Warning, cannot find cuda-compiled version of RoPE2D, using a slow pytorch version instead
[data] skipping unknown dataset dir: hypersim
[data] skipping unknown dataset dir: mnt
[data] skipping unknown dataset dir: processed_blendedmvs
[data] processed_scannetpp: 458 scenes
[data] skipping unknown dataset dir: processed_scannetv2
[data] processed_vkitti: 98 scenes
[data] skipping unknown dataset dir: scannetpp_full
[data] skipping unknown dataset dir: scorer_paper_bb_train
[data] TOTAL 556 scenes across all datasets under /scratch-shared/wwei2/training
TTA-INIT: Enabled lr=1.00e-04 trainable_params=8792705 modules=['importance_scorer.scorer.0.weight', 'importance_scorer.scorer.0.bias', 'importance_scorer.scorer.2.weight', 'importance_scorer.scorer.2.bias', 'desc_pool.query', 'desc_pool.norm_in.weight', 'desc_pool.norm_in.bias', 'desc_pool.to_kv.weight', 'desc_pool.norm_out.weight', 'desc_pool.norm_out.bias', 'desc_proj.weight', 'desc_proj.bias']
Resolved inference config: submap_size=10, retention_ratio=1.0, 
enable_loop=True, enable_temporal=False, importance_topk=5, 
max_recursive_submaps=5, tta=True, bpbr_eos=False
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1709)
 # KEYFRAME 1
Frame 2
tensor(0.2465)
 # KEYFRAME 2
0.06545515700054239
Frame 3
tensor(0.4220)
 # KEYFRAME 3
0.05389239800206269
Frame 4
tensor(0.2565)
 # KEYFRAME 4
0.05478093499914394
Frame 5
tensor(0.2519)
 # KEYFRAME 5
0.05472507499871426
Frame 6
tensor(0.2861)
 # KEYFRAME 6
0.05580906099930871
Frame 7
tensor(0.6071)
 # KEYFRAME 7
0.056598457998916274
Frame 8
tensor(0.3666)
 # KEYFRAME 8
0.05853161199775059
Frame 9
tensor(0.7108)
 # KEYFRAME 9
0.05950940800175886
Backending... 10 KFs
[FIN #0] sid=0 mgr.training=False enable_loop=True curr_tokens.rg=False curr_desc.rg=True
[FIN #0] retrieve -> retrieved_tokens.shape=(0, 1041, 2048) retrieved_tokens.rg=False fetch_ids=[] fetch_counts=[]
[FIN #0] combined.rg=False combined.grad_fn=None combined.shape=(10, 1041, 2048) n_retrieved=0
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=False
[FIN #0] hidden_B.rg=False hidden_B.grad_fn=None hidden_B.shape=(10, 1041, 2048)
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.2096)
 # KEYFRAME 10
0.05269689299893798
Frame 11
tensor(0.2542)
 # KEYFRAME 11
0.053700268999818945
Frame 12
tensor(0.4473)
 # KEYFRAME 12
0.055099083998356946
Frame 13
tensor(0.4039)
 # KEYFRAME 13
0.05742594600087614
Frame 14
tensor(0.0732)
Frame 15
tensor(0.2171)
 # KEYFRAME 14
0.05775761500262888
Frame 16
tensor(0.4176)
 # KEYFRAME 15
0.058527122000668896
Frame 17
tensor(0.3140)
 # KEYFRAME 16
0.05914933000167366
Frame 18
tensor(0.4026)
 # KEYFRAME 17
0.06022241599930567
Frame 19
tensor(0.3061)
 # KEYFRAME 18
0.06146783100120956
Frame 20
tensor(0.3945)
 # KEYFRAME 19
0.06247471800088533
Backending... 20 KFs
[FIN #1] sid=1 mgr.training=False enable_loop=True curr_tokens.rg=False curr_desc.rg=True
[FIN #1] retrieve -> retrieved_tokens.shape=(0, 1041, 2048) retrieved_tokens.rg=False fetch_ids=[] fetch_counts=[]
[FIN #1] combined.rg=False combined.grad_fn=None combined.shape=(20, 1041, 2048) n_retrieved=0
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=False
[FIN #1] hidden_B.rg=False hidden_B.grad_fn=None hidden_B.shape=(20, 1041, 2048)
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.1924)
 # KEYFRAME 20
0.05941845899724285
Frame 22
tensor(0.2225)
 # KEYFRAME 21
0.060616113998548826
Frame 23
tensor(0.1894)
 # KEYFRAME 22
0.06115720200250507
Frame 24
tensor(0.0953)
Frame 25
tensor(0.2342)
 # KEYFRAME 23
0.062005518997466424
Frame 26
tensor(0.2736)
 # KEYFRAME 24
0.06265253700257745
Frame 27
tensor(0.2927)
 # KEYFRAME 25
0.06383268299759948
Frame 28
tensor(0.4033)
 # KEYFRAME 26
0.06562253699667053
Frame 29
tensor(0.3765)
 # KEYFRAME 27
0.06613244400068652
Frame 30
tensor(0.4333)
 # KEYFRAME 28
0.06770121899899095
Frame 31
tensor(0.3923)
 # KEYFRAME 29
0.07407442600015202
Backending... 30 KFs
[FIN #2] sid=2 mgr.training=False enable_loop=True curr_tokens.rg=False curr_desc.rg=True
[SCORER FWD #0] curr_desc_safe(shape=(1, 128),rg=True,nan=0,inf=0,absmax=1.761e+00) hist_descs(shape=(1, 128),rg=False,nan=0,inf=0,absmax=1.641e+00) scores_raw(shape=(1,),rg=True,nan=0,inf=0,absmax=2.343e-02) scores(shape=(1,),rg=True,nan=0,inf=0,absmax=2.343e-02)
[FIN #2] retrieve -> retrieved_tokens.shape=(10, 1041, 2048) retrieved_tokens.rg=False fetch_ids=[0] fetch_counts=[10]
[FIN #2] combined.rg=False combined.grad_fn=None combined.shape=(30, 1041, 2048) n_retrieved=10
[CAP-RESOLVE] ok; attn type=FlashAttentionRope has_capture_qv=True id=22588307551120
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[FIN #2] hidden_B.rg=False hidden_B.grad_fn=None hidden_B.shape=(30, 1041, 2048)
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.2155)
 # KEYFRAME 30
0.06623960399883799
Frame 33
tensor(0.1548)
 # KEYFRAME 31
0.06696279199968558
Frame 34
tensor(0.2076)
 # KEYFRAME 32
0.06783586800156627
Frame 35
tensor(0.3569)
 # KEYFRAME 33
0.06897698399916408
Frame 36
tensor(0.2224)
 # KEYFRAME 34
0.06986750099895289
Frame 37
tensor(0.4382)
 # KEYFRAME 35
0.07087870800023666
Frame 38
tensor(0.2770)
 # KEYFRAME 36
0.07172895499752485
Frame 39
tensor(0.3371)
 # KEYFRAME 37
0.07211047300006612
Frame 40
tensor(0.2154)
 # KEYFRAME 38
0.07335099899864872
Frame 41
tensor(0.2706)
 # KEYFRAME 39
0.07343856900115497
Backending... 40 KFs
[FIN #3] sid=3 mgr.training=False enable_loop=True curr_tokens.rg=False curr_desc.rg=True
[SCORER FWD #1] curr_desc_safe(shape=(1, 128),rg=True,nan=0,inf=0,absmax=1.731e+00) hist_descs(shape=(2, 128),rg=False,nan=0,inf=0,absmax=1.763e+00) scores_raw(shape=(2,),rg=True,nan=0,inf=0,absmax=2.677e-02) scores(shape=(2,),rg=True,nan=0,inf=0,absmax=2.677e-02)
[FIN #3] retrieve -> retrieved_tokens.shape=(20, 1041, 2048) retrieved_tokens.rg=False fetch_ids=[0, 1] fetch_counts=[10, 10]
[FIN #3] combined.rg=False combined.grad_fn=None combined.shape=(40, 1041, 2048) n_retrieved=20
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[FIN #3] hidden_B.rg=False hidden_B.grad_fn=None hidden_B.shape=(40, 1041, 2048)
[DISTILL #0] n=2 t_raw=[-0.7733,-0.9759] t_std=[0.7071,-0.7071] t_probs=[0.9442,0.0558] s_logits=[-0.0245,-0.0268] s_probs=[0.5011,0.4989] loss=0.17279
[DISTILL #0]   sid=0 per_frame_qv=[-0.8772,-0.8239,-0.7339,-0.5679,-0.6744,-0.6723,-0.9104,-1.0056,-0.7808,-0.6865] peak=-0.5679 mean=-0.7733 peak-min=0.4378
[DISTILL #0]   sid=1 per_frame_qv=[-0.6768,-0.6707,-0.9854,-1.1861,-1.0879,-0.8801,-0.7761,-1.0238,-1.2361,-1.2362] peak=-0.6707 mean=-0.9759 peak-min=0.5655
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.17279063165187836
[SCORER BWD #1] scores_post_nan_clamp shape=(2,) nan=0 inf=0 absmax=2.215e-01 norm=3.133e-01
[SCORER BWD #1] scores_raw shape=(2,) nan=0 inf=0 absmax=2.215e-01 norm=3.133e-01
[SCORER BWD #1] curr_desc_safe shape=(1, 128) nan=0 inf=0 absmax=2.792e-03 norm=6.661e-03
TTA-STEP: step=1 loss_distill=0.1728 tta_take=0.036s
Frame 42
tensor(0.3348)
 # KEYFRAME 40
0.07253378099994734
Frame 43
tensor(0.1303)
 # KEYFRAME 41
0.07460730399907334
Frame 44
tensor(0.1661)
 # KEYFRAME 42
0.07529981199695612
Frame 45
tensor(0.4556)
 # KEYFRAME 43
0.07577348999984679
Frame 46
tensor(0.3370)
 # KEYFRAME 44
0.07694410600015544
Frame 47
tensor(0.1205)
 # KEYFRAME 45
0.07734325499768602
Frame 48
tensor(0.1476)
 # KEYFRAME 46
0.07832533100008732
Frame 49
tensor(0.1713)
 # KEYFRAME 47
0.0787683089984057
Frame 50
tensor(0.1602)
 # KEYFRAME 48
0.07995710500108544
Frame 51
tensor(0.1871)
 # KEYFRAME 49
0.08072734199959086
Backending... 50 KFs
[FIN #4] sid=4 mgr.training=False enable_loop=True curr_tokens.rg=False curr_desc.rg=True
[SCORER FWD #2] curr_desc_safe(shape=(1, 128),rg=True,nan=0,inf=0,absmax=1.899e+00) hist_descs(shape=(3, 128),rg=False,nan=0,inf=0,absmax=1.763e+00) scores_raw(shape=(3,),rg=True,nan=0,inf=0,absmax=4.241e-02) scores(shape=(3,),rg=True,nan=0,inf=0,absmax=4.241e-02)
[FIN #4] retrieve -> retrieved_tokens.shape=(30, 1041, 2048) retrieved_tokens.rg=False fetch_ids=[0, 1, 2] fetch_counts=[10, 10, 10]
[FIN #4] combined.rg=False combined.grad_fn=None combined.shape=(50, 1041, 2048) n_retrieved=30
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[FIN #4] hidden_B.rg=False hidden_B.grad_fn=None hidden_B.shape=(50, 1041, 2048)
[DISTILL #1] n=3 t_raw=[-0.8416,-1.0368,-1.2994] t_std=[0.9475,0.0978,-1.0453] t_probs=[0.8324,0.1522,0.0155] s_logits=[-0.0085,-0.0288,-0.0424] s_probs=[0.3455,0.3317,0.3228] loss=0.26752
[DISTILL #1]   sid=0 per_frame_qv=[-0.9672,-0.9004,-0.7743,-0.6321,-0.7618,-0.7165,-0.9775,-1.0815,-0.8137,-0.7910] peak=-0.6321 mean=-0.8416 peak-min=0.4493
[DISTILL #1]   sid=1 per_frame_qv=[-0.7159,-0.7000,-1.0855,-1.2916,-1.1704,-0.9490,-0.7939,-1.0834,-1.2950,-1.2832] peak=-0.7000 mean=-1.0368 peak-min=0.5950
[DISTILL #1]   sid=2 per_frame_qv=[-1.2402,-1.1914,-1.2108,-1.2157,-1.3127,-1.3180,-1.1735,-1.3702,-1.5979,-1.3636] peak=-1.1735 mean=-1.2994 peak-min=0.4245
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.26751959323883057
[SCORER BWD #2] scores_post_nan_clamp shape=(3,) nan=0 inf=0 absmax=2.435e-01 norm=3.016e-01
[SCORER BWD #2] scores_raw shape=(3,) nan=0 inf=0 absmax=2.435e-01 norm=3.016e-01
[SCORER BWD #2] curr_desc_safe shape=(1, 128) nan=0 inf=0 absmax=2.359e-03 norm=5.651e-03
TTA-STEP: step=2 loss_distill=0.2675 tta_take=0.010s
Frame 52
tensor(0.1316)
 # KEYFRAME 50
0.07930584800124052
Frame 53
tensor(0.1463)
 # KEYFRAME 51
0.0806330830018851
Frame 54
tensor(0.1817)
 # KEYFRAME 52
0.0817369989999861
Frame 55
tensor(0.3047)
 # KEYFRAME 53
0.08269631599978311
Frame 56
tensor(0.2717)
 # KEYFRAME 54
0.08406163100153208
Frame 57
tensor(0.1835)
 # KEYFRAME 55
0.08398680100071942
Frame 58
tensor(0.1144)
 # KEYFRAME 56
0.08540971600086777
Frame 59
tensor(0.1807)
 # KEYFRAME 57
0.08557511599792633
Frame 60
tensor(0.1737)
 # KEYFRAME 58
0.08618092300093849
Frame 61
tensor(0.1570)
 # KEYFRAME 59
0.08796645699840155
Backending... 60 KFs
[FIN #5] sid=5 mgr.training=False enable_loop=True curr_tokens.rg=False curr_desc.rg=True
[FIN #5] retrieve -> retrieved_tokens.shape=(40, 1041, 2048) retrieved_tokens.rg=False fetch_ids=[0, 1, 2, 3] fetch_counts=[10, 10, 10, 10]
[FIN #5] combined.rg=False combined.grad_fn=None combined.shape=(60, 1041, 2048) n_retrieved=40
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[FIN #5] hidden_B.rg=False hidden_B.grad_fn=None hidden_B.shape=(60, 1041, 2048)
[DISTILL #2] n=4 t_raw=[-0.9423,-1.1689,-1.4464,-1.3967] t_std=[1.2796,0.3010,-0.8976,-0.6830] t_probs=[0.8519,0.1203,0.0109,0.0168] s_logits=[0.0044,-0.0264,-0.0519,-0.0301] s_probs=[0.2654,0.2496,0.2372,0.2478] loss=0.33403
[DISTILL #2]   sid=0 per_frame_qv=[-1.0530,-0.9892,-0.8747,-0.7025,-0.8279,-0.8281,-1.0946,-1.2130,-0.9649,-0.8754] peak=-0.7025 mean=-0.9423 peak-min=0.5106
[DISTILL #2]   sid=1 per_frame_qv=[-0.8469,-0.8459,-1.1971,-1.4260,-1.2764,-1.0424,-0.9057,-1.1846,-1.4387,-1.5252] peak=-0.8459 mean=-1.1689 peak-min=0.6793
[DISTILL #2]   sid=2 per_frame_qv=[-1.4657,-1.3483,-1.3779,-1.3812,-1.4621,-1.3879,-1.2040,-1.5424,-1.7732,-1.5212] peak=-1.2040 mean=-1.4464 peak-min=0.5691
[DISTILL #2]   sid=3 per_frame_qv=[-1.3511,-1.4221,-1.5373,-1.3175,-1.0467,-1.2624,-1.3479,-1.5892,-1.4677,-1.6250] peak=-1.0467 mean=-1.3967 peak-min=0.5783
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.33403280377388
TTA-STEP: step=3 loss_distill=0.3340 tta_take=0.009s
Frame 62
tensor(0.2147)
 # KEYFRAME 60
0.08617693300038809
Frame 63
tensor(0.2029)
 # KEYFRAME 61
0.08772908799801371
Frame 64
tensor(0.1669)
 # KEYFRAME 62
0.08861787500063656
Frame 65
tensor(0.2428)
 # KEYFRAME 63
0.0901363590019173
Frame 66
tensor(0.2901)
 # KEYFRAME 64
0.09051824799826136
Frame 67
tensor(0.4984)
 # KEYFRAME 65
0.09223367199956556
Frame 68
tensor(0.2161)
 # KEYFRAME 66
0.09355308700105525
Frame 69
tensor(0.4458)
 # KEYFRAME 67
0.09465283299869043
Frame 70
tensor(0.3361)
 # KEYFRAME 68
0.0941539939994982
Frame 71
tensor(0.3666)
 # KEYFRAME 69
0.0958896990014182
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL #3] n=5 t_raw=[-1.1909,-1.4349,-1.7083,-1.6319,-1.6439] t_std=[1.5656,0.4120,-0.8810,-0.5199,-0.5767] t_probs=[0.8801,0.0876,0.0066,0.0136,0.0121] s_logits=[0.0102,-0.0313,-0.0774,-0.0472,-0.0415] s_probs=[0.2196,0.2021,0.1843,0.1958,0.1981] loss=0.38175
[DISTILL #3]   sid=0 per_frame_qv=[-1.3624,-1.3003,-1.1260,-0.9169,-1.0404,-1.0880,-1.3834,-1.4851,-1.1197,-1.0870] peak=-0.9169 mean=-1.1909 peak-min=0.5682
[DISTILL #3]   sid=1 per_frame_qv=[-1.0546,-1.1439,-1.4964,-1.7143,-1.5486,-1.3109,-1.0667,-1.4055,-1.7514,-1.8562] peak=-1.0546 mean=-1.4349 peak-min=0.8015
[DISTILL #3]   sid=2 per_frame_qv=[-1.7733,-1.6461,-1.6761,-1.6510,-1.6523,-1.5497,-1.3966,-1.8136,-2.0953,-1.8286] peak=-1.3966 mean=-1.7083 peak-min=0.6987
[DISTILL #3]   sid=3 per_frame_qv=[-1.5480,-1.6254,-1.7885,-1.4789,-1.1890,-1.4748,-1.6073,-1.8633,-1.8057,-1.9383] peak=-1.1890 mean=-1.6319 peak-min=0.7492
[DISTILL #3]   sid=4 per_frame_qv=[-1.6757,-1.6411,-1.4251,-1.6798,-1.3877,-1.4331,-1.4305,-1.8505,-2.0040,-1.9117] peak=-1.3877 mean=-1.6439 peak-min=0.6163
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.381748229265213
TTA-STEP: step=4 loss_distill=0.3817 tta_take=0.009s
Frame 72
tensor(0.2657)
 # KEYFRAME 70
0.09360093700161087
Frame 73
tensor(0.1388)
 # KEYFRAME 71
0.09384498600047664
Frame 74
tensor(0.3982)
 # KEYFRAME 72
0.09569934899991495
Frame 75
tensor(0.1047)
 # KEYFRAME 73
0.09681027599799563
Frame 76
tensor(0.0530)
Frame 77
tensor(0.4131)
 # KEYFRAME 74
0.09752960299738334
Frame 78
tensor(0.1036)
 # KEYFRAME 75
0.09916567700201995
Frame 79
tensor(0.1054)
 # KEYFRAME 76
0.10048901299887802
Frame 80
tensor(0.2155)
 # KEYFRAME 77
0.10098362999997335
Frame 81
tensor(0.1093)
 # KEYFRAME 78
0.10076594100246439
Frame 82
tensor(0.2015)
 # KEYFRAME 79
0.10216261700043106
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 3, 4, 5] dropped=[2] scores=[(0, 0.0651390552520752), (1, 0.01603100076317787), (2, -0.05371387302875519), (3, -0.010625561699271202), (4, -0.017049696296453476), (5, 0.009319128468632698)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL #4] n=5 t_raw=[-1.0716,-1.3232,-1.4950,-1.4903,-1.0955] t_std=[1.0887,-0.1368,-0.9733,-0.9507,0.9720] t_probs=[0.5233,0.0451,0.0085,0.0089,0.4143] s_logits=[0.0651,0.0160,-0.0106,-0.0170,0.0093] s_probs=[0.2218,0.2010,0.1906,0.1882,0.1984] loss=0.38985
[DISTILL #4]   sid=0 per_frame_qv=[-1.2749,-1.2047,-1.0209,-0.7997,-0.9036,-0.9712,-1.2670,-1.3768,-0.9841,-0.9129] peak=-0.7997 mean=-1.0716 peak-min=0.5771
[DISTILL #4]   sid=1 per_frame_qv=[-0.9319,-1.0779,-1.3666,-1.5692,-1.4047,-1.2129,-0.9920,-1.2708,-1.6176,-1.7884] peak=-0.9319 mean=-1.3232 peak-min=0.8566
[DISTILL #4]   sid=3 per_frame_qv=[-1.4470,-1.5359,-1.6805,-1.2905,-1.0209,-1.2828,-1.4506,-1.7529,-1.6563,-1.8322] peak=-1.0209 mean=-1.4950 peak-min=0.8113
[DISTILL #4]   sid=4 per_frame_qv=[-1.6067,-1.5512,-1.2881,-1.4719,-1.2181,-1.2666,-1.2714,-1.6782,-1.8226,-1.7285] peak=-1.2181 mean=-1.4903 peak-min=0.6045
[DISTILL #4]   sid=5 per_frame_qv=[-1.5130,-1.4073,-1.3041,-1.1923,-0.9196,-0.8396,-0.8304,-0.8376,-0.9950,-1.1165] peak=-0.8304 mean=-1.0955 peak-min=0.6825
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[0, 1, 5, 3, 4] dts=[7, 6, 2, 4, 3]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3898543119430542
TTA-STEP: step=5 loss_distill=0.3899 tta_take=0.010s
Frame 83
tensor(0.2863)
 # KEYFRAME 80
0.09313137799836113
Frame 84
tensor(0.3001)
 # KEYFRAME 81
0.09439317400028813
Frame 85
tensor(0.1809)
 # KEYFRAME 82
0.09547983999800636
Frame 86
tensor(0.2689)
 # KEYFRAME 83
0.09615589799795998
Frame 87
tensor(0.4176)
 # KEYFRAME 84
0.09689275499840733
Frame 88
tensor(0.3935)
 # KEYFRAME 85
0.09770856300019659
Frame 89
tensor(0.2317)
 # KEYFRAME 86
0.09831100999872433
Frame 90
tensor(0.3624)
 # KEYFRAME 87
0.09821007999926223
Frame 91
tensor(0.2947)
 # KEYFRAME 88
0.0991707770008361
Frame 92
tensor(0.1191)
 # KEYFRAME 89
0.09915373699914198
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 3, 5, 6] dropped=[2, 4] scores=[(0, 0.0982886329293251), (1, 0.046343881636857986), (2, -0.04348697513341904), (3, 0.007661111187189817), (4, -0.0005153748206794262), (5, 0.03280413895845413), (6, 0.05014275014400482)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL #5] n=5 t_raw=[-0.9307,-1.1308,-1.3220,-0.8886,-0.7283] t_std=[0.3013,-0.5680,-1.3989,0.4845,1.1810] t_probs=[0.1182,0.0208,0.0039,0.1705,0.6866] s_logits=[0.0983,0.0463,0.0077,0.0328,0.0501] s_probs=[0.2212,0.1994,0.1845,0.1940,0.2009] loss=0.40001
[DISTILL #5]   sid=0 per_frame_qv=[-1.0622,-1.0005,-0.8857,-0.7114,-0.8308,-0.8262,-1.0719,-1.1801,-0.9046,-0.8338] peak=-0.7114 mean=-0.9307 peak-min=0.4687
[DISTILL #5]   sid=1 per_frame_qv=[-0.8165,-0.8405,-1.1668,-1.3569,-1.2391,-1.0406,-0.8720,-1.1463,-1.3898,-1.4393] peak=-0.8165 mean=-1.1308 peak-min=0.6228
[DISTILL #5]   sid=3 per_frame_qv=[-1.3091,-1.3787,-1.5044,-1.1924,-0.9384,-1.1645,-1.2483,-1.5103,-1.4117,-1.5621] peak=-0.9384 mean=-1.3220 peak-min=0.6237
[DISTILL #5]   sid=5 per_frame_qv=[-1.3847,-1.2671,-1.1553,-1.0080,-0.7187,-0.6114,-0.6033,-0.5795,-0.7275,-0.8301] peak=-0.5795 mean=-0.8886 peak-min=0.8052
[DISTILL #5]   sid=6 per_frame_qv=[-0.5608,-0.5435,-0.5083,-0.5461,-0.6486,-0.8565,-0.6345,-0.9590,-1.0409,-0.9845] peak=-0.5083 mean=-0.7283 peak-min=0.5327
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[0, 6, 1, 5, 3] dts=[8, 2, 7, 3, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4000118374824524
TTA-STEP: step=6 loss_distill=0.4000 tta_take=0.009s
Frame 93
tensor(0.3385)
 # KEYFRAME 90
0.09398331499687629
Frame 94
tensor(0.1843)
 # KEYFRAME 91
0.0940170149988262
Frame 95
tensor(0.1528)
 # KEYFRAME 92
0.09522898100112798
Frame 96
tensor(0.0802)
Frame 97
tensor(0.1856)
 # KEYFRAME 93
0.09557353999844054
Frame 98
tensor(0.1464)
 # KEYFRAME 94
0.09693410500040045
Frame 99
tensor(0.3601)
 # KEYFRAME 95
0.09760069200274302
Frame 100
tensor(0.2852)
 # KEYFRAME 96
0.09798952100027236
Frame 101
tensor(0.0974)
Frame 102
tensor(0.6115)
 # KEYFRAME 97
0.09898011800032691
Frame 103
tensor(0.6132)
 # KEYFRAME 98
0.09950104499876034
Frame 104
tensor(0.1841)
 # KEYFRAME 99
0.09946330599996145
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 5, 6, 7] dropped=[2, 3, 4] scores=[(0, 0.10946635156869888), (1, 0.05144980922341347), (2, -0.043207474052906036), (3, 0.013689435087144375), (4, 0.017140766605734825), (5, 0.05793129652738571), (6, 0.08613263070583344), (7, 0.029995808377861977)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL #6] n=5 t_raw=[-0.6620,-0.8370,-0.6298,-0.4472,-0.6831] t_std=[-0.0730,-1.3284,0.1582,1.4679,-0.2247] t_probs=[0.0397,0.0032,0.0630,0.8648,0.0293] s_logits=[0.1095,0.0514,0.0579,0.0861,0.0300] s_probs=[0.2174,0.1936,0.1961,0.2075,0.1854] loss=0.39448
[DISTILL #6]   sid=0 per_frame_qv=[-0.7810,-0.7342,-0.6523,-0.4490,-0.5879,-0.5705,-0.7886,-0.8511,-0.6127,-0.5928] peak=-0.4490 mean=-0.6620 peak-min=0.4021
[DISTILL #6]   sid=1 per_frame_qv=[-0.5692,-0.5750,-0.8277,-0.9899,-0.9562,-0.7936,-0.6697,-0.9029,-1.0752,-1.0105] peak=-0.5692 mean=-0.8370 peak-min=0.5059
[DISTILL #6]   sid=5 per_frame_qv=[-1.0730,-1.0186,-0.9393,-0.7950,-0.5076,-0.3612,-0.3371,-0.2868,-0.4472,-0.5320] peak=-0.2868 mean=-0.6298 peak-min=0.7862
[DISTILL #6]   sid=6 per_frame_qv=[-0.3302,-0.3399,-0.2740,-0.3051,-0.3397,-0.5756,-0.3771,-0.6170,-0.6802,-0.6332] peak=-0.2740 mean=-0.4472 peak-min=0.4063
[DISTILL #6]   sid=7 per_frame_qv=[-0.5340,-0.7451,-0.7640,-0.6523,-0.7055,-0.6393,-0.6886,-0.7047,-0.5798,-0.8181] peak=-0.5340 mean=-0.6831 peak-min=0.2840
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[0, 6, 5, 1, 7] dts=[9, 3, 4, 8, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3944825232028961
TTA-STEP: step=7 loss_distill=0.3945 tta_take=0.010s
Frame 105
tensor(0.0807)
Frame 106
tensor(0.4599)
 # KEYFRAME 100
0.09367465600007563
Frame 107
tensor(0.0583)
Frame 108
tensor(0.5088)
 # KEYFRAME 101
0.09420980399954715
Frame 109
tensor(0.1853)
 # KEYFRAME 102
0.09511669100174913
Frame 110
tensor(0.4837)
 # KEYFRAME 103
0.09599536800305941
Frame 111
tensor(0.1186)
 # KEYFRAME 104
0.09694084500006284
Frame 112
tensor(0.2644)
 # KEYFRAME 105
0.09732079399691429
Frame 113
tensor(0.2010)
 # KEYFRAME 106
0.09772827199776657
Frame 114
tensor(0.2403)
 # KEYFRAME 107
0.09858332899966626
Frame 115
tensor(0.1541)
 # KEYFRAME 108
0.09986443399975542
Frame 116
tensor(0.3390)
 # KEYFRAME 109
0.10027989300215268
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 5, 6, 7] dropped=[2, 3, 4, 8] scores=[(0, 0.10147708654403687), (1, 0.033337414264678955), (2, -0.0789475366473198), (3, -0.008554844185709953), (4, 0.01989147812128067), (5, 0.07733019441366196), (6, 0.1288803219795227), (7, 0.07700574398040771), (8, 0.02793237939476967)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL #7] n=5 t_raw=[-0.7346,-0.9026,-0.6528,-0.4960,-0.7270] t_std=[-0.2172,-1.3580,0.3381,1.4025,-0.1653] t_probs=[0.0325,0.0033,0.0987,0.8294,0.0361] s_logits=[0.1015,0.0333,0.0773,0.1289,0.0770] s_probs=[0.2069,0.1805,0.1971,0.2185,0.1970] loss=0.38430
[DISTILL #7]   sid=0 per_frame_qv=[-0.8384,-0.7997,-0.7072,-0.5390,-0.6689,-0.6428,-0.8669,-0.9008,-0.7056,-0.6767] peak=-0.5390 mean=-0.7346 peak-min=0.3618
[DISTILL #7]   sid=1 per_frame_qv=[-0.5990,-0.6114,-0.9002,-1.0855,-1.0651,-0.8563,-0.6880,-0.9741,-1.1721,-1.0744] peak=-0.5990 mean=-0.9026 peak-min=0.5731
[DISTILL #7]   sid=5 per_frame_qv=[-1.1827,-1.0809,-0.9787,-0.8277,-0.5581,-0.3789,-0.3071,-0.2881,-0.4306,-0.4954] peak=-0.2881 mean=-0.6528 peak-min=0.8946
[DISTILL #7]   sid=6 per_frame_qv=[-0.3654,-0.3084,-0.3025,-0.3248,-0.4056,-0.6921,-0.4646,-0.6998,-0.7098,-0.6873] peak=-0.3025 mean=-0.4960 peak-min=0.4072
[DISTILL #7]   sid=7 per_frame_qv=[-0.5236,-0.7456,-0.8249,-0.7090,-0.7600,-0.6933,-0.7438,-0.6913,-0.6521,-0.9258] peak=-0.5236 mean=-0.7270 peak-min=0.4023
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[6, 0, 5, 7, 1] dts=[4, 10, 5, 3, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3843008875846863
TTA-STEP: step=8 loss_distill=0.3843 tta_take=0.009s
Frame 117
tensor(0.2495)
 # KEYFRAME 110
0.09348457799933385
Frame 118
tensor(0.1602)
 # KEYFRAME 111
0.09414307499901042
Frame 119
tensor(0.3769)
 # KEYFRAME 112
0.09601665800073533
Frame 120
tensor(0.3679)
 # KEYFRAME 113
0.09656531599830487
Frame 121
tensor(0.2781)
 # KEYFRAME 114
0.0960386680017109
Frame 122
tensor(0.1758)
 # KEYFRAME 115
0.09723030299937818
Frame 123
tensor(0.2393)
 # KEYFRAME 116
0.09835621999809518
Frame 124
tensor(0.1229)
 # KEYFRAME 117
0.09860950900110765
Frame 125
tensor(0.2136)
 # KEYFRAME 118
0.09911261799788917
Frame 126
tensor(0.4464)
 # KEYFRAME 119
0.09967993499958538
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[5, 6, 7, 8, 9] dropped=[0, 1, 2, 3, 4] scores=[(0, 0.034564655274152756), (1, -0.038297850638628006), (2, -0.16817520558834076), (3, -0.08961337059736252), (4, -0.02879156544804573), (5, 0.05682745948433876), (6, 0.13293054699897766), (7, 0.09559319913387299), (8, 0.0680931881070137), (9, 0.10536752641201019)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[6, 9, 7, 8, 5] dts=[5, 2, 4, 3, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.38958632946014404
TTA-STEP: step=9 loss_distill=0.3896 tta_take=0.009s
Frame 127
tensor(0.4515)
 # KEYFRAME 120
0.09392497500084573
Frame 128
tensor(0.2540)
 # KEYFRAME 121
0.0941828440008976
Frame 129
tensor(0.3498)
 # KEYFRAME 122
0.09500748200298403
Frame 130
tensor(0.3386)
 # KEYFRAME 123
0.09570916899974691
Frame 131
tensor(0.1387)
 # KEYFRAME 124
0.0969783649998135
Frame 132
tensor(0.0598)
Frame 133
tensor(0.4787)
 # KEYFRAME 125
0.09747031300139497
Frame 134
tensor(0.0333)
Frame 135
tensor(0.1423)
 # KEYFRAME 126
0.09881571900041308
Frame 136
tensor(0.1250)
 # KEYFRAME 127
0.0989206180020119
Frame 137
tensor(0.0833)
Frame 138
tensor(0.3305)
 # KEYFRAME 128
0.10013011400224059
Frame 139
tensor(0.1520)
 # KEYFRAME 129
0.10006114399948274
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[5, 6, 7, 9, 10] dropped=[0, 1, 2, 3, 4, 8] scores=[(0, 0.05267827585339546), (1, -0.030556023120880127), (2, -0.16814811527729034), (3, -0.0805639997124672), (4, 0.0016339088324457407), (5, 0.09253191202878952), (6, 0.18488000333309174), (7, 0.12958939373493195), (8, 0.08888987451791763), (9, 0.12392666935920715), (10, 0.22960062325000763)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[10, 6, 7, 9, 5] dts=[2, 6, 5, 3, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.39851582050323486
TTA-STEP: step=10 loss_distill=0.3985 tta_take=0.009s
Frame 140
tensor(0.2396)
 # KEYFRAME 130
0.09364084700064268
Frame 141
tensor(0.2338)
 # KEYFRAME 131
0.09397920600167708
Frame 142
tensor(0.1777)
 # KEYFRAME 132
0.0957253890010179
Frame 143
tensor(0.2303)
 # KEYFRAME 133
0.096061757998541
Frame 144
tensor(0.1373)
 # KEYFRAME 134
0.09726210300141247
Frame 145
tensor(0.1794)
 # KEYFRAME 135
0.09768154199991841
Frame 146
tensor(0.3633)
 # KEYFRAME 136
0.09904244700010167
Frame 147
tensor(0.3282)
 # KEYFRAME 137
0.09897503799948026
Frame 148
tensor(0.1196)
 # KEYFRAME 138
0.09987029500189237
Backending... 139 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[6, 7, 9, 10, 11] dropped=[0, 1, 2, 3, 4, 5, 8] scores=[(0, 0.025196004658937454), (1, -0.06044391170144081), (2, -0.2111935019493103), (3, -0.12026440352201462), (4, -0.03505890816450119), (5, 0.06834365427494049), (6, 0.15807433426380157), (7, 0.08563155680894852), (8, 0.045741260051727295), (9, 0.07191448658704758), (10, 0.17383740842342377), (11, 0.2973977029323578)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 71829, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[11, 10, 6, 7, 9] dts=[2, 3, 7, 6, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.40773436427116394
TTA-STEP: step=11 loss_distill=0.4077 tta_take=0.009s
[epoch 0 scene 1/556] scannetpp/302a7f6b67/frame frames=149 tta_steps_this_scene=11 mean_loss=0.3564 total_steps=11 time=71.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0718)
Frame 2
tensor(0.1152)
 # KEYFRAME 1
Frame 3
tensor(0.1123)
 # KEYFRAME 2
0.06018479599879356
Frame 4
tensor(0.0555)
Frame 5
tensor(0.1424)
 # KEYFRAME 3
0.05220564400224248
Frame 6
tensor(0.1037)
 # KEYFRAME 4
0.053629239002475515
Frame 7
tensor(0.0952)
Frame 8
tensor(0.1784)
 # KEYFRAME 5
0.0539805480002542
Frame 9
tensor(0.1208)
 # KEYFRAME 6
0.05584155099859345
Frame 10
tensor(0.1155)
 # KEYFRAME 7
0.05657096799768624
Frame 11
tensor(0.0887)
Frame 12
tensor(0.1212)
 # KEYFRAME 8
0.057170965999830514
Frame 13
tensor(0.0755)
Frame 14
tensor(0.1526)
 # KEYFRAME 9
0.05821989200194366
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 15
tensor(0.0818)
Frame 16
tensor(0.3246)
 # KEYFRAME 10
0.05162561700126389
Frame 17
tensor(0.0688)
Frame 18
tensor(0.1772)
 # KEYFRAME 11
0.05199646500113886
Frame 19
tensor(0.0898)
Frame 20
tensor(0.2222)
 # KEYFRAME 12
0.052031375002115965
Frame 21
tensor(0.0969)
Frame 22
tensor(0.1834)
 # KEYFRAME 13
0.05450453600133187
Frame 23
tensor(0.1553)
 # KEYFRAME 14
0.05448730700300075
Frame 24
tensor(0.1219)
 # KEYFRAME 15
0.05590207099885447
Frame 25
tensor(0.1450)
 # KEYFRAME 16
0.05558506200031843
Frame 26
tensor(0.1013)
 # KEYFRAME 17
0.05585440100185224
Frame 27
tensor(0.1034)
 # KEYFRAME 18
0.05668648799837683
Frame 28
tensor(0.0355)
Frame 29
tensor(0.1309)
 # KEYFRAME 19
0.057756703998165904
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 30
tensor(0.0743)
Frame 31
tensor(0.2118)
 # KEYFRAME 20
0.05393555800037575
Frame 32
tensor(0.1157)
 # KEYFRAME 21
0.05454948500118917
Frame 33
tensor(0.0972)
Frame 34
tensor(0.1654)
 # KEYFRAME 22
0.05525654300072347
Frame 35
tensor(0.1214)
 # KEYFRAME 23
0.055866852002509404
Frame 36
tensor(0.1345)
 # KEYFRAME 24
0.05630684900097549
Frame 37
tensor(0.0694)
Frame 38
tensor(0.1671)
 # KEYFRAME 25
0.05688161700163619
Frame 39
tensor(0.0797)
Frame 40
tensor(0.1780)
 # KEYFRAME 26
0.05847040200023912
Frame 41
tensor(0.0847)
Frame 42
tensor(0.1615)
 # KEYFRAME 27
0.058707371001219144
Frame 43
tensor(0.1010)
 # KEYFRAME 28
0.059400067999376915
Frame 44
tensor(0.1310)
 # KEYFRAME 29
0.060165425999002764
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 45
tensor(0.1783)
 # KEYFRAME 30
0.058422481997695286
Frame 46
tensor(0.1187)
 # KEYFRAME 31
0.05916382000214071
Frame 47
tensor(0.0984)
Frame 48
tensor(0.2659)
 # KEYFRAME 32
0.05945655899995472
Frame 49
tensor(0.1167)
 # KEYFRAME 33
0.06047455499719945
Frame 50
tensor(0.1154)
 # KEYFRAME 34
0.06111094299922115
Frame 51
tensor(0.0516)
Frame 52
tensor(0.1281)
 # KEYFRAME 35
0.061960998998983996
Frame 53
tensor(0.1003)
 # KEYFRAME 36
0.06244622800295474
Frame 54
tensor(0.1094)
 # KEYFRAME 37
0.0624952479993226
Frame 55
tensor(0.0706)
Frame 56
tensor(0.1921)
 # KEYFRAME 38
0.06329780400119489
Frame 57
tensor(0.1708)
 # KEYFRAME 39
0.06381645199871855
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1717824637889862
TTA-STEP: step=12 loss_distill=0.1718 tta_take=0.009s
Frame 58
tensor(0.1530)
 # KEYFRAME 40
0.06251320700175711
Frame 59
tensor(0.1145)
 # KEYFRAME 41
0.0633882239999366
Frame 60
tensor(0.1549)
 # KEYFRAME 42
0.06358714399902965
Frame 61
tensor(0.0993)
Frame 62
tensor(0.1617)
 # KEYFRAME 43
0.06392447300095228
Frame 63
tensor(0.0782)
Frame 64
tensor(0.1949)
 # KEYFRAME 44
0.06465526999818394
Frame 65
tensor(0.0664)
Frame 66
tensor(0.1124)
 # KEYFRAME 45
0.06531300800270401
Frame 67
tensor(0.0487)
Frame 68
tensor(0.0538)
Frame 69
tensor(0.1046)
 # KEYFRAME 46
0.06569718600076158
Frame 70
tensor(0.1432)
 # KEYFRAME 47
0.06568263599911006
Frame 71
tensor(0.2201)
 # KEYFRAME 48
0.0665925729990704
Frame 72
tensor(0.1361)
 # KEYFRAME 49
0.0673392499993497
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2681299149990082
TTA-STEP: step=13 loss_distill=0.2681 tta_take=0.009s
Frame 73
tensor(0.0746)
Frame 74
tensor(0.1185)
 # KEYFRAME 50
0.06737538100060192
Frame 75
tensor(0.0394)
Frame 76
tensor(0.0791)
Frame 77
tensor(0.1000)
 # KEYFRAME 51
0.06745301000046311
Frame 78
tensor(0.1307)
 # KEYFRAME 52
0.06863846499982174
Frame 79
tensor(0.1203)
 # KEYFRAME 53
0.0690085740025097
Frame 80
tensor(0.1385)
 # KEYFRAME 54
0.06891958499909379
Frame 81
tensor(0.1253)
 # KEYFRAME 55
0.06999311099934857
Frame 82
tensor(0.1310)
 # KEYFRAME 56
0.06979867100017145
Frame 83
tensor(0.1464)
 # KEYFRAME 57
0.07049962900055107
Frame 84
tensor(0.1756)
 # KEYFRAME 58
0.07104016700031934
Frame 85
tensor(0.1938)
 # KEYFRAME 59
0.07166685500124004
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3329460024833679
TTA-STEP: step=14 loss_distill=0.3329 tta_take=0.009s
Frame 86
tensor(0.1156)
 # KEYFRAME 60
0.07120802600184106
Frame 87
tensor(0.1125)
 # KEYFRAME 61
0.07139975500103901
Frame 88
tensor(0.1028)
 # KEYFRAME 62
0.07241218199851573
Frame 89
tensor(0.1160)
 # KEYFRAME 63
0.07307670999944094
Frame 90
tensor(0.1036)
 # KEYFRAME 64
0.07316285999695538
Frame 91
tensor(0.0849)
Frame 92
tensor(0.7037)
 # KEYFRAME 65
0.07346905899976264
Frame 93
tensor(0.1369)
 # KEYFRAME 66
0.07475072400120553
Frame 94
tensor(0.1019)
 # KEYFRAME 67
0.07533720200081007
Frame 95
tensor(0.0857)
Frame 96
tensor(0.1956)
 # KEYFRAME 68
0.0758157599993865
Frame 97
tensor(0.1003)
 # KEYFRAME 69
0.07627144799698726
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.37690645456314087
TTA-STEP: step=15 loss_distill=0.3769 tta_take=0.009s
Frame 98
tensor(0.1366)
 # KEYFRAME 70
0.07548411099924124
Frame 99
tensor(0.5666)
 # KEYFRAME 71
0.07584954000049038
Frame 100
tensor(0.1525)
 # KEYFRAME 72
0.07725911500165239
Frame 101
tensor(0.1105)
 # KEYFRAME 73
0.07747457400182611
Frame 102
tensor(0.0783)
Frame 103
tensor(0.1500)
 # KEYFRAME 74
0.07858291100274073
Frame 104
tensor(0.3764)
 # KEYFRAME 75
0.07942714799719397
Frame 105
tensor(0.0619)
Frame 106
tensor(0.1310)
 # KEYFRAME 76
0.0785580800002208
Frame 107
tensor(0.5476)
 # KEYFRAME 77
0.08123120099844527
Frame 108
tensor(0.0882)
Frame 109
tensor(0.1844)
 # KEYFRAME 78
0.08175107900024159
Frame 110
tensor(0.1645)
 # KEYFRAME 79
0.08183534899944789
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 0.07087964564561844), (1, 0.008805093355476856), (2, -0.014023742638528347), (3, -0.007962512783706188), (4, -0.08522294461727142), (5, -0.12954074144363403)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[0, 1, 3, 2, 4] dts=[7, 6, 4, 5, 3]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.36873045563697815
TTA-STEP: step=16 loss_distill=0.3687 tta_take=0.009s
Frame 111
tensor(0.1068)
 # KEYFRAME 80
0.07528212200122653
Frame 112
tensor(0.1030)
 # KEYFRAME 81
0.07606162999945809
Frame 113
tensor(0.5781)
 # KEYFRAME 82
0.07685875599781866
Frame 114
tensor(0.1717)
 # KEYFRAME 83
0.07789348200094537
Frame 115
tensor(0.1198)
 # KEYFRAME 84
0.07839275099831866
Frame 116
tensor(0.1048)
 # KEYFRAME 85
0.07928589800212649
Frame 117
tensor(0.0868)
Frame 118
tensor(0.1561)
 # KEYFRAME 86
0.07818119199873763
Frame 119
tensor(0.0604)
Frame 120
tensor(0.1580)
 # KEYFRAME 87
0.08090581199940061
Frame 121
tensor(0.1152)
 # KEYFRAME 88
0.08159947999956785
Frame 122
tensor(0.0762)
Frame 123
tensor(0.1245)
 # KEYFRAME 89
0.08228348699776689
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 0.043352268636226654), (1, -0.02836778573691845), (2, -0.05710843205451965), (3, -0.052632689476013184), (4, -0.13901156187057495), (5, -0.1883649080991745), (6, -0.2206808179616928)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[0, 1, 3, 2, 4] dts=[8, 7, 5, 6, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.36253806948661804
TTA-STEP: step=17 loss_distill=0.3625 tta_take=0.009s
Frame 124
tensor(0.0514)
Frame 125
tensor(0.0723)
Frame 126
tensor(0.0896)
Frame 127
tensor(0.1349)
 # KEYFRAME 90
0.07536632199844462
Frame 128
tensor(0.0363)
Frame 129
tensor(0.0500)
Frame 130
tensor(0.0696)
Frame 131
tensor(0.1214)
 # KEYFRAME 91
0.07610213899897644
Frame 132
tensor(0.0559)
Frame 133
tensor(0.1069)
 # KEYFRAME 92
0.07627840799978003
Frame 134
tensor(0.0478)
Frame 135
tensor(0.1428)
 # KEYFRAME 93
0.07741133399758837
Frame 136
tensor(0.0716)
Frame 137
tensor(0.1528)
 # KEYFRAME 94
0.07756263299961574
Frame 138
tensor(0.0980)
Frame 139
tensor(0.1980)
 # KEYFRAME 95
0.0779393330012681
Frame 140
tensor(0.3603)
 # KEYFRAME 96
0.0776483029985684
Frame 141
tensor(0.0919)
Frame 142
tensor(0.1313)
 # KEYFRAME 97
0.0798274360022333
Frame 143
tensor(1.0753)
 # KEYFRAME 98
0.07902597899737884
Frame 144
tensor(0.0799)
Frame 145
tensor(0.0394)
Frame 146
tensor(0.0541)
Frame 147
tensor(0.3504)
 # KEYFRAME 99
0.07973480600048788
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, -0.011430987156927586), (1, -0.09941542893648148), (2, -0.13694003224372864), (3, -0.1279877871274948), (4, -0.2383323460817337), (5, -0.2994579076766968), (6, -0.3436308205127716), (7, -0.3367142379283905)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[0, 1, 3, 2, 4] dts=[9, 8, 6, 7, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.35505104064941406
TTA-STEP: step=18 loss_distill=0.3551 tta_take=0.009s
Frame 148
tensor(0.1847)
 # KEYFRAME 100
0.075496491001104
Frame 149
tensor(0.1669)
 # KEYFRAME 101
0.07601065900234971
Backending... 102 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, -0.0924539789557457), (1, -0.1927422732114792), (2, -0.23559880256652832), (3, -0.22369538247585297), (4, -0.342752605676651), (5, -0.3979645371437073), (6, -0.43039920926094055), (7, -0.4022451639175415), (8, -0.48111680150032043)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 57660, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[0, 1, 3, 2, 4] dts=[10, 9, 7, 8, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3485163450241089
TTA-STEP: step=19 loss_distill=0.3485 tta_take=0.004s
[epoch 0 scene 2/556] scannetpp/7977624358/DSC frames=150 tta_steps_this_scene=8 mean_loss=0.3231 total_steps=19 time=54.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0142)
Frame 2
tensor(0.2009)
 # KEYFRAME 1
Frame 3
tensor(0.2015)
 # KEYFRAME 2
0.05113627799801179
Frame 4
tensor(0.1872)
 # KEYFRAME 3
0.05109293799978332
Frame 5
tensor(0.1896)
 # KEYFRAME 4
0.05116665700188605
Frame 6
tensor(0.2081)
 # KEYFRAME 5
0.05096766800124897
Frame 7
tensor(0.2375)
 # KEYFRAME 6
0.05284442100310116
Frame 8
tensor(0.2065)
 # KEYFRAME 7
0.05350346900013392
Frame 9
tensor(0.1837)
 # KEYFRAME 8
0.053909837999526644
Frame 10
tensor(0.1565)
 # KEYFRAME 9
0.05488524500105996
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.5122)
 # KEYFRAME 10
0.05221604400139768
Frame 12
tensor(0.3424)
 # KEYFRAME 11
0.052772721999645
Frame 13
tensor(0.2678)
 # KEYFRAME 12
0.05355667899857508
Frame 14
tensor(0.1336)
 # KEYFRAME 13
0.05592692099889973
Frame 15
tensor(0.1147)
 # KEYFRAME 14
0.05724957600250491
Frame 16
tensor(0.4192)
 # KEYFRAME 15
0.05844693200197071
Frame 17
tensor(0.2353)
 # KEYFRAME 16
0.059400349000497954
Frame 18
tensor(0.1310)
 # KEYFRAME 17
0.060917343998880824
Frame 19
tensor(0.1174)
 # KEYFRAME 18
0.06131908200040925
Frame 20
tensor(0.1173)
 # KEYFRAME 19
0.06215443799737841
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.1891)
 # KEYFRAME 20
0.05926457899840898
Frame 22
tensor(0.1766)
 # KEYFRAME 21
0.06043839400081197
Frame 23
tensor(0.2059)
 # KEYFRAME 22
0.06151113099986105
Frame 24
tensor(0.2364)
 # KEYFRAME 23
0.06292830600068555
Frame 25
tensor(0.2088)
 # KEYFRAME 24
0.06320588500238955
Frame 26
tensor(0.2020)
 # KEYFRAME 25
0.06434557100146776
Frame 27
tensor(0.1855)
 # KEYFRAME 26
0.06551540600048611
Frame 28
tensor(0.2077)
 # KEYFRAME 27
0.06621043400082272
Frame 29
tensor(0.1836)
 # KEYFRAME 28
0.06695361200036132
Frame 30
tensor(0.2585)
 # KEYFRAME 29
0.06750986000042758
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 31
tensor(0.2181)
 # KEYFRAME 30
0.06588523499885923
Frame 32
tensor(0.2334)
 # KEYFRAME 31
0.0669189109976287
Frame 33
tensor(0.2189)
 # KEYFRAME 32
0.06779964900124469
Frame 34
tensor(0.1552)
 # KEYFRAME 33
0.06854600599763216
Frame 35
tensor(0.1179)
 # KEYFRAME 34
0.06936240299910423
Frame 36
tensor(0.1806)
 # KEYFRAME 35
0.07046951899974374
Frame 37
tensor(0.1987)
 # KEYFRAME 36
0.07100589699984994
Frame 38
tensor(0.3496)
 # KEYFRAME 37
0.07164157499937573
Frame 39
tensor(0.2418)
 # KEYFRAME 38
0.07275722099802806
Frame 40
tensor(0.2301)
 # KEYFRAME 39
0.07314267000037944
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.16240116953849792
TTA-STEP: step=20 loss_distill=0.1624 tta_take=0.009s
Frame 41
tensor(0.2622)
 # KEYFRAME 40
0.07260494200090761
Frame 42
tensor(0.2226)
 # KEYFRAME 41
0.07403858700126875
Frame 43
tensor(0.2035)
 # KEYFRAME 42
0.07425377600156935
Frame 44
tensor(0.1720)
 # KEYFRAME 43
0.07561168099709903
Frame 45
tensor(0.3977)
 # KEYFRAME 44
0.07610570899851155
Frame 46
tensor(0.2851)
 # KEYFRAME 45
0.07679259600263322
Frame 47
tensor(0.2528)
 # KEYFRAME 46
0.07693110699983663
Frame 48
tensor(0.3271)
 # KEYFRAME 47
0.0782026209999458
Frame 49
tensor(0.2344)
 # KEYFRAME 48
0.07967693599857739
Frame 50
tensor(0.2121)
 # KEYFRAME 49
0.0809712619993661
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2654568552970886
TTA-STEP: step=21 loss_distill=0.2655 tta_take=0.009s
Frame 51
tensor(0.3733)
 # KEYFRAME 50
0.07998483499977738
Frame 52
tensor(0.4671)
 # KEYFRAME 51
0.08063348299765494
Frame 53
tensor(0.2037)
 # KEYFRAME 52
0.08205651800017222
Frame 54
tensor(0.2121)
 # KEYFRAME 53
0.08275824600059423
Frame 55
tensor(0.6320)
 # KEYFRAME 54
0.0845469090018014
Frame 56
tensor(0.2656)
 # KEYFRAME 55
0.08508686700224644
Frame 57
tensor(0.2577)
 # KEYFRAME 56
0.08648406200154568
Frame 58
tensor(0.3428)
 # KEYFRAME 57
0.08763397800066741
Frame 59
tensor(0.2724)
 # KEYFRAME 58
0.08865525399960461
Frame 60
tensor(0.2591)
 # KEYFRAME 59
0.08921214200017857
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.335341215133667
TTA-STEP: step=22 loss_distill=0.3353 tta_take=0.009s
Frame 61
tensor(0.2713)
 # KEYFRAME 60
0.08666544199877535
Frame 62
tensor(0.3407)
 # KEYFRAME 61
0.08700531000067713
Frame 63
tensor(0.2778)
 # KEYFRAME 62
0.08798723699874245
Frame 64
tensor(0.2377)
 # KEYFRAME 63
0.08852899499834166
Frame 65
tensor(0.1271)
 # KEYFRAME 64
0.08951878199877683
Frame 66
tensor(0.3226)
 # KEYFRAME 65
0.08987141100078588
Frame 67
tensor(0.3184)
 # KEYFRAME 66
0.09082309700170299
Frame 68
tensor(0.2628)
 # KEYFRAME 67
0.09186845299700508
Frame 69
tensor(0.2418)
 # KEYFRAME 68
0.09238832099799765
Frame 70
tensor(0.2500)
 # KEYFRAME 69
0.09308359900023788
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4007771909236908
TTA-STEP: step=23 loss_distill=0.4008 tta_take=0.009s
Frame 71
tensor(0.2728)
 # KEYFRAME 70
0.09280116000081762
Frame 72
tensor(0.2415)
 # KEYFRAME 71
0.09460825299902353
Frame 73
tensor(0.2346)
 # KEYFRAME 72
0.09552599000016926
Frame 74
tensor(0.2728)
 # KEYFRAME 73
0.0955367099995783
Frame 75
tensor(0.3150)
 # KEYFRAME 74
0.09709514399946784
Frame 76
tensor(0.2677)
 # KEYFRAME 75
0.098090539999248
Frame 77
tensor(0.4089)
 # KEYFRAME 76
0.09911461800220422
Frame 78
tensor(0.4306)
 # KEYFRAME 77
0.09923356700164732
Frame 79
tensor(0.2334)
 # KEYFRAME 78
0.09951876500053913
Frame 80
tensor(0.3132)
 # KEYFRAME 79
0.10133488900100929
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, -0.9013149738311768), (1, -1.014228105545044), (2, -0.9095589518547058), (3, -0.8839929103851318), (4, -1.0611509084701538), (5, -1.1090997457504272)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[3, 0, 2, 1, 4] dts=[4, 7, 5, 6, 3]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.38799914717674255
TTA-STEP: step=24 loss_distill=0.3880 tta_take=0.009s
Frame 81
tensor(0.4527)
 # KEYFRAME 80
0.09308076900197193
Frame 82
tensor(0.3948)
 # KEYFRAME 81
0.09387555599823827
Frame 83
tensor(0.1648)
 # KEYFRAME 82
0.09457641299741226
Frame 84
tensor(0.1619)
 # KEYFRAME 83
0.09517744099866832
Frame 85
tensor(0.2092)
 # KEYFRAME 84
0.09614092799893115
Frame 86
tensor(0.2325)
 # KEYFRAME 85
0.09733887100082939
Frame 87
tensor(0.1122)
 # KEYFRAME 86
0.09892337500059512
Frame 88
tensor(0.1424)
 # KEYFRAME 87
0.0996401029988192
Frame 89
tensor(0.2464)
 # KEYFRAME 88
0.10050688999763224
Frame 90
tensor(0.2520)
 # KEYFRAME 89
0.10087501899761264
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, -0.7979074120521545), (1, -0.9246011972427368), (2, -0.8435913324356079), (3, -0.813215434551239), (4, -0.9536516070365906), (5, -1.008792519569397), (6, -1.2113239765167236)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[0, 3, 2, 1, 4] dts=[8, 5, 6, 7, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.38172823190689087
TTA-STEP: step=25 loss_distill=0.3817 tta_take=0.009s
Frame 91
tensor(0.1434)
 # KEYFRAME 90
0.09348337399933371
Frame 92
tensor(0.2530)
 # KEYFRAME 91
0.09383866399730323
Frame 93
tensor(0.1739)
 # KEYFRAME 92
0.09438443100225413
Frame 94
tensor(0.2712)
 # KEYFRAME 93
0.09534274799807463
Frame 95
tensor(0.2306)
 # KEYFRAME 94
0.09640157499961788
Frame 96
tensor(0.1999)
 # KEYFRAME 95
0.09772567999971216
Frame 97
tensor(0.1449)
 # KEYFRAME 96
0.09782127899961779
Frame 98
tensor(0.1881)
 # KEYFRAME 97
0.09956215299825999
Frame 99
tensor(0.1858)
 # KEYFRAME 98
0.10030281099898275
Frame 100
tensor(0.1872)
 # KEYFRAME 99
0.10123575800025719
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, -0.9325631260871887), (1, -1.0732715129852295), (2, -1.003943681716919), (3, -0.9647408723831177), (4, -1.1025019884109497), (5, -1.1647382974624634), (6, -1.4029914140701294), (7, -1.50131356716156)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[0, 3, 2, 1, 4] dts=[9, 6, 7, 8, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3721965253353119
TTA-STEP: step=26 loss_distill=0.3722 tta_take=0.009s
Frame 101
tensor(0.2288)
 # KEYFRAME 100
0.09318354499919224
Frame 102
tensor(0.1989)
 # KEYFRAME 101
0.09382488299888792
Frame 103
tensor(0.2129)
 # KEYFRAME 102
0.09452258100282052
Frame 104
tensor(0.2194)
 # KEYFRAME 103
0.0949835190003796
Frame 105
tensor(0.2303)
 # KEYFRAME 104
0.09692818199982867
Frame 106
tensor(0.1059)
 # KEYFRAME 105
0.09772948899990297
Frame 107
tensor(0.2314)
 # KEYFRAME 106
0.09843401800026186
Frame 108
tensor(0.2272)
 # KEYFRAME 107
0.09919833399908384
Frame 109
tensor(0.2085)
 # KEYFRAME 108
0.09961768300127005
Frame 110
tensor(0.1303)
 # KEYFRAME 109
0.0997910830010369
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, -0.9130713939666748), (1, -1.053493618965149), (2, -0.9934217929840088), (3, -0.9580152034759521), (4, -1.0848724842071533), (5, -1.1542394161224365), (6, -1.365256667137146), (7, -1.4614020586013794), (8, -1.2728307247161865)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[0, 3, 2, 1, 4] dts=[10, 7, 8, 9, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3920566439628601
TTA-STEP: step=27 loss_distill=0.3921 tta_take=0.009s
Frame 111
tensor(0.1575)
 # KEYFRAME 110
0.09346686400022008
Frame 112
tensor(0.1549)
 # KEYFRAME 111
0.09453360100087593
Frame 113
tensor(0.1732)
 # KEYFRAME 112
0.09596407499702764
Frame 114
tensor(0.1923)
 # KEYFRAME 113
0.09670004299914581
Frame 115
tensor(0.1841)
 # KEYFRAME 114
0.09725837100268109
Frame 116
tensor(0.3666)
 # KEYFRAME 115
0.09883982600149466
Frame 117
tensor(0.1957)
 # KEYFRAME 116
0.09990030199696776
Frame 118
tensor(0.2383)
 # KEYFRAME 117
0.10106848800205626
Frame 119
tensor(0.2479)
 # KEYFRAME 118
0.10167331599950558
Frame 120
tensor(0.2120)
 # KEYFRAME 119
0.10213575399757246
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, -1.0145678520202637), (1, -1.1516722440719604), (2, -1.1013154983520508), (3, -1.0691472291946411), (4, -1.221065640449524), (5, -1.2860628366470337), (6, -1.5397391319274902), (7, -1.643450140953064), (8, -1.4344125986099243), (9, -1.4727877378463745)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[0, 3, 2, 1, 4] dts=[11, 8, 9, 10, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.40270212292671204
TTA-STEP: step=28 loss_distill=0.4027 tta_take=0.009s
Frame 121
tensor(0.2479)
 # KEYFRAME 120
0.09363612400193233
Frame 122
tensor(0.3064)
 # KEYFRAME 121
0.09416634200169938
Frame 123
tensor(0.6234)
 # KEYFRAME 122
0.09509711799910292
Frame 124
tensor(0.2904)
 # KEYFRAME 123
0.0962267549984972
Frame 125
tensor(0.2781)
 # KEYFRAME 124
0.09667259300113074
Frame 126
tensor(0.3026)
 # KEYFRAME 125
0.09752230999947642
Frame 127
tensor(0.2710)
 # KEYFRAME 126
0.09918554499745369
Frame 128
tensor(0.2461)
 # KEYFRAME 127
0.09851447700202698
Frame 129
tensor(0.2997)
 # KEYFRAME 128
0.09983058299985714
Frame 130
tensor(0.2121)
 # KEYFRAME 129
0.09957484400001704
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, -1.1676627397537231), (1, -1.3164461851119995), (2, -1.2658586502075195), (3, -1.2266110181808472), (4, -1.3944934606552124), (5, -1.4724061489105225), (6, -1.7559947967529297), (7, -1.8908361196517944), (8, -1.6404060125350952), (9, -1.675400733947754), (10, -1.5270663499832153)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[0, 3, 2, 1, 4] dts=[12, 9, 10, 11, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3958762586116791
TTA-STEP: step=29 loss_distill=0.3959 tta_take=0.009s
Frame 131
tensor(0.2307)
 # KEYFRAME 130
0.09298311599923181
Frame 132
tensor(0.1765)
 # KEYFRAME 131
0.09463002999837045
Frame 133
tensor(0.2007)
 # KEYFRAME 132
0.09602111499771127
Frame 134
tensor(0.1030)
 # KEYFRAME 133
0.09641895400272915
Frame 135
tensor(0.1052)
 # KEYFRAME 134
0.0974997599987546
Frame 136
tensor(0.2043)
 # KEYFRAME 135
0.09938633400088293
Frame 137
tensor(0.1528)
 # KEYFRAME 136
0.10024367000005441
Frame 138
tensor(0.1932)
 # KEYFRAME 137
0.10153584599902388
Frame 139
tensor(0.1039)
 # KEYFRAME 138
0.10209197399672121
Backending... 139 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, -1.2666157484054565), (1, -1.4204334020614624), (2, -1.3800243139266968), (3, -1.3343391418457031), (4, -1.5018150806427002), (5, -1.580868124961853), (6, -1.897529125213623), (7, -2.049614191055298), (8, -1.7917112112045288), (9, -1.8055893182754517), (10, -1.6623451709747314), (11, -1.844277262687683)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 71829, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[0, 3, 2, 1, 4] dts=[13, 10, 11, 12, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.36789700388908386
TTA-STEP: step=30 loss_distill=0.3679 tta_take=0.009s
[epoch 0 scene 3/556] scannetpp/394a542a19/frame frames=140 tta_steps_this_scene=11 mean_loss=0.3513 total_steps=30 time=61.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0650)
Frame 2
tensor(0.1028)
 # KEYFRAME 1
Frame 3
tensor(0.1290)
 # KEYFRAME 2
0.051195272000768455
Frame 4
tensor(0.1359)
 # KEYFRAME 3
0.051197452001360944
Frame 5
tensor(0.1282)
 # KEYFRAME 4
0.051423090997559484
Frame 6
tensor(0.0873)
Frame 7
tensor(0.2051)
 # KEYFRAME 5
0.051963379002700094
Frame 8
tensor(0.1987)
 # KEYFRAME 6
0.052780187001189915
Frame 9
tensor(0.2016)
 # KEYFRAME 7
0.05397877199720824
Frame 10
tensor(0.1126)
 # KEYFRAME 8
0.05667811300008907
Frame 11
tensor(0.1809)
 # KEYFRAME 9
0.05539907700222102
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.0958)
Frame 13
tensor(0.1150)
 # KEYFRAME 10
0.05142836099912529
Frame 14
tensor(0.0578)
Frame 15
tensor(0.1542)
 # KEYFRAME 11
0.051413621000392595
Frame 16
tensor(0.1457)
 # KEYFRAME 12
0.05205399799888255
Frame 17
tensor(0.0636)
Frame 18
tensor(0.1888)
 # KEYFRAME 13
0.05300118499872042
Frame 19
tensor(0.1150)
 # KEYFRAME 14
0.0539295119997405
Frame 20
tensor(0.0494)
Frame 21
tensor(0.1269)
 # KEYFRAME 15
0.05337067399887019
Frame 22
tensor(0.1375)
 # KEYFRAME 16
0.054000832002202515
Frame 23
tensor(0.1925)
 # KEYFRAME 17
0.055131847999291494
Frame 24
tensor(0.1212)
 # KEYFRAME 18
0.05565765599749284
Frame 25
tensor(0.2587)
 # KEYFRAME 19
0.056785501998092514
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 26
tensor(0.2626)
 # KEYFRAME 20
0.05388155200125766
Frame 27
tensor(0.1639)
 # KEYFRAME 21
0.05457127999761724
Frame 28
tensor(0.0659)
Frame 29
tensor(0.1575)
 # KEYFRAME 22
0.05526363799799583
Frame 30
tensor(0.2067)
 # KEYFRAME 23
0.05568482599846902
Frame 31
tensor(0.0361)
Frame 32
tensor(0.1564)
 # KEYFRAME 24
0.056303052999282954
Frame 33
tensor(0.1718)
 # KEYFRAME 25
0.05682348200207343
Frame 34
tensor(0.1393)
 # KEYFRAME 26
0.05795979800313944
Frame 35
tensor(0.0707)
Frame 36
tensor(0.1619)
 # KEYFRAME 27
0.05854019599792082
Frame 37
tensor(0.2062)
 # KEYFRAME 28
0.05868406599984155
Frame 38
tensor(0.1417)
 # KEYFRAME 29
0.059857001000636956
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 39
tensor(0.0600)
Frame 40
tensor(0.1868)
 # KEYFRAME 30
0.05832194699905813
Frame 41
tensor(0.1794)
 # KEYFRAME 31
0.059345843001210596
Frame 42
tensor(0.0841)
Frame 43
tensor(0.2771)
 # KEYFRAME 32
0.05935491399941384
Frame 44
tensor(0.3940)
 # KEYFRAME 33
0.062175984003260965
Frame 45
tensor(0.1569)
 # KEYFRAME 34
0.06274622099954286
Frame 46
tensor(0.0707)
Frame 47
tensor(0.2084)
 # KEYFRAME 35
0.06335440899783862
Frame 48
tensor(0.7442)
 # KEYFRAME 36
0.0644737750008062
Frame 49
tensor(0.1094)
 # KEYFRAME 37
0.06537723300061771
Frame 50
tensor(0.0117)
Frame 51
tensor(0.1673)
 # KEYFRAME 38
0.06593578000320122
Frame 52
tensor(0.0535)
Frame 53
tensor(0.0845)
Frame 54
tensor(0.2246)
 # KEYFRAME 39
0.06615700000111246
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.16772863268852234
TTA-STEP: step=31 loss_distill=0.1677 tta_take=0.009s
Frame 55
tensor(0.1127)
 # KEYFRAME 40
0.06256784200013499
Frame 56
tensor(0.0460)
Frame 57
tensor(0.1171)
 # KEYFRAME 41
0.0633881889989425
Frame 58
tensor(0.0551)
Frame 59
tensor(0.1788)
 # KEYFRAME 42
0.06370984800014412
Frame 60
tensor(0.0504)
Frame 61
tensor(0.1508)
 # KEYFRAME 43
0.06376107799951569
Frame 62
tensor(0.1422)
 # KEYFRAME 44
0.06475974500062875
Frame 63
tensor(0.1094)
 # KEYFRAME 45
0.06514692299970193
Frame 64
tensor(0.1020)
 # KEYFRAME 46
0.06584021100206883
Frame 65
tensor(0.1161)
 # KEYFRAME 47
0.06613509900125791
Frame 66
tensor(0.0390)
Frame 67
tensor(0.0689)
Frame 68
tensor(0.1066)
 # KEYFRAME 48
0.06681835700146621
Frame 69
tensor(0.1107)
 # KEYFRAME 49
0.06684238700108835
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.25685468316078186
TTA-STEP: step=32 loss_distill=0.2569 tta_take=0.009s
Frame 70
tensor(0.4050)
 # KEYFRAME 50
0.06705976699959137
Frame 71
tensor(0.0776)
Frame 72
tensor(0.1947)
 # KEYFRAME 51
0.06752612399941427
Frame 73
tensor(0.0892)
Frame 74
tensor(0.1895)
 # KEYFRAME 52
0.06899227900066762
Frame 75
tensor(0.0695)
Frame 76
tensor(0.2209)
 # KEYFRAME 53
0.06866600099965581
Frame 77
tensor(0.1898)
 # KEYFRAME 54
0.06857592199958162
Frame 78
tensor(0.1929)
 # KEYFRAME 55
0.0702403650029737
Frame 79
tensor(0.0826)
Frame 80
tensor(0.2077)
 # KEYFRAME 56
0.06983471700004884
Frame 81
tensor(0.1727)
 # KEYFRAME 57
0.07084273299915367
Frame 82
tensor(0.1508)
 # KEYFRAME 58
0.07116542199946707
Frame 83
tensor(0.2174)
 # KEYFRAME 59
0.07157892100076424
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.31652647256851196
TTA-STEP: step=33 loss_distill=0.3165 tta_take=0.009s
Frame 84
tensor(0.1275)
 # KEYFRAME 60
0.07121663199723116
Frame 85
tensor(0.1809)
 # KEYFRAME 61
0.07224886800031527
Frame 86
tensor(0.1194)
 # KEYFRAME 62
0.07284254600017448
Frame 87
tensor(0.2258)
 # KEYFRAME 63
0.07361200399827794
Frame 88
tensor(0.1644)
 # KEYFRAME 64
0.07493093900120584
Frame 89
tensor(0.1027)
 # KEYFRAME 65
0.07432044099914492
Frame 90
tensor(0.0634)
Frame 91
tensor(0.1749)
 # KEYFRAME 66
0.07623073500144528
Frame 92
tensor(0.0907)
Frame 93
tensor(0.0765)
Frame 94
tensor(0.2101)
 # KEYFRAME 67
0.0770677809996414
Frame 95
tensor(0.1327)
 # KEYFRAME 68
0.07775052899887669
Frame 96
tensor(0.0349)
Frame 97
tensor(0.0923)
Frame 98
tensor(0.1981)
 # KEYFRAME 69
0.07835742699899129
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3749612867832184
TTA-STEP: step=34 loss_distill=0.3750 tta_take=0.009s
Frame 99
tensor(0.1161)
 # KEYFRAME 70
0.07523906799906399
Frame 100
tensor(0.0648)
Frame 101
tensor(0.1721)
 # KEYFRAME 71
0.07634571500238962
Frame 102
tensor(0.0913)
Frame 103
tensor(0.2172)
 # KEYFRAME 72
0.0766158530022949
Frame 104
tensor(0.0635)
Frame 105
tensor(0.1288)
 # KEYFRAME 73
0.0769075630014413
Frame 106
tensor(0.0917)
Frame 107
tensor(0.1509)
 # KEYFRAME 74
0.07804098799897474
Frame 108
tensor(0.0339)
Frame 109
tensor(0.4008)
 # KEYFRAME 75
0.07833741699869279
Frame 110
tensor(0.1179)
 # KEYFRAME 76
0.0780989380000392
Frame 111
tensor(0.1144)
 # KEYFRAME 77
0.07929663400136633
Frame 112
tensor(0.2203)
 # KEYFRAME 78
0.07981756200024392
Frame 113
tensor(0.1839)
 # KEYFRAME 79
0.08042506000128924
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, -2.215426445007324), (1, -2.177255392074585), (2, -2.3661370277404785), (3, -2.4019038677215576), (4, -2.292402744293213), (5, -2.6246094703674316)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 4, 2, 3] dts=[6, 7, 3, 5, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.36006391048431396
TTA-STEP: step=35 loss_distill=0.3601 tta_take=0.009s
Frame 114
tensor(0.1417)
 # KEYFRAME 80
0.07534003700129688
Frame 115
tensor(0.0494)
Frame 116
tensor(0.1382)
 # KEYFRAME 81
0.07633949400042184
Frame 117
tensor(0.1737)
 # KEYFRAME 82
0.077253601000848
Frame 118
tensor(0.1510)
 # KEYFRAME 83
0.07702254200194147
Frame 119
tensor(0.0345)
Frame 120
tensor(0.0630)
Frame 121
tensor(0.1840)
 # KEYFRAME 84
0.0780017780016351
Frame 122
tensor(0.0682)
Frame 123
tensor(0.2196)
 # KEYFRAME 85
0.07844340700103203
Frame 124
tensor(0.1722)
 # KEYFRAME 86
0.0775756500006537
Frame 125
tensor(0.1316)
 # KEYFRAME 87
0.07911508399774903
Frame 126
tensor(0.1562)
 # KEYFRAME 88
0.07944782299819053
Frame 127
tensor(0.2387)
 # KEYFRAME 89
0.08032199000081164
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, -2.301018238067627), (1, -2.232224702835083), (2, -2.4770374298095703), (3, -2.498436212539673), (4, -2.367770195007324), (5, -2.755509853363037), (6, -2.7516860961914062)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 4, 2, 3] dts=[7, 8, 4, 6, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.35280123353004456
TTA-STEP: step=36 loss_distill=0.3528 tta_take=0.009s
Frame 128
tensor(0.1949)
 # KEYFRAME 90
0.07498240899803932
Frame 129
tensor(0.1305)
 # KEYFRAME 91
0.07618845400065766
Frame 130
tensor(0.0494)
Frame 131
tensor(0.1003)
 # KEYFRAME 92
0.07713794099981897
Frame 132
tensor(0.1925)
 # KEYFRAME 93
0.07716286100185243
Frame 133
tensor(0.1033)
 # KEYFRAME 94
0.07794988900059252
Frame 134
tensor(0.1529)
 # KEYFRAME 95
0.07837990700136288
Frame 135
tensor(0.1670)
 # KEYFRAME 96
0.07770318899929407
Frame 136
tensor(0.1246)
 # KEYFRAME 97
0.07959556299829273
Frame 137
tensor(0.0684)
Frame 138
tensor(0.1723)
 # KEYFRAME 98
0.07994497099934961
Frame 139
tensor(0.2618)
 # KEYFRAME 99
0.07988207200105535
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, -2.5102877616882324), (1, -2.4182376861572266), (2, -2.6932685375213623), (3, -2.7063753604888916), (4, -2.5726001262664795), (5, -3.012301445007324), (6, -2.987194538116455), (7, -3.099885940551758)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 4, 2, 3] dts=[8, 9, 5, 7, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3534389138221741
TTA-STEP: step=37 loss_distill=0.3534 tta_take=0.009s
Frame 140
tensor(0.0565)
Frame 141
tensor(0.1106)
 # KEYFRAME 100
0.07549093700072262
Frame 142
tensor(0.1427)
 # KEYFRAME 101
0.07645519400102785
Frame 143
tensor(0.1394)
 # KEYFRAME 102
0.07770216900098603
Frame 144
tensor(0.0368)
Frame 145
tensor(0.2257)
 # KEYFRAME 103
0.07784861899926909
Frame 146
tensor(0.2640)
 # KEYFRAME 104
0.07917366500259959
Frame 147
tensor(0.2534)
 # KEYFRAME 105
0.0799920210010896
Frame 148
tensor(0.1051)
 # KEYFRAME 106
0.07814697800131398
Frame 149
tensor(0.0973)
Backending... 107 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, -2.3758180141448975), (1, -2.2690930366516113), (2, -2.5559213161468506), (3, -2.5492732524871826), (4, -2.4536118507385254), (5, -2.865125894546509), (6, -2.8763041496276855), (7, -2.977837085723877), (8, -2.9206008911132812)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62310, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 4, 3, 2] dts=[9, 10, 6, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.36083292961120605
TTA-STEP: step=38 loss_distill=0.3608 tta_take=0.007s
[epoch 0 scene 4/556] scannetpp/ef69d58016/DSC frames=150 tta_steps_this_scene=8 mean_loss=0.3179 total_steps=38 time=45.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0471)
Frame 2
tensor(0.0974)
Frame 3
tensor(0.1423)
 # KEYFRAME 1
Frame 4
tensor(0.0534)
Frame 5
tensor(0.0996)
Frame 6
tensor(0.1473)
 # KEYFRAME 2
0.1612632489996031
Frame 7
tensor(0.0480)
Frame 8
tensor(0.0971)
Frame 9
tensor(0.1490)
 # KEYFRAME 3
0.05175513900030637
Frame 10
tensor(0.0430)
Frame 11
tensor(0.0946)
Frame 12
tensor(0.1534)
 # KEYFRAME 4
0.05220667799949297
Frame 13
tensor(0.0442)
Frame 14
tensor(0.0958)
Frame 15
tensor(0.1523)
 # KEYFRAME 5
0.05164035000052536
Frame 16
tensor(0.0509)
Frame 17
tensor(0.0956)
Frame 18
tensor(0.1519)
 # KEYFRAME 6
0.05153616999814403
Frame 19
tensor(0.0493)
Frame 20
tensor(0.1063)
 # KEYFRAME 7
0.05151474100057385
Frame 21
tensor(0.0547)
Frame 22
tensor(0.1021)
 # KEYFRAME 8
0.051556959999288665
Frame 23
tensor(0.0456)
Frame 24
tensor(0.1023)
 # KEYFRAME 9
0.051672450001206016
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.0472)
Frame 26
tensor(0.0939)
Frame 27
tensor(0.1417)
 # KEYFRAME 10
0.051694429999770364
Frame 28
tensor(0.0476)
Frame 29
tensor(0.0977)
Frame 30
tensor(0.1444)
 # KEYFRAME 11
0.051687359999050386
Frame 31
tensor(0.0489)
Frame 32
tensor(0.1014)
 # KEYFRAME 12
0.051706969999941066
Frame 33
tensor(0.0499)
Frame 34
tensor(0.1007)
 # KEYFRAME 13
0.05170969000027981
Frame 35
tensor(0.0545)
Frame 36
tensor(0.1035)
 # KEYFRAME 14
0.05173509000087506
Frame 37
tensor(0.0491)
Frame 38
tensor(0.0996)
Frame 39
tensor(0.1417)
 # KEYFRAME 15
0.051419450999674154
Frame 40
tensor(0.0418)
Frame 41
tensor(0.0898)
Frame 42
tensor(0.1303)
 # KEYFRAME 16
0.05169679000027827
Frame 43
tensor(0.0424)
Frame 44
tensor(0.0961)
Frame 45
tensor(0.1318)
 # KEYFRAME 17
0.051596371002233354
Frame 46
tensor(0.0415)
Frame 47
tensor(0.0928)
Frame 48
tensor(0.1394)
 # KEYFRAME 18
0.05165915100224083
Frame 49
tensor(0.0506)
Frame 50
tensor(0.1100)
 # KEYFRAME 19
0.05179819000113639
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 51
tensor(0.0433)
Frame 52
tensor(0.0944)
Frame 53
tensor(0.1521)
 # KEYFRAME 20
0.05167909000010695
Frame 54
tensor(0.0476)
Frame 55
tensor(0.1016)
 # KEYFRAME 21
0.051694869998755166
Frame 56
tensor(0.0516)
Frame 57
tensor(0.1090)
 # KEYFRAME 22
0.051789269000437343
Frame 58
tensor(0.0537)
Frame 59
tensor(0.1218)
 # KEYFRAME 23
0.051684329999261536
Frame 60
tensor(0.0570)
Frame 61
tensor(0.1174)
 # KEYFRAME 24
0.051604620999569306
Frame 62
tensor(0.0586)
Frame 63
tensor(0.1222)
 # KEYFRAME 25
0.05162438999832375
Frame 64
tensor(0.0478)
Frame 65
tensor(0.1171)
 # KEYFRAME 26
0.05158750000191503
Frame 66
tensor(0.0478)
Frame 67
tensor(0.1078)
 # KEYFRAME 27
0.0519065500011493
Frame 68
tensor(0.0594)
Frame 69
tensor(0.1099)
 # KEYFRAME 28
0.05185827999957837
Frame 70
tensor(0.0450)
Frame 71
tensor(0.1080)
 # KEYFRAME 29
0.05265774699728354
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 72
tensor(0.0504)
Frame 73
tensor(0.1075)
 # KEYFRAME 30
0.05184197999915341
Frame 74
tensor(0.0509)
Frame 75
tensor(0.1097)
 # KEYFRAME 31
0.05180692000067211
Frame 76
tensor(0.0631)
Frame 77
tensor(0.1204)
 # KEYFRAME 32
0.05175862000032794
Frame 78
tensor(0.0577)
Frame 79
tensor(0.1158)
 # KEYFRAME 33
0.05172997000045143
Frame 80
tensor(0.0542)
Frame 81
tensor(0.1115)
 # KEYFRAME 34
0.05187812000076519
Frame 82
tensor(0.0548)
Frame 83
tensor(0.1018)
 # KEYFRAME 35
0.05177159899903927
Frame 84
tensor(0.0487)
Frame 85
tensor(0.0964)
Frame 86
tensor(0.1402)
 # KEYFRAME 36
0.05194791900066775
Frame 87
tensor(0.0476)
Frame 88
tensor(0.1063)
 # KEYFRAME 37
0.05201654900156427
Frame 89
tensor(0.0510)
Frame 90
tensor(0.1106)
 # KEYFRAME 38
0.051994458997796755
Frame 91
tensor(0.0448)
Frame 92
tensor(0.0942)
Frame 93
tensor(0.1430)
 # KEYFRAME 39
0.05213721900145174
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2122746706008911
TTA-STEP: step=39 loss_distill=0.2123 tta_take=0.005s
Frame 94
tensor(0.0415)
Frame 95
tensor(0.0831)
Frame 96
tensor(0.1264)
 # KEYFRAME 40
0.05222221800067928
Frame 97
tensor(0.0421)
Frame 98
tensor(0.0910)
Frame 99
tensor(0.1455)
 # KEYFRAME 41
0.0531482850019529
Frame 100
tensor(0.0451)
Frame 101
tensor(0.0930)
Frame 102
tensor(0.1413)
 # KEYFRAME 42
0.052885246001096675
Frame 103
tensor(0.0450)
Frame 104
tensor(0.0953)
Frame 105
tensor(0.1522)
 # KEYFRAME 43
0.05222296800275217
Frame 106
tensor(0.0463)
Frame 107
tensor(0.0977)
Frame 108
tensor(0.1524)
 # KEYFRAME 44
0.05312150500321877
Frame 109
tensor(0.0466)
Frame 110
tensor(0.0882)
Frame 111
tensor(0.1411)
 # KEYFRAME 45
0.05185859999983222
Frame 112
tensor(0.0455)
Frame 113
tensor(0.0859)
Frame 114
tensor(0.1348)
 # KEYFRAME 46
0.052186428001732565
Frame 115
tensor(0.0415)
Frame 116
tensor(0.0932)
Frame 117
tensor(0.1320)
 # KEYFRAME 47
0.05321491500217235
Frame 118
tensor(0.0413)
Frame 119
tensor(0.0907)
Frame 120
tensor(0.1443)
 # KEYFRAME 48
0.052889216000039596
Frame 121
tensor(0.0448)
Frame 122
tensor(0.0959)
Frame 123
tensor(0.1415)
 # KEYFRAME 49
0.05452318999959971
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.32787007093429565
TTA-STEP: step=40 loss_distill=0.3279 tta_take=0.005s
Frame 124
tensor(0.0473)
Frame 125
tensor(0.0986)
Frame 126
tensor(0.1444)
 # KEYFRAME 50
0.05204855899864924
Frame 127
tensor(0.0517)
Frame 128
tensor(0.0958)
Frame 129
tensor(0.1362)
 # KEYFRAME 51
0.05209195899806218
Frame 130
tensor(0.0444)
Frame 131
tensor(0.0895)
Frame 132
tensor(0.1374)
 # KEYFRAME 52
0.054023471999244066
Frame 133
tensor(0.0426)
Frame 134
tensor(0.0957)
Frame 135
tensor(0.1476)
 # KEYFRAME 53
0.05206825899949763
Frame 136
tensor(0.0474)
Frame 137
tensor(0.0930)
Frame 138
tensor(0.1372)
 # KEYFRAME 54
0.053678483000112465
Frame 139
tensor(0.0450)
Frame 140
tensor(0.0877)
Frame 141
tensor(0.1248)
 # KEYFRAME 55
0.05203311899822438
Frame 142
tensor(0.0440)
Frame 143
tensor(0.0860)
Frame 144
tensor(0.1284)
 # KEYFRAME 56
0.05241117699915776
Frame 145
tensor(0.0416)
Frame 146
tensor(0.0822)
Frame 147
tensor(0.1226)
 # KEYFRAME 57
0.05367394400309422
Frame 148
tensor(0.0449)
Frame 149
tensor(0.0838)
Frame 150
tensor(0.1246)
 # KEYFRAME 58
0.052937504999135854
Frame 151
tensor(0.0372)
Frame 152
tensor(0.0732)
Frame 153
tensor(0.1136)
 # KEYFRAME 59
0.0543919099982304
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3766327500343323
TTA-STEP: step=41 loss_distill=0.3766 tta_take=0.005s
Frame 154
tensor(0.0349)
Frame 155
tensor(0.0676)
Frame 156
tensor(0.1035)
 # KEYFRAME 60
0.05227961800119374
Frame 157
tensor(0.0290)
Frame 158
tensor(0.0599)
Frame 159
tensor(0.0935)
Frame 160
tensor(0.1185)
 # KEYFRAME 61
0.052514606999466196
Frame 161
tensor(0.0250)
Frame 162
tensor(0.0540)
Frame 163
tensor(0.0778)
Frame 164
tensor(0.1059)
 # KEYFRAME 62
0.054191940998862265
Frame 165
tensor(0.0298)
Frame 166
tensor(0.0518)
Frame 167
tensor(0.0742)
Frame 168
tensor(0.0991)
Frame 169
tensor(0.1231)
 # KEYFRAME 63
0.05232688800242613
Frame 170
tensor(0.0195)
Frame 171
tensor(0.0425)
Frame 172
tensor(0.0595)
Frame 173
tensor(0.0840)
Frame 174
tensor(0.1051)
 # KEYFRAME 64
0.05434027000228525
Frame 175
tensor(0.0191)
Frame 176
tensor(0.0381)
Frame 177
tensor(0.0521)
Frame 178
tensor(0.0727)
Frame 179
tensor(0.0858)
Frame 180
tensor(0.1068)
 # KEYFRAME 65
0.05242388799888431
Frame 181
tensor(0.0141)
Frame 182
tensor(0.0273)
Frame 183
tensor(0.0338)
Frame 184
tensor(0.0414)
Frame 185
tensor(0.0484)
Frame 186
tensor(0.0578)
Frame 187
tensor(0.0685)
Frame 188
tensor(0.0799)
Frame 189
tensor(0.0787)
Frame 190
tensor(0.0817)
Frame 191
tensor(0.0892)
Frame 192
tensor(0.1003)
 # KEYFRAME 66
0.05327697499888018
Frame 193
tensor(0.0054)
Frame 194
tensor(0.0107)
Frame 195
tensor(0.0172)
Frame 196
tensor(0.0274)
Frame 197
tensor(0.0296)
Frame 198
tensor(0.0371)
Frame 199
tensor(0.0479)
Frame 200
tensor(0.0522)
Frame 201
tensor(0.0600)
Frame 202
tensor(0.0711)
Frame 203
tensor(0.0823)
Frame 204
tensor(0.0911)
Frame 205
tensor(0.1038)
 # KEYFRAME 67
0.0541750519987545
Frame 206
tensor(0.0128)
Frame 207
tensor(0.0260)
Frame 208
tensor(0.0401)
Frame 209
tensor(0.0591)
Frame 210
tensor(0.0774)
Frame 211
tensor(0.0952)
Frame 212
tensor(0.1147)
 # KEYFRAME 68
0.05303133499910473
Frame 213
tensor(0.0185)
Frame 214
tensor(0.0408)
Frame 215
tensor(0.0602)
Frame 216
tensor(0.0809)
Frame 217
tensor(0.1013)
 # KEYFRAME 69
0.054161901000043144
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4096476435661316
TTA-STEP: step=42 loss_distill=0.4096 tta_take=0.005s
Frame 218
tensor(0.0202)
Frame 219
tensor(0.0410)
Frame 220
tensor(0.0620)
Frame 221
tensor(0.0820)
Frame 222
tensor(0.1039)
 # KEYFRAME 70
0.05298478499753401
Frame 223
tensor(0.0265)
Frame 224
tensor(0.0510)
Frame 225
tensor(0.0733)
Frame 226
tensor(0.1046)
 # KEYFRAME 71
0.05375424299927545
Frame 227
tensor(0.0243)
Frame 228
tensor(0.0488)
Frame 229
tensor(0.0793)
Frame 230
tensor(0.1051)
 # KEYFRAME 72
0.05492892899928847
Frame 231
tensor(0.0323)
Frame 232
tensor(0.0591)
Frame 233
tensor(0.0892)
Frame 234
tensor(0.1219)
 # KEYFRAME 73
0.05452861999947345
Frame 235
tensor(0.0307)
Frame 236
tensor(0.0570)
Frame 237
tensor(0.0937)
Frame 238
tensor(0.1213)
 # KEYFRAME 74
0.05489426900021499
Frame 239
tensor(0.0306)
Frame 240
tensor(0.0633)
Frame 241
tensor(0.0978)
Frame 242
tensor(0.1413)
 # KEYFRAME 75
0.054005742000299506
Frame 243
tensor(0.0341)
Frame 244
tensor(0.0738)
Frame 245
tensor(0.1128)
 # KEYFRAME 76
0.05427368099844898
Frame 246
tensor(0.0325)
Frame 247
tensor(0.0686)
Frame 248
tensor(0.1103)
 # KEYFRAME 77
0.056129763997887494
Frame 249
tensor(0.0340)
Frame 250
tensor(0.0667)
Frame 251
tensor(0.1011)
 # KEYFRAME 78
0.054413629997725366
Frame 252
tensor(0.0350)
Frame 253
tensor(0.0723)
Frame 254
tensor(0.1093)
 # KEYFRAME 79
0.056184244000178296
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 4, 5] dropped=[3] scores=[(0, -0.24654337763786316), (1, -0.36763861775398254), (2, -0.4284931719303131), (3, -0.438063383102417), (4, -0.43647706508636475), (5, -0.40772610902786255)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[0, 1, 5, 2, 4] dts=[7, 6, 2, 5, 3]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.37982723116874695
TTA-STEP: step=43 loss_distill=0.3798 tta_take=0.005s
Frame 255
tensor(0.0337)
Frame 256
tensor(0.0752)
Frame 257
tensor(0.1113)
 # KEYFRAME 80
0.05350179400193156
Frame 258
tensor(0.0338)
Frame 259
tensor(0.0722)
Frame 260
tensor(0.1124)
 # KEYFRAME 81
0.054135812002641615
Frame 261
tensor(0.0362)
Frame 262
tensor(0.0768)
Frame 263
tensor(0.1149)
 # KEYFRAME 82
0.05504093800118426
Frame 264
tensor(0.0388)
Frame 265
tensor(0.0768)
Frame 266
tensor(0.1099)
 # KEYFRAME 83
0.05398418200275046
Frame 267
tensor(0.0351)
Frame 268
tensor(0.0751)
Frame 269
tensor(0.1142)
 # KEYFRAME 84
0.05675687199982349
Frame 270
tensor(0.0414)
Frame 271
tensor(0.0788)
Frame 272
tensor(0.1204)
 # KEYFRAME 85
0.05417885199858574
Frame 273
tensor(0.0421)
Frame 274
tensor(0.0797)
Frame 275
tensor(0.1161)
 # KEYFRAME 86
0.0543495809979504
Frame 276
tensor(0.0407)
Frame 277
tensor(0.0781)
Frame 278
tensor(0.1141)
 # KEYFRAME 87
0.05863620600212016
Frame 279
tensor(0.0380)
Frame 280
tensor(0.0766)
Frame 281
tensor(0.1152)
 # KEYFRAME 88
0.05458110999825294
Frame 282
tensor(0.0439)
Frame 283
tensor(0.0792)
Frame 284
tensor(0.1202)
 # KEYFRAME 89
0.05987425100101973
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 6] dropped=[4, 5] scores=[(0, 0.16431906819343567), (1, -0.01890426129102707), (2, -0.16235075891017914), (3, -0.2105691283941269), (4, -0.237606018781662), (5, -0.2582330107688904), (6, -0.21281938254833221)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[0, 1, 2, 3, 6] dts=[8, 7, 6, 5, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.35655641555786133
TTA-STEP: step=44 loss_distill=0.3566 tta_take=0.005s
Frame 285
tensor(0.0374)
Frame 286
tensor(0.0758)
Frame 287
tensor(0.1240)
 # KEYFRAME 90
0.053294904999347636
Frame 288
tensor(0.0382)
Frame 289
tensor(0.0763)
Frame 290
tensor(0.1166)
 # KEYFRAME 91
0.05385273200226948
Frame 291
tensor(0.0393)
Frame 292
tensor(0.0809)
Frame 293
tensor(0.1239)
 # KEYFRAME 92
0.05464514000050258
Frame 294
tensor(0.0399)
Frame 295
tensor(0.0867)
Frame 296
tensor(0.1312)
 # KEYFRAME 93
0.05347258400070132
Frame 297
tensor(0.0418)
Frame 298
tensor(0.0903)
Frame 299
tensor(0.1326)
 # KEYFRAME 94
0.05508854800064
Backending... 95 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 7] dropped=[4, 5, 6] scores=[(0, 0.4769691824913025), (1, 0.21166108548641205), (2, -0.016458872705698013), (3, -0.08823274075984955), (4, -0.13322468101978302), (5, -0.18647165596485138), (6, -0.17663119733333588), (7, -0.05135786533355713)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 26780, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[0, 1, 2, 7, 3] dts=[9, 8, 7, 2, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.34210094809532166
TTA-STEP: step=45 loss_distill=0.3421 tta_take=0.003s
[epoch 0 scene 5/556] vkitti/Scene01/sunset/Camera_1 frames=300 tta_steps_this_scene=7 mean_loss=0.3436 total_steps=45 time=94.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0140)
Frame 2
tensor(0.3239)
 # KEYFRAME 1
Frame 3
tensor(0.0946)
Frame 4
tensor(0.3064)
 # KEYFRAME 2
0.05175624000185053
Frame 5
tensor(0.1858)
 # KEYFRAME 3
0.05220105899934424
Frame 6
tensor(0.1525)
 # KEYFRAME 4
0.05514944799870136
Frame 7
tensor(0.3970)
 # KEYFRAME 5
0.0556019860014203
Frame 8
tensor(0.2336)
 # KEYFRAME 6
0.05672213300204021
Frame 9
tensor(0.2315)
 # KEYFRAME 7
0.05737524999858579
Frame 10
tensor(0.2210)
 # KEYFRAME 8
0.05809170799693675
Frame 11
tensor(0.1790)
 # KEYFRAME 9
0.05812764700021944
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.1696)
 # KEYFRAME 10
0.0524620469986985
Frame 13
tensor(0.1290)
 # KEYFRAME 11
0.05352475399922696
Frame 14
tensor(0.1747)
 # KEYFRAME 12
0.053917471999739064
Frame 15
tensor(0.2083)
 # KEYFRAME 13
0.05687278199911816
Frame 16
tensor(0.1555)
 # KEYFRAME 14
0.057612760003394214
Frame 17
tensor(0.3006)
 # KEYFRAME 15
0.05813762799880351
Frame 18
tensor(0.3319)
 # KEYFRAME 16
0.05889800499789999
Frame 19
tensor(0.1983)
 # KEYFRAME 17
0.059957550998660736
Frame 20
tensor(0.3322)
 # KEYFRAME 18
0.06141224599923589
Frame 21
tensor(0.1727)
 # KEYFRAME 19
0.0624577920025331
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 22
tensor(0.1598)
 # KEYFRAME 20
0.05870687599963276
Frame 23
tensor(0.1339)
 # KEYFRAME 21
0.06088361799993436
Frame 24
tensor(0.1361)
 # KEYFRAME 22
0.06184376500095823
Frame 25
tensor(0.1985)
 # KEYFRAME 23
0.0631102400002419
Frame 26
tensor(0.2204)
 # KEYFRAME 24
0.06409501700181863
Frame 27
tensor(0.1328)
 # KEYFRAME 25
0.06468190499799675
Frame 28
tensor(0.1455)
 # KEYFRAME 26
0.06691304799824138
Frame 29
tensor(0.2381)
 # KEYFRAME 27
0.06756838400178822
Frame 30
tensor(0.1556)
 # KEYFRAME 28
0.06835181200221996
Frame 31
tensor(0.2140)
 # KEYFRAME 29
0.07039306399747147
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.1027)
 # KEYFRAME 30
0.06592653099869494
Frame 33
tensor(0.1714)
 # KEYFRAME 31
0.06775813400236075
Frame 34
tensor(0.1934)
 # KEYFRAME 32
0.06789684300019871
Frame 35
tensor(0.2807)
 # KEYFRAME 33
0.06852166099997703
Frame 36
tensor(0.1918)
 # KEYFRAME 34
0.06965342799958307
Frame 37
tensor(0.1926)
 # KEYFRAME 35
0.07060369399914634
Frame 38
tensor(0.2552)
 # KEYFRAME 36
0.07109853200017824
Frame 39
tensor(0.1556)
 # KEYFRAME 37
0.07202333900204394
Frame 40
tensor(0.1859)
 # KEYFRAME 38
0.07290780599942082
Frame 41
tensor(0.1630)
 # KEYFRAME 39
0.07389679300104035
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1546791046857834
TTA-STEP: step=46 loss_distill=0.1547 tta_take=0.009s
Frame 42
tensor(0.2490)
 # KEYFRAME 40
0.07224356799997622
Frame 43
tensor(0.2653)
 # KEYFRAME 41
0.07465772000068682
Frame 44
tensor(0.2527)
 # KEYFRAME 42
0.07554078700195532
Frame 45
tensor(0.2041)
 # KEYFRAME 43
0.07585547599956044
Frame 46
tensor(0.3027)
 # KEYFRAME 44
0.07627364399741055
Frame 47
tensor(0.2689)
 # KEYFRAME 45
0.0778990189974138
Frame 48
tensor(0.2575)
 # KEYFRAME 46
0.07794386800014763
Frame 49
tensor(0.1546)
 # KEYFRAME 47
0.07831618700220133
Frame 50
tensor(0.2562)
 # KEYFRAME 48
0.07994114100074512
Frame 51
tensor(0.3653)
 # KEYFRAME 49
0.08131594700171263
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2430453896522522
TTA-STEP: step=47 loss_distill=0.2430 tta_take=0.009s
Frame 52
tensor(0.3355)
 # KEYFRAME 50
0.07924134399945615
Frame 53
tensor(0.2473)
 # KEYFRAME 51
0.08117791800032137
Frame 54
tensor(0.2649)
 # KEYFRAME 52
0.08122374699814827
Frame 55
tensor(0.3998)
 # KEYFRAME 53
0.08200265399864293
Frame 56
tensor(0.1571)
 # KEYFRAME 54
0.08277436199932708
Frame 57
tensor(0.1625)
 # KEYFRAME 55
0.0836833889989066
Frame 58
tensor(0.2040)
 # KEYFRAME 56
0.08439413599990075
Frame 59
tensor(0.2981)
 # KEYFRAME 57
0.08514060399829759
Frame 60
tensor(0.3717)
 # KEYFRAME 58
0.08520135400249274
Frame 61
tensor(0.2237)
 # KEYFRAME 59
0.08693089699954726
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3545980453491211
TTA-STEP: step=48 loss_distill=0.3546 tta_take=0.009s
Frame 62
tensor(0.2804)
 # KEYFRAME 60
0.08645626900033676
Frame 63
tensor(0.1682)
 # KEYFRAME 61
0.0884981319977669
Frame 64
tensor(0.2426)
 # KEYFRAME 62
0.0887794610025594
Frame 65
tensor(0.1252)
 # KEYFRAME 63
0.08972176800307352
Frame 66
tensor(0.1182)
 # KEYFRAME 64
0.09022786599962274
Frame 67
tensor(0.1011)
 # KEYFRAME 65
0.09137794200069038
Frame 68
tensor(0.2002)
 # KEYFRAME 66
0.09298619600303937
Frame 69
tensor(0.2704)
 # KEYFRAME 67
0.09353536400158191
Frame 70
tensor(0.2124)
 # KEYFRAME 68
0.09374347400080296
Frame 71
tensor(0.1605)
 # KEYFRAME 69
0.09453188100087573
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3825961947441101
TTA-STEP: step=49 loss_distill=0.3826 tta_take=0.009s
Frame 72
tensor(0.1623)
 # KEYFRAME 70
0.09270162799657555
Frame 73
tensor(0.1515)
 # KEYFRAME 71
0.0951720490011212
Frame 74
tensor(0.2429)
 # KEYFRAME 72
0.09497679999913089
Frame 75
tensor(0.3505)
 # KEYFRAME 73
0.09545212800003355
Frame 76
tensor(0.2230)
 # KEYFRAME 74
0.09626269499858608
Frame 77
tensor(0.2190)
 # KEYFRAME 75
0.09675084300033632
Frame 78
tensor(0.1422)
 # KEYFRAME 76
0.0984405870003684
Frame 79
tensor(0.1758)
 # KEYFRAME 77
0.09868611600177246
Frame 80
tensor(0.2365)
 # KEYFRAME 78
0.09985953299838002
Frame 81
tensor(0.2847)
 # KEYFRAME 79
0.10000200099966605
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 2, 3, 4, 5] dropped=[1] scores=[(0, -1.0031877756118774), (1, -1.0961891412734985), (2, -0.8472386598587036), (3, -0.9503435492515564), (4, -1.0746846199035645), (5, -0.7127593755722046)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[5, 2, 3, 0, 4] dts=[2, 5, 4, 7, 3]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4206216037273407
TTA-STEP: step=50 loss_distill=0.4206 tta_take=0.009s
Frame 82
tensor(0.2134)
 # KEYFRAME 80
0.09300318600071478
Frame 83
tensor(0.1557)
 # KEYFRAME 81
0.09580135600117501
Frame 84
tensor(0.3008)
 # KEYFRAME 82
0.09525238899732358
Frame 85
tensor(0.1256)
 # KEYFRAME 83
0.09717346199977328
Frame 86
tensor(0.1901)
 # KEYFRAME 84
0.09831461700014188
Frame 87
tensor(0.1583)
 # KEYFRAME 85
0.0994499629996426
Frame 88
tensor(0.1379)
 # KEYFRAME 86
0.1001888009996037
Frame 89
tensor(0.1222)
 # KEYFRAME 87
0.10107652099759434
Frame 90
tensor(0.2082)
 # KEYFRAME 88
0.1025678149999294
Frame 91
tensor(0.3253)
 # KEYFRAME 89
0.10267482599738287
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 2, 3, 5, 6] dropped=[1, 4] scores=[(0, -1.030816912651062), (1, -1.1262779235839844), (2, -0.8827605247497559), (3, -0.9844018220901489), (4, -1.1098742485046387), (5, -0.755531370639801), (6, -0.5181816816329956)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[6, 5, 2, 3, 0] dts=[2, 3, 6, 5, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3632296919822693
TTA-STEP: step=51 loss_distill=0.3632 tta_take=0.009s
Frame 92
tensor(0.2825)
 # KEYFRAME 90
0.09323933999985456
Frame 93
tensor(0.1622)
 # KEYFRAME 91
0.09655942699828302
Frame 94
tensor(0.1288)
 # KEYFRAME 92
0.09654386700276518
Frame 95
tensor(0.2093)
 # KEYFRAME 93
0.09672457700071391
Frame 96
tensor(0.2608)
 # KEYFRAME 94
0.09812346200124011
Frame 97
tensor(0.1063)
 # KEYFRAME 95
0.09950575699986075
Frame 98
tensor(0.3265)
 # KEYFRAME 96
0.10061765200225636
Frame 99
tensor(0.0358)
Frame 100
tensor(0.3118)
 # KEYFRAME 97
0.10140986999977031
Frame 101
tensor(0.1594)
 # KEYFRAME 98
0.10215761699873838
Frame 102
tensor(0.1134)
 # KEYFRAME 99
0.10217777700017905
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[2, 3, 5, 6, 7] dropped=[0, 1, 4] scores=[(0, -0.41663628816604614), (1, -0.49740225076675415), (2, -0.33636489510536194), (3, -0.4021105170249939), (4, -0.5037714838981628), (5, -0.22951722145080566), (6, -0.028364254161715508), (7, -0.031324442476034164)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[6, 7, 5, 2, 3] dts=[3, 2, 4, 7, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.35711899399757385
TTA-STEP: step=52 loss_distill=0.3571 tta_take=0.009s
Frame 103
tensor(0.2281)
 # KEYFRAME 100
0.09255813199706608
Frame 104
tensor(0.1745)
 # KEYFRAME 101
0.09595745999831706
Frame 105
tensor(0.1716)
 # KEYFRAME 102
0.0955700309968961
Frame 106
tensor(0.3754)
 # KEYFRAME 103
0.0973657850008749
Frame 107
tensor(0.2881)
 # KEYFRAME 104
0.09819806199811865
Frame 108
tensor(0.1902)
 # KEYFRAME 105
0.10022596399721806
Frame 109
tensor(0.2433)
 # KEYFRAME 106
0.1002894240009482
Frame 110
tensor(0.1578)
 # KEYFRAME 107
0.10115039100128342
Frame 111
tensor(0.1383)
 # KEYFRAME 108
0.10280613499708124
Frame 112
tensor(0.2656)
 # KEYFRAME 109
0.10327012299967464
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[2, 5, 6, 7, 8] dropped=[0, 1, 3, 4] scores=[(0, -1.3599090576171875), (1, -1.4702037572860718), (2, -1.18937349319458), (3, -1.2962850332260132), (4, -1.433512568473816), (5, -1.0486600399017334), (6, -0.7586390972137451), (7, -0.771666944026947), (8, -0.8185213208198547)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[6, 7, 8, 5, 2] dts=[4, 3, 2, 5, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.372306227684021
TTA-STEP: step=53 loss_distill=0.3723 tta_take=0.009s
Frame 113
tensor(0.2679)
 # KEYFRAME 110
0.09416104599949904
Frame 114
tensor(0.4733)
 # KEYFRAME 111
0.09393345699936617
Frame 115
tensor(0.3918)
 # KEYFRAME 112
0.09526244200242218
Frame 116
tensor(0.0825)
Frame 117
tensor(0.1122)
 # KEYFRAME 113
0.09537237199765514
Frame 118
tensor(0.0367)
Frame 119
tensor(0.1667)
 # KEYFRAME 114
0.09639395799968042
Frame 120
tensor(0.3563)
 # KEYFRAME 115
0.09757074400113197
Frame 121
tensor(0.3908)
 # KEYFRAME 116
0.09714487499877578
Frame 122
tensor(0.2335)
 # KEYFRAME 117
0.09873250900272978
Frame 123
tensor(0.2084)
 # KEYFRAME 118
0.09992338500160258
Frame 124
tensor(0.2777)
 # KEYFRAME 119
0.10050046300239046
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[5, 6, 7, 8, 9] dropped=[0, 1, 2, 3, 4] scores=[(0, -1.7698670625686646), (1, -1.8936481475830078), (2, -1.537068247795105), (3, -1.6719598770141602), (4, -1.8317393064498901), (5, -1.393323540687561), (6, -1.0291544198989868), (7, -1.042245626449585), (8, -1.0788347721099854), (9, -0.5099672675132751)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[9, 6, 7, 8, 5] dts=[2, 5, 4, 3, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3050101399421692
TTA-STEP: step=54 loss_distill=0.3050 tta_take=0.009s
Frame 125
tensor(0.2279)
 # KEYFRAME 120
0.09368052799982252
Frame 126
tensor(0.1925)
 # KEYFRAME 121
0.09410452699739835
Frame 127
tensor(0.0930)
Frame 128
tensor(0.1286)
 # KEYFRAME 122
0.09618237900212989
Frame 129
tensor(0.1715)
 # KEYFRAME 123
0.09582524000143167
Frame 130
tensor(0.0822)
Frame 131
tensor(0.1249)
 # KEYFRAME 124
0.09676173600018956
Frame 132
tensor(0.2541)
 # KEYFRAME 125
0.0970287259988254
Frame 133
tensor(0.1935)
 # KEYFRAME 126
0.09894427900144365
Frame 134
tensor(0.1635)
 # KEYFRAME 127
0.09896987899992382
Frame 135
tensor(0.2517)
 # KEYFRAME 128
0.10035363400311326
Frame 136
tensor(0.0603)
Frame 137
tensor(0.3658)
 # KEYFRAME 129
0.10076106199994683
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[5, 6, 7, 8, 9] dropped=[0, 1, 2, 3, 4, 10] scores=[(0, -1.8611129522323608), (1, -1.99483323097229), (2, -1.660377860069275), (3, -1.8189632892608643), (4, -1.9850128889083862), (5, -1.5186270475387573), (6, -1.1526085138320923), (7, -1.1487703323364258), (8, -1.1790132522583008), (9, -0.578213632106781), (10, -1.5726836919784546)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[9, 7, 6, 8, 5] dts=[3, 5, 6, 4, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.35610032081604004
TTA-STEP: step=55 loss_distill=0.3561 tta_take=0.009s
Frame 138
tensor(0.1448)
 # KEYFRAME 130
0.09288768100304878
Frame 139
tensor(0.3584)
 # KEYFRAME 131
0.09574087999862968
Frame 140
tensor(0.3055)
 # KEYFRAME 132
0.09507402300005197
Frame 141
tensor(0.2919)
 # KEYFRAME 133
0.09642046799854143
Frame 142
tensor(0.2768)
 # KEYFRAME 134
0.09693643600257928
Backending... 135 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[5, 6, 7, 8, 9] dropped=[0, 1, 2, 3, 4, 10, 11] scores=[(0, -1.9049757719039917), (1, -2.037285089492798), (2, -1.7201857566833496), (3, -1.8714265823364258), (4, -2.028355121612549), (5, -1.578622579574585), (6, -1.2049065828323364), (7, -1.190094232559204), (8, -1.2193695306777954), (9, -0.6447646021842957), (10, -1.6267106533050537), (11, -2.071300506591797)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 67665, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[9, 7, 6, 8, 5] dts=[4, 6, 7, 5, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3395181894302368
TTA-STEP: step=56 loss_distill=0.3395 tta_take=0.006s
[epoch 0 scene 6/556] scannetpp/f6659a3107/frame frames=143 tta_steps_this_scene=11 mean_loss=0.3317 total_steps=56 time=68.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1683)
 # KEYFRAME 1
Frame 2
tensor(0.1620)
 # KEYFRAME 2
0.0519673100025102
Frame 3
tensor(0.2830)
 # KEYFRAME 3
0.05217841900230269
Frame 4
tensor(0.0672)
Frame 5
tensor(0.1609)
 # KEYFRAME 4
0.05311046600036207
Frame 6
tensor(0.2068)
 # KEYFRAME 5
0.05383250399972894
Frame 7
tensor(0.1493)
 # KEYFRAME 6
0.05500126900005853
Frame 8
tensor(0.0707)
Frame 9
tensor(0.4723)
 # KEYFRAME 7
0.05579411600047024
Frame 10
tensor(0.3052)
 # KEYFRAME 8
0.05605025499971816
Frame 11
tensor(0.2782)
 # KEYFRAME 9
0.05719637199945282
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.1146)
 # KEYFRAME 10
0.05198039999959292
Frame 13
tensor(0.4961)
 # KEYFRAME 11
0.05155332099820953
Frame 14
tensor(0.2705)
 # KEYFRAME 12
0.05215384999974049
Frame 15
tensor(0.4795)
 # KEYFRAME 13
0.054405371000029845
Frame 16
tensor(0.1585)
 # KEYFRAME 14
0.05435579099867027
Frame 17
tensor(0.1213)
 # KEYFRAME 15
0.055009479001455475
Frame 18
tensor(0.1090)
 # KEYFRAME 16
0.05573192600058974
Frame 19
tensor(0.1240)
 # KEYFRAME 17
0.056593964000057895
Frame 20
tensor(0.0828)
Frame 21
tensor(0.5205)
 # KEYFRAME 18
0.057539950001228135
Frame 22
tensor(0.1051)
 # KEYFRAME 19
0.05751238000084413
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 23
tensor(0.1095)
 # KEYFRAME 20
0.05386163300136104
Frame 24
tensor(0.2192)
 # KEYFRAME 21
0.05414439299784135
Frame 25
tensor(0.2195)
 # KEYFRAME 22
0.05477963000157615
Frame 26
tensor(0.2365)
 # KEYFRAME 23
0.05479992999971728
Frame 27
tensor(0.1813)
 # KEYFRAME 24
0.0554778969999461
Frame 28
tensor(0.1652)
 # KEYFRAME 25
0.05578262599738082
Frame 29
tensor(0.2142)
 # KEYFRAME 26
0.05753605000063544
Frame 30
tensor(0.5622)
 # KEYFRAME 27
0.05833770700337482
Frame 31
tensor(0.1344)
 # KEYFRAME 28
0.059141543999430723
Frame 32
tensor(0.1306)
 # KEYFRAME 29
0.06009423999785213
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 33
tensor(0.3297)
 # KEYFRAME 30
0.0581613180002023
Frame 34
tensor(0.1784)
 # KEYFRAME 31
0.0591142140001466
Frame 35
tensor(0.1194)
 # KEYFRAME 32
0.059254972999042366
Frame 36
tensor(0.1780)
 # KEYFRAME 33
0.06003175099976943
Frame 37
tensor(0.5810)
 # KEYFRAME 34
0.06064465799863683
Frame 38
tensor(0.1377)
 # KEYFRAME 35
0.0612548360004439
Frame 39
tensor(0.2546)
 # KEYFRAME 36
0.06162775499979034
Frame 40
tensor(0.1337)
 # KEYFRAME 37
0.06250914200063562
Frame 41
tensor(0.1685)
 # KEYFRAME 38
0.06309437000163598
Frame 42
tensor(0.2805)
 # KEYFRAME 39
0.06395226599852322
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.05648251995444298
TTA-STEP: step=57 loss_distill=0.0565 tta_take=0.009s
Frame 43
tensor(0.2717)
 # KEYFRAME 40
0.06241533299908042
Frame 44
tensor(0.1202)
 # KEYFRAME 41
0.06379689800087363
Frame 45
tensor(0.3342)
 # KEYFRAME 42
0.0634777090017451
Frame 46
tensor(0.2617)
 # KEYFRAME 43
0.06369755699779489
Frame 47
tensor(0.3776)
 # KEYFRAME 44
0.06462700399788446
Frame 48
tensor(0.0642)
Frame 49
tensor(0.2318)
 # KEYFRAME 45
0.06496028200126602
Frame 50
tensor(0.1756)
 # KEYFRAME 46
0.06520626199926483
Frame 51
tensor(0.1546)
 # KEYFRAME 47
0.06613721800022176
Frame 52
tensor(0.1508)
 # KEYFRAME 48
0.06663179699899047
Frame 53
tensor(0.2034)
 # KEYFRAME 49
0.06718518499837955
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.5498306155204773
TTA-STEP: step=58 loss_distill=0.5498 tta_take=0.009s
Frame 54
tensor(0.1734)
 # KEYFRAME 50
0.06658623700059252
Frame 55
tensor(0.1707)
 # KEYFRAME 51
0.06822675099829212
Frame 56
tensor(0.2880)
 # KEYFRAME 52
0.0690206079998461
Frame 57
tensor(0.1705)
 # KEYFRAME 53
0.0704594230010116
Frame 58
tensor(0.2127)
 # KEYFRAME 54
0.0693166469973221
Frame 59
tensor(0.2722)
 # KEYFRAME 55
0.07329093199950876
Frame 60
tensor(0.3099)
 # KEYFRAME 56
0.07265349500084994
Frame 61
tensor(0.1592)
 # KEYFRAME 57
0.07302237299882108
Frame 62
tensor(0.2171)
 # KEYFRAME 58
0.07345368199821678
Frame 63
tensor(0.0977)
Frame 64
tensor(0.2596)
 # KEYFRAME 59
0.07392970000000787
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.9506967067718506
TTA-STEP: step=59 loss_distill=0.9507 tta_take=0.009s
Frame 65
tensor(0.3644)
 # KEYFRAME 60
0.07149593600115622
Frame 66
tensor(0.1193)
 # KEYFRAME 61
0.07225940399803221
Frame 67
tensor(0.1480)
 # KEYFRAME 62
0.07188746499741683
Frame 68
tensor(0.2102)
 # KEYFRAME 63
0.07281402199805598
Frame 69
tensor(0.2031)
 # KEYFRAME 64
0.07266006200006814
Frame 70
tensor(0.1917)
 # KEYFRAME 65
0.07351479900171398
Frame 71
tensor(0.5694)
 # KEYFRAME 66
0.07362212899897713
Frame 72
tensor(0.1900)
 # KEYFRAME 67
0.0743038870023156
Frame 73
tensor(0.1829)
 # KEYFRAME 68
0.07460064599945326
Frame 74
tensor(0.1617)
 # KEYFRAME 69
0.07510814399938681
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.7872023582458496
TTA-STEP: step=60 loss_distill=0.7872 tta_take=0.009s
Frame 75
tensor(0.1212)
 # KEYFRAME 70
0.07584345099894563
Frame 76
tensor(0.1666)
 # KEYFRAME 71
0.07737600600012229
Frame 77
tensor(0.1779)
 # KEYFRAME 72
0.07738095600143424
Frame 78
tensor(0.3662)
 # KEYFRAME 73
0.07731953599795816
Frame 79
tensor(0.1451)
 # KEYFRAME 74
0.07777915399856283
Frame 80
tensor(0.1133)
 # KEYFRAME 75
0.07846200199855957
Frame 81
tensor(0.1613)
 # KEYFRAME 76
0.07849537199945189
Frame 82
tensor(0.1340)
 # KEYFRAME 77
0.07956531799936784
Frame 83
tensor(0.2634)
 # KEYFRAME 78
0.08017264600130147
Frame 84
tensor(0.1608)
 # KEYFRAME 79
0.08078080400082399
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 5] dropped=[4] scores=[(0, 1.0002484321594238), (1, 1.3864338397979736), (2, 1.1288261413574219), (3, 0.7155580520629883), (4, 0.676915168762207), (5, 0.9889920353889465)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 2, 0, 5, 3] dts=[6, 5, 7, 2, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4632588326931
TTA-STEP: step=61 loss_distill=0.4633 tta_take=0.008s
Frame 85
tensor(0.0801)
Frame 86
tensor(0.4256)
 # KEYFRAME 80
0.07521761300085927
Frame 87
tensor(0.1004)
 # KEYFRAME 81
0.07687918699957663
Frame 88
tensor(0.0654)
Frame 89
tensor(0.1479)
 # KEYFRAME 82
0.07620369999858667
Frame 90
tensor(0.1524)
 # KEYFRAME 83
0.07710212700112606
Frame 91
tensor(0.0531)
Frame 92
tensor(0.1511)
 # KEYFRAME 84
0.07691340800010948
Frame 93
tensor(0.1124)
 # KEYFRAME 85
0.07747871500032488
Frame 94
tensor(0.5763)
 # KEYFRAME 86
0.0781298229994718
Frame 95
tensor(0.0692)
Frame 96
tensor(0.2207)
 # KEYFRAME 87
0.07943897800214472
Frame 97
tensor(0.2122)
 # KEYFRAME 88
0.07959717800258659
Frame 98
tensor(0.1232)
 # KEYFRAME 89
0.08019368600071175
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 5, 6] dropped=[3, 4] scores=[(0, 0.9955602884292603), (1, 1.2823125123977661), (2, 1.1033974885940552), (3, 0.7966538071632385), (4, 0.7871418595314026), (5, 1.0358543395996094), (6, 1.1574472188949585)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 6, 2, 5, 0] dts=[7, 2, 6, 3, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.42203280329704285
TTA-STEP: step=62 loss_distill=0.4220 tta_take=0.009s
Frame 99
tensor(0.1983)
 # KEYFRAME 90
0.07535859299969161
Frame 100
tensor(0.2012)
 # KEYFRAME 91
0.0772123360002297
Frame 101
tensor(0.1221)
 # KEYFRAME 92
0.07677595800123527
Frame 102
tensor(0.1569)
 # KEYFRAME 93
0.07754622499851394
Frame 103
tensor(0.3044)
 # KEYFRAME 94
0.07814563299689326
Frame 104
tensor(0.0986)
Frame 105
tensor(0.2713)
 # KEYFRAME 95
0.07924997000009171
Frame 106
tensor(0.0612)
Frame 107
tensor(0.1576)
 # KEYFRAME 96
0.07926596899778815
Frame 108
tensor(0.2162)
 # KEYFRAME 97
0.08031280599971069
Frame 109
tensor(0.2311)
 # KEYFRAME 98
0.08103651300189085
Frame 110
tensor(0.2226)
 # KEYFRAME 99
0.08145362100185594
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 6, 7] dropped=[3, 4, 5] scores=[(0, -0.3062272369861603), (1, 0.9207834005355835), (2, 0.17188067734241486), (3, -1.147757887840271), (4, -1.0985991954803467), (5, -0.37967267632484436), (6, 0.32989105582237244), (7, 0.8166190385818481)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 7, 6, 2, 0] dts=[8, 2, 3, 7, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.5222780108451843
TTA-STEP: step=63 loss_distill=0.5223 tta_take=0.009s
Frame 111
tensor(0.1807)
 # KEYFRAME 100
0.0757901020006102
Frame 112
tensor(0.3799)
 # KEYFRAME 101
0.07775564399707946
Frame 113
tensor(0.2339)
 # KEYFRAME 102
0.07710238700019545
Frame 114
tensor(0.1746)
 # KEYFRAME 103
0.07783252500303206
Frame 115
tensor(0.2261)
 # KEYFRAME 104
0.07887769099761499
Frame 116
tensor(0.0989)
Frame 117
tensor(0.2845)
 # KEYFRAME 105
0.07868095099911443
Frame 118
tensor(0.9845)
 # KEYFRAME 106
0.07856902099956642
Frame 119
tensor(0.1016)
 # KEYFRAME 107
0.08009195599879604
Frame 120
tensor(0.0923)
Frame 121
tensor(0.2785)
 # KEYFRAME 108
0.08062783399873297
Frame 122
tensor(0.2298)
 # KEYFRAME 109
0.08116325199807761
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[1, 2, 6, 7, 8] dropped=[0, 3, 4, 5] scores=[(0, -0.7728793621063232), (1, 0.6225141882896423), (2, -0.253960520029068), (3, -1.837145209312439), (4, -1.8384970426559448), (5, -0.976905107498169), (6, -0.1333920955657959), (7, 0.4472343921661377), (8, 0.5442107319831848)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 8, 7, 6, 2] dts=[9, 2, 3, 4, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.6161291003227234
TTA-STEP: step=64 loss_distill=0.6161 tta_take=0.009s
Frame 123
tensor(0.2063)
 # KEYFRAME 110
0.07604628999979468
Frame 124
tensor(0.2565)
 # KEYFRAME 111
0.07633518900183844
Frame 125
tensor(0.1917)
 # KEYFRAME 112
0.07691179799803649
Frame 126
tensor(0.2734)
 # KEYFRAME 113
0.0777869039993675
Frame 127
tensor(0.1171)
 # KEYFRAME 114
0.07850208200034103
Frame 128
tensor(0.1419)
 # KEYFRAME 115
0.07893856999726268
Frame 129
tensor(0.1340)
 # KEYFRAME 116
0.0778206550021423
Frame 130
tensor(0.1694)
 # KEYFRAME 117
0.07931661900147446
Frame 131
tensor(0.1775)
 # KEYFRAME 118
0.07989927600283409
Frame 132
tensor(0.0830)
Frame 133
tensor(0.1880)
 # KEYFRAME 119
0.08095439300086582
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[1, 2, 6, 7, 8] dropped=[0, 3, 4, 5, 9] scores=[(0, -0.870275616645813), (1, 0.5297544002532959), (2, -0.3609197735786438), (3, -1.94817054271698), (4, -1.9539498090744019), (5, -1.0882481336593628), (6, -0.2466285079717636), (7, 0.34123435616493225), (8, 0.44260701537132263), (9, -1.3128937482833862)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 8, 7, 6, 2] dts=[10, 3, 4, 5, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.6300320625305176
TTA-STEP: step=65 loss_distill=0.6300 tta_take=0.009s
Frame 134
tensor(0.1176)
 # KEYFRAME 120
0.07548097300241352
Frame 135
tensor(0.1360)
 # KEYFRAME 121
0.07782283499909681
Frame 136
tensor(0.1311)
 # KEYFRAME 122
0.07778122399759013
Frame 137
tensor(0.2910)
 # KEYFRAME 123
0.07817583299765829
Frame 138
tensor(0.0891)
Frame 139
tensor(0.3486)
 # KEYFRAME 124
0.07931530900168582
Frame 140
tensor(0.2440)
 # KEYFRAME 125
0.07923568899786915
Frame 141
tensor(0.1991)
 # KEYFRAME 126
0.07877523999923142
Frame 142
tensor(0.2746)
 # KEYFRAME 127
0.0797135579996393
Frame 143
tensor(0.2771)
 # KEYFRAME 128
0.08086332300081267
Frame 144
tensor(0.3497)
 # KEYFRAME 129
0.0814639320014976
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[1, 2, 6, 7, 8] dropped=[0, 3, 4, 5, 9, 10] scores=[(0, -0.2745198607444763), (1, 0.7769426107406616), (2, 0.1488691121339798), (3, -1.2188451290130615), (4, -1.21349036693573), (5, -0.39811569452285767), (6, 0.2697242796421051), (7, 0.6934497356414795), (8, 0.7597877979278564), (9, -0.6316202878952026), (10, -1.5248160362243652)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 8, 7, 6, 2] dts=[11, 4, 5, 6, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.5580185055732727
TTA-STEP: step=66 loss_distill=0.5580 tta_take=0.009s
Frame 145
tensor(0.4358)
 # KEYFRAME 130
0.07531058300082805
Frame 146
tensor(0.1385)
 # KEYFRAME 131
0.0761609800028964
Frame 147
tensor(0.5573)
 # KEYFRAME 132
0.07712619599988102
Frame 148
tensor(0.1602)
 # KEYFRAME 133
0.07750055500218878
Frame 149
tensor(0.2759)
 # KEYFRAME 134
0.07808530400143354
Backending... 135 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[1, 2, 6, 7, 8] dropped=[0, 3, 4, 5, 9, 10, 11] scores=[(0, 0.15613730251789093), (1, 0.9002055525779724), (2, 0.45408308506011963), (3, -0.578174352645874), (4, -0.5501462817192078), (5, 0.13690200448036194), (6, 0.5871772766113281), (7, 0.8932073712348938), (8, 0.9410918354988098), (9, -0.0747816264629364), (10, -0.8703998327255249), (11, -1.1432428359985352)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 60450, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[8, 1, 7, 6, 2] dts=[5, 12, 6, 7, 11]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.5020860433578491
TTA-STEP: step=67 loss_distill=0.5021 tta_take=0.005s
[epoch 0 scene 7/556] scannetpp/13285009a4/DSC frames=150 tta_steps_this_scene=11 mean_loss=0.5507 total_steps=67 time=59.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0168)
Frame 2
tensor(0.0348)
Frame 3
tensor(0.0735)
Frame 4
tensor(0.0494)
Frame 5
tensor(0.1765)
 # KEYFRAME 1
Frame 6
tensor(0.0924)
Frame 7
tensor(0.1971)
 # KEYFRAME 2
0.05148900799758849
Frame 8
tensor(0.0379)
Frame 9
tensor(0.1131)
 # KEYFRAME 3
0.052038664998690365
Frame 10
tensor(0.0451)
Frame 11
tensor(0.1433)
 # KEYFRAME 4
0.054008228002203396
Frame 12
tensor(0.0749)
Frame 13
tensor(0.1730)
 # KEYFRAME 5
0.054983894999168115
Frame 14
tensor(0.0533)
Frame 15
tensor(0.1308)
 # KEYFRAME 6
0.05624131100194063
Frame 16
tensor(0.0634)
Frame 17
tensor(0.1033)
 # KEYFRAME 7
0.0564814600002137
Frame 18
tensor(0.0333)
Frame 19
tensor(0.0981)
Frame 20
tensor(0.1157)
 # KEYFRAME 8
0.05722462699850439
Frame 21
tensor(0.0614)
Frame 22
tensor(0.1134)
 # KEYFRAME 9
0.05742049699983909
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 23
tensor(0.0313)
Frame 24
tensor(0.0811)
Frame 25
tensor(0.2950)
 # KEYFRAME 10
0.05246064399761963
Frame 26
tensor(0.1083)
 # KEYFRAME 11
0.053743459000543226
Frame 27
tensor(0.0778)
Frame 28
tensor(0.1229)
 # KEYFRAME 12
0.05534394400092424
Frame 29
tensor(0.0842)
Frame 30
tensor(0.1440)
 # KEYFRAME 13
0.058410983001522254
Frame 31
tensor(0.1014)
 # KEYFRAME 14
0.05850680300136446
Frame 32
tensor(0.0691)
Frame 33
tensor(0.0634)
Frame 34
tensor(0.1244)
 # KEYFRAME 15
0.05883604100017692
Frame 35
tensor(0.1629)
 # KEYFRAME 16
0.059567559001152404
Frame 36
tensor(0.0801)
Frame 37
tensor(0.1450)
 # KEYFRAME 17
0.06054008499995689
Frame 38
tensor(0.0143)
Frame 39
tensor(0.1597)
 # KEYFRAME 18
0.06124505299885641
Frame 40
tensor(0.0523)
Frame 41
tensor(0.0932)
Frame 42
tensor(0.2073)
 # KEYFRAME 19
0.06291223699736292
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 43
tensor(0.0484)
Frame 44
tensor(0.1125)
 # KEYFRAME 20
0.05934459999843966
Frame 45
tensor(0.0951)
Frame 46
tensor(0.4193)
 # KEYFRAME 21
0.060563504997844575
Frame 47
tensor(0.0950)
Frame 48
tensor(0.2186)
 # KEYFRAME 22
0.06100190399956773
Frame 49
tensor(0.0916)
Frame 50
tensor(0.2177)
 # KEYFRAME 23
0.06235480899704271
Frame 51
tensor(0.0729)
Frame 52
tensor(0.2416)
 # KEYFRAME 24
0.06294635700032813
Frame 53
tensor(0.0577)
Frame 54
tensor(0.1041)
 # KEYFRAME 25
0.06369754399929661
Frame 55
tensor(0.0888)
Frame 56
tensor(0.1195)
 # KEYFRAME 26
0.06534848799856263
Frame 57
tensor(0.0687)
Frame 58
tensor(0.0979)
Frame 59
tensor(0.1348)
 # KEYFRAME 27
0.06687035399954766
Frame 60
tensor(0.0675)
Frame 61
tensor(0.1541)
 # KEYFRAME 28
0.06768568999905256
Frame 62
tensor(0.0788)
Frame 63
tensor(0.1400)
 # KEYFRAME 29
0.06871898700046586
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 64
tensor(0.0206)
Frame 65
tensor(0.1427)
 # KEYFRAME 30
0.06631508499776828
Frame 66
tensor(0.0337)
Frame 67
tensor(0.0597)
Frame 68
tensor(0.0849)
Frame 69
tensor(0.1585)
 # KEYFRAME 31
0.06746032100272714
Frame 70
tensor(0.0525)
Frame 71
tensor(0.1770)
 # KEYFRAME 32
0.06856674699884024
Frame 72
tensor(0.0882)
Frame 73
tensor(0.1711)
 # KEYFRAME 33
0.07020260200079065
Frame 74
tensor(0.3332)
 # KEYFRAME 34
0.07119396800044342
Frame 75
tensor(0.0668)
Frame 76
tensor(0.0799)
Frame 77
tensor(0.1494)
 # KEYFRAME 35
0.07239529399885214
Frame 78
tensor(0.0680)
Frame 79
tensor(0.1386)
 # KEYFRAME 36
0.07335272999989684
Frame 80
tensor(0.1052)
 # KEYFRAME 37
0.07467186500070966
Frame 81
tensor(0.0576)
Frame 82
tensor(0.0645)
Frame 83
tensor(0.0491)
Frame 84
tensor(0.0747)
Frame 85
tensor(0.2074)
 # KEYFRAME 38
0.07585285199820646
Frame 86
tensor(0.0624)
Frame 87
tensor(0.1003)
 # KEYFRAME 39
0.07682072799798334
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.09483909606933594
TTA-STEP: step=68 loss_distill=0.0948 tta_take=0.009s
Frame 88
tensor(0.0994)
Frame 89
tensor(0.1761)
 # KEYFRAME 40
0.07221952400141163
Frame 90
tensor(0.1400)
 # KEYFRAME 41
0.07431862699741032
Frame 91
tensor(0.1133)
 # KEYFRAME 42
0.07521265299874358
Frame 92
tensor(0.1422)
 # KEYFRAME 43
0.07589786099924822
Frame 93
tensor(0.1169)
 # KEYFRAME 44
0.07680437799717765
Frame 94
tensor(0.0941)
Frame 95
tensor(0.1858)
 # KEYFRAME 45
0.07886929099913687
Frame 96
tensor(0.0884)
Frame 97
tensor(0.1760)
 # KEYFRAME 46
0.07929204900210607
Frame 98
tensor(0.0412)
Frame 99
tensor(0.1583)
 # KEYFRAME 47
0.08088906400007545
Frame 100
tensor(0.1043)
 # KEYFRAME 48
0.08152344100017217
Frame 101
tensor(0.4234)
 # KEYFRAME 49
0.08293402599883848
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.21076007187366486
TTA-STEP: step=69 loss_distill=0.2108 tta_take=0.009s
Frame 102
tensor(0.0469)
Frame 103
tensor(0.5520)
 # KEYFRAME 50
0.07945310799914296
Backending... 51 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 53091, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3223009407520294
TTA-STEP: step=70 loss_distill=0.3223 tta_take=0.003s
[epoch 0 scene 8/556] scannetpp/e0de253456/frame frames=104 tta_steps_this_scene=3 mean_loss=0.2093 total_steps=70 time=23.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0182)
Frame 2
tensor(0.0869)
Frame 3
tensor(0.1508)
 # KEYFRAME 1
Frame 4
tensor(0.0588)
Frame 5
tensor(0.1710)
 # KEYFRAME 2
0.05155323700091685
Frame 6
tensor(0.1583)
 # KEYFRAME 3
0.05403596899850527
Frame 7
tensor(0.1347)
 # KEYFRAME 4
0.054069959001935786
Frame 8
tensor(0.2678)
 # KEYFRAME 5
0.05477290600174456
Frame 9
tensor(0.1909)
 # KEYFRAME 6
0.05586348200085922
Frame 10
tensor(0.1306)
 # KEYFRAME 7
0.05676643900005729
Frame 11
tensor(0.1591)
 # KEYFRAME 8
0.05827596399831236
Frame 12
tensor(0.2141)
 # KEYFRAME 9
0.05834446299923002
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 13
tensor(0.1469)
 # KEYFRAME 10
0.05253300399999716
Frame 14
tensor(0.0598)
Frame 15
tensor(0.0902)
Frame 16
tensor(0.1358)
 # KEYFRAME 11
0.053431741001986666
Frame 17
tensor(0.1886)
 # KEYFRAME 12
0.05450136699801078
Frame 18
tensor(0.2028)
 # KEYFRAME 13
0.056432569999742555
Frame 19
tensor(0.2041)
 # KEYFRAME 14
0.057100147001619916
Frame 20
tensor(0.0960)
Frame 21
tensor(0.1183)
 # KEYFRAME 15
0.057984294999187114
Frame 22
tensor(0.1470)
 # KEYFRAME 16
0.05886835199999041
Frame 23
tensor(0.0958)
Frame 24
tensor(0.1634)
 # KEYFRAME 17
0.05978827799845021
Frame 25
tensor(0.2965)
 # KEYFRAME 18
0.06096423400231288
Frame 26
tensor(0.2685)
 # KEYFRAME 19
0.06259250799848814
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 27
tensor(0.3799)
 # KEYFRAME 20
0.058810311998968245
Frame 28
tensor(0.3613)
 # KEYFRAME 21
0.060224477001611376
Frame 29
tensor(0.4478)
 # KEYFRAME 22
0.06063321500187158
Frame 30
tensor(0.3309)
 # KEYFRAME 23
0.061754741000186186
Frame 31
tensor(0.2895)
 # KEYFRAME 24
0.062300109002535464
Frame 32
tensor(0.1419)
 # KEYFRAME 25
0.06346600499819033
Frame 33
tensor(0.1540)
 # KEYFRAME 26
0.06493030999990879
Frame 34
tensor(0.2724)
 # KEYFRAME 27
0.0655663369980175
Frame 35
tensor(0.2307)
 # KEYFRAME 28
0.06673235400012345
Frame 36
tensor(0.5258)
 # KEYFRAME 29
0.06850442699942505
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 37
tensor(0.3235)
 # KEYFRAME 30
0.06568899700141628
Frame 38
tensor(0.1453)
 # KEYFRAME 31
0.06716520199915976
Frame 39
tensor(0.0613)
Frame 40
tensor(0.1332)
 # KEYFRAME 32
0.06778254000164452
Frame 41
tensor(0.0797)
Frame 42
tensor(0.2093)
 # KEYFRAME 33
0.06863803699889104
Frame 43
tensor(0.1940)
 # KEYFRAME 34
0.06945416300004581
Frame 44
tensor(0.1854)
 # KEYFRAME 35
0.07029227100065327
Frame 45
tensor(0.1949)
 # KEYFRAME 36
0.07143277599971043
Frame 46
tensor(0.1334)
 # KEYFRAME 37
0.07179580500087468
Frame 47
tensor(0.0944)
Frame 48
tensor(0.1313)
 # KEYFRAME 38
0.07297328200002084
Frame 49
tensor(0.1412)
 # KEYFRAME 39
0.07358903899876168
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.19112767279148102
TTA-STEP: step=71 loss_distill=0.1911 tta_take=0.009s
Frame 50
tensor(0.1048)
 # KEYFRAME 40
0.07258487299986882
Frame 51
tensor(0.0936)
Frame 52
tensor(0.2355)
 # KEYFRAME 41
0.07460897499913699
Frame 53
tensor(0.2076)
 # KEYFRAME 42
0.07438095600082306
Frame 54
tensor(0.2422)
 # KEYFRAME 43
0.07522696399973938
Frame 55
tensor(0.1892)
 # KEYFRAME 44
0.07583004199841525
Frame 56
tensor(0.1488)
 # KEYFRAME 45
0.07675688800009084
Frame 57
tensor(0.1480)
 # KEYFRAME 46
0.07727377599803731
Frame 58
tensor(0.1563)
 # KEYFRAME 47
0.07790181299787946
Frame 59
tensor(0.0951)
Frame 60
tensor(0.1181)
 # KEYFRAME 48
0.07864078100101324
Frame 61
tensor(0.1233)
 # KEYFRAME 49
0.08042296500207158
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2411651909351349
TTA-STEP: step=72 loss_distill=0.2412 tta_take=0.009s
Frame 62
tensor(0.1030)
 # KEYFRAME 50
0.07967195799938054
Frame 63
tensor(0.1116)
 # KEYFRAME 51
0.08169869999983348
Frame 64
tensor(0.1968)
 # KEYFRAME 52
0.08134133099883911
