INFO] open_vision_banana.training.callbacks:   [step 7450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2593 loss=0.2688 normal_angular_aux_loss=0.0315 lr=4.49e-05 epoch=49 normal=0.6639
2026-10-04 00:29:21,115 [INFO] open_vision_banana.training.callbacks:   [step 7500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2539 loss=0.2635 normal_angular_aux_loss=0.0317 lr=4.48e-05 epoch=49 normal=0.6689
2026-10-04 00:29:39,964 [INFO] open_vision_banana.training.callbacks:   [val] step=7500 val_loss=0.2846
2026-10-04 00:29:45,383 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 7500 → /data/runs/ovb/fix_ctrl_normal/checkpoint-7500_best
2026-10-04 00:29:45,384 [INFO] open_vision_banana.training.callbacks:   New best val_loss=0.2846
2026-10-04 00:34:11,028 [INFO] open_vision_banana.training.callbacks:   [step 7550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2593 loss=0.2690 normal_angular_aux_loss=0.0323 lr=4.47e-05 epoch=50 normal=0.6684
2026-10-04 00:38:36,173 [INFO] open_vision_banana.training.callbacks:   [step 7600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2560 loss=0.2654 normal_angular_aux_loss=0.0313 lr=4.46e-05 epoch=50 normal=0.6599
2026-10-04 00:43:02,487 [INFO] open_vision_banana.training.callbacks:   [step 7650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2571 loss=0.2663 normal_angular_aux_loss=0.0310 lr=4.45e-05 epoch=50 normal=0.6608
2026-10-04 00:47:25,957 [INFO] open_vision_banana.training.callbacks:   [step 7700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2610 loss=0.2705 normal_angular_aux_loss=0.0316 lr=4.44e-05 epoch=51 normal=0.6654
2026-10-04 00:51:53,541 [INFO] open_vision_banana.training.callbacks:   [step 7750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2509 loss=0.2603 normal_angular_aux_loss=0.0314 lr=4.44e-05 epoch=51 normal=0.6547
2026-10-04 00:56:17,120 [INFO] open_vision_banana.training.callbacks:   [step 7800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2587 loss=0.2680 normal_angular_aux_loss=0.0309 lr=4.43e-05 epoch=51 normal=0.6666
2026-10-04 01:00:41,024 [INFO] open_vision_banana.training.callbacks:   [step 7850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2590 loss=0.2683 normal_angular_aux_loss=0.0309 lr=4.42e-05 epoch=52 normal=0.6534
2026-10-04 01:05:12,953 [INFO] open_vision_banana.training.callbacks:   [step 7900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2542 loss=0.2634 normal_angular_aux_loss=0.0308 lr=4.41e-05 epoch=52 normal=0.6541
2026-10-04 01:09:35,064 [INFO] open_vision_banana.training.callbacks:   [step 7950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2522 loss=0.2617 normal_angular_aux_loss=0.0316 lr=4.40e-05 epoch=52 normal=0.6567
2026-10-04 01:14:03,078 [INFO] open_vision_banana.training.callbacks:   [step 8000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2516 loss=0.2607 normal_angular_aux_loss=0.0306 lr=4.39e-05 epoch=53 normal=0.6499
2026-10-04 01:14:08,538 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 8000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-8000
2026-10-04 01:14:26,635 [INFO] open_vision_banana.training.callbacks:   [val] step=8000 val_loss=0.2924
2026-10-04 01:18:57,866 [INFO] open_vision_banana.training.callbacks:   [step 8050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2464 loss=0.2558 normal_angular_aux_loss=0.0313 lr=4.38e-05 epoch=53 normal=0.6477
2026-10-04 01:23:26,255 [INFO] open_vision_banana.training.callbacks:   [step 8100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2525 loss=0.2618 normal_angular_aux_loss=0.0312 lr=4.37e-05 epoch=53 normal=0.6495
2026-10-04 01:27:49,487 [INFO] open_vision_banana.training.callbacks:   [step 8150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2509 loss=0.2601 normal_angular_aux_loss=0.0305 lr=4.36e-05 epoch=54 normal=0.6529
2026-10-04 01:32:19,817 [INFO] open_vision_banana.training.callbacks:   [step 8200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2503 loss=0.2597 normal_angular_aux_loss=0.0314 lr=4.36e-05 epoch=54 normal=0.6485
2026-10-04 01:36:44,244 [INFO] open_vision_banana.training.callbacks:   [step 8250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2514 loss=0.2607 normal_angular_aux_loss=0.0308 lr=4.35e-05 epoch=54 normal=0.6556
2026-10-04 01:41:09,672 [INFO] open_vision_banana.training.callbacks:   [step 8300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2459 loss=0.2553 normal_angular_aux_loss=0.0315 lr=4.34e-05 epoch=55 normal=0.6464
2026-10-04 01:45:37,066 [INFO] open_vision_banana.training.callbacks:   [step 8350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2586 loss=0.2675 normal_angular_aux_loss=0.0299 lr=4.33e-05 epoch=55 normal=0.6479
2026-10-04 01:50:01,065 [INFO] open_vision_banana.training.callbacks:   [step 8400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2517 loss=0.2609 normal_angular_aux_loss=0.0306 lr=4.32e-05 epoch=55 normal=0.6439
2026-10-04 01:54:27,482 [INFO] open_vision_banana.training.callbacks:   [step 8450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2452 loss=0.2543 normal_angular_aux_loss=0.0305 lr=4.31e-05 epoch=56 normal=0.6479
2026-10-04 01:58:57,463 [INFO] open_vision_banana.training.callbacks:   [step 8500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2457 loss=0.2550 normal_angular_aux_loss=0.0310 lr=4.30e-05 epoch=56 normal=0.6368
2026-10-04 01:59:18,591 [INFO] open_vision_banana.training.callbacks:   [val] step=8500 val_loss=0.2487
2026-10-04 01:59:26,249 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 8500 → /data/runs/ovb/fix_ctrl_normal/checkpoint-8500_best
2026-10-04 01:59:26,251 [INFO] open_vision_banana.training.callbacks:   New best val_loss=0.2487
2026-10-04 02:03:52,556 [INFO] open_vision_banana.training.callbacks:   [step 8550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2554 loss=0.2645 normal_angular_aux_loss=0.0304 lr=4.29e-05 epoch=56 normal=0.6517
2026-10-04 02:08:16,388 [INFO] open_vision_banana.training.callbacks:   [step 8600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2483 loss=0.2575 normal_angular_aux_loss=0.0306 lr=4.28e-05 epoch=57 normal=0.6387
2026-10-04 02:12:41,938 [INFO] open_vision_banana.training.callbacks:   [step 8650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2453 loss=0.2543 normal_angular_aux_loss=0.0300 lr=4.27e-05 epoch=57 normal=0.6365
2026-10-04 02:17:05,695 [INFO] open_vision_banana.training.callbacks:   [step 8700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2524 loss=0.2613 normal_angular_aux_loss=0.0297 lr=4.26e-05 epoch=57 normal=0.6395
2026-10-04 02:21:28,133 [INFO] open_vision_banana.training.callbacks:   [step 8750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2498 loss=0.2589 normal_angular_aux_loss=0.0302 lr=4.25e-05 epoch=58 normal=0.6374
2026-10-04 02:25:53,662 [INFO] open_vision_banana.training.callbacks:   [step 8800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2428 loss=0.2520 normal_angular_aux_loss=0.0306 lr=4.24e-05 epoch=58 normal=0.6407
2026-10-04 02:30:19,646 [INFO] open_vision_banana.training.callbacks:   [step 8850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2466 loss=0.2555 normal_angular_aux_loss=0.0299 lr=4.23e-05 epoch=58 normal=0.6354
2026-10-04 02:34:44,225 [INFO] open_vision_banana.training.callbacks:   [step 8900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2458 loss=0.2552 normal_angular_aux_loss=0.0312 lr=4.22e-05 epoch=59 normal=0.6395
2026-10-04 02:39:19,281 [INFO] open_vision_banana.training.callbacks:   [step 8950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2473 loss=0.2562 normal_angular_aux_loss=0.0296 lr=4.21e-05 epoch=59 normal=0.6268
2026-10-04 02:43:44,000 [INFO] open_vision_banana.training.callbacks:   [step 9000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2506 loss=0.2595 normal_angular_aux_loss=0.0296 lr=4.20e-05 epoch=59 normal=0.6366
2026-10-04 02:43:49,595 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 9000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-9000
2026-10-04 02:44:07,832 [INFO] open_vision_banana.training.callbacks:   [val] step=9000 val_loss=0.3143
2026-10-04 02:48:33,507 [INFO] open_vision_banana.training.callbacks:   [step 9050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2426 loss=0.2518 normal_angular_aux_loss=0.0308 lr=4.19e-05 epoch=60 normal=0.6362
2026-10-04 02:53:05,564 [INFO] open_vision_banana.training.callbacks:   [step 9100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2352 loss=0.2445 normal_angular_aux_loss=0.0309 lr=4.18e-05 epoch=60 normal=0.6255
2026-10-04 02:57:29,410 [INFO] open_vision_banana.training.callbacks:   [step 9150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2458 loss=0.2548 normal_angular_aux_loss=0.0299 lr=4.17e-05 epoch=60 normal=0.6332
2026-10-04 03:01:56,056 [INFO] open_vision_banana.training.callbacks:   [step 9200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2482 loss=0.2570 normal_angular_aux_loss=0.0292 lr=4.16e-05 epoch=61 normal=0.6288
2026-10-04 03:06:21,472 [INFO] open_vision_banana.training.callbacks:   [step 9250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2416 loss=0.2505 normal_angular_aux_loss=0.0297 lr=4.15e-05 epoch=61 normal=0.6266
2026-10-04 03:10:46,670 [INFO] open_vision_banana.training.callbacks:   [step 9300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2483 loss=0.2574 normal_angular_aux_loss=0.0305 lr=4.14e-05 epoch=61 normal=0.6395
2026-10-04 03:15:13,106 [INFO] open_vision_banana.training.callbacks:   [step 9350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2428 loss=0.2521 normal_angular_aux_loss=0.0312 lr=4.13e-05 epoch=62 normal=0.6323
2026-10-04 03:19:41,160 [INFO] open_vision_banana.training.callbacks:   [step 9400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2424 loss=0.2511 normal_angular_aux_loss=0.0288 lr=4.12e-05 epoch=62 normal=0.6195
2026-10-04 03:24:06,150 [INFO] open_vision_banana.training.callbacks:   [step 9450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2436 loss=0.2524 normal_angular_aux_loss=0.0291 lr=4.11e-05 epoch=63 normal=0.6264
2026-10-04 03:28:34,131 [INFO] open_vision_banana.training.callbacks:   [step 9500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2374 loss=0.2463 normal_angular_aux_loss=0.0294 lr=4.10e-05 epoch=63 normal=0.6260
2026-10-04 03:28:54,175 [INFO] open_vision_banana.training.callbacks:   [val] step=9500 val_loss=0.2663
2026-10-04 03:33:16,973 [INFO] open_vision_banana.training.callbacks:   [step 9550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2475 loss=0.2562 normal_angular_aux_loss=0.0289 lr=4.09e-05 epoch=63 normal=0.6174
2026-10-04 03:37:43,792 [INFO] open_vision_banana.training.callbacks:   [step 9600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2472 loss=0.2563 normal_angular_aux_loss=0.0306 lr=4.08e-05 epoch=64 normal=0.6307
2026-10-04 03:42:08,865 [INFO] open_vision_banana.training.callbacks:   [step 9650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2451 loss=0.2537 normal_angular_aux_loss=0.0288 lr=4.07e-05 epoch=64 normal=0.6177
2026-10-04 03:46:36,543 [INFO] open_vision_banana.training.callbacks:   [step 9700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2483 loss=0.2570 normal_angular_aux_loss=0.0291 lr=4.06e-05 epoch=64 normal=0.6264
2026-10-04 03:51:04,027 [INFO] open_vision_banana.training.callbacks:   [step 9750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2493 loss=0.2583 normal_angular_aux_loss=0.0300 lr=4.05e-05 epoch=65 normal=0.6209
2026-10-04 03:55:30,259 [INFO] open_vision_banana.training.callbacks:   [step 9800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2422 loss=0.2510 normal_angular_aux_loss=0.0292 lr=4.03e-05 epoch=65 normal=0.6192
2026-10-04 04:00:00,637 [INFO] open_vision_banana.training.callbacks:   [step 9850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2355 loss=0.2445 normal_angular_aux_loss=0.0299 lr=4.02e-05 epoch=65 normal=0.6159
2026-10-04 04:04:24,713 [INFO] open_vision_banana.training.callbacks:   [step 9900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2450 loss=0.2541 normal_angular_aux_loss=0.0300 lr=4.01e-05 epoch=66 normal=0.6198
2026-10-04 04:08:48,093 [INFO] open_vision_banana.training.callbacks:   [step 9950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2427 loss=0.2513 normal_angular_aux_loss=0.0286 lr=4.00e-05 epoch=66 normal=0.6175
2026-10-04 04:13:12,258 [INFO] open_vision_banana.training.callbacks:   [step 10000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2410 loss=0.2500 normal_angular_aux_loss=0.0299 lr=3.99e-05 epoch=66 normal=0.6183
2026-10-04 04:13:17,836 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 10000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-10000
2026-10-04 04:13:36,014 [INFO] open_vision_banana.training.callbacks:   [val] step=10000 val_loss=0.2829
2026-10-04 04:17:59,686 [INFO] open_vision_banana.training.callbacks:   [step 10050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2380 loss=0.2467 normal_angular_aux_loss=0.0290 lr=3.98e-05 epoch=67 normal=0.6111
2026-10-04 04:22:28,080 [INFO] open_vision_banana.training.callbacks:   [step 10100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2410 loss=0.2496 normal_angular_aux_loss=0.0289 lr=3.97e-05 epoch=67 normal=0.6074
2026-10-04 04:26:51,773 [INFO] open_vision_banana.training.callbacks:   [step 10150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2323 loss=0.2409 normal_angular_aux_loss=0.0289 lr=3.96e-05 epoch=67 normal=0.6102
2026-10-04 04:31:15,821 [INFO] open_vision_banana.training.callbacks:   [step 10200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2417 loss=0.2506 normal_angular_aux_loss=0.0297 lr=3.95e-05 epoch=68 normal=0.6140
2026-10-04 04:35:39,820 [INFO] open_vision_banana.training.callbacks:   [step 10250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2403 loss=0.2490 normal_angular_aux_loss=0.0291 lr=3.94e-05 epoch=68 normal=0.6070
2026-10-04 04:40:11,584 [INFO] open_vision_banana.training.callbacks:   [step 10300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2382 loss=0.2467 normal_angular_aux_loss=0.0282 lr=3.92e-05 epoch=68 normal=0.6067
2026-10-04 04:44:36,596 [INFO] open_vision_banana.training.callbacks:   [step 10350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2414 loss=0.2502 normal_angular_aux_loss=0.0294 lr=3.91e-05 epoch=69 normal=0.6175
2026-10-04 04:49:05,116 [INFO] open_vision_banana.training.callbacks:   [step 10400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2391 loss=0.2477 normal_angular_aux_loss=0.0288 lr=3.90e-05 epoch=69 normal=0.6087
2026-10-04 04:53:29,356 [INFO] open_vision_banana.training.callbacks:   [step 10450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2384 loss=0.2468 normal_angular_aux_loss=0.0282 lr=3.89e-05 epoch=69 normal=0.6084
2026-10-04 04:57:54,679 [INFO] open_vision_banana.training.callbacks:   [step 10500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2341 loss=0.2429 normal_angular_aux_loss=0.0292 lr=3.88e-05 epoch=70 normal=0.6035
2026-10-04 04:58:12,924 [INFO] open_vision_banana.training.callbacks:   [val] step=10500 val_loss=0.3578
2026-10-04 05:02:36,642 [INFO] open_vision_banana.training.callbacks:   [step 10550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2326 loss=0.2411 normal_angular_aux_loss=0.0284 lr=3.87e-05 epoch=70 normal=0.6050
2026-10-04 05:07:06,929 [INFO] open_vision_banana.training.callbacks:   [step 10600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2343 loss=0.2429 normal_angular_aux_loss=0.0285 lr=3.86e-05 epoch=70 normal=0.6052
2026-10-04 05:11:31,321 [INFO] open_vision_banana.training.callbacks:   [step 10650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2390 loss=0.2478 normal_angular_aux_loss=0.0292 lr=3.84e-05 epoch=71 normal=0.6070
2026-10-04 05:15:59,883 [INFO] open_vision_banana.training.callbacks:   [step 10700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2296 loss=0.2382 normal_angular_aux_loss=0.0288 lr=3.83e-05 epoch=71 normal=0.6037
2026-10-04 05:20:27,968 [INFO] open_vision_banana.training.callbacks:   [step 10750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2322 loss=0.2409 normal_angular_aux_loss=0.0290 lr=3.82e-05 epoch=71 normal=0.6054
2026-10-04 05:24:54,279 [INFO] open_vision_banana.training.callbacks:   [step 10800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2266 loss=0.2351 normal_angular_aux_loss=0.0284 lr=3.81e-05 epoch=72 normal=0.5952
2026-10-04 05:29:17,489 [INFO] open_vision_banana.training.callbacks:   [step 10850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2287 loss=0.2374 normal_angular_aux_loss=0.0289 lr=3.80e-05 epoch=72 normal=0.6012
2026-10-04 05:33:45,431 [INFO] open_vision_banana.training.callbacks:   [step 10900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2251 loss=0.2340 normal_angular_aux_loss=0.0297 lr=3.79e-05 epoch=72 normal=0.6003
2026-10-04 05:38:10,420 [INFO] open_vision_banana.training.callbacks:   [step 10950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2379 loss=0.2467 normal_angular_aux_loss=0.0291 lr=3.77e-05 epoch=73 normal=0.6028
2026-10-04 05:42:40,288 [INFO] open_vision_banana.training.callbacks:   [step 11000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2257 loss=0.2342 normal_angular_aux_loss=0.0284 lr=3.76e-05 epoch=73 normal=0.5969
2026-10-04 05:42:46,091 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 11000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-11000
2026-10-04 05:43:05,119 [INFO] open_vision_banana.training.callbacks:   [val] step=11000 val_loss=0.3041
2026-10-04 05:47:30,377 [INFO] open_vision_banana.training.callbacks:   [step 11050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2433 loss=0.2515 normal_angular_aux_loss=0.0273 lr=3.75e-05 epoch=73 normal=0.6067
2026-10-04 05:51:54,056 [INFO] open_vision_banana.training.callbacks:   [step 11100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2295 loss=0.2380 normal_angular_aux_loss=0.0281 lr=3.74e-05 epoch=74 normal=0.5891
2026-10-04 05:56:17,561 [INFO] open_vision_banana.training.callbacks:   [step 11150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2329 loss=0.2413 normal_angular_aux_loss=0.0282 lr=3.73e-05 epoch=74 normal=0.5948
2026-10-04 06:00:47,750 [INFO] open_vision_banana.training.callbacks:   [step 11200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2319 loss=0.2406 normal_angular_aux_loss=0.0290 lr=3.71e-05 epoch=74 normal=0.6041
2026-10-04 06:05:14,087 [INFO] open_vision_banana.training.callbacks:   [step 11250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2313 loss=0.2397 normal_angular_aux_loss=0.0281 lr=3.70e-05 epoch=75 normal=0.5916
2026-10-04 06:09:43,983 [INFO] open_vision_banana.training.callbacks:   [step 11300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2335 loss=0.2420 normal_angular_aux_loss=0.0285 lr=3.69e-05 epoch=75 normal=0.5972
2026-10-04 06:14:08,966 [INFO] open_vision_banana.training.callbacks:   [step 11350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2358 loss=0.2441 normal_angular_aux_loss=0.0275 lr=3.68e-05 epoch=75 normal=0.5953
2026-10-04 06:18:33,669 [INFO] open_vision_banana.training.callbacks:   [step 11400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2273 loss=0.2356 normal_angular_aux_loss=0.0278 lr=3.67e-05 epoch=76 normal=0.5895
2026-10-04 06:22:56,669 [INFO] open_vision_banana.training.callbacks:   [step 11450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2258 loss=0.2343 normal_angular_aux_loss=0.0284 lr=3.65e-05 epoch=76 normal=0.5927
2026-10-04 06:27:29,423 [INFO] open_vision_banana.training.callbacks:   [step 11500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2295 loss=0.2382 normal_angular_aux_loss=0.0290 lr=3.64e-05 epoch=76 normal=0.5908
2026-10-04 06:27:48,358 [INFO] open_vision_banana.training.callbacks:   [val] step=11500 val_loss=0.3071
2026-10-04 06:32:18,688 [INFO] open_vision_banana.training.callbacks:   [step 11550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2303 loss=0.2388 normal_angular_aux_loss=0.0283 lr=3.63e-05 epoch=77 normal=0.5907
2026-10-04 06:36:50,173 [INFO] open_vision_banana.training.callbacks:   [step 11600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2390 loss=0.2472 normal_angular_aux_loss=0.0272 lr=3.62e-05 epoch=77 normal=0.5900
2026-10-04 06:41:19,120 [INFO] open_vision_banana.training.callbacks:   [step 11650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2369 loss=0.2452 normal_angular_aux_loss=0.0275 lr=3.61e-05 epoch=77 normal=0.5936
2026-10-04 06:45:45,959 [INFO] open_vision_banana.training.callbacks:   [step 11700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2331 loss=0.2414 normal_angular_aux_loss=0.0277 lr=3.59e-05 epoch=78 normal=0.5969
2026-10-04 06:50:12,935 [INFO] open_vision_banana.training.callbacks:   [step 11750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2316 loss=0.2400 normal_angular_aux_loss=0.0280 lr=3.58e-05 epoch=78 normal=0.5875
2026-10-04 06:54:43,028 [INFO] open_vision_banana.training.callbacks:   [step 11800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2313 loss=0.2397 normal_angular_aux_loss=0.0283 lr=3.57e-05 epoch=78 normal=0.5869
2026-10-04 06:59:13,781 [INFO] open_vision_banana.training.callbacks:   [step 11850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2343 loss=0.2425 normal_angular_aux_loss=0.0271 lr=3.56e-05 epoch=79 normal=0.5820
2026-10-04 07:03:41,015 [INFO] open_vision_banana.training.callbacks:   [step 11900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2247 loss=0.2334 normal_angular_aux_loss=0.0290 lr=3.54e-05 epoch=79 normal=0.5914
2026-10-04 07:08:06,880 [INFO] open_vision_banana.training.callbacks:   [step 11950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2307 loss=0.2387 normal_angular_aux_loss=0.0269 lr=3.53e-05 epoch=79 normal=0.5834
2026-10-04 07:12:30,677 [INFO] open_vision_banana.training.callbacks:   [step 12000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2328 loss=0.2408 normal_angular_aux_loss=0.0269 lr=3.52e-05 epoch=80 normal=0.5798
2026-10-04 07:12:35,534 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 12000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-12000
2026-10-04 07:12:53,791 [INFO] open_vision_banana.training.callbacks:   [val] step=12000 val_loss=0.3215
2026-10-04 07:17:22,706 [INFO] open_vision_banana.training.callbacks:   [step 12050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2317 loss=0.2402 normal_angular_aux_loss=0.0283 lr=3.51e-05 epoch=80 normal=0.5894
2026-10-04 07:21:49,600 [INFO] open_vision_banana.training.callbacks:   [step 12100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2228 loss=0.2312 normal_angular_aux_loss=0.0280 lr=3.49e-05 epoch=80 normal=0.5828
2026-10-04 07:26:15,243 [INFO] open_vision_banana.training.callbacks:   [step 12150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2260 loss=0.2342 normal_angular_aux_loss=0.0273 lr=3.48e-05 epoch=81 normal=0.5809
2026-10-04 07:30:37,990 [INFO] open_vision_banana.training.callbacks:   [step 12200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2324 loss=0.2405 normal_angular_aux_loss=0.0269 lr=3.47e-05 epoch=81 normal=0.5816
2026-10-04 07:35:00,853 [INFO] open_vision_banana.training.callbacks:   [step 12250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2271 loss=0.2355 normal_angular_aux_loss=0.0281 lr=3.46e-05 epoch=81 normal=0.5817
2026-10-04 07:39:25,885 [INFO] open_vision_banana.training.callbacks:   [step 12300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2298 loss=0.2380 normal_angular_aux_loss=0.0272 lr=3.44e-05 epoch=82 normal=0.5760
2026-10-04 07:43:49,553 [INFO] open_vision_banana.training.callbacks:   [step 12350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2263 loss=0.2346 normal_angular_aux_loss=0.0278 lr=3.43e-05 epoch=82 normal=0.5796
2026-10-04 07:48:15,106 [INFO] open_vision_banana.training.callbacks:   [step 12400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2238 loss=0.2323 normal_angular_aux_loss=0.0285 lr=3.42e-05 epoch=82 normal=0.5844
2026-10-04 07:52:45,453 [INFO] open_vision_banana.training.callbacks:   [step 12450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2176 loss=0.2257 normal_angular_aux_loss=0.0273 lr=3.41e-05 epoch=83 normal=0.5785
2026-10-04 07:57:18,338 [INFO] open_vision_banana.training.callbacks:   [step 12500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2257 loss=0.2343 normal_angular_aux_loss=0.0285 lr=3.39e-05 epoch=83 normal=0.5823
2026-10-04 07:57:37,773 [INFO] open_vision_banana.training.callbacks:   [val] step=12500 val_loss=0.3146
2026-10-04 08:02:02,892 [INFO] open_vision_banana.training.callbacks:   [step 12550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2253 loss=0.2333 normal_angular_aux_loss=0.0265 lr=3.38e-05 epoch=84 normal=0.5775
2026-10-04 08:06:26,834 [INFO] open_vision_banana.training.callbacks:   [step 12600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2168 loss=0.2253 normal_angular_aux_loss=0.0282 lr=3.37e-05 epoch=84 normal=0.5769
2026-10-04 08:10:57,168 [INFO] open_vision_banana.training.callbacks:   [step 12650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2244 loss=0.2323 normal_angular_aux_loss=0.0264 lr=3.35e-05 epoch=84 normal=0.5665
2026-10-04 08:15:23,595 [INFO] open_vision_banana.training.callbacks:   [step 12700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2296 loss=0.2379 normal_angular_aux_loss=0.0277 lr=3.34e-05 epoch=85 normal=0.5847
2026-10-04 08:19:50,061 [INFO] open_vision_banana.training.callbacks:   [step 12750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2262 loss=0.2342 normal_angular_aux_loss=0.0268 lr=3.33e-05 epoch=85 normal=0.5744
2026-10-04 08:24:18,051 [INFO] open_vision_banana.training.callbacks:   [step 12800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2199 loss=0.2280 normal_angular_aux_loss=0.0270 lr=3.32e-05 epoch=85 normal=0.5708
2026-10-04 08:28:47,075 [INFO] open_vision_banana.training.callbacks:   [step 12850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2249 loss=0.2332 normal_angular_aux_loss=0.0278 lr=3.30e-05 epoch=86 normal=0.5748
2026-10-04 08:33:13,986 [INFO] open_vision_banana.training.callbacks:   [step 12900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2259 loss=0.2343 normal_angular_aux_loss=0.0280 lr=3.29e-05 epoch=86 normal=0.5768
2026-10-04 08:37:44,718 [INFO] open_vision_banana.training.callbacks:   [step 12950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2271 loss=0.2355 normal_angular_aux_loss=0.0279 lr=3.28e-05 epoch=86 normal=0.5787
2026-10-04 08:42:11,173 [INFO] open_vision_banana.training.callbacks:   [step 13000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2177 loss=0.2258 normal_angular_aux_loss=0.0268 lr=3.26e-05 epoch=87 normal=0.5722
2026-10-04 08:42:17,913 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 13000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-13000
2026-10-04 08:42:36,816 [INFO] open_vision_banana.training.callbacks:   [val] step=13000 val_loss=0.2909