Frame 65
tensor(0.1896)
 # KEYFRAME 53
0.0826278070016997
Frame 66
tensor(0.2195)
 # KEYFRAME 54
0.08391008299804525
Frame 67
tensor(0.1910)
 # KEYFRAME 55
0.08501342899762676
Frame 68
tensor(0.1854)
 # KEYFRAME 56
0.08566005700049573
Frame 69
tensor(0.1347)
 # KEYFRAME 57
0.08600471500176354
Frame 70
tensor(0.1952)
 # KEYFRAME 58
0.08783952800149564
Frame 71
tensor(0.2040)
 # KEYFRAME 59
0.08805266799754463
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.31556597352027893
TTA-STEP: step=73 loss_distill=0.3156 tta_take=0.009s
Frame 72
tensor(0.3010)
 # KEYFRAME 60
0.08570411699838587
Frame 73
tensor(0.1603)
 # KEYFRAME 61
0.0884643169993069
Frame 74
tensor(0.0754)
Frame 75
tensor(0.1925)
 # KEYFRAME 62
0.08874115599974175
Frame 76
tensor(0.1681)
 # KEYFRAME 63
0.0896405820021755
Frame 77
tensor(0.1661)
 # KEYFRAME 64
0.09107905700147967
Frame 78
tensor(0.1265)
 # KEYFRAME 65
0.09258686199973454
Frame 79
tensor(0.0932)
Frame 80
tensor(0.1179)
 # KEYFRAME 66
0.09400482700220891
Frame 81
tensor(0.1372)
 # KEYFRAME 67
0.09522984300201642
Frame 82
tensor(0.2461)
 # KEYFRAME 68
0.09623709899824462
Frame 83
tensor(0.2506)
 # KEYFRAME 69
0.09676077699987218
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.246675044298172
TTA-STEP: step=74 loss_distill=0.2467 tta_take=0.009s
Frame 84
tensor(0.1573)
 # KEYFRAME 70
0.09270154100158834
Frame 85
tensor(0.1489)
 # KEYFRAME 71
0.09574158000032185
Frame 86
tensor(0.0681)
Frame 87
tensor(0.1800)
 # KEYFRAME 72
0.09564615099952789
Frame 88
tensor(0.0928)
Frame 89
tensor(0.2048)
 # KEYFRAME 73
0.09683255700292648
Frame 90
tensor(0.1180)
 # KEYFRAME 74
0.0973340950004058
Frame 91
tensor(0.3901)
 # KEYFRAME 75
0.09901413899933686
Frame 92
tensor(0.4727)
 # KEYFRAME 76
0.10046083400084171
Frame 93
tensor(0.1871)
 # KEYFRAME 77
0.10158242000034079
Frame 94
tensor(0.3108)
 # KEYFRAME 78
0.10245199700148078
Frame 95
tensor(0.4816)
 # KEYFRAME 79
0.10273338600018178
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 3, 4, 5] dropped=[2] scores=[(0, 0.8408695459365845), (1, 0.5795750021934509), (2, 0.5794899463653564), (3, 1.0109163522720337), (4, 1.4006017446517944), (5, 1.3697429895401)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[4, 5, 3, 0, 1] dts=[3, 2, 4, 7, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2927817702293396
TTA-STEP: step=75 loss_distill=0.2928 tta_take=0.009s
Frame 96
tensor(0.4375)
 # KEYFRAME 80
0.09264843200071482
Frame 97
tensor(0.2054)
 # KEYFRAME 81
0.09521941299681203
Frame 98
tensor(0.3013)
 # KEYFRAME 82
0.09442311500242795
Frame 99
tensor(0.0588)
Frame 100
tensor(0.0520)
Frame 101
tensor(0.3939)
 # KEYFRAME 83
0.09532194200073718
Frame 102
tensor(0.2590)
 # KEYFRAME 84
0.09670196799925179
Frame 103
tensor(0.3144)
 # KEYFRAME 85
0.09714562599765486
Frame 104
tensor(0.2098)
 # KEYFRAME 86
0.0979529830001411
Frame 105
tensor(0.2157)
 # KEYFRAME 87
0.09810508200098411
Frame 106
tensor(0.1799)
 # KEYFRAME 88
0.09911039800135768
Frame 107
tensor(0.2630)
 # KEYFRAME 89
0.09984256600000663
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 3, 4, 5, 6] dropped=[1, 2] scores=[(0, 0.62558913230896), (1, 0.4720604717731476), (2, 0.23597431182861328), (3, 0.5833099484443665), (4, 1.1834745407104492), (5, 1.2837498188018799), (6, 0.7313150763511658)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[5, 4, 6, 0, 3] dts=[3, 4, 2, 8, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.26736724376678467
TTA-STEP: step=76 loss_distill=0.2674 tta_take=0.009s
Frame 108
tensor(0.2500)
 # KEYFRAME 90
0.09326973899806035
Frame 109
tensor(0.2478)
 # KEYFRAME 91
0.09507170299912104
Frame 110
tensor(0.2361)
 # KEYFRAME 92
0.0944532249995973
Frame 111
tensor(0.2813)
 # KEYFRAME 93
0.09612330999880214
Frame 112
tensor(0.1366)
 # KEYFRAME 94
0.09641119799925946
Frame 113
tensor(0.0598)
Frame 114
tensor(0.2443)
 # KEYFRAME 95
0.09760201400058577
Frame 115
tensor(0.4912)
 # KEYFRAME 96
0.09716651499911677
Frame 116
tensor(0.2513)
 # KEYFRAME 97
0.09789837300195359
Frame 117
tensor(0.3795)
 # KEYFRAME 98
0.09899691899772733
Frame 118
tensor(0.2308)
 # KEYFRAME 99
0.09987536699918564
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 4, 5, 6, 7] dropped=[1, 2, 3] scores=[(0, 0.9322198629379272), (1, 0.8511018753051758), (2, 0.523688554763794), (3, 0.48446008563041687), (4, 1.1640068292617798), (5, 1.468956470489502), (6, 1.0937833786010742), (7, 1.1029365062713623)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[5, 4, 7, 6, 0] dts=[4, 5, 2, 3, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3023129105567932
TTA-STEP: step=77 loss_distill=0.3023 tta_take=0.009s
Frame 119
tensor(0.2787)
 # KEYFRAME 100
0.0924612819981121
Frame 120
tensor(0.2326)
 # KEYFRAME 101
0.09513132299980498
Frame 121
tensor(0.3018)
 # KEYFRAME 102
0.09462603399879299
Frame 122
tensor(0.3308)
 # KEYFRAME 103
0.09581255100056296
Frame 123
tensor(0.2523)
 # KEYFRAME 104
0.09604367900101352
Frame 124
tensor(0.1593)
 # KEYFRAME 105
0.09685312699730275
Frame 125
tensor(0.2370)
 # KEYFRAME 106
0.09780946400132962
Frame 126
tensor(0.2686)
 # KEYFRAME 107
0.0989080199979071
Frame 127
tensor(0.1927)
 # KEYFRAME 108
0.09913204800250242
Frame 128
tensor(0.2922)
 # KEYFRAME 109
0.09922350799752166
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 4, 5, 6, 7] dropped=[1, 2, 3, 8] scores=[(0, 0.5893169045448303), (1, 0.46083950996398926), (2, 0.13174234330654144), (3, 0.3400703966617584), (4, 0.9683841466903687), (5, 1.200412392616272), (6, 0.6568349599838257), (7, 0.6112896203994751), (8, 0.2790082097053528)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[5, 4, 6, 7, 0] dts=[5, 6, 4, 3, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.26183122396469116
TTA-STEP: step=78 loss_distill=0.2618 tta_take=0.009s
Frame 129
tensor(0.1853)
 # KEYFRAME 110
0.09332356899903971
Frame 130
tensor(0.0851)
Frame 131
tensor(0.2068)
 # KEYFRAME 111
0.09418814699893119
Frame 132
tensor(0.1662)
 # KEYFRAME 112
0.09531312299804995
Frame 133
tensor(0.1973)
 # KEYFRAME 113
0.09581776999766589
Frame 134
tensor(0.1983)
 # KEYFRAME 114
0.09692029699726845
Frame 135
tensor(0.3671)
 # KEYFRAME 115
0.09681357700173976
Frame 136
tensor(0.2875)
 # KEYFRAME 116
0.09854873000222142
Frame 137
tensor(0.1195)
 # KEYFRAME 117
0.09885123999993084
Backending... 118 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 4, 5, 6, 9] dropped=[1, 2, 3, 7, 8] scores=[(0, 0.3239658772945404), (1, 0.14548251032829285), (2, -0.1610700488090515), (3, 0.2028590738773346), (4, 0.8552853465080261), (5, 1.0348986387252808), (6, 0.36724594235420227), (7, 0.29524508118629456), (8, -0.0014042784459888935), (9, 0.4539231061935425)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 70788, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[5, 4, 9, 6, 0] dts=[6, 7, 2, 5, 11]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2599214017391205
TTA-STEP: step=79 loss_distill=0.2599 tta_take=0.008s
[epoch 0 scene 9/556] scannetpp/e91722b5a3/frame frames=138 tta_steps_this_scene=9 mean_loss=0.2643 total_steps=79 time=65.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0179)
Frame 2
tensor(0.0312)
Frame 3
tensor(0.0172)
Frame 4
tensor(0.0689)
Frame 5
tensor(0.1123)
 # KEYFRAME 1
Frame 6
tensor(0.0682)
Frame 7
tensor(0.1132)
 # KEYFRAME 2
0.05177624600037234
Frame 8
tensor(0.0530)
Frame 9
tensor(0.0578)
Frame 10
tensor(0.0421)
Frame 11
tensor(0.1144)
 # KEYFRAME 3
0.05429952800113824
Frame 12
tensor(0.0627)
Frame 13
tensor(0.1346)
 # KEYFRAME 4
0.05448478700054693
Frame 14
tensor(0.0599)
Frame 15
tensor(0.1463)
 # KEYFRAME 5
0.055052964999049436
Frame 16
tensor(0.0612)
Frame 17
tensor(0.0960)
Frame 18
tensor(0.0752)
Frame 19
tensor(0.4481)
 # KEYFRAME 6
0.05606763099785894
Frame 20
tensor(0.3653)
 # KEYFRAME 7
0.05700775799778057
Frame 21
tensor(0.0725)
Frame 22
tensor(0.1227)
 # KEYFRAME 8
0.058454493002500385
Frame 23
tensor(0.0540)
Frame 24
tensor(0.1181)
 # KEYFRAME 9
0.05840101299691014
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.0878)
Frame 26
tensor(0.1546)
 # KEYFRAME 10
0.052584334000130184
Frame 27
tensor(0.1099)
 # KEYFRAME 11
0.053511440000875155
Frame 28
tensor(0.0812)
Frame 29
tensor(0.1657)
 # KEYFRAME 12
0.05452608700215933
Frame 30
tensor(0.0568)
Frame 31
tensor(0.0327)
Frame 32
tensor(0.0717)
Frame 33
tensor(0.1147)
 # KEYFRAME 13
0.0565068700016127
Frame 34
tensor(0.0852)
Frame 35
tensor(0.0863)
Frame 36
tensor(0.1177)
 # KEYFRAME 14
0.05733766699995613
Frame 37
tensor(0.1145)
 # KEYFRAME 15
0.058553042999847094
Frame 38
tensor(0.0855)
Frame 39
tensor(0.1760)
 # KEYFRAME 16
0.058971301001292886
Frame 40
tensor(0.1076)
 # KEYFRAME 17
0.06004278700129362
Frame 41
tensor(0.0940)
Frame 42
tensor(0.1175)
 # KEYFRAME 18
0.06107786299980944
Frame 43
tensor(0.0252)
Frame 44
tensor(0.1322)
 # KEYFRAME 19
0.06262173800132587
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 45
tensor(0.0980)
Frame 46
tensor(0.1605)
 # KEYFRAME 20
0.058937071000400465
Frame 47
tensor(0.0552)
Frame 48
tensor(0.1316)
 # KEYFRAME 21
0.06031995599914808
Frame 49
tensor(0.0665)
Frame 50
tensor(0.0820)
Frame 51
tensor(0.1366)
 # KEYFRAME 22
0.061216522997710854
Frame 52
tensor(0.1141)
 # KEYFRAME 23
0.061870920999353984
Frame 53
tensor(0.1330)
 # KEYFRAME 24
0.06219983900155057
Frame 54
tensor(0.0799)
Frame 55
tensor(0.1492)
 # KEYFRAME 25
0.06373424400226213
Frame 56
tensor(0.0522)
Frame 57
tensor(0.1211)
 # KEYFRAME 26
0.06499166900175624
Frame 58
tensor(0.1589)
 # KEYFRAME 27
0.06586089700067532
Frame 59
tensor(0.0573)
Frame 60
tensor(0.0478)
Frame 61
tensor(0.1459)
 # KEYFRAME 28
0.06672870299735223
Frame 62
tensor(0.1500)
 # KEYFRAME 29
0.06826211900261114
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 63
tensor(0.0741)
Frame 64
tensor(0.1307)
 # KEYFRAME 30
0.06566585800101166
Frame 65
tensor(0.0635)
Frame 66
tensor(0.1447)
 # KEYFRAME 31
0.06761471999925561
Frame 67
tensor(0.1291)
 # KEYFRAME 32
0.06775947999994969
Frame 68
tensor(0.1061)
 # KEYFRAME 33
0.06833188800010248
Frame 69
tensor(0.0906)
Frame 70
tensor(0.1127)
 # KEYFRAME 34
0.06992590200025006
Frame 71
tensor(0.0888)
Frame 72
tensor(0.1510)
 # KEYFRAME 35
0.0704244610024034
Frame 73
tensor(0.0569)
Frame 74
tensor(0.1230)
 # KEYFRAME 36
0.0715582060001907
Frame 75
tensor(0.0756)
Frame 76
tensor(0.1075)
 # KEYFRAME 37
0.07202388500081724
Frame 77
tensor(0.0549)
Frame 78
tensor(0.1146)
 # KEYFRAME 38
0.07294173199989018
Frame 79
tensor(0.0545)
Frame 80
tensor(0.1214)
 # KEYFRAME 39
0.07383277799817733
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.17502449452877045
TTA-STEP: step=80 loss_distill=0.1750 tta_take=0.009s
Frame 81
tensor(0.0923)
Frame 82
tensor(0.2066)
 # KEYFRAME 40
0.07235844300157623
Frame 83
tensor(0.1200)
 # KEYFRAME 41
0.07458814599885955
Frame 84
tensor(0.0845)
Frame 85
tensor(0.1782)
 # KEYFRAME 42
0.07451798599868198
Frame 86
tensor(0.1509)
 # KEYFRAME 43
0.07522164400143083
Frame 87
tensor(0.1558)
 # KEYFRAME 44
0.07641112899727887
Frame 88
tensor(0.0852)
Frame 89
tensor(0.1830)
 # KEYFRAME 45
0.07649634900008095
Frame 90
tensor(0.0705)
Frame 91
tensor(0.1367)
 # KEYFRAME 46
0.07759534499928122
Frame 92
tensor(0.0790)
Frame 93
tensor(0.1538)
 # KEYFRAME 47
0.07762163499864982
Frame 94
tensor(0.0583)
Frame 95
tensor(0.1144)
 # KEYFRAME 48
0.07877671099777217
Frame 96
tensor(0.1564)
 # KEYFRAME 49
0.07960973800072679
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2072623074054718
TTA-STEP: step=81 loss_distill=0.2073 tta_take=0.009s
Frame 97
tensor(0.1299)
 # KEYFRAME 50
0.07894465000208584
Frame 98
tensor(0.1201)
 # KEYFRAME 51
0.08180400999845006
Frame 99
tensor(0.1003)
 # KEYFRAME 52
0.08157581100022071
Frame 100
tensor(0.0775)
Frame 101
tensor(0.1220)
 # KEYFRAME 53
0.08270980699671782
Frame 102
tensor(0.0444)
Frame 103
tensor(0.1058)
 # KEYFRAME 54
0.0838669229997322
Frame 104
tensor(0.0936)
Frame 105
tensor(0.1531)
 # KEYFRAME 55
0.08436937099759234
Frame 106
tensor(0.0843)
Frame 107
tensor(0.2002)
 # KEYFRAME 56
0.08533821799937868
Frame 108
tensor(0.0606)
Frame 109
tensor(0.1238)
 # KEYFRAME 57
0.08605206499851192
Frame 110
tensor(0.0734)
Frame 111
tensor(0.1545)
 # KEYFRAME 58
0.08735033099947032
Frame 112
tensor(0.1017)
 # KEYFRAME 59
0.0886644249985693
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.26756712794303894
TTA-STEP: step=82 loss_distill=0.2676 tta_take=0.009s
Frame 113
tensor(0.1154)
 # KEYFRAME 60
0.08595832600258291
Frame 114
tensor(0.1006)
 # KEYFRAME 61
0.0886003659979906
Frame 115
tensor(0.1009)
 # KEYFRAME 62
0.08837194700026885
Frame 116
tensor(0.1108)
 # KEYFRAME 63
0.08947601299951202
Frame 117
tensor(0.0995)
Frame 118
tensor(0.1422)
 # KEYFRAME 64
0.09155109600033029
Frame 119
tensor(0.0996)
Frame 120
tensor(0.1320)
 # KEYFRAME 65
0.09211545400103205
Frame 121
tensor(0.0606)
Frame 122
tensor(0.1761)
 # KEYFRAME 66
0.09428497600310948
Frame 123
tensor(0.1358)
 # KEYFRAME 67
0.09475501400083886
Frame 124
tensor(0.1118)
 # KEYFRAME 68
0.09620215000177268
Frame 125
tensor(0.0825)
Frame 126
tensor(0.2408)
 # KEYFRAME 69
0.09738777500024298
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.46392276883125305
TTA-STEP: step=83 loss_distill=0.4639 tta_take=0.009s
Frame 127
tensor(0.1972)
 # KEYFRAME 70
0.09257466199778719
Frame 128
tensor(0.1125)
 # KEYFRAME 71
0.09530312300194055
Frame 129
tensor(0.1168)
 # KEYFRAME 72
0.09578462100034812
Frame 130
tensor(0.0722)
Frame 131
tensor(0.1378)
 # KEYFRAME 73
0.09616156900301576
Frame 132
tensor(0.0500)
Frame 133
tensor(0.0933)
Frame 134
tensor(0.1067)
 # KEYFRAME 74
0.09813122199921054
Frame 135
tensor(0.0996)
Frame 136
tensor(0.2442)
 # KEYFRAME 75
0.0994977469999867
Frame 137
tensor(0.1536)
 # KEYFRAME 76
0.10060480399988592
Frame 138
tensor(0.1674)
 # KEYFRAME 77
0.10098203300003661
Frame 139
tensor(0.0550)
Frame 140
tensor(0.0912)
Frame 141
tensor(0.2133)
 # KEYFRAME 78
0.10280189500190318
Frame 142
tensor(0.1486)
 # KEYFRAME 79
0.1028517250015284
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 5] dropped=[4] scores=[(0, -0.4653622806072235), (1, -0.8656814098358154), (2, -1.0098756551742554), (3, -0.8936253190040588), (4, -1.0953147411346436), (5, -0.8312724232673645)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[0, 5, 1, 3, 2] dts=[7, 2, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2784499228000641
TTA-STEP: step=84 loss_distill=0.2784 tta_take=0.009s
Frame 143
tensor(0.1821)
 # KEYFRAME 80
0.09318910000001779
Frame 144
tensor(0.1021)
 # KEYFRAME 81
0.09514815300281043
Frame 145
tensor(0.0962)
Frame 146
tensor(0.1521)
 # KEYFRAME 82
0.09556584199890494
Backending... 83 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 3, 5, 6] dropped=[2, 4] scores=[(0, -0.6706090569496155), (1, -1.0354596376419067), (2, -1.1892451047897339), (3, -1.046576976776123), (4, -1.2485331296920776), (5, -1.0522825717926025), (6, -0.9142106175422668)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65583, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[0, 6, 1, 3, 5] dts=[8, 2, 7, 5, 3]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.37430962920188904
TTA-STEP: step=85 loss_distill=0.3743 tta_take=0.004s
[epoch 0 scene 10/556] scannetpp/d415cc449b/frame frames=147 tta_steps_this_scene=6 mean_loss=0.2944 total_steps=85 time=51.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0834)
Frame 2
tensor(0.1745)
 # KEYFRAME 1
Frame 3
tensor(0.1062)
 # KEYFRAME 2
0.052197015000274405
Frame 4
tensor(0.0789)
Frame 5
tensor(0.1109)
 # KEYFRAME 3
0.05233292399861966
Frame 6
tensor(0.1244)
 # KEYFRAME 4
0.05336461100159795
Frame 7
tensor(0.1043)
 # KEYFRAME 5
0.054268367999611655
Frame 8
tensor(0.0854)
Frame 9
tensor(0.1129)
 # KEYFRAME 6
0.055887491998873884
Frame 10
tensor(0.0388)
Frame 11
tensor(0.2200)
 # KEYFRAME 7
0.056749598999886075
Frame 12
tensor(0.2120)
 # KEYFRAME 8
0.05713990700314753
Frame 13
tensor(0.0891)
Frame 14
tensor(0.1788)
 # KEYFRAME 9
0.05768850599997677
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 15
tensor(0.0803)
Frame 16
tensor(0.1693)
 # KEYFRAME 10
0.051659887001733296
Frame 17
tensor(0.1360)
 # KEYFRAME 11
0.052303825003036764
Frame 18
tensor(0.0913)
Frame 19
tensor(0.1303)
 # KEYFRAME 12
0.053077591001056135
Frame 20
tensor(0.1422)
 # KEYFRAME 13
0.0544022469985066
Frame 21
tensor(0.0832)
Frame 22
tensor(0.1554)
 # KEYFRAME 14
0.05470444599995972
Frame 23
tensor(0.1428)
 # KEYFRAME 15
0.05458181600261014
Frame 24
tensor(0.0354)
Frame 25
tensor(0.1383)
 # KEYFRAME 16
0.05510941500324407
Frame 26
tensor(0.0768)
Frame 27
tensor(0.1711)
 # KEYFRAME 17
0.055798621997382725
Frame 28
tensor(0.1650)
 # KEYFRAME 18
0.05653727000026265
Frame 29
tensor(0.1375)
 # KEYFRAME 19
0.05751067599703674
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 30
tensor(0.1197)
 # KEYFRAME 20
0.05395191900242935
Frame 31
tensor(0.0632)
Frame 32
tensor(0.3020)
 # KEYFRAME 21
0.05448979699940537
Frame 33
tensor(0.1708)
 # KEYFRAME 22
0.05507213500095531
Frame 34
tensor(0.1115)
 # KEYFRAME 23
0.05572850300086429
Frame 35
tensor(0.0612)
Frame 36
tensor(0.0846)
Frame 37
tensor(0.1739)
 # KEYFRAME 24
0.0560390919999918
Frame 38
tensor(0.0917)
Frame 39
tensor(0.0702)
Frame 40
tensor(0.0169)
Frame 41
tensor(0.0601)
Frame 42
tensor(0.2346)
 # KEYFRAME 25
0.05650919999970938
Frame 43
tensor(0.1560)
 # KEYFRAME 26
0.05806314499932341
Frame 44
tensor(0.1568)
 # KEYFRAME 27
0.059076239998830715
Frame 45
tensor(0.2382)
 # KEYFRAME 28
0.059941758001514245
Frame 46
tensor(0.1258)
 # KEYFRAME 29
0.06062361499789404
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 47
tensor(0.2806)
 # KEYFRAME 30
0.05842322299940861
Frame 48
tensor(0.2109)
 # KEYFRAME 31
0.059790087998408126
Frame 49
tensor(0.1540)
 # KEYFRAME 32
0.059676458997273585
Frame 50
tensor(0.1608)
 # KEYFRAME 33
0.06141020199720515
Frame 51
tensor(0.0743)
Frame 52
tensor(0.1474)
 # KEYFRAME 34
0.06255202900138102
Frame 53
tensor(0.0361)
Frame 54
tensor(0.1402)
 # KEYFRAME 35
0.0643389019969618
Frame 55
tensor(0.2084)
 # KEYFRAME 36
0.06432114200288197
Frame 56
tensor(0.3747)
 # KEYFRAME 37
0.0655232179997256
Frame 57
tensor(0.2385)
 # KEYFRAME 38
0.06654905400137068
Frame 58
tensor(0.2061)
 # KEYFRAME 39
0.06746384100188152
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.19913695752620697
TTA-STEP: step=86 loss_distill=0.1991 tta_take=0.009s
Frame 59
tensor(0.1291)
 # KEYFRAME 40
0.06233977899682941
Frame 60
tensor(0.2043)
 # KEYFRAME 41
0.06412238299890305
Frame 61
tensor(0.0738)
Frame 62
tensor(0.1457)
 # KEYFRAME 42
0.06431045200224617
Frame 63
tensor(0.1707)
 # KEYFRAME 43
0.06434661200182745
Frame 64
tensor(0.1129)
 # KEYFRAME 44
0.06615745499948389
Frame 65
tensor(0.1122)
 # KEYFRAME 45
0.06718022199856932
Frame 66
tensor(0.1151)
 # KEYFRAME 46
0.06804675800231053
Frame 67
tensor(0.1409)
 # KEYFRAME 47
0.06900638500155765
Frame 68
tensor(0.0876)
Frame 69
tensor(0.2262)
 # KEYFRAME 48
0.07022501100072986
Frame 70
tensor(0.1298)
 # KEYFRAME 49
0.07059836000189534
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.17004874348640442
TTA-STEP: step=87 loss_distill=0.1700 tta_take=0.009s
Frame 71
tensor(0.1705)
 # KEYFRAME 50
0.06671527400249033
Frame 72
tensor(0.1093)
 # KEYFRAME 51
0.06790257899774588
Frame 73
tensor(0.2621)
 # KEYFRAME 52
0.06809816899840371
Frame 74
tensor(0.1324)
 # KEYFRAME 53
0.06873400699987542
Frame 75
tensor(0.1775)
 # KEYFRAME 54
0.06859832699774415
Frame 76
tensor(0.0923)
Frame 77
tensor(0.0928)
Frame 78
tensor(0.1307)
 # KEYFRAME 55
0.06930072500108508
Frame 79
tensor(0.1377)
 # KEYFRAME 56
0.07001439099985873
Frame 80
tensor(0.0590)
Frame 81
tensor(0.2001)
 # KEYFRAME 57
0.07040802000119584
Frame 82
tensor(0.1310)
 # KEYFRAME 58
0.07088227900021593
Frame 83
tensor(0.1110)
 # KEYFRAME 59
0.07090335899920319
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2709248960018158
TTA-STEP: step=88 loss_distill=0.2709 tta_take=0.008s
Frame 84
tensor(0.1439)
 # KEYFRAME 60
0.07149172700155759
Frame 85
tensor(0.2028)
 # KEYFRAME 61
0.07281320199763286
Frame 86
tensor(0.1753)
 # KEYFRAME 62
0.07255428300049971
Frame 87
tensor(0.2768)
 # KEYFRAME 63
0.07328159999815398
Frame 88
tensor(0.3240)
 # KEYFRAME 64
0.07412476700119441
Frame 89
tensor(0.1138)
 # KEYFRAME 65
0.07387384899993776
Frame 90
tensor(0.2664)
 # KEYFRAME 66
0.076828626999486
Frame 91
tensor(0.2470)
 # KEYFRAME 67
0.07607130099859205
Frame 92
tensor(0.2827)
 # KEYFRAME 68
0.0768602269999974
Frame 93
tensor(0.2076)
 # KEYFRAME 69
0.07784793400060153
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3129863440990448
TTA-STEP: step=89 loss_distill=0.3130 tta_take=0.009s
Frame 94
tensor(0.1636)
 # KEYFRAME 70
0.07587988199884421
Frame 95
tensor(0.1138)
 # KEYFRAME 71
0.07798309299687389
Frame 96
tensor(0.1024)
 # KEYFRAME 72
0.07726417599769775
Frame 97
tensor(0.1286)
 # KEYFRAME 73
0.07832023299852153
Frame 98
tensor(0.0862)
Frame 99
tensor(0.1502)
 # KEYFRAME 74
0.07894675999705214
Frame 100
tensor(0.0913)
Frame 101
tensor(0.1947)
 # KEYFRAME 75
0.08030565499939257
Frame 102
tensor(0.0708)
Frame 103
tensor(0.1738)
 # KEYFRAME 76
0.07872964100170066
Frame 104
tensor(0.0816)
Frame 105
tensor(0.2009)
 # KEYFRAME 77
0.08146837099775439
Frame 106
tensor(0.0665)
Frame 107
tensor(0.1001)
 # KEYFRAME 78
0.08284560600077384
Frame 108
tensor(0.1423)
 # KEYFRAME 79
0.08339441499992972
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[1, 2, 3, 4, 5] dropped=[0] scores=[(0, 0.296951025724411), (1, 0.6507412195205688), (2, 1.0601319074630737), (3, 0.9465640783309937), (4, 0.5025012493133545), (5, 0.6040134429931641)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[2, 3, 1, 5, 4] dts=[5, 4, 6, 2, 3]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.33092886209487915
TTA-STEP: step=90 loss_distill=0.3309 tta_take=0.009s
Frame 109
tensor(0.1919)
 # KEYFRAME 80
0.0756446519990277
Frame 110
tensor(0.1438)
 # KEYFRAME 81
0.07671234800000093
Frame 111
tensor(0.1908)
 # KEYFRAME 82
0.07726091600125073
Frame 112
tensor(0.2031)
 # KEYFRAME 83
0.07812708299752558
Frame 113
tensor(0.1366)
 # KEYFRAME 84
0.07936236900059157
Frame 114
tensor(0.1067)
 # KEYFRAME 85
0.0796773479996773
Frame 115
tensor(0.0897)
Frame 116
tensor(0.1752)
 # KEYFRAME 86
0.07880319100149791
Frame 117
tensor(0.0589)
Frame 118
tensor(0.1128)
 # KEYFRAME 87
0.08098260299811955
Frame 119
tensor(0.0520)
Frame 120
tensor(0.1130)
 # KEYFRAME 88
0.08140157200250542
Frame 121
tensor(0.0407)
Frame 122
tensor(0.0505)
Frame 123
tensor(0.0865)
Frame 124
tensor(0.1217)
 # KEYFRAME 89
0.08211261900214595
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[1, 2, 3, 4, 5] dropped=[0, 6] scores=[(0, 0.3150450587272644), (1, 0.6703683733940125), (2, 1.0144858360290527), (3, 0.9107956886291504), (4, 0.48341792821884155), (5, 0.5154051184654236), (6, 0.27447736263275146)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[2, 3, 1, 5, 4] dts=[6, 5, 7, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3382597863674164
TTA-STEP: step=91 loss_distill=0.3383 tta_take=0.009s
Frame 125
tensor(0.0492)
Frame 126
tensor(0.1046)
 # KEYFRAME 90
0.07540732299821684
Frame 127
tensor(0.0618)
Frame 128
tensor(0.1251)
 # KEYFRAME 91
0.07710055699863005
Frame 129
tensor(0.0807)
Frame 130
tensor(0.1504)
 # KEYFRAME 92
0.0765975280010025
Frame 131
tensor(0.0911)
Frame 132
tensor(0.0486)
Frame 133
tensor(0.0597)
Frame 134
tensor(0.0970)
Frame 135
tensor(0.1480)
 # KEYFRAME 93
0.07746947600026033
Frame 136
tensor(0.0355)
Frame 137
tensor(0.0085)
Frame 138
tensor(0.0797)
Frame 139
tensor(0.0589)
Frame 140
tensor(0.0167)
Frame 141
tensor(0.0821)
Frame 142
tensor(0.8417)
 # KEYFRAME 94
0.07837321300030453
Frame 143
tensor(0.2798)
 # KEYFRAME 95
0.07876683100039372
Frame 144
tensor(0.2235)
 # KEYFRAME 96
0.07796400399820413
Frame 145
tensor(0.2455)
 # KEYFRAME 97
0.07894825999755994
Frame 146
tensor(0.1474)
 # KEYFRAME 98
0.07972352800061344
Frame 147
tensor(0.1635)
 # KEYFRAME 99
0.07994222699926468
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[1, 2, 3, 4, 5] dropped=[0, 6, 7] scores=[(0, 0.24892760813236237), (1, 0.6294508576393127), (2, 1.0839637517929077), (3, 0.9573536515235901), (4, 0.4872229993343353), (5, 0.6140231490135193), (6, 0.38107234239578247), (7, -0.08296505361795425)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[2, 3, 1, 5, 4] dts=[7, 6, 8, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3326627016067505
TTA-STEP: step=92 loss_distill=0.3327 tta_take=0.009s
Frame 148
tensor(0.0664)
Frame 149
tensor(0.1240)
 # KEYFRAME 100
0.07540083300045808
Backending... 101 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[1, 2, 3, 5, 6] dropped=[0, 4, 7, 8] scores=[(0, 0.13904784619808197), (1, 0.5067684650421143), (2, 1.017754316329956), (3, 0.8898137807846069), (4, 0.3865295946598053), (5, 0.592675507068634), (6, 0.43429699540138245), (7, -0.041961561888456345), (8, -0.19565297663211823)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 56730, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[2, 3, 5, 1, 6] dts=[8, 7, 5, 9, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4069478213787079
TTA-STEP: step=93 loss_distill=0.4069 tta_take=0.042s
[epoch 0 scene 11/556] scannetpp/0a76e06478/DSC frames=150 tta_steps_this_scene=8 mean_loss=0.2952 total_steps=93 time=53.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0111)
Frame 2
tensor(0.0237)
Frame 3
tensor(0.0325)
Frame 4
tensor(0.0415)
Frame 5
tensor(0.0486)
Frame 6
tensor(0.0600)
Frame 7
tensor(0.0707)
Frame 8
tensor(0.0852)
Frame 9
tensor(0.0998)
Frame 10
tensor(0.1136)
 # KEYFRAME 1
Frame 11
tensor(0.0067)
Frame 12
tensor(0.0136)
Frame 13
tensor(0.0217)
Frame 14
tensor(0.0278)
Frame 15
tensor(0.0401)
Frame 16
tensor(0.0530)
Frame 17
tensor(0.0638)
Frame 18
tensor(0.0786)
Frame 19
tensor(0.0878)
Frame 20
tensor(0.0917)
Frame 21
tensor(0.1009)
 # KEYFRAME 2
0.05191614599971217
Frame 22
tensor(0.0045)
Frame 23
tensor(0.0132)
Frame 24
tensor(0.0237)
Frame 25
tensor(0.0300)
Frame 26
tensor(0.0371)
Frame 27
tensor(0.0438)
Frame 28
tensor(0.0505)
Frame 29
tensor(0.0591)
Frame 30
tensor(0.0707)
Frame 31
tensor(0.0790)
Frame 32
tensor(0.0915)
Frame 33
tensor(0.1015)
 # KEYFRAME 3
0.05169021700203302
Frame 34
tensor(0.0068)
Frame 35
tensor(0.0158)
Frame 36
tensor(0.0246)
Frame 37
tensor(0.0372)
Frame 38
tensor(0.0456)
Frame 39
tensor(0.0492)
Frame 40
tensor(0.0584)
Frame 41
tensor(0.0693)
Frame 42
tensor(0.0881)
Frame 43
tensor(0.0941)
Frame 44
tensor(0.1092)
 # KEYFRAME 4
0.051766256998234894
Frame 45
tensor(0.0052)
Frame 46
tensor(0.0178)
Frame 47
tensor(0.0232)
Frame 48
tensor(0.0347)
Frame 49
tensor(0.0559)
Frame 50
tensor(0.0600)
Frame 51
tensor(0.0750)
Frame 52
tensor(0.0949)
Frame 53
tensor(0.1053)
 # KEYFRAME 5
0.05241372499949648
Frame 54
tensor(0.0045)
Frame 55
tensor(0.0172)
Frame 56
tensor(0.0326)
Frame 57
tensor(0.0487)
Frame 58
tensor(0.0666)
Frame 59
tensor(0.0827)
Frame 60
tensor(0.1043)
 # KEYFRAME 6
0.052489113997580716
Frame 61
tensor(0.0085)
Frame 62
tensor(0.0305)
Frame 63
tensor(0.0471)
Frame 64
tensor(0.0624)
Frame 65
tensor(0.0772)
Frame 66
tensor(0.0957)
Frame 67
tensor(0.1081)
 # KEYFRAME 7
0.05234289500003797
Frame 68
tensor(0.0131)
Frame 69
tensor(0.0334)
Frame 70
tensor(0.0450)
Frame 71
tensor(0.0615)
Frame 72
tensor(0.0783)
Frame 73
tensor(0.1033)
 # KEYFRAME 8
0.05305351200149744
Frame 74
tensor(0.0126)
Frame 75
tensor(0.0326)
Frame 76
tensor(0.0471)
Frame 77
tensor(0.0660)
Frame 78
tensor(0.0829)
Frame 79
tensor(0.0988)
Frame 80
tensor(0.1187)
 # KEYFRAME 9
0.052904603002389194
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 81
tensor(0.0150)
Frame 82
tensor(0.0288)
Frame 83
tensor(0.0437)
Frame 84
tensor(0.0628)
Frame 85
tensor(0.0801)
Frame 86
tensor(0.1036)
 # KEYFRAME 10
0.05184833699968294
Frame 87
tensor(0.0127)
Frame 88
tensor(0.0278)
Frame 89
tensor(0.0521)
Frame 90
tensor(0.0703)
Frame 91
tensor(0.0856)
Frame 92
tensor(0.1021)
 # KEYFRAME 11
0.05179629600024782
Frame 93
tensor(0.0145)
Frame 94
tensor(0.0355)
Frame 95
tensor(0.0495)
Frame 96
tensor(0.0694)
Frame 97
tensor(0.0817)
Frame 98
tensor(0.0991)
Frame 99
tensor(0.1180)
 # KEYFRAME 12
0.05184236599961878
Frame 100
tensor(0.0167)
Frame 101
tensor(0.0342)
Frame 102
tensor(0.0485)
Frame 103
tensor(0.0645)
Frame 104
tensor(0.0841)
Frame 105
tensor(0.1051)
 # KEYFRAME 13
0.05173469699730049
Frame 106
tensor(0.0130)
Frame 107
tensor(0.0255)
Frame 108
tensor(0.0427)
Frame 109
tensor(0.0594)
Frame 110
tensor(0.0785)
Frame 111
tensor(0.0966)
Frame 112
tensor(0.1102)
 # KEYFRAME 14
0.05233819400018547
Frame 113
tensor(0.0144)
Frame 114
tensor(0.0281)
Frame 115
tensor(0.0413)
Frame 116
tensor(0.0601)
Frame 117
tensor(0.0770)
Frame 118
tensor(0.0910)
Frame 119
tensor(0.1093)
 # KEYFRAME 15
0.05300164199798019
Frame 120
tensor(0.0106)
Frame 121
tensor(0.0227)
Frame 122
tensor(0.0393)
Frame 123
tensor(0.0554)
Frame 124
tensor(0.0731)
Frame 125
tensor(0.0872)
Frame 126
tensor(0.1025)
 # KEYFRAME 16
0.05244637400028296
Frame 127
tensor(0.0135)
Frame 128
tensor(0.0249)
Frame 129
tensor(0.0313)
Frame 130
tensor(0.0443)
Frame 131
tensor(0.0569)
Frame 132
tensor(0.0759)
Frame 133
tensor(0.0877)
Frame 134
tensor(0.0990)
Frame 135
tensor(0.1105)
 # KEYFRAME 17
0.05400964799991925
Frame 136
tensor(0.0092)
Frame 137
tensor(0.0236)
Frame 138
tensor(0.0340)
Frame 139
tensor(0.0467)
Frame 140
tensor(0.0618)
Frame 141
tensor(0.0710)
Frame 142
tensor(0.0817)
Frame 143
tensor(0.0982)
Frame 144
tensor(0.1044)
 # KEYFRAME 18
0.052787812001042766
Frame 145
tensor(0.0049)
Frame 146
tensor(0.0180)
Frame 147
tensor(0.0294)
Frame 148
tensor(0.0393)
Frame 149
tensor(0.0485)
Frame 150
tensor(0.0694)
Frame 151
tensor(0.0879)
Frame 152
tensor(0.1108)
 # KEYFRAME 19
0.05582320100074867
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 153
tensor(0.0097)
Frame 154
tensor(0.0217)
Frame 155
tensor(0.0288)
Frame 156
tensor(0.0441)
Frame 157
tensor(0.0497)
Frame 158
tensor(0.0894)
Frame 159
tensor(0.1010)
 # KEYFRAME 20
0.05190997500176309
Frame 160
tensor(0.0091)
Frame 161
tensor(0.0196)
Frame 162
tensor(0.0303)
Frame 163
tensor(0.0427)
Frame 164
tensor(0.0617)
Frame 165
tensor(0.0804)
Frame 166
tensor(0.0955)
Frame 167
tensor(0.1146)
 # KEYFRAME 21
0.05187255599958007
Frame 168
tensor(0.0151)
Frame 169
tensor(0.0286)
Frame 170
tensor(0.0498)
Frame 171
tensor(0.0689)
Frame 172
tensor(0.0969)
Frame 173
tensor(0.1126)
 # KEYFRAME 22
0.05261118299677037
Frame 174
tensor(0.0196)
Frame 175
tensor(0.0349)
Frame 176
tensor(0.0545)
Frame 177
tensor(0.0714)
Frame 178
tensor(0.1002)
 # KEYFRAME 23
0.05191304500112892
Frame 179
tensor(0.0232)
Frame 180
tensor(0.0420)
Frame 181
tensor(0.0631)
Frame 182
tensor(0.0875)
Frame 183
tensor(0.1247)
 # KEYFRAME 24
0.0525130829992122
Frame 184
tensor(0.0263)
Frame 185
tensor(0.0451)
Frame 186
tensor(0.0741)
Frame 187
tensor(0.0903)
Frame 188
tensor(0.1169)
 # KEYFRAME 25
0.0522817640012363
Frame 189
tensor(0.0246)
Frame 190
tensor(0.0458)
Frame 191
tensor(0.0665)
Frame 192
tensor(0.0855)
Frame 193
tensor(0.1111)
 # KEYFRAME 26
0.05255698299879441
Frame 194
tensor(0.0232)
Frame 195
tensor(0.0468)
Frame 196
tensor(0.0744)
Frame 197
tensor(0.0904)
Frame 198
tensor(0.1175)
 # KEYFRAME 27
0.05415579699911177
Frame 199
tensor(0.0235)
Frame 200
tensor(0.0446)
Frame 201
tensor(0.0693)
Frame 202
tensor(0.0892)
Frame 203
tensor(0.1141)
 # KEYFRAME 28
0.053013821998320054
Frame 204
tensor(0.0254)
Frame 205
tensor(0.0473)
Frame 206
tensor(0.0757)
Frame 207
tensor(0.0976)
Frame 208
tensor(0.1251)
 # KEYFRAME 29
0.05504144400038058
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 209
tensor(0.0237)
Frame 210
tensor(0.0488)
Frame 211
tensor(0.0748)
Frame 212
tensor(0.0975)
Frame 213
tensor(0.1204)
 # KEYFRAME 30
0.051884176002204185
Frame 214
tensor(0.0260)
Frame 215
tensor(0.0507)
Frame 216
tensor(0.0745)
Frame 217
tensor(0.0927)
Frame 218
tensor(0.1161)
 # KEYFRAME 31
0.051904115000070306
Frame 219
tensor(0.0209)
Frame 220
tensor(0.0430)
Frame 221
tensor(0.0719)
Frame 222
tensor(0.0994)
Frame 223
tensor(0.1204)
 # KEYFRAME 32
0.05177454599834164
Frame 224
tensor(0.0182)
Frame 225
tensor(0.0389)
Frame 226
tensor(0.0658)
Frame 227
tensor(0.0954)
Frame 228
tensor(0.1285)
 # KEYFRAME 33
0.05176237500199932
Frame 229
tensor(0.0255)
Frame 230
tensor(0.0493)
Frame 231
tensor(0.0768)
Frame 232
tensor(0.1006)
 # KEYFRAME 34
0.05227055399882374
Frame 233
tensor(0.0304)
Frame 234
tensor(0.0461)
Frame 235
tensor(0.0767)
Frame 236
tensor(0.1080)
 # KEYFRAME 35
0.05205959500017343
Frame 237
tensor(0.0220)
Frame 238
tensor(0.0465)
Frame 239
tensor(0.0742)
Frame 240
tensor(0.1067)
 # KEYFRAME 36
0.052245743998355465
Frame 241
tensor(0.0257)
Frame 242
tensor(0.0559)
Frame 243
tensor(0.0889)
Frame 244
tensor(0.1230)
 # KEYFRAME 37
0.05217070399885415
Frame 245
tensor(0.0257)
Frame 246
tensor(0.0503)
Frame 247
tensor(0.0891)
Frame 248
tensor(0.1175)
 # KEYFRAME 38
0.05236559299737564
Frame 249
tensor(0.0267)
Frame 250
tensor(0.0593)
Frame 251
tensor(0.0863)
Frame 252
tensor(0.1258)
 # KEYFRAME 39
0.05268319199967664
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.39137518405914307
TTA-STEP: step=94 loss_distill=0.3914 tta_take=0.005s
Frame 253
tensor(0.0274)
Frame 254
tensor(0.0603)
Frame 255
tensor(0.0953)
Frame 256
tensor(0.1312)
 # KEYFRAME 40
0.05193668499850901
Frame 257
tensor(0.0274)
Frame 258
tensor(0.0581)
Frame 259
tensor(0.0941)
Frame 260
tensor(0.1246)
 # KEYFRAME 41
0.05354160999922897
Frame 261
tensor(0.0336)
Frame 262
tensor(0.0626)
Frame 263
tensor(0.1013)
 # KEYFRAME 42
0.05407002699939767
Frame 264
tensor(0.0300)
Frame 265
tensor(0.0579)
Frame 266
tensor(0.0900)
Frame 267
tensor(0.1165)
 # KEYFRAME 43
0.052657821997854626
Frame 268
tensor(0.0293)
Frame 269
tensor(0.0616)
Frame 270
tensor(0.0921)
Frame 271
tensor(0.1203)
 # KEYFRAME 44
0.05582381199928932
Frame 272
tensor(0.0295)
Frame 273
tensor(0.0617)
Frame 274
tensor(0.0956)
Frame 275
tensor(0.1116)
 # KEYFRAME 45
0.05279376199905528
Frame 276
tensor(0.0286)
Frame 277
tensor(0.0578)
Frame 278
tensor(0.0920)
Frame 279
tensor(0.1179)
 # KEYFRAME 46
0.05247906300064642
Frame 280
tensor(0.0336)
Frame 281
tensor(0.0644)
Frame 282
tensor(0.0979)
Frame 283
tensor(0.1213)
 # KEYFRAME 47
0.05619031999958679
Frame 284
tensor(0.0290)
Frame 285
tensor(0.0553)
Frame 286
tensor(0.0825)
Frame 287
tensor(0.1057)
 # KEYFRAME 48
0.052371084002516
Frame 288
tensor(0.0271)
Frame 289
tensor(0.0517)
Frame 290
tensor(0.0773)
Frame 291
tensor(0.1066)
 # KEYFRAME 49
0.05616967000241857
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.41496068239212036
TTA-STEP: step=95 loss_distill=0.4150 tta_take=0.005s
Frame 292
tensor(0.0220)
Frame 293
tensor(0.0460)
Frame 294
tensor(0.0762)
Frame 295
tensor(0.1044)
 # KEYFRAME 50
0.05224629399890546
Frame 296
tensor(0.0277)
Frame 297
tensor(0.0529)
Frame 298
tensor(0.0802)
Frame 299
tensor(0.1121)
 # KEYFRAME 51
0.052941250996809686
Backending... 52 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 21424, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4114914834499359
TTA-STEP: step=96 loss_distill=0.4115 tta_take=0.003s
[epoch 0 scene 12/556] vkitti/Scene20/morning/Camera_1 frames=300 tta_steps_this_scene=3 mean_loss=0.4059 total_steps=96 time=78.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0133)
Frame 2
tensor(0.0894)
Frame 3
tensor(0.1771)
 # KEYFRAME 1
Frame 4
tensor(0.0441)
Frame 5
tensor(0.0418)
Frame 6
tensor(0.0369)
Frame 7
tensor(0.0881)
Frame 8
tensor(0.1660)
 # KEYFRAME 2
0.050956907998624956
Frame 9
tensor(0.1172)
 # KEYFRAME 3
0.052453444001002936
Frame 10
tensor(0.1220)
 # KEYFRAME 4
0.05445321599836461
Frame 11
tensor(0.0692)
Frame 12
tensor(0.1817)
 # KEYFRAME 5
0.05492846400011331
Frame 13
tensor(0.0641)
Frame 14
tensor(0.1395)
 # KEYFRAME 6
0.05619825999747263
Frame 15
tensor(0.0820)
Frame 16
tensor(0.1200)
 # KEYFRAME 7
0.05678460799754248
Frame 17
tensor(0.0752)
Frame 18
tensor(0.2136)
 # KEYFRAME 8
0.0575498959988181
Frame 19
tensor(0.1771)
 # KEYFRAME 9
0.05770229500194546
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 20
tensor(0.4045)
 # KEYFRAME 10
0.05189913499998511
Frame 21
tensor(0.2940)
 # KEYFRAME 11
0.05354281900144997
Frame 22
tensor(0.5982)
 # KEYFRAME 12
0.05425240700060385
Frame 23
tensor(0.1737)
 # KEYFRAME 13
0.056236780001199804
Frame 24
tensor(0.1557)
 # KEYFRAME 14
0.05716077599936398
Frame 25
tensor(0.1139)
 # KEYFRAME 15
0.05812135299856891
Frame 26
tensor(0.0966)
Frame 27
tensor(0.2589)
 # KEYFRAME 16
0.05846340200150735
Frame 28
tensor(0.3286)
 # KEYFRAME 17
0.059346948997699656
Frame 29
tensor(0.4138)
 # KEYFRAME 18
0.06114165200051502
Frame 30
tensor(0.2557)
 # KEYFRAME 19
0.06258477799929096
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 31
tensor(0.2123)
 # KEYFRAME 20
0.05882621099954122
Frame 32
tensor(0.2382)
 # KEYFRAME 21
0.060851653001009254
Frame 33
tensor(0.2003)
 # KEYFRAME 22
0.061562580998725025
Frame 34
tensor(0.2113)
 # KEYFRAME 23
0.06304463500055135
Frame 35
tensor(0.1636)
 # KEYFRAME 24
0.06423602099675918
Frame 36
tensor(0.1976)
 # KEYFRAME 25
0.06519607799782534
Frame 37
tensor(0.1912)
 # KEYFRAME 26
0.06660406300215982
Frame 38
tensor(0.1705)
 # KEYFRAME 27
0.06923245399957523
Frame 39
tensor(0.1566)
 # KEYFRAME 28
0.06876977499996428
Frame 40
tensor(0.0462)
Frame 41
tensor(0.1269)
 # KEYFRAME 29
0.06997142099862685
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 42
tensor(0.1253)
 # KEYFRAME 30
0.0655510869983118
Frame 43
tensor(0.1421)
 # KEYFRAME 31
0.06775932899836334
Frame 44
tensor(0.1090)
 # KEYFRAME 32
0.06856619600148406
Frame 45
tensor(0.1838)
 # KEYFRAME 33
0.06992032099878998
Frame 46
tensor(0.1471)
 # KEYFRAME 34
0.07083531800162746
Frame 47
tensor(0.1438)
 # KEYFRAME 35
0.07227228299962007
Frame 48
tensor(0.2897)
 # KEYFRAME 36
0.07359957800144912
Frame 49
tensor(0.2806)
 # KEYFRAME 37
0.07441902500067954
Frame 50
tensor(0.5599)
 # KEYFRAME 38
0.0758980899991002
Frame 51
tensor(0.2272)
 # KEYFRAME 39
0.07636677800110192
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1135503351688385
TTA-STEP: step=97 loss_distill=0.1136 tta_take=0.009s
Frame 52
tensor(0.1794)
 # KEYFRAME 40
0.07247222200021497
Frame 53
tensor(0.1850)
 # KEYFRAME 41
0.07462012500036508
Frame 54
tensor(0.3998)
 # KEYFRAME 42
0.07474511400141637
Frame 55
tensor(0.1382)
 # KEYFRAME 43
0.07566119100010837
Frame 56
tensor(0.1681)
 # KEYFRAME 44
0.07610077899880707
Frame 57
tensor(0.1623)
 # KEYFRAME 45
0.0771634049997374
Frame 58
tensor(0.4553)
 # KEYFRAME 46
0.07715944500159821
Frame 59
tensor(0.2491)
 # KEYFRAME 47
0.0778156329979538
Frame 60
tensor(0.1000)
 # KEYFRAME 48
0.07870336000269162
Frame 61
tensor(0.1023)
 # KEYFRAME 49
0.07945617699806462
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.22228321433067322
TTA-STEP: step=98 loss_distill=0.2223 tta_take=0.009s
Frame 62
tensor(0.1364)
 # KEYFRAME 50
0.07896015900041675
Frame 63
tensor(0.0879)
Frame 64
tensor(0.1944)
 # KEYFRAME 51
0.08171431899972958
Frame 65
tensor(0.1815)
 # KEYFRAME 52
0.08152334999977029
Frame 66
tensor(0.1122)
 # KEYFRAME 53
0.08292861500012805
Frame 67
tensor(0.1811)
 # KEYFRAME 54
0.08402628100157017
Frame 68
tensor(0.1819)
 # KEYFRAME 55
0.08479183800227474
Frame 69
tensor(0.1295)
 # KEYFRAME 56
0.0854809260017646
Frame 70
tensor(0.1502)
 # KEYFRAME 57
0.08556660499743884
Frame 71
tensor(0.1345)
 # KEYFRAME 58
0.08701459100120701
Frame 72
tensor(0.2676)
 # KEYFRAME 59
0.087653748003504
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2913942337036133
TTA-STEP: step=99 loss_distill=0.2914 tta_take=0.009s
Frame 73
tensor(0.3589)
 # KEYFRAME 60
0.0859614139990299
Frame 74
tensor(0.1875)
 # KEYFRAME 61
0.08856290500261821
Frame 75
tensor(0.2393)
 # KEYFRAME 62
0.17418095000175526
Frame 76
tensor(0.2686)
 # KEYFRAME 63
0.1853320599984727
Frame 77
tensor(0.1434)
 # KEYFRAME 64
0.15153167099924758
Frame 78
tensor(0.2248)
 # KEYFRAME 65
0.19073908100108383
Frame 79
tensor(0.1263)
 # KEYFRAME 66
0.27187690299979295
Frame 80
tensor(0.1441)
 # KEYFRAME 67
0.09508645100140711
Frame 81
tensor(0.2201)
 # KEYFRAME 68
0.0949708530024509
Frame 82
tensor(0.2592)
 # KEYFRAME 69
0.09603961899847491
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3418760299682617
TTA-STEP: step=100 loss_distill=0.3419 tta_take=0.009s
Frame 83
tensor(0.1725)
 # KEYFRAME 70
0.09301339900048333
Frame 84
tensor(0.1145)
 # KEYFRAME 71
0.09486960200229078
Frame 85
tensor(0.0976)
Frame 86
tensor(0.1758)
 # KEYFRAME 72
0.0944719740000437
Frame 87
tensor(0.1397)
 # KEYFRAME 73
0.09494090199950733
Frame 88
tensor(0.1402)
 # KEYFRAME 74
0.09637908700096887
Frame 89
tensor(0.0838)
Frame 90
tensor(0.1987)
 # KEYFRAME 75
0.09672854600285063
Frame 91
tensor(0.0963)
Frame 92
tensor(0.2484)
 # KEYFRAME 76
0.09817108100105543
Frame 93
tensor(0.1612)
 # KEYFRAME 77
0.09847368999908213
Frame 94
tensor(0.0523)
Frame 95
tensor(0.2161)
 # KEYFRAME 78
0.09975656500319019
Frame 96
tensor(0.2019)
 # KEYFRAME 79
0.09964452499843901
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[1, 2, 3, 4, 5] dropped=[0] scores=[(0, 0.2592593729496002), (1, 0.5203923583030701), (2, 0.8931130766868591), (3, 0.776801347732544), (4, 0.9082317352294922), (5, 1.1214619874954224)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[5, 4, 2, 3, 1] dts=[2, 3, 5, 4, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3208090662956238
TTA-STEP: step=101 loss_distill=0.3208 tta_take=0.009s
Frame 97
tensor(0.1930)
 # KEYFRAME 80
0.09284227899843245
Frame 98
tensor(0.3245)
 # KEYFRAME 81
0.09525237100024242
Frame 99
tensor(0.2886)
 # KEYFRAME 82
0.09614524700009497
Frame 100
tensor(0.3095)
 # KEYFRAME 83
0.09667339599764091
Frame 101
tensor(0.1680)
 # KEYFRAME 84
0.09751026300000376
Frame 102
tensor(0.1548)
 # KEYFRAME 85
0.0996402759992634
Frame 103
tensor(0.1340)
 # KEYFRAME 86
0.09972544499760261
Frame 104
tensor(0.0880)
Frame 105
tensor(0.1215)
 # KEYFRAME 87
0.10119999999733409
Frame 106
tensor(0.1552)
 # KEYFRAME 88
0.10302459400190855
Frame 107
tensor(0.0818)
Frame 108
tensor(0.2943)
 # KEYFRAME 89
0.10376614000051632
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[2, 3, 4, 5, 6] dropped=[0, 1] scores=[(0, -0.9414235353469849), (1, -0.6264707446098328), (2, 0.15528085827827454), (3, 0.0019809298682957888), (4, 0.056671470403671265), (5, 0.3145723342895508), (6, 0.510014533996582)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[6, 5, 2, 4, 3] dts=[2, 3, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.37669113278388977
TTA-STEP: step=102 loss_distill=0.3767 tta_take=0.009s
Frame 109
tensor(0.2078)
 # KEYFRAME 90
0.09395141500135651
Frame 110
tensor(0.1766)
 # KEYFRAME 91
0.09559747999810497
Frame 111
tensor(0.1771)
 # KEYFRAME 92
0.09515834199919482
Frame 112
tensor(0.1541)
 # KEYFRAME 93
0.09655268599817646
Frame 113
tensor(0.1490)
 # KEYFRAME 94
0.09763061299963738
Frame 114
tensor(0.1361)
 # KEYFRAME 95
0.09898397800134262
Frame 115
tensor(0.1940)
 # KEYFRAME 96
0.10046442300154013
Frame 116
tensor(0.1528)
 # KEYFRAME 97
0.10140665899962187
Frame 117
tensor(0.1539)
 # KEYFRAME 98
0.1018837869996787
Frame 118
tensor(0.1222)
 # KEYFRAME 99
0.10257854500014219
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[2, 4, 5, 6, 7] dropped=[0, 1, 3] scores=[(0, -0.5596169233322144), (1, -0.27429285645484924), (2, 0.4252404272556305), (3, 0.2927280366420746), (4, 0.3289521336555481), (5, 0.5478702783584595), (6, 0.6127068400382996), (7, 0.7823441028594971)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[7, 6, 5, 2, 4] dts=[2, 3, 4, 7, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.37521883845329285
TTA-STEP: step=103 loss_distill=0.3752 tta_take=0.009s
Frame 119
tensor(0.1117)
 # KEYFRAME 100
0.09346358699986013
Frame 120
tensor(0.0739)
Frame 121
tensor(0.2210)
 # KEYFRAME 101
0.09529560100054368
Frame 122
tensor(0.1475)
 # KEYFRAME 102
0.09525066100104596
Frame 123
tensor(0.1313)
 # KEYFRAME 103
0.09551983100027428
Frame 124
tensor(0.1193)
 # KEYFRAME 104
0.09725181400062866
Frame 125
tensor(0.1944)
 # KEYFRAME 105
0.0979886909990455
Frame 126
tensor(0.3128)
 # KEYFRAME 106
0.09879275799903553
Frame 127
tensor(0.2897)
 # KEYFRAME 107
0.09855228000014904
Frame 128
tensor(0.1629)
 # KEYFRAME 108
0.098954508001043
Frame 129
tensor(0.2804)
 # KEYFRAME 109
0.10048482199999853
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[2, 4, 5, 6, 7] dropped=[0, 1, 3, 8] scores=[(0, -0.9963951706886292), (1, -0.6817893385887146), (2, 0.1310330033302307), (3, -0.03202137351036072), (4, -0.007715313229709864), (5, 0.24118831753730774), (6, 0.30213406682014465), (7, 0.5365020632743835), (8, -0.7221009731292725)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[7, 6, 5, 2, 4] dts=[3, 4, 5, 8, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3712114691734314
TTA-STEP: step=104 loss_distill=0.3712 tta_take=0.009s
Frame 130
tensor(0.2429)
 # KEYFRAME 110
0.09465238299890189
Frame 131
tensor(0.2203)
 # KEYFRAME 111
0.09425495500181569
Frame 132
tensor(0.1440)
 # KEYFRAME 112
0.09560847000102513
Frame 133
tensor(0.3259)
 # KEYFRAME 113
0.09633942699656473
Frame 134
tensor(0.3451)
 # KEYFRAME 114
0.09844937999878312
Frame 135
tensor(0.1693)
 # KEYFRAME 115
0.09942918600063422
Frame 136
tensor(0.5261)
 # KEYFRAME 116
0.10025401299935766
Frame 137
tensor(0.1407)
 # KEYFRAME 117
0.10069301200201153
Frame 138
tensor(0.1957)
 # KEYFRAME 118
0.10205465699982597
Frame 139
tensor(0.2482)
 # KEYFRAME 119
0.10225109599923599
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[2, 3, 5, 6, 7] dropped=[0, 1, 4, 8, 9] scores=[(0, -2.0901377201080322), (1, -1.6858571767807007), (2, -0.7097465991973877), (3, -0.8909643292427063), (4, -0.8913552761077881), (5, -0.5569524168968201), (6, -0.3656690716743469), (7, -0.025761451572179794), (8, -1.5648508071899414), (9, -1.1279479265213013)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[7, 6, 5, 2, 3] dts=[4, 5, 6, 9, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.42584702372550964
TTA-STEP: step=105 loss_distill=0.4258 tta_take=0.009s
Frame 140
tensor(0.2280)
 # KEYFRAME 120
0.09338967800067621
Frame 141
tensor(0.2410)
 # KEYFRAME 121
0.09583748899967759
Frame 142
tensor(0.1310)
 # KEYFRAME 122
0.09461208299762802
Frame 143
tensor(0.1620)
 # KEYFRAME 123
0.09587557899794774
Frame 144
tensor(0.1518)
 # KEYFRAME 124
0.09724517400172772
Backending... 125 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[2, 3, 5, 6, 7] dropped=[0, 1, 4, 8, 9, 10] scores=[(0, -2.3586106300354004), (1, -1.9615068435668945), (2, -0.9046146869659424), (3, -1.083380937576294), (4, -1.1352550983428955), (5, -0.7949726581573486), (6, -0.6423755884170532), (7, -0.2719792425632477), (8, -1.8827970027923584), (9, -1.4008833169937134), (10, -1.8688490390777588)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 67665, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[7, 6, 5, 2, 3] dts=[5, 6, 7, 10, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.45336976647377014
TTA-STEP: step=106 loss_distill=0.4534 tta_take=0.006s
[epoch 0 scene 13/556] scannetpp/9f79564dbf/frame frames=145 tta_steps_this_scene=10 mean_loss=0.3292 total_steps=106 time=63.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0744)
Frame 2
tensor(0.1968)
 # KEYFRAME 1
Frame 3
tensor(0.1156)
 # KEYFRAME 2
0.05163707700194209
Frame 4
tensor(0.0764)
Frame 5
tensor(0.0604)
Frame 6
tensor(0.2502)
 # KEYFRAME 3
0.0521217940004135
Frame 7
tensor(0.0796)
Frame 8
tensor(0.2080)
 # KEYFRAME 4
0.05312667099860846
Frame 9
tensor(0.0654)
Frame 10
tensor(0.1127)
 # KEYFRAME 5
0.054872733999218326
Frame 11
tensor(0.0828)
Frame 12
tensor(0.1148)
 # KEYFRAME 6
0.05587977100003627
Frame 13
tensor(0.0945)
Frame 14
tensor(0.1669)
 # KEYFRAME 7
0.056832338003005134
Frame 15
tensor(0.1134)
 # KEYFRAME 8
0.05736816600256134
Frame 16
tensor(0.1571)
 # KEYFRAME 9
0.05818928300141124
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 17
tensor(0.0353)
Frame 18
tensor(0.0951)
Frame 19
tensor(0.0861)
Frame 20
tensor(0.2110)
 # KEYFRAME 10
0.05159744600314298
Frame 21
tensor(0.0859)
Frame 22
tensor(0.1759)
 # KEYFRAME 11
0.052127325001492864
Frame 23
tensor(0.1894)
 # KEYFRAME 12
0.052926741998817306
Frame 24
tensor(0.0264)
Frame 25
tensor(0.1013)
 # KEYFRAME 13
0.05511581400060095
Frame 26
tensor(0.1453)
 # KEYFRAME 14
0.05539454300014768
Frame 27
tensor(0.1139)
 # KEYFRAME 15
0.05460997599948314
Frame 28
tensor(0.0568)
Frame 29
tensor(0.0283)
Frame 30
tensor(0.2845)
 # KEYFRAME 16
0.05545073200119077
Frame 31
tensor(0.1521)
 # KEYFRAME 17
0.05568437200054177
Frame 32
tensor(0.0309)
Frame 33
tensor(0.1484)
 # KEYFRAME 18
0.05664907899699756
Frame 34
tensor(0.0933)
Frame 35
tensor(0.1878)
 # KEYFRAME 19
0.05732591599735315
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 36
tensor(0.2763)
 # KEYFRAME 20
0.05398731799868983
Frame 37
tensor(0.2042)
 # KEYFRAME 21
0.05463201600286993
Frame 38
tensor(0.1142)
 # KEYFRAME 22
0.0548659050000424
Frame 39
tensor(0.2718)
 # KEYFRAME 23
0.0557582410001487
Frame 40
tensor(0.2108)
 # KEYFRAME 24
0.056431010001688264
Frame 41
tensor(0.3104)
 # KEYFRAME 25
0.05676585800028988
Frame 42
tensor(0.1271)
 # KEYFRAME 26
0.0583943530000397
Frame 43
tensor(0.2120)
 # KEYFRAME 27
0.059212080002907896
Frame 44
tensor(0.1056)
 # KEYFRAME 28
0.0595812380015559
Frame 45
tensor(0.2184)
 # KEYFRAME 29
0.060566354000911815
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 46
tensor(0.1868)
 # KEYFRAME 30
0.05844587200044771
Frame 47
tensor(0.1170)
 # KEYFRAME 31
0.05954406800083234
Frame 48
tensor(0.1929)
 # KEYFRAME 32
0.05931485899782274
Frame 49
tensor(0.2616)
 # KEYFRAME 33
0.06111312199936947
Frame 50
tensor(0.1986)
 # KEYFRAME 34
0.062105167999106925
Frame 51
tensor(0.1205)
 # KEYFRAME 35
0.06298526599857723
Frame 52
tensor(0.1793)
 # KEYFRAME 36
0.06388580299972091
Frame 53
tensor(0.1330)
 # KEYFRAME 37
0.06501137899977039
Frame 54
tensor(0.1333)
 # KEYFRAME 38
0.06595447499785223
Frame 55
tensor(0.1106)
 # KEYFRAME 39
0.06621921400073916
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.0843234583735466
TTA-STEP: step=107 loss_distill=0.0843 tta_take=0.009s
Frame 56
tensor(0.1111)
 # KEYFRAME 40
0.0626276670009247
Frame 57
tensor(0.1048)
 # KEYFRAME 41
0.0638321430014912
Frame 58
tensor(0.2582)
 # KEYFRAME 42
0.06354727399957483
Frame 59
tensor(0.1297)
 # KEYFRAME 43
0.06359781399805797
Frame 60
tensor(0.2247)
 # KEYFRAME 44
0.06430720099888276
Frame 61
tensor(0.2331)
 # KEYFRAME 45
0.06492088899904047
Frame 62
tensor(0.2210)
 # KEYFRAME 46
0.06621345399980783
Frame 63
tensor(0.2042)
 # KEYFRAME 47
0.06580278599722078
Frame 64
tensor(0.2085)
 # KEYFRAME 48
0.06645308299994213
Frame 65
tensor(0.2990)
 # KEYFRAME 49
0.06693715200162842
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1401524692773819
TTA-STEP: step=108 loss_distill=0.1402 tta_take=0.009s
Frame 66
tensor(0.2274)
 # KEYFRAME 50
0.0666591229964979
Frame 67
tensor(0.2186)
 # KEYFRAME 51
0.0683161070010101
Frame 68
tensor(0.1131)
 # KEYFRAME 52
0.06851499599724775
Frame 69
tensor(0.1572)
 # KEYFRAME 53
0.06938301300033345
Frame 70
tensor(0.0520)
Frame 71
tensor(0.2894)
 # KEYFRAME 54
0.06885025500014308
Frame 72
tensor(0.1699)
 # KEYFRAME 55
0.07027143999948748
Frame 73
tensor(0.1585)
 # KEYFRAME 56
0.07102486800067709
Frame 74
tensor(0.1679)
 # KEYFRAME 57
0.07139051600097446
Frame 75
tensor(0.1058)
 # KEYFRAME 58
0.07120448599744122
Frame 76
tensor(0.0948)
Frame 77
tensor(0.2138)
 # KEYFRAME 59
0.07271162100005313
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2530055046081543
TTA-STEP: step=109 loss_distill=0.2530 tta_take=0.009s
Frame 78
tensor(0.2141)
 # KEYFRAME 60
0.07104736700057401
Frame 79
tensor(0.2333)
 # KEYFRAME 61
0.07302595100190956
Frame 80
tensor(0.2261)
 # KEYFRAME 62
0.07272143099908135
Frame 81
tensor(0.0781)
Frame 82
tensor(0.1553)
 # KEYFRAME 63
0.07264809199841693
Frame 83
tensor(0.0538)
Frame 84
tensor(0.3264)
 # KEYFRAME 64
0.07322419900083332
Frame 85
tensor(0.2726)
 # KEYFRAME 65
0.07341881899992586
Frame 86
tensor(0.2021)
 # KEYFRAME 66
0.07406240600175806
Frame 87
tensor(0.2352)
 # KEYFRAME 67
0.07469757499711704
Frame 88
tensor(0.1779)
 # KEYFRAME 68
0.07591304000015953
Frame 89
tensor(0.1485)
 # KEYFRAME 69
0.07633152899870765
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.24511612951755524
TTA-STEP: step=110 loss_distill=0.2451 tta_take=0.009s
Frame 90
tensor(0.2063)
 # KEYFRAME 70
0.07555164099903777
Frame 91
tensor(0.1563)
 # KEYFRAME 71
0.07793345300160581
Frame 92
tensor(0.1137)
 # KEYFRAME 72
0.07681573700028821
Frame 93
tensor(0.2202)
 # KEYFRAME 73
0.07761586400010856
Frame 94
tensor(0.1023)
 # KEYFRAME 74
0.07921579799949541
Frame 95
tensor(0.0329)
Frame 96
tensor(0.0684)
Frame 97
tensor(0.1205)
 # KEYFRAME 75
0.07975207699928433
Frame 98
tensor(0.0318)
Frame 99
tensor(0.0735)
Frame 100
tensor(0.1473)
 # KEYFRAME 76
0.07879419899836648
Frame 101
tensor(0.1951)
 # KEYFRAME 77
0.08132707000186201
Frame 102
tensor(0.1487)
 # KEYFRAME 78
0.0821541370023624
Frame 103
tensor(0.2109)
 # KEYFRAME 79
0.08285879500181181
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 3, 4, 5] dropped=[2] scores=[(0, -1.5390772819519043), (1, -2.2504091262817383), (2, -2.3064372539520264), (3, -1.1638097763061523), (4, -0.49135565757751465), (5, 0.06028512120246887)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[5, 4, 3, 0, 1] dts=[2, 3, 4, 7, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.40836331248283386
TTA-STEP: step=111 loss_distill=0.4084 tta_take=0.009s
Frame 104
tensor(0.2589)
 # KEYFRAME 80
0.07520931199906045
Frame 105
tensor(0.0720)
Frame 106
tensor(0.0694)
Frame 107
tensor(0.0542)
Frame 108
tensor(0.0509)
Frame 109
tensor(0.0375)
Frame 110
tensor(0.1846)
 # KEYFRAME 81
0.07752214400170487
Frame 111
tensor(0.1478)
 # KEYFRAME 82
0.07680573700054083
Frame 112
tensor(0.1237)
 # KEYFRAME 83
0.07739091499752249
Frame 113
tensor(0.2012)
 # KEYFRAME 84
0.07776646300044376
Frame 114
tensor(0.2291)
 # KEYFRAME 85
0.07848107099925983
Frame 115
tensor(0.1987)
 # KEYFRAME 86
0.07779747300082818
Frame 116
tensor(0.1096)
 # KEYFRAME 87
0.07941828799812356
Frame 117
tensor(0.1321)
 # KEYFRAME 88
0.07984345599834342
Frame 118
tensor(0.1788)
 # KEYFRAME 89
0.08037982400128385
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 3, 4, 5, 6] dropped=[1, 2] scores=[(0, -0.9795838594436646), (1, -1.6666322946548462), (2, -1.7449172735214233), (3, -0.5939081907272339), (4, -0.05126604810357094), (5, 0.34366244077682495), (6, 0.5216429829597473)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[6, 5, 4, 3, 0] dts=[2, 3, 4, 5, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4443216323852539
TTA-STEP: step=112 loss_distill=0.4443 tta_take=0.009s
Frame 119
tensor(0.2134)
 # KEYFRAME 90
0.07605963899914059
Frame 120
tensor(0.2168)
 # KEYFRAME 91
0.07742098499875283
Frame 121
tensor(0.1599)
 # KEYFRAME 92
0.07690549700055271
Frame 122
tensor(0.1386)
 # KEYFRAME 93
0.07703918600236648
Frame 123
tensor(0.1449)
 # KEYFRAME 94
0.07814233200042509
Frame 124
tensor(0.2122)
 # KEYFRAME 95
0.07860086000073352
Frame 125
tensor(0.1609)
 # KEYFRAME 96
0.07788156300011906
Frame 126
tensor(0.1493)
 # KEYFRAME 97
0.07901406800010591
Frame 127
tensor(0.1764)
 # KEYFRAME 98
0.07965493600204354
Frame 128
tensor(0.0869)
Frame 129
tensor(0.1315)
 # KEYFRAME 99
0.08061143300074036
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[3, 4, 5, 6, 7] dropped=[0, 1, 2] scores=[(0, -0.5030284523963928), (1, -1.1517316102981567), (2, -1.2493164539337158), (3, -0.141731858253479), (4, 0.33003729581832886), (5, 0.5945168137550354), (6, 0.7202708125114441), (7, -0.08487552404403687)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[6, 5, 4, 7, 3] dts=[3, 4, 5, 2, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3927100598812103
TTA-STEP: step=113 loss_distill=0.3927 tta_take=0.008s
Frame 130
tensor(0.2000)
 # KEYFRAME 100
0.07581981000112137
Frame 131
tensor(0.0782)
Frame 132
tensor(0.0857)
Frame 133
tensor(0.2922)
 # KEYFRAME 101
0.07758273299987195
Frame 134
tensor(0.1839)
 # KEYFRAME 102
0.07794641299915384
Frame 135
tensor(0.1409)
 # KEYFRAME 103
0.07855197000026237
Frame 136
tensor(0.0754)
Frame 137
tensor(0.2399)
 # KEYFRAME 104
0.0791226090004784
Frame 138
tensor(0.2724)
 # KEYFRAME 105
0.07993932499812217
Frame 139
tensor(0.2719)
 # KEYFRAME 106
0.07860310999967624
Frame 140
tensor(0.1523)
 # KEYFRAME 107
0.08150330999706057
Frame 141
tensor(0.3098)
 # KEYFRAME 108
0.0818610090027505
Frame 142
tensor(0.3095)
 # KEYFRAME 109
0.08209155800068402
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[3, 4, 5, 6, 7] dropped=[0, 1, 2, 8] scores=[(0, 0.4907062351703644), (1, -0.05669717863202095), (2, -0.17379175126552582), (3, 0.775779128074646), (4, 1.1413549184799194), (5, 1.2679588794708252), (6, 1.3582112789154053), (7, 0.7691186666488647), (8, 0.7652066946029663)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[6, 5, 4, 3, 7] dts=[4, 5, 6, 7, 3]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3712801933288574
TTA-STEP: step=114 loss_distill=0.3713 tta_take=0.008s
Frame 143
tensor(0.1127)
 # KEYFRAME 110
0.0756566100026248
Frame 144
tensor(0.1057)
 # KEYFRAME 111
0.07671354699778021
Frame 145
tensor(0.1479)
 # KEYFRAME 112
0.0775801239979046
Frame 146
tensor(0.1526)
 # KEYFRAME 113
0.0782684009973309
Frame 147
tensor(0.1814)
 # KEYFRAME 114
0.07958971700281836
Frame 148
tensor(0.1095)
 # KEYFRAME 115
0.08068044199899305
Frame 149
tensor(0.1533)
 # KEYFRAME 116
0.07859439000094426
Backending... 117 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[3, 4, 5, 6, 9] dropped=[0, 1, 2, 7, 8] scores=[(0, 0.6426090002059937), (1, 0.09435925632715225), (2, -0.02907942607998848), (3, 0.9350515007972717), (4, 1.3096846342086792), (5, 1.3823484182357788), (6, 1.4658666849136353), (7, 0.8863982558250427), (8, 0.846724271774292), (9, 0.9070731401443481)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62310, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[6, 5, 4, 3, 9] dts=[5, 6, 7, 8, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.35967421531677246
TTA-STEP: step=115 loss_distill=0.3597 tta_take=0.007s
[epoch 0 scene 14/556] scannetpp/95d525fbfd/DSC frames=150 tta_steps_this_scene=9 mean_loss=0.2999 total_steps=115 time=52.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0161)
Frame 2
tensor(0.0403)
Frame 3
tensor(0.0790)
Frame 4
tensor(0.1291)
 # KEYFRAME 1
Frame 5
tensor(0.0516)
Frame 6
tensor(0.0910)
Frame 7
tensor(0.1009)
 # KEYFRAME 2
0.0515740859991638
Frame 8
tensor(0.0778)
Frame 9
tensor(0.1231)
 # KEYFRAME 3
0.05498700400130474
Frame 10
tensor(0.0459)
Frame 11
tensor(0.1136)
 # KEYFRAME 4
0.05458516599901486
Frame 12
tensor(0.0864)
Frame 13
tensor(0.1704)
 # KEYFRAME 5
0.05539136200241046
Frame 14
tensor(0.0846)
Frame 15
tensor(0.1401)
 # KEYFRAME 6
0.056573529000161216
Frame 16
tensor(0.0898)
Frame 17
tensor(0.1263)
 # KEYFRAME 7
0.05749263500183588
Frame 18
tensor(0.0985)
Frame 19
tensor(0.1796)
 # KEYFRAME 8
0.058309392999944976
Frame 20
tensor(0.0791)
Frame 21
tensor(0.1024)
 # KEYFRAME 9
0.05882565999854705
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 22
tensor(0.0316)
Frame 23
tensor(0.1464)
 # KEYFRAME 10
0.05316321099962806
Frame 24
tensor(0.0745)
Frame 25
tensor(0.1468)
 # KEYFRAME 11
0.053617449000739725
Frame 26
tensor(0.0589)
Frame 27
tensor(0.0815)
Frame 28
tensor(0.0641)
Frame 29
tensor(0.1105)
 # KEYFRAME 12
0.0546614659979241
Frame 30
tensor(0.0130)
Frame 31
tensor(0.0643)
Frame 32
tensor(0.1604)
 # KEYFRAME 13
0.05672064800091903
Frame 33
tensor(0.1061)
 # KEYFRAME 14
0.05735933600226417
Frame 34
tensor(0.1009)
 # KEYFRAME 15
0.05800606400225661
Frame 35
tensor(0.1017)
 # KEYFRAME 16
0.059162400000786874
Frame 36
tensor(0.1029)
 # KEYFRAME 17
0.06011643600140815
Frame 37
tensor(0.0658)
Frame 38
tensor(0.1848)
 # KEYFRAME 18
0.06123370199929923
Frame 39
tensor(0.1482)
 # KEYFRAME 19
0.06253786699744524
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 40
tensor(0.1240)
 # KEYFRAME 20
0.05955477799943765
Frame 41
tensor(0.1125)
 # KEYFRAME 21
0.06028712599800201
Frame 42
tensor(0.0969)
Frame 43
tensor(0.1957)
 # KEYFRAME 22
0.06112782199852518
Frame 44
tensor(0.1366)
 # KEYFRAME 23
0.06198042899995926
Frame 45
tensor(0.1011)
 # KEYFRAME 24
0.06258970799899544
Frame 46
tensor(0.0587)
Frame 47
tensor(0.0714)
Frame 48
tensor(0.1370)
 # KEYFRAME 25
0.06336533499779762
Frame 49
tensor(0.0619)
Frame 50
tensor(0.0607)
Frame 51
tensor(0.1128)
 # KEYFRAME 26
0.0651547989982646
Frame 52
tensor(0.0769)
Frame 53
tensor(0.1375)
 # KEYFRAME 27
0.0659016249992419
Frame 54
tensor(0.0288)
Frame 55
tensor(0.0487)
Frame 56
tensor(0.0699)
Frame 57
tensor(0.0547)
Frame 58
tensor(0.0562)
Frame 59
tensor(0.0805)
Frame 60
tensor(0.1203)
 # KEYFRAME 28
0.06713309100086917
Frame 61
tensor(0.1136)
 # KEYFRAME 29
0.06819932700091158
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 62
tensor(0.1235)
 # KEYFRAME 30
0.06632900400290964
Frame 63
tensor(0.2057)
 # KEYFRAME 31
0.06703142100013793
Frame 64
tensor(0.1578)
 # KEYFRAME 32
0.06810951700026635
Frame 65
tensor(0.2057)
 # KEYFRAME 33
0.06916655400345917
Frame 66
tensor(0.1760)
 # KEYFRAME 34
0.06970887100032996
Frame 67
tensor(0.0961)
Frame 68
tensor(0.1950)
 # KEYFRAME 35
0.07030497000232572
Frame 69
tensor(0.0777)
Frame 70
tensor(0.0648)
Frame 71
tensor(0.0611)
Frame 72
tensor(0.0608)
Frame 73
tensor(0.2437)
 # KEYFRAME 36
0.07138872599898605
Frame 74
tensor(0.0996)
Frame 75
tensor(0.1737)
 # KEYFRAME 37
0.07176560499647167
Frame 76
tensor(0.0484)
Frame 77
tensor(0.1307)
 # KEYFRAME 38
0.07354175799991935
Frame 78
tensor(0.1131)
 # KEYFRAME 39
0.07418640600008075
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1716153472661972
TTA-STEP: step=116 loss_distill=0.1716 tta_take=0.009s
Frame 79
tensor(0.0343)
Frame 80
tensor(0.0960)
Frame 81
tensor(0.2132)
 # KEYFRAME 40
0.07254013200144982
Frame 82
tensor(0.2252)
 # KEYFRAME 41
0.07425460600279621
Frame 83
tensor(0.2385)
 # KEYFRAME 42
0.07424744599848054
Frame 84
tensor(0.1346)
 # KEYFRAME 43
0.07610221899813041
Frame 85
tensor(0.1107)
 # KEYFRAME 44
0.07535754199852818
Frame 86
tensor(0.0897)
Frame 87
tensor(0.1743)
 # KEYFRAME 45
0.07674454700099886
Frame 88
tensor(0.0544)
Frame 89
tensor(0.1459)
 # KEYFRAME 46
0.07728201499776333
Frame 90
tensor(0.0531)
Frame 91
tensor(0.1046)
 # KEYFRAME 47
0.07773659400118049
Frame 92
tensor(0.0696)
Frame 93
tensor(0.1168)
 # KEYFRAME 48
0.07849582099879626
Frame 94
tensor(0.1103)
 # KEYFRAME 49
0.07995958600076847
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.36383482813835144
TTA-STEP: step=117 loss_distill=0.3638 tta_take=0.009s
Frame 95
tensor(0.0873)
Frame 96
tensor(0.1709)
 # KEYFRAME 50
0.07898531899991212
Frame 97
tensor(0.1158)
 # KEYFRAME 51
0.08146131100147613
Frame 98
tensor(0.0985)
Frame 99
tensor(0.2096)
 # KEYFRAME 52
0.08201384800122469
Frame 100
tensor(0.1341)
 # KEYFRAME 53
0.08311160399898654
Frame 101
tensor(0.1247)
 # KEYFRAME 54
0.08546574599677115
Frame 102
tensor(0.1543)
 # KEYFRAME 55
0.0863040229996841
Frame 103
tensor(0.1053)
 # KEYFRAME 56
0.0868261209980119
Frame 104
tensor(0.0840)
Frame 105
tensor(0.1339)
 # KEYFRAME 57
0.08764037799846847
Frame 106
tensor(0.0604)
Frame 107
tensor(0.0664)
Frame 108
tensor(0.1473)
 # KEYFRAME 58
0.08778857799916295
Frame 109
tensor(0.0566)
Frame 110
tensor(0.0996)
Frame 111
tensor(0.1561)
 # KEYFRAME 59
0.08890302399959182
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.43217843770980835
TTA-STEP: step=118 loss_distill=0.4322 tta_take=0.009s
Frame 112
tensor(0.0698)
Frame 113
tensor(0.1546)
 # KEYFRAME 60
0.08600374400339206
Frame 114
tensor(0.1150)
 # KEYFRAME 61
0.08874381400164566
Frame 115
tensor(0.1087)
 # KEYFRAME 62
0.08759548799935146
Frame 116
tensor(0.1167)
 # KEYFRAME 63
0.08856768499754253
Frame 117
tensor(0.1057)
 # KEYFRAME 64
0.08976846099903923
Frame 118
tensor(0.0536)
Frame 119
tensor(0.1614)
 # KEYFRAME 65
0.08998584000073606
Frame 120
tensor(0.1815)
 # KEYFRAME 66
0.09093976700023632
Frame 121
tensor(0.1008)
 # KEYFRAME 67
0.0923321020018193
Frame 122
tensor(0.0806)
Frame 123
tensor(0.1719)
 # KEYFRAME 68
0.09322819899898604
Frame 124
tensor(0.0401)
Frame 125
tensor(0.1364)
 # KEYFRAME 69
0.09339464799995767
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.8881714344024658
TTA-STEP: step=119 loss_distill=0.8882 tta_take=0.009s
Frame 126
tensor(0.0436)
Frame 127
tensor(0.1277)
 # KEYFRAME 70
0.09243558100206428
Frame 128
tensor(0.0836)
Frame 129
tensor(0.2356)
 # KEYFRAME 71
0.09582849900107249
Frame 130
tensor(0.1367)
 # KEYFRAME 72
0.09532078100164654
Frame 131
tensor(0.1335)
 # KEYFRAME 73
0.09602070799883222
Frame 132
tensor(0.2677)
 # KEYFRAME 74
0.09631092700146837
Frame 133
tensor(0.0757)
Frame 134
tensor(0.2449)
 # KEYFRAME 75
0.09726098399914918
Frame 135
tensor(0.1789)
 # KEYFRAME 76
0.09766613200190477
Frame 136
tensor(0.1485)
 # KEYFRAME 77
0.0984888700004376
Frame 137
tensor(0.1584)
 # KEYFRAME 78
0.09836949999953504
Frame 138
tensor(0.0787)
Frame 139
tensor(0.1038)
 # KEYFRAME 79
0.09967219499958446
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 3, 4, 5] dropped=[2] scores=[(0, -0.7345632910728455), (1, -0.8687791228294373), (2, -1.0281836986541748), (3, -0.655728280544281), (4, 0.6485667824745178), (5, 0.6954495310783386)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[5, 4, 3, 0, 1] dts=[2, 3, 4, 7, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.7920920252799988
TTA-STEP: step=120 loss_distill=0.7921 tta_take=0.009s
Frame 140
tensor(0.0334)
Frame 141
tensor(0.1537)
 # KEYFRAME 80
0.09311339899795712
Frame 142
tensor(0.1971)
 # KEYFRAME 81
0.09538796100241598
Frame 143
tensor(0.2875)
 # KEYFRAME 82
0.09502758199960226
Frame 144
tensor(0.1822)
 # KEYFRAME 83
0.09509966200130293
Frame 145
tensor(0.0789)
Frame 146
tensor(0.2699)
 # KEYFRAME 84
0.0958603889994265
Frame 147
tensor(0.0919)
Frame 148
tensor(0.2090)
 # KEYFRAME 85
0.09758220299772802
Frame 149
tensor(0.1218)
 # KEYFRAME 86
0.09747655300088809
Backending... 87 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 3, 4, 5, 6] dropped=[1, 2] scores=[(0, -0.5016047954559326), (1, -0.6654766201972961), (2, -0.7935213446617126), (3, -0.4630117416381836), (4, 0.6832872033119202), (5, 0.7316944003105164), (6, 0.20678602159023285)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 69747, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[5, 4, 6, 3, 0] dts=[3, 4, 2, 5, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.5383604168891907
TTA-STEP: step=121 loss_distill=0.5384 tta_take=0.007s
[epoch 0 scene 15/556] scannetpp/52599ae063/frame frames=150 tta_steps_this_scene=6 mean_loss=0.5310 total_steps=121 time=58.6s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1017)
 # KEYFRAME 1
Frame 2
tensor(0.1009)
 # KEYFRAME 2
0.05199740500029293
Frame 3
tensor(0.1169)
 # KEYFRAME 3
0.05287752200092655
Frame 4
tensor(0.0997)
Frame 5
tensor(0.2401)
 # KEYFRAME 4
0.05348112000137917
Frame 6
tensor(0.0979)
Frame 7
tensor(0.1831)
 # KEYFRAME 5
0.05496667400075239
Frame 8
tensor(0.0637)
Frame 9
tensor(0.1023)
 # KEYFRAME 6
0.05595370100127184
Frame 10
tensor(0.0938)
Frame 11
tensor(0.1203)
 # KEYFRAME 7
0.056834417002392
Frame 12
tensor(0.1340)
 # KEYFRAME 8
0.05744006500026444
Frame 13
tensor(0.0462)
Frame 14
tensor(0.1642)
 # KEYFRAME 9
0.05949786900237086
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 15
tensor(0.0755)
Frame 16
tensor(0.1028)
 # KEYFRAME 10
0.05166293599904748
Frame 17
tensor(0.1013)
 # KEYFRAME 11
0.052618273002735805
Frame 18
tensor(0.0363)
Frame 19
tensor(0.2027)
 # KEYFRAME 12
0.05361351900137379
Frame 20
tensor(0.1469)
 # KEYFRAME 13
0.05491000500114751
Frame 21
tensor(0.2384)
 # KEYFRAME 14
0.05487983399871155
Frame 22
tensor(0.0944)
Frame 23
tensor(0.1227)
 # KEYFRAME 15
0.05506944400258362
Frame 24
tensor(0.0848)
Frame 25
tensor(0.1213)
 # KEYFRAME 16
0.05568349199893419
Frame 26
tensor(0.0418)
Frame 27
tensor(0.0530)
Frame 28
tensor(0.1463)
 # KEYFRAME 17
0.056358179997914704
Frame 29
tensor(0.1152)
 # KEYFRAME 18
0.05691732700142893
Frame 30
tensor(0.1218)
 # KEYFRAME 19
0.05793643400102155
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 31
tensor(0.0512)
Frame 32
tensor(0.1543)
 # KEYFRAME 20
0.0539254079994862
Frame 33
tensor(0.1043)
 # KEYFRAME 21
0.05461297600049875
Frame 34
tensor(0.0890)
Frame 35
tensor(0.1085)
 # KEYFRAME 22
0.05493260499861208
Frame 36
tensor(0.1906)
 # KEYFRAME 23
0.05525208299877704
Frame 37
tensor(0.1192)
 # KEYFRAME 24
0.05563327200070489
Frame 38
tensor(0.4007)
 # KEYFRAME 25
0.0565109589988424
Frame 39
tensor(0.1196)
 # KEYFRAME 26
0.05788958399716648
Frame 40
tensor(0.1098)
 # KEYFRAME 27
0.05876002099830657
Frame 41
tensor(0.0929)
Frame 42
tensor(0.2312)
 # KEYFRAME 28
0.05969587800063891
Frame 43
tensor(0.0875)
Frame 44
tensor(0.1416)
 # KEYFRAME 29
0.060405085001548287
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 45
tensor(0.0396)
Frame 46
tensor(0.1985)
 # KEYFRAME 30
0.05833597200035001
Frame 47
tensor(0.0220)
Frame 48
tensor(0.1290)
 # KEYFRAME 31
0.05929036900124629
Frame 49
tensor(0.0549)
Frame 50
tensor(0.1675)
 # KEYFRAME 32
0.05938946799869882
Frame 51
tensor(0.0124)
Frame 52
tensor(0.2091)
 # KEYFRAME 33
0.06023665600150707
Frame 53
tensor(0.1281)
 # KEYFRAME 34
0.06065508399842656
Frame 54
tensor(0.1513)
 # KEYFRAME 35
0.061308461998123676
Frame 55
tensor(0.1657)
 # KEYFRAME 36
0.06207631900178967
Frame 56
tensor(0.1876)
 # KEYFRAME 37
0.06257668800026295
Frame 57
tensor(0.0964)
Frame 58
tensor(0.4276)
 # KEYFRAME 38
0.06423124199864105
Frame 59
tensor(0.0700)
Frame 60
tensor(0.1557)
 # KEYFRAME 39
0.0640513220023422
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.21057617664337158
TTA-STEP: step=122 loss_distill=0.2106 tta_take=0.009s
Frame 61
tensor(0.1516)
 # KEYFRAME 40
0.06250203699892154
Frame 62
tensor(0.0625)
Frame 63
tensor(0.1776)
 # KEYFRAME 41
0.06457174100069096
Frame 64
tensor(0.1254)
 # KEYFRAME 42
0.06462077999822213
Frame 65
tensor(0.0847)
Frame 66
tensor(0.2230)
 # KEYFRAME 43
0.06445064100262243
Frame 67
tensor(0.2771)
 # KEYFRAME 44
0.0657147759993677
Frame 68
tensor(0.1675)
 # KEYFRAME 45
0.06604463500116253
Frame 69
tensor(0.2128)
 # KEYFRAME 46
0.06659890299852123
Frame 70
tensor(0.1447)
 # KEYFRAME 47
0.06679838299896801
Frame 71
tensor(0.1710)
 # KEYFRAME 48
0.06788877899816725
Frame 72
tensor(0.1965)
 # KEYFRAME 49
0.06846655600020313
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.327530175447464
TTA-STEP: step=123 loss_distill=0.3275 tta_take=0.009s
Frame 73
tensor(0.0464)
Frame 74
tensor(0.1575)
 # KEYFRAME 50
0.06704427099975874
Frame 75
tensor(0.1739)
 # KEYFRAME 51
0.06826051700045355
Frame 76
tensor(0.0904)
Frame 77
tensor(0.1595)
 # KEYFRAME 52
0.06817564699667855
Frame 78
tensor(0.2784)
 # KEYFRAME 53
0.06876959600049304
Frame 79
tensor(0.3209)
 # KEYFRAME 54
0.06888380500095082
Frame 80
tensor(0.2174)
 # KEYFRAME 55
0.06963539199932711
Frame 81
tensor(0.1856)
 # KEYFRAME 56
0.07055536899861181
Frame 82
tensor(0.0945)
Frame 83
tensor(0.1997)
 # KEYFRAME 57
0.07089081699814415
Frame 84
tensor(0.0355)
Frame 85
tensor(0.1544)
 # KEYFRAME 58
0.07101656699887826
Frame 86
tensor(0.1846)
 # KEYFRAME 59
0.07161951499801944
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.46286338567733765
TTA-STEP: step=124 loss_distill=0.4629 tta_take=0.009s
Frame 87
tensor(0.2315)
 # KEYFRAME 60
0.07109554699854925
Frame 88
tensor(0.2398)
 # KEYFRAME 61
0.07288753100147005
Frame 89
tensor(0.2338)
 # KEYFRAME 62
0.07219267300024512
Frame 90
tensor(0.2827)
 # KEYFRAME 63
0.07241023200185737
Frame 91
tensor(0.1314)
 # KEYFRAME 64
0.07371824700021534
Frame 92
tensor(0.1310)
 # KEYFRAME 65
0.07392614700074773
Frame 93
tensor(0.1428)
 # KEYFRAME 66
0.07439232500109938
Frame 94
tensor(0.2727)
 # KEYFRAME 67
0.07508251200124505
Frame 95
tensor(0.1383)
 # KEYFRAME 68
0.07594452900229953
Frame 96
tensor(0.1434)
 # KEYFRAME 69
0.07618384899978992
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.43680787086486816
TTA-STEP: step=125 loss_distill=0.4368 tta_take=0.009s
Frame 97
tensor(0.1219)
 # KEYFRAME 70
0.0755513410003914
Frame 98
tensor(0.0817)
Frame 99
tensor(0.0815)
Frame 100
tensor(0.0982)
Frame 101
tensor(0.1516)
 # KEYFRAME 71
0.07760578399756923
Frame 102
tensor(0.0910)
Frame 103
tensor(0.3012)
 # KEYFRAME 72
0.07685796700025094
Frame 104
tensor(0.2240)
 # KEYFRAME 73
0.07760615300139762
Frame 105
tensor(0.3270)
 # KEYFRAME 74
0.07836190099988016
Frame 106
tensor(0.1359)
 # KEYFRAME 75
0.07803937299831887
Frame 107
tensor(0.1502)
 # KEYFRAME 76
0.07795958300266648
Frame 108
tensor(0.1108)
 # KEYFRAME 77
0.07915788699756376
Frame 109
tensor(0.1938)
 # KEYFRAME 78
0.07945170599850826
Frame 110
tensor(0.0812)
Frame 111
tensor(0.3166)
 # KEYFRAME 79
0.07994112500091433
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 1.1533206701278687), (1, 1.182914137840271), (2, 1.3003787994384766), (3, 1.4263323545455933), (4, 1.2633024454116821), (5, 0.9513868689537048)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[3, 2, 4, 1, 0] dts=[4, 5, 3, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4147160053253174
TTA-STEP: step=126 loss_distill=0.4147 tta_take=0.009s
Frame 112
tensor(0.1207)
 # KEYFRAME 80
0.07550915100000566
Frame 113
tensor(0.1371)
 # KEYFRAME 81
0.07754009299969766
Frame 114
tensor(0.0826)
Frame 115
tensor(0.6260)
 # KEYFRAME 82
0.07690259499941021
Frame 116
tensor(0.1437)
 # KEYFRAME 83
0.07728324400159181
Frame 117
tensor(0.2305)
 # KEYFRAME 84
0.07838618099776795
Frame 118
tensor(0.3439)
 # KEYFRAME 85
0.0788346890003595
Frame 119
tensor(0.1826)
 # KEYFRAME 86
0.07830149999790592
Frame 120
tensor(0.1631)
 # KEYFRAME 87
0.07937279699763167
Frame 121
tensor(0.1877)
 # KEYFRAME 88
0.08044257200162974
Frame 122
tensor(0.1397)
 # KEYFRAME 89
0.0807767119986238
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 1.3350815773010254), (1, 1.3509730100631714), (2, 1.4637184143066406), (3, 1.56288743019104), (4, 1.4469554424285889), (5, 1.146557331085205), (6, 1.2400914430618286)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[3, 2, 4, 1, 0] dts=[5, 6, 4, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4069097936153412
TTA-STEP: step=127 loss_distill=0.4069 tta_take=0.008s
Frame 123
tensor(0.0836)
Frame 124
tensor(0.0695)
Frame 125
tensor(0.2474)
 # KEYFRAME 90
0.07549265100169578
Frame 126
tensor(0.1020)
 # KEYFRAME 91
0.07742464400143945
Frame 127
tensor(0.2138)
 # KEYFRAME 92
0.07725148399913451
Frame 128
tensor(0.1419)
 # KEYFRAME 93
0.0783826599981694
Frame 129
tensor(0.1021)
 # KEYFRAME 94
0.07944337600201834
Frame 130
tensor(0.0930)
Frame 131
tensor(0.1390)
 # KEYFRAME 95
0.08062191199860536
Frame 132
tensor(0.1786)
 # KEYFRAME 96
0.07863977899978636
Frame 133
tensor(0.1991)
 # KEYFRAME 97
0.08092811100141262
Frame 134
tensor(0.1562)
 # KEYFRAME 98
0.08235707600033493
Frame 135
tensor(0.1133)
 # KEYFRAME 99
0.0827460840009735
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 2, 3, 4, 7] dropped=[1, 5, 6] scores=[(0, 1.24432373046875), (1, 1.1991097927093506), (2, 1.3303724527359009), (3, 1.458929419517517), (4, 1.334537386894226), (5, 1.060983419418335), (6, 1.1368602514266968), (7, 1.4466910362243652)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[3, 7, 4, 2, 0] dts=[6, 2, 5, 7, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4299337863922119
TTA-STEP: step=128 loss_distill=0.4299 tta_take=0.009s
Frame 136
tensor(0.1011)
 # KEYFRAME 100
0.0760361489992647
Frame 137
tensor(0.1183)
 # KEYFRAME 101
0.07779928200034192
Frame 138
tensor(0.0988)
Frame 139
tensor(0.1483)
 # KEYFRAME 102
0.0769933849987865
Frame 140
tensor(0.5859)
 # KEYFRAME 103
0.07726111399824731
Frame 141
tensor(0.1198)
 # KEYFRAME 104
0.07828061100008199
Frame 142
tensor(0.1663)
 # KEYFRAME 105
0.07861537899952964
Frame 143
tensor(0.2946)
 # KEYFRAME 106
0.07830952999938745
Frame 144
tensor(0.1899)
 # KEYFRAME 107
0.07968801600145525
Frame 145
tensor(0.2697)
 # KEYFRAME 108
0.07984629500060691
Frame 146
tensor(0.0991)
Frame 147
tensor(0.1993)
 # KEYFRAME 109
0.08029427300061798
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[2, 3, 4, 7, 8] dropped=[0, 1, 5, 6] scores=[(0, 2.1087286472320557), (1, 2.014704465866089), (2, 2.144243001937866), (3, 2.2201831340789795), (4, 2.1623055934906006), (5, 1.9394094944000244), (6, 1.9327528476715088), (7, 2.1455934047698975), (8, 2.2257986068725586)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[8, 3, 4, 7, 2] dts=[2, 7, 6, 3, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.41048482060432434
TTA-STEP: step=129 loss_distill=0.4105 tta_take=0.009s
Frame 148
tensor(0.0828)
Frame 149
tensor(0.2385)
 # KEYFRAME 110
0.0755204910019529
Backending... 111 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[2, 3, 4, 8, 9] dropped=[0, 1, 5, 6, 7] scores=[(0, 2.248370885848999), (1, 2.142465829849243), (2, 2.265820264816284), (3, 2.3189830780029297), (4, 2.293459177017212), (5, 2.0730960369110107), (6, 2.0498058795928955), (7, 2.2186901569366455), (8, 2.2950363159179688), (9, 2.2806990146636963)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 56730, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[3, 8, 4, 9, 2] dts=[8, 3, 7, 2, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4042847454547882
TTA-STEP: step=130 loss_distill=0.4043 tta_take=0.003s
[epoch 0 scene 16/556] scannetpp/260db9cf5a/DSC frames=150 tta_steps_this_scene=9 mean_loss=0.3893 total_steps=130 time=53.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0532)
Frame 2
tensor(0.2790)
 # KEYFRAME 1
Frame 3
tensor(0.2669)
 # KEYFRAME 2
0.05194984499757993
Frame 4
tensor(0.2838)
 # KEYFRAME 3
0.054258175998256775
Frame 5
tensor(0.2170)
 # KEYFRAME 4
0.05557661100101541
Frame 6
tensor(0.0753)
Frame 7
tensor(0.3563)
 # KEYFRAME 5
0.05524898300063796
Frame 8
tensor(0.3939)
 # KEYFRAME 6
0.05621889899703092
Frame 9
tensor(0.2026)
 # KEYFRAME 7
0.05712295600096695
Frame 10
tensor(0.3880)
 # KEYFRAME 8
0.05865849999827333
Frame 11
tensor(0.6282)
 # KEYFRAME 9
0.05868949000068824
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.2362)
 # KEYFRAME 10
0.05281582199677359
Frame 13
tensor(0.2728)
 # KEYFRAME 11
0.0536171790008666
Frame 14
tensor(0.2556)
 # KEYFRAME 12
0.054452526001114165
Frame 15
tensor(0.4339)
 # KEYFRAME 13
0.05681992700192495
Frame 16
tensor(0.3027)
 # KEYFRAME 14
0.05745133500022348
Frame 17
tensor(0.3888)
 # KEYFRAME 15
0.05807881299915607
Frame 18
tensor(0.0965)
Frame 19
tensor(0.3725)
 # KEYFRAME 16
0.05932135799957905
Frame 20
tensor(0.2359)
 # KEYFRAME 17
0.05998541599910823
Frame 21
tensor(0.3875)
 # KEYFRAME 18
0.061197882001579273
Frame 22
tensor(0.1349)
 # KEYFRAME 19
0.06274887600011425
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 23
tensor(0.5953)
 # KEYFRAME 20
0.059274969000398414
Frame 24
tensor(0.1832)
 # KEYFRAME 21
0.06024357400019653
Frame 25
tensor(0.1578)
 # KEYFRAME 22
0.0608882429987716
Frame 26
tensor(0.1023)
 # KEYFRAME 23
0.06182691899812198
Frame 27
tensor(0.3402)
 # KEYFRAME 24
0.06265285600238713
Frame 28
tensor(0.0731)
Frame 29
tensor(0.0716)
Frame 30
tensor(0.1215)
 # KEYFRAME 25
0.0636237920007261
Frame 31
tensor(0.2682)
 # KEYFRAME 26
0.06495167799948831
Frame 32
tensor(0.1723)
 # KEYFRAME 27
0.06574883500070428
Frame 33
tensor(0.2101)
 # KEYFRAME 28
0.06662920199960354
Frame 34
tensor(0.0994)
Frame 35
tensor(0.2296)
 # KEYFRAME 29
0.06833230599659146
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 36
tensor(0.1849)
 # KEYFRAME 30
0.06591463500080863
Frame 37
tensor(0.4856)
 # KEYFRAME 31
0.06702585099992575
Frame 38
tensor(0.1762)
 # KEYFRAME 32
0.0680106780018832
Frame 39
tensor(0.2523)
 # KEYFRAME 33
0.06870748399887816
Frame 40
tensor(0.1484)
 # KEYFRAME 34
0.06973692100291373
Frame 41
tensor(0.2166)
 # KEYFRAME 35
0.07052000800103997
Frame 42
tensor(0.1886)
 # KEYFRAME 36
0.07125935500152991
Frame 43
tensor(0.2946)
 # KEYFRAME 37
0.07200229299996863
Frame 44
tensor(0.2545)
 # KEYFRAME 38
0.07305467900005169
Frame 45
tensor(0.2601)
 # KEYFRAME 39
0.07387860599919804
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1424454152584076
TTA-STEP: step=131 loss_distill=0.1424 tta_take=0.009s
Frame 46
tensor(0.2764)
 # KEYFRAME 40
0.07226284200078226
Frame 47
tensor(0.5031)
 # KEYFRAME 41
0.07410683600028278
Frame 48
tensor(0.2703)
 # KEYFRAME 42
0.0747192829985579
Frame 49
tensor(0.2040)
 # KEYFRAME 43
0.07541103100084001
Frame 50
tensor(0.1861)
 # KEYFRAME 44
0.07569683999827248
Frame 51
tensor(0.1840)
 # KEYFRAME 45
0.07625498799825436
Frame 52
tensor(0.1496)
 # KEYFRAME 46
0.07768001300064498
Frame 53
tensor(0.3274)
 # KEYFRAME 47
0.0781446410001081
Frame 54
tensor(0.2100)
 # KEYFRAME 48
0.07897214799959329
Frame 55
tensor(0.1447)
 # KEYFRAME 49
0.08029073400030029
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.31132373213768005
TTA-STEP: step=132 loss_distill=0.3113 tta_take=0.009s
Frame 56
tensor(0.0403)
Frame 57
tensor(0.2664)
 # KEYFRAME 50
0.07945450600163895
Frame 58
tensor(0.1105)
 # KEYFRAME 51
0.08137428899863153
Frame 59
tensor(0.1291)
 # KEYFRAME 52
0.08122851000007358
Frame 60
tensor(0.2764)
 # KEYFRAME 53
0.08281719400110887
Frame 61
tensor(0.1504)
 # KEYFRAME 54
0.08401075899746502
Frame 62
tensor(0.3040)
 # KEYFRAME 55
0.08437960900118924
Frame 63
tensor(0.2751)
 # KEYFRAME 56
0.08554661400194163
Frame 64
tensor(0.3066)
 # KEYFRAME 57
0.08585971299908124
Frame 65
tensor(0.2519)
 # KEYFRAME 58
0.0874592180007312
Frame 66
tensor(0.3558)
 # KEYFRAME 59
0.0882590950022859
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.35155659914016724
TTA-STEP: step=133 loss_distill=0.3516 tta_take=0.009s
Frame 67
tensor(0.2877)
 # KEYFRAME 60
0.08627929200156359
Frame 68
tensor(0.5440)
 # KEYFRAME 61
0.08850435400017886
Frame 69
tensor(0.3678)
 # KEYFRAME 62
0.08857938399887644
Frame 70
tensor(0.2206)
 # KEYFRAME 63
0.08977099000185262
Frame 71
tensor(0.4526)
 # KEYFRAME 64
0.09141734399963752
Frame 72
tensor(0.3733)
 # KEYFRAME 65
0.09186059200146701
Frame 73
tensor(0.3201)
 # KEYFRAME 66
0.0942134739998437
Frame 74
tensor(0.3490)
 # KEYFRAME 67
0.09535516899995855
Frame 75
tensor(0.2699)
 # KEYFRAME 68
0.09592440800042823
Frame 76
tensor(0.1620)
 # KEYFRAME 69
0.09686672400130192
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3762769103050232
TTA-STEP: step=134 loss_distill=0.3763 tta_take=0.009s
Frame 77
tensor(0.4550)
 # KEYFRAME 70
0.09298765799758257
Frame 78
tensor(0.3072)
 # KEYFRAME 71
0.09534284999972442
Frame 79
tensor(0.4190)
 # KEYFRAME 72
0.09553514899744187
Frame 80
tensor(0.3164)
 # KEYFRAME 73
0.097126713997568
Frame 81
tensor(0.4957)
 # KEYFRAME 74
0.09829957900001318
Frame 82
tensor(0.2699)
 # KEYFRAME 75
0.09932080599901383
Frame 83
tensor(0.2860)
 # KEYFRAME 76
0.10005596299743047
Frame 84
tensor(0.2066)
 # KEYFRAME 77
0.10158400699947379
Frame 85
tensor(0.2367)
 # KEYFRAME 78
0.10280448300181888
Frame 86
tensor(0.2672)
 # KEYFRAME 79
0.10329547099900083
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 2.4554362297058105), (1, 2.419405698776245), (2, 2.3092360496520996), (3, 2.222456932067871), (4, 2.1574158668518066), (5, 2.064404010772705)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[0, 1, 2, 3, 4] dts=[7, 6, 5, 4, 3]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3773123621940613
TTA-STEP: step=135 loss_distill=0.3773 tta_take=0.009s
Frame 87
tensor(0.3386)
 # KEYFRAME 80
0.09251048000078299
Frame 88
tensor(0.3790)
 # KEYFRAME 81
0.09554998899693601
Frame 89
tensor(0.4099)
 # KEYFRAME 82
0.09462956300194492
Frame 90
tensor(0.0710)
Frame 91
tensor(0.4072)
 # KEYFRAME 83
0.09547159900102997
Frame 92
tensor(0.2598)
 # KEYFRAME 84
0.09616150600049878
Frame 93
tensor(0.3297)
 # KEYFRAME 85
0.0975810409981932
Frame 94
tensor(0.2003)
 # KEYFRAME 86
0.09763828100039973
Frame 95
tensor(0.2146)
 # KEYFRAME 87
0.0985988480024389
Frame 96
tensor(0.2381)
 # KEYFRAME 88
0.09906022599898279
Frame 97
tensor(0.1605)
 # KEYFRAME 89
0.0999876329988183
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 6] dropped=[4, 5] scores=[(0, 2.181708812713623), (1, 2.2045798301696777), (2, 2.067150592803955), (3, 1.9641319513320923), (4, 1.9459625482559204), (5, 1.879469871520996), (6, 2.0284423828125)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 6, 3] dts=[7, 8, 6, 2, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.38321295380592346
TTA-STEP: step=136 loss_distill=0.3832 tta_take=0.009s
Frame 98
tensor(0.3507)
 # KEYFRAME 90
0.09302883800046402
Frame 99
tensor(0.2893)
 # KEYFRAME 91
0.09504911100157187
Frame 100
tensor(0.2997)
 # KEYFRAME 92
0.09504386100161355
Frame 101
tensor(0.2710)
 # KEYFRAME 93
0.09532572899843217
Frame 102
tensor(0.1123)
 # KEYFRAME 94
0.09646246600095765
Frame 103
tensor(0.3071)
 # KEYFRAME 95
0.09678164499928243
Frame 104
tensor(0.1780)
 # KEYFRAME 96
0.09796490999724483
Frame 105
tensor(0.2513)
 # KEYFRAME 97
0.09827856899937615
Frame 106
tensor(0.1383)
 # KEYFRAME 98
0.09837744899778045
Frame 107
tensor(0.4279)
 # KEYFRAME 99
0.09901140600049985
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 4, 6, 7] dropped=[2, 3, 5] scores=[(0, 2.063288927078247), (1, 2.191936731338501), (2, 1.8332895040512085), (3, 1.7974772453308105), (4, 1.9574295282363892), (5, 1.9158146381378174), (6, 2.152477979660034), (7, 2.0571887493133545)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 6, 0, 7, 4] dts=[8, 3, 9, 2, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3608624041080475
TTA-STEP: step=137 loss_distill=0.3609 tta_take=0.009s
Frame 108
tensor(0.2047)
 # KEYFRAME 100
0.09358221600268735
Frame 109
tensor(0.2150)
 # KEYFRAME 101
0.09580863800147199
Frame 110
tensor(0.3793)
 # KEYFRAME 102
0.09460155200213194
Frame 111
tensor(0.7764)
 # KEYFRAME 103
0.0959356179992028
Frame 112
tensor(0.2319)
 # KEYFRAME 104
0.09615563699844643
Frame 113
tensor(0.2387)
 # KEYFRAME 105
0.09732883299875539
Frame 114
tensor(0.1870)
 # KEYFRAME 106
0.09824156899776426
Frame 115
tensor(0.3173)
 # KEYFRAME 107
0.09869249800249236
Frame 116
tensor(0.4686)
 # KEYFRAME 108
0.09945204500036198
Frame 117
tensor(0.1840)
 # KEYFRAME 109
0.10024331200111192
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 2.1418001651763916), (1, 2.209751605987549), (2, 2.05711030960083), (3, 1.9315859079360962), (4, 1.9195553064346313), (5, 1.7758427858352661), (6, 1.9044018983840942), (7, 1.830592393875122), (8, 1.6253794431686401)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 3, 4] dts=[9, 10, 8, 7, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.39151591062545776
TTA-STEP: step=138 loss_distill=0.3915 tta_take=0.009s
Frame 118
tensor(0.3602)
 # KEYFRAME 110
0.09353017600005842
Frame 119
tensor(0.4864)
 # KEYFRAME 111
0.09438642299937783
Frame 120
tensor(0.4995)
 # KEYFRAME 112
0.09533009900042089
Frame 121
tensor(0.2076)
 # KEYFRAME 113
0.09617608599728555
Frame 122
tensor(0.3615)
 # KEYFRAME 114
0.09692605400050525
Frame 123
tensor(0.4985)
 # KEYFRAME 115
0.09720930299954489
Frame 124
tensor(0.1982)
 # KEYFRAME 116
0.09844703899943852
Frame 125
tensor(0.4536)
 # KEYFRAME 117
0.0981874790013535
Frame 126
tensor(0.4703)
 # KEYFRAME 118
0.09954789400217123
Frame 127
tensor(0.1795)
 # KEYFRAME 119
0.10074012999757542
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 2.2089614868164062), (1, 2.2810792922973633), (2, 2.1488614082336426), (3, 2.011349678039551), (4, 1.9874390363693237), (5, 1.827147126197815), (6, 1.9324103593826294), (7, 1.8146885633468628), (8, 1.625103235244751), (9, 1.6965842247009277)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 3, 4] dts=[10, 11, 9, 8, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.35677826404571533
TTA-STEP: step=139 loss_distill=0.3568 tta_take=0.009s
Frame 128
tensor(0.4748)
 # KEYFRAME 120
0.0937707049997698
Frame 129
tensor(0.1848)
 # KEYFRAME 121
0.09547834899785812
Frame 130
tensor(0.2292)
 # KEYFRAME 122
0.09482630100319511
Frame 131
tensor(0.0970)
Frame 132
tensor(0.1429)
 # KEYFRAME 123
0.09603796699957456
Frame 133
tensor(0.1248)
 # KEYFRAME 124
0.0963655560008192
Frame 134
tensor(0.1298)
 # KEYFRAME 125
0.09718949200032512
Frame 135
tensor(0.1448)
 # KEYFRAME 126
0.09737067199966987
Frame 136
tensor(0.0870)
Frame 137
tensor(0.0954)
Backending... 127 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 4, 6, 7] dropped=[2, 3, 5, 8, 9, 10] scores=[(0, 1.5219666957855225), (1, 1.6765637397766113), (2, 1.4087188243865967), (3, 1.3102903366088867), (4, 1.4439467191696167), (5, 1.3713754415512085), (6, 1.6046597957611084), (7, 1.4397811889648438), (8, 1.1877613067626953), (9, 1.0690951347351074), (10, 1.2963831424713135)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 69747, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 6, 0, 4, 7] dts=[11, 6, 12, 8, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3578350841999054
TTA-STEP: step=140 loss_distill=0.3578 tta_take=0.007s
[epoch 0 scene 17/556] scannetpp/260db9cf5a/frame frames=138 tta_steps_this_scene=10 mean_loss=0.3409 total_steps=140 time=62.6s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1615)
 # KEYFRAME 1
Frame 2
tensor(0.3426)
 # KEYFRAME 2
0.05196049399819458
Frame 3
tensor(0.1891)
 # KEYFRAME 3
0.054299257000820944
Frame 4
tensor(0.2470)
 # KEYFRAME 4
0.05448512600196409
Frame 5
tensor(0.2991)
 # KEYFRAME 5
0.05520982300004107
Frame 6
tensor(0.1735)
 # KEYFRAME 6
0.056499258000258124
Frame 7
tensor(0.3066)
 # KEYFRAME 7
0.057188385999324964
Frame 8
tensor(0.3312)
 # KEYFRAME 8
0.05863614000190864
Frame 9
tensor(0.1241)
 # KEYFRAME 9
0.05856368099921383
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.0616)
Frame 11
tensor(0.3254)
 # KEYFRAME 10
0.052843722001853166
Frame 12
tensor(0.1830)
 # KEYFRAME 11
0.05366182799843955
Frame 13
tensor(0.3160)
 # KEYFRAME 12
0.05456443600269267
Frame 14
tensor(0.2184)
 # KEYFRAME 13
0.05660017799891648
Frame 15
tensor(0.3566)
 # KEYFRAME 14
0.05717705599818146
Frame 16
tensor(0.3246)
 # KEYFRAME 15
0.05810063199896831
Frame 17
tensor(0.0277)
Frame 18
tensor(0.3299)
 # KEYFRAME 16
0.059106199001689674
Frame 19
tensor(0.1749)
 # KEYFRAME 17
0.05993351600045571
Frame 20
tensor(0.4516)
 # KEYFRAME 18
0.06108833200050867
Frame 21
tensor(0.3905)
 # KEYFRAME 19
0.06278979600028833
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 22
tensor(0.1829)
 # KEYFRAME 20
0.05943234799997299
Frame 23
tensor(0.2851)
 # KEYFRAME 21
0.05994517499857466
Frame 24
tensor(0.2999)
 # KEYFRAME 22
0.06084787200234132
Frame 25
tensor(0.2250)
 # KEYFRAME 23
0.062165057999663986
Frame 26
tensor(0.3656)
 # KEYFRAME 24
0.06257700700007263
Frame 27
tensor(0.3204)
 # KEYFRAME 25
0.06379451199973118
Frame 28
tensor(0.2333)
 # KEYFRAME 26
0.06492920900200261
Frame 29
tensor(0.3664)
 # KEYFRAME 27
0.06570377499883762
Frame 30
tensor(0.2157)
 # KEYFRAME 28
0.06676063199847704
Frame 31
tensor(0.0975)
Frame 32
tensor(0.2107)
 # KEYFRAME 29
0.06839741600197158
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 33
tensor(0.1591)
 # KEYFRAME 30
0.06611962399983895
Frame 34
tensor(0.1977)
 # KEYFRAME 31
0.06726254000022891
Frame 35
tensor(0.2187)
 # KEYFRAME 32
0.06824085699918214
Frame 36
tensor(0.1368)
 # KEYFRAME 33
0.06872383399968385
Frame 37
tensor(0.2448)
 # KEYFRAME 34
0.06973569099864108
Frame 38
tensor(0.3419)
 # KEYFRAME 35
0.0702755589991284
Frame 39
tensor(0.4594)
 # KEYFRAME 36
0.07190375299978768
Frame 40
tensor(0.2434)
 # KEYFRAME 37
0.07246985099845915
Frame 41
tensor(0.0885)
Frame 42
tensor(0.3522)
 # KEYFRAME 38
0.0740603550002561
Frame 43
tensor(0.3075)
 # KEYFRAME 39
0.0736695570012671
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.25946474075317383
TTA-STEP: step=141 loss_distill=0.2595 tta_take=0.009s
Frame 44
tensor(0.0909)
Frame 45
tensor(0.1675)
 # KEYFRAME 40
0.07254640099927201
Frame 46
tensor(0.3123)
 # KEYFRAME 41
0.0745230040010938
Frame 47
tensor(0.2103)
 # KEYFRAME 42
0.07430298500185017
Frame 48
tensor(0.3810)
 # KEYFRAME 43
0.07502621200183057
Frame 49
tensor(0.1345)
 # KEYFRAME 44
0.07568858000013279
Frame 50
tensor(0.4837)
 # KEYFRAME 45
0.07693942599871662
Frame 51
tensor(0.2578)
 # KEYFRAME 46
0.07709363400135771
Frame 52
tensor(0.4827)
 # KEYFRAME 47
0.07811049099836964
Frame 53
tensor(0.1709)
 # KEYFRAME 48
0.07901242799925967
Frame 54
tensor(0.3012)
 # KEYFRAME 49
0.07986638500005938
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.306469202041626
TTA-STEP: step=142 loss_distill=0.3065 tta_take=0.009s
Frame 55
tensor(0.1989)
 # KEYFRAME 50
0.07915931800016551
Frame 56
tensor(0.2993)
 # KEYFRAME 51
0.08163171900014277
Frame 57
tensor(0.1773)
 # KEYFRAME 52
0.08113097099703737
Frame 58
tensor(0.3321)
 # KEYFRAME 53
0.08236826500069583
Frame 59
tensor(0.2004)
 # KEYFRAME 54
0.08374511099827942
Frame 60
tensor(0.1215)
 # KEYFRAME 55
0.08461799799988512
Frame 61
tensor(0.3179)
 # KEYFRAME 56
0.08519468600206892
Frame 62
tensor(0.2660)
 # KEYFRAME 57
0.08678661999874748
Frame 63
tensor(0.1758)
 # KEYFRAME 58
0.08804430500094895
Frame 64
tensor(0.2468)
 # KEYFRAME 59
0.08842396399995778
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.33319005370140076
TTA-STEP: step=143 loss_distill=0.3332 tta_take=0.009s
Frame 65
tensor(0.1414)
 # KEYFRAME 60
0.08641392100253142
Frame 66
tensor(0.3823)
 # KEYFRAME 61
0.08861722299843677
Frame 67
tensor(0.2152)
 # KEYFRAME 62
0.08882893299960415
Frame 68
tensor(0.4227)
 # KEYFRAME 63
0.09002335900004255
Frame 69
tensor(0.2127)
 # KEYFRAME 64
0.09106698500181665
Frame 70
tensor(0.3656)
 # KEYFRAME 65
0.0918523920008738
Frame 71
tensor(0.2682)
 # KEYFRAME 66
0.09367617500174674
Frame 72
tensor(0.2970)
 # KEYFRAME 67
0.09530954000001657
Frame 73
tensor(0.3076)
 # KEYFRAME 68
0.09561600800225278
Frame 74
tensor(0.1327)
 # KEYFRAME 69
0.09647370500169927
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.40230169892311096
TTA-STEP: step=144 loss_distill=0.4023 tta_take=0.009s
Frame 75
tensor(0.0526)
Frame 76
tensor(0.2870)
 # KEYFRAME 70
0.09246125999925425
Frame 77
tensor(0.2714)
 # KEYFRAME 71
0.09495283100113738
Frame 78
tensor(0.2312)
 # KEYFRAME 72
0.09536646900232881
Frame 79
tensor(0.2141)
 # KEYFRAME 73
0.09618481600045925
Frame 80
tensor(0.2773)
 # KEYFRAME 74
0.09764878100031638
Frame 81
tensor(0.1888)
 # KEYFRAME 75
0.09905856700061122
Frame 82
tensor(0.2852)
 # KEYFRAME 76
0.09962815399921965
Frame 83
tensor(0.2557)
 # KEYFRAME 77
0.1014723270018294
Frame 84
tensor(0.1362)
 # KEYFRAME 78
0.10223784499976318
Frame 85
tensor(0.1472)
 # KEYFRAME 79
0.10319291099949623
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 5] dropped=[4] scores=[(0, 0.7067070007324219), (1, 0.39597687125205994), (2, 0.5008213520050049), (3, 0.4167618453502655), (4, 0.1703910380601883), (5, 0.29074200987815857)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[0, 2, 3, 1, 5] dts=[7, 5, 4, 6, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4270164668560028
TTA-STEP: step=145 loss_distill=0.4270 tta_take=0.009s
Frame 86
tensor(0.3957)
 # KEYFRAME 80
0.09356548600044334
Frame 87
tensor(0.1691)
 # KEYFRAME 81
0.0944024430027639
Frame 88
tensor(0.1947)
 # KEYFRAME 82
0.09491760099990643
Frame 89
tensor(0.2178)
 # KEYFRAME 83
0.09612401699996553
Frame 90
tensor(0.0926)
Frame 91
tensor(0.4371)
 # KEYFRAME 84
0.09677179399659508
Frame 92
tensor(0.2005)
 # KEYFRAME 85
0.09708363300160272
Frame 93
tensor(0.2826)
 # KEYFRAME 86
0.0981434690002061
Frame 94
tensor(0.6270)
 # KEYFRAME 87
0.09855724799854215
Frame 95
tensor(0.3832)
 # KEYFRAME 88
0.09915196600195486
Frame 96
tensor(0.3352)
 # KEYFRAME 89
0.09918027599997004
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 0.17371615767478943), (1, -0.055911872535943985), (2, -0.07617386430501938), (3, -0.10473611205816269), (4, -0.17797760665416718), (5, -0.2779311239719391), (6, -0.30585089325904846)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[0, 1, 2, 3, 4] dts=[8, 7, 6, 5, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4507821500301361
TTA-STEP: step=146 loss_distill=0.4508 tta_take=0.009s
Frame 97
tensor(0.2347)
 # KEYFRAME 90
0.09303544800059171
Frame 98
tensor(0.2248)
 # KEYFRAME 91
0.09419091299787397
Frame 99
tensor(0.1268)
 # KEYFRAME 92
0.09544161900339532
Frame 100
tensor(0.1824)
 # KEYFRAME 93
0.09580438799821422
Frame 101
tensor(0.2757)
 # KEYFRAME 94
0.09586240700082271
Frame 102
tensor(0.0658)
Frame 103
tensor(0.2454)
 # KEYFRAME 95
0.09711797300042235
Frame 104
tensor(0.2518)
 # KEYFRAME 96
0.09760336100225686
Frame 105
tensor(0.6391)
 # KEYFRAME 97
0.09840997900028015
Frame 106
tensor(0.3920)
 # KEYFRAME 98
0.09919180500219227
Frame 107
tensor(0.2603)
 # KEYFRAME 99
0.0999732429991127
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 0.14267651736736298), (1, -0.044088322669267654), (2, -0.10036026686429977), (3, -0.10994283109903336), (4, -0.15395218133926392), (5, -0.30200088024139404), (6, -0.30850470066070557), (7, -0.4583567976951599)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[0, 1, 2, 3, 4] dts=[9, 8, 7, 6, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.43242567777633667
TTA-STEP: step=147 loss_distill=0.4324 tta_take=0.009s
Frame 108
tensor(0.2133)
 # KEYFRAME 100
0.09330479699929128
Frame 109
tensor(0.1856)
 # KEYFRAME 101
0.09550404900073772
Frame 110
tensor(0.3727)
 # KEYFRAME 102
0.09504331000061939
Frame 111
tensor(0.3133)
 # KEYFRAME 103
0.09547463899798458
Frame 112
tensor(0.3276)
 # KEYFRAME 104
0.09574397799951839
Frame 113
tensor(0.3279)
 # KEYFRAME 105
0.096621935001167
Frame 114
tensor(0.0435)
Frame 115
tensor(0.2963)
 # KEYFRAME 106
0.09737954299998819
Frame 116
tensor(0.1512)
 # KEYFRAME 107
0.0978397409999161
Frame 117
tensor(0.4031)
 # KEYFRAME 108
0.09966028399867355
Frame 118
tensor(0.4970)
 # KEYFRAME 109
0.09988721300032921
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 0.06041691079735756), (1, -0.10467405617237091), (2, -0.192865788936615), (3, -0.18549132347106934), (4, -0.1880418062210083), (5, -0.35688531398773193), (6, -0.350093811750412), (7, -0.48882579803466797), (8, -0.902920126914978)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[0, 1, 3, 4, 2] dts=[10, 9, 7, 6, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4266608953475952
TTA-STEP: step=148 loss_distill=0.4267 tta_take=0.009s
Frame 119
tensor(0.0946)
Frame 120
tensor(0.2034)
 # KEYFRAME 110
0.09312425799726043
Frame 121
tensor(0.0915)
Frame 122
tensor(0.1593)
 # KEYFRAME 111
0.09425721400111797
Frame 123
tensor(0.0904)
Frame 124
tensor(0.1977)
 # KEYFRAME 112
0.09573945800002548
Frame 125
tensor(0.1198)
 # KEYFRAME 113
0.09566163799900096
Frame 126
tensor(0.1805)
 # KEYFRAME 114
0.09662974500315613
Frame 127
tensor(0.1811)
 # KEYFRAME 115
0.09674871400056873
Backending... 116 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, -0.3755356967449188), (1, -0.4665087163448334), (2, -0.6877815127372742), (3, -0.620534360408783), (4, -0.41836342215538025), (5, -0.8482961654663086), (6, -0.8170287609100342), (7, -0.7850370407104492), (8, -1.3511711359024048), (9, -1.2217515707015991)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 68706, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[0, 4, 1, 3, 2] dts=[11, 7, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.37159058451652527
TTA-STEP: step=149 loss_distill=0.3716 tta_take=0.006s
[epoch 0 scene 18/556] scannetpp/32280ecbca/frame frames=128 tta_steps_this_scene=9 mean_loss=0.3789 total_steps=149 time=53.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0798)
Frame 2
tensor(0.1660)
 # KEYFRAME 1
Frame 3
tensor(0.1181)
 # KEYFRAME 2
0.051593236003100174
Frame 4
tensor(0.1316)
 # KEYFRAME 3
0.05233113400026923
Frame 5
tensor(0.1350)
 # KEYFRAME 4
0.053431878997798776
Frame 6
tensor(0.0734)
Frame 7
tensor(0.1571)
 # KEYFRAME 5
0.05430069599970011
Frame 8
tensor(0.0600)
Frame 9
tensor(0.1511)
 # KEYFRAME 6
0.055822149999585235
Frame 10
tensor(0.0831)
Frame 11
tensor(0.4019)
 # KEYFRAME 7
0.05661476800014498
Frame 12
tensor(0.0495)
Frame 13
tensor(0.1172)
 # KEYFRAME 8
0.05712782599948696
Frame 14
tensor(0.2812)
 # KEYFRAME 9
0.05815516200163984
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 15
tensor(0.0221)
Frame 16
tensor(0.0814)
Frame 17
tensor(0.5460)
 # KEYFRAME 10
0.05181247499785968
Frame 18
tensor(0.0881)
Frame 19
tensor(0.1583)
 # KEYFRAME 11
0.05261051200068323
Frame 20
tensor(0.4246)
 # KEYFRAME 12
0.053840267999476055
Frame 21
tensor(0.1011)
 # KEYFRAME 13
0.05499578400122118
Frame 22
tensor(0.2814)
 # KEYFRAME 14
0.05481102400153759
Frame 23
tensor(0.1108)
 # KEYFRAME 15
0.054990084001474315
Frame 24
tensor(0.0856)
Frame 25
tensor(0.1771)
 # KEYFRAME 16
0.05602794000151334
Frame 26
tensor(0.1931)
 # KEYFRAME 17
0.056098570003086934
Frame 27
tensor(0.1296)
 # KEYFRAME 18
0.05673654699785402
Frame 28
tensor(0.1197)
 # KEYFRAME 19
0.05771581400040304
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 29
tensor(0.2463)
 # KEYFRAME 20
0.05417603599926224
Frame 30
tensor(0.3671)
 # KEYFRAME 21
0.05497638399901916
Frame 31
tensor(0.3169)
 # KEYFRAME 22
0.05537916200046311
Frame 32
tensor(0.7521)
 # KEYFRAME 23
0.055896000001666835
Frame 33
tensor(0.0619)
Frame 34
tensor(0.1560)
 # KEYFRAME 24
0.05642967799940379
Frame 35
tensor(0.2271)
 # KEYFRAME 25
0.056601416999910725
Frame 36
tensor(0.0741)
Frame 37
tensor(0.1533)
 # KEYFRAME 26
0.05811519299822976
Frame 38
tensor(0.0938)
Frame 39
tensor(0.2457)
 # KEYFRAME 27
0.05915141900186427
Frame 40
tensor(0.1247)
 # KEYFRAME 28
0.05970891600009054
Frame 41
tensor(0.0974)
Frame 42
tensor(0.1156)
 # KEYFRAME 29
0.06058564300110447
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 43
tensor(0.0609)
Frame 44
tensor(0.2787)
 # KEYFRAME 30
0.05826825199983432
Frame 45
tensor(0.0922)
Frame 46
tensor(0.2950)
 # KEYFRAME 31
0.05887914000049932
Frame 47
tensor(0.0814)
Frame 48
tensor(0.1658)
 # KEYFRAME 32
0.05900973900133977
Frame 49
tensor(0.0802)
Frame 50
tensor(0.0919)
Frame 51
tensor(0.1148)
 # KEYFRAME 33
0.06033969500276726
Frame 52
tensor(0.2042)
 # KEYFRAME 34
0.06036974499875214
Frame 53
tensor(0.0200)
Frame 54
tensor(0.1086)
 # KEYFRAME 35
0.06103114199868287
Frame 55
tensor(0.0861)
Frame 56
tensor(0.0987)
Frame 57
tensor(0.1576)
 # KEYFRAME 36
0.06202304800171987
Frame 58
tensor(0.1006)
 # KEYFRAME 37
0.06291140500252368
Frame 59
tensor(0.1069)
 # KEYFRAME 38
0.0632728849996056
Frame 60
tensor(0.0794)
Frame 61
tensor(0.1546)
 # KEYFRAME 39
0.06436068000039086
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.12942038476467133
TTA-STEP: step=150 loss_distill=0.1294 tta_take=0.009s
Frame 62
tensor(0.0854)
Frame 63
tensor(0.1684)
 # KEYFRAME 40
0.06265977599832695
Frame 64
tensor(0.1889)
 # KEYFRAME 41
0.06432920099905459
Frame 65
tensor(0.0738)
Frame 66
tensor(0.2277)
 # KEYFRAME 42
0.06467200899714953
Frame 67
tensor(0.2368)
 # KEYFRAME 43
0.0641331810002157
Frame 68
tensor(0.0551)
Frame 69
tensor(0.1153)
 # KEYFRAME 44
0.06587781499911216
Frame 70
tensor(0.1425)
 # KEYFRAME 45
0.06616697399658733
Frame 71
tensor(0.5923)
 # KEYFRAME 46
0.06624729299801402
Frame 72
tensor(0.0414)
Frame 73
tensor(0.0740)
Frame 74
tensor(0.0976)
Frame 75
tensor(0.3308)
 # KEYFRAME 47
0.06684256199878291
Frame 76
tensor(0.0569)
Frame 77
tensor(0.5053)
 # KEYFRAME 48
0.06750581899905228
Frame 78
tensor(0.7460)
 # KEYFRAME 49
0.06882563399994979
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.24979974329471588
TTA-STEP: step=151 loss_distill=0.2498 tta_take=0.009s
Frame 79
tensor(0.0608)
Frame 80
tensor(0.1854)
 # KEYFRAME 50
0.06705625100221368
Frame 81
tensor(0.0838)
Frame 82
tensor(0.2296)
 # KEYFRAME 51
0.06824065600085305
Frame 83
tensor(0.1154)
 # KEYFRAME 52
0.06898063300104695
Frame 84
tensor(0.1289)
 # KEYFRAME 53
0.0699978699994972
Frame 85
tensor(0.1596)
 # KEYFRAME 54
0.06912935299988021
Frame 86
tensor(0.1316)
 # KEYFRAME 55
0.07175982400076464
Frame 87
tensor(0.0915)
Frame 88
tensor(0.1929)
 # KEYFRAME 56
0.07301613899835502
Frame 89
tensor(0.2020)
 # KEYFRAME 57
0.07374554600028205
Frame 90
tensor(0.1437)
 # KEYFRAME 58
0.07479754199812305
Frame 91
tensor(0.6866)
 # KEYFRAME 59
0.07540762999997241
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.32117360830307007
TTA-STEP: step=152 loss_distill=0.3212 tta_take=0.008s
Frame 92
tensor(0.1411)
 # KEYFRAME 60
0.07146558500244282
Frame 93
tensor(0.2046)
 # KEYFRAME 61
0.07256443999722251
Frame 94
tensor(0.0743)
Frame 95
tensor(0.1015)
 # KEYFRAME 62
0.07295008900109679
Frame 96
tensor(0.0747)
Frame 97
tensor(0.9060)
 # KEYFRAME 63
0.0741353759985941
Frame 98
tensor(0.0861)
Frame 99
tensor(0.1453)
 # KEYFRAME 64
0.07472522299940465
Frame 100
tensor(0.1831)
 # KEYFRAME 65
0.07379090700123925
Frame 101
tensor(0.2283)
 # KEYFRAME 66
0.0760672490032448
Frame 102
tensor(0.1489)
 # KEYFRAME 67
0.07730992399956449
Frame 103
tensor(0.1255)
 # KEYFRAME 68
0.07828503099881345
Frame 104
tensor(0.5267)
 # KEYFRAME 69
0.07881836799788289
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.37219226360321045
TTA-STEP: step=153 loss_distill=0.3722 tta_take=0.009s
Frame 105
tensor(0.1280)
 # KEYFRAME 70
0.07540983000217238
Frame 106
tensor(0.2504)
 # KEYFRAME 71
0.07605832800254575
Frame 107
tensor(0.1177)
 # KEYFRAME 72
0.0762408080008754
Frame 108
tensor(0.6522)
 # KEYFRAME 73
0.07675235599890584
Frame 109
tensor(1.1150)
 # KEYFRAME 74
0.0775838429981377
Frame 110
tensor(1.8219)
 # KEYFRAME 75
0.07760588300152449
Frame 111
tensor(0.0849)
Frame 112
tensor(0.2543)
 # KEYFRAME 76
0.0781066710005689
Frame 113
tensor(0.0987)
Frame 114
tensor(0.1998)
 # KEYFRAME 77
0.07854445900011342
Frame 115
tensor(0.1741)
 # KEYFRAME 78
0.07896669799811207
Frame 116
tensor(0.2474)
 # KEYFRAME 79
0.08004080400132807
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, -2.3312466144561768), (1, -2.5984954833984375), (2, -2.2088634967803955), (3, -2.289480447769165), (4, -2.8762047290802), (5, -3.022913932800293)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[2, 3, 0, 1, 4] dts=[5, 4, 7, 6, 3]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.34044069051742554