2026-10-04 08:47:10,124 [INFO] open_vision_banana.training.callbacks:   [step 13050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2231 loss=0.2316 normal_angular_aux_loss=0.0282 lr=3.25e-05 epoch=87 normal=0.5691
2026-10-04 08:51:41,418 [INFO] open_vision_banana.training.callbacks:   [step 13100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2228 loss=0.2310 normal_angular_aux_loss=0.0276 lr=3.24e-05 epoch=87 normal=0.5742
2026-10-04 08:56:08,499 [INFO] open_vision_banana.training.callbacks:   [step 13150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2138 loss=0.2222 normal_angular_aux_loss=0.0278 lr=3.22e-05 epoch=88 normal=0.5686
2026-10-04 09:00:32,080 [INFO] open_vision_banana.training.callbacks:   [step 13200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2194 loss=0.2278 normal_angular_aux_loss=0.0279 lr=3.21e-05 epoch=88 normal=0.5735
2026-10-04 09:05:04,078 [INFO] open_vision_banana.training.callbacks:   [step 13250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2162 loss=0.2243 normal_angular_aux_loss=0.0273 lr=3.20e-05 epoch=88 normal=0.5669
2026-10-04 09:09:29,565 [INFO] open_vision_banana.training.callbacks:   [step 13300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2239 loss=0.2318 normal_angular_aux_loss=0.0262 lr=3.19e-05 epoch=89 normal=0.5603
2026-10-04 09:13:55,474 [INFO] open_vision_banana.training.callbacks:   [step 13350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2112 loss=0.2192 normal_angular_aux_loss=0.0269 lr=3.17e-05 epoch=89 normal=0.5664
2026-10-04 09:18:25,874 [INFO] open_vision_banana.training.callbacks:   [step 13400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2242 loss=0.2327 normal_angular_aux_loss=0.0283 lr=3.16e-05 epoch=89 normal=0.5680
2026-10-04 09:22:53,707 [INFO] open_vision_banana.training.callbacks:   [step 13450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2138 loss=0.2218 normal_angular_aux_loss=0.0267 lr=3.15e-05 epoch=90 normal=0.5662
2026-10-04 09:27:20,802 [INFO] open_vision_banana.training.callbacks:   [step 13500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2171 loss=0.2251 normal_angular_aux_loss=0.0268 lr=3.13e-05 epoch=90 normal=0.5678
2026-10-04 09:27:39,040 [INFO] open_vision_banana.training.callbacks:   [val] step=13500 val_loss=0.3337
2026-10-04 09:32:06,416 [INFO] open_vision_banana.training.callbacks:   [step 13550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2127 loss=0.2211 normal_angular_aux_loss=0.0281 lr=3.12e-05 epoch=90 normal=0.5647
2026-10-04 09:36:35,269 [INFO] open_vision_banana.training.callbacks:   [step 13600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2209 loss=0.2288 normal_angular_aux_loss=0.0265 lr=3.11e-05 epoch=91 normal=0.5649
2026-10-04 09:41:07,969 [INFO] open_vision_banana.training.callbacks:   [step 13650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2224 loss=0.2306 normal_angular_aux_loss=0.0274 lr=3.09e-05 epoch=91 normal=0.5638
2026-10-04 09:45:37,854 [INFO] open_vision_banana.training.callbacks:   [step 13700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2248 loss=0.2330 normal_angular_aux_loss=0.0275 lr=3.08e-05 epoch=91 normal=0.5633
2026-10-04 09:50:03,568 [INFO] open_vision_banana.training.callbacks:   [step 13750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2079 loss=0.2158 normal_angular_aux_loss=0.0262 lr=3.07e-05 epoch=92 normal=0.5606
2026-10-04 09:54:31,896 [INFO] open_vision_banana.training.callbacks:   [step 13800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2146 loss=0.2225 normal_angular_aux_loss=0.0266 lr=3.05e-05 epoch=92 normal=0.5658
2026-10-04 09:59:05,382 [INFO] open_vision_banana.training.callbacks:   [step 13850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2166 loss=0.2249 normal_angular_aux_loss=0.0276 lr=3.04e-05 epoch=92 normal=0.5668
2026-10-04 10:03:32,291 [INFO] open_vision_banana.training.callbacks:   [step 13900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2164 loss=0.2245 normal_angular_aux_loss=0.0270 lr=3.03e-05 epoch=93 normal=0.5596
2026-10-04 10:07:56,491 [INFO] open_vision_banana.training.callbacks:   [step 13950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2154 loss=0.2234 normal_angular_aux_loss=0.0269 lr=3.01e-05 epoch=93 normal=0.5615
2026-10-04 10:12:19,867 [INFO] open_vision_banana.training.callbacks:   [step 14000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2187 loss=0.2268 normal_angular_aux_loss=0.0270 lr=3.00e-05 epoch=93 normal=0.5588
2026-10-04 10:12:25,930 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 14000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-14000
2026-10-04 10:12:44,704 [INFO] open_vision_banana.training.callbacks:   [val] step=14000 val_loss=0.3141
2026-10-04 10:17:11,252 [INFO] open_vision_banana.training.callbacks:   [step 14050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2214 loss=0.2294 normal_angular_aux_loss=0.0267 lr=2.99e-05 epoch=94 normal=0.5607
2026-10-04 10:21:35,315 [INFO] open_vision_banana.training.callbacks:   [step 14100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2163 loss=0.2245 normal_angular_aux_loss=0.0272 lr=2.97e-05 epoch=94 normal=0.5568
2026-10-04 10:26:02,765 [INFO] open_vision_banana.training.callbacks:   [step 14150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2171 loss=0.2254 normal_angular_aux_loss=0.0277 lr=2.96e-05 epoch=94 normal=0.5656
2026-10-04 10:30:28,685 [INFO] open_vision_banana.training.callbacks:   [step 14200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2080 loss=0.2159 normal_angular_aux_loss=0.0263 lr=2.95e-05 epoch=95 normal=0.5464
2026-10-04 10:35:09,888 [INFO] open_vision_banana.training.callbacks:   [step 14250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2180 loss=0.2262 normal_angular_aux_loss=0.0271 lr=2.93e-05 epoch=95 normal=0.5591
2026-10-04 10:39:37,060 [INFO] open_vision_banana.training.callbacks:   [step 14300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2168 loss=0.2250 normal_angular_aux_loss=0.0273 lr=2.92e-05 epoch=95 normal=0.5566
2026-10-04 10:44:04,624 [INFO] open_vision_banana.training.callbacks:   [step 14350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2068 loss=0.2149 normal_angular_aux_loss=0.0269 lr=2.91e-05 epoch=96 normal=0.5542
2026-10-04 10:48:28,868 [INFO] open_vision_banana.training.callbacks:   [step 14400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2160 loss=0.2239 normal_angular_aux_loss=0.0266 lr=2.89e-05 epoch=96 normal=0.5570
2026-10-04 10:52:57,195 [INFO] open_vision_banana.training.callbacks:   [step 14450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2142 loss=0.2225 normal_angular_aux_loss=0.0275 lr=2.88e-05 epoch=96 normal=0.5519
2026-10-04 10:57:23,353 [INFO] open_vision_banana.training.callbacks:   [step 14500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2130 loss=0.2208 normal_angular_aux_loss=0.0260 lr=2.86e-05 epoch=97 normal=0.5501
2026-10-04 10:57:42,335 [INFO] open_vision_banana.training.callbacks:   [val] step=14500 val_loss=0.3195
2026-10-04 11:02:13,268 [INFO] open_vision_banana.training.callbacks:   [step 14550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2154 loss=0.2236 normal_angular_aux_loss=0.0272 lr=2.85e-05 epoch=97 normal=0.5530
2026-10-04 11:06:39,561 [INFO] open_vision_banana.training.callbacks:   [step 14600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2149 loss=0.2232 normal_angular_aux_loss=0.0278 lr=2.84e-05 epoch=97 normal=0.5610
2026-10-04 11:11:05,974 [INFO] open_vision_banana.training.callbacks:   [step 14650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2170 loss=0.2249 normal_angular_aux_loss=0.0262 lr=2.82e-05 epoch=98 normal=0.5478
2026-10-04 11:15:36,171 [INFO] open_vision_banana.training.callbacks:   [step 14700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2149 loss=0.2229 normal_angular_aux_loss=0.0267 lr=2.81e-05 epoch=98 normal=0.5559
2026-10-04 11:20:06,397 [INFO] open_vision_banana.training.callbacks:   [step 14750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2141 loss=0.2219 normal_angular_aux_loss=0.0262 lr=2.80e-05 epoch=98 normal=0.5484
2026-10-04 11:24:31,885 [INFO] open_vision_banana.training.callbacks:   [step 14800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2259 loss=0.2340 normal_angular_aux_loss=0.0268 lr=2.78e-05 epoch=99 normal=0.5560
2026-10-04 11:29:00,384 [INFO] open_vision_banana.training.callbacks:   [step 14850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2138 loss=0.2216 normal_angular_aux_loss=0.0261 lr=2.77e-05 epoch=99 normal=0.5444
2026-10-04 11:33:24,701 [INFO] open_vision_banana.training.callbacks:   [step 14900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2218 loss=0.2297 normal_angular_aux_loss=0.0261 lr=2.76e-05 epoch=99 normal=0.5533
2026-10-04 11:37:49,873 [INFO] open_vision_banana.training.callbacks:   [step 14950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2104 loss=0.2183 normal_angular_aux_loss=0.0262 lr=2.74e-05 epoch=100 normal=0.5441
2026-10-04 11:42:13,960 [INFO] open_vision_banana.training.callbacks:   [step 15000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2127 loss=0.2210 normal_angular_aux_loss=0.0277 lr=2.73e-05 epoch=100 normal=0.5573
2026-10-04 11:42:22,667 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 15000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-15000
2026-10-04 11:42:49,482 [INFO] open_vision_banana.training.callbacks:   [val] step=15000 val_loss=0.3003
2026-10-04 11:47:17,843 [INFO] open_vision_banana.training.callbacks:   [step 15050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2135 loss=0.2213 normal_angular_aux_loss=0.0261 lr=2.72e-05 epoch=100 normal=0.5456
2026-10-04 11:51:45,588 [INFO] open_vision_banana.training.callbacks:   [step 15100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2125 loss=0.2203 normal_angular_aux_loss=0.0260 lr=2.70e-05 epoch=101 normal=0.5496
2026-10-04 11:56:26,967 [INFO] open_vision_banana.training.callbacks:   [step 15150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2073 loss=0.2154 normal_angular_aux_loss=0.0269 lr=2.69e-05 epoch=101 normal=0.5435
2026-10-04 12:00:51,637 [INFO] open_vision_banana.training.callbacks:   [step 15200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2195 loss=0.2273 normal_angular_aux_loss=0.0261 lr=2.67e-05 epoch=101 normal=0.5511
2026-10-04 12:05:20,223 [INFO] open_vision_banana.training.callbacks:   [step 15250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2152 loss=0.2233 normal_angular_aux_loss=0.0268 lr=2.66e-05 epoch=102 normal=0.5468
2026-10-04 12:09:49,108 [INFO] open_vision_banana.training.callbacks:   [step 15300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2165 loss=0.2246 normal_angular_aux_loss=0.0269 lr=2.65e-05 epoch=102 normal=0.5435
2026-10-04 12:14:15,639 [INFO] open_vision_banana.training.callbacks:   [step 15350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2105 loss=0.2183 normal_angular_aux_loss=0.0259 lr=2.63e-05 epoch=102 normal=0.5475
2026-10-04 12:18:41,501 [INFO] open_vision_banana.training.callbacks:   [step 15400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2060 loss=0.2140 normal_angular_aux_loss=0.0265 lr=2.62e-05 epoch=103 normal=0.5428
2026-10-04 12:23:12,991 [INFO] open_vision_banana.training.callbacks:   [step 15450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2163 loss=0.2243 normal_angular_aux_loss=0.0264 lr=2.61e-05 epoch=103 normal=0.5427
2026-10-04 12:27:37,766 [INFO] open_vision_banana.training.callbacks:   [step 15500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2120 loss=0.2199 normal_angular_aux_loss=0.0261 lr=2.59e-05 epoch=103 normal=0.5468
2026-10-04 12:27:56,808 [INFO] open_vision_banana.training.callbacks:   [val] step=15500 val_loss=0.2988
2026-10-04 12:32:24,360 [INFO] open_vision_banana.training.callbacks:   [step 15550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2079 loss=0.2157 normal_angular_aux_loss=0.0259 lr=2.58e-05 epoch=104 normal=0.5426
2026-10-04 12:36:56,850 [INFO] open_vision_banana.training.callbacks:   [step 15600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2172 loss=0.2251 normal_angular_aux_loss=0.0262 lr=2.57e-05 epoch=104 normal=0.5518
2026-10-04 12:41:26,964 [INFO] open_vision_banana.training.callbacks:   [step 15650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2118 loss=0.2198 normal_angular_aux_loss=0.0267 lr=2.55e-05 epoch=105 normal=0.5466
2026-10-04 12:45:55,084 [INFO] open_vision_banana.training.callbacks:   [step 15700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2094 loss=0.2173 normal_angular_aux_loss=0.0262 lr=2.54e-05 epoch=105 normal=0.5350
2026-10-04 12:50:21,036 [INFO] open_vision_banana.training.callbacks:   [step 15750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2103 loss=0.2182 normal_angular_aux_loss=0.0264 lr=2.53e-05 epoch=105 normal=0.5435
2026-10-04 12:54:48,702 [INFO] open_vision_banana.training.callbacks:   [step 15800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2120 loss=0.2198 normal_angular_aux_loss=0.0260 lr=2.51e-05 epoch=106 normal=0.5439
2026-10-04 12:59:15,361 [INFO] open_vision_banana.training.callbacks:   [step 15850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2043 loss=0.2123 normal_angular_aux_loss=0.0265 lr=2.50e-05 epoch=106 normal=0.5403
2026-10-04 13:03:45,317 [INFO] open_vision_banana.training.callbacks:   [step 15900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2085 loss=0.2164 normal_angular_aux_loss=0.0265 lr=2.48e-05 epoch=106 normal=0.5414
2026-10-04 13:08:11,245 [INFO] open_vision_banana.training.callbacks:   [step 15950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2041 loss=0.2118 normal_angular_aux_loss=0.0258 lr=2.47e-05 epoch=107 normal=0.5421
2026-10-04 13:12:39,070 [INFO] open_vision_banana.training.callbacks:   [step 16000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2130 loss=0.2210 normal_angular_aux_loss=0.0266 lr=2.46e-05 epoch=107 normal=0.5397
2026-10-04 13:12:44,961 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 16000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-16000
2026-10-04 13:13:03,941 [INFO] open_vision_banana.training.callbacks:   [val] step=16000 val_loss=0.3379
2026-10-04 13:17:45,049 [INFO] open_vision_banana.training.callbacks:   [step 16050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2041 loss=0.2121 normal_angular_aux_loss=0.0264 lr=2.44e-05 epoch=107 normal=0.5378
2026-10-04 13:22:14,839 [INFO] open_vision_banana.training.callbacks:   [step 16100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2084 loss=0.2159 normal_angular_aux_loss=0.0250 lr=2.43e-05 epoch=108 normal=0.5357
2026-10-04 13:26:41,448 [INFO] open_vision_banana.training.callbacks:   [step 16150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2004 loss=0.2083 normal_angular_aux_loss=0.0264 lr=2.42e-05 epoch=108 normal=0.5371
2026-10-04 13:31:16,875 [INFO] open_vision_banana.training.callbacks:   [step 16200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2066 loss=0.2146 normal_angular_aux_loss=0.0265 lr=2.40e-05 epoch=108 normal=0.5362
2026-10-04 13:35:44,326 [INFO] open_vision_banana.training.callbacks:   [step 16250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2054 loss=0.2133 normal_angular_aux_loss=0.0264 lr=2.39e-05 epoch=109 normal=0.5424
2026-10-04 13:40:12,240 [INFO] open_vision_banana.training.callbacks:   [step 16300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2092 loss=0.2170 normal_angular_aux_loss=0.0262 lr=2.38e-05 epoch=109 normal=0.5358
2026-10-04 13:44:39,482 [INFO] open_vision_banana.training.callbacks:   [step 16350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2127 loss=0.2206 normal_angular_aux_loss=0.0261 lr=2.36e-05 epoch=109 normal=0.5393
2026-10-04 13:49:06,087 [INFO] open_vision_banana.training.callbacks:   [step 16400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2075 loss=0.2151 normal_angular_aux_loss=0.0252 lr=2.35e-05 epoch=110 normal=0.5361
2026-10-04 13:53:33,955 [INFO] open_vision_banana.training.callbacks:   [step 16450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2049 loss=0.2125 normal_angular_aux_loss=0.0256 lr=2.33e-05 epoch=110 normal=0.5364
2026-10-04 13:58:01,159 [INFO] open_vision_banana.training.callbacks:   [step 16500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2032 loss=0.2112 normal_angular_aux_loss=0.0267 lr=2.32e-05 epoch=110 normal=0.5343
2026-10-04 13:58:20,071 [INFO] open_vision_banana.training.callbacks:   [val] step=16500 val_loss=0.3145
2026-10-04 14:02:47,528 [INFO] open_vision_banana.training.callbacks:   [step 16550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2013 loss=0.2091 normal_angular_aux_loss=0.0257 lr=2.31e-05 epoch=111 normal=0.5358
2026-10-04 14:07:17,235 [INFO] open_vision_banana.training.callbacks:   [step 16600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2111 loss=0.2189 normal_angular_aux_loss=0.0259 lr=2.29e-05 epoch=111 normal=0.5300
2026-10-04 14:11:50,378 [INFO] open_vision_banana.training.callbacks:   [step 16650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2114 loss=0.2193 normal_angular_aux_loss=0.0263 lr=2.28e-05 epoch=111 normal=0.5373
2026-10-04 14:16:21,567 [INFO] open_vision_banana.training.callbacks:   [step 16700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2090 loss=0.2167 normal_angular_aux_loss=0.0257 lr=2.27e-05 epoch=112 normal=0.5382
2026-10-04 14:20:50,447 [INFO] open_vision_banana.training.callbacks:   [step 16750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2016 loss=0.2097 normal_angular_aux_loss=0.0270 lr=2.25e-05 epoch=112 normal=0.5363
2026-10-04 14:25:23,917 [INFO] open_vision_banana.training.callbacks:   [step 16800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2030 loss=0.2108 normal_angular_aux_loss=0.0259 lr=2.24e-05 epoch=112 normal=0.5306
2026-10-04 14:29:51,236 [INFO] open_vision_banana.training.callbacks:   [step 16850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2038 loss=0.2114 normal_angular_aux_loss=0.0253 lr=2.23e-05 epoch=113 normal=0.5317
2026-10-04 14:34:21,683 [INFO] open_vision_banana.training.callbacks:   [step 16900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2095 loss=0.2173 normal_angular_aux_loss=0.0261 lr=2.21e-05 epoch=113 normal=0.5379
2026-10-04 14:38:48,287 [INFO] open_vision_banana.training.callbacks:   [step 16950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2090 loss=0.2167 normal_angular_aux_loss=0.0258 lr=2.20e-05 epoch=113 normal=0.5363
2026-10-04 14:43:15,875 [INFO] open_vision_banana.training.callbacks:   [step 17000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2095 loss=0.2170 normal_angular_aux_loss=0.0249 lr=2.19e-05 epoch=114 normal=0.5311
2026-10-04 14:43:21,738 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 17000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-17000
2026-10-04 14:43:40,747 [INFO] open_vision_banana.training.callbacks:   [val] step=17000 val_loss=0.2773
2026-10-04 14:48:07,270 [INFO] open_vision_banana.training.callbacks:   [step 17050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2104 loss=0.2182 normal_angular_aux_loss=0.0261 lr=2.17e-05 epoch=114 normal=0.5311
2026-10-04 14:52:34,099 [INFO] open_vision_banana.training.callbacks:   [step 17100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2079 loss=0.2156 normal_angular_aux_loss=0.0255 lr=2.16e-05 epoch=114 normal=0.5324
2026-10-04 14:57:01,591 [INFO] open_vision_banana.training.callbacks:   [step 17150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2119 loss=0.2196 normal_angular_aux_loss=0.0256 lr=2.14e-05 epoch=115 normal=0.5321
2026-10-04 15:01:26,955 [INFO] open_vision_banana.training.callbacks:   [step 17200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2074 loss=0.2152 normal_angular_aux_loss=0.0260 lr=2.13e-05 epoch=115 normal=0.5342
2026-10-04 15:06:00,312 [INFO] open_vision_banana.training.callbacks:   [step 17250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2062 loss=0.2141 normal_angular_aux_loss=0.0262 lr=2.12e-05 epoch=115 normal=0.5298
2026-10-04 15:10:28,977 [INFO] open_vision_banana.training.callbacks:   [step 17300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2054 loss=0.2129 normal_angular_aux_loss=0.0251 lr=2.10e-05 epoch=116 normal=0.5286
2026-10-04 15:14:58,555 [INFO] open_vision_banana.training.callbacks:   [step 17350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2106 loss=0.2185 normal_angular_aux_loss=0.0263 lr=2.09e-05 epoch=116 normal=0.5347
2026-10-04 15:19:29,618 [INFO] open_vision_banana.training.callbacks:   [step 17400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2005 loss=0.2081 normal_angular_aux_loss=0.0252 lr=2.08e-05 epoch=116 normal=0.5250
2026-10-04 15:23:55,796 [INFO] open_vision_banana.training.callbacks:   [step 17450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2036 loss=0.2117 normal_angular_aux_loss=0.0271 lr=2.06e-05 epoch=117 normal=0.5265
2026-10-04 15:28:22,619 [INFO] open_vision_banana.training.callbacks:   [step 17500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2101 loss=0.2178 normal_angular_aux_loss=0.0259 lr=2.05e-05 epoch=117 normal=0.5261
2026-10-04 15:28:42,071 [INFO] open_vision_banana.training.callbacks:   [val] step=17500 val_loss=0.2647
2026-10-04 15:33:08,375 [INFO] open_vision_banana.training.callbacks:   [step 17550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1995 loss=0.2070 normal_angular_aux_loss=0.0253 lr=2.04e-05 epoch=117 normal=0.5308
2026-10-04 15:37:36,417 [INFO] open_vision_banana.training.callbacks:   [step 17600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1998 loss=0.2077 normal_angular_aux_loss=0.0261 lr=2.02e-05 epoch=118 normal=0.5306
2026-10-04 15:42:05,846 [INFO] open_vision_banana.training.callbacks:   [step 17650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2028 loss=0.2106 normal_angular_aux_loss=0.0260 lr=2.01e-05 epoch=118 normal=0.5309
2026-10-04 15:46:30,809 [INFO] open_vision_banana.training.callbacks:   [step 17700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1986 loss=0.2061 normal_angular_aux_loss=0.0249 lr=2.00e-05 epoch=118 normal=0.5222
2026-10-04 15:50:59,592 [INFO] open_vision_banana.training.callbacks:   [step 17750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2016 loss=0.2093 normal_angular_aux_loss=0.0256 lr=1.98e-05 epoch=119 normal=0.5208
2026-10-04 15:55:28,685 [INFO] open_vision_banana.training.callbacks:   [step 17800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1977 loss=0.2054 normal_angular_aux_loss=0.0254 lr=1.97e-05 epoch=119 normal=0.5251
2026-10-04 16:00:05,692 [INFO] open_vision_banana.training.callbacks:   [step 17850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2112 loss=0.2190 normal_angular_aux_loss=0.0259 lr=1.96e-05 epoch=119 normal=0.5316
2026-10-04 16:04:40,474 [INFO] open_vision_banana.training.callbacks:   [step 17900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2056 loss=0.2133 normal_angular_aux_loss=0.0258 lr=1.94e-05 epoch=120 normal=0.5255
2026-10-04 16:09:10,008 [INFO] open_vision_banana.training.callbacks:   [step 17950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2008 loss=0.2085 normal_angular_aux_loss=0.0256 lr=1.93e-05 epoch=120 normal=0.5243
2026-10-04 16:13:51,796 [INFO] open_vision_banana.training.callbacks:   [step 18000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2111 loss=0.2188 normal_angular_aux_loss=0.0257 lr=1.92e-05 epoch=120 normal=0.5278
2026-10-04 16:13:57,935 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 18000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-18000
2026-10-04 16:14:17,097 [INFO] open_vision_banana.training.callbacks:   [val] step=18000 val_loss=0.3043
2026-10-04 16:18:45,830 [INFO] open_vision_banana.training.callbacks:   [step 18050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2016 loss=0.2092 normal_angular_aux_loss=0.0255 lr=1.90e-05 epoch=121 normal=0.5201
2026-10-04 16:23:15,602 [INFO] open_vision_banana.training.callbacks:   [step 18100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2028 loss=0.2105 normal_angular_aux_loss=0.0258 lr=1.89e-05 epoch=121 normal=0.5237
2026-10-04 16:27:47,072 [INFO] open_vision_banana.training.callbacks:   [step 18150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1964 loss=0.2041 normal_angular_aux_loss=0.0258 lr=1.88e-05 epoch=121 normal=0.5216
2026-10-04 16:32:18,712 [INFO] open_vision_banana.training.callbacks:   [step 18200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2046 loss=0.2124 normal_angular_aux_loss=0.0259 lr=1.86e-05 epoch=122 normal=0.5276
2026-10-04 16:36:53,105 [INFO] open_vision_banana.training.callbacks:   [step 18250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2006 loss=0.2083 normal_angular_aux_loss=0.0255 lr=1.85e-05 epoch=122 normal=0.5187
2026-10-04 16:41:25,548 [INFO] open_vision_banana.training.callbacks:   [step 18300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2007 loss=0.2084 normal_angular_aux_loss=0.0256 lr=1.84e-05 epoch=122 normal=0.5185
2026-10-04 16:46:02,884 [INFO] open_vision_banana.training.callbacks:   [step 18350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2052 loss=0.2127 normal_angular_aux_loss=0.0251 lr=1.83e-05 epoch=123 normal=0.5203
2026-10-04 16:50:39,036 [INFO] open_vision_banana.training.callbacks:   [step 18400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2030 loss=0.2106 normal_angular_aux_loss=0.0253 lr=1.81e-05 epoch=123 normal=0.5252
2026-10-04 16:55:10,929 [INFO] open_vision_banana.training.callbacks:   [step 18450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2021 loss=0.2097 normal_angular_aux_loss=0.0254 lr=1.80e-05 epoch=123 normal=0.5135
2026-10-04 16:59:35,543 [INFO] open_vision_banana.training.callbacks:   [step 18500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2042 loss=0.2118 normal_angular_aux_loss=0.0252 lr=1.79e-05 epoch=124 normal=0.5148
2026-10-04 16:59:53,687 [INFO] open_vision_banana.training.callbacks:   [val] step=18500 val_loss=0.3336
2026-10-04 17:04:23,048 [INFO] open_vision_banana.training.callbacks:   [step 18550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2003 loss=0.2084 normal_angular_aux_loss=0.0269 lr=1.77e-05 epoch=124 normal=0.5231
2026-10-04 17:08:46,197 [INFO] open_vision_banana.training.callbacks:   [step 18600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1997 loss=0.2072 normal_angular_aux_loss=0.0250 lr=1.76e-05 epoch=124 normal=0.5227
2026-10-04 17:13:14,634 [INFO] open_vision_banana.training.callbacks:   [step 18650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1977 loss=0.2055 normal_angular_aux_loss=0.0260 lr=1.75e-05 epoch=125 normal=0.5210
2026-10-04 17:17:43,397 [INFO] open_vision_banana.training.callbacks:   [step 18700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2004 loss=0.2080 normal_angular_aux_loss=0.0252 lr=1.73e-05 epoch=125 normal=0.5183