TTA-STEP: step=154 loss_distill=0.3404 tta_take=0.009s
Frame 117
tensor(0.1002)
 # KEYFRAME 80
0.07563714999923832
Frame 118
tensor(0.1644)
 # KEYFRAME 81
0.07729632399787079
Frame 119
tensor(0.1917)
 # KEYFRAME 82
0.07739858399872901
Frame 120
tensor(0.0839)
Frame 121
tensor(0.3949)
 # KEYFRAME 83
0.07858032900185208
Frame 122
tensor(0.3980)
 # KEYFRAME 84
0.07976033500017365
Frame 123
tensor(0.1298)
 # KEYFRAME 85
0.08017392400142853
Frame 124
tensor(0.0929)
Frame 125
tensor(0.2123)
 # KEYFRAME 86
0.07876886799931526
Frame 126
tensor(0.0948)
Frame 127
tensor(0.2011)
 # KEYFRAME 87
0.08166456799881416
Frame 128
tensor(0.0798)
Frame 129
tensor(0.2416)
 # KEYFRAME 88
0.08279699400009122
Frame 130
tensor(0.1089)
 # KEYFRAME 89
0.08368493099987973
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 6] dropped=[4, 5] scores=[(0, -2.3984766006469727), (1, -2.676722288131714), (2, -2.296060562133789), (3, -2.377790927886963), (4, -2.9878716468811035), (5, -3.1121115684509277), (6, -1.9881237745285034)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[6, 2, 3, 0, 1] dts=[2, 6, 5, 8, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.43982717394828796
TTA-STEP: step=155 loss_distill=0.4398 tta_take=0.009s
Frame 131
tensor(0.0893)
Frame 132
tensor(0.1343)
 # KEYFRAME 90
0.07560994999948889
Frame 133
tensor(0.1511)
 # KEYFRAME 91
0.07603108799958136
Frame 134
tensor(0.0542)
Frame 135
tensor(0.1170)
 # KEYFRAME 92
0.07690033499966376
Frame 136
tensor(0.0546)
Frame 137
tensor(0.1101)
 # KEYFRAME 93
0.0774637940012326
Frame 138
tensor(0.5217)
 # KEYFRAME 94
0.0788308480005071
Frame 139
tensor(0.0900)
Frame 140
tensor(0.1964)
 # KEYFRAME 95
0.07975967500169645
Frame 141
tensor(0.1039)
 # KEYFRAME 96
0.0782058410004538
Frame 142
tensor(0.3408)
 # KEYFRAME 97
0.0812766000017291
Frame 143
tensor(0.0699)
Frame 144
tensor(0.0842)
Frame 145
tensor(0.3302)
 # KEYFRAME 98
0.08190953799930867
Frame 146
tensor(0.2520)
 # KEYFRAME 99
0.08270678400003817
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 6] dropped=[4, 5, 7] scores=[(0, -2.603199005126953), (1, -2.889521360397339), (2, -2.5008552074432373), (3, -2.5789804458618164), (4, -3.2125608921051025), (5, -3.3327219486236572), (6, -2.174661159515381), (7, -3.510138750076294)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[6, 2, 3, 0, 1] dts=[3, 7, 6, 9, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4469621181488037
TTA-STEP: step=156 loss_distill=0.4470 tta_take=0.009s
Frame 147
tensor(0.2122)
 # KEYFRAME 100
0.07534272100019734
Frame 148
tensor(0.2167)
 # KEYFRAME 101
0.07724582399896462
Frame 149
tensor(0.2568)
 # KEYFRAME 102
0.07728653400045005
Backending... 103 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 6] dropped=[4, 5, 7, 8] scores=[(0, -2.5990147590637207), (1, -2.9024319648742676), (2, -2.4847166538238525), (3, -2.5629444122314453), (4, -3.214970350265503), (5, -3.3428378105163574), (6, -2.2010104656219482), (7, -3.522946357727051), (8, -3.5270841121673584)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 58590, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[6, 2, 3, 0, 1] dts=[4, 8, 7, 10, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.44109994173049927
TTA-STEP: step=157 loss_distill=0.4411 tta_take=0.004s
[epoch 0 scene 19/556] scannetpp/32280ecbca/DSC frames=150 tta_steps_this_scene=8 mean_loss=0.3426 total_steps=157 time=51.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1676)
 # KEYFRAME 1
Frame 2
tensor(0.2951)
 # KEYFRAME 2
0.05245016299886629
Frame 3
tensor(0.0807)
Frame 4
tensor(0.4109)
 # KEYFRAME 3
0.05439299599674996
Frame 5
tensor(0.5150)
 # KEYFRAME 4
0.054409544998634374
Frame 6
tensor(0.5375)
 # KEYFRAME 5
0.055004574001941364
Frame 7
tensor(0.2141)
 # KEYFRAME 6
0.05610936000084621
Frame 8
tensor(0.2740)
 # KEYFRAME 7
0.05713683599969954
Frame 9
tensor(0.1966)
 # KEYFRAME 8
0.05865746099880198
Frame 10
tensor(0.3157)
 # KEYFRAME 9
0.05861772999924142
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.2686)
 # KEYFRAME 10
0.05264668200106826
Frame 12
tensor(0.1019)
 # KEYFRAME 11
0.05444703600005596
Frame 13
tensor(0.0826)
Frame 14
tensor(0.1878)
 # KEYFRAME 12
0.054693714999302756
Frame 15
tensor(0.3393)
 # KEYFRAME 13
0.056553497997811064
Frame 16
tensor(0.2595)
 # KEYFRAME 14
0.05727241500062519
Frame 17
tensor(0.2041)
 # KEYFRAME 15
0.05790441300268867
Frame 18
tensor(0.2159)
 # KEYFRAME 16
0.058876889997918624
Frame 19
tensor(0.3390)
 # KEYFRAME 17
0.059972785998979816
Frame 20
tensor(0.0295)
Frame 21
tensor(0.0303)
Frame 22
tensor(0.4111)
 # KEYFRAME 18
0.06105631100217579
Frame 23
tensor(0.4327)
 # KEYFRAME 19
0.06273826599863241
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 24
tensor(0.1267)
 # KEYFRAME 20
0.05933829800051171
Frame 25
tensor(0.0347)
Frame 26
tensor(0.0901)
Frame 27
tensor(0.7524)
 # KEYFRAME 21
0.060114644998975564
Frame 28
tensor(0.0643)
Frame 29
tensor(0.1826)
 # KEYFRAME 22
0.06095451200235402
Frame 30
tensor(0.1804)
 # KEYFRAME 23
0.06185016900053597
Frame 31
tensor(0.3287)
 # KEYFRAME 24
0.06252671599941095
Frame 32
tensor(0.5208)
 # KEYFRAME 25
0.06377058299767668
Frame 33
tensor(0.7259)
 # KEYFRAME 26
0.06482382899775985
Frame 34
tensor(0.2008)
 # KEYFRAME 27
0.06585149500097032
Frame 35
tensor(0.6807)
 # KEYFRAME 28
0.06704205099958926
Frame 36
tensor(0.6076)
 # KEYFRAME 29
0.0682667670007504
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 37
tensor(0.3884)
 # KEYFRAME 30
0.06620389399904525
Frame 38
tensor(0.1864)
 # KEYFRAME 31
0.06728849000137416
Frame 39
tensor(0.4077)
 # KEYFRAME 32
0.06769969800006947
Frame 40
tensor(0.1762)
 # KEYFRAME 33
0.06887706400084426
Frame 41
tensor(0.2296)
 # KEYFRAME 34
0.0696054420004657
Frame 42
tensor(0.1238)
 # KEYFRAME 35
0.07053936800002703
Frame 43
tensor(0.1176)
 # KEYFRAME 36
0.07140823500230908
Frame 44
tensor(0.1184)
 # KEYFRAME 37
0.07228023200150346
Frame 45
tensor(0.1184)
 # KEYFRAME 38
0.07304995899903588
Frame 46
tensor(0.4041)
 # KEYFRAME 39
0.0737831959995674
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27951982617378235
TTA-STEP: step=158 loss_distill=0.2795 tta_take=0.009s
Frame 47
tensor(0.0756)
Frame 48
tensor(0.1963)
 # KEYFRAME 40
0.07270903000244289
Frame 49
tensor(0.1222)
 # KEYFRAME 41
0.07409367500076769
Frame 50
tensor(0.2737)
 # KEYFRAME 42
0.07446415400045225
Frame 51
tensor(0.3062)
 # KEYFRAME 43
0.07501650199992582
Frame 52
tensor(0.1770)
 # KEYFRAME 44
0.07646556699910434
Frame 53
tensor(0.2911)
 # KEYFRAME 45
0.07682623499931651
Frame 54
tensor(0.2689)
 # KEYFRAME 46
0.0768938059991342
Frame 55
tensor(0.2636)
 # KEYFRAME 47
0.07744854300108273
Frame 56
tensor(0.0999)
Frame 57
tensor(0.1566)
 # KEYFRAME 48
0.07891158799975528
Frame 58
tensor(0.0720)
Frame 59
tensor(0.2814)
 # KEYFRAME 49
0.07992201499655494
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.44443684816360474
TTA-STEP: step=159 loss_distill=0.4444 tta_take=0.009s
Frame 60
tensor(0.1975)
 # KEYFRAME 50
0.07933792699986952
Frame 61
tensor(0.1107)
 # KEYFRAME 51
0.08108779000031063
Frame 62
tensor(0.1454)
 # KEYFRAME 52
0.08131990999754635
Frame 63
tensor(0.0685)
Frame 64
tensor(0.1618)
 # KEYFRAME 53
0.08247414599827607
Frame 65
tensor(0.5472)
 # KEYFRAME 54
0.08391714100071113
Frame 66
tensor(0.3458)
 # KEYFRAME 55
0.08442015900072875
Frame 67
tensor(0.1592)
 # KEYFRAME 56
0.08549875400058227
Frame 68
tensor(0.2798)
 # KEYFRAME 57
0.08741582799848402
Frame 69
tensor(0.1709)
 # KEYFRAME 58
0.08747772699643974
Frame 70
tensor(0.1194)
 # KEYFRAME 59
0.08841534399834927
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.46762654185295105
TTA-STEP: step=160 loss_distill=0.4676 tta_take=0.009s
Frame 71
tensor(0.1304)
 # KEYFRAME 60
0.08574187299745972
Frame 72
tensor(0.1821)
 # KEYFRAME 61
0.08870362300149282
Frame 73
tensor(0.3331)
 # KEYFRAME 62
0.08848513400153024
Frame 74
tensor(0.2366)
 # KEYFRAME 63
0.09026197799903457
Frame 75
tensor(0.3672)
 # KEYFRAME 64
0.09153147300094133
Frame 76
tensor(0.3364)
 # KEYFRAME 65
0.0926631490001455
Frame 77
tensor(0.0780)
Frame 78
tensor(0.4801)
 # KEYFRAME 66
0.09363415599727887
Frame 79
tensor(0.2587)
 # KEYFRAME 67
0.09457411200128263
Frame 80
tensor(0.1942)
 # KEYFRAME 68
0.09559783800068544
Frame 81
tensor(0.2100)
 # KEYFRAME 69
0.09690851400227984
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4601683020591736
TTA-STEP: step=161 loss_distill=0.4602 tta_take=0.009s
Frame 82
tensor(0.1309)
 # KEYFRAME 70
0.09302327800105559
Frame 83
tensor(0.0820)
Frame 84
tensor(0.2394)
 # KEYFRAME 71
0.09525918000144884
Frame 85
tensor(0.4909)
 # KEYFRAME 72
0.09531989899915061
Frame 86
tensor(0.5587)
 # KEYFRAME 73
0.09682719400007045
Frame 87
tensor(0.2321)
 # KEYFRAME 74
0.09855402799803414
Frame 88
tensor(0.2196)
 # KEYFRAME 75
0.09866413800045848
Frame 89
tensor(0.1540)
 # KEYFRAME 76
0.10035602200150606
Frame 90
tensor(0.1007)
 # KEYFRAME 77
0.10162936699998681
Frame 91
tensor(0.1398)
 # KEYFRAME 78
0.10242632399967988
Frame 92
tensor(0.0680)
Frame 93
tensor(0.1289)
 # KEYFRAME 79
0.10282338299657567
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, -5.396574020385742), (1, -5.184642791748047), (2, -5.484771728515625), (3, -5.372461318969727), (4, -5.575816631317139), (5, -5.686957359313965)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 3, 0, 2, 4] dts=[6, 4, 7, 5, 3]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.44751405715942383
TTA-STEP: step=162 loss_distill=0.4475 tta_take=0.009s
Frame 94
tensor(0.0957)
Frame 95
tensor(0.3032)
 # KEYFRAME 80
0.09325083599833306
Frame 96
tensor(0.1865)
 # KEYFRAME 81
0.09380666599827236
Frame 97
tensor(0.0289)
Frame 98
tensor(0.1834)
 # KEYFRAME 82
0.09531454999887501
Frame 99
tensor(0.5158)
 # KEYFRAME 83
0.09596158699787338
Frame 100
tensor(0.3228)
 # KEYFRAME 84
0.09602678699957323
Frame 101
tensor(0.5130)
 # KEYFRAME 85
0.096876304000034
Frame 102
tensor(0.3432)
 # KEYFRAME 86
0.09821181900042575
Frame 103
tensor(0.0826)
Frame 104
tensor(0.1034)
 # KEYFRAME 87
0.09824171900254441
Frame 105
tensor(0.1190)
 # KEYFRAME 88
0.09888645699902554
Frame 106
tensor(0.2405)
 # KEYFRAME 89
0.09911782600102015
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, -5.5365519523620605), (1, -5.334323406219482), (2, -5.612758159637451), (3, -5.503386497497559), (4, -5.704597473144531), (5, -5.828786373138428), (6, -5.806318283081055)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 3, 0, 2, 4] dts=[7, 5, 8, 6, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4411681890487671
TTA-STEP: step=163 loss_distill=0.4412 tta_take=0.009s
Frame 107
tensor(0.2309)
 # KEYFRAME 90
0.09339288599949214
Frame 108
tensor(0.2210)
 # KEYFRAME 91
0.09526618000018061
Frame 109
tensor(0.0693)
Frame 110
tensor(0.0362)
Frame 111
tensor(0.1415)
 # KEYFRAME 92
0.0941943630023161
Frame 112
tensor(0.0993)
Frame 113
tensor(0.1671)
 # KEYFRAME 93
0.09601526699771057
Frame 114
tensor(0.1232)
 # KEYFRAME 94
0.09596345799945993
Frame 115
tensor(0.1777)
 # KEYFRAME 95
0.09736699200220755
Frame 116
tensor(0.2690)
 # KEYFRAME 96
0.0981100589997368
Frame 117
tensor(0.2006)
 # KEYFRAME 97
0.09838223900078447
Frame 118
tensor(0.2493)
 # KEYFRAME 98
0.09893953699793201
Frame 119
tensor(0.2416)
 # KEYFRAME 99
0.09912172599797486
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, -5.529150485992432), (1, -5.361221790313721), (2, -5.564397811889648), (3, -5.47633695602417), (4, -5.667508125305176), (5, -5.8062920570373535), (6, -5.7776994705200195), (7, -5.743490219116211)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 3, 0, 2, 4] dts=[8, 6, 9, 7, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.42491433024406433
TTA-STEP: step=164 loss_distill=0.4249 tta_take=0.009s
Frame 120
tensor(0.1197)
 # KEYFRAME 100
0.09358078600052977
Frame 121
tensor(0.2435)
 # KEYFRAME 101
0.09422498300045845
Frame 122
tensor(0.1811)
 # KEYFRAME 102
0.09460007199959364
Frame 123
tensor(0.2941)
 # KEYFRAME 103
0.09583987799851457
Frame 124
tensor(0.3081)
 # KEYFRAME 104
0.09632351599793765
Frame 125
tensor(0.1995)
 # KEYFRAME 105
0.09691913400092744
Frame 126
tensor(0.1876)
 # KEYFRAME 106
0.09812644999692566
Frame 127
tensor(0.2084)
 # KEYFRAME 107
0.0991346060000069
Frame 128
tensor(0.1972)
 # KEYFRAME 108
0.09885707699868362
Frame 129
tensor(0.4100)
 # KEYFRAME 109
0.10028402199895936
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, -5.782792568206787), (1, -5.642030715942383), (2, -5.76011848449707), (3, -5.7242231369018555), (4, -5.8953704833984375), (5, -6.064234733581543), (6, -6.002789497375488), (7, -6.005155563354492), (8, -6.113513946533203)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 3, 2, 0, 4] dts=[9, 7, 8, 10, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4040440618991852
TTA-STEP: step=165 loss_distill=0.4040 tta_take=0.009s
Frame 130
tensor(0.2351)
 # KEYFRAME 110
0.09343901700049173
Frame 131
tensor(0.1732)
 # KEYFRAME 111
0.09424337299788021
Frame 132
tensor(0.1452)
 # KEYFRAME 112
0.09542553899882478
Frame 133
tensor(0.2371)
 # KEYFRAME 113
0.09659267499955604
Frame 134
tensor(0.1973)
 # KEYFRAME 114
0.09755731200129958
Frame 135
tensor(0.3253)
 # KEYFRAME 115
0.09759153199775028
Frame 136
tensor(0.3432)
 # KEYFRAME 116
0.09806997000123374
Frame 137
tensor(0.3254)
 # KEYFRAME 117
0.09832161799931782
Frame 138
tensor(0.2126)
 # KEYFRAME 118
0.09904189699955168
Backending... 119 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, -5.981631755828857), (1, -5.8355712890625), (2, -5.920790195465088), (3, -5.9041595458984375), (4, -6.078423976898193), (5, -6.254317760467529), (6, -6.183345794677734), (7, -6.153862953186035), (8, -6.276888370513916), (9, -6.251615047454834)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 71829, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 3, 2, 0, 4] dts=[10, 8, 9, 11, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3936106264591217
TTA-STEP: step=166 loss_distill=0.3936 tta_take=0.009s
[epoch 0 scene 20/556] scannetpp/c5f701a8c7/frame frames=139 tta_steps_this_scene=9 mean_loss=0.4181 total_steps=166 time=62.9s
[ckpt] /scratch-shared/wwei2/scorer_pretrain/scorer_v1/checkpoint-last.pth (epoch=0 scene=20)
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0257)
Frame 2
tensor(0.0846)
Frame 3
tensor(0.1538)
 # KEYFRAME 1
Frame 4
tensor(0.0419)
Frame 5
tensor(0.1088)
 # KEYFRAME 2
0.052235873001336586
Frame 6
tensor(0.0548)
Frame 7
tensor(0.0730)
Frame 8
tensor(0.3789)
 # KEYFRAME 3
0.05322607000198332
Frame 9
tensor(0.0616)
Frame 10
tensor(0.0923)
Frame 11
tensor(0.1684)
 # KEYFRAME 4
0.053598548998706974
Frame 12
tensor(0.1223)
 # KEYFRAME 5
0.055285022001044126
Frame 13
tensor(0.0798)
Frame 14
tensor(0.1397)
 # KEYFRAME 6
0.05615967999983695
Frame 15
tensor(0.4792)
 # KEYFRAME 7
0.05721649599945522
Frame 16
tensor(0.0207)
Frame 17
tensor(0.0694)
Frame 18
tensor(0.2935)
 # KEYFRAME 8
0.05801020299986703
Frame 19
tensor(0.0724)
Frame 20
tensor(0.1711)
 # KEYFRAME 9
0.058775710000190884
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.0954)
Frame 22
tensor(0.1513)
 # KEYFRAME 10
0.05191463400115026
Frame 23
tensor(0.2801)
 # KEYFRAME 11
0.05274838200057275
Frame 24
tensor(0.0690)
Frame 25
tensor(0.1794)
 # KEYFRAME 12
0.05355874900124036
Frame 26
tensor(0.0428)
Frame 27
tensor(0.0997)
Frame 28
tensor(0.1207)
 # KEYFRAME 13
0.055092713999329135
Frame 29
tensor(0.0663)
Frame 30
tensor(0.1367)
 # KEYFRAME 14
0.05516298299698974
Frame 31
tensor(0.2511)
 # KEYFRAME 15
0.05525272299928474
Frame 32
tensor(0.0429)
Frame 33
tensor(0.0941)
Frame 34
tensor(0.1362)
 # KEYFRAME 16
0.05595712099966477
Frame 35
tensor(0.0191)
Frame 36
tensor(0.0812)
Frame 37
tensor(0.2186)
 # KEYFRAME 17
0.05668686799981515
Frame 38
tensor(0.0809)
Frame 39
tensor(0.1843)
 # KEYFRAME 18
0.05725929600157542
Frame 40
tensor(0.1017)
 # KEYFRAME 19
0.058909219998895423
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 41
tensor(0.0413)
Frame 42
tensor(0.0833)
Frame 43
tensor(0.2095)
 # KEYFRAME 20
0.054164796998520615
Frame 44
tensor(0.0455)
Frame 45
tensor(0.0768)
Frame 46
tensor(0.1472)
 # KEYFRAME 21
0.054602525000518654
Frame 47
tensor(0.2484)
 # KEYFRAME 22
0.05502662299841177
Frame 48
tensor(0.0287)
Frame 49
tensor(0.4977)
 # KEYFRAME 23
0.05539831200076151
Frame 50
tensor(0.1019)
 # KEYFRAME 24
0.0558085310003662
Frame 51
tensor(0.0680)
Frame 52
tensor(0.1493)
 # KEYFRAME 25
0.056589587999042124
Frame 53
tensor(0.0322)
Frame 54
tensor(0.0667)
Frame 55
tensor(0.1064)
 # KEYFRAME 26
0.0579487329996482
Frame 56
tensor(0.0634)
Frame 57
tensor(0.1298)
 # KEYFRAME 27
0.05886925000231713
Frame 58
tensor(0.0722)
Frame 59
tensor(0.2974)
 # KEYFRAME 28
0.05978089699783595
Frame 60
tensor(0.0780)
Frame 61
tensor(0.1482)
 # KEYFRAME 29
0.06033364500035532
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 62
tensor(0.2269)
 # KEYFRAME 30
0.058560610999847995
Frame 63
tensor(0.0539)
Frame 64
tensor(0.1205)
 # KEYFRAME 31
0.059546436998061836
Frame 65
tensor(0.1011)
 # KEYFRAME 32
0.05929452900090837
Frame 66
tensor(0.0362)
Frame 67
tensor(0.0797)
Frame 68
tensor(0.1870)
 # KEYFRAME 33
0.06024414500279818
Frame 69
tensor(0.1114)
 # KEYFRAME 34
0.06108463200143888
Frame 70
tensor(0.0405)
Frame 71
tensor(0.3429)
 # KEYFRAME 35
0.061350641000899486
Frame 72
tensor(0.0288)
Frame 73
tensor(0.1683)
 # KEYFRAME 36
0.06230822799989255
Frame 74
tensor(0.0396)
Frame 75
tensor(0.0858)
Frame 76
tensor(0.2007)
 # KEYFRAME 37
0.06310034499983885
Frame 77
tensor(0.0175)
Frame 78
tensor(0.0347)
Frame 79
tensor(0.3156)
 # KEYFRAME 38
0.06344448299932992
Frame 80
tensor(0.0726)
Frame 81
tensor(0.1516)
 # KEYFRAME 39
0.06416332099979627
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1393573135137558
TTA-STEP: step=167 loss_distill=0.1394 tta_take=0.009s
Frame 82
tensor(0.0741)
Frame 83
tensor(0.0922)
Frame 84
tensor(0.1145)
 # KEYFRAME 40
0.06257079600254656
Frame 85
tensor(0.0699)
Frame 86
tensor(0.1199)
 # KEYFRAME 41
0.0647253390015976
Frame 87
tensor(0.0558)
Frame 88
tensor(0.1485)
 # KEYFRAME 42
0.06483001900051022
Frame 89
tensor(0.1957)
 # KEYFRAME 43
0.0644620599996415
Frame 90
tensor(0.0240)
Frame 91
tensor(0.0446)
Frame 92
tensor(0.0748)
Frame 93
tensor(0.0453)
Frame 94
tensor(0.1628)
 # KEYFRAME 44
0.06604484399940702
Frame 95
tensor(0.1583)
 # KEYFRAME 45
0.06622080399756669
Frame 96
tensor(0.0639)
Frame 97
tensor(0.4510)
 # KEYFRAME 46
0.06657499200082384
Frame 98
tensor(0.0913)
Frame 99
tensor(0.2069)
 # KEYFRAME 47
0.06696792100046878
Frame 100
tensor(0.0711)
Frame 101
tensor(0.0986)
Frame 102
tensor(0.3576)
 # KEYFRAME 48
0.06783903800169355
Frame 103
tensor(0.0234)
Frame 104
tensor(0.0557)
Frame 105
tensor(0.2751)
 # KEYFRAME 49
0.06872399499843596
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.24977794289588928
TTA-STEP: step=168 loss_distill=0.2498 tta_take=0.009s
Frame 106
tensor(0.0362)
Frame 107
tensor(0.2094)
 # KEYFRAME 50
0.06707970100251259
Frame 108
tensor(0.0281)
Frame 109
tensor(0.0456)
Frame 110
tensor(0.1663)
 # KEYFRAME 51
0.06838901599985547
Frame 111
tensor(0.2035)
 # KEYFRAME 52
0.0684991150010319
Frame 112
tensor(0.0378)
Frame 113
tensor(0.1782)
 # KEYFRAME 53
0.0690785840015451
Frame 114
tensor(0.1104)
 # KEYFRAME 54
0.06897101399954408
Frame 115
tensor(0.0388)
Frame 116
tensor(0.1400)
 # KEYFRAME 55
0.06979154100190499
Frame 117
tensor(0.3264)
 # KEYFRAME 56
0.07064662799893995
Frame 118
tensor(0.0257)
Frame 119
tensor(0.0906)
Frame 120
tensor(0.0818)
Frame 121
tensor(0.0862)
Frame 122
tensor(0.0971)
Frame 123
tensor(0.0938)
Frame 124
tensor(0.0990)
Frame 125
tensor(0.1064)
 # KEYFRAME 57
0.07129570600227453
Frame 126
tensor(0.0902)
Frame 127
tensor(0.1020)
 # KEYFRAME 58
0.07141492500159075
Frame 128
tensor(0.0212)
Frame 129
tensor(0.0774)
Frame 130
tensor(0.1410)
 # KEYFRAME 59
0.07210304299951531
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3515689969062805
TTA-STEP: step=169 loss_distill=0.3516 tta_take=0.009s
Frame 131
tensor(0.0900)
Frame 132
tensor(0.2884)
 # KEYFRAME 60
0.07129198600159725
Frame 133
tensor(0.0748)
Frame 134
tensor(0.2438)
 # KEYFRAME 61
0.0730668699980015
Frame 135
tensor(0.0700)
Frame 136
tensor(0.5425)
 # KEYFRAME 62
0.07238097099980223
Frame 137
tensor(0.0583)
Frame 138
tensor(0.3002)
 # KEYFRAME 63
0.07296289000078104
Frame 139
tensor(0.0821)
Frame 140
tensor(0.1061)
 # KEYFRAME 64
0.07359362799979863
Frame 141
tensor(0.0323)
Frame 142
tensor(0.0859)
Frame 143
tensor(0.1147)
 # KEYFRAME 65
0.07418192499972065
Frame 144
tensor(0.0720)
Frame 145
tensor(0.1903)
 # KEYFRAME 66
0.07506473199828179
Frame 146
tensor(0.0814)
Frame 147
tensor(0.2558)
 # KEYFRAME 67
0.07581177000247408
Frame 148
tensor(0.0981)
Frame 149
tensor(0.2389)
 # KEYFRAME 68
0.0764662280016637
Backending... 69 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 64170, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.40600699186325073
TTA-STEP: step=170 loss_distill=0.4060 tta_take=0.008s
[epoch 0 scene 21/556] scannetpp/0e75f3c4d9/DSC frames=150 tta_steps_this_scene=4 mean_loss=0.2867 total_steps=170 time=42.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0257)
Frame 2
tensor(0.1486)
 # KEYFRAME 1
Frame 3
tensor(0.0751)
Frame 4
tensor(0.1508)
 # KEYFRAME 2
0.052061114001844544
Frame 5
tensor(0.1593)
 # KEYFRAME 3
0.053086760999576654
Frame 6
tensor(0.0497)
Frame 7
tensor(0.1838)
 # KEYFRAME 4
0.05384057700211997
Frame 8
tensor(0.0470)
Frame 9
tensor(0.0729)
Frame 10
tensor(0.1048)
 # KEYFRAME 5
0.054905353998037754
Frame 11
tensor(0.0338)
Frame 12
tensor(0.0839)
Frame 13
tensor(0.1685)
 # KEYFRAME 6
0.05606914899908588
Frame 14
tensor(0.1489)
 # KEYFRAME 7
0.056670128000405384
Frame 15
tensor(0.0471)
Frame 16
tensor(0.0903)
Frame 17
tensor(0.2148)
 # KEYFRAME 8
0.05784355300056632
Frame 18
tensor(0.0477)
Frame 19
tensor(0.1362)
 # KEYFRAME 9
0.058567170999594964
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 20
tensor(0.0228)
Frame 21
tensor(0.0557)
Frame 22
tensor(0.3615)
 # KEYFRAME 10
0.051999744999193354
Frame 23
tensor(0.0516)
Frame 24
tensor(0.0891)
Frame 25
tensor(0.0903)
Frame 26
tensor(0.1082)
 # KEYFRAME 11
0.05287004199999501
Frame 27
tensor(0.0467)
Frame 28
tensor(0.1276)
 # KEYFRAME 12
0.05384544800108415
Frame 29
tensor(0.0704)
Frame 30
tensor(0.2713)
 # KEYFRAME 13
0.05577854099828983
Frame 31
tensor(0.0246)
Frame 32
tensor(0.4743)
 # KEYFRAME 14
0.055113722999522
Frame 33
tensor(0.0525)
Frame 34
tensor(0.5677)
 # KEYFRAME 15
0.055621512001380324
Frame 35
tensor(0.1364)
 # KEYFRAME 16
0.056669508001505164
Frame 36
tensor(0.1081)
 # KEYFRAME 17
0.05714369599809288
Frame 37
tensor(0.0451)
Frame 38
tensor(0.0633)
Frame 39
tensor(0.2014)
 # KEYFRAME 18
0.05774829399888404
Frame 40
tensor(0.2302)
 # KEYFRAME 19
0.059060608997242525
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 41
tensor(0.7057)
 # KEYFRAME 20
0.0541645459998108
Frame 42
tensor(0.0155)
Frame 43
tensor(0.1340)
 # KEYFRAME 21
0.054688804997567786
Frame 44
tensor(0.2088)
 # KEYFRAME 22
0.05509927299863193
Frame 45
tensor(0.0671)
Frame 46
tensor(0.1891)
 # KEYFRAME 23
0.05572600100276759
Frame 47
tensor(0.2999)
 # KEYFRAME 24
0.056044959997961996
Frame 48
tensor(0.4384)
 # KEYFRAME 25
0.05690028699973482
Frame 49
tensor(0.1294)
 # KEYFRAME 26
0.057855742998071946
Frame 50
tensor(0.0401)
Frame 51
tensor(0.1253)
 # KEYFRAME 27
0.059116839001944754
Frame 52
tensor(0.0726)
Frame 53
tensor(0.0974)
Frame 54
tensor(0.1305)
 # KEYFRAME 28
0.05972884699804126
Frame 55
tensor(0.0318)
Frame 56
tensor(0.0878)
Frame 57
tensor(0.1129)
 # KEYFRAME 29
0.0598091369975009
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 58
tensor(0.5047)
 # KEYFRAME 30
0.05842154100173502
Frame 59
tensor(0.1752)
 # KEYFRAME 31
0.05930956799784326
Frame 60
tensor(0.0576)
Frame 61
tensor(0.5413)
 # KEYFRAME 32
0.05959456699929433
Frame 62
tensor(0.1049)
 # KEYFRAME 33
0.060429494002164574
Frame 63
tensor(0.0600)
Frame 64
tensor(0.1715)
 # KEYFRAME 34
0.061100891998648876
Frame 65
tensor(0.2620)
 # KEYFRAME 35
0.06165236000015284
Frame 66
tensor(0.0515)
Frame 67
tensor(0.0837)
Frame 68
tensor(0.1422)
 # KEYFRAME 36
0.062316237002960406
Frame 69
tensor(0.0368)
Frame 70
tensor(0.1496)
 # KEYFRAME 37
0.0627727760002017
Frame 71
tensor(0.0651)
Frame 72
tensor(0.1515)
 # KEYFRAME 38
0.063818562997767
Frame 73
tensor(0.0453)
Frame 74
tensor(0.0531)
Frame 75
tensor(0.2192)
 # KEYFRAME 39
0.06428882099862676
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.15219746530056
TTA-STEP: step=171 loss_distill=0.1522 tta_take=0.009s
Frame 76
tensor(0.0364)
Frame 77
tensor(0.0604)
Frame 78
tensor(0.3110)
 # KEYFRAME 40
0.06284176600092906
Frame 79
tensor(0.0268)
Frame 80
tensor(0.1021)
 # KEYFRAME 41
0.0633771139982855
Frame 81
tensor(0.0514)
Frame 82
tensor(0.0762)
Frame 83
tensor(0.1026)
 # KEYFRAME 42
0.0638186219985073
Frame 84
tensor(0.1164)
 # KEYFRAME 43
0.06380140199689777
Frame 85
tensor(0.4083)
 # KEYFRAME 44
0.06484670899953926
Frame 86
tensor(0.1709)
 # KEYFRAME 45
0.06525843700001133
Frame 87
tensor(0.0584)
Frame 88
tensor(0.6164)
 # KEYFRAME 46
0.06564727499790024
Frame 89
tensor(0.2662)
 # KEYFRAME 47
0.0663062740022724
Frame 90
tensor(0.0495)
Frame 91
tensor(0.1048)
 # KEYFRAME 48
0.0666886019971571
Frame 92
tensor(0.0706)
Frame 93
tensor(0.4207)
 # KEYFRAME 49
0.06692347100033658
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2517584562301636
TTA-STEP: step=172 loss_distill=0.2518 tta_take=0.009s
Frame 94
tensor(0.2999)
 # KEYFRAME 50
0.06737776000227313
Frame 95
tensor(0.0198)
Frame 96
tensor(0.0618)
Frame 97
tensor(0.1018)
 # KEYFRAME 51
0.06893145399953937
Frame 98
tensor(0.0202)
Frame 99
tensor(0.0986)
Frame 100
tensor(0.6674)
 # KEYFRAME 52
0.06896726299964939
Frame 101
tensor(0.0826)
Frame 102
tensor(0.1517)
 # KEYFRAME 53
0.07052582899996196
Frame 103
tensor(0.0515)
Frame 104
tensor(0.4810)
 # KEYFRAME 54
0.0692104539994034
Frame 105
tensor(0.0399)
Frame 106
tensor(0.0804)
Frame 107
tensor(0.1141)
 # KEYFRAME 55
0.07231093199879979
Frame 108
tensor(0.0114)
Frame 109
tensor(0.1145)
 # KEYFRAME 56
0.07335811799930525
Frame 110
tensor(0.0718)
Frame 111
tensor(0.1747)
 # KEYFRAME 57
0.07350714700078242
Frame 112
tensor(0.0611)
Frame 113
tensor(0.1504)
 # KEYFRAME 58
0.0740535959994304
Frame 114
tensor(0.0650)
Frame 115
tensor(0.1030)
 # KEYFRAME 59
0.07512444200256141
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2872413992881775
TTA-STEP: step=173 loss_distill=0.2872 tta_take=0.009s
Frame 116
tensor(0.0389)
Frame 117
tensor(0.0660)
Frame 118
tensor(0.1709)
 # KEYFRAME 60
0.07113503600339754
Frame 119
tensor(0.0443)
Frame 120
tensor(0.0873)
Frame 121
tensor(0.6849)
 # KEYFRAME 61
0.07264358099928359
Frame 122
tensor(0.0901)
Frame 123
tensor(0.1573)
 # KEYFRAME 62
0.0720443329992122
Frame 124
tensor(0.2046)
 # KEYFRAME 63
0.07302319999871543
Frame 125
tensor(0.0616)
Frame 126
tensor(0.0893)
Frame 127
tensor(0.1248)
 # KEYFRAME 64
0.07328874800077756
Frame 128
tensor(0.0554)
Frame 129
tensor(0.0805)
Frame 130
tensor(0.0860)
Frame 131
tensor(0.0848)
Frame 132
tensor(0.1000)
 # KEYFRAME 65
0.07365586800005985
Frame 133
tensor(0.0345)
Frame 134
tensor(0.0478)
Frame 135
tensor(0.0572)
Frame 136
tensor(0.0629)
Frame 137
tensor(0.0787)
Frame 138
tensor(0.1811)
 # KEYFRAME 66
0.07471989400073653
Frame 139
tensor(0.0719)
Frame 140
tensor(0.1754)
 # KEYFRAME 67
0.07484053300140658
Frame 141
tensor(0.0052)
Frame 142
tensor(0.3757)
 # KEYFRAME 68
0.07550955099941348
Frame 143
tensor(0.0625)
Frame 144
tensor(0.1289)
 # KEYFRAME 69
0.07561175099908723
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3007688820362091
TTA-STEP: step=174 loss_distill=0.3008 tta_take=0.009s
Frame 145
tensor(0.1602)
 # KEYFRAME 70
0.07534112199937226
Frame 146
tensor(0.0597)
Frame 147
tensor(0.1211)
 # KEYFRAME 71
0.07757565299834823
Frame 148
tensor(0.1146)
 # KEYFRAME 72
0.0774780039973848
Frame 149
tensor(0.0539)
Backending... 73 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 4, 5] dropped=[3] scores=[(0, -5.105238437652588), (1, -4.964385032653809), (2, -5.267647743225098), (3, -5.658984661102295), (4, -5.621374130249023), (5, -5.332068920135498)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 58590, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 5, 4] dts=[6, 7, 5, 2, 3]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.35135307908058167
TTA-STEP: step=175 loss_distill=0.3514 tta_take=0.004s
[epoch 0 scene 22/556] scannetpp/4a1a3a7dc5/DSC frames=150 tta_steps_this_scene=5 mean_loss=0.2687 total_steps=175 time=48.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0814)
Frame 2
tensor(0.1658)
 # KEYFRAME 1
Frame 3
tensor(0.0793)
Frame 4
tensor(0.1595)
 # KEYFRAME 2
0.05203329399955692
Frame 5
tensor(0.0714)
Frame 6
tensor(0.2048)
 # KEYFRAME 3
0.053076759999385104
Frame 7
tensor(0.0779)
Frame 8
tensor(0.1467)
 # KEYFRAME 4
0.05363226899862639
Frame 9
tensor(0.0707)
Frame 10
tensor(0.1100)
 # KEYFRAME 5
0.055214263000380015
Frame 11
tensor(0.0676)
Frame 12
tensor(0.1064)
 # KEYFRAME 6
0.055954170999029884
Frame 13
tensor(0.0552)
Frame 14
tensor(0.1024)
 # KEYFRAME 7
0.0569201369980874
Frame 15
tensor(0.0603)
Frame 16
tensor(0.1129)
 # KEYFRAME 8
0.05798198299817159
Frame 17
tensor(0.0475)
Frame 18
tensor(0.0867)
Frame 19
tensor(0.0674)
Frame 20
tensor(0.1227)
 # KEYFRAME 9
0.05962201700094738
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.0663)
Frame 22
tensor(0.1041)
 # KEYFRAME 10
0.051995383997564204
Frame 23
tensor(0.0740)
Frame 24
tensor(0.1669)
 # KEYFRAME 11
0.052648521999799414
Frame 25
tensor(0.0456)
Frame 26
tensor(0.0932)
Frame 27
tensor(0.1320)
 # KEYFRAME 12
0.05373844800124061
Frame 28
tensor(0.0702)
Frame 29
tensor(0.4810)
 # KEYFRAME 13
0.055126084000221454
Frame 30
tensor(0.0552)
Frame 31
tensor(0.1261)
 # KEYFRAME 14
0.05489877400032128
Frame 32
tensor(0.0428)
Frame 33
tensor(0.5307)
 # KEYFRAME 15
0.05506290400080616
Frame 34
tensor(0.0428)
Frame 35
tensor(0.0428)
Frame 36
tensor(0.1073)
 # KEYFRAME 16
0.055918379999639
Frame 37
tensor(0.0446)
Frame 38
tensor(0.1056)
 # KEYFRAME 17
0.057793562998995185
Frame 39
tensor(0.0779)
Frame 40
tensor(0.1504)
 # KEYFRAME 18
0.05735159599862527
Frame 41
tensor(0.0713)
Frame 42
tensor(0.1214)
 # KEYFRAME 19
0.05822288200215553
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 43
tensor(0.0281)
Frame 44
tensor(0.1718)
 # KEYFRAME 20
0.05417425699852174
Frame 45
tensor(0.3777)
 # KEYFRAME 21
0.05467206499815802
Frame 46
tensor(0.0838)
Frame 47
tensor(0.1722)
 # KEYFRAME 22
0.055585330999747384
Frame 48
tensor(0.0462)
Frame 49
tensor(0.0889)
Frame 50
tensor(0.2785)
 # KEYFRAME 23
0.05546447199958493
Frame 51
tensor(0.0463)
Frame 52
tensor(0.0946)
Frame 53
tensor(0.1478)
 # KEYFRAME 24
0.05582331999903545
Frame 54
tensor(0.0855)
Frame 55
tensor(0.1675)
 # KEYFRAME 25
0.05674341800113325
Frame 56
tensor(0.0653)
Frame 57
tensor(0.1471)
 # KEYFRAME 26
0.05778691399973468
Frame 58
tensor(0.1046)
 # KEYFRAME 27
0.0588353700004518
Frame 59
tensor(0.0918)
Frame 60
tensor(0.1706)
 # KEYFRAME 28
0.05970820700167678
Frame 61
tensor(0.3137)
 # KEYFRAME 29
0.060558623998076655
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 62
tensor(0.0548)
Frame 63
tensor(0.0410)
Frame 64
tensor(0.0438)
Frame 65
tensor(0.1018)
 # KEYFRAME 30
0.058689961002528435
Frame 66
tensor(0.0193)
Frame 67
tensor(0.0516)
Frame 68
tensor(0.0821)
Frame 69
tensor(0.0947)
Frame 70
tensor(0.0884)
Frame 71
tensor(0.0659)
Frame 72
tensor(0.2138)
 # KEYFRAME 31
0.0595110169997497
Frame 73
tensor(0.0620)
Frame 74
tensor(0.1072)
 # KEYFRAME 32
0.059423637998406775
Frame 75
tensor(0.0254)
Frame 76
tensor(0.0895)
Frame 77
tensor(0.1133)
 # KEYFRAME 33
0.060394435000489466
Frame 78
tensor(0.0978)
Frame 79
tensor(0.1032)
 # KEYFRAME 34
0.06114141200305312
Frame 80
tensor(0.0158)
Frame 81
tensor(0.0438)
Frame 82
tensor(0.0625)
Frame 83
tensor(0.0835)
Frame 84
tensor(0.1225)
 # KEYFRAME 35
0.06139241100026993
Frame 85
tensor(0.0621)
Frame 86
tensor(0.0928)
Frame 87
tensor(0.1357)
 # KEYFRAME 36
0.06233284700283548
Frame 88
tensor(0.0351)
Frame 89
tensor(0.0550)
Frame 90
tensor(0.1251)
 # KEYFRAME 37
0.0630426659990917
Frame 91
tensor(0.0386)
Frame 92
tensor(0.0797)
Frame 93
tensor(0.3160)
 # KEYFRAME 38
0.06313683500047773
Frame 94
tensor(0.0402)
Frame 95
tensor(0.0984)
Frame 96
tensor(0.1533)
 # KEYFRAME 39
0.0644827100004477
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.19076302647590637
TTA-STEP: step=176 loss_distill=0.1908 tta_take=0.009s
Frame 97
tensor(0.0853)
Frame 98
tensor(0.0971)
Frame 99
tensor(0.1402)
 # KEYFRAME 40
0.06253652699888335
Frame 100
tensor(0.0366)
Frame 101
tensor(0.3261)
 # KEYFRAME 41
0.06458053000096697
Frame 102
tensor(0.0202)
Frame 103
tensor(0.0393)
Frame 104
tensor(0.0748)
Frame 105
tensor(0.0877)
Frame 106
tensor(0.1089)
 # KEYFRAME 42
0.06481587799862609
Frame 107
tensor(0.0593)
Frame 108
tensor(0.1160)
 # KEYFRAME 43
0.06428966000021319
Frame 109
tensor(0.0401)
Frame 110
tensor(0.1041)
 # KEYFRAME 44
0.06595407499844441
Frame 111
tensor(0.2132)
 # KEYFRAME 45
0.0665037430007942
Frame 112
tensor(0.0491)
Frame 113
tensor(0.1475)
 # KEYFRAME 46
0.06664963200091734
Frame 114
tensor(0.0796)
Frame 115
tensor(0.2023)
 # KEYFRAME 47
0.06700748100047349
Frame 116
tensor(0.0940)
Frame 117
tensor(0.1588)
 # KEYFRAME 48
0.06775292900056229
Frame 118
tensor(0.2425)
 # KEYFRAME 49
0.06874349500139942
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.28756946325302124
TTA-STEP: step=177 loss_distill=0.2876 tta_take=0.009s
Frame 119
tensor(0.0818)
Frame 120
tensor(0.2340)
 # KEYFRAME 50
0.06825841699901503
Frame 121
tensor(0.0858)
Frame 122
tensor(0.1918)
 # KEYFRAME 51
0.06822194699998363
Frame 123
tensor(0.0880)
Frame 124
tensor(0.1741)
 # KEYFRAME 52
0.06847245600147289
Frame 125
tensor(0.0929)
Frame 126
tensor(0.1408)
 # KEYFRAME 53
0.0690053939979407
Frame 127
tensor(0.1693)
 # KEYFRAME 54
0.0688825450015429
Frame 128
tensor(0.0774)
Frame 129
tensor(0.1736)
 # KEYFRAME 55
0.07022142999994685
Frame 130
tensor(0.0427)
Frame 131
tensor(0.0679)
Frame 132
tensor(0.0973)
Frame 133
tensor(0.1362)
 # KEYFRAME 56
0.07080364799912786
Frame 134
tensor(0.0286)
Frame 135
tensor(0.3757)
 # KEYFRAME 57
0.07141687500188709
Frame 136
tensor(0.0498)
Frame 137
tensor(0.0888)
Frame 138
tensor(0.1528)
 # KEYFRAME 58
0.07143229500070447
Frame 139
tensor(0.2887)
 # KEYFRAME 59
0.07190089299911051
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.32752686738967896
TTA-STEP: step=178 loss_distill=0.3275 tta_take=0.009s
Frame 140
tensor(0.2178)
 # KEYFRAME 60
0.07131337499959045
Frame 141
tensor(0.1703)
 # KEYFRAME 61
0.07265479999841773
Frame 142
tensor(0.0903)
Frame 143
tensor(0.1301)
 # KEYFRAME 62
0.07258144099978381
Frame 144
tensor(0.0567)
Frame 145
tensor(0.0925)
Backending... 63 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 58590, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3328840136528015
TTA-STEP: step=179 loss_distill=0.3329 tta_take=0.004s
[epoch 0 scene 23/556] scannetpp/303745abc7/DSC frames=146 tta_steps_this_scene=4 mean_loss=0.2847 total_steps=179 time=38.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1236)
 # KEYFRAME 1
Frame 2
tensor(0.1165)
 # KEYFRAME 2
0.05206180399909499
Frame 3
tensor(0.0617)
Frame 4
tensor(0.1253)
 # KEYFRAME 3
0.053164499997365056
Frame 5
tensor(0.2603)
 # KEYFRAME 4
0.05370826899888925
Frame 6
tensor(0.0887)
Frame 7
tensor(0.1703)
 # KEYFRAME 5
0.05513980400064611
Frame 8
tensor(0.0914)
Frame 9
tensor(0.1982)
 # KEYFRAME 6
0.05623473900050158
Frame 10
tensor(0.0956)
Frame 11
tensor(0.1425)
 # KEYFRAME 7
0.057294586000352865
Frame 12
tensor(0.1994)
 # KEYFRAME 8
0.05793934300163528
Frame 13
tensor(0.1222)
 # KEYFRAME 9
0.05877433000205201
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 14
tensor(0.2527)
 # KEYFRAME 10
0.05190561500057811
Frame 15
tensor(0.1525)
 # KEYFRAME 11
0.05287169199800701
Frame 16
tensor(0.0733)
Frame 17
tensor(0.1218)
 # KEYFRAME 12
0.05376511800204753
Frame 18
tensor(0.1335)
 # KEYFRAME 13
0.055083553001168184
Frame 19
tensor(0.1103)
 # KEYFRAME 14
0.05518260300232214
Frame 20
tensor(0.0876)
Frame 21
tensor(0.1867)
 # KEYFRAME 15
0.05498399399948539
Frame 22
tensor(0.0862)
Frame 23
tensor(0.1184)
 # KEYFRAME 16
0.056076040000334615
Frame 24
tensor(0.0256)
Frame 25
tensor(0.0484)
Frame 26
tensor(0.7232)
 # KEYFRAME 17
0.05653312800131971
Frame 27
tensor(0.1743)
 # KEYFRAME 18
0.05738931599989883
Frame 28
tensor(0.1168)
 # KEYFRAME 19
0.05810549299712875
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 29
tensor(0.1236)
 # KEYFRAME 20
0.0540565669980424
Frame 30
tensor(0.1455)
 # KEYFRAME 21
0.054749935003201244
Frame 31
tensor(0.1514)
 # KEYFRAME 22
0.05496884400054114
Frame 32
tensor(0.1242)
 # KEYFRAME 23
0.055397873002220877
Frame 33
tensor(0.2898)
 # KEYFRAME 24
0.055885320998640964
Frame 34
tensor(0.1697)
 # KEYFRAME 25
0.05664002699995763
Frame 35
tensor(0.1495)
 # KEYFRAME 26
0.057940022998081986
Frame 36
tensor(0.1091)
 # KEYFRAME 27
0.0586872610001592
Frame 37
tensor(0.1512)
 # KEYFRAME 28
0.05980389699834632
Frame 38
tensor(0.1735)
 # KEYFRAME 29
0.15456000799895264
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 39
tensor(0.1766)
 # KEYFRAME 30
0.05860248099997989
Frame 40
tensor(0.1109)
 # KEYFRAME 31
0.059596937000605976
Frame 41
tensor(0.4507)
 # KEYFRAME 32
0.05957524699988426
Frame 42
tensor(0.1642)
 # KEYFRAME 33
0.060578024000278674
Frame 43
tensor(0.2346)
 # KEYFRAME 34
0.06100445199990645
Frame 44
tensor(0.2712)
 # KEYFRAME 35
0.06142392100082361
Frame 45
tensor(0.3482)
 # KEYFRAME 36
0.06239117699806229
Frame 46
tensor(0.1311)
 # KEYFRAME 37
0.06282321600156138
Frame 47
tensor(0.2302)
 # KEYFRAME 38
0.06327002399848425
Frame 48
tensor(1.0640)
 # KEYFRAME 39
0.06422282999847084
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.24287134408950806
TTA-STEP: step=180 loss_distill=0.2429 tta_take=0.009s
Frame 49
tensor(0.0823)
Frame 50
tensor(0.1036)
 # KEYFRAME 40
0.06276547599918558
Frame 51
tensor(0.1346)
 # KEYFRAME 41
0.06465274899892393
Frame 52
tensor(0.1477)
 # KEYFRAME 42
0.06499503800296225
Frame 53
tensor(0.1271)
 # KEYFRAME 43
0.06451044999994338
Frame 54
tensor(0.1336)
 # KEYFRAME 44
0.06602358400050434
Frame 55
tensor(0.2664)
 # KEYFRAME 45
0.06636467300268123
Frame 56
tensor(0.1783)
 # KEYFRAME 46
0.17358369999783463
Frame 57
tensor(0.2370)
 # KEYFRAME 47
0.0670228010021674
Frame 58
tensor(0.1777)
 # KEYFRAME 48
0.06764221900084522
Frame 59
tensor(0.1970)
 # KEYFRAME 49
0.0923337000022002
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4389245808124542
TTA-STEP: step=181 loss_distill=0.4389 tta_take=0.009s
Frame 60
tensor(0.1661)
 # KEYFRAME 50
0.06725259999802802
Frame 61
tensor(0.0473)
Frame 62
tensor(0.1226)
 # KEYFRAME 51
0.06861611500062281
Frame 63
tensor(0.0877)
Frame 64
tensor(0.1487)
 # KEYFRAME 52
0.06882630500331288
Frame 65
tensor(0.1059)
 # KEYFRAME 53
0.06909981399803655
Frame 66
tensor(0.1081)
 # KEYFRAME 54
0.06921866300035617
Frame 67
tensor(0.1597)
 # KEYFRAME 55
0.06993828099803068
Frame 68
tensor(0.1705)
 # KEYFRAME 56
0.07098518700149725
Frame 69
tensor(0.1604)
 # KEYFRAME 57
0.07119726599921705
Frame 70
tensor(0.2722)
 # KEYFRAME 58
0.07174012399991625
Frame 71
tensor(0.1774)
 # KEYFRAME 59
0.07191222400069819
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2678104043006897
TTA-STEP: step=182 loss_distill=0.2678 tta_take=0.009s
Frame 72
tensor(0.1676)
 # KEYFRAME 60
0.07123333600247861
Frame 73
tensor(0.1662)
 # KEYFRAME 61
0.07274279999910505
Frame 74
tensor(0.2105)
 # KEYFRAME 62
0.07283823000034317
Frame 75
tensor(0.2182)
 # KEYFRAME 63
0.07321671899990179
Frame 76
tensor(0.1193)
 # KEYFRAME 64
0.0734475579993159
Frame 77
tensor(0.1198)
 # KEYFRAME 65
0.07428163499935181
Frame 78
tensor(0.1809)
 # KEYFRAME 66
0.07472760399832623
Frame 79
tensor(0.1707)
 # KEYFRAME 67
0.07542034099969896
Frame 80
tensor(0.4666)
 # KEYFRAME 68
0.07627155799855245
Frame 81
tensor(0.1411)
 # KEYFRAME 69
0.07651803599947016
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.36646056175231934
TTA-STEP: step=183 loss_distill=0.3665 tta_take=0.009s
Frame 82
tensor(0.1229)
 # KEYFRAME 70
0.07567066000046907
Frame 83
tensor(0.1402)
 # KEYFRAME 71
0.07618510799875367
Frame 84
tensor(0.1100)
 # KEYFRAME 72
0.0768197159995907
Frame 85
tensor(0.1060)
 # KEYFRAME 73
0.07724361500004306
Frame 86
tensor(0.6540)
 # KEYFRAME 74
0.07781106199763599
Frame 87
tensor(0.0853)
Frame 88
tensor(0.1834)
 # KEYFRAME 75
0.07870470000125351
Frame 89
tensor(0.2541)
 # KEYFRAME 76
0.07806178199825808
Frame 90
tensor(0.1784)
 # KEYFRAME 77
0.0792554370018479
Frame 91
tensor(0.1777)
 # KEYFRAME 78
0.0796798060000583
Frame 92
tensor(0.1717)
 # KEYFRAME 79
0.08006651400137343
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 5] dropped=[4] scores=[(0, -6.0181050300598145), (1, -6.226639270782471), (2, -6.490580081939697), (3, -6.377687931060791), (4, -6.617592811584473), (5, -6.598968505859375)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[0, 1, 3, 2, 5] dts=[7, 6, 4, 5, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.42090028524398804
TTA-STEP: step=184 loss_distill=0.4209 tta_take=0.009s
Frame 93
tensor(0.2241)
 # KEYFRAME 80
0.0751372420018015
Frame 94
tensor(0.2252)
 # KEYFRAME 81
0.07731183400028385
Frame 95
tensor(0.2122)
 # KEYFRAME 82
0.07666836600037641
Frame 96
tensor(0.2313)
 # KEYFRAME 83
0.0772317250011838
Frame 97
tensor(0.4874)
 # KEYFRAME 84
0.0781855210007052
Frame 98
tensor(0.2145)
 # KEYFRAME 85
0.07879587799834553
Frame 99
tensor(0.2858)
 # KEYFRAME 86
0.07792571200116072
Frame 100
tensor(0.2368)
 # KEYFRAME 87
0.07929222700113314
Frame 101
tensor(0.1421)
 # KEYFRAME 88
0.08009558399862726
Frame 102
tensor(0.1150)
 # KEYFRAME 89
0.08068316199933179
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 6] dropped=[4, 5] scores=[(0, -6.037201404571533), (1, -6.220888614654541), (2, -6.444278240203857), (3, -6.357732772827148), (4, -6.6146769523620605), (5, -6.625962734222412), (6, -6.433424949645996)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[0, 1, 3, 6, 2] dts=[8, 7, 5, 2, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4689924716949463
TTA-STEP: step=185 loss_distill=0.4690 tta_take=0.009s
Frame 103
tensor(0.1139)
 # KEYFRAME 90
0.07598994799991488
Frame 104
tensor(0.1057)
 # KEYFRAME 91
0.07793063200006145
Frame 105
tensor(0.1222)
 # KEYFRAME 92
0.07775663299980806
Frame 106
tensor(0.1216)
 # KEYFRAME 93
0.07845227100187913
Frame 107
tensor(0.4241)
 # KEYFRAME 94
0.08000820500092232
Frame 108
tensor(0.1404)
 # KEYFRAME 95
0.08055959199919016
Frame 109
tensor(0.2680)
 # KEYFRAME 96
0.07865992900042329
Frame 110
tensor(0.1951)
 # KEYFRAME 97
0.08109424100257456
Frame 111
tensor(0.1996)
 # KEYFRAME 98
0.08227649699983886
Frame 112
tensor(0.2271)
 # KEYFRAME 99
0.08263271499890834
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 6] dropped=[4, 5, 7] scores=[(0, -6.412278652191162), (1, -6.539495468139648), (2, -6.713570594787598), (3, -6.6492919921875), (4, -6.905520915985107), (5, -6.906224727630615), (6, -6.729066848754883), (7, -6.945109844207764)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[0, 1, 3, 2, 6] dts=[9, 8, 6, 7, 3]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4399981200695038
TTA-STEP: step=186 loss_distill=0.4400 tta_take=0.009s
Frame 113
tensor(0.1615)
 # KEYFRAME 100
0.07563467999716522
Frame 114
tensor(0.3900)
 # KEYFRAME 101
0.07775504299934255
Frame 115
tensor(0.2218)
 # KEYFRAME 102
0.07666739699925529
Frame 116
tensor(0.8990)
 # KEYFRAME 103
0.0781086810020497
Frame 117
tensor(0.1109)
 # KEYFRAME 104
0.07787733200166258
Frame 118
tensor(0.0826)
Frame 119
tensor(0.4298)
 # KEYFRAME 105
0.07913510799698997
Frame 120
tensor(0.1761)
 # KEYFRAME 106
0.07817173100193031
Frame 121
tensor(0.1867)
 # KEYFRAME 107
0.07920128799742088
Frame 122
tensor(0.3350)
 # KEYFRAME 108
0.07964301600077306
Frame 123
tensor(0.1405)
 # KEYFRAME 109
0.08022893400266184
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 6] dropped=[4, 5, 7, 8] scores=[(0, -6.651386737823486), (1, -6.750284671783447), (2, -6.881354808807373), (3, -6.827467441558838), (4, -7.102658748626709), (5, -7.131747722625732), (6, -6.968280792236328), (7, -7.188138484954834), (8, -7.144289970397949)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[0, 1, 3, 2, 6] dts=[10, 9, 7, 8, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.42636698484420776
TTA-STEP: step=187 loss_distill=0.4264 tta_take=0.009s
Frame 124
tensor(0.1209)
 # KEYFRAME 110
0.07592566899984377
Frame 125
tensor(0.1988)
 # KEYFRAME 111
0.07644481700117467
Frame 126
tensor(0.4342)
 # KEYFRAME 112
0.07725521400061552
Frame 127
tensor(0.1525)
 # KEYFRAME 113
0.07715685500079417
Frame 128
tensor(0.1577)
 # KEYFRAME 114
0.07827805099805119
Frame 129
tensor(0.2045)
 # KEYFRAME 115
0.07846173999860184
Frame 130
tensor(0.3176)
 # KEYFRAME 116
0.07770147300107055
Frame 131
tensor(0.1398)
 # KEYFRAME 117
0.07969374499953119
Frame 132
tensor(0.1328)
 # KEYFRAME 118
0.07953268599885632
Frame 133
tensor(0.1218)
 # KEYFRAME 119
0.08008239399714512
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 6] dropped=[4, 5, 7, 8, 9] scores=[(0, -6.586629867553711), (1, -6.675142288208008), (2, -6.787959098815918), (3, -6.745104789733887), (4, -7.015745639801025), (5, -7.104355812072754), (6, -6.954369068145752), (7, -7.150283336639404), (8, -7.115759372711182), (9, -7.233992099761963)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[0, 1, 3, 2, 6] dts=[11, 10, 8, 9, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4029584228992462
TTA-STEP: step=188 loss_distill=0.4030 tta_take=0.009s
Frame 134
tensor(0.1425)
 # KEYFRAME 120
0.07566009999936796
Frame 135
tensor(0.3042)
 # KEYFRAME 121
0.07805163099692436
Frame 136
tensor(0.1890)
 # KEYFRAME 122
0.07742504399720929
Frame 137
tensor(0.2468)
 # KEYFRAME 123
0.07769919299971662
Frame 138
tensor(0.2041)
 # KEYFRAME 124
0.07900488900122582
Frame 139
tensor(0.1179)
 # KEYFRAME 125
0.07885678800084861
Frame 140
tensor(0.1157)
 # KEYFRAME 126
0.07965124600013951
Frame 141
tensor(0.1567)
 # KEYFRAME 127
0.07933656699970015
Frame 142
tensor(0.1973)
 # KEYFRAME 128
0.08044213300308911
Frame 143
tensor(0.2374)
 # KEYFRAME 129
0.08070102200144902
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 6] dropped=[4, 5, 7, 8, 9, 10] scores=[(0, -6.2995429039001465), (1, -6.424995422363281), (2, -6.59111213684082), (3, -6.528737545013428), (4, -6.771211624145508), (5, -6.864653587341309), (6, -6.756935119628906), (7, -6.9443488121032715), (8, -6.934030055999756), (9, -7.068799018859863), (10, -7.321020126342773)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[0, 1, 3, 2, 6] dts=[12, 11, 9, 10, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.40880119800567627
TTA-STEP: step=189 loss_distill=0.4088 tta_take=0.009s
Frame 144
tensor(0.4740)
 # KEYFRAME 130
0.07559537999986787
Frame 145
tensor(0.1376)
 # KEYFRAME 131
0.07634873800270725
Frame 146
tensor(0.1228)
 # KEYFRAME 132
0.07714502499948139
Frame 147
tensor(0.0816)
Frame 148
tensor(0.5827)
 # KEYFRAME 133
0.0776276329997927
Frame 149
tensor(0.1506)
 # KEYFRAME 134
0.07854900900201756
Backending... 135 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 6] dropped=[4, 5, 7, 8, 9, 10, 11] scores=[(0, -6.237514019012451), (1, -6.331497669219971), (2, -6.484052658081055), (3, -6.431424140930176), (4, -6.680678367614746), (5, -6.758789539337158), (6, -6.615507125854492), (7, -6.84138822555542), (8, -6.824245452880859), (9, -6.957714557647705), (10, -7.176808834075928), (11, -7.1938042640686035)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 60450, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[0, 1, 3, 2, 6] dts=[13, 12, 10, 11, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4222326874732971
TTA-STEP: step=190 loss_distill=0.4222 tta_take=0.005s
[epoch 0 scene 24/556] scannetpp/a05ee63164/DSC frames=150 tta_steps_this_scene=11 mean_loss=0.3915 total_steps=190 time=59.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0516)
Frame 2
tensor(0.2176)
 # KEYFRAME 1
Frame 3
tensor(0.0277)
Frame 4
tensor(0.1199)
 # KEYFRAME 2
0.051841935000993544
Frame 5
tensor(0.0680)
Frame 6
tensor(0.1066)
 # KEYFRAME 3
0.052877932001138106
Frame 7
tensor(0.1943)
 # KEYFRAME 4
0.05334392999793636
Frame 8
tensor(0.0314)
Frame 9
tensor(0.1441)
 # KEYFRAME 5
0.05493243399905623
Frame 10
tensor(0.0288)
Frame 11
tensor(0.0559)
Frame 12
tensor(0.0867)
Frame 13
tensor(0.1040)
 # KEYFRAME 6
0.055967260002944386
Frame 14
tensor(0.0812)
Frame 15
tensor(0.1099)
 # KEYFRAME 7
0.05700192700169282
Frame 16
tensor(0.0568)
Frame 17
tensor(0.1515)
 # KEYFRAME 8
0.057775903998845024
Frame 18
tensor(0.0474)
Frame 19
tensor(0.1180)
 # KEYFRAME 9
0.05861609999919892
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 20
tensor(0.0165)
Frame 21
tensor(0.0540)
Frame 22
tensor(0.1217)
 # KEYFRAME 10
0.05154726599721471
Frame 23
tensor(0.0992)
Frame 24
tensor(0.2237)
 # KEYFRAME 11
0.052434793000429636
Frame 25
tensor(0.0293)
Frame 26
tensor(0.0652)
Frame 27
tensor(0.2136)
 # KEYFRAME 12
0.05405037799937418
Frame 28
tensor(0.0934)
Frame 29
tensor(0.1662)
 # KEYFRAME 13
0.05492179399880115
Frame 30
tensor(0.1443)
 # KEYFRAME 14
0.054708204999769805
Frame 31
tensor(0.0868)
Frame 32
tensor(0.2283)
 # KEYFRAME 15
0.05470858499757014
Frame 33
tensor(0.0410)
Frame 34
tensor(0.0797)
Frame 35
tensor(0.1818)
 # KEYFRAME 16
0.055533251997985644
Frame 36
tensor(0.0805)
Frame 37
tensor(0.1667)
 # KEYFRAME 17
0.05610893999983091
Frame 38
tensor(0.0207)
Frame 39
tensor(0.0440)
Frame 40
tensor(0.1779)
 # KEYFRAME 18
0.0568846569985908
Frame 41
tensor(0.0449)
Frame 42
tensor(0.1456)
 # KEYFRAME 19
0.057872924000548664
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 43
tensor(0.0030)
Frame 44
tensor(0.0188)
Frame 45
tensor(0.0317)
Frame 46
tensor(0.0537)
Frame 47
tensor(0.1563)
 # KEYFRAME 20
0.05387090799922589
Frame 48
tensor(0.0397)
Frame 49
tensor(0.0788)
Frame 50
tensor(0.1092)
 # KEYFRAME 21
0.05429327599995304
Frame 51
tensor(0.0411)
Frame 52
tensor(0.1241)
 # KEYFRAME 22
0.05479111500244471
Frame 53
tensor(0.0441)
Frame 54
tensor(0.0907)
Frame 55
tensor(0.1628)
 # KEYFRAME 23
0.05524728300224524
Frame 56
tensor(0.0528)
Frame 57
tensor(0.1023)
 # KEYFRAME 24
0.05554492200099048
Frame 58
tensor(0.0350)
Frame 59
tensor(0.0742)
Frame 60
tensor(0.1652)
 # KEYFRAME 25
0.056394739000097616
Frame 61
tensor(0.0420)
Frame 62
tensor(0.1003)
 # KEYFRAME 26
0.05764647399701062
Frame 63
tensor(0.0511)
Frame 64
tensor(0.0999)
Frame 65
tensor(0.2065)
 # KEYFRAME 27
0.05862400099795195
Frame 66
tensor(0.0687)
Frame 67
tensor(0.2103)
 # KEYFRAME 28
0.05952156800049124
Frame 68
tensor(0.0634)
Frame 69
tensor(0.0974)
Frame 70
tensor(0.1158)
 # KEYFRAME 29
0.06012658500185353
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 71
tensor(0.0408)
Frame 72
tensor(0.1493)
 # KEYFRAME 30
0.05832114200165961
Frame 73
tensor(0.0504)
Frame 74
tensor(0.0748)
Frame 75
tensor(0.1311)
 # KEYFRAME 31
0.05886879999889061
Frame 76
tensor(0.0531)
Frame 77
tensor(0.0538)
Frame 78
tensor(0.0241)
Frame 79
tensor(0.0508)
Frame 80
tensor(0.2013)
 # KEYFRAME 32
0.05963538699870696
Frame 81
tensor(0.0838)
Frame 82
tensor(0.1503)
 # KEYFRAME 33
0.061530380000476725
Frame 83
tensor(0.0655)
Frame 84
tensor(0.0970)
Frame 85
tensor(0.1874)
 # KEYFRAME 34
0.06093828200027929
Frame 86
tensor(0.0368)
Frame 87
tensor(0.0732)
Frame 88
tensor(0.1667)
 # KEYFRAME 35
0.06112898200080963
Frame 89
tensor(0.0424)
Frame 90
tensor(0.1008)
 # KEYFRAME 36
0.06207338900276227
Frame 91
tensor(0.0249)
Frame 92
tensor(0.0674)
Frame 93
tensor(0.1389)
 # KEYFRAME 37
0.0627145560029021
Frame 94
tensor(0.0760)
Frame 95
tensor(0.1376)
 # KEYFRAME 38
0.06419574100073078
Frame 96
tensor(0.0294)
Frame 97
tensor(0.0740)
Frame 98
tensor(0.1390)
 # KEYFRAME 39
0.06399721200068598
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.14767369627952576
TTA-STEP: step=191 loss_distill=0.1477 tta_take=0.009s
Frame 99
tensor(0.0614)
Frame 100
tensor(0.1383)
 # KEYFRAME 40
0.06272050700135878
Frame 101
tensor(0.0418)
Frame 102
tensor(0.0857)
Frame 103
tensor(0.1569)
 # KEYFRAME 41
0.06460534899815684
Frame 104
tensor(0.0311)
Frame 105
tensor(0.1340)
 # KEYFRAME 42
0.0645781099992746
Frame 106
tensor(0.0061)
Frame 107
tensor(0.1353)
 # KEYFRAME 43
0.0643262900011905
Frame 108
tensor(0.1132)
 # KEYFRAME 44
0.06564957499722368
Frame 109
tensor(0.0522)
Frame 110
tensor(0.1215)
 # KEYFRAME 45
0.06611970399899292
Frame 111
tensor(0.0333)
Frame 112
tensor(0.0383)
Frame 113
tensor(0.1476)
 # KEYFRAME 46
0.06639587300014682
Frame 114
tensor(0.0653)
Frame 115
tensor(0.1852)
 # KEYFRAME 47
0.06692839099923731
Frame 116
tensor(0.0747)
Frame 117
tensor(0.1354)
 # KEYFRAME 48
0.06772778799859225
Frame 118
tensor(0.0707)
Frame 119
tensor(0.1234)
 # KEYFRAME 49
0.06867875500029186
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.25732481479644775
TTA-STEP: step=192 loss_distill=0.2573 tta_take=0.009s
Frame 120
tensor(0.0520)
Frame 121
tensor(0.0547)
Frame 122
tensor(0.0761)
Frame 123
tensor(0.1476)
 # KEYFRAME 50
0.06706611000117846
Frame 124
tensor(0.0428)
Frame 125
tensor(0.0793)
Frame 126
tensor(0.1629)
 # KEYFRAME 51
0.06815652699879138
Frame 127
tensor(0.0677)
Frame 128
tensor(0.1213)
 # KEYFRAME 52
0.06833236700185807
Frame 129
tensor(0.0074)
Frame 130
tensor(0.0219)
Frame 131
tensor(0.1410)
 # KEYFRAME 53
0.06897118399865576
Frame 132
tensor(0.0568)
Frame 133
tensor(0.1794)
 # KEYFRAME 54
0.06907208400298259
Frame 134
tensor(0.0500)
Frame 135
tensor(0.0685)
Frame 136
tensor(0.0436)
Frame 137
tensor(0.1169)
 # KEYFRAME 55
0.07005331999971531
Frame 138
tensor(0.1114)
 # KEYFRAME 56
0.07067083799847751
Frame 139
tensor(0.0300)
Frame 140
tensor(0.0468)
Frame 141
tensor(0.0392)
Frame 142
tensor(0.0327)
Frame 143
tensor(0.0453)
Frame 144
tensor(0.0568)
Frame 145
tensor(0.0927)
Frame 146
tensor(0.0925)
Frame 147
tensor(0.0674)
Frame 148
tensor(0.0975)
Frame 149
tensor(0.1461)
 # KEYFRAME 57
0.07140396599788801
Backending... 58 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 53940, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.32494795322418213
TTA-STEP: step=193 loss_distill=0.3249 tta_take=0.007s
[epoch 0 scene 25/556] scannetpp/b73f5cdc41/DSC frames=150 tta_steps_this_scene=3 mean_loss=0.2433 total_steps=193 time=44.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0461)
Frame 2
tensor(0.1551)
 # KEYFRAME 1
Frame 3
tensor(0.1870)
 # KEYFRAME 2
0.05197177399895736
Frame 4
tensor(0.0826)
Frame 5
tensor(0.3170)
 # KEYFRAME 3
0.053097921001608483
Frame 6
tensor(0.0215)
Frame 7
tensor(0.0637)
Frame 8
tensor(0.0934)
Frame 9
tensor(0.1006)
 # KEYFRAME 4
0.0534292189986445
Frame 10
tensor(0.0432)
Frame 11
tensor(0.0762)
Frame 12
tensor(0.1061)
 # KEYFRAME 5
0.05501839299904532
Frame 13
tensor(0.0217)
Frame 14
tensor(0.0629)
Frame 15
tensor(0.0903)
Frame 16
tensor(0.1113)
 # KEYFRAME 6
0.05591953100156388
Frame 17
tensor(0.0481)
Frame 18
tensor(0.0816)
Frame 19
tensor(0.3363)
 # KEYFRAME 7
0.05703318700034288
Frame 20
tensor(0.0347)
Frame 21
tensor(0.0891)
Frame 22
tensor(0.1191)
 # KEYFRAME 8
0.05774052400010987
Frame 23
tensor(0.0348)
Frame 24
tensor(0.0627)
Frame 25
tensor(0.0984)
Frame 26
tensor(0.1398)
 # KEYFRAME 9
0.05865883099977509
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 27
tensor(0.0364)
Frame 28
tensor(0.0773)
Frame 29
tensor(0.1020)
 # KEYFRAME 10
0.05163343599997461
Frame 30
tensor(0.0497)
Frame 31
tensor(0.0976)
Frame 32
tensor(0.1720)
 # KEYFRAME 11
0.05261532300210092
Frame 33
tensor(0.0403)
Frame 34
tensor(0.0871)
Frame 35
tensor(0.1172)
 # KEYFRAME 12
0.05356384900005651
Frame 36
tensor(0.0412)
Frame 37
tensor(0.0798)
Frame 38
tensor(0.1281)
 # KEYFRAME 13
0.055069373000151245
Frame 39
tensor(0.1222)
 # KEYFRAME 14
0.055162914002721664
Frame 40
tensor(0.3170)
 # KEYFRAME 15
0.05497574400214944
Frame 41
tensor(0.0479)
Frame 42
tensor(0.0931)
Frame 43
tensor(0.1359)
 # KEYFRAME 16
0.055807421002100455
Frame 44
tensor(0.2540)
 # KEYFRAME 17
0.05632688900004723
Frame 45
tensor(0.0568)
Frame 46
tensor(0.3431)
 # KEYFRAME 18
0.057180865998816444
Frame 47
tensor(0.0618)
Frame 48
tensor(0.4217)
 # KEYFRAME 19
0.058096072996704606
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 49
tensor(0.1011)
 # KEYFRAME 20
0.05386254800032475
Frame 50
tensor(0.0780)
Frame 51
tensor(0.1874)
 # KEYFRAME 21
0.05462577499929466
Frame 52
tensor(0.4306)
 # KEYFRAME 22
0.05502656400130945
Frame 53
tensor(0.1049)
 # KEYFRAME 23
0.05533773199931602
Frame 54
tensor(0.0347)
Frame 55
tensor(0.5448)
 # KEYFRAME 24
0.05570670099768904
Frame 56
tensor(0.0576)
Frame 57
tensor(0.0636)
Frame 58
tensor(0.0628)
Frame 59
tensor(0.0929)
Frame 60
tensor(0.0779)
Frame 61
tensor(0.2400)
 # KEYFRAME 25
0.05659698800081969
Frame 62
tensor(0.0315)
Frame 63
tensor(0.0488)
Frame 64
tensor(0.0735)
Frame 65
tensor(0.3916)
 # KEYFRAME 26
0.05782906400054344
Frame 66
tensor(0.1248)
 # KEYFRAME 27
0.058566440999129554
Frame 67
tensor(0.0761)
Frame 68
tensor(0.1263)
 # KEYFRAME 28
0.05976909599849023
Frame 69
tensor(0.1425)
 # KEYFRAME 29
0.060585444000025745
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 70
tensor(0.0420)
Frame 71
tensor(0.0699)
Frame 72
tensor(0.5068)
 # KEYFRAME 30
0.05837993199747871
Frame 73
tensor(0.0570)
Frame 74
tensor(0.1594)
 # KEYFRAME 31
0.05959204700047849
Frame 75
tensor(0.2212)
 # KEYFRAME 32
0.0594259779973072
Frame 76
tensor(0.1069)
 # KEYFRAME 33
0.06019135500173434
Frame 77
tensor(0.0717)
Frame 78
tensor(0.1440)
 # KEYFRAME 34
0.060970272999838926
Frame 79
tensor(0.0444)
Frame 80
tensor(0.0734)
Frame 81
tensor(0.1066)
 # KEYFRAME 35
0.06135638100022334
Frame 82
tensor(0.0634)
Frame 83
tensor(0.1274)
 # KEYFRAME 36
0.062387556998146465
Frame 84
tensor(0.0392)
Frame 85
tensor(0.1222)
 # KEYFRAME 37
0.06307614500110503
Frame 86
tensor(0.0910)
Frame 87
tensor(0.1318)
 # KEYFRAME 38
0.06325219399877824
Frame 88
tensor(0.0764)
Frame 89
tensor(0.1657)
 # KEYFRAME 39
0.0642286910006078
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.13891293108463287
TTA-STEP: step=194 loss_distill=0.1389 tta_take=0.009s
Frame 90
tensor(0.0670)
Frame 91
tensor(0.1026)
 # KEYFRAME 40
0.06262294699990889
Frame 92
tensor(0.0563)
Frame 93
tensor(0.1234)
 # KEYFRAME 41
0.06460441899980651
Frame 94
tensor(0.1061)
 # KEYFRAME 42
0.06466288900264772
Frame 95
tensor(0.0396)
Frame 96
tensor(0.0949)
Frame 97
tensor(0.2811)
 # KEYFRAME 43
0.06436181000026409
Frame 98
tensor(0.0317)
Frame 99
tensor(0.0676)
Frame 100
tensor(0.0858)
Frame 101
tensor(0.1652)
 # KEYFRAME 44
0.0659845439986384
Frame 102
tensor(0.0720)
Frame 103
tensor(0.1143)
 # KEYFRAME 45
0.06608443399818498
Frame 104
tensor(0.0267)
Frame 105
tensor(0.0518)
Frame 106
tensor(0.1018)
 # KEYFRAME 46
0.06653992199790082
Frame 107
tensor(0.0151)
Frame 108
tensor(0.0310)
Frame 109
tensor(0.0532)
Frame 110
tensor(0.1403)
 # KEYFRAME 47
0.06693850200099405
Frame 111
tensor(0.1706)
 # KEYFRAME 48
0.06758551900202292
Frame 112
tensor(0.1551)
 # KEYFRAME 49
0.06854500600093161
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.24358053505420685
TTA-STEP: step=195 loss_distill=0.2436 tta_take=0.009s
Frame 113
tensor(0.0579)
Frame 114
tensor(0.1359)
 # KEYFRAME 50
0.06680866199894808
Frame 115
tensor(0.0669)
Frame 116
tensor(0.1130)
 # KEYFRAME 51
0.06813796699861996
Frame 117
tensor(0.0873)
Frame 118
tensor(0.2545)
 # KEYFRAME 52
0.06848203600020497
Frame 119
tensor(0.1963)
 # KEYFRAME 53
0.06902236400128459
Frame 120
tensor(0.1131)
 # KEYFRAME 54
0.06864161600242369
Frame 121
tensor(0.0413)
Frame 122
tensor(0.0595)
Frame 123
tensor(0.0981)
Frame 124
tensor(0.1748)
 # KEYFRAME 55
0.06989352100208635
Frame 125
tensor(0.4750)
 # KEYFRAME 56
0.07076981799764326
Frame 126
tensor(0.0480)
Frame 127
tensor(0.1497)
 # KEYFRAME 57
0.0711692269978812
Frame 128
tensor(0.1202)
 # KEYFRAME 58
0.07131505500001367
Frame 129
tensor(0.0772)
Frame 130
tensor(0.1678)
 # KEYFRAME 59
0.07190017399989301
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2962530851364136
TTA-STEP: step=196 loss_distill=0.2963 tta_take=0.009s
Frame 131
tensor(0.4868)
 # KEYFRAME 60
0.07171486399965943
Frame 132
tensor(0.0538)
Frame 133
tensor(0.1284)
 # KEYFRAME 61
0.07255547100066906
Frame 134
tensor(0.0707)
Frame 135
tensor(0.2105)
 # KEYFRAME 62
0.07265372100300738
Frame 136
tensor(0.0761)
Frame 137
tensor(0.5876)
 # KEYFRAME 63
0.07298081000044476
Frame 138
tensor(0.0551)
Frame 139
tensor(0.1241)
 # KEYFRAME 64
0.07345392799834372
Frame 140
tensor(0.0400)
Frame 141
tensor(0.4672)
 # KEYFRAME 65
0.07368624700029613
Frame 142
tensor(0.0765)
Frame 143
tensor(0.1480)
 # KEYFRAME 66
0.07427540500066243
Frame 144
tensor(0.2174)
 # KEYFRAME 67
0.0756353399992804
Frame 145
tensor(0.0260)
Frame 146
tensor(0.0859)
Frame 147
tensor(0.2804)
 # KEYFRAME 68
0.07603525900049135
Frame 148
tensor(0.0239)
Frame 149
tensor(0.0524)
Backending... 69 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 64170, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3483269214630127
TTA-STEP: step=197 loss_distill=0.3483 tta_take=0.008s
[epoch 0 scene 26/556] scannetpp/c413b34238/DSC frames=150 tta_steps_this_scene=4 mean_loss=0.2568 total_steps=197 time=40.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0710)
Frame 2
tensor(0.1715)
 # KEYFRAME 1
Frame 3
tensor(0.0986)
Frame 4
tensor(0.1448)
 # KEYFRAME 2
0.052014273998793215
Frame 5
tensor(0.0724)
Frame 6
tensor(0.1206)
 # KEYFRAME 3
0.05316913099886733
Frame 7
tensor(0.0448)
Frame 8
tensor(0.1071)
 # KEYFRAME 4
0.05361444899972412
Frame 9
tensor(0.1053)
 # KEYFRAME 5
0.05460862499967334
Frame 10
tensor(0.3796)
 # KEYFRAME 6
0.05590669099910883
Frame 11
tensor(0.0300)
Frame 12
tensor(0.0878)
Frame 13
tensor(0.1284)
 # KEYFRAME 7
0.05658069799756049
Frame 14
tensor(0.1652)
 # KEYFRAME 8
0.05758181499913917
Frame 15
tensor(0.0771)
Frame 16
tensor(0.1805)
 # KEYFRAME 9
0.0584552119980799
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 17
tensor(0.0615)
Frame 18
tensor(0.1857)
 # KEYFRAME 10
0.0516387859970564
Frame 19
tensor(0.1308)
 # KEYFRAME 11
0.05277940199812292
Frame 20
tensor(0.1088)
 # KEYFRAME 12
0.05361809900205117
Frame 21
tensor(0.2809)
 # KEYFRAME 13
0.05575014199712314
Frame 22
tensor(0.0820)
Frame 23
tensor(0.1811)
 # KEYFRAME 14
0.055039323000528384
Frame 24
tensor(0.0381)
Frame 25
tensor(0.0785)
Frame 26
tensor(0.0796)
Frame 27
tensor(0.0978)
Frame 28
tensor(0.3741)
 # KEYFRAME 15
0.055476092999015236
Frame 29
tensor(0.0512)
Frame 30
tensor(0.1008)
 # KEYFRAME 16
0.05650262799827033
Frame 31
tensor(0.0179)
Frame 32
tensor(0.2773)
 # KEYFRAME 17
0.056997807001607725
Frame 33
tensor(0.0402)
Frame 34
tensor(0.0918)
Frame 35
tensor(0.2010)
 # KEYFRAME 18
0.05783237400100916
Frame 36
tensor(0.0283)
Frame 37
tensor(0.1367)
 # KEYFRAME 19
0.05858846200135304
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 38
tensor(0.0114)
Frame 39
tensor(0.0527)
Frame 40
tensor(0.2696)
 # KEYFRAME 20
0.05419308699856629
Frame 41
tensor(0.0304)
Frame 42
tensor(0.0570)
Frame 43
tensor(0.0840)
Frame 44
tensor(0.1140)
 # KEYFRAME 21
0.054869885003427044
Frame 45
tensor(0.0173)
Frame 46
tensor(0.0398)
Frame 47
tensor(0.0851)
Frame 48
tensor(0.1175)
 # KEYFRAME 22
0.05535088299802737
Frame 49
tensor(0.1378)
 # KEYFRAME 23
0.05597354099882068
Frame 50
tensor(0.0261)
Frame 51
tensor(0.3830)
 # KEYFRAME 24
0.05624311899737222
Frame 52
tensor(0.0686)
Frame 53
tensor(0.1707)
 # KEYFRAME 25
0.05682388700006413
Frame 54
tensor(0.1324)
 # KEYFRAME 26
0.057997912997961976
Frame 55
tensor(0.1485)
 # KEYFRAME 27
0.0588705599984678
Frame 56
tensor(0.1318)
 # KEYFRAME 28
0.05958921799901873
Frame 57
tensor(0.0942)
Frame 58
tensor(0.1344)
 # KEYFRAME 29
0.060597944000619464
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 59
tensor(0.6706)
 # KEYFRAME 30
0.05826055199941038
Frame 60
tensor(0.0293)
Frame 61
tensor(0.0599)
Frame 62
tensor(0.1026)
 # KEYFRAME 31
0.05954283800019766
Frame 63
tensor(0.0345)
Frame 64
tensor(0.1565)
 # KEYFRAME 32
0.05946089799908805
Frame 65
tensor(0.0128)
Frame 66
tensor(0.0525)
Frame 67
tensor(0.0943)
Frame 68
tensor(0.1376)
 # KEYFRAME 33
0.06052456399993389
Frame 69
tensor(0.0515)
Frame 70
tensor(0.0905)
Frame 71
tensor(0.1319)
 # KEYFRAME 34
0.061672339998040115
Frame 72
tensor(0.0198)
Frame 73
tensor(0.0743)
Frame 74
tensor(0.1720)
 # KEYFRAME 35
0.06172234000041499
Frame 75
tensor(0.0455)
Frame 76
tensor(0.0984)
Frame 77
tensor(0.2824)
 # KEYFRAME 36
0.06227896799828159
Frame 78
tensor(0.0296)
Frame 79
tensor(0.1190)
 # KEYFRAME 37
0.06290109600013238
Frame 80
tensor(0.1173)
 # KEYFRAME 38
0.06378012299683178
Frame 81
tensor(0.1420)
 # KEYFRAME 39
0.06424538099963684
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.15195369720458984
TTA-STEP: step=198 loss_distill=0.1520 tta_take=0.009s
Frame 82
tensor(0.0553)
Frame 83
tensor(0.1436)
 # KEYFRAME 40
0.06276284599880455
Frame 84
tensor(0.2835)
 # KEYFRAME 41
0.06409763099873089
Frame 85
tensor(0.0617)
Frame 86
tensor(0.1935)
 # KEYFRAME 42
0.06398349200026132
Frame 87
tensor(0.1305)
 # KEYFRAME 43
0.06405410099978326
Frame 88
tensor(0.7407)
 # KEYFRAME 44
0.06494065899823909
Frame 89
tensor(0.0393)
Frame 90
tensor(0.0694)
Frame 91
tensor(0.1436)
 # KEYFRAME 45
0.06492973800050095
Frame 92
tensor(0.0466)
Frame 93
tensor(0.2037)
 # KEYFRAME 46
0.065966854999715
Frame 94
tensor(0.0374)
Frame 95
tensor(0.1172)
 # KEYFRAME 47
0.06612559400309692
Frame 96
tensor(0.1914)
 # KEYFRAME 48
0.06616856399705284
Frame 97
tensor(0.0835)
Frame 98
tensor(0.1653)
 # KEYFRAME 49
0.06692712099902565
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2198478877544403
TTA-STEP: step=199 loss_distill=0.2198 tta_take=0.009s
Frame 99
tensor(0.2043)
 # KEYFRAME 50
0.06682110200199531
Frame 100
tensor(0.0716)
Frame 101
tensor(0.2482)
 # KEYFRAME 51
0.06878638400303316
Frame 102
tensor(0.0529)
Frame 103
tensor(0.1138)
 # KEYFRAME 52
0.06899159399836208
Frame 104
tensor(0.0699)
Frame 105
tensor(0.1582)
 # KEYFRAME 53
0.07062963800126454
Frame 106
tensor(0.0459)
Frame 107
tensor(0.2997)
 # KEYFRAME 54
0.07072937799966894
Frame 108
tensor(0.0566)
Frame 109
tensor(0.1594)
 # KEYFRAME 55
0.07220692199916812
Frame 110
tensor(0.0602)
Frame 111
tensor(0.4661)
 # KEYFRAME 56
0.07308431999990717
Frame 112
tensor(0.0202)
Frame 113
tensor(0.0851)
Frame 114
tensor(0.1636)
 # KEYFRAME 57
0.07373564800218446
Frame 115
tensor(0.0090)
Frame 116
tensor(0.0179)
Frame 117
tensor(0.0291)
Frame 118
tensor(0.1029)
 # KEYFRAME 58
0.07414680500005488
Frame 119
tensor(0.0628)
Frame 120
tensor(0.1186)
 # KEYFRAME 59
0.0749643319977622
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2526329755783081
TTA-STEP: step=200 loss_distill=0.2526 tta_take=0.009s
Frame 121
tensor(0.3530)
 # KEYFRAME 60
0.07172614400042221
Frame 122
tensor(0.0577)
Frame 123
tensor(0.1092)
 # KEYFRAME 61
0.0724655209996854
Frame 124
tensor(0.0724)
Frame 125
tensor(0.3062)
 # KEYFRAME 62
0.07208127299963962
Frame 126
tensor(0.0159)
Frame 127
tensor(0.0489)
Frame 128
tensor(0.0667)
Frame 129
tensor(0.0864)
Frame 130
tensor(0.1150)
 # KEYFRAME 63
0.07298471999820322
Frame 131
tensor(0.0413)
Frame 132
tensor(0.3311)
 # KEYFRAME 64
0.07344263800041517
Frame 133
tensor(0.0325)
Frame 134
tensor(0.0937)
Frame 135
tensor(0.1711)
 # KEYFRAME 65
0.07364917800077819
Frame 136
tensor(0.0170)
Frame 137
tensor(0.0680)
Frame 138
tensor(0.1317)
 # KEYFRAME 66
0.0745053540013032
Frame 139
tensor(0.2122)
 # KEYFRAME 67
0.07493770300061442
Frame 140
tensor(0.0105)
Frame 141
tensor(0.5922)
 # KEYFRAME 68
0.07508359199709957
Frame 142
tensor(0.1589)
 # KEYFRAME 69
0.07530172200131346
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2972998023033142
TTA-STEP: step=201 loss_distill=0.2973 tta_take=0.009s
Frame 143
tensor(0.8078)
 # KEYFRAME 70
0.07580388000133098
Frame 144
tensor(0.0591)
Frame 145
tensor(0.1491)
 # KEYFRAME 71
0.07753745399895706
Frame 146
tensor(0.1454)
 # KEYFRAME 72
0.07699627599868109
Frame 147
tensor(0.0928)
Frame 148
tensor(0.1591)
 # KEYFRAME 73
0.07829663099983009
Frame 149
tensor(0.0653)
Backending... 74 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 3, 4, 5] dropped=[2] scores=[(0, -6.548184871673584), (1, -6.903296947479248), (2, -6.971697807312012), (3, -6.726016998291016), (4, -6.940873622894287), (5, -6.5587568283081055)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 59520, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[0, 5, 3, 1, 4] dts=[7, 2, 4, 6, 3]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.34713149070739746
TTA-STEP: step=202 loss_distill=0.3471 tta_take=0.005s
[epoch 0 scene 27/556] scannetpp/49a82360aa/DSC frames=150 tta_steps_this_scene=5 mean_loss=0.2538 total_steps=202 time=45.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1054)
 # KEYFRAME 1
Frame 2
tensor(0.1129)
 # KEYFRAME 2
0.05162697599735111
Frame 3
tensor(0.0785)
Frame 4
tensor(0.1559)
 # KEYFRAME 3
0.05204468500232906
Frame 5
tensor(0.0810)
Frame 6
tensor(0.1720)
 # KEYFRAME 4
0.053366349999123486
Frame 7
tensor(0.0944)
Frame 8
tensor(0.2157)
 # KEYFRAME 5
0.05480669499957003
Frame 9
tensor(0.0734)
Frame 10
tensor(0.1001)
 # KEYFRAME 6
0.05619601999933366
Frame 11
tensor(0.0619)
Frame 12
tensor(0.1364)
 # KEYFRAME 7
0.05681884799923864
Frame 13
tensor(0.0447)
Frame 14
tensor(0.1598)
 # KEYFRAME 8
0.0570526070005144
Frame 15
tensor(0.0384)
Frame 16
tensor(0.0871)
Frame 17
tensor(0.1170)
 # KEYFRAME 9
0.05815515299764229
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 18
tensor(0.1014)
 # KEYFRAME 10
0.051718006001465255
Frame 19
tensor(0.0330)
Frame 20
tensor(0.0686)
Frame 21
tensor(0.5010)
 # KEYFRAME 11
0.05268173299918999
Frame 22
tensor(0.0236)
Frame 23
tensor(0.0510)
Frame 24
tensor(0.0703)
Frame 25
tensor(0.0898)
Frame 26
tensor(0.0751)
Frame 27
tensor(0.1131)
 # KEYFRAME 12
0.05320051099988632
Frame 28
tensor(0.0491)
Frame 29
tensor(0.1142)
 # KEYFRAME 13
0.054557955998461694
Frame 30
tensor(0.0461)
Frame 31
tensor(0.0541)
Frame 32
tensor(0.0872)
Frame 33
tensor(0.1293)
 # KEYFRAME 14
0.05496665399914491
Frame 34
tensor(0.0350)
Frame 35
tensor(0.0956)
Frame 36
tensor(0.1525)
 # KEYFRAME 15
0.05508830300095724
Frame 37
tensor(0.0500)
Frame 38
tensor(0.1081)
 # KEYFRAME 16
0.05541655300112325
Frame 39
tensor(0.0297)
Frame 40
tensor(0.0987)
Frame 41
tensor(0.1375)
 # KEYFRAME 17
0.05628265899940743
Frame 42
tensor(0.0560)
Frame 43
tensor(0.0854)
Frame 44
tensor(0.0788)
Frame 45
tensor(0.1101)
 # KEYFRAME 18
0.05727218600077322
Frame 46
tensor(0.0415)
Frame 47
tensor(0.1063)
 # KEYFRAME 19
0.05778858399935416
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 48
tensor(0.3936)
 # KEYFRAME 20
0.05414557699987199
Frame 49
tensor(0.0730)
Frame 50
tensor(0.0879)
Frame 51
tensor(0.0883)
Frame 52
tensor(0.1092)
 # KEYFRAME 21
0.054865334001078736
Frame 53
tensor(0.1319)
 # KEYFRAME 22
0.0551161340008548
Frame 54
tensor(0.0888)
Frame 55
tensor(0.1116)
 # KEYFRAME 23
0.05557460199997877
Frame 56
tensor(0.0952)
Frame 57
tensor(0.1533)
 # KEYFRAME 24
0.056284119997144444
Frame 58
tensor(0.0587)
Frame 59
tensor(0.1307)
 # KEYFRAME 25
0.05689352700210293
Frame 60
tensor(0.0860)
Frame 61
tensor(0.1239)
 # KEYFRAME 26
0.05804743300177506
Frame 62
tensor(0.0769)
Frame 63
tensor(0.2080)
 # KEYFRAME 27
0.0587077109994425
Frame 64
tensor(0.2081)
 # KEYFRAME 28
0.060889543001394486
Frame 65
tensor(0.0829)
Frame 66
tensor(0.2286)
 # KEYFRAME 29
0.060478004001197405
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 67
tensor(0.1558)
 # KEYFRAME 30
0.05873134099965682
Frame 68
tensor(0.0475)
Frame 69
tensor(0.0681)
Frame 70
tensor(0.1069)
 # KEYFRAME 31
0.059541407998040086
Frame 71
tensor(0.0215)
Frame 72
tensor(0.0504)
Frame 73
tensor(0.0763)
Frame 74
tensor(0.0577)
Frame 75
tensor(0.0288)
Frame 76
tensor(0.0316)
Frame 77
tensor(0.0611)
Frame 78
tensor(0.0748)
Frame 79
tensor(0.0717)
Frame 80
tensor(0.0390)
Frame 81
tensor(0.0246)
Frame 82
tensor(0.3781)
 # KEYFRAME 32
0.05931808900277247
Frame 83
tensor(0.0618)
Frame 84
tensor(0.1124)
 # KEYFRAME 33
0.06053539399727015
Frame 85
tensor(0.0773)
Frame 86
tensor(0.7896)
 # KEYFRAME 34
0.06118220200005453
Frame 87
tensor(0.0426)
Frame 88
tensor(0.1030)
 # KEYFRAME 35
0.06201674899784848
Frame 89
tensor(0.0878)
Frame 90
tensor(0.1947)
 # KEYFRAME 36
0.06224371799908113
Frame 91
tensor(0.0569)
Frame 92
tensor(0.1022)
 # KEYFRAME 37
0.06278422600007616
Frame 93
tensor(0.0230)
Frame 94
tensor(0.0691)
Frame 95
tensor(0.1151)
 # KEYFRAME 38
0.06379051199837704
Frame 96
tensor(0.2049)
 # KEYFRAME 39
0.06438432000140892
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1986594796180725
TTA-STEP: step=203 loss_distill=0.1987 tta_take=0.009s
Frame 97
tensor(0.0557)
Frame 98
tensor(0.1476)
 # KEYFRAME 40
0.062493547000485705
Frame 99
tensor(0.0410)
Frame 100
tensor(0.1439)
 # KEYFRAME 41
0.06422589100111509
Frame 101
tensor(0.0828)
Frame 102
tensor(0.1418)
 # KEYFRAME 42
0.06476673900033347
Frame 103
tensor(0.7883)
 # KEYFRAME 43
0.06456969999999274
Frame 104
tensor(0.0469)
Frame 105
tensor(0.1044)
 # KEYFRAME 44
0.06631296300110989
Frame 106
tensor(0.0455)
Frame 107
tensor(0.0465)
Frame 108
tensor(0.0688)
Frame 109
tensor(0.1382)
 # KEYFRAME 45
0.06724553100139019
Frame 110
tensor(0.0262)
Frame 111
tensor(0.6817)
 # KEYFRAME 46
0.06814008700166596
Frame 112
tensor(0.0077)
Frame 113
tensor(0.0208)
Frame 114
tensor(0.0267)
Frame 115
tensor(0.0498)
Frame 116
tensor(0.0789)
Frame 117
tensor(0.0925)
Frame 118
tensor(0.1171)
 # KEYFRAME 47
0.06917081299980055
Frame 119
tensor(0.0420)
Frame 120
tensor(0.0818)
Frame 121
tensor(0.1584)
 # KEYFRAME 48
0.06947610200222698
Frame 122
tensor(0.0578)
Frame 123
tensor(0.0721)
Frame 124
tensor(0.0968)
Frame 125
tensor(0.1495)
 # KEYFRAME 49
0.07015397999930428
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.24318011105060577
TTA-STEP: step=204 loss_distill=0.2432 tta_take=0.009s
Frame 126
tensor(0.0510)
Frame 127
tensor(0.0942)
Frame 128
tensor(0.1309)
 # KEYFRAME 50
0.06673661199965863
Frame 129
tensor(0.0313)
Frame 130
tensor(0.0607)
Frame 131
tensor(0.5659)
 # KEYFRAME 51
0.06792627799950424
Frame 132
tensor(0.0295)
Frame 133
tensor(0.0683)
Frame 134
tensor(0.1183)
 # KEYFRAME 52
0.06789801800186979
Frame 135
tensor(0.0791)
Frame 136
tensor(0.0769)
Frame 137
tensor(0.0929)
Frame 138
tensor(0.1057)
 # KEYFRAME 53
0.069008523998491
Frame 139
tensor(0.0519)
Frame 140
tensor(0.3713)
 # KEYFRAME 54
0.06869854600154213
Frame 141
tensor(0.2267)
 # KEYFRAME 55
0.06938751200141269
Frame 142
tensor(0.0134)
Frame 143
tensor(0.0464)
Frame 144
tensor(0.0899)
Frame 145
tensor(0.1272)
 # KEYFRAME 56
0.06979716199930408
Frame 146
tensor(0.0309)
Frame 147
tensor(0.6573)
 # KEYFRAME 57
0.07032702899959986
Frame 148
tensor(0.1165)
 # KEYFRAME 58
0.07084963799934485
Frame 149
tensor(0.1071)
 # KEYFRAME 59
0.0713083459995687
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.37770766019821167
TTA-STEP: step=205 loss_distill=0.3777 tta_take=0.009s
[epoch 0 scene 28/556] scannetpp/a5114ca13d/DSC frames=150 tta_steps_this_scene=3 mean_loss=0.2732 total_steps=205 time=39.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0384)
Frame 2
tensor(0.0889)
Frame 3
tensor(0.1564)
 # KEYFRAME 1
Frame 4
tensor(0.0363)
Frame 5
tensor(0.0793)
Frame 6
tensor(0.1276)
 # KEYFRAME 2
0.05143336699984502
Frame 7
tensor(0.0519)
Frame 8
tensor(0.1252)
 # KEYFRAME 3
0.05210938399977749
Frame 9
tensor(0.0601)
Frame 10
tensor(0.1156)
 # KEYFRAME 4
0.05375092800022685
Frame 11
tensor(0.0895)
Frame 12
tensor(0.1588)
 # KEYFRAME 5
0.05420270700051333
Frame 13
tensor(0.1190)
 # KEYFRAME 6
0.05560091200095485
Frame 14
tensor(0.0906)
Frame 15
tensor(0.1694)
 # KEYFRAME 7
0.05654490899905795
Frame 16
tensor(0.0806)
Frame 17
tensor(0.1562)
 # KEYFRAME 8
0.057634985001641326
Frame 18
tensor(0.1324)
 # KEYFRAME 9
0.05789262400139705
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 19
tensor(0.1009)
 # KEYFRAME 10
0.05155699599708896
Frame 20
tensor(0.0832)
Frame 21
tensor(0.1410)
 # KEYFRAME 11
0.05266340200250852
Frame 22
tensor(0.0507)
Frame 23
tensor(0.0994)
Frame 24
tensor(0.1347)
 # KEYFRAME 12
0.05399254800067865
Frame 25
tensor(0.0220)
Frame 26
tensor(0.0373)
Frame 27
tensor(0.2960)
 # KEYFRAME 13
0.05525214400040568
Frame 28
tensor(0.0103)
Frame 29
tensor(0.0106)
Frame 30
tensor(0.0177)
Frame 31
tensor(0.0270)
Frame 32
tensor(0.0318)
Frame 33
tensor(0.0440)
Frame 34
tensor(0.0466)
Frame 35
tensor(0.1580)
 # KEYFRAME 14
0.05537278200063156
Frame 36
tensor(0.0269)
Frame 37
tensor(0.0555)
Frame 38
tensor(0.1046)
 # KEYFRAME 15
0.05543609199958155
Frame 39
tensor(0.0321)
Frame 40
tensor(0.0686)
Frame 41
tensor(0.1054)
 # KEYFRAME 16
0.0559062600004836
Frame 42
tensor(0.0449)
Frame 43
tensor(0.7983)
 # KEYFRAME 17
0.056675578001886606
Frame 44
tensor(0.0490)
Frame 45
tensor(0.0951)
Frame 46
tensor(0.2690)
 # KEYFRAME 18
0.05706098700102302
Frame 47
tensor(0.0159)
Frame 48
tensor(0.0197)
Frame 49
tensor(0.0458)
Frame 50
tensor(0.0531)
Frame 51
tensor(0.0427)
Frame 52
tensor(0.0590)
Frame 53
tensor(0.1022)
 # KEYFRAME 19
0.057874924001225736
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 54
tensor(0.0228)
Frame 55
tensor(0.2573)
 # KEYFRAME 20
0.054059417998360004
Frame 56
tensor(0.0395)
Frame 57
tensor(0.0978)
Frame 58
tensor(0.1502)
 # KEYFRAME 21
0.05493090399977518
Frame 59
tensor(0.0248)
Frame 60
tensor(0.0466)
Frame 61
tensor(0.0645)
Frame 62
tensor(0.0771)
Frame 63
tensor(0.1062)
 # KEYFRAME 22
0.055422061999706784
Frame 64
tensor(0.0225)
Frame 65
tensor(0.0455)
Frame 66
tensor(0.0593)
Frame 67
tensor(0.0767)
Frame 68
tensor(0.3689)
 # KEYFRAME 23
0.05582652099838015
Frame 69
tensor(0.0680)
Frame 70
tensor(0.0935)
Frame 71
tensor(0.0991)
Frame 72
tensor(0.1164)
 # KEYFRAME 24
0.056120369998097885
Frame 73
tensor(0.1110)
 # KEYFRAME 25
0.05694818700067117
Frame 74
tensor(0.0552)
Frame 75
tensor(0.1112)
 # KEYFRAME 26
0.05821894200198585
Frame 76
tensor(0.0523)
Frame 77
tensor(0.6368)
 # KEYFRAME 27
0.0594295279988728
Frame 78
tensor(0.0307)
Frame 79
tensor(0.0436)
Frame 80
tensor(0.0544)
Frame 81
tensor(0.0826)
Frame 82
tensor(0.1289)
 # KEYFRAME 28
0.06024103500021738
Frame 83
tensor(0.0129)
Frame 84
tensor(0.0156)
Frame 85
tensor(0.0482)
Frame 86
tensor(0.0214)
Frame 87
tensor(0.0349)
Frame 88
tensor(0.7367)
 # KEYFRAME 29
0.06070294399978593
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 89
tensor(0.1042)
 # KEYFRAME 30
0.05851398199956748
Frame 90
tensor(0.1037)
 # KEYFRAME 31
0.05979686600039713
Frame 91
tensor(0.0984)
Frame 92
tensor(0.2373)
 # KEYFRAME 32
0.059250679001706885
Frame 93
tensor(0.0774)
Frame 94
tensor(0.1365)
 # KEYFRAME 33
0.06023014600214083
Frame 95
tensor(0.0540)
Frame 96
tensor(0.6722)
 # KEYFRAME 34
0.060626333997788606
Frame 97
tensor(0.0551)
Frame 98
tensor(0.0848)
Frame 99
tensor(0.3530)
 # KEYFRAME 35
0.061232201998791425
Frame 100
tensor(0.0704)
Frame 101
tensor(0.1437)
 # KEYFRAME 36
0.06207318899760139
Frame 102
tensor(0.1146)
 # KEYFRAME 37
0.06224274899796001
Frame 103
tensor(0.0925)
Frame 104
tensor(0.1769)
 # KEYFRAME 38
0.06273764700017637
Frame 105
tensor(0.6189)
 # KEYFRAME 39
0.06439875100113568
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.14734044671058655
TTA-STEP: step=206 loss_distill=0.1473 tta_take=0.009s
Frame 106
tensor(0.0222)
Frame 107
tensor(0.0583)
Frame 108
tensor(0.0907)
Frame 109
tensor(0.1349)
 # KEYFRAME 40
0.062412147999566514
Frame 110
tensor(0.0419)
Frame 111
tensor(0.0732)
Frame 112
tensor(0.1199)
 # KEYFRAME 41
0.06386135299908346
Frame 113
tensor(0.5409)
 # KEYFRAME 42
0.06372874299995601
Frame 114
tensor(0.4718)
 # KEYFRAME 43
0.06374005299949204
Frame 115
tensor(0.0940)
Frame 116
tensor(0.1570)
 # KEYFRAME 44
0.0647226490000321
Frame 117
tensor(0.0791)
Frame 118
tensor(0.1002)
 # KEYFRAME 45
0.06502758799979347
Frame 119
tensor(0.0184)
Frame 120
tensor(0.0233)
Frame 121
tensor(0.7191)
 # KEYFRAME 46
0.06543530699855182
Frame 122
tensor(0.1124)
 # KEYFRAME 47
0.06551858599777916
Frame 123
tensor(0.0612)
Frame 124
tensor(0.1317)
 # KEYFRAME 48
0.06661505299780401
Frame 125
tensor(0.0644)
Frame 126
tensor(0.2633)
 # KEYFRAME 49
0.06736822899983963
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2024911642074585
TTA-STEP: step=207 loss_distill=0.2025 tta_take=0.009s
Frame 127
tensor(0.0289)
Frame 128
tensor(0.0476)
Frame 129
tensor(0.0570)
Frame 130
tensor(0.0625)
Frame 131
tensor(0.0732)
Frame 132
tensor(0.4019)
 # KEYFRAME 50
0.06668234200333245
Frame 133
tensor(0.0478)
Frame 134
tensor(0.1067)
 # KEYFRAME 51
0.06872218499847804
Frame 135
tensor(0.6935)
 # KEYFRAME 52
0.06888434499705909
Frame 136
tensor(0.0744)
Frame 137
tensor(0.1915)
 # KEYFRAME 53
0.07050936800078489
Frame 138
tensor(0.0575)
Frame 139
tensor(0.1049)
 # KEYFRAME 54
0.069363982998766
Frame 140
tensor(0.0824)
Frame 141
tensor(0.1193)
 # KEYFRAME 55
0.07208754300154396
Frame 142
tensor(0.4551)
 # KEYFRAME 56
0.07331971899839118
Frame 143
tensor(0.0712)
Frame 144
tensor(0.1414)
 # KEYFRAME 57
0.07370566700046766
Frame 145
tensor(0.0839)
Frame 146
tensor(0.1815)
 # KEYFRAME 58
0.07410550600252463
Frame 147
tensor(0.1318)
 # KEYFRAME 59
0.07500248300129897
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.21814852952957153
TTA-STEP: step=208 loss_distill=0.2181 tta_take=0.009s
Frame 148
tensor(0.0959)
Frame 149
tensor(0.1702)
 # KEYFRAME 60
0.07127479599876096
Backending... 61 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 56730, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2869707942008972
TTA-STEP: step=209 loss_distill=0.2870 tta_take=0.003s
[epoch 0 scene 29/556] scannetpp/1d003b07bd/DSC frames=150 tta_steps_this_scene=4 mean_loss=0.2137 total_steps=209 time=42.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0563)
Frame 2
tensor(0.3739)
 # KEYFRAME 1
Frame 3
tensor(0.4511)
 # KEYFRAME 2
0.050887847999547375
Frame 4
tensor(0.3165)
 # KEYFRAME 3
0.0523134739996749
Frame 5
tensor(0.1654)
 # KEYFRAME 4
0.054816064999613445
Frame 6
tensor(0.1836)
 # KEYFRAME 5
0.05567477099975804
Frame 7
tensor(0.2906)
 # KEYFRAME 6
0.05624560000069323
Frame 8
tensor(0.2115)
 # KEYFRAME 7
0.05727628599925083
Frame 9
tensor(0.3340)
 # KEYFRAME 8
0.05817519199990784
Frame 10
tensor(0.2183)
 # KEYFRAME 9
0.0587018000005628
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.2869)
 # KEYFRAME 10
0.051969714997539995
Frame 12
tensor(0.1512)
 # KEYFRAME 11
0.05337573900033021
Frame 13
tensor(0.3098)
 # KEYFRAME 12
0.054217687000345904
Frame 14
tensor(0.3303)
 # KEYFRAME 13
0.05648869900323916
Frame 15
tensor(0.1105)
 # KEYFRAME 14
0.05745351500081597
Frame 16
tensor(0.1631)
 # KEYFRAME 15
0.05781343399939942
Frame 17
tensor(0.2291)
 # KEYFRAME 16
0.058794370997929946
Frame 18
tensor(0.2161)
 # KEYFRAME 17
0.06016513599752216
Frame 19
tensor(0.1631)
 # KEYFRAME 18
0.06107891200008453
Frame 20
tensor(0.1310)
 # KEYFRAME 19
0.06239533799816854
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.1301)
 # KEYFRAME 20
0.05873590999908629
Frame 22
tensor(0.3221)
 # KEYFRAME 21
0.060194255001988495
Frame 23
tensor(0.1894)
 # KEYFRAME 22
0.06130111099992064
Frame 24
tensor(0.8499)
 # KEYFRAME 23
0.06185275900134002
Frame 25
tensor(0.4394)
 # KEYFRAME 24
0.06294576499931281
Frame 26
tensor(0.1007)
 # KEYFRAME 25
0.06342560399934882
Frame 27
tensor(0.3933)
 # KEYFRAME 26
0.0655827059999865
Frame 28
tensor(0.4579)
 # KEYFRAME 27
0.06647541300117155
Frame 29
tensor(0.1494)
 # KEYFRAME 28
0.0673917200001597
Frame 30
tensor(0.1336)
 # KEYFRAME 29
0.06836937600019155
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 31
tensor(0.3009)
 # KEYFRAME 30
0.0656825559999561
Frame 32
tensor(0.0610)
Frame 33
tensor(0.2545)
 # KEYFRAME 31
0.06764265899983002
Frame 34
tensor(0.2673)
 # KEYFRAME 32
0.06860262600093847
Frame 35
tensor(0.2491)
 # KEYFRAME 33
0.07020247000036761
Frame 36
tensor(0.3307)
 # KEYFRAME 34
0.07142366600237438
Frame 37
tensor(0.2810)
 # KEYFRAME 35
0.07261508099691127
Frame 38
tensor(0.1892)
 # KEYFRAME 36
0.07367664800040075
Frame 39
tensor(0.1331)
 # KEYFRAME 37
0.07598686900018947
Frame 40
tensor(0.1901)
 # KEYFRAME 38
0.07597850900128833
Frame 41
tensor(0.2333)
 # KEYFRAME 39
0.0770014860027004
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.08677096664905548
TTA-STEP: step=210 loss_distill=0.0868 tta_take=0.009s
Frame 42
tensor(0.1763)
 # KEYFRAME 40
0.0722657620026439
Frame 43
tensor(0.1543)
 # KEYFRAME 41
0.07424877599987667
Frame 44
tensor(0.1161)
 # KEYFRAME 42
0.0745292840001639
Frame 45
tensor(0.2024)
 # KEYFRAME 43
0.07567770999958157
Frame 46
tensor(0.2161)
 # KEYFRAME 44
0.07564079000076163
Frame 47
tensor(0.1893)
 # KEYFRAME 45
0.07636731800084817
Frame 48
tensor(0.2332)
 # KEYFRAME 46
0.07693844500317937
Frame 49
tensor(0.2641)
 # KEYFRAME 47
0.07790348300113692
Frame 50
tensor(0.1742)
 # KEYFRAME 48
0.0789177490005386
Frame 51
tensor(0.2117)
 # KEYFRAME 49
0.07927406700036954
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.12710735201835632
TTA-STEP: step=211 loss_distill=0.1271 tta_take=0.009s
Frame 52
tensor(0.1376)
 # KEYFRAME 50
0.07923962700078846
Frame 53
tensor(0.0820)
Frame 54
tensor(0.1434)
 # KEYFRAME 51
0.0824625860004744
Frame 55
tensor(0.1912)
 # KEYFRAME 52
0.08134801000051084
Frame 56
tensor(0.1548)
 # KEYFRAME 53
0.08336908300043433
Frame 57
tensor(0.1254)
 # KEYFRAME 54
0.08411014000012074
Frame 58
tensor(0.1926)
 # KEYFRAME 55
0.084254539997346
Frame 59
tensor(0.3332)
 # KEYFRAME 56
0.08532948599895462
Frame 60
tensor(0.1279)
 # KEYFRAME 57
0.08562207499926444
Frame 61
tensor(0.1452)
 # KEYFRAME 58
0.08666083199932473
Frame 62
tensor(0.1430)
 # KEYFRAME 59
0.08721020899974974
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1435731053352356
TTA-STEP: step=212 loss_distill=0.1436 tta_take=0.009s
Frame 63
tensor(0.2019)
 # KEYFRAME 60
0.08578138400116586
Frame 64
tensor(0.2125)
 # KEYFRAME 61
0.0885148939996725
Frame 65
tensor(0.2370)
 # KEYFRAME 62
0.08790516700173612
Frame 66
tensor(0.3754)
 # KEYFRAME 63
0.08849904399903608
Frame 67
tensor(0.1183)
 # KEYFRAME 64
0.08964859000116121
Frame 68
tensor(0.3137)
 # KEYFRAME 65
0.09036827800082392
Frame 69
tensor(0.2538)
 # KEYFRAME 66
0.0915706229970965
Frame 70
tensor(0.2546)
 # KEYFRAME 67
0.09169508299964946
Frame 71
tensor(0.2140)
 # KEYFRAME 68
0.09265954000147758
Frame 72
tensor(0.2718)
 # KEYFRAME 69
0.09402995400159853
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.18870879709720612
TTA-STEP: step=213 loss_distill=0.1887 tta_take=0.009s
Frame 73
tensor(0.2617)
 # KEYFRAME 70
0.09318127799997455
Frame 74
tensor(0.2740)
 # KEYFRAME 71
0.09417509400009294
Frame 75
tensor(0.3131)
 # KEYFRAME 72
0.0958102289987437
Frame 76
tensor(0.2568)
 # KEYFRAME 73
0.09605173800082412
Frame 77
tensor(0.1115)
 # KEYFRAME 74
0.09776263200183166
Frame 78
tensor(0.2252)
 # KEYFRAME 75
0.09848983900155872
Frame 79
tensor(0.1805)
 # KEYFRAME 76
0.10026389300037408
Frame 80
tensor(0.2258)
 # KEYFRAME 77
0.10034077299860655
Frame 81
tensor(0.4606)
 # KEYFRAME 78
0.10168290799992974
Frame 82
tensor(0.3643)
 # KEYFRAME 79
0.10218079599871999
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 3, 4, 5] dropped=[2] scores=[(0, -4.599379062652588), (1, -5.381040096282959), (2, -5.844901084899902), (3, -5.434171199798584), (4, -5.38231897354126), (5, -5.267821788787842)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[0, 5, 1, 4, 3] dts=[7, 2, 6, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.21935567259788513
TTA-STEP: step=214 loss_distill=0.2194 tta_take=0.009s
Frame 83
tensor(0.4350)
 # KEYFRAME 80
0.09342369699879782
Frame 84
tensor(0.2159)
 # KEYFRAME 81
0.09390240500215441
Frame 85
tensor(0.1606)
 # KEYFRAME 82
0.09548636900217389
Frame 86
tensor(0.1118)
 # KEYFRAME 83
0.09534627000175533
Frame 87
tensor(0.2148)
 # KEYFRAME 84
0.09690317499917
Frame 88
tensor(0.1711)
 # KEYFRAME 85
0.09753648199693998
Frame 89
tensor(0.1581)
 # KEYFRAME 86
0.09766657200088957
Frame 90
tensor(0.2365)
 # KEYFRAME 87
0.09889181800099323
Frame 91
tensor(0.1466)
 # KEYFRAME 88
0.09904866700162529
Frame 92
tensor(0.3065)
 # KEYFRAME 89
0.1003385320000234
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 3, 4, 5, 6] dropped=[1, 2] scores=[(0, -3.9053633213043213), (1, -4.586120128631592), (2, -5.01033878326416), (3, -4.4976067543029785), (4, -4.443684101104736), (5, -4.232385158538818), (6, -4.389276027679443)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[0, 5, 6, 4, 3] dts=[8, 3, 2, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.28111645579338074
TTA-STEP: step=215 loss_distill=0.2811 tta_take=0.009s
Frame 93
tensor(0.3788)
 # KEYFRAME 90
0.0925746100001561
Frame 94
tensor(0.1410)
 # KEYFRAME 91
0.09569506899788394
Frame 95
tensor(0.0588)
Frame 96
tensor(0.3374)
 # KEYFRAME 92
0.095461119999527
Frame 97
tensor(0.3059)
 # KEYFRAME 93
0.09626834700247855
Frame 98
tensor(0.1678)
 # KEYFRAME 94
0.09682178499861038
Frame 99
tensor(0.3036)
 # KEYFRAME 95
0.09810691000166116
Frame 100
tensor(0.2098)
 # KEYFRAME 96
0.09840523000093526
Frame 101
tensor(0.1910)
 # KEYFRAME 97
0.09962265499780187
Frame 102
tensor(0.1541)
 # KEYFRAME 98
0.10156409800038091
Frame 103
tensor(0.2123)
 # KEYFRAME 99
0.10035827200044878
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 4, 5, 6, 7] dropped=[1, 2, 3] scores=[(0, -4.176660060882568), (1, -4.941796779632568), (2, -5.3596415519714355), (3, -4.922520160675049), (4, -4.841445446014404), (5, -4.720991611480713), (6, -4.858712196350098), (7, -4.393322467803955)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[0, 7, 5, 4, 6] dts=[9, 2, 4, 5, 3]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2806060314178467
TTA-STEP: step=216 loss_distill=0.2806 tta_take=0.009s
Frame 104
tensor(0.2689)
 # KEYFRAME 100
0.09326688700093655
Frame 105
tensor(0.1863)
 # KEYFRAME 101
0.09684936499979813
Frame 106
tensor(0.0504)
Frame 107
tensor(0.2023)
 # KEYFRAME 102
0.09592296800110489
Frame 108
tensor(0.2540)
 # KEYFRAME 103
0.09727534299963736
Frame 109
tensor(0.0673)
Frame 110
tensor(0.0203)
Frame 111
tensor(0.1265)
 # KEYFRAME 104
0.09725791299933917
Frame 112
tensor(0.1745)
 # KEYFRAME 105
0.09794133100149338
Frame 113
tensor(0.2109)
 # KEYFRAME 106
0.0984835290000774
Frame 114
tensor(0.1812)
 # KEYFRAME 107
0.09872670899858349
Frame 115
tensor(0.2539)
 # KEYFRAME 108
0.10033924199888133
Frame 116
tensor(0.2828)
 # KEYFRAME 109
0.10000497399960295
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 4, 7, 8] dropped=[2, 3, 5, 6] scores=[(0, -4.524435043334961), (1, -5.291869163513184), (2, -5.710008144378662), (3, -5.3884124755859375), (4, -5.272141456604004), (5, -5.328790664672852), (6, -5.50014066696167), (7, -5.054126739501953), (8, -3.787688732147217)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[8, 0, 7, 4, 1] dts=[2, 10, 3, 6, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1413748860359192
TTA-STEP: step=217 loss_distill=0.1414 tta_take=0.009s
Frame 117
tensor(0.1843)
 # KEYFRAME 110
0.0936694060001173
Frame 118
tensor(0.1434)
 # KEYFRAME 111
0.09490497200022219
Frame 119
tensor(0.1872)
 # KEYFRAME 112
0.0960495079998509
Frame 120
tensor(0.2311)
 # KEYFRAME 113
0.09668428500299342
Frame 121
tensor(0.1747)
 # KEYFRAME 114
0.09722869400138734
Frame 122
tensor(0.0397)
Frame 123
tensor(0.3437)
 # KEYFRAME 115
0.09744983299970045
Frame 124
tensor(0.2461)
 # KEYFRAME 116
0.0974523129989393
Frame 125
tensor(0.1623)
 # KEYFRAME 117
0.09906767699794727
Frame 126
tensor(0.2282)
 # KEYFRAME 118
0.09936495600049966
Frame 127
tensor(0.1577)
 # KEYFRAME 119
0.10077821100276196
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 7, 8, 9] dropped=[2, 3, 4, 5, 6] scores=[(0, -4.716770648956299), (1, -5.568607330322266), (2, -6.034786224365234), (3, -5.728577136993408), (4, -5.6194610595703125), (5, -5.748247146606445), (6, -5.94729471206665), (7, -5.430878639221191), (8, -3.961076498031616), (9, -4.6175665855407715)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[8, 9, 0, 7, 1] dts=[3, 2, 11, 4, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.23819173872470856
TTA-STEP: step=218 loss_distill=0.2382 tta_take=0.009s
Frame 128
tensor(0.4613)
 # KEYFRAME 120
0.09310743900277885
Frame 129
tensor(0.6448)
 # KEYFRAME 121
0.09650589599914383
Frame 130
tensor(0.1325)
 # KEYFRAME 122
0.09580874899984337
Frame 131
tensor(0.2803)
 # KEYFRAME 123
0.09613613799956511
Frame 132
tensor(0.4109)
 # KEYFRAME 124
0.09719323299941607
Frame 133
tensor(0.3351)
 # KEYFRAME 125
0.0989527370002179
Frame 134
tensor(0.2349)
 # KEYFRAME 126
0.09952322599929175
Frame 135
tensor(0.1599)
 # KEYFRAME 127
0.10065082099754363
Frame 136
tensor(0.0563)
Frame 137
tensor(0.0587)
Backending... 128 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 7, 8, 9] dropped=[2, 3, 4, 5, 6, 10] scores=[(0, -4.626603126525879), (1, -5.497041702270508), (2, -5.890820026397705), (3, -5.675210475921631), (4, -5.522723197937012), (5, -5.700336933135986), (6, -5.8430633544921875), (7, -5.369271278381348), (8, -3.841737985610962), (9, -4.486005783081055), (10, -5.52647066116333)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 70788, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[8, 9, 0, 7, 1] dts=[4, 3, 12, 5, 11]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.238970547914505
TTA-STEP: step=219 loss_distill=0.2390 tta_take=0.008s
[epoch 0 scene 30/556] scannetpp/8d563fc2cc/frame frames=138 tta_steps_this_scene=10 mean_loss=0.1946 total_steps=219 time=64.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.2226)
 # KEYFRAME 1
Frame 2
tensor(0.1495)
 # KEYFRAME 2
0.05140163699979894
Frame 3
tensor(0.1889)
 # KEYFRAME 3
0.05221502399945166
Frame 4
tensor(0.0893)
Frame 5
tensor(0.0785)
Frame 6
tensor(0.1588)
 # KEYFRAME 4
0.05556763200002024
Frame 7
tensor(0.1542)
 # KEYFRAME 5
0.05574856100065517
Frame 8
tensor(0.0283)
Frame 9
tensor(0.2012)
 # KEYFRAME 6
0.05665528800091124
Frame 10
tensor(0.0985)
Frame 11
tensor(0.2273)
 # KEYFRAME 7
0.05741198500254541
Frame 12
tensor(0.1591)
 # KEYFRAME 8
0.05833592300041346
Frame 13
tensor(0.1111)
 # KEYFRAME 9
0.05869814100151416
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 14
tensor(0.1133)
 # KEYFRAME 10
0.052345062998938374
Frame 15
tensor(0.0575)
Frame 16
tensor(0.2329)
 # KEYFRAME 11
0.05343981999976677
Frame 17
tensor(0.1477)
 # KEYFRAME 12
0.054294686000503134
Frame 18
tensor(0.0649)
Frame 19
tensor(0.4642)
 # KEYFRAME 13
0.056523897997976746
Frame 20
tensor(0.1785)
 # KEYFRAME 14
0.057397545999265276
Frame 21
tensor(0.2103)
 # KEYFRAME 15
0.05827203200169606
Frame 22
tensor(0.1641)
 # KEYFRAME 16
0.05893461999949068
Frame 23
tensor(0.0986)
Frame 24
tensor(0.1683)
 # KEYFRAME 17
0.060209275001398055
Frame 25
tensor(0.0702)
Frame 26
tensor(0.1720)
 # KEYFRAME 18
0.06106011300289538
Frame 27
tensor(0.1490)
 # KEYFRAME 19
0.06278092600041418
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 28
tensor(0.1136)
 # KEYFRAME 20
0.059506768000574084
Frame 29
tensor(0.1008)
 # KEYFRAME 21
0.0606474829983199
Frame 30
tensor(0.0972)
Frame 31
tensor(0.3336)
 # KEYFRAME 22
0.06277611599944066
Frame 32
tensor(0.1959)
 # KEYFRAME 23
0.06331219499770668
Frame 33
tensor(0.3675)
 # KEYFRAME 24
0.06436645000212593
Frame 34
tensor(0.2417)
 # KEYFRAME 25
0.06525149700246402
Frame 35
tensor(0.2553)
 # KEYFRAME 26
0.06660946199917817
Frame 36
tensor(0.1474)
 # KEYFRAME 27
0.06750680899858708
Frame 37
tensor(0.1524)
 # KEYFRAME 28
0.06830867700045928
Frame 38
tensor(0.5405)
 # KEYFRAME 29
0.06945665300008841
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 39
tensor(0.1795)
 # KEYFRAME 30
0.06616378400212852
Frame 40
tensor(0.2042)
 # KEYFRAME 31
0.06742760000270209
Frame 41
tensor(0.1618)
 # KEYFRAME 32
0.06891564400211792
Frame 42
tensor(0.1401)
 # KEYFRAME 33
0.06873290500152507
Frame 43
tensor(0.1271)
 # KEYFRAME 34
0.07008279000001494
Frame 44
tensor(0.1615)
 # KEYFRAME 35
0.07111101599730318
Frame 45
tensor(0.4148)
 # KEYFRAME 36
0.07168474499849253
Frame 46
tensor(0.3294)
 # KEYFRAME 37
0.07219521300066845
Frame 47
tensor(0.0391)
Frame 48
tensor(0.1836)
 # KEYFRAME 38
0.07286666100117145
Frame 49
tensor(0.3151)
 # KEYFRAME 39
0.073885566998797
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.09014798700809479
TTA-STEP: step=220 loss_distill=0.0901 tta_take=0.009s
Frame 50
tensor(0.1461)
 # KEYFRAME 40
0.07245227200110094
Frame 51
tensor(0.1438)
 # KEYFRAME 41
0.07526163100192207
Frame 52
tensor(0.2295)
 # KEYFRAME 42
0.07529757099837298
Frame 53
tensor(0.2779)
 # KEYFRAME 43
0.07626146799884737
Frame 54
tensor(0.3789)
 # KEYFRAME 44
0.07689704600124969
Frame 55
tensor(0.2340)
 # KEYFRAME 45
0.07749819399759872
Frame 56
tensor(0.1347)
 # KEYFRAME 46
0.07795927199913422
Frame 57
tensor(0.0706)
Frame 58
tensor(0.3726)
 # KEYFRAME 47
0.07831310099936672
Frame 59
tensor(0.1312)
 # KEYFRAME 48
0.08012057400264894
Frame 60
tensor(0.3612)
 # KEYFRAME 49
0.08154333900165511
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2169400006532669
TTA-STEP: step=221 loss_distill=0.2169 tta_take=0.009s
Frame 61
tensor(0.1542)
 # KEYFRAME 50
0.07942909700068412
Frame 62
tensor(0.3096)
 # KEYFRAME 51
0.08118310999998357
Frame 63
tensor(0.1859)
 # KEYFRAME 52
0.08143652000217116
Frame 64
tensor(0.1206)
 # KEYFRAME 53
0.08241612600249937
Frame 65
tensor(0.2975)
 # KEYFRAME 54
0.08334657299928949
Frame 66
tensor(0.2623)
 # KEYFRAME 55
0.08369816099730087
Frame 67
tensor(0.2393)
 # KEYFRAME 56
0.08403834000273491
Frame 68
tensor(0.2393)
 # KEYFRAME 57
0.08518980600274517
Frame 69
tensor(0.3166)
 # KEYFRAME 58
0.08592079399750219
Frame 70
tensor(0.1011)
 # KEYFRAME 59
0.08698854999965988
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1912602186203003
TTA-STEP: step=222 loss_distill=0.1913 tta_take=0.009s
Frame 71
tensor(0.2107)
 # KEYFRAME 60
0.08637625200208277
Frame 72
tensor(0.1738)
 # KEYFRAME 61
0.08853799500138848
Frame 73
tensor(0.1521)
 # KEYFRAME 62
0.08811739600059809
Frame 74
tensor(0.1627)
 # KEYFRAME 63
0.0893644919997314
Frame 75
tensor(0.2299)
 # KEYFRAME 64
0.08946194099917193
Frame 76
tensor(0.2302)
 # KEYFRAME 65
0.0909788960016158
Frame 77
tensor(0.2704)
 # KEYFRAME 66
0.09198986199771753
Frame 78
tensor(0.1518)
 # KEYFRAME 67
0.09284168899830547
Frame 79
tensor(0.2327)
 # KEYFRAME 68
0.09419007399992552
Frame 80
tensor(0.1413)
 # KEYFRAME 69
0.09446160299921758
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.16915732622146606
TTA-STEP: step=223 loss_distill=0.1692 tta_take=0.009s
Frame 81
tensor(0.1154)
 # KEYFRAME 70
0.09303870799703873
Frame 82
tensor(0.2121)
 # KEYFRAME 71
0.09536044999913429
Frame 83
tensor(0.1504)
 # KEYFRAME 72
0.0947817420019419
Frame 84
tensor(0.1213)
 # KEYFRAME 73
0.09600921800301876
Frame 85
tensor(0.1082)
 # KEYFRAME 74
0.09633566599950427
Frame 86
tensor(0.1608)
 # KEYFRAME 75
0.09807619099956355
Frame 87
tensor(0.0615)
Frame 88
tensor(0.2657)
 # KEYFRAME 76
0.09834532999957446
Frame 89
tensor(0.1275)
 # KEYFRAME 77
0.09911417699913727
Frame 90
tensor(0.1263)
 # KEYFRAME 78
0.09993345299881184
Frame 91
tensor(0.2258)
 # KEYFRAME 79
0.10086803000012878
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 2, 3, 4, 5] dropped=[1] scores=[(0, -5.307744979858398), (1, -6.023624897003174), (2, -5.4768266677856445), (3, -5.034435749053955), (4, -4.313558101654053), (5, -4.799762725830078)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[4, 5, 3, 0, 2] dts=[3, 2, 4, 7, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.237630233168602
TTA-STEP: step=224 loss_distill=0.2376 tta_take=0.009s
Frame 92
tensor(0.1394)
 # KEYFRAME 80
0.0926215699983004
Frame 93
tensor(0.2996)
 # KEYFRAME 81
0.09596465800132137
Frame 94
tensor(0.2222)
 # KEYFRAME 82
0.09539994000078877
Frame 95
tensor(0.1011)
 # KEYFRAME 83
0.09668868600056157
Frame 96
tensor(0.7649)
 # KEYFRAME 84
0.09819656000036048
Frame 97
tensor(0.1377)
 # KEYFRAME 85
0.09978541499731364
Frame 98
tensor(0.1036)
 # KEYFRAME 86
0.10027593199993134
Frame 99
tensor(0.3518)
 # KEYFRAME 87
0.10133233899978222
Frame 100
tensor(0.1101)
 # KEYFRAME 88
0.10206918599942583
Backending... 89 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 3, 4, 5, 6] dropped=[1, 2] scores=[(0, -5.8898797035217285), (1, -6.666327476501465), (2, -6.158635139465332), (3, -5.710891246795654), (4, -4.973763465881348), (5, -5.510481357574463), (6, -5.884638786315918)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 71829, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[4, 5, 3, 6, 0] dts=[4, 3, 5, 2, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.23692993819713593
TTA-STEP: step=225 loss_distill=0.2369 tta_take=0.009s
[epoch 0 scene 31/556] scannetpp/87f6d7d564/frame frames=101 tta_steps_this_scene=6 mean_loss=0.1903 total_steps=225 time=35.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0469)
Frame 2
tensor(0.0889)
Frame 3
tensor(0.1359)
 # KEYFRAME 1
Frame 4
tensor(0.0497)
Frame 5
tensor(0.0943)
Frame 6
tensor(0.1437)
 # KEYFRAME 2
0.052208094002708094
Frame 7
tensor(0.0448)
Frame 8
tensor(0.1000)
Frame 9
tensor(0.1533)
 # KEYFRAME 3
0.05237884300004225
Frame 10
tensor(0.0472)
Frame 11
tensor(0.0980)
Frame 12
tensor(0.1502)
 # KEYFRAME 4
0.05272278199845459
Frame 13
tensor(0.0469)
Frame 14
tensor(0.1008)
 # KEYFRAME 5
0.05263264300083392
Frame 15
tensor(0.0454)
Frame 16
tensor(0.0924)
Frame 17
tensor(0.1408)
 # KEYFRAME 6
0.05333063999933074
Frame 18
tensor(0.0499)
Frame 19
tensor(0.1092)
 # KEYFRAME 7
0.052728742000908824
Frame 20
tensor(0.0444)
Frame 21
tensor(0.0968)
Frame 22
tensor(0.1588)
 # KEYFRAME 8
0.05374181799925282
Frame 23
tensor(0.0469)
Frame 24
tensor(0.1029)
 # KEYFRAME 9
0.052792922000662657
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.0530)
Frame 26
tensor(0.0969)
Frame 27
tensor(0.1500)
 # KEYFRAME 10
0.052001414998812834
Frame 28
tensor(0.0442)
Frame 29
tensor(0.0961)
Frame 30
tensor(0.1497)
 # KEYFRAME 11
0.05222002400114434
Frame 31
tensor(0.0497)
Frame 32
tensor(0.0963)
Frame 33
tensor(0.1510)
 # KEYFRAME 12
0.05286621100094635
Frame 34
tensor(0.0496)
Frame 35
tensor(0.1028)
 # KEYFRAME 13
0.05207146500106319
Frame 36
tensor(0.0454)
Frame 37
tensor(0.0947)
Frame 38
tensor(0.1525)
 # KEYFRAME 14
0.05420946699814522
Frame 39
tensor(0.0517)
Frame 40
tensor(0.1062)
 # KEYFRAME 15
0.052721762000146555
Frame 41
tensor(0.0432)
Frame 42
tensor(0.0906)
Frame 43
tensor(0.1451)
 # KEYFRAME 16
0.052519472999847494
Frame 44
tensor(0.0496)
Frame 45
tensor(0.0987)
Frame 46
tensor(0.1548)
 # KEYFRAME 17
0.05524281299949507
Frame 47
tensor(0.0465)
Frame 48
tensor(0.1022)
 # KEYFRAME 18
0.05355030899954727
Frame 49
tensor(0.0509)
Frame 50
tensor(0.1020)
 # KEYFRAME 19
0.059869626002182486
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 51
tensor(0.0554)
Frame 52
tensor(0.1021)
 # KEYFRAME 20
0.052813050999247935
Frame 53
tensor(0.0469)
Frame 54
tensor(0.1022)
 # KEYFRAME 21
0.05269357599900104
Frame 55
tensor(0.0428)
Frame 56
tensor(0.1006)
 # KEYFRAME 22
0.05342913399726967
Frame 57
tensor(0.0410)
Frame 58
tensor(0.0956)
Frame 59
tensor(0.1385)
 # KEYFRAME 23
0.05218352800147841
Frame 60
tensor(0.0387)
Frame 61
tensor(0.0866)
Frame 62
tensor(0.1355)
 # KEYFRAME 24
0.05327491399657447
Frame 63
tensor(0.0449)
Frame 64
tensor(0.0985)
Frame 65
tensor(0.1360)
 # KEYFRAME 25
0.052564576999429846
Frame 66
tensor(0.0450)
Frame 67
tensor(0.1014)
 # KEYFRAME 26
0.05258586800118792
Frame 68
tensor(0.0450)
Frame 69
tensor(0.0975)
Frame 70
tensor(0.1418)
 # KEYFRAME 27
0.05658917300024768
Frame 71
tensor(0.0455)
Frame 72
tensor(0.0946)
Frame 73
tensor(0.1362)
 # KEYFRAME 28
0.05268926699864096
Frame 74
tensor(0.0503)
Frame 75
tensor(0.0955)
Frame 76
tensor(0.1323)
 # KEYFRAME 29
0.05564833699827432
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 77
tensor(0.0523)
Frame 78
tensor(0.0942)
Frame 79
tensor(0.1272)
 # KEYFRAME 30
0.05205772900080774
Frame 80
tensor(0.0462)
Frame 81
tensor(0.0875)
Frame 82
tensor(0.1267)
 # KEYFRAME 31
0.05285784599982435
Frame 83
tensor(0.0429)
Frame 84
tensor(0.0853)
Frame 85
tensor(0.1305)
 # KEYFRAME 32
0.05295151599784731
Frame 86
tensor(0.0425)
Frame 87
tensor(0.0793)
Frame 88
tensor(0.1244)
 # KEYFRAME 33
0.05215879900060827
Frame 89
tensor(0.0363)
Frame 90
tensor(0.0790)
Frame 91
tensor(0.1156)
 # KEYFRAME 34
0.05290222600160632
Frame 92
tensor(0.0321)
Frame 93
tensor(0.0696)
Frame 94
tensor(0.1010)
 # KEYFRAME 35
0.05223889900298673
Frame 95
tensor(0.0341)
Frame 96
tensor(0.0687)
Frame 97
tensor(0.0981)
Frame 98
tensor(0.1341)
 # KEYFRAME 36
0.05239109800095321
Frame 99
tensor(0.0318)
Frame 100
tensor(0.0738)
Frame 101
tensor(0.1071)
 # KEYFRAME 37
0.05335461399954511
Frame 102
tensor(0.0294)
Frame 103
tensor(0.0708)
Frame 104
tensor(0.1027)
 # KEYFRAME 38
0.05225970800165669
Frame 105
tensor(0.0378)
Frame 106
tensor(0.0686)
Frame 107
tensor(0.0963)
Frame 108
tensor(0.1400)
 # KEYFRAME 39
0.053507614000409376
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3921157419681549
TTA-STEP: step=226 loss_distill=0.3921 tta_take=0.005s
Frame 109
tensor(0.0319)
Frame 110
tensor(0.0658)
Frame 111
tensor(0.0986)
Frame 112
tensor(0.1317)
 # KEYFRAME 40
0.05218924799919478
Frame 113
tensor(0.0303)
Frame 114
tensor(0.0568)
Frame 115
tensor(0.1008)
 # KEYFRAME 41
0.05382059199837386
Frame 116
tensor(0.0267)
Frame 117
tensor(0.0543)
Frame 118
tensor(0.0844)
Frame 119
tensor(0.1118)
 # KEYFRAME 42
0.05383627300034277
Frame 120
tensor(0.0256)
Frame 121
tensor(0.0481)
Frame 122
tensor(0.0716)
Frame 123
tensor(0.0973)
Frame 124
tensor(0.1168)
 # KEYFRAME 43
0.05215264900107286
Frame 125
tensor(0.0163)
Frame 126
tensor(0.0400)
Frame 127
tensor(0.0624)
Frame 128
tensor(0.0871)
Frame 129
tensor(0.1033)
 # KEYFRAME 44
0.05383208200146328
Frame 130
tensor(0.0192)
Frame 131
tensor(0.0395)
Frame 132
tensor(0.0644)
Frame 133
tensor(0.0825)
Frame 134
tensor(0.1000)
 # KEYFRAME 45
0.052794175997405546
Frame 135
tensor(0.0180)
Frame 136
tensor(0.0370)
Frame 137
tensor(0.0581)
Frame 138
tensor(0.0677)
Frame 139
tensor(0.0835)
Frame 140
tensor(0.1047)
 # KEYFRAME 46
0.05243362800320028
Frame 141
tensor(0.0160)
Frame 142
tensor(0.0351)
Frame 143
tensor(0.0500)
Frame 144
tensor(0.0678)
Frame 145
tensor(0.0873)
Frame 146
tensor(0.0990)
Frame 147
tensor(0.1137)
 # KEYFRAME 47
0.05379434299902641
Frame 148
tensor(0.0165)
Frame 149
tensor(0.0270)
Frame 150
tensor(0.0470)
Frame 151
tensor(0.0637)
Frame 152
tensor(0.0836)
Frame 153
tensor(0.0960)
Frame 154
tensor(0.1158)
 # KEYFRAME 48
0.05273697599841398
Frame 155
tensor(0.0161)
Frame 156
tensor(0.0363)
Frame 157
tensor(0.0540)
Frame 158
tensor(0.0808)
Frame 159
tensor(0.1032)
 # KEYFRAME 49
0.0539114229977713
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.610461413860321
TTA-STEP: step=227 loss_distill=0.6105 tta_take=0.005s
Frame 160
tensor(0.0178)
Frame 161
tensor(0.0366)
Frame 162
tensor(0.0625)
Frame 163
tensor(0.0804)
Frame 164
tensor(0.1051)
 # KEYFRAME 50
0.052288748000137275
Frame 165
tensor(0.0184)
Frame 166
tensor(0.0404)
Frame 167
tensor(0.0625)
Frame 168
tensor(0.0856)
Frame 169
tensor(0.1062)
 # KEYFRAME 51
0.0522692080012348
Frame 170
tensor(0.0192)
Frame 171
tensor(0.0419)
Frame 172
tensor(0.0631)
Frame 173
tensor(0.0825)
Frame 174
tensor(0.1061)
 # KEYFRAME 52
0.052264757996454136
Frame 175
tensor(0.0186)
Frame 176
tensor(0.0371)
Frame 177
tensor(0.0598)
Frame 178
tensor(0.0800)
Frame 179
tensor(0.1031)
 # KEYFRAME 53
0.05260193699723459
Frame 180
tensor(0.0134)
Frame 181
tensor(0.0344)
Frame 182
tensor(0.0566)
Frame 183
tensor(0.0726)
Frame 184
tensor(0.0906)
Frame 185
tensor(0.1107)
 # KEYFRAME 54
0.053498762998060556
Frame 186
tensor(0.0160)
Frame 187
tensor(0.0358)
Frame 188
tensor(0.0581)
Frame 189
tensor(0.0741)
Frame 190
tensor(0.0909)
Frame 191
tensor(0.1050)
 # KEYFRAME 55
0.05230367799958913
Frame 192
tensor(0.0187)
Frame 193
tensor(0.0347)
Frame 194
tensor(0.0505)
Frame 195
tensor(0.0643)
Frame 196
tensor(0.0853)
Frame 197
tensor(0.0985)
Frame 198
tensor(0.1096)
 # KEYFRAME 56
0.05263589700189186
Frame 199
tensor(0.0144)
Frame 200
tensor(0.0266)
Frame 201
tensor(0.0420)
Frame 202
tensor(0.0565)
Frame 203
tensor(0.0732)
Frame 204
tensor(0.0877)
Frame 205
tensor(0.0996)
Frame 206
tensor(0.1125)
 # KEYFRAME 57
0.053975581999111455
Frame 207
tensor(0.0120)
Frame 208
tensor(0.0264)
Frame 209
tensor(0.0354)
Frame 210
tensor(0.0532)
Frame 211
tensor(0.0698)
Frame 212
tensor(0.0785)
Frame 213
tensor(0.0952)
Frame 214
tensor(0.1096)
 # KEYFRAME 58
0.05237445799866691
Frame 215
tensor(0.0147)
Frame 216
tensor(0.0319)
Frame 217
tensor(0.0480)
Frame 218
tensor(0.0621)
Frame 219
tensor(0.0857)
Frame 220
tensor(0.1127)
 # KEYFRAME 59
0.053914341999188764
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.709751307964325
TTA-STEP: step=228 loss_distill=0.7098 tta_take=0.005s
Frame 221
tensor(0.0178)
Frame 222
tensor(0.0352)
Frame 223
tensor(0.0535)
Frame 224
tensor(0.0754)
Frame 225
tensor(0.0933)
Frame 226
tensor(0.1153)
 # KEYFRAME 60
0.05244890799804125
Frame 227
tensor(0.0161)
Frame 228
tensor(0.0399)
Frame 229
tensor(0.0582)
Frame 230
tensor(0.0762)
Frame 231
tensor(0.1040)
 # KEYFRAME 61
0.05217981799796689
Frame 232
tensor(0.0190)
Frame 233
tensor(0.0430)
Frame 234
tensor(0.0646)
Frame 235
tensor(0.0872)
Frame 236
tensor(0.1107)
 # KEYFRAME 62
0.05230244800259243
Frame 237
tensor(0.0198)
Frame 238
tensor(0.0417)
Frame 239
tensor(0.0681)
Frame 240
tensor(0.0936)
Frame 241
tensor(0.1209)
 # KEYFRAME 63
0.05291347499951371
Frame 242
tensor(0.0214)
Frame 243
tensor(0.0485)
Frame 244
tensor(0.0802)
Frame 245
tensor(0.1024)
 # KEYFRAME 64
0.053759423000883544
Frame 246
tensor(0.0275)
Frame 247
tensor(0.0518)
Frame 248
tensor(0.0824)
Frame 249
tensor(0.1069)
 # KEYFRAME 65
0.052955464998376556
Frame 250
tensor(0.0288)
Frame 251
tensor(0.0620)
Frame 252
tensor(0.0870)
Frame 253
tensor(0.1079)
 # KEYFRAME 66
0.053296253998269094
Frame 254
tensor(0.0249)
Frame 255
tensor(0.0510)
Frame 256
tensor(0.0855)
Frame 257
tensor(0.1118)
 # KEYFRAME 67
0.055473158001404954
Frame 258
tensor(0.0239)
Frame 259
tensor(0.0535)
Frame 260
tensor(0.0813)
Frame 261
tensor(0.1156)
 # KEYFRAME 68
0.05283557600341737
Frame 262
tensor(0.0194)
Frame 263
tensor(0.0454)
Frame 264
tensor(0.0714)
Frame 265
tensor(0.0954)
Frame 266
tensor(0.1202)
 # KEYFRAME 69
0.05570062599872472
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.7061969637870789
TTA-STEP: step=229 loss_distill=0.7062 tta_take=0.005s
Frame 267
tensor(0.0242)
Frame 268
tensor(0.0597)
Frame 269
tensor(0.0843)
Frame 270
tensor(0.1114)
 # KEYFRAME 70
0.053395144001115113
Frame 271
tensor(0.0225)
Frame 272
tensor(0.0434)
Frame 273
tensor(0.0675)
Frame 274
tensor(0.0872)
Frame 275
tensor(0.1102)
 # KEYFRAME 71
0.05381421299898648
Frame 276
tensor(0.0148)
Frame 277
tensor(0.0323)
Frame 278
tensor(0.0531)
Frame 279
tensor(0.0713)
Frame 280
tensor(0.0855)
Frame 281
tensor(0.0992)
Frame 282
tensor(0.1136)
 # KEYFRAME 72
0.05528486700131907
Frame 283
tensor(0.0128)
Frame 284
tensor(0.0261)
Frame 285
tensor(0.0422)
Frame 286
tensor(0.0563)
Frame 287
tensor(0.0664)
Frame 288
tensor(0.0754)
Frame 289
tensor(0.0868)
Frame 290
tensor(0.0991)
Frame 291
tensor(0.1113)
 # KEYFRAME 73
0.05344312400120543
Frame 292
tensor(0.0095)
Frame 293
tensor(0.0223)
Frame 294
tensor(0.0331)
Frame 295
tensor(0.0445)
Frame 296
tensor(0.0512)
Frame 297
tensor(0.0641)
Frame 298
tensor(0.0731)
Frame 299
tensor(0.0869)
Backending... 74 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[1, 2, 3, 4, 5] dropped=[0] scores=[(0, -0.5530668497085571), (1, -0.38466164469718933), (2, -0.2915569841861725), (3, -0.18300937116146088), (4, 0.013255583122372627), (5, 0.134177565574646)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 26368, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[5, 4, 3, 2, 1] dts=[2, 3, 4, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4920862317085266
TTA-STEP: step=230 loss_distill=0.4921 tta_take=0.003s
[epoch 0 scene 32/556] vkitti/Scene18/overcast/Camera_1 frames=300 tta_steps_this_scene=5 mean_loss=0.5821 total_steps=230 time=104.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0765)
Frame 2
tensor(0.4216)
 # KEYFRAME 1
Frame 3
tensor(0.1163)
 # KEYFRAME 2
0.05108977200143272
Frame 4
tensor(0.1092)
 # KEYFRAME 3
0.05232829799933825
Frame 5
tensor(0.1642)
 # KEYFRAME 4
0.054550681001273915
Frame 6
tensor(0.3625)
 # KEYFRAME 5
0.05490819800252211
Frame 7
tensor(0.2284)
 # KEYFRAME 6
0.05612597499930416
Frame 8
tensor(0.3308)
 # KEYFRAME 7
0.056799171998136444
Frame 9
tensor(0.2991)
 # KEYFRAME 8
0.05762753999806591
Frame 10
tensor(0.4227)
 # KEYFRAME 9
0.0580928679992212
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.0929)
Frame 12
tensor(0.2212)
 # KEYFRAME 10
0.052042118997633224
Frame 13
tensor(0.1391)
 # KEYFRAME 11
0.05270374699830427
Frame 14
tensor(0.1314)
 # KEYFRAME 12
0.0538264419992629
Frame 15
tensor(0.1002)
 # KEYFRAME 13
0.0559178459989198
Frame 16
tensor(0.1165)
 # KEYFRAME 14
0.05723070100066252
Frame 17
tensor(0.1229)
 # KEYFRAME 15
0.057512660001521
Frame 18
tensor(0.0905)
Frame 19
tensor(0.1719)
 # KEYFRAME 16
0.058400506000907626
Frame 20
tensor(0.1757)
 # KEYFRAME 17
0.05948224300300353
Frame 21
tensor(0.1124)
 # KEYFRAME 18
0.060399940000934293
Frame 22
tensor(0.0354)
Frame 23
tensor(0.0817)
Frame 24
tensor(0.3010)
 # KEYFRAME 19
0.061750155000481755
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.1729)
 # KEYFRAME 20
0.05887579599948367
Frame 26
tensor(0.2051)
 # KEYFRAME 21
0.06072714900074061
Frame 27
tensor(0.1513)
 # KEYFRAME 22
0.060759338997741
Frame 28
tensor(0.1740)
 # KEYFRAME 23
0.061754114998620935
Frame 29
tensor(0.0866)
Frame 30
tensor(0.0923)
Frame 31
tensor(0.1351)
 # KEYFRAME 24
0.06260877200111281
Frame 32
tensor(0.0986)
Frame 33
tensor(0.0700)
Frame 34
tensor(0.1254)
 # KEYFRAME 25
0.06335920900164638
Frame 35
tensor(0.0968)
Frame 36
tensor(0.2149)
 # KEYFRAME 26
0.06484020400239388
Frame 37
tensor(0.0924)
Frame 38
tensor(0.1410)
 # KEYFRAME 27
0.06609540000135894
Frame 39
tensor(0.4011)
 # KEYFRAME 28
0.06688885699986713
Frame 40
tensor(0.2189)
 # KEYFRAME 29
0.06839707199833356
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 41
tensor(0.2849)
 # KEYFRAME 30
0.06585570099923643
Frame 42
tensor(0.3135)
 # KEYFRAME 31
0.0681802430008247
Frame 43
tensor(0.1947)
 # KEYFRAME 32
0.06915402999948128
Frame 44
tensor(0.3179)
 # KEYFRAME 33
0.07000312600212055
Frame 45
tensor(0.1149)
 # KEYFRAME 34
0.07179689000258804
Frame 46
tensor(0.1446)
 # KEYFRAME 35
0.07270570699984091
Frame 47
tensor(0.1536)
 # KEYFRAME 36
0.07424290099879727
Frame 48
tensor(0.0956)
Frame 49
tensor(0.1253)
 # KEYFRAME 37
0.0751984779999475
Frame 50
tensor(0.3731)
 # KEYFRAME 38
0.07661725399884745
Frame 51
tensor(0.1308)
 # KEYFRAME 39
0.07649151399891707
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.38175809383392334
TTA-STEP: step=231 loss_distill=0.3818 tta_take=0.009s
Frame 52
tensor(0.2167)
 # KEYFRAME 40
0.07225490899872966
Frame 53
tensor(0.1906)
 # KEYFRAME 41
0.07470294999802718
Frame 54
tensor(0.2463)
 # KEYFRAME 42
0.07438142099999823
Frame 55
tensor(0.3046)
 # KEYFRAME 43
0.0752179180017265
Frame 56
tensor(0.1174)
 # KEYFRAME 44
0.07644808400073089
Frame 57
tensor(0.1821)
 # KEYFRAME 45
0.07648024400259601
Frame 58
tensor(0.1546)
 # KEYFRAME 46
0.0774367500016524
Frame 59
tensor(0.0992)
Frame 60
tensor(0.3052)
 # KEYFRAME 47
0.07803152899941779
Frame 61
tensor(0.1224)
 # KEYFRAME 48
0.07835244699890609
Frame 62
tensor(0.1008)
 # KEYFRAME 49
0.07954358400093042
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3842273950576782
TTA-STEP: step=232 loss_distill=0.3842 tta_take=0.009s
Frame 63
tensor(0.1045)
 # KEYFRAME 50
0.07965408299787669
Frame 64
tensor(0.0780)
Frame 65
tensor(0.1823)
 # KEYFRAME 51
0.08265602300161845
Frame 66
tensor(0.0635)
Frame 67
tensor(0.1456)
 # KEYFRAME 52
0.08258223200027714
Frame 68
tensor(0.4819)
 # KEYFRAME 53
0.08446842600096716
Frame 69
tensor(0.1019)
 # KEYFRAME 54
0.08554840199940372
Frame 70
tensor(0.0504)
Frame 71
tensor(0.0868)
Frame 72
tensor(0.2127)
 # KEYFRAME 55
0.08594731099947239
Frame 73
tensor(0.2521)
 # KEYFRAME 56
0.08664620899799047
Frame 74
tensor(0.3369)
 # KEYFRAME 57
0.08745389599789632
Frame 75
tensor(0.1255)
 # KEYFRAME 58
0.08797369400053867
Frame 76
tensor(0.1201)
 # KEYFRAME 59
0.08954477899897029
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.32359349727630615
TTA-STEP: step=233 loss_distill=0.3236 tta_take=0.009s
Frame 77
tensor(0.1336)
 # KEYFRAME 60
0.08676286799891386
Frame 78
tensor(0.1342)
 # KEYFRAME 61
0.08855790199959301
Frame 79
tensor(0.1822)
 # KEYFRAME 62
0.0884347319988592
Frame 80
tensor(0.1427)
 # KEYFRAME 63
0.08862969199981308
Frame 81
tensor(0.1131)
 # KEYFRAME 64
0.0896954679992632
Frame 82
tensor(0.0415)
Frame 83
tensor(0.2448)
 # KEYFRAME 65
0.09042143599799601
Frame 84
tensor(0.1822)
 # KEYFRAME 66
0.09139620199857745
Frame 85
tensor(0.3464)
 # KEYFRAME 67
0.09175424100249074
Frame 86
tensor(0.5977)
 # KEYFRAME 68
0.09300814599919249
Frame 87
tensor(0.4683)
 # KEYFRAME 69
0.0949756600020919
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.33381593227386475
TTA-STEP: step=234 loss_distill=0.3338 tta_take=0.009s
Frame 88
tensor(0.3892)
 # KEYFRAME 70
0.09238505800021812
Frame 89
tensor(0.4400)
 # KEYFRAME 71
0.0942487419997633
Frame 90
tensor(0.1330)
 # KEYFRAME 72
0.09513365899692872
Frame 91
tensor(0.2171)
 # KEYFRAME 73
0.09526440900299349
Frame 92
tensor(0.2464)
 # KEYFRAME 74
0.09612912599914125
Frame 93
tensor(0.1728)
 # KEYFRAME 75
0.09742299099889351
Frame 94
tensor(0.2537)
 # KEYFRAME 76
0.09815867900033481
Frame 95
tensor(0.3006)
 # KEYFRAME 77
0.09883510600047885
Frame 96
tensor(0.1515)
 # KEYFRAME 78
0.09865429599813069
Frame 97
tensor(0.0511)
Frame 98
tensor(0.2393)
 # KEYFRAME 79
0.10012352199919405
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 4, 5] dropped=[3] scores=[(0, -1.4454010725021362), (1, -1.2934682369232178), (2, -2.1787467002868652), (3, -2.851426601409912), (4, -2.634284257888794), (5, -1.7749391794204712)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 5, 2, 4] dts=[6, 7, 2, 5, 3]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.32602250576019287
TTA-STEP: step=235 loss_distill=0.3260 tta_take=0.009s
Frame 99
tensor(0.5625)
 # KEYFRAME 80
0.09318895599790267
Frame 100
tensor(0.3402)
 # KEYFRAME 81
0.09391805300037959
Frame 101
tensor(0.4192)
 # KEYFRAME 82
0.09435624100296991
Frame 102
tensor(0.4404)
 # KEYFRAME 83
0.09549573799813516
Frame 103
tensor(0.2857)
 # KEYFRAME 84
0.09663392400034354
Frame 104
tensor(0.3536)
 # KEYFRAME 85
0.09721873099988443
Frame 105
tensor(0.1195)
 # KEYFRAME 86
0.09802563899938832
Frame 106
tensor(0.2265)
 # KEYFRAME 87
0.09945219400105998
Frame 107
tensor(0.1828)
 # KEYFRAME 88
0.10032870099894353
Frame 108
tensor(0.4003)
 # KEYFRAME 89
0.10073494899916113
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 5, 6] dropped=[3, 4] scores=[(0, -3.1037659645080566), (1, -2.7603209018707275), (2, -3.7650411128997803), (3, -4.561769008636475), (4, -4.393248558044434), (5, -3.642385482788086), (6, -3.6716225147247314)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 5, 6, 2] dts=[7, 8, 3, 2, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.39589154720306396
TTA-STEP: step=236 loss_distill=0.3959 tta_take=0.009s
Frame 109
tensor(0.1402)
 # KEYFRAME 90
0.09261403799973777
Frame 110
tensor(0.2349)
 # KEYFRAME 91
0.0938416729986784
Frame 111
tensor(0.1466)
 # KEYFRAME 92
0.09427085199786234
Frame 112
tensor(0.2786)
 # KEYFRAME 93
0.09472791000007419
Frame 113
tensor(0.1379)
 # KEYFRAME 94
0.09578063699882478
Frame 114
tensor(0.1448)
 # KEYFRAME 95
0.09708893199785962
Frame 115
tensor(0.0882)
Frame 116
tensor(0.1697)
 # KEYFRAME 96
0.09855376699852059
Frame 117
tensor(0.1245)
 # KEYFRAME 97
0.09996062200298184
Frame 118
tensor(0.0460)
Frame 119
tensor(0.1038)
 # KEYFRAME 98
0.10114184800113435
Frame 120
tensor(0.0569)
Frame 121
tensor(0.1327)
 # KEYFRAME 99
0.10137640700122574
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 5, 6, 7] dropped=[2, 3, 4] scores=[(0, -2.1139824390411377), (1, -1.893262505531311), (2, -3.105872392654419), (3, -3.9186863899230957), (4, -3.6596107482910156), (5, -2.54603910446167), (6, -2.5011167526245117), (7, -1.3210036754608154)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[7, 1, 0, 6, 5] dts=[2, 8, 9, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.24823841452598572
TTA-STEP: step=237 loss_distill=0.2482 tta_take=0.009s
Frame 122
tensor(0.0393)
Frame 123
tensor(0.1775)
 # KEYFRAME 100
0.09330375499848742
Frame 124
tensor(0.1430)
 # KEYFRAME 101
0.09588356600215775
Frame 125
tensor(0.1073)
 # KEYFRAME 102
0.09603132500342326
Frame 126
tensor(0.1324)
 # KEYFRAME 103
0.09659109299900592
Frame 127
tensor(0.1733)
 # KEYFRAME 104
0.09801172899824451
Frame 128
tensor(0.1218)
 # KEYFRAME 105
0.09789806000117096
Frame 129
tensor(0.1244)
 # KEYFRAME 106
0.09911806500167586
Frame 130
tensor(0.1693)
 # KEYFRAME 107
0.09938657399834483
Frame 131
tensor(0.1181)
 # KEYFRAME 108
0.10030620099860243
Frame 132
tensor(0.1260)
 # KEYFRAME 109
0.10105758799909381
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 5, 6, 7] dropped=[2, 3, 4, 8] scores=[(0, -0.3429475724697113), (1, -0.28617748618125916), (2, -1.4843837022781372), (3, -2.005157947540283), (4, -1.7081631422042847), (5, -0.6742898225784302), (6, -0.6367979049682617), (7, 0.3294983208179474), (8, -1.6939913034439087)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[7, 1, 0, 6, 5] dts=[3, 9, 10, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.25390833616256714
TTA-STEP: step=238 loss_distill=0.2539 tta_take=0.009s
Frame 133
tensor(0.0690)
Frame 134
tensor(0.0500)
Frame 135
tensor(0.2645)
 # KEYFRAME 110
0.09456988100282615
Frame 136
tensor(0.2813)
 # KEYFRAME 111
0.09500712899898645
Backending... 112 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 5, 6, 7] dropped=[2, 3, 4, 8, 9] scores=[(0, -1.7091511487960815), (1, -1.5424648523330688), (2, -2.6388022899627686), (3, -3.192948818206787), (4, -2.9942634105682373), (5, -2.249408006668091), (6, -2.2077982425689697), (7, -0.9669923186302185), (8, -2.7440876960754395), (9, -2.2879273891448975)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 64542, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[7, 1, 0, 6, 5] dts=[4, 10, 11, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.22844859957695007
TTA-STEP: step=239 loss_distill=0.2284 tta_take=0.004s
[epoch 0 scene 33/556] scannetpp/1841a0b525/frame frames=137 tta_steps_this_scene=9 mean_loss=0.3195 total_steps=239 time=52.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0189)
Frame 2
tensor(0.0624)
Frame 3
tensor(0.1459)
 # KEYFRAME 1
Frame 4
tensor(0.1260)
 # KEYFRAME 2
0.05124708199946326
Frame 5
tensor(0.0776)
Frame 6
tensor(0.2659)
 # KEYFRAME 3
0.052605987002607435
Frame 7
tensor(0.1333)
 # KEYFRAME 4
0.053008434999355813
Frame 8
tensor(0.1693)
 # KEYFRAME 5
0.054748489001212874
Frame 9
tensor(0.0971)
Frame 10
tensor(0.1767)
 # KEYFRAME 6
0.05646052299925941
Frame 11
tensor(0.1587)
 # KEYFRAME 7
0.0560729850003554
Frame 12
tensor(0.1438)
 # KEYFRAME 8
0.0564372730004834
Frame 13
tensor(0.1719)
 # KEYFRAME 9
0.05696783199891797
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 14
tensor(0.1129)
 # KEYFRAME 10
0.05249701799766626
Frame 15
tensor(0.0874)
Frame 16
tensor(0.2912)
 # KEYFRAME 11
0.05300730599992676
Frame 17
tensor(0.1502)
 # KEYFRAME 12
0.05427261099976022
Frame 18
tensor(0.0764)
Frame 19
tensor(0.1646)
 # KEYFRAME 13
0.05616006499985815
Frame 20
tensor(0.0931)
Frame 21
tensor(0.2067)
 # KEYFRAME 14
0.05710864100183244
Frame 22
tensor(0.3125)
 # KEYFRAME 15
0.0575632689979102
Frame 23
tensor(0.1721)
 # KEYFRAME 16
0.05856922699967981
Frame 24
tensor(0.1079)
 # KEYFRAME 17
0.05970950300252298
Frame 25
tensor(0.1299)
 # KEYFRAME 18
0.06161521600006381
Frame 26
tensor(0.1098)
 # KEYFRAME 19
0.06222457299736561
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 27
tensor(0.2864)
 # KEYFRAME 20
0.05959364199952688
Frame 28
tensor(0.3419)
 # KEYFRAME 21
0.06261911199908354
Frame 29
tensor(0.1213)
 # KEYFRAME 22
0.06286885200097458
Frame 30
tensor(0.1931)
 # KEYFRAME 23
0.06334437999976217
Frame 31
tensor(0.1293)
 # KEYFRAME 24
0.06488582399833831
Frame 32
tensor(0.0811)
Frame 33
tensor(0.2534)
 # KEYFRAME 25
0.06633028899886995
Frame 34
tensor(0.2193)
 # KEYFRAME 26
0.06736170599833713
Frame 35
tensor(0.1318)
 # KEYFRAME 27
0.0683495520024735
Frame 36
tensor(0.2783)
 # KEYFRAME 28
0.06884773000274436
Frame 37
tensor(0.1751)
 # KEYFRAME 29
0.07001237599979504
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 38
tensor(0.1742)
 # KEYFRAME 30
0.06625495000116643
Frame 39
tensor(0.1634)
 # KEYFRAME 31
0.06690739699843107
Frame 40
tensor(0.4257)
 # KEYFRAME 32
0.0683178119979857
Frame 41
tensor(0.2214)
 # KEYFRAME 33
0.06903362000230118
Frame 42
tensor(0.1778)
 # KEYFRAME 34
0.06918898900039494
Frame 43
tensor(0.3470)
 # KEYFRAME 35
0.07039689499652013
Frame 44
tensor(0.3791)
 # KEYFRAME 36
0.07139532200017129
Frame 45
tensor(0.1893)
 # KEYFRAME 37
0.07239123899853439
Frame 46
tensor(0.1007)
 # KEYFRAME 38
0.07263425700148218
Frame 47
tensor(0.2278)
 # KEYFRAME 39
0.07367915400027414
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.24187952280044556
TTA-STEP: step=240 loss_distill=0.2419 tta_take=0.009s
Frame 48
tensor(0.4277)
 # KEYFRAME 40
0.07251222699778737
Frame 49
tensor(0.1648)
 # KEYFRAME 41
0.07462191000013263
Frame 50
tensor(0.1289)
 # KEYFRAME 42
0.07514746800006833
Frame 51
tensor(0.1633)
 # KEYFRAME 43
0.07511239900122746
Frame 52
tensor(0.2599)
 # KEYFRAME 44
0.07624462499734364
Frame 53
tensor(0.1551)
 # KEYFRAME 45
0.07790051800111542
Frame 54
tensor(0.1098)
 # KEYFRAME 46
0.07703027199750068
Frame 55
tensor(0.1410)
 # KEYFRAME 47
0.07796393900207477
Frame 56
tensor(0.1956)
 # KEYFRAME 48
0.07891065600051661
Frame 57
tensor(0.1664)
 # KEYFRAME 49
0.0801941710014944
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2911975085735321
TTA-STEP: step=241 loss_distill=0.2912 tta_take=0.009s
Frame 58
tensor(0.1916)
 # KEYFRAME 50
0.07922612399852369
Frame 59
tensor(0.1266)
 # KEYFRAME 51
0.08125468700018246
Frame 60
tensor(0.3057)
 # KEYFRAME 52
0.08127327699912712
Frame 61
tensor(0.1272)
 # KEYFRAME 53
0.08326249099991401
Frame 62
tensor(0.1577)
 # KEYFRAME 54
0.08409755699904053
Frame 63
tensor(0.2119)
 # KEYFRAME 55
0.08394564799891668
Frame 64
tensor(0.1329)
 # KEYFRAME 56
0.08481697499883012
Frame 65
tensor(0.1934)
 # KEYFRAME 57
0.08508332400015206
Frame 66
tensor(0.1283)
 # KEYFRAME 58
0.08620152000003145
Frame 67
tensor(0.1753)
 # KEYFRAME 59
0.08737686600215966
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4360548257827759
TTA-STEP: step=242 loss_distill=0.4361 tta_take=0.009s
Frame 68
tensor(0.1204)
 # KEYFRAME 60
0.08609047099889722
Frame 69
tensor(0.0805)
Frame 70
tensor(0.1494)
 # KEYFRAME 61
0.08891846999904374
Frame 71
tensor(0.0735)
Frame 72
tensor(0.1870)
 # KEYFRAME 62
0.08805743400080246
Frame 73
tensor(0.1088)
 # KEYFRAME 63
0.08852765200208523
Frame 74
tensor(0.1602)
 # KEYFRAME 64
0.08954005899795447
Frame 75
tensor(0.0852)
Frame 76
tensor(0.2157)
 # KEYFRAME 65
0.09064542400301434
Frame 77
tensor(0.1107)
 # KEYFRAME 66
0.09096002300066175
Frame 78
tensor(0.0427)
Frame 79
tensor(0.0655)
Frame 80
tensor(0.0900)
Frame 81
tensor(0.2438)
 # KEYFRAME 67
0.09240832800060161
Frame 82
tensor(0.0603)
Frame 83
tensor(0.1254)
 # KEYFRAME 68
0.09340417500061449
Frame 84
tensor(0.0676)
Frame 85
tensor(0.0954)
Frame 86
tensor(0.1797)
 # KEYFRAME 69
0.09402327299903845
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.9548120498657227
TTA-STEP: step=243 loss_distill=0.9548 tta_take=0.009s
Frame 87
tensor(0.0469)
Frame 88
tensor(0.0888)
Frame 89
tensor(0.1877)
 # KEYFRAME 70
0.09311848600191297
Frame 90
tensor(0.1380)
 # KEYFRAME 71
0.09551567800008343
Frame 91
tensor(0.2785)
 # KEYFRAME 72
0.09422335199997178
Frame 92
tensor(0.0899)
Frame 93
tensor(0.2020)
 # KEYFRAME 73
0.095986336000351
Frame 94
tensor(0.1801)
 # KEYFRAME 74
0.09685653300039121
Frame 95
tensor(0.0273)
Frame 96
tensor(0.0790)
Frame 97
tensor(0.3331)
 # KEYFRAME 75
0.09716956099873642
Frame 98
tensor(0.0778)
Frame 99
tensor(0.1318)
 # KEYFRAME 76
0.09802537900031894
Frame 100
tensor(0.1086)
 # KEYFRAME 77
0.09769501999835484
Frame 101
tensor(0.0952)
Frame 102
tensor(0.1691)
 # KEYFRAME 78
0.0993526540005405
Frame 103
tensor(0.0860)
Frame 104
tensor(0.1631)
 # KEYFRAME 79
0.09949746399797732
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 5] dropped=[4] scores=[(0, 3.6950325965881348), (1, 3.846374988555908), (2, 2.965953826904297), (3, 2.268423318862915), (4, 2.0232279300689697), (5, 2.207622766494751)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 3, 5] dts=[6, 7, 5, 4, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.8387251496315002
TTA-STEP: step=244 loss_distill=0.8387 tta_take=0.009s
Frame 105
tensor(0.0957)
Frame 106
tensor(0.1291)
 # KEYFRAME 80
0.09400529299819027
Frame 107
tensor(0.1038)
 # KEYFRAME 81
0.09571220699945115
Frame 108
tensor(0.1245)
 # KEYFRAME 82
0.09487688999797683
Frame 109
tensor(0.1221)
 # KEYFRAME 83
0.09628168500057654
Frame 110
tensor(0.1207)
 # KEYFRAME 84
0.09679295399837429
Frame 111
tensor(0.0666)
Frame 112
tensor(0.2844)
 # KEYFRAME 85
0.09708077300092555
Frame 113
tensor(0.6668)
 # KEYFRAME 86
0.0982273379995604
Frame 114
tensor(0.1277)
 # KEYFRAME 87
0.09884042699923157
Frame 115
tensor(0.1950)
 # KEYFRAME 88
0.09900032599762199
Frame 116
tensor(0.1531)
 # KEYFRAME 89
0.10062880999976187
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 5, 6] dropped=[3, 4] scores=[(0, 3.3358535766601562), (1, 3.467287540435791), (2, 2.569650650024414), (3, 1.8226919174194336), (4, 1.6586440801620483), (5, 1.9119969606399536), (6, 2.8852040767669678)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 6, 2, 5] dts=[7, 8, 2, 6, 3]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.934089183807373
TTA-STEP: step=245 loss_distill=0.9341 tta_take=0.009s
Frame 117
tensor(0.1328)
 # KEYFRAME 90
0.09341765499993926
Frame 118
tensor(0.3230)
 # KEYFRAME 91
0.09533358800035785
Frame 119
tensor(0.3619)
 # KEYFRAME 92
0.09502609899936942
Frame 120
tensor(0.3472)
 # KEYFRAME 93
0.09599471600085963
Frame 121
tensor(0.2964)
 # KEYFRAME 94
0.09651509399918723
Frame 122
tensor(0.1373)
 # KEYFRAME 95
0.09780970999781857
Backending... 96 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 6, 7] dropped=[3, 4, 5] scores=[(0, 3.868680000305176), (1, 3.9867489337921143), (2, 3.2050669193267822), (3, 2.6188793182373047), (4, 2.513542890548706), (5, 2.7646687030792236), (6, 3.6721432209014893), (7, 3.8123691082000732)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 68706, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 7, 6, 2] dts=[8, 9, 2, 3, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3822418749332428
TTA-STEP: step=246 loss_distill=0.3822 tta_take=0.006s
[epoch 0 scene 34/556] scannetpp/7079b59642/frame frames=123 tta_steps_this_scene=7 mean_loss=0.5827 total_steps=246 time=44.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0068)
Frame 2
tensor(0.0157)
Frame 3
tensor(0.0235)
Frame 4
tensor(0.0336)
Frame 5
tensor(0.0450)
Frame 6
tensor(0.0552)
Frame 7
tensor(0.0607)
Frame 8
tensor(0.0718)
Frame 9
tensor(0.0848)
Frame 10
tensor(0.1017)
 # KEYFRAME 1
Frame 11
tensor(0.0169)
Frame 12
tensor(0.0304)
Frame 13
tensor(0.0417)
Frame 14
tensor(0.0696)
Frame 15
tensor(0.0982)
Frame 16
tensor(0.1178)
 # KEYFRAME 2
0.05192150000220863
Frame 17
tensor(0.0164)
Frame 18
tensor(0.1386)
 # KEYFRAME 3
0.05300493599861511
Frame 19
tensor(0.0227)
Frame 20
tensor(0.0452)
Frame 21
tensor(0.0590)
Frame 22
tensor(0.0913)
Frame 23
tensor(0.1151)
 # KEYFRAME 4
0.05424746099743061
Frame 24
tensor(0.0138)
Frame 25
tensor(0.0221)
Frame 26
tensor(0.0487)
Frame 27
tensor(0.0746)
Frame 28
tensor(0.0932)
Frame 29
tensor(0.1186)
 # KEYFRAME 5
0.05462326999986544
Frame 30
tensor(0.0186)
Frame 31
tensor(0.0253)
Frame 32
tensor(0.0173)
Frame 33
tensor(0.0364)
Frame 34
tensor(0.0652)
Frame 35
tensor(0.0720)
Frame 36
tensor(0.0611)
Frame 37
tensor(0.0546)
Frame 38
tensor(0.0599)
Frame 39
tensor(0.0880)
Frame 40
tensor(0.1106)
 # KEYFRAME 6
0.05606711500149686
Frame 41
tensor(0.0345)
Frame 42
tensor(0.0560)
Frame 43
tensor(0.0860)
Frame 44
tensor(0.1073)
 # KEYFRAME 7
0.05757478899977286
Frame 45
tensor(0.0177)
Frame 46
tensor(0.0652)
Frame 47
tensor(0.1264)
 # KEYFRAME 8
0.05796253800144768
Frame 48
tensor(0.0526)
Frame 49
tensor(0.0706)
Frame 50
tensor(0.0846)
Frame 51
tensor(0.1017)
 # KEYFRAME 9
0.058826115000556456
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 52
tensor(0.0418)
Frame 53
tensor(0.0545)
Frame 54
tensor(0.0517)
Frame 55
tensor(0.0500)
Frame 56
tensor(0.0749)
Frame 57
tensor(0.0819)
Frame 58
tensor(0.0840)
Frame 59
tensor(0.0842)
Frame 60
tensor(0.0790)
Frame 61
tensor(0.0952)
Frame 62
tensor(0.0782)
Frame 63
tensor(0.0825)
Frame 64
tensor(0.0924)
Frame 65
tensor(0.0867)
Frame 66
tensor(0.0786)
Frame 67
tensor(0.0734)
Frame 68
tensor(0.0789)
Frame 69
tensor(0.0635)
Frame 70
tensor(0.0805)
Frame 71
tensor(0.1028)
 # KEYFRAME 10
0.05175253000197699
Frame 72
tensor(0.0451)
Frame 73
tensor(0.0744)
Frame 74
tensor(0.1090)
 # KEYFRAME 11
0.052621227001509396
Frame 75
tensor(0.0488)
Frame 76
tensor(0.0849)
Frame 77
tensor(0.1190)
 # KEYFRAME 12
0.05329327499930514
Frame 78
tensor(0.0446)
Frame 79
tensor(0.0796)
Frame 80
tensor(0.1112)
 # KEYFRAME 13
0.05556994599828613
Frame 81
tensor(0.0374)
Frame 82
tensor(0.0679)
Frame 83
tensor(0.0895)
Frame 84
tensor(0.1230)
 # KEYFRAME 14
0.054979848999209935
Frame 85
tensor(0.0543)
Frame 86
tensor(0.0437)
Frame 87
tensor(0.0689)
Frame 88
tensor(0.1056)
 # KEYFRAME 15
0.05515836799895624
Frame 89
tensor(0.0276)
Frame 90
tensor(0.0513)
Frame 91
tensor(0.0926)
Frame 92
tensor(0.1335)
 # KEYFRAME 16
0.056212514002254466
Frame 93
tensor(0.0282)
Frame 94
tensor(0.0627)
Frame 95
tensor(0.0757)
Frame 96
tensor(0.0841)
Frame 97
tensor(0.0969)
Frame 98
tensor(0.0789)
Frame 99
tensor(0.0804)
Frame 100
tensor(0.1265)
 # KEYFRAME 17
0.0570738309979788
Frame 101
tensor(0.0413)
Frame 102
tensor(0.1123)
 # KEYFRAME 18
0.0574682299993583
Frame 103
tensor(0.0457)
Frame 104
tensor(0.1069)
 # KEYFRAME 19
0.05870194499948411
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 105
tensor(0.0496)
Frame 106
tensor(0.1094)
 # KEYFRAME 20
0.053998542000044836
Frame 107
tensor(0.0432)
Frame 108
tensor(0.0824)
Frame 109
tensor(0.1074)
 # KEYFRAME 21
0.0545400509981846
Frame 110
tensor(0.0314)
Frame 111
tensor(0.0697)
Frame 112
tensor(0.0989)
Frame 113
tensor(0.1202)
 # KEYFRAME 22
0.05500277799728792
Frame 114
tensor(0.0389)
Frame 115
tensor(0.0824)
Frame 116
tensor(0.1196)
 # KEYFRAME 23
0.05550915700223413
Frame 117
tensor(0.0501)
Frame 118
tensor(0.0905)
Frame 119
tensor(0.1141)
 # KEYFRAME 24
0.0560377250003512
Frame 120
tensor(0.0512)
Frame 121
tensor(0.1001)
 # KEYFRAME 25
0.056592523000290385
Frame 122
tensor(0.0731)
Frame 123
tensor(0.1670)
 # KEYFRAME 26
0.05785646900039865
Frame 124
tensor(0.0434)
Frame 125
tensor(0.1169)
 # KEYFRAME 27
0.059039935000328114
Frame 126
tensor(0.0588)
Frame 127
tensor(0.1120)
 # KEYFRAME 28
0.05965587299942854
Frame 128
tensor(0.0425)
Frame 129
tensor(0.0609)
Frame 130
tensor(0.0794)
Frame 131
tensor(0.1069)
 # KEYFRAME 29
0.06072581899934448
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 132
tensor(0.0155)
Frame 133
tensor(0.0212)
Frame 134
tensor(0.0349)
Frame 135
tensor(0.0435)
Frame 136
tensor(0.0875)
Frame 137
tensor(0.1254)
 # KEYFRAME 30
0.05861216600169428
Frame 138
tensor(0.0194)
Frame 139
tensor(0.0763)
Frame 140
tensor(0.1275)
 # KEYFRAME 31
0.059681503000319935
Frame 141
tensor(0.0398)
Frame 142
tensor(0.0527)
Frame 143
tensor(0.0450)
Frame 144
tensor(0.0385)
Frame 145
tensor(0.0420)
Frame 146
tensor(0.0514)
Frame 147
tensor(0.0640)
Frame 148
tensor(0.0666)
Frame 149
tensor(0.0694)
Backending... 32 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 29760, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.09494541585445404
TTA-STEP: step=247 loss_distill=0.0949 tta_take=0.003s
[epoch 0 scene 35/556] scannetpp/e9e16b6043/DSC frames=150 tta_steps_this_scene=1 mean_loss=0.0949 total_steps=247 time=27.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0717)
Frame 2
tensor(0.1263)
 # KEYFRAME 1
Frame 3
tensor(0.0617)
Frame 4
tensor(0.1220)
 # KEYFRAME 2
0.052101607998338295
Frame 5
tensor(0.0639)
Frame 6
tensor(0.1355)
 # KEYFRAME 3
0.0524638379974931
Frame 7
tensor(0.0613)
Frame 8
tensor(0.1225)
 # KEYFRAME 4
0.05234521800230141
Frame 9
tensor(0.0700)
Frame 10
tensor(0.1249)
 # KEYFRAME 5
0.05268887599959271
Frame 11
tensor(0.0591)
Frame 12
tensor(0.1218)
 # KEYFRAME 6
0.05256064700006391
Frame 13
tensor(0.0597)
Frame 14
tensor(0.1334)
 # KEYFRAME 7
0.052960245997383026
Frame 15
tensor(0.0614)
Frame 16
tensor(0.1270)
 # KEYFRAME 8
0.05333007499939413
Frame 17
tensor(0.0710)
Frame 18
tensor(0.1425)
 # KEYFRAME 9
0.05259442700116779
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 19
tensor(0.0741)
Frame 20
tensor(0.1444)
 # KEYFRAME 10
0.05178210000303807
Frame 21
tensor(0.0646)
Frame 22
tensor(0.1279)
 # KEYFRAME 11
0.052822966001258465
Frame 23
tensor(0.0583)
Frame 24
tensor(0.1270)
 # KEYFRAME 12
0.05271973699927912
Frame 25
tensor(0.0658)
Frame 26
tensor(0.1259)
 # KEYFRAME 13
0.05264855699715554
Frame 27
tensor(0.0648)
Frame 28
tensor(0.1245)
 # KEYFRAME 14
0.05483227000149782
Frame 29
tensor(0.0593)
Frame 30
tensor(0.1202)
 # KEYFRAME 15
0.05271304699999746
Frame 31
tensor(0.0541)
Frame 32
tensor(0.1101)
 # KEYFRAME 16
0.052966315000958275
Frame 33
tensor(0.0632)
Frame 34
tensor(0.1211)
 # KEYFRAME 17
0.05643352300103288
Frame 35
tensor(0.0665)
Frame 36
tensor(0.1298)
 # KEYFRAME 18
0.05266726699846913
Frame 37
tensor(0.0629)
Frame 38
tensor(0.1302)
 # KEYFRAME 19
0.05713755100077833
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 39
tensor(0.0563)
Frame 40
tensor(0.1215)
 # KEYFRAME 20
0.051615569998830324
Frame 41
tensor(0.0586)
Frame 42
tensor(0.1193)
 # KEYFRAME 21
0.05244493799909833
Frame 43
tensor(0.0634)
Frame 44
tensor(0.1174)
 # KEYFRAME 22
0.05337651400259347
Frame 45
tensor(0.0587)
Frame 46
tensor(0.1287)
 # KEYFRAME 23
0.052043599000171525
Frame 47
tensor(0.0608)
Frame 48
tensor(0.1250)
 # KEYFRAME 24
0.05320698500145227
Frame 49
tensor(0.0592)
Frame 50
tensor(0.1205)
 # KEYFRAME 25
0.052311917999759316
Frame 51
tensor(0.0662)
Frame 52
tensor(0.1270)
 # KEYFRAME 26
0.052145099001791095
Frame 53
tensor(0.0575)
Frame 54
tensor(0.1212)
 # KEYFRAME 27
0.05554914700041991
Frame 55
tensor(0.0570)
Frame 56
tensor(0.1189)
 # KEYFRAME 28
0.05262237699935213
Frame 57
tensor(0.0579)
Frame 58
tensor(0.1159)
 # KEYFRAME 29
0.05574059600257897
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 59
tensor(0.0590)
Frame 60
tensor(0.1141)
 # KEYFRAME 30
0.05234281799857854
Frame 61
tensor(0.0529)
Frame 62
tensor(0.1066)
 # KEYFRAME 31
0.05258755700197071
Frame 63
tensor(0.0540)
Frame 64
tensor(0.1087)
 # KEYFRAME 32
0.053145415000471985
Frame 65
tensor(0.0548)
Frame 66
tensor(0.1097)
 # KEYFRAME 33
0.05217655800151988
Frame 67
tensor(0.0626)
Frame 68
tensor(0.1224)
 # KEYFRAME 34
0.05301531499935663
Frame 69
tensor(0.0620)
Frame 70
tensor(0.1204)
 # KEYFRAME 35
0.05205357899831142
Frame 71
tensor(0.0579)
Frame 72
tensor(0.1167)
 # KEYFRAME 36
0.052106688999629114
Frame 73
tensor(0.0590)
Frame 74
tensor(0.1131)
 # KEYFRAME 37
0.0536936729986337
Frame 75
tensor(0.0626)
Frame 76
tensor(0.1164)
 # KEYFRAME 38
0.052007179001520853
Frame 77
tensor(0.0555)
Frame 78
tensor(0.1069)
 # KEYFRAME 39
0.05347155400158954
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.06308523565530777
TTA-STEP: step=248 loss_distill=0.0631 tta_take=0.005s
Frame 79
tensor(0.0497)
Frame 80
tensor(0.0966)
Frame 81
tensor(0.1521)
 # KEYFRAME 40
0.05204018900258234
Frame 82
tensor(0.0465)
Frame 83
tensor(0.0997)
Frame 84
tensor(0.1432)
 # KEYFRAME 41
0.052951904999645194
Frame 85
tensor(0.0586)
Frame 86
tensor(0.0946)
Frame 87
tensor(0.1527)
 # KEYFRAME 42
0.05352738399960799
Frame 88
tensor(0.0489)
Frame 89
tensor(0.0905)
Frame 90
tensor(0.1356)
 # KEYFRAME 43
0.05242783699941356
Frame 91
tensor(0.0382)
Frame 92
tensor(0.0747)
Frame 93
tensor(0.1223)
 # KEYFRAME 44
0.05407909200221184
Frame 94
tensor(0.0406)
Frame 95
tensor(0.0862)
Frame 96
tensor(0.1269)
 # KEYFRAME 45
0.052063508999708574
Frame 97
tensor(0.0365)
Frame 98
tensor(0.0803)
Frame 99
tensor(0.1178)
 # KEYFRAME 46
0.05213974900107132
Frame 100
tensor(0.0449)
Frame 101
tensor(0.0827)
Frame 102
tensor(0.1215)
 # KEYFRAME 47
0.05411060099868337
Frame 103
tensor(0.0413)
Frame 104
tensor(0.0806)
Frame 105
tensor(0.1188)
 # KEYFRAME 48
0.05284960599965416
Frame 106
tensor(0.0341)
Frame 107
tensor(0.0720)
Frame 108
tensor(0.1122)
 # KEYFRAME 49
0.05497824800113449
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.08918635547161102
TTA-STEP: step=249 loss_distill=0.0892 tta_take=0.005s
Frame 109
tensor(0.0331)
Frame 110
tensor(0.0765)
Frame 111
tensor(0.1028)
 # KEYFRAME 50
0.052181298000505194
Frame 112
tensor(0.0314)
Frame 113
tensor(0.0707)
Frame 114
tensor(0.1088)
 # KEYFRAME 51
0.052413487999729114
Frame 115
tensor(0.0354)
Frame 116
tensor(0.0673)
Frame 117
tensor(0.1019)
 # KEYFRAME 52
0.05405531200085534
Frame 118
tensor(0.0356)
Frame 119
tensor(0.0659)
Frame 120
tensor(0.1025)
 # KEYFRAME 53
0.05222716799835325
Frame 121
tensor(0.0267)
Frame 122
tensor(0.0524)
Frame 123
tensor(0.0862)
Frame 124
tensor(0.1083)
 # KEYFRAME 54
0.05383433200040599
Frame 125
tensor(0.0276)
Frame 126
tensor(0.0491)
Frame 127
tensor(0.0745)
Frame 128
tensor(0.0970)
Frame 129
tensor(0.1213)
 # KEYFRAME 55
0.05288563599970075
Frame 130
tensor(0.0219)
Frame 131
tensor(0.0457)
Frame 132
tensor(0.0705)
Frame 133
tensor(0.0943)
Frame 134
tensor(0.1164)
 # KEYFRAME 56
0.05309183599820244
Frame 135
tensor(0.0235)
Frame 136
tensor(0.0451)
Frame 137
tensor(0.0679)
Frame 138
tensor(0.0890)
Frame 139
tensor(0.1141)
 # KEYFRAME 57
0.054652720002195565
Frame 140
tensor(0.0224)
Frame 141
tensor(0.0416)
Frame 142
tensor(0.0662)
Frame 143
tensor(0.0900)
Frame 144
tensor(0.1119)
 # KEYFRAME 58
0.052616306998970686
Frame 145
tensor(0.0223)
Frame 146
tensor(0.0444)
Frame 147
tensor(0.0658)
Frame 148
tensor(0.0879)
Frame 149
tensor(0.1113)
 # KEYFRAME 59
0.054954203998931916
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.15580147504806519
TTA-STEP: step=250 loss_distill=0.1558 tta_take=0.005s
Frame 150
tensor(0.0173)
Frame 151
tensor(0.0388)
Frame 152
tensor(0.0594)
Frame 153
tensor(0.0804)
Frame 154
tensor(0.0974)
Frame 155
tensor(0.1177)
 # KEYFRAME 60
0.05240318400319666
Frame 156
tensor(0.0185)
Frame 157
tensor(0.0393)
Frame 158
tensor(0.0629)
Frame 159
tensor(0.0862)
Frame 160
tensor(0.1090)
 # KEYFRAME 61
0.05270926199955284
Frame 161
tensor(0.0170)
Frame 162
tensor(0.0456)
Frame 163
tensor(0.0721)
Frame 164
tensor(0.0977)
Frame 165
tensor(0.1206)
 # KEYFRAME 62
0.054345685999578563
Frame 166
tensor(0.0215)
Frame 167
tensor(0.0484)
Frame 168
tensor(0.0769)
Frame 169
tensor(0.1048)
 # KEYFRAME 63
0.05256272299811826
Frame 170
tensor(0.0187)
Frame 171
tensor(0.0423)
Frame 172
tensor(0.0733)
Frame 173
tensor(0.0946)
Frame 174
tensor(0.1176)
 # KEYFRAME 64
0.05395489700094913
Frame 175
tensor(0.0243)
Frame 176
tensor(0.0445)
Frame 177
tensor(0.0709)
Frame 178
tensor(0.0965)
Frame 179
tensor(0.1225)
 # KEYFRAME 65
0.05302725100045791
Frame 180
tensor(0.0179)
Frame 181
tensor(0.0446)
Frame 182
tensor(0.0661)
Frame 183
tensor(0.0854)
Frame 184
tensor(0.1074)
 # KEYFRAME 66
0.053297390000807354
Frame 185
tensor(0.0176)
Frame 186
tensor(0.0325)
Frame 187
tensor(0.0517)
Frame 188
tensor(0.0696)
Frame 189
tensor(0.0962)
Frame 190
tensor(0.1185)
 # KEYFRAME 67
0.05545550200258731
Frame 191
tensor(0.0182)
Frame 192
tensor(0.0387)
Frame 193
tensor(0.0572)
Frame 194
tensor(0.0770)
Frame 195
tensor(0.0923)
Frame 196
tensor(0.1131)
 # KEYFRAME 68
0.05304741100189858
Frame 197
tensor(0.0164)
Frame 198
tensor(0.0319)
Frame 199
tensor(0.0513)
Frame 200
tensor(0.0656)
Frame 201
tensor(0.0822)
Frame 202
tensor(0.0983)
Frame 203
tensor(0.1132)
 # KEYFRAME 69
0.05542046300251968
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.5796452760696411
TTA-STEP: step=251 loss_distill=0.5796 tta_take=0.005s
Frame 204
tensor(0.0133)
Frame 205
tensor(0.0285)
Frame 206
tensor(0.0436)
Frame 207
tensor(0.0597)
Frame 208
tensor(0.0741)
Frame 209
tensor(0.0894)
Frame 210
tensor(0.1009)
 # KEYFRAME 70
0.053372229001979576
Frame 211
tensor(0.0136)
Frame 212
tensor(0.0244)
Frame 213
tensor(0.0388)
Frame 214
tensor(0.0581)
Frame 215
tensor(0.0729)
Frame 216
tensor(0.0942)
Frame 217
tensor(0.1103)
 # KEYFRAME 71
0.0538515579974046
Frame 218
tensor(0.0155)
Frame 219
tensor(0.0371)
Frame 220
tensor(0.0529)
Frame 221
tensor(0.0784)
Frame 222
tensor(0.0985)
Frame 223
tensor(0.1213)
 # KEYFRAME 72
0.05543444200156955
Frame 224
tensor(0.0217)
Frame 225
tensor(0.0388)
Frame 226
tensor(0.0641)
Frame 227
tensor(0.0867)
Frame 228
tensor(0.1158)
 # KEYFRAME 73
0.053385740000521764
Frame 229
tensor(0.0200)
Frame 230
tensor(0.0387)
Frame 231
tensor(0.0612)
Frame 232
tensor(0.0809)
Frame 233
tensor(0.1034)
 # KEYFRAME 74
0.055478522001067176
Frame 234
tensor(0.0187)
Frame 235
tensor(0.0396)
Frame 236
tensor(0.0687)
Frame 237
tensor(0.0887)
Frame 238
tensor(0.1186)
 # KEYFRAME 75
0.05358445900128572
Frame 239
tensor(0.0231)
Frame 240
tensor(0.0471)
Frame 241
tensor(0.0789)
Frame 242
tensor(0.1037)
 # KEYFRAME 76
0.0537482089966943
Frame 243
tensor(0.0288)
Frame 244
tensor(0.0533)
Frame 245
tensor(0.0801)
Frame 246
tensor(0.1066)
 # KEYFRAME 77
0.055420503002096666
Frame 247
tensor(0.0253)
Frame 248
tensor(0.0549)
Frame 249
tensor(0.0780)
Frame 250
tensor(0.1035)
 # KEYFRAME 78
0.05451820599773782
Frame 251
tensor(0.0261)
Frame 252
tensor(0.0506)
Frame 253
tensor(0.0778)
Frame 254
tensor(0.1064)
 # KEYFRAME 79
0.055151034001028165
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 5] dropped=[4] scores=[(0, 7.459670543670654), (1, 6.200637340545654), (2, 5.92470121383667), (3, 4.481447696685791), (4, 4.227962970733643), (5, 4.801184177398682)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[0, 1, 2, 5, 3] dts=[7, 6, 5, 2, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.5829296708106995
TTA-STEP: step=252 loss_distill=0.5829 tta_take=0.005s
Frame 255
tensor(0.0250)
Frame 256
tensor(0.0527)
Frame 257
tensor(0.0785)
Frame 258
tensor(0.1096)
 # KEYFRAME 80
0.05340600999988965
Frame 259
tensor(0.0253)
Frame 260
tensor(0.0522)
Frame 261
tensor(0.0894)
Frame 262
tensor(0.1080)
 # KEYFRAME 81
0.05365242900006706
Frame 263
tensor(0.0215)
Frame 264
tensor(0.0497)
Frame 265
tensor(0.0767)
Frame 266
tensor(0.1072)
 # KEYFRAME 82
0.054212917002587346
Frame 267
tensor(0.0204)
Frame 268
tensor(0.0488)
Frame 269
tensor(0.0745)
Frame 270
tensor(0.1009)
 # KEYFRAME 83
0.05348569999841857
Frame 271
tensor(0.0181)
Frame 272
tensor(0.0406)
Frame 273
tensor(0.0694)
Frame 274
tensor(0.0914)
Frame 275
tensor(0.1174)
 # KEYFRAME 84
0.054769043999840505
Frame 276
tensor(0.0172)
Frame 277
tensor(0.0361)
Frame 278
tensor(0.0556)
Frame 279
tensor(0.0718)
Frame 280
tensor(0.0925)
Frame 281
tensor(0.1052)
 # KEYFRAME 85
0.05392165800003568
Frame 282
tensor(0.0141)
Frame 283
tensor(0.0276)
Frame 284
tensor(0.0434)
Frame 285
tensor(0.0581)
Frame 286
tensor(0.0685)
Frame 287
tensor(0.0784)
Frame 288
tensor(0.0928)
Frame 289
tensor(0.1028)
 # KEYFRAME 86
0.05479788499724236
Frame 290
tensor(0.0144)
Frame 291
tensor(0.0235)
Frame 292
tensor(0.0348)
Frame 293
tensor(0.0479)
Frame 294
tensor(0.0571)
Frame 295
tensor(0.0704)
Frame 296
tensor(0.0832)
Frame 297
tensor(0.0928)
Frame 298
tensor(0.1078)
 # KEYFRAME 87
0.05621595000047819
Frame 299
tensor(0.0126)
Backending... 88 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 5] dropped=[4, 6] scores=[(0, 7.159208297729492), (1, 6.019450664520264), (2, 5.761521339416504), (3, 4.385668754577637), (4, 4.14121675491333), (5, 4.697116374969482), (6, 3.4256160259246826)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28016, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[0, 1, 2, 5, 3] dts=[8, 7, 6, 3, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.8300053477287292
TTA-STEP: step=253 loss_distill=0.8300 tta_take=0.004s
[epoch 0 scene 36/556] vkitti/Scene18/15-deg-right/Camera_1 frames=300 tta_steps_this_scene=6 mean_loss=0.3834 total_steps=253 time=87.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0379)
Frame 2
tensor(0.0825)
Frame 3
tensor(0.1233)
 # KEYFRAME 1
Frame 4
tensor(0.0431)
Frame 5
tensor(0.0864)
Frame 6
tensor(0.1335)
 # KEYFRAME 2
0.051945104998594616
Frame 7
tensor(0.0440)
Frame 8
tensor(0.0934)
Frame 9
tensor(0.1399)
 # KEYFRAME 3
0.05167833599989535
Frame 10
tensor(0.0401)
Frame 11
tensor(0.0879)
Frame 12
tensor(0.1447)
 # KEYFRAME 4
0.052649152999947546
Frame 13
tensor(0.0401)
Frame 14
tensor(0.0881)
Frame 15
tensor(0.1403)
 # KEYFRAME 5
0.05265223200331093
Frame 16
tensor(0.0452)
Frame 17
tensor(0.0926)
Frame 18
tensor(0.1491)
 # KEYFRAME 6
0.05271840199930011
Frame 19
tensor(0.0394)
Frame 20
tensor(0.0874)
Frame 21
tensor(0.1297)
 # KEYFRAME 7
0.052752622999832965
Frame 22
tensor(0.0403)
Frame 23
tensor(0.0787)
Frame 24
tensor(0.1222)
 # KEYFRAME 8
0.05342702000052668
Frame 25
tensor(0.0373)
Frame 26
tensor(0.0842)
Frame 27
tensor(0.1197)
 # KEYFRAME 9
0.052525441999023315
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 28
tensor(0.0380)
Frame 29
tensor(0.0798)
Frame 30
tensor(0.1196)
 # KEYFRAME 10
0.0517149259976577
Frame 31
tensor(0.0442)
Frame 32
tensor(0.0880)
Frame 33
tensor(0.1294)
 # KEYFRAME 11
0.052083564001804916
Frame 34
tensor(0.0433)
Frame 35
tensor(0.0929)
Frame 36
tensor(0.1364)
 # KEYFRAME 12
0.05231326400098624
Frame 37
tensor(0.0451)
Frame 38
tensor(0.0962)
Frame 39
tensor(0.1377)
 # KEYFRAME 13
0.05227686400030507
Frame 40
tensor(0.0386)
Frame 41
tensor(0.0885)
Frame 42
tensor(0.1316)
 # KEYFRAME 14
0.0539884579993668
Frame 43
tensor(0.0381)
Frame 44
tensor(0.0834)
Frame 45
tensor(0.1224)
 # KEYFRAME 15
0.05292632100099581
Frame 46
tensor(0.0466)
Frame 47
tensor(0.0946)
Frame 48
tensor(0.1277)
 # KEYFRAME 16
0.05305428999781725
Frame 49
tensor(0.0342)
Frame 50
tensor(0.0801)
Frame 51
tensor(0.1223)
 # KEYFRAME 17
0.055756951001967536
Frame 52
tensor(0.0428)
Frame 53
tensor(0.0963)
Frame 54
tensor(0.1391)
 # KEYFRAME 18
0.05263815200305544
Frame 55
tensor(0.0513)
Frame 56
tensor(0.1029)
 # KEYFRAME 19
0.05643261899967911
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 57
tensor(0.0528)
Frame 58
tensor(0.1151)
 # KEYFRAME 20
0.052418922998185735
Frame 59
tensor(0.0624)
Frame 60
tensor(0.1156)
 # KEYFRAME 21
0.051862604999769246
Frame 61
tensor(0.0497)
Frame 62
tensor(0.1158)
 # KEYFRAME 22
0.05281299199850764
Frame 63
tensor(0.0492)
Frame 64
tensor(0.1023)
 # KEYFRAME 23
0.0526801730011357
Frame 65
tensor(0.0557)
Frame 66
tensor(0.1065)
 # KEYFRAME 24
0.053729469000245444
Frame 67
tensor(0.0497)
Frame 68
tensor(0.0989)
Frame 69
tensor(0.1458)
 # KEYFRAME 25
0.051977434999571415
Frame 70
tensor(0.0455)
Frame 71
tensor(0.1042)
 # KEYFRAME 26
0.052438204002100974
Frame 72
tensor(0.0510)
Frame 73
tensor(0.1026)
 # KEYFRAME 27
0.055398291999154026
Frame 74
tensor(0.0502)
Frame 75
tensor(0.1050)
 # KEYFRAME 28
0.05295372099863016
Frame 76
tensor(0.0570)
Frame 77
tensor(0.1161)
 # KEYFRAME 29
0.055971190999116516
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 78
tensor(0.0537)
Frame 79
tensor(0.1156)
 # KEYFRAME 30
0.05235884399735369
Frame 80
tensor(0.0528)
Frame 81
tensor(0.1024)
 # KEYFRAME 31
0.052970560998801375
Frame 82
tensor(0.0544)
Frame 83
tensor(0.0995)
Frame 84
tensor(0.1426)
 # KEYFRAME 32
0.05392712800312438
Frame 85
tensor(0.0496)
Frame 86
tensor(0.0929)
Frame 87
tensor(0.1360)
 # KEYFRAME 33
0.05282512100166059
Frame 88
tensor(0.0504)
Frame 89
tensor(0.1020)
 # KEYFRAME 34
0.05505576400173595
Frame 90
tensor(0.0502)
Frame 91
tensor(0.0948)
Frame 92
tensor(0.1400)
 # KEYFRAME 35
0.05274092199761071
Frame 93
tensor(0.0444)
Frame 94
tensor(0.0853)
Frame 95
tensor(0.1250)
 # KEYFRAME 36
0.05286158200033242
Frame 96
tensor(0.0426)
Frame 97
tensor(0.0876)
Frame 98
tensor(0.1256)
 # KEYFRAME 37
0.05684116799966432
Frame 99
tensor(0.0439)
Frame 100
tensor(0.0892)
Frame 101
tensor(0.1332)
 # KEYFRAME 38
0.052550663000147324
Frame 102
tensor(0.0440)
Frame 103
tensor(0.0898)
Frame 104
tensor(0.1362)
 # KEYFRAME 39
0.05775555400032317
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.05423879623413086
TTA-STEP: step=254 loss_distill=0.0542 tta_take=0.005s
Frame 105
tensor(0.0492)
Frame 106
tensor(0.0955)
Frame 107
tensor(0.1419)
 # KEYFRAME 40
0.05233039399900008
Frame 108
tensor(0.0443)
Frame 109
tensor(0.0897)
Frame 110
tensor(0.1298)
 # KEYFRAME 41
0.05262312199920416
Frame 111
tensor(0.0471)
Frame 112
tensor(0.0880)
Frame 113
tensor(0.1270)
 # KEYFRAME 42
0.052850272000796394
Frame 114
tensor(0.0360)
Frame 115
tensor(0.0663)
Frame 116
tensor(0.1062)
 # KEYFRAME 43
0.0522527840003022
Frame 117
tensor(0.0319)
Frame 118
tensor(0.0719)
Frame 119
tensor(0.1160)
 # KEYFRAME 44
0.05317800999910105
Frame 120
tensor(0.0372)
Frame 121
tensor(0.0783)
Frame 122
tensor(0.1184)
 # KEYFRAME 45
0.051936944997578394
Frame 123
tensor(0.0407)
Frame 124
tensor(0.0804)
Frame 125
tensor(0.1267)
 # KEYFRAME 46
0.05216262499743607
Frame 126
tensor(0.0343)
Frame 127
tensor(0.0725)
Frame 128
tensor(0.1117)
 # KEYFRAME 47
0.053034501001093304
Frame 129
tensor(0.0326)
Frame 130
tensor(0.0697)
Frame 131
tensor(0.1072)
 # KEYFRAME 48
0.052203494000423234
Frame 132
tensor(0.0334)
Frame 133
tensor(0.0724)
Frame 134
tensor(0.1115)
 # KEYFRAME 49
0.05340163000073517
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.15725615620613098
TTA-STEP: step=255 loss_distill=0.1573 tta_take=0.005s
Frame 135
tensor(0.0375)
Frame 136
tensor(0.0765)
Frame 137
tensor(0.1170)
 # KEYFRAME 50
0.052106144998106174
Frame 138
tensor(0.0388)
Frame 139
tensor(0.0832)
Frame 140
tensor(0.1213)
 # KEYFRAME 51
0.05236795300152153
Frame 141
tensor(0.0341)
Frame 142
tensor(0.0785)
Frame 143
tensor(0.1148)
 # KEYFRAME 52
0.05294466100167483
Frame 144
tensor(0.0363)
Frame 145
tensor(0.0746)
Frame 146
tensor(0.1103)
 # KEYFRAME 53
0.053045452001242666
Frame 147
tensor(0.0341)
Frame 148
tensor(0.0743)
Frame 149
tensor(0.1088)
 # KEYFRAME 54
0.05346098000154598
Frame 150
tensor(0.0350)
Frame 151
tensor(0.0665)
Frame 152
tensor(0.0907)
Frame 153
tensor(0.1254)
 # KEYFRAME 55
0.052581231997464783
Frame 154
tensor(0.0297)
Frame 155
tensor(0.0602)
Frame 156
tensor(0.0892)
Frame 157
tensor(0.1144)
 # KEYFRAME 56
0.053108079999219626
Frame 158
tensor(0.0278)
Frame 159
tensor(0.0559)
Frame 160
tensor(0.0843)
Frame 161
tensor(0.1110)
 # KEYFRAME 57
0.05491489400083083
Frame 162
tensor(0.0264)
Frame 163
tensor(0.0484)
Frame 164
tensor(0.0695)
Frame 165
tensor(0.0945)
Frame 166
tensor(0.1149)
 # KEYFRAME 58
0.05236235299889813
Frame 167
tensor(0.0232)
Frame 168
tensor(0.0467)
Frame 169
tensor(0.0701)
Frame 170
tensor(0.0893)
Frame 171
tensor(0.1084)
 # KEYFRAME 59
0.05491758499920252
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.320306658744812
TTA-STEP: step=256 loss_distill=0.3203 tta_take=0.005s
Frame 172
tensor(0.0147)
Frame 173
tensor(0.0336)
Frame 174
tensor(0.0502)
Frame 175
tensor(0.0665)
Frame 176
tensor(0.0821)
Frame 177
tensor(0.0933)
Frame 178
tensor(0.1036)
 # KEYFRAME 60
0.0520588140025211
Frame 179
tensor(0.0111)
Frame 180
tensor(0.0184)
Frame 181
tensor(0.0334)
Frame 182
tensor(0.0465)
Frame 183
tensor(0.0543)
Frame 184
tensor(0.0626)
Frame 185
tensor(0.0746)
Frame 186
tensor(0.0875)
Frame 187
tensor(0.0902)
Frame 188
tensor(0.0967)
Frame 189
tensor(0.1005)
 # KEYFRAME 61
0.0522419640001317
Frame 190
tensor(0.0071)
Frame 191
tensor(0.0116)
Frame 192
tensor(0.0160)
Frame 193
tensor(0.0257)
Frame 194
tensor(0.0332)
Frame 195
tensor(0.0379)
Frame 196
tensor(0.0436)
Frame 197
tensor(0.0493)
Frame 198
tensor(0.0548)
Frame 199
tensor(0.0676)
Frame 200
tensor(0.0722)
Frame 201
tensor(0.0801)
Frame 202
tensor(0.0904)
Frame 203
tensor(0.0995)
Frame 204
tensor(0.1113)
 # KEYFRAME 62
0.05371963799916557
Frame 205
tensor(0.0099)
Frame 206
tensor(0.0208)
Frame 207
tensor(0.0341)
Frame 208
tensor(0.0499)
Frame 209
tensor(0.0674)
Frame 210
tensor(0.0819)
Frame 211
tensor(0.1021)
 # KEYFRAME 63
0.05217061399889644
Frame 212
tensor(0.0157)
Frame 213
tensor(0.0337)
Frame 214
tensor(0.0555)
Frame 215
tensor(0.0742)
Frame 216
tensor(0.0945)
Frame 217
tensor(0.1197)
 # KEYFRAME 64
0.05374108899923158
Frame 218
tensor(0.0208)
Frame 219
tensor(0.0420)
Frame 220
tensor(0.0662)
Frame 221
tensor(0.0891)
Frame 222
tensor(0.1079)
 # KEYFRAME 65
0.052296533998742234
Frame 223
tensor(0.0237)
Frame 224
tensor(0.0476)
Frame 225
tensor(0.0741)
Frame 226
tensor(0.1045)
 # KEYFRAME 66
0.052533662998030195
Frame 227
tensor(0.0238)
Frame 228
tensor(0.0492)
Frame 229
tensor(0.0784)
Frame 230
tensor(0.1019)
 # KEYFRAME 67
0.05393615799766849
Frame 231
tensor(0.0318)
Frame 232
tensor(0.0571)
Frame 233
tensor(0.0854)
Frame 234
tensor(0.1189)
 # KEYFRAME 68
0.052973801000916865
Frame 235
tensor(0.0274)
Frame 236
tensor(0.0549)
Frame 237
tensor(0.0860)
Frame 238
tensor(0.1152)
 # KEYFRAME 69
0.05387724800311844
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3172416687011719
TTA-STEP: step=257 loss_distill=0.3172 tta_take=0.005s
Frame 239
tensor(0.0319)
Frame 240
tensor(0.0621)
Frame 241
tensor(0.0958)
Frame 242
tensor(0.1282)
 # KEYFRAME 70
0.05311045000053127
Frame 243
tensor(0.0326)
Frame 244
tensor(0.0685)
Frame 245
tensor(0.1056)
 # KEYFRAME 71
0.05370126900015748
Frame 246
tensor(0.0317)
Frame 247
tensor(0.0662)
Frame 248
tensor(0.1046)
 # KEYFRAME 72
0.05398841799978982
Frame 249
tensor(0.0306)
Frame 250
tensor(0.0697)
Frame 251
tensor(0.1126)
 # KEYFRAME 73
0.05333075000089593
Frame 252
tensor(0.0290)
Frame 253
tensor(0.0755)
Frame 254
tensor(0.1077)
 # KEYFRAME 74
0.0542265869989933
Frame 255
tensor(0.0357)
Frame 256
tensor(0.0735)
Frame 257
tensor(0.1086)
 # KEYFRAME 75
0.053456879999430384
Frame 258
tensor(0.0339)
Frame 259
tensor(0.0667)
Frame 260
tensor(0.1006)
 # KEYFRAME 76
0.05399879700053134
Frame 261
tensor(0.0293)
Frame 262
tensor(0.0678)
Frame 263
tensor(0.0994)
Frame 264
tensor(0.1338)
 # KEYFRAME 77
0.054375305997382384
Frame 265
tensor(0.0256)
Frame 266
tensor(0.0542)
Frame 267
tensor(0.0888)
Frame 268
tensor(0.1205)
 # KEYFRAME 78
0.05432166700120433
Frame 269
tensor(0.0264)
Frame 270
tensor(0.0603)
Frame 271
tensor(0.0908)
Frame 272
tensor(0.1217)
 # KEYFRAME 79
0.05491281499780598
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 5] dropped=[4] scores=[(0, 3.985306739807129), (1, 3.682819366455078), (2, 3.040278673171997), (3, 2.507204055786133), (4, 1.892000675201416), (5, 1.9784060716629028)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[0, 1, 2, 3, 5] dts=[7, 6, 5, 4, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.28524285554885864
TTA-STEP: step=258 loss_distill=0.2852 tta_take=0.005s
Frame 273
tensor(0.0333)
Frame 274
tensor(0.0627)
Frame 275
tensor(0.0982)
Frame 276
tensor(0.1254)
 # KEYFRAME 80
0.05294002200025716
Frame 277
tensor(0.0323)
Frame 278
tensor(0.0618)
Frame 279
tensor(0.0972)
Frame 280
tensor(0.1231)
 # KEYFRAME 81
0.05395964800118236
Frame 281
tensor(0.0277)
Frame 282
tensor(0.0666)
Frame 283
tensor(0.1017)
 # KEYFRAME 82
0.054507595999893965
Frame 284
tensor(0.0411)
Frame 285
tensor(0.0798)
Frame 286
tensor(0.1111)
 # KEYFRAME 83
0.05406597700130078
Frame 287
tensor(0.0349)
Frame 288
tensor(0.0683)
Frame 289
tensor(0.1025)
 # KEYFRAME 84
0.05627534000086598
Frame 290
tensor(0.0407)
Frame 291
tensor(0.0806)
Frame 292
tensor(0.1184)
 # KEYFRAME 85
0.054376055999455275
Frame 293
tensor(0.0418)
Frame 294
tensor(0.0794)
Frame 295
tensor(0.1232)
 # KEYFRAME 86
0.05444015600005514
Frame 296
tensor(0.0388)
Frame 297
tensor(0.0796)
Frame 298
tensor(0.1208)
 # KEYFRAME 87
0.058124753002630314
Frame 299
tensor(0.0429)
Backending... 88 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 4.6100616455078125), (1, 4.3105363845825195), (2, 3.6696252822875977), (3, 3.247368335723877), (4, 2.8279504776000977), (5, 2.801865577697754), (6, 2.4703526496887207)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28016, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[0, 1, 2, 3, 4] dts=[8, 7, 6, 5, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2911075949668884
TTA-STEP: step=259 loss_distill=0.2911 tta_take=0.004s
[epoch 0 scene 37/556] vkitti/Scene01/overcast/Camera_1 frames=300 tta_steps_this_scene=6 mean_loss=0.2376 total_steps=259 time=84.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0260)
Frame 2
tensor(0.0462)
Frame 3
tensor(0.0916)
Frame 4
tensor(0.1218)
 # KEYFRAME 1
Frame 5
tensor(0.0812)
Frame 6
tensor(0.1224)
 # KEYFRAME 2
0.051376866998907644
Frame 7
tensor(0.1924)
 # KEYFRAME 3
0.052422893000766635
Frame 8
tensor(0.0307)
Frame 9
tensor(0.0619)
Frame 10
tensor(0.0854)
Frame 11
tensor(0.1322)
 # KEYFRAME 4
0.05366647899791133
Frame 12
tensor(0.1489)
 # KEYFRAME 5
0.05441325599895208
Frame 13
tensor(0.0688)
Frame 14
tensor(0.0916)
Frame 15
tensor(0.1229)
 # KEYFRAME 6
0.055280803000641754
Frame 16
tensor(0.0342)
Frame 17
tensor(0.1226)
 # KEYFRAME 7
0.05604813999889302
Frame 18
tensor(0.0529)
Frame 19
tensor(0.0794)
Frame 20
tensor(0.1467)
 # KEYFRAME 8
0.056955567000841256
Frame 21
tensor(0.0465)
Frame 22
tensor(0.0707)
Frame 23
tensor(0.0941)
Frame 24
tensor(0.1914)
 # KEYFRAME 9
0.0577877539981273
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.0537)
Frame 26
tensor(0.1185)
 # KEYFRAME 10
0.051406916998530505
Frame 27
tensor(0.0531)
Frame 28
tensor(0.1588)
 # KEYFRAME 11
0.05274290200031828
Frame 29
tensor(0.0168)
Frame 30
tensor(0.0876)
Frame 31
tensor(0.1388)
 # KEYFRAME 12
0.05307733099834877
Frame 32
tensor(0.1289)
 # KEYFRAME 13
0.05485084400061169
Frame 33
tensor(0.0526)
Frame 34
tensor(0.0935)
Frame 35
tensor(0.0708)
Frame 36
tensor(0.0803)
Frame 37
tensor(0.1429)
 # KEYFRAME 14
0.05433792600160814
Frame 38
tensor(0.0400)
Frame 39
tensor(0.1150)
 # KEYFRAME 15
0.054694124999514315
Frame 40
tensor(0.0516)
Frame 41
tensor(0.1740)
 # KEYFRAME 16
0.055168713999592
Frame 42
tensor(0.0518)
Frame 43
tensor(0.0800)
Frame 44
tensor(0.0745)
Frame 45
tensor(0.0785)
Frame 46
tensor(0.0570)
Frame 47
tensor(0.0571)
Frame 48
tensor(0.0617)
Frame 49
tensor(0.0623)
Frame 50
tensor(0.1697)
 # KEYFRAME 17
0.05569764200117788
Frame 51
tensor(0.0686)
Frame 52
tensor(0.1292)
 # KEYFRAME 18
0.05598656100119115
Frame 53
tensor(0.0423)
Frame 54
tensor(0.0941)
Frame 55
tensor(0.1559)
 # KEYFRAME 19
0.05696812699898146
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 56
tensor(0.1361)
 # KEYFRAME 20
0.053811478002899094
Frame 57
tensor(0.0326)
Frame 58
tensor(0.0483)
Frame 59
tensor(0.0471)
Frame 60
tensor(0.0448)
Frame 61
tensor(0.0448)
Frame 62
tensor(0.0264)
Frame 63
tensor(0.0520)
Frame 64
tensor(0.1122)
 # KEYFRAME 21
0.054869275001692586
Frame 65
tensor(0.0360)
Frame 66
tensor(0.0994)
Frame 67
tensor(0.1352)
 # KEYFRAME 22
0.05524230300216004
Frame 68
tensor(0.0250)
Frame 69
tensor(0.0719)
Frame 70
tensor(0.0727)
Frame 71
tensor(0.1367)
 # KEYFRAME 23
0.055713002002448775
Frame 72
tensor(0.3682)
 # KEYFRAME 24
0.05618021999907796
Frame 73
tensor(0.0510)
Frame 74
tensor(0.2756)
 # KEYFRAME 25
0.0566913780021423
Frame 75
tensor(0.0939)
Frame 76
tensor(0.1539)
 # KEYFRAME 26
0.05801499299923307
Frame 77
tensor(0.1352)
 # KEYFRAME 27
0.05917219900220516
Frame 78
tensor(0.0671)
Frame 79
tensor(0.1318)
 # KEYFRAME 28
0.05976397699851077
Frame 80
tensor(0.0215)
Frame 81
tensor(0.6332)
 # KEYFRAME 29
0.059926366000581766
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 82
tensor(0.0558)
Frame 83
tensor(0.1692)
 # KEYFRAME 30
0.058269062003091676
Frame 84
tensor(0.0742)
Frame 85
tensor(0.0978)
Frame 86
tensor(0.2125)
 # KEYFRAME 31
0.05935838799996418
Frame 87
tensor(0.0787)
Frame 88
tensor(0.1831)
 # KEYFRAME 32
0.05915996900148457
Frame 89
tensor(0.0374)
Frame 90
tensor(0.1049)
 # KEYFRAME 33
0.0609697319996485
Frame 91
tensor(0.0238)
Frame 92
tensor(0.1452)
 # KEYFRAME 34
0.06043253499956336
Frame 93
tensor(0.0834)
Frame 94
tensor(0.2205)
 # KEYFRAME 35
0.0612827910008491
Frame 95
tensor(0.0386)
Frame 96
tensor(0.0905)
Frame 97
tensor(0.0799)
Frame 98
tensor(0.1590)
 # KEYFRAME 36
0.061728759999823524
Frame 99
tensor(0.0536)
Frame 100
tensor(0.1336)
 # KEYFRAME 37
0.06233418700139737
Frame 101
tensor(0.0607)
Frame 102
tensor(0.0882)
Frame 103
tensor(0.1483)
 # KEYFRAME 38
0.06334267400234239
Frame 104
tensor(0.0223)
Frame 105
tensor(0.0588)
Frame 106
tensor(0.0701)
Frame 107
tensor(0.1937)
 # KEYFRAME 39
0.06509426800039364
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.08179210126399994
TTA-STEP: step=260 loss_distill=0.0818 tta_take=0.009s
Frame 108
tensor(0.0220)
Frame 109
tensor(0.0945)
Frame 110
tensor(0.1281)
 # KEYFRAME 40
0.06262709700240521
Frame 111
tensor(0.0608)
Frame 112
tensor(0.0890)
Frame 113
tensor(0.2253)
 # KEYFRAME 41
0.06404134200056433
Frame 114
tensor(0.0150)
Frame 115
tensor(0.0942)
Frame 116
tensor(0.0912)
Frame 117
tensor(0.1146)
 # KEYFRAME 42
0.06404501200086088
Frame 118
tensor(0.0978)
Frame 119
tensor(0.1027)
 # KEYFRAME 43
0.064093982000486
Frame 120
tensor(0.0369)
Frame 121
tensor(0.0534)
Frame 122
tensor(0.0929)
Frame 123
tensor(0.1229)
 # KEYFRAME 44
0.06482985900220228
Frame 124
tensor(0.0535)
Frame 125
tensor(0.0815)
Frame 126
tensor(0.1406)
 # KEYFRAME 45
0.06524043799799983
Frame 127
tensor(0.0353)
Frame 128
tensor(0.0854)
Frame 129
tensor(0.1079)
 # KEYFRAME 46
0.06541814699812676
Frame 130
tensor(0.0522)
Frame 131
tensor(0.0813)
Frame 132
tensor(0.1275)
 # KEYFRAME 47
0.06602067499989062
Frame 133
tensor(0.2717)
 # KEYFRAME 48
0.06683873200017842
Frame 134
tensor(0.0293)
Frame 135
tensor(0.2933)
 # KEYFRAME 49
0.06752081900049234
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.13593214750289917
TTA-STEP: step=261 loss_distill=0.1359 tta_take=0.009s
Frame 136
tensor(0.0587)
Frame 137
tensor(0.1676)
 # KEYFRAME 50
0.0669089110015193
Frame 138
tensor(0.0568)
Frame 139
tensor(0.0685)
Frame 140
tensor(0.1279)
 # KEYFRAME 51
0.06816286699904595
Frame 141
tensor(0.1561)
 # KEYFRAME 52
0.06832999700054643
Frame 142
tensor(0.0826)
Frame 143
tensor(0.1984)
 # KEYFRAME 53
0.06929535299786949
Frame 144
tensor(0.0398)
Frame 145
tensor(0.4541)
 # KEYFRAME 54
0.06897427399962908
Frame 146
tensor(0.0474)
Frame 147
tensor(0.1522)
 # KEYFRAME 55
0.070158939997782
Frame 148
tensor(0.3674)
 # KEYFRAME 56
0.07067632899997989
Frame 149
tensor(0.0753)
Backending... 57 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 53010, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2794777452945709
TTA-STEP: step=262 loss_distill=0.2795 tta_take=0.007s
[epoch 0 scene 38/556] scannetpp/7079b59642/DSC frames=150 tta_steps_this_scene=3 mean_loss=0.1657 total_steps=262 time=38.6s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0849)
Frame 2
tensor(0.1411)
 # KEYFRAME 1
Frame 3
tensor(0.0830)
Frame 4
tensor(0.1592)
 # KEYFRAME 2
0.051586446999863256
Frame 5
tensor(0.6375)
 # KEYFRAME 3
0.052419143001316115
Frame 6
tensor(0.0804)
Frame 7
tensor(0.2521)
 # KEYFRAME 4
0.05326533999686944
Frame 8
tensor(0.2208)
 # KEYFRAME 5
0.054222487000515684
Frame 9
tensor(0.1135)
 # KEYFRAME 6
0.05518461300016497
Frame 10
tensor(0.0375)
Frame 11
tensor(0.1593)
 # KEYFRAME 7
0.05635985000117216
Frame 12
tensor(0.1562)
 # KEYFRAME 8
0.05715340599999763
Frame 13
tensor(0.1869)
 # KEYFRAME 9
0.058217402001901064
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 14
tensor(0.1392)
 # KEYFRAME 10
0.051782255999569315
Frame 15
tensor(0.2410)
 # KEYFRAME 11
0.05274296199786477
Frame 16
tensor(0.2031)
 # KEYFRAME 12
0.05324599100276828
Frame 17
tensor(0.1406)
 # KEYFRAME 13
0.05506284399962169
Frame 18
tensor(0.0966)
Frame 19
tensor(0.2616)
 # KEYFRAME 14
0.05439791599928867
Frame 20
tensor(0.1535)
 # KEYFRAME 15
0.054824933999043424
Frame 21
tensor(0.1340)
 # KEYFRAME 16
0.05521418299758807
Frame 22
tensor(0.3193)
 # KEYFRAME 17
0.05572388200016576
Frame 23
tensor(0.1522)
 # KEYFRAME 18
0.05735991599794943
Frame 24
tensor(0.5770)
 # KEYFRAME 19
0.058013772999402136
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.2461)
 # KEYFRAME 20
0.05391955700179096
Frame 26
tensor(0.1016)
 # KEYFRAME 21
0.05504801300048712
Frame 27
tensor(0.3247)
 # KEYFRAME 22
0.05554167200170923
Frame 28
tensor(0.4596)
 # KEYFRAME 23
0.05604970000058529
Frame 29
tensor(0.1962)
 # KEYFRAME 24
0.056377739001618465
Frame 30
tensor(0.0961)
Frame 31
tensor(0.2175)
 # KEYFRAME 25
0.05685503700078698
Frame 32
tensor(0.1948)
 # KEYFRAME 26
0.05799685300007695
Frame 33
tensor(0.0638)
Frame 34
tensor(0.1143)
 # KEYFRAME 27
0.05931174899887992
Frame 35
tensor(0.1245)
 # KEYFRAME 28
0.05999486599830561
Frame 36
tensor(0.1879)
 # KEYFRAME 29
0.06025257600049372
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 37
tensor(0.5692)
 # KEYFRAME 30
0.058308382001996506
Frame 38
tensor(0.2788)
 # KEYFRAME 31
0.05938747900290764
Frame 39
tensor(0.3787)
 # KEYFRAME 32
0.059432277997984784
Frame 40
tensor(0.2523)
 # KEYFRAME 33
0.06044526400000905
Frame 41
tensor(0.2014)
 # KEYFRAME 34
0.060687973997119116
Frame 42
tensor(0.1286)
 # KEYFRAME 35
0.06110709199856501
Frame 43
tensor(0.2414)
 # KEYFRAME 36
0.06166330000269227
Frame 44
tensor(0.1935)
 # KEYFRAME 37
0.06284742700154311
Frame 45
tensor(0.2619)
 # KEYFRAME 38
0.06350629400185426
Frame 46
tensor(0.0997)
Frame 47
tensor(0.3300)
 # KEYFRAME 39
0.06428011099706055
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.19633136689662933
TTA-STEP: step=263 loss_distill=0.1963 tta_take=0.009s
Frame 48
tensor(0.2824)
 # KEYFRAME 40
0.0627062970015686
Frame 49
tensor(0.2601)
 # KEYFRAME 41
0.06397854199894937
Frame 50
tensor(0.1392)
 # KEYFRAME 42
0.06400442200174439
Frame 51
tensor(0.4758)
 # KEYFRAME 43
0.06384199199965224
Frame 52
tensor(0.3286)
 # KEYFRAME 44
0.0645438200008357
Frame 53
tensor(0.1098)
 # KEYFRAME 45
0.06515727800069726
Frame 54
tensor(0.1565)
 # KEYFRAME 46
0.06517751700084773
Frame 55
tensor(0.1747)
 # KEYFRAME 47
0.06576507499994477
Frame 56
tensor(0.2663)
 # KEYFRAME 48
0.06669446199884987
Frame 57
tensor(0.1856)
 # KEYFRAME 49
0.06747031900158618
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.20704856514930725
TTA-STEP: step=264 loss_distill=0.2070 tta_take=0.009s
Frame 58
tensor(0.1626)
 # KEYFRAME 50
0.06678953200025717
Frame 59
tensor(0.2643)
 # KEYFRAME 51
0.06803029799993965
Frame 60
tensor(0.2545)
 # KEYFRAME 52
0.06823439700019662
Frame 61
tensor(0.0909)
Frame 62
tensor(0.1275)
 # KEYFRAME 53
0.06903284399959375
Frame 63
tensor(0.2038)
 # KEYFRAME 54
0.06912727400049334
Frame 64
tensor(0.1354)
 # KEYFRAME 55
0.07041620900054113
Frame 65
tensor(0.1140)
 # KEYFRAME 56
0.07035763899693848
Frame 66
tensor(0.1688)
 # KEYFRAME 57
0.07058635800058255
Frame 67
tensor(0.2252)
 # KEYFRAME 58
0.07148049500028719
Frame 68
tensor(0.1550)
 # KEYFRAME 59
0.07200269299937645
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3322916328907013
TTA-STEP: step=265 loss_distill=0.3323 tta_take=0.009s
Frame 69
tensor(0.0624)
Frame 70
tensor(0.1545)
 # KEYFRAME 60
0.07137664600304561
Frame 71
tensor(0.0886)
Frame 72
tensor(0.1268)
 # KEYFRAME 61
0.07277219100069487
Frame 73
tensor(0.0368)
Frame 74
tensor(0.0314)
Frame 75
tensor(0.1228)
 # KEYFRAME 62
0.07239482200020575
Frame 76
tensor(0.3017)
 # KEYFRAME 63
0.0726099109997449
Frame 77
tensor(0.3530)
 # KEYFRAME 64
0.07371648700063815
Frame 78
tensor(0.2191)
 # KEYFRAME 65
0.07351311800084659
Frame 79
tensor(0.1903)
 # KEYFRAME 66
0.0745136840014311
Frame 80
tensor(0.0755)
Frame 81
tensor(0.1189)
 # KEYFRAME 67
0.07498383299753186
Frame 82
tensor(0.4027)
 # KEYFRAME 68
0.07520164200104773
Frame 83
tensor(0.3562)
 # KEYFRAME 69
0.0760724189967732
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.39190369844436646
TTA-STEP: step=266 loss_distill=0.3919 tta_take=0.009s
Frame 84
tensor(0.3183)
 # KEYFRAME 70
0.0756503310003609
Frame 85
tensor(0.1341)
 # KEYFRAME 71
0.07799340199926519
Frame 86
tensor(0.1237)
 # KEYFRAME 72
0.07773801299845218
Frame 87
tensor(0.2237)
 # KEYFRAME 73
0.0786150189996988
Frame 88
tensor(0.0716)
Frame 89
tensor(0.2531)
 # KEYFRAME 74
0.07976915499966708
Frame 90
tensor(0.4489)
 # KEYFRAME 75
0.08035146399924997
Frame 91
tensor(0.3489)
 # KEYFRAME 76
0.07949248699878808
Frame 92
tensor(0.1494)
 # KEYFRAME 77
0.08124282100106939
Frame 93
tensor(0.0770)
Frame 94
tensor(0.2983)
 # KEYFRAME 78
0.08215039700007765
Frame 95
tensor(0.3490)
 # KEYFRAME 79
0.08242513600271195
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[1, 2, 3, 4, 5] dropped=[0] scores=[(0, 6.672199726104736), (1, 6.780993461608887), (2, 6.9871907234191895), (3, 7.130252838134766), (4, 6.902205944061279), (5, 7.2972588539123535)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[5, 3, 2, 4, 1] dts=[2, 4, 5, 3, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3676232099533081
TTA-STEP: step=267 loss_distill=0.3676 tta_take=0.009s
Frame 96
tensor(0.1064)
 # KEYFRAME 80
0.07558856099785771
Frame 97
tensor(0.0758)
Frame 98
tensor(0.1326)
 # KEYFRAME 81
0.07651945700126817
Frame 99
tensor(0.2910)
 # KEYFRAME 82
0.07707357599792886
Frame 100
tensor(0.1183)
 # KEYFRAME 83
0.07810504200097057
Frame 101
tensor(0.1954)
 # KEYFRAME 84
0.07950461699874722
Frame 102
tensor(0.2030)
 # KEYFRAME 85
0.0799016249984561
Frame 103
tensor(0.1578)
 # KEYFRAME 86
0.0781364520007628
Frame 104
tensor(0.1005)
 # KEYFRAME 87
0.08124965999741107
Frame 105
tensor(0.0817)
Frame 106
tensor(0.3126)
 # KEYFRAME 88
0.08156103900182643
Frame 107
tensor(0.5363)
 # KEYFRAME 89
0.08157888899950194
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[2, 3, 4, 5, 6] dropped=[0, 1] scores=[(0, 6.464299201965332), (1, 6.524564266204834), (2, 6.705819129943848), (3, 6.827883720397949), (4, 6.634632110595703), (5, 7.025522708892822), (6, 6.5370917320251465)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[5, 3, 2, 4, 6] dts=[3, 5, 6, 4, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3667861223220825
TTA-STEP: step=268 loss_distill=0.3668 tta_take=0.009s
Frame 108
tensor(0.1976)
 # KEYFRAME 90
0.07614615799684543
Frame 109
tensor(0.2418)
 # KEYFRAME 91
0.07643373800237896
Frame 110
tensor(0.2661)
 # KEYFRAME 92
0.07747447399742668
Frame 111
tensor(0.2025)
 # KEYFRAME 93
0.07725304400082678
Frame 112
tensor(0.0552)
Frame 113
tensor(0.3193)
 # KEYFRAME 94
0.07821099099965068
Frame 114
tensor(0.2455)
 # KEYFRAME 95
0.07820552100019995
Frame 115
tensor(0.1753)
 # KEYFRAME 96
0.0783059109999158
Frame 116
tensor(0.0953)
Frame 117
tensor(0.2267)
 # KEYFRAME 97
0.07883520899849827
Frame 118
tensor(0.5578)
 # KEYFRAME 98
0.07974221600306919
Frame 119
tensor(0.4731)
 # KEYFRAME 99
0.07967250599904219
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[1, 2, 3, 4, 5] dropped=[0, 6, 7] scores=[(0, 5.525347709655762), (1, 5.567211151123047), (2, 5.7103071212768555), (3, 5.8048272132873535), (4, 5.609828948974609), (5, 6.031077861785889), (6, 5.5662031173706055), (7, 5.4261040687561035)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[5, 3, 2, 4, 1] dts=[4, 6, 7, 5, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3527989983558655
TTA-STEP: step=269 loss_distill=0.3528 tta_take=0.009s
Frame 120
tensor(0.1685)
 # KEYFRAME 100
0.07525737100149854
Frame 121
tensor(0.1117)
 # KEYFRAME 101
0.07766938399799983
Frame 122
tensor(0.1748)
 # KEYFRAME 102
0.07700557600037428
Frame 123
tensor(0.1369)
 # KEYFRAME 103
0.07782242199755274
Frame 124
tensor(0.1245)
 # KEYFRAME 104
0.07812726100019063
Frame 125
tensor(0.2402)
 # KEYFRAME 105
0.07900178899944876
Frame 126
tensor(0.4156)
 # KEYFRAME 106
0.07810424100171076
Frame 127
tensor(0.4150)
 # KEYFRAME 107
0.07925652800258831
Frame 128
tensor(0.0848)
Frame 129
tensor(0.2291)
 # KEYFRAME 108
0.07932333699864103
Frame 130
tensor(0.1569)
 # KEYFRAME 109
0.08044310299737845
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[2, 3, 4, 5, 6] dropped=[0, 1, 7, 8] scores=[(0, 6.074924945831299), (1, 6.106408596038818), (2, 6.271027565002441), (3, 6.343119144439697), (4, 6.16221284866333), (5, 6.6031270027160645), (6, 6.110764026641846), (7, 5.940052509307861), (8, 5.970975399017334)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[5, 3, 2, 4, 6] dts=[5, 7, 8, 6, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.34576866030693054
TTA-STEP: step=270 loss_distill=0.3458 tta_take=0.009s
Frame 131
tensor(0.0384)
Frame 132
tensor(0.1185)
 # KEYFRAME 110
0.07599312900129007
Frame 133
tensor(0.0977)
Frame 134
tensor(0.2718)
 # KEYFRAME 111
0.07642982800098252
Frame 135
tensor(0.8299)
 # KEYFRAME 112
0.07709983500171802
Frame 136
tensor(0.0609)
Frame 137
tensor(0.5742)
 # KEYFRAME 113
0.07728376500017475
Frame 138
tensor(0.4004)
 # KEYFRAME 114
0.07828299100219738
Frame 139
tensor(0.2871)
 # KEYFRAME 115
0.07870308999918052
Frame 140
tensor(0.0377)
Frame 141
tensor(0.4699)
 # KEYFRAME 116
0.07826878099876922
Frame 142
tensor(0.4060)
 # KEYFRAME 117
0.07875805000003311
Frame 143
tensor(0.2900)
 # KEYFRAME 118
0.0793265469983453
Frame 144
tensor(0.8465)
 # KEYFRAME 119
0.07980753499941784
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[1, 2, 3, 4, 5] dropped=[0, 6, 7, 8, 9] scores=[(0, 7.452755451202393), (1, 7.596831798553467), (2, 7.852613925933838), (3, 7.8611063957214355), (4, 7.715526580810547), (5, 8.035510063171387), (6, 7.375153064727783), (7, 7.319133281707764), (8, 6.9706130027771), (9, 5.898599147796631)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[5, 3, 2, 4, 1] dts=[6, 8, 9, 7, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3522109091281891
TTA-STEP: step=271 loss_distill=0.3522 tta_take=0.008s
Frame 145
tensor(0.1855)
 # KEYFRAME 120
0.07600222900146036
Frame 146
tensor(0.2182)
 # KEYFRAME 121
0.07804701200075215
Frame 147
tensor(0.1844)
 # KEYFRAME 122
0.07720262400107458
Frame 148
tensor(0.1217)
 # KEYFRAME 123
0.07751828300024499
Frame 149
tensor(0.0872)
Backending... 124 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[1, 2, 3, 4, 5] dropped=[0, 6, 7, 8, 9, 10] scores=[(0, 7.1802544593811035), (1, 7.2697930335998535), (2, 7.470444679260254), (3, 7.45815372467041), (4, 7.325464725494385), (5, 7.724603176116943), (6, 7.142841815948486), (7, 7.025540828704834), (8, 6.850325107574463), (9, 5.863764762878418), (10, 6.1899333000183105)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 59520, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[5, 2, 3, 4, 1] dts=[7, 10, 9, 8, 11]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3366380035877228
TTA-STEP: step=272 loss_distill=0.3366 tta_take=0.005s
[epoch 0 scene 39/556] scannetpp/a1d9da703c/DSC frames=150 tta_steps_this_scene=10 mean_loss=0.3249 total_steps=272 time=65.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0333)
Frame 2
tensor(0.2009)
 # KEYFRAME 1
Frame 3
tensor(0.2933)
 # KEYFRAME 2
0.051390335996984504
Frame 4
tensor(0.2554)
 # KEYFRAME 3
0.053519499000685755
Frame 5
tensor(0.2921)
 # KEYFRAME 4
0.05398679799691308
Frame 6
tensor(0.0233)
Frame 7
tensor(0.1587)
 # KEYFRAME 5
0.05487662500308943
Frame 8
tensor(0.4800)
 # KEYFRAME 6
0.055384301998856245
Frame 9
tensor(0.3153)
 # KEYFRAME 7
0.05681806799839251
Frame 10
tensor(0.3200)
 # KEYFRAME 8
0.05734338500042213
Frame 11
tensor(0.3967)
 # KEYFRAME 9
0.05731488600213197
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.3212)
 # KEYFRAME 10
0.052505012001347495
Frame 13
tensor(0.4040)
 # KEYFRAME 11
0.05342208900037804
Frame 14
tensor(0.2578)
 # KEYFRAME 12
0.0540025570007856
Frame 15
tensor(0.2605)
 # KEYFRAME 13
0.05635692899886635
Frame 16
tensor(0.3788)
 # KEYFRAME 14
0.05735450599968317
Frame 17
tensor(0.3957)
 # KEYFRAME 15
0.05786780299968086
Frame 18
tensor(0.3027)
 # KEYFRAME 16
0.05881113999930676
Frame 19
tensor(0.7121)
 # KEYFRAME 17
0.060241074999794364
Frame 20
tensor(0.1174)
 # KEYFRAME 18
0.06101611200210755
Frame 21
tensor(0.2832)
 # KEYFRAME 19
0.0629224959993735
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 22
tensor(0.4529)
 # KEYFRAME 20
0.05972048699914012
Frame 23
tensor(0.1558)
 # KEYFRAME 21
0.06043041399971116
Frame 24
tensor(0.4468)
 # KEYFRAME 22
0.06105656300132978
Frame 25
tensor(0.5033)
 # KEYFRAME 23
0.061547451001388254
Frame 26
tensor(0.4644)
 # KEYFRAME 24
0.06249984699752531
Frame 27
tensor(0.5526)
 # KEYFRAME 25
0.06371022300299956
Frame 28
tensor(0.1741)
 # KEYFRAME 26
0.06536238699845853
Frame 29
tensor(0.0514)
Frame 30
tensor(0.2707)
 # KEYFRAME 27
0.0663179740004125
Frame 31
tensor(0.2388)
 # KEYFRAME 28
0.06690603199967882
Frame 32
tensor(0.1322)
 # KEYFRAME 29
0.06834714599972358
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 33
tensor(0.1363)
 # KEYFRAME 30
0.06592588499916019
Frame 34
tensor(0.1146)
 # KEYFRAME 31
0.06766506900021341
Frame 35
tensor(0.1739)
 # KEYFRAME 32
0.06826574699880439
Frame 36
tensor(0.2892)
 # KEYFRAME 33
0.0697806110001693
Frame 37
tensor(0.3497)
 # KEYFRAME 34
0.07101350700031617
Frame 38
tensor(0.2589)
 # KEYFRAME 35
0.07252011200034758
Frame 39
tensor(0.2606)
 # KEYFRAME 36
0.07360927800255013
Frame 40
tensor(0.1256)
 # KEYFRAME 37
0.07519796199994744
Frame 41
tensor(0.1586)
 # KEYFRAME 38
0.07550964099937119
Frame 42
tensor(0.1842)
 # KEYFRAME 39
0.07673397699909401
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27211877703666687
TTA-STEP: step=273 loss_distill=0.2721 tta_take=0.009s
Frame 43
tensor(0.2242)
 # KEYFRAME 40
0.0722238929993182
Frame 44
tensor(0.3132)
 # KEYFRAME 41
0.07455607399970177
Frame 45
tensor(0.2368)
 # KEYFRAME 42
0.07480684299662244
Frame 46
tensor(0.1722)
 # KEYFRAME 43
0.07667333700010204
Frame 47
tensor(0.3495)
 # KEYFRAME 44
0.07835957999850507
Frame 48
tensor(0.2409)
 # KEYFRAME 45
0.07897113800208899
Frame 49
tensor(0.2594)
 # KEYFRAME 46
0.07921361799890292
Frame 50
tensor(0.2027)
 # KEYFRAME 47
0.08051256299950182
Frame 51
tensor(0.2042)
 # KEYFRAME 48
0.08229203700102516
Frame 52
tensor(0.2854)
 # KEYFRAME 49
0.08285650499965413
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2995688319206238
TTA-STEP: step=274 loss_distill=0.2996 tta_take=0.009s
Frame 53
tensor(0.2804)
 # KEYFRAME 50
0.07932467799764709
Frame 54
tensor(0.2175)
 # KEYFRAME 51
0.08163953999974183
Frame 55
tensor(0.1919)
 # KEYFRAME 52
0.08094233199881273
Frame 56
tensor(0.1789)
 # KEYFRAME 53
0.08199050800249097
Frame 57
tensor(0.6355)
 # KEYFRAME 54
0.082220486998267
Frame 58
tensor(0.2225)
 # KEYFRAME 55
0.08384425099939108
Frame 59
tensor(0.2777)
 # KEYFRAME 56
0.08461341899965191
Frame 60
tensor(0.1570)
 # KEYFRAME 57
0.08484166800189996
Frame 61
tensor(0.1597)
 # KEYFRAME 58
0.08522562600046513
Frame 62
tensor(0.1146)
 # KEYFRAME 59
0.08679696099716239
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3504859507083893
TTA-STEP: step=275 loss_distill=0.3505 tta_take=0.009s
Frame 63
tensor(0.1366)
 # KEYFRAME 60
0.08624653299921192
Frame 64
tensor(0.1447)
 # KEYFRAME 61
0.08836404499743367
Frame 65
tensor(0.3326)
 # KEYFRAME 62
0.09033105799971963
Frame 66
tensor(0.3392)
 # KEYFRAME 63
0.08865560400226968
Frame 67
tensor(0.4161)
 # KEYFRAME 64
0.08962971100118011
Frame 68
tensor(0.3926)
 # KEYFRAME 65
0.09048890700069023
Frame 69
tensor(0.2491)
 # KEYFRAME 66
0.09191889300200273
Frame 70
tensor(0.4162)
 # KEYFRAME 67
0.09181851299945265
Frame 71
tensor(0.2259)
 # KEYFRAME 68
0.09327371800100082
Frame 72
tensor(0.1615)
 # KEYFRAME 69
0.09434445300212246
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.45605626702308655
TTA-STEP: step=276 loss_distill=0.4561 tta_take=0.009s
Frame 73
tensor(0.0915)
Frame 74
tensor(0.4810)
 # KEYFRAME 70
0.0925954800004547
Frame 75
tensor(0.3410)
 # KEYFRAME 71
0.09511896100229933
Frame 76
tensor(0.4889)
 # KEYFRAME 72
0.0946659430010186
Frame 77
tensor(0.2322)
 # KEYFRAME 73
0.09585650900044129
Frame 78
tensor(0.1295)
 # KEYFRAME 74
0.0960924069986504
Frame 79
tensor(0.3870)
 # KEYFRAME 75
0.09735758299939334
Frame 80
tensor(0.2656)
 # KEYFRAME 76
0.09774603100231616
Frame 81
tensor(0.2790)
 # KEYFRAME 77
0.09855445900029736
Frame 82
tensor(0.1703)
 # KEYFRAME 78
0.09905408700069529
Frame 83
tensor(0.2980)
 # KEYFRAME 79
0.10035013299784623
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 3, 4, 5] dropped=[2] scores=[(0, 7.726194858551025), (1, 7.977166652679443), (2, 7.622395038604736), (3, 7.801573276519775), (4, 7.865375995635986), (5, 8.157329559326172)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[5, 1, 4, 3, 0] dts=[2, 6, 3, 4, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.44080185890197754
TTA-STEP: step=277 loss_distill=0.4408 tta_take=0.009s
Frame 84
tensor(0.3835)
 # KEYFRAME 80
0.09340643700124929
Frame 85
tensor(0.2368)
 # KEYFRAME 81
0.09365753599922755
Frame 86
tensor(0.4220)
 # KEYFRAME 82
0.09497332099999767
Frame 87
tensor(0.5410)
 # KEYFRAME 83
0.0965759259997867
Frame 88
tensor(0.4258)
 # KEYFRAME 84
0.09636045699880924
Frame 89
tensor(0.2200)
 # KEYFRAME 85
0.09780979100105469
Frame 90
tensor(0.4391)
 # KEYFRAME 86
0.09878341800140333
Frame 91
tensor(0.3259)
 # KEYFRAME 87
0.0993347570001788
Frame 92
tensor(0.2584)
 # KEYFRAME 88
0.09937709600126254
Frame 93
tensor(0.5529)
 # KEYFRAME 89
0.10065185200073756
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[1, 3, 4, 5, 6] dropped=[0, 2] scores=[(0, 7.750864028930664), (1, 7.92241096496582), (2, 7.592674255371094), (3, 7.810178756713867), (4, 7.761262893676758), (5, 7.997326374053955), (6, 8.442679405212402)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[6, 5, 1, 3, 4] dts=[2, 3, 7, 5, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.22959566116333008
TTA-STEP: step=278 loss_distill=0.2296 tta_take=0.009s
Frame 94
tensor(0.1917)
 # KEYFRAME 90
0.09249376999650849
Frame 95
tensor(0.4256)
 # KEYFRAME 91
0.09595598799933214
Frame 96
tensor(0.5187)
 # KEYFRAME 92
0.09524052100096014
Frame 97
tensor(0.4759)
 # KEYFRAME 93
0.0956189490025281
Frame 98
tensor(0.2816)
 # KEYFRAME 94
0.09705936399768689
Frame 99
tensor(0.3336)
 # KEYFRAME 95
0.0979029209993314
Frame 100
tensor(0.4492)
 # KEYFRAME 96
0.09904090700001689
Frame 101
tensor(0.2325)
 # KEYFRAME 97
0.09934087600049679
Frame 102
tensor(0.2295)
 # KEYFRAME 98
0.09934366600282374
Frame 103
tensor(0.3990)
 # KEYFRAME 99
0.10036585199850379
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[1, 3, 5, 6, 7] dropped=[0, 2, 4] scores=[(0, 7.813605785369873), (1, 7.967713356018066), (2, 7.6202192306518555), (3, 7.861464977264404), (4, 7.7375030517578125), (5, 7.912893295288086), (6, 8.444086074829102), (7, 8.106576919555664)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[6, 7, 1, 5, 3] dts=[3, 2, 8, 4, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2469927966594696
TTA-STEP: step=279 loss_distill=0.2470 tta_take=0.009s
Frame 104
tensor(0.2016)
 # KEYFRAME 100
0.09278301000085776
Frame 105
tensor(0.2390)
 # KEYFRAME 101
0.09569836900118389
Frame 106
tensor(0.0973)
Frame 107
tensor(0.1904)
 # KEYFRAME 102
0.09568996899906779
Frame 108
tensor(0.1822)
 # KEYFRAME 103
0.09689433399762493
Frame 109
tensor(0.2143)
 # KEYFRAME 104
0.09819039099966176
Frame 110
tensor(0.2349)
 # KEYFRAME 105
0.09943688500061398
Frame 111
tensor(0.1673)
 # KEYFRAME 106
0.1002159230010875
Frame 112
tensor(0.2068)
 # KEYFRAME 107
0.10092166000322322
Frame 113
tensor(0.2181)
 # KEYFRAME 108
0.10222992599665304
Frame 114
tensor(0.1201)
 # KEYFRAME 109
0.1035876809983165
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[1, 3, 5, 6, 7] dropped=[0, 2, 4, 8] scores=[(0, 8.615744590759277), (1, 8.820945739746094), (2, 8.456311225891113), (3, 8.675312995910645), (4, 8.578520774841309), (5, 8.857486724853516), (6, 9.425189018249512), (7, 8.652791023254395), (8, 8.550016403198242)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[6, 5, 1, 3, 7] dts=[4, 5, 9, 7, 3]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.20537877082824707
TTA-STEP: step=280 loss_distill=0.2054 tta_take=0.009s
Frame 115
tensor(0.1874)
 # KEYFRAME 110
0.09321196800010512
Frame 116
tensor(0.2433)
 # KEYFRAME 111
0.09411947500120732
Frame 117
tensor(0.2597)
 # KEYFRAME 112
0.09542938999948092
Frame 118
tensor(0.2775)
 # KEYFRAME 113
0.09611911799947848
Frame 119
tensor(0.1531)
 # KEYFRAME 114
0.09718020299987984
Frame 120
tensor(0.1067)
 # KEYFRAME 115
0.09719225399749121
Frame 121
tensor(0.2593)
 # KEYFRAME 116
0.09826064000299084
Frame 122
tensor(0.2391)
 # KEYFRAME 117
0.099150075999205
Frame 123
tensor(0.1532)
 # KEYFRAME 118
0.09897035700123524
Backending... 119 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 3, 6, 7, 8] dropped=[1, 2, 4, 5, 9] scores=[(0, 8.554442405700684), (1, 8.548375129699707), (2, 8.313549041748047), (3, 8.590317726135254), (4, 8.292105674743652), (5, 8.477663040161133), (6, 9.11513614654541), (7, 8.64504337310791), (8, 8.599708557128906), (9, 8.498193740844727)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 71829, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[6, 7, 8, 3, 0] dts=[5, 4, 3, 8, 11]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2378596067428589
TTA-STEP: step=281 loss_distill=0.2379 tta_take=0.009s
[epoch 0 scene 40/556] scannetpp/ccfd3ed9c7/frame frames=124 tta_steps_this_scene=9 mean_loss=0.3043 total_steps=281 time=50.8s
[ckpt] /scratch-shared/wwei2/scorer_pretrain/scorer_v1/checkpoint-last.pth (epoch=0 scene=40)
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0042)
Frame 2
tensor(0.0044)
Frame 3
tensor(0.0178)
Frame 4
tensor(0.0468)
Frame 5
tensor(0.0689)
Frame 6
tensor(0.0989)
Frame 7
tensor(0.1379)
 # KEYFRAME 1
Frame 8
tensor(0.0626)
Frame 9
tensor(0.1091)
 # KEYFRAME 2
0.050970148000487825
Frame 10
tensor(0.0429)
Frame 11
tensor(0.0464)
Frame 12
tensor(0.1471)
 # KEYFRAME 3
0.05279285200231243
Frame 13
tensor(0.0491)
Frame 14
tensor(0.1479)
 # KEYFRAME 4
0.05458714500127826
Frame 15
tensor(0.0507)
Frame 16
tensor(0.1083)
 # KEYFRAME 5
0.05518228299843031
Frame 17
tensor(0.1098)
 # KEYFRAME 6
0.05658889899859787
Frame 18
tensor(0.0638)
Frame 19
tensor(0.1273)
 # KEYFRAME 7
0.057545165000192355
Frame 20
tensor(0.1036)
 # KEYFRAME 8
0.05825069300044561
Frame 21
tensor(0.0774)
Frame 22
tensor(0.1142)
 # KEYFRAME 9
0.05844635200264747
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 23
tensor(0.0681)
Frame 24
tensor(0.1227)
 # KEYFRAME 10
0.05200785499982885
Frame 25
tensor(0.0563)
Frame 26
tensor(0.1213)
 # KEYFRAME 11
0.05383941800027969
Frame 27
tensor(0.2401)
 # KEYFRAME 12
0.055680261000816245
Frame 28
tensor(0.1536)
 # KEYFRAME 13
0.05720293600097648
Frame 29
tensor(0.1232)
 # KEYFRAME 14
0.057514064999850234
Frame 30
tensor(0.0511)
Frame 31
tensor(0.0855)
Frame 32
tensor(0.2221)
 # KEYFRAME 15
0.05865347199869575
Frame 33
tensor(0.3825)
 # KEYFRAME 16
0.05899463999958243
Frame 34
tensor(0.1583)
 # KEYFRAME 17
0.06005064599958132
Frame 35
tensor(0.1031)
 # KEYFRAME 18
0.06140654199771234
Frame 36
tensor(0.1302)
 # KEYFRAME 19
0.06282823700166773
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 37
tensor(0.0699)
Frame 38
tensor(0.1426)
 # KEYFRAME 20
0.05907302999912645
Frame 39
tensor(0.0639)
Frame 40
tensor(0.1149)
 # KEYFRAME 21
0.06047690400009742
Frame 41
tensor(0.1176)
 # KEYFRAME 22
0.060952241998165846
Frame 42
tensor(0.0984)
Frame 43
tensor(0.1456)
 # KEYFRAME 23
0.062088668997603236
Frame 44
tensor(0.0906)
Frame 45
tensor(0.1888)
 # KEYFRAME 24
0.06290735600123298
Frame 46
tensor(0.1350)
 # KEYFRAME 25
0.06381365299967001
Frame 47
tensor(0.0683)
Frame 48
tensor(0.1831)
 # KEYFRAME 26
0.06564468600117834
Frame 49
tensor(0.1706)
 # KEYFRAME 27
0.06662957300068229
Frame 50
tensor(0.1051)
 # KEYFRAME 28
0.06746458999987226
Frame 51
tensor(0.1085)
 # KEYFRAME 29
0.06881304499984253
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 52
tensor(0.1460)
 # KEYFRAME 30
0.06626427399896784
Frame 53
tensor(0.1292)
 # KEYFRAME 31
0.06787756799894851
Frame 54
tensor(0.1726)
 # KEYFRAME 32
0.06823299700045027
Frame 55
tensor(0.1177)
 # KEYFRAME 33
0.06949598199935281
Frame 56
tensor(0.0934)
Frame 57
tensor(0.1541)
 # KEYFRAME 34
0.07034888899943326
Frame 58
tensor(0.1820)
 # KEYFRAME 35
0.07111383699884755
Frame 59
tensor(0.1468)
 # KEYFRAME 36
0.07198393299768213
Frame 60
tensor(0.1604)
 # KEYFRAME 37
0.07294662999993307
Frame 61
tensor(0.1022)
 # KEYFRAME 38
0.07324540899935528
Frame 62
tensor(0.0252)
Frame 63
tensor(0.1611)
 # KEYFRAME 39
0.07460789399920031
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.14436008036136627
TTA-STEP: step=282 loss_distill=0.1444 tta_take=0.009s
Frame 64
tensor(0.0634)
Frame 65
tensor(0.1713)
 # KEYFRAME 40
0.0726633310005127
Frame 66
tensor(0.1253)
 # KEYFRAME 41
0.07501283300007344
Frame 67
tensor(0.0767)
Frame 68
tensor(0.1469)
 # KEYFRAME 42
0.07550090099903173
Frame 69
tensor(0.0663)
Frame 70
tensor(0.1725)
 # KEYFRAME 43
0.07689353700334323
Frame 71
tensor(0.2054)
 # KEYFRAME 44
0.0780982819997007
Frame 72
tensor(0.2188)
 # KEYFRAME 45
0.07858186999874306
Frame 73
tensor(0.1513)
 # KEYFRAME 46
0.07993342500049039
Frame 74
tensor(0.1557)
 # KEYFRAME 47
0.08104536100290716
Frame 75
tensor(0.1145)
 # KEYFRAME 48
0.08182830800069496
Frame 76
tensor(0.2320)
 # KEYFRAME 49
0.08217469699957292
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.26864445209503174
TTA-STEP: step=283 loss_distill=0.2686 tta_take=0.009s
Frame 77
tensor(0.1439)
 # KEYFRAME 50
0.07910127800278133
Frame 78
tensor(0.3099)
 # KEYFRAME 51
0.08164239999678102
Frame 79
tensor(0.1454)
 # KEYFRAME 52
0.08115313099915511
Frame 80
tensor(0.1912)
 # KEYFRAME 53
0.08221659700211603
Frame 81
tensor(0.1876)
 # KEYFRAME 54
0.08289097499800846
Frame 82
tensor(0.1891)
 # KEYFRAME 55
0.08416654000029666
Frame 83
tensor(0.3204)
 # KEYFRAME 56
0.08489328699943144
Frame 84
tensor(0.1488)
 # KEYFRAME 57
0.0854080850003811
Frame 85
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Frame 86
tensor(0.1849)
 # KEYFRAME 58
0.08599697399768047
Frame 87
tensor(0.1184)
 # KEYFRAME 59
0.08701783000287833
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3267345130443573
TTA-STEP: step=284 loss_distill=0.3267 tta_take=0.009s
Frame 88
tensor(0.1770)
 # KEYFRAME 60
0.086505532002775
Frame 89
tensor(0.1943)
 # KEYFRAME 61
0.08795868700326537
Frame 90
tensor(0.3311)
 # KEYFRAME 62
0.08795235700017656
Frame 91
tensor(0.1767)
 # KEYFRAME 63
0.08866568400117103
Frame 92
tensor(0.1969)
 # KEYFRAME 64
0.08989703000042937
Frame 93
tensor(0.1609)
 # KEYFRAME 65
0.09062514700053725
Frame 94
tensor(0.2048)
 # KEYFRAME 66
0.09270368999932543
Frame 95
tensor(0.1769)
 # KEYFRAME 67
0.09252924999964307
Frame 96
tensor(0.1742)
 # KEYFRAME 68
0.09278425899901777
Frame 97
tensor(0.1551)
 # KEYFRAME 69
0.09433651399740484
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3625757396221161
TTA-STEP: step=285 loss_distill=0.3626 tta_take=0.009s
Frame 98
tensor(0.1432)
 # KEYFRAME 70
0.09312322799814865
Frame 99
tensor(0.2025)
 # KEYFRAME 71
0.09567462000268279
Frame 100
tensor(0.1563)
 # KEYFRAME 72
0.0952809199989133
Frame 101
tensor(0.2253)
 # KEYFRAME 73
0.09726612400118029
Frame 102
tensor(0.2436)
 # KEYFRAME 74
0.09851235899986932
Frame 103
tensor(0.1646)
 # KEYFRAME 75
0.09972616500090226
Frame 104
tensor(0.1873)
 # KEYFRAME 76
0.10079438100001425
Frame 105
tensor(0.1757)
 # KEYFRAME 77
0.1018518570017477
Frame 106
tensor(0.1181)
 # KEYFRAME 78
0.10332197199750226
Backending... 79 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 3, 4, 5] dropped=[2] scores=[(0, 10.0), (1, 10.0), (2, 9.925932884216309), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 71829, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 3, 5, 4] dts=[6, 7, 4, 2, 3]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=286 loss_distill=0.4024 tta_take=0.009s
[epoch 0 scene 41/556] scannetpp/079a326597/frame frames=107 tta_steps_this_scene=5 mean_loss=0.3009 total_steps=286 time=35.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0639)
Frame 2
tensor(0.1823)
 # KEYFRAME 1
Frame 3
tensor(0.1119)
 # KEYFRAME 2
0.05440201600140426
Frame 4
tensor(0.0449)
Frame 5
tensor(0.1444)
 # KEYFRAME 3
0.05166883600031724
Frame 6
tensor(0.1638)
 # KEYFRAME 4
0.05155949699837947
Frame 7
tensor(0.1937)
 # KEYFRAME 5
0.05141282600015984
Frame 8
tensor(0.1538)
 # KEYFRAME 6
0.05138844700195477
Frame 9
tensor(0.2055)
 # KEYFRAME 7
0.052814932001638226
Frame 10
tensor(0.1574)
 # KEYFRAME 8
0.05372178799734684
Frame 11
tensor(0.0943)
Frame 12
tensor(0.1987)
 # KEYFRAME 9
0.054725635000067996
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 13
tensor(0.0492)
Frame 14
tensor(0.1185)
 # KEYFRAME 10
0.05171187599989935
Frame 15
tensor(0.0294)
Frame 16
tensor(0.1008)
 # KEYFRAME 11
0.05184110600021086
Frame 17
tensor(0.0611)
Frame 18
tensor(0.1087)
 # KEYFRAME 12
0.051676486000360455
Frame 19
tensor(0.0508)
Frame 20
tensor(0.1375)
 # KEYFRAME 13
0.05253454299963778
Frame 21
tensor(0.1666)
 # KEYFRAME 14
0.05298352200043155
Frame 22
tensor(0.1180)
 # KEYFRAME 15
0.05329451000216068
Frame 23
tensor(0.0250)
Frame 24
tensor(0.1792)
 # KEYFRAME 16
0.054066646996943746
Frame 25
tensor(0.0691)
Frame 26
tensor(0.2564)
 # KEYFRAME 17
0.05539329199746135
Frame 27
tensor(0.0656)
Frame 28
tensor(0.1163)
 # KEYFRAME 18
0.05598364999968908
Frame 29
tensor(0.2169)
 # KEYFRAME 19
0.05691190700235893
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 30
tensor(0.1927)
 # KEYFRAME 20
0.05398602799687069
Frame 31
tensor(0.0738)
Frame 32
tensor(0.1181)
 # KEYFRAME 21
0.05449202599993441
Frame 33
tensor(0.0715)
Frame 34
tensor(0.1613)
 # KEYFRAME 22
0.0549688539977069
Frame 35
tensor(0.2081)
 # KEYFRAME 23
0.05524971300110337
Frame 36
tensor(0.0650)
Frame 37
tensor(0.1079)
 # KEYFRAME 24
0.05577908199848025
Frame 38
tensor(0.1078)
 # KEYFRAME 25
0.05617520000305376
Frame 39
tensor(0.0524)
Frame 40
tensor(0.0672)
Frame 41
tensor(0.1086)
 # KEYFRAME 26
0.05756269499761402
Frame 42
tensor(0.1333)
 # KEYFRAME 27
0.05879391000053147
Frame 43
tensor(0.1934)
 # KEYFRAME 28
0.05958121799994842
Frame 44
tensor(0.1011)
 # KEYFRAME 29
0.05992138600049657
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 45
tensor(0.2991)
 # KEYFRAME 30
0.05833794199861586
Frame 46
tensor(0.0877)
Frame 47
tensor(0.0883)
Frame 48
tensor(0.0652)
Frame 49
tensor(0.0659)
Frame 50
tensor(0.0859)
Frame 51
tensor(0.1338)
 # KEYFRAME 31
0.059067260001029354
Frame 52
tensor(0.1682)
 # KEYFRAME 32
0.05972085800021887
Frame 53
tensor(0.1925)
 # KEYFRAME 33
0.06032398499883129
Frame 54
tensor(0.1038)
 # KEYFRAME 34
0.06078827300007106
Frame 55
tensor(0.1518)
 # KEYFRAME 35
0.061694029998761835
Frame 56
tensor(0.1564)
 # KEYFRAME 36
0.06259999699977925
Frame 57
tensor(0.1340)
 # KEYFRAME 37
0.06267415700131096
Frame 58
tensor(0.1273)
 # KEYFRAME 38
0.06349116400087951
Frame 59
tensor(0.1106)
 # KEYFRAME 39
0.06486848799977452
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.18162573873996735
TTA-STEP: step=287 loss_distill=0.1816 tta_take=0.009s
Frame 60
tensor(0.0700)
Frame 61
tensor(0.1463)
 # KEYFRAME 40
0.06286895599987474
Frame 62
tensor(0.1318)
 # KEYFRAME 41
0.06374870299987379
Frame 63
tensor(0.1394)
 # KEYFRAME 42
0.06408044199997676
Frame 64
tensor(0.1394)
 # KEYFRAME 43
0.06410685100127012
Frame 65
tensor(0.2699)
 # KEYFRAME 44
0.06500810799843748
Frame 66
tensor(0.2268)
 # KEYFRAME 45
0.0659252049990755
Frame 67
tensor(0.1749)
 # KEYFRAME 46
0.0661900240011164
Frame 68
tensor(0.0512)
Frame 69
tensor(0.1429)
 # KEYFRAME 47
0.0664993329992285
Frame 70
tensor(0.0676)
Frame 71
tensor(0.1648)
 # KEYFRAME 48
0.06697411099958117
Frame 72
tensor(0.0520)
Frame 73
tensor(0.1769)
 # KEYFRAME 49
0.0680459979994339
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=288 loss_distill=0.2747 tta_take=0.009s
Frame 74
tensor(0.1590)
 # KEYFRAME 50
0.06711684100082493
Frame 75
tensor(0.0740)
Frame 76
tensor(0.1254)
 # KEYFRAME 51
0.06864959599988651
Frame 77
tensor(0.0802)
Frame 78
tensor(0.1155)
 # KEYFRAME 52
0.06916738400104805
Frame 79
tensor(0.0671)
Frame 80
tensor(0.1582)
 # KEYFRAME 53
0.0692358640008024
Frame 81
tensor(0.0236)
Frame 82
tensor(0.0654)
Frame 83
tensor(0.1530)
 # KEYFRAME 54
0.06952490199910244
Frame 84
tensor(0.1066)
 # KEYFRAME 55
0.0701299200009089
Frame 85
tensor(0.1179)
 # KEYFRAME 56
0.070734638000431
Frame 86
tensor(0.0863)
Frame 87
tensor(0.1541)
 # KEYFRAME 57
0.07120888600184117
Frame 88
tensor(0.0436)
Frame 89
tensor(0.1833)
 # KEYFRAME 58
0.07099090699921362
Frame 90
tensor(0.1937)
 # KEYFRAME 59
0.07183753400022397
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3755243420600891
TTA-STEP: step=289 loss_distill=0.3755 tta_take=0.009s
Frame 91
tensor(0.1497)
 # KEYFRAME 60
0.07128025600104593
Frame 92
tensor(0.1540)
 # KEYFRAME 61
0.07327276900105062
Frame 93
tensor(0.0748)
Frame 94
tensor(0.1656)
 # KEYFRAME 62
0.07322990900138393
Frame 95
tensor(0.1443)
 # KEYFRAME 63
0.0741708360001212
Frame 96
tensor(0.0365)
Frame 97
tensor(0.0823)
Frame 98
tensor(0.0822)
Frame 99
tensor(0.2529)
 # KEYFRAME 64
0.07512354299979052
Frame 100
tensor(0.2249)
 # KEYFRAME 65
0.07438774499678402
Frame 101
tensor(0.2763)
 # KEYFRAME 66
0.07663181699899724
Frame 102
tensor(0.3031)
 # KEYFRAME 67
0.07792239300033543
Frame 103
tensor(0.0965)
Frame 104
tensor(0.2333)
 # KEYFRAME 68
0.07795327200074098
Frame 105
tensor(0.3394)
 # KEYFRAME 69
0.07850115000110236
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=290 loss_distill=0.4024 tta_take=0.009s
Frame 106
tensor(0.1655)
 # KEYFRAME 70
0.07561862999864388
Frame 107
tensor(0.4850)
 # KEYFRAME 71
0.07797010299691465
Frame 108
tensor(0.1414)
 # KEYFRAME 72
0.07705483600148
Frame 109
tensor(0.1034)
 # KEYFRAME 73
0.07749090400102432
Frame 110
tensor(0.1139)
 # KEYFRAME 74
0.07798719199854531
Frame 111
tensor(0.1708)
 # KEYFRAME 75
0.07869238000057521
Frame 112
tensor(0.1720)
 # KEYFRAME 76
0.07883251900057076
Frame 113
tensor(0.2448)
 # KEYFRAME 77
0.0795973660024174
Frame 114
tensor(0.3863)
 # KEYFRAME 78
0.07942097700288286
Frame 115
tensor(0.1436)
 # KEYFRAME 79
0.08011591499962378
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 9.357529640197754)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=291 loss_distill=0.4024 tta_take=0.009s
Frame 116
tensor(0.0788)
Frame 117
tensor(0.1854)
 # KEYFRAME 80
0.0758303699985845
Frame 118
tensor(0.0636)
Frame 119
tensor(0.3250)
 # KEYFRAME 81
0.07802538199757691
Frame 120
tensor(0.0376)
Frame 121
tensor(0.1354)
 # KEYFRAME 82
0.07766009300030419
Frame 122
tensor(0.0443)
Frame 123
tensor(0.0558)
Frame 124
tensor(0.2785)
 # KEYFRAME 83
0.07862540000132867
Frame 125
tensor(0.1265)
 # KEYFRAME 84
0.08001156499813078
Frame 126
tensor(0.2684)
 # KEYFRAME 85
0.08051257300030557
Frame 127
tensor(0.1215)
 # KEYFRAME 86
0.07919088799826568
Frame 128
tensor(0.1278)
 # KEYFRAME 87
0.08195768799851066
Frame 129
tensor(0.2494)
 # KEYFRAME 88
0.08228068700191216
Frame 130
tensor(0.1493)
 # KEYFRAME 89
0.08245131599687738
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 9.748790740966797), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=292 loss_distill=0.4024 tta_take=0.009s
Frame 131
tensor(0.0631)
Frame 132
tensor(0.0835)
Frame 133
tensor(0.2611)
 # KEYFRAME 90
0.07579519000137225
Frame 134
tensor(0.2064)
 # KEYFRAME 91
0.07776218300205073
Frame 135
tensor(0.0779)
Frame 136
tensor(0.1633)
 # KEYFRAME 92
0.0771313650002412
Frame 137
tensor(0.1186)
 # KEYFRAME 93
0.07788129300024593
Frame 138
tensor(0.0317)
Frame 139
tensor(0.0683)
Frame 140
tensor(0.0872)
Frame 141
tensor(0.1048)
 # KEYFRAME 94
0.0782053309994808
Frame 142
tensor(0.0518)
Frame 143
tensor(0.0902)
Frame 144
tensor(0.0859)
Frame 145
tensor(0.1714)
 # KEYFRAME 95
0.07867719999921974
Frame 146
tensor(0.0583)
Frame 147
tensor(0.0866)
Frame 148
tensor(0.1247)
 # KEYFRAME 96
0.07854514000064228
Frame 149
tensor(0.0559)
Backending... 97 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62310, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=293 loss_distill=0.4024 tta_take=0.007s
[epoch 0 scene 42/556] scannetpp/40b56bf310/DSC frames=150 tta_steps_this_scene=7 mean_loss=0.3487 total_steps=293 time=56.6s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0330)
Frame 2
tensor(0.1722)
 # KEYFRAME 1
Frame 3
tensor(0.1154)
 # KEYFRAME 2
0.051830454998707864
Frame 4
tensor(0.1244)
 # KEYFRAME 3
0.05428615599885234
Frame 5
tensor(0.0921)
Frame 6
tensor(0.1141)
 # KEYFRAME 4
0.05429920700044022
Frame 7
tensor(0.0752)
Frame 8
tensor(0.1757)
 # KEYFRAME 5
0.0551947329986433
Frame 9
tensor(0.0732)
Frame 10
tensor(0.0889)
Frame 11
tensor(0.1632)
 # KEYFRAME 6
0.056269919998158
Frame 12
tensor(0.1541)
 # KEYFRAME 7
0.057006347000424284
Frame 13
tensor(0.1362)
 # KEYFRAME 8
0.05859375100044417
Frame 14
tensor(0.0890)
Frame 15
tensor(0.2097)
 # KEYFRAME 9
0.0584486920015479
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 16
tensor(0.1371)
 # KEYFRAME 10
0.05247929299730458
Frame 17
tensor(0.1007)
 # KEYFRAME 11
0.05372324900235981
Frame 18
tensor(0.1668)
 # KEYFRAME 12
0.05450159600150073
Frame 19
tensor(0.1208)
 # KEYFRAME 13
0.05643929900179501
Frame 20
tensor(0.2011)
 # KEYFRAME 14
0.057235456002672436
Frame 21
tensor(0.1715)
 # KEYFRAME 15
0.057870643999194726
Frame 22
tensor(0.2241)
 # KEYFRAME 16
0.05889125000248896
Frame 23
tensor(0.1869)
 # KEYFRAME 17
0.059887026000069454
Frame 24
tensor(0.1366)
 # KEYFRAME 18
0.0611517030010873
Frame 25
tensor(0.1163)
 # KEYFRAME 19
0.06245886699980474
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 26
tensor(0.1279)
 # KEYFRAME 20
0.05878869100342854
Frame 27
tensor(0.1708)
 # KEYFRAME 21
0.060350924999511335
Frame 28
tensor(0.1612)
 # KEYFRAME 22
0.0608930029993644
Frame 29
tensor(0.1304)
 # KEYFRAME 23
0.06183849000080954
Frame 30
tensor(0.1649)
 # KEYFRAME 24
0.06247064800118096
Frame 31
tensor(0.1682)
 # KEYFRAME 25
0.06337968400112004
Frame 32
tensor(0.1652)
 # KEYFRAME 26
0.06530258800194133
Frame 33
tensor(0.1503)
 # KEYFRAME 27
0.0657635460011079
Frame 34
tensor(0.2077)
 # KEYFRAME 28
0.06684259099711198
Frame 35
tensor(0.1362)
 # KEYFRAME 29
0.06874828500076546
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 36
tensor(0.1868)
 # KEYFRAME 30
0.06556599699979415
Frame 37
tensor(0.0659)
Frame 38
tensor(0.2573)
 # KEYFRAME 31
0.0678069579989824
Frame 39
tensor(0.1864)
 # KEYFRAME 32
0.0682666969987622
Frame 40
tensor(0.2541)
 # KEYFRAME 33
0.0690673639983288
Frame 41
tensor(0.1920)
 # KEYFRAME 34
0.06993599099951098
Frame 42
tensor(0.0913)
Frame 43
tensor(0.1421)
 # KEYFRAME 35
0.07030359000054887
Frame 44
tensor(0.1099)
 # KEYFRAME 36
0.07121183699928224
Frame 45
tensor(0.1085)
 # KEYFRAME 37
0.07212801299829152
Frame 46
tensor(0.0663)
Frame 47
tensor(0.2556)
 # KEYFRAME 38
0.07273243099916726
Frame 48
tensor(0.1163)
 # KEYFRAME 39
0.07373167799960356
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=294 loss_distill=0.1733 tta_take=0.009s
Frame 49
tensor(0.1318)
 # KEYFRAME 40
0.07255497100049979
Frame 50
tensor(0.1874)
 # KEYFRAME 41
0.07431829499910236
Frame 51
tensor(0.1698)
 # KEYFRAME 42
0.07471207400158164
Frame 52
tensor(0.1597)
 # KEYFRAME 43
0.07513052200010861
Frame 53
tensor(0.1186)
 # KEYFRAME 44
0.07597235899811494
Frame 54
tensor(0.1411)
 # KEYFRAME 45
0.07705433600131073
Frame 55
tensor(0.1097)
 # KEYFRAME 46
0.07783567200021935
Frame 56
tensor(0.1425)
 # KEYFRAME 47
0.07835068100030185
Frame 57
tensor(0.1104)
 # KEYFRAME 48
0.07900890900054947
Frame 58
tensor(0.0878)
Frame 59
tensor(0.1147)
 # KEYFRAME 49
0.07993815499867196
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1422024965286255
TTA-STEP: step=295 loss_distill=0.1422 tta_take=0.009s
Frame 60
tensor(0.1199)
 # KEYFRAME 50
0.0790180190015235
Frame 61
tensor(0.0951)
Frame 62
tensor(0.0983)
Frame 63
tensor(0.1510)
 # KEYFRAME 51
0.08190185800049221
Frame 64
tensor(0.2216)
 # KEYFRAME 52
0.0813002700015204
Frame 65
tensor(0.1429)
 # KEYFRAME 53
0.08288873399942531
Frame 66
tensor(0.1040)
 # KEYFRAME 54
0.08357082199654542
Frame 67
tensor(0.0865)
Frame 68
tensor(0.1526)
 # KEYFRAME 55
0.08503390700207092
Frame 69
tensor(0.0695)
Frame 70
tensor(0.1636)
 # KEYFRAME 56
0.08562393499960308
Frame 71
tensor(0.3149)
 # KEYFRAME 57
0.08652960200197413
Frame 72
tensor(0.1761)
 # KEYFRAME 58
0.08735784899909049
Frame 73
tensor(0.1648)
 # KEYFRAME 59
0.08871274400007678
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.17271921038627625
TTA-STEP: step=296 loss_distill=0.1727 tta_take=0.009s
Frame 74
tensor(0.1799)
 # KEYFRAME 60
0.08665646100052982
Frame 75
tensor(0.0917)
Frame 76
tensor(0.1353)
 # KEYFRAME 61
0.08883791400148766
Frame 77
tensor(0.1728)
 # KEYFRAME 62
0.08850537499893107
Frame 78
tensor(0.1939)
 # KEYFRAME 63
0.09031138799764449
Frame 79
tensor(0.1808)
 # KEYFRAME 64
0.09136844499880681
Frame 80
tensor(0.1201)
 # KEYFRAME 65
0.09216718099924037
Frame 81
tensor(0.2256)
 # KEYFRAME 66
0.09466441200129339
Frame 82
tensor(0.1735)
 # KEYFRAME 67
0.09515667199957534
Frame 83
tensor(0.2850)
 # KEYFRAME 68
0.09582893900005729
Frame 84
tensor(0.1290)
 # KEYFRAME 69
0.09609167799862917
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.18073971569538116
TTA-STEP: step=297 loss_distill=0.1807 tta_take=0.009s
Frame 85
tensor(0.2276)
 # KEYFRAME 70
0.09241711099821259
Frame 86
tensor(0.2835)
 # KEYFRAME 71
0.09584520799762686
Frame 87
tensor(0.1404)
 # KEYFRAME 72
0.09531699000217486
Frame 88
tensor(0.0799)
Frame 89
tensor(0.2290)
 # KEYFRAME 73
0.09625562699875445
Frame 90
tensor(0.0996)
Frame 91
tensor(0.1890)
 # KEYFRAME 74
0.0986001679993933
Frame 92
tensor(0.0992)
Frame 93
tensor(0.1517)
 # KEYFRAME 75
0.09877136800059816
Frame 94
tensor(0.1360)
 # KEYFRAME 76
0.09972555399872363
Frame 95
tensor(0.1046)
 # KEYFRAME 77
0.10141434899924207
Frame 96
tensor(0.0587)
Frame 97
tensor(0.1203)
 # KEYFRAME 78
0.10278917300092871
Frame 98
tensor(0.1192)
 # KEYFRAME 79
0.10382881999976235
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 8.171101570129395), (1, 8.63819694519043), (2, 7.783851623535156), (3, 7.614190578460693), (4, 6.271547317504883), (5, 5.500356197357178)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 3, 4] dts=[6, 7, 5, 4, 3]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.20681267976760864
TTA-STEP: step=298 loss_distill=0.2068 tta_take=0.009s
Frame 99
tensor(0.1470)
 # KEYFRAME 80
0.09302903899879311
Frame 100
tensor(0.0934)
Frame 101
tensor(0.1860)
 # KEYFRAME 81
0.09481608200076153
Frame 102
tensor(0.0895)
Frame 103
tensor(0.0906)
Frame 104
tensor(0.1080)
 # KEYFRAME 82
0.09459550300016417
Frame 105
tensor(0.0633)
Frame 106
tensor(0.0971)
Frame 107
tensor(0.0884)
Frame 108
tensor(0.1816)
 # KEYFRAME 83
0.09522837099939352
Frame 109
tensor(0.0531)
Frame 110
tensor(0.1401)
 # KEYFRAME 84
0.09706038400327088
Frame 111
tensor(0.1072)
 # KEYFRAME 85
0.09773631200005184
Frame 112
tensor(0.0939)
Frame 113
tensor(0.1730)
 # KEYFRAME 86
0.09811121999882744
Frame 114
tensor(0.1085)
 # KEYFRAME 87
0.0986399689973041
Frame 115
tensor(0.1816)
 # KEYFRAME 88
0.09952508499918622
Frame 116
tensor(0.1450)
 # KEYFRAME 89
0.09949166599835735
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 6] dropped=[4, 5] scores=[(0, 7.969127178192139), (1, 8.443394660949707), (2, 7.530575275421143), (3, 7.360180854797363), (4, 5.973201274871826), (5, 5.2427191734313965), (6, 6.039862155914307)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 3, 6] dts=[7, 8, 6, 5, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.8686022758483887
TTA-STEP: step=299 loss_distill=0.8686 tta_take=0.009s
Frame 117
tensor(0.1329)
 # KEYFRAME 90
0.09286049899674254