2026-10-04 17:22:07,223 [INFO] open_vision_banana.training.callbacks:   [step 18750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2034 loss=0.2109 normal_angular_aux_loss=0.0250 lr=1.72e-05 epoch=126 normal=0.5189
2026-10-04 17:26:30,153 [INFO] open_vision_banana.training.callbacks:   [step 18800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1996 loss=0.2075 normal_angular_aux_loss=0.0262 lr=1.71e-05 epoch=126 normal=0.5218
2026-10-04 17:30:53,669 [INFO] open_vision_banana.training.callbacks:   [step 18850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1999 loss=0.2078 normal_angular_aux_loss=0.0262 lr=1.70e-05 epoch=126 normal=0.5207
2026-10-04 17:35:18,090 [INFO] open_vision_banana.training.callbacks:   [step 18900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2043 loss=0.2116 normal_angular_aux_loss=0.0245 lr=1.68e-05 epoch=127 normal=0.5177
2026-10-04 17:39:42,083 [INFO] open_vision_banana.training.callbacks:   [step 18950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2014 loss=0.2089 normal_angular_aux_loss=0.0249 lr=1.67e-05 epoch=127 normal=0.5174
2026-10-04 17:44:06,189 [INFO] open_vision_banana.training.callbacks:   [step 19000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2027 loss=0.2104 normal_angular_aux_loss=0.0256 lr=1.66e-05 epoch=127 normal=0.5155
2026-10-04 17:44:12,724 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 19000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-19000
2026-10-04 17:44:30,685 [INFO] open_vision_banana.training.callbacks:   [val] step=19000 val_loss=0.3606
2026-10-04 17:48:56,599 [INFO] open_vision_banana.training.callbacks:   [step 19050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2081 loss=0.2157 normal_angular_aux_loss=0.0251 lr=1.64e-05 epoch=128 normal=0.5278
2026-10-04 17:53:22,885 [INFO] open_vision_banana.training.callbacks:   [step 19100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2038 loss=0.2112 normal_angular_aux_loss=0.0250 lr=1.63e-05 epoch=128 normal=0.5191
2026-10-04 17:57:49,697 [INFO] open_vision_banana.training.callbacks:   [step 19150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2020 loss=0.2093 normal_angular_aux_loss=0.0241 lr=1.62e-05 epoch=128 normal=0.5173
2026-10-04 18:02:13,549 [INFO] open_vision_banana.training.callbacks:   [step 19200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2004 loss=0.2080 normal_angular_aux_loss=0.0254 lr=1.61e-05 epoch=129 normal=0.5188
2026-10-04 18:06:36,533 [INFO] open_vision_banana.training.callbacks:   [step 19250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2012 loss=0.2091 normal_angular_aux_loss=0.0260 lr=1.59e-05 epoch=129 normal=0.5177
2026-10-04 18:10:58,494 [INFO] open_vision_banana.training.callbacks:   [step 19300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2021 loss=0.2093 normal_angular_aux_loss=0.0241 lr=1.58e-05 epoch=129 normal=0.5130
2026-10-04 18:15:21,500 [INFO] open_vision_banana.training.callbacks:   [step 19350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2043 loss=0.2118 normal_angular_aux_loss=0.0250 lr=1.57e-05 epoch=130 normal=0.5240
2026-10-04 18:19:42,660 [INFO] open_vision_banana.training.callbacks:   [step 19400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2021 loss=0.2098 normal_angular_aux_loss=0.0257 lr=1.56e-05 epoch=130 normal=0.5184
2026-10-04 18:24:04,404 [INFO] open_vision_banana.training.callbacks:   [step 19450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1938 loss=0.2014 normal_angular_aux_loss=0.0252 lr=1.54e-05 epoch=130 normal=0.5131
2026-10-04 18:28:26,987 [INFO] open_vision_banana.training.callbacks:   [step 19500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1984 loss=0.2059 normal_angular_aux_loss=0.0251 lr=1.53e-05 epoch=131 normal=0.5142
2026-10-04 18:28:44,880 [INFO] open_vision_banana.training.callbacks:   [val] step=19500 val_loss=0.2978
2026-10-04 18:33:06,780 [INFO] open_vision_banana.training.callbacks:   [step 19550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2028 loss=0.2102 normal_angular_aux_loss=0.0246 lr=1.52e-05 epoch=131 normal=0.5106
2026-10-04 18:37:29,656 [INFO] open_vision_banana.training.callbacks:   [step 19600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1947 loss=0.2021 normal_angular_aux_loss=0.0246 lr=1.51e-05 epoch=131 normal=0.5115
2026-10-04 18:41:50,754 [INFO] open_vision_banana.training.callbacks:   [step 19650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1960 loss=0.2041 normal_angular_aux_loss=0.0269 lr=1.49e-05 epoch=132 normal=0.5179
2026-10-04 18:46:10,782 [INFO] open_vision_banana.training.callbacks:   [step 19700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1981 loss=0.2058 normal_angular_aux_loss=0.0255 lr=1.48e-05 epoch=132 normal=0.5162
2026-10-04 18:50:31,271 [INFO] open_vision_banana.training.callbacks:   [step 19750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1978 loss=0.2052 normal_angular_aux_loss=0.0246 lr=1.47e-05 epoch=132 normal=0.5088
2026-10-04 18:54:50,815 [INFO] open_vision_banana.training.callbacks:   [step 19800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2014 loss=0.2086 normal_angular_aux_loss=0.0242 lr=1.46e-05 epoch=133 normal=0.5113
2026-10-04 18:59:09,974 [INFO] open_vision_banana.training.callbacks:   [step 19850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1944 loss=0.2021 normal_angular_aux_loss=0.0258 lr=1.44e-05 epoch=133 normal=0.5147
2026-10-04 19:03:31,320 [INFO] open_vision_banana.training.callbacks:   [step 19900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1927 loss=0.2003 normal_angular_aux_loss=0.0255 lr=1.43e-05 epoch=133 normal=0.5128
2026-10-04 19:07:53,189 [INFO] open_vision_banana.training.callbacks:   [step 19950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2011 loss=0.2087 normal_angular_aux_loss=0.0255 lr=1.42e-05 epoch=134 normal=0.5072
2026-10-04 19:12:14,395 [INFO] open_vision_banana.training.callbacks:   [step 20000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2003 loss=0.2078 normal_angular_aux_loss=0.0248 lr=1.41e-05 epoch=134 normal=0.5110
2026-10-04 19:12:21,448 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 20000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-20000
2026-10-04 19:12:39,703 [INFO] open_vision_banana.training.callbacks:   [val] step=20000 val_loss=0.3379
2026-10-04 19:16:59,458 [INFO] open_vision_banana.training.callbacks:   [step 20050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1969 loss=0.2046 normal_angular_aux_loss=0.0257 lr=1.40e-05 epoch=134 normal=0.5172
2026-10-04 19:21:20,747 [INFO] open_vision_banana.training.callbacks:   [step 20100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2016 loss=0.2091 normal_angular_aux_loss=0.0248 lr=1.38e-05 epoch=135 normal=0.5120
2026-10-04 19:25:41,834 [INFO] open_vision_banana.training.callbacks:   [step 20150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1939 loss=0.2012 normal_angular_aux_loss=0.0245 lr=1.37e-05 epoch=135 normal=0.5074
2026-10-04 19:30:01,966 [INFO] open_vision_banana.training.callbacks:   [step 20200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1994 loss=0.2072 normal_angular_aux_loss=0.0259 lr=1.36e-05 epoch=135 normal=0.5091
2026-10-04 19:34:22,763 [INFO] open_vision_banana.training.callbacks:   [step 20250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1898 loss=0.1975 normal_angular_aux_loss=0.0257 lr=1.35e-05 epoch=136 normal=0.5136
2026-10-04 19:38:43,358 [INFO] open_vision_banana.training.callbacks:   [step 20300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1964 loss=0.2041 normal_angular_aux_loss=0.0257 lr=1.34e-05 epoch=136 normal=0.5106
2026-10-04 19:43:03,434 [INFO] open_vision_banana.training.callbacks:   [step 20350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1992 loss=0.2066 normal_angular_aux_loss=0.0249 lr=1.32e-05 epoch=136 normal=0.5056
2026-10-04 19:47:26,043 [INFO] open_vision_banana.training.callbacks:   [step 20400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.2005 loss=0.2079 normal_angular_aux_loss=0.0247 lr=1.31e-05 epoch=137 normal=0.5115
2026-10-04 19:51:51,313 [INFO] open_vision_banana.training.callbacks:   [step 20450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1935 loss=0.2011 normal_angular_aux_loss=0.0253 lr=1.30e-05 epoch=137 normal=0.5087
2026-10-04 19:56:11,410 [INFO] open_vision_banana.training.callbacks:   [step 20500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1983 loss=0.2060 normal_angular_aux_loss=0.0259 lr=1.29e-05 epoch=137 normal=0.5111
2026-10-04 19:56:29,551 [INFO] open_vision_banana.training.callbacks:   [val] step=20500 val_loss=0.3087
2026-10-04 20:00:51,590 [INFO] open_vision_banana.training.callbacks:   [step 20550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1939 loss=0.2016 normal_angular_aux_loss=0.0257 lr=1.28e-05 epoch=138 normal=0.5085
2026-10-04 20:05:11,541 [INFO] open_vision_banana.training.callbacks:   [step 20600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1937 loss=0.2014 normal_angular_aux_loss=0.0256 lr=1.26e-05 epoch=138 normal=0.5102
2026-10-04 20:09:30,095 [INFO] open_vision_banana.training.callbacks:   [step 20650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1961 loss=0.2033 normal_angular_aux_loss=0.0240 lr=1.25e-05 epoch=138 normal=0.5093
2026-10-04 20:13:50,809 [INFO] open_vision_banana.training.callbacks:   [step 20700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1963 loss=0.2040 normal_angular_aux_loss=0.0257 lr=1.24e-05 epoch=139 normal=0.5061
2026-10-04 20:18:12,928 [INFO] open_vision_banana.training.callbacks:   [step 20750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1937 loss=0.2014 normal_angular_aux_loss=0.0256 lr=1.23e-05 epoch=139 normal=0.5107
2026-10-04 20:22:32,821 [INFO] open_vision_banana.training.callbacks:   [step 20800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1968 loss=0.2044 normal_angular_aux_loss=0.0255 lr=1.22e-05 epoch=139 normal=0.5092
2026-10-04 20:26:55,952 [INFO] open_vision_banana.training.callbacks:   [step 20850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1955 loss=0.2031 normal_angular_aux_loss=0.0252 lr=1.21e-05 epoch=140 normal=0.5110
2026-10-04 20:31:17,224 [INFO] open_vision_banana.training.callbacks:   [step 20900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1980 loss=0.2055 normal_angular_aux_loss=0.0252 lr=1.19e-05 epoch=140 normal=0.5047
2026-10-04 20:35:37,479 [INFO] open_vision_banana.training.callbacks:   [step 20950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1922 loss=0.1997 normal_angular_aux_loss=0.0251 lr=1.18e-05 epoch=140 normal=0.5066
2026-10-04 20:39:57,404 [INFO] open_vision_banana.training.callbacks:   [step 21000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1932 loss=0.2006 normal_angular_aux_loss=0.0246 lr=1.17e-05 epoch=141 normal=0.5086
2026-10-04 20:40:03,602 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 21000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-21000
2026-10-04 20:40:21,107 [INFO] open_vision_banana.training.callbacks:   [val] step=21000 val_loss=0.3053
2026-10-04 20:44:38,236 [INFO] open_vision_banana.training.callbacks:   [step 21050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1929 loss=0.2004 normal_angular_aux_loss=0.0251 lr=1.16e-05 epoch=141 normal=0.5065
2026-10-04 20:48:58,221 [INFO] open_vision_banana.training.callbacks:   [step 21100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1978 loss=0.2055 normal_angular_aux_loss=0.0258 lr=1.15e-05 epoch=141 normal=0.5100
2026-10-04 20:53:19,398 [INFO] open_vision_banana.training.callbacks:   [step 21150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1975 loss=0.2048 normal_angular_aux_loss=0.0243 lr=1.14e-05 epoch=142 normal=0.5017
2026-10-04 20:57:40,154 [INFO] open_vision_banana.training.callbacks:   [step 21200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1995 loss=0.2070 normal_angular_aux_loss=0.0253 lr=1.13e-05 epoch=142 normal=0.5087
2026-10-04 21:02:00,746 [INFO] open_vision_banana.training.callbacks:   [step 21250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1927 loss=0.2001 normal_angular_aux_loss=0.0245 lr=1.11e-05 epoch=142 normal=0.5077
2026-10-04 21:06:21,049 [INFO] open_vision_banana.training.callbacks:   [step 21300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1958 loss=0.2031 normal_angular_aux_loss=0.0244 lr=1.10e-05 epoch=143 normal=0.5063
2026-10-04 21:10:42,259 [INFO] open_vision_banana.training.callbacks:   [step 21350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1971 loss=0.2045 normal_angular_aux_loss=0.0247 lr=1.09e-05 epoch=143 normal=0.5032
2026-10-04 21:15:00,449 [INFO] open_vision_banana.training.callbacks:   [step 21400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1965 loss=0.2040 normal_angular_aux_loss=0.0252 lr=1.08e-05 epoch=143 normal=0.5118
2026-10-04 21:19:18,512 [INFO] open_vision_banana.training.callbacks:   [step 21450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1963 loss=0.2035 normal_angular_aux_loss=0.0239 lr=1.07e-05 epoch=144 normal=0.5050
2026-10-04 21:23:37,691 [INFO] open_vision_banana.training.callbacks:   [step 21500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1952 loss=0.2029 normal_angular_aux_loss=0.0255 lr=1.06e-05 epoch=144 normal=0.5056
2026-10-04 21:23:55,366 [INFO] open_vision_banana.training.callbacks:   [val] step=21500 val_loss=0.3188
2026-10-04 21:28:13,291 [INFO] open_vision_banana.training.callbacks:   [step 21550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1911 loss=0.1986 normal_angular_aux_loss=0.0251 lr=1.05e-05 epoch=144 normal=0.5031