Frame 118
tensor(0.1787)
 # KEYFRAME 91
0.09493110199764487
Frame 119
tensor(0.1816)
 # KEYFRAME 92
0.09517329099980998
Frame 120
tensor(0.1184)
 # KEYFRAME 93
0.09539571999994223
Frame 121
tensor(0.1038)
 # KEYFRAME 94
0.0967356250002922
Frame 122
tensor(0.0623)
Frame 123
tensor(0.1480)
 # KEYFRAME 95
0.0971251939990907
Frame 124
tensor(0.1323)
 # KEYFRAME 96
0.0974554230015201
Frame 125
tensor(0.1004)
 # KEYFRAME 97
0.09843554899998708
Frame 126
tensor(0.1238)
 # KEYFRAME 98
0.09890446700228495
Frame 127
tensor(0.0542)
Frame 128
tensor(0.1024)
 # KEYFRAME 99
0.09981061500002397
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 6] dropped=[4, 5, 7] scores=[(0, 6.350353240966797), (1, 6.7958173751831055), (2, 5.985076427459717), (3, 5.880008697509766), (4, 4.831615924835205), (5, 4.235790252685547), (6, 4.859961986541748), (7, 4.162680149078369)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 3, 6] dts=[8, 9, 7, 6, 3]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.7312726378440857
TTA-STEP: step=300 loss_distill=0.7313 tta_take=0.009s
Frame 129
tensor(0.0520)
Frame 130
tensor(0.0373)
Frame 131
tensor(0.0591)
Frame 132
tensor(0.1167)
 # KEYFRAME 100
0.09335136800291366
Frame 133
tensor(0.1082)
 # KEYFRAME 101
0.09540695000032429
Frame 134
tensor(0.1193)
 # KEYFRAME 102
0.09463071299978765
Frame 135
tensor(0.1089)
 # KEYFRAME 103
0.09607105800023419
Frame 136
tensor(0.0781)
Frame 137
tensor(0.1237)
 # KEYFRAME 104
0.09623753699997906
Frame 138
tensor(0.1593)
 # KEYFRAME 105
0.09775778199764318
Frame 139
tensor(0.0999)
Frame 140
tensor(0.1731)
 # KEYFRAME 106
0.09800382100002025
Frame 141
tensor(0.0956)
Frame 142
tensor(0.1696)
 # KEYFRAME 107
0.09837490000063553
Frame 143
tensor(0.0792)
Frame 144
tensor(0.2146)
 # KEYFRAME 108
0.09875848799856612
Frame 145
tensor(0.0917)
Frame 146
tensor(0.2164)
 # KEYFRAME 109
0.09928517600201303
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 6] dropped=[4, 5, 7, 8] scores=[(0, 6.6100754737854), (1, 7.0638909339904785), (2, 6.190451145172119), (3, 6.0748291015625), (4, 4.92140007019043), (5, 4.327446937561035), (6, 4.986429691314697), (7, 4.254887580871582), (8, 4.038196086883545)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 3, 6] dts=[9, 10, 8, 7, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.801846444606781
TTA-STEP: step=301 loss_distill=0.8018 tta_take=0.009s
Frame 147
tensor(0.0815)
[epoch 0 scene 43/556] scannetpp/e050c15a8d/frame frames=148 tta_steps_this_scene=8 mean_loss=0.4097 total_steps=301 time=56.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.2301)
 # KEYFRAME 1
Frame 2
tensor(0.1513)
 # KEYFRAME 2
0.05159664700113353
Frame 3
tensor(0.2369)
 # KEYFRAME 3
0.05222516399953747
Frame 4
tensor(0.2007)
 # KEYFRAME 4
0.054031057999964105
Frame 5
tensor(0.2262)
 # KEYFRAME 5
0.05462201500267838
Frame 6
tensor(0.1465)
 # KEYFRAME 6
0.055397533000359545
Frame 7
tensor(0.1427)
 # KEYFRAME 7
0.056167850001656916
Frame 8
tensor(0.3731)
 # KEYFRAME 8
0.05805602299733437
Frame 9
tensor(0.2554)
 # KEYFRAME 9
0.058376371998747345
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.2131)
 # KEYFRAME 10
0.051721245999942767
Frame 11
tensor(0.0916)
Frame 12
tensor(0.1962)
 # KEYFRAME 11
0.05265920199963148
Frame 13
tensor(0.3279)
 # KEYFRAME 12
0.05295819199818652
Frame 14
tensor(0.2101)
 # KEYFRAME 13
0.055035143999702996
Frame 15
tensor(0.1790)
 # KEYFRAME 14
0.05458150599952205
Frame 16
tensor(0.1516)
 # KEYFRAME 15
0.05505342399919755
Frame 17
tensor(0.2569)
 # KEYFRAME 16
0.055620671999349725
Frame 18
tensor(0.2643)
 # KEYFRAME 17
0.05641306899997289
Frame 19
tensor(0.2681)
 # KEYFRAME 18
0.057310346001031576
Frame 20
tensor(0.1707)
 # KEYFRAME 19
0.05810896299954038
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.1162)
 # KEYFRAME 20
0.054150496998772724
Frame 22
tensor(0.2863)
 # KEYFRAME 21
0.05499296400012099
Frame 23
tensor(0.2248)
 # KEYFRAME 22
0.05505721400186303
Frame 24
tensor(0.1659)
 # KEYFRAME 23
0.05562702200040803
Frame 25
tensor(0.1415)
 # KEYFRAME 24
0.056248780001624255
Frame 26
tensor(0.2921)
 # KEYFRAME 25
0.05695675700189895
Frame 27
tensor(0.5068)
 # KEYFRAME 26
0.05846999200002756
Frame 28
tensor(0.1786)
 # KEYFRAME 27
0.05924079899705248
Frame 29
tensor(0.1853)
 # KEYFRAME 28
0.059679408001102274
Frame 30
tensor(0.1382)
 # KEYFRAME 29
0.06104027299807058
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 31
tensor(0.1599)
 # KEYFRAME 30
0.05847813100263011
Frame 32
tensor(0.1237)
 # KEYFRAME 31
0.05926388900115853
Frame 33
tensor(0.1811)
 # KEYFRAME 32
0.05957431799834012
Frame 34
tensor(0.1084)
 # KEYFRAME 33
0.06121060200166539
Frame 35
tensor(0.0284)
Frame 36
tensor(0.1666)
 # KEYFRAME 34
0.06308007500047097
Frame 37
tensor(0.1507)
 # KEYFRAME 35
0.06426149199978681
Frame 38
tensor(0.2670)
 # KEYFRAME 36
0.0650343380002596
Frame 39
tensor(0.2201)
 # KEYFRAME 37
0.06579799600149272
Frame 40
tensor(0.2069)
 # KEYFRAME 38
0.0663616740021098
Frame 41
tensor(0.2286)
 # KEYFRAME 39
0.06653712300249026
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=302 loss_distill=0.1733 tta_take=0.009s
Frame 42
tensor(0.1544)
 # KEYFRAME 40
0.06275518700203975
Frame 43
tensor(0.2006)
 # KEYFRAME 41
0.06385476300056325
Frame 44
tensor(0.1618)
 # KEYFRAME 42
0.0641125309994095
Frame 45
tensor(0.2398)
 # KEYFRAME 43
0.06406087199866306
Frame 46
tensor(0.2765)
 # KEYFRAME 44
0.06469067899888614
Frame 47
tensor(0.1745)
 # KEYFRAME 45
0.06532088799940539
Frame 48
tensor(0.2790)
 # KEYFRAME 46
0.06572170599974925
Frame 49
tensor(0.1074)
 # KEYFRAME 47
0.06660821300101816
Frame 50
tensor(0.0590)
Frame 51
tensor(0.2006)
 # KEYFRAME 48
0.06685090199971455
Frame 52
tensor(0.1654)
 # KEYFRAME 49
0.06730557999981102
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=303 loss_distill=0.2747 tta_take=0.009s
Frame 53
tensor(0.3727)
 # KEYFRAME 50
0.06699526100055664
Frame 54
tensor(0.1999)
 # KEYFRAME 51
0.06935185300244484
Frame 55
tensor(0.2992)
 # KEYFRAME 52
0.06930903300235514
Frame 56
tensor(0.1820)
 # KEYFRAME 53
0.07077517799916677
Frame 57
tensor(0.2741)
 # KEYFRAME 54
0.06958646199927898
Frame 58
tensor(0.2418)
 # KEYFRAME 55
0.0720307830015372
Frame 59
tensor(0.3980)
 # KEYFRAME 56
0.07281223999962094
Frame 60
tensor(0.2817)
 # KEYFRAME 57
0.0733602090003842
Frame 61
tensor(0.1524)
 # KEYFRAME 58
0.07433193500037305
Frame 62
tensor(0.3911)
 # KEYFRAME 59
0.0744638850010233
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=304 loss_distill=0.3466 tta_take=0.009s
Frame 63
tensor(0.2715)
 # KEYFRAME 60
0.07160476500212098
Frame 64
tensor(0.3051)
 # KEYFRAME 61
0.0735693380011071
Frame 65
tensor(0.1703)
 # KEYFRAME 62
0.07465201399827492
Frame 66
tensor(0.1084)
 # KEYFRAME 63
0.07440366499940865
Frame 67
tensor(0.2224)
 # KEYFRAME 64
0.0751151030017354
Frame 68
tensor(0.1377)
 # KEYFRAME 65
0.0745267940001213
Frame 69
tensor(0.1917)
 # KEYFRAME 66
0.07729565499903401
Frame 70
tensor(0.1952)
 # KEYFRAME 67
0.07825076100198203
Frame 71
tensor(0.1611)
 # KEYFRAME 68
0.07899172800171073
Frame 72
tensor(0.1987)
 # KEYFRAME 69
0.07991962499727379
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=305 loss_distill=0.4024 tta_take=0.009s
Frame 73
tensor(0.1916)
 # KEYFRAME 70
0.07537789100024384
Frame 74
tensor(0.2499)
 # KEYFRAME 71
0.07699937600045814
Frame 75
tensor(0.2240)
 # KEYFRAME 72
0.07650354800352943
Frame 76
tensor(0.2640)
 # KEYFRAME 73
0.07721493499775534
Frame 77
tensor(0.2292)
 # KEYFRAME 74
0.07772391300022718
Frame 78
tensor(0.1431)
 # KEYFRAME 75
0.0783466610009782
Frame 79
tensor(0.1577)
 # KEYFRAME 76
0.07828664100088645
Frame 80
tensor(0.1340)
 # KEYFRAME 77
0.07914789800270228
Frame 81
tensor(0.2847)
 # KEYFRAME 78
0.07951639700331725
Frame 82
tensor(0.1700)
 # KEYFRAME 79
0.08010111499970662
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=306 loss_distill=0.4024 tta_take=0.009s
Frame 83
tensor(0.2230)
 # KEYFRAME 80
0.07551882099869545
Frame 84
tensor(0.1315)
 # KEYFRAME 81
0.07735123499878682
Frame 85
tensor(0.2293)
 # KEYFRAME 82
0.0766266069986159
Frame 86
tensor(0.2210)
 # KEYFRAME 83
0.07693535599901224
Frame 87
tensor(0.1239)
 # KEYFRAME 84
0.07752734400128247
Frame 88
tensor(0.2628)
 # KEYFRAME 85
0.07795404200078337
Frame 89
tensor(0.2583)
 # KEYFRAME 86
0.07814930200038361
Frame 90
tensor(0.1262)
 # KEYFRAME 87
0.07924410799751058
Frame 91
tensor(0.2061)
 # KEYFRAME 88
0.07916062799995416
Frame 92
tensor(0.1841)
 # KEYFRAME 89
0.08013920500161476
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 9.894396781921387)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=307 loss_distill=0.4024 tta_take=0.008s
Frame 93
tensor(0.3184)
 # KEYFRAME 90
0.07550143099797424
Frame 94
tensor(0.1617)
 # KEYFRAME 91
0.07712619499943685
Frame 95
tensor(0.2190)
 # KEYFRAME 92
0.07700931499857688
Frame 96
tensor(0.2578)
 # KEYFRAME 93
0.07733753399952548
Frame 97
tensor(0.3578)
 # KEYFRAME 94
0.07753099399997154
Frame 98
tensor(0.0855)
Frame 99
tensor(0.1645)
 # KEYFRAME 95
0.07811467200008337
Frame 100
tensor(0.3413)
 # KEYFRAME 96
0.07838043100127834
Frame 101
tensor(0.2417)
 # KEYFRAME 97
0.0788461490010377
Frame 102
tensor(0.1684)
 # KEYFRAME 98
0.07927517799907946
Frame 103
tensor(0.1880)
 # KEYFRAME 99
0.08008558399887988
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 9.998065948486328), (7, 9.926124572753906)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=308 loss_distill=0.4024 tta_take=0.009s
Frame 104
tensor(0.3376)
 # KEYFRAME 100
0.07550818100207835
Frame 105
tensor(0.1141)
 # KEYFRAME 101
0.07753923400014173
Frame 106
tensor(0.2590)
 # KEYFRAME 102
0.07646418799777166
Frame 107
tensor(0.4096)
 # KEYFRAME 103
0.07735399499870255
Frame 108
tensor(0.1271)
 # KEYFRAME 104
0.0776729629978945
Frame 109
tensor(0.0492)
Frame 110
tensor(0.0626)
Frame 111
tensor(0.2551)
 # KEYFRAME 105
0.07785435199912172
Frame 112
tensor(0.1244)
 # KEYFRAME 106
0.078274641000462
Frame 113
tensor(0.0884)
Frame 114
tensor(0.2123)
 # KEYFRAME 107
0.07874504999927012
Frame 115
tensor(0.1036)
 # KEYFRAME 108
0.07951940700149862
Frame 116
tensor(0.1920)
 # KEYFRAME 109
0.08024293400012539
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 9.844477653503418), (7, 9.780923843383789), (8, 9.676681518554688)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=309 loss_distill=0.4024 tta_take=0.009s
Frame 117
tensor(0.4101)
 # KEYFRAME 110
0.07550326099953963
Frame 118
tensor(0.2269)
 # KEYFRAME 111
0.07607422899673111
Frame 119
tensor(0.1690)
 # KEYFRAME 112
0.07694934599931003
Frame 120
tensor(0.1725)
 # KEYFRAME 113
0.07734027500191587
Frame 121
tensor(0.2482)
 # KEYFRAME 114
0.0772950540012971
Frame 122
tensor(0.1229)
 # KEYFRAME 115
0.07827034200090566
Frame 123
tensor(0.4325)
 # KEYFRAME 116
0.07851517000017338
Frame 124
tensor(0.2966)
 # KEYFRAME 117
0.07851438100260566
Frame 125
tensor(0.1486)
 # KEYFRAME 118
0.07967882599768927
Frame 126
tensor(0.3610)
 # KEYFRAME 119
0.07965717600018252
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 9.999187469482422), (8, 9.90835189819336), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=310 loss_distill=0.4024 tta_take=0.009s
Frame 127
tensor(0.2264)
 # KEYFRAME 120
0.0755087409997941
Frame 128
tensor(0.2795)
 # KEYFRAME 121
0.07705283500035875
Frame 129
tensor(0.1524)
 # KEYFRAME 122
0.07699495600172668
Frame 130
tensor(0.1939)
 # KEYFRAME 123
0.07727486400108319
Frame 131
tensor(0.1325)
 # KEYFRAME 124
0.0780102419994364
Frame 132
tensor(0.2273)
 # KEYFRAME 125
0.0782319309982995
Frame 133
tensor(0.1364)
 # KEYFRAME 126
0.07852071999877808
Frame 134
tensor(0.1398)
 # KEYFRAME 127
0.0799313150018861
Frame 135
tensor(0.1992)
 # KEYFRAME 128
0.08089857100276276
Frame 136
tensor(0.1590)
 # KEYFRAME 129
0.08167286900061299
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 9.930476188659668), (7, 9.971962928771973), (8, 9.906292915344238), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=311 loss_distill=0.4024 tta_take=0.009s
Frame 137
tensor(0.3432)
 # KEYFRAME 130
0.0756169400010549
Frame 138
tensor(0.1137)
 # KEYFRAME 131
0.07632666799690924
Frame 139
tensor(0.1333)
 # KEYFRAME 132
0.07715258500320488
Frame 140
tensor(0.1796)
 # KEYFRAME 133
0.07753624399992987
Frame 141
tensor(0.0769)
Frame 142
tensor(0.5632)
 # KEYFRAME 134
0.07784730200000922
Frame 143
tensor(0.1505)
 # KEYFRAME 135
0.07844776999991154
Frame 144
tensor(0.1619)
 # KEYFRAME 136
0.07847960999788484
Frame 145
tensor(0.1809)
 # KEYFRAME 137
0.0787588790008158
Frame 146
tensor(0.0504)
Frame 147
tensor(0.0746)
Frame 148
tensor(0.0597)
Frame 149
tensor(0.0953)
Backending... 138 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 63240, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=312 loss_distill=0.4024 tta_take=0.007s
[epoch 0 scene 44/556] scannetpp/b20a261fdf/DSC frames=150 tta_steps_this_scene=11 mean_loss=0.3649 total_steps=312 time=58.6s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1230)
 # KEYFRAME 1
Frame 2
tensor(0.1303)
 # KEYFRAME 2
0.05177231500056223
Frame 3
tensor(0.1659)
 # KEYFRAME 3
0.052214044000720605
Frame 4
tensor(0.1623)
 # KEYFRAME 4
0.05422600699967006
Frame 5
tensor(0.1722)
 # KEYFRAME 5
0.054831625002407236
Frame 6
tensor(0.1789)
 # KEYFRAME 6
0.05535110300115775
Frame 7
tensor(0.0774)
Frame 8
tensor(0.1544)
 # KEYFRAME 7
0.05645225899934303
Frame 9
tensor(0.0969)
Frame 10
tensor(0.1523)
 # KEYFRAME 8
0.057938234000175726
Frame 11
tensor(0.0690)
Frame 12
tensor(0.1806)
 # KEYFRAME 9
0.05870291099927272
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 13
tensor(0.0789)
Frame 14
tensor(0.1273)
 # KEYFRAME 10
0.051851025000360096
Frame 15
tensor(0.0564)
Frame 16
tensor(0.1352)
 # KEYFRAME 11
0.05308271099784179
Frame 17
tensor(0.0802)
Frame 18
tensor(0.1563)
 # KEYFRAME 12
0.05325903099947027
Frame 19
tensor(0.0381)
Frame 20
tensor(0.0847)
Frame 21
tensor(0.1669)
 # KEYFRAME 13
0.05504456400012714
Frame 22
tensor(0.0352)
Frame 23
tensor(0.0801)
Frame 24
tensor(0.1349)
 # KEYFRAME 14
0.05496805400252924
Frame 25
tensor(0.1019)
 # KEYFRAME 15
0.05526073299915879
Frame 26
tensor(0.0810)
Frame 27
tensor(0.1758)
 # KEYFRAME 16
0.05652476900286274
Frame 28
tensor(0.1246)
 # KEYFRAME 17
0.05653161899681436
Frame 29
tensor(0.2183)
 # KEYFRAME 18
0.05741799500174238
Frame 30
tensor(0.1528)
 # KEYFRAME 19
0.05847573199935141
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 31
tensor(0.0976)
Frame 32
tensor(0.1371)
 # KEYFRAME 20
0.05424248700001044
Frame 33
tensor(0.1047)
 # KEYFRAME 21
0.05520279399934225
Frame 34
tensor(0.1121)
 # KEYFRAME 22
0.05518804299936164
Frame 35
tensor(0.0896)
Frame 36
tensor(0.2329)
 # KEYFRAME 23
0.05581225100104348
Frame 37
tensor(0.1743)
 # KEYFRAME 24
0.05638549899958889
Frame 38
tensor(0.0695)
Frame 39
tensor(0.1241)
 # KEYFRAME 25
0.05705468700034544
Frame 40
tensor(0.7908)
 # KEYFRAME 26
0.058470891999604646
Frame 41
tensor(0.1983)
 # KEYFRAME 27
0.059466908998729195
Frame 42
tensor(0.2703)
 # KEYFRAME 28
0.05983592699703877
Frame 43
tensor(0.0886)
Frame 44
tensor(0.3173)
 # KEYFRAME 29
0.06121475199688575
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 45
tensor(0.2043)
 # KEYFRAME 30
0.05889607000062824
Frame 46
tensor(0.0954)
Frame 47
tensor(0.2467)
 # KEYFRAME 31
0.060128925997560145
Frame 48
tensor(0.1682)
 # KEYFRAME 32
0.06014111500189756
Frame 49
tensor(0.0994)
Frame 50
tensor(0.1882)
 # KEYFRAME 33
0.06164126099974965
Frame 51
tensor(0.1782)
 # KEYFRAME 34
0.06303471499995794
Frame 52
tensor(0.0717)
Frame 53
tensor(0.1754)
 # KEYFRAME 35
0.0643109810007445
Frame 54
tensor(0.1033)
 # KEYFRAME 36
0.06522842800040962
Frame 55
tensor(0.0526)
Frame 56
tensor(0.0908)
Frame 57
tensor(0.1253)
 # KEYFRAME 37
0.06634149399906164
Frame 58
tensor(0.0642)
Frame 59
tensor(0.1517)
 # KEYFRAME 38
0.06650468299994827
Frame 60
tensor(0.0933)
Frame 61
tensor(0.1294)
 # KEYFRAME 39
0.06689956200352754
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.19576525688171387
TTA-STEP: step=313 loss_distill=0.1958 tta_take=0.009s
Frame 62
tensor(0.0776)
Frame 63
tensor(0.4602)
 # KEYFRAME 40
0.06249155799741857
Frame 64
tensor(0.1959)
 # KEYFRAME 41
0.06379982299768017
Frame 65
tensor(0.0665)
Frame 66
tensor(0.0826)
Frame 67
tensor(0.1634)
 # KEYFRAME 42
0.06384389300001203
Frame 68
tensor(0.1142)
 # KEYFRAME 43
0.06439846099965507
Frame 69
tensor(0.0573)
Frame 70
tensor(0.1761)
 # KEYFRAME 44
0.06501992799894651
Frame 71
tensor(0.1360)
 # KEYFRAME 45
0.06535371700010728
Frame 72
tensor(0.1146)
 # KEYFRAME 46
0.06599509499937994
Frame 73
tensor(0.0752)
Frame 74
tensor(0.0742)
Frame 75
tensor(0.3586)
 # KEYFRAME 47
0.06636824299857835
Frame 76
tensor(0.1432)
 # KEYFRAME 48
0.06698420100292424
Frame 77
tensor(0.1723)
 # KEYFRAME 49
0.06740178000109154
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.275073379278183
TTA-STEP: step=314 loss_distill=0.2751 tta_take=0.009s
Frame 78
tensor(0.1667)
 # KEYFRAME 50
0.06687405100092292
Frame 79
tensor(0.0691)
Frame 80
tensor(0.1471)
 # KEYFRAME 51
0.06924746300137485
Frame 81
tensor(0.0286)
Frame 82
tensor(0.0690)
Frame 83
tensor(0.1219)
 # KEYFRAME 52
0.06941851300143753
Frame 84
tensor(0.1003)
 # KEYFRAME 53
0.07054768799935118
Frame 85
tensor(0.1355)
 # KEYFRAME 54
0.06947387200125377
Frame 86
tensor(0.1646)
 # KEYFRAME 55
0.07235909199880552
Frame 87
tensor(0.0960)
Frame 88
tensor(0.2637)
 # KEYFRAME 56
0.07298314999934519
Frame 89
tensor(0.0451)
Frame 90
tensor(0.1274)
 # KEYFRAME 57
0.07385657699705916
Frame 91
tensor(0.0701)
Frame 92
tensor(0.1274)
 # KEYFRAME 58
0.07422448500074097
Frame 93
tensor(0.1334)
 # KEYFRAME 59
0.07423534599729464
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.36801865696907043
TTA-STEP: step=315 loss_distill=0.3680 tta_take=0.009s
Frame 94
tensor(0.1006)
 # KEYFRAME 60
0.07106205600211979
Frame 95
tensor(0.1510)
 # KEYFRAME 61
0.07350788799885777
Frame 96
tensor(0.1293)
 # KEYFRAME 62
0.07345163799982402
Frame 97
tensor(0.0925)
Frame 98
tensor(0.1414)
 # KEYFRAME 63
0.07416992599974037
Frame 99
tensor(0.0506)
Frame 100
tensor(0.2690)
 # KEYFRAME 64
0.07539906100282678
Frame 101
tensor(0.0537)
Frame 102
tensor(0.1066)
 # KEYFRAME 65
0.07435657500172965
Frame 103
tensor(0.0673)
Frame 104
tensor(0.1644)
 # KEYFRAME 66
0.0768779159989208
Frame 105
tensor(0.0737)
Frame 106
tensor(0.1853)
 # KEYFRAME 67
0.07758343400200829
Frame 107
tensor(0.1245)
 # KEYFRAME 68
0.07888642900070408
Frame 108
tensor(0.1320)
 # KEYFRAME 69
0.07982044600066729
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=316 loss_distill=0.4024 tta_take=0.009s
Frame 109
tensor(0.0952)
Frame 110
tensor(0.2260)
 # KEYFRAME 70
0.07528606099731405
Frame 111
tensor(0.0833)
Frame 112
tensor(0.1636)
 # KEYFRAME 71
0.0760938579987851
Frame 113
tensor(0.1289)
 # KEYFRAME 72
0.07657489699704456
Frame 114
tensor(0.2080)
 # KEYFRAME 73
0.07714435500020045
Frame 115
tensor(0.2576)
 # KEYFRAME 74
0.07736183499946492
Frame 116
tensor(0.2006)
 # KEYFRAME 75
0.07774516299832612
Frame 117
tensor(0.1775)
 # KEYFRAME 76
0.07807198200316634
Frame 118
tensor(0.0394)
Frame 119
tensor(0.2001)
 # KEYFRAME 77
0.07865815900004236
Frame 120
tensor(0.3676)
 # KEYFRAME 78
0.07930101700185332
Frame 121
tensor(0.1209)
 # KEYFRAME 79
0.07977560499784886
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=317 loss_distill=0.4024 tta_take=0.009s
Frame 122
tensor(0.1274)
 # KEYFRAME 80
0.07540594099918962
Frame 123
tensor(0.0697)
Frame 124
tensor(0.1622)
 # KEYFRAME 81
0.07713469499867642
Frame 125
tensor(0.1138)
 # KEYFRAME 82
0.07645995799975935
Frame 126
tensor(0.1142)
 # KEYFRAME 83
0.07726928400006727
Frame 127
tensor(0.4958)
 # KEYFRAME 84
0.07757265400141478
Frame 128
tensor(0.0672)
Frame 129
tensor(0.1078)
 # KEYFRAME 85
0.07835562100081006
Frame 130
tensor(0.1293)
 # KEYFRAME 86
0.07844806999855791
Frame 131
tensor(0.0380)
Frame 132
tensor(0.1125)
 # KEYFRAME 87
0.07882698899993557
Frame 133
tensor(0.0482)
Frame 134
tensor(0.0114)
Frame 135
tensor(0.0823)
Frame 136
tensor(0.0730)
Frame 137
tensor(0.1555)
 # KEYFRAME 88
0.07953363599881413
Frame 138
tensor(0.4517)
 # KEYFRAME 89
0.07991766499981168
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=318 loss_distill=0.4024 tta_take=0.009s
Frame 139
tensor(0.0659)
Frame 140
tensor(0.2602)
 # KEYFRAME 90
0.0754970609996235
Frame 141
tensor(0.2068)
 # KEYFRAME 91
0.07762072300101863
Frame 142
tensor(0.2023)
 # KEYFRAME 92
0.07667748700259835
Frame 143
tensor(0.1596)
 # KEYFRAME 93
0.07754074299737113
Frame 144
tensor(0.1382)
 # KEYFRAME 94
0.07791954200001783
Frame 145
tensor(0.4800)
 # KEYFRAME 95
0.07822172200030764
Frame 146
tensor(0.2451)
 # KEYFRAME 96
0.0780587410008593
Frame 147
tensor(0.0344)
Frame 148
tensor(0.1028)
 # KEYFRAME 97
0.07913717799965525
Frame 149
tensor(0.0741)
Backending... 98 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 63240, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=319 loss_distill=0.4024 tta_take=0.007s
[epoch 0 scene 45/556] scannetpp/e3ecd49e2b/DSC frames=150 tta_steps_this_scene=7 mean_loss=0.3498 total_steps=319 time=53.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1503)
 # KEYFRAME 1
Frame 2
tensor(0.1549)
 # KEYFRAME 2
0.0541414769977564
Frame 3
tensor(0.0792)
Frame 4
tensor(0.3365)
 # KEYFRAME 3
0.05168602499907138
Frame 5
tensor(0.3461)
 # KEYFRAME 4
0.05247230300301453
Frame 6
tensor(0.2713)
 # KEYFRAME 5
0.053592298998410115
Frame 7
tensor(0.2416)
 # KEYFRAME 6
0.05537869299951126
Frame 8
tensor(0.2762)
 # KEYFRAME 7
0.05535189199872548
Frame 9
tensor(0.1443)
 # KEYFRAME 8
0.055976390998694114
Frame 10
tensor(0.4451)
 # KEYFRAME 9
0.05692266700134496
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.4298)
 # KEYFRAME 10
0.05177448600079515
Frame 12
tensor(0.1703)
 # KEYFRAME 11
0.05179669599965564
Frame 13
tensor(0.0695)
Frame 14
tensor(0.1893)
 # KEYFRAME 12
0.05150583700014977
Frame 15
tensor(0.0575)
Frame 16
tensor(0.0805)
Frame 17
tensor(0.1104)
 # KEYFRAME 13
0.0547179450004478
Frame 18
tensor(0.0401)
Frame 19
tensor(0.2563)
 # KEYFRAME 14
0.05431058699832647
Frame 20
tensor(0.2023)
 # KEYFRAME 15
0.054416846000094665
Frame 21
tensor(0.3143)
 # KEYFRAME 16
0.055778010999347316
Frame 22
tensor(0.1503)
 # KEYFRAME 17
0.0567906780015619
Frame 23
tensor(0.1174)
 # KEYFRAME 18
0.05757178500061855
Frame 24
tensor(0.2340)
 # KEYFRAME 19
0.0582872220002173
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.1993)
 # KEYFRAME 20
0.054053627001849236
Frame 26
tensor(0.3228)
 # KEYFRAME 21
0.05457627500072704
Frame 27
tensor(0.1663)
 # KEYFRAME 22
0.054974424001557054
Frame 28
tensor(0.0377)
Frame 29
tensor(0.1246)
 # KEYFRAME 23
0.05532364200189477
Frame 30
tensor(0.0736)
Frame 31
tensor(0.1237)
 # KEYFRAME 24
0.05612033999932464
Frame 32
tensor(0.1803)
 # KEYFRAME 25
0.0568679770003655
Frame 33
tensor(0.2304)
 # KEYFRAME 26
0.057878354000422405
Frame 34
tensor(0.0744)
Frame 35
tensor(0.2695)
 # KEYFRAME 27
0.05920327899730182
Frame 36
tensor(0.0429)
Frame 37
tensor(0.0845)
Frame 38
tensor(0.1608)
 # KEYFRAME 28
0.05970273699858808
Frame 39
tensor(0.0918)
Frame 40
tensor(0.1284)
 # KEYFRAME 29
0.060602754001592984
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 41
tensor(0.1655)
 # KEYFRAME 30
0.05842534199837246
Frame 42
tensor(0.1343)
 # KEYFRAME 31
0.059877545998460846
Frame 43
tensor(0.1279)
 # KEYFRAME 32
0.060025455997674726
Frame 44
tensor(0.2578)
 # KEYFRAME 33
0.061758389998431085
Frame 45
tensor(0.2508)
 # KEYFRAME 34
0.06261787699986598
Frame 46
tensor(0.2294)
 # KEYFRAME 35
0.06376643300245632
Frame 47
tensor(0.2543)
 # KEYFRAME 36
0.06456660000185366
Frame 48
tensor(0.0890)
Frame 49
tensor(0.1585)
 # KEYFRAME 37
0.06574613600241719
Frame 50
tensor(0.1558)
 # KEYFRAME 38
0.06589366499974858
Frame 51
tensor(0.1214)
 # KEYFRAME 39
0.06699593099983758
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=320 loss_distill=0.1733 tta_take=0.009s
Frame 52
tensor(0.0685)
Frame 53
tensor(0.0526)
Frame 54
tensor(0.1035)
 # KEYFRAME 40
0.06267269700038014
Frame 55
tensor(0.1034)
 # KEYFRAME 41
0.06395365199932712
Frame 56
tensor(0.1340)
 # KEYFRAME 42
0.06416358100250363
Frame 57
tensor(0.1651)
 # KEYFRAME 43
0.06433621999894967
Frame 58
tensor(0.2906)
 # KEYFRAME 44
0.06503822899685474
Frame 59
tensor(0.2248)
 # KEYFRAME 45
0.06534356699921773
Frame 60
tensor(0.1860)
 # KEYFRAME 46
0.06619291399692884
Frame 61
tensor(0.1687)
 # KEYFRAME 47
0.0664600630007044
Frame 62
tensor(0.1637)
 # KEYFRAME 48
0.06724039999971865
Frame 63
tensor(0.2129)
 # KEYFRAME 49
0.06730065000010654
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=321 loss_distill=0.2747 tta_take=0.009s
Frame 64
tensor(0.1475)
 # KEYFRAME 50
0.06685429099889006
Frame 65
tensor(0.1757)
 # KEYFRAME 51
0.06878279500233475
Frame 66
tensor(0.0714)
Frame 67
tensor(0.1184)
 # KEYFRAME 52
0.06974196199735161
Frame 68
tensor(0.1843)
 # KEYFRAME 53
0.07028550999893923
Frame 69
tensor(0.1993)
 # KEYFRAME 54
0.06941154200103483
Frame 70
tensor(0.1764)
 # KEYFRAME 55
0.07144495499960613
Frame 71
tensor(0.0997)
Frame 72
tensor(0.3862)
 # KEYFRAME 56
0.07197021399770165
Frame 73
tensor(0.1468)
 # KEYFRAME 57
0.07230690200231038
Frame 74
tensor(0.3288)
 # KEYFRAME 58
0.07300466900051106
Frame 75
tensor(0.1829)
 # KEYFRAME 59
0.0731629689980764
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=322 loss_distill=0.3466 tta_take=0.009s
Frame 76
tensor(0.2069)
 # KEYFRAME 60
0.07126688599964837
Frame 77
tensor(0.1716)
 # KEYFRAME 61
0.07303141900047194
Frame 78
tensor(0.2437)
 # KEYFRAME 62
0.07264272199972766
Frame 79
tensor(0.1924)
 # KEYFRAME 63
0.0728349810015061
Frame 80
tensor(0.2021)
 # KEYFRAME 64
0.07352227799856337
Frame 81
tensor(0.1929)
 # KEYFRAME 65
0.0735203479998745
Frame 82
tensor(0.1063)
 # KEYFRAME 66
0.0745364049980708
Frame 83
tensor(0.0558)
Frame 84
tensor(0.0899)
Frame 85
tensor(0.3291)
 # KEYFRAME 67
0.07453945499946713
Frame 86
tensor(0.3087)
 # KEYFRAME 68
0.07539124100003392
Frame 87
tensor(0.1537)
 # KEYFRAME 69
0.07593801999973948
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=323 loss_distill=0.4024 tta_take=0.009s
Frame 88
tensor(0.3874)
 # KEYFRAME 70
0.07563237999784178
Frame 89
tensor(0.1716)
 # KEYFRAME 71
0.0765463070019905
Frame 90
tensor(0.2392)
 # KEYFRAME 72
0.0766753170028096
Frame 91
tensor(0.2453)
 # KEYFRAME 73
0.07726766499763471
Frame 92
tensor(0.0951)
Frame 93
tensor(0.2026)
 # KEYFRAME 74
0.07793801200023154
Frame 94
tensor(0.1677)
 # KEYFRAME 75
0.07801651100089657
Frame 95
tensor(0.2241)
 # KEYFRAME 76
0.07788107299711555
Frame 96
tensor(0.1573)
 # KEYFRAME 77
0.07971000599718536
Frame 97
tensor(0.3808)
 # KEYFRAME 78
0.08000601499952609
Frame 98
tensor(0.1845)
 # KEYFRAME 79
0.08036174399967422
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=324 loss_distill=0.4024 tta_take=0.009s
Frame 99
tensor(0.1397)
 # KEYFRAME 80
0.0759561089980707
Frame 100
tensor(0.2512)
 # KEYFRAME 81
0.0778769629978342
Frame 101
tensor(0.3091)
 # KEYFRAME 82
0.07700397599910502
Frame 102
tensor(0.1973)
 # KEYFRAME 83
0.07726526400074363
Frame 103
tensor(0.1849)
 # KEYFRAME 84
0.07856317999903695
Frame 104
tensor(0.0402)
Frame 105
tensor(0.1802)
 # KEYFRAME 85
0.07867593999981182
Frame 106
tensor(0.2366)
 # KEYFRAME 86
0.07836034100182587
Frame 107
tensor(0.4804)
 # KEYFRAME 87
0.07938776700029848
Frame 108
tensor(0.0670)
Frame 109
tensor(0.1938)
 # KEYFRAME 88
0.07989865600029589
Frame 110
tensor(0.2124)
 # KEYFRAME 89
0.08087689199965098
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=325 loss_distill=0.4024 tta_take=0.009s
Frame 111
tensor(0.3072)
 # KEYFRAME 90
0.07561632000215468
Frame 112
tensor(0.2088)
 # KEYFRAME 91
0.0764431079987844
Frame 113
tensor(0.2327)
 # KEYFRAME 92
0.07695111599969096
Frame 114
tensor(0.2200)
 # KEYFRAME 93
0.07734222399813007
Frame 115
tensor(0.1582)
 # KEYFRAME 94
0.07827124100003857
Frame 116
tensor(0.0789)
Frame 117
tensor(0.2592)
 # KEYFRAME 95
0.07775993199902587
Frame 118
tensor(0.1181)
 # KEYFRAME 96
0.07864497999980813
Frame 119
tensor(0.0807)
Frame 120
tensor(0.1001)
 # KEYFRAME 97
0.07971278600234655
Frame 121
tensor(0.0991)
Frame 122
tensor(0.1176)
 # KEYFRAME 98
0.07984158600083902
Frame 123
tensor(0.3461)
 # KEYFRAME 99
0.08063412199771847
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=326 loss_distill=0.4024 tta_take=0.008s
Frame 124
tensor(0.2377)
 # KEYFRAME 100
0.07565107099799206
Frame 125
tensor(0.5373)
 # KEYFRAME 101
0.07802375199753442
Frame 126
tensor(0.4002)
 # KEYFRAME 102
0.07790413199836621
Frame 127
tensor(0.4432)
 # KEYFRAME 103
0.07845178999923519
Frame 128
tensor(0.1735)
 # KEYFRAME 104
0.07893500799764297
Frame 129
tensor(0.2419)
 # KEYFRAME 105
0.07922430699909455
Frame 130
tensor(0.1769)
 # KEYFRAME 106
0.07887442900027963
Frame 131
tensor(0.0628)
Frame 132
tensor(0.5111)
 # KEYFRAME 107
0.0799363660007657
Frame 133
tensor(0.5263)
 # KEYFRAME 108
0.08057501299845171
Frame 134
tensor(0.4071)
 # KEYFRAME 109
0.08092036099696998
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=327 loss_distill=0.4024 tta_take=0.009s
Frame 135
tensor(0.1227)
 # KEYFRAME 110
0.07550115100093535
Frame 136
tensor(0.2496)
 # KEYFRAME 111
0.07637400800012983
Frame 137
tensor(0.2598)
 # KEYFRAME 112
0.07714819499960868
Frame 138
tensor(0.3454)
 # KEYFRAME 113
0.0775704539992148
Frame 139
tensor(0.3355)
 # KEYFRAME 114
0.07854319000034593
Frame 140
tensor(0.2138)
 # KEYFRAME 115
0.07928958800039254
Frame 141
tensor(0.3825)
 # KEYFRAME 116
0.07849049000287778
Frame 142
tensor(0.2237)
 # KEYFRAME 117
0.08062260299993795
Frame 143
tensor(0.3528)
 # KEYFRAME 118
0.08054900299975998
Frame 144
tensor(0.2407)
 # KEYFRAME 119
0.08113783099906868
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=328 loss_distill=0.4024 tta_take=0.009s
Frame 145
tensor(0.3161)
 # KEYFRAME 120
0.07586314000218408
Frame 146
tensor(0.4295)
 # KEYFRAME 121
0.07821344100011629
Frame 147
tensor(0.3224)
 # KEYFRAME 122
0.07846517000143649
Frame 148
tensor(0.1498)
 # KEYFRAME 123
0.07937558699995861
Frame 149
tensor(0.1072)
 # KEYFRAME 124
0.07979367599909892
Backending... 125 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 60450, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=329 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 46/556] scannetpp/98b4ec142f/DSC frames=150 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=329 time=53.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0779)
Frame 2
tensor(0.1982)
 # KEYFRAME 1
Frame 3
tensor(0.2644)
 # KEYFRAME 2
0.05165673600276932
Frame 4
tensor(0.2872)
 # KEYFRAME 3
0.05306700100118178
Frame 5
tensor(0.3772)
 # KEYFRAME 4
0.05509088400140172
Frame 6
tensor(0.2238)
 # KEYFRAME 5
0.05568396099988604
Frame 7
tensor(0.3928)
 # KEYFRAME 6
0.05681474800076103
Frame 8
tensor(0.7103)
 # KEYFRAME 7
0.057090146001428366
Frame 9
tensor(0.7119)
 # KEYFRAME 8
0.05820650299938279
Frame 10
tensor(0.3815)
 # KEYFRAME 9
0.05870370999764418
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.2601)
 # KEYFRAME 10
0.05243901300127618
Frame 12
tensor(0.5289)
 # KEYFRAME 11
0.053504899002291495
Frame 13
tensor(0.0864)
Frame 14
tensor(0.4700)
 # KEYFRAME 12
0.05458235500191222
Frame 15
tensor(0.2698)
 # KEYFRAME 13
0.05637962900073035
Frame 16
tensor(0.5297)
 # KEYFRAME 14
0.057597973998781526
Frame 17
tensor(0.3923)
 # KEYFRAME 15
0.05859635099841398
Frame 18
tensor(0.3134)
 # KEYFRAME 16
0.05885783999838168
Frame 19
tensor(0.2174)
 # KEYFRAME 17
0.06028878500001156
Frame 20
tensor(0.2677)
 # KEYFRAME 18
0.06152704999840353
Frame 21
tensor(0.2784)
 # KEYFRAME 19
0.06272451699987869
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 22
tensor(0.3230)
 # KEYFRAME 20
0.05946302799929981
Frame 23
tensor(0.4148)
 # KEYFRAME 21
0.06038808499943116
Frame 24
tensor(0.3400)
 # KEYFRAME 22
0.061241581999638584
Frame 25
tensor(0.2546)
 # KEYFRAME 23
0.06223995899927104
Frame 26
tensor(0.3284)
 # KEYFRAME 24
0.06260493700028746
Frame 27
tensor(0.5952)
 # KEYFRAME 25
0.06404782200115733
Frame 28
tensor(0.1446)
 # KEYFRAME 26
0.0656422960018972
Frame 29
tensor(0.1775)
 # KEYFRAME 27
0.06670713199855527
Frame 30
tensor(0.1416)
 # KEYFRAME 28
0.06725590100177214
Frame 31
tensor(0.3809)
 # KEYFRAME 29
0.06877878500017687
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.2117)
 # KEYFRAME 30
0.06612042499909876
Frame 33
tensor(0.1437)
 # KEYFRAME 31
0.06750915900192922
Frame 34
tensor(0.6070)
 # KEYFRAME 32
0.06816651699773502
Frame 35
tensor(0.2364)
 # KEYFRAME 33
0.06890031399962027
Frame 36
tensor(0.0274)
Frame 37
tensor(0.0480)
Frame 38
tensor(0.0456)
Frame 39
tensor(0.0602)
Frame 40
tensor(0.3204)
 # KEYFRAME 34
0.06998704099896713
Frame 41
tensor(0.1949)
 # KEYFRAME 35
0.07092801799808512
Frame 42
tensor(0.0965)
Frame 43
tensor(0.1495)
 # KEYFRAME 36
0.0716157850001764
Frame 44
tensor(0.2618)
 # KEYFRAME 37
0.07214272200144478
Frame 45
tensor(0.1030)
 # KEYFRAME 38
0.07326762900265749
Frame 46
tensor(0.2519)
 # KEYFRAME 39
0.07436064500143402
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=330 loss_distill=0.1733 tta_take=0.009s
Frame 47
tensor(0.2377)
 # KEYFRAME 40
0.07257774100071401
Frame 48
tensor(0.0728)
Frame 49
tensor(0.1210)
 # KEYFRAME 41
0.07447769400096149
Frame 50
tensor(0.0639)
Frame 51
tensor(0.1610)
 # KEYFRAME 42
0.07443071500165388
Frame 52
tensor(0.1279)
 # KEYFRAME 43
0.07571622999967076
Frame 53
tensor(0.2013)
 # KEYFRAME 44
0.07600034899951424
Frame 54
tensor(0.1940)
 # KEYFRAME 45
0.07668390699836891
Frame 55
tensor(0.1744)
 # KEYFRAME 46
0.0767578869999852
Frame 56
tensor(0.1570)
 # KEYFRAME 47
0.07748765400174307
Frame 57
tensor(0.1254)
 # KEYFRAME 48
0.07896401800098829
Frame 58
tensor(0.2879)
 # KEYFRAME 49
0.08026108400008525
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=331 loss_distill=0.2747 tta_take=0.009s
Frame 59
tensor(0.2156)
 # KEYFRAME 50
0.07947346699802438
Frame 60
tensor(0.1802)
 # KEYFRAME 51
0.08111945099881268
Frame 61
tensor(0.4340)
 # KEYFRAME 52
0.08195416799935629
Frame 62
tensor(0.2215)
 # KEYFRAME 53
0.08290891499927966
Frame 63
tensor(0.2348)
 # KEYFRAME 54
0.08412682999914978
Frame 64
tensor(0.2698)
 # KEYFRAME 55
0.08361984200018924
Frame 65
tensor(0.3803)
 # KEYFRAME 56
0.08533735599849024
Frame 66
tensor(0.3452)
 # KEYFRAME 57
0.08589473400206771
Frame 67
tensor(0.3985)
 # KEYFRAME 58
0.08641199199701077
Frame 68
tensor(0.3256)
 # KEYFRAME 59
0.08765391699853353
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=332 loss_distill=0.3466 tta_take=0.009s
Frame 69
tensor(0.1434)
 # KEYFRAME 60
0.08677209099914762
Frame 70
tensor(0.2489)
 # KEYFRAME 61
0.0885901140027272
Frame 71
tensor(0.2543)
 # KEYFRAME 62
0.08849186400038889
Frame 72
tensor(0.1234)
 # KEYFRAME 63
0.08902804299941636
Frame 73
tensor(0.6100)
 # KEYFRAME 64
0.08989256900167675
Frame 74
tensor(0.3816)
 # KEYFRAME 65
0.0909737860019959
Frame 75
tensor(0.4032)
 # KEYFRAME 66
0.09169318299973384
Frame 76
tensor(0.2175)
 # KEYFRAME 67
0.09264532000088366
Frame 77
tensor(0.4287)
 # KEYFRAME 68
0.09332542799893417
Frame 78
tensor(0.3892)
 # KEYFRAME 69
0.09406650500022806
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=333 loss_distill=0.4024 tta_take=0.009s
Frame 79
tensor(0.4796)
 # KEYFRAME 70
0.09272329899977194
Frame 80
tensor(0.2600)
 # KEYFRAME 71
0.0942966639995575
Frame 81
tensor(0.4690)
 # KEYFRAME 72
0.09440422400075477
Frame 82
tensor(0.1472)
 # KEYFRAME 73
0.09607143799803453
Frame 83
tensor(0.2108)
 # KEYFRAME 74
0.09642399700169335
Frame 84
tensor(0.1980)
 # KEYFRAME 75
0.09769640100057586
Frame 85
tensor(0.3224)
 # KEYFRAME 76
0.09738017299969215
Frame 86
tensor(0.2440)
 # KEYFRAME 77
0.09873432899985346
Frame 87
tensor(0.2358)
 # KEYFRAME 78
0.09930734600129654
Frame 88
tensor(0.0936)
Frame 89
tensor(0.3697)
 # KEYFRAME 79
0.10027569299927563
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=334 loss_distill=0.4024 tta_take=0.009s
Frame 90
tensor(0.6068)
 # KEYFRAME 80
0.0935041269985959
Frame 91
tensor(0.1395)
 # KEYFRAME 81
0.09493333199861809
Frame 92
tensor(0.3763)
 # KEYFRAME 82
0.09463711300122668
Frame 93
tensor(0.5554)
 # KEYFRAME 83
0.09647375599888619
Frame 94
tensor(0.3270)
 # KEYFRAME 84
0.0966727750019345
Frame 95
tensor(0.2072)
 # KEYFRAME 85
0.09749516299780225
Frame 96
tensor(0.0591)
Frame 97
tensor(0.1296)
 # KEYFRAME 86
0.09838816900082747
Frame 98
tensor(0.1966)
 # KEYFRAME 87
0.09870645800037892
Frame 99
tensor(0.1869)
 # KEYFRAME 88
0.09935173600024427
Frame 100
tensor(0.1391)
 # KEYFRAME 89
0.10114590000011958
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=335 loss_distill=0.4024 tta_take=0.009s
Frame 101
tensor(0.1558)
 # KEYFRAME 90
0.0934128970002348
Frame 102
tensor(0.1961)
 # KEYFRAME 91
0.09760127200206625
Frame 103
tensor(0.4248)
 # KEYFRAME 92
0.09626203700099722
Frame 104
tensor(0.3402)
 # KEYFRAME 93
0.09653560599690536
Frame 105
tensor(0.2350)
 # KEYFRAME 94
0.09669870500147226
Frame 106
tensor(0.1151)
 # KEYFRAME 95
0.09784852099983254
Frame 107
tensor(0.3231)
 # KEYFRAME 96
0.09894562799672713
Frame 108
tensor(0.1046)
 # KEYFRAME 97
0.09885549700265983
Frame 109
tensor(0.1085)
 # KEYFRAME 98
0.1009895899987896
Frame 110
tensor(0.2144)
 # KEYFRAME 99
0.10120758999983082
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=336 loss_distill=0.4024 tta_take=0.009s
Frame 111
tensor(0.3849)
 # KEYFRAME 100
0.09321082799942815
Frame 112
tensor(0.2039)
 # KEYFRAME 101
0.0960851880008704
Frame 113
tensor(0.3860)
 # KEYFRAME 102
0.09559046899812529
Frame 114
tensor(0.3425)
 # KEYFRAME 103
0.09759085200130357
Frame 115
tensor(0.1126)
 # KEYFRAME 104
0.09835392899913131
Frame 116
tensor(0.2723)
 # KEYFRAME 105
0.09869368799991207
Frame 117
tensor(0.2798)
 # KEYFRAME 106
0.10063064099813346
Frame 118
tensor(0.1943)
 # KEYFRAME 107
0.10065193099944736
Frame 119
tensor(0.1757)
 # KEYFRAME 108
0.10261017399898265
Frame 120
tensor(0.2389)
 # KEYFRAME 109
0.10263609500179882
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=337 loss_distill=0.4024 tta_take=0.009s
Frame 121
tensor(0.3271)
 # KEYFRAME 110
0.09340934700230719
Frame 122
tensor(0.2049)
 # KEYFRAME 111
0.09374328600097215
Frame 123
tensor(0.2737)
 # KEYFRAME 112
0.09485073199903127
Frame 124
tensor(0.3158)
 # KEYFRAME 113
0.09620992700001807
Frame 125
tensor(0.5668)
 # KEYFRAME 114
0.09755794200100354
Frame 126
tensor(0.2092)
 # KEYFRAME 115
0.09786551099750795
Frame 127
tensor(0.1877)
 # KEYFRAME 116
0.09886392800035537
Frame 128
tensor(0.2118)
 # KEYFRAME 117
0.09850975900189951
Frame 129
tensor(0.1903)
 # KEYFRAME 118
0.09904770699722576
Frame 130
tensor(0.1703)
 # KEYFRAME 119
0.10029895299885538
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=338 loss_distill=0.4024 tta_take=0.009s
Frame 131
tensor(0.2853)
 # KEYFRAME 120
0.09287503900122829
Frame 132
tensor(0.3475)
 # KEYFRAME 121
0.09673352499885368
Frame 133
tensor(0.7246)
 # KEYFRAME 122
0.09649422699658317
Frame 134
tensor(0.3637)
 # KEYFRAME 123
0.09687269400092191
Frame 135
tensor(0.4587)
 # KEYFRAME 124
0.0989651980016788
Frame 136
tensor(0.2926)
 # KEYFRAME 125
0.09986727499926928
Frame 137
tensor(0.4194)
 # KEYFRAME 126
0.1004181520002021
Frame 138
tensor(0.2516)
 # KEYFRAME 127
0.10123893900163239
Frame 139
tensor(0.1501)
 # KEYFRAME 128
0.10243489500135183
Frame 140
tensor(0.0148)
Frame 141
tensor(0.1833)
 # KEYFRAME 129
0.10274592400310212
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=339 loss_distill=0.4024 tta_take=0.009s
Frame 142
tensor(0.1452)
 # KEYFRAME 130
0.0934163769998122
Frame 143
tensor(0.1783)
 # KEYFRAME 131
0.09535513000082574
Frame 144
tensor(0.1164)
 # KEYFRAME 132
0.09621816700018826
Frame 145
tensor(0.0526)
Backending... 133 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65583, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=340 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 47/556] scannetpp/824d9cfa6e/frame frames=146 tta_steps_this_scene=11 mean_loss=0.3649 total_steps=340 time=59.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0844)
Frame 2
tensor(0.1626)
 # KEYFRAME 1
Frame 3
tensor(0.1275)
 # KEYFRAME 2
0.05177175599965267
Frame 4
tensor(0.1292)
 # KEYFRAME 3
0.053453468997759046
Frame 5
tensor(0.1817)
 # KEYFRAME 4
0.0538373679992219
Frame 6
tensor(0.0847)
Frame 7
tensor(0.1959)
 # KEYFRAME 5
0.05469357499896432
Frame 8
tensor(0.1179)
 # KEYFRAME 6
0.055936461001692805
Frame 9
tensor(0.2672)
 # KEYFRAME 7
0.0571024769997166
Frame 10
tensor(0.1685)
 # KEYFRAME 8
0.05780101399795967
Frame 11
tensor(0.1558)
 # KEYFRAME 9
0.05859924100150238
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.1055)
 # KEYFRAME 10
0.05201717399904737
Frame 13
tensor(0.1299)
 # KEYFRAME 11
0.05375031800213037
Frame 14
tensor(0.0808)
Frame 15
tensor(0.1639)
 # KEYFRAME 12
0.0547202349989675
Frame 16
tensor(0.2405)
 # KEYFRAME 13
0.05701642699932563
Frame 17
tensor(0.2039)
 # KEYFRAME 14
0.05808809299924178
Frame 18
tensor(0.1328)
 # KEYFRAME 15
0.05875395000111894
Frame 19
tensor(0.2403)
 # KEYFRAME 16
0.05987068600006751
Frame 20
tensor(0.2427)
 # KEYFRAME 17
0.060407574997952906
Frame 21
tensor(0.1272)
 # KEYFRAME 18
0.06113754199759569
Frame 22
tensor(0.0477)
Frame 23
tensor(0.2356)
 # KEYFRAME 19
0.06263228700117907
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 24
tensor(0.2371)
 # KEYFRAME 20
0.058980699999665376
Frame 25
tensor(0.1092)
 # KEYFRAME 21
0.06020587599778082
Frame 26
tensor(0.0864)
Frame 27
tensor(0.2112)
 # KEYFRAME 22
0.060847483000543434
Frame 28
tensor(0.1481)
 # KEYFRAME 23
0.061519820999819785
Frame 29
tensor(0.0869)
Frame 30
tensor(0.1792)
 # KEYFRAME 24
0.06223596800191444
Frame 31
tensor(0.1786)
 # KEYFRAME 25
0.0634283340004913
Frame 32
tensor(0.0640)
Frame 33
tensor(0.2117)
 # KEYFRAME 26
0.06510849799815333
Frame 34
tensor(0.2247)
 # KEYFRAME 27
0.06615893499838421
Frame 35
tensor(0.0838)
Frame 36
tensor(0.1383)
 # KEYFRAME 28
0.06725530100084143
Frame 37
tensor(0.2063)
 # KEYFRAME 29
0.06818684700192534
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 38
tensor(0.1985)
 # KEYFRAME 30
0.06566777599800844
Frame 39
tensor(0.0923)
Frame 40
tensor(0.1514)
 # KEYFRAME 31
0.06763059900185908
Frame 41
tensor(0.0731)
Frame 42
tensor(0.1726)
 # KEYFRAME 32
0.06902324400289217
Frame 43
tensor(0.0850)
Frame 44
tensor(0.1082)
 # KEYFRAME 33
0.07019414999740548
Frame 45
tensor(0.1960)
 # KEYFRAME 34
0.0714109760010615
Frame 46
tensor(0.1439)
 # KEYFRAME 35
0.07238604200028931
Frame 47
tensor(0.0728)
Frame 48
tensor(0.1722)
 # KEYFRAME 36
0.07415725600003498
Frame 49
tensor(0.1754)
 # KEYFRAME 37
0.07547264100139728
Frame 50
tensor(0.1370)
 # KEYFRAME 38
0.07650872800149955
Frame 51
tensor(0.1791)
 # KEYFRAME 39
0.0772965350006416
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=341 loss_distill=0.1733 tta_take=0.009s
Frame 52
tensor(0.1629)
 # KEYFRAME 40
0.0725897709999117
Frame 53
tensor(0.1456)
 # KEYFRAME 41
0.0746215140025015
Frame 54
tensor(0.3966)
 # KEYFRAME 42
0.0745462539998698
Frame 55
tensor(0.1033)
 # KEYFRAME 43
0.07492534300035913
Frame 56
tensor(0.0882)
Frame 57
tensor(0.1804)
 # KEYFRAME 44
0.07556599099916639
Frame 58
tensor(0.0937)
Frame 59
tensor(0.1872)
 # KEYFRAME 45
0.07618237899805536
Frame 60
tensor(0.0896)
Frame 61
tensor(0.2035)
 # KEYFRAME 46
0.07689201600078377
Frame 62
tensor(0.1030)
 # KEYFRAME 47
0.07790790200306219
Frame 63
tensor(0.1164)
 # KEYFRAME 48
0.07914291800261708
Frame 64
tensor(0.1066)
 # KEYFRAME 49
0.07978434599863249
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=342 loss_distill=0.2747 tta_take=0.009s
Frame 65
tensor(0.2325)
 # KEYFRAME 50
0.0795830470015062
Frame 66
tensor(0.1444)
 # KEYFRAME 51
0.08203219700226327
Frame 67
tensor(0.3690)
 # KEYFRAME 52
0.0820427370017569
Frame 68
tensor(0.2316)
 # KEYFRAME 53
0.08353942200119491
Frame 69
tensor(0.1364)
 # KEYFRAME 54
0.08547215500220773
Frame 70
tensor(0.2071)
 # KEYFRAME 55
0.08552095500272117
Frame 71
tensor(0.1637)
 # KEYFRAME 56
0.0866633309997269
Frame 72
tensor(0.1165)
 # KEYFRAME 57
0.08710390999840456
Frame 73
tensor(0.3200)
 # KEYFRAME 58
0.0880301769975631
Frame 74
tensor(0.2080)
 # KEYFRAME 59
0.08779454700197675
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=343 loss_distill=0.3466 tta_take=0.009s
Frame 75
tensor(0.2179)
 # KEYFRAME 60
0.08627862299908884
Frame 76
tensor(0.3110)
 # KEYFRAME 61
0.08887561300070956
Frame 77
tensor(0.1551)
 # KEYFRAME 62
0.0881702859987854
Frame 78
tensor(0.1572)
 # KEYFRAME 63
0.08890327300105128
Frame 79
tensor(0.2942)
 # KEYFRAME 64
0.08920465200208127
Frame 80
tensor(0.0945)
Frame 81
tensor(0.2260)
 # KEYFRAME 65
0.09043249800015474
Frame 82
tensor(0.1452)
 # KEYFRAME 66
0.09189073200104758
Frame 83
tensor(0.0848)
Frame 84
tensor(0.2002)
 # KEYFRAME 67
0.0914492239971878
Frame 85
tensor(0.1323)
 # KEYFRAME 68
0.09289065900156857
Frame 86
tensor(0.0255)
Frame 87
tensor(0.1015)
 # KEYFRAME 69
0.09297698899899842
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=344 loss_distill=0.4024 tta_take=0.009s
Frame 88
tensor(0.0676)
Frame 89
tensor(0.0677)
Frame 90
tensor(0.1054)
 # KEYFRAME 70
0.09288999899945338
Frame 91
tensor(0.1591)
 # KEYFRAME 71
0.09537662000002456
Frame 92
tensor(0.1287)
 # KEYFRAME 72
0.1083844329987187
Frame 93
tensor(0.0883)
Frame 94
tensor(0.1992)
 # KEYFRAME 73
0.15109923099953448
Frame 95
tensor(0.1300)
 # KEYFRAME 74
0.09602824799731025
Frame 96
tensor(0.1253)
 # KEYFRAME 75
0.09740853299808805
Frame 97
tensor(0.0724)
Frame 98
tensor(0.0617)
Frame 99
tensor(0.1431)
 # KEYFRAME 76
0.09747731199968257
Frame 100
tensor(0.1613)
 # KEYFRAME 77
0.09884271799819544
Frame 101
tensor(0.2216)
 # KEYFRAME 78
0.09933678599918494
Frame 102
tensor(0.2630)
 # KEYFRAME 79
0.10032005199900595
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=345 loss_distill=0.4024 tta_take=0.009s
Frame 103
tensor(0.0799)
Frame 104
tensor(0.2418)
 # KEYFRAME 80
0.09398251500169863
Frame 105
tensor(0.1876)
 # KEYFRAME 81
0.09449874299752992
Frame 106
tensor(0.0986)
Frame 107
tensor(0.1775)
 # KEYFRAME 82
0.09515455099972314
Frame 108
tensor(0.1162)
 # KEYFRAME 83
0.09557575999861001
Frame 109
tensor(0.1541)
 # KEYFRAME 84
0.09658749599839211
Frame 110
tensor(0.1705)
 # KEYFRAME 85
0.097342083001422
Frame 111
tensor(0.1044)
 # KEYFRAME 86
0.09799245099929976
Frame 112
tensor(0.2428)
 # KEYFRAME 87
0.10001542300233268
Frame 113
tensor(0.0931)
Frame 114
tensor(0.2327)
 # KEYFRAME 88
0.10033786300118663
Frame 115
tensor(0.1328)
 # KEYFRAME 89
0.10140130799845792
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=346 loss_distill=0.4024 tta_take=0.009s
Frame 116
tensor(0.1502)
 # KEYFRAME 90
0.09341628699985449
Frame 117
tensor(0.1573)
 # KEYFRAME 91
0.0956592990005447
Frame 118
tensor(0.1950)
 # KEYFRAME 92
0.09508131100301398
Frame 119
tensor(0.1480)
 # KEYFRAME 93
0.0968922450010723
Frame 120
tensor(0.0647)
Frame 121
tensor(0.6327)
 # KEYFRAME 94
0.09665642500112881
Frame 122
tensor(0.1339)
 # KEYFRAME 95
0.09792023100089864
Frame 123
tensor(0.0699)
Frame 124
tensor(0.0774)
Frame 125
tensor(0.1604)
 # KEYFRAME 96
0.0978338109998731
Frame 126
tensor(0.1471)
 # KEYFRAME 97
0.09942213600152172
Frame 127
tensor(0.1275)
 # KEYFRAME 98
0.10045125200122129
Frame 128
tensor(0.1458)
 # KEYFRAME 99
0.10122874900116585
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=347 loss_distill=0.4024 tta_take=0.009s
Frame 129
tensor(0.1131)
 # KEYFRAME 100
0.09411256400198909
Frame 130
tensor(0.0733)
Frame 131
tensor(0.0905)
Frame 132
tensor(0.1214)
 # KEYFRAME 101
0.0943555039993953
Frame 133
tensor(0.0470)
Frame 134
tensor(0.1029)
 # KEYFRAME 102
0.0961497270000109
Backending... 103 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65583, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=348 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 48/556] scannetpp/303745abc7/frame frames=135 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=348 time=45.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0788)
Frame 2
tensor(0.1901)
 # KEYFRAME 1
Frame 3
tensor(0.0640)
Frame 4
tensor(0.1399)
 # KEYFRAME 2
0.05160488599722157
Frame 5
tensor(0.1776)
 # KEYFRAME 3
0.05216966399893863
Frame 6
tensor(0.2368)
 # KEYFRAME 4
0.054043496998929186
Frame 7
tensor(0.1434)
 # KEYFRAME 5
0.05457793599998695
Frame 8
tensor(0.2173)
 # KEYFRAME 6
0.055306163001660025
Frame 9
tensor(0.2104)
 # KEYFRAME 7
0.05654391899952316
Frame 10
tensor(0.3242)
 # KEYFRAME 8
0.05725718599933316
Frame 11
tensor(0.2209)
 # KEYFRAME 9
0.059228669000731315
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.0950)
Frame 13
tensor(0.0383)
Frame 14
tensor(0.1004)
 # KEYFRAME 10
0.05210816500039073
Frame 15
tensor(0.1897)
 # KEYFRAME 11
0.05282320199694368
Frame 16
tensor(0.0808)
Frame 17
tensor(0.1269)
 # KEYFRAME 12
0.0535685389986611
Frame 18
tensor(0.0915)
Frame 19
tensor(0.0884)
Frame 20
tensor(0.2124)
 # KEYFRAME 13
0.054808744996989844
Frame 21
tensor(0.0765)
Frame 22
tensor(0.3296)
 # KEYFRAME 14
0.05462875500234077
Frame 23
tensor(0.3909)
 # KEYFRAME 15
0.05459175600117305
Frame 24
tensor(0.2329)
 # KEYFRAME 16
0.05530280200036941
Frame 25
tensor(0.1359)
 # KEYFRAME 17
0.056085110001731664
Frame 26
tensor(0.2369)
 # KEYFRAME 18
0.05686936699930811
Frame 27
tensor(0.2712)
 # KEYFRAME 19
0.05774474399731844
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 28
tensor(0.1812)
 # KEYFRAME 20
0.05420710699763731
Frame 29
tensor(0.1744)
 # KEYFRAME 21
0.055485402001067996
Frame 30
tensor(0.1622)
 # KEYFRAME 22
0.05612040000050911
Frame 31
tensor(0.0440)
Frame 32
tensor(0.0992)
Frame 33
tensor(0.0671)
Frame 34
tensor(0.1176)
 # KEYFRAME 23
0.05693282799984445
Frame 35
tensor(0.2184)
 # KEYFRAME 24
0.0581512520002434
Frame 36
tensor(0.2437)
 # KEYFRAME 25
0.05911134899724857
Frame 37
tensor(0.0664)
Frame 38
tensor(0.3961)
 # KEYFRAME 26
0.0604644550003286
Frame 39
tensor(0.3387)
 # KEYFRAME 27
0.0609593830013182
Frame 40
tensor(0.2086)
 # KEYFRAME 28
0.06140223100010189
Frame 41
tensor(0.1366)
 # KEYFRAME 29
0.0622749379981542
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 42
tensor(0.3870)
 # KEYFRAME 30
0.05855805200189934
Frame 43
tensor(0.2816)
 # KEYFRAME 31
0.05987737699979334
Frame 44
tensor(0.4335)
 # KEYFRAME 32
0.05975071700231638
Frame 45
tensor(0.2282)
 # KEYFRAME 33
0.061932009000884136
Frame 46
tensor(0.1289)
 # KEYFRAME 34
0.06250812700091046
Frame 47
tensor(0.2948)
 # KEYFRAME 35
0.06370908299868461
Frame 48
tensor(0.0852)
Frame 49
tensor(0.2501)
 # KEYFRAME 36
0.06476566000128514
Frame 50
tensor(0.1405)
 # KEYFRAME 37
0.065599306999502
Frame 51
tensor(0.0369)
Frame 52
tensor(0.0480)
Frame 53
tensor(0.1958)
 # KEYFRAME 38
0.06680557199797477
Frame 54
tensor(0.2468)
 # KEYFRAME 39
0.06732805999854463
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=349 loss_distill=0.1733 tta_take=0.009s
Frame 55
tensor(0.2254)
 # KEYFRAME 40
0.06275108599947998
Frame 56
tensor(0.3221)
 # KEYFRAME 41
0.06394415199974901
Frame 57
tensor(0.2711)
 # KEYFRAME 42
0.06376057200031937
Frame 58
tensor(0.2668)
 # KEYFRAME 43
0.06421069099815213
Frame 59
tensor(0.1280)
 # KEYFRAME 44
0.0649372179977945
Frame 60
tensor(0.1758)
 # KEYFRAME 45
0.06557327599875862
Frame 61
tensor(0.0255)
Frame 62
tensor(0.2448)
 # KEYFRAME 46
0.06595464500060189
Frame 63
tensor(0.2248)
 # KEYFRAME 47
0.06637032299840939
Frame 64
tensor(0.2155)
 # KEYFRAME 48
0.06704932099819416
Frame 65
tensor(0.2052)
 # KEYFRAME 49
0.06744977899870719
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=350 loss_distill=0.2747 tta_take=0.009s
Frame 66
tensor(0.1939)
 # KEYFRAME 50
0.06693514099970344
Frame 67
tensor(0.1271)
 # KEYFRAME 51
0.06941381299839122
Frame 68
tensor(0.1130)
 # KEYFRAME 52
0.07012270999985049
Frame 69
tensor(0.0452)
Frame 70
tensor(0.1672)
 # KEYFRAME 53
0.07077378800022416
Frame 71
tensor(0.2583)
 # KEYFRAME 54
0.06941090299733332
Frame 72
tensor(0.2247)
 # KEYFRAME 55
0.07179693400030374
Frame 73
tensor(0.1972)
 # KEYFRAME 56
0.0717627439989883
Frame 74
tensor(0.3079)
 # KEYFRAME 57
0.07260896200023126
Frame 75
tensor(0.1563)
 # KEYFRAME 58
0.07276586100124405
Frame 76
tensor(0.2898)
 # KEYFRAME 59
0.07363181799883023
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736508369446
TTA-STEP: step=351 loss_distill=0.3466 tta_take=0.009s
Frame 77
tensor(0.1838)
 # KEYFRAME 60
0.07159296500321943
Frame 78
tensor(0.0766)
Frame 79
tensor(0.2177)
 # KEYFRAME 61
0.07280360000004293
Frame 80
tensor(0.2375)
 # KEYFRAME 62
0.07252481099931174
Frame 81
tensor(0.2265)
 # KEYFRAME 63
0.0730764799991448
Frame 82
tensor(0.3483)
 # KEYFRAME 64
0.07391155699951923
Frame 83
tensor(0.2151)
 # KEYFRAME 65
0.07347198800198385
Frame 84
tensor(0.2497)
 # KEYFRAME 66
0.07462370400025975
Frame 85
tensor(0.2510)
 # KEYFRAME 67
0.0749767730012536
Frame 86
tensor(0.1460)
 # KEYFRAME 68
0.0758908200004953
Frame 87
tensor(0.2422)
 # KEYFRAME 69
0.07597558899942669
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=352 loss_distill=0.4024 tta_take=0.009s
Frame 88
tensor(0.2882)
 # KEYFRAME 70
0.07594439999957103
Frame 89
tensor(0.1438)
 # KEYFRAME 71
0.07626383800015901
Frame 90
tensor(0.2642)
 # KEYFRAME 72
0.07683486599853495
Frame 91
tensor(0.2389)
 # KEYFRAME 73
0.07687572600116255
Frame 92
tensor(0.1820)
 # KEYFRAME 74
0.0774912429988035
Frame 93
tensor(0.3602)
 # KEYFRAME 75
0.07795011199777946
Frame 94
tensor(0.1631)
 # KEYFRAME 76
0.07808549200126436
Frame 95
tensor(0.1339)
 # KEYFRAME 77
0.07878411899946514
Frame 96
tensor(0.1934)
 # KEYFRAME 78
0.07982611599800293
Frame 97
tensor(0.1165)
 # KEYFRAME 79
0.08029436400101986
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=353 loss_distill=0.4024 tta_take=0.009s
Frame 98
tensor(0.0850)
Frame 99
tensor(0.2526)
 # KEYFRAME 80
0.07534578199920361
Frame 100
tensor(0.1276)
 # KEYFRAME 81
0.07639260699943407
Frame 101
tensor(0.2248)
 # KEYFRAME 82
0.0771353550007916
Frame 102
tensor(0.0684)
Frame 103
tensor(0.1454)
 # KEYFRAME 83
0.07759934299974702
Frame 104
tensor(0.3288)
 # KEYFRAME 84
0.07747898400339182
Frame 105
tensor(0.1383)
 # KEYFRAME 85
0.07834263100085082
Frame 106
tensor(0.1108)
 # KEYFRAME 86
0.07873779899819056
Frame 107
tensor(0.1172)
 # KEYFRAME 87
0.07998736499939696
Frame 108
tensor(0.1880)
 # KEYFRAME 88
0.08023629399758647
Frame 109
tensor(0.1281)
 # KEYFRAME 89
0.08040734300084296
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=354 loss_distill=0.4024 tta_take=0.009s
Frame 110
tensor(0.0929)
Frame 111
tensor(0.2047)
 # KEYFRAME 90
0.07545180099987192
Frame 112
tensor(0.1344)
 # KEYFRAME 91
0.07755196300058742
Frame 113
tensor(0.1469)
 # KEYFRAME 92
0.0766791470014141
Frame 114
tensor(0.1161)
 # KEYFRAME 93
0.07741067400274915
Frame 115
tensor(0.1367)
 # KEYFRAME 94
0.07779916299841716
Frame 116
tensor(0.0449)
Frame 117
tensor(0.0973)
Frame 118
tensor(0.1814)
 # KEYFRAME 95
0.07826186099919141
Frame 119
tensor(0.2789)
 # KEYFRAME 96
0.07886409899947466
Frame 120
tensor(0.1031)
 # KEYFRAME 97
0.0793431470010546
Frame 121
tensor(0.3829)
 # KEYFRAME 98
0.08029491400156985
Frame 122
tensor(0.1548)
 # KEYFRAME 99
0.0808809320005821
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=355 loss_distill=0.4024 tta_take=0.009s
Frame 123
tensor(0.1244)
 # KEYFRAME 100
0.07531928100070218
Frame 124
tensor(0.0506)
Frame 125
tensor(0.1868)
 # KEYFRAME 101
0.07819604199903551
Frame 126
tensor(0.1445)
 # KEYFRAME 102
0.07766494300085469
Frame 127
tensor(0.1941)
 # KEYFRAME 103
0.07839090999914333
Frame 128
tensor(0.1753)
 # KEYFRAME 104
0.07904614800281706
Frame 129
tensor(0.0420)
Frame 130
tensor(0.1817)
 # KEYFRAME 105
0.07961284700286342
Frame 131
tensor(0.4613)
 # KEYFRAME 106
0.07917653700133087
Frame 132
tensor(0.2065)
 # KEYFRAME 107
0.08131788999889977
Frame 133
tensor(0.2294)
 # KEYFRAME 108
0.08201432799978647
Frame 134
tensor(0.2832)
 # KEYFRAME 109
0.08297328499975265
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=356 loss_distill=0.4024 tta_take=0.009s
Frame 135
tensor(0.2731)
 # KEYFRAME 110
0.07594962900111568
Frame 136
tensor(0.2810)
 # KEYFRAME 111
0.0761302290011372
Frame 137
tensor(0.3013)
 # KEYFRAME 112
0.07659224700182676
Frame 138
tensor(0.4220)
 # KEYFRAME 113
0.07705066499693203
Frame 139
tensor(0.2573)
 # KEYFRAME 114
0.07740827499947045
Frame 140
tensor(0.2671)
 # KEYFRAME 115
0.07805207099954714
Frame 141
tensor(0.1689)
 # KEYFRAME 116
0.07945305699831806
Frame 142
tensor(0.9690)
 # KEYFRAME 117
0.07876996900085942
Frame 143
tensor(0.1121)
 # KEYFRAME 118
0.0798653550009476
Frame 144
tensor(0.2604)
 # KEYFRAME 119
0.08060579200173379
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=357 loss_distill=0.4024 tta_take=0.009s
Frame 145
tensor(0.7594)
 # KEYFRAME 120
0.07599810899773729
Frame 146
tensor(0.0943)
Frame 147
tensor(0.2245)
 # KEYFRAME 121
0.07786441200005356
Frame 148
tensor(0.1812)
 # KEYFRAME 122
0.077371563998895
Frame 149
tensor(0.2276)
 # KEYFRAME 123
0.07782367300023907
Backending... 124 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 59520, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=358 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 49/556] scannetpp/09bced689e/DSC frames=150 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=358 time=52.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0117)
Frame 2
tensor(0.0618)
Frame 3
tensor(0.0978)
Frame 4
tensor(0.1259)
 # KEYFRAME 1
Frame 5
tensor(0.0477)
Frame 6
tensor(0.0657)
Frame 7
tensor(0.1111)
 # KEYFRAME 2
0.0513482069982274
Frame 8
tensor(0.0114)
Frame 9
tensor(0.0323)
Frame 10
tensor(0.1469)
 # KEYFRAME 3
0.05159034600001178
Frame 11
tensor(0.0453)
Frame 12
tensor(0.0819)
Frame 13
tensor(0.1193)
 # KEYFRAME 4
0.053073400998982834
Frame 14
tensor(0.0262)
Frame 15
tensor(0.1513)
 # KEYFRAME 5
0.05443079600081546
Frame 16
tensor(0.1191)
 # KEYFRAME 6
0.05572702100107563
Frame 17
tensor(0.1398)
 # KEYFRAME 7
0.056046189998596674
Frame 18
tensor(0.0851)
Frame 19
tensor(0.1494)
 # KEYFRAME 8
0.05825037300019176
Frame 20
tensor(0.0532)
Frame 21
tensor(0.1732)
 # KEYFRAME 9
0.057467555001494475
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 22
tensor(0.0305)
Frame 23
tensor(0.0582)
Frame 24
tensor(0.1234)
 # KEYFRAME 10
0.05157460600094055
Frame 25
tensor(0.0343)
Frame 26
tensor(0.0879)
Frame 27
tensor(0.0237)
Frame 28
tensor(0.0527)
Frame 29
tensor(0.4315)
 # KEYFRAME 11
0.05277115199714899
Frame 30
tensor(0.0800)
Frame 31
tensor(0.1499)
 # KEYFRAME 12
0.05230297399975825
Frame 32
tensor(0.4350)
 # KEYFRAME 13
0.05425057699903846
Frame 33
tensor(0.0790)
Frame 34
tensor(0.0929)
Frame 35
tensor(0.2559)
 # KEYFRAME 14
0.05418621699936921
Frame 36
tensor(0.0437)
Frame 37
tensor(0.0606)
Frame 38
tensor(0.0951)
Frame 39
tensor(0.1257)
 # KEYFRAME 15
0.05419021700072335
Frame 40
tensor(0.1205)
 # KEYFRAME 16
0.055072073999326676
Frame 41
tensor(0.0685)
Frame 42
tensor(0.2312)
 # KEYFRAME 17
0.05516167300083907
Frame 43
tensor(0.3583)
 # KEYFRAME 18
0.056245529998705024
Frame 44
tensor(0.2671)
 # KEYFRAME 19
0.057591885000874754
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 45
tensor(0.0898)
Frame 46
tensor(0.3947)
 # KEYFRAME 20
0.05394626799898106
Frame 47
tensor(0.0772)
Frame 48
tensor(0.1824)
 # KEYFRAME 21
0.055010314001265215
Frame 49
tensor(0.0467)
Frame 50
tensor(0.0838)
Frame 51
tensor(0.1975)
 # KEYFRAME 22
0.055134903002908686
Frame 52
tensor(0.0662)
Frame 53
tensor(0.1800)
 # KEYFRAME 23
0.05558298200048739
Frame 54
tensor(0.0496)
Frame 55
tensor(0.1285)
 # KEYFRAME 24
0.05601261000265367
Frame 56
tensor(0.0325)
Frame 57
tensor(0.0569)
Frame 58
tensor(0.0783)
Frame 59
tensor(0.2239)
 # KEYFRAME 25
0.05684497800029931
Frame 60
tensor(0.0382)
Frame 61
tensor(0.1015)
 # KEYFRAME 26
0.057983193000836764
Frame 62
tensor(0.0625)
Frame 63
tensor(0.1409)
 # KEYFRAME 27
0.060120455997093813
Frame 64
tensor(0.4391)
 # KEYFRAME 28
0.05989271699945675
Frame 65
tensor(0.0588)
Frame 66
tensor(0.1022)
 # KEYFRAME 29
0.06035267499828478
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 67
tensor(0.2868)
 # KEYFRAME 30
0.058513651998509886
Frame 68
tensor(0.0525)
Frame 69
tensor(0.1215)
 # KEYFRAME 31
0.05955845900098211
Frame 70
tensor(0.0950)
Frame 71
tensor(0.1452)
 # KEYFRAME 32
0.0594604990001244
Frame 72
tensor(0.0716)
Frame 73
tensor(0.1258)
 # KEYFRAME 33
0.06148377100180369
Frame 74
tensor(0.0830)
Frame 75
tensor(0.1285)
 # KEYFRAME 34
0.06269751700165216
Frame 76
tensor(0.0764)
Frame 77
tensor(0.1378)
 # KEYFRAME 35
0.06473782000102801
Frame 78
tensor(0.3633)
 # KEYFRAME 36
0.06486647900237585
Frame 79
tensor(0.0798)
Frame 80
tensor(0.1655)
 # KEYFRAME 37
0.06580513600056292
Frame 81
tensor(0.0293)
Frame 82
tensor(0.0506)
Frame 83
tensor(0.5650)
 # KEYFRAME 38
0.06659012299860478
Frame 84
tensor(0.0803)
Frame 85
tensor(0.1615)
 # KEYFRAME 39
0.06733084100051201
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=359 loss_distill=0.1733 tta_take=0.009s
Frame 86
tensor(0.1029)
 # KEYFRAME 40
0.06258702800187166
Frame 87
tensor(0.0404)
Frame 88
tensor(0.1139)
 # KEYFRAME 41
0.06386994399872492
Frame 89
tensor(0.2148)
 # KEYFRAME 42
0.06393597300120746
Frame 90
tensor(0.0159)
Frame 91
tensor(0.0519)
Frame 92
tensor(0.1077)
 # KEYFRAME 43
0.06407548299830523
Frame 93
tensor(0.0449)
Frame 94
tensor(0.3765)
 # KEYFRAME 44
0.06533198800025275
Frame 95
tensor(0.0880)
Frame 96
tensor(0.2805)
 # KEYFRAME 45
0.06546129699927405
Frame 97
tensor(0.7521)
 # KEYFRAME 46
0.06611427499956335
Frame 98
tensor(0.0464)
Frame 99
tensor(0.0726)
Frame 100
tensor(0.0834)
Frame 101
tensor(0.0716)
Frame 102
tensor(0.0828)
Frame 103
tensor(0.0758)
Frame 104
tensor(0.0548)
Frame 105
tensor(0.3375)
 # KEYFRAME 47
0.06654448399785906
Frame 106
tensor(0.0302)
Frame 107
tensor(0.0889)
Frame 108
tensor(0.2936)
 # KEYFRAME 48
0.06700576200091746
Frame 109
tensor(0.0160)
Frame 110
tensor(0.0386)
Frame 111
tensor(0.1073)
 # KEYFRAME 49
0.06736649100275827
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=360 loss_distill=0.2747 tta_take=0.009s
Frame 112
tensor(0.0340)
Frame 113
tensor(0.1622)
 # KEYFRAME 50
0.06688281300012022
Frame 114
tensor(0.0466)
Frame 115
tensor(0.4036)
 # KEYFRAME 51
0.06915619400024298
Frame 116
tensor(0.0763)
Frame 117
tensor(0.1014)
 # KEYFRAME 52
0.06942288299978827
Frame 118
tensor(0.0971)
Frame 119
tensor(0.1183)
 # KEYFRAME 53
0.07028426100077922
Frame 120
tensor(0.0740)
Frame 121
tensor(0.4664)
 # KEYFRAME 54
0.06943137400230626
Frame 122
tensor(0.4457)
 # KEYFRAME 55
0.07203342399952817
Frame 123
tensor(0.4921)
 # KEYFRAME 56
0.07226524300131132
Frame 124
tensor(0.1440)
 # KEYFRAME 57
0.07289599099749466
Frame 125
tensor(0.0521)
Frame 126
tensor(0.1415)
 # KEYFRAME 58
0.07336820899945451
Frame 127
tensor(0.1072)
 # KEYFRAME 59
0.07396463799886988
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=361 loss_distill=0.3466 tta_take=0.009s
Frame 128
tensor(0.0477)
Frame 129
tensor(0.0169)
Frame 130
tensor(0.0315)
Frame 131
tensor(0.0663)
Frame 132
tensor(0.0553)
Frame 133
tensor(0.1630)
 # KEYFRAME 60
0.07129356699806522
Frame 134
tensor(0.1626)
 # KEYFRAME 61
0.07267610200142371
Frame 135
tensor(0.7297)
 # KEYFRAME 62
0.07299864999731653
Frame 136
tensor(0.0583)
Frame 137
tensor(0.1467)
 # KEYFRAME 63
0.07391656799882185
Frame 138
tensor(0.0315)
Frame 139
tensor(0.0459)
Frame 140
tensor(0.0902)
Frame 141
tensor(0.1763)
 # KEYFRAME 64
0.07497916299689678
Frame 142
tensor(0.0345)
Frame 143
tensor(0.3411)
 # KEYFRAME 65
0.07407448700178065
Frame 144
tensor(0.4610)
 # KEYFRAME 66
0.07681140799832065
Frame 145
tensor(0.1937)
 # KEYFRAME 67
0.07776395399923786
Frame 146
tensor(0.0570)
Frame 147
tensor(0.2737)
 # KEYFRAME 68
0.07897618900096859
Frame 148
tensor(0.0849)
Frame 149
tensor(0.2294)
 # KEYFRAME 69
0.07960405699850526
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=362 loss_distill=0.4024 tta_take=0.009s
[epoch 0 scene 50/556] scannetpp/1a130d092a/DSC frames=150 tta_steps_this_scene=4 mean_loss=0.2992 total_steps=362 time=39.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0017)
Frame 2
tensor(0.0040)
Frame 3
tensor(0.0223)
Frame 4
tensor(0.0404)
Frame 5
tensor(0.0713)
Frame 6
tensor(0.1242)
 # KEYFRAME 1
Frame 7
tensor(0.0716)
Frame 8
tensor(0.1449)
 # KEYFRAME 2
0.05151944699900923
Frame 9
tensor(0.0780)
Frame 10
tensor(0.1284)
 # KEYFRAME 3
0.051733837000938365
Frame 11
tensor(0.0915)
Frame 12
tensor(0.2967)
 # KEYFRAME 4
0.05395378899993375
Frame 13
tensor(0.1083)
 # KEYFRAME 5
0.05476643599831732
Frame 14
tensor(0.0459)
Frame 15
tensor(0.0814)
Frame 16
tensor(0.0794)
Frame 17
tensor(0.1071)
 # KEYFRAME 6
0.05592526100008399
Frame 18
tensor(0.1255)
 # KEYFRAME 7
0.05621455000073183
Frame 19
tensor(0.0838)
Frame 20
tensor(0.1458)
 # KEYFRAME 8
0.057167516999470536
Frame 21
tensor(0.0795)
Frame 22
tensor(0.1186)
 # KEYFRAME 9
0.057420556997385575
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 23
tensor(0.0659)
Frame 24
tensor(0.1018)
 # KEYFRAME 10
0.052022675998159684
Frame 25
tensor(0.0517)
Frame 26
tensor(0.1233)
 # KEYFRAME 11
0.05400087800080655
Frame 27
tensor(0.0676)
Frame 28
tensor(0.1053)
 # KEYFRAME 12
0.05573403200105531
Frame 29
tensor(0.0140)
Frame 30
tensor(0.0325)
Frame 31
tensor(0.0695)
Frame 32
tensor(0.1341)
 # KEYFRAME 13
0.05699398800061317
Frame 33
tensor(0.1073)
 # KEYFRAME 14
0.05749140600164537
Frame 34
tensor(0.0596)
Frame 35
tensor(0.0726)
Frame 36
tensor(0.1644)
 # KEYFRAME 15
0.05855952199999592
Frame 37
tensor(0.1144)
 # KEYFRAME 16
0.06015067600310431
Frame 38
tensor(0.0409)
Frame 39
tensor(0.0760)
Frame 40
tensor(0.1065)
 # KEYFRAME 17
0.06103743399944506
Frame 41
tensor(0.0728)
Frame 42
tensor(0.0388)
Frame 43
tensor(0.1129)
 # KEYFRAME 18
0.06202344000121229
Frame 44
tensor(0.0591)
Frame 45
tensor(0.1557)
 # KEYFRAME 19
0.06296929599920986
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 46
tensor(0.1393)
 # KEYFRAME 20
0.05901482100307476
Frame 47
tensor(0.1194)
 # KEYFRAME 21
0.060844233998068376
Frame 48
tensor(0.1044)
 # KEYFRAME 22
0.06116330200165976
Frame 49
tensor(0.0895)
Frame 50
tensor(0.1490)
 # KEYFRAME 23
0.06200444999922183
Frame 51
tensor(0.0972)
Frame 52
tensor(0.1770)
 # KEYFRAME 24
0.06281144700187724
Frame 53
tensor(0.1118)
 # KEYFRAME 25
0.06369905400060816
Frame 54
tensor(0.1763)
 # KEYFRAME 26
0.06535010799780139
Frame 55
tensor(0.1019)
 # KEYFRAME 27
0.0665189739993366
Frame 56
tensor(0.1154)
 # KEYFRAME 28
0.06736610100051621
Frame 57
tensor(0.1139)
 # KEYFRAME 29
0.06861225600005127
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 58
tensor(0.0979)
Frame 59
tensor(0.1960)
 # KEYFRAME 30
0.06605768599911244
Frame 60
tensor(0.0711)
Frame 61
tensor(0.1338)
 # KEYFRAME 31
0.06809645799876307
Frame 62
tensor(0.0213)
Frame 63
tensor(0.0974)
Frame 64
tensor(0.2208)
 # KEYFRAME 32
0.06891297499896609
Frame 65
tensor(0.0799)
Frame 66
tensor(0.2581)
 # KEYFRAME 33
0.07094305799910217
Frame 67
tensor(0.1773)
 # KEYFRAME 34
0.07163268500153208
Frame 68
tensor(0.0886)
Frame 69
tensor(0.2503)
 # KEYFRAME 35
0.07315979999839328
Frame 70
tensor(0.1238)
 # KEYFRAME 36
0.07485259399982169
Frame 71
tensor(0.1282)
 # KEYFRAME 37
0.07551945100203739
Frame 72
tensor(0.2016)
 # KEYFRAME 38
0.0765470180012926
Frame 73
tensor(0.1483)
 # KEYFRAME 39
0.07693532700068317
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=363 loss_distill=0.1733 tta_take=0.009s
Frame 74
tensor(0.0482)
Frame 75
tensor(0.0763)
Frame 76
tensor(0.2456)
 # KEYFRAME 40
0.07273080099912477
Frame 77
tensor(0.1588)
 # KEYFRAME 41
0.07490386399877025
Frame 78
tensor(0.1066)
 # KEYFRAME 42
0.07475915500253905
Frame 79
tensor(0.1087)
 # KEYFRAME 43
0.07568487099706545
Frame 80
tensor(0.1135)
 # KEYFRAME 44
0.07587462100127595
Frame 81
tensor(0.1422)
 # KEYFRAME 45
0.07680012700075167
Frame 82
tensor(0.0710)
Frame 83
tensor(0.1879)
 # KEYFRAME 46
0.07779163300074288
Frame 84
tensor(0.1310)
 # KEYFRAME 47
0.0784382909987471
Frame 85
tensor(0.3109)
 # KEYFRAME 48
0.07875408999825595
Frame 86
tensor(0.1132)
 # KEYFRAME 49
0.07989135599927977
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=364 loss_distill=0.2747 tta_take=0.009s
Frame 87
tensor(0.0636)
Frame 88
tensor(0.1238)
 # KEYFRAME 50
0.07927841799755697
Frame 89
tensor(0.1059)
 # KEYFRAME 51
0.08226371700220625
Frame 90
tensor(0.0247)
Frame 91
tensor(0.0405)
Frame 92
tensor(0.0673)
Frame 93
tensor(0.0846)
Frame 94
tensor(0.1331)
 # KEYFRAME 52
0.08310753499972634
Frame 95
tensor(0.1300)
 # KEYFRAME 53
0.08412639099697117
Frame 96
tensor(0.0619)
Frame 97
tensor(0.0779)
Frame 98
tensor(0.1441)
 # KEYFRAME 54
0.08515526699920883
Frame 99
tensor(0.0477)
Frame 100
tensor(0.2302)
 # KEYFRAME 55
0.08581593499911833
Frame 101
tensor(0.2072)
 # KEYFRAME 56
0.08651953300068271
Frame 102
tensor(0.0461)
Frame 103
tensor(0.1324)
 # KEYFRAME 57
0.08711562000098638
Frame 104
tensor(0.1409)
 # KEYFRAME 58
0.08786204799980624
Frame 105
tensor(0.0793)
Frame 106
tensor(0.1201)
 # KEYFRAME 59
0.0887044250011968
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=365 loss_distill=0.3466 tta_take=0.009s
Frame 107
tensor(0.0268)
Frame 108
tensor(0.0547)
Frame 109
tensor(0.0787)
Frame 110
tensor(0.0921)
Frame 111
tensor(0.0879)
Frame 112
tensor(0.0359)
Frame 113
tensor(0.1006)
 # KEYFRAME 60
0.08641236299808952
Frame 114
tensor(0.1155)
 # KEYFRAME 61
0.08912002299985033
Frame 115
tensor(0.0499)
Frame 116
tensor(0.1633)
 # KEYFRAME 62
0.08891042400136939
Frame 117
tensor(0.0682)
Frame 118
tensor(0.0980)
Frame 119
tensor(0.2345)
 # KEYFRAME 63
0.09021664999818313
Frame 120
tensor(0.1479)
 # KEYFRAME 64
0.09125314599805279
Frame 121
tensor(0.0345)
Frame 122
tensor(0.0920)
Frame 123
tensor(0.1876)
 # KEYFRAME 65
0.09186034400045173
Frame 124
tensor(0.1939)
 # KEYFRAME 66
0.09357352700317279
Frame 125
tensor(0.1277)
 # KEYFRAME 67
0.09421461499732686
Frame 126
tensor(0.1967)
 # KEYFRAME 68
0.09630389800076955
Frame 127
tensor(0.1592)
 # KEYFRAME 69
0.09586642000067513
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=366 loss_distill=0.4024 tta_take=0.009s
Frame 128
tensor(0.2033)
 # KEYFRAME 70
0.09299941000062972
Frame 129
tensor(0.1152)
 # KEYFRAME 71
0.0952583809994394
Frame 130
tensor(0.1337)
 # KEYFRAME 72
0.0944181849990855
Frame 131
tensor(0.1217)
 # KEYFRAME 73
0.09585325900116004
Frame 132
tensor(0.0764)
Frame 133
tensor(0.1931)
 # KEYFRAME 74
0.09586537899667746
Frame 134
tensor(0.2009)
 # KEYFRAME 75
0.0977757520013256
Frame 135
tensor(0.1675)
 # KEYFRAME 76
0.09758361299827811
Frame 136
tensor(0.1314)
 # KEYFRAME 77
0.09889341900270665
Frame 137
tensor(0.1464)
 # KEYFRAME 78
0.09909698799674516
Frame 138
tensor(0.0603)
Frame 139
tensor(0.1400)
 # KEYFRAME 79
0.10001536400159239
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=367 loss_distill=0.4024 tta_take=0.009s
Frame 140
tensor(0.1394)
 # KEYFRAME 80
0.09317301900227903
Frame 141
tensor(0.1052)
 # KEYFRAME 81
0.09535673099890118
Frame 142
tensor(0.1414)
 # KEYFRAME 82
0.09572970999943209
Frame 143
tensor(0.0302)
Frame 144
tensor(0.1680)
 # KEYFRAME 83
0.09651837700221222
Frame 145
tensor(0.0617)
Backending... 84 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 66624, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=368 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 51/556] scannetpp/16c9bd2e1e/frame frames=146 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=368 time=40.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1017)
 # KEYFRAME 1
Frame 2
tensor(0.3646)
 # KEYFRAME 2
0.051176659002521774
Frame 3
tensor(0.3231)
 # KEYFRAME 3
0.05291468200084637
Frame 4
tensor(0.0676)
Frame 5
tensor(0.3550)
 # KEYFRAME 4
0.05446108599790023
Frame 6
tensor(0.3947)
 # KEYFRAME 5
0.05528261400104384
Frame 7
tensor(0.4718)
 # KEYFRAME 6
0.05584888199882698
Frame 8
tensor(0.3729)
 # KEYFRAME 7
0.05654896899795858
Frame 9
tensor(0.2376)
 # KEYFRAME 8
0.05748983499870519
Frame 10
tensor(0.2696)
 # KEYFRAME 9
0.05797283400170272
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.2870)
 # KEYFRAME 10
0.05186941500141984
Frame 12
tensor(0.3171)
 # KEYFRAME 11
0.05342617999849608
Frame 13
tensor(0.1309)
 # KEYFRAME 12
0.054242097001406364
Frame 14
tensor(0.5147)
 # KEYFRAME 13
0.056154261001211125
Frame 15
tensor(0.0205)
Frame 16
tensor(0.4512)
 # KEYFRAME 14
0.05712695699912729
Frame 17
tensor(0.2923)
 # KEYFRAME 15
0.05790706400148338
Frame 18
tensor(0.3938)
 # KEYFRAME 16
0.058784970999113284
Frame 19
tensor(0.3665)
 # KEYFRAME 17
0.06003561599936802
Frame 20
tensor(0.2195)
 # KEYFRAME 18
0.06151608200161718
Frame 21
tensor(0.2916)
 # KEYFRAME 19
0.06274376700093853
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 22
tensor(0.1671)
 # KEYFRAME 20
0.058745140999235446
Frame 23
tensor(0.1934)
 # KEYFRAME 21
0.060447525000199676
Frame 24
tensor(0.2907)
 # KEYFRAME 22
0.06149639100112836
Frame 25
tensor(0.2129)
 # KEYFRAME 23
0.06267651800226304
Frame 26
tensor(0.0877)
Frame 27
tensor(0.1910)
 # KEYFRAME 24
0.06380482399981702
Frame 28
tensor(0.1790)
 # KEYFRAME 25
0.0647812300012447
Frame 29
tensor(0.1168)
 # KEYFRAME 26
0.06653992399878916
Frame 30
tensor(0.2247)
 # KEYFRAME 27
0.06745198999851709
Frame 31
tensor(0.4279)
 # KEYFRAME 28
0.0681937379995361
Frame 32
tensor(0.3329)
 # KEYFRAME 29
0.06956598300166661
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 33
tensor(0.3186)
 # KEYFRAME 30
0.0654635179998877
Frame 34
tensor(0.2673)
 # KEYFRAME 31
0.06761239999832469
Frame 35
tensor(0.2705)
 # KEYFRAME 32
0.06816970799991395
Frame 36
tensor(0.3492)
 # KEYFRAME 33
0.06859174600322149
Frame 37
tensor(0.1901)
 # KEYFRAME 34
0.06953722300022491
Frame 38
tensor(0.1833)
 # KEYFRAME 35
0.07046673899822053
Frame 39
tensor(0.1644)
 # KEYFRAME 36
0.07147049600098399
Frame 40
tensor(0.4654)
 # KEYFRAME 37
0.07194841499949689
Frame 41
tensor(0.3143)
 # KEYFRAME 38
0.07314508999843383
Frame 42
tensor(0.2752)
 # KEYFRAME 39
0.073958388002211
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=369 loss_distill=0.1733 tta_take=0.009s
Frame 43
tensor(0.3812)
 # KEYFRAME 40
0.07225955399917439
Frame 44
tensor(0.1922)
 # KEYFRAME 41
0.07445853599710972
Frame 45
tensor(0.5945)
 # KEYFRAME 42
0.07494016399868997
Frame 46
tensor(0.3720)
 # KEYFRAME 43
0.07669422800245229
Frame 47
tensor(0.1586)
 # KEYFRAME 44
0.0779766630002996
Frame 48
tensor(0.1755)
 # KEYFRAME 45
0.08005623599819955
Frame 49
tensor(0.1782)
 # KEYFRAME 46
0.07981226599804359
Frame 50
tensor(0.2547)
 # KEYFRAME 47
0.08096477199796936
Frame 51
tensor(0.1466)
 # KEYFRAME 48
0.08172270000068238
Frame 52
tensor(0.2443)
 # KEYFRAME 49
0.0821348890021909
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=370 loss_distill=0.2747 tta_take=0.009s
Frame 53
tensor(0.2793)
 # KEYFRAME 50
0.07904555899949628
Frame 54
tensor(0.2387)
 # KEYFRAME 51
0.08132821100298315
Frame 55
tensor(0.0875)
Frame 56
tensor(0.3142)
 # KEYFRAME 52
0.08128724099879037
Frame 57
tensor(0.1427)
 # KEYFRAME 53
0.0820466490004037
Frame 58
tensor(0.0882)
Frame 59
tensor(0.0642)
Frame 60
tensor(0.2494)
 # KEYFRAME 54
0.08252062699830276
Frame 61
tensor(0.3203)
 # KEYFRAME 55
0.08311649500319618
Frame 62
tensor(0.2878)
 # KEYFRAME 56
0.08447016999707557
Frame 63
tensor(0.1413)
 # KEYFRAME 57
0.08512783699916326
Frame 64
tensor(0.1166)
 # KEYFRAME 58
0.08595618500112323
Frame 65
tensor(0.2953)
 # KEYFRAME 59
0.08596269500048948
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=371 loss_distill=0.3466 tta_take=0.009s
Frame 66
tensor(0.1214)
 # KEYFRAME 60
0.08599490499909734
Frame 67
tensor(0.0784)
Frame 68
tensor(0.3314)
 # KEYFRAME 61
0.08886964500197791
Frame 69
tensor(0.2662)
 # KEYFRAME 62
0.08779954800047562
Frame 70
tensor(0.1975)
 # KEYFRAME 63
0.08886264399916399
Frame 71
tensor(0.2272)
 # KEYFRAME 64
0.09000328099864419
Frame 72
tensor(0.1214)
 # KEYFRAME 65
0.08998203999726684
Frame 73
tensor(0.0770)
Frame 74
tensor(0.1973)
 # KEYFRAME 66
0.09128489500290016
Frame 75
tensor(0.2045)
 # KEYFRAME 67
0.09244413100168458
Frame 76
tensor(0.1842)
 # KEYFRAME 68
0.09307503899981384
Frame 77
tensor(0.1453)
 # KEYFRAME 69
0.0938355069993122
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=372 loss_distill=0.4024 tta_take=0.009s
Frame 78
tensor(0.0900)
Frame 79
tensor(0.0323)
Frame 80
tensor(0.2685)
 # KEYFRAME 70
0.0922920820012223
Frame 81
tensor(0.1064)
 # KEYFRAME 71
0.09532180099995458
Frame 82
tensor(0.1536)
 # KEYFRAME 72
0.09502019199862843
Frame 83
tensor(0.1431)
 # KEYFRAME 73
0.09661640700142016
Frame 84
tensor(0.1894)
 # KEYFRAME 74
0.0977622419995896
Frame 85
tensor(0.1538)
 # KEYFRAME 75
0.09917456800030777
Frame 86
tensor(0.2063)
 # KEYFRAME 76
0.10084604199801106
Frame 87
tensor(0.2987)
 # KEYFRAME 77
0.10157946900289971
Frame 88
tensor(0.2967)
 # KEYFRAME 78
0.10425119000137784
Frame 89
tensor(0.1333)
 # KEYFRAME 79
0.10275175500282785
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=373 loss_distill=0.4024 tta_take=0.009s
Frame 90
tensor(0.2416)
 # KEYFRAME 80
0.0931253700000525
Frame 91
tensor(0.3466)
 # KEYFRAME 81
0.09571440999934566
Frame 92
tensor(0.2872)
 # KEYFRAME 82
0.09507245200074976
Frame 93
tensor(0.5164)
 # KEYFRAME 83
0.0956439009969472
Frame 94
tensor(0.2489)
 # KEYFRAME 84
0.09686073599732481
Frame 95
tensor(0.1020)
 # KEYFRAME 85
0.0970144849998178
Frame 96
tensor(0.0663)
Frame 97
tensor(0.0706)
Frame 98
tensor(0.1160)
 # KEYFRAME 86
0.09818271099720732
Frame 99
tensor(0.1402)
 # KEYFRAME 87
0.09827624099852983
Frame 100
tensor(0.1654)
 # KEYFRAME 88
0.0994673259992851
Frame 101
tensor(0.1309)
 # KEYFRAME 89
0.10050887300167233
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=374 loss_distill=0.4024 tta_take=0.009s
Frame 102
tensor(0.2849)
 # KEYFRAME 90
0.0926635610012454
Frame 103
tensor(0.2380)
 # KEYFRAME 91
0.09619602800012217
Frame 104
tensor(0.4844)
 # KEYFRAME 92
0.09550746099921525
Frame 105
tensor(0.4158)
 # KEYFRAME 93
0.09651260700047715
Frame 106
tensor(0.2691)
 # KEYFRAME 94
0.09857872000065981
Frame 107
tensor(0.2356)
 # KEYFRAME 95
0.09927687799790874
Frame 108
tensor(0.1442)
 # KEYFRAME 96
0.10129017000144813
Frame 109
tensor(0.1069)
 # KEYFRAME 97
0.10153402899959474
Frame 110
tensor(0.2333)
 # KEYFRAME 98
0.10212961700017331
Frame 111
tensor(0.1483)
 # KEYFRAME 99
0.10372351199839613
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=375 loss_distill=0.4024 tta_take=0.009s
Frame 112
tensor(0.0592)
Frame 113
tensor(0.2223)
 # KEYFRAME 100
0.0932640889986942
Frame 114
tensor(0.2292)
 # KEYFRAME 101
0.09661776700158953
Frame 115
tensor(0.2805)
 # KEYFRAME 102
0.09609825799998362
Frame 116
tensor(0.3299)
 # KEYFRAME 103
0.09729153499938548
Frame 117
tensor(0.1461)
 # KEYFRAME 104
0.09881499900075141
Frame 118
tensor(0.2743)
 # KEYFRAME 105
0.09964064599989797
Frame 119
tensor(0.3535)
 # KEYFRAME 106
0.10113162099878537
Frame 120
tensor(0.2064)
 # KEYFRAME 107
0.10153984899807256
Frame 121
tensor(0.2958)
 # KEYFRAME 108
0.10185166799783474
Frame 122
tensor(0.2713)
 # KEYFRAME 109
0.10326933299802477
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595452308655
TTA-STEP: step=376 loss_distill=0.4024 tta_take=0.009s
Frame 123
tensor(0.2433)
 # KEYFRAME 110
0.0941838850012573
Frame 124
tensor(0.0535)
Frame 125
tensor(0.1792)
 # KEYFRAME 111
0.09451203400021768
Frame 126
tensor(0.0657)
Frame 127
tensor(0.4265)
 # KEYFRAME 112
0.09539857100025984
Frame 128
tensor(0.3927)
 # KEYFRAME 113
0.09717372399973101
Frame 129
tensor(0.0338)
Frame 130
tensor(0.2373)
 # KEYFRAME 114
0.09862217900081305
Frame 131
tensor(0.3306)
 # KEYFRAME 115
0.0999120349988516
Frame 132
tensor(0.2531)
 # KEYFRAME 116
0.10098357199967722
Frame 133
tensor(0.2857)
 # KEYFRAME 117
0.10139524999976857
Frame 134
tensor(0.2602)
 # KEYFRAME 118
0.10129889000018011
Frame 135
tensor(0.1679)
 # KEYFRAME 119
0.10309323299952666
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=377 loss_distill=0.4024 tta_take=0.009s
Frame 136
tensor(0.3499)
 # KEYFRAME 120
0.09353058700071415
Frame 137
tensor(0.4646)
 # KEYFRAME 121
0.09526732199810795
Frame 138
tensor(0.1312)
 # KEYFRAME 122
0.09505699199871742
Frame 139
tensor(0.2268)
 # KEYFRAME 123
0.09658340699752443
Frame 140
tensor(0.3185)
 # KEYFRAME 124
0.09751901399795315
Frame 141
tensor(0.3853)
 # KEYFRAME 125
0.09810352100248565
Frame 142
tensor(0.1377)
 # KEYFRAME 126
0.0989322989989887
Frame 143
tensor(0.3423)
 # KEYFRAME 127
0.09875744900273276
Frame 144
tensor(0.2527)
 # KEYFRAME 128
0.09941641700061155
Frame 145
tensor(0.0791)
Frame 146
tensor(0.2246)
 # KEYFRAME 129
0.1008156419993611
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=378 loss_distill=0.4024 tta_take=0.009s
Frame 147
tensor(0.3284)
 # KEYFRAME 130
0.09329298900047434
Frame 148
tensor(0.1861)
 # KEYFRAME 131
0.09435327499886625
Frame 149
tensor(0.0673)
Backending... 132 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 64542, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=379 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 52/556] scannetpp/4ba22fa7e4/frame frames=150 tta_steps_this_scene=11 mean_loss=0.3649 total_steps=379 time=64.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1056)
 # KEYFRAME 1
Frame 2
tensor(0.1021)
 # KEYFRAME 2
0.05119080900112749
Frame 3
tensor(0.1242)
 # KEYFRAME 3
0.05180883600041852
Frame 4
tensor(0.0989)
Frame 5
tensor(0.1969)
 # KEYFRAME 4
0.05300711100062472
Frame 6
tensor(0.1020)
 # KEYFRAME 5
0.05455323599744588
Frame 7
tensor(0.1139)
 # KEYFRAME 6
0.05542356299702078
Frame 8
tensor(0.0885)
Frame 9
tensor(0.1539)
 # KEYFRAME 7
0.0562934800000221
Frame 10
tensor(0.1061)
 # KEYFRAME 8
0.05712717699861969
Frame 11
tensor(0.0802)
Frame 12
tensor(0.2128)
 # KEYFRAME 9
0.05745878599918797
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 13
tensor(0.1475)
 # KEYFRAME 10
0.051831376000336604
Frame 14
tensor(0.1611)
 # KEYFRAME 11
0.05232068400073331
Frame 15
tensor(0.1145)
 # KEYFRAME 12
0.05285084199931589
Frame 16
tensor(0.0654)
Frame 17
tensor(0.1397)
 # KEYFRAME 13
0.054288826999254525
Frame 18
tensor(0.0596)
Frame 19
tensor(0.1175)
 # KEYFRAME 14
0.05477081500066561
Frame 20
tensor(0.0727)
Frame 21
tensor(0.1349)
 # KEYFRAME 15
0.05455562600036501
Frame 22
tensor(0.0459)
Frame 23
tensor(0.1001)
 # KEYFRAME 16
0.055315673002041876
Frame 24
tensor(0.0588)
Frame 25
tensor(0.1302)
 # KEYFRAME 17
0.05657993900240399
Frame 26
tensor(0.0679)
Frame 27
tensor(0.1403)
 # KEYFRAME 18
0.05700751799668069
Frame 28
tensor(0.1259)
 # KEYFRAME 19
0.05771803499737871
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 29
tensor(0.1438)
 # KEYFRAME 20
0.05397773799995775
Frame 30
tensor(0.1083)
 # KEYFRAME 21
0.054529806002392434
Frame 31
tensor(0.1169)
 # KEYFRAME 22
0.055267962998186704
Frame 32
tensor(0.0435)
Frame 33
tensor(0.0791)
Frame 34
tensor(0.1417)
 # KEYFRAME 23
0.055975251001655124
Frame 35
tensor(0.0476)
Frame 36
tensor(0.2808)
 # KEYFRAME 24
0.05635714000163716
Frame 37
tensor(0.0892)
Frame 38
tensor(0.1098)
 # KEYFRAME 25
0.05688619799911976
Frame 39
tensor(0.1114)
 # KEYFRAME 26
0.058248892997653456
Frame 40
tensor(0.0920)
Frame 41
tensor(0.1781)
 # KEYFRAME 27
0.05911982000179705
Frame 42
tensor(0.1253)
 # KEYFRAME 28
0.05974577800225234
Frame 43
tensor(0.1213)
 # KEYFRAME 29
0.060633704997599125
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 44
tensor(0.0856)
Frame 45
tensor(0.1555)
 # KEYFRAME 30
0.05841875199985225
Frame 46
tensor(0.0169)
Frame 47
tensor(0.0568)
Frame 48
tensor(0.1705)
 # KEYFRAME 31
0.05923488899861695
Frame 49
tensor(0.0532)
Frame 50
tensor(0.0999)
Frame 51
tensor(0.0884)
Frame 52
tensor(0.0640)
Frame 53
tensor(0.0629)
Frame 54
tensor(0.1225)
 # KEYFRAME 32
0.059434558999782894
Frame 55
tensor(0.1055)
 # KEYFRAME 33
0.060355276000336744
Frame 56
tensor(0.0744)
Frame 57
tensor(0.1519)
 # KEYFRAME 34
0.060905064001417486
Frame 58
tensor(0.0636)
Frame 59
tensor(0.1188)
 # KEYFRAME 35
0.06147142199915834
Frame 60
tensor(0.0734)
Frame 61
tensor(0.1815)
 # KEYFRAME 36
0.062052889003098244
Frame 62
tensor(0.0803)
Frame 63
tensor(0.1237)
 # KEYFRAME 37
0.06253521799953887
Frame 64
tensor(0.0429)
Frame 65
tensor(0.1041)
 # KEYFRAME 38
0.06338575499830768
Frame 66
tensor(0.0971)
Frame 67
tensor(0.2270)
 # KEYFRAME 39
0.06395047300247825
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=380 loss_distill=0.1733 tta_take=0.009s
Frame 68
tensor(0.0869)
Frame 69
tensor(0.2013)
 # KEYFRAME 40
0.06269573700046749
Frame 70
tensor(0.0583)
Frame 71
tensor(0.1523)
 # KEYFRAME 41
0.06389791299807257
Frame 72
tensor(0.0953)
Frame 73
tensor(0.1176)
 # KEYFRAME 42
0.06379213299805997
Frame 74
tensor(0.0176)
Frame 75
tensor(0.0316)
Frame 76
tensor(0.1492)
 # KEYFRAME 43
0.06391908300065552
Frame 77
tensor(0.0836)
Frame 78
tensor(0.0739)
Frame 79
tensor(0.0407)
Frame 80
tensor(0.1149)
 # KEYFRAME 44
0.06481083000107901
Frame 81
tensor(0.0940)
Frame 82
tensor(0.1604)
 # KEYFRAME 45
0.06533075799961807
Frame 83
tensor(0.1861)
 # KEYFRAME 46
0.06574549600190949
Frame 84
tensor(0.1070)
 # KEYFRAME 47
0.06602393499997561
Frame 85
tensor(0.0807)
Frame 86
tensor(0.1850)
 # KEYFRAME 48
0.06658506299936562
Frame 87
tensor(0.1225)
 # KEYFRAME 49
0.06781637899985071
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=381 loss_distill=0.2747 tta_take=0.009s
Frame 88
tensor(0.1979)
 # KEYFRAME 50
0.06676249299925985
Frame 89
tensor(0.1137)
 # KEYFRAME 51
0.06804929799909587
Frame 90
tensor(0.3989)
 # KEYFRAME 52
0.06801608800014947
Frame 91
tensor(0.5815)
 # KEYFRAME 53
0.07014251099826652
Frame 92
tensor(0.0643)
Frame 93
tensor(0.1565)
 # KEYFRAME 54
0.06904584500080091
Frame 94
tensor(0.1296)
 # KEYFRAME 55
0.07025902000168571
Frame 95
tensor(0.0654)
Frame 96
tensor(0.1791)
 # KEYFRAME 56
0.07072731800144538
Frame 97
tensor(0.1073)
 # KEYFRAME 57
0.07202033399880747
Frame 98
tensor(0.1785)
 # KEYFRAME 58
0.0727685410020058
Frame 99
tensor(0.0622)
Frame 100
tensor(0.1013)
 # KEYFRAME 59
0.07307297000079416
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=382 loss_distill=0.3466 tta_take=0.008s
Frame 101
tensor(0.1720)
 # KEYFRAME 60
0.07072306899863179
Frame 102
tensor(0.0537)
Frame 103
tensor(0.1830)
 # KEYFRAME 61
0.0736818180012051
Frame 104
tensor(0.1751)
 # KEYFRAME 62
0.07221701399976155
Frame 105
tensor(0.2040)
 # KEYFRAME 63
0.07259855200027232
Frame 106
tensor(0.0754)
Frame 107
tensor(0.1386)
 # KEYFRAME 64
0.07353947900264757
Frame 108
tensor(0.1107)
 # KEYFRAME 65
0.07388075800190563
Frame 109
tensor(0.1525)
 # KEYFRAME 66
0.07474652399832848
Frame 110
tensor(0.0872)
Frame 111
tensor(0.2073)
 # KEYFRAME 67
0.07526183200025116
Frame 112
tensor(0.1376)
 # KEYFRAME 68
0.07542124199972022
Frame 113
tensor(0.7221)
 # KEYFRAME 69
0.0761136590008391
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=383 loss_distill=0.4024 tta_take=0.008s
Frame 114
tensor(0.0745)
Frame 115
tensor(0.1441)
 # KEYFRAME 70
0.0752720419986872
Frame 116
tensor(0.2543)
 # KEYFRAME 71
0.07716839500062633
Frame 117
tensor(0.1651)
 # KEYFRAME 72
0.07647160800115671
Frame 118
tensor(0.1619)
 # KEYFRAME 73
0.07717290599975968
Frame 119
tensor(0.1826)
 # KEYFRAME 74
0.07748284500121372
Frame 120
tensor(0.0934)
Frame 121
tensor(0.1886)
 # KEYFRAME 75
0.07858600100007607
Frame 122
tensor(0.0994)
Frame 123
tensor(0.5874)
 # KEYFRAME 76
0.0781638730004488
Frame 124
tensor(0.2809)
 # KEYFRAME 77
0.07873684000151115
Frame 125
tensor(0.1535)
 # KEYFRAME 78
0.07954486800008453
Frame 126
tensor(0.7675)
 # KEYFRAME 79
0.07987262599999667
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=384 loss_distill=0.4024 tta_take=0.008s
Frame 127
tensor(0.5507)
 # KEYFRAME 80
0.07543653199900291
Frame 128
tensor(0.1031)
 # KEYFRAME 81
0.07726827500300715
Frame 129
tensor(0.0765)
Frame 130
tensor(0.1727)
 # KEYFRAME 82
0.07716853600140894
Frame 131
tensor(0.0631)
Frame 132
tensor(0.1096)
 # KEYFRAME 83
0.07779541399941081
Frame 133
tensor(0.1891)
 # KEYFRAME 84
0.07758551499864552
Frame 134
tensor(0.1296)
 # KEYFRAME 85
0.07801818299776642
Frame 135
tensor(0.1386)
 # KEYFRAME 86
0.07840108199889073
Frame 136
tensor(0.0914)
Frame 137
tensor(0.1864)
 # KEYFRAME 87
0.0791446690018347
Frame 138
tensor(0.0508)
Frame 139
tensor(0.0888)
Frame 140
tensor(0.0920)
Frame 141
tensor(0.1068)
 # KEYFRAME 88
0.07981093600028544
Frame 142
tensor(0.0527)
Frame 143
tensor(0.0359)
Frame 144
tensor(0.1748)
 # KEYFRAME 89
0.08002372600094532
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=385 loss_distill=0.4024 tta_take=0.009s
Frame 145
tensor(0.1333)
 # KEYFRAME 90
0.07573691099969437
Frame 146
tensor(0.0734)
Frame 147
tensor(0.1489)
 # KEYFRAME 91
0.07727162599985604
Frame 148
tensor(0.5889)
 # KEYFRAME 92
0.07685086699711974
Frame 149
tensor(0.0818)
Backending... 93 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 58590, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=386 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 53/556] scannetpp/c24f94007b/DSC frames=150 tta_steps_this_scene=7 mean_loss=0.3434 total_steps=386 time=44.6s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0012)
Frame 2
tensor(0.0019)
Frame 3
tensor(0.0026)
Frame 4
tensor(0.0027)
Frame 5
tensor(0.0033)
Frame 6
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tensor(0.0014)
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tensor(0.0012)
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tensor(0.0014)
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tensor(0.0004)
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tensor(0.0011)
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tensor(0.0015)
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tensor(0.0022)
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tensor(0.0017)
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tensor(0.0028)
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tensor(0.0027)
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Frame 50
tensor(0.0013)
Frame 51
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Frame 53
tensor(0.0023)
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tensor(0.0015)
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Frame 141
tensor(0.0017)
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tensor(0.0010)
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tensor(0.0010)
Frame 144
tensor(0.0014)
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tensor(0.0020)
Frame 146
tensor(0.0014)
Frame 147
tensor(0.0018)
Frame 148
tensor(0.0010)
Frame 149
tensor(0.0010)
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tensor(0.0016)
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tensor(0.0020)
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tensor(0.0014)
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tensor(0.0017)
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tensor(0.0012)
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tensor(0.0016)
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tensor(0.0017)
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tensor(0.0015)
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tensor(0.0017)
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tensor(0.0024)
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tensor(0.0021)
Frame 182
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Frame 184
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Frame 185
tensor(0.0076)
Frame 186
tensor(0.0099)
Frame 187
tensor(0.0120)
Frame 188
tensor(0.0130)
Frame 189
tensor(0.0173)
Frame 190
tensor(0.0219)
Frame 191
tensor(0.0280)
Frame 192
tensor(0.0329)
Frame 193
tensor(0.0406)
Frame 194
tensor(0.0490)
Frame 195
tensor(0.0573)
Frame 196
tensor(0.0665)
Frame 197
tensor(0.0765)
Frame 198
tensor(0.0888)
Frame 199
tensor(0.1014)
 # KEYFRAME 1
Frame 200
tensor(0.0122)
Frame 201
tensor(0.0272)
Frame 202
tensor(0.0435)
Frame 203
tensor(0.0635)
Frame 204
tensor(0.0791)
Frame 205
tensor(0.0974)
Frame 206
tensor(0.1147)
 # KEYFRAME 2
0.05171401600091485
Frame 207
tensor(0.0153)
Frame 208
tensor(0.0273)
Frame 209
tensor(0.0442)
Frame 210
tensor(0.0650)
Frame 211
tensor(0.0840)
Frame 212
tensor(0.1031)
 # KEYFRAME 3
0.05190377500184695
Frame 213
tensor(0.0181)
Frame 214
tensor(0.0347)
Frame 215
tensor(0.0600)
Frame 216
tensor(0.0808)
Frame 217
tensor(0.0978)
Frame 218
tensor(0.1225)
 # KEYFRAME 4
0.05203569600053015
Frame 219
tensor(0.0190)
Frame 220
tensor(0.0380)
Frame 221
tensor(0.0629)
Frame 222
tensor(0.0864)
Frame 223
tensor(0.1174)
 # KEYFRAME 5
0.05258001299807802
Frame 224
tensor(0.0220)
Frame 225
tensor(0.0517)
Frame 226
tensor(0.0792)
Frame 227
tensor(0.1068)
 # KEYFRAME 6
0.052590612998756114
Frame 228
tensor(0.0256)
Frame 229
tensor(0.0561)
Frame 230
tensor(0.0790)
Frame 231
tensor(0.1094)
 # KEYFRAME 7
0.0529026519980107
Frame 232
tensor(0.0224)
Frame 233
tensor(0.0480)
Frame 234
tensor(0.0819)
Frame 235
tensor(0.1083)
 # KEYFRAME 8
0.0533150610026496
Frame 236
tensor(0.0254)
Frame 237
tensor(0.0560)
Frame 238
tensor(0.0817)
Frame 239
tensor(0.1062)
 # KEYFRAME 9
0.05268009299834375
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 240
tensor(0.0239)
Frame 241
tensor(0.0503)
Frame 242
tensor(0.0802)
Frame 243
tensor(0.1085)
 # KEYFRAME 10
0.052035964999959106
Frame 244
tensor(0.0259)
Frame 245
tensor(0.0583)
Frame 246
tensor(0.0898)
Frame 247
tensor(0.1235)
 # KEYFRAME 11
0.051897006000217516
Frame 248
tensor(0.0283)
Frame 249
tensor(0.0591)
Frame 250
tensor(0.0896)
Frame 251
tensor(0.1240)
 # KEYFRAME 12
0.05198035599823925
Frame 252
tensor(0.0301)
Frame 253
tensor(0.0613)
Frame 254
tensor(0.0972)
Frame 255
tensor(0.1269)
 # KEYFRAME 13
0.05196227600026759
Frame 256
tensor(0.0309)
Frame 257
tensor(0.0592)
Frame 258
tensor(0.0912)
Frame 259
tensor(0.1259)
 # KEYFRAME 14
0.053053052000905154
Frame 260
tensor(0.0277)
Frame 261
tensor(0.0581)
Frame 262
tensor(0.0967)
Frame 263
tensor(0.1296)
 # KEYFRAME 15
0.052160964001814136
Frame 264
tensor(0.0280)
Frame 265
tensor(0.0550)
Frame 266
tensor(0.0865)
Frame 267
tensor(0.1142)
 # KEYFRAME 16
0.05303871100113611
Frame 268
tensor(0.0283)
Frame 269
tensor(0.0566)
Backending... 17 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
[epoch 0 scene 54/556] vkitti/Scene06/fog/Camera_1 frames=270 tta_steps_this_scene=0 mean_loss=nan total_steps=386 time=68.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0681)
Frame 2
tensor(0.1353)
 # KEYFRAME 1
Frame 3
tensor(0.0726)
Frame 4
tensor(0.1411)
 # KEYFRAME 2
0.051516436997189885
Frame 5
tensor(0.0723)
Frame 6
tensor(0.1457)
 # KEYFRAME 3
0.05163509600242833
Frame 7
tensor(0.0683)
Frame 8
tensor(0.1388)
 # KEYFRAME 4
0.05204059499737923
Frame 9
tensor(0.0741)
Frame 10
tensor(0.1482)
 # KEYFRAME 5
0.05239090400209534
Frame 11
tensor(0.0668)
Frame 12
tensor(0.1393)
 # KEYFRAME 6
0.052788492997933645
Frame 13
tensor(0.0600)
Frame 14
tensor(0.1360)
 # KEYFRAME 7
0.05308777100071893
Frame 15
tensor(0.0654)
Frame 16
tensor(0.1268)
 # KEYFRAME 8
0.053125661997910356
Frame 17
tensor(0.0691)
Frame 18
tensor(0.1238)
 # KEYFRAME 9
0.05258103400046821
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 19
tensor(0.0690)
Frame 20
tensor(0.1311)
 # KEYFRAME 10
0.05178160600189585
Frame 21
tensor(0.0656)
Frame 22
tensor(0.1344)
 # KEYFRAME 11
0.05219282500183908
Frame 23
tensor(0.0670)
Frame 24
tensor(0.1347)
 # KEYFRAME 12
0.05206539500068175
Frame 25
tensor(0.0760)
Frame 26
tensor(0.1382)
 # KEYFRAME 13
0.051913835002778796
Frame 27
tensor(0.0742)
Frame 28
tensor(0.1356)
 # KEYFRAME 14
0.05312914200112573
Frame 29
tensor(0.0624)
Frame 30
tensor(0.1252)
 # KEYFRAME 15
0.05240840400074376
Frame 31
tensor(0.0628)
Frame 32
tensor(0.1210)
 # KEYFRAME 16
0.05262123300053645
Frame 33
tensor(0.0598)
Frame 34
tensor(0.1243)
 # KEYFRAME 17
0.054512505997990957
Frame 35
tensor(0.0680)
Frame 36
tensor(0.1251)
 # KEYFRAME 18
0.0529300019989023
Frame 37
tensor(0.0574)
Frame 38
tensor(0.1163)
 # KEYFRAME 19
0.055546583000250394
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 39
tensor(0.0528)
Frame 40
tensor(0.1165)
 # KEYFRAME 20
0.052014684999448946
Frame 41
tensor(0.0525)
Frame 42
tensor(0.1091)
 # KEYFRAME 21
0.05214702499870327
Frame 43
tensor(0.0610)
Frame 44
tensor(0.1153)
 # KEYFRAME 22
0.0537492490002478
Frame 45
tensor(0.0570)
Frame 46
tensor(0.1185)
 # KEYFRAME 23
0.0520630249993701
Frame 47
tensor(0.0555)
Frame 48
tensor(0.1195)
 # KEYFRAME 24
0.053566019003483234
Frame 49
tensor(0.0621)
Frame 50
tensor(0.1251)
 # KEYFRAME 25
0.05201050400137319
Frame 51
tensor(0.0624)
Frame 52
tensor(0.1270)
 # KEYFRAME 26
0.0526712030005001
Frame 53
tensor(0.0626)
Frame 54
tensor(0.1295)
 # KEYFRAME 27
0.05499444400265929
Frame 55
tensor(0.0552)
Frame 56
tensor(0.1273)
 # KEYFRAME 28
0.0523757930022839
Frame 57
tensor(0.0610)
Frame 58
tensor(0.1234)
 # KEYFRAME 29
0.05527595300009125
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 59
tensor(0.0666)
Frame 60
tensor(0.1312)
 # KEYFRAME 30
0.0521842350026418
Frame 61
tensor(0.0626)
Frame 62
tensor(0.1332)
 # KEYFRAME 31
0.052953670998249436
Frame 63
tensor(0.0581)
Frame 64
tensor(0.1179)
 # KEYFRAME 32
0.0539137980013038
Frame 65
tensor(0.0607)
Frame 66
tensor(0.1220)
 # KEYFRAME 33
0.052825221999228233
Frame 67
tensor(0.0606)
Frame 68
tensor(0.1168)
 # KEYFRAME 34
0.05553374199735117
Frame 69
tensor(0.0652)
Frame 70
tensor(0.1246)
 # KEYFRAME 35
0.05282934199931333
Frame 71
tensor(0.0635)
Frame 72
tensor(0.1194)
 # KEYFRAME 36
0.05341520000001765
Frame 73
tensor(0.0547)
Frame 74
tensor(0.1077)
 # KEYFRAME 37
0.05710678700052085
Frame 75
tensor(0.0614)
Frame 76
tensor(0.1096)
 # KEYFRAME 38
0.053017371999885654
Frame 77
tensor(0.0605)
Frame 78
tensor(0.1116)
 # KEYFRAME 39
0.05878033099725144
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.16913984715938568
TTA-STEP: step=387 loss_distill=0.1691 tta_take=0.005s
Frame 79
tensor(0.0429)
Frame 80
tensor(0.0962)
Frame 81
tensor(0.1372)
 # KEYFRAME 40
0.05237986299835029
Frame 82
tensor(0.0427)
Frame 83
tensor(0.0896)
Frame 84
tensor(0.1284)
 # KEYFRAME 41
0.05246552300013718
Frame 85
tensor(0.0469)
Frame 86
tensor(0.0922)
Frame 87
tensor(0.1327)
 # KEYFRAME 42
0.052621001999796135
Frame 88
tensor(0.0466)
Frame 89
tensor(0.0913)
Frame 90
tensor(0.1403)
 # KEYFRAME 43
0.052188073997967876
Frame 91
tensor(0.0395)
Frame 92
tensor(0.0867)
Frame 93
tensor(0.1318)
 # KEYFRAME 44
0.053115971000806894
Frame 94
tensor(0.0408)
Frame 95
tensor(0.0860)
Frame 96
tensor(0.1233)
 # KEYFRAME 45
0.05208437499823049
Frame 97
tensor(0.0400)
Frame 98
tensor(0.0889)
Frame 99
tensor(0.1188)
 # KEYFRAME 46
0.05207242399774259
Frame 100
tensor(0.0430)
Frame 101
tensor(0.0812)
Frame 102
tensor(0.1246)
 # KEYFRAME 47
0.05305584100278793
Frame 103
tensor(0.0430)
Frame 104
tensor(0.0807)
Frame 105
tensor(0.1192)
 # KEYFRAME 48
0.052246444996853825
Frame 106
tensor(0.0359)
Frame 107
tensor(0.0746)
Frame 108
tensor(0.1138)
 # KEYFRAME 49
0.05349913900136016
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.18660776317119598
TTA-STEP: step=388 loss_distill=0.1866 tta_take=0.005s
Frame 109
tensor(0.0332)
Frame 110
tensor(0.0782)
Frame 111
tensor(0.1098)
 # KEYFRAME 50
0.051997255002788734
Frame 112
tensor(0.0345)
Frame 113
tensor(0.0740)
Frame 114
tensor(0.1073)
 # KEYFRAME 51
0.05340425000031246
Frame 115
tensor(0.0309)
Frame 116
tensor(0.0646)
Frame 117
tensor(0.0920)
Frame 118
tensor(0.1175)
 # KEYFRAME 52
0.05420666699865251
Frame 119
tensor(0.0294)
Frame 120
tensor(0.0587)
Frame 121
tensor(0.0882)
Frame 122
tensor(0.1097)
 # KEYFRAME 53
0.05286664099912741
Frame 123
tensor(0.0244)
Frame 124
tensor(0.0559)
Frame 125
tensor(0.0786)
Frame 126
tensor(0.1040)
 # KEYFRAME 54
0.05502587400042103
Frame 127
tensor(0.0248)
Frame 128
tensor(0.0449)
Frame 129
tensor(0.0639)
Frame 130
tensor(0.0869)
Frame 131
tensor(0.1134)
 # KEYFRAME 55
0.052608153000619495
Frame 132
tensor(0.0207)
Frame 133
tensor(0.0464)
Frame 134
tensor(0.0661)
Frame 135
tensor(0.0901)
Frame 136
tensor(0.1103)
 # KEYFRAME 56
0.05257138299930375
Frame 137
tensor(0.0193)
Frame 138
tensor(0.0416)
Frame 139
tensor(0.0594)
Frame 140
tensor(0.0814)
Frame 141
tensor(0.1008)
 # KEYFRAME 57
0.05597019100241596
Frame 142
tensor(0.0186)
Frame 143
tensor(0.0373)
Frame 144
tensor(0.0598)
Frame 145
tensor(0.0805)
Frame 146
tensor(0.0967)
Frame 147
tensor(0.1163)
 # KEYFRAME 58
0.053042840998386964
Frame 148
tensor(0.0177)
Frame 149
tensor(0.0344)
Frame 150
tensor(0.0521)
Frame 151
tensor(0.0783)
Frame 152
tensor(0.0988)
Frame 153
tensor(0.1132)
 # KEYFRAME 59
0.056401098998321686
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.39113911986351013
TTA-STEP: step=389 loss_distill=0.3911 tta_take=0.005s
Frame 154
tensor(0.0159)
Frame 155
tensor(0.0333)
Frame 156
tensor(0.0537)
Frame 157
tensor(0.0721)
Frame 158
tensor(0.0891)
Frame 159
tensor(0.1041)
 # KEYFRAME 60
0.052404763002414256
Frame 160
tensor(0.0152)
Frame 161
tensor(0.0311)
Frame 162
tensor(0.0514)
Frame 163
tensor(0.0644)
Frame 164
tensor(0.0841)
Frame 165
tensor(0.0991)
Frame 166
tensor(0.1140)
 # KEYFRAME 61
0.05305802099974244
Frame 167
tensor(0.0128)
Frame 168
tensor(0.0307)
Frame 169
tensor(0.0423)
Frame 170
tensor(0.0615)
Frame 171
tensor(0.0795)
Frame 172
tensor(0.1001)
 # KEYFRAME 62
0.0542732360008813
Frame 173
tensor(0.0146)
Frame 174
tensor(0.0354)
Frame 175
tensor(0.0575)
Frame 176
tensor(0.0694)
Frame 177
tensor(0.0894)
Frame 178
tensor(0.1113)
 # KEYFRAME 63
0.05304656099906424
Frame 179
tensor(0.0196)
Frame 180
tensor(0.0403)
Frame 181
tensor(0.0572)
Frame 182
tensor(0.0777)
Frame 183
tensor(0.1019)
 # KEYFRAME 64
0.05556137199891964
Frame 184
tensor(0.0194)
Frame 185
tensor(0.0368)
Frame 186
tensor(0.0496)
Frame 187
tensor(0.0707)
Frame 188
tensor(0.0807)
Frame 189
tensor(0.0951)
Frame 190
tensor(0.1137)
 # KEYFRAME 65
0.053632949999155244
Frame 191
tensor(0.0125)
Frame 192
tensor(0.0293)
Frame 193
tensor(0.0489)
Frame 194
tensor(0.0651)
Frame 195
tensor(0.0842)
Frame 196
tensor(0.1031)
 # KEYFRAME 66
0.053298329999961425
Frame 197
tensor(0.0107)
Frame 198
tensor(0.0263)
Frame 199
tensor(0.0432)
Frame 200
tensor(0.0594)
Frame 201
tensor(0.0741)
Frame 202
tensor(0.0897)
Frame 203
tensor(0.1024)
 # KEYFRAME 67
0.05826981299833278
Frame 204
tensor(0.0126)
Frame 205
tensor(0.0263)
Frame 206
tensor(0.0417)
Frame 207
tensor(0.0546)
Frame 208
tensor(0.0698)
Frame 209
tensor(0.0827)
Frame 210
tensor(0.0963)
Frame 211
tensor(0.1081)
 # KEYFRAME 68
0.053543780002655694
Frame 212
tensor(0.0107)
Frame 213
tensor(0.0218)
Frame 214
tensor(0.0404)
Frame 215
tensor(0.0525)
Frame 216
tensor(0.0720)
Frame 217
tensor(0.0880)
Frame 218
tensor(0.1046)
 # KEYFRAME 69
0.05935589799992158
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4666672348976135
TTA-STEP: step=390 loss_distill=0.4667 tta_take=0.005s
Frame 219
tensor(0.0158)
Frame 220
tensor(0.0342)
Frame 221
tensor(0.0528)
Frame 222
tensor(0.0734)
Frame 223
tensor(0.0937)
Frame 224
tensor(0.1176)
 # KEYFRAME 70
0.05310792100135586
Frame 225
tensor(0.0124)
Frame 226
tensor(0.0366)
Frame 227
tensor(0.0565)
Frame 228
tensor(0.0806)
Frame 229
tensor(0.1036)
 # KEYFRAME 71
0.05403215799742611
Frame 230
tensor(0.0157)
Frame 231
tensor(0.0388)
Frame 232
tensor(0.0591)
Frame 233
tensor(0.0802)
Frame 234
tensor(0.0920)
Frame 235
tensor(0.1138)
 # KEYFRAME 72
0.055640092003159225
Frame 236
tensor(0.0208)
Frame 237
tensor(0.0464)
Frame 238
tensor(0.0718)
Frame 239
tensor(0.0926)
Frame 240
tensor(0.1146)
 # KEYFRAME 73
0.05339299000115716
Frame 241
tensor(0.0234)
Frame 242
tensor(0.0522)
Frame 243
tensor(0.0770)
Frame 244
tensor(0.1018)
 # KEYFRAME 74
0.05545069300205796
Frame 245
tensor(0.0247)
Frame 246
tensor(0.0522)
Frame 247
tensor(0.0828)
Frame 248
tensor(0.1119)
 # KEYFRAME 75
0.05380265799976769
Frame 249
tensor(0.0272)
Frame 250
tensor(0.0556)
Frame 251
tensor(0.0881)
Frame 252
tensor(0.1130)
 # KEYFRAME 76
0.05389966900111176
Frame 253
tensor(0.0312)
Frame 254
tensor(0.0551)
Frame 255
tensor(0.0848)
Frame 256
tensor(0.1136)
 # KEYFRAME 77
0.05591145099970163
Frame 257
tensor(0.0248)
Frame 258
tensor(0.0583)
Frame 259
tensor(0.0860)
Frame 260
tensor(0.1093)
 # KEYFRAME 78
0.05409285699715838
Frame 261
tensor(0.0319)
Frame 262
tensor(0.0546)
Frame 263
tensor(0.0809)
Frame 264
tensor(0.1117)
 # KEYFRAME 79
0.055834012000559596
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[1, 2, 3, 4, 5] dropped=[0] scores=[(0, 3.222641944885254), (1, 3.4806764125823975), (2, 3.434277057647705), (3, 3.3572471141815186), (4, 3.4641776084899902), (5, 3.2888295650482178)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 4, 2, 3, 5] dts=[6, 3, 5, 4, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3765242397785187
TTA-STEP: step=391 loss_distill=0.3765 tta_take=0.005s
Frame 265
tensor(0.0199)
Frame 266
tensor(0.0505)
Frame 267
tensor(0.0790)
Frame 268
tensor(0.1046)
 # KEYFRAME 80
0.053152800999669125
Frame 269
tensor(0.0213)
Frame 270
tensor(0.0475)
Frame 271
tensor(0.0758)
Frame 272
tensor(0.0944)
Frame 273
tensor(0.1224)
 # KEYFRAME 81
0.05424133700216771
Frame 274
tensor(0.0201)
Frame 275
tensor(0.0395)
Frame 276
tensor(0.0534)
Frame 277
tensor(0.0649)
Frame 278
tensor(0.0814)
Frame 279
tensor(0.0975)
Frame 280
tensor(0.1171)
 # KEYFRAME 82
0.054277156999887666
Frame 281
tensor(0.0101)
Frame 282
tensor(0.0182)
Frame 283
tensor(0.0336)
Frame 284
tensor(0.0502)
Frame 285
tensor(0.0609)
Frame 286
tensor(0.0692)
Frame 287
tensor(0.0792)
Frame 288
tensor(0.0908)
Frame 289
tensor(0.0990)
Frame 290
tensor(0.1133)
 # KEYFRAME 83
0.053528459000517614
Frame 291
tensor(0.0073)
Frame 292
tensor(0.0203)
Frame 293
tensor(0.0291)
Frame 294
tensor(0.0393)
Frame 295
tensor(0.0495)
Frame 296
tensor(0.0583)
Frame 297
tensor(0.0700)
Frame 298
tensor(0.0790)
Frame 299
tensor(0.0827)
Backending... 84 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 3.936108112335205), (1, 3.919431447982788), (2, 3.695605993270874), (3, 3.5541305541992188), (4, 3.7143664360046387), (5, 3.4204564094543457), (6, 3.375584363937378)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 26368, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[0, 1, 4, 2, 3] dts=[8, 7, 4, 6, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3483879864215851
TTA-STEP: step=392 loss_distill=0.3484 tta_take=0.003s
[epoch 0 scene 55/556] vkitti/Scene18/30-deg-left/Camera_1 frames=300 tta_steps_this_scene=6 mean_loss=0.3231 total_steps=392 time=90.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0090)
Frame 2
tensor(0.0386)
Frame 3
tensor(0.3375)
 # KEYFRAME 1
Frame 4
tensor(0.3911)
 # KEYFRAME 2
0.05181157599872677
Frame 5
tensor(0.2306)
 # KEYFRAME 3
0.054264727001282154
Frame 6
tensor(0.1753)
 # KEYFRAME 4
0.05441001600047457
Frame 7
tensor(0.0858)
Frame 8
tensor(0.2011)
 # KEYFRAME 5
0.05499974399936036
Frame 9
tensor(0.1172)
 # KEYFRAME 6
0.0560388209996745
Frame 10
tensor(0.0913)
Frame 11
tensor(0.2743)
 # KEYFRAME 7
0.05691653799658525
Frame 12
tensor(0.1271)
 # KEYFRAME 8
0.058659801001340384
Frame 13
tensor(0.0439)
Frame 14
tensor(0.0962)
Frame 15
tensor(0.1240)
 # KEYFRAME 9
0.05854418099988834
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 16
tensor(0.8072)
 # KEYFRAME 10
0.052577373000531225
Frame 17
tensor(0.3321)
 # KEYFRAME 11
0.053544098998827394
Frame 18
tensor(0.0080)
Frame 19
tensor(0.6575)
 # KEYFRAME 12
0.05463120500280638
Frame 20
tensor(0.6874)
 # KEYFRAME 13
0.05708340700221015
Frame 21
tensor(0.2025)
 # KEYFRAME 14
0.05726372699791682
Frame 22
tensor(0.6165)
 # KEYFRAME 15
0.058132572998147225
Frame 23
tensor(0.0830)
Frame 24
tensor(0.1744)
 # KEYFRAME 16
0.05898178999996162
Frame 25
tensor(0.2276)
 # KEYFRAME 17
0.06004253599894582
Frame 26
tensor(0.1358)
 # KEYFRAME 18
0.061272061997442506
Frame 27
tensor(0.2017)
 # KEYFRAME 19
0.06255374800093705
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 28
tensor(0.0913)
Frame 29
tensor(0.1629)
 # KEYFRAME 20
0.0587678310002957
Frame 30
tensor(0.2061)
 # KEYFRAME 21
0.060429255001508864
Frame 31
tensor(0.4613)
 # KEYFRAME 22
0.06091051299881656
Frame 32
tensor(0.4223)
 # KEYFRAME 23
0.06187290999878314
Frame 33
tensor(0.1218)
 # KEYFRAME 24
0.062394008000410395
Frame 34
tensor(0.1968)
 # KEYFRAME 25
0.06367714299994987
Frame 35
tensor(0.1090)
 # KEYFRAME 26
0.06500434799818322
Frame 36
tensor(0.3229)
 # KEYFRAME 27
0.06588171600014903
Frame 37
tensor(0.3146)
 # KEYFRAME 28
0.06718174100024044
Frame 38
tensor(0.1083)
 # KEYFRAME 29
0.06861437600309728
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 39
tensor(0.1636)
 # KEYFRAME 30
0.06566815599944675
Frame 40
tensor(0.2211)
 # KEYFRAME 31
0.06748656899799244
Frame 41
tensor(0.2200)
 # KEYFRAME 32
0.06825042700074846
Frame 42
tensor(0.2390)
 # KEYFRAME 33
0.0691457229986554
Frame 43
tensor(0.1277)
 # KEYFRAME 34
0.06971717099804664
Frame 44
tensor(0.1036)
 # KEYFRAME 35
0.07070473800195032
Frame 45
tensor(0.0802)
Frame 46
tensor(0.1464)
 # KEYFRAME 36
0.07152623499860056
Frame 47
tensor(0.1085)
 # KEYFRAME 37
0.07243503199788393
Frame 48
tensor(0.2438)
 # KEYFRAME 38
0.07287432000157423
Frame 49
tensor(0.2863)
 # KEYFRAME 39
0.07400816699737334
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=393 loss_distill=0.1733 tta_take=0.009s
Frame 50
tensor(0.1775)
 # KEYFRAME 40
0.07255948099918896
Frame 51
tensor(0.6354)
 # KEYFRAME 41
0.07465682399924845
Frame 52
tensor(0.0676)
Frame 53
tensor(0.1867)
 # KEYFRAME 42
0.07478590400205576
Frame 54
tensor(0.1494)
 # KEYFRAME 43
0.07548616100029903
Frame 55
tensor(0.4218)
 # KEYFRAME 44
0.0764172579984006
Frame 56
tensor(0.2629)
 # KEYFRAME 45
0.0767955470000743
Frame 57
tensor(0.3034)
 # KEYFRAME 46
0.07781847300066147
Frame 58
tensor(0.2255)
 # KEYFRAME 47
0.07791835199896013
Frame 59
tensor(0.2286)
 # KEYFRAME 48
0.0793692680017557
Frame 60
tensor(0.2336)
 # KEYFRAME 49
0.08044640400112257
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=394 loss_distill=0.2747 tta_take=0.009s
Frame 61
tensor(0.2897)
 # KEYFRAME 50
0.07886457999848062
Frame 62
tensor(0.1161)
 # KEYFRAME 51
0.08250596600191784
Frame 63
tensor(0.1146)
 # KEYFRAME 52
0.08155409900064114
Frame 64
tensor(0.1688)
 # KEYFRAME 53
0.08245848600199679
Frame 65
tensor(0.3838)
 # KEYFRAME 54
0.08350533300108509
Frame 66
tensor(0.0862)
Frame 67
tensor(0.1338)
 # KEYFRAME 55
0.08492275800017524
Frame 68
tensor(0.1579)
 # KEYFRAME 56
0.08579942399956053
Frame 69
tensor(0.2497)
 # KEYFRAME 57
0.08642330200018478
Frame 70
tensor(0.1775)
 # KEYFRAME 58
0.08772849700108054
Frame 71
tensor(0.2356)
 # KEYFRAME 59
0.08839076500225929
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=395 loss_distill=0.3466 tta_take=0.009s
Frame 72
tensor(0.1648)
 # KEYFRAME 60
0.08596228399983374
Frame 73
tensor(0.0654)
Frame 74
tensor(0.1636)
 # KEYFRAME 61
0.08935977200235357
Frame 75
tensor(0.1085)
 # KEYFRAME 62
0.08902480300093885
Frame 76
tensor(0.1209)
 # KEYFRAME 63
0.08965823099788395
Frame 77
tensor(0.0747)
Frame 78
tensor(0.0806)
Frame 79
tensor(0.1563)
 # KEYFRAME 64
0.09172290399874328
Frame 80
tensor(0.1794)
 # KEYFRAME 65
0.09293925000019954
Frame 81
tensor(0.2401)
 # KEYFRAME 66
0.09417202500117128
Frame 82
tensor(0.1764)
 # KEYFRAME 67
0.09529297100016265
Frame 83
tensor(0.1763)
 # KEYFRAME 68
0.09539231099915924
Frame 84
tensor(0.1291)
 # KEYFRAME 69
0.09627090800131555
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=396 loss_distill=0.4024 tta_take=0.009s
Frame 85
tensor(0.1760)
 # KEYFRAME 70
0.0933095879991015
Frame 86
tensor(0.1940)
 # KEYFRAME 71
0.09547784099777346
Frame 87
tensor(0.1393)
 # KEYFRAME 72
0.09555415000068024
Frame 88
tensor(0.0764)
Frame 89
tensor(0.2684)
 # KEYFRAME 73
0.09666180599742802
Frame 90
tensor(0.1137)
 # KEYFRAME 74
0.0980752110008325
Frame 91
tensor(0.1190)
 # KEYFRAME 75
0.09896624799876008
Frame 92
tensor(0.0860)
Frame 93
tensor(0.2468)
 # KEYFRAME 76
0.10017404300015187
Frame 94
tensor(0.1620)
 # KEYFRAME 77
0.10145153799749096
Frame 95
tensor(0.0705)
Frame 96
tensor(0.0669)
Frame 97
tensor(0.1712)
 # KEYFRAME 78
0.10280660400167108
Frame 98
tensor(0.1089)
 # KEYFRAME 79
0.10328788200058625
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=397 loss_distill=0.4024 tta_take=0.009s
Frame 99
tensor(0.1273)
 # KEYFRAME 80
0.0929529189997993
Frame 100
tensor(0.0941)
Frame 101
tensor(0.2098)
 # KEYFRAME 81
0.09521132100053364
Frame 102
tensor(0.1700)
 # KEYFRAME 82
0.09527017000073101
Frame 103
tensor(0.1061)
 # KEYFRAME 83
0.09620708799775457
Frame 104
tensor(0.1135)
 # KEYFRAME 84
0.09649765599897364
Frame 105
tensor(0.2068)
 # KEYFRAME 85
0.09766528200270841
Frame 106
tensor(0.2665)
 # KEYFRAME 86
0.09794369199880748
Frame 107
tensor(0.1778)
 # KEYFRAME 87
0.0987576289990102
Frame 108
tensor(0.1959)
 # KEYFRAME 88
0.09876761899795383
Frame 109
tensor(0.1450)
 # KEYFRAME 89
0.09983176400055527
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595452308655
TTA-STEP: step=398 loss_distill=0.4024 tta_take=0.009s
Frame 110
tensor(0.1671)
 # KEYFRAME 90
0.09333982799944351
Frame 111
tensor(0.1790)
 # KEYFRAME 91
0.09531247099948814
Frame 112
tensor(0.1125)
 # KEYFRAME 92
0.09479946200008271
Frame 113
tensor(0.0848)
Frame 114
tensor(0.1240)
 # KEYFRAME 93
0.09566535900012241
Frame 115
tensor(0.0694)
Frame 116
tensor(0.1733)
 # KEYFRAME 94
0.09604322900122497
Frame 117
tensor(0.1940)
 # KEYFRAME 95
0.09738581299825455
Frame 118
tensor(0.1476)
 # KEYFRAME 96
0.09823138999854564
Frame 119
tensor(0.0848)
Frame 120
tensor(0.1498)
 # KEYFRAME 97
0.09884775899990927
Frame 121
tensor(0.1884)
 # KEYFRAME 98
0.09854594900025404
Frame 122
tensor(0.1752)
 # KEYFRAME 99
0.09970657499798108
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=399 loss_distill=0.4024 tta_take=0.009s
Frame 123
tensor(0.1641)
 # KEYFRAME 100
0.09278030000132276
Frame 124
tensor(0.0845)
Frame 125
tensor(0.0565)
Frame 126
tensor(0.1226)
 # KEYFRAME 101
0.09522048099825042
Frame 127
tensor(0.1540)
 # KEYFRAME 102
0.09480175299904658
Frame 128
tensor(0.1656)
 # KEYFRAME 103
0.09543859099721885
Frame 129
tensor(0.3468)
 # KEYFRAME 104
0.0962919179983146
Frame 130
tensor(0.0740)
Frame 131
tensor(0.1155)
 # KEYFRAME 105
0.09760953200020595
Backending... 106 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 68706, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=400 loss_distill=0.4024 tta_take=0.007s
[epoch 0 scene 56/556] scannetpp/80ffca8a48/frame frames=132 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=400 time=51.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0006)
Frame 2
tensor(0.0012)
Frame 3
tensor(0.0013)
Frame 4
tensor(0.0009)
Frame 5
tensor(0.0008)
Frame 6
tensor(0.0006)
Frame 7
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Frame 8
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Frame 9
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Frame 10
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tensor(0.0008)
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tensor(0.0006)
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tensor(0.0011)
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tensor(0.0011)
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tensor(0.0008)
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tensor(0.0011)
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tensor(0.0014)
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tensor(0.0013)
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tensor(0.0012)
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tensor(0.0014)
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tensor(0.0020)
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tensor(0.0026)
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tensor(0.0031)
Frame 40
tensor(0.0027)
Frame 41
tensor(0.0048)
Frame 42
tensor(0.0039)
Frame 43
tensor(0.0032)
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tensor(0.0032)
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tensor(0.0030)
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tensor(0.0027)
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tensor(0.0018)
Frame 49
tensor(0.0012)
Frame 50
tensor(0.0013)
Frame 51
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tensor(0.0014)
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tensor(0.0018)
Frame 54
tensor(0.0022)
Frame 55
tensor(0.0021)
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tensor(0.0034)
Frame 58
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Frame 60
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Frame 62
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Frame 65
tensor(0.0029)
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tensor(0.0012)
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tensor(0.0016)
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tensor(0.0008)
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Frame 188
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Frame 189
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Frame 190
tensor(0.0210)
Frame 191
tensor(0.0259)
Frame 192
tensor(0.0319)
Frame 193
tensor(0.0403)
Frame 194
tensor(0.0479)
Frame 195
tensor(0.0589)
Frame 196
tensor(0.0676)
Frame 197
tensor(0.0782)
Frame 198
tensor(0.0905)
Frame 199
tensor(0.1020)
 # KEYFRAME 1
Frame 200
tensor(0.0146)
Frame 201
tensor(0.0332)
Frame 202
tensor(0.0471)
Frame 203
tensor(0.0690)
Frame 204
tensor(0.0865)
Frame 205
tensor(0.1060)
 # KEYFRAME 2
0.05251694300022791
Frame 206
tensor(0.0187)
Frame 207
tensor(0.0346)
Frame 208
tensor(0.0529)
Frame 209
tensor(0.0751)
Frame 210
tensor(0.0906)
Frame 211
tensor(0.1073)
 # KEYFRAME 3
0.05221022399928188
Frame 212
tensor(0.0240)
Frame 213
tensor(0.0453)
Frame 214
tensor(0.0685)
Frame 215
tensor(0.0908)
Frame 216
tensor(0.1154)
 # KEYFRAME 4
0.052716442001838004
Frame 217
tensor(0.0216)
Frame 218
tensor(0.0470)
Frame 219
tensor(0.0750)
Frame 220
tensor(0.1014)
 # KEYFRAME 5
0.052344633997563506
Frame 221
tensor(0.0289)
Frame 222
tensor(0.0594)
Frame 223
tensor(0.0957)
Frame 224
tensor(0.1306)
 # KEYFRAME 6
0.05281976200058125
Frame 225
tensor(0.0314)
Frame 226
tensor(0.0672)
Frame 227
tensor(0.1006)
 # KEYFRAME 7
0.05250963299840805
Frame 228
tensor(0.0339)
Frame 229
tensor(0.0715)
Frame 230
tensor(0.1066)
 # KEYFRAME 8
0.053371890000562416
Frame 231
tensor(0.0370)
Frame 232
tensor(0.0725)
Frame 233
tensor(0.1063)
 # KEYFRAME 9
0.0521049849994597
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 234
tensor(0.0362)
Frame 235
tensor(0.0704)
Frame 236
tensor(0.1036)
 # KEYFRAME 10
0.0517265859998588
Frame 237
tensor(0.0349)
Frame 238
tensor(0.0683)
Frame 239
tensor(0.0969)
Frame 240
tensor(0.1397)
 # KEYFRAME 11
0.052799132998188725
Frame 241
tensor(0.0364)
Frame 242
tensor(0.0760)
Frame 243
tensor(0.1180)
 # KEYFRAME 12
0.053599178998410935
Frame 244
tensor(0.0376)
Frame 245
tensor(0.0811)
Frame 246
tensor(0.1232)
 # KEYFRAME 13
0.05183263499930035
Frame 247
tensor(0.0414)
Frame 248
tensor(0.0802)
Frame 249
tensor(0.1230)
 # KEYFRAME 14
0.054429586001788266
Frame 250
tensor(0.0384)
Frame 251
tensor(0.0775)
Frame 252
tensor(0.1213)
 # KEYFRAME 15
0.05206964399985736
Frame 253
tensor(0.0376)
Frame 254
tensor(0.0782)
Frame 255
tensor(0.1151)
 # KEYFRAME 16
0.05232567400162225
Frame 256
tensor(0.0423)
Frame 257
tensor(0.0814)
Frame 258
tensor(0.1207)
 # KEYFRAME 17
0.0554224420011451
Frame 259
tensor(0.0421)
Frame 260
tensor(0.0749)
Frame 261
tensor(0.1168)
 # KEYFRAME 18
0.05240345400306978
Frame 262
tensor(0.0397)
Frame 263
tensor(0.0740)
Frame 264
tensor(0.1128)
 # KEYFRAME 19
0.056649488000402926
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 265
tensor(0.0334)
Frame 266
tensor(0.0722)
Frame 267
tensor(0.1095)
 # KEYFRAME 20
0.051736765999521594
Frame 268
tensor(0.0372)
Frame 269
tensor(0.0718)
Backending... 21 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 8652, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
[epoch 0 scene 57/556] vkitti/Scene06/15-deg-right/Camera_0 frames=270 tta_steps_this_scene=0 mean_loss=nan total_steps=400 time=79.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0111)
Frame 2
tensor(0.0218)
Frame 3
tensor(0.0327)
Frame 4
tensor(0.0434)
Frame 5
tensor(0.0527)
Frame 6
tensor(0.0650)
Frame 7
tensor(0.0806)
Frame 8
tensor(0.0922)
Frame 9
tensor(0.1129)
 # KEYFRAME 1
Frame 10
tensor(0.0083)
Frame 11
tensor(0.0188)
Frame 12
tensor(0.0282)
Frame 13
tensor(0.0350)
Frame 14
tensor(0.0467)
Frame 15
tensor(0.0550)
Frame 16
tensor(0.0679)
Frame 17
tensor(0.0802)
Frame 18
tensor(0.0951)
Frame 19
tensor(0.1018)
 # KEYFRAME 2
0.05212606399800279
Frame 20
tensor(0.0081)
Frame 21
tensor(0.0134)
Frame 22
tensor(0.0205)
Frame 23
tensor(0.0290)
Frame 24
tensor(0.0350)
Frame 25
tensor(0.0465)
Frame 26
tensor(0.0553)
Frame 27
tensor(0.0659)
Frame 28
tensor(0.0716)
Frame 29
tensor(0.0868)
Frame 30
tensor(0.0980)
Frame 31
tensor(0.1137)
 # KEYFRAME 3
0.052208193999831565
Frame 32
tensor(0.0094)
Frame 33
tensor(0.0139)
Frame 34
tensor(0.0229)
Frame 35
tensor(0.0392)
Frame 36
tensor(0.0456)
Frame 37
tensor(0.0528)
Frame 38
tensor(0.0569)
Frame 39
tensor(0.0678)
Frame 40
tensor(0.0776)
Frame 41
tensor(0.0847)
Frame 42
tensor(0.0929)
Frame 43
tensor(0.0975)
Frame 44
tensor(0.1181)
 # KEYFRAME 4
0.05263166300210287
Frame 45
tensor(0.0092)
Frame 46
tensor(0.0202)
Frame 47
tensor(0.0345)
Frame 48
tensor(0.0439)
Frame 49
tensor(0.0587)
Frame 50
tensor(0.0727)
Frame 51
tensor(0.0965)
Frame 52
tensor(0.1073)
 # KEYFRAME 5
0.05212493400176754
Frame 53
tensor(0.0108)
Frame 54
tensor(0.0209)
Frame 55
tensor(0.0380)
Frame 56
tensor(0.0563)
Frame 57
tensor(0.0688)
Frame 58
tensor(0.0865)
Frame 59
tensor(0.1065)
 # KEYFRAME 6
0.05313220999960322
Frame 60
tensor(0.0161)
Frame 61
tensor(0.0301)
Frame 62
tensor(0.0478)
Frame 63
tensor(0.0632)
Frame 64
tensor(0.0831)
Frame 65
tensor(0.0989)
Frame 66
tensor(0.1204)
 # KEYFRAME 7
0.052203104001819156
Frame 67
tensor(0.0173)
Frame 68
tensor(0.0326)
Frame 69
tensor(0.0500)
Frame 70
tensor(0.0699)
Frame 71
tensor(0.0866)
Frame 72
tensor(0.1069)
 # KEYFRAME 8
0.053547559000435285
Frame 73
tensor(0.0202)
Frame 74
tensor(0.0392)
Frame 75
tensor(0.0532)
Frame 76
tensor(0.0674)
Frame 77
tensor(0.0884)
Frame 78
tensor(0.1113)
 # KEYFRAME 9
0.05213375499806716
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 79
tensor(0.0161)
Frame 80
tensor(0.0295)
Frame 81
tensor(0.0468)
Frame 82
tensor(0.0714)
Frame 83
tensor(0.0893)
Frame 84
tensor(0.1080)
 # KEYFRAME 10
0.051741146002314053
Frame 85
tensor(0.0121)
Frame 86
tensor(0.0298)
Frame 87
tensor(0.0475)
Frame 88
tensor(0.0631)
Frame 89
tensor(0.0811)
Frame 90
tensor(0.1013)
 # KEYFRAME 11
0.05255038299947046
Frame 91
tensor(0.0170)
Frame 92
tensor(0.0355)
Frame 93
tensor(0.0509)
Frame 94
tensor(0.0701)
Frame 95
tensor(0.0844)
Frame 96
tensor(0.1101)
 # KEYFRAME 12
0.05274262300008559
Frame 97
tensor(0.0131)
Frame 98
tensor(0.0299)
Frame 99
tensor(0.0447)
Frame 100
tensor(0.0633)
Frame 101
tensor(0.0808)
Frame 102
tensor(0.0950)
Frame 103
tensor(0.1072)
 # KEYFRAME 13
0.05175844500263338
Frame 104
tensor(0.0110)
Frame 105
tensor(0.0269)
Frame 106
tensor(0.0412)
Frame 107
tensor(0.0555)
Frame 108
tensor(0.0750)
Frame 109
tensor(0.0929)
Frame 110
tensor(0.1117)
 # KEYFRAME 14
0.054768595000496134
Frame 111
tensor(0.0145)
Frame 112
tensor(0.0298)
Frame 113
tensor(0.0454)
Frame 114
tensor(0.0642)
Frame 115
tensor(0.0808)
Frame 116
tensor(0.0996)
Frame 117
tensor(0.1160)
 # KEYFRAME 15
0.05211960399901727
Frame 118
tensor(0.0103)
Frame 119
tensor(0.0254)
Frame 120
tensor(0.0386)
Frame 121
tensor(0.0500)
Frame 122
tensor(0.0658)
Frame 123
tensor(0.0798)
Frame 124
tensor(0.0981)
Frame 125
tensor(0.1128)
 # KEYFRAME 16
0.05200710499775596
Frame 126
tensor(0.0123)
Frame 127
tensor(0.0277)
Frame 128
tensor(0.0392)
Frame 129
tensor(0.0487)
Frame 130
tensor(0.0636)
Frame 131
tensor(0.0766)
Frame 132
tensor(0.0949)
Frame 133
tensor(0.1066)
 # KEYFRAME 17
0.05507471400051145
Frame 134
tensor(0.0102)
Frame 135
tensor(0.0231)
Frame 136
tensor(0.0425)
Frame 137
tensor(0.0533)
Frame 138
tensor(0.0686)
Frame 139
tensor(0.0786)
Frame 140
tensor(0.0896)
Frame 141
tensor(0.1011)
 # KEYFRAME 18
0.05210936499861418
Frame 142
tensor(0.0083)
Frame 143
tensor(0.0215)
Frame 144
tensor(0.0298)
Frame 145
tensor(0.0397)
Frame 146
tensor(0.0513)
Frame 147
tensor(0.0628)
Frame 148
tensor(0.0754)
Frame 149
tensor(0.0892)
Frame 150
tensor(0.0970)
Frame 151
tensor(0.1091)
 # KEYFRAME 19
0.05613165999966441
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 152
tensor(0.0125)
Frame 153
tensor(0.0237)
Frame 154
tensor(0.0385)
Frame 155
tensor(0.0473)
Frame 156
tensor(0.0723)
Frame 157
tensor(0.0992)
Frame 158
tensor(0.1516)
 # KEYFRAME 20
0.051729356000578264
Frame 159
tensor(0.0164)
Frame 160
tensor(0.0248)
Frame 161
tensor(0.0355)
Frame 162
tensor(0.0489)
Frame 163
tensor(0.0581)
Frame 164
tensor(0.0740)
Frame 165
tensor(0.0949)
Frame 166
tensor(0.1094)
 # KEYFRAME 21
0.05158859599760035
Frame 167
tensor(0.0166)
Frame 168
tensor(0.0321)
Frame 169
tensor(0.0530)
Frame 170
tensor(0.0704)
Frame 171
tensor(0.0901)
Frame 172
tensor(0.1104)
 # KEYFRAME 22
0.052820011998846894
Frame 173
tensor(0.0198)
Frame 174
tensor(0.0352)
Frame 175
tensor(0.0525)
Frame 176
tensor(0.0750)
Frame 177
tensor(0.0982)
Frame 178
tensor(0.1356)
 # KEYFRAME 23
0.05191055500108632
Frame 179
tensor(0.0236)
Frame 180
tensor(0.0449)
Frame 181
tensor(0.0697)
Frame 182
tensor(0.1001)
 # KEYFRAME 24
0.05263949199797935
Frame 183
tensor(0.0239)
Frame 184
tensor(0.0478)
Frame 185
tensor(0.0732)
Frame 186
tensor(0.0975)
Frame 187
tensor(0.1249)
 # KEYFRAME 25
0.05205421400023624
Frame 188
tensor(0.0197)
Frame 189
tensor(0.0470)
Frame 190
tensor(0.0741)
Frame 191
tensor(0.0926)
Frame 192
tensor(0.1189)
 # KEYFRAME 26
0.05286097199859796
Frame 193
tensor(0.0249)
Frame 194
tensor(0.0516)
Frame 195
tensor(0.0784)
Frame 196
tensor(0.0957)
Frame 197
tensor(0.1282)
 # KEYFRAME 27
0.055615052002394805
Frame 198
tensor(0.0241)
Frame 199
tensor(0.0437)
Frame 200
tensor(0.0638)
Frame 201
tensor(0.0887)
Frame 202
tensor(0.1137)
 # KEYFRAME 28
0.05283030200007488
Frame 203
tensor(0.0210)
Frame 204
tensor(0.0565)
Frame 205
tensor(0.0765)
Frame 206
tensor(0.0964)
Frame 207
tensor(0.1134)
 # KEYFRAME 29
0.05620791999899666
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 208
tensor(0.0182)
Frame 209
tensor(0.0374)
Frame 210
tensor(0.0543)
Frame 211
tensor(0.0732)
Frame 212
tensor(0.1001)
 # KEYFRAME 30
0.05210527400049614
Frame 213
tensor(0.0212)
Frame 214
tensor(0.0418)
Frame 215
tensor(0.0643)
Frame 216
tensor(0.0817)
Frame 217
tensor(0.0982)
Frame 218
tensor(0.1165)
 # KEYFRAME 31
0.05201863399997819
Frame 219
tensor(0.0144)
Frame 220
tensor(0.0357)
Frame 221
tensor(0.0620)
Frame 222
tensor(0.0906)
Frame 223
tensor(0.1109)
 # KEYFRAME 32
0.05280996200235677
Frame 224
tensor(0.0179)
Frame 225
tensor(0.0410)
Frame 226
tensor(0.0688)
Frame 227
tensor(0.0880)
Frame 228
tensor(0.1215)
 # KEYFRAME 33
0.05194237500109011
Frame 229
tensor(0.0183)
Frame 230
tensor(0.0354)
Frame 231
tensor(0.0593)
Frame 232
tensor(0.0808)
Frame 233
tensor(0.1047)
 # KEYFRAME 34
0.053085920997546054
Frame 234
tensor(0.0206)
Frame 235
tensor(0.0388)
Frame 236
tensor(0.0615)
Frame 237
tensor(0.0931)
Frame 238
tensor(0.1165)
 # KEYFRAME 35
0.05243240299751051
Frame 239
tensor(0.0244)
Frame 240
tensor(0.0462)
Frame 241
tensor(0.0692)
Frame 242
tensor(0.0970)
Frame 243
tensor(0.1179)
 # KEYFRAME 36
0.05227891300091869
Frame 244
tensor(0.0199)
Frame 245
tensor(0.0422)
Frame 246
tensor(0.0646)
Frame 247
tensor(0.0950)
Frame 248
tensor(0.1180)
 # KEYFRAME 37
0.05354830999931437
Frame 249
tensor(0.0188)
Frame 250
tensor(0.0401)
Frame 251
tensor(0.0651)
Frame 252
tensor(0.0935)
Frame 253
tensor(0.1128)
 # KEYFRAME 38
0.052404302998183994
Frame 254
tensor(0.0219)
Frame 255
tensor(0.0425)
Frame 256
tensor(0.0670)
Frame 257
tensor(0.0997)
Frame 258
tensor(0.1382)
 # KEYFRAME 39
0.05381657800171524
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=401 loss_distill=0.1733 tta_take=0.005s
Frame 259
tensor(0.0220)
Frame 260
tensor(0.0443)
Frame 261
tensor(0.0688)
Frame 262
tensor(0.0941)
Frame 263
tensor(0.1202)
 # KEYFRAME 40
0.052393792997463606
Frame 264
tensor(0.0227)
Frame 265
tensor(0.0476)
Frame 266
tensor(0.0683)
Frame 267
tensor(0.0906)
Frame 268
tensor(0.1157)
 # KEYFRAME 41
0.05263846200250555
Frame 269
tensor(0.0250)
Frame 270
tensor(0.0488)
Frame 271
tensor(0.0705)
Frame 272
tensor(0.0978)
Frame 273
tensor(0.1270)
 # KEYFRAME 42
0.05278329200154985
Frame 274
tensor(0.0279)
Frame 275
tensor(0.0529)
Frame 276
tensor(0.0726)
Frame 277
tensor(0.0991)
Frame 278
tensor(0.1180)
 # KEYFRAME 43
0.05224399399958202
Frame 279
tensor(0.0230)
Frame 280
tensor(0.0533)
Frame 281
tensor(0.0768)
Frame 282
tensor(0.0972)
Frame 283
tensor(0.1141)
 # KEYFRAME 44
0.0529824910008756
Frame 284
tensor(0.0208)
Frame 285
tensor(0.0427)
Frame 286
tensor(0.0629)
Frame 287
tensor(0.0779)
Frame 288
tensor(0.1022)
 # KEYFRAME 45
0.052863240998703986
Frame 289
tensor(0.0159)
Frame 290
tensor(0.0407)
Frame 291
tensor(0.0637)
Frame 292
tensor(0.0820)
Frame 293
tensor(0.1101)
 # KEYFRAME 46
0.05263721200026339
Frame 294
tensor(0.0179)
Frame 295
tensor(0.0384)
Frame 296
tensor(0.0599)
Frame 297
tensor(0.0801)
Frame 298
tensor(0.1025)
 # KEYFRAME 47
0.054384076000133064
Frame 299
tensor(0.0232)
Backending... 48 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 19776, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=402 loss_distill=0.2747 tta_take=0.004s
[epoch 0 scene 58/556] vkitti/Scene20/overcast/Camera_0 frames=300 tta_steps_this_scene=2 mean_loss=0.2240 total_steps=402 time=79.6s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0323)
Frame 2
tensor(0.1029)
 # KEYFRAME 1
Frame 3
tensor(0.0386)
Frame 4
tensor(0.0600)
Frame 5
tensor(0.0884)
Frame 6
tensor(0.1074)
 # KEYFRAME 2
0.05161173599844915
Frame 7
tensor(0.0364)
Frame 8
tensor(0.0887)
Frame 9
tensor(0.1484)
 # KEYFRAME 3
0.05211053399762022
Frame 10
tensor(0.0494)
Frame 11
tensor(0.1323)
 # KEYFRAME 4
0.05402003799827071
Frame 12
tensor(0.0502)
Frame 13
tensor(0.1049)
 # KEYFRAME 5
0.05485431499982951
Frame 14
tensor(0.0443)
Frame 15
tensor(0.0828)
Frame 16
tensor(0.1016)
 # KEYFRAME 6
0.05573141200147802
Frame 17
tensor(0.0243)
Frame 18
tensor(0.0564)
Frame 19
tensor(0.0763)
Frame 20
tensor(0.0876)
Frame 21
tensor(0.0965)
Frame 22
tensor(0.0976)
Frame 23
tensor(0.0933)
Frame 24
tensor(0.1218)
 # KEYFRAME 7
0.056909417999122525
Frame 25
tensor(0.0458)
Frame 26
tensor(0.1134)
 # KEYFRAME 8
0.05774370399740292
Frame 27
tensor(0.0339)
Frame 28
tensor(0.1429)
 # KEYFRAME 9
0.05850085200290778
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 29
tensor(0.0335)
Frame 30
tensor(0.0534)
Frame 31
tensor(0.0763)
Frame 32
tensor(0.0576)
Frame 33
tensor(0.0469)
Frame 34
tensor(0.0576)
Frame 35
tensor(0.0577)
Frame 36
tensor(0.0487)
Frame 37
tensor(0.1307)
 # KEYFRAME 10
0.05167975600124919
Frame 38
tensor(0.0376)
Frame 39
tensor(0.0610)
Frame 40
tensor(0.0906)
Frame 41
tensor(0.1146)
 # KEYFRAME 11
0.05158558599941898
Frame 42
tensor(0.0343)
Frame 43
tensor(0.0524)
Frame 44
tensor(0.0840)
Frame 45
tensor(0.1040)
 # KEYFRAME 12
0.052105544000369264
Frame 46
tensor(0.0282)
Frame 47
tensor(0.0327)
Frame 48
tensor(0.0370)
Frame 49
tensor(0.0478)
Frame 50
tensor(0.1115)
 # KEYFRAME 13
0.05366870899888454
Frame 51
tensor(0.0695)
Frame 52
tensor(0.1081)
 # KEYFRAME 14
0.05410058699999354
Frame 53
tensor(0.0284)
Frame 54
tensor(0.0405)
Frame 55
tensor(0.0469)
Frame 56
tensor(0.0462)
Frame 57
tensor(0.0612)
Frame 58
tensor(0.1094)
 # KEYFRAME 15
0.05363473900069948
Frame 59
tensor(0.0253)
Frame 60
tensor(0.0537)
Frame 61
tensor(0.1261)
 # KEYFRAME 16
0.05447875499885413
Frame 62
tensor(0.0303)
Frame 63
tensor(0.0411)
Frame 64
tensor(0.0712)
Frame 65
tensor(0.1242)
 # KEYFRAME 17
0.05540761299926089
Frame 66
tensor(0.0530)
Frame 67
tensor(0.1279)
 # KEYFRAME 18
0.05628565000006347
Frame 68
tensor(0.0413)
Frame 69
tensor(0.0975)
Frame 70
tensor(0.1343)
 # KEYFRAME 19
0.05696574700050405
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 71
tensor(0.0290)
Frame 72
tensor(0.0719)
Frame 73
tensor(0.1250)
 # KEYFRAME 20
0.05389824799931375
Frame 74
tensor(0.0454)
Frame 75
tensor(0.0497)
Frame 76
tensor(0.0540)
Frame 77
tensor(0.0835)
Frame 78
tensor(0.1249)
 # KEYFRAME 21
0.05521263400078169
Frame 79
tensor(0.0215)
Frame 80
tensor(0.0135)
Frame 81
tensor(0.0616)
Frame 82
tensor(0.0984)
Frame 83
tensor(0.1431)
 # KEYFRAME 22
0.05555575199832674
Frame 84
tensor(0.0317)
Frame 85
tensor(0.1107)
 # KEYFRAME 23
0.05587921099868254
Frame 86
tensor(0.0231)
Frame 87
tensor(0.0473)
Frame 88
tensor(0.0715)
Frame 89
tensor(0.1062)
 # KEYFRAME 24
0.05636183900060132
Frame 90
tensor(0.0311)
Frame 91
tensor(0.0492)
Frame 92
tensor(0.0666)
Frame 93
tensor(0.0829)
Frame 94
tensor(0.0982)
Frame 95
tensor(0.1164)
 # KEYFRAME 25
0.05704842599880067
Frame 96
tensor(0.0385)
Frame 97
tensor(0.0589)
Frame 98
tensor(0.0396)
Frame 99
tensor(0.0533)
Frame 100
tensor(0.0738)
Frame 101
tensor(0.1057)
 # KEYFRAME 26
0.058609521998732816
Frame 102
tensor(0.0321)
Frame 103
tensor(0.0675)
Frame 104
tensor(0.0855)
Frame 105
tensor(0.1146)
 # KEYFRAME 27
0.0592960479989415
Frame 106
tensor(0.0160)
Frame 107
tensor(0.0402)
Frame 108
tensor(0.0650)
Frame 109
tensor(0.2109)
 # KEYFRAME 28
0.060280084999249084
Frame 110
tensor(0.0267)
Frame 111
tensor(0.0440)
Frame 112
tensor(0.0599)
Frame 113
tensor(0.0774)
Frame 114
tensor(0.0943)
Frame 115
tensor(0.1076)
 # KEYFRAME 29
0.060722184000042034
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 116
tensor(0.4846)
 # KEYFRAME 30
0.05821066200223868
Frame 117
tensor(0.0451)
Frame 118
tensor(0.0820)
Frame 119
tensor(0.1269)
 # KEYFRAME 31
0.05931894899913459
Frame 120
tensor(0.0307)
Frame 121
tensor(0.1573)
 # KEYFRAME 32
0.05956995799715514
Frame 122
tensor(0.0267)
Frame 123
tensor(0.0673)
Frame 124
tensor(0.1283)
 # KEYFRAME 33
0.06142301199724898
Frame 125
tensor(0.0285)
Frame 126
tensor(0.0707)
Frame 127
tensor(0.0944)
Frame 128
tensor(0.0571)
Frame 129
tensor(0.0516)
Frame 130
tensor(0.0757)
Frame 131
tensor(0.2866)
 # KEYFRAME 34
0.06110760299998219
Frame 132
tensor(0.0411)
Frame 133
tensor(0.0660)
Frame 134
tensor(0.0860)
Frame 135
tensor(0.0937)
Frame 136
tensor(0.1014)
 # KEYFRAME 35
0.06179639999754727
Frame 137
tensor(0.0226)
Frame 138
tensor(0.1088)
 # KEYFRAME 36
0.06217367799763451
Frame 139
tensor(0.0319)
Frame 140
tensor(0.0551)
Frame 141
tensor(0.0822)
Frame 142
tensor(0.0942)
Frame 143
tensor(0.4601)
 # KEYFRAME 37
0.0628272560024925
Frame 144
tensor(0.0271)
Frame 145
tensor(0.0602)
Frame 146
tensor(0.1004)
 # KEYFRAME 38
0.06358333400203264
Frame 147
tensor(0.0341)
Frame 148
tensor(0.0769)
Frame 149
tensor(0.0944)
Backending... 39 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 36270, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=403 loss_distill=0.1733 tta_take=0.008s
[epoch 0 scene 59/556] scannetpp/e01b287af5/DSC frames=150 tta_steps_this_scene=1 mean_loss=0.1733 total_steps=403 time=29.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0125)
Frame 2
tensor(0.0242)
Frame 3
tensor(0.0837)
Frame 4
tensor(0.0986)
Frame 5
tensor(0.1906)
 # KEYFRAME 1
Frame 6
tensor(0.1303)
 # KEYFRAME 2
0.05120962699947995
Frame 7
tensor(0.1121)
 # KEYFRAME 3
0.053541499000857584
Frame 8
tensor(0.1736)
 # KEYFRAME 4
0.05435511600080645
Frame 9
tensor(0.0995)
Frame 10
tensor(0.2412)
 # KEYFRAME 5
0.055281422999541974
Frame 11
tensor(0.1218)
 # KEYFRAME 6
0.056435408998368075
Frame 12
tensor(0.1329)
 # KEYFRAME 7
0.05736410600002273
Frame 13
tensor(0.1293)
 # KEYFRAME 8
0.05874137100181542
Frame 14
tensor(0.0606)
Frame 15
tensor(0.1794)
 # KEYFRAME 9
0.0587202509996132
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 16
tensor(0.0696)
Frame 17
tensor(0.1183)
 # KEYFRAME 10
0.05239579300177866
Frame 18
tensor(0.1464)
 # KEYFRAME 11
0.05369017900011386
Frame 19
tensor(0.1483)
 # KEYFRAME 12
0.05455468599757296
Frame 20
tensor(0.1784)
 # KEYFRAME 13
0.05676013800257351
Frame 21
tensor(0.2218)
 # KEYFRAME 14
0.057520955000654794
Frame 22
tensor(0.1890)
 # KEYFRAME 15
0.058024003003083635
Frame 23
tensor(0.1123)
 # KEYFRAME 16
0.05863630100066075
Frame 24
tensor(0.1920)
 # KEYFRAME 17
0.05984407700088923
Frame 25
tensor(0.1110)
 # KEYFRAME 18
0.06118473199967411
Frame 26
tensor(0.0514)
Frame 27
tensor(0.0955)
Frame 28
tensor(0.1349)
 # KEYFRAME 19
0.06236738700317801
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 29
tensor(0.0131)
Frame 30
tensor(0.0314)
Frame 31
tensor(0.0483)
Frame 32
tensor(0.0490)
Frame 33
tensor(0.0534)
Frame 34
tensor(0.1432)
 # KEYFRAME 20
0.05900028000178281
Frame 35
tensor(0.1197)
 # KEYFRAME 21
0.06080671399831772
Frame 36
tensor(0.1001)
 # KEYFRAME 22
0.06152682099855156
Frame 37
tensor(0.1230)
 # KEYFRAME 23
0.06278204599948367
Frame 38
tensor(0.1010)
 # KEYFRAME 24
0.0639845020014036
Frame 39
tensor(0.0780)
Frame 40
tensor(0.1822)
 # KEYFRAME 25
0.06505788800131995
Frame 41
tensor(0.0977)
Frame 42
tensor(0.1513)
 # KEYFRAME 26
0.06703845100128092
Frame 43
tensor(0.1724)
 # KEYFRAME 27
0.06818458700217889
Frame 44
tensor(0.1084)
 # KEYFRAME 28
0.06871948499974678
Frame 45
tensor(0.0571)
Frame 46
tensor(0.1763)
 # KEYFRAME 29
0.07018370000150753
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 47
tensor(0.0680)
Frame 48
tensor(0.0255)
Frame 49
tensor(0.1447)
 # KEYFRAME 30
0.0656025660027808
Frame 50
tensor(0.1064)
 # KEYFRAME 31
0.06717094099803944
Frame 51
tensor(0.0688)
Frame 52
tensor(0.1631)
 # KEYFRAME 32
0.06817139699705876
Frame 53
tensor(0.0911)
Frame 54
tensor(0.1651)
 # KEYFRAME 33
0.07005052999738837
Frame 55
tensor(0.1424)
 # KEYFRAME 34
0.07141599600072368
Frame 56
tensor(0.1211)
 # KEYFRAME 35
0.07269179100330803
Frame 57
tensor(0.0807)
Frame 58
tensor(0.1760)
 # KEYFRAME 36
0.07370800799981225
Frame 59
tensor(0.1281)
 # KEYFRAME 37
0.07470050400297623
Frame 60
tensor(0.1506)
 # KEYFRAME 38
0.07578732000183663
Frame 61
tensor(0.1803)
 # KEYFRAME 39
0.07686511700012488
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=404 loss_distill=0.1733 tta_take=0.009s
Frame 62
tensor(0.2638)
 # KEYFRAME 40
0.07248694200097816
Frame 63
tensor(0.1425)
 # KEYFRAME 41
0.07410681600231328
Frame 64
tensor(0.1415)
 # KEYFRAME 42
0.07448721499895328
Frame 65
tensor(0.2160)
 # KEYFRAME 43
0.07513273199947434
Frame 66
tensor(0.1037)
 # KEYFRAME 44
0.0758943900000304
Frame 67
tensor(0.0744)
Frame 68
tensor(0.0699)
Frame 69
tensor(0.1381)
 # KEYFRAME 45
0.0769970760011347
Frame 70
tensor(0.1500)
 # KEYFRAME 46
0.07749623400013661
Frame 71
tensor(0.0821)
Frame 72
tensor(0.1359)
 # KEYFRAME 47
0.07779491299879737
Frame 73
tensor(0.1347)
 # KEYFRAME 48
0.07884531899981084
Frame 74
tensor(0.0976)
Frame 75
tensor(0.1613)
 # KEYFRAME 49
0.0799489650016767
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=405 loss_distill=0.2747 tta_take=0.009s
Frame 76
tensor(0.1074)
 # KEYFRAME 50
0.0792646270019759
Frame 77
tensor(0.0510)
Frame 78
tensor(0.1148)
 # KEYFRAME 51
0.08180096899741329
Frame 79
tensor(0.0483)
Frame 80
tensor(0.1410)
 # KEYFRAME 52
0.08281837499816902
Frame 81
tensor(0.2190)
 # KEYFRAME 53
0.08328929400158813
Frame 82
tensor(0.1021)
 # KEYFRAME 54
0.08524078600021312
Frame 83
tensor(0.1241)
 # KEYFRAME 55
0.08531395699901623
Frame 84
tensor(0.1067)
 # KEYFRAME 56
0.08627902200169046
Frame 85
tensor(0.1692)
 # KEYFRAME 57
0.08734248900145758
Frame 86
tensor(0.1591)
 # KEYFRAME 58
0.08797296700140578
Frame 87
tensor(0.1261)
 # KEYFRAME 59
0.08865250400049263
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=406 loss_distill=0.3466 tta_take=0.009s
Frame 88
tensor(0.2727)
 # KEYFRAME 60
0.08635311199759599
Frame 89
tensor(0.0800)
Frame 90
tensor(0.0158)
Frame 91
tensor(0.1726)
 # KEYFRAME 61
0.08838221499900101
Frame 92
tensor(0.1129)
 # KEYFRAME 62
0.08854582399726496
Frame 93
tensor(0.1337)
 # KEYFRAME 63
0.089467200999934
Frame 94
tensor(0.0283)
Frame 95
tensor(0.2002)
 # KEYFRAME 64
0.0899218890008342
Frame 96
tensor(0.1176)
 # KEYFRAME 65
0.09036079799989238
Frame 97
tensor(0.0788)
Frame 98
tensor(0.0464)
Frame 99
tensor(0.0801)
Frame 100
tensor(0.2752)
 # KEYFRAME 66
0.09154657399994903
Frame 101
tensor(0.0946)
Frame 102
tensor(0.2470)
 # KEYFRAME 67
0.09248130000196397
Frame 103
tensor(0.2047)
 # KEYFRAME 68
0.0929281990029267
Frame 104
tensor(0.1087)
 # KEYFRAME 69
0.09362579700245988
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=407 loss_distill=0.4024 tta_take=0.009s
Frame 105
tensor(0.1641)
 # KEYFRAME 70
0.09299574800024857
Frame 106
tensor(0.1733)
 # KEYFRAME 71
0.09372237599745858
Frame 107
tensor(0.2127)
 # KEYFRAME 72
0.09544720000121742
Frame 108
tensor(0.2755)
 # KEYFRAME 73
0.09615197699895361
Frame 109
tensor(0.1292)
 # KEYFRAME 74
0.0976605620016926
Frame 110
tensor(0.4500)
 # KEYFRAME 75
0.09689055500348331
Frame 111
tensor(0.2971)
 # KEYFRAME 76
0.09818769000048633
Frame 112
tensor(0.1189)
 # KEYFRAME 77
0.09910674699858646
Frame 113
tensor(0.1654)
 # KEYFRAME 78
0.09971660399969551
Frame 114
tensor(0.0874)
Frame 115
tensor(0.1853)
 # KEYFRAME 79
0.10130933999971603
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=408 loss_distill=0.4024 tta_take=0.009s
Frame 116
tensor(0.1861)
 # KEYFRAME 80
0.09289918899958138
Frame 117
tensor(0.2208)
 # KEYFRAME 81
0.0955475499977183
Frame 118
tensor(0.1375)
 # KEYFRAME 82
0.0945155640001758
Frame 119
tensor(0.3417)
 # KEYFRAME 83
0.09594689799996559
Frame 120
tensor(0.1098)
 # KEYFRAME 84
0.09681700500004808
Frame 121
tensor(0.1505)
 # KEYFRAME 85
0.09698826499879942
Backending... 86 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 68706, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=409 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 60/556] scannetpp/b73f5cdc41/frame frames=122 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=409 time=39.3s
[ckpt] /scratch-shared/wwei2/scorer_pretrain/scorer_v1/checkpoint-last.pth (epoch=0 scene=60)
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0178)
Frame 2
tensor(0.0719)
Frame 3
tensor(0.1102)
 # KEYFRAME 1
Frame 4
tensor(0.0621)
Frame 5
tensor(0.1610)
 # KEYFRAME 2
0.05087128800005303
Frame 6
tensor(0.0903)
Frame 7
tensor(0.1308)
 # KEYFRAME 3
0.052413592999073444
Frame 8
tensor(0.0422)
Frame 9
tensor(0.0702)
Frame 10
tensor(0.1303)
 # KEYFRAME 4
0.053394599999592174
Frame 11
tensor(0.0677)
Frame 12
tensor(0.1607)
 # KEYFRAME 5
0.05491761400116957
Frame 13
tensor(0.0526)
Frame 14
tensor(0.1415)
 # KEYFRAME 6
0.05722285600131727
Frame 15
tensor(0.0783)
Frame 16
tensor(0.1600)
 # KEYFRAME 7
0.05677105799986748
Frame 17
tensor(0.0865)
Frame 18
tensor(0.1013)
 # KEYFRAME 8
0.05737119499826804
Frame 19
tensor(0.0826)
Frame 20
tensor(0.1191)
 # KEYFRAME 9
0.05773129400040489
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.0790)
Frame 22
tensor(0.1519)
 # KEYFRAME 10
0.051905055002862355
Frame 23
tensor(0.0688)
Frame 24
tensor(0.1175)
 # KEYFRAME 11
0.05268109299868229
Frame 25
tensor(0.0540)
Frame 26
tensor(0.0815)
Frame 27
tensor(0.1346)
 # KEYFRAME 12
0.05321075000028941
Frame 28
tensor(0.0588)
Frame 29
tensor(0.1049)
 # KEYFRAME 13
0.055634042000747286
Frame 30
tensor(0.0543)
Frame 31
tensor(0.1036)
 # KEYFRAME 14
0.056724808000581106
Frame 32
tensor(0.0672)
Frame 33
tensor(0.1388)
 # KEYFRAME 15
0.05751455499921576
Frame 34
tensor(0.0625)
Frame 35
tensor(0.0911)
Frame 36
tensor(0.1066)
 # KEYFRAME 16
0.058845700998062966
Frame 37
tensor(0.0706)
Frame 38
tensor(0.0737)
Frame 39
tensor(0.1099)
 # KEYFRAME 17
0.05942392799988738
Frame 40
tensor(0.0723)
Frame 41
tensor(0.1259)
 # KEYFRAME 18
0.06075572400004603
Frame 42
tensor(0.1232)
 # KEYFRAME 19
0.0623800579996896
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 43
tensor(0.0613)
Frame 44
tensor(0.0986)
Frame 45
tensor(0.1644)
 # KEYFRAME 20
0.059117038999829674
Frame 46
tensor(0.0584)
Frame 47
tensor(0.1197)
 # KEYFRAME 21
0.06088063299830537
Frame 48
tensor(0.0663)
Frame 49
tensor(0.1487)
 # KEYFRAME 22
0.06179305000114255
Frame 50
tensor(0.0756)
Frame 51
tensor(0.1140)
 # KEYFRAME 23
0.06309069499911857
Frame 52
tensor(0.0686)
Frame 53
tensor(0.1123)
 # KEYFRAME 24
0.06433688100150903
Frame 54
tensor(0.0510)
Frame 55
tensor(0.0875)
Frame 56
tensor(0.1387)
 # KEYFRAME 25
0.06502864900176064
Frame 57
tensor(0.0354)
Frame 58
tensor(0.0661)
Frame 59
tensor(0.1029)
 # KEYFRAME 26
0.06680351199975121
Frame 60
tensor(0.0801)
Frame 61
tensor(0.1661)
 # KEYFRAME 27
0.06750694899892551
Frame 62
tensor(0.0814)
Frame 63
tensor(0.1946)
 # KEYFRAME 28
0.0681553670001449
Frame 64
tensor(0.0653)
Frame 65
tensor(0.1292)
 # KEYFRAME 29
0.06961347200194723
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 66
tensor(0.0841)
Frame 67
tensor(0.1033)
 # KEYFRAME 30
0.06590897500063875
Frame 68
tensor(0.0371)
Frame 69
tensor(0.0896)
Frame 70
tensor(0.1858)
 # KEYFRAME 31
0.06800524799837149
Frame 71
tensor(0.0126)
Frame 72
tensor(0.0891)
Frame 73
tensor(0.1410)
 # KEYFRAME 32
0.06808863799960818
Frame 74
tensor(0.0456)
Frame 75
tensor(0.1291)
 # KEYFRAME 33
0.06880683499912266
Frame 76
tensor(0.0524)
Frame 77
tensor(0.1276)
 # KEYFRAME 34
0.06996009100112133
Frame 78
tensor(0.0413)
Frame 79
tensor(0.0734)
Frame 80
tensor(0.0630)
Frame 81
tensor(0.1489)
 # KEYFRAME 35
0.07100909700238844
Frame 82
tensor(0.1046)
 # KEYFRAME 36
0.07323775899931206
Frame 83
tensor(0.0895)
Frame 84
tensor(0.1794)
 # KEYFRAME 37
0.07211992399970768
Frame 85
tensor(0.0336)
Frame 86
tensor(0.1514)
 # KEYFRAME 38
0.07347941799889668
Frame 87
tensor(0.0880)
Frame 88
tensor(0.1571)
 # KEYFRAME 39
0.07411179600239848
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=410 loss_distill=0.1733 tta_take=0.009s
Frame 89
tensor(0.0921)
Frame 90
tensor(0.1330)
 # KEYFRAME 40
0.0728432010000688
Frame 91
tensor(0.0810)
Frame 92
tensor(0.1478)
 # KEYFRAME 41
0.07474785299928044
Frame 93
tensor(0.1004)
 # KEYFRAME 42
0.07478528399951756
Frame 94
tensor(0.0830)
Frame 95
tensor(0.1794)
 # KEYFRAME 43
0.07547029099805513
Frame 96
tensor(0.0915)
Frame 97
tensor(0.2086)
 # KEYFRAME 44
0.07563590000063414
Frame 98
tensor(0.1049)
 # KEYFRAME 45
0.0770123260008404
Frame 99
tensor(0.0801)
Frame 100
tensor(0.1093)
 # KEYFRAME 46
0.07757477399718482
Frame 101
tensor(0.0200)
Frame 102
tensor(0.0475)
Frame 103
tensor(0.0510)
Frame 104
tensor(0.0766)
Frame 105
tensor(0.0857)
Frame 106
tensor(0.0936)
Frame 107
tensor(0.1404)
 # KEYFRAME 47
0.07835612100097933
Frame 108
tensor(0.0525)
Frame 109
tensor(0.1451)
 # KEYFRAME 48
0.0795983169991814
Frame 110
tensor(0.0526)
Frame 111
tensor(0.0775)
Frame 112
tensor(0.0700)
Frame 113
tensor(0.0697)
Frame 114
tensor(0.1253)
 # KEYFRAME 49
0.08006286499949056
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=411 loss_distill=0.2747 tta_take=0.009s
Frame 115
tensor(0.0791)
Frame 116
tensor(0.1906)
 # KEYFRAME 50
0.07989881599860382
Frame 117
tensor(0.0910)
Frame 118
tensor(0.2005)
 # KEYFRAME 51
0.08151984000141965
Frame 119
tensor(0.0808)
Frame 120
tensor(0.1789)
 # KEYFRAME 52
0.08248463599738898
Frame 121
tensor(0.0494)
Frame 122
tensor(0.0895)
Frame 123
tensor(0.1227)
 # KEYFRAME 53
0.083750711997709
Frame 124
tensor(0.0594)
Frame 125
tensor(0.0841)
Frame 126
tensor(0.0822)
Frame 127
tensor(0.1224)
 # KEYFRAME 54
0.08527770699947723
Frame 128
tensor(0.0767)
Frame 129
tensor(0.1936)
 # KEYFRAME 55
0.08646038199731265
Frame 130
tensor(0.1286)
 # KEYFRAME 56
0.08766078700136859
Frame 131
tensor(0.1157)
 # KEYFRAME 57
0.08852103499884834
Frame 132
tensor(0.1361)
 # KEYFRAME 58
0.08918983299736283
Frame 133
tensor(0.0695)
Frame 134
tensor(0.2677)
 # KEYFRAME 59
0.08990333000110695
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=412 loss_distill=0.3466 tta_take=0.009s
Frame 135
tensor(0.0483)
Frame 136
tensor(0.1169)
 # KEYFRAME 60
0.08635384200169938
Backending... 61 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 63501, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=413 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 61/556] scannetpp/6b40d1a939/frame frames=137 tta_steps_this_scene=4 mean_loss=0.2992 total_steps=413 time=36.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0124)
Frame 2
tensor(0.0210)
Frame 3
tensor(0.0321)
Frame 4
tensor(0.0447)
Frame 5
tensor(0.0541)
Frame 6
tensor(0.0606)
Frame 7
tensor(0.0672)
Frame 8
tensor(0.0767)
Frame 9
tensor(0.0887)
Frame 10
tensor(0.0781)
Frame 11
tensor(0.0951)
Frame 12
tensor(0.1055)
 # KEYFRAME 1
Frame 13
tensor(0.0088)
Frame 14
tensor(0.0152)
Frame 15
tensor(0.0267)
Frame 16
tensor(0.0371)
Frame 17
tensor(0.0442)
Frame 18
tensor(0.0551)
Frame 19
tensor(0.0660)
Frame 20
tensor(0.0704)
Frame 21
tensor(0.0642)
Frame 22
tensor(0.0661)
Frame 23
tensor(0.0640)
Frame 24
tensor(0.1047)
 # KEYFRAME 2
0.05233115300143254
Frame 25
tensor(0.0046)
Frame 26
tensor(0.0129)
Frame 27
tensor(0.0217)
Frame 28
tensor(0.0301)
Frame 29
tensor(0.0404)
Frame 30
tensor(0.0484)
Frame 31
tensor(0.0544)
Frame 32
tensor(0.0462)
Frame 33
tensor(0.0481)
Frame 34
tensor(0.0568)
Frame 35
tensor(0.0679)
Frame 36
tensor(0.0632)
Frame 37
tensor(0.0710)
Frame 38
tensor(0.0934)
Frame 39
tensor(0.0555)
Frame 40
tensor(0.0801)
Frame 41
tensor(0.0893)
Frame 42
tensor(0.0640)
Frame 43
tensor(0.0920)
Frame 44
tensor(0.1499)
 # KEYFRAME 3
0.05244341299840016
Frame 45
tensor(0.0101)
Frame 46
tensor(0.0204)
Frame 47
tensor(0.0276)
Frame 48
tensor(0.0400)
Frame 49
tensor(0.0488)
Frame 50
tensor(0.0643)
Frame 51
tensor(0.0730)
Frame 52
tensor(0.0811)
Frame 53
tensor(0.1003)
 # KEYFRAME 4
0.0532417800022813
Frame 54
tensor(0.0092)
Frame 55
tensor(0.0209)
Frame 56
tensor(0.0316)
Frame 57
tensor(0.0347)
Frame 58
tensor(0.0460)
Frame 59
tensor(0.0648)
Frame 60
tensor(0.0570)
Frame 61
tensor(0.0845)
Frame 62
tensor(0.1069)
 # KEYFRAME 5
0.053058001001772936
Frame 63
tensor(0.0142)
Frame 64
tensor(0.0308)
Frame 65
tensor(0.0438)
Frame 66
tensor(0.0585)
Frame 67
tensor(0.0752)
Frame 68
tensor(0.0840)
Frame 69
tensor(0.0918)
Frame 70
tensor(0.0819)
Frame 71
tensor(0.0909)
Frame 72
tensor(0.1206)
 # KEYFRAME 6
0.052469853002548916
Frame 73
tensor(0.0163)
Frame 74
tensor(0.0361)
Frame 75
tensor(0.0563)
Frame 76
tensor(0.0660)
Frame 77
tensor(0.0766)
Frame 78
tensor(0.1013)
 # KEYFRAME 7
0.05258494300142047
Frame 79
tensor(0.0137)
Frame 80
tensor(0.0288)
Frame 81
tensor(0.0358)
Frame 82
tensor(0.0471)
Frame 83
tensor(0.0463)
Frame 84
tensor(0.0634)
Frame 85
tensor(0.0765)
Frame 86
tensor(0.0844)
Frame 87
tensor(0.0789)
Frame 88
tensor(0.0867)
Frame 89
tensor(0.0878)
Frame 90
tensor(0.0627)
Frame 91
tensor(0.0997)
Frame 92
tensor(0.1576)
 # KEYFRAME 8
0.05372074900151347
Frame 93
tensor(0.0130)
Frame 94
tensor(0.0229)
Frame 95
tensor(0.0384)
Frame 96
tensor(0.0558)
Frame 97
tensor(0.0369)
Frame 98
tensor(0.0467)
Frame 99
tensor(0.0531)
Frame 100
tensor(0.0570)
Frame 101
tensor(0.0633)
Frame 102
tensor(0.0659)
Frame 103
tensor(0.1040)
 # KEYFRAME 9
0.053359030000137864
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 104
tensor(0.0144)
Frame 105
tensor(0.0282)
Frame 106
tensor(0.0435)
Frame 107
tensor(0.0536)
Frame 108
tensor(0.0722)
Frame 109
tensor(0.0511)
Frame 110
tensor(0.0894)
Frame 111
tensor(0.1258)
 # KEYFRAME 10
0.052012954998645
Frame 112
tensor(0.0097)
Frame 113
tensor(0.0231)
Frame 114
tensor(0.0390)
Frame 115
tensor(0.0531)
Frame 116
tensor(0.0690)
Frame 117
tensor(0.0836)
Frame 118
tensor(0.0996)
Frame 119
tensor(0.1083)
 # KEYFRAME 11
0.05219217400008347
Frame 120
tensor(0.0157)
Frame 121
tensor(0.0303)
Frame 122
tensor(0.0468)
Frame 123
tensor(0.0654)
Frame 124
tensor(0.0756)
Frame 125
tensor(0.0879)
Frame 126
tensor(0.1027)
 # KEYFRAME 12
0.05243653299839934
Frame 127
tensor(0.0141)
Frame 128
tensor(0.0268)
Frame 129
tensor(0.0403)
Frame 130
tensor(0.0520)
Frame 131
tensor(0.0627)
Frame 132
tensor(0.0749)
Frame 133
tensor(0.0854)
Frame 134
tensor(0.0985)
Frame 135
tensor(0.1102)
 # KEYFRAME 13
0.05259232299795258
Frame 136
tensor(0.0120)
Frame 137
tensor(0.0242)
Frame 138
tensor(0.0364)
Frame 139
tensor(0.0460)
Frame 140
tensor(0.0524)
Frame 141
tensor(0.0664)
Frame 142
tensor(0.0736)
Frame 143
tensor(0.0871)
Frame 144
tensor(0.0963)
Frame 145
tensor(0.1067)
 # KEYFRAME 14
0.054984834998322185
Frame 146
tensor(0.0124)
Frame 147
tensor(0.0233)
Frame 148
tensor(0.0323)
Frame 149
tensor(0.0432)
Frame 150
tensor(0.0511)
Frame 151
tensor(0.0592)
Frame 152
tensor(0.0726)
Frame 153
tensor(0.0811)
Frame 154
tensor(0.0947)
Frame 155
tensor(0.1018)
 # KEYFRAME 15
0.05255696300082491
Frame 156
tensor(0.0116)
Frame 157
tensor(0.0201)
Frame 158
tensor(0.0316)
Frame 159
tensor(0.0430)
Frame 160
tensor(0.0558)
Frame 161
tensor(0.0675)
Frame 162
tensor(0.0763)
Frame 163
tensor(0.0737)
Frame 164
tensor(0.0733)
Frame 165
tensor(0.0790)
Frame 166
tensor(0.0679)
Frame 167
tensor(0.0575)
Frame 168
tensor(0.1060)
 # KEYFRAME 16
0.05291962200135458
Frame 169
tensor(0.0125)
Frame 170
tensor(0.0242)
Frame 171
tensor(0.0357)
Frame 172
tensor(0.0518)
Frame 173
tensor(0.0639)
Frame 174
tensor(0.0787)
Frame 175
tensor(0.1053)
 # KEYFRAME 17
0.05575143099849811
Frame 176
tensor(0.0150)
Frame 177
tensor(0.0341)
Frame 178
tensor(0.0537)
Frame 179
tensor(0.0713)
Frame 180
tensor(0.0490)
Frame 181
tensor(0.0719)
Frame 182
tensor(0.1134)
 # KEYFRAME 18
0.05296309199911775
Frame 183
tensor(0.0207)
Frame 184
tensor(0.0424)
Frame 185
tensor(0.0627)
Frame 186
tensor(0.0820)
Frame 187
tensor(0.1074)
 # KEYFRAME 19
0.0566678180002782
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 188
tensor(0.0212)
Frame 189
tensor(0.0458)
Frame 190
tensor(0.0681)
Frame 191
tensor(0.0922)
Frame 192
tensor(0.1112)
 # KEYFRAME 20
0.05204183399837348
Frame 193
tensor(0.0249)
Frame 194
tensor(0.0432)
Frame 195
tensor(0.0716)
Frame 196
tensor(0.0921)
Frame 197
tensor(0.1248)
 # KEYFRAME 21
0.05271573299978627
Frame 198
tensor(0.0231)
Frame 199
tensor(0.0460)
Frame 200
tensor(0.0683)
Frame 201
tensor(0.0907)
Frame 202
tensor(0.1216)
 # KEYFRAME 22
0.05332718099816702
Frame 203
tensor(0.0200)
Frame 204
tensor(0.0377)
Frame 205
tensor(0.0636)
Frame 206
tensor(0.0822)
Frame 207
tensor(0.1035)
 # KEYFRAME 23
0.05282726199948229
Frame 208
tensor(0.0205)
Frame 209
tensor(0.0421)
Frame 210
tensor(0.0588)
Frame 211
tensor(0.0781)
Frame 212
tensor(0.1043)
 # KEYFRAME 24
0.0538332989999617
Frame 213
tensor(0.0202)
Frame 214
tensor(0.0458)
Frame 215
tensor(0.0673)
Frame 216
tensor(0.0848)
Frame 217
tensor(0.1057)
 # KEYFRAME 25
0.05225632400106406
Frame 218
tensor(0.0165)
Frame 219
tensor(0.0358)
Frame 220
tensor(0.0601)
Frame 221
tensor(0.0785)
Frame 222
tensor(0.1028)
 # KEYFRAME 26
0.05266746199777117
Frame 223
tensor(0.0192)
Frame 224
tensor(0.0403)
Frame 225
tensor(0.0677)
Frame 226
tensor(0.0916)
Frame 227
tensor(0.1158)
 # KEYFRAME 27
0.055523761999211274
Frame 228
tensor(0.0205)
Frame 229
tensor(0.0402)
Frame 230
tensor(0.0648)
Frame 231
tensor(0.0904)
Frame 232
tensor(0.1205)
 # KEYFRAME 28
0.05272859300021082
Frame 233
tensor(0.0242)
Frame 234
tensor(0.0470)
Frame 235
tensor(0.0722)
Frame 236
tensor(0.0978)
Frame 237
tensor(0.1279)
 # KEYFRAME 29
0.055945520998648135
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 238
tensor(0.0249)
Frame 239
tensor(0.0511)
Frame 240
tensor(0.0789)
Frame 241
tensor(0.0930)
Frame 242
tensor(0.1349)
 # KEYFRAME 30
0.052186403998348396
Frame 243
tensor(0.0264)
Frame 244
tensor(0.0624)
Frame 245
tensor(0.0941)
Frame 246
tensor(0.1170)
 # KEYFRAME 31
0.05347402000188595
Frame 247
tensor(0.0297)
Frame 248
tensor(0.0581)
Frame 249
tensor(0.0908)
Frame 250
tensor(0.1221)
 # KEYFRAME 32
0.05399919800038333
Frame 251
tensor(0.0292)
Frame 252
tensor(0.0593)
Frame 253
tensor(0.0897)
Frame 254
tensor(0.1194)
 # KEYFRAME 33
0.05298095099715283
Frame 255
tensor(0.0284)
Frame 256
tensor(0.0596)
Frame 257
tensor(0.0934)
Frame 258
tensor(0.1229)
 # KEYFRAME 34
0.05499219500052277
Frame 259
tensor(0.0251)
Frame 260
tensor(0.0525)
Frame 261
tensor(0.0832)
Frame 262
tensor(0.1059)
 # KEYFRAME 35
0.05275793200053158
Frame 263
tensor(0.0278)
Frame 264
tensor(0.0545)
Frame 265
tensor(0.0710)
Frame 266
tensor(0.1023)
 # KEYFRAME 36
0.053224891002173536
Frame 267
tensor(0.0220)
Frame 268
tensor(0.0488)
Frame 269
tensor(0.0812)
Frame 270
tensor(0.1073)
 # KEYFRAME 37
0.05655607800144935
Frame 271
tensor(0.0250)
Frame 272
tensor(0.0554)
Frame 273
tensor(0.0819)
Frame 274
tensor(0.1153)
 # KEYFRAME 38
0.05361478900158545
Frame 275
tensor(0.0263)
Frame 276
tensor(0.0523)
Frame 277
tensor(0.0858)
Frame 278
tensor(0.1118)
 # KEYFRAME 39
0.058381181999720866
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=414 loss_distill=0.1733 tta_take=0.005s
Frame 279
tensor(0.0284)
Frame 280
tensor(0.0584)
Frame 281
tensor(0.0850)
Frame 282
tensor(0.1117)
 # KEYFRAME 40
0.05228305400305544
Frame 283
tensor(0.0286)
Frame 284
tensor(0.0598)
Frame 285
tensor(0.0915)
Frame 286
tensor(0.1134)
 # KEYFRAME 41
0.052762851999432314
Frame 287
tensor(0.0256)
Frame 288
tensor(0.0545)
Frame 289
tensor(0.0828)
Frame 290
tensor(0.1084)
 # KEYFRAME 42
0.052893170999595895
Frame 291
tensor(0.0246)
Frame 292
tensor(0.0459)
Frame 293
tensor(0.0747)
Frame 294
tensor(0.0978)
Frame 295
tensor(0.1130)
 # KEYFRAME 43
0.05246642299971427
Frame 296
tensor(0.0281)
Frame 297
tensor(0.0542)
Frame 298
tensor(0.0809)
Frame 299
tensor(0.1085)
 # KEYFRAME 44
0.05321084000024712
Backending... 45 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 18540, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=415 loss_distill=0.2747 tta_take=0.003s
[epoch 0 scene 62/556] vkitti/Scene20/30-deg-left/Camera_0 frames=300 tta_steps_this_scene=2 mean_loss=0.2240 total_steps=415 time=76.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0204)
Frame 2
tensor(0.0734)
Frame 3
tensor(0.0911)
Frame 4
tensor(0.1126)
 # KEYFRAME 1
Frame 5
tensor(0.0244)
Frame 6
tensor(0.0448)
Frame 7
tensor(0.1234)
 # KEYFRAME 2
0.05161707600200316
Frame 8
tensor(0.0835)
Frame 9
tensor(0.1404)
 # KEYFRAME 3
0.052474963998975
Frame 10
tensor(0.0351)
Frame 11
tensor(0.0833)
Frame 12
tensor(0.1184)
 # KEYFRAME 4
0.0534034199990856
Frame 13
tensor(0.0774)
Frame 14
tensor(0.1412)
 # KEYFRAME 5
0.05482725500041852
Frame 15
tensor(0.0714)
Frame 16
tensor(0.1285)
 # KEYFRAME 6
0.05589146099737263
Frame 17
tensor(0.0331)
Frame 18
tensor(0.0570)
Frame 19
tensor(0.0862)
Frame 20
tensor(0.0801)
Frame 21
tensor(0.0825)
Frame 22
tensor(0.1144)
 # KEYFRAME 7
0.056832886999472976
Frame 23
tensor(0.0700)
Frame 24
tensor(0.2034)
 # KEYFRAME 8
0.057700475001183804
Frame 25
tensor(0.2483)
 # KEYFRAME 9
0.058150312997895526
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 26
tensor(0.1219)
 # KEYFRAME 10
0.05166263600040111
Frame 27
tensor(0.1394)
 # KEYFRAME 11
0.053021350999188144
Frame 28
tensor(0.1126)
 # KEYFRAME 12
0.053312530002585845
Frame 29
tensor(0.0811)
Frame 30
tensor(0.0872)
Frame 31
tensor(0.0803)
Frame 32
tensor(0.0463)
Frame 33
tensor(0.0766)
Frame 34
tensor(0.1481)
 # KEYFRAME 13
0.055083323997678235
Frame 35
tensor(0.0838)
Frame 36
tensor(0.1130)
 # KEYFRAME 14
0.0551495440013241
Frame 37
tensor(0.0465)
Frame 38
tensor(0.3275)
 # KEYFRAME 15
0.05495196400079294
Frame 39
tensor(0.2216)
 # KEYFRAME 16
0.05551746199853369
Frame 40
tensor(0.0179)
Frame 41
tensor(0.0618)
Frame 42
tensor(0.1193)
 # KEYFRAME 17
0.05668569799672696
Frame 43
tensor(0.3287)
 # KEYFRAME 18
0.057068647001869977
Frame 44
tensor(0.0325)
Frame 45
tensor(0.3597)
 # KEYFRAME 19
0.057852604000800056
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 46
tensor(0.0412)
Frame 47
tensor(0.0892)
Frame 48
tensor(0.1764)
 # KEYFRAME 20
0.054176377001567744
Frame 49
tensor(0.0983)
Frame 50
tensor(0.1744)
 # KEYFRAME 21
0.0550402139997459
Frame 51
tensor(0.0390)
Frame 52
tensor(0.0783)
Frame 53
tensor(0.1688)
 # KEYFRAME 22
0.055487962999904994
Frame 54
tensor(0.1080)
 # KEYFRAME 23
0.05586789099834277
Frame 55
tensor(0.1671)
 # KEYFRAME 24
0.056456908998370636
Frame 56
tensor(0.0900)
Frame 57
tensor(0.1508)
 # KEYFRAME 25
0.05706200699933106
Frame 58
tensor(0.0704)
Frame 59
tensor(0.1015)
 # KEYFRAME 26
0.05833399199764244
Frame 60
tensor(0.2126)
 # KEYFRAME 27
0.059119238998391666
Frame 61
tensor(0.1568)
 # KEYFRAME 28
0.05976104699948337
Frame 62
tensor(0.1493)
 # KEYFRAME 29
0.06087707299957401
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 63
tensor(0.1036)
 # KEYFRAME 30
0.0585632619986427
Frame 64
tensor(0.0902)
Frame 65
tensor(0.3855)
 # KEYFRAME 31
0.05952692799837678
Frame 66
tensor(0.1826)
 # KEYFRAME 32
0.05977847699978156
Frame 67
tensor(0.1032)
 # KEYFRAME 33
0.06052942499809433
Frame 68
tensor(0.6178)
 # KEYFRAME 34
0.061092762000043876
Frame 69
tensor(0.0897)
Frame 70
tensor(0.3753)
 # KEYFRAME 35
0.0614329509990057
Frame 71
tensor(0.0672)
Frame 72
tensor(0.1224)
 # KEYFRAME 36
0.06211326799893868
Frame 73
tensor(0.0595)
Frame 74
tensor(0.0600)
Frame 75
tensor(0.0058)
Frame 76
tensor(0.0477)
Frame 77
tensor(0.1477)
 # KEYFRAME 37
0.0627281060005771
Frame 78
tensor(0.0728)
Frame 79
tensor(0.3082)
 # KEYFRAME 38
0.06383885299874237
Frame 80
tensor(0.0523)
Frame 81
tensor(0.1035)
 # KEYFRAME 39
0.06410191200120607
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=416 loss_distill=0.1733 tta_take=0.009s
Frame 82
tensor(0.0679)
Frame 83
tensor(0.2469)
 # KEYFRAME 40
0.06277530599982128
Frame 84
tensor(0.0892)
Frame 85
tensor(0.1845)
 # KEYFRAME 41
0.06398411199916154
Frame 86
tensor(0.2195)
 # KEYFRAME 42
0.06416618100047344
Frame 87
tensor(0.1030)
 # KEYFRAME 43
0.06435206099922652
Frame 88
tensor(0.1355)
 # KEYFRAME 44
0.06502145800186554
Frame 89
tensor(0.1246)
 # KEYFRAME 45
0.0655437269997492
Frame 90
tensor(0.2324)
 # KEYFRAME 46
0.06563970600109315
Frame 91
tensor(0.1280)
 # KEYFRAME 47
0.06605950499942992
Frame 92
tensor(0.0847)
Frame 93
tensor(0.1643)
 # KEYFRAME 48
0.06668750199969509
Frame 94
tensor(0.1297)
 # KEYFRAME 49
0.0675624190007511
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=417 loss_distill=0.2747 tta_take=0.009s
Frame 95
tensor(0.6162)
 # KEYFRAME 50
0.06706878100158065
Frame 96
tensor(0.1482)
 # KEYFRAME 51
0.06860486599907745
Frame 97
tensor(0.5585)
 # KEYFRAME 52
0.06968269200297073
Frame 98
tensor(0.0852)
Frame 99
tensor(0.1871)
 # KEYFRAME 53
0.07029179900200688
Frame 100
tensor(0.3666)
 # KEYFRAME 54
0.06968767199941794
Frame 101
tensor(0.1063)
 # KEYFRAME 55
0.07167504499739152
Frame 102
tensor(0.1557)
 # KEYFRAME 56
0.07129252599770552
Frame 103
tensor(0.2728)
 # KEYFRAME 57
0.0721265329993912
Frame 104
tensor(0.1017)
 # KEYFRAME 58
0.0723083620032412
Frame 105
tensor(0.1158)
 # KEYFRAME 59
0.07336698899962357
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=418 loss_distill=0.3466 tta_take=0.008s
Frame 106
tensor(0.1235)
 # KEYFRAME 60
0.0715153549972456
Frame 107
tensor(0.1270)
 # KEYFRAME 61
0.07274806100031128
Frame 108
tensor(0.4014)
 # KEYFRAME 62
0.07237369200083776
Frame 109
tensor(0.0710)
Frame 110
tensor(0.1344)
 # KEYFRAME 63
0.07320254899968859
Frame 111
tensor(0.0731)
Frame 112
tensor(0.1033)
 # KEYFRAME 64
0.0734831679983472
Frame 113
tensor(0.0827)
Frame 114
tensor(0.1698)
 # KEYFRAME 65
0.07346692899955087
Frame 115
tensor(0.0316)
Frame 116
tensor(0.1172)
 # KEYFRAME 66
0.0743841949988564
Frame 117
tensor(0.1250)
 # KEYFRAME 67
0.074834233000729
Frame 118
tensor(0.0541)
Frame 119
tensor(0.1126)
 # KEYFRAME 68
0.07515933200193103
Frame 120
tensor(0.0406)
Frame 121
tensor(0.0573)
Frame 122
tensor(0.4734)
 # KEYFRAME 69
0.07594327900005737
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=419 loss_distill=0.4024 tta_take=0.009s
Frame 123
tensor(0.1020)
 # KEYFRAME 70
0.07547746100317454
Frame 124
tensor(0.0921)
Frame 125
tensor(0.1641)
 # KEYFRAME 71
0.0779497520015866
Frame 126
tensor(0.2120)
 # KEYFRAME 72
0.07702225500179338
Frame 127
tensor(0.1566)
 # KEYFRAME 73
0.07816817200000514
Frame 128
tensor(0.1074)
 # KEYFRAME 74
0.07952458699946874
Frame 129
tensor(0.0665)
Frame 130
tensor(0.5692)
 # KEYFRAME 75
0.08014853500208119
Frame 131
tensor(0.0705)
Frame 132
tensor(0.1378)
 # KEYFRAME 76
0.07881402899874956
Frame 133
tensor(0.1515)
 # KEYFRAME 77
0.08172256900070352
Frame 134
tensor(0.1082)
 # KEYFRAME 78
0.08189199799744529
Frame 135
tensor(0.1274)
 # KEYFRAME 79
0.08291344499957631
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=420 loss_distill=0.4024 tta_take=0.008s
Frame 136
tensor(0.2022)
 # KEYFRAME 80
0.07541177199891536
Frame 137
tensor(0.1415)
 # KEYFRAME 81
0.07596229000046151
Frame 138
tensor(0.1641)
 # KEYFRAME 82
0.07650121800179477
Frame 139
tensor(0.0933)
Frame 140
tensor(0.1820)
 # KEYFRAME 83
0.07756797399997595
Frame 141
tensor(0.1885)
 # KEYFRAME 84
0.07781580300070345
Frame 142
tensor(0.1342)
 # KEYFRAME 85
0.07839571099975728
Frame 143
tensor(0.0744)
Frame 144
tensor(0.1220)
 # KEYFRAME 86
0.07785495300049661
Frame 145
tensor(0.2323)
 # KEYFRAME 87
0.07932997800162411
Frame 146
tensor(0.1660)
 # KEYFRAME 88
0.07961079699816764
Frame 147
tensor(0.0783)
Backending... 89 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 64170, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=421 loss_distill=0.4024 tta_take=0.008s
[epoch 0 scene 63/556] scannetpp/cf1ffd871d/DSC frames=148 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=421 time=42.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0917)
Frame 2
tensor(0.2982)
 # KEYFRAME 1
Frame 3
tensor(0.1213)
 # KEYFRAME 2
0.05110978800075827
Frame 4
tensor(0.1117)
 # KEYFRAME 3
0.050981218002561945
Frame 5
tensor(0.2323)
 # KEYFRAME 4
0.05080050800097524
Frame 6
tensor(0.2881)
 # KEYFRAME 5
0.05065246900267084
Frame 7
tensor(0.2021)
 # KEYFRAME 6
0.05306159099927754
Frame 8
tensor(0.2542)
 # KEYFRAME 7
0.05427494600007776
Frame 9
tensor(0.2858)
 # KEYFRAME 8
0.054955254003289156
Frame 10
tensor(0.2623)
 # KEYFRAME 9
0.055384393002896104
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.3181)
 # KEYFRAME 10
0.05191763499897206
Frame 12
tensor(0.5855)
 # KEYFRAME 11
0.052387432999239536
Frame 13
tensor(0.2831)
 # KEYFRAME 12
0.053207340999506414
Frame 14
tensor(0.3292)
 # KEYFRAME 13
0.054364276002161205
Frame 15
tensor(0.3990)
 # KEYFRAME 14
0.055144662997918203
Frame 16
tensor(0.3155)
 # KEYFRAME 15
0.05671326700030477
Frame 17
tensor(0.3843)
 # KEYFRAME 16
0.05768709399853833
Frame 18
tensor(0.1228)
 # KEYFRAME 17
0.058706530999188544
Frame 19
tensor(0.4196)
 # KEYFRAME 18
0.06019611500232713
Frame 20
tensor(0.2953)
 # KEYFRAME 19
0.06160294000073918
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.2194)
 # KEYFRAME 20
0.05890192000151728
Frame 22
tensor(0.2859)
 # KEYFRAME 21
0.059490277999429964
Frame 23
tensor(0.1089)
 # KEYFRAME 22
0.060486864000267815
Frame 24
tensor(0.2503)
 # KEYFRAME 23
0.06164047999845934
Frame 25
tensor(0.0936)
Frame 26
tensor(0.1418)
 # KEYFRAME 24
0.06265827600145712
Frame 27
tensor(0.2077)
 # KEYFRAME 25
0.0637104530032957
Frame 28
tensor(0.3593)
 # KEYFRAME 26
0.06511063800280681
Frame 29
tensor(0.2079)
 # KEYFRAME 27
0.06630374400265282
Frame 30
tensor(0.2437)
 # KEYFRAME 28
0.06647865299964906
Frame 31
tensor(0.2505)
 # KEYFRAME 29
0.06721267100147088
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.3293)
 # KEYFRAME 30
0.0661108750027779
Frame 33
tensor(0.1201)
 # KEYFRAME 31
0.06746648999978788
Frame 34
tensor(0.0518)
Frame 35
tensor(0.0378)
Frame 36
tensor(0.1087)
 # KEYFRAME 32
0.06848742600050173
Frame 37
tensor(0.0264)
Frame 38
tensor(0.2967)
 # KEYFRAME 33
0.07012847999794758
Frame 39
tensor(0.3926)
 # KEYFRAME 34
0.0714475360000506
Frame 40
tensor(0.2322)
 # KEYFRAME 35
0.07286081099664443
Frame 41
tensor(0.1196)
 # KEYFRAME 36
0.07388169700061553
Frame 42
tensor(0.2291)
 # KEYFRAME 37
0.07517254299818887
Frame 43
tensor(0.0649)
Frame 44
tensor(0.1975)
 # KEYFRAME 38
0.07562423100171145
Frame 45
tensor(0.2240)
 # KEYFRAME 39
0.07678389600187074
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=422 loss_distill=0.1733 tta_take=0.009s
Frame 46
tensor(0.4967)
 # KEYFRAME 40
0.07226111199997831
Frame 47
tensor(0.3612)
 # KEYFRAME 41
0.07472879399938392
Frame 48
tensor(0.2757)
 # KEYFRAME 42
0.07558409099874552
Frame 49
tensor(0.1814)
 # KEYFRAME 43
0.07645195700024487
Frame 50
tensor(0.2527)
 # KEYFRAME 44
0.07730297399757546
Frame 51
tensor(0.3296)
 # KEYFRAME 45
0.0792613869998604
Frame 52
tensor(0.2463)
 # KEYFRAME 46
0.0800506250016042
Frame 53
tensor(0.2814)
 # KEYFRAME 47
0.08167344899993623
Frame 54
tensor(0.3394)
 # KEYFRAME 48
0.08255951599858236
Frame 55
tensor(0.3591)
 # KEYFRAME 49
0.08390451100058272
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=423 loss_distill=0.2747 tta_take=0.009s
Frame 56
tensor(0.3207)
 # KEYFRAME 50
0.07942110699877958
Frame 57
tensor(0.1871)
 # KEYFRAME 51
0.08174769900142564
Frame 58
tensor(0.0969)
Frame 59
tensor(0.1338)
 # KEYFRAME 52
0.08268806499836501
Frame 60
tensor(0.1208)
 # KEYFRAME 53
0.08369390199732152
Frame 61
tensor(0.2224)
 # KEYFRAME 54
0.08480324799893424
Frame 62
tensor(0.1279)
 # KEYFRAME 55
0.08630101200105855
Frame 63
tensor(0.2833)
 # KEYFRAME 56
0.0866333410012885
Frame 64
tensor(0.2590)
 # KEYFRAME 57
0.08812379599839915
Frame 65
tensor(0.1889)
 # KEYFRAME 58
0.08909396300077788
Frame 66
tensor(0.2479)
 # KEYFRAME 59
0.09063136700206087
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=424 loss_distill=0.3466 tta_take=0.009s
Frame 67
tensor(0.2727)
 # KEYFRAME 60
0.08604674299931503
Frame 68
tensor(0.2029)
 # KEYFRAME 61
0.08812419600144494
Frame 69
tensor(0.0655)
Frame 70
tensor(0.2542)
 # KEYFRAME 62
0.08772746700196876
Frame 71
tensor(0.1531)
 # KEYFRAME 63
0.08896945300148218
Frame 72
tensor(0.3345)
 # KEYFRAME 64
0.08946844100137241
Frame 73
tensor(0.2161)
 # KEYFRAME 65
0.08978502999889315
Frame 74
tensor(0.1985)
 # KEYFRAME 66
0.0911991949978983
Frame 75
tensor(0.1825)
 # KEYFRAME 67
0.09196461199826444
Frame 76
tensor(0.1352)
 # KEYFRAME 68
0.09272942000097828
Frame 77
tensor(0.0968)
Frame 78
tensor(0.2059)
 # KEYFRAME 69
0.09242925099897548
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=425 loss_distill=0.4024 tta_take=0.009s
Frame 79
tensor(0.1303)
 # KEYFRAME 70
0.09295811899937689
Frame 80
tensor(0.1604)
 # KEYFRAME 71
0.09454882299905876
Frame 81
tensor(0.3836)
 # KEYFRAME 72
0.0962446670018835
Frame 82
tensor(0.2322)
 # KEYFRAME 73
0.09691282499989029
Frame 83
tensor(0.2717)
 # KEYFRAME 74
0.09819471000082558
Frame 84
tensor(0.2267)
 # KEYFRAME 75
0.09849615900020581
Frame 85
tensor(0.1744)
 # KEYFRAME 76
0.10000998400209937
Frame 86
tensor(0.0350)
Frame 87
tensor(0.2371)
 # KEYFRAME 77
0.10105674999795156
Frame 88
tensor(0.2885)
 # KEYFRAME 78
0.10227731600025436
Frame 89
tensor(0.2223)
 # KEYFRAME 79
0.10273224399861647
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=426 loss_distill=0.4024 tta_take=0.009s
Frame 90
tensor(0.0864)
Frame 91
tensor(0.1009)
 # KEYFRAME 80
0.09352481600217288
Frame 92
tensor(0.1826)
 # KEYFRAME 81
0.09431789399968693
Frame 93
tensor(0.2586)
 # KEYFRAME 82
0.09530252100012149
Frame 94
tensor(0.3030)
 # KEYFRAME 83
0.09578265900199767
Frame 95
tensor(0.1820)
 # KEYFRAME 84
0.09708001399849309
Frame 96
tensor(0.2417)
 # KEYFRAME 85
0.09738574299990432
Frame 97
tensor(0.2202)
 # KEYFRAME 86
0.09853309900063323
Frame 98
tensor(0.2454)
 # KEYFRAME 87
0.0993689560018538
Frame 99
tensor(0.1264)
 # KEYFRAME 88
0.09876919800080941
Frame 100
tensor(0.1220)
 # KEYFRAME 89
0.10044821300107287
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=427 loss_distill=0.4024 tta_take=0.009s
Frame 101
tensor(0.0680)
Frame 102
tensor(0.1308)
 # KEYFRAME 90
0.09305947800021386
Frame 103
tensor(0.1943)
 # KEYFRAME 91
0.09487466200152994
Frame 104
tensor(0.2608)
 # KEYFRAME 92
0.09444844300014665
Frame 105
tensor(0.3693)
 # KEYFRAME 93
0.09610227700250107
Frame 106
tensor(0.2906)
 # KEYFRAME 94
0.09598057800030801
Frame 107
tensor(0.2828)
 # KEYFRAME 95
0.0972287540025718
Frame 108
tensor(0.1402)
 # KEYFRAME 96
0.09816375999798765
Frame 109
tensor(0.1779)
 # KEYFRAME 97
0.09887202800018713
Frame 110
tensor(0.2632)
 # KEYFRAME 98
0.09920621700075571
Frame 111
tensor(0.2461)
 # KEYFRAME 99
0.10005683299823431
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=428 loss_distill=0.4024 tta_take=0.009s
Frame 112
tensor(0.5379)
 # KEYFRAME 100
0.0932883879977453
Frame 113
tensor(0.1205)
 # KEYFRAME 101
0.0951497809983266
Frame 114
tensor(0.1680)
 # KEYFRAME 102
0.0956945590005489
Frame 115
tensor(0.4165)
 # KEYFRAME 103
0.09630201700201724
Frame 116
tensor(0.5251)
 # KEYFRAME 104
0.09622738799953368
Frame 117
tensor(0.3042)
 # KEYFRAME 105
0.09787604099983582
Frame 118
tensor(0.2252)
 # KEYFRAME 106
0.09815081999840913
Frame 119
tensor(0.0600)
Frame 120
tensor(0.5393)
 # KEYFRAME 107
0.09845366999797989
Frame 121
tensor(0.2583)
 # KEYFRAME 108
0.09911379699769896
Frame 122
tensor(0.2630)
 # KEYFRAME 109
0.10022594299880438
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595452308655
TTA-STEP: step=429 loss_distill=0.4024 tta_take=0.009s
Frame 123
tensor(0.1833)
 # KEYFRAME 110
0.09414619400195079
Frame 124
tensor(0.3196)
 # KEYFRAME 111
0.16128516599928844
Frame 125
tensor(0.1398)
 # KEYFRAME 112
0.09566880900092656
Frame 126
tensor(0.2148)
 # KEYFRAME 113
0.09583628900145413
Frame 127
tensor(0.0843)
Frame 128
tensor(0.2152)
 # KEYFRAME 114
0.17293777400118415
Frame 129
tensor(0.2443)
 # KEYFRAME 115
0.0968421550023777
Frame 130
tensor(0.3463)
 # KEYFRAME 116
0.09818223000183934
Frame 131
tensor(0.2144)
 # KEYFRAME 117
0.09847626899863826
Frame 132
tensor(0.2437)
 # KEYFRAME 118
0.09896779699920444
Frame 133
tensor(0.2257)
 # KEYFRAME 119
0.10030496299805236
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=430 loss_distill=0.4024 tta_take=0.009s
Frame 134
tensor(0.3081)
 # KEYFRAME 120
0.09327246799875866
Frame 135
tensor(0.1941)
 # KEYFRAME 121
0.09510538099857513
Frame 136
tensor(0.0898)
Backending... 122 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 64542, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=431 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 64/556] scannetpp/6ee2fc1070/frame frames=137 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=431 time=57.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1191)
 # KEYFRAME 1
Frame 2
tensor(0.5308)
 # KEYFRAME 2
0.051302077001309954
Frame 3
tensor(0.2225)
 # KEYFRAME 3
0.05415471699961927
Frame 4
tensor(0.1834)
 # KEYFRAME 4
0.05471777499769814
Frame 5
tensor(0.2971)
 # KEYFRAME 5
0.05548281200026395
Frame 6
tensor(0.2394)
 # KEYFRAME 6
0.055955230996914906
Frame 7
tensor(0.2043)
 # KEYFRAME 7
0.05726752600094187
Frame 8
tensor(0.4109)
 # KEYFRAME 8
0.058126313000684604
Frame 9
tensor(0.2378)
 # KEYFRAME 9
0.058197162001306424
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.2223)
 # KEYFRAME 10
0.05231132299741148
Frame 11
tensor(0.3397)
 # KEYFRAME 11
0.05355762899853289
Frame 12
tensor(0.3032)
 # KEYFRAME 12
0.05434180600059335
Frame 13
tensor(0.3542)
 # KEYFRAME 13
0.05635397000150988
Frame 14
tensor(0.3887)
 # KEYFRAME 14
0.057031836000533076
Frame 15
tensor(0.5523)
 # KEYFRAME 15
0.057996673000161536
Frame 16
tensor(0.3288)
 # KEYFRAME 16
0.058544390998577
Frame 17
tensor(0.4545)
 # KEYFRAME 17
0.05996520599728683
Frame 18
tensor(0.2634)
 # KEYFRAME 18
0.06135575200096355
Frame 19
tensor(0.2841)
 # KEYFRAME 19
0.062316398001712514
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 20
tensor(0.2013)
 # KEYFRAME 20
0.0592247389977274
Frame 21
tensor(0.2825)
 # KEYFRAME 21
0.06015920600111713
Frame 22
tensor(0.3059)
 # KEYFRAME 22
0.06115505200068583
Frame 23
tensor(0.2069)
 # KEYFRAME 23
0.06162159999803407
Frame 24
tensor(0.2285)
 # KEYFRAME 24
0.06244996799796354
Frame 25
tensor(0.1506)
 # KEYFRAME 25
0.06317753499752143
Frame 26
tensor(0.1871)
 # KEYFRAME 26
0.06489620899810689
Frame 27
tensor(0.2295)
 # KEYFRAME 27
0.06590408500051126
Frame 28
tensor(0.0749)
Frame 29
tensor(0.0959)
Frame 30
tensor(0.2133)
 # KEYFRAME 28
0.06731426999976975
Frame 31
tensor(0.2687)
 # KEYFRAME 29
0.06818223699883674
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.1652)
 # KEYFRAME 30
0.06628158400053508
Frame 33
tensor(0.2367)
 # KEYFRAME 31
0.0671455599986075
Frame 34
tensor(0.2464)
 # KEYFRAME 32
0.06829657699927338
Frame 35
tensor(0.5972)
 # KEYFRAME 33
0.07005389999903855
Frame 36
tensor(0.5843)
 # KEYFRAME 34
0.07093040800100425
Frame 37
tensor(0.2280)
 # KEYFRAME 35
0.07243655199999921
Frame 38
tensor(0.2855)
 # KEYFRAME 36
0.07344301900229766
Frame 39
tensor(0.2455)
 # KEYFRAME 37
0.07445508499949938
Frame 40
tensor(0.2870)
 # KEYFRAME 38
0.07534876199861174
Frame 41
tensor(0.2743)
 # KEYFRAME 39
0.07637811799941119
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=432 loss_distill=0.1733 tta_take=0.009s
Frame 42
tensor(0.1057)
 # KEYFRAME 40
0.07256563199916855
Frame 43
tensor(0.0820)
Frame 44
tensor(0.1295)
 # KEYFRAME 41
0.07420123600240913
Frame 45
tensor(0.1506)
 # KEYFRAME 42
0.07430066499728127
Frame 46
tensor(0.2321)
 # KEYFRAME 43
0.07472695400065277
Frame 47
tensor(0.2761)
 # KEYFRAME 44
0.07578565999938291
Frame 48
tensor(0.1470)
 # KEYFRAME 45
0.07690627600095468
Frame 49
tensor(0.2094)
 # KEYFRAME 46
0.07744838399958098
Frame 50
tensor(0.2322)
 # KEYFRAME 47
0.07827609200103325
Frame 51
tensor(0.1928)
 # KEYFRAME 48
0.07830327099873102
Frame 52
tensor(0.3098)
 # KEYFRAME 49
0.07978474600167829
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=433 loss_distill=0.2747 tta_take=0.009s
Frame 53
tensor(0.2567)
 # KEYFRAME 50
0.0789493680022133
Frame 54
tensor(0.2384)
 # KEYFRAME 51
0.08146354999917094
Frame 55
tensor(0.2587)
 # KEYFRAME 52
0.08192898799825343
Frame 56
tensor(0.3751)
 # KEYFRAME 53
0.08310622399949352
Frame 57
tensor(0.1979)
 # KEYFRAME 54
0.08397459099796833
Frame 58
tensor(0.4834)
 # KEYFRAME 55
0.08527612599937129
Frame 59
tensor(0.6962)
 # KEYFRAME 56
0.08485356799792498
Frame 60
tensor(0.4301)
 # KEYFRAME 57
0.08655598200130044
Frame 61
tensor(0.2113)
 # KEYFRAME 58
0.08695755100052338
Frame 62
tensor(0.1607)
 # KEYFRAME 59
0.08770763800202985
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=434 loss_distill=0.3466 tta_take=0.009s
Frame 63
tensor(0.4581)
 # KEYFRAME 60
0.08588076399973943
Frame 64
tensor(0.3348)
 # KEYFRAME 61
0.08902172300076927
Frame 65
tensor(0.2288)
 # KEYFRAME 62
0.08846648500184529
Frame 66
tensor(0.3134)
 # KEYFRAME 63
0.09022652799831121
Frame 67
tensor(0.2718)
 # KEYFRAME 64
0.0914607539998542
Frame 68
tensor(0.4626)
 # KEYFRAME 65
0.09179598300033831
Frame 69
tensor(0.3038)
 # KEYFRAME 66
0.09404346499650273
Frame 70
tensor(0.5343)
 # KEYFRAME 67
0.09496207099800813
Frame 71
tensor(0.1441)
 # KEYFRAME 68
0.09532747000048403
Frame 72
tensor(0.2395)
 # KEYFRAME 69
0.09668266600056086
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=435 loss_distill=0.4024 tta_take=0.009s
Frame 73
tensor(0.2868)
 # KEYFRAME 70
0.093466577000072
Frame 74
tensor(0.2713)
 # KEYFRAME 71
0.09564783899986651
Frame 75
tensor(0.1670)
 # KEYFRAME 72
0.09515443100099219
Frame 76
tensor(0.0530)
Frame 77
tensor(0.2587)
 # KEYFRAME 73
0.09606108699881588
Frame 78
tensor(0.2531)
 # KEYFRAME 74
0.09643912599858595
Frame 79
tensor(0.1464)
 # KEYFRAME 75
0.09715206400142051
Frame 80
tensor(0.2120)
 # KEYFRAME 76
0.09866527799749747
Frame 81
tensor(0.2265)
 # KEYFRAME 77
0.09896557700267294
Frame 82
tensor(0.2875)
 # KEYFRAME 78
0.09983537399966735
Frame 83
tensor(0.3973)
 # KEYFRAME 79
0.09951664600157528
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=436 loss_distill=0.4024 tta_take=0.009s
Frame 84
tensor(0.3041)
 # KEYFRAME 80
0.0929575490008574
Frame 85
tensor(0.3154)
 # KEYFRAME 81
0.09491078100109007
Frame 86
tensor(0.2584)
 # KEYFRAME 82
0.09483456300222315
Frame 87
tensor(0.2389)
 # KEYFRAME 83
0.09546217000024626
Frame 88
tensor(0.2678)
 # KEYFRAME 84
0.09679236599913565
Frame 89
tensor(0.1995)
 # KEYFRAME 85
0.09755730300094001
Frame 90
tensor(0.1924)
 # KEYFRAME 86
0.09834057000261964
Frame 91
tensor(0.2715)
 # KEYFRAME 87
0.09866631800105097
Frame 92
tensor(0.3532)
 # KEYFRAME 88
0.09921997700075735
Frame 93
tensor(0.3946)
 # KEYFRAME 89
0.10016925300078583
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=437 loss_distill=0.4024 tta_take=0.009s
Frame 94
tensor(0.3488)
 # KEYFRAME 90
0.09271111999987625
Frame 95
tensor(0.2020)
 # KEYFRAME 91
0.09546943999885116
Frame 96
tensor(0.1540)
 # KEYFRAME 92
0.09471178300009342
Frame 97
tensor(0.3930)
 # KEYFRAME 93
0.09566990000166697
Frame 98
tensor(0.3124)
 # KEYFRAME 94
0.09694168500209344
Frame 99
tensor(0.2948)
 # KEYFRAME 95
0.09745477300020866
Frame 100
tensor(0.3117)
 # KEYFRAME 96
0.09783261200209381
Frame 101
tensor(0.2295)
 # KEYFRAME 97
0.0987194779991114
Frame 102
tensor(0.2155)
 # KEYFRAME 98
0.09985373499876005
Frame 103
tensor(0.2124)
 # KEYFRAME 99
0.09985300399785046
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=438 loss_distill=0.4024 tta_take=0.009s
Frame 104
tensor(0.2496)
 # KEYFRAME 100
0.09274137999818777
Frame 105
tensor(0.1328)
 # KEYFRAME 101
0.09564111899817362
Frame 106
tensor(0.2201)
 # KEYFRAME 102
0.09542069000235642
Frame 107
tensor(0.2726)
 # KEYFRAME 103
0.09555953000017325
Frame 108
tensor(0.1964)
 # KEYFRAME 104
0.0966980049997801
Frame 109
tensor(0.3023)
 # KEYFRAME 105
0.097719370998675
Frame 110
tensor(0.2091)
 # KEYFRAME 106
0.09727251300137141
Frame 111
tensor(0.3487)
 # KEYFRAME 107
0.09841028900336823
Frame 112
tensor(0.1324)
 # KEYFRAME 108
0.09877861800123355
Frame 113
tensor(0.4571)
 # KEYFRAME 109
0.09916371600047569
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=439 loss_distill=0.4024 tta_take=0.009s
Frame 114
tensor(0.2857)
 # KEYFRAME 110
0.09357506599917542
Frame 115
tensor(0.3832)
 # KEYFRAME 111
0.09378254600233049
Frame 116
tensor(0.3152)
 # KEYFRAME 112
0.09570689899919671
Frame 117
tensor(0.2332)
 # KEYFRAME 113
0.09648913599812659
Frame 118
tensor(0.1544)
 # KEYFRAME 114
0.09639836600035778
Frame 119
tensor(0.2752)
 # KEYFRAME 115
0.09845214900269639
Frame 120
tensor(0.2985)
 # KEYFRAME 116
0.09838139899875387
Frame 121
tensor(0.1942)
 # KEYFRAME 117
0.09996395300186123
Frame 122
tensor(0.1485)
 # KEYFRAME 118
0.10082974000033573
Frame 123
tensor(0.3608)
 # KEYFRAME 119
0.10121170899947174
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=440 loss_distill=0.4024 tta_take=0.009s
Frame 124
tensor(0.3021)
 # KEYFRAME 120
0.09281865899902186
Frame 125
tensor(0.2599)
 # KEYFRAME 121
0.0958795389997249
Frame 126
tensor(0.4373)
 # KEYFRAME 122
0.09496593199946801
Frame 127
tensor(0.2867)
 # KEYFRAME 123
0.0957086390008044
Frame 128
tensor(0.4172)
 # KEYFRAME 124
0.09701248400233453
Frame 129
tensor(0.2506)
 # KEYFRAME 125
0.09698583499994129
Frame 130
tensor(0.2452)
 # KEYFRAME 126
0.09837684900048771
Frame 131
tensor(0.3817)
 # KEYFRAME 127
0.09802914999818313
Frame 132
tensor(0.2853)
 # KEYFRAME 128
0.09915639699829626
Frame 133
tensor(0.4073)
 # KEYFRAME 129
0.10036307200061856
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=441 loss_distill=0.4024 tta_take=0.009s
Frame 134
tensor(0.2234)
 # KEYFRAME 130
0.09361061699746642
Backending... 131 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 63501, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=442 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 65/556] scannetpp/c545851c4f/frame frames=135 tta_steps_this_scene=11 mean_loss=0.3649 total_steps=442 time=60.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0091)
Frame 2
tensor(0.0472)
Frame 3
tensor(0.0472)
Frame 4
tensor(0.1952)
 # KEYFRAME 1
Frame 5
tensor(0.2419)
 # KEYFRAME 2
0.05194497499905992
Frame 6
tensor(0.2164)
 # KEYFRAME 3
0.05426643700047862
Frame 7
tensor(0.2890)
 # KEYFRAME 4
0.0544711369984725
Frame 8
tensor(0.1914)
 # KEYFRAME 5
0.054789965000964
Frame 9
tensor(0.3013)
 # KEYFRAME 6
0.055921431001479505
Frame 10
tensor(0.3739)
 # KEYFRAME 7
0.0566761480004061
Frame 11
tensor(0.2744)
 # KEYFRAME 8
0.05826271199839539
Frame 12
tensor(0.2026)
 # KEYFRAME 9
0.05818621299840743
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 13
tensor(0.2081)
 # KEYFRAME 10
0.05245861300136312
Frame 14
tensor(0.1926)
 # KEYFRAME 11
0.053568929000903154
Frame 15
tensor(0.1335)
 # KEYFRAME 12
0.05455084600180271
Frame 16
tensor(0.0649)
Frame 17
tensor(0.2042)
 # KEYFRAME 13
0.05632091900042724
Frame 18
tensor(0.2531)
 # KEYFRAME 14
0.05709588700119639
Frame 19
tensor(0.2277)
 # KEYFRAME 15
0.0577439240005333
Frame 20
tensor(0.1575)
 # KEYFRAME 16
0.058929150000039954
Frame 21
tensor(0.1917)
 # KEYFRAME 17
0.059844126997631975
Frame 22
tensor(0.2241)
 # KEYFRAME 18
0.06109999199907179
Frame 23
tensor(0.1807)
 # KEYFRAME 19
0.06253003700112458
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 24
tensor(0.3527)
 # KEYFRAME 20
0.05884856099874014
Frame 25
tensor(0.2648)
 # KEYFRAME 21
0.05999984600202879
Frame 26
tensor(0.3121)
 # KEYFRAME 22
0.060727133000909816
Frame 27
tensor(0.1875)
 # KEYFRAME 23
0.06160926099983044
Frame 28
tensor(0.2254)
 # KEYFRAME 24
0.06202674899759586
Frame 29
tensor(0.2304)
 # KEYFRAME 25
0.06344834399715182
Frame 30
tensor(0.3375)
 # KEYFRAME 26
0.06511587799832341
Frame 31
tensor(0.2882)
 # KEYFRAME 27
0.06575525600055698
Frame 32
tensor(0.0830)
Frame 33
tensor(0.2898)
 # KEYFRAME 28
0.06678443200144102
Frame 34
tensor(0.1325)
 # KEYFRAME 29
0.06846526599838398
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 35
tensor(0.2501)
 # KEYFRAME 30
0.06570581599953584
Frame 36
tensor(0.1373)
 # KEYFRAME 31
0.0675584099990374
Frame 37
tensor(0.0616)
Frame 38
tensor(0.2462)
 # KEYFRAME 32
0.0678225490009936
Frame 39
tensor(0.0383)
Frame 40
tensor(0.0244)
Frame 41
tensor(0.0911)
Frame 42
tensor(0.1280)
 # KEYFRAME 33
0.0686779950010532
Frame 43
tensor(0.2346)
 # KEYFRAME 34
0.0693936030002078
Frame 44
tensor(0.0968)
Frame 45
tensor(0.3123)
 # KEYFRAME 35
0.07049799900050857
Frame 46
tensor(0.2265)
 # KEYFRAME 36
0.07144060499922489
Frame 47
tensor(0.2862)
 # KEYFRAME 37
0.07190370399985113
Frame 48
tensor(0.6975)
 # KEYFRAME 38
0.07304264999766019
Frame 49
tensor(0.3354)
 # KEYFRAME 39
0.07394634699812741
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=443 loss_distill=0.1733 tta_take=0.009s
Frame 50
tensor(0.0281)
Frame 51
tensor(0.5367)
 # KEYFRAME 40
0.07305063899912057
Frame 52
tensor(0.2610)
 # KEYFRAME 41
0.07448535499861464
Frame 53
tensor(0.1438)
 # KEYFRAME 42
0.07447764500102494
Frame 54
tensor(0.0569)
Frame 55
tensor(0.0721)
Frame 56
tensor(0.1675)
 # KEYFRAME 43
0.07527077100166935
Frame 57
tensor(0.0981)
Frame 58
tensor(0.3989)
 # KEYFRAME 44
0.07608726900070906
Frame 59
tensor(0.0826)
Frame 60
tensor(0.1791)
 # KEYFRAME 45
0.07672186699710437
Frame 61
tensor(0.2759)
 # KEYFRAME 46
0.07718815499902121
Frame 62
tensor(0.2274)
 # KEYFRAME 47
0.07830540099894279
Frame 63
tensor(0.2444)
 # KEYFRAME 48
0.07864142000107677
Frame 64
tensor(0.0991)
Frame 65
tensor(0.5388)
 # KEYFRAME 49
0.08012805500038667
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=444 loss_distill=0.2747 tta_take=0.009s
Frame 66
tensor(0.3069)
 # KEYFRAME 50
0.07923356799801695
Frame 67
tensor(0.1622)
 # KEYFRAME 51
0.08118166100030066
Frame 68
tensor(0.3362)
 # KEYFRAME 52
0.08127493100255379
Frame 69
tensor(0.0829)
Frame 70
tensor(0.4709)
 # KEYFRAME 53
0.08232245699764462
Frame 71
tensor(0.3729)
 # KEYFRAME 54
0.08346026300205267
Frame 72
tensor(0.2589)
 # KEYFRAME 55
0.08497427700058324
Frame 73
tensor(0.1442)
 # KEYFRAME 56
0.08482735700090416
Frame 74
tensor(0.4649)
 # KEYFRAME 57
0.08613874300135649
Frame 75
tensor(0.1861)
 # KEYFRAME 58
0.0872496490010235
Frame 76
tensor(0.1795)
 # KEYFRAME 59
0.089137112001481
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=445 loss_distill=0.3466 tta_take=0.009s
Frame 77
tensor(0.1558)
 # KEYFRAME 60
0.08568012500109035
Frame 78
tensor(0.1316)
 # KEYFRAME 61
0.08848910500091733
Frame 79
tensor(0.0992)
Frame 80
tensor(0.1382)
 # KEYFRAME 62
0.08884949300045264
Frame 81
tensor(0.1923)
 # KEYFRAME 63
0.08961670999997295
Frame 82
tensor(0.0702)
Frame 83
tensor(0.2671)
 # KEYFRAME 64
0.09111067599951639
Frame 84
tensor(0.1315)
 # KEYFRAME 65
0.09210370200162288
Frame 85
tensor(0.3810)
 # KEYFRAME 66
0.09348573600072996
Frame 86
tensor(0.3011)
 # KEYFRAME 67
0.09518433099947288
Frame 87
tensor(0.3440)
 # KEYFRAME 68
0.09599639799853321
Frame 88
tensor(0.2180)
 # KEYFRAME 69
0.09674904499843251
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=446 loss_distill=0.4024 tta_take=0.009s
Frame 89
tensor(0.2357)
 # KEYFRAME 70
0.09307085800173809
Frame 90
tensor(0.1191)
 # KEYFRAME 71
0.09517498100103694
Frame 91
tensor(0.1042)
 # KEYFRAME 72
0.0959911079989979
Frame 92
tensor(0.1349)
 # KEYFRAME 73
0.09635530699961237
Frame 93
tensor(0.0572)
Frame 94
tensor(0.1335)
 # KEYFRAME 74
0.09746962299686857
Frame 95
tensor(0.2223)
 # KEYFRAME 75
0.09886237700266065
Frame 96
tensor(0.1734)
 # KEYFRAME 76
0.09956250499817543
Frame 97
tensor(0.0583)
Frame 98
tensor(0.3312)
 # KEYFRAME 77
0.10098262099927524
Frame 99
tensor(0.2666)
 # KEYFRAME 78
0.10174059800192481
Frame 100
tensor(0.5606)
 # KEYFRAME 79
0.10431782900195685
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=447 loss_distill=0.4024 tta_take=0.009s
Frame 101
tensor(0.0370)
Frame 102
tensor(0.1417)
 # KEYFRAME 80
0.09257997999884537
Frame 103
tensor(0.2404)
 # KEYFRAME 81
0.0948560019969591
Frame 104
tensor(0.2588)
 # KEYFRAME 82
0.09513642100137076
Frame 105
tensor(0.2189)
 # KEYFRAME 83
0.09604301800209214
Frame 106
tensor(0.1563)
 # KEYFRAME 84
0.09674396500122384
Frame 107
tensor(0.0974)
Frame 108
tensor(0.1237)
 # KEYFRAME 85
0.09772249199886573
Frame 109
tensor(0.0853)
Frame 110
tensor(0.4179)
 # KEYFRAME 86
0.09794087099726312
Frame 111
tensor(0.2790)
 # KEYFRAME 87
0.09902357800092432
Frame 112
tensor(0.1042)
 # KEYFRAME 88
0.09947490500053391
Frame 113
tensor(0.1043)
 # KEYFRAME 89
0.09943117500006338
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=448 loss_distill=0.4024 tta_take=0.009s
Frame 114
tensor(0.0658)
Frame 115
tensor(0.1918)
 # KEYFRAME 90
0.09310775800258853
Frame 116
tensor(0.0839)
Frame 117
tensor(0.1768)
 # KEYFRAME 91
0.09428372399997897
Frame 118
tensor(0.1057)
 # KEYFRAME 92
0.09557955900163506
Frame 119
tensor(0.2410)
 # KEYFRAME 93
0.09561903899884783
Frame 120
tensor(0.0389)
Frame 121
tensor(0.2257)
 # KEYFRAME 94
0.09698631400169688
Frame 122
tensor(0.2394)
 # KEYFRAME 95
0.0978409509989433
Frame 123
tensor(0.1562)
 # KEYFRAME 96
0.09829562000231817
Frame 124
tensor(0.3081)
 # KEYFRAME 97
0.09844573900045361
Frame 125
tensor(0.1083)
 # KEYFRAME 98
0.09875491799903102
Frame 126
tensor(0.2224)
 # KEYFRAME 99
0.09929033699881984
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=449 loss_distill=0.4024 tta_take=0.009s
Frame 127
tensor(0.1504)
 # KEYFRAME 100
0.09309133799979463
Frame 128
tensor(0.2281)
 # KEYFRAME 101
0.09551780999754556
Frame 129
tensor(0.2683)
 # KEYFRAME 102
0.09542731900000945
Frame 130
tensor(0.3164)
 # KEYFRAME 103
0.09617080700263614
Frame 131
tensor(0.4434)
 # KEYFRAME 104
0.09609287799685262
Frame 132
tensor(0.0891)
Frame 133
tensor(0.0925)
Frame 134
tensor(0.1347)
 # KEYFRAME 105
0.09719945399774588
Frame 135
tensor(0.1656)
 # KEYFRAME 106
0.09744862300067325
Frame 136
tensor(0.1243)
 # KEYFRAME 107
0.09840976000123192
Frame 137
tensor(0.3285)
 # KEYFRAME 108
0.09915032699791482
Frame 138
tensor(0.0920)
Frame 139
tensor(0.3233)
 # KEYFRAME 109
0.10002214300038759
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=450 loss_distill=0.4024 tta_take=0.009s
Frame 140
tensor(0.1096)
 # KEYFRAME 110
0.09368709600312286
Frame 141
tensor(0.1780)
 # KEYFRAME 111
0.09428240400302457
Frame 142
tensor(0.1503)
 # KEYFRAME 112
0.0957992789990385
Frame 143
tensor(0.2883)
 # KEYFRAME 113
0.09574792900093598
Frame 144
tensor(0.1627)
 # KEYFRAME 114
0.0962726570032828
Frame 145
tensor(0.0464)
Frame 146
tensor(0.0653)
Frame 147
tensor(0.0723)
Backending... 115 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 67665, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=451 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 66/556] scannetpp/5a269ba6fe/frame frames=148 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=451 time=59.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0293)
Frame 2
tensor(0.0425)
Frame 3
tensor(0.0539)
Frame 4
tensor(0.0818)
Frame 5
tensor(0.1014)
 # KEYFRAME 1
Frame 6
tensor(0.0276)
Frame 7
tensor(0.0341)
Frame 8
tensor(0.0545)
Frame 9
tensor(0.0875)
Frame 10
tensor(0.1085)
 # KEYFRAME 2
0.05141681700115441
Frame 11
tensor(0.0517)
Frame 12
tensor(0.0684)
Frame 13
tensor(0.1392)
 # KEYFRAME 3
0.0524759530017036
Frame 14
tensor(0.0516)
Frame 15
tensor(0.0751)
Frame 16
tensor(0.0935)
Frame 17
tensor(0.1192)
 # KEYFRAME 4
0.053428499999427004
Frame 18
tensor(0.0200)
Frame 19
tensor(0.0401)
Frame 20
tensor(0.0607)
Frame 21
tensor(0.0802)
Frame 22
tensor(0.1032)
 # KEYFRAME 5
0.05479477400149335
Frame 23
tensor(0.0676)
Frame 24
tensor(0.1373)
 # KEYFRAME 6
0.055484861997683765
Frame 25
tensor(0.0200)
Frame 26
tensor(0.0806)
Frame 27
tensor(0.1069)
 # KEYFRAME 7
0.05635041999994428
Frame 28
tensor(0.0351)
Frame 29
tensor(0.0772)
Frame 30
tensor(0.0868)
Frame 31
tensor(0.0866)
Frame 32
tensor(0.0848)
Frame 33
tensor(0.0872)
Frame 34
tensor(0.0897)
Frame 35
tensor(0.0938)
Frame 36
tensor(0.1939)
 # KEYFRAME 8
0.057352386000275146
Frame 37
tensor(0.0512)
Frame 38
tensor(0.0958)
Frame 39
tensor(0.1288)
 # KEYFRAME 9
0.05833003199950326
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 40
tensor(0.0276)
Frame 41
tensor(0.0537)
Frame 42
tensor(0.0779)
Frame 43
tensor(0.0855)
Frame 44
tensor(0.1055)
 # KEYFRAME 10
0.05141283699776977
Frame 45
tensor(0.0430)
Frame 46
tensor(0.0907)
Frame 47
tensor(0.1874)
 # KEYFRAME 11
0.05177419500250835
Frame 48
tensor(0.0209)
Frame 49
tensor(0.0967)
Frame 50
tensor(0.1693)
 # KEYFRAME 12
0.051588745998742525
Frame 51
tensor(0.0591)
Frame 52
tensor(0.0715)
Frame 53
tensor(0.3604)
 # KEYFRAME 13
0.05598328999985824
Frame 54
tensor(0.0296)
Frame 55
tensor(0.0548)
Frame 56
tensor(0.0971)
Frame 57
tensor(0.1080)
 # KEYFRAME 14
0.053765068998473
Frame 58
tensor(0.0205)
Frame 59
tensor(0.0491)
Frame 60
tensor(0.0729)
Frame 61
tensor(0.0866)
Frame 62
tensor(0.1005)
 # KEYFRAME 15
0.054142146997037344
Frame 63
tensor(0.0326)
Frame 64
tensor(0.0620)
Frame 65
tensor(0.0923)
Frame 66
tensor(0.1031)
 # KEYFRAME 16
0.05489642399697914
Frame 67
tensor(0.0419)
Frame 68
tensor(0.0922)
Frame 69
tensor(0.4466)
 # KEYFRAME 17
0.05594680099966354
Frame 70
tensor(0.0136)
Frame 71
tensor(0.0343)
Frame 72
tensor(0.0672)
Frame 73
tensor(0.0810)
Frame 74
tensor(0.0964)
Frame 75
tensor(0.1017)
 # KEYFRAME 18
0.05684271800055285
Frame 76
tensor(0.0241)
Frame 77
tensor(0.0826)
Frame 78
tensor(0.1358)
 # KEYFRAME 19
0.05744998500085785
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 79
tensor(0.0308)
Frame 80
tensor(0.0802)
Frame 81
tensor(0.1411)
 # KEYFRAME 20
0.053730739000457106
Frame 82
tensor(0.0389)
Frame 83
tensor(0.1117)
 # KEYFRAME 21
0.05489224499979173
Frame 84
tensor(0.0316)
Frame 85
tensor(0.3798)
 # KEYFRAME 22
0.05536240299989004
Frame 86
tensor(0.0231)
Frame 87
tensor(0.0675)
Frame 88
tensor(0.1050)
 # KEYFRAME 23
0.05593613000019104
Frame 89
tensor(0.0267)
Frame 90
tensor(0.0522)
Frame 91
tensor(0.0808)
Frame 92
tensor(0.1038)
 # KEYFRAME 24
0.05647716900057276
Frame 93
tensor(0.0054)
Frame 94
tensor(0.0288)
Frame 95
tensor(0.0544)
Frame 96
tensor(0.0824)
Frame 97
tensor(0.1091)
 # KEYFRAME 25
0.056873117999202805
Frame 98
tensor(0.0240)
Frame 99
tensor(0.0404)
Frame 100
tensor(0.0630)
Frame 101
tensor(0.0785)
Frame 102
tensor(0.4523)
 # KEYFRAME 26
0.058213532000081614
Frame 103
tensor(0.0270)
Frame 104
tensor(0.0496)
Frame 105
tensor(0.0795)
Frame 106
tensor(0.1288)
 # KEYFRAME 27
0.059040998999989824
Frame 107
tensor(0.0151)
Frame 108
tensor(0.0544)
Frame 109
tensor(0.0771)
Frame 110
tensor(0.0940)
Frame 111
tensor(0.0978)
Frame 112
tensor(0.1123)
 # KEYFRAME 28
0.06014869600039674
Frame 113
tensor(0.0184)
Frame 114
tensor(0.0538)
Frame 115
tensor(0.2725)
 # KEYFRAME 29
0.06040354499782552
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 116
tensor(0.0126)
Frame 117
tensor(0.0554)
Frame 118
tensor(0.1301)
 # KEYFRAME 30
0.058138643002166646
Frame 119
tensor(0.0440)
Frame 120
tensor(0.0866)
Frame 121
tensor(0.1367)
 # KEYFRAME 31
0.05921570899954531
Frame 122
tensor(1.0067)
 # KEYFRAME 32
0.05902145900108735
Frame 123
tensor(0.0278)
Frame 124
tensor(0.0440)
Frame 125
tensor(0.0579)
Frame 126
tensor(0.0754)
Frame 127
tensor(0.1054)
 # KEYFRAME 33
0.05988225599867292
Frame 128
tensor(0.0406)
Frame 129
tensor(0.0534)
Frame 130
tensor(0.1046)
 # KEYFRAME 34
0.06060048499784898
Frame 131
tensor(0.0334)
Frame 132
tensor(0.0559)
Frame 133
tensor(0.1056)
 # KEYFRAME 35
0.06125864099885803
Frame 134
tensor(0.0775)
Frame 135
tensor(0.4251)
 # KEYFRAME 36
0.06197157900169259
Frame 136
tensor(0.0190)
Frame 137
tensor(0.0349)
Frame 138
tensor(0.0498)
Frame 139
tensor(0.0650)
Frame 140
tensor(0.0744)
Frame 141
tensor(0.0904)
Frame 142
tensor(0.1085)
 # KEYFRAME 37
0.06263811700046062
Frame 143
tensor(0.0084)
Frame 144
tensor(0.0352)
Frame 145
tensor(0.0747)
Frame 146
tensor(0.0923)
Frame 147
tensor(0.1097)
 # KEYFRAME 38
0.06318188500154065
Frame 148
tensor(0.0292)
Frame 149
tensor(0.0742)
Backending... 39 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 36270, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=452 loss_distill=0.1733 tta_take=0.008s
[epoch 0 scene 67/556] scannetpp/8f82c394d6/DSC frames=150 tta_steps_this_scene=1 mean_loss=0.1733 total_steps=452 time=29.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0195)
Frame 2
tensor(0.2188)
 # KEYFRAME 1
Frame 3
tensor(0.2571)
 # KEYFRAME 2
0.05071513900111313
Frame 4
tensor(0.3083)
 # KEYFRAME 3
0.05194756499986397
Frame 5
tensor(0.3834)
 # KEYFRAME 4
0.053338280002208194
Frame 6
tensor(0.3935)
 # KEYFRAME 5
0.05367357899740455
Frame 7
tensor(0.2729)
 # KEYFRAME 6
0.055261822999455035
Frame 8
tensor(0.2578)
 # KEYFRAME 7
0.05575874100031797
Frame 9
tensor(0.3514)
 # KEYFRAME 8
0.05632928899649414
Frame 10
tensor(0.4711)
 # KEYFRAME 9
0.056845606999559095
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.2904)
 # KEYFRAME 10
0.05169864599884022
Frame 12
tensor(0.3126)
 # KEYFRAME 11
0.05364859900146257
Frame 13
tensor(0.3064)
 # KEYFRAME 12
0.054606915000476874
Frame 14
tensor(0.4383)
 # KEYFRAME 13
0.05708590699941851
Frame 15
tensor(0.4503)
 # KEYFRAME 14
0.05805107400010456
Frame 16
tensor(0.3518)
 # KEYFRAME 15
0.05845414099894697
Frame 17
tensor(0.5039)
 # KEYFRAME 16
0.059545257998252055
Frame 18
tensor(0.2633)
 # KEYFRAME 17
0.06194183999832603
Frame 19
tensor(0.5539)
 # KEYFRAME 18
0.06206023900085711
Frame 20
tensor(0.3528)
 # KEYFRAME 19
0.06297234500016202
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.4358)
 # KEYFRAME 20
0.058584351998433704
Frame 22
tensor(0.1195)
 # KEYFRAME 21
0.06045700399772613
Frame 23
tensor(0.0608)
Frame 24
tensor(0.6598)
 # KEYFRAME 22
0.06145945099706296
Frame 25
tensor(0.6327)
 # KEYFRAME 23
0.06193269900177256
Frame 26
tensor(0.5305)
 # KEYFRAME 24
0.06265423699733219
Frame 27
tensor(0.2472)
 # KEYFRAME 25
0.06357421400025487
Frame 28
tensor(0.2185)
 # KEYFRAME 26
0.06523824800024158
Frame 29
tensor(0.4526)
 # KEYFRAME 27
0.0664212529991346
Frame 30
tensor(0.5770)
 # KEYFRAME 28
0.06775285799812991
Frame 31
tensor(0.1340)
 # KEYFRAME 29
0.06788443800178356
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.3299)
 # KEYFRAME 30
0.06625044400061597
Frame 33
tensor(0.0921)
Frame 34
tensor(0.1409)
 # KEYFRAME 31
0.06759900899851345
Frame 35
tensor(0.0260)
Frame 36
tensor(0.0254)
Frame 37
tensor(0.0239)
Frame 38
tensor(0.3679)
 # KEYFRAME 32
0.06769305800116854
Frame 39
tensor(0.1517)
 # KEYFRAME 33
0.06874870499814278
Frame 40
tensor(0.1926)
 # KEYFRAME 34
0.0698419609980192
Frame 41
tensor(0.1734)
 # KEYFRAME 35
0.07050402899767505
Frame 42
tensor(0.1067)
 # KEYFRAME 36
0.07146903600005317
Frame 43
tensor(0.3638)
 # KEYFRAME 37
0.07240550200003781
Frame 44
tensor(0.0895)
Frame 45
tensor(0.0375)
Frame 46
tensor(0.3416)
 # KEYFRAME 38
0.0725387509992288
Frame 47
tensor(0.2868)
 # KEYFRAME 39
0.07341226800053846
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=453 loss_distill=0.1733 tta_take=0.009s
Frame 48
tensor(0.1961)
 # KEYFRAME 40
0.07247425199966528
Frame 49
tensor(0.2592)
 # KEYFRAME 41
0.07423642600042513
Frame 50
tensor(0.3005)
 # KEYFRAME 42
0.07442662500034203
Frame 51
tensor(0.4135)
 # KEYFRAME 43
0.07519827199939755
Frame 52
tensor(0.4185)
 # KEYFRAME 44
0.07596157900115941
Frame 53
tensor(0.2793)
 # KEYFRAME 45
0.07641129799958435
Frame 54
tensor(0.1668)
 # KEYFRAME 46
0.0778108019985666
Frame 55
tensor(0.6146)
 # KEYFRAME 47
0.0778315030001977
Frame 56
tensor(0.3480)
 # KEYFRAME 48
0.07902376899801311
Frame 57
tensor(0.1972)
 # KEYFRAME 49
0.07994227499875706
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=454 loss_distill=0.2747 tta_take=0.009s
Frame 58
tensor(0.3970)
 # KEYFRAME 50
0.07907400900148787
Frame 59
tensor(0.2968)
 # KEYFRAME 51
0.08103426200250397
Frame 60
tensor(0.1396)
 # KEYFRAME 52
0.08151193999947282
Frame 61
tensor(0.4144)
 # KEYFRAME 53
0.08275264500116464
Frame 62
tensor(0.2198)
 # KEYFRAME 54
0.08370842200019979
Frame 63
tensor(0.1954)
 # KEYFRAME 55
0.08411519000219414
Frame 64
tensor(0.1279)
 # KEYFRAME 56
0.08420886999738286
Frame 65
tensor(0.2343)
 # KEYFRAME 57
0.08587297399935778
Frame 66
tensor(0.2933)
 # KEYFRAME 58
0.08534542599954875
Frame 67
tensor(0.1510)
 # KEYFRAME 59
0.08676946100240457
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=455 loss_distill=0.3466 tta_take=0.009s
Frame 68
tensor(0.4127)
 # KEYFRAME 60
0.08643708199815592
Frame 69
tensor(0.2271)
 # KEYFRAME 61
0.0887654840007599
Frame 70
tensor(0.3251)
 # KEYFRAME 62
0.08848441500231274
Frame 71
tensor(0.4242)
 # KEYFRAME 63
0.0901378790003946
Frame 72
tensor(0.1287)
 # KEYFRAME 64
0.09087112600172986
Frame 73
tensor(0.1175)
 # KEYFRAME 65
0.09167923399945721
Frame 74
tensor(0.1860)
 # KEYFRAME 66
0.09292489899962675
Frame 75
tensor(0.1526)
 # KEYFRAME 67
0.09431375400163233
Frame 76
tensor(0.1503)
 # KEYFRAME 68
0.09580474899848923
Frame 77
tensor(0.1788)
 # KEYFRAME 69
0.09593208799924469
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=456 loss_distill=0.4024 tta_take=0.009s
Frame 78
tensor(0.2394)
 # KEYFRAME 70
0.09288770900093368
Frame 79
tensor(0.4892)
 # KEYFRAME 71
0.09559500999966986
Frame 80
tensor(0.1400)
 # KEYFRAME 72
0.09469017299852567
Frame 81
tensor(0.4285)
 # KEYFRAME 73
0.09575501899962546
Frame 82
tensor(0.3391)
 # KEYFRAME 74
0.096584436003468
Frame 83
tensor(0.2716)
 # KEYFRAME 75
0.0972005129988247
Frame 84
tensor(0.3815)
 # KEYFRAME 76
0.09818349099805346
Frame 85
tensor(0.4156)
 # KEYFRAME 77
0.09849304900126299
Frame 86
tensor(0.4381)
 # KEYFRAME 78
0.09882717800064711
Frame 87
tensor(0.3930)
 # KEYFRAME 79
0.10010563299874775
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=457 loss_distill=0.4024 tta_take=0.009s
Frame 88
tensor(0.3626)
 # KEYFRAME 80
0.09267628000088735
Frame 89
tensor(0.5493)
 # KEYFRAME 81
0.09397370599981514
Frame 90
tensor(0.2946)
 # KEYFRAME 82
0.09550981999927899
Frame 91
tensor(0.3354)
 # KEYFRAME 83
0.09533586099860258
Frame 92
tensor(0.5154)
 # KEYFRAME 84
0.09627270700002555
Frame 93
tensor(0.3707)
 # KEYFRAME 85
0.09758261299793958
Frame 94
tensor(0.3884)
 # KEYFRAME 86
0.09813711100287037
Frame 95
tensor(0.2042)
 # KEYFRAME 87
0.09884166800111416
Frame 96
tensor(0.2493)
 # KEYFRAME 88
0.09864544899755856
Frame 97
tensor(0.1881)
 # KEYFRAME 89
0.09903164699790068
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=458 loss_distill=0.4024 tta_take=0.009s
Frame 98
tensor(0.2774)
 # KEYFRAME 90
0.09244361999662942
Frame 99
tensor(0.1739)
 # KEYFRAME 91
0.09531012099978398
Frame 100
tensor(0.3344)
 # KEYFRAME 92
0.09461798299889779
Frame 101
tensor(0.4159)
 # KEYFRAME 93
0.09570232900296105
Frame 102
tensor(0.4020)
 # KEYFRAME 94
0.09627383699989878
Frame 103
tensor(0.1891)
 # KEYFRAME 95
0.09779396199883195
Frame 104
tensor(0.4562)
 # KEYFRAME 96
0.09860531900267233
Frame 105
tensor(0.3225)
 # KEYFRAME 97
0.09900860700145131
Frame 106
tensor(0.3789)
 # KEYFRAME 98
0.0997305540004163
Frame 107
tensor(0.2832)
 # KEYFRAME 99
0.10026811200077645
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=459 loss_distill=0.4024 tta_take=0.009s
Frame 108
tensor(0.3896)
 # KEYFRAME 100
0.09371100700082025
Frame 109
tensor(0.3322)
 # KEYFRAME 101
0.09446213399860426
Frame 110
tensor(0.1788)
 # KEYFRAME 102
0.09551693899993552
Frame 111
tensor(0.1446)
 # KEYFRAME 103
0.09602644700134988
Frame 112
tensor(0.2522)
 # KEYFRAME 104
0.09696808400258305
Frame 113
tensor(0.2507)
 # KEYFRAME 105
0.09712729400052922
Frame 114
tensor(0.3176)
 # KEYFRAME 106
0.09762658199906582
Frame 115
tensor(0.3160)
 # KEYFRAME 107
0.099269035999896
Frame 116
tensor(0.3538)
 # KEYFRAME 108
0.09943916500196792
Frame 117
tensor(0.2359)
 # KEYFRAME 109
0.09988164400056121
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=460 loss_distill=0.4024 tta_take=0.009s
Frame 118
tensor(0.0389)
Frame 119
tensor(0.2836)
 # KEYFRAME 110
0.09323228799985372
Frame 120
tensor(0.2065)
 # KEYFRAME 111
0.09439884300081758
Frame 121
tensor(0.3985)
 # KEYFRAME 112
0.09510933100318653
Frame 122
tensor(0.1555)
 # KEYFRAME 113
0.09628242699909606
Frame 123
tensor(0.1727)
 # KEYFRAME 114
0.09701189400220755
Frame 124
tensor(0.3535)
 # KEYFRAME 115
0.0974260030016012
Frame 125
tensor(0.1203)
 # KEYFRAME 116
0.09812605099796201
Frame 126
tensor(0.2573)
 # KEYFRAME 117
0.09825514999829466
Frame 127
tensor(0.4092)
 # KEYFRAME 118
0.09950399599983939
Frame 128
tensor(0.2784)
 # KEYFRAME 119
0.09986813499926939
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=461 loss_distill=0.4024 tta_take=0.009s
Frame 129
tensor(0.1602)
 # KEYFRAME 120
0.09275025899842149
Frame 130
tensor(0.5538)
 # KEYFRAME 121
0.09553841000160901
Frame 131
tensor(0.2446)
 # KEYFRAME 122
0.0952874510003312
Frame 132
tensor(0.2014)
 # KEYFRAME 123
0.09615387799931341
Frame 133
tensor(0.0690)
Frame 134
tensor(0.2726)
 # KEYFRAME 124
0.09652089599694591
Frame 135
tensor(0.3434)
 # KEYFRAME 125
0.09713757400095346
Frame 136
tensor(0.3770)
 # KEYFRAME 126
0.09755858200151124
Frame 137
tensor(0.5891)
 # KEYFRAME 127
0.09841882999899099
Frame 138
tensor(0.3292)
 # KEYFRAME 128
0.09990155400009826
Backending... 129 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 71829, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=462 loss_distill=0.4024 tta_take=0.009s
[epoch 0 scene 68/556] scannetpp/94ee15e8ba/frame frames=139 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=462 time=56.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0235)
Frame 2
tensor(0.1962)
 # KEYFRAME 1
Frame 3
tensor(0.2326)
 # KEYFRAME 2
0.05098883800019394
Frame 4
tensor(0.1643)
 # KEYFRAME 3
0.0524152129983122
Frame 5
tensor(0.1857)
 # KEYFRAME 4
0.05370205899816938
Frame 6
tensor(0.2218)
 # KEYFRAME 5
0.055549431999679655
Frame 7
tensor(0.1548)
 # KEYFRAME 6
0.05615444999784813
Frame 8
tensor(0.1510)
 # KEYFRAME 7
0.056839117998606525
Frame 9
tensor(0.1114)
 # KEYFRAME 8
0.05722182600220549
Frame 10
tensor(0.2062)
 # KEYFRAME 9
0.056921966999652795
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.4245)
 # KEYFRAME 10
0.05211471399888978
Frame 12
tensor(0.0362)
Frame 13
tensor(0.7365)
 # KEYFRAME 11
0.0538295990008919
Frame 14
tensor(0.1236)
 # KEYFRAME 12
0.05426681599783478
Frame 15
tensor(0.0868)
Frame 16
tensor(0.1465)
 # KEYFRAME 13
0.05668152900034329
Frame 17
tensor(0.1969)
 # KEYFRAME 14
0.05709618699984276
Frame 18
tensor(0.0300)
Frame 19
tensor(0.0729)
Frame 20
tensor(0.2385)
 # KEYFRAME 15
0.058307292998506455
Frame 21
tensor(0.2541)
 # KEYFRAME 16
0.05880255100055365
Frame 22
tensor(0.1420)
 # KEYFRAME 17
0.06026154600112932
Frame 23
tensor(0.1315)
 # KEYFRAME 18
0.06138895100230002
Frame 24
tensor(0.1181)
 # KEYFRAME 19
0.06274345600104425
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.0886)
Frame 26
tensor(0.0932)
Frame 27
tensor(0.2807)
 # KEYFRAME 20
0.05940008799734642
Frame 28
tensor(0.1111)
 # KEYFRAME 21
0.060128216002340196
Frame 29
tensor(0.0215)
Frame 30
tensor(0.0929)
Frame 31
tensor(0.1497)
 # KEYFRAME 22
0.0620813889981946
Frame 32
tensor(0.0724)
Frame 33
tensor(0.3037)
 # KEYFRAME 23
0.06304414599799202
Frame 34
tensor(0.0952)
Frame 35
tensor(0.2231)
 # KEYFRAME 24
0.06442311000137124
Frame 36
tensor(0.0365)
Frame 37
tensor(0.1775)
 # KEYFRAME 25
0.06528408699887223
Frame 38
tensor(0.4575)
 # KEYFRAME 26
0.06617259400081821
Frame 39
tensor(0.2546)
 # KEYFRAME 27
0.06728829999701702
Frame 40
tensor(0.4977)
 # KEYFRAME 28
0.06808854799965047
Frame 41
tensor(0.2504)
 # KEYFRAME 29
0.06925270399733563
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 42
tensor(0.2494)
 # KEYFRAME 30
0.06630695399871911
Frame 43
tensor(0.0941)
Frame 44
tensor(0.1524)
 # KEYFRAME 31
0.06725061999895843
Frame 45
tensor(0.1349)
 # KEYFRAME 32
0.06800547799866763
Frame 46
tensor(0.1280)
 # KEYFRAME 33
0.06892429400249966
Frame 47
tensor(0.3805)
 # KEYFRAME 34
0.06957986199995503
Frame 48
tensor(0.2031)
 # KEYFRAME 35
0.07050345899915555
Frame 49
tensor(0.2367)
 # KEYFRAME 36
0.0708710679973592
Frame 50
tensor(0.4280)
 # KEYFRAME 37
0.0720622530025139
Frame 51
tensor(0.3060)
 # KEYFRAME 38
0.07292926000081934
Frame 52
tensor(0.3465)
 # KEYFRAME 39
0.0739116170007037
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=463 loss_distill=0.1733 tta_take=0.009s
Frame 53
tensor(0.2228)
 # KEYFRAME 40
0.07238890200096648
Frame 54
tensor(0.3256)
 # KEYFRAME 41
0.07439332499779994
Frame 55
tensor(0.2921)
 # KEYFRAME 42
0.0746376750030322
Frame 56
tensor(0.1347)
 # KEYFRAME 43
0.07528039200042258
Frame 57
tensor(0.1383)
 # KEYFRAME 44
0.07554830099979881
Frame 58
tensor(0.1469)
 # KEYFRAME 45
0.07668618699972285
Frame 59
tensor(0.1847)
 # KEYFRAME 46
0.0770299950017943
Frame 60
tensor(0.2663)
 # KEYFRAME 47
0.07805144200028735
Frame 61
tensor(0.2376)
 # KEYFRAME 48
0.078923938999651
Frame 62
tensor(0.2944)
 # KEYFRAME 49
0.08048511299784877
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531069278717
TTA-STEP: step=464 loss_distill=0.2747 tta_take=0.009s
Frame 63
tensor(0.1238)
 # KEYFRAME 50
0.0794641770007729
Frame 64
tensor(0.1840)
 # KEYFRAME 51
0.0813610900004278
Frame 65
tensor(0.1724)
 # KEYFRAME 52
0.08130620000156341
Frame 66
tensor(0.3218)
 # KEYFRAME 53
0.08292191500004265
Frame 67
tensor(0.2509)
 # KEYFRAME 54
0.08413816100073745
Frame 68
tensor(0.1657)
 # KEYFRAME 55
0.08424238999941736
Frame 69
tensor(0.1189)
 # KEYFRAME 56
0.08507361699957983
Backending... 57 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 59337, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=465 loss_distill=0.3466 tta_take=0.007s
[epoch 0 scene 69/556] scannetpp/893fb90e89/frame frames=70 tta_steps_this_scene=3 mean_loss=0.2648 total_steps=465 time=29.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0198)
Frame 2
tensor(0.1762)
 # KEYFRAME 1
Frame 3
tensor(0.1935)
 # KEYFRAME 2
0.050538979998236755
Frame 4
tensor(0.1921)
 # KEYFRAME 3
0.05155391700100154
Frame 5
tensor(0.1277)
 # KEYFRAME 4
0.053292220000003
Frame 6
tensor(0.0952)
Frame 7
tensor(0.2505)
 # KEYFRAME 5
0.05454598599681049
Frame 8
tensor(0.1972)
 # KEYFRAME 6
0.05570504100251128
Frame 9
tensor(0.2567)
 # KEYFRAME 7
0.05578234099812107
Frame 10
tensor(0.3176)
 # KEYFRAME 8
0.05647486899761134
Frame 11
tensor(0.1259)
 # KEYFRAME 9
0.057041077001485974
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.1773)
 # KEYFRAME 10
0.05163473600259749
Frame 13
tensor(0.1765)
 # KEYFRAME 11
0.05329618000178016
Frame 14
tensor(0.1974)
 # KEYFRAME 12
0.05438830600178335
Frame 15
tensor(0.5121)
 # KEYFRAME 13
0.05586430099720019
Frame 16
tensor(0.3145)
 # KEYFRAME 14
0.056890978001320036
Frame 17
tensor(0.3915)
 # KEYFRAME 15
0.057579075000830926
Frame 18
tensor(0.2200)
 # KEYFRAME 16
0.05841938199955621
Frame 19
tensor(0.2117)
 # KEYFRAME 17
0.059204440000030445
Frame 20
tensor(0.2574)
 # KEYFRAME 18
0.06098929300060263