2026-10-04 21:32:31,159 [INFO] open_vision_banana.training.callbacks:   [step 21600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1909 loss=0.1986 normal_angular_aux_loss=0.0256 lr=1.04e-05 epoch=145 normal=0.5093
2026-10-04 21:36:51,702 [INFO] open_vision_banana.training.callbacks:   [step 21650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1968 loss=0.2042 normal_angular_aux_loss=0.0247 lr=1.03e-05 epoch=145 normal=0.5043
2026-10-04 21:41:12,272 [INFO] open_vision_banana.training.callbacks:   [step 21700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1963 loss=0.2037 normal_angular_aux_loss=0.0244 lr=1.02e-05 epoch=145 normal=0.5042
2026-10-04 21:45:34,004 [INFO] open_vision_banana.training.callbacks:   [step 21750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1930 loss=0.2004 normal_angular_aux_loss=0.0245 lr=1.00e-05 epoch=146 normal=0.4999
2026-10-04 21:50:01,548 [INFO] open_vision_banana.training.callbacks:   [step 21800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1950 loss=0.2022 normal_angular_aux_loss=0.0242 lr=9.94e-06 epoch=146 normal=0.5006
2026-10-04 21:54:22,456 [INFO] open_vision_banana.training.callbacks:   [step 21850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1924 loss=0.2001 normal_angular_aux_loss=0.0259 lr=9.83e-06 epoch=147 normal=0.5077
2026-10-04 21:58:44,926 [INFO] open_vision_banana.training.callbacks:   [step 21900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1894 loss=0.1968 normal_angular_aux_loss=0.0248 lr=9.73e-06 epoch=147 normal=0.5050
2026-10-04 22:03:05,511 [INFO] open_vision_banana.training.callbacks:   [step 21950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1927 loss=0.2001 normal_angular_aux_loss=0.0245 lr=9.62e-06 epoch=147 normal=0.5027
2026-10-04 22:07:25,857 [INFO] open_vision_banana.training.callbacks:   [step 22000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1957 loss=0.2032 normal_angular_aux_loss=0.0251 lr=9.52e-06 epoch=148 normal=0.5044
2026-10-04 22:07:31,285 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 22000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-22000
2026-10-04 22:07:48,896 [INFO] open_vision_banana.training.callbacks:   [val] step=22000 val_loss=0.3232
2026-10-04 22:12:09,928 [INFO] open_vision_banana.training.callbacks:   [step 22050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1887 loss=0.1962 normal_angular_aux_loss=0.0251 lr=9.41e-06 epoch=148 normal=0.4998
2026-10-04 22:16:32,056 [INFO] open_vision_banana.training.callbacks:   [step 22100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1957 loss=0.2032 normal_angular_aux_loss=0.0248 lr=9.31e-06 epoch=148 normal=0.5051
2026-10-04 22:20:54,047 [INFO] open_vision_banana.training.callbacks:   [step 22150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1927 loss=0.2002 normal_angular_aux_loss=0.0253 lr=9.20e-06 epoch=149 normal=0.4998
2026-10-04 22:25:15,820 [INFO] open_vision_banana.training.callbacks:   [step 22200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1886 loss=0.1959 normal_angular_aux_loss=0.0244 lr=9.10e-06 epoch=149 normal=0.5031
2026-10-04 22:29:38,207 [INFO] open_vision_banana.training.callbacks:   [step 22250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1899 loss=0.1973 normal_angular_aux_loss=0.0244 lr=9.00e-06 epoch=149 normal=0.4968
2026-10-04 22:33:57,671 [INFO] open_vision_banana.training.callbacks:   [step 22300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1938 loss=0.2016 normal_angular_aux_loss=0.0261 lr=8.89e-06 epoch=150 normal=0.5113
2026-10-04 22:38:17,049 [INFO] open_vision_banana.training.callbacks:   [step 22350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1946 loss=0.2018 normal_angular_aux_loss=0.0242 lr=8.79e-06 epoch=150 normal=0.5014
2026-10-04 22:42:36,023 [INFO] open_vision_banana.training.callbacks:   [step 22400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1920 loss=0.1995 normal_angular_aux_loss=0.0251 lr=8.69e-06 epoch=150 normal=0.4970
2026-10-04 22:46:54,688 [INFO] open_vision_banana.training.callbacks:   [step 22450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1972 loss=0.2047 normal_angular_aux_loss=0.0251 lr=8.59e-06 epoch=151 normal=0.5030
2026-10-04 22:51:14,829 [INFO] open_vision_banana.training.callbacks:   [step 22500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1936 loss=0.2011 normal_angular_aux_loss=0.0251 lr=8.49e-06 epoch=151 normal=0.4987
2026-10-04 22:51:32,491 [INFO] open_vision_banana.training.callbacks:   [val] step=22500 val_loss=0.2930
2026-10-04 22:55:50,620 [INFO] open_vision_banana.training.callbacks:   [step 22550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1882 loss=0.1957 normal_angular_aux_loss=0.0249 lr=8.39e-06 epoch=151 normal=0.5001
2026-10-04 23:00:11,298 [INFO] open_vision_banana.training.callbacks:   [step 22600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1976 loss=0.2050 normal_angular_aux_loss=0.0246 lr=8.29e-06 epoch=152 normal=0.5063
2026-10-04 23:04:32,502 [INFO] open_vision_banana.training.callbacks:   [step 22650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1953 loss=0.2029 normal_angular_aux_loss=0.0254 lr=8.19e-06 epoch=152 normal=0.5036
2026-10-04 23:08:51,721 [INFO] open_vision_banana.training.callbacks:   [step 22700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1936 loss=0.2011 normal_angular_aux_loss=0.0252 lr=8.09e-06 epoch=152 normal=0.5032
2026-10-04 23:13:11,063 [INFO] open_vision_banana.training.callbacks:   [step 22750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1958 loss=0.2032 normal_angular_aux_loss=0.0246 lr=7.99e-06 epoch=153 normal=0.5002
2026-10-04 23:17:29,052 [INFO] open_vision_banana.training.callbacks:   [step 22800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1901 loss=0.1974 normal_angular_aux_loss=0.0244 lr=7.89e-06 epoch=153 normal=0.4995
2026-10-04 23:21:48,568 [INFO] open_vision_banana.training.callbacks:   [step 22850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1918 loss=0.1994 normal_angular_aux_loss=0.0255 lr=7.80e-06 epoch=153 normal=0.5020
2026-10-04 23:26:08,815 [INFO] open_vision_banana.training.callbacks:   [step 22900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1909 loss=0.1982 normal_angular_aux_loss=0.0242 lr=7.70e-06 epoch=154 normal=0.4968
2026-10-04 23:30:29,360 [INFO] open_vision_banana.training.callbacks:   [step 22950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1948 loss=0.2023 normal_angular_aux_loss=0.0250 lr=7.61e-06 epoch=154 normal=0.5004
2026-10-04 23:34:49,282 [INFO] open_vision_banana.training.callbacks:   [step 23000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1971 loss=0.2045 normal_angular_aux_loss=0.0249 lr=7.51e-06 epoch=154 normal=0.5010
2026-10-04 23:34:54,455 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 23000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-23000
2026-10-04 23:35:11,970 [INFO] open_vision_banana.training.callbacks:   [val] step=23000 val_loss=0.3671
2026-10-04 23:39:34,596 [INFO] open_vision_banana.training.callbacks:   [step 23050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1879 loss=0.1957 normal_angular_aux_loss=0.0261 lr=7.41e-06 epoch=155 normal=0.4978
2026-10-04 23:43:55,975 [INFO] open_vision_banana.training.callbacks:   [step 23100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1881 loss=0.1956 normal_angular_aux_loss=0.0249 lr=7.32e-06 epoch=155 normal=0.5011
2026-10-04 23:48:18,757 [INFO] open_vision_banana.training.callbacks:   [step 23150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1981 loss=0.2055 normal_angular_aux_loss=0.0248 lr=7.23e-06 epoch=155 normal=0.4935
2026-10-04 23:52:39,293 [INFO] open_vision_banana.training.callbacks:   [step 23200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1975 loss=0.2047 normal_angular_aux_loss=0.0242 lr=7.13e-06 epoch=156 normal=0.4993
2026-10-04 23:56:59,381 [INFO] open_vision_banana.training.callbacks:   [step 23250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1916 loss=0.1991 normal_angular_aux_loss=0.0250 lr=7.04e-06 epoch=156 normal=0.4976
2026-10-05 00:01:19,671 [INFO] open_vision_banana.training.callbacks:   [step 23300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1917 loss=0.1991 normal_angular_aux_loss=0.0246 lr=6.95e-06 epoch=156 normal=0.5008
2026-10-05 00:05:39,213 [INFO] open_vision_banana.training.callbacks:   [step 23350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1855 loss=0.1930 normal_angular_aux_loss=0.0251 lr=6.86e-06 epoch=157 normal=0.5023
2026-10-05 00:10:00,062 [INFO] open_vision_banana.training.callbacks:   [step 23400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1887 loss=0.1965 normal_angular_aux_loss=0.0260 lr=6.77e-06 epoch=157 normal=0.5002
2026-10-05 00:14:18,983 [INFO] open_vision_banana.training.callbacks:   [step 23450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1957 loss=0.2029 normal_angular_aux_loss=0.0241 lr=6.68e-06 epoch=157 normal=0.4967
2026-10-05 00:18:41,398 [INFO] open_vision_banana.training.callbacks:   [step 23500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1879 loss=0.1950 normal_angular_aux_loss=0.0237 lr=6.59e-06 epoch=158 normal=0.4921
2026-10-05 00:18:58,906 [INFO] open_vision_banana.training.callbacks:   [val] step=23500 val_loss=0.3467
2026-10-05 00:23:19,351 [INFO] open_vision_banana.training.callbacks:   [step 23550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1921 loss=0.1995 normal_angular_aux_loss=0.0247 lr=6.50e-06 epoch=158 normal=0.4991
2026-10-05 00:27:38,769 [INFO] open_vision_banana.training.callbacks:   [step 23600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1981 loss=0.2057 normal_angular_aux_loss=0.0252 lr=6.41e-06 epoch=158 normal=0.5044
2026-10-05 00:31:58,502 [INFO] open_vision_banana.training.callbacks:   [step 23650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1901 loss=0.1977 normal_angular_aux_loss=0.0252 lr=6.32e-06 epoch=159 normal=0.4988
2026-10-05 00:36:17,763 [INFO] open_vision_banana.training.callbacks:   [step 23700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1988 loss=0.2065 normal_angular_aux_loss=0.0254 lr=6.23e-06 epoch=159 normal=0.5001
2026-10-05 00:40:35,678 [INFO] open_vision_banana.training.callbacks:   [step 23750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1967 loss=0.2038 normal_angular_aux_loss=0.0234 lr=6.15e-06 epoch=159 normal=0.4942
2026-10-05 00:44:54,787 [INFO] open_vision_banana.training.callbacks:   [step 23800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1917 loss=0.1990 normal_angular_aux_loss=0.0244 lr=6.06e-06 epoch=160 normal=0.4955
2026-10-05 00:49:16,965 [INFO] open_vision_banana.training.callbacks:   [step 23850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1873 loss=0.1948 normal_angular_aux_loss=0.0249 lr=5.97e-06 epoch=160 normal=0.4977
2026-10-05 00:53:37,834 [INFO] open_vision_banana.training.callbacks:   [step 23900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1944 loss=0.2018 normal_angular_aux_loss=0.0246 lr=5.89e-06 epoch=160 normal=0.4940
2026-10-05 00:58:00,862 [INFO] open_vision_banana.training.callbacks:   [step 23950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1914 loss=0.1988 normal_angular_aux_loss=0.0248 lr=5.80e-06 epoch=161 normal=0.4977
2026-10-05 01:02:21,550 [INFO] open_vision_banana.training.callbacks:   [step 24000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1901 loss=0.1974 normal_angular_aux_loss=0.0241 lr=5.72e-06 epoch=161 normal=0.4967
2026-10-05 01:02:26,393 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 24000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-24000
2026-10-05 01:02:44,039 [INFO] open_vision_banana.training.callbacks:   [val] step=24000 val_loss=0.2510
2026-10-05 01:07:03,436 [INFO] open_vision_banana.training.callbacks:   [step 24050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1943 loss=0.2016 normal_angular_aux_loss=0.0246 lr=5.64e-06 epoch=161 normal=0.4953
2026-10-05 01:11:25,316 [INFO] open_vision_banana.training.callbacks:   [step 24100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1937 loss=0.2012 normal_angular_aux_loss=0.0250 lr=5.55e-06 epoch=162 normal=0.4954
2026-10-05 01:15:46,008 [INFO] open_vision_banana.training.callbacks:   [step 24150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1941 loss=0.2014 normal_angular_aux_loss=0.0244 lr=5.47e-06 epoch=162 normal=0.4972
2026-10-05 01:20:06,267 [INFO] open_vision_banana.training.callbacks:   [step 24200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1945 loss=0.2018 normal_angular_aux_loss=0.0244 lr=5.39e-06 epoch=162 normal=0.4983
2026-10-05 01:24:27,669 [INFO] open_vision_banana.training.callbacks:   [step 24250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1930 loss=0.2004 normal_angular_aux_loss=0.0245 lr=5.31e-06 epoch=163 normal=0.4954
2026-10-05 01:28:50,766 [INFO] open_vision_banana.training.callbacks:   [step 24300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1933 loss=0.2007 normal_angular_aux_loss=0.0244 lr=5.23e-06 epoch=163 normal=0.4933
2026-10-05 01:33:12,045 [INFO] open_vision_banana.training.callbacks:   [step 24350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1935 loss=0.2011 normal_angular_aux_loss=0.0253 lr=5.15e-06 epoch=163 normal=0.4987
2026-10-05 01:37:33,722 [INFO] open_vision_banana.training.callbacks:   [step 24400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1964 loss=0.2038 normal_angular_aux_loss=0.0245 lr=5.07e-06 epoch=164 normal=0.4965