Frame 21
tensor(0.1550)
 # KEYFRAME 19
0.06167283100148779
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 22
tensor(0.1217)
 # KEYFRAME 20
0.05850724199990509
Frame 23
tensor(0.5971)
 # KEYFRAME 21
0.06078975299897138
Frame 24
tensor(0.1578)
 # KEYFRAME 22
0.06105682300039916
Frame 25
tensor(0.2601)
 # KEYFRAME 23
0.06182027999966522
Frame 26
tensor(0.6075)
 # KEYFRAME 24
0.06213097900035791
Frame 27
tensor(0.3258)
 # KEYFRAME 25
0.06346420399859198
Frame 28
tensor(0.1552)
 # KEYFRAME 26
0.064710290000221
Frame 29
tensor(0.4046)
 # KEYFRAME 27
0.06608463500015205
Frame 30
tensor(0.4792)
 # KEYFRAME 28
0.06726057100240723
Frame 31
tensor(0.2113)
 # KEYFRAME 29
0.0686424449995684
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.0567)
Frame 33
tensor(0.0700)
Frame 34
tensor(0.3091)
 # KEYFRAME 30
0.06547217700062902
Frame 35
tensor(0.1695)
 # KEYFRAME 31
0.06749681899964344
Frame 36
tensor(0.0734)
Frame 37
tensor(0.1177)
 # KEYFRAME 32
0.06838951700046891
Frame 38
tensor(0.3149)
 # KEYFRAME 33
0.06879207500242046
Frame 39
tensor(0.3769)
 # KEYFRAME 34
0.06949267300296924
Frame 40
tensor(0.2407)
 # KEYFRAME 35
0.07010879999870667
Frame 41
tensor(0.1544)
 # KEYFRAME 36
0.07130088599660667
Frame 42
tensor(0.2627)
 # KEYFRAME 37
0.07165232499755803
Frame 43
tensor(0.2140)
 # KEYFRAME 38
0.07252819199857186
Frame 44
tensor(0.4432)
 # KEYFRAME 39
0.07365559800018673
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=466 loss_distill=0.1733 tta_take=0.009s
Frame 45
tensor(0.3790)
 # KEYFRAME 40
0.07234263200007263
Frame 46
tensor(0.4456)
 # KEYFRAME 41
0.07398546599870315
Frame 47
tensor(0.3415)
 # KEYFRAME 42
0.07415256600143039
Frame 48
tensor(0.1573)
 # KEYFRAME 43
0.07519871200202033
Frame 49
tensor(0.2140)
 # KEYFRAME 44
0.07615729900135193
Frame 50
tensor(0.0792)
Frame 51
tensor(0.1421)
 # KEYFRAME 45
0.0762458789977245
Frame 52
tensor(0.3514)
 # KEYFRAME 46
0.0771733250003308
Frame 53
tensor(0.2262)
 # KEYFRAME 47
0.07867419000103837
Frame 54
tensor(0.2552)
 # KEYFRAME 48
0.07969073700223817
Frame 55
tensor(0.1760)
 # KEYFRAME 49
0.08063416199729545
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=467 loss_distill=0.2747 tta_take=0.009s
Frame 56
tensor(0.3388)
 # KEYFRAME 50
0.07925380800224957
Frame 57
tensor(0.4988)
 # KEYFRAME 51
0.08179760799976066
Frame 58
tensor(0.2349)
 # KEYFRAME 52
0.08220871800222085
Frame 59
tensor(0.4116)
 # KEYFRAME 53
0.08372890199825633
Frame 60
tensor(0.2772)
 # KEYFRAME 54
0.0854545660004078
Frame 61
tensor(0.2546)
 # KEYFRAME 55
0.0853963859990472
Frame 62
tensor(0.2523)
 # KEYFRAME 56
0.08708012900024187
Frame 63
tensor(0.3635)
 # KEYFRAME 57
0.08739631899879896
Frame 64
tensor(0.3917)
 # KEYFRAME 58
0.08842338600152289
Frame 65
tensor(0.2720)
 # KEYFRAME 59
0.08857807400272577
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=468 loss_distill=0.3466 tta_take=0.009s
Frame 66
tensor(0.2733)
 # KEYFRAME 60
0.08595128399974783
Frame 67
tensor(0.3304)
 # KEYFRAME 61
0.08844553499875474
Frame 68
tensor(0.3999)
 # KEYFRAME 62
0.0877491880019079
Frame 69
tensor(0.2567)
 # KEYFRAME 63
0.08887768400018103
Frame 70
tensor(0.3559)
 # KEYFRAME 64
0.08921953199751442
Frame 71
tensor(0.2493)
 # KEYFRAME 65
0.09063163800237817
Frame 72
tensor(0.0454)
Frame 73
tensor(0.2723)
 # KEYFRAME 66
0.09065776799980085
Frame 74
tensor(0.1319)
 # KEYFRAME 67
0.09196824299942818
Frame 75
tensor(0.3462)
 # KEYFRAME 68
0.09208079200107022
Frame 76
tensor(0.2197)
 # KEYFRAME 69
0.0927637999993749
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=469 loss_distill=0.4024 tta_take=0.009s
Frame 77
tensor(0.2827)
 # KEYFRAME 70
0.0932637980004074
Frame 78
tensor(0.3850)
 # KEYFRAME 71
0.09340282699849922
Frame 79
tensor(0.3656)
 # KEYFRAME 72
0.09602433799955179
Frame 80
tensor(0.3085)
 # KEYFRAME 73
0.09590465799919912
Frame 81
tensor(0.1941)
 # KEYFRAME 74
0.09673507600018638
Frame 82
tensor(0.1749)
 # KEYFRAME 75
0.09715447400230914
Frame 83
tensor(0.2996)
 # KEYFRAME 76
0.09815522099961527
Frame 84
tensor(0.2193)
 # KEYFRAME 77
0.0980044710013317
Frame 85
tensor(0.0663)
Frame 86
tensor(0.3874)
 # KEYFRAME 78
0.09894092800095677
Frame 87
tensor(0.1951)
 # KEYFRAME 79
0.10092087100201752
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=470 loss_distill=0.4024 tta_take=0.009s
Frame 88
tensor(0.1109)
 # KEYFRAME 80
0.09235352099858574
Frame 89
tensor(0.6107)
 # KEYFRAME 81
0.0930328689973976
Frame 90
tensor(0.2785)
 # KEYFRAME 82
0.09448404299837421
Frame 91
tensor(0.2785)
 # KEYFRAME 83
0.09497700100109796
Frame 92
tensor(0.2198)
 # KEYFRAME 84
0.09673585600103252
Frame 93
tensor(0.3546)
 # KEYFRAME 85
0.09784075100105838
Frame 94
tensor(0.2826)
 # KEYFRAME 86
0.09880380799950217
Frame 95
tensor(0.3565)
 # KEYFRAME 87
0.0990783269990061
Frame 96
tensor(0.3750)
 # KEYFRAME 88
0.09959820500080241
Frame 97
tensor(0.1217)
 # KEYFRAME 89
0.1009068909988855
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=471 loss_distill=0.4024 tta_take=0.009s
Frame 98
tensor(0.3092)
 # KEYFRAME 90
0.09238296100011212
Frame 99
tensor(0.1833)
 # KEYFRAME 91
0.09309633799784933
Frame 100
tensor(0.3659)
 # KEYFRAME 92
0.09555783999894629
Frame 101
tensor(0.0441)
Frame 102
tensor(0.2540)
 # KEYFRAME 93
0.09505641099895001
Frame 103
tensor(0.1996)
 # KEYFRAME 94
0.0956659090006724
Frame 104
tensor(0.1661)
 # KEYFRAME 95
0.09757748300035018
Frame 105
tensor(0.1738)
 # KEYFRAME 96
0.09766253199995845
Frame 106
tensor(0.0954)
Frame 107
tensor(0.3721)
 # KEYFRAME 97
0.09868922899840982
Frame 108
tensor(0.1805)
 # KEYFRAME 98
0.09881919899999048
Frame 109
tensor(0.2035)
 # KEYFRAME 99
0.10020479399827309
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=472 loss_distill=0.4024 tta_take=0.009s
Frame 110
tensor(0.4440)
 # KEYFRAME 100
0.09316151800157968
Frame 111
tensor(0.4735)
 # KEYFRAME 101
0.09572091899826773
Frame 112
tensor(0.2833)
 # KEYFRAME 102
0.09498139199786237
Frame 113
tensor(0.2467)
 # KEYFRAME 103
0.09582089899777202
Frame 114
tensor(0.1316)
 # KEYFRAME 104
0.09738650299914298
Frame 115
tensor(0.4767)
 # KEYFRAME 105
0.09859348900135956
Frame 116
tensor(0.1915)
 # KEYFRAME 106
0.09833448999779648
Frame 117
tensor(0.0924)
Frame 118
tensor(0.3206)
 # KEYFRAME 107
0.09937357600210817
Frame 119
tensor(0.2855)
 # KEYFRAME 108
0.09968222499810508
Frame 120
tensor(0.2332)
 # KEYFRAME 109
0.100177934000385
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=473 loss_distill=0.4024 tta_take=0.009s
Frame 121
tensor(0.1417)
 # KEYFRAME 110
0.09328295800150954
Frame 122
tensor(0.3441)
 # KEYFRAME 111
0.09444880299997749
Frame 123
tensor(0.3423)
 # KEYFRAME 112
0.09584324900060892
Frame 124
tensor(0.2405)
 # KEYFRAME 113
0.09663645600085147
Frame 125
tensor(0.2343)
 # KEYFRAME 114
0.09728975400139461
Frame 126
tensor(0.2737)
 # KEYFRAME 115
0.09805849099939223
Frame 127
tensor(0.1378)
 # KEYFRAME 116
0.09906479799974477
Frame 128
tensor(0.3757)
 # KEYFRAME 117
0.0987356780024129
Frame 129
tensor(0.1255)
 # KEYFRAME 118
0.09967587500068475
Frame 130
tensor(0.3159)
 # KEYFRAME 119
0.10050837200105889
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=474 loss_distill=0.4024 tta_take=0.009s
Frame 131
tensor(0.3810)
 # KEYFRAME 120
0.09355555699949036
Frame 132
tensor(0.2377)
 # KEYFRAME 121
0.09579994900195743
Frame 133
tensor(0.1166)
 # KEYFRAME 122
0.09582658900035312
Frame 134
tensor(0.1391)
 # KEYFRAME 123
0.09619907700107433
Backending... 124 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 66624, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=475 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 70/556] scannetpp/2b1dc6d6a5/frame frames=135 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=475 time=59.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0567)
Frame 2
tensor(0.3554)
 # KEYFRAME 1
Frame 3
tensor(0.1886)
 # KEYFRAME 2
0.050905658998090075
Frame 4
tensor(0.2358)
 # KEYFRAME 3
0.05249790299785673
Frame 5
tensor(0.2154)
 # KEYFRAME 4
0.05338444999870262
Frame 6
tensor(0.5184)
 # KEYFRAME 5
0.05630440000095405
Frame 7
tensor(0.1439)
 # KEYFRAME 6
0.056246928998007206
Frame 8
tensor(0.3683)
 # KEYFRAME 7
0.056003140998655
Frame 9
tensor(0.4243)
 # KEYFRAME 8
0.05656486800216953
Frame 10
tensor(0.2527)
 # KEYFRAME 9
0.05741074600155116
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.4167)
 # KEYFRAME 10
0.05239040399828809
Frame 12
tensor(0.0964)
Frame 13
tensor(0.5475)
 # KEYFRAME 11
0.05382170899974881
Frame 14
tensor(0.3669)
 # KEYFRAME 12
0.05429679700318957
Frame 15
tensor(0.0973)
Frame 16
tensor(0.6674)
 # KEYFRAME 13
0.05640798999957042
Frame 17
tensor(0.5123)
 # KEYFRAME 14
0.057268505999672925
Frame 18
tensor(0.4965)
 # KEYFRAME 15
0.05836330199963413
Frame 19
tensor(0.2875)
 # KEYFRAME 16
0.058764040000824025
Frame 20
tensor(0.2424)
 # KEYFRAME 17
0.06040426500112517
Frame 21
tensor(0.1592)
 # KEYFRAME 18
0.06159655099691008
Frame 22
tensor(0.4795)
 # KEYFRAME 19
0.06259223700180883
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 23
tensor(0.6724)
 # KEYFRAME 20
0.059273738999763737
Frame 24
tensor(0.2211)
 # KEYFRAME 21
0.060000736000802135
Frame 25
tensor(0.3327)
 # KEYFRAME 22
0.060785102999943774
Frame 26
tensor(0.1595)
 # KEYFRAME 23
0.06169513999702758
Frame 27
tensor(0.2164)
 # KEYFRAME 24
0.062431647998892004
Frame 28
tensor(0.4343)
 # KEYFRAME 25
0.06345304400019813
Frame 29
tensor(0.3920)
 # KEYFRAME 26
0.06479180899987114
Frame 30
tensor(0.0895)
Frame 31
tensor(0.2164)
 # KEYFRAME 27
0.066250364001462
Frame 32
tensor(0.2013)
 # KEYFRAME 28
0.06666244300140534
Frame 33
tensor(0.0160)
Frame 34
tensor(0.0156)
Frame 35
tensor(0.0175)
Frame 36
tensor(0.1103)
 # KEYFRAME 29
0.06831094700100948
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 37
tensor(0.2141)
 # KEYFRAME 30
0.0661175050008751
Frame 38
tensor(0.3737)
 # KEYFRAME 31
0.06782378899879404
Frame 39
tensor(0.2518)
 # KEYFRAME 32
0.06901414400272188
Frame 40
tensor(0.1281)
 # KEYFRAME 33
0.07006854100109194
Frame 41
tensor(0.2959)
 # KEYFRAME 34
0.0719242840023071
Frame 42
tensor(0.1799)
 # KEYFRAME 35
0.07226081299813814
Frame 43
tensor(0.0956)
Frame 44
tensor(0.1943)
 # KEYFRAME 36
0.07371395799782476
Frame 45
tensor(0.2796)
 # KEYFRAME 37
0.07479625400083023
Frame 46
tensor(0.2247)
 # KEYFRAME 38
0.07580365000103484
Frame 47
tensor(0.5303)
 # KEYFRAME 39
0.07632594800088555
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=476 loss_distill=0.1733 tta_take=0.009s
Frame 48
tensor(0.9595)
 # KEYFRAME 40
0.0722685629989428
Frame 49
tensor(0.0334)
Frame 50
tensor(0.1348)
 # KEYFRAME 41
0.07461619399691699
Frame 51
tensor(0.2421)
 # KEYFRAME 42
0.07465797500117333
Frame 52
tensor(0.5923)
 # KEYFRAME 43
0.07529848100239178
Frame 53
tensor(0.3118)
 # KEYFRAME 44
0.07547592199989595
Frame 54
tensor(0.1423)
 # KEYFRAME 45
0.07658870699742693
Frame 55
tensor(0.2751)
 # KEYFRAME 46
0.07686561599984998
Frame 56
tensor(0.3341)
 # KEYFRAME 47
0.07820383099897299
Frame 57
tensor(0.2702)
 # KEYFRAME 48
0.07908521799981827
Frame 58
tensor(0.2996)
 # KEYFRAME 49
0.07924669800195261
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=477 loss_distill=0.2747 tta_take=0.009s
Frame 59
tensor(0.5242)
 # KEYFRAME 50
0.07883101900006295
Frame 60
tensor(0.1519)
 # KEYFRAME 51
0.08167426900035935
Frame 61
tensor(0.3437)
 # KEYFRAME 52
0.08100676100002602
Frame 62
tensor(0.1575)
 # KEYFRAME 53
0.0824373370014655
Frame 63
tensor(0.3697)
 # KEYFRAME 54
0.08363118200213648
Frame 64
tensor(0.2517)
 # KEYFRAME 55
0.08447355899988906
Frame 65
tensor(0.1115)
 # KEYFRAME 56
0.08593708399712341
Frame 66
tensor(0.1176)
 # KEYFRAME 57
0.08672282100087614
Frame 67
tensor(0.3525)
 # KEYFRAME 58
0.08761467799922684
Frame 68
tensor(0.0729)
Frame 69
tensor(0.5722)
 # KEYFRAME 59
0.08803862700005993
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=478 loss_distill=0.3466 tta_take=0.009s
Frame 70
tensor(0.3013)
 # KEYFRAME 60
0.08570231499834335
Frame 71
tensor(0.3054)
 # KEYFRAME 61
0.08827104599913582
Frame 72
tensor(0.5044)
 # KEYFRAME 62
0.08835534600075334
Frame 73
tensor(0.4306)
 # KEYFRAME 63
0.08877628399932291
Frame 74
tensor(0.3697)
 # KEYFRAME 64
0.08895919299902744
Frame 75
tensor(0.3354)
 # KEYFRAME 65
0.09012887900098576
Frame 76
tensor(0.1781)
 # KEYFRAME 66
0.0910273759982374
Frame 77
tensor(0.4149)
 # KEYFRAME 67
0.09134657500180765
Frame 78
tensor(0.3237)
 # KEYFRAME 68
0.09224196200011647
Frame 79
tensor(0.1881)
 # KEYFRAME 69
0.09323604800010798
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=479 loss_distill=0.4024 tta_take=0.010s
Frame 80
tensor(0.2393)
 # KEYFRAME 70
0.09258645999943838
Frame 81
tensor(0.2058)
 # KEYFRAME 71
0.09330483800295042
Frame 82
tensor(0.1027)
 # KEYFRAME 72
0.0963812970003346
Frame 83
tensor(0.1944)
 # KEYFRAME 73
0.09510329199838452
Frame 84
tensor(0.6788)
 # KEYFRAME 74
0.09556315900044865
Frame 85
tensor(0.3108)
 # KEYFRAME 75
0.09724276300039492
Frame 86
tensor(0.3117)
 # KEYFRAME 76
0.09848481999870273
Frame 87
tensor(0.3507)
 # KEYFRAME 77
0.09831074000248918
Frame 88
tensor(0.3876)
 # KEYFRAME 78
0.09935956700064708
Frame 89
tensor(0.3387)
 # KEYFRAME 79
0.09970067500034929
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=480 loss_distill=0.4024 tta_take=0.009s
Frame 90
tensor(0.2494)
 # KEYFRAME 80
0.09231193199957488
Frame 91
tensor(0.3464)
 # KEYFRAME 81
0.09646468700157129
Frame 92
tensor(0.2193)
 # KEYFRAME 82
0.09524788099952275
Frame 93
tensor(0.2781)
 # KEYFRAME 83
0.09648113599905628
Frame 94
tensor(0.1625)
 # KEYFRAME 84
0.09767729200029862
Frame 95
tensor(0.2330)
 # KEYFRAME 85
0.0990565179999976
Frame 96
tensor(0.1077)
 # KEYFRAME 86
0.09987331400043331
Frame 97
tensor(0.1662)
 # KEYFRAME 87
0.10149741799978074
Frame 98
tensor(0.3204)
 # KEYFRAME 88
0.10250063499915996
Frame 99
tensor(0.3767)
 # KEYFRAME 89
0.10250984500089544
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=481 loss_distill=0.4024 tta_take=0.009s
Frame 100
tensor(0.3164)
 # KEYFRAME 90
0.09252627100067912
Frame 101
tensor(0.2165)
 # KEYFRAME 91
0.09616842800096492
Frame 102
tensor(0.3201)
 # KEYFRAME 92
0.09587634899799014
Frame 103
tensor(0.2999)
 # KEYFRAME 93
0.09741106300134561
Frame 104
tensor(0.4050)
 # KEYFRAME 94
0.09823995999977342
Frame 105
tensor(0.3256)
 # KEYFRAME 95
0.09941938599877176
Frame 106
tensor(0.1739)
 # KEYFRAME 96
0.09988064500066685
Frame 107
tensor(0.0843)
Frame 108
tensor(0.3146)
 # KEYFRAME 97
0.10099519099821919
Frame 109
tensor(0.3615)
 # KEYFRAME 98
0.10142476900000474
Frame 110
tensor(0.4088)
 # KEYFRAME 99
0.10236599500058219
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=482 loss_distill=0.4024 tta_take=0.009s
Frame 111
tensor(0.2978)
 # KEYFRAME 100
0.09303504900162807
Frame 112
tensor(0.3159)
 # KEYFRAME 101
0.09591715899659903
Frame 113
tensor(0.2084)
 # KEYFRAME 102
0.09496728200247162
Frame 114
tensor(0.1776)
 # KEYFRAME 103
0.0959216990013374
Frame 115
tensor(0.1182)
 # KEYFRAME 104
0.09673933600060991
Frame 116
tensor(0.2953)
 # KEYFRAME 105
0.09757259299658472
Frame 117
tensor(0.1756)
 # KEYFRAME 106
0.09784868199858465
Frame 118
tensor(0.4371)
 # KEYFRAME 107
0.09818011999959708
Frame 119
tensor(0.4143)
 # KEYFRAME 108
0.0993449369998416
Frame 120
tensor(0.2912)
 # KEYFRAME 109
0.10000409400163335
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=483 loss_distill=0.4024 tta_take=0.009s
Frame 121
tensor(0.3581)
 # KEYFRAME 110
0.09322968800188391
Frame 122
tensor(0.1990)
 # KEYFRAME 111
0.09405742499802727
Frame 123
tensor(0.2596)
 # KEYFRAME 112
0.09511623199796304
Frame 124
tensor(0.1327)
 # KEYFRAME 113
0.0966608160015312
Frame 125
tensor(0.1008)
 # KEYFRAME 114
0.09752346299865167
Frame 126
tensor(0.2505)
 # KEYFRAME 115
0.09818966999955592
Frame 127
tensor(0.2288)
 # KEYFRAME 116
0.09912024700315669
Frame 128
tensor(0.1994)
 # KEYFRAME 117
0.09930892600095831
Frame 129
tensor(0.5261)
 # KEYFRAME 118
0.10082503100056783
Frame 130
tensor(0.1705)
 # KEYFRAME 119
0.10274958399895695
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=484 loss_distill=0.4024 tta_take=0.009s
Frame 131
tensor(0.4736)
 # KEYFRAME 120
0.09360359699712717
Frame 132
tensor(0.2292)
 # KEYFRAME 121
0.09565349900003639
Frame 133
tensor(0.1025)
 # KEYFRAME 122
0.0949846420007816
Frame 134
tensor(0.3200)
 # KEYFRAME 123
0.09619635800117976
Frame 135
tensor(0.1889)
 # KEYFRAME 124
0.09643395600141957
Frame 136
tensor(0.0909)
Frame 137
tensor(0.1759)
 # KEYFRAME 125
0.09723874300107127
Frame 138
tensor(0.2571)
 # KEYFRAME 126
0.09858649899979355
Frame 139
tensor(0.3019)
 # KEYFRAME 127
0.09861935899971286
Frame 140
tensor(0.2484)
 # KEYFRAME 128
0.09967483499713126
Frame 141
tensor(0.0952)
Frame 142
tensor(0.1189)
 # KEYFRAME 129
0.10060868199798279
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=485 loss_distill=0.4024 tta_take=0.009s
[epoch 0 scene 71/556] scannetpp/1a8e0d78c0/frame frames=143 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=485 time=61.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1769)
 # KEYFRAME 1
Frame 2
tensor(0.0801)
Frame 3
tensor(0.1554)
 # KEYFRAME 2
0.0510879979992751
Frame 4
tensor(0.0638)
Frame 5
tensor(0.1532)
 # KEYFRAME 3
0.051883544998418074
Frame 6
tensor(0.0864)
Frame 7
tensor(0.2023)
 # KEYFRAME 4
0.052805732000706485
Frame 8
tensor(0.0929)
Frame 9
tensor(0.1863)
 # KEYFRAME 5
0.05413848700118251
Frame 10
tensor(0.0702)
Frame 11
tensor(0.1582)
 # KEYFRAME 6
0.05488154400154599
Frame 12
tensor(0.0911)
Frame 13
tensor(0.1443)
 # KEYFRAME 7
0.05614693999814335
Frame 14
tensor(0.1103)
 # KEYFRAME 8
0.05691980700066779
Frame 15
tensor(0.0777)
Frame 16
tensor(0.1588)
 # KEYFRAME 9
0.056876348000514554
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 17
tensor(0.1007)
 # KEYFRAME 10
0.05155967699829489
Frame 18
tensor(0.0948)
Frame 19
tensor(0.1545)
 # KEYFRAME 11
0.052676062998216366
Frame 20
tensor(0.1163)
 # KEYFRAME 12
0.05296147099943482
Frame 21
tensor(0.0739)
Frame 22
tensor(0.1398)
 # KEYFRAME 13
0.054391277000831906
Frame 23
tensor(0.0547)
Frame 24
tensor(0.1052)
 # KEYFRAME 14
0.05436457699761377
Frame 25
tensor(0.0831)
Frame 26
tensor(0.1902)
 # KEYFRAME 15
0.05450489599752473
Frame 27
tensor(0.1049)
 # KEYFRAME 16
0.05487277399879531
Frame 28
tensor(0.0595)
Frame 29
tensor(0.1450)
 # KEYFRAME 17
0.05581382099990151
Frame 30
tensor(0.0755)
Frame 31
tensor(0.1206)
 # KEYFRAME 18
0.05674131799969473
Frame 32
tensor(0.0252)
Frame 33
tensor(0.0459)
Frame 34
tensor(0.0506)
Frame 35
tensor(0.1180)
 # KEYFRAME 19
0.05742252500203904
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 36
tensor(0.4416)
 # KEYFRAME 20
0.05394890800016583
Frame 37
tensor(0.0330)
Frame 38
tensor(0.0462)
Frame 39
tensor(0.0939)
Frame 40
tensor(0.1311)
 # KEYFRAME 21
0.05461727500005509
Frame 41
tensor(0.0441)
Frame 42
tensor(0.0964)
Frame 43
tensor(0.1981)
 # KEYFRAME 22
0.055324412998743355
Frame 44
tensor(0.1488)
 # KEYFRAME 23
0.05594242100050906
Frame 45
tensor(0.1120)
 # KEYFRAME 24
0.056671158999961335
Frame 46
tensor(0.0980)
Frame 47
tensor(0.1380)
 # KEYFRAME 25
0.05688850699880277
Frame 48
tensor(0.0463)
Frame 49
tensor(0.0781)
Frame 50
tensor(0.1309)
 # KEYFRAME 26
0.058281123001506785
Frame 51
tensor(0.0600)
Frame 52
tensor(0.1224)
 # KEYFRAME 27
0.0589995500013174
Frame 53
tensor(0.0802)
Frame 54
tensor(0.1526)
 # KEYFRAME 28
0.059112778999406146
Frame 55
tensor(0.1133)
 # KEYFRAME 29
0.05993851699895458
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 56
tensor(0.1161)
 # KEYFRAME 30
0.05845760200099903
Frame 57
tensor(0.1394)
 # KEYFRAME 31
0.05897896000169567
Frame 58
tensor(0.1417)
 # KEYFRAME 32
0.05911343900152133
Frame 59
tensor(0.1541)
 # KEYFRAME 33
0.06026042599842185
Frame 60
tensor(0.1553)
 # KEYFRAME 34
0.06077804300002754
Frame 61
tensor(0.1220)
 # KEYFRAME 35
0.061580631001561414
Frame 62
tensor(0.0996)
Frame 63
tensor(0.1544)
 # KEYFRAME 36
0.062469418000546284
Frame 64
tensor(0.0917)
Frame 65
tensor(0.1953)
 # KEYFRAME 37
0.06289638599992031
Frame 66
tensor(0.0983)
Frame 67
tensor(0.1979)
 # KEYFRAME 38
0.06307978499899036
Frame 68
tensor(0.0973)
Frame 69
tensor(0.1937)
 # KEYFRAME 39
0.06385870300073293
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=486 loss_distill=0.1733 tta_take=0.009s
Frame 70
tensor(0.1000)
 # KEYFRAME 40
0.0627890860014304
Frame 71
tensor(0.0890)
Frame 72
tensor(0.1516)
 # KEYFRAME 41
0.06447091099835234
Frame 73
tensor(0.0721)
Frame 74
tensor(0.1546)
 # KEYFRAME 42
0.06476165899948683
Frame 75
tensor(0.0949)
Frame 76
tensor(0.1419)
 # KEYFRAME 43
0.06454267999652075
Frame 77
tensor(0.0631)
Frame 78
tensor(0.1352)
 # KEYFRAME 44
0.06585808499949053
Frame 79
tensor(0.0375)
Frame 80
tensor(0.0856)
Frame 81
tensor(0.1230)
 # KEYFRAME 45
0.06647323300057906
Frame 82
tensor(0.0365)
Frame 83
tensor(0.0645)
Frame 84
tensor(0.1297)
 # KEYFRAME 46
0.06651626299935742
Frame 85
tensor(0.0173)
Frame 86
tensor(0.1170)
 # KEYFRAME 47
0.06692816199938534
Frame 87
tensor(0.0597)
Frame 88
tensor(0.1328)
 # KEYFRAME 48
0.06779525900128647
Frame 89
tensor(0.1011)
 # KEYFRAME 49
0.06847116599965375
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=487 loss_distill=0.2747 tta_take=0.009s
Frame 90
tensor(0.0746)
Frame 91
tensor(0.1451)
 # KEYFRAME 50
0.0666930119987228
Frame 92
tensor(0.0686)
Frame 93
tensor(0.1318)
 # KEYFRAME 51
0.0685741950001102
Frame 94
tensor(0.0577)
Frame 95
tensor(0.1187)
 # KEYFRAME 52
0.0685080260009272
Frame 96
tensor(0.0524)
Frame 97
tensor(0.1089)
 # KEYFRAME 53
0.06897861399920657
Frame 98
tensor(0.0798)
Frame 99
tensor(0.1938)
 # KEYFRAME 54
0.06879502499941736
Frame 100
tensor(0.0585)
Frame 101
tensor(0.0967)
Frame 102
tensor(0.1387)
 # KEYFRAME 55
0.06993926100039971
Frame 103
tensor(0.5387)
 # KEYFRAME 56
0.07114206699770875
Frame 104
tensor(0.0309)
Frame 105
tensor(0.0744)
Frame 106
tensor(0.1177)
 # KEYFRAME 57
0.07108082599734189
Frame 107
tensor(0.0543)
Frame 108
tensor(0.0921)
Frame 109
tensor(0.1285)
 # KEYFRAME 58
0.07094654699903913
Frame 110
tensor(0.0172)
Frame 111
tensor(0.0576)
Frame 112
tensor(0.0898)
Frame 113
tensor(0.1119)
 # KEYFRAME 59
0.071940234000067
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=488 loss_distill=0.3466 tta_take=0.009s
Frame 114
tensor(0.0539)
Frame 115
tensor(0.1032)
 # KEYFRAME 60
0.07096096800160012
Frame 116
tensor(0.0400)
Frame 117
tensor(0.0750)
Frame 118
tensor(0.1140)
 # KEYFRAME 61
0.07247508200089214
Frame 119
tensor(0.4621)
 # KEYFRAME 62
0.07211905299845967
Frame 120
tensor(0.0571)
Frame 121
tensor(0.1039)
 # KEYFRAME 63
0.07290040000225417
Frame 122
tensor(0.0614)
Frame 123
tensor(0.1267)
 # KEYFRAME 64
0.07389163699917844
Frame 124
tensor(0.1357)
 # KEYFRAME 65
0.0734590179999941
Frame 125
tensor(0.1015)
 # KEYFRAME 66
0.07467289399937727
Frame 126
tensor(0.1286)
 # KEYFRAME 67
0.07485492300111218
Frame 127
tensor(0.1272)
 # KEYFRAME 68
0.07580912999765133
Frame 128
tensor(0.0936)
Frame 129
tensor(0.2538)
 # KEYFRAME 69
0.07651968699792633
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=489 loss_distill=0.4024 tta_take=0.009s
Frame 130
tensor(0.0993)
Frame 131
tensor(0.1400)
 # KEYFRAME 70
0.07558717100255308
Frame 132
tensor(0.0609)
Frame 133
tensor(0.1117)
 # KEYFRAME 71
0.07782820299689774
Frame 134
tensor(0.0600)
Frame 135
tensor(0.0767)
Frame 136
tensor(0.1173)
 # KEYFRAME 72
0.0765374869988591
Frame 137
tensor(0.0615)
Frame 138
tensor(0.1018)
 # KEYFRAME 73
0.07699014500030898
Frame 139
tensor(0.0355)
Frame 140
tensor(0.0732)
Frame 141
tensor(0.0911)
Frame 142
tensor(0.1290)
 # KEYFRAME 74
0.07774693299870705
Frame 143
tensor(0.0243)
Frame 144
tensor(0.0531)
Frame 145
tensor(0.1267)
 # KEYFRAME 75
0.07888849899973138
Frame 146
tensor(0.0945)
Frame 147
tensor(0.2267)
 # KEYFRAME 76
0.0784007410002232
Backending... 77 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62310, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=490 loss_distill=0.4024 tta_take=0.007s
[epoch 0 scene 72/556] scannetpp/7eac902fd5/DSC frames=148 tta_steps_this_scene=5 mean_loss=0.3198 total_steps=490 time=34.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1391)
 # KEYFRAME 1
Frame 2
tensor(0.1472)
 # KEYFRAME 2
0.05142039700149326
Frame 3
tensor(0.3932)
 # KEYFRAME 3
0.05184011500023189
Frame 4
tensor(0.2561)
 # KEYFRAME 4
0.05304909099868382
Frame 5
tensor(0.1665)
 # KEYFRAME 5
0.05437252699994133
Frame 6
tensor(0.2144)
 # KEYFRAME 6
0.055306464000750566
Frame 7
tensor(0.2868)
 # KEYFRAME 7
0.05609670099875075
Frame 8
tensor(0.2765)
 # KEYFRAME 8
0.05717082599949208
Frame 9
tensor(0.3285)
 # KEYFRAME 9
0.057650415001262445
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.1211)
 # KEYFRAME 10
0.051592105999588966
Frame 11
tensor(0.2037)
 # KEYFRAME 11
0.053151030999288196
Frame 12
tensor(0.0667)
Frame 13
tensor(0.2085)
 # KEYFRAME 12
0.05380340899864677
Frame 14
tensor(0.0783)
Frame 15
tensor(0.1903)
 # KEYFRAME 13
0.05481694499758305
Frame 16
tensor(0.2176)
 # KEYFRAME 14
0.05497811399982311
Frame 17
tensor(0.5135)
 # KEYFRAME 15
0.054466916000819765
Frame 18
tensor(0.4813)
 # KEYFRAME 16
0.05569908200050122
Frame 19
tensor(0.0609)
Frame 20
tensor(0.2310)
 # KEYFRAME 17
0.0558965710006305
Frame 21
tensor(0.0865)
Frame 22
tensor(0.0930)
Frame 23
tensor(0.2180)
 # KEYFRAME 18
0.05677395800012164
Frame 24
tensor(0.2255)
 # KEYFRAME 19
0.05814422299954458
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.1569)
 # KEYFRAME 20
0.053862587999901734
Frame 26
tensor(0.0877)
Frame 27
tensor(0.2781)
 # KEYFRAME 21
0.05525058299826924
Frame 28
tensor(0.4880)
 # KEYFRAME 22
0.05572827099967981
Frame 29
tensor(0.2764)
 # KEYFRAME 23
0.056681298003240954
Frame 30
tensor(0.0788)
Frame 31
tensor(0.4401)
 # KEYFRAME 24
0.05768592499953229
Frame 32
tensor(0.4406)
 # KEYFRAME 25
0.05897975100015174
Frame 33
tensor(0.2126)
 # KEYFRAME 26
0.05952402799812262
Frame 34
tensor(0.1250)
 # KEYFRAME 27
0.06045026499850792
Frame 35
tensor(0.1831)
 # KEYFRAME 28
0.06063522399927024
Frame 36
tensor(0.1632)
 # KEYFRAME 29
0.06148033100180328
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 37
tensor(0.1341)
 # KEYFRAME 30
0.058045784000569256
Frame 38
tensor(0.3723)
 # KEYFRAME 31
0.059729597000114154
Frame 39
tensor(0.4768)
 # KEYFRAME 32
0.05975552699965192
Frame 40
tensor(0.1355)
 # KEYFRAME 33
0.06176489000063157
Frame 41
tensor(0.1687)
 # KEYFRAME 34
0.06378240199774154
Frame 42
tensor(0.1830)
 # KEYFRAME 35
0.06427383100162842
Frame 43
tensor(0.0398)
Frame 44
tensor(0.2078)
 # KEYFRAME 36
0.06528343800164293
Frame 45
tensor(0.3138)
 # KEYFRAME 37
0.06575115600207937
Frame 46
tensor(0.5030)
 # KEYFRAME 38
0.06625717399947462
Frame 47
tensor(0.0661)
Frame 48
tensor(0.1459)
 # KEYFRAME 39
0.06686591199832037
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=491 loss_distill=0.1733 tta_take=0.009s
Frame 49
tensor(0.3624)
 # KEYFRAME 40
0.06234181800027727
Frame 50
tensor(0.1885)
 # KEYFRAME 41
0.06388458299988997
Frame 51
tensor(0.1456)
 # KEYFRAME 42
0.0641211319998547
Frame 52
tensor(0.1583)
 # KEYFRAME 43
0.06427736100158654
Frame 53
tensor(0.1128)
 # KEYFRAME 44
0.06628614399960497
Frame 54
tensor(0.1637)
 # KEYFRAME 45
0.06715180100218276
Frame 55
tensor(0.1427)
 # KEYFRAME 46
0.06811559699781355
Frame 56
tensor(0.0987)
Frame 57
tensor(0.4143)
 # KEYFRAME 47
0.06885968499773298
Frame 58
tensor(0.2557)
 # KEYFRAME 48
0.06981929100220441
Frame 59
tensor(0.2417)
 # KEYFRAME 49
0.07015746999968542
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=492 loss_distill=0.2747 tta_take=0.009s
Frame 60
tensor(0.2062)
 # KEYFRAME 50
0.06680452200089348
Frame 61
tensor(0.2654)
 # KEYFRAME 51
0.06826800699855085
Frame 62
tensor(0.2351)
 # KEYFRAME 52
0.06883392500094487
Frame 63
tensor(0.1190)
 # KEYFRAME 53
0.0696229819986911
Frame 64
tensor(0.1567)
 # KEYFRAME 54
0.06929404300171882
Frame 65
tensor(0.1920)
 # KEYFRAME 55
0.07177025399869308
Frame 66
tensor(0.2660)
 # KEYFRAME 56
0.07233098199867527
Frame 67
tensor(0.1527)
 # KEYFRAME 57
0.07324473900007433
Frame 68
tensor(0.1123)
 # KEYFRAME 58
0.07404165600019041
Frame 69
tensor(0.2126)
 # KEYFRAME 59
0.07565581100061536
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=493 loss_distill=0.3466 tta_take=0.008s
Frame 70
tensor(0.0950)
Frame 71
tensor(0.1647)
 # KEYFRAME 60
0.07129034600075101
Frame 72
tensor(0.2436)
 # KEYFRAME 61
0.07274416099971859
Frame 73
tensor(0.3704)
 # KEYFRAME 62
0.07217311299973517
Frame 74
tensor(0.1790)
 # KEYFRAME 63
0.07287894099863479
Frame 75
tensor(0.1591)
 # KEYFRAME 64
0.07356691799941473
Frame 76
tensor(0.1798)
 # KEYFRAME 65
0.07346133800092502
Frame 77
tensor(0.1551)
 # KEYFRAME 66
0.07428356599848485
Frame 78
tensor(0.0359)
Frame 79
tensor(0.0735)
Frame 80
tensor(0.1476)
 # KEYFRAME 67
0.07504928300113534
Frame 81
tensor(0.4807)
 # KEYFRAME 68
0.07584035000036238
Frame 82
tensor(0.4643)
 # KEYFRAME 69
0.07619696900292183
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=494 loss_distill=0.4024 tta_take=0.008s
Frame 83
tensor(0.2509)
 # KEYFRAME 70
0.07569166100074654
Frame 84
tensor(0.1979)
 # KEYFRAME 71
0.07652309799959767
Frame 85
tensor(0.4570)
 # KEYFRAME 72
0.07656653699814342
Frame 86
tensor(0.3517)
 # KEYFRAME 73
0.07731679499920574
Frame 87
tensor(0.1989)
 # KEYFRAME 74
0.07779191299778176
Frame 88
tensor(0.2534)
 # KEYFRAME 75
0.0782277520011121
Frame 89
tensor(0.7342)
 # KEYFRAME 76
0.07795407300000079
Frame 90
tensor(0.2101)
 # KEYFRAME 77
0.07851673100230983
Frame 91
tensor(0.1098)
 # KEYFRAME 78
0.07958863699968788
Frame 92
tensor(0.0710)
Frame 93
tensor(0.1936)
 # KEYFRAME 79
0.08000094500312116
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=495 loss_distill=0.4024 tta_take=0.008s
Frame 94
tensor(0.1478)
 # KEYFRAME 80
0.07691345599960187
Frame 95
tensor(0.1556)
 # KEYFRAME 81
0.07707310599653283
Frame 96
tensor(0.2792)
 # KEYFRAME 82
0.07660424700225121
Frame 97
tensor(0.1141)
 # KEYFRAME 83
0.07729334499890683
Frame 98
tensor(0.2306)
 # KEYFRAME 84
0.07742300500103738
Frame 99
tensor(0.1106)
 # KEYFRAME 85
0.07834627099873614
Frame 100
tensor(0.0956)
Frame 101
tensor(0.2106)
 # KEYFRAME 86
0.07880586000101175
Frame 102
tensor(0.1555)
 # KEYFRAME 87
0.0797609459987143
Frame 103
tensor(0.0929)
Frame 104
tensor(0.1894)
 # KEYFRAME 88
0.07973896600014996
Frame 105
tensor(0.0606)
Frame 106
tensor(0.2439)
 # KEYFRAME 89
0.08020171500174911
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=496 loss_distill=0.4024 tta_take=0.009s
Frame 107
tensor(0.1519)
 # KEYFRAME 90
0.07507815200006007
Frame 108
tensor(1.0132)
 # KEYFRAME 91
0.07701563600130612
Frame 109
tensor(0.1497)
 # KEYFRAME 92
0.076911377000215
Frame 110
tensor(0.1598)
 # KEYFRAME 93
0.07761864400163176
Frame 111
tensor(0.1795)
 # KEYFRAME 94
0.07825751100244815
Frame 112
tensor(0.1292)
 # KEYFRAME 95
0.0794990169997618
Frame 113
tensor(0.1206)
 # KEYFRAME 96
0.07884880900019198
Frame 114
tensor(0.1071)
 # KEYFRAME 97
0.08016510500237928
Frame 115
tensor(0.0374)
Frame 116
tensor(0.0726)
Frame 117
tensor(0.1480)
 # KEYFRAME 98
0.08138253000288387
Frame 118
tensor(0.2749)
 # KEYFRAME 99
0.0815084999994724
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=497 loss_distill=0.4024 tta_take=0.008s
Frame 119
tensor(0.2369)
 # KEYFRAME 100
0.07521905199973844
Frame 120
tensor(0.1609)
 # KEYFRAME 101
0.0775015639992489
Frame 121
tensor(0.1492)
 # KEYFRAME 102
0.07671937700069975
Frame 122
tensor(0.0716)
Frame 123
tensor(0.2052)
 # KEYFRAME 103
0.07732839500022237
Frame 124
tensor(0.1584)
 # KEYFRAME 104
0.07784517300024163
Frame 125
tensor(0.0799)
Frame 126
tensor(0.2638)
 # KEYFRAME 105
0.07847260999915306
Frame 127
tensor(0.2237)
 # KEYFRAME 106
0.07854702099939459
Frame 128
tensor(0.1333)
 # KEYFRAME 107
0.07936789700033842
Frame 129
tensor(0.3404)
 # KEYFRAME 108
0.07971569599976647
Frame 130
tensor(0.0416)
Frame 131
tensor(0.3990)
 # KEYFRAME 109
0.08009740499983309
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=498 loss_distill=0.4024 tta_take=0.009s
Frame 132
tensor(0.1349)
 # KEYFRAME 110
0.07529990200055181
Frame 133
tensor(0.1483)
 # KEYFRAME 111
0.07579937999980757
Frame 134
tensor(0.1566)
 # KEYFRAME 112
0.07701453600020614
Frame 135
tensor(0.1611)
 # KEYFRAME 113
0.07713879500079202
Frame 136
tensor(0.0951)
Frame 137
tensor(0.4432)
 # KEYFRAME 114
0.07779265299905092
Frame 138
tensor(0.2288)
 # KEYFRAME 115
0.07867837999947369
Frame 139
tensor(0.1192)
 # KEYFRAME 116
0.0780070920009166
Frame 140
tensor(0.4204)
 # KEYFRAME 117
0.07903517900194856
Frame 141
tensor(0.0407)
Frame 142
tensor(0.1144)
 # KEYFRAME 118
0.07951156700073625
Frame 143
tensor(0.1370)
 # KEYFRAME 119
0.0802074849998462
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=499 loss_distill=0.4024 tta_take=0.009s
Frame 144
tensor(0.1128)
 # KEYFRAME 120
0.07532919200093602
Frame 145
tensor(0.1977)
 # KEYFRAME 121
0.0774026139988564
Frame 146
tensor(0.3196)
 # KEYFRAME 122
0.07721261500046239
Frame 147
tensor(0.0687)
Frame 148
tensor(0.2427)
 # KEYFRAME 123
0.07768901399686001
Frame 149
tensor(0.0812)
Backending... 124 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 59520, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=500 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 73/556] scannetpp/f8f12e4e6b/DSC frames=150 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=500 time=54.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1611)
 # KEYFRAME 1
Frame 2
tensor(0.1962)
 # KEYFRAME 2
0.051791245001368225
Frame 3
tensor(0.1920)
 # KEYFRAME 3
0.052743682001164416
Frame 4
tensor(0.2787)
 # KEYFRAME 4
0.05333902100028354
Frame 5
tensor(0.3883)
 # KEYFRAME 5
0.05416069800048717
Frame 6
tensor(0.2193)
 # KEYFRAME 6
0.05543788300201413
Frame 7
tensor(0.2619)
 # KEYFRAME 7
0.056154390000301646
Frame 8
tensor(0.3497)
 # KEYFRAME 8
0.05684254800144117
Frame 9
tensor(0.0758)
Frame 10
tensor(0.2398)
 # KEYFRAME 9
0.05790080400038278
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.0830)
Frame 12
tensor(0.0959)
Frame 13
tensor(0.1690)
 # KEYFRAME 10
0.05142302699823631
Frame 14
tensor(0.0886)
Frame 15
tensor(0.1239)
 # KEYFRAME 11
0.05248478300200077
Frame 16
tensor(0.1825)
 # KEYFRAME 12
0.053217300002870616
Frame 17
tensor(0.1512)
 # KEYFRAME 13
0.05497781500162091
Frame 18
tensor(0.0937)
Frame 19
tensor(0.1045)
 # KEYFRAME 14
0.054770474998804275
Frame 20
tensor(0.1557)
 # KEYFRAME 15
0.054677435000485275
Frame 21
tensor(0.1908)
 # KEYFRAME 16
0.05561791200307198
Frame 22
tensor(0.0454)
Frame 23
tensor(0.1277)
 # KEYFRAME 17
0.056334108998271404
Frame 24
tensor(0.0627)
Frame 25
tensor(0.0346)
Frame 26
tensor(0.1487)
 # KEYFRAME 18
0.057032847002119524
Frame 27
tensor(0.4753)
 # KEYFRAME 19
0.05792005299736047
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 28
tensor(0.3156)
 # KEYFRAME 20
0.05393861799893784
Frame 29
tensor(0.1464)
 # KEYFRAME 21
0.05430214599982719
Frame 30
tensor(0.1917)
 # KEYFRAME 22
0.05483740500130807
Frame 31
tensor(0.4737)
 # KEYFRAME 23
0.05548325199924875
Frame 32
tensor(0.1573)
 # KEYFRAME 24
0.05552832199828117
Frame 33
tensor(0.1599)
 # KEYFRAME 25
0.05646394900031737
Frame 34
tensor(0.1183)
 # KEYFRAME 26
0.05772475399862742
Frame 35
tensor(0.2355)
 # KEYFRAME 27
0.058538271998259006
Frame 36
tensor(0.3046)
 # KEYFRAME 28
0.0597002069989685
Frame 37
tensor(0.3790)
 # KEYFRAME 29
0.06026596500305459
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 38
tensor(0.2410)
 # KEYFRAME 30
0.058009673997730715
Frame 39
tensor(0.1980)
 # KEYFRAME 31
0.05925237900009961
Frame 40
tensor(0.1931)
 # KEYFRAME 32
0.05935213900011149
Frame 41
tensor(0.1901)
 # KEYFRAME 33
0.060096705998148536
Frame 42
tensor(0.1666)
 # KEYFRAME 34
0.06062388399732299
Frame 43
tensor(0.3137)
 # KEYFRAME 35
0.06128816199998255
Frame 44
tensor(0.1670)
 # KEYFRAME 36
0.06204930899912142
Frame 45
tensor(0.1185)
 # KEYFRAME 37
0.0628059470000153
Frame 46
tensor(0.2258)
 # KEYFRAME 38
0.06331130499893334
Frame 47
tensor(0.3570)
 # KEYFRAME 39
0.06379596300030244
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=501 loss_distill=0.1733 tta_take=0.009s
Frame 48
tensor(0.2463)
 # KEYFRAME 40
0.062469967000652105
Frame 49
tensor(0.1410)
 # KEYFRAME 41
0.06427134100158582
Frame 50
tensor(0.4013)
 # KEYFRAME 42
0.06455278000066755
Frame 51
tensor(0.3012)
 # KEYFRAME 43
0.06447072099763318
Frame 52
tensor(0.0929)
Frame 53
tensor(0.2298)
 # KEYFRAME 44
0.06665211300060037
Frame 54
tensor(0.2748)
 # KEYFRAME 45
0.06715116100167506
Frame 55
tensor(0.1492)
 # KEYFRAME 46
0.06783403900044505
Frame 56
tensor(0.1553)
 # KEYFRAME 47
0.06854431600004318
Frame 57
tensor(0.0431)
Frame 58
tensor(0.0964)
Frame 59
tensor(0.3682)
 # KEYFRAME 48
0.06894824499977403
Frame 60
tensor(0.1690)
 # KEYFRAME 49
0.06930292400284088
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=502 loss_distill=0.2747 tta_take=0.009s
Frame 61
tensor(0.2169)
 # KEYFRAME 50
0.06657731300219893
Frame 62
tensor(0.0834)
Frame 63
tensor(0.1596)
 # KEYFRAME 51
0.0679889480015845
Frame 64
tensor(0.2990)
 # KEYFRAME 52
0.067786158000672
Frame 65
tensor(0.0492)
Frame 66
tensor(0.0844)
Frame 67
tensor(0.0825)
Frame 68
tensor(0.1170)
 # KEYFRAME 53
0.06832414699965739
Frame 69
tensor(0.2448)
 # KEYFRAME 54
0.06868711500283098
Frame 70
tensor(0.3026)
 # KEYFRAME 55
0.06927426300171646
Frame 71
tensor(0.2501)
 # KEYFRAME 56
0.07004869999946095
Frame 72
tensor(0.1318)
 # KEYFRAME 57
0.07037612000203808
Frame 73
tensor(0.2349)
 # KEYFRAME 58
0.07091044800108648
Frame 74
tensor(0.4726)
 # KEYFRAME 59
0.07135301699963748
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=503 loss_distill=0.3466 tta_take=0.008s
Frame 75
tensor(0.2228)
 # KEYFRAME 60
0.07113755699901958
Frame 76
tensor(0.2032)
 # KEYFRAME 61
0.07294173099944601
Frame 77
tensor(0.0594)
Frame 78
tensor(0.0891)
Frame 79
tensor(0.1613)
 # KEYFRAME 62
0.07305052000083379
Frame 80
tensor(0.0658)
Frame 81
tensor(0.1900)
 # KEYFRAME 63
0.07356538900057785
Frame 82
tensor(0.0559)
Frame 83
tensor(0.2779)
 # KEYFRAME 64
0.07402297700173222
Frame 84
tensor(0.1627)
 # KEYFRAME 65
0.07378854799753753
Frame 85
tensor(0.0850)
Frame 86
tensor(0.1729)
 # KEYFRAME 66
0.07509166299860226
Frame 87
tensor(0.0523)
Frame 88
tensor(0.0840)
Frame 89
tensor(0.2461)
 # KEYFRAME 67
0.07623109799897065
Frame 90
tensor(0.1078)
 # KEYFRAME 68
0.07706041599885793
Frame 91
tensor(0.1060)
 # KEYFRAME 69
0.0773195649999252
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=504 loss_distill=0.4024 tta_take=0.009s
Frame 92
tensor(0.0269)
Frame 93
tensor(0.1100)
 # KEYFRAME 70
0.07527233200016781
Frame 94
tensor(0.1460)
 # KEYFRAME 71
0.07801887200184865
Frame 95
tensor(0.1551)
 # KEYFRAME 72
0.07684070699906442
Frame 96
tensor(0.2003)
 # KEYFRAME 73
0.0782002209998609
Frame 97
tensor(0.1926)
 # KEYFRAME 74
0.07935916800124687
Frame 98
tensor(0.1690)
 # KEYFRAME 75
0.08014367500072694
Frame 99
tensor(0.4706)
 # KEYFRAME 76
0.07939196799998172
Frame 100
tensor(0.2025)
 # KEYFRAME 77
0.08128530099929776
Frame 101
tensor(0.0844)
Frame 102
tensor(0.2351)
 # KEYFRAME 78
0.08232164699802524
Frame 103
tensor(0.2609)
 # KEYFRAME 79
0.08301386399762123
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=505 loss_distill=0.4024 tta_take=0.009s
Frame 104
tensor(0.3250)
 # KEYFRAME 80
0.07557266100047855
Frame 105
tensor(0.1885)
 # KEYFRAME 81
0.07756052400145563
Frame 106
tensor(0.0454)
Frame 107
tensor(0.2236)
 # KEYFRAME 82
0.07688589700046577
Frame 108
tensor(0.1501)
 # KEYFRAME 83
0.07726187499793014
Frame 109
tensor(0.2643)
 # KEYFRAME 84
0.07796422300089034
Frame 110
tensor(0.2163)
 # KEYFRAME 85
0.07820304200140527
Frame 111
tensor(0.1039)
 # KEYFRAME 86
0.07868631000019377
Frame 112
tensor(0.1974)
 # KEYFRAME 87
0.07914539800185594
Frame 113
tensor(0.5530)
 # KEYFRAME 88
0.07926698799929
Frame 114
tensor(0.4198)
 # KEYFRAME 89
0.07971790600277018
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=506 loss_distill=0.4024 tta_take=0.009s
Frame 115
tensor(0.1103)
 # KEYFRAME 90
0.07543065099889645
Frame 116
tensor(0.2083)
 # KEYFRAME 91
0.07799996199901216
Frame 117
tensor(0.1146)
 # KEYFRAME 92
0.07771743299963418
Frame 118
tensor(0.0782)
Frame 119
tensor(0.3913)
 # KEYFRAME 93
0.07818404199861106
Frame 120
tensor(0.4314)
 # KEYFRAME 94
0.07936345799680566
Frame 121
tensor(0.0744)
Frame 122
tensor(0.1926)
 # KEYFRAME 95
0.08033619400157477
Frame 123
tensor(0.1507)
 # KEYFRAME 96
0.07917988800181774
Frame 124
tensor(0.2097)
 # KEYFRAME 97
0.08173966899994412
Frame 125
tensor(0.0924)
Frame 126
tensor(0.2812)
 # KEYFRAME 98
0.08238686700133258
Frame 127
tensor(0.1376)
 # KEYFRAME 99
0.08329388399943127
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=507 loss_distill=0.4024 tta_take=0.009s
Frame 128
tensor(0.1331)
 # KEYFRAME 100
0.07536117100244155
Frame 129
tensor(0.0222)
Frame 130
tensor(0.1006)
 # KEYFRAME 101
0.07745898400025908
Frame 131
tensor(0.0222)
Frame 132
tensor(0.3298)
 # KEYFRAME 102
0.07684501699986868
Frame 133
tensor(0.3703)
 # KEYFRAME 103
0.07731565499852877
Frame 134
tensor(0.2111)
 # KEYFRAME 104
0.07808044199919095
Frame 135
tensor(0.1748)
 # KEYFRAME 105
0.07806077200075379
Frame 136
tensor(0.0506)
Frame 137
tensor(0.1964)
 # KEYFRAME 106
0.07779643300091266
Frame 138
tensor(0.0744)
Frame 139
tensor(0.0894)
Frame 140
tensor(0.2050)
 # KEYFRAME 107
0.07903628900021431
Frame 141
tensor(0.1332)
 # KEYFRAME 108
0.07936298799904762
Frame 142
tensor(0.1846)
 # KEYFRAME 109
0.07966530700286967
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=508 loss_distill=0.4024 tta_take=0.008s
Frame 143
tensor(0.1698)
 # KEYFRAME 110
0.07567983999979333
Frame 144
tensor(0.1475)
 # KEYFRAME 111
0.07623653900009231
Frame 145
tensor(0.0762)
Frame 146
tensor(0.1828)
 # KEYFRAME 112
0.07694127700233366
Frame 147
tensor(0.3554)
 # KEYFRAME 113
0.0770722260022012
Frame 148
tensor(0.1675)
 # KEYFRAME 114
0.07740540500162751
Frame 149
tensor(0.1183)
 # KEYFRAME 115
0.07775909400152159
Backending... 116 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 61380, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=509 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 74/556] scannetpp/8d563fc2cc/DSC frames=150 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=509 time=54.6s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0476)
Frame 2
tensor(0.1122)
 # KEYFRAME 1
Frame 3
tensor(0.0627)
Frame 4
tensor(0.1056)
 # KEYFRAME 2
0.05141173700030777
Frame 5
tensor(0.0551)
Frame 6
tensor(0.0983)
Frame 7
tensor(0.1233)
 # KEYFRAME 3
0.052645902997028315
Frame 8
tensor(0.0343)
Frame 9
tensor(0.0743)
Frame 10
tensor(0.1226)
 # KEYFRAME 4
0.05299690200263285
Frame 11
tensor(0.0150)
Frame 12
tensor(0.0201)
Frame 13
tensor(0.0346)
Frame 14
tensor(0.0765)
Frame 15
tensor(0.0800)
Frame 16
tensor(0.0453)
Frame 17
tensor(0.0089)
Frame 18
tensor(0.0685)
Frame 19
tensor(0.1129)
 # KEYFRAME 5
0.0549577940000745
Frame 20
tensor(0.0587)
Frame 21
tensor(0.1061)
 # KEYFRAME 6
0.05601053099962883
Frame 22
tensor(0.0656)
Frame 23
tensor(0.0756)
Frame 24
tensor(0.0947)
Frame 25
tensor(0.1199)
 # KEYFRAME 7
0.056914046999736456
Frame 26
tensor(0.0224)
Frame 27
tensor(0.0505)
Frame 28
tensor(0.0754)
Frame 29
tensor(0.0975)
Frame 30
tensor(0.1103)
 # KEYFRAME 8
0.05687630799729959
Frame 31
tensor(0.0638)
Frame 32
tensor(0.0907)
Frame 33
tensor(0.1075)
 # KEYFRAME 9
0.057403806000365876
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 34
tensor(0.0295)
Frame 35
tensor(0.0535)
Frame 36
tensor(0.1002)
 # KEYFRAME 10
0.051670625998667674
Frame 37
tensor(0.0377)
Frame 38
tensor(0.0716)
Frame 39
tensor(0.1254)
 # KEYFRAME 11
0.05240654299996095
Frame 40
tensor(0.1550)
 # KEYFRAME 12
0.05238215400095214
Frame 41
tensor(0.0557)
Frame 42
tensor(0.1195)
 # KEYFRAME 13
0.05480942600115668
Frame 43
tensor(0.0286)
Frame 44
tensor(0.0607)
Frame 45
tensor(0.0741)
Frame 46
tensor(0.0917)
Frame 47
tensor(0.0972)
Frame 48
tensor(0.1305)
 # KEYFRAME 14
0.054477146000863286
Frame 49
tensor(0.0439)
Frame 50
tensor(0.0819)
Frame 51
tensor(0.0846)
Frame 52
tensor(0.1018)
 # KEYFRAME 15
0.0552786840016779
Frame 53
tensor(0.0614)
Frame 54
tensor(0.1382)
 # KEYFRAME 16
0.05531423399952473
Frame 55
tensor(0.0545)
Frame 56
tensor(0.0805)
Frame 57
tensor(0.0872)
Frame 58
tensor(0.1059)
 # KEYFRAME 17
0.05607646100179409
Frame 59
tensor(0.0361)
Frame 60
tensor(0.0701)
Frame 61
tensor(0.0992)
Frame 62
tensor(0.1233)
 # KEYFRAME 18
0.05701462700017146
Frame 63
tensor(0.0300)
Frame 64
tensor(0.0522)
Frame 65
tensor(0.0803)
Frame 66
tensor(0.0985)
Frame 67
tensor(0.1122)
 # KEYFRAME 19
0.05720740600008867
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 68
tensor(0.0228)
Frame 69
tensor(0.0487)
Frame 70
tensor(0.0813)
Frame 71
tensor(0.3533)
 # KEYFRAME 20
0.053815618997759884
Frame 72
tensor(0.0213)
Frame 73
tensor(0.0476)
Frame 74
tensor(0.0682)
Frame 75
tensor(0.0918)
Frame 76
tensor(0.1128)
 # KEYFRAME 21
0.05505196399826673
Frame 77
tensor(0.0321)
Frame 78
tensor(0.0606)
Frame 79
tensor(0.0870)
Frame 80
tensor(0.1183)
 # KEYFRAME 22
0.05523488299877499
Frame 81
tensor(0.0191)
Frame 82
tensor(0.0434)
Frame 83
tensor(0.0677)
Frame 84
tensor(0.0874)
Frame 85
tensor(0.1162)
 # KEYFRAME 23
0.05568059199868003
Frame 86
tensor(0.0290)
Frame 87
tensor(0.0646)
Frame 88
tensor(0.0949)
Frame 89
tensor(0.1369)
 # KEYFRAME 24
0.056116740001016296
Frame 90
tensor(0.0509)
Frame 91
tensor(0.0822)
Frame 92
tensor(0.1416)
 # KEYFRAME 25
0.0568147769990901
Frame 93
tensor(0.0245)
Frame 94
tensor(0.0836)
Frame 95
tensor(0.1246)
 # KEYFRAME 26
0.057927092999307206
Frame 96
tensor(0.0469)
Frame 97
tensor(0.0903)
Frame 98
tensor(0.1171)
 # KEYFRAME 27
0.058913110002322355
Frame 99
tensor(0.0421)
Frame 100
tensor(0.0744)
Frame 101
tensor(0.3708)
 # KEYFRAME 28
0.059360619001381565
Frame 102
tensor(0.0548)
Frame 103
tensor(0.0943)
Frame 104
tensor(0.1458)
 # KEYFRAME 29
0.060516994999488816
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 105
tensor(0.0310)
Frame 106
tensor(0.0780)
Frame 107
tensor(0.1172)
 # KEYFRAME 30
0.0583454929983418
Frame 108
tensor(0.0459)
Frame 109
tensor(0.0633)
Frame 110
tensor(0.0820)
Frame 111
tensor(0.2199)
 # KEYFRAME 31
0.06017756599976565
Frame 112
tensor(0.0241)
Frame 113
tensor(0.0285)
Frame 114
tensor(0.0279)
Frame 115
tensor(0.0482)
Frame 116
tensor(0.1365)
 # KEYFRAME 32
0.05942398799743387
Frame 117
tensor(0.0194)
Frame 118
tensor(0.0475)
Frame 119
tensor(0.0622)
Frame 120
tensor(0.0900)
Frame 121
tensor(0.1234)
 # KEYFRAME 33
0.060364064996974776
Frame 122
tensor(0.0203)
Frame 123
tensor(0.0491)
Frame 124
tensor(0.1572)
 # KEYFRAME 34
0.06090616299843532
Frame 125
tensor(0.0212)
Frame 126
tensor(0.0502)
Frame 127
tensor(0.0794)
Frame 128
tensor(0.1188)
 # KEYFRAME 35
0.06127482200099621
Frame 129
tensor(0.0324)
Frame 130
tensor(0.0826)
Frame 131
tensor(0.1152)
 # KEYFRAME 36
0.06211073900340125
Frame 132
tensor(0.0335)
Frame 133
tensor(0.4747)
 # KEYFRAME 37
0.06283533699752297
Frame 134
tensor(0.0479)
Frame 135
tensor(0.1145)
 # KEYFRAME 38
0.06298553600208834
Frame 136
tensor(0.0469)
Frame 137
tensor(0.0951)
Frame 138
tensor(0.4326)
 # KEYFRAME 39
0.06428126099854126
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=510 loss_distill=0.1733 tta_take=0.009s
Frame 139
tensor(0.0147)
Frame 140
tensor(0.0493)
Frame 141
tensor(0.0815)
Frame 142
tensor(0.1039)
 # KEYFRAME 40
0.06252575699909357
Frame 143
tensor(0.0179)
Frame 144
tensor(0.3159)
 # KEYFRAME 41
0.06416088200057857
Frame 145
tensor(0.3076)
 # KEYFRAME 42
0.06434803199954331
Frame 146
tensor(0.0433)
Frame 147
tensor(0.1053)
 # KEYFRAME 43
0.06399544299711124
Frame 148
tensor(0.0270)
Frame 149
tensor(0.0388)
Backending... 44 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 40920, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=511 loss_distill=0.2747 tta_take=0.005s
[epoch 0 scene 75/556] scannetpp/9f21bdec45/DSC frames=150 tta_steps_this_scene=2 mean_loss=0.2240 total_steps=511 time=35.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0451)
Frame 2
tensor(0.0865)
Frame 3
tensor(0.1284)
 # KEYFRAME 1
Frame 4
tensor(0.0499)
Frame 5
tensor(0.0930)
Frame 6
tensor(0.1381)
 # KEYFRAME 2
0.051820856002450455
Frame 7
tensor(0.0456)
Frame 8
tensor(0.0970)
Frame 9
tensor(0.1424)
 # KEYFRAME 3
0.052172594998410204
Frame 10
tensor(0.0428)
Frame 11
tensor(0.0899)
Frame 12
tensor(0.1399)
 # KEYFRAME 4
0.052891581999574555
Frame 13
tensor(0.0431)
Frame 14
tensor(0.0936)
Frame 15
tensor(0.1446)
 # KEYFRAME 5
0.05282822200024384
Frame 16
tensor(0.0481)
Frame 17
tensor(0.0998)
Frame 18
tensor(0.1533)
 # KEYFRAME 6
0.05287868199957302
Frame 19
tensor(0.0434)
Frame 20
tensor(0.0939)
Frame 21
tensor(0.1316)
 # KEYFRAME 7
0.05296906199873774
Frame 22
tensor(0.0447)
Frame 23
tensor(0.0852)
Frame 24
tensor(0.1294)
 # KEYFRAME 8
0.05357835000177147
Frame 25
tensor(0.0433)
Frame 26
tensor(0.0892)
Frame 27
tensor(0.1309)
 # KEYFRAME 9
0.05269102300007944
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 28
tensor(0.0455)
Frame 29
tensor(0.0849)
Frame 30
tensor(0.1342)
 # KEYFRAME 10
0.051699335999728646
Frame 31
tensor(0.0464)
Frame 32
tensor(0.0957)
Frame 33
tensor(0.1297)
 # KEYFRAME 11
0.05199036500198417
Frame 34
tensor(0.0448)
Frame 35
tensor(0.1020)
 # KEYFRAME 12
0.05200650400001905
Frame 36
tensor(0.0503)
Frame 37
tensor(0.0991)
Frame 38
tensor(0.1387)
 # KEYFRAME 13
0.05344565999985207
Frame 39
tensor(0.0468)
Frame 40
tensor(0.0788)
Frame 41
tensor(0.1244)
 # KEYFRAME 14
0.0549853640004585
Frame 42
tensor(0.0447)
Frame 43
tensor(0.0876)
Frame 44
tensor(0.1355)
 # KEYFRAME 15
0.05207578500267118
Frame 45
tensor(0.0462)
Frame 46
tensor(0.0941)
Frame 47
tensor(0.1459)
 # KEYFRAME 16
0.05302441099775024
Frame 48
tensor(0.0448)
Frame 49
tensor(0.0869)
Frame 50
tensor(0.1351)
 # KEYFRAME 17
0.055978160999075044
Frame 51
tensor(0.0425)
Frame 52
tensor(0.0881)
Frame 53
tensor(0.1442)
 # KEYFRAME 18
0.05281237199960742
Frame 54
tensor(0.0460)
Frame 55
tensor(0.1059)
 # KEYFRAME 19
0.05640289999792003
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 56
tensor(0.0522)
Frame 57
tensor(0.1043)
 # KEYFRAME 20
0.05236712400073884
Frame 58
tensor(0.0603)
Frame 59
tensor(0.1106)
 # KEYFRAME 21
0.05314787099996465
Frame 60
tensor(0.0540)
Frame 61
tensor(0.1034)
 # KEYFRAME 22
0.05410844800280756
Frame 62
tensor(0.0588)
Frame 63
tensor(0.1186)
 # KEYFRAME 23
0.05279891199825215
Frame 64
tensor(0.0504)
Frame 65
tensor(0.1056)
 # KEYFRAME 24
0.055187003999890294
Frame 66
tensor(0.0416)
Frame 67
tensor(0.0939)
Frame 68
tensor(0.1509)
 # KEYFRAME 25
0.05295206200025859
Frame 69
tensor(0.0537)
Frame 70
tensor(0.0985)
Frame 71
tensor(0.1541)
 # KEYFRAME 26
0.05276696199871367
Frame 72
tensor(0.0493)
Frame 73
tensor(0.1044)
 # KEYFRAME 27
0.057333585999003844
Frame 74
tensor(0.0524)
Frame 75
tensor(0.1080)
 # KEYFRAME 28
0.05289802199695259
Frame 76
tensor(0.0576)
Frame 77
tensor(0.1171)
 # KEYFRAME 29
0.058382832001370843
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 78
tensor(0.0583)
Frame 79
tensor(0.1217)
 # KEYFRAME 30
0.05276125199816306
Frame 80
tensor(0.0590)
Frame 81
tensor(0.1142)
 # KEYFRAME 31
0.05221369400169351
Frame 82
tensor(0.0597)
Frame 83
tensor(0.1124)
 # KEYFRAME 32
0.05267841300155851
Frame 84
tensor(0.0522)
Frame 85
tensor(0.1014)
 # KEYFRAME 33
0.05200198500097031
Frame 86
tensor(0.0475)
Frame 87
tensor(0.1014)
 # KEYFRAME 34
0.05328000000008615
Frame 88
tensor(0.0534)
Frame 89
tensor(0.1085)
 # KEYFRAME 35
0.052090795001277
Frame 90
tensor(0.0505)
Frame 91
tensor(0.0985)
Frame 92
tensor(0.1454)
 # KEYFRAME 36
0.05257210299896542
Frame 93
tensor(0.0446)
Frame 94
tensor(0.0879)
Frame 95
tensor(0.1351)
 # KEYFRAME 37
0.05388859799859347
Frame 96
tensor(0.0416)
Frame 97
tensor(0.0888)
Frame 98
tensor(0.1272)
 # KEYFRAME 38
0.05276947200036375
Frame 99
tensor(0.0461)
Frame 100
tensor(0.0893)
Frame 101
tensor(0.1348)
 # KEYFRAME 39
0.054192037001485005
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=512 loss_distill=0.1733 tta_take=0.005s
Frame 102
tensor(0.0463)
Frame 103
tensor(0.0926)
Frame 104
tensor(0.1410)
 # KEYFRAME 40
0.05217904400342377
Frame 105
tensor(0.0567)
Frame 106
tensor(0.1020)
 # KEYFRAME 41
0.05278385199926561
Frame 107
tensor(0.0456)
Frame 108
tensor(0.0955)
Frame 109
tensor(0.1476)
 # KEYFRAME 42
0.05339153000022634
Frame 110
tensor(0.0413)
Frame 111
tensor(0.0904)
Frame 112
tensor(0.1375)
 # KEYFRAME 43
0.052265993999753846
Frame 113
tensor(0.0403)
Frame 114
tensor(0.0837)
Frame 115
tensor(0.1238)
 # KEYFRAME 44
0.0532680199976312
Frame 116
tensor(0.0496)
Frame 117
tensor(0.0936)
Frame 118
tensor(0.1302)
 # KEYFRAME 45
0.05217589499807218
Frame 119
tensor(0.0478)
Frame 120
tensor(0.0958)
Frame 121
tensor(0.1368)
 # KEYFRAME 46
0.05221877499934635
Frame 122
tensor(0.0495)
Frame 123
tensor(0.1009)
 # KEYFRAME 47
0.05354820999855292
Frame 124
tensor(0.0465)
Frame 125
tensor(0.0956)
Frame 126
tensor(0.1429)
 # KEYFRAME 48
0.05259725299765705
Frame 127
tensor(0.0394)
Frame 128
tensor(0.0905)
Frame 129
tensor(0.1191)
 # KEYFRAME 49
0.05407178700261284
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=513 loss_distill=0.2747 tta_take=0.005s
Frame 130
tensor(0.0414)
Frame 131
tensor(0.0781)
Frame 132
tensor(0.1233)
 # KEYFRAME 50
0.05203789500228595
Frame 133
tensor(0.0389)
Frame 134
tensor(0.0866)
Frame 135
tensor(0.1286)
 # KEYFRAME 51
0.052581863001250895
Frame 136
tensor(0.0495)
Frame 137
tensor(0.0928)
Frame 138
tensor(0.1398)
 # KEYFRAME 52
0.05454929600091418
Frame 139
tensor(0.0513)
Frame 140
tensor(0.0985)
Frame 141
tensor(0.1389)
 # KEYFRAME 53
0.052089164997596527
Frame 142
tensor(0.0448)
Frame 143
tensor(0.0888)
Frame 144
tensor(0.1314)
 # KEYFRAME 54
0.054012797998439055
Frame 145
tensor(0.0375)
Frame 146
tensor(0.0785)
Frame 147
tensor(0.1124)
 # KEYFRAME 55
0.05209137500060024
Frame 148
tensor(0.0410)
Frame 149
tensor(0.0784)
Frame 150
tensor(0.1121)
 # KEYFRAME 56
0.05267372299931594
Frame 151
tensor(0.0329)
Frame 152
tensor(0.0647)
Frame 153
tensor(0.0992)
Frame 154
tensor(0.1325)
 # KEYFRAME 57
0.05337368000255083
Frame 155
tensor(0.0331)
Frame 156
tensor(0.0672)
Frame 157
tensor(0.0951)
Frame 158
tensor(0.1273)
 # KEYFRAME 58
0.0530275810015155
Frame 159
tensor(0.0303)
Frame 160
tensor(0.0558)
Frame 161
tensor(0.0836)
Frame 162
tensor(0.1110)
 # KEYFRAME 59
0.05377376900287345
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=514 loss_distill=0.3466 tta_take=0.005s
Frame 163
tensor(0.0253)
Frame 164
tensor(0.0524)
Frame 165
tensor(0.0749)
Frame 166
tensor(0.0911)
Frame 167
tensor(0.1151)
 # KEYFRAME 60
0.05226101399966865
Frame 168
tensor(0.0205)
Frame 169
tensor(0.0411)
Frame 170
tensor(0.0616)
Frame 171
tensor(0.0783)
Frame 172
tensor(0.0955)
Frame 173
tensor(0.1092)
 # KEYFRAME 61
0.05339427999933832
Frame 174
tensor(0.0152)
Frame 175
tensor(0.0321)
Frame 176
tensor(0.0456)
Frame 177
tensor(0.0631)
Frame 178
tensor(0.0688)
Frame 179
tensor(0.0799)
Frame 180
tensor(0.0928)
Frame 181
tensor(0.1199)
 # KEYFRAME 62
0.054394176997448085
Frame 182
tensor(0.0076)
Frame 183
tensor(0.0144)
Frame 184
tensor(0.0235)
Frame 185
tensor(0.0353)
Frame 186
tensor(0.0416)
Frame 187
tensor(0.0540)
Frame 188
tensor(0.0609)
Frame 189
tensor(0.0640)
Frame 190
tensor(0.0823)
Frame 191
tensor(0.0819)
Frame 192
tensor(0.0850)
Frame 193
tensor(0.0949)
Frame 194
tensor(0.1031)
 # KEYFRAME 63
0.05304782100211014
Frame 195
tensor(0.0056)
Frame 196
tensor(0.0119)
Frame 197
tensor(0.0204)
Frame 198
tensor(0.0251)
Frame 199
tensor(0.0348)
Frame 200
tensor(0.0418)
Frame 201
tensor(0.0513)
Frame 202
tensor(0.0599)
Frame 203
tensor(0.0673)
Frame 204
tensor(0.0844)
Frame 205
tensor(0.0959)
Frame 206
tensor(0.1131)
 # KEYFRAME 64
0.05589720100033446
Frame 207
tensor(0.0167)
Frame 208
tensor(0.0315)
Frame 209
tensor(0.0501)
Frame 210
tensor(0.0651)
Frame 211
tensor(0.0855)
Frame 212
tensor(0.1045)
 # KEYFRAME 65
0.05306418100008159
Frame 213
tensor(0.0192)
Frame 214
tensor(0.0426)
Frame 215
tensor(0.0621)
Frame 216
tensor(0.0847)
Frame 217
tensor(0.1048)
 # KEYFRAME 66
0.052772543000173755
Frame 218
tensor(0.0246)
Frame 219
tensor(0.0437)
Frame 220
tensor(0.0683)
Frame 221
tensor(0.0920)
Frame 222
tensor(0.1105)
 # KEYFRAME 67
0.05796236300011515
Frame 223
tensor(0.0261)
Frame 224
tensor(0.0474)
Frame 225
tensor(0.0769)
Frame 226
tensor(0.1048)
 # KEYFRAME 68
0.05391362800219213
Frame 227
tensor(0.0255)
Frame 228
tensor(0.0501)
Frame 229
tensor(0.0801)
Frame 230
tensor(0.1014)
 # KEYFRAME 69
0.05800306399760302
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=515 loss_distill=0.4024 tta_take=0.005s
Frame 231
tensor(0.0337)
Frame 232
tensor(0.0621)
Frame 233
tensor(0.0877)
Frame 234
tensor(0.1171)
 # KEYFRAME 70
0.05326696999691194
Frame 235
tensor(0.0280)
Frame 236
tensor(0.0567)
Frame 237
tensor(0.0846)
Frame 238
tensor(0.1167)
 # KEYFRAME 71
0.05396614799974486
Frame 239
tensor(0.0293)
Frame 240
tensor(0.0619)
Frame 241
tensor(0.0949)
Frame 242
tensor(0.1299)
 # KEYFRAME 72
0.05462459599948488
Frame 243
tensor(0.0340)
Frame 244
tensor(0.0689)
Frame 245
tensor(0.1012)
 # KEYFRAME 73
0.053399320000607986
Frame 246
tensor(0.0283)
Frame 247
tensor(0.0581)
Frame 248
tensor(0.0953)
Frame 249
tensor(0.1179)
 # KEYFRAME 74
0.05486700499750441
Frame 250
tensor(0.0273)
Frame 251
tensor(0.0612)
Frame 252
tensor(0.0902)
Frame 253
tensor(0.1191)
 # KEYFRAME 75
0.053559129002678674
Frame 254
tensor(0.0341)
Frame 255
tensor(0.0722)
Frame 256
tensor(0.1084)
 # KEYFRAME 76
0.05396457800088683
Frame 257
tensor(0.0320)
Frame 258
tensor(0.0638)
Frame 259
tensor(0.1024)
 # KEYFRAME 77
0.0549587050008995
Frame 260
tensor(0.0334)
Frame 261
tensor(0.0628)
Frame 262
tensor(0.0991)
Frame 263
tensor(0.1300)
 # KEYFRAME 78
0.054314295997755835
Frame 264
tensor(0.0360)
Frame 265
tensor(0.0729)
Frame 266
tensor(0.1028)
 # KEYFRAME 79
0.05500691400084179
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=516 loss_distill=0.4024 tta_take=0.005s
Frame 267
tensor(0.0337)
Frame 268
tensor(0.0657)
Frame 269
tensor(0.0970)
Frame 270
tensor(0.1423)
 # KEYFRAME 80
0.05345504000069923
Frame 271
tensor(0.0310)
Frame 272
tensor(0.0644)
Frame 273
tensor(0.0994)
Frame 274
tensor(0.1348)
 # KEYFRAME 81
0.053883009000855964
Frame 275
tensor(0.0321)
Frame 276
tensor(0.0646)
Frame 277
tensor(0.0966)
Frame 278
tensor(0.1343)
 # KEYFRAME 82
0.05437944699951913
Frame 279
tensor(0.0336)
Frame 280
tensor(0.0630)
Frame 281
tensor(0.0937)
Frame 282
tensor(0.1352)
 # KEYFRAME 83
0.053222360998915974
Frame 283
tensor(0.0311)
Frame 284
tensor(0.0760)
Frame 285
tensor(0.1079)
 # KEYFRAME 84
0.05488839399913559
Frame 286
tensor(0.0354)
Frame 287
tensor(0.0701)
Frame 288
tensor(0.0980)
Frame 289
tensor(0.1277)
 # KEYFRAME 85
0.053559768999548396
Frame 290
tensor(0.0406)
Frame 291
tensor(0.0744)
Frame 292
tensor(0.1088)
 # KEYFRAME 86
0.05370751900045434
Frame 293
tensor(0.0419)
Frame 294
tensor(0.0777)
Frame 295
tensor(0.1232)
 # KEYFRAME 87
0.054984135000268
Frame 296
tensor(0.0396)
Frame 297
tensor(0.0765)
Frame 298
tensor(0.1160)
 # KEYFRAME 88
0.0542393270006869
Frame 299
tensor(0.0418)
Backending... 89 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28428, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=517 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 76/556] vkitti/Scene01/rain/Camera_1 frames=300 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=517 time=80.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0369)
Frame 2
tensor(0.0844)
Frame 3
tensor(0.1372)
 # KEYFRAME 1
Frame 4
tensor(0.0466)
Frame 5
tensor(0.1366)
 # KEYFRAME 2
0.051643106002302375
Frame 6
tensor(0.0672)
Frame 7
tensor(0.1582)
 # KEYFRAME 3
0.0525900129978254
Frame 8
tensor(0.0642)
Frame 9
tensor(0.0937)
Frame 10
tensor(0.1427)
 # KEYFRAME 4
0.05363773900171509
Frame 11
tensor(0.0520)
Frame 12
tensor(0.1139)
 # KEYFRAME 5
0.05490164500224637
Frame 13
tensor(0.0545)
Frame 14
tensor(0.1112)
 # KEYFRAME 6
0.0557373709998501
Frame 15
tensor(0.0440)
Frame 16
tensor(0.1076)
 # KEYFRAME 7
0.05657783900096547
Frame 17
tensor(0.0864)
Frame 18
tensor(0.1592)
 # KEYFRAME 8
0.05756691499846056
Frame 19
tensor(0.0518)
Frame 20
tensor(0.1096)
 # KEYFRAME 9
0.05858382199949119
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.0351)
Frame 22
tensor(0.0316)
Frame 23
tensor(0.0794)
Frame 24
tensor(0.0941)
Frame 25
tensor(0.1432)
 # KEYFRAME 10
0.0514849069986667
Frame 26
tensor(0.0642)
Frame 27
tensor(0.1312)
 # KEYFRAME 11
0.05262949299867614
Frame 28
tensor(0.0964)
Frame 29
tensor(0.1713)
 # KEYFRAME 12
0.053136860999075
Frame 30
tensor(0.0712)
Frame 31
tensor(0.0104)
Frame 32
tensor(0.1357)
 # KEYFRAME 13
0.054517915999895195
Frame 33
tensor(0.0942)
Frame 34
tensor(0.2020)
 # KEYFRAME 14
0.054341626000677934
Frame 35
tensor(0.0773)
Frame 36
tensor(0.0790)
Frame 37
tensor(0.1087)
 # KEYFRAME 15
0.05436408599780407
Frame 38
tensor(0.0242)
Frame 39
tensor(0.0354)
Frame 40
tensor(0.0545)
Frame 41
tensor(0.0186)
Frame 42
tensor(0.0375)
Frame 43
tensor(0.1194)
 # KEYFRAME 16
0.05512270300096134
Frame 44
tensor(0.0772)
Frame 45
tensor(0.1498)
 # KEYFRAME 17
0.055428833002224565
Frame 46
tensor(0.0588)
Frame 47
tensor(0.0914)
Frame 48
tensor(0.1352)
 # KEYFRAME 18
0.056364580002991715
Frame 49
tensor(0.0806)
Frame 50
tensor(0.1138)
 # KEYFRAME 19
0.05740646599952015
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 51
tensor(0.0541)
Frame 52
tensor(0.1200)
 # KEYFRAME 20
0.053947518001223216
Frame 53
tensor(0.0430)
Frame 54
tensor(0.0438)
Frame 55
tensor(0.0694)
Frame 56
tensor(0.0929)
Frame 57
tensor(0.1136)
 # KEYFRAME 21
0.05496938400028739
Frame 58
tensor(0.0294)
Frame 59
tensor(0.0597)
Frame 60
tensor(0.0748)
Frame 61
tensor(0.0621)
Frame 62
tensor(0.0821)
Frame 63
tensor(0.1038)
 # KEYFRAME 22
0.055277863997616805
Frame 64
tensor(0.0629)
Frame 65
tensor(0.0933)
Frame 66
tensor(0.1330)
 # KEYFRAME 23
0.05558748199837282
Frame 67
tensor(0.0215)
Frame 68
tensor(0.0248)
Frame 69
tensor(0.0682)
Frame 70
tensor(0.1437)
 # KEYFRAME 24
0.05588102100227843
Frame 71
tensor(0.0924)
Frame 72
tensor(0.1465)
 # KEYFRAME 25
0.056692029000259936
Frame 73
tensor(0.0647)
Frame 74
tensor(0.0541)
Frame 75
tensor(0.0889)
Frame 76
tensor(0.1824)
 # KEYFRAME 26
0.05797012399852974
Frame 77
tensor(0.0868)
Frame 78
tensor(0.1720)
 # KEYFRAME 27
0.05944424799963599
Frame 79
tensor(0.0953)
Frame 80
tensor(0.1516)
 # KEYFRAME 28
0.059887326999159995
Frame 81
tensor(0.0841)
Frame 82
tensor(0.0924)
Frame 83
tensor(0.0721)
Frame 84
tensor(0.0344)
Frame 85
tensor(0.0541)
Frame 86
tensor(0.0980)
Frame 87
tensor(0.0963)
Frame 88
tensor(0.1113)
 # KEYFRAME 29
0.06061092399977497
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 89
tensor(0.0437)
Frame 90
tensor(0.0631)
Frame 91
tensor(0.0964)
Frame 92
tensor(0.1244)
 # KEYFRAME 30
0.05811188300140202
Frame 93
tensor(0.0906)
Frame 94
tensor(0.1583)
 # KEYFRAME 31
0.05910801000209176
Frame 95
tensor(0.0485)
Frame 96
tensor(0.0867)
Frame 97
tensor(0.1641)
 # KEYFRAME 32
0.05892295100056799
Frame 98
tensor(0.0808)
Frame 99
tensor(0.1637)
 # KEYFRAME 33
0.06017299599989201
Frame 100
tensor(0.0850)
Frame 101
tensor(0.1342)
 # KEYFRAME 34
0.060560925001482246
Frame 102
tensor(0.0932)
Frame 103
tensor(0.1988)
 # KEYFRAME 35
0.061656560999836074
Frame 104
tensor(0.0324)
Frame 105
tensor(0.0592)
Frame 106
tensor(0.0314)
Frame 107
tensor(0.1079)
 # KEYFRAME 36
0.062314208000316285
Frame 108
tensor(0.1252)
 # KEYFRAME 37
0.06258188700303435
Frame 109
tensor(0.0901)
Frame 110
tensor(0.0754)
Frame 111
tensor(0.0838)
Frame 112
tensor(0.0847)
Frame 113
tensor(0.1042)
 # KEYFRAME 38
0.06344484399960493
Frame 114
tensor(0.1600)
 # KEYFRAME 39
0.06524017800256843
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=518 loss_distill=0.1733 tta_take=0.009s
Frame 115
tensor(0.1954)
 # KEYFRAME 40
0.06254536699998425
Frame 116
tensor(0.1469)
 # KEYFRAME 41
0.0635063240006275
Frame 117
tensor(0.0980)
Frame 118
tensor(0.1217)
 # KEYFRAME 42
0.0640700719995948
Frame 119
tensor(0.0691)
Frame 120
tensor(0.0547)
Frame 121
tensor(0.0758)
Frame 122
tensor(0.0868)
Frame 123
tensor(0.1492)
 # KEYFRAME 43
0.0638761029986199
Frame 124
tensor(0.0456)
Frame 125
tensor(0.0830)
Frame 126
tensor(0.0876)
Frame 127
tensor(0.1204)
 # KEYFRAME 44
0.06479716999820084
Frame 128
tensor(0.0996)
Frame 129
tensor(0.1659)
 # KEYFRAME 45
0.06511936799870455
Frame 130
tensor(0.0721)
Frame 131
tensor(0.1626)
 # KEYFRAME 46
0.06561586699899635
Frame 132
tensor(0.0591)
Frame 133
tensor(0.0765)
Frame 134
tensor(0.1101)
 # KEYFRAME 47
0.0661901849998685
Frame 135
tensor(0.0392)
Frame 136
tensor(0.0728)
Frame 137
tensor(0.0528)
Frame 138
tensor(0.0621)
Frame 139
tensor(0.1202)
 # KEYFRAME 48
0.06661434299894609
Frame 140
tensor(0.0458)
Frame 141
tensor(0.1410)
 # KEYFRAME 49
0.06760980000035488
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531069278717
TTA-STEP: step=519 loss_distill=0.2747 tta_take=0.009s
Frame 142
tensor(0.0450)
Frame 143
tensor(0.1735)
 # KEYFRAME 50
0.06652822400064906
Frame 144
tensor(0.0498)
Frame 145
tensor(0.0952)
Frame 146
tensor(0.1159)
 # KEYFRAME 51
0.06830077700215043
Frame 147
tensor(0.0553)
Frame 148
tensor(0.0779)
Frame 149
tensor(0.1245)
 # KEYFRAME 52
0.06853808599771583
Backending... 53 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 49290, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=520 loss_distill=0.3466 tta_take=0.004s
[epoch 0 scene 77/556] scannetpp/961911d451/DSC frames=150 tta_steps_this_scene=3 mean_loss=0.2648 total_steps=520 time=33.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0285)
Frame 2
tensor(0.1301)
 # KEYFRAME 1
Frame 3
tensor(0.2815)
 # KEYFRAME 2
0.051768075998552376
Frame 4
tensor(0.1958)
 # KEYFRAME 3
0.05314640100186807
Frame 5
tensor(0.2927)
 # KEYFRAME 4
0.05480478500248864
Frame 6
tensor(0.4167)
 # KEYFRAME 5
0.05542587300078594
Frame 7
tensor(0.5406)
 # KEYFRAME 6
0.05613588100095512
Frame 8
tensor(0.3830)
 # KEYFRAME 7
0.056848697997338604
Frame 9
tensor(0.2377)
 # KEYFRAME 8
0.057974103998276405
Frame 10
tensor(0.3679)
 # KEYFRAME 9
0.058136453000770416
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.2544)
 # KEYFRAME 10
0.052507393000269076
Frame 12
tensor(0.4821)
 # KEYFRAME 11
0.05368862899922533
Frame 13
tensor(0.2385)
 # KEYFRAME 12
0.054445836001832504
Frame 14
tensor(0.2332)
 # KEYFRAME 13
0.05667110799913644
Frame 15
tensor(0.3275)
 # KEYFRAME 14
0.057357775996933924
Frame 16
tensor(0.2655)
 # KEYFRAME 15
0.057388045999687165
Frame 17
tensor(0.1660)
 # KEYFRAME 16
0.05867498099905788
Frame 18
tensor(0.1581)
 # KEYFRAME 17
0.060044936999474885
Frame 19
tensor(0.0905)
Frame 20
tensor(0.5467)
 # KEYFRAME 18
0.060878134001541184
Frame 21
tensor(0.3873)
 # KEYFRAME 19
0.06214169899976696
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 22
tensor(0.4646)
 # KEYFRAME 20
0.05863501099884161
Frame 23
tensor(0.1847)
 # KEYFRAME 21
0.060705923999194056
Frame 24
tensor(0.2980)
 # KEYFRAME 22
0.061714799998298986
Frame 25
tensor(0.2252)
 # KEYFRAME 23
0.06277672599753714
Frame 26
tensor(0.4949)
 # KEYFRAME 24
0.06393727199974819
Frame 27
tensor(0.1052)
 # KEYFRAME 25
0.0649274190000142
Frame 28
tensor(0.2120)
 # KEYFRAME 26
0.06667417299831868
Frame 29
tensor(0.2931)
 # KEYFRAME 27
0.06742840999868349
Frame 30
tensor(0.3697)
 # KEYFRAME 28
0.06776098900081706
Frame 31
tensor(0.6508)
 # KEYFRAME 29
0.06942255299873068
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.3233)
 # KEYFRAME 30
0.06567004600219661
Frame 33
tensor(0.4499)
 # KEYFRAME 31
0.06757564000145067
Frame 34
tensor(0.2386)
 # KEYFRAME 32
0.06779271800041897
Frame 35
tensor(0.0163)
Frame 36
tensor(0.0534)
Frame 37
tensor(0.0746)
Frame 38
tensor(0.0476)
Frame 39
tensor(0.4525)
 # KEYFRAME 33
0.06890055499752634
Frame 40
tensor(0.2246)
 # KEYFRAME 34
0.0695622919993184
Frame 41
tensor(0.2134)
 # KEYFRAME 35
0.07085785800154554
Frame 42
tensor(0.2271)
 # KEYFRAME 36
0.07157805500173708
Frame 43
tensor(0.2947)
 # KEYFRAME 37
0.07258764200014411
Frame 44
tensor(0.3782)
 # KEYFRAME 38
0.07344694800121943
Frame 45
tensor(0.0922)
Frame 46
tensor(0.4526)
 # KEYFRAME 39
0.0739384769985918
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=521 loss_distill=0.1733 tta_take=0.009s
Frame 47
tensor(0.2375)
 # KEYFRAME 40
0.07197857399660279
Frame 48
tensor(0.1768)
 # KEYFRAME 41
0.07437512500109733
Frame 49
tensor(0.2631)
 # KEYFRAME 42
0.07437529500020901
Frame 50
tensor(0.4047)
 # KEYFRAME 43
0.07517227300195373
Frame 51
tensor(0.2134)
 # KEYFRAME 44
0.07591327900081524
Frame 52
tensor(0.2644)
 # KEYFRAME 45
0.07622208899920224
Frame 53
tensor(0.3226)
 # KEYFRAME 46
0.07702590600092662
Frame 54
tensor(0.2487)
 # KEYFRAME 47
0.07832391100237146
Frame 55
tensor(0.1953)
 # KEYFRAME 48
0.07881497000198578
Frame 56
tensor(0.3275)
 # KEYFRAME 49
0.08052756300094188
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=522 loss_distill=0.2747 tta_take=0.009s
Frame 57
tensor(0.2525)
 # KEYFRAME 50
0.07947804699870176
Frame 58
tensor(0.2678)
 # KEYFRAME 51
0.08149469999989378
Frame 59
tensor(0.2966)
 # KEYFRAME 52
0.08155292999799713
Frame 60
tensor(0.2690)
 # KEYFRAME 53
0.08237996699972427
Frame 61
tensor(0.2634)
 # KEYFRAME 54
0.0835037030010426
Frame 62
tensor(0.1289)
 # KEYFRAME 55
0.08445506999851204
Frame 63
tensor(0.3998)
 # KEYFRAME 56
0.08479092899870011
Frame 64
tensor(0.1788)
 # KEYFRAME 57
0.08628676300213556
Frame 65
tensor(0.2083)
 # KEYFRAME 58
0.08656261199939763
Frame 66
tensor(0.3285)
 # KEYFRAME 59
0.08773034800105961
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=523 loss_distill=0.3466 tta_take=0.009s
Frame 67
tensor(0.2498)
 # KEYFRAME 60
0.08654797200142639
Frame 68
tensor(0.1877)
 # KEYFRAME 61
0.08847586500269244
Frame 69
tensor(0.3362)
 # KEYFRAME 62
0.0881713260023389
Frame 70
tensor(0.5110)
 # KEYFRAME 63
0.0888343740007258
Frame 71
tensor(0.1967)
 # KEYFRAME 64
0.08972934000121313
Frame 72
tensor(0.1031)
 # KEYFRAME 65
0.09029576900138636
Frame 73
tensor(0.1401)
 # KEYFRAME 66
0.09133262499744887
Frame 74
tensor(0.4503)
 # KEYFRAME 67
0.09217875199828995
Frame 75
tensor(0.1849)
 # KEYFRAME 68
0.09297392900043633
Frame 76
tensor(0.4168)
 # KEYFRAME 69
0.09381684699837933
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=524 loss_distill=0.4024 tta_take=0.009s
Frame 77
tensor(0.4547)
 # KEYFRAME 70
0.09297456900094403
Frame 78
tensor(0.1166)
 # KEYFRAME 71
0.09506183100165799
Frame 79
tensor(0.3412)
 # KEYFRAME 72
0.09529063100126223
Frame 80
tensor(0.1651)
 # KEYFRAME 73
0.09525898100037011
Frame 81
tensor(0.3496)
 # KEYFRAME 74
0.09643877700000303
Frame 82
tensor(0.2109)
 # KEYFRAME 75
0.09739041300053941
Frame 83
tensor(0.1440)
 # KEYFRAME 76
0.0980345310017583
Frame 84
tensor(0.1689)
 # KEYFRAME 77
0.09839115000067977
Frame 85
tensor(0.1794)
 # KEYFRAME 78
0.0984700699991663
Frame 86
tensor(0.1643)
 # KEYFRAME 79
0.10041033300149138
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=525 loss_distill=0.4024 tta_take=0.009s
Frame 87
tensor(0.1634)
 # KEYFRAME 80
0.09305431899701944
Frame 88
tensor(0.2981)
 # KEYFRAME 81
0.09432184500110452
Frame 89
tensor(0.2017)
 # KEYFRAME 82
0.09491264299867908
Frame 90
tensor(0.1341)
 # KEYFRAME 83
0.0962206080002943
Frame 91
tensor(0.2623)
 # KEYFRAME 84
0.09691264499997487
Frame 92
tensor(0.0530)
Frame 93
tensor(0.2196)
 # KEYFRAME 85
0.09776539199810941
Frame 94
tensor(0.7678)
 # KEYFRAME 86
0.09840633000203525
Frame 95
tensor(0.7141)
 # KEYFRAME 87
0.0992498669984343
Frame 96
tensor(0.2575)
 # KEYFRAME 88
0.09958439600086422
Frame 97
tensor(0.5395)
 # KEYFRAME 89
0.10013082399746054
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=526 loss_distill=0.4024 tta_take=0.009s
Frame 98
tensor(0.1961)
 # KEYFRAME 90
0.09252952099996037
Frame 99
tensor(0.2596)
 # KEYFRAME 91
0.09615608799867914
Frame 100
tensor(0.4157)
 # KEYFRAME 92
0.09551076000207104
Frame 101
tensor(0.1326)
 # KEYFRAME 93
0.0961950370001432
Frame 102
tensor(0.3507)
 # KEYFRAME 94
0.09659962600198924
Frame 103
tensor(0.2991)
 # KEYFRAME 95
0.09693275500103482
Frame 104
tensor(0.1823)
 # KEYFRAME 96
0.09859236899865209
Frame 105
tensor(0.1454)
 # KEYFRAME 97
0.09948294599962537
Frame 106
tensor(0.1090)
 # KEYFRAME 98
0.10033361299792887
Frame 107
tensor(0.4090)
 # KEYFRAME 99
0.10118230000080075
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=527 loss_distill=0.4024 tta_take=0.009s
Frame 108
tensor(0.5910)
 # KEYFRAME 100
0.09327695799947833
Frame 109
tensor(0.4675)
 # KEYFRAME 101
0.09450995299994247
Frame 110
tensor(0.2889)
 # KEYFRAME 102
0.09571104999849922
Frame 111
tensor(0.3780)
 # KEYFRAME 103
0.09648337699763943
Frame 112
tensor(0.3020)
 # KEYFRAME 104
0.0968443660021876
Frame 113
tensor(0.6153)
 # KEYFRAME 105
0.09745525299877045
Frame 114
tensor(0.4244)
 # KEYFRAME 106
0.09808557099677273
Frame 115
tensor(0.2613)
 # KEYFRAME 107
0.09932122600002913
Frame 116
tensor(0.2039)
 # KEYFRAME 108
0.10018557399962447
Frame 117
tensor(0.4301)
 # KEYFRAME 109
0.10051957199902972
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=528 loss_distill=0.4024 tta_take=0.009s
Frame 118
tensor(0.4101)
 # KEYFRAME 110
0.09283153999786009
Frame 119
tensor(0.3202)
 # KEYFRAME 111
0.09595914799865568
Frame 120
tensor(0.1753)
 # KEYFRAME 112
0.0950117219981621
Frame 121
tensor(0.3025)
 # KEYFRAME 113
0.09554021999792894
Frame 122
tensor(0.3207)
 # KEYFRAME 114
0.0972310440010915
Frame 123
tensor(0.3585)
 # KEYFRAME 115
0.09704658500049845
Frame 124
tensor(0.3571)
 # KEYFRAME 116
0.09945674600021448
Frame 125
tensor(0.2121)
 # KEYFRAME 117
0.09997340400150279
Frame 126
tensor(0.3618)
 # KEYFRAME 118
0.09983769500104245
Frame 127
tensor(0.1698)
 # KEYFRAME 119
0.10056929200072773
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=529 loss_distill=0.4024 tta_take=0.009s
Frame 128
tensor(0.1910)
 # KEYFRAME 120
0.09324601900152629
Frame 129
tensor(0.4949)
 # KEYFRAME 121
0.09409289500035811
Frame 130
tensor(0.3997)
 # KEYFRAME 122
0.09562200999789638
Frame 131
tensor(0.3365)
 # KEYFRAME 123
0.09681799600002705
Frame 132
tensor(0.1927)
 # KEYFRAME 124
0.09752370299975155
Frame 133
tensor(0.3142)
 # KEYFRAME 125
0.09815495099974214
Frame 134
tensor(0.2097)
 # KEYFRAME 126
0.09905914799674065
Frame 135
tensor(0.3434)
 # KEYFRAME 127
0.09948869599975296
Frame 136
tensor(0.2805)
 # KEYFRAME 128
0.10052333199928398
Frame 137
tensor(0.4883)
 # KEYFRAME 129
0.10148503900200012
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=530 loss_distill=0.4024 tta_take=0.009s
Frame 138
tensor(0.4504)
 # KEYFRAME 130
0.09340404700196814
Frame 139
tensor(0.2324)
 # KEYFRAME 131
0.09567283900105394
Frame 140
tensor(0.2502)
 # KEYFRAME 132
0.09507260099780979
Frame 141
tensor(0.2592)
 # KEYFRAME 133
0.09658648700133199
Frame 142
tensor(0.1471)
 # KEYFRAME 134
0.09686213500026497
Backending... 135 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 67665, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=531 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 78/556] scannetpp/260fa55d50/frame frames=143 tta_steps_this_scene=11 mean_loss=0.3649 total_steps=531 time=58.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0180)
Frame 2
tensor(0.0688)
Frame 3
tensor(0.1349)
 # KEYFRAME 1
Frame 4
tensor(0.0959)
Frame 5
tensor(0.1396)
 # KEYFRAME 2
0.05133226700127125
Frame 6
tensor(0.0714)
Frame 7
tensor(0.0996)
Frame 8
tensor(0.0831)
Frame 9
tensor(0.0567)
Frame 10
tensor(0.0927)
Frame 11
tensor(0.1520)
 # KEYFRAME 3
0.05266634199870168
Frame 12
tensor(0.0824)
Frame 13
tensor(0.1443)
 # KEYFRAME 4
0.05345859999943059
Frame 14
tensor(0.0227)
Frame 15
tensor(0.0610)
Frame 16
tensor(0.0848)
Frame 17
tensor(0.1027)
 # KEYFRAME 5
0.0547718050002004
Frame 18
tensor(0.0784)
Frame 19
tensor(0.0565)
Frame 20
tensor(0.0718)
Frame 21
tensor(0.1004)
 # KEYFRAME 6
0.0550300650029385
Frame 22
tensor(0.0240)
Frame 23
tensor(0.0187)
Frame 24
tensor(0.0956)
Frame 25
tensor(0.1602)
 # KEYFRAME 7
0.05572798100183718
Frame 26
tensor(0.0903)
Frame 27
tensor(0.1346)
 # KEYFRAME 8
0.05711355700259446
Frame 28
tensor(0.1009)
 # KEYFRAME 9
0.05781453400049941
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 29
tensor(0.0588)
Frame 30
tensor(0.1773)
 # KEYFRAME 10
0.05137501699937275
Frame 31
tensor(0.1143)
 # KEYFRAME 11
0.05161529699762468
Frame 32
tensor(0.0707)
Frame 33
tensor(0.1049)
 # KEYFRAME 12
0.05173421600193251
Frame 34
tensor(0.3695)
 # KEYFRAME 13
0.05398810800033971
Frame 35
tensor(0.0775)
Frame 36
tensor(0.1397)
 # KEYFRAME 14
0.053693579000537284
Frame 37
tensor(0.0856)
Frame 38
tensor(0.1461)
 # KEYFRAME 15
0.05389143800130114
Frame 39
tensor(0.0588)
Frame 40
tensor(0.2146)
 # KEYFRAME 16
0.054386676998547046
Frame 41
tensor(0.1123)
 # KEYFRAME 17
0.05532949299959
Frame 42
tensor(0.0786)
Frame 43
tensor(0.1952)
 # KEYFRAME 18
0.05632821000108379
Frame 44
tensor(0.0472)
Frame 45
tensor(0.1233)
 # KEYFRAME 19
0.05735233599989442
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 46
tensor(0.0919)
Frame 47
tensor(0.1338)
 # KEYFRAME 20
0.053875939000135986
Frame 48
tensor(0.0698)
Frame 49
tensor(0.1447)
 # KEYFRAME 21
0.054460277002363
Frame 50
tensor(0.0418)
Frame 51
tensor(0.1416)
 # KEYFRAME 22
0.05520451299889828
Frame 52
tensor(0.0892)
Frame 53
tensor(0.1490)
 # KEYFRAME 23
0.0554886730024009
Frame 54
tensor(0.4408)
 # KEYFRAME 24
0.05598857099903398
Frame 55
tensor(0.4930)
 # KEYFRAME 25
0.05659607900088304
Frame 56
tensor(0.0797)
Frame 57
tensor(0.1915)
 # KEYFRAME 26
0.05799093399764388
Frame 58
tensor(0.0976)
Frame 59
tensor(0.1848)
 # KEYFRAME 27
0.059197678998316405
Frame 60
tensor(0.1250)
 # KEYFRAME 28
0.05922338899836177
Frame 61
tensor(0.1173)
 # KEYFRAME 29
0.059999136999977054
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 62
tensor(0.5512)
 # KEYFRAME 30
0.0582107830014138
Frame 63
tensor(0.0776)
Frame 64
tensor(0.1068)
 # KEYFRAME 31
0.058813340998312924
Frame 65
tensor(0.0555)
Frame 66
tensor(0.0981)
Frame 67
tensor(0.3950)
 # KEYFRAME 32
0.059403678998933174
Frame 68
tensor(0.1100)
 # KEYFRAME 33
0.06057955500000389
Frame 69
tensor(0.1092)
 # KEYFRAME 34
0.06114028199954191
Frame 70
tensor(0.0504)
Frame 71
tensor(0.1236)
 # KEYFRAME 35
0.061611920998984715
Frame 72
tensor(0.0973)
Frame 73
tensor(0.2471)
 # KEYFRAME 36
0.06244914700073423
Frame 74
tensor(0.1155)
 # KEYFRAME 37
0.06240128799981903
Frame 75
tensor(0.0670)
Frame 76
tensor(0.2860)
 # KEYFRAME 38
0.06318064599690842
Frame 77
tensor(0.0656)
Frame 78
tensor(0.1164)
 # KEYFRAME 39
0.06392118299845606
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=532 loss_distill=0.1733 tta_take=0.009s
Frame 79
tensor(0.0240)
Frame 80
tensor(0.0381)
Frame 81
tensor(0.0536)
Frame 82
tensor(0.0693)
Frame 83
tensor(0.0430)
Frame 84
tensor(0.0235)
Frame 85
tensor(0.0555)
Frame 86
tensor(0.2861)
 # KEYFRAME 40
0.06248897800105624
Frame 87
tensor(0.0581)
Frame 88
tensor(0.1452)
 # KEYFRAME 41
0.06412585200087051
Frame 89
tensor(0.0837)
Frame 90
tensor(0.1113)
 # KEYFRAME 42
0.06420201199944131
Frame 91
tensor(0.0741)
Frame 92
tensor(0.0243)
Frame 93
tensor(0.0676)
Frame 94
tensor(0.0269)
Frame 95
tensor(0.0657)
Frame 96
tensor(0.1240)
 # KEYFRAME 43
0.06430548099888256
Frame 97
tensor(0.2810)
 # KEYFRAME 44
0.06595713500064448
Frame 98
tensor(0.0707)
Frame 99
tensor(0.1369)
 # KEYFRAME 45
0.06697564199930639
Frame 100
tensor(0.0580)
Frame 101
tensor(0.0815)
Backending... 46 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 42780, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=533 loss_distill=0.2747 tta_take=0.006s
[epoch 0 scene 79/556] scannetpp/b09431c547/DSC frames=102 tta_steps_this_scene=2 mean_loss=0.2240 total_steps=533 time=27.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0507)
Frame 2
tensor(0.1021)
 # KEYFRAME 1
Frame 3
tensor(0.1300)
 # KEYFRAME 2
0.05137430700051482
Frame 4
tensor(0.1760)
 # KEYFRAME 3
0.05248570399999153
Frame 5
tensor(0.2236)
 # KEYFRAME 4
0.05444377599997097
Frame 6
tensor(0.2328)
 # KEYFRAME 5
0.05535807300111628
Frame 7
tensor(0.1966)
 # KEYFRAME 6
0.05690966799738817
Frame 8
tensor(0.1531)
 # KEYFRAME 7
0.05762708499969449
Frame 9
tensor(0.2401)
 # KEYFRAME 8
0.05811927299873787
Frame 10
tensor(0.4910)
 # KEYFRAME 9
0.059457829000166385
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.1658)
 # KEYFRAME 10
0.05229233399950317
Frame 12
tensor(0.2824)
 # KEYFRAME 11
0.05320761099937954
Frame 13
tensor(0.1355)
 # KEYFRAME 12
0.05399930800194852
Frame 14
tensor(0.1391)
 # KEYFRAME 13
0.056402768997941166
Frame 15
tensor(0.1426)
 # KEYFRAME 14
0.05737996600146289
Frame 16
tensor(0.3052)
 # KEYFRAME 15
0.05764808500316576
Frame 17
tensor(0.5351)
 # KEYFRAME 16
0.0587588609996601
Frame 18
tensor(0.2524)
 # KEYFRAME 17
0.060014375998434843
Frame 19
tensor(0.1734)
 # KEYFRAME 18
0.06088973399891984
Frame 20
tensor(0.1001)
 # KEYFRAME 19
0.062411427999904845
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.1098)
 # KEYFRAME 20
0.05878746000234969
Frame 22
tensor(0.2754)
 # KEYFRAME 21
0.06011346599916578
Frame 23
tensor(0.0881)
Frame 24
tensor(0.3109)
 # KEYFRAME 22
0.060441244997491594
Frame 25
tensor(0.1478)
 # KEYFRAME 23
0.061266962002264336
Frame 26
tensor(0.3227)
 # KEYFRAME 24
0.06211102900124388
Frame 27
tensor(0.3060)
 # KEYFRAME 25
0.06302377499741851
Frame 28
tensor(0.1582)
 # KEYFRAME 26
0.06495376900056726
Frame 29
tensor(0.2765)
 # KEYFRAME 27
0.06613877500058152
Frame 30
tensor(0.3941)
 # KEYFRAME 28
0.06672075200185645
Frame 31
tensor(0.2392)
 # KEYFRAME 29
0.06839381600002525
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.1661)
 # KEYFRAME 30
0.06535614699896541
Frame 33
tensor(0.0686)
Frame 34
tensor(0.1906)
 # KEYFRAME 31
0.06775036899853148
Frame 35
tensor(0.2042)
 # KEYFRAME 32
0.06752374000279815
Frame 36
tensor(0.2977)
 # KEYFRAME 33
0.06877036500009126
Frame 37
tensor(0.0893)
Frame 38
tensor(0.2897)
 # KEYFRAME 34
0.06964914200216299
Frame 39
tensor(0.1670)
 # KEYFRAME 35
0.0702602100027434
Frame 40
tensor(0.1657)
 # KEYFRAME 36
0.07082783800069592
Frame 41
tensor(0.1075)
 # KEYFRAME 37
0.07188385399786057
Frame 42
tensor(0.2040)
 # KEYFRAME 38
0.07303691000197432
Frame 43
tensor(0.1071)
 # KEYFRAME 39
0.07359072899998864
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=534 loss_distill=0.1733 tta_take=0.009s
Frame 44
tensor(0.1528)
 # KEYFRAME 40
0.0724877619977633
Frame 45
tensor(0.1578)
 # KEYFRAME 41
0.07436322499779635
Frame 46
tensor(0.0774)
Frame 47
tensor(0.1987)
 # KEYFRAME 42
0.07402999699843349
Frame 48
tensor(0.1743)
 # KEYFRAME 43
0.07523667200075579
Frame 49
tensor(0.2215)
 # KEYFRAME 44
0.07555038099962985
Frame 50
tensor(0.1712)
 # KEYFRAME 45
0.07767029400201864
Frame 51
tensor(0.1547)
 # KEYFRAME 46
0.07733485499920789
Frame 52
tensor(0.2473)
 # KEYFRAME 47
0.07821157200305606
Frame 53
tensor(0.2905)
 # KEYFRAME 48
0.07888879899837775
Frame 54
tensor(0.3300)
 # KEYFRAME 49
0.07998485500138486
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=535 loss_distill=0.2747 tta_take=0.009s
Frame 55
tensor(0.2719)
 # KEYFRAME 50
0.07904555899949628
Frame 56
tensor(0.1338)
 # KEYFRAME 51
0.0814110810024431
Frame 57
tensor(0.1154)
 # KEYFRAME 52
0.08187414900021395
Frame 58
tensor(0.2440)
 # KEYFRAME 53
0.08393497199722333
Frame 59
tensor(0.0534)
Frame 60
tensor(0.1243)
 # KEYFRAME 54
0.08570809499724419
Frame 61
tensor(0.1360)
 # KEYFRAME 55
0.08537891599917202
Frame 62
tensor(0.2115)
 # KEYFRAME 56
0.08670258200072567
Frame 63
tensor(0.1628)
 # KEYFRAME 57
0.08740767900235369
Frame 64
tensor(0.1607)
 # KEYFRAME 58
0.08855826500075636
Frame 65
tensor(0.0723)
Frame 66
tensor(0.0587)
Frame 67
tensor(0.3687)
 # KEYFRAME 59
0.0887869940015662
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=536 loss_distill=0.3466 tta_take=0.009s
Frame 68
tensor(0.3353)
 # KEYFRAME 60
0.08598246399924392
Frame 69
tensor(0.2687)
 # KEYFRAME 61
0.08807469699968351
Frame 70
tensor(0.2430)
 # KEYFRAME 62
0.08816259600280318
Frame 71
tensor(0.1947)
 # KEYFRAME 63
0.08875403400088544
Frame 72
tensor(0.2397)
 # KEYFRAME 64
0.08932088199799182
Frame 73
tensor(0.2284)
 # KEYFRAME 65
0.0907971569977235
Frame 74
tensor(0.2375)
 # KEYFRAME 66
0.09097610599928885
Frame 75
tensor(0.2061)
 # KEYFRAME 67
0.09192376300052274
Frame 76
tensor(0.1893)
 # KEYFRAME 68
0.0917919739986246
Frame 77
tensor(0.2694)
 # KEYFRAME 69
0.09263312999974005
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=537 loss_distill=0.4024 tta_take=0.009s
Frame 78
tensor(0.2228)
 # KEYFRAME 70
0.09227944200029015
Frame 79
tensor(0.1892)
 # KEYFRAME 71
0.09618970699739293
Frame 80
tensor(0.1918)
 # KEYFRAME 72
0.09569654900042224
Frame 81
tensor(0.1530)
 # KEYFRAME 73
0.09703549500045483
Frame 82
tensor(0.2036)
 # KEYFRAME 74
0.09736419399996521
Frame 83
tensor(0.1768)
 # KEYFRAME 75
0.0993095669982722
Frame 84
tensor(0.1989)
 # KEYFRAME 76
0.10064769200107548
Frame 85
tensor(0.2159)
 # KEYFRAME 77
0.10186177799914731
Frame 86
tensor(0.1200)
 # KEYFRAME 78
0.1018722369990428
Frame 87
tensor(0.2051)
 # KEYFRAME 79
0.10282911399917793
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=538 loss_distill=0.4024 tta_take=0.009s
Frame 88
tensor(0.1409)
 # KEYFRAME 80
0.09321812900088844
Frame 89
tensor(0.3152)
 # KEYFRAME 81
0.0937805159992422
Frame 90
tensor(0.2572)
 # KEYFRAME 82
0.09430414400048903
Frame 91
tensor(0.5478)
 # KEYFRAME 83
0.09500988199943095
Frame 92
tensor(0.0915)
Frame 93
tensor(0.1699)
 # KEYFRAME 84
0.09591049799928442
Frame 94
tensor(0.2171)
 # KEYFRAME 85
0.09686220599905937
Frame 95
tensor(0.2994)
 # KEYFRAME 86
0.09751127300114604
Frame 96
tensor(0.0675)
Frame 97
tensor(0.1507)
 # KEYFRAME 87
0.09870539899930009
Frame 98
tensor(0.2160)
 # KEYFRAME 88
0.0994050059998699
Frame 99
tensor(0.2492)
 # KEYFRAME 89
0.09982995500104153
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=539 loss_distill=0.4024 tta_take=0.009s
Frame 100
tensor(0.1211)
 # KEYFRAME 90
0.09350001699931454
Frame 101
tensor(0.2266)
 # KEYFRAME 91
0.09430098400116549
Frame 102
tensor(0.2109)
 # KEYFRAME 92
0.0953670909984794
Frame 103
tensor(0.2542)
 # KEYFRAME 93
0.09710349500164739
Frame 104
tensor(0.2317)
 # KEYFRAME 94
0.09808148099909886
Frame 105
tensor(0.2040)
 # KEYFRAME 95
0.09903836800003774
Frame 106
tensor(0.1652)
 # KEYFRAME 96
0.1005998019973049
Frame 107
tensor(0.1896)
 # KEYFRAME 97
0.10102782099784235
Frame 108
tensor(0.1396)
 # KEYFRAME 98
0.10181815800024197
Frame 109
tensor(0.2798)
 # KEYFRAME 99
0.10262064500057022
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=540 loss_distill=0.4024 tta_take=0.009s
Frame 110
tensor(0.1607)
 # KEYFRAME 100
0.09283263000179431
Frame 111
tensor(0.2186)
 # KEYFRAME 101
0.09321412799909012
Frame 112
tensor(0.0547)
Frame 113
tensor(0.2322)
 # KEYFRAME 102
0.0940521449992957
Frame 114
tensor(0.3712)
 # KEYFRAME 103
0.09509625099963159
Frame 115
tensor(0.3070)
 # KEYFRAME 104
0.09514310200029286
Frame 116
tensor(0.1265)
 # KEYFRAME 105
0.09725238400278613
Frame 117
tensor(0.2847)
 # KEYFRAME 106
0.09708505399976275
Frame 118
tensor(0.3756)
 # KEYFRAME 107
0.09777316300096572
Frame 119
tensor(0.1913)
 # KEYFRAME 108
0.09890916799849947
Frame 120
tensor(0.2473)
 # KEYFRAME 109
0.09901123800227651
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=541 loss_distill=0.4024 tta_take=0.009s
Frame 121
tensor(0.2603)
 # KEYFRAME 110
0.09319959800268407
Frame 122
tensor(0.1469)
 # KEYFRAME 111
0.09527885100033018
Frame 123
tensor(0.1277)
 # KEYFRAME 112
0.09467208299975027
Frame 124
tensor(0.1638)
 # KEYFRAME 113
0.09529214100257377
Frame 125
tensor(0.1389)
 # KEYFRAME 114
0.09660075599822449
Frame 126
tensor(0.3180)
 # KEYFRAME 115
0.09785086200281512
Frame 127
tensor(0.1377)
 # KEYFRAME 116
0.09866323900132556
Frame 128
tensor(0.3827)
 # KEYFRAME 117
0.09941814700141549
Frame 129
tensor(0.2952)
 # KEYFRAME 118
0.10004364400083432
Frame 130
tensor(0.1809)
 # KEYFRAME 119
0.10016324299795087
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=542 loss_distill=0.4024 tta_take=0.009s
Frame 131
tensor(0.1445)
 # KEYFRAME 120
0.09351683800196042
Frame 132
tensor(0.3101)
 # KEYFRAME 121
0.09441073500056518
Frame 133
tensor(0.1870)
 # KEYFRAME 122
0.09549107099883258
Frame 134
tensor(0.1259)
 # KEYFRAME 123
0.09555341000304907
Frame 135
tensor(0.1860)
 # KEYFRAME 124
0.09722231399791781
Frame 136
tensor(0.1536)
 # KEYFRAME 125
0.09789788200214389
Frame 137
tensor(0.1533)
 # KEYFRAME 126
0.09867777900217334
Frame 138
tensor(0.1745)
 # KEYFRAME 127
0.09901923700090265
Frame 139
tensor(0.2971)
 # KEYFRAME 128
0.09929178699894692
Frame 140
tensor(0.2614)
 # KEYFRAME 129
0.09978574500200921
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=543 loss_distill=0.4024 tta_take=0.009s
Frame 141
tensor(0.2680)
 # KEYFRAME 130
0.09298128000227734
Frame 142
tensor(0.1418)
 # KEYFRAME 131
0.09593395900083124
Frame 143
tensor(0.0573)
Frame 144
tensor(0.0332)
Backending... 132 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 64542, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=544 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 80/556] scannetpp/c47168fab2/frame frames=145 tta_steps_this_scene=11 mean_loss=0.3649 total_steps=544 time=68.2s
[ckpt] /scratch-shared/wwei2/scorer_pretrain/scorer_v1/checkpoint-last.pth (epoch=0 scene=80)
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1186)
 # KEYFRAME 1
Frame 2
tensor(0.1089)
 # KEYFRAME 2
0.05155047700100113
Frame 3
tensor(0.1536)
 # KEYFRAME 3
0.05258618299922091
Frame 4
tensor(0.1242)
 # KEYFRAME 4
0.05365489999894635
Frame 5
tensor(0.1232)
 # KEYFRAME 5
0.05472626600021613
Frame 6
tensor(0.1137)
 # KEYFRAME 6
0.055126213999756146
Frame 7
tensor(0.0708)
Frame 8
tensor(0.1340)
 # KEYFRAME 7
0.0560201699991012
Frame 9
tensor(0.2830)
 # KEYFRAME 8
0.05727815600039321
Frame 10
tensor(0.0865)
Frame 11
tensor(0.1428)
 # KEYFRAME 9
0.05804078399887658
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.0784)
Frame 13
tensor(0.1711)
 # KEYFRAME 10
0.05164198599959491
Frame 14
tensor(0.2096)
 # KEYFRAME 11
0.051540337000915315
Frame 15
tensor(0.1048)
 # KEYFRAME 12
0.05190450500231236
Frame 16
tensor(0.0904)
Frame 17
tensor(0.2160)
 # KEYFRAME 13
0.05406759799734573
Frame 18
tensor(0.0733)
Frame 19
tensor(0.1454)
 # KEYFRAME 14
0.05385848799778614
Frame 20
tensor(0.2058)
 # KEYFRAME 15
0.05413225799929933
Frame 21
tensor(0.1218)
 # KEYFRAME 16
0.05453871599820559
Frame 22
tensor(0.2909)
 # KEYFRAME 17
0.05555498299872852
Frame 23
tensor(0.1304)
 # KEYFRAME 18
0.056574669000838185
Frame 24
tensor(0.1075)
 # KEYFRAME 19
0.05732863599769189
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.0855)
Frame 26
tensor(0.1661)
 # KEYFRAME 20
0.05398309800148127
Frame 27
tensor(0.0868)
Frame 28
tensor(0.1240)
 # KEYFRAME 21
0.05460298600155511
Frame 29
tensor(0.1079)
 # KEYFRAME 22
0.05529005399876041
Frame 30
tensor(0.2694)
 # KEYFRAME 23
0.055836090999946464
Frame 31
tensor(0.2037)
 # KEYFRAME 24
0.05630747899704147
Frame 32
tensor(0.1097)
 # KEYFRAME 25
0.05669801900148741
Frame 33
tensor(0.1865)
 # KEYFRAME 26
0.05798551399857388
Frame 34
tensor(0.1000)
Frame 35
tensor(0.2555)
 # KEYFRAME 27
0.05911938999997801
Frame 36
tensor(0.0639)
Frame 37
tensor(0.2473)
 # KEYFRAME 28
0.059316918999684276
Frame 38
tensor(0.0825)
Frame 39
tensor(0.0925)
Frame 40
tensor(0.1914)
 # KEYFRAME 29
0.06005894700138015
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 41
tensor(0.2145)
 # KEYFRAME 30
0.0582764530008717
Frame 42
tensor(0.2946)
 # KEYFRAME 31
0.05920044899903587
Frame 43
tensor(0.0808)
Frame 44
tensor(0.1817)
 # KEYFRAME 32
0.05969499799903133
Frame 45
tensor(0.0813)
Frame 46
tensor(0.2315)
 # KEYFRAME 33
0.06053500499911024
Frame 47
tensor(0.0757)
Frame 48
tensor(0.1651)
 # KEYFRAME 34
0.06123556300008204
Frame 49
tensor(0.2643)
 # KEYFRAME 35
0.061722700997052016
Frame 50
tensor(0.2485)
 # KEYFRAME 36
0.06269476700254017
Frame 51
tensor(0.0216)
Frame 52
tensor(0.1038)
 # KEYFRAME 37
0.06265628699838999
Frame 53
tensor(0.1646)
 # KEYFRAME 38
0.07375163799952134
Frame 54
tensor(0.0716)
Frame 55
tensor(0.1434)
 # KEYFRAME 39
0.06421939199935878
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=545 loss_distill=0.1733 tta_take=0.009s
Frame 56
tensor(0.3246)
 # KEYFRAME 40
0.06256228699930944
Frame 57
tensor(0.1649)
 # KEYFRAME 41
0.06438194099973771
Frame 58
tensor(0.0964)
Frame 59
tensor(0.6633)
 # KEYFRAME 42
0.06448991100114654
Frame 60
tensor(0.0690)
Frame 61
tensor(0.2068)
 # KEYFRAME 43
0.06438944099863875
Frame 62
tensor(0.0870)
Frame 63
tensor(0.6152)
 # KEYFRAME 44
0.06653794300291338
Frame 64
tensor(0.0320)
Frame 65
tensor(0.0768)
Frame 66
tensor(0.1267)
 # KEYFRAME 45
0.06702820099962992
Frame 67
tensor(0.0516)
Frame 68
tensor(0.1543)
 # KEYFRAME 46
0.06827843700011726
Frame 69
tensor(0.0514)
Frame 70
tensor(0.0985)
Frame 71
tensor(0.1033)
 # KEYFRAME 47
0.06835896700067678
Frame 72
tensor(0.0692)
Frame 73
tensor(0.0997)
Frame 74
tensor(0.6046)
 # KEYFRAME 48
0.06900070399933611
Frame 75
tensor(0.0282)
Frame 76
tensor(0.1084)
 # KEYFRAME 49
0.06922228400071617
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=546 loss_distill=0.2747 tta_take=0.009s
Frame 77
tensor(0.0740)
Frame 78
tensor(0.2377)
 # KEYFRAME 50
0.06726243100274587
Frame 79
tensor(0.3200)
 # KEYFRAME 51
0.06866773599904263
Frame 80
tensor(0.0500)
Frame 81
tensor(0.1147)
 # KEYFRAME 52
0.0685129470002721
Frame 82
tensor(0.0617)
Frame 83
tensor(0.0983)
Frame 84
tensor(0.1373)
 # KEYFRAME 53
0.0689672350017645
Frame 85
tensor(0.1765)
 # KEYFRAME 54
0.06887243500023033
Frame 86
tensor(0.0484)
Frame 87
tensor(0.3040)
 # KEYFRAME 55
0.06985493100000895
Frame 88
tensor(0.1167)
 # KEYFRAME 56
0.07053069899848197
Frame 89
tensor(0.1266)
 # KEYFRAME 57
0.07082278799862252
Frame 90
tensor(0.0634)
Frame 91
tensor(0.2243)
 # KEYFRAME 58
0.0714783149996947
Frame 92
tensor(0.3645)
 # KEYFRAME 59
0.07191821400192566
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=547 loss_distill=0.3466 tta_take=0.008s
Frame 93
tensor(0.0747)
Frame 94
tensor(0.1719)
 # KEYFRAME 60
0.07124557699717116
Frame 95
tensor(0.2235)
 # KEYFRAME 61
0.07272725100119715
Frame 96
tensor(0.1406)
 # KEYFRAME 62
0.07207431400092901
Frame 97
tensor(0.2796)
 # KEYFRAME 63
0.07345226899997215
Frame 98
tensor(0.3526)
 # KEYFRAME 64
0.07405809700139798
Frame 99
tensor(0.1318)
 # KEYFRAME 65
0.07342915799745242
Frame 100
tensor(0.0882)
Frame 101
tensor(0.3494)
 # KEYFRAME 66
0.07477254400146194
Frame 102
tensor(0.3139)
 # KEYFRAME 67
0.07534218200089526
Frame 103
tensor(0.0321)
Frame 104
tensor(0.1671)
 # KEYFRAME 68
0.07588600999952178
Frame 105
tensor(0.0502)
Frame 106
tensor(0.1600)
 # KEYFRAME 69
0.07645851799679804
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=548 loss_distill=0.4024 tta_take=0.009s
Frame 107
tensor(0.1483)
 # KEYFRAME 70
0.0756242809984542
Frame 108
tensor(0.1607)
 # KEYFRAME 71
0.07729110500076786
Frame 109
tensor(0.0430)
Frame 110
tensor(0.0792)
Frame 111
tensor(0.1182)
 # KEYFRAME 72
0.0766043580006226
Frame 112
tensor(0.0407)
Frame 113
tensor(0.0980)
Frame 114
tensor(0.1511)
 # KEYFRAME 73
0.07721110500278883
Frame 115
tensor(0.0287)
Frame 116
tensor(0.0416)
Frame 117
tensor(0.2711)
 # KEYFRAME 74
0.07783405300142476
Frame 118
tensor(0.1199)
 # KEYFRAME 75
0.07788553300269996
Frame 119
tensor(0.0816)
Frame 120
tensor(0.1282)
 # KEYFRAME 76
0.07825918199887383
Frame 121
tensor(0.0369)
Frame 122
tensor(0.4017)
 # KEYFRAME 77
0.07961797700045281
Frame 123
tensor(0.0563)
Frame 124
tensor(0.0470)
Frame 125
tensor(0.1205)
 # KEYFRAME 78
0.07972631700249622
Frame 126
tensor(0.3858)
 # KEYFRAME 79
0.07984884599864017
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=549 loss_distill=0.4024 tta_take=0.009s
Frame 127
tensor(0.1582)
 # KEYFRAME 80
0.07517079299941543
Frame 128
tensor(0.0783)
Frame 129
tensor(0.1821)
 # KEYFRAME 81
0.07630729800075642
Frame 130
tensor(0.1173)
 # KEYFRAME 82
0.07691734599939082
Frame 131
tensor(0.2047)
 # KEYFRAME 83
0.07732937499895343
Frame 132
tensor(0.1105)
 # KEYFRAME 84
0.07783999299863353
Frame 133
tensor(0.3484)
 # KEYFRAME 85
0.07784689300024183
Frame 134
tensor(0.1922)
 # KEYFRAME 86
0.07830629099771613
Frame 135
tensor(0.2188)
 # KEYFRAME 87
0.07895018999988679
Frame 136
tensor(0.0314)
Frame 137
tensor(0.0930)
Frame 138
tensor(0.1319)
 # KEYFRAME 88
0.07951320700158249
Frame 139
tensor(0.2148)
 # KEYFRAME 89
0.08023659500031499
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=550 loss_distill=0.4024 tta_take=0.008s
Frame 140
tensor(0.3093)
 # KEYFRAME 90
0.07545720100097242
Frame 141
tensor(0.3060)
 # KEYFRAME 91
0.07629481899857637
Frame 142
tensor(0.1181)
 # KEYFRAME 92
0.07679858600022271
Frame 143
tensor(0.1243)
 # KEYFRAME 93
0.07733770400227513
Frame 144
tensor(0.0839)
Frame 145
tensor(0.3768)
 # KEYFRAME 94
0.077847632997873
Frame 146
tensor(0.1445)
 # KEYFRAME 95
0.07866107999871019
Frame 147
tensor(0.0939)
Frame 148
tensor(0.2621)
 # KEYFRAME 96
0.07771727299768827
Backending... 97 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62310, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=551 loss_distill=0.4024 tta_take=0.007s
[epoch 0 scene 81/556] scannetpp/8a35ef3cfe/DSC frames=149 tta_steps_this_scene=7 mean_loss=0.3434 total_steps=551 time=48.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0421)
Frame 2
tensor(0.0857)
Frame 3
tensor(0.1330)
 # KEYFRAME 1
Frame 4
tensor(0.0439)
Frame 5
tensor(0.0847)
Frame 6
tensor(0.1299)
 # KEYFRAME 2
0.05194261499855202
Frame 7
tensor(0.0422)
Frame 8
tensor(0.0821)
Frame 9
tensor(0.1306)
 # KEYFRAME 3
0.051791825997497654
Frame 10
tensor(0.0405)
Frame 11
tensor(0.0818)
Frame 12
tensor(0.1346)
 # KEYFRAME 4
0.05278180200184579
Frame 13
tensor(0.0436)
Frame 14
tensor(0.0886)
Frame 15
tensor(0.1392)
 # KEYFRAME 5
0.05234750399904442
Frame 16
tensor(0.0469)
Frame 17
tensor(0.0982)
Frame 18
tensor(0.1518)
 # KEYFRAME 6
0.052735492998181144
Frame 19
tensor(0.0490)
Frame 20
tensor(0.0988)
Frame 21
tensor(0.1509)
 # KEYFRAME 7
0.05265698299990618
Frame 22
tensor(0.0470)
Frame 23
tensor(0.0980)
Frame 24
tensor(0.1471)
 # KEYFRAME 8
0.054068817997176666
Frame 25
tensor(0.0484)
Frame 26
tensor(0.0923)
Frame 27
tensor(0.1398)
 # KEYFRAME 9
0.05240541400053189
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 28
tensor(0.0433)
Frame 29
tensor(0.0866)
Frame 30
tensor(0.1281)
 # KEYFRAME 10
0.051655195999046555
Frame 31
tensor(0.0437)
Frame 32
tensor(0.0894)
Frame 33
tensor(0.1324)
 # KEYFRAME 11
0.05199697499847389
Frame 34
tensor(0.0453)
Frame 35
tensor(0.0945)
Frame 36
tensor(0.1318)
 # KEYFRAME 12
0.05300910100049805
Frame 37
tensor(0.0411)
Frame 38
tensor(0.0848)
Frame 39
tensor(0.1283)
 # KEYFRAME 13
0.05250361300204531
Frame 40
tensor(0.0371)
Frame 41
tensor(0.0820)
Frame 42
tensor(0.1234)
 # KEYFRAME 14
0.054288927000015974
Frame 43
tensor(0.0365)
Frame 44
tensor(0.0888)
Frame 45
tensor(0.1222)
 # KEYFRAME 15
0.05287826199855772
Frame 46
tensor(0.0417)
Frame 47
tensor(0.0940)
Frame 48
tensor(0.1308)
 # KEYFRAME 16
0.05292221199852065
Frame 49
tensor(0.0418)
Frame 50
tensor(0.0932)
Frame 51
tensor(0.1354)
 # KEYFRAME 17
0.055744802000845084
Frame 52
tensor(0.0467)
Frame 53
tensor(0.1087)
 # KEYFRAME 18
0.05294563200004632
Frame 54
tensor(0.0484)
Frame 55
tensor(0.1211)
 # KEYFRAME 19
0.05578570099896751
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 56
tensor(0.0611)
Frame 57
tensor(0.1193)
 # KEYFRAME 20
0.052013634998729685
Frame 58
tensor(0.0602)
Frame 59
tensor(0.1252)
 # KEYFRAME 21
0.05249805399944307
Frame 60
tensor(0.0616)
Frame 61
tensor(0.1129)
 # KEYFRAME 22
0.0532925610023085
Frame 62
tensor(0.0566)
Frame 63
tensor(0.1171)
 # KEYFRAME 23
0.05252737299815635
Frame 64
tensor(0.0513)
Frame 65
tensor(0.1104)
 # KEYFRAME 24
0.05388989800121635
Frame 66
tensor(0.0489)
Frame 67
tensor(0.0985)
Frame 68
tensor(0.1533)
 # KEYFRAME 25
0.05310735099919839
Frame 69
tensor(0.0481)
Frame 70
tensor(0.0999)
Frame 71
tensor(0.1587)
 # KEYFRAME 26
0.05298002100244048
Frame 72
tensor(0.0602)
Frame 73
tensor(0.1119)
 # KEYFRAME 27
0.056010760003118776
Frame 74
tensor(0.0537)
Frame 75
tensor(0.1115)
 # KEYFRAME 28
0.05345820000002277
Frame 76
tensor(0.0611)
Frame 77
tensor(0.1206)
 # KEYFRAME 29
0.055994860998907825
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 78
tensor(0.0579)
Frame 79
tensor(0.1202)
 # KEYFRAME 30
0.05228918400098337
Frame 80
tensor(0.0527)
Frame 81
tensor(0.0974)
Frame 82
tensor(0.1464)
 # KEYFRAME 31
0.05331182000008994
Frame 83
tensor(0.0417)
Frame 84
tensor(0.0848)
Frame 85
tensor(0.1345)
 # KEYFRAME 32
0.054425925998657476
Frame 86
tensor(0.0413)
Frame 87
tensor(0.0905)
Frame 88
tensor(0.1402)
 # KEYFRAME 33
0.05322579999847221
Frame 89
tensor(0.0443)
Frame 90
tensor(0.0973)
Frame 91
tensor(0.1305)
 # KEYFRAME 34
0.05568364100327017
Frame 92
tensor(0.0426)
Frame 93
tensor(0.0894)
Frame 94
tensor(0.1339)
 # KEYFRAME 35
0.05322434000117937
Frame 95
tensor(0.0385)
Frame 96
tensor(0.0874)
Frame 97
tensor(0.1311)
 # KEYFRAME 36
0.05350169899975299
Frame 98
tensor(0.0455)
Frame 99
tensor(0.0932)
Frame 100
tensor(0.1357)
 # KEYFRAME 37
0.0576572150021093
Frame 101
tensor(0.0477)
Frame 102
tensor(0.0957)
Frame 103
tensor(0.1446)
 # KEYFRAME 38
0.05351700000028359
Frame 104
tensor(0.0480)
Frame 105
tensor(0.1001)
 # KEYFRAME 39
0.05917045999740367
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=552 loss_distill=0.1733 tta_take=0.005s
Frame 106
tensor(0.0484)
Frame 107
tensor(0.1029)
 # KEYFRAME 40
0.052581022999220295
Frame 108
tensor(0.0564)
Frame 109
tensor(0.1086)
 # KEYFRAME 41
0.05270985199967981
Frame 110
tensor(0.0450)
Frame 111
tensor(0.1022)
 # KEYFRAME 42
0.05303506199925323
Frame 112
tensor(0.0473)
Frame 113
tensor(0.0955)
Frame 114
tensor(0.1420)
 # KEYFRAME 43
0.052330654001707444
Frame 115
tensor(0.0461)
Frame 116
tensor(0.0962)
Frame 117
tensor(0.1371)
 # KEYFRAME 44
0.05325127000105567
Frame 118
tensor(0.0453)
Frame 119
tensor(0.0963)
Frame 120
tensor(0.1472)
 # KEYFRAME 45
0.052307853999082
Frame 121
tensor(0.0457)
Frame 122
tensor(0.0976)
Frame 123
tensor(0.1444)
 # KEYFRAME 46
0.05249941300280625
Frame 124
tensor(0.0491)
Frame 125
tensor(0.0943)
Frame 126
tensor(0.1356)
 # KEYFRAME 47
0.053258260999427876
Frame 127
tensor(0.0399)
Frame 128
tensor(0.0833)
Frame 129
tensor(0.1270)
 # KEYFRAME 48
0.05304161199819646
Frame 130
tensor(0.0329)
Frame 131
tensor(0.0760)
Frame 132
tensor(0.1149)
 # KEYFRAME 49
0.053653029000997776
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=553 loss_distill=0.2747 tta_take=0.005s
Frame 133
tensor(0.0359)
Frame 134
tensor(0.0881)
Frame 135
tensor(0.1292)
 # KEYFRAME 50
0.0524551739981689
Frame 136
tensor(0.0456)
Frame 137
tensor(0.0937)
Frame 138
tensor(0.1358)
 # KEYFRAME 51
0.0537555090013484
Frame 139
tensor(0.0414)
Frame 140
tensor(0.0838)
Frame 141
tensor(0.1198)
 # KEYFRAME 52
0.054767975001595914
Frame 142
tensor(0.0413)
Frame 143
tensor(0.0817)
Frame 144
tensor(0.1154)
 # KEYFRAME 53
0.0530588510009693
Frame 145
tensor(0.0383)
Frame 146
tensor(0.0719)
Frame 147
tensor(0.1103)
 # KEYFRAME 54
0.05479991500033066
Frame 148
tensor(0.0377)
Frame 149
tensor(0.0722)
Frame 150
tensor(0.1047)
 # KEYFRAME 55
0.05247498400058248
Frame 151
tensor(0.0322)
Frame 152
tensor(0.0634)
Frame 153
tensor(0.1002)
 # KEYFRAME 56
0.0525050239994016
Frame 154
tensor(0.0315)
Frame 155
tensor(0.0632)
Frame 156
tensor(0.0950)
Frame 157
tensor(0.1226)
 # KEYFRAME 57
0.054602426000201376
Frame 158
tensor(0.0257)
Frame 159
tensor(0.0585)
Frame 160
tensor(0.0843)
Frame 161
tensor(0.1134)
 # KEYFRAME 58
0.05251398299878929
Frame 162
tensor(0.0224)
Frame 163
tensor(0.0445)
Frame 164
tensor(0.0638)
Frame 165
tensor(0.0858)
Frame 166
tensor(0.0993)
Frame 167
tensor(0.1281)
 # KEYFRAME 59
0.05534436300149537
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=554 loss_distill=0.3466 tta_take=0.005s
Frame 168
tensor(0.0197)
Frame 169
tensor(0.0371)
Frame 170
tensor(0.0594)
Frame 171
tensor(0.0770)
Frame 172
tensor(0.0957)
Frame 173
tensor(0.1126)
 # KEYFRAME 60
0.05246515299950261
Frame 174
tensor(0.0116)
Frame 175
tensor(0.0314)
Frame 176
tensor(0.0454)
Frame 177
tensor(0.0639)
Frame 178
tensor(0.0776)
Frame 179
tensor(0.0936)
Frame 180
tensor(0.1114)
 # KEYFRAME 61
0.05252017300153966
Frame 181
tensor(0.0089)
Frame 182
tensor(0.0212)
Frame 183
tensor(0.0291)
Frame 184
tensor(0.0448)
Frame 185
tensor(0.0545)
Frame 186
tensor(0.0641)
Frame 187
tensor(0.0729)
Frame 188
tensor(0.0770)
Frame 189
tensor(0.0791)
Frame 190
tensor(0.0901)
Frame 191
tensor(0.0979)
Frame 192
tensor(0.1003)
 # KEYFRAME 62
0.05431754700111924
Frame 193
tensor(0.0034)
Frame 194
tensor(0.0104)
Frame 195
tensor(0.0173)
Frame 196
tensor(0.0234)
Frame 197
tensor(0.0301)
Frame 198
tensor(0.0380)
Frame 199
tensor(0.0454)
Frame 200
tensor(0.0523)
Frame 201
tensor(0.0634)
Frame 202
tensor(0.0684)
Frame 203
tensor(0.0833)
Frame 204
tensor(0.0899)
Frame 205
tensor(0.0999)
Frame 206
tensor(0.1110)
 # KEYFRAME 63
0.05248500399829936
Frame 207
tensor(0.0146)
Frame 208
tensor(0.0316)
Frame 209
tensor(0.0439)
Frame 210
tensor(0.0634)
Frame 211
tensor(0.0821)
Frame 212
tensor(0.1005)
 # KEYFRAME 64
0.05448888599858037
Frame 213
tensor(0.0181)
Frame 214
tensor(0.0365)
Frame 215
tensor(0.0552)
Frame 216
tensor(0.0759)
Frame 217
tensor(0.0978)
Frame 218
tensor(0.1196)
 # KEYFRAME 65
0.05242803399960394
Frame 219
tensor(0.0190)
Frame 220
tensor(0.0422)
Frame 221
tensor(0.0634)
Frame 222
tensor(0.0838)
Frame 223
tensor(0.1079)
 # KEYFRAME 66
0.05261806199996499
Frame 224
tensor(0.0230)
Frame 225
tensor(0.0499)
Frame 226
tensor(0.0761)
Frame 227
tensor(0.0987)
Frame 228
tensor(0.1204)
 # KEYFRAME 67
0.05410675700113643
Frame 229
tensor(0.0291)
Frame 230
tensor(0.0548)
Frame 231
tensor(0.0817)
Frame 232
tensor(0.1032)
 # KEYFRAME 68
0.053210900998237776
Frame 233
tensor(0.0253)
Frame 234
tensor(0.0544)
Frame 235
tensor(0.0818)
Frame 236
tensor(0.1070)
 # KEYFRAME 69
0.05398820799746318
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=555 loss_distill=0.4024 tta_take=0.005s
Frame 237
tensor(0.0313)