2026-10-05 01:41:54,615 [INFO] open_vision_banana.training.callbacks:   [step 24450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1854 loss=0.1931 normal_angular_aux_loss=0.0254 lr=4.99e-06 epoch=164 normal=0.4962
2026-10-05 01:46:15,067 [INFO] open_vision_banana.training.callbacks:   [step 24500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1935 loss=0.2007 normal_angular_aux_loss=0.0239 lr=4.91e-06 epoch=164 normal=0.4969
2026-10-05 01:46:32,922 [INFO] open_vision_banana.training.callbacks:   [val] step=24500 val_loss=0.3314
2026-10-05 01:50:53,148 [INFO] open_vision_banana.training.callbacks:   [step 24550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1913 loss=0.1987 normal_angular_aux_loss=0.0247 lr=4.83e-06 epoch=165 normal=0.4971
2026-10-05 01:55:11,670 [INFO] open_vision_banana.training.callbacks:   [step 24600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1905 loss=0.1979 normal_angular_aux_loss=0.0247 lr=4.76e-06 epoch=165 normal=0.4953
2026-10-05 01:59:30,969 [INFO] open_vision_banana.training.callbacks:   [step 24650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1869 loss=0.1942 normal_angular_aux_loss=0.0245 lr=4.68e-06 epoch=165 normal=0.4939
2026-10-05 02:03:52,019 [INFO] open_vision_banana.training.callbacks:   [step 24700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1938 loss=0.2009 normal_angular_aux_loss=0.0238 lr=4.61e-06 epoch=166 normal=0.4936
2026-10-05 02:08:13,199 [INFO] open_vision_banana.training.callbacks:   [step 24750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1949 loss=0.2026 normal_angular_aux_loss=0.0256 lr=4.53e-06 epoch=166 normal=0.5016
2026-10-05 02:12:35,072 [INFO] open_vision_banana.training.callbacks:   [step 24800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1853 loss=0.1926 normal_angular_aux_loss=0.0244 lr=4.46e-06 epoch=166 normal=0.4941
2026-10-05 02:16:55,349 [INFO] open_vision_banana.training.callbacks:   [step 24850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1919 loss=0.1992 normal_angular_aux_loss=0.0243 lr=4.38e-06 epoch=167 normal=0.4975
2026-10-05 02:21:14,639 [INFO] open_vision_banana.training.callbacks:   [step 24900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1935 loss=0.2009 normal_angular_aux_loss=0.0245 lr=4.31e-06 epoch=167 normal=0.4966
2026-10-05 02:25:34,364 [INFO] open_vision_banana.training.callbacks:   [step 24950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1920 loss=0.1993 normal_angular_aux_loss=0.0244 lr=4.24e-06 epoch=168 normal=0.4926
2026-10-05 02:29:53,393 [INFO] open_vision_banana.training.callbacks:   [step 25000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1930 loss=0.2002 normal_angular_aux_loss=0.0239 lr=4.16e-06 epoch=168 normal=0.4909
2026-10-05 02:29:58,814 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 25000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-25000
2026-10-05 02:30:16,386 [INFO] open_vision_banana.training.callbacks:   [val] step=25000 val_loss=0.3036
2026-10-05 02:34:37,254 [INFO] open_vision_banana.training.callbacks:   [step 25050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1953 loss=0.2026 normal_angular_aux_loss=0.0242 lr=4.09e-06 epoch=168 normal=0.4989
2026-10-05 02:38:58,567 [INFO] open_vision_banana.training.callbacks:   [step 25100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1944 loss=0.2019 normal_angular_aux_loss=0.0249 lr=4.02e-06 epoch=169 normal=0.4980
2026-10-05 02:43:21,411 [INFO] open_vision_banana.training.callbacks:   [step 25150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1918 loss=0.1993 normal_angular_aux_loss=0.0251 lr=3.95e-06 epoch=169 normal=0.4979
2026-10-05 02:47:40,633 [INFO] open_vision_banana.training.callbacks:   [step 25200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1938 loss=0.2011 normal_angular_aux_loss=0.0243 lr=3.88e-06 epoch=169 normal=0.4930
2026-10-05 02:52:01,465 [INFO] open_vision_banana.training.callbacks:   [step 25250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1992 loss=0.2064 normal_angular_aux_loss=0.0241 lr=3.82e-06 epoch=170 normal=0.4930
2026-10-05 02:56:22,137 [INFO] open_vision_banana.training.callbacks:   [step 25300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1879 loss=0.1954 normal_angular_aux_loss=0.0250 lr=3.75e-06 epoch=170 normal=0.4953
2026-10-05 03:00:43,532 [INFO] open_vision_banana.training.callbacks:   [step 25350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1924 loss=0.1997 normal_angular_aux_loss=0.0243 lr=3.68e-06 epoch=170 normal=0.4923
2026-10-05 03:05:03,569 [INFO] open_vision_banana.training.callbacks:   [step 25400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1912 loss=0.1986 normal_angular_aux_loss=0.0244 lr=3.61e-06 epoch=171 normal=0.4948
2026-10-05 03:09:23,086 [INFO] open_vision_banana.training.callbacks:   [step 25450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1934 loss=0.2009 normal_angular_aux_loss=0.0248 lr=3.55e-06 epoch=171 normal=0.4982
2026-10-05 03:13:41,943 [INFO] open_vision_banana.training.callbacks:   [step 25500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1879 loss=0.1952 normal_angular_aux_loss=0.0244 lr=3.48e-06 epoch=171 normal=0.4933
2026-10-05 03:13:59,767 [INFO] open_vision_banana.training.callbacks:   [val] step=25500 val_loss=0.3068
2026-10-05 03:18:18,843 [INFO] open_vision_banana.training.callbacks:   [step 25550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1977 loss=0.2051 normal_angular_aux_loss=0.0248 lr=3.42e-06 epoch=172 normal=0.4950
2026-10-05 03:22:39,834 [INFO] open_vision_banana.training.callbacks:   [step 25600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1890 loss=0.1962 normal_angular_aux_loss=0.0242 lr=3.35e-06 epoch=172 normal=0.4939
2026-10-05 03:27:02,216 [INFO] open_vision_banana.training.callbacks:   [step 25650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1951 loss=0.2023 normal_angular_aux_loss=0.0239 lr=3.29e-06 epoch=172 normal=0.4944
2026-10-05 03:31:25,886 [INFO] open_vision_banana.training.callbacks:   [step 25700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1905 loss=0.1979 normal_angular_aux_loss=0.0248 lr=3.23e-06 epoch=173 normal=0.4945
2026-10-05 03:35:49,285 [INFO] open_vision_banana.training.callbacks:   [step 25750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1898 loss=0.1971 normal_angular_aux_loss=0.0242 lr=3.17e-06 epoch=173 normal=0.4949
2026-10-05 03:40:11,974 [INFO] open_vision_banana.training.callbacks:   [step 25800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1937 loss=0.2011 normal_angular_aux_loss=0.0246 lr=3.11e-06 epoch=173 normal=0.4952
2026-10-05 03:44:33,276 [INFO] open_vision_banana.training.callbacks:   [step 25850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1913 loss=0.1986 normal_angular_aux_loss=0.0243 lr=3.04e-06 epoch=174 normal=0.4900
2026-10-05 03:48:52,919 [INFO] open_vision_banana.training.callbacks:   [step 25900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1909 loss=0.1980 normal_angular_aux_loss=0.0239 lr=2.98e-06 epoch=174 normal=0.4930
2026-10-05 03:53:11,694 [INFO] open_vision_banana.training.callbacks:   [step 25950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1913 loss=0.1989 normal_angular_aux_loss=0.0253 lr=2.93e-06 epoch=174 normal=0.4954
2026-10-05 03:57:31,442 [INFO] open_vision_banana.training.callbacks:   [step 26000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1867 loss=0.1941 normal_angular_aux_loss=0.0248 lr=2.87e-06 epoch=175 normal=0.4946
2026-10-05 03:57:37,094 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 26000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-26000
2026-10-05 03:57:54,726 [INFO] open_vision_banana.training.callbacks:   [val] step=26000 val_loss=0.3100
2026-10-05 04:02:17,798 [INFO] open_vision_banana.training.callbacks:   [step 26050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1933 loss=0.2004 normal_angular_aux_loss=0.0236 lr=2.81e-06 epoch=175 normal=0.4971
2026-10-05 04:06:39,126 [INFO] open_vision_banana.training.callbacks:   [step 26100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1881 loss=0.1954 normal_angular_aux_loss=0.0245 lr=2.75e-06 epoch=175 normal=0.4889
2026-10-05 04:11:02,822 [INFO] open_vision_banana.training.callbacks:   [step 26150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1879 loss=0.1953 normal_angular_aux_loss=0.0247 lr=2.70e-06 epoch=176 normal=0.4898
2026-10-05 04:15:25,084 [INFO] open_vision_banana.training.callbacks:   [step 26200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1928 loss=0.2001 normal_angular_aux_loss=0.0242 lr=2.64e-06 epoch=176 normal=0.4942
2026-10-05 04:19:46,390 [INFO] open_vision_banana.training.callbacks:   [step 26250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1901 loss=0.1975 normal_angular_aux_loss=0.0248 lr=2.58e-06 epoch=176 normal=0.4921
2026-10-05 04:24:07,429 [INFO] open_vision_banana.training.callbacks:   [step 26300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1901 loss=0.1976 normal_angular_aux_loss=0.0251 lr=2.53e-06 epoch=177 normal=0.4970
2026-10-05 04:28:27,713 [INFO] open_vision_banana.training.callbacks:   [step 26350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1899 loss=0.1975 normal_angular_aux_loss=0.0251 lr=2.48e-06 epoch=177 normal=0.4970
2026-10-05 04:32:46,814 [INFO] open_vision_banana.training.callbacks:   [step 26400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1916 loss=0.1988 normal_angular_aux_loss=0.0241 lr=2.42e-06 epoch=177 normal=0.4906
2026-10-05 04:37:07,260 [INFO] open_vision_banana.training.callbacks:   [step 26450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1875 loss=0.1946 normal_angular_aux_loss=0.0236 lr=2.37e-06 epoch=178 normal=0.4930
2026-10-05 04:41:28,887 [INFO] open_vision_banana.training.callbacks:   [step 26500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1936 loss=0.2009 normal_angular_aux_loss=0.0246 lr=2.32e-06 epoch=178 normal=0.4916
2026-10-05 04:41:46,363 [INFO] open_vision_banana.training.callbacks:   [val] step=26500 val_loss=0.3359
2026-10-05 04:46:13,864 [INFO] open_vision_banana.training.callbacks:   [step 26550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1922 loss=0.1994 normal_angular_aux_loss=0.0242 lr=2.27e-06 epoch=178 normal=0.4964
2026-10-05 04:50:49,080 [INFO] open_vision_banana.training.callbacks:   [step 26600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1888 loss=0.1964 normal_angular_aux_loss=0.0251 lr=2.22e-06 epoch=179 normal=0.4917
2026-10-05 04:55:31,609 [INFO] open_vision_banana.training.callbacks:   [step 26650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1875 loss=0.1948 normal_angular_aux_loss=0.0243 lr=2.17e-06 epoch=179 normal=0.4918
2026-10-05 05:00:06,135 [INFO] open_vision_banana.training.callbacks:   [step 26700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1893 loss=0.1970 normal_angular_aux_loss=0.0256 lr=2.12e-06 epoch=179 normal=0.4936
2026-10-05 05:04:28,721 [INFO] open_vision_banana.training.callbacks:   [step 26750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1923 loss=0.1995 normal_angular_aux_loss=0.0242 lr=2.07e-06 epoch=180 normal=0.4954
2026-10-05 05:08:42,945 [INFO] open_vision_banana.training.callbacks:   [step 26800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1878 loss=0.1953 normal_angular_aux_loss=0.0249 lr=2.02e-06 epoch=180 normal=0.4888
2026-10-05 05:12:51,911 [INFO] open_vision_banana.training.callbacks:   [step 26850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1939 loss=0.2011 normal_angular_aux_loss=0.0242 lr=1.98e-06 epoch=180 normal=0.4954
2026-10-05 05:17:02,531 [INFO] open_vision_banana.training.callbacks:   [step 26900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1888 loss=0.1961 normal_angular_aux_loss=0.0242 lr=1.93e-06 epoch=181 normal=0.4889
2026-10-05 05:21:12,802 [INFO] open_vision_banana.training.callbacks:   [step 26950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1907 loss=0.1982 normal_angular_aux_loss=0.0251 lr=1.89e-06 epoch=181 normal=0.4957
2026-10-05 05:25:21,931 [INFO] open_vision_banana.training.callbacks:   [step 27000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1868 loss=0.1942 normal_angular_aux_loss=0.0246 lr=1.84e-06 epoch=181 normal=0.4882
2026-10-05 05:25:26,230 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 27000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-27000
2026-10-05 05:25:41,362 [INFO] open_vision_banana.training.callbacks:   [val] step=27000 val_loss=0.3020
2026-10-05 05:29:53,767 [INFO] open_vision_banana.training.callbacks:   [step 27050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1919 loss=0.1993 normal_angular_aux_loss=0.0246 lr=1.80e-06 epoch=182 normal=0.4936
2026-10-05 05:34:04,807 [INFO] open_vision_banana.training.callbacks:   [step 27100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1927 loss=0.1999 normal_angular_aux_loss=0.0241 lr=1.75e-06 epoch=182 normal=0.4947
2026-10-05 05:38:15,983 [INFO] open_vision_banana.training.callbacks:   [step 27150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1959 loss=0.2032 normal_angular_aux_loss=0.0245 lr=1.71e-06 epoch=182 normal=0.4943
2026-10-05 05:42:28,929 [INFO] open_vision_banana.training.callbacks:   [step 27200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1911 loss=0.1985 normal_angular_aux_loss=0.0246 lr=1.67e-06 epoch=183 normal=0.4904
2026-10-05 05:46:41,950 [INFO] open_vision_banana.training.callbacks:   [step 27250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1885 loss=0.1959 normal_angular_aux_loss=0.0247 lr=1.63e-06 epoch=183 normal=0.4962
2026-10-05 05:50:55,371 [INFO] open_vision_banana.training.callbacks:   [step 27300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1950 loss=0.2025 normal_angular_aux_loss=0.0247 lr=1.59e-06 epoch=183 normal=0.4945
2026-10-05 05:55:08,916 [INFO] open_vision_banana.training.callbacks:   [step 27350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1899 loss=0.1973 normal_angular_aux_loss=0.0245 lr=1.55e-06 epoch=184 normal=0.4937
2026-10-05 05:59:19,405 [INFO] open_vision_banana.training.callbacks:   [step 27400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1833 loss=0.1906 normal_angular_aux_loss=0.0244 lr=1.51e-06 epoch=184 normal=0.4909
2026-10-05 06:03:30,857 [INFO] open_vision_banana.training.callbacks:   [step 27450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1932 loss=0.2006 normal_angular_aux_loss=0.0246 lr=1.47e-06 epoch=184 normal=0.4946
2026-10-05 06:07:42,655 [INFO] open_vision_banana.training.callbacks:   [step 27500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1891 loss=0.1965 normal_angular_aux_loss=0.0247 lr=1.43e-06 epoch=185 normal=0.4909
2026-10-05 06:07:58,055 [INFO] open_vision_banana.training.callbacks:   [val] step=27500 val_loss=0.2706
2026-10-05 06:12:09,113 [INFO] open_vision_banana.training.callbacks:   [step 27550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1894 loss=0.1968 normal_angular_aux_loss=0.0247 lr=1.40e-06 epoch=185 normal=0.4889
2026-10-05 06:16:19,022 [INFO] open_vision_banana.training.callbacks:   [step 27600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1918 loss=0.1992 normal_angular_aux_loss=0.0247 lr=1.36e-06 epoch=185 normal=0.4965
2026-10-05 06:20:29,606 [INFO] open_vision_banana.training.callbacks:   [step 27650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1867 loss=0.1940 normal_angular_aux_loss=0.0244 lr=1.33e-06 epoch=186 normal=0.4938
2026-10-05 06:24:39,085 [INFO] open_vision_banana.training.callbacks:   [step 27700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1844 loss=0.1919 normal_angular_aux_loss=0.0250 lr=1.29e-06 epoch=186 normal=0.4896
2026-10-05 06:28:49,712 [INFO] open_vision_banana.training.callbacks:   [step 27750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1928 loss=0.2001 normal_angular_aux_loss=0.0243 lr=1.26e-06 epoch=186 normal=0.4934
2026-10-05 06:33:01,894 [INFO] open_vision_banana.training.callbacks:   [step 27800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1918 loss=0.1990 normal_angular_aux_loss=0.0240 lr=1.22e-06 epoch=187 normal=0.4906
2026-10-05 06:37:11,932 [INFO] open_vision_banana.training.callbacks:   [step 27850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1959 loss=0.2029 normal_angular_aux_loss=0.0236 lr=1.19e-06 epoch=187 normal=0.4896
2026-10-05 06:41:22,790 [INFO] open_vision_banana.training.callbacks:   [step 27900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1853 loss=0.1929 normal_angular_aux_loss=0.0255 lr=1.16e-06 epoch=187 normal=0.4948
2026-10-05 06:45:35,424 [INFO] open_vision_banana.training.callbacks:   [step 27950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1922 loss=0.1996 normal_angular_aux_loss=0.0244 lr=1.13e-06 epoch=188 normal=0.4901
2026-10-05 06:49:45,406 [INFO] open_vision_banana.training.callbacks:   [step 28000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1910 loss=0.1985 normal_angular_aux_loss=0.0249 lr=1.10e-06 epoch=188 normal=0.4927
2026-10-05 06:49:49,645 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 28000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-28000
2026-10-05 06:50:04,996 [INFO] open_vision_banana.training.callbacks:   [val] step=28000 val_loss=0.3769
2026-10-05 06:54:15,021 [INFO] open_vision_banana.training.callbacks:   [step 28050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1866 loss=0.1940 normal_angular_aux_loss=0.0245 lr=1.07e-06 epoch=189 normal=0.4947
2026-10-05 06:58:26,087 [INFO] open_vision_banana.training.callbacks:   [step 28100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1829 loss=0.1902 normal_angular_aux_loss=0.0243 lr=1.04e-06 epoch=189 normal=0.4895
2026-10-05 07:02:36,582 [INFO] open_vision_banana.training.callbacks:   [step 28150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1891 loss=0.1965 normal_angular_aux_loss=0.0247 lr=1.01e-06 epoch=189 normal=0.4972
2026-10-05 07:06:47,232 [INFO] open_vision_banana.training.callbacks:   [step 28200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1898 loss=0.1971 normal_angular_aux_loss=0.0245 lr=9.86e-07 epoch=190 normal=0.4869
2026-10-05 07:10:59,908 [INFO] open_vision_banana.training.callbacks:   [step 28250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1915 loss=0.1989 normal_angular_aux_loss=0.0246 lr=9.59e-07 epoch=190 normal=0.4953
2026-10-05 07:15:11,536 [INFO] open_vision_banana.training.callbacks:   [step 28300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1925 loss=0.1998 normal_angular_aux_loss=0.0242 lr=9.33e-07 epoch=190 normal=0.4900
2026-10-05 07:19:23,709 [INFO] open_vision_banana.training.callbacks:   [step 28350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1929 loss=0.2001 normal_angular_aux_loss=0.0241 lr=9.08e-07 epoch=191 normal=0.4914
2026-10-05 07:23:37,949 [INFO] open_vision_banana.training.callbacks:   [step 28400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1939 loss=0.2012 normal_angular_aux_loss=0.0243 lr=8.84e-07 epoch=191 normal=0.4901
2026-10-05 07:27:48,861 [INFO] open_vision_banana.training.callbacks:   [step 28450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1891 loss=0.1966 normal_angular_aux_loss=0.0250 lr=8.60e-07 epoch=191 normal=0.4930
2026-10-05 07:32:01,726 [INFO] open_vision_banana.training.callbacks:   [step 28500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1863 loss=0.1935 normal_angular_aux_loss=0.0240 lr=8.38e-07 epoch=192 normal=0.4897
2026-10-05 07:32:16,746 [INFO] open_vision_banana.training.callbacks:   [val] step=28500 val_loss=0.3827
2026-10-05 07:36:27,763 [INFO] open_vision_banana.training.callbacks:   [step 28550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1869 loss=0.1942 normal_angular_aux_loss=0.0245 lr=8.15e-07 epoch=192 normal=0.4918
2026-10-05 07:40:36,717 [INFO] open_vision_banana.training.callbacks:   [step 28600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1937 loss=0.2011 normal_angular_aux_loss=0.0248 lr=7.94e-07 epoch=192 normal=0.4997
2026-10-05 07:44:47,322 [INFO] open_vision_banana.training.callbacks:   [step 28650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1898 loss=0.1970 normal_angular_aux_loss=0.0241 lr=7.74e-07 epoch=193 normal=0.4878
2026-10-05 07:48:58,983 [INFO] open_vision_banana.training.callbacks:   [step 28700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1945 loss=0.2018 normal_angular_aux_loss=0.0244 lr=7.54e-07 epoch=193 normal=0.4934
2026-10-05 07:53:08,713 [INFO] open_vision_banana.training.callbacks:   [step 28750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1897 loss=0.1970 normal_angular_aux_loss=0.0244 lr=7.35e-07 epoch=193 normal=0.4904
2026-10-05 07:57:19,366 [INFO] open_vision_banana.training.callbacks:   [step 28800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1942 loss=0.2015 normal_angular_aux_loss=0.0243 lr=7.16e-07 epoch=194 normal=0.4895
2026-10-05 08:01:29,502 [INFO] open_vision_banana.training.callbacks:   [step 28850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1971 loss=0.2045 normal_angular_aux_loss=0.0249 lr=6.99e-07 epoch=194 normal=0.4969
2026-10-05 08:05:40,401 [INFO] open_vision_banana.training.callbacks:   [step 28900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1837 loss=0.1907 normal_angular_aux_loss=0.0235 lr=6.82e-07 epoch=194 normal=0.4886
2026-10-05 08:09:50,186 [INFO] open_vision_banana.training.callbacks:   [step 28950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1920 loss=0.1994 normal_angular_aux_loss=0.0245 lr=6.66e-07 epoch=195 normal=0.4878
2026-10-05 08:14:02,472 [INFO] open_vision_banana.training.callbacks:   [step 29000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1875 loss=0.1949 normal_angular_aux_loss=0.0248 lr=6.50e-07 epoch=195 normal=0.4881
2026-10-05 08:14:06,557 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 29000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-29000
2026-10-05 08:14:21,599 [INFO] open_vision_banana.training.callbacks:   [val] step=29000 val_loss=0.3258
2026-10-05 08:18:33,283 [INFO] open_vision_banana.training.callbacks:   [step 29050/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1870 loss=0.1944 normal_angular_aux_loss=0.0247 lr=6.36e-07 epoch=195 normal=0.4912
2026-10-05 08:22:46,643 [INFO] open_vision_banana.training.callbacks:   [step 29100/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1851 loss=0.1925 normal_angular_aux_loss=0.0249 lr=6.22e-07 epoch=196 normal=0.4916
2026-10-05 08:26:56,428 [INFO] open_vision_banana.training.callbacks:   [step 29150/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1914 loss=0.1986 normal_angular_aux_loss=0.0241 lr=6.09e-07 epoch=196 normal=0.4904
2026-10-05 08:31:05,069 [INFO] open_vision_banana.training.callbacks:   [step 29200/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1842 loss=0.1918 normal_angular_aux_loss=0.0253 lr=5.96e-07 epoch=196 normal=0.4932
2026-10-05 08:35:14,344 [INFO] open_vision_banana.training.callbacks:   [step 29250/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1908 loss=0.1982 normal_angular_aux_loss=0.0245 lr=5.85e-07 epoch=197 normal=0.4923
2026-10-05 08:39:22,946 [INFO] open_vision_banana.training.callbacks:   [step 29300/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1847 loss=0.1923 normal_angular_aux_loss=0.0253 lr=5.74e-07 epoch=197 normal=0.4914
2026-10-05 08:43:32,399 [INFO] open_vision_banana.training.callbacks:   [step 29350/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1950 loss=0.2023 normal_angular_aux_loss=0.0243 lr=5.64e-07 epoch=197 normal=0.4901
2026-10-05 08:47:42,325 [INFO] open_vision_banana.training.callbacks:   [step 29400/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1872 loss=0.1944 normal_angular_aux_loss=0.0239 lr=5.54e-07 epoch=198 normal=0.4865
2026-10-05 08:51:52,862 [INFO] open_vision_banana.training.callbacks:   [step 29450/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1883 loss=0.1960 normal_angular_aux_loss=0.0256 lr=5.45e-07 epoch=198 normal=0.4930
2026-10-05 08:56:04,013 [INFO] open_vision_banana.training.callbacks:   [step 29500/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1876 loss=0.1948 normal_angular_aux_loss=0.0240 lr=5.38e-07 epoch=198 normal=0.4899
2026-10-05 08:56:19,083 [INFO] open_vision_banana.training.callbacks:   [val] step=29500 val_loss=0.2891
2026-10-05 09:00:31,230 [INFO] open_vision_banana.training.callbacks:   [step 29550/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1925 loss=0.1997 normal_angular_aux_loss=0.0240 lr=5.30e-07 epoch=199 normal=0.4860
2026-10-05 09:04:41,795 [INFO] open_vision_banana.training.callbacks:   [step 29600/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1941 loss=0.2016 normal_angular_aux_loss=0.0249 lr=5.24e-07 epoch=199 normal=0.4933
2026-10-05 09:08:51,219 [INFO] open_vision_banana.training.callbacks:   [step 29650/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1871 loss=0.1947 normal_angular_aux_loss=0.0253 lr=5.18e-07 epoch=199 normal=0.4910
2026-10-05 09:13:00,676 [INFO] open_vision_banana.training.callbacks:   [step 29700/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1874 loss=0.1948 normal_angular_aux_loss=0.0248 lr=5.14e-07 epoch=200 normal=0.4934
2026-10-05 09:17:10,200 [INFO] open_vision_banana.training.callbacks:   [step 29750/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1835 loss=0.1909 normal_angular_aux_loss=0.0245 lr=5.09e-07 epoch=200 normal=0.4862
2026-10-05 09:21:19,922 [INFO] open_vision_banana.training.callbacks:   [step 29800/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1967 loss=0.2040 normal_angular_aux_loss=0.0245 lr=5.06e-07 epoch=200 normal=0.4992
2026-10-05 09:25:31,255 [INFO] open_vision_banana.training.callbacks:   [step 29850/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1928 loss=0.2004 normal_angular_aux_loss=0.0252 lr=5.03e-07 epoch=201 normal=0.4943
2026-10-05 09:29:42,031 [INFO] open_vision_banana.training.callbacks:   [step 29900/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1914 loss=0.1989 normal_angular_aux_loss=0.0248 lr=5.02e-07 epoch=201 normal=0.4907
2026-10-05 09:33:51,664 [INFO] open_vision_banana.training.callbacks:   [step 29950/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1846 loss=0.1918 normal_angular_aux_loss=0.0241 lr=5.00e-07 epoch=201 normal=0.4893
2026-10-05 09:38:03,013 [INFO] open_vision_banana.training.callbacks:   [step 30000/30000] depth_edge_aux_loss=0.0000 flow_loss=0.1919 loss=0.1989 normal_angular_aux_loss=0.0235 lr=5.00e-07 epoch=202 normal=0.4934
2026-10-05 09:38:07,367 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 30000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-30000
2026-10-05 09:38:22,528 [INFO] open_vision_banana.training.callbacks:   [val] step=30000 val_loss=0.3408
2026-10-05 09:38:26,446 [INFO] open_vision_banana.training.callbacks:   Saved checkpoint at step 30000 → /data/runs/ovb/fix_ctrl_normal/checkpoint-30000_final
2026-10-05 09:38:26,455 [INFO] open_vision_banana.training.callbacks: Training complete! Steps=30000, Best val_loss=0.2487