Frame 238
tensor(0.0561)
Frame 239
tensor(0.0841)
Frame 240
tensor(0.1165)
 # KEYFRAME 70
0.05319001099996967
Frame 241
tensor(0.0265)
Frame 242
tensor(0.0603)
Frame 243
tensor(0.0886)
Frame 244
tensor(0.1227)
 # KEYFRAME 71
0.054286226997646736
Frame 245
tensor(0.0339)
Frame 246
tensor(0.0678)
Frame 247
tensor(0.0987)
Frame 248
tensor(0.1398)
 # KEYFRAME 72
0.05535465300272335
Frame 249
tensor(0.0300)
Frame 250
tensor(0.0682)
Frame 251
tensor(0.0993)
Frame 252
tensor(0.1314)
 # KEYFRAME 73
0.05359529899942572
Frame 253
tensor(0.0393)
Frame 254
tensor(0.0761)
Frame 255
tensor(0.1082)
 # KEYFRAME 74
0.05584169199937605
Frame 256
tensor(0.0368)
Frame 257
tensor(0.0693)
Frame 258
tensor(0.1009)
 # KEYFRAME 75
0.054030968000006396
Frame 259
tensor(0.0330)
Frame 260
tensor(0.0646)
Frame 261
tensor(0.0964)
Frame 262
tensor(0.1324)
 # KEYFRAME 76
0.053779738998855464
Frame 263
tensor(0.0298)
Frame 264
tensor(0.0729)
Frame 265
tensor(0.1089)
 # KEYFRAME 77
0.056314928999199765
Frame 266
tensor(0.0329)
Frame 267
tensor(0.0669)
Frame 268
tensor(0.0999)
Frame 269
tensor(0.1359)
 # KEYFRAME 78
0.05424362700068741
Frame 270
tensor(0.0380)
Frame 271
tensor(0.0707)
Frame 272
tensor(0.1112)
 # KEYFRAME 79
0.05658390900134691
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=556 loss_distill=0.4024 tta_take=0.005s
Frame 273
tensor(0.0401)
Frame 274
tensor(0.0737)
Frame 275
tensor(0.1134)
 # KEYFRAME 80
0.053487999000935815
Frame 276
tensor(0.0399)
Frame 277
tensor(0.0746)
Frame 278
tensor(0.1127)
 # KEYFRAME 81
0.05396373799885623
Frame 279
tensor(0.0381)
Frame 280
tensor(0.0732)
Frame 281
tensor(0.1016)
 # KEYFRAME 82
0.05441894700197736
Frame 282
tensor(0.0394)
Frame 283
tensor(0.0762)
Frame 284
tensor(0.1155)
 # KEYFRAME 83
0.053608558999258094
Frame 285
tensor(0.0357)
Frame 286
tensor(0.0712)
Frame 287
tensor(0.1092)
 # KEYFRAME 84
0.055039595001289854
Frame 288
tensor(0.0386)
Frame 289
tensor(0.0736)
Frame 290
tensor(0.1110)
 # KEYFRAME 85
0.05415169700063416
Frame 291
tensor(0.0394)
Frame 292
tensor(0.0813)
Frame 293
tensor(0.1235)
 # KEYFRAME 86
0.05392431799918995
Frame 294
tensor(0.0384)
Frame 295
tensor(0.0880)
Frame 296
tensor(0.1254)
 # KEYFRAME 87
0.05523704300139798
Frame 297
tensor(0.0402)
Frame 298
tensor(0.0885)
Frame 299
tensor(0.1308)
 # KEYFRAME 88
0.054523015998711344
Backending... 89 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28428, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=557 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 82/556] vkitti/Scene01/morning/Camera_0 frames=300 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=557 time=101.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0175)
Frame 2
tensor(0.0498)
Frame 3
tensor(0.0841)
Frame 4
tensor(0.0928)
Frame 5
tensor(0.1128)
 # KEYFRAME 1
Frame 6
tensor(0.0208)
Frame 7
tensor(0.0468)
Frame 8
tensor(0.0879)
Frame 9
tensor(0.1186)
 # KEYFRAME 2
0.05170113599888282
Frame 10
tensor(0.0103)
Frame 11
tensor(0.0331)
Frame 12
tensor(0.0441)
Frame 13
tensor(0.0674)
Frame 14
tensor(0.1006)
 # KEYFRAME 3
0.05254815300213522
Frame 15
tensor(0.0241)
Frame 16
tensor(0.0736)
Frame 17
tensor(0.1141)
 # KEYFRAME 4
0.05406489800225245
Frame 18
tensor(0.0497)
Frame 19
tensor(0.1236)
 # KEYFRAME 5
0.05478671500168275
Frame 20
tensor(0.0613)
Frame 21
tensor(0.0960)
Frame 22
tensor(0.1008)
 # KEYFRAME 6
0.05606787999931839
Frame 23
tensor(0.0500)
Frame 24
tensor(0.0953)
Frame 25
tensor(0.1323)
 # KEYFRAME 7
0.05681258799813804
Frame 26
tensor(0.0593)
Frame 27
tensor(0.1207)
 # KEYFRAME 8
0.057684643998072715
Frame 28
tensor(0.0365)
Frame 29
tensor(0.1200)
 # KEYFRAME 9
0.05845266199685284
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 30
tensor(0.0525)
Frame 31
tensor(0.1042)
 # KEYFRAME 10
0.05154359700100031
Frame 32
tensor(0.0438)
Frame 33
tensor(0.0864)
Frame 34
tensor(0.1220)
 # KEYFRAME 11
0.05233426400081953
Frame 35
tensor(0.0448)
Frame 36
tensor(0.0649)
Frame 37
tensor(0.0525)
Frame 38
tensor(0.0585)
Frame 39
tensor(0.0913)
Frame 40
tensor(0.1321)
 # KEYFRAME 12
0.05317279100199812
Frame 41
tensor(0.0434)
Frame 42
tensor(0.0971)
Frame 43
tensor(0.1719)
 # KEYFRAME 13
0.05503988400232629
Frame 44
tensor(0.0388)
Frame 45
tensor(0.1036)
 # KEYFRAME 14
0.05530809300034889
Frame 46
tensor(0.0653)
Frame 47
tensor(0.1319)
 # KEYFRAME 15
0.05449333599972306
Frame 48
tensor(0.0863)
Frame 49
tensor(0.1497)
 # KEYFRAME 16
0.05527608299962594
Frame 50
tensor(0.0531)
Frame 51
tensor(0.0909)
Frame 52
tensor(0.1582)
 # KEYFRAME 17
0.05623964000187698
Frame 53
tensor(0.0396)
Frame 54
tensor(0.0958)
Frame 55
tensor(0.1548)
 # KEYFRAME 18
0.057512195002345834
Frame 56
tensor(0.0631)
Frame 57
tensor(0.0926)
Frame 58
tensor(0.1555)
 # KEYFRAME 19
0.05784752500039758
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 59
tensor(0.0297)
Frame 60
tensor(0.0758)
Frame 61
tensor(0.1242)
 # KEYFRAME 20
0.054170507999515394
Frame 62
tensor(0.0156)
Frame 63
tensor(0.1486)
 # KEYFRAME 21
0.05519217400069465
Frame 64
tensor(0.4901)
 # KEYFRAME 22
0.05545196300226962
Frame 65
tensor(0.0938)
Frame 66
tensor(0.1233)
 # KEYFRAME 23
0.056008521001785994
Frame 67
tensor(0.0328)
Frame 68
tensor(0.1127)
 # KEYFRAME 24
0.05633655999918119
Frame 69
tensor(0.0375)
Frame 70
tensor(0.1186)
 # KEYFRAME 25
0.05705063700224855
Frame 71
tensor(0.0522)
Frame 72
tensor(0.0844)
Frame 73
tensor(0.1328)
 # KEYFRAME 26
0.05820254300124361
Frame 74
tensor(0.0398)
Frame 75
tensor(0.0515)
Frame 76
tensor(0.0712)
Frame 77
tensor(0.1208)
 # KEYFRAME 27
0.05945060899830423
Frame 78
tensor(0.0651)
Frame 79
tensor(0.1202)
 # KEYFRAME 28
0.06018498599951272
Frame 80
tensor(0.0844)
Frame 81
tensor(0.1412)
 # KEYFRAME 29
0.06063638400155469
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 82
tensor(0.4931)
 # KEYFRAME 30
0.0582241129995964
Frame 83
tensor(0.0114)
Frame 84
tensor(0.0463)
Frame 85
tensor(0.0807)
Frame 86
tensor(0.1344)
 # KEYFRAME 31
0.05990585700055817
Frame 87
tensor(0.0779)
Frame 88
tensor(0.1361)
 # KEYFRAME 32
0.059997156997269485
Frame 89
tensor(0.0241)
Frame 90
tensor(0.0775)
Frame 91
tensor(0.1310)
 # KEYFRAME 33
0.06176752100145677
Frame 92
tensor(0.0508)
Frame 93
tensor(0.1158)
 # KEYFRAME 34
0.062451698002405465
Frame 94
tensor(0.0741)
Frame 95
tensor(0.1495)
 # KEYFRAME 35
0.06342438500360004
Frame 96
tensor(0.0887)
Frame 97
tensor(0.1053)
 # KEYFRAME 36
0.06495402899963665
Frame 98
tensor(0.0347)
Frame 99
tensor(0.0488)
Frame 100
tensor(0.0558)
Frame 101
tensor(0.0571)
Frame 102
tensor(0.0587)
Frame 103
tensor(0.0640)
Frame 104
tensor(0.0980)
Frame 105
tensor(0.1319)
 # KEYFRAME 37
0.06586636599968188
Frame 106
tensor(0.0218)
Frame 107
tensor(0.0825)
Frame 108
tensor(0.1153)
 # KEYFRAME 38
0.06631746499988367
Frame 109
tensor(0.0427)
Frame 110
tensor(0.0953)
Frame 111
tensor(0.1440)
 # KEYFRAME 39
0.06639953500052798
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=558 loss_distill=0.1733 tta_take=0.009s
Frame 112
tensor(0.0948)
Frame 113
tensor(0.1972)
 # KEYFRAME 40
0.06291021600191016
Frame 114
tensor(0.0678)
Frame 115
tensor(0.1387)
 # KEYFRAME 41
0.06389482300073723
Frame 116
tensor(0.0791)
Frame 117
tensor(0.1354)
 # KEYFRAME 42
0.06414990299890633
Frame 118
tensor(0.0712)
Frame 119
tensor(0.1384)
 # KEYFRAME 43
0.06384445399817196
Frame 120
tensor(0.1553)
 # KEYFRAME 44
0.06477215999984764
Frame 121
tensor(0.1152)
 # KEYFRAME 45
0.0652486979997775
Frame 122
tensor(0.0598)
Frame 123
tensor(0.1920)
 # KEYFRAME 46
0.06556553800328402
Frame 124
tensor(0.1871)
 # KEYFRAME 47
0.06635731500136899
Frame 125
tensor(0.1591)
 # KEYFRAME 48
0.06653867400018498
Frame 126
tensor(0.1001)
 # KEYFRAME 49
0.06725876099881134
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=559 loss_distill=0.2747 tta_take=0.009s
Frame 127
tensor(0.1132)
 # KEYFRAME 50
0.0669972220021009
Frame 128
tensor(0.1108)
 # KEYFRAME 51
0.06848982699739281
Frame 129
tensor(0.1134)
 # KEYFRAME 52
0.06861423599912087
Frame 130
tensor(0.0378)
Frame 131
tensor(0.0594)
Frame 132
tensor(0.0632)
Frame 133
tensor(0.0773)
Frame 134
tensor(0.1541)
 # KEYFRAME 53
0.06934178400115343
Frame 135
tensor(0.1859)
 # KEYFRAME 54
0.0690471849993628
Frame 136
tensor(0.0519)
Frame 137
tensor(0.1477)
 # KEYFRAME 55
0.0698972620011773
Frame 138
tensor(0.0876)
Frame 139
tensor(0.2830)
 # KEYFRAME 56
0.07133180699747754
Frame 140
tensor(0.0815)
Frame 141
tensor(0.0699)
Frame 142
tensor(0.0853)
Frame 143
tensor(0.2339)
 # KEYFRAME 57
0.07165756600079476
Frame 144
tensor(0.2264)
 # KEYFRAME 58
0.07235560399931273
Frame 145
tensor(0.1886)
 # KEYFRAME 59
0.0728456710021419
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=560 loss_distill=0.3466 tta_take=0.009s
Frame 146
tensor(0.0813)
Frame 147
tensor(0.1977)
 # KEYFRAME 60
0.07168201500098803
Frame 148
tensor(0.1124)
 # KEYFRAME 61
0.07314018000033684
Frame 149
tensor(0.0711)
Backending... 62 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 57660, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=561 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 83/556] scannetpp/c0f5742640/DSC frames=150 tta_steps_this_scene=4 mean_loss=0.2992 total_steps=561 time=47.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0325)
Frame 2
tensor(0.0988)
Frame 3
tensor(0.1264)
 # KEYFRAME 1
Frame 4
tensor(0.0520)
Frame 5
tensor(0.0685)
Frame 6
tensor(0.0784)
Frame 7
tensor(0.2108)
 # KEYFRAME 2
0.051972536002722336
Frame 8
tensor(0.0250)
Frame 9
tensor(0.0633)
Frame 10
tensor(0.1069)
 # KEYFRAME 3
0.052235744002246065
Frame 11
tensor(0.0295)
Frame 12
tensor(0.0559)
Frame 13
tensor(0.3292)
 # KEYFRAME 4
0.053651409998565214
Frame 14
tensor(0.0771)
Frame 15
tensor(0.0883)
Frame 16
tensor(0.1054)
 # KEYFRAME 5
0.054549336000491166
Frame 17
tensor(0.0947)
Frame 18
tensor(0.1228)
 # KEYFRAME 6
0.05563361299937242
Frame 19
tensor(0.7906)
 # KEYFRAME 7
0.05650616000275477
Frame 20
tensor(0.0247)
Frame 21
tensor(0.0574)
Frame 22
tensor(0.1775)
 # KEYFRAME 8
0.057383556002605474
Frame 23
tensor(0.0642)
Frame 24
tensor(0.1673)
 # KEYFRAME 9
0.05778077400100301
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.0599)
Frame 26
tensor(0.1088)
 # KEYFRAME 10
0.05183225599830621
Frame 27
tensor(0.5425)
 # KEYFRAME 11
0.05200589499872876
Frame 28
tensor(0.0332)
Frame 29
tensor(0.0464)
Frame 30
tensor(0.1436)
 # KEYFRAME 12
0.05183968599885702
Frame 31
tensor(0.0446)
Frame 32
tensor(0.1284)
 # KEYFRAME 13
0.05425499699776992
Frame 33
tensor(0.1051)
 # KEYFRAME 14
0.054370826997910626
Frame 34
tensor(0.0552)
Frame 35
tensor(0.1226)
 # KEYFRAME 15
0.05445432699707453
Frame 36
tensor(0.0386)
Frame 37
tensor(0.2896)
 # KEYFRAME 16
0.05516075400009868
Frame 38
tensor(0.0252)
Frame 39
tensor(0.0609)
Frame 40
tensor(0.3572)
 # KEYFRAME 17
0.05589267100003781
Frame 41
tensor(0.0345)
Frame 42
tensor(0.0613)
Frame 43
tensor(0.0822)
Frame 44
tensor(0.0779)
Frame 45
tensor(0.4204)
 # KEYFRAME 18
0.05698074699830613
Frame 46
tensor(0.1983)
 # KEYFRAME 19
0.057764835000853054
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 47
tensor(0.4436)
 # KEYFRAME 20
0.05396209800164797
Frame 48
tensor(0.0155)
Frame 49
tensor(0.0246)
Frame 50
tensor(0.0752)
Frame 51
tensor(0.3025)
 # KEYFRAME 21
0.05516753499978222
Frame 52
tensor(0.0948)
Frame 53
tensor(0.1430)
 # KEYFRAME 22
0.055337114001304144
Frame 54
tensor(0.0543)
Frame 55
tensor(0.1437)
 # KEYFRAME 23
0.05602434100001119
Frame 56
tensor(0.0763)
Frame 57
tensor(0.2313)
 # KEYFRAME 24
0.05672880899874144
Frame 58
tensor(0.0671)
Frame 59
tensor(0.1167)
 # KEYFRAME 25
0.05706774700229289
Frame 60
tensor(0.1797)
 # KEYFRAME 26
0.05844645199977094
Frame 61
tensor(0.0677)
Frame 62
tensor(0.1788)
 # KEYFRAME 27
0.059347148999222554
Frame 63
tensor(0.0451)
Frame 64
tensor(0.0995)
Frame 65
tensor(0.1173)
 # KEYFRAME 28
0.05950974900042638
Frame 66
tensor(0.0291)
Frame 67
tensor(0.1611)
 # KEYFRAME 29
0.06036275600126828
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 68
tensor(0.4593)
 # KEYFRAME 30
0.058448241998121375
Frame 69
tensor(0.0502)
Frame 70
tensor(0.1909)
 # KEYFRAME 31
0.05993824699908146
Frame 71
tensor(0.0570)
Frame 72
tensor(0.1565)
 # KEYFRAME 32
0.05962529899989022
Frame 73
tensor(0.2868)
 # KEYFRAME 33
0.060918184000911424
Frame 74
tensor(0.0512)
Frame 75
tensor(0.1317)
 # KEYFRAME 34
0.06108277299790643
Frame 76
tensor(0.0462)
Frame 77
tensor(0.0813)
Frame 78
tensor(0.4668)
 # KEYFRAME 35
0.0619826500005729
Frame 79
tensor(0.0375)
Frame 80
tensor(0.1498)
 # KEYFRAME 36
0.06277783699988504
Frame 81
tensor(0.0610)
Frame 82
tensor(0.1076)
 # KEYFRAME 37
0.06324790599683183
Frame 83
tensor(0.1007)
 # KEYFRAME 38
0.06383297299908008
Frame 84
tensor(0.2506)
 # KEYFRAME 39
0.06452605099912034
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=562 loss_distill=0.1733 tta_take=0.009s
Frame 85
tensor(0.0676)
Frame 86
tensor(0.0922)
Frame 87
tensor(0.1331)
 # KEYFRAME 40
0.06267047800065484
Frame 88
tensor(0.0109)
Frame 89
tensor(0.0455)
Frame 90
tensor(0.0611)
Frame 91
tensor(0.0689)
Frame 92
tensor(0.1972)
 # KEYFRAME 41
0.06438466100007645
Frame 93
tensor(0.0475)
Frame 94
tensor(0.0460)
Frame 95
tensor(0.0525)
Frame 96
tensor(0.1239)
 # KEYFRAME 42
0.06499942899972666
Frame 97
tensor(0.0320)
Frame 98
tensor(0.0900)
Frame 99
tensor(0.1928)
 # KEYFRAME 43
0.06441817200175137
Frame 100
tensor(0.0488)
Frame 101
tensor(0.0797)
Frame 102
tensor(0.1083)
 # KEYFRAME 44
0.06608144500205526
Frame 103
tensor(0.4581)
 # KEYFRAME 45
0.06635380500301835
Frame 104
tensor(0.0677)
Frame 105
tensor(0.2543)
 # KEYFRAME 46
0.06643752500167466
Frame 106
tensor(0.0535)
Frame 107
tensor(0.0739)
Frame 108
tensor(0.1387)
 # KEYFRAME 47
0.06678383300095447
Frame 109
tensor(0.0930)
Frame 110
tensor(0.2431)
 # KEYFRAME 48
0.06786152000131551
Frame 111
tensor(0.0140)
Frame 112
tensor(0.0269)
Frame 113
tensor(0.0545)
Frame 114
tensor(0.0802)
Frame 115
tensor(0.4465)
 # KEYFRAME 49
0.06844379700123682
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=563 loss_distill=0.2747 tta_take=0.009s
Frame 116
tensor(0.0245)
Frame 117
tensor(0.0706)
Frame 118
tensor(0.1360)
 # KEYFRAME 50
0.06703258199922857
Frame 119
tensor(0.0408)
Frame 120
tensor(0.0784)
Frame 121
tensor(0.1006)
 # KEYFRAME 51
0.0687070659987512
Frame 122
tensor(0.0392)
Frame 123
tensor(0.1471)
 # KEYFRAME 52
0.06853702700027497
Frame 124
tensor(0.0463)
Frame 125
tensor(0.1028)
 # KEYFRAME 53
0.06891686499875505
Frame 126
tensor(0.0930)
Frame 127
tensor(0.1369)
 # KEYFRAME 54
0.06926670399843715
Frame 128
tensor(0.0857)
Frame 129
tensor(0.1299)
 # KEYFRAME 55
0.07028123100099037
Frame 130
tensor(0.1027)
 # KEYFRAME 56
0.07117032699898118
Frame 131
tensor(0.2853)
 # KEYFRAME 57
0.0709815879999951
Frame 132
tensor(0.0563)
Frame 133
tensor(0.1881)
 # KEYFRAME 58
0.07148073599819327
Frame 134
tensor(0.2165)
 # KEYFRAME 59
0.07265361200188636
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=564 loss_distill=0.3466 tta_take=0.008s
Frame 135
tensor(0.1453)
 # KEYFRAME 60
0.07171009499870706
Frame 136
tensor(0.2282)
 # KEYFRAME 61
0.07272781199935707
Frame 137
tensor(0.1389)
 # KEYFRAME 62
0.0728039509995142
Frame 138
tensor(0.2524)
 # KEYFRAME 63
0.07272945099975914
Frame 139
tensor(0.1185)
 # KEYFRAME 64
0.07339427999977488
Frame 140
tensor(0.1346)
 # KEYFRAME 65
0.073719367999729
Frame 141
tensor(0.1053)
 # KEYFRAME 66
0.07471205500041833
Frame 142
tensor(0.1085)
 # KEYFRAME 67
0.07579118099965854
Frame 143
tensor(0.2690)
 # KEYFRAME 68
0.07631558899811353
Frame 144
tensor(0.1293)
 # KEYFRAME 69
0.07687635700131068
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=565 loss_distill=0.4024 tta_take=0.009s
Frame 145
tensor(0.0692)
Frame 146
tensor(0.2579)
 # KEYFRAME 70
0.07579544100008206
Frame 147
tensor(0.6099)
 # KEYFRAME 71
0.07621775899679051
Frame 148
tensor(0.1834)
 # KEYFRAME 72
0.07618828900012886
Frame 149
tensor(0.1969)
 # KEYFRAME 73
0.07685132800179417
Backending... 74 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 59520, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=566 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 84/556] scannetpp/69e5939669/DSC frames=150 tta_steps_this_scene=5 mean_loss=0.3198 total_steps=566 time=43.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1159)
 # KEYFRAME 1
Frame 2
tensor(0.1503)
 # KEYFRAME 2
0.051593027001217706
Frame 3
tensor(0.1509)
 # KEYFRAME 3
0.05208270499861101
Frame 4
tensor(0.1858)
 # KEYFRAME 4
0.05333111100117094
Frame 5
tensor(0.1688)
 # KEYFRAME 5
0.05442053699880489
Frame 6
tensor(0.1751)
 # KEYFRAME 6
0.055741051997756585
Frame 7
tensor(0.0807)
Frame 8
tensor(0.2470)
 # KEYFRAME 7
0.05645708900192403
Frame 9
tensor(0.2133)
 # KEYFRAME 8
0.05702869800006738
Frame 10
tensor(0.0959)
Frame 11
tensor(0.1495)
 # KEYFRAME 9
0.05786461400202825
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.0675)
Frame 13
tensor(0.1433)
 # KEYFRAME 10
0.0515758769979584
Frame 14
tensor(0.1553)
 # KEYFRAME 11
0.05289728199932142
Frame 15
tensor(0.2007)
 # KEYFRAME 12
0.053586449997965246
Frame 16
tensor(0.1419)
 # KEYFRAME 13
0.054859335999935865
Frame 17
tensor(0.1414)
 # KEYFRAME 14
0.05529291399943759
Frame 18
tensor(0.1770)
 # KEYFRAME 15
0.05506124399835244
Frame 19
tensor(0.2550)
 # KEYFRAME 16
0.05520002399862278
Frame 20
tensor(0.1499)
 # KEYFRAME 17
0.05623503999959212
Frame 21
tensor(0.1176)
 # KEYFRAME 18
0.05712500700246892
Frame 22
tensor(0.1640)
 # KEYFRAME 19
0.05812197300110711
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 23
tensor(0.2935)
 # KEYFRAME 20
0.05422489800184849
Frame 24
tensor(0.3171)
 # KEYFRAME 21
0.05512502399869845
Frame 25
tensor(0.2096)
 # KEYFRAME 22
0.05617248999988078
Frame 26
tensor(0.1501)
 # KEYFRAME 23
0.05723127699820907
Frame 27
tensor(0.0569)
Frame 28
tensor(0.1140)
 # KEYFRAME 24
0.05821325400029309
Frame 29
tensor(0.3167)
 # KEYFRAME 25
0.05888799099921016
Frame 30
tensor(0.2427)
 # KEYFRAME 26
0.05992720799986273
Frame 31
tensor(0.2019)
 # KEYFRAME 27
0.06077230499795405
Frame 32
tensor(0.0811)
Frame 33
tensor(0.1815)
 # KEYFRAME 28
0.06125522199727129
Frame 34
tensor(0.2325)
 # KEYFRAME 29
0.06231660900084535
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 35
tensor(0.2598)
 # KEYFRAME 30
0.058435301998542855
Frame 36
tensor(0.0949)
Frame 37
tensor(0.1514)
 # KEYFRAME 31
0.05990184800248244
Frame 38
tensor(0.2163)
 # KEYFRAME 32
0.05932740900243516
Frame 39
tensor(0.1911)
 # KEYFRAME 33
0.060690255002555205
Frame 40
tensor(0.2110)
 # KEYFRAME 34
0.06114785300087533
Frame 41
tensor(0.1693)
 # KEYFRAME 35
0.06186422000246239
Frame 42
tensor(0.1983)
 # KEYFRAME 36
0.0625570179981878
Frame 43
tensor(0.1009)
 # KEYFRAME 37
0.06323881500065909
Frame 44
tensor(0.0994)
Frame 45
tensor(0.1031)
 # KEYFRAME 38
0.06371916399803013
Frame 46
tensor(0.0112)
Frame 47
tensor(0.0975)
Frame 48
tensor(0.2328)
 # KEYFRAME 39
0.06477111000276636
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=567 loss_distill=0.1733 tta_take=0.009s
Frame 49
tensor(0.1059)
 # KEYFRAME 40
0.06268046799959848
Frame 50
tensor(0.0928)
Frame 51
tensor(0.1297)
 # KEYFRAME 41
0.06429187200046727
Frame 52
tensor(0.0765)
Frame 53
tensor(0.1521)
 # KEYFRAME 42
0.06403819199840655
Frame 54
tensor(0.0465)
Frame 55
tensor(0.1088)
 # KEYFRAME 43
0.06435899099960807
Frame 56
tensor(0.0222)
Frame 57
tensor(0.0575)
Frame 58
tensor(0.1002)
 # KEYFRAME 44
0.06472983000276145
Frame 59
tensor(0.0393)
Frame 60
tensor(0.0690)
Frame 61
tensor(0.1277)
 # KEYFRAME 45
0.0652981080020254
Frame 62
tensor(0.0778)
Frame 63
tensor(0.1311)
 # KEYFRAME 46
0.06597721599973738
Frame 64
tensor(0.0850)
Frame 65
tensor(0.1929)
 # KEYFRAME 47
0.06595926600130042
Frame 66
tensor(0.1839)
 # KEYFRAME 48
0.066335125000478
Frame 67
tensor(0.2458)
 # KEYFRAME 49
0.06714311199903022
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=568 loss_distill=0.2747 tta_take=0.009s
Frame 68
tensor(0.2476)
 # KEYFRAME 50
0.0670598320029967
Frame 69
tensor(0.1724)
 # KEYFRAME 51
0.06863299600081518
Frame 70
tensor(0.1133)
 # KEYFRAME 52
0.06839900699924328
Frame 71
tensor(0.1250)
 # KEYFRAME 53
0.06924131399864564
Frame 72
tensor(0.1182)
 # KEYFRAME 54
0.06900483500066912
Frame 73
tensor(0.2202)
 # KEYFRAME 55
0.0703511100000469
Frame 74
tensor(0.2396)
 # KEYFRAME 56
0.07114112699855468
Frame 75
tensor(0.2780)
 # KEYFRAME 57
0.07143528700180468
Frame 76
tensor(0.1453)
 # KEYFRAME 58
0.07160001500233193
Frame 77
tensor(0.1810)
 # KEYFRAME 59
0.0726033719984116
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=569 loss_distill=0.3466 tta_take=0.008s
Frame 78
tensor(0.2307)
 # KEYFRAME 60
0.0712221679968934
Frame 79
tensor(0.1185)
 # KEYFRAME 61
0.07318511999983457
Frame 80
tensor(0.0894)
Frame 81
tensor(0.1657)
 # KEYFRAME 62
0.0727053420014272
Frame 82
tensor(0.1151)
 # KEYFRAME 63
0.07291988100041635
Frame 83
tensor(0.0973)
Frame 84
tensor(0.2177)
 # KEYFRAME 64
0.07384677800291684
Frame 85
tensor(0.2205)
 # KEYFRAME 65
0.07405340699915541
Frame 86
tensor(0.1984)
 # KEYFRAME 66
0.07448358599867788
Frame 87
tensor(0.1254)
 # KEYFRAME 67
0.07523371299976134
Frame 88
tensor(0.1246)
 # KEYFRAME 68
0.07543780199921457
Frame 89
tensor(0.1526)
 # KEYFRAME 69
0.07575626100151567
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=570 loss_distill=0.4024 tta_take=0.009s
Frame 90
tensor(0.0655)
Frame 91
tensor(0.2261)
 # KEYFRAME 70
0.07579681100105518
Frame 92
tensor(0.1024)
 # KEYFRAME 71
0.07622858900140272
Frame 93
tensor(0.1397)
 # KEYFRAME 72
0.0772057459980715
Frame 94
tensor(0.2145)
 # KEYFRAME 73
0.07799885300119058
Frame 95
tensor(0.0939)
Frame 96
tensor(0.1287)
 # KEYFRAME 74
0.0790585499998997
Frame 97
tensor(0.2241)
 # KEYFRAME 75
0.07993181599886157
Frame 98
tensor(0.1297)
 # KEYFRAME 76
0.0783104110014392
Frame 99
tensor(0.0573)
Frame 100
tensor(0.3231)
 # KEYFRAME 77
0.08142510099787614
Frame 101
tensor(0.0807)
Frame 102
tensor(0.2342)
 # KEYFRAME 78
0.08188931900076568
Frame 103
tensor(0.1393)
 # KEYFRAME 79
0.08212852799988468
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=571 loss_distill=0.4024 tta_take=0.009s
Frame 104
tensor(0.1032)
 # KEYFRAME 80
0.07535048299905611
Frame 105
tensor(0.1664)
 # KEYFRAME 81
0.07810245200016652
Frame 106
tensor(0.1418)
 # KEYFRAME 82
0.07782087400119053
Frame 107
tensor(0.2712)
 # KEYFRAME 83
0.07889302000330645
Frame 108
tensor(0.2242)
 # KEYFRAME 84
0.0796216570015531
Frame 109
tensor(0.1625)
 # KEYFRAME 85
0.08058179400177323
Frame 110
tensor(0.1535)
 # KEYFRAME 86
0.08011813600023743
Frame 111
tensor(0.1408)
 # KEYFRAME 87
0.08113501200205064
Frame 112
tensor(0.1791)
 # KEYFRAME 88
0.08186918999854242
Frame 113
tensor(0.0739)
Frame 114
tensor(0.3278)
 # KEYFRAME 89
0.08260621600129525
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=572 loss_distill=0.4024 tta_take=0.009s
Frame 115
tensor(0.3133)
 # KEYFRAME 90
0.07577522099745693
Frame 116
tensor(0.3200)
 # KEYFRAME 91
0.07744939500116743
Frame 117
tensor(0.2116)
 # KEYFRAME 92
0.07718671600014204
Frame 118
tensor(0.0505)
Frame 119
tensor(0.0311)
Frame 120
tensor(0.0980)
Frame 121
tensor(0.1745)
 # KEYFRAME 93
0.07741153599999961
Frame 122
tensor(0.2199)
 # KEYFRAME 94
0.07774685299955308
Frame 123
tensor(0.1540)
 # KEYFRAME 95
0.07849035100298352
Frame 124
tensor(0.1726)
 # KEYFRAME 96
0.07813161200101604
Frame 125
tensor(0.1809)
 # KEYFRAME 97
0.07914846899802797
Frame 126
tensor(0.1647)
 # KEYFRAME 98
0.0794013980012096
Frame 127
tensor(0.1198)
 # KEYFRAME 99
0.08019573500132537
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=573 loss_distill=0.4024 tta_take=0.009s
Frame 128
tensor(0.1756)
 # KEYFRAME 100
0.07594126099866116
Frame 129
tensor(0.0758)
Frame 130
tensor(0.0470)
Frame 131
tensor(0.0792)
Frame 132
tensor(0.0790)
Frame 133
tensor(0.0751)
Frame 134
tensor(0.1089)
 # KEYFRAME 101
0.07882357000198681
Frame 135
tensor(0.1487)
 # KEYFRAME 102
0.07825265200153808
Frame 136
tensor(0.2132)
 # KEYFRAME 103
0.07886651000080747
Frame 137
tensor(0.0768)
Frame 138
tensor(0.1649)
 # KEYFRAME 104
0.08039328499944531
Frame 139
tensor(0.0556)
Frame 140
tensor(0.0828)
Frame 141
tensor(0.4563)
 # KEYFRAME 105
0.08037803399929544
Frame 142
tensor(0.0963)
Frame 143
tensor(0.2620)
 # KEYFRAME 106
0.07965944699753891
Frame 144
tensor(0.2195)
 # KEYFRAME 107
0.08143320100134588
Frame 145
tensor(0.0917)
Frame 146
tensor(0.2835)
 # KEYFRAME 108
0.0819776889984496
Frame 147
tensor(0.0992)
Frame 148
tensor(0.1009)
 # KEYFRAME 109
0.08267234600134543
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=574 loss_distill=0.4024 tta_take=0.009s
Frame 149
tensor(0.1793)
 # KEYFRAME 110
0.07584028100245632
Backending... 111 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 56730, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=575 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 85/556] scannetpp/30f4a2b44d/DSC frames=150 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=575 time=50.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0095)
Frame 2
tensor(0.0211)
Frame 3
tensor(0.0344)
Frame 4
tensor(0.0454)
Frame 5
tensor(0.0545)
Frame 6
tensor(0.0620)
Frame 7
tensor(0.0651)
Frame 8
tensor(0.0803)
Frame 9
tensor(0.0826)
Frame 10
tensor(0.0881)
Frame 11
tensor(0.0934)
Frame 12
tensor(0.0914)
Frame 13
tensor(0.0642)
Frame 14
tensor(0.0830)
Frame 15
tensor(0.0921)
Frame 16
tensor(0.0672)
Frame 17
tensor(0.0453)
Frame 18
tensor(0.0281)
Frame 19
tensor(0.0333)
Frame 20
tensor(0.0324)
Frame 21
tensor(0.0260)
Frame 22
tensor(0.0213)
Frame 23
tensor(0.0179)
Frame 24
tensor(0.0310)
Frame 25
tensor(0.0225)
Frame 26
tensor(0.0230)
Frame 27
tensor(0.0263)
Frame 28
tensor(0.0308)
Frame 29
tensor(0.0407)
Frame 30
tensor(0.0469)
Frame 31
tensor(0.0558)
Frame 32
tensor(0.0735)
Frame 33
tensor(0.0844)
Frame 34
tensor(0.0875)
Frame 35
tensor(0.0957)
Frame 36
tensor(0.1031)
 # KEYFRAME 1
Frame 37
tensor(0.0082)
Frame 38
tensor(0.0144)
Frame 39
tensor(0.0214)
Frame 40
tensor(0.0298)
Frame 41
tensor(0.0405)
Frame 42
tensor(0.0503)
Frame 43
tensor(0.0628)
Frame 44
tensor(0.0714)
Frame 45
tensor(0.0669)
Frame 46
tensor(0.0831)
Frame 47
tensor(0.0847)
Frame 48
tensor(0.0619)
Frame 49
tensor(0.1083)
 # KEYFRAME 2
0.05187839599966537
Frame 50
tensor(0.0119)
Frame 51
tensor(0.0239)
Frame 52
tensor(0.0375)
Frame 53
tensor(0.0427)
Frame 54
tensor(0.0400)
Frame 55
tensor(0.0457)
Frame 56
tensor(0.0636)
Frame 57
tensor(0.0569)
Frame 58
tensor(0.0533)
Frame 59
tensor(0.0662)
Frame 60
tensor(0.0883)
Frame 61
tensor(0.1059)
 # KEYFRAME 3
0.051857266000297386
Frame 62
tensor(0.0156)
Frame 63
tensor(0.0300)
Frame 64
tensor(0.0486)
Frame 65
tensor(0.0600)
Frame 66
tensor(0.0714)
Frame 67
tensor(0.0865)
Frame 68
tensor(0.0976)
Frame 69
tensor(0.0971)
Frame 70
tensor(0.0867)
Frame 71
tensor(0.1151)
 # KEYFRAME 4
0.052772953000385314
Frame 72
tensor(0.0151)
Frame 73
tensor(0.0326)
Frame 74
tensor(0.0484)
Frame 75
tensor(0.0603)
Frame 76
tensor(0.0744)
Frame 77
tensor(0.0790)
Frame 78
tensor(0.1026)
 # KEYFRAME 5
0.052634122999734245
Frame 79
tensor(0.0141)
Frame 80
tensor(0.0291)
Frame 81
tensor(0.0378)
Frame 82
tensor(0.0436)
Frame 83
tensor(0.0577)
Frame 84
tensor(0.0631)
Frame 85
tensor(0.0789)
Frame 86
tensor(0.0876)
Frame 87
tensor(0.0883)
Frame 88
tensor(0.1096)
 # KEYFRAME 6
0.052707983002619585
Frame 89
tensor(0.0131)
Frame 90
tensor(0.0251)
Frame 91
tensor(0.0313)
Frame 92
tensor(0.0458)
Frame 93
tensor(0.0541)
Frame 94
tensor(0.0608)
Frame 95
tensor(0.0433)
Frame 96
tensor(0.0648)
Frame 97
tensor(0.0772)
Frame 98
tensor(0.0740)
Frame 99
tensor(0.0989)
Frame 100
tensor(0.1118)
 # KEYFRAME 7
0.05242100399846095
Frame 101
tensor(0.0163)
Frame 102
tensor(0.0300)
Frame 103
tensor(0.0465)
Frame 104
tensor(0.0552)
Frame 105
tensor(0.0769)
Frame 106
tensor(0.0916)
Frame 107
tensor(0.1142)
 # KEYFRAME 8
0.05324410100001842
Frame 108
tensor(0.0149)
Frame 109
tensor(0.0271)
Frame 110
tensor(0.0428)
Frame 111
tensor(0.0626)
Frame 112
tensor(0.0771)
Frame 113
tensor(0.0913)
Frame 114
tensor(0.1094)
 # KEYFRAME 9
0.05296410200026003
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 115
tensor(0.0125)
Frame 116
tensor(0.0248)
Frame 117
tensor(0.0420)
Frame 118
tensor(0.0573)
Frame 119
tensor(0.0823)
Frame 120
tensor(0.0928)
Frame 121
tensor(0.1051)
 # KEYFRAME 10
0.051856636000593426
Frame 122
tensor(0.0121)
Frame 123
tensor(0.0279)
Frame 124
tensor(0.0429)
Frame 125
tensor(0.0577)
Frame 126
tensor(0.0692)
Frame 127
tensor(0.0861)
Frame 128
tensor(0.0983)
Frame 129
tensor(0.1158)
 # KEYFRAME 11
0.052081445002841065
Frame 130
tensor(0.0125)
Frame 131
tensor(0.0239)
Frame 132
tensor(0.0385)
Frame 133
tensor(0.0516)
Frame 134
tensor(0.0636)
Frame 135
tensor(0.0738)
Frame 136
tensor(0.0836)
Frame 137
tensor(0.0936)
Frame 138
tensor(0.1077)
 # KEYFRAME 12
0.052373014001204865
Frame 139
tensor(0.0109)
Frame 140
tensor(0.0244)
Frame 141
tensor(0.0365)
Frame 142
tensor(0.0475)
Frame 143
tensor(0.0603)
Frame 144
tensor(0.0708)
Frame 145
tensor(0.0785)
Frame 146
tensor(0.0910)
Frame 147
tensor(0.0980)
Frame 148
tensor(0.1118)
 # KEYFRAME 13
0.05298000200127717
Frame 149
tensor(0.0119)
Frame 150
tensor(0.0219)
Frame 151
tensor(0.0331)
Frame 152
tensor(0.0384)
Frame 153
tensor(0.0493)
Frame 154
tensor(0.0553)
Frame 155
tensor(0.0677)
Frame 156
tensor(0.0680)
Frame 157
tensor(0.0814)
Frame 158
tensor(0.0971)
Frame 159
tensor(0.1044)
 # KEYFRAME 14
0.054866316000698134
Frame 160
tensor(0.0123)
Frame 161
tensor(0.0251)
Frame 162
tensor(0.0362)
Frame 163
tensor(0.0366)
Frame 164
tensor(0.0446)
Frame 165
tensor(0.0515)
Frame 166
tensor(0.0410)
Frame 167
tensor(0.0504)
Frame 168
tensor(0.0850)
Frame 169
tensor(0.0960)
Frame 170
tensor(0.1043)
 # KEYFRAME 15
0.05301499199777027
Frame 171
tensor(0.0115)
Frame 172
tensor(0.0328)
Frame 173
tensor(0.0475)
Frame 174
tensor(0.0594)
Frame 175
tensor(0.0693)
Frame 176
tensor(0.1104)
 # KEYFRAME 16
0.05287188199872617
Frame 177
tensor(0.0158)
Frame 178
tensor(0.0278)
Frame 179
tensor(0.0415)
Frame 180
tensor(0.0430)
Frame 181
tensor(0.0538)
Frame 182
tensor(0.0880)
Frame 183
tensor(0.0931)
Frame 184
tensor(0.1521)
 # KEYFRAME 17
0.056150700998841785
Frame 185
tensor(0.0187)
Frame 186
tensor(0.0405)
Frame 187
tensor(0.0635)
Frame 188
tensor(0.0860)
Frame 189
tensor(0.1066)
 # KEYFRAME 18
0.05300066199924913
Frame 190
tensor(0.0229)
Frame 191
tensor(0.0439)
Frame 192
tensor(0.0689)
Frame 193
tensor(0.0926)
Frame 194
tensor(0.1196)
 # KEYFRAME 19
0.05695922800077824
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 195
tensor(0.0184)
Frame 196
tensor(0.0419)
Frame 197
tensor(0.0624)
Frame 198
tensor(0.0881)
Frame 199
tensor(0.1100)
 # KEYFRAME 20
0.051897725999879185
Frame 200
tensor(0.0222)
Frame 201
tensor(0.0418)
Frame 202
tensor(0.0684)
Frame 203
tensor(0.0912)
Frame 204
tensor(0.0803)
Frame 205
tensor(0.1231)
 # KEYFRAME 21
0.052500583999062655
Frame 206
tensor(0.0193)
Frame 207
tensor(0.0313)
Frame 208
tensor(0.0613)
Frame 209
tensor(0.0833)
Frame 210
tensor(0.1026)
 # KEYFRAME 22
0.053871968997555086
Frame 211
tensor(0.0179)
Frame 212
tensor(0.0444)
Frame 213
tensor(0.0673)
Frame 214
tensor(0.0903)
Frame 215
tensor(0.1085)
 # KEYFRAME 23
0.05226500400021905
Frame 216
tensor(0.0185)
Frame 217
tensor(0.0453)
Frame 218
tensor(0.0643)
Frame 219
tensor(0.0812)
Frame 220
tensor(0.1032)
 # KEYFRAME 24
0.05373711900028866
Frame 221
tensor(0.0175)
Frame 222
tensor(0.0373)
Frame 223
tensor(0.0613)
Frame 224
tensor(0.0817)
Frame 225
tensor(0.1063)
 # KEYFRAME 25
0.05205362500055344
Frame 226
tensor(0.0195)
Frame 227
tensor(0.0431)
Frame 228
tensor(0.0697)
Frame 229
tensor(0.0888)
Frame 230
tensor(0.1122)
 # KEYFRAME 26
0.0524224039982073
Frame 231
tensor(0.0224)
Frame 232
tensor(0.0472)
Frame 233
tensor(0.0744)
Frame 234
tensor(0.1012)
 # KEYFRAME 27
0.05494962500233669
Frame 235
tensor(0.0219)
Frame 236
tensor(0.0452)
Frame 237
tensor(0.0742)
Frame 238
tensor(0.1004)
 # KEYFRAME 28
0.05251030399813317
Frame 239
tensor(0.0263)
Frame 240
tensor(0.0561)
Frame 241
tensor(0.0786)
Frame 242
tensor(0.1074)
 # KEYFRAME 29
0.05589520200010156
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 243
tensor(0.0285)
Frame 244
tensor(0.0616)
Frame 245
tensor(0.0914)
Frame 246
tensor(0.1262)
 # KEYFRAME 30
0.05201407499771449
Frame 247
tensor(0.0316)
Frame 248
tensor(0.0607)
Frame 249
tensor(0.0871)
Frame 250
tensor(0.1223)
 # KEYFRAME 31
0.05276049300300656
Frame 251
tensor(0.0265)
Frame 252
tensor(0.0548)
Frame 253
tensor(0.0866)
Frame 254
tensor(0.1189)
 # KEYFRAME 32
0.05307552199883503
Frame 255
tensor(0.0269)
Frame 256
tensor(0.0589)
Frame 257
tensor(0.0881)
Frame 258
tensor(0.1235)
 # KEYFRAME 33
0.052026574998308206
Frame 259
tensor(0.0251)
Frame 260
tensor(0.0494)
Frame 261
tensor(0.0820)
Frame 262
tensor(0.1078)
 # KEYFRAME 34
0.05339667999942321
Frame 263
tensor(0.0296)
Frame 264
tensor(0.0560)
Frame 265
tensor(0.0814)
Frame 266
tensor(0.1132)
 # KEYFRAME 35
0.05227552400174318
Frame 267
tensor(0.0249)
Frame 268
tensor(0.0509)
Frame 269
tensor(0.0777)
Frame 270
tensor(0.1078)
 # KEYFRAME 36
0.052235744002246065
Frame 271
tensor(0.0252)
Frame 272
tensor(0.0553)
Frame 273
tensor(0.0820)
Frame 274
tensor(0.1137)
 # KEYFRAME 37
0.053649978999601444
Frame 275
tensor(0.0259)
Frame 276
tensor(0.0456)
Frame 277
tensor(0.0756)
Frame 278
tensor(0.1053)
 # KEYFRAME 38
0.052852572000119835
Frame 279
tensor(0.0266)
Frame 280
tensor(0.0599)
Frame 281
tensor(0.0870)
Frame 282
tensor(0.1106)
 # KEYFRAME 39
0.054005088000849355
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=576 loss_distill=0.1733 tta_take=0.005s
Frame 283
tensor(0.0282)
Frame 284
tensor(0.0569)
Frame 285
tensor(0.0909)
Frame 286
tensor(0.1100)
 # KEYFRAME 40
0.05217205500230193
Frame 287
tensor(0.0232)
Frame 288
tensor(0.0555)
Frame 289
tensor(0.0811)
Frame 290
tensor(0.1138)
 # KEYFRAME 41
0.05255964399839286
Frame 291
tensor(0.0264)
Frame 292
tensor(0.0493)
Frame 293
tensor(0.0762)
Frame 294
tensor(0.1013)
 # KEYFRAME 42
0.053048901001602644
Frame 295
tensor(0.0262)
Frame 296
tensor(0.0582)
Frame 297
tensor(0.0852)
Frame 298
tensor(0.1141)
 # KEYFRAME 43
0.05235068500041962
Frame 299
tensor(0.0263)
Backending... 44 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 18128, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=577 loss_distill=0.2747 tta_take=0.003s
[epoch 0 scene 86/556] vkitti/Scene20/30-deg-left/Camera_1 frames=300 tta_steps_this_scene=2 mean_loss=0.2240 total_steps=577 time=80.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0004)
Frame 2
tensor(0.0014)
Frame 3
tensor(0.0022)
Frame 4
tensor(0.0025)
Frame 5
tensor(0.0023)
Frame 6
tensor(0.0012)
Frame 7
tensor(0.0014)
Frame 8
tensor(0.0014)
Frame 9
tensor(0.0011)
Frame 10
tensor(0.0005)
Frame 11
tensor(0.0015)
Frame 12
tensor(0.0007)
Frame 13
tensor(0.0010)
Frame 14
tensor(0.0014)
Frame 15
tensor(0.0016)
Frame 16
tensor(0.0012)
Frame 17
tensor(0.0008)
Frame 18
tensor(0.0003)
Frame 19
tensor(0.0005)
Frame 20
tensor(0.0026)
Frame 21
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Frame 22
tensor(0.0013)
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tensor(0.0011)
Frame 24
tensor(0.0008)
Frame 25
tensor(0.0011)
Frame 26
tensor(0.0010)
Frame 27
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Frame 28
tensor(0.0011)
Frame 29
tensor(0.0017)
Frame 30
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Frame 31
tensor(0.0011)
Frame 32
tensor(0.0012)
Frame 33
tensor(0.0010)
Frame 34
tensor(0.0005)
Frame 35
tensor(0.0012)
Frame 36
tensor(0.0017)
Frame 37
tensor(0.0006)
Frame 38
tensor(0.0009)
Frame 39
tensor(0.0017)
Frame 40
tensor(0.0020)
Frame 41
tensor(0.0023)
Frame 42
tensor(0.0022)
Frame 43
tensor(0.0030)
Frame 44
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Frame 45
tensor(0.0023)
Frame 46
tensor(0.0017)
Frame 47
tensor(0.0029)
Frame 48
tensor(0.0014)
Frame 49
tensor(0.0016)
Frame 50
tensor(0.0021)
Frame 51
tensor(0.0019)
Frame 52
tensor(0.0017)
Frame 53
tensor(0.0003)
Frame 54
tensor(0.0020)
Frame 55
tensor(0.0015)
Frame 56
tensor(0.0021)
Frame 57
tensor(0.0026)
Frame 58
tensor(0.0028)
Frame 59
tensor(0.0022)
Frame 60
tensor(0.0024)
Frame 61
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Frame 62
tensor(0.0028)
Frame 63
tensor(0.0027)
Frame 64
tensor(0.0022)
Frame 65
tensor(0.0027)
Frame 66
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tensor(0.0010)
Frame 68
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Frame 69
tensor(0.0028)
Frame 70
tensor(0.0025)
Frame 71
tensor(0.0032)
Frame 72
tensor(0.0028)
Frame 73
tensor(0.0038)
Frame 74
tensor(0.0035)
Frame 75
tensor(0.0047)
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tensor(0.0044)
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tensor(0.0031)
Frame 79
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Frame 80
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Frame 81
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Frame 82
tensor(0.0016)
Frame 83
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tensor(0.0022)
Frame 85
tensor(0.0023)
Frame 86
tensor(0.0013)
Frame 87
tensor(0.0034)
Frame 88
tensor(0.0022)
Frame 89
tensor(0.0052)
Frame 90
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Frame 91
tensor(0.0038)
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tensor(0.0038)
Frame 93
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Frame 95
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Frame 96
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Frame 97
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Frame 99
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Frame 100
tensor(0.0032)
Frame 101
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Frame 102
tensor(0.0027)
Frame 103
tensor(0.0018)
Frame 104
tensor(0.0030)
Frame 105
tensor(0.0039)
Frame 106
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Frame 107
tensor(0.0014)
Frame 108
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Frame 109
tensor(0.0022)
Frame 110
tensor(0.0026)
Frame 111
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Frame 112
tensor(0.0015)
Frame 113
tensor(0.0029)
Frame 114
tensor(0.0027)
Frame 115
tensor(0.0029)
Frame 116
tensor(0.0024)
Frame 117
tensor(0.0006)
Frame 118
tensor(0.0010)
Frame 119
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Frame 120
tensor(0.0018)
Frame 121
tensor(0.0026)
Frame 122
tensor(0.0022)
Frame 123
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Frame 124
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Frame 125
tensor(0.0029)
Frame 126
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Frame 127
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Frame 128
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Frame 129
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Frame 130
tensor(0.0012)
Frame 131
tensor(0.0009)
Frame 132
tensor(0.0018)
Frame 133
tensor(0.0011)
Frame 134
tensor(0.0010)
Frame 135
tensor(0.0010)
Frame 136
tensor(0.0008)
Frame 137
tensor(0.0010)
Frame 138
tensor(0.0002)
Frame 139
tensor(0.0006)
Frame 140
tensor(0.0002)
Frame 141
tensor(0.0005)
Frame 142
tensor(0.0023)
Frame 143
tensor(0.0016)
Frame 144
tensor(0.0024)
Frame 145
tensor(0.0008)
Frame 146
tensor(0.0017)
Frame 147
tensor(0.0025)
Frame 148
tensor(0.0014)
Frame 149
tensor(0.0016)
Frame 150
tensor(0.0011)
Frame 151
tensor(0.0014)
Frame 152
tensor(0.0016)
Frame 153
tensor(0.0011)
Frame 154
tensor(0.0017)
Frame 155
tensor(0.0011)
Frame 156
tensor(0.0011)
Frame 157
tensor(0.0011)
Frame 158
tensor(0.0011)
Frame 159
tensor(0.0018)
Frame 160
tensor(0.0017)
Frame 161
tensor(0.0015)
Frame 162
tensor(0.0008)
Frame 163
tensor(0.0007)
Frame 164
tensor(0.0008)
Frame 165
tensor(0.0009)
Frame 166
tensor(0.0007)
Frame 167
tensor(0.0003)
Frame 168
tensor(0.0005)
Frame 169
tensor(0.0005)
Frame 170
tensor(0.0009)
Frame 171
tensor(0.0008)
Frame 172
tensor(0.0010)
Frame 173
tensor(0.0017)
Frame 174
tensor(0.0012)
Frame 175
tensor(0.0005)
Frame 176
tensor(0.0004)
Frame 177
tensor(0.0010)
Frame 178
tensor(0.0012)
Frame 179
tensor(0.0012)
Frame 180
tensor(0.0017)
Frame 181
tensor(0.0012)
Frame 182
tensor(0.0038)
Frame 183
tensor(0.0023)
Frame 184
tensor(0.0046)
Frame 185
tensor(0.0065)
Frame 186
tensor(0.0086)
Frame 187
tensor(0.0111)
Frame 188
tensor(0.0131)
Frame 189
tensor(0.0182)
Frame 190
tensor(0.0227)
Frame 191
tensor(0.0286)
Frame 192
tensor(0.0333)
Frame 193
tensor(0.0425)
Frame 194
tensor(0.0515)
Frame 195
tensor(0.0599)
Frame 196
tensor(0.0722)
Frame 197
tensor(0.0851)
Frame 198
tensor(0.0947)
Frame 199
tensor(0.1070)
 # KEYFRAME 1
Frame 200
tensor(0.0123)
Frame 201
tensor(0.0302)
Frame 202
tensor(0.0476)
Frame 203
tensor(0.0680)
Frame 204
tensor(0.0878)
Frame 205
tensor(0.1099)
 # KEYFRAME 2
0.052011014999152394
Frame 206
tensor(0.0157)
Frame 207
tensor(0.0419)
Frame 208
tensor(0.0612)
Frame 209
tensor(0.0778)
Frame 210
tensor(0.0997)
Frame 211
tensor(0.1189)
 # KEYFRAME 3
0.05188262599767768
Frame 212
tensor(0.0163)
Frame 213
tensor(0.0392)
Frame 214
tensor(0.0561)
Frame 215
tensor(0.0823)
Frame 216
tensor(0.1001)
 # KEYFRAME 4
0.05291094299900578
Frame 217
tensor(0.0200)
Frame 218
tensor(0.0468)
Frame 219
tensor(0.0666)
Frame 220
tensor(0.0892)
Frame 221
tensor(0.1153)
 # KEYFRAME 5
0.052706641999975545
Frame 222
tensor(0.0277)
Frame 223
tensor(0.0530)
Frame 224
tensor(0.0806)
Frame 225
tensor(0.1052)
 # KEYFRAME 6
0.05309664200103725
Frame 226
tensor(0.0296)
Frame 227
tensor(0.0566)
Frame 228
tensor(0.0831)
Frame 229
tensor(0.1127)
 # KEYFRAME 7
0.05292190199907054
Frame 230
tensor(0.0286)
Frame 231
tensor(0.0561)
Frame 232
tensor(0.0816)
Frame 233
tensor(0.1158)
 # KEYFRAME 8
0.053583109998726286
Frame 234
tensor(0.0291)
Frame 235
tensor(0.0563)
Frame 236
tensor(0.0843)
Frame 237
tensor(0.1087)
 # KEYFRAME 9
0.053242701000272064
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 238
tensor(0.0265)
Frame 239
tensor(0.0517)
Frame 240
tensor(0.0823)
Frame 241
tensor(0.1070)
 # KEYFRAME 10
0.05197509500067099
Frame 242
tensor(0.0308)
Frame 243
tensor(0.0610)
Frame 244
tensor(0.0948)
Frame 245
tensor(0.1262)
 # KEYFRAME 11
0.05250542399880942
Frame 246
tensor(0.0314)
Frame 247
tensor(0.0635)
Frame 248
tensor(0.0987)
Frame 249
tensor(0.1317)
 # KEYFRAME 12
0.05362478900133283
Frame 250
tensor(0.0355)
Frame 251
tensor(0.0726)
Frame 252
tensor(0.1061)
 # KEYFRAME 13
0.0535498799981724
Frame 253
tensor(0.0344)
Frame 254
tensor(0.0721)
Frame 255
tensor(0.1080)
 # KEYFRAME 14
0.05570619200079818
Frame 256
tensor(0.0342)
Frame 257
tensor(0.0692)
Frame 258
tensor(0.0993)
Frame 259
tensor(0.1335)
 # KEYFRAME 15
0.053133301000343636
Frame 260
tensor(0.0307)
Frame 261
tensor(0.0625)
Frame 262
tensor(0.1042)
 # KEYFRAME 16
0.05297447200064198
Frame 263
tensor(0.0272)
Frame 264
tensor(0.0617)
Frame 265
tensor(0.0931)
Frame 266
tensor(0.1138)
 # KEYFRAME 17
0.05684605799979181
Frame 267
tensor(0.0314)
Frame 268
tensor(0.0593)
Frame 269
tensor(0.0942)
Backending... 18 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
[epoch 0 scene 87/556] vkitti/Scene06/rain/Camera_0 frames=270 tta_steps_this_scene=0 mean_loss=nan total_steps=577 time=85.6s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0178)
Frame 2
tensor(0.0226)
Frame 3
tensor(0.2957)
 # KEYFRAME 1
Frame 4
tensor(0.8520)
 # KEYFRAME 2
0.05186375599805615
Frame 5
tensor(0.3126)
 # KEYFRAME 3
0.05261913299909793
Frame 6
tensor(0.2632)
 # KEYFRAME 4
0.055808560999139445
Frame 7
tensor(0.8561)
 # KEYFRAME 5
0.05575272200076142
Frame 8
tensor(0.3046)
 # KEYFRAME 6
0.05646360899845604
Frame 9
tensor(0.1628)
 # KEYFRAME 7
0.056883227996877395
Frame 10
tensor(0.1117)
 # KEYFRAME 8
0.05751235599745996
Frame 11
tensor(0.1544)
 # KEYFRAME 9
0.058655212000303436
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.3485)
 # KEYFRAME 10
0.0528703720010526
Frame 13
tensor(0.2974)
 # KEYFRAME 11
0.053846299000724684
Frame 14
tensor(0.1565)
 # KEYFRAME 12
0.05431371699887677
Frame 15
tensor(0.5146)
 # KEYFRAME 13
0.056948127999930875
Frame 16
tensor(0.3930)
 # KEYFRAME 14
0.05762477600001148
Frame 17
tensor(0.2808)
 # KEYFRAME 15
0.05820647400105372
Frame 18
tensor(0.1687)
 # KEYFRAME 16
0.05916988000171841
Frame 19
tensor(0.2561)
 # KEYFRAME 17
0.06037393500082544
Frame 20
tensor(0.1530)
 # KEYFRAME 18
0.06180889999814099
Frame 21
tensor(0.7250)
 # KEYFRAME 19
0.06269652700211736
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 22
tensor(0.3309)
 # KEYFRAME 20
0.05906270999912522
Frame 23
tensor(0.4318)
 # KEYFRAME 21
0.06072143399796914
Frame 24
tensor(0.5560)
 # KEYFRAME 22
0.061150302997702966
Frame 25
tensor(0.5153)
 # KEYFRAME 23
0.06174132100204588
Frame 26
tensor(0.3211)
 # KEYFRAME 24
0.06264381700020749
Frame 27
tensor(0.5678)
 # KEYFRAME 25
0.0637646239993046
Frame 28
tensor(0.6608)
 # KEYFRAME 26
0.06547141699775239
Frame 29
tensor(0.2620)
 # KEYFRAME 27
0.06772749000083422
Frame 30
tensor(0.1905)
 # KEYFRAME 28
0.06773977000193554
Frame 31
tensor(0.0865)
Frame 32
tensor(0.8446)
 # KEYFRAME 29
0.06863617600174621
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 33
tensor(0.1635)
 # KEYFRAME 30
0.06619207499898039
Frame 34
tensor(0.1892)
 # KEYFRAME 31
0.06803433800087078
Frame 35
tensor(0.2122)
 # KEYFRAME 32
0.06940553300228203
Frame 36
tensor(0.3079)
 # KEYFRAME 33
0.07177579500057618
Frame 37
tensor(0.2618)
 # KEYFRAME 34
0.07191621500169276
Frame 38
tensor(0.2930)
 # KEYFRAME 35
0.07309284000075422
Frame 39
tensor(0.2627)
 # KEYFRAME 36
0.07456551499853958
Frame 40
tensor(0.2706)
 # KEYFRAME 37
0.07584823099750793
Frame 41
tensor(0.2492)
 # KEYFRAME 38
0.07613341999967815
Frame 42
tensor(0.4179)
 # KEYFRAME 39
0.07742016500196769
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=578 loss_distill=0.1733 tta_take=0.009s
Frame 43
tensor(0.3231)
 # KEYFRAME 40
0.0723451939993538
Frame 44
tensor(0.1667)
 # KEYFRAME 41
0.07517153399749077
Frame 45
tensor(0.5116)
 # KEYFRAME 42
0.07549278200167464
Frame 46
tensor(0.4670)
 # KEYFRAME 43
0.07681986700117704
Frame 47
tensor(0.4475)
 # KEYFRAME 44
0.07777905400143936
Frame 48
tensor(0.7308)
 # KEYFRAME 45
0.07911203000185196
Frame 49
tensor(0.4221)
 # KEYFRAME 46
0.0798853769993002
Frame 50
tensor(0.1028)
 # KEYFRAME 47
0.08115807099966332
Frame 51
tensor(0.2261)
 # KEYFRAME 48
0.08240473799742176
Frame 52
tensor(0.1693)
 # KEYFRAME 49
0.08334386400019866
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=579 loss_distill=0.2747 tta_take=0.009s
Frame 53
tensor(0.2100)
 # KEYFRAME 50
0.07960592699964764
Frame 54
tensor(0.2694)
 # KEYFRAME 51
0.08180880899817566
Frame 55
tensor(0.2005)
 # KEYFRAME 52
0.08082871300211991
Frame 56
tensor(0.1666)
 # KEYFRAME 53
0.08202192899989313
Frame 57
tensor(0.0579)
Frame 58
tensor(0.3795)
 # KEYFRAME 54
0.08261052700254368
Frame 59
tensor(0.2453)
 # KEYFRAME 55
0.0834057540014328
Frame 60
tensor(0.2644)
 # KEYFRAME 56
0.08427418100109207
Frame 61
tensor(0.1689)
 # KEYFRAME 57
0.08543584699873463
Frame 62
tensor(0.2725)
 # KEYFRAME 58
0.08573412599798758
Frame 63
tensor(0.3536)
 # KEYFRAME 59
0.08609165400048369
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=580 loss_distill=0.3466 tta_take=0.009s
Frame 64
tensor(0.2927)
 # KEYFRAME 60
0.08679571200264036
Frame 65
tensor(0.2154)
 # KEYFRAME 61
0.08839957700183732
Frame 66
tensor(0.2172)
 # KEYFRAME 62
0.08861562500169384
Frame 67
tensor(0.3090)
 # KEYFRAME 63
0.0888680040006875
Frame 68
tensor(0.2312)
 # KEYFRAME 64
0.0906841779979004
Frame 69
tensor(0.1961)
 # KEYFRAME 65
0.09094817699951818
Frame 70
tensor(0.2006)
 # KEYFRAME 66
0.09147758499966585
Frame 71
tensor(0.1208)
 # KEYFRAME 67
0.09253681200061692
Frame 72
tensor(0.2676)
 # KEYFRAME 68
0.0935126879994641
Frame 73
tensor(1.0267)
 # KEYFRAME 69
0.09466245399744366
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595452308655
TTA-STEP: step=581 loss_distill=0.4024 tta_take=0.009s
Frame 74
tensor(0.1715)
 # KEYFRAME 70
0.09354076799718314
Frame 75
tensor(0.1707)
 # KEYFRAME 71
0.09619400899828179
Frame 76
tensor(0.0617)
Frame 77
tensor(0.3105)
 # KEYFRAME 72
0.09611232799943537
Frame 78
tensor(0.1320)
 # KEYFRAME 73
0.0969482260006771
Frame 79
tensor(0.4790)
 # KEYFRAME 74
0.09754983400125639
Frame 80
tensor(0.2830)
 # KEYFRAME 75
0.09875463000207674
Frame 81
tensor(0.1232)
 # KEYFRAME 76
0.10065944300004048
Frame 82
tensor(0.1571)
 # KEYFRAME 77
0.10174665900194668
Frame 83
tensor(0.1913)
 # KEYFRAME 78
0.10306062399831717
Frame 84
tensor(0.0568)
Frame 85
tensor(0.1171)
 # KEYFRAME 79
0.10352534299818217
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=582 loss_distill=0.4024 tta_take=0.009s
Frame 86
tensor(0.0352)
Frame 87
tensor(0.9505)
 # KEYFRAME 80
0.09309484999903361
Frame 88
tensor(0.1570)
 # KEYFRAME 81
0.09545489099764382
Frame 89
tensor(0.2002)
 # KEYFRAME 82
0.09525772199776839
Frame 90
tensor(0.1041)
 # KEYFRAME 83
0.0962343779974617
Frame 91
tensor(0.3685)
 # KEYFRAME 84
0.09710085500046262
Frame 92
tensor(0.2278)
 # KEYFRAME 85
0.09811812200132408
Frame 93
tensor(0.1999)
 # KEYFRAME 86
0.09902990800037514
Frame 94
tensor(0.1497)
 # KEYFRAME 87
0.0989493590022903
Frame 95
tensor(0.1406)
 # KEYFRAME 88
0.10005095500309835
Frame 96
tensor(0.2145)
 # KEYFRAME 89
0.10090818200114882
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=583 loss_distill=0.4024 tta_take=0.009s
Frame 97
tensor(0.1603)
 # KEYFRAME 90
0.09347044799869764
Frame 98
tensor(0.2674)
 # KEYFRAME 91
0.09547969100094633
Frame 99
tensor(0.2377)
 # KEYFRAME 92
0.09610737900220556
Frame 100
tensor(0.1229)
 # KEYFRAME 93
0.09691766600008123
Frame 101
tensor(0.5094)
 # KEYFRAME 94
0.09863016999952379
Frame 102
tensor(0.1355)
 # KEYFRAME 95
0.10017107399835368
Frame 103
tensor(0.4173)
 # KEYFRAME 96
0.10031728399917483
Frame 104
tensor(0.1316)
 # KEYFRAME 97
0.10106946200176026
Frame 105
tensor(0.2146)
 # KEYFRAME 98
0.10313846400094917
Frame 106
tensor(0.1286)
 # KEYFRAME 99
0.10304881400224986
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=584 loss_distill=0.4024 tta_take=0.010s
Frame 107
tensor(0.1608)
 # KEYFRAME 100
0.09305251000114367
Frame 108
tensor(0.3264)
 # KEYFRAME 101
0.09537374099818408
Frame 109
tensor(0.3129)
 # KEYFRAME 102
0.09494001300117816
Frame 110
tensor(0.1609)
 # KEYFRAME 103
0.09636169700024766
Frame 111
tensor(0.3126)
 # KEYFRAME 104
0.09670286600157851
Frame 112
tensor(0.2651)
 # KEYFRAME 105
0.09756587399897398
Frame 113
tensor(0.2374)
 # KEYFRAME 106
0.09759912300069118
Frame 114
tensor(0.2572)
 # KEYFRAME 107
0.09907127899714396
Frame 115
tensor(0.2979)
 # KEYFRAME 108
0.09967623599732178
Frame 116
tensor(0.1813)
 # KEYFRAME 109
0.10027236400128459
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=585 loss_distill=0.4024 tta_take=0.009s
Frame 117
tensor(0.1605)
 # KEYFRAME 110
0.09351389800212928
Frame 118
tensor(0.2866)
 # KEYFRAME 111
0.09479887300039991
Frame 119
tensor(0.2298)
 # KEYFRAME 112
0.0957035100000212
Frame 120
tensor(0.2417)
 # KEYFRAME 113
0.09663133699723403
Frame 121
tensor(0.2108)
 # KEYFRAME 114
0.09705863500130363
Frame 122
tensor(0.1170)
 # KEYFRAME 115
0.0979147420002846
Frame 123
tensor(0.2468)
 # KEYFRAME 116
0.09855501000129152
Frame 124
tensor(0.4658)
 # KEYFRAME 117
0.09934909699950367
Frame 125
tensor(0.4294)
 # KEYFRAME 118
0.10020233399700373
Frame 126
tensor(0.3799)
 # KEYFRAME 119
0.09989514599874383
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=586 loss_distill=0.4024 tta_take=0.009s
Frame 127
tensor(0.2346)
 # KEYFRAME 120
0.09321931899830815
Frame 128
tensor(0.1413)
 # KEYFRAME 121
0.09557869100171956
Frame 129
tensor(0.2631)
 # KEYFRAME 122
0.09568376099923626
Frame 130
tensor(0.2749)
 # KEYFRAME 123
0.09569863000069745
Frame 131
tensor(0.2471)
 # KEYFRAME 124
0.09721464399990509
Frame 132
tensor(0.0635)
Frame 133
tensor(0.0778)
Backending... 125 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 67665, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=587 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 88/556] scannetpp/210f741378/frame frames=134 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=587 time=55.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0094)
Frame 2
tensor(0.3161)
 # KEYFRAME 1
Frame 3
tensor(0.1336)
 # KEYFRAME 2
0.0516421669999545
Frame 4
tensor(0.2805)
 # KEYFRAME 3
0.05358201999843004
Frame 5
tensor(0.0812)
Frame 6
tensor(0.1339)
 # KEYFRAME 4
0.05265751299884869
Frame 7
tensor(0.0392)
Frame 8
tensor(0.0501)
Frame 9
tensor(0.0799)
Frame 10
tensor(0.1084)
 # KEYFRAME 5
0.055080385001929244
Frame 11
tensor(0.0803)
Frame 12
tensor(0.1640)
 # KEYFRAME 6
0.05688852800085442
Frame 13
tensor(0.1348)
 # KEYFRAME 7
0.05722724600127549
Frame 14
tensor(0.2603)
 # KEYFRAME 8
0.057383145998755936
Frame 15
tensor(0.1818)
 # KEYFRAME 9
0.05805157299982966
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 16
tensor(0.2546)
 # KEYFRAME 10
0.051658546002727235
Frame 17
tensor(0.0759)
Frame 18
tensor(0.1462)
 # KEYFRAME 11
0.05223110500082839
Frame 19
tensor(0.0881)
Frame 20
tensor(0.1516)
 # KEYFRAME 12
0.05278916300085257
Frame 21
tensor(0.2766)
 # KEYFRAME 13
0.054862594999576686
Frame 22
tensor(0.0184)
Frame 23
tensor(0.0356)
Frame 24
tensor(0.4531)
 # KEYFRAME 14
0.05490175500017358
Frame 25
tensor(0.0368)
Frame 26
tensor(0.3805)
 # KEYFRAME 15
0.05469438599902787
Frame 27
tensor(0.0769)
Frame 28
tensor(0.3048)
 # KEYFRAME 16
0.05530862399973557
Frame 29
tensor(0.0178)
Frame 30
tensor(0.0428)
Frame 31
tensor(0.2036)
 # KEYFRAME 17
0.05611395099913352
Frame 32
tensor(0.3283)
 # KEYFRAME 18
0.056801237999025034
Frame 33
tensor(0.0318)
Frame 34
tensor(0.0980)
Frame 35
tensor(0.1194)
 # KEYFRAME 19
0.05788131399822305
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 36
tensor(0.0495)
Frame 37
tensor(0.0904)
Frame 38
tensor(0.1238)
 # KEYFRAME 20
0.05417674800264649
Frame 39
tensor(0.0993)
Frame 40
tensor(0.1484)
 # KEYFRAME 21
0.05479087500134483
Frame 41
tensor(0.0984)
Frame 42
tensor(0.4014)
 # KEYFRAME 22
0.05566830200041295
Frame 43
tensor(0.0518)
Frame 44
tensor(0.2017)
 # KEYFRAME 23
0.05595128200002364
Frame 45
tensor(0.2122)
 # KEYFRAME 24
0.05621993100066902
Frame 46
tensor(0.0455)
Frame 47
tensor(0.1626)
 # KEYFRAME 25
0.05698219800251536
Frame 48
tensor(0.0273)
Frame 49
tensor(0.1547)
 # KEYFRAME 26
0.058249323003110476
Frame 50
tensor(0.0539)
Frame 51
tensor(0.4703)
 # KEYFRAME 27
0.059408478999102954
Frame 52
tensor(0.3735)
 # KEYFRAME 28
0.06011668599967379
Frame 53
tensor(0.0874)
Frame 54
tensor(0.1678)
 # KEYFRAME 29
0.06075263400271069
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 55
tensor(0.0674)
Frame 56
tensor(0.2541)
 # KEYFRAME 30
0.058447692998015555
Frame 57
tensor(0.0434)
Frame 58
tensor(0.1027)
 # KEYFRAME 31
0.05918835000193212
Frame 59
tensor(0.0374)
Frame 60
tensor(0.3307)
 # KEYFRAME 32
0.06048198500138824
Frame 61
tensor(0.7198)
 # KEYFRAME 33
0.0616549610022048
Frame 62
tensor(0.3072)
 # KEYFRAME 34
0.0623192389975884
Frame 63
tensor(0.0769)
Frame 64
tensor(0.2623)
 # KEYFRAME 35
0.06372635400111903
Frame 65
tensor(0.1801)
 # KEYFRAME 36
0.06471085999874049
Frame 66
tensor(0.2993)
 # KEYFRAME 37
0.0657290169983753
Frame 67
tensor(0.0794)
Frame 68
tensor(0.5933)
 # KEYFRAME 38
0.06602141500115977
Frame 69
tensor(0.0800)
Frame 70
tensor(0.1040)
 # KEYFRAME 39
0.06656851400111918
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=588 loss_distill=0.1733 tta_take=0.009s
Frame 71
tensor(0.4472)
 # KEYFRAME 40
0.062818487000186
Frame 72
tensor(0.0932)
Frame 73
tensor(0.3793)
 # KEYFRAME 41
0.06412709200230893
Frame 74
tensor(0.2016)
 # KEYFRAME 42
0.06458342000041739
Frame 75
tensor(0.9106)
 # KEYFRAME 43
0.06416655200155219
Frame 76
tensor(0.1024)
 # KEYFRAME 44
0.06493901000067126
Frame 77
tensor(0.7944)
 # KEYFRAME 45
0.06532583800071734
Frame 78
tensor(0.1762)
 # KEYFRAME 46
0.06564186700052232
Frame 79
tensor(0.1859)
 # KEYFRAME 47
0.06607928599987645
Frame 80
tensor(0.2408)
 # KEYFRAME 48
0.06691305200001807
Frame 81
tensor(0.0842)
Frame 82
tensor(0.1826)
 # KEYFRAME 49
0.06733505100055481
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=589 loss_distill=0.2747 tta_take=0.009s
Frame 83
tensor(0.0960)
Frame 84
tensor(0.1718)
 # KEYFRAME 50
0.06719710199831752
Frame 85
tensor(0.0589)
Frame 86
tensor(0.1309)
 # KEYFRAME 51
0.0689921349985525
Frame 87
tensor(0.0830)
Frame 88
tensor(0.1718)
 # KEYFRAME 52
0.06893685500108404
Frame 89
tensor(0.5924)
 # KEYFRAME 53
0.070327070003259
Frame 90
tensor(0.0563)
Frame 91
tensor(0.2662)
 # KEYFRAME 54
0.0692857340000046
Frame 92
tensor(0.1274)
 # KEYFRAME 55
0.07071323899799609
Frame 93
tensor(0.0983)
Frame 94
tensor(0.1176)
 # KEYFRAME 56
0.07108096800220665
Frame 95
tensor(0.1807)
 # KEYFRAME 57
0.07233339300000807
Frame 96
tensor(0.1894)
 # KEYFRAME 58
0.07265190199905192
Frame 97
tensor(0.1101)
 # KEYFRAME 59
0.07311833999847295
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=590 loss_distill=0.3466 tta_take=0.008s
Frame 98
tensor(0.3995)
 # KEYFRAME 60
0.0713922469985846
Frame 99
tensor(0.0273)
Frame 100
tensor(0.1700)
 # KEYFRAME 61
0.07288821100155474
Frame 101
tensor(0.1023)
 # KEYFRAME 62
0.07276844199805055
Frame 102
tensor(0.1741)
 # KEYFRAME 63
0.07307982000202173
Frame 103
tensor(0.0246)
Frame 104
tensor(0.1729)
 # KEYFRAME 64
0.07349847899968154
Frame 105
tensor(0.5823)
 # KEYFRAME 65
0.07380218799880822
Frame 106
tensor(0.0620)
Frame 107
tensor(0.2132)
 # KEYFRAME 66
0.07468393499948434
Frame 108
tensor(0.2827)
 # KEYFRAME 67
0.0750223540017032
Frame 109
tensor(0.0305)
Frame 110
tensor(0.0429)
Frame 111
tensor(0.0881)
Frame 112
tensor(0.0877)
Frame 113
tensor(0.1936)
 # KEYFRAME 68
0.07501500299986219
Frame 114
tensor(0.0401)
Frame 115
tensor(0.0893)
Frame 116
tensor(0.4695)
 # KEYFRAME 69
0.07621062899852404
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=591 loss_distill=0.4024 tta_take=0.008s
Frame 117
tensor(0.0438)
Frame 118
tensor(0.0660)
Frame 119
tensor(0.0530)
Frame 120
tensor(0.0966)
Frame 121
tensor(0.1589)
 # KEYFRAME 70
0.07523794300141162
Frame 122
tensor(0.0562)
Frame 123
tensor(0.1137)
 # KEYFRAME 71
0.07772729400312528
Frame 124
tensor(0.1204)
 # KEYFRAME 72
0.07806483300009859
Frame 125
tensor(0.0339)
Frame 126
tensor(0.0973)
Frame 127
tensor(0.1063)
 # KEYFRAME 73
0.07847796100031701
Frame 128
tensor(0.2480)
 # KEYFRAME 74
0.07954713700019056
Frame 129
tensor(0.1660)
 # KEYFRAME 75
0.08048552500258666
Frame 130
tensor(0.1738)
 # KEYFRAME 76
0.07900914899801137
Frame 131
tensor(0.0886)
Frame 132
tensor(0.3189)
 # KEYFRAME 77
0.08201203899807297
Frame 133
tensor(0.4746)
 # KEYFRAME 78
0.0826957070021308
Frame 134
tensor(0.0460)
Frame 135
tensor(0.1100)
 # KEYFRAME 79
0.08320522500071093
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595452308655
TTA-STEP: step=592 loss_distill=0.4024 tta_take=0.009s
Frame 136
tensor(0.0617)
Frame 137
tensor(0.1260)
 # KEYFRAME 80
0.075816651002242
Frame 138
tensor(0.0383)
Frame 139
tensor(0.0689)
Frame 140
tensor(0.4084)
 # KEYFRAME 81
0.07791853299931972
Frame 141
tensor(0.2149)
 # KEYFRAME 82
0.07805728300081682
Backending... 83 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 58590, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=593 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 89/556] scannetpp/30966f4c6e/DSC frames=142 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=593 time=52.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0244)
Frame 2
tensor(0.0513)
Frame 3
tensor(0.0979)
Frame 4
tensor(0.1359)
 # KEYFRAME 1
Frame 5
tensor(0.0743)
Frame 6
tensor(0.1612)
 # KEYFRAME 2
0.051825235997966956
Frame 7
tensor(0.1048)
 # KEYFRAME 3
0.05250649400113616
Frame 8
tensor(0.0560)
Frame 9
tensor(0.1285)
 # KEYFRAME 4
0.05588537099902169
Frame 10
tensor(0.0554)
Frame 11
tensor(0.1044)
 # KEYFRAME 5
0.05596864100152743
Frame 12
tensor(0.0519)
Frame 13
tensor(0.1717)
 # KEYFRAME 6
0.05654271000094013
Frame 14
tensor(0.1417)
 # KEYFRAME 7
0.05687195800055633
Frame 15
tensor(0.0895)
Frame 16
tensor(0.2111)
 # KEYFRAME 8
0.05771334499877412
Frame 17
tensor(0.0323)
Frame 18
tensor(0.0984)
Frame 19
tensor(0.3073)
 # KEYFRAME 9
0.05870804200094426
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 20
tensor(0.0761)
Frame 21
tensor(0.1839)
 # KEYFRAME 10
0.05269426299855695
Frame 22
tensor(0.1200)
 # KEYFRAME 11
0.05387266899924725
Frame 23
tensor(0.0726)
Frame 24
tensor(0.2068)
 # KEYFRAME 12
0.05418474699763465
Frame 25
tensor(0.2512)
 # KEYFRAME 13
0.05677247899802751
Frame 26
tensor(0.0715)
Frame 27
tensor(0.1337)
 # KEYFRAME 14
0.05759874500290607
Frame 28
tensor(0.0368)
Frame 29
tensor(0.0938)
Frame 30
tensor(0.1261)
 # KEYFRAME 15
0.05840319299750263
Frame 31
tensor(0.0493)
Frame 32
tensor(0.1049)
 # KEYFRAME 16
0.05922827999893343
Frame 33
tensor(0.0389)
Frame 34
tensor(0.0709)
Frame 35
tensor(0.0873)
Frame 36
tensor(0.0900)
Frame 37
tensor(0.0992)
Frame 38
tensor(0.1151)
 # KEYFRAME 17
0.060622655000770465
Frame 39
tensor(0.0131)
Frame 40
tensor(0.0123)
Frame 41
tensor(0.0462)
Frame 42
tensor(0.1320)
 # KEYFRAME 18
0.06167469100182643
Frame 43
tensor(0.0968)
Frame 44
tensor(0.2549)
 # KEYFRAME 19
0.06300352600010228
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 45
tensor(0.1273)
 # KEYFRAME 20
0.05898868000076618
Frame 46
tensor(0.3700)
 # KEYFRAME 21
0.06058859399854555
Frame 47
tensor(0.0438)
Frame 48
tensor(0.3512)
 # KEYFRAME 22
0.0612151730019832
Frame 49
tensor(0.1340)
 # KEYFRAME 23
0.06191409999883035
Frame 50
tensor(0.0878)
Frame 51
tensor(0.1870)
 # KEYFRAME 24
0.0626722980014165
Frame 52
tensor(0.0482)
Frame 53
tensor(0.1250)
 # KEYFRAME 25
0.06345920500098146
Frame 54
tensor(0.0391)
Frame 55
tensor(0.1608)
 # KEYFRAME 26
0.06516757899953518
Frame 56
tensor(0.0969)
Frame 57
tensor(0.2489)
 # KEYFRAME 27
0.06669588300064788
Frame 58
tensor(0.0777)
Frame 59
tensor(0.1708)
 # KEYFRAME 28
0.06784962900201208
Frame 60
tensor(0.0763)
Frame 61
tensor(0.2173)
 # KEYFRAME 29
0.06857096699968679
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 62
tensor(0.3913)
 # KEYFRAME 30
0.0658605959979468
Frame 63
tensor(0.0434)
Frame 64
tensor(0.0618)
Frame 65
tensor(0.1011)
 # KEYFRAME 31
0.06866043599802651
Frame 66
tensor(0.0412)
Frame 67
tensor(0.1219)
 # KEYFRAME 32
0.06907115500143846
Frame 68
tensor(0.0349)
Frame 69
tensor(0.0950)
Frame 70
tensor(0.1246)
 # KEYFRAME 33
0.07068464899930404
Frame 71
tensor(0.0367)
Frame 72
tensor(0.0545)
Frame 73
tensor(0.0806)
Frame 74
tensor(0.1021)
 # KEYFRAME 34
0.07202522399893496
Frame 75
tensor(0.0289)
Frame 76
tensor(0.0816)
Frame 77
tensor(0.1202)
 # KEYFRAME 35
0.07335691899788799
Frame 78
tensor(0.0467)
Frame 79
tensor(0.0074)
Frame 80
tensor(0.1106)
 # KEYFRAME 36
0.07471894400077872
Frame 81
tensor(0.0559)
Frame 82
tensor(0.1013)
 # KEYFRAME 37
0.07620468999812147
Frame 83
tensor(0.0266)
Frame 84
tensor(0.0486)
Frame 85
tensor(0.0175)
Frame 86
tensor(0.1140)
 # KEYFRAME 38
0.07649444799972116
Frame 87
tensor(0.0751)
Frame 88
tensor(0.2226)
 # KEYFRAME 39
0.07758086499961792
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=594 loss_distill=0.1733 tta_take=0.009s
Frame 89
tensor(0.1054)
 # KEYFRAME 40
0.07245528299972648
Frame 90
tensor(0.2472)
 # KEYFRAME 41
0.07469814499927452
Frame 91
tensor(0.1263)
 # KEYFRAME 42
0.07500341399645549
Frame 92
tensor(0.1220)
 # KEYFRAME 43
0.07619102999888128
Frame 93
tensor(0.0705)
Frame 94
tensor(0.1486)
 # KEYFRAME 44
0.07787469300092198
Frame 95
tensor(0.0528)
Frame 96
tensor(0.1272)
 # KEYFRAME 45
0.07845109199843137
Frame 97
tensor(0.0565)
Frame 98
tensor(0.1327)
 # KEYFRAME 46
0.07982319700022344
Frame 99
tensor(0.0463)
Frame 100
tensor(0.1046)
 # KEYFRAME 47
0.0811525419994723
Frame 101
tensor(0.0316)
Frame 102
tensor(0.0518)
Backending... 48 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 49968, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=595 loss_distill=0.2747 tta_take=0.008s
[epoch 0 scene 90/556] scannetpp/709ab5bffe/frame frames=103 tta_steps_this_scene=2 mean_loss=0.2240 total_steps=595 time=26.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0031)
Frame 2
tensor(0.0069)
Frame 3
tensor(0.0311)
Frame 4
tensor(0.0908)
Frame 5
tensor(0.1438)
 # KEYFRAME 1
Frame 6
tensor(0.0810)
Frame 7
tensor(0.1773)
 # KEYFRAME 2
0.05187127599856467
Frame 8
tensor(0.1231)
 # KEYFRAME 3
0.05385222900076769
Frame 9
tensor(0.1264)
 # KEYFRAME 4
0.05480034599895589
Frame 10
tensor(0.1190)
 # KEYFRAME 5
0.05505993399856379
Frame 11
tensor(0.1463)
 # KEYFRAME 6
0.0556709119991865
Frame 12
tensor(0.1336)
 # KEYFRAME 7
0.056361539998761145
Frame 13
tensor(0.1394)
 # KEYFRAME 8
0.05786900400198647
Frame 14
tensor(0.0915)
Frame 15
tensor(0.1900)
 # KEYFRAME 9
0.058188163999147946
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 16
tensor(0.0747)
Frame 17
tensor(0.1603)
 # KEYFRAME 10
0.051958766001916956
Frame 18
tensor(0.1526)
 # KEYFRAME 11
0.05355658000189578
Frame 19
tensor(0.1096)
 # KEYFRAME 12
0.05464332599876798
Frame 20
tensor(0.2052)
 # KEYFRAME 13
0.05634039999858942
Frame 21
tensor(0.1188)
 # KEYFRAME 14
0.05739518600239535
Frame 22
tensor(0.1690)
 # KEYFRAME 15
0.05803501400077948
Frame 23
tensor(0.1034)
 # KEYFRAME 16
0.059045889996923506
Frame 24
tensor(0.6073)
 # KEYFRAME 17
0.06046291600068798
Frame 25
tensor(0.2138)
 # KEYFRAME 18
0.06186068000170053
Frame 26
tensor(0.1659)
 # KEYFRAME 19
0.06265139799870667
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 27
tensor(0.2674)
 # KEYFRAME 20
0.058767541999259265
Frame 28
tensor(0.3650)
 # KEYFRAME 21
0.060630885000136914
Frame 29
tensor(0.2308)
 # KEYFRAME 22
0.06122597300054622
Frame 30
tensor(0.1983)
 # KEYFRAME 23
0.061952199997904245
Frame 31
tensor(0.2081)
 # KEYFRAME 24
0.0629237169996486
Frame 32
tensor(0.1548)
 # KEYFRAME 25
0.06382733400096186
Frame 33
tensor(0.1832)
 # KEYFRAME 26
0.06513490900033503
Frame 34
tensor(0.1145)
 # KEYFRAME 27
0.06645880400174065
Frame 35
tensor(0.1443)
 # KEYFRAME 28
0.06727366199993412
Frame 36
tensor(0.1114)
 # KEYFRAME 29
0.0687019560027693
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 37
tensor(0.1340)
 # KEYFRAME 30
0.0660374960025365
Frame 38
tensor(0.2965)
 # KEYFRAME 31
0.06800306899822317
Frame 39
tensor(0.0657)
Frame 40
tensor(0.1616)
 # KEYFRAME 32
0.06864156600204296
Frame 41
tensor(0.2899)
 # KEYFRAME 33
0.0701357209982234
Frame 42
tensor(0.0801)
Frame 43
tensor(0.1945)
 # KEYFRAME 34
0.07152469599895994
Frame 44
tensor(0.2419)
 # KEYFRAME 35
0.07233211300263065
Frame 45
tensor(0.2942)
 # KEYFRAME 36
0.07394957799988333
Frame 46
tensor(0.1489)
 # KEYFRAME 37
0.07485430399901816
Frame 47
tensor(0.1557)
 # KEYFRAME 38
0.07620429899907322
Frame 48
tensor(0.2572)
 # KEYFRAME 39
0.07672485800139839
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=596 loss_distill=0.1733 tta_take=0.009s
Frame 49
tensor(0.1780)
 # KEYFRAME 40
0.07266955199884251
Frame 50
tensor(0.0665)
Frame 51
tensor(0.1080)
 # KEYFRAME 41
0.07477286400171579
Frame 52
tensor(0.0716)
Frame 53
tensor(0.1294)
 # KEYFRAME 42
0.07538224200106924
Frame 54
tensor(0.1362)
 # KEYFRAME 43
0.07661831799850916
Frame 55
tensor(0.0987)
Frame 56
tensor(0.1709)
 # KEYFRAME 44
0.077736024002661
Frame 57
tensor(0.1106)
 # KEYFRAME 45
0.0790733289977652
Frame 58
tensor(0.1329)
 # KEYFRAME 46
0.07999739600199973
Frame 59
tensor(0.1592)
 # KEYFRAME 47
0.08172711999941384
Frame 60
tensor(0.0697)
Frame 61
tensor(0.1985)
 # KEYFRAME 48
0.08252586700109532
Frame 62
tensor(0.0995)
Frame 63
tensor(0.1638)
 # KEYFRAME 49
0.08382536299905041
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=597 loss_distill=0.2747 tta_take=0.009s
Frame 64
tensor(0.1589)
 # KEYFRAME 50
0.0794067980023101
Frame 65
tensor(0.2648)
 # KEYFRAME 51
0.08136955100053456
Frame 66
tensor(0.3575)
 # KEYFRAME 52
0.08168463000038173
Frame 67
tensor(0.1570)
 # KEYFRAME 53
0.08247414700235822
Frame 68
tensor(0.1175)
 # KEYFRAME 54
0.0829424650000874
Frame 69
tensor(0.1198)
 # KEYFRAME 55
0.08393580199845019
Frame 70
tensor(0.1521)
 # KEYFRAME 56
0.084213780999562
Frame 71
tensor(0.2889)
 # KEYFRAME 57
0.0844865800027037
Frame 72
tensor(0.2255)
 # KEYFRAME 58
0.0857541149998724
Frame 73
tensor(0.2627)
 # KEYFRAME 59
0.08612875399921904
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=598 loss_distill=0.3466 tta_take=0.009s
Frame 74
tensor(0.1278)
 # KEYFRAME 60
0.08628410399978748
Frame 75
tensor(0.1889)
 # KEYFRAME 61
0.0884097460002522
Frame 76
tensor(0.1976)
 # KEYFRAME 62
0.0892569529969478
Frame 77
tensor(0.0689)
Frame 78
tensor(0.1861)
 # KEYFRAME 63
0.08967436100283521
Frame 79
tensor(0.1316)
 # KEYFRAME 64
0.09024808899994241
Frame 80
tensor(0.1371)
 # KEYFRAME 65
0.09118306700111134
Frame 81
tensor(0.0940)
Frame 82
tensor(0.1826)
 # KEYFRAME 66
0.09318360899851541
Frame 83
tensor(0.0997)
Frame 84
tensor(0.2354)
 # KEYFRAME 67
0.094326225000259
Frame 85
tensor(0.0914)
Frame 86
tensor(0.1647)
 # KEYFRAME 68
0.09475680400282727
Frame 87
tensor(0.1501)
 # KEYFRAME 69
0.09550351099824184
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=599 loss_distill=0.4024 tta_take=0.009s
Frame 88
tensor(0.0989)
Frame 89
tensor(0.2670)
 # KEYFRAME 70
0.09315290900121909
Frame 90
tensor(0.1121)
 # KEYFRAME 71
0.09482063299947185
Frame 91
tensor(0.1390)
 # KEYFRAME 72
0.09605520900004194
Frame 92
tensor(0.0873)
Frame 93
tensor(0.0643)
Frame 94
tensor(0.1807)
 # KEYFRAME 73
0.09621085800245055
Frame 95
tensor(0.3242)
 # KEYFRAME 74
0.09738464399924851
Frame 96
tensor(0.0826)
Frame 97
tensor(0.2798)
 # KEYFRAME 75
0.09924234799836995
Frame 98
tensor(0.1564)
 # KEYFRAME 76
0.10000844499882078
Frame 99
tensor(0.1461)
 # KEYFRAME 77
0.10034375400209683
Frame 100
tensor(0.1394)
 # KEYFRAME 78
0.1021037479986262
Frame 101
tensor(0.1485)
 # KEYFRAME 79
0.10296354400270502
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=600 loss_distill=0.4024 tta_take=0.009s
Frame 102
tensor(0.1167)
 # KEYFRAME 80
0.0938429570014705
Frame 103
tensor(0.1743)
 # KEYFRAME 81
0.0943787149990385
Frame 104
tensor(0.1399)
 # KEYFRAME 82
0.09512659200117923
Frame 105
tensor(0.1510)
 # KEYFRAME 83
0.09712620500067715
Frame 106
tensor(0.1374)
 # KEYFRAME 84
0.09867401000155951
Frame 107
tensor(0.0572)
Frame 108
tensor(0.1637)
 # KEYFRAME 85
0.09978170600152225
Frame 109
tensor(0.1171)
 # KEYFRAME 86
0.10000415400281781
Frame 110
tensor(0.0867)
Frame 111
tensor(0.1675)
 # KEYFRAME 87
0.10124790099871461
Frame 112
tensor(0.1535)
 # KEYFRAME 88
0.10205376799785881
Frame 113
tensor(0.0979)
Frame 114
tensor(0.1243)
 # KEYFRAME 89
0.10284660500110476
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=601 loss_distill=0.4024 tta_take=0.009s
Frame 115
tensor(0.4425)
 # KEYFRAME 90
0.09310375899804058
Frame 116
tensor(0.1362)
 # KEYFRAME 91
0.09589092900205287
Frame 117
tensor(0.1792)
 # KEYFRAME 92
0.0955847810000705
Frame 118
tensor(0.1935)
 # KEYFRAME 93
0.09586438899714267
Frame 119
tensor(0.0692)
Backending... 94 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 66624, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=602 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 91/556] scannetpp/d6702c681d/frame frames=120 tta_steps_this_scene=7 mean_loss=0.3434 total_steps=602 time=47.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0096)
Frame 2
tensor(0.0164)
Frame 3
tensor(0.0252)
Frame 4
tensor(0.0340)
Frame 5
tensor(0.0417)
Frame 6
tensor(0.0532)
Frame 7
tensor(0.0655)
Frame 8
tensor(0.0744)
Frame 9
tensor(0.0963)
Frame 10
tensor(0.1138)
 # KEYFRAME 1
Frame 11
tensor(0.0064)
Frame 12
tensor(0.0124)
Frame 13
tensor(0.0225)
Frame 14
tensor(0.0318)
Frame 15
tensor(0.0462)
Frame 16
tensor(0.0500)
Frame 17
tensor(0.0708)
Frame 18
tensor(0.0743)
Frame 19
tensor(0.0817)
Frame 20
tensor(0.0974)
Frame 21
tensor(0.1215)
 # KEYFRAME 2
0.051997126000060234
Frame 22
tensor(0.0051)
Frame 23
tensor(0.0099)
Frame 24
tensor(0.0167)
Frame 25
tensor(0.0190)
Frame 26
tensor(0.0276)
Frame 27
tensor(0.0374)
Frame 28
tensor(0.0472)
Frame 29
tensor(0.0532)
Frame 30
tensor(0.0664)
Frame 31
tensor(0.0779)
Frame 32
tensor(0.0869)
Frame 33
tensor(0.0962)
Frame 34
tensor(0.1086)
 # KEYFRAME 3
0.05184665599881555
Frame 35
tensor(0.0063)
Frame 36
tensor(0.0134)
Frame 37
tensor(0.0171)
Frame 38
tensor(0.0186)
Frame 39
tensor(0.0341)
Frame 40
tensor(0.0421)
Frame 41
tensor(0.0498)
Frame 42
tensor(0.0624)
Frame 43
tensor(0.0701)
Frame 44
tensor(0.0819)
Frame 45
tensor(0.0950)
Frame 46
tensor(0.1053)
 # KEYFRAME 4
0.052669183001853526
Frame 47
tensor(0.0052)
Frame 48
tensor(0.0180)
Frame 49
tensor(0.0283)
Frame 50
tensor(0.0347)
Frame 51
tensor(0.0502)
Frame 52
tensor(0.0647)
Frame 53
tensor(0.0859)
Frame 54
tensor(0.0926)
Frame 55
tensor(0.1094)
 # KEYFRAME 5
0.05281183199986117
Frame 56
tensor(0.0114)
Frame 57
tensor(0.0234)
Frame 58
tensor(0.0374)
Frame 59
tensor(0.0567)
Frame 60
tensor(0.0764)
Frame 61
tensor(0.0859)
Frame 62
tensor(0.1148)
 # KEYFRAME 6
0.05294225200123037
Frame 63
tensor(0.0124)
Frame 64
tensor(0.0276)
Frame 65
tensor(0.0470)
Frame 66
tensor(0.0628)
Frame 67
tensor(0.0827)
Frame 68
tensor(0.0990)
Frame 69
tensor(0.1348)
 # KEYFRAME 7
0.05298891199709033
Frame 70
tensor(0.0142)
Frame 71
tensor(0.0283)
Frame 72
tensor(0.0422)
Frame 73
tensor(0.0663)
Frame 74
tensor(0.0775)
Frame 75
tensor(0.0929)
Frame 76
tensor(0.1158)
 # KEYFRAME 8
0.053337430999818025
Frame 77
tensor(0.0145)
Frame 78
tensor(0.0302)
Frame 79
tensor(0.0453)
Frame 80
tensor(0.0605)
Frame 81
tensor(0.0779)
Frame 82
tensor(0.0975)
Frame 83
tensor(0.1089)
 # KEYFRAME 9
0.053181811003014445
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 84
tensor(0.0115)
Frame 85
tensor(0.0258)
Frame 86
tensor(0.0450)
Frame 87
tensor(0.0665)
Frame 88
tensor(0.0817)
Frame 89
tensor(0.1010)
 # KEYFRAME 10
0.05206896500021685
Frame 90
tensor(0.0118)
Frame 91
tensor(0.0275)
Frame 92
tensor(0.0429)
Frame 93
tensor(0.0620)
Frame 94
tensor(0.0735)
Frame 95
tensor(0.0867)
Frame 96
tensor(0.1084)
 # KEYFRAME 11
0.05262560299888719
Frame 97
tensor(0.0135)
Frame 98
tensor(0.0268)
Frame 99
tensor(0.0381)
Frame 100
tensor(0.0574)
Frame 101
tensor(0.0718)
Frame 102
tensor(0.0850)
Frame 103
tensor(0.0984)
Frame 104
tensor(0.1138)
 # KEYFRAME 12
0.05375121000179206
Frame 105
tensor(0.0125)
Frame 106
tensor(0.0223)
Frame 107
tensor(0.0357)
Frame 108
tensor(0.0542)
Frame 109
tensor(0.0695)
Frame 110
tensor(0.0850)
Frame 111
tensor(0.0967)
Frame 112
tensor(0.1061)
 # KEYFRAME 13
0.05270751300122356
Frame 113
tensor(0.0102)
Frame 114
tensor(0.0237)
Frame 115
tensor(0.0313)
Frame 116
tensor(0.0510)
Frame 117
tensor(0.0646)
Frame 118
tensor(0.0797)
Frame 119
tensor(0.0951)
Frame 120
tensor(0.1023)
 # KEYFRAME 14
0.05565245199977653
Frame 121
tensor(0.0073)
Frame 122
tensor(0.0178)
Frame 123
tensor(0.0273)
Frame 124
tensor(0.0451)
Frame 125
tensor(0.0583)
Frame 126
tensor(0.0730)
Frame 127
tensor(0.0855)
Frame 128
tensor(0.0934)
Frame 129
tensor(0.1018)
 # KEYFRAME 15
0.05337471100210678
Frame 130
tensor(0.0084)
Frame 131
tensor(0.0203)
Frame 132
tensor(0.0294)
Frame 133
tensor(0.0419)
Frame 134
tensor(0.0556)
Frame 135
tensor(0.0663)
Frame 136
tensor(0.0820)
Frame 137
tensor(0.0925)
Frame 138
tensor(0.1061)
 # KEYFRAME 16
0.053384360999189084
Frame 139
tensor(0.0079)
Frame 140
tensor(0.0243)
Frame 141
tensor(0.0309)
Frame 142
tensor(0.0426)
Frame 143
tensor(0.0498)
Frame 144
tensor(0.0522)
Frame 145
tensor(0.0706)
Frame 146
tensor(0.0889)
Frame 147
tensor(0.0994)
Frame 148
tensor(0.1119)
 # KEYFRAME 17
0.05630134000239195
Frame 149
tensor(0.0061)
Frame 150
tensor(0.0109)
Frame 151
tensor(0.0270)
Frame 152
tensor(0.0391)
Frame 153
tensor(0.0530)
Frame 154
tensor(0.0670)
Frame 155
tensor(0.0847)
Frame 156
tensor(0.1127)
 # KEYFRAME 18
0.05291894199763192
Frame 157
tensor(0.0081)
Frame 158
tensor(0.0220)
Frame 159
tensor(0.0369)
Frame 160
tensor(0.0500)
Frame 161
tensor(0.0602)
Frame 162
tensor(0.0764)
Frame 163
tensor(0.0785)
Frame 164
tensor(0.0972)
Frame 165
tensor(0.1271)
 # KEYFRAME 19
0.05740924699784955
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 166
tensor(0.0129)
Frame 167
tensor(0.0259)
Frame 168
tensor(0.0393)
Frame 169
tensor(0.0644)
Frame 170
tensor(0.0804)
Frame 171
tensor(0.0899)
Frame 172
tensor(0.1190)
 # KEYFRAME 20
0.05212003600172466
Frame 173
tensor(0.0198)
Frame 174
tensor(0.0307)
Frame 175
tensor(0.0415)
Frame 176
tensor(0.0689)
Frame 177
tensor(0.0890)
Frame 178
tensor(0.1139)
 # KEYFRAME 21
0.052327104000141844
Frame 179
tensor(0.0202)
Frame 180
tensor(0.0396)
Frame 181
tensor(0.0650)
Frame 182
tensor(0.0922)
Frame 183
tensor(0.1121)
 # KEYFRAME 22
0.053522610000072746
Frame 184
tensor(0.0216)
Frame 185
tensor(0.0419)
Frame 186
tensor(0.0626)
Frame 187
tensor(0.0827)
Frame 188
tensor(0.1087)
 # KEYFRAME 23
0.05323298100120155
Frame 189
tensor(0.0232)
Frame 190
tensor(0.0450)
Frame 191
tensor(0.0632)
Frame 192
tensor(0.0819)
Frame 193
tensor(0.1007)
 # KEYFRAME 24
0.05396848899908946
Frame 194
tensor(0.0202)
Frame 195
tensor(0.0429)
Frame 196
tensor(0.0622)
Frame 197
tensor(0.0860)
Frame 198
tensor(0.1023)
 # KEYFRAME 25
0.05217002500285162
Frame 199
tensor(0.0147)
Frame 200
tensor(0.0335)
Frame 201
tensor(0.0548)
Frame 202
tensor(0.0776)
Frame 203
tensor(0.1000)
 # KEYFRAME 26
0.05267079300028854
Frame 204
tensor(0.0249)
Frame 205
tensor(0.0424)
Frame 206
tensor(0.0651)
Frame 207
tensor(0.0822)
Frame 208
tensor(0.0948)
Frame 209
tensor(0.1055)
 # KEYFRAME 27
0.055745421999745304
Frame 210
tensor(0.0158)
Frame 211
tensor(0.0320)
Frame 212
tensor(0.0565)
Frame 213
tensor(0.0715)
Frame 214
tensor(0.0919)
Frame 215
tensor(0.1105)
 # KEYFRAME 28
0.05297568199966918
Frame 216
tensor(0.0187)
Frame 217
tensor(0.0357)
Frame 218
tensor(0.0535)
Frame 219
tensor(0.0730)
Frame 220
tensor(0.0928)
Frame 221
tensor(0.1214)
 # KEYFRAME 29
0.05664012999841361
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 222
tensor(0.0176)
Frame 223
tensor(0.0326)
Frame 224
tensor(0.0559)
Frame 225
tensor(0.0858)
Frame 226
tensor(0.1083)
 # KEYFRAME 30
0.05242311400070321
Frame 227
tensor(0.0157)
Frame 228
tensor(0.0420)
Frame 229
tensor(0.0583)
Frame 230
tensor(0.0749)
Frame 231
tensor(0.1026)
 # KEYFRAME 31
0.052802902999246726
Frame 232
tensor(0.0147)
Frame 233
tensor(0.0330)
Frame 234
tensor(0.0500)
Frame 235
tensor(0.0666)
Frame 236
tensor(0.0948)
Frame 237
tensor(0.1296)
 # KEYFRAME 32
0.05326457200135337
Frame 238
tensor(0.0151)
Frame 239
tensor(0.0397)
Frame 240
tensor(0.0657)
Frame 241
tensor(0.0814)
Frame 242
tensor(0.1130)
 # KEYFRAME 33
0.05242585499945562
Frame 243
tensor(0.0193)
Frame 244
tensor(0.0447)
Frame 245
tensor(0.0685)
Frame 246
tensor(0.0870)
Frame 247
tensor(0.1135)
 # KEYFRAME 34
0.05329792100019404
Frame 248
tensor(0.0230)
Frame 249
tensor(0.0444)
Frame 250
tensor(0.0706)
Frame 251
tensor(0.0877)
Frame 252
tensor(0.1119)
 # KEYFRAME 35
0.05264077299943892
Frame 253
tensor(0.0178)
Frame 254
tensor(0.0405)
Frame 255
tensor(0.0659)
Frame 256
tensor(0.0883)
Frame 257
tensor(0.1118)
 # KEYFRAME 36
0.053017271999124205
Frame 258
tensor(0.0211)
Frame 259
tensor(0.0442)
Frame 260
tensor(0.0685)
Frame 261
tensor(0.0972)
Frame 262
tensor(0.1122)
 # KEYFRAME 37
0.05344432999845594
Frame 263
tensor(0.0229)
Frame 264
tensor(0.0425)
Frame 265
tensor(0.0712)
Frame 266
tensor(0.0897)
Frame 267
tensor(0.1082)
 # KEYFRAME 38
0.053248340998834465
Frame 268
tensor(0.0236)
Frame 269
tensor(0.0439)
Frame 270
tensor(0.0756)
Frame 271
tensor(0.0986)
Frame 272
tensor(0.1225)
 # KEYFRAME 39
0.05384106900237384
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=603 loss_distill=0.1733 tta_take=0.005s
Frame 273
tensor(0.0163)
Frame 274
tensor(0.0429)
Frame 275
tensor(0.0708)
Frame 276
tensor(0.0961)
Frame 277
tensor(0.1191)
 # KEYFRAME 40
0.05245884400210343
Frame 278
tensor(0.0154)
Frame 279
tensor(0.0424)
Frame 280
tensor(0.0663)
Frame 281
tensor(0.0874)
Frame 282
tensor(0.1218)
 # KEYFRAME 41
0.053096011997695314
Frame 283
tensor(0.0205)
Frame 284
tensor(0.0419)
Frame 285
tensor(0.0616)
Frame 286
tensor(0.0869)
Frame 287
tensor(0.1078)
 # KEYFRAME 42
0.05334750100155361
Frame 288
tensor(0.0245)
Frame 289
tensor(0.0420)
Frame 290
tensor(0.0695)
Frame 291
tensor(0.0953)
Frame 292
tensor(0.1164)
 # KEYFRAME 43
0.05232111499935854
Frame 293
tensor(0.0202)
Frame 294
tensor(0.0436)
Frame 295
tensor(0.0646)
Frame 296
tensor(0.0870)
Frame 297
tensor(0.1068)
 # KEYFRAME 44
0.05371957999886945
Frame 298
tensor(0.0182)
Frame 299
tensor(0.0405)
Backending... 45 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 18540, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=604 loss_distill=0.2747 tta_take=0.003s
[epoch 0 scene 92/556] vkitti/Scene20/fog/Camera_0 frames=300 tta_steps_this_scene=2 mean_loss=0.2240 total_steps=604 time=84.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0580)
Frame 2
tensor(0.1949)
 # KEYFRAME 1
Frame 3
tensor(0.0969)
Frame 4
tensor(0.1969)
 # KEYFRAME 2
0.05180229699908523
Frame 5
tensor(0.1751)
 # KEYFRAME 3
0.05242904400074622
Frame 6
tensor(0.1373)
 # KEYFRAME 4
0.05374243999904138
Frame 7
tensor(0.1046)
 # KEYFRAME 5
0.05472887599898968
Frame 8
tensor(0.1136)
 # KEYFRAME 6
0.055208514000696596
Frame 9
tensor(0.0826)
Frame 10
tensor(0.1586)
 # KEYFRAME 7
0.056461380001564976
Frame 11
tensor(0.0521)
Frame 12
tensor(0.0990)
Frame 13
tensor(0.1824)
 # KEYFRAME 8
0.0581628340005409
Frame 14
tensor(0.2158)
 # KEYFRAME 9
0.05879413100046804
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 15
tensor(0.1216)
 # KEYFRAME 10
0.051443497999571264
Frame 16
tensor(0.1128)
 # KEYFRAME 11
0.05217339500086382
Frame 17
tensor(0.3177)
 # KEYFRAME 12
0.05297831200005021
Frame 18
tensor(0.1602)
 # KEYFRAME 13
0.05424852800206281
Frame 19
tensor(0.0928)
Frame 20
tensor(0.1755)
 # KEYFRAME 14
0.054467506997752935
Frame 21
tensor(0.1662)
 # KEYFRAME 15
0.05428624799969839
Frame 22
tensor(0.2058)
 # KEYFRAME 16
0.05485974499970325
Frame 23
tensor(0.1953)
 # KEYFRAME 17
0.05587851200107252
Frame 24
tensor(0.1623)
 # KEYFRAME 18
0.05666130899771815
Frame 25
tensor(0.1515)
 # KEYFRAME 19
0.05723214700265089
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 26
tensor(0.0505)
Frame 27
tensor(0.0994)
Frame 28
tensor(0.1771)
 # KEYFRAME 20
0.05408928899851162
Frame 29
tensor(0.1408)
 # KEYFRAME 21
0.05464930599919171
Frame 30
tensor(0.1659)
 # KEYFRAME 22
0.055167585000162944
Frame 31
tensor(0.1815)
 # KEYFRAME 23
0.05589046199747827
Frame 32
tensor(0.2106)
 # KEYFRAME 24
0.05662642000243068
Frame 33
tensor(0.1813)
 # KEYFRAME 25
0.05696423799963668
Frame 34
tensor(0.0502)
Frame 35
tensor(0.1243)
 # KEYFRAME 26
0.058217812998918816
Frame 36
tensor(0.1630)
 # KEYFRAME 27
0.059125361000042176
Frame 37
tensor(0.1734)
 # KEYFRAME 28
0.05967777900150395
Frame 38
tensor(0.2035)
 # KEYFRAME 29
0.06032664600206772
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 39
tensor(0.2214)
 # KEYFRAME 30
0.05829188400093699
Frame 40
tensor(0.2019)
 # KEYFRAME 31
0.05981735800014576
Frame 41
tensor(0.1953)
 # KEYFRAME 32
0.059374589000071865
Frame 42
tensor(0.2566)
 # KEYFRAME 33
0.060656454999843845
Frame 43
tensor(0.2077)
 # KEYFRAME 34
0.06077492399708717
Frame 44
tensor(0.3727)
 # KEYFRAME 35
0.06242478900094284
Frame 45
tensor(0.0992)
Frame 46
tensor(0.1668)
 # KEYFRAME 36
0.06224402999941958
Frame 47
tensor(0.0759)
Frame 48
tensor(0.2273)
 # KEYFRAME 37
0.06274137800210156
Frame 49
tensor(0.1602)
 # KEYFRAME 38
0.0644379109980946
Frame 50
tensor(0.1946)
 # KEYFRAME 39
0.06411752300118678
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=605 loss_distill=0.1733 tta_take=0.009s
Frame 51
tensor(0.1670)
 # KEYFRAME 40
0.0625231480007642
Frame 52
tensor(0.1225)
 # KEYFRAME 41
0.06366985400018166
Frame 53
tensor(0.1574)
 # KEYFRAME 42
0.06360894399767858
Frame 54
tensor(0.2514)
 # KEYFRAME 43
0.06391000299845473
Frame 55
tensor(0.0822)
Frame 56
tensor(0.1211)
 # KEYFRAME 44
0.06461252100052661
Frame 57
tensor(0.0338)
Frame 58
tensor(0.1560)
 # KEYFRAME 45
0.06543615800183034
Frame 59
tensor(0.0620)
Frame 60
tensor(0.2049)
 # KEYFRAME 46
0.06538523900235305
Frame 61
tensor(0.1161)
 # KEYFRAME 47
0.06557293799778563
Frame 62
tensor(0.1021)
 # KEYFRAME 48
0.06666904399753548
Frame 63
tensor(0.2596)
 # KEYFRAME 49
0.06692182299957494
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=606 loss_distill=0.2747 tta_take=0.009s
Frame 64
tensor(0.2477)
 # KEYFRAME 50
0.06656341399866506
Frame 65
tensor(0.1757)
 # KEYFRAME 51
0.06881130699912319
Frame 66
tensor(0.1769)
 # KEYFRAME 52
0.06901852499868255
Frame 67
tensor(0.1577)
 # KEYFRAME 53
0.06915451500026393
Frame 68
tensor(0.2311)
 # KEYFRAME 54
0.06908298500275123
Frame 69
tensor(0.2483)
 # KEYFRAME 55
0.07027910099714063
Frame 70
tensor(0.1204)
 # KEYFRAME 56
0.07136132800224004
Frame 71
tensor(0.3425)
 # KEYFRAME 57
0.07222715399984736
Frame 72
tensor(0.2220)
 # KEYFRAME 58
0.072072193997883
Frame 73
tensor(0.1108)
 # KEYFRAME 59
0.07264312299957965
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=607 loss_distill=0.3466 tta_take=0.008s
Frame 74
tensor(0.1084)
 # KEYFRAME 60
0.07128075700165937
Frame 75
tensor(0.4058)
 # KEYFRAME 61
0.07287625200115144
Frame 76
tensor(0.2025)
 # KEYFRAME 62
0.07305629099937505
Frame 77
tensor(0.1493)
 # KEYFRAME 63
0.07401678799942601
Frame 78
tensor(0.1334)
 # KEYFRAME 64
0.07497277400034363
Frame 79
tensor(0.1508)
 # KEYFRAME 65
0.07408575699810171
Frame 80
tensor(0.1490)
 # KEYFRAME 66
0.07714099599979818
Frame 81
tensor(0.0284)
Frame 82
tensor(0.6138)
 # KEYFRAME 67
0.07751044500037096
Frame 83
tensor(0.1756)
 # KEYFRAME 68
0.0782324219981092
Frame 84
tensor(0.1449)
 # KEYFRAME 69
0.07850158199653379
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=608 loss_distill=0.4024 tta_take=0.009s
Frame 85
tensor(0.1736)
 # KEYFRAME 70
0.07537196299745119
Frame 86
tensor(0.0746)
Frame 87
tensor(0.2385)
 # KEYFRAME 71
0.07786242400106858
Frame 88
tensor(0.1194)
 # KEYFRAME 72
0.07675940799890668
Frame 89
tensor(0.1413)
 # KEYFRAME 73
0.07721915600268403
Frame 90
tensor(0.1835)
 # KEYFRAME 74
0.07772094499887316
Frame 91
tensor(0.0621)
Frame 92
tensor(0.1008)
 # KEYFRAME 75
0.07867794100093306
Frame 93
tensor(0.0249)
Frame 94
tensor(0.1476)
 # KEYFRAME 76
0.07845300200278871
Frame 95
tensor(0.1145)
 # KEYFRAME 77
0.07926243900146801
Frame 96
tensor(0.1129)
 # KEYFRAME 78
0.07966145800310187
Frame 97
tensor(0.1271)
 # KEYFRAME 79
0.08013459599897033
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=609 loss_distill=0.4024 tta_take=0.008s
Frame 98
tensor(0.1546)
 # KEYFRAME 80
0.0754689919995144
Frame 99
tensor(0.1852)
 # KEYFRAME 81
0.07768682499954593
Frame 100
tensor(0.0669)
Frame 101
tensor(0.1250)
 # KEYFRAME 82
0.07758323500092956
Frame 102
tensor(0.0642)
Frame 103
tensor(0.2007)
 # KEYFRAME 83
0.07846735199927934
Frame 104
tensor(0.1042)
 # KEYFRAME 84
0.07931041900155833
Frame 105
tensor(0.2172)
 # KEYFRAME 85
0.08030287499786937
Frame 106
tensor(0.1603)
 # KEYFRAME 86
0.07926144900193322
Frame 107
tensor(0.1409)
 # KEYFRAME 87
0.0817700200022955
Frame 108
tensor(0.1690)
 # KEYFRAME 88
0.08243509800013271
Frame 109
tensor(0.1016)
 # KEYFRAME 89
0.08304319600210874
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=610 loss_distill=0.4024 tta_take=0.009s
Frame 110
tensor(0.1080)
 # KEYFRAME 90
0.07535444300083327
Frame 111
tensor(0.2412)
 # KEYFRAME 91
0.07815829300307087
Frame 112
tensor(0.1025)
 # KEYFRAME 92
0.07737310599986813
Frame 113
tensor(0.1560)
 # KEYFRAME 93
0.07789290400251048
Frame 114
tensor(0.2480)
 # KEYFRAME 94
0.07848806100082584
Frame 115
tensor(0.3260)
 # KEYFRAME 95
0.07852744100091513
Frame 116
tensor(0.2077)
 # KEYFRAME 96
0.07873022100102389
Frame 117
tensor(0.1686)
 # KEYFRAME 97
0.07952226799898199
Frame 118
tensor(0.2369)
 # KEYFRAME 98
0.07982848699975875
Frame 119
tensor(0.1422)
 # KEYFRAME 99
0.08037384500130429
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=611 loss_distill=0.4024 tta_take=0.008s
Frame 120
tensor(0.0817)
Frame 121
tensor(0.1591)
 # KEYFRAME 100
0.07549367299725418
Frame 122
tensor(0.0524)
Frame 123
tensor(0.1483)
 # KEYFRAME 101
0.0778226740003447
Frame 124
tensor(0.1676)
 # KEYFRAME 102
0.07757706499978667
Frame 125
tensor(0.1015)
 # KEYFRAME 103
0.07786308399954578
Frame 126
tensor(0.1490)
 # KEYFRAME 104
0.07865655099885771
Frame 127
tensor(0.2672)
 # KEYFRAME 105
0.07875138999952469
Frame 128
tensor(0.0495)
Frame 129
tensor(0.0914)
Frame 130
tensor(0.2212)
 # KEYFRAME 106
0.07822658300210605
Frame 131
tensor(0.0592)
Frame 132
tensor(0.1542)
 # KEYFRAME 107
0.07964344799984246
Frame 133
tensor(0.1913)
 # KEYFRAME 108
0.07982760700178915
Frame 134
tensor(0.0978)
Frame 135
tensor(0.1664)
 # KEYFRAME 109
0.08073156400132575
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=612 loss_distill=0.4024 tta_take=0.009s
Frame 136
tensor(0.1639)
 # KEYFRAME 110
0.07525590299701435
Frame 137
tensor(0.1365)
 # KEYFRAME 111
0.07610606999878655
Frame 138
tensor(0.0714)
Frame 139
tensor(0.1768)
 # KEYFRAME 112
0.07728047600176069
Frame 140
tensor(0.1178)
 # KEYFRAME 113
0.07747893499981728
Frame 141
tensor(0.1002)
 # KEYFRAME 114
0.07785504400089849
Frame 142
tensor(0.2098)
 # KEYFRAME 115
0.07816506299786852
Frame 143
tensor(0.1668)
 # KEYFRAME 116
0.07828588299889816
Frame 144
tensor(0.1355)
 # KEYFRAME 117
0.0792186690014205
Frame 145
tensor(0.3014)
 # KEYFRAME 118
0.07942018899848335
Frame 146
tensor(0.2428)
 # KEYFRAME 119
0.08032140599971171
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=613 loss_distill=0.4024 tta_take=0.008s
Frame 147
tensor(0.2196)
 # KEYFRAME 120
0.07551604199761641
Frame 148
tensor(0.2586)
 # KEYFRAME 121
0.07768293399931281
Frame 149
tensor(0.1114)
 # KEYFRAME 122
0.07738825599881238
Backending... 123 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 58590, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=614 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 93/556] scannetpp/e898c76c1f/DSC frames=150 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=614 time=59.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.4003)
 # KEYFRAME 1
Frame 2
tensor(0.3759)
 # KEYFRAME 2
0.05201214499902562
Frame 3
tensor(0.3982)
 # KEYFRAME 3
0.05286139199961326
Frame 4
tensor(0.5390)
 # KEYFRAME 4
0.054975736002234044
Frame 5
tensor(0.5352)
 # KEYFRAME 5
0.055960211997444276
Frame 6
tensor(0.2145)
 # KEYFRAME 6
0.056110541001544334
Frame 7
tensor(0.4043)
 # KEYFRAME 7
0.0571625269985816
Frame 8
tensor(0.3836)
 # KEYFRAME 8
0.058203822998621035
Frame 9
tensor(0.4467)
 # KEYFRAME 9
0.05836006300160079
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.3946)
 # KEYFRAME 10
0.052324395001051016
Frame 11
tensor(0.6567)
 # KEYFRAME 11
0.05337806100214948
Frame 12
tensor(0.6132)
 # KEYFRAME 12
0.05457709600159433
Frame 13
tensor(0.3578)
 # KEYFRAME 13
0.05675487900225562
Frame 14
tensor(0.3185)
 # KEYFRAME 14
0.057480886000121245
Frame 15
tensor(0.4212)
 # KEYFRAME 15
0.05824392399881617
Frame 16
tensor(0.1371)
 # KEYFRAME 16
0.05877712100118515
Frame 17
tensor(0.2724)
 # KEYFRAME 17
0.0599872869970568
Frame 18
tensor(0.8159)
 # KEYFRAME 18
0.06166503200074658
Frame 19
tensor(0.3864)
 # KEYFRAME 19
0.06362775399975362
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 20
tensor(0.6140)
 # KEYFRAME 20
0.059207049998803996
Frame 21
tensor(0.5788)
 # KEYFRAME 21
0.06036218699955498
Frame 22
tensor(0.2603)
 # KEYFRAME 22
0.062102320000121836
Frame 23
tensor(0.3520)
 # KEYFRAME 23
0.06273857799897087
Frame 24
tensor(0.4158)
 # KEYFRAME 24
0.06404650300100911
Frame 25
tensor(0.2080)
 # KEYFRAME 25
0.06539516799966805
Frame 26
tensor(0.5955)
 # KEYFRAME 26
0.06701554200117243
Frame 27
tensor(0.5709)
 # KEYFRAME 27
0.06831687800149666
Frame 28
tensor(0.2673)
 # KEYFRAME 28
0.06877838600121322
Frame 29
tensor(0.2535)
 # KEYFRAME 29
0.06988445200113347
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 30
tensor(0.2186)
 # KEYFRAME 30
0.06602613599898177
Frame 31
tensor(0.3017)
 # KEYFRAME 31
0.06677511399902869
Frame 32
tensor(0.2170)
 # KEYFRAME 32
0.0680449489991588
Frame 33
tensor(0.1619)
 # KEYFRAME 33
0.06883877600193955
Frame 34
tensor(0.3652)
 # KEYFRAME 34
0.06974588299999596
Frame 35
tensor(0.1857)
 # KEYFRAME 35
0.07083895899995696
Frame 36
tensor(0.4787)
 # KEYFRAME 36
0.07100546900255722
Frame 37
tensor(0.3988)
 # KEYFRAME 37
0.07204126500073471
Frame 38
tensor(0.1850)
 # KEYFRAME 38
0.07292728199900012
Frame 39
tensor(0.3608)
 # KEYFRAME 39
0.074074827000004
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=615 loss_distill=0.1733 tta_take=0.009s
Frame 40
tensor(0.1965)
 # KEYFRAME 40
0.0721873250004137
Frame 41
tensor(0.1742)
 # KEYFRAME 41
0.07479456500004744
Frame 42
tensor(0.4258)
 # KEYFRAME 42
0.07450925600278424
Frame 43
tensor(0.4384)
 # KEYFRAME 43
0.07517560400083312
Frame 44
tensor(0.4125)
 # KEYFRAME 44
0.07565535200046725
Frame 45
tensor(0.1662)
 # KEYFRAME 45
0.0768037980014924
Frame 46
tensor(0.3031)
 # KEYFRAME 46
0.07732617600049707
Frame 47
tensor(0.3740)
 # KEYFRAME 47
0.07834168299814337
Frame 48
tensor(0.1806)
 # KEYFRAME 48
0.07863921100215521
Frame 49
tensor(0.3564)
 # KEYFRAME 49
0.0805470850027632
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531069278717
TTA-STEP: step=616 loss_distill=0.2747 tta_take=0.009s
Frame 50
tensor(0.1519)
 # KEYFRAME 50
0.07988510699942708
Frame 51
tensor(0.3216)
 # KEYFRAME 51
0.0818887099994754
Frame 52
tensor(0.4039)
 # KEYFRAME 52
0.08123875200180919
Frame 53
tensor(0.2389)
 # KEYFRAME 53
0.08243268799924408
Frame 54
tensor(0.3319)
 # KEYFRAME 54
0.08340692400088301
Frame 55
tensor(0.5491)
 # KEYFRAME 55
0.08435861099860631
Frame 56
tensor(0.2484)
 # KEYFRAME 56
0.08480630900157848
Frame 57
tensor(0.3316)
 # KEYFRAME 57
0.08566237700142665
Frame 58
tensor(0.3519)
 # KEYFRAME 58
0.08678535199942417
Frame 59
tensor(0.1908)
 # KEYFRAME 59
0.08769351899900357
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.34657353162765503
TTA-STEP: step=617 loss_distill=0.3466 tta_take=0.009s
Frame 60
tensor(0.1630)
 # KEYFRAME 60
0.08629011399898445
Frame 61
tensor(0.2273)
 # KEYFRAME 61
0.08852172600018093
Frame 62
tensor(0.2171)
 # KEYFRAME 62
0.08752532899961807
Frame 63
tensor(0.7811)
 # KEYFRAME 63
0.08832493700174382
Frame 64
tensor(0.5901)
 # KEYFRAME 64
0.08941165299984277
Frame 65
tensor(0.6000)
 # KEYFRAME 65
0.09063660899846582
Frame 66
tensor(0.6850)
 # KEYFRAME 66
0.0915038060011284
Frame 67
tensor(0.6403)
 # KEYFRAME 67
0.09207783400051994
Frame 68
tensor(0.2947)
 # KEYFRAME 68
0.09319620000314899
Frame 69
tensor(0.3268)
 # KEYFRAME 69
0.0942749259993434
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=618 loss_distill=0.4024 tta_take=0.009s
Frame 70
tensor(0.5524)
 # KEYFRAME 70
0.09300742000050377
Frame 71
tensor(0.2632)
 # KEYFRAME 71
0.09597994900104823
Frame 72
tensor(0.4014)
 # KEYFRAME 72
0.09516652200181852
Frame 73
tensor(0.3016)
 # KEYFRAME 73
0.09643481800230802
Frame 74
tensor(0.4690)
 # KEYFRAME 74
0.09830525199868134
Frame 75
tensor(0.1567)
 # KEYFRAME 75
0.0990145690011559
Frame 76
tensor(0.1676)
 # KEYFRAME 76
0.1005783140026324
Frame 77
tensor(0.3224)
 # KEYFRAME 77
0.1012511609987996
Frame 78
tensor(0.3817)
 # KEYFRAME 78
0.1019000189990038
Frame 79
tensor(0.1591)
 # KEYFRAME 79
0.1027717559991288
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=619 loss_distill=0.4024 tta_take=0.009s
Frame 80
tensor(0.1731)
 # KEYFRAME 80
0.09324310999727459
Frame 81
tensor(0.1529)
 # KEYFRAME 81
0.09579607100022258
Frame 82
tensor(0.1943)
 # KEYFRAME 82
0.09627324900066014
Frame 83
tensor(0.2961)
 # KEYFRAME 83
0.0973320250013785
Frame 84
tensor(0.3037)
 # KEYFRAME 84
0.09838310100167291
Frame 85
tensor(0.2839)
 # KEYFRAME 85
0.09916687900113175
Frame 86
tensor(0.5913)
 # KEYFRAME 86
0.09972654699959094
Frame 87
tensor(0.3778)
 # KEYFRAME 87
0.10114345200054231
Frame 88
tensor(0.5061)
 # KEYFRAME 88
0.10151028099789983
Frame 89
tensor(0.3426)
 # KEYFRAME 89
0.10177311900042696
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=620 loss_distill=0.4024 tta_take=0.009s
Frame 90
tensor(0.4747)
 # KEYFRAME 90
0.09306156000093324
Frame 91
tensor(0.3257)
 # KEYFRAME 91
0.09576903999914066
Frame 92
tensor(0.3321)
 # KEYFRAME 92
0.09507580300123664
Frame 93
tensor(0.4263)
 # KEYFRAME 93
0.09575798099831445
Frame 94
tensor(0.6367)
 # KEYFRAME 94
0.09650773799876333
Frame 95
tensor(0.4997)
 # KEYFRAME 95
0.09748129499712377
Frame 96
tensor(0.4786)
 # KEYFRAME 96
0.09787568300089333
Frame 97
tensor(0.7552)
 # KEYFRAME 97
0.09944211800029734
Frame 98
tensor(0.2346)
 # KEYFRAME 98
0.09979316699900664
Frame 99
tensor(0.1605)
 # KEYFRAME 99
0.10071813300237409
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=621 loss_distill=0.4024 tta_take=0.009s
Frame 100
tensor(0.1392)
 # KEYFRAME 100
0.09395379699708428
Frame 101
tensor(0.3569)
 # KEYFRAME 101
0.0942870260005293
Frame 102
tensor(0.2866)
 # KEYFRAME 102
0.09554761199979112
Frame 103
tensor(0.1888)
 # KEYFRAME 103
0.09640376800234662
Frame 104
tensor(0.1067)
 # KEYFRAME 104
0.09792994300005375
Frame 105
tensor(0.4595)
 # KEYFRAME 105
0.09915348800132051
Frame 106
tensor(0.3928)
 # KEYFRAME 106
0.10007741499794065
Frame 107
tensor(0.3269)
 # KEYFRAME 107
0.10179924899784965
Frame 108
tensor(0.2655)
 # KEYFRAME 108
0.10134656100126449
Frame 109
tensor(0.3538)
 # KEYFRAME 109
0.10201892899931408
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=622 loss_distill=0.4024 tta_take=0.009s
Frame 110
tensor(0.4264)
 # KEYFRAME 110
0.0935541889994056
Frame 111
tensor(0.5360)
 # KEYFRAME 111
0.09409269599927939
Frame 112
tensor(0.6009)
 # KEYFRAME 112
0.09516602299845545
Frame 113
tensor(0.3671)
 # KEYFRAME 113
0.09560187199895154
Frame 114
tensor(0.4578)
 # KEYFRAME 114
0.09624550899752649
Frame 115
tensor(0.7349)
 # KEYFRAME 115
0.09762830399995437
Frame 116
tensor(0.4302)
 # KEYFRAME 116
0.09796514299887349
Frame 117
tensor(0.6285)
 # KEYFRAME 117
0.09896885900161578
Frame 118
tensor(0.2766)
 # KEYFRAME 118
0.09984944600000745
Frame 119
tensor(0.3297)
 # KEYFRAME 119
0.10119623100035824
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=623 loss_distill=0.4024 tta_take=0.009s
Frame 120
tensor(0.6167)
 # KEYFRAME 120
0.09321875000023283
Frame 121
tensor(0.3941)
 # KEYFRAME 121
0.09604585000124644
Frame 122
tensor(0.4149)
 # KEYFRAME 122
0.09512252299828106
Frame 123
tensor(0.2453)
 # KEYFRAME 123
0.0959868700010702
Frame 124
tensor(0.4773)
 # KEYFRAME 124
0.0974362149972876
Frame 125
tensor(0.6893)
 # KEYFRAME 125
0.09855261099801282
Frame 126
tensor(0.3395)
 # KEYFRAME 126
0.09831120099988766
Frame 127
tensor(0.4888)
 # KEYFRAME 127
0.10020358499969007
Frame 128
tensor(0.3964)
 # KEYFRAME 128
0.1004734140005894
Frame 129
tensor(0.3836)
 # KEYFRAME 129
0.10087097300129244
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=624 loss_distill=0.4024 tta_take=0.009s
Frame 130
tensor(0.4555)
 # KEYFRAME 130
0.09303802099748282
Frame 131
tensor(0.3567)
 # KEYFRAME 131
0.09426327599794604
Frame 132
tensor(0.4961)
 # KEYFRAME 132
0.09584099099811283
Frame 133
tensor(0.6768)
 # KEYFRAME 133
0.09645400799854542
Frame 134
tensor(0.3871)
 # KEYFRAME 134
0.09772067299854825
Backending... 135 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 67665, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=625 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 94/556] scannetpp/410c470782/frame frames=135 tta_steps_this_scene=11 mean_loss=0.3649 total_steps=625 time=60.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0284)
Frame 2
tensor(0.0761)
Frame 3
tensor(0.1260)
 # KEYFRAME 1
Frame 4
tensor(0.0522)
Frame 5
tensor(0.1752)
 # KEYFRAME 2
0.0516953670012299
Frame 6
tensor(0.3828)
 # KEYFRAME 3
0.052245825001591584
Frame 7
tensor(0.4822)
 # KEYFRAME 4
0.05393174899654696
Frame 8
tensor(0.1410)
 # KEYFRAME 5
0.05459923700254876
Frame 9
tensor(0.1090)
 # KEYFRAME 6
0.05515732400090201
Frame 10
tensor(0.1335)
 # KEYFRAME 7
0.05594376199951512
Frame 11
tensor(0.1694)
 # KEYFRAME 8
0.057960924998042174
Frame 12
tensor(0.1081)
 # KEYFRAME 9
0.058330142997874646
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 13
tensor(0.0945)
Frame 14
tensor(0.3474)
 # KEYFRAME 10
0.051468347999616526
Frame 15
tensor(0.0630)
Frame 16
tensor(0.1574)
 # KEYFRAME 11
0.052105005001067184
Frame 17
tensor(0.1659)
 # KEYFRAME 12
0.052863222001178656
Frame 18
tensor(0.1188)
 # KEYFRAME 13
0.0544001570015098
Frame 19
tensor(0.0501)
Frame 20
tensor(0.1933)
 # KEYFRAME 14
0.05421751799804042
Frame 21
tensor(0.2850)
 # KEYFRAME 15
0.05419111800074461
Frame 22
tensor(0.1165)
 # KEYFRAME 16
0.05478065600254922
Frame 23
tensor(0.1215)
 # KEYFRAME 17
0.055709652002406074
Frame 24
tensor(0.1025)
 # KEYFRAME 18
0.05643177000092692
Frame 25
tensor(0.1123)
 # KEYFRAME 19
0.05746834599995054
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 26
tensor(0.0952)
Frame 27
tensor(0.1629)
 # KEYFRAME 20
0.05402447899905383
Frame 28
tensor(0.1071)
 # KEYFRAME 21
0.05469373599771643
Frame 29
tensor(0.0623)
Frame 30
tensor(0.0881)
Frame 31
tensor(0.1178)
 # KEYFRAME 22
0.05535126399990986
Frame 32
tensor(0.0160)
Frame 33
tensor(0.0571)
Frame 34
tensor(0.1379)
 # KEYFRAME 23
0.055909012000483926
Frame 35
tensor(0.0602)
Frame 36
tensor(0.0675)
Frame 37
tensor(0.1611)
 # KEYFRAME 24
0.05661798000073759
Frame 38
tensor(0.1020)
 # KEYFRAME 25
0.056928817997686565
Frame 39
tensor(0.0754)
Frame 40
tensor(0.2829)
 # KEYFRAME 26
0.05788941499849898
Frame 41
tensor(0.1096)
 # KEYFRAME 27
0.0592842699988978
Frame 42
tensor(0.0750)
Frame 43
tensor(0.1598)
 # KEYFRAME 28
0.059463649999088375
Frame 44
tensor(0.0889)
Frame 45
tensor(0.1789)
 # KEYFRAME 29
0.06030046600062633
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 46
tensor(0.0871)
Frame 47
tensor(0.1439)
 # KEYFRAME 30
0.05844648300262634
Frame 48
tensor(0.0309)
Frame 49
tensor(0.0561)
Frame 50
tensor(0.0615)
Frame 51
tensor(0.0863)
Frame 52
tensor(0.1427)
 # KEYFRAME 31
0.05969042799915769
Frame 53
tensor(0.0666)
Frame 54
tensor(0.1496)
 # KEYFRAME 32
0.05909164100012276
Frame 55
tensor(0.1647)
 # KEYFRAME 33
0.060398996000003535
Frame 56
tensor(0.1653)
 # KEYFRAME 34
0.060693384999467526
Frame 57
tensor(0.2447)
 # KEYFRAME 35
0.06144680199940922
Frame 58
tensor(0.0743)
Frame 59
tensor(0.1312)
 # KEYFRAME 36
0.0622856789996149
Frame 60
tensor(0.0347)
Frame 61
tensor(0.0656)
Frame 62
tensor(0.4765)
 # KEYFRAME 37
0.06270711799879791
Frame 63
tensor(0.0869)
Frame 64
tensor(0.1853)
 # KEYFRAME 38
0.06349820499963243
Frame 65
tensor(0.0718)
Frame 66
tensor(0.1375)
 # KEYFRAME 39
0.06406823300130782
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=626 loss_distill=0.1733 tta_take=0.009s
Frame 67
tensor(0.2383)
 # KEYFRAME 40
0.06252309899718966
Frame 68
tensor(0.0928)
Frame 69
tensor(0.1905)
 # KEYFRAME 41
0.06429565199869103
Frame 70
tensor(0.0541)
Frame 71
tensor(0.0880)
Frame 72
tensor(0.1142)
 # KEYFRAME 42
0.06409399299809593
Frame 73
tensor(0.0612)
Frame 74
tensor(0.0928)
Frame 75
tensor(0.1439)
 # KEYFRAME 43
0.06436587200005306
Frame 76
tensor(0.0292)
Frame 77
tensor(0.0760)
Frame 78
tensor(0.1298)
 # KEYFRAME 44
0.06490064999889
Frame 79
tensor(0.0788)
Frame 80
tensor(0.1519)
 # KEYFRAME 45
0.06578253699990455
Frame 81
tensor(0.0408)
Frame 82
tensor(0.0930)
Frame 83
tensor(0.1591)
 # KEYFRAME 46
0.06611914599852753
Frame 84
tensor(0.2619)
 # KEYFRAME 47
0.06582723700194038
Frame 85
tensor(0.0520)
Frame 86
tensor(0.1189)
 # KEYFRAME 48
0.06684228299855022
Frame 87
tensor(0.0485)
Frame 88
tensor(0.0787)
Frame 89
tensor(0.0879)
Frame 90
tensor(0.1114)
 # KEYFRAME 49
0.06740442100272048
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=627 loss_distill=0.2747 tta_take=0.008s
Frame 91
tensor(0.0609)
Frame 92
tensor(0.0872)
Frame 93
tensor(0.1430)
 # KEYFRAME 50
0.0671336519990291
Frame 94
tensor(0.0528)
Frame 95
tensor(0.0729)
Frame 96
tensor(0.0951)
Frame 97
tensor(0.1426)
 # KEYFRAME 51
0.06890373600253952
Frame 98
tensor(0.0765)
Frame 99
tensor(0.1638)
 # KEYFRAME 52
0.06942019399866695
Frame 100
tensor(0.1217)
 # KEYFRAME 53
0.0696452539996244
Frame 101
tensor(0.1197)
 # KEYFRAME 54
0.06922374499845318
Frame 102
tensor(0.1218)
 # KEYFRAME 55
0.07060849999834318
Frame 103
tensor(0.1714)
 # KEYFRAME 56
0.07167195599686238
Frame 104
tensor(0.1145)
 # KEYFRAME 57
0.07242198400126654
Frame 105
tensor(0.0885)
Frame 106
tensor(0.2334)
 # KEYFRAME 58
0.07275472200126387
Frame 107
tensor(0.0871)
Frame 108
tensor(0.2009)
 # KEYFRAME 59
0.07274177199724363
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=628 loss_distill=0.3466 tta_take=0.008s
Frame 109
tensor(0.1250)
 # KEYFRAME 60
0.07134339700132841
Frame 110
tensor(0.2498)
 # KEYFRAME 61
0.07315644999835058
Frame 111
tensor(0.1230)
 # KEYFRAME 62
0.0728882209987205
Frame 112
tensor(0.0941)
Frame 113
tensor(0.1353)
 # KEYFRAME 63
0.07413297699895338
Frame 114
tensor(0.3457)
 # KEYFRAME 64
0.0749807240026712
Frame 115
tensor(0.0198)
Frame 116
tensor(0.0841)
Frame 117
tensor(0.2177)
 # KEYFRAME 65
0.07444901599956211
Frame 118
tensor(0.0651)
Frame 119
tensor(0.2217)
 # KEYFRAME 66
0.07696123700225144
Frame 120
tensor(0.0296)
Frame 121
tensor(0.1038)
 # KEYFRAME 67
0.07752165499914554
Frame 122
tensor(0.0738)
Frame 123
tensor(0.1712)
 # KEYFRAME 68
0.07814423300078488
Frame 124
tensor(0.0557)
Frame 125
tensor(0.0615)
Frame 126
tensor(0.0935)
Frame 127
tensor(0.1609)
 # KEYFRAME 69
0.07830702300270787
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=629 loss_distill=0.4024 tta_take=0.008s
Frame 128
tensor(0.1033)
 # KEYFRAME 70
0.07540344300286961
Frame 129
tensor(0.0768)
Frame 130
tensor(0.1560)
 # KEYFRAME 71
0.07811122399652959
Frame 131
tensor(0.0562)
Frame 132
tensor(0.0834)
Frame 133
tensor(0.1173)
 # KEYFRAME 72
0.07715225699939765
Frame 134
tensor(0.1112)
 # KEYFRAME 73
0.07730926599833765
Frame 135
tensor(0.0914)
Frame 136
tensor(0.3352)
 # KEYFRAME 74
0.07846964200143702
Frame 137
tensor(0.1614)
 # KEYFRAME 75
0.07834704200286069
Frame 138
tensor(0.1623)
 # KEYFRAME 76
0.07836612300161505
Frame 139
tensor(0.0734)
Frame 140
tensor(0.1499)
 # KEYFRAME 77
0.07963589700011653
Frame 141
tensor(0.1046)
 # KEYFRAME 78
0.07948768799906247
Frame 142
tensor(0.8008)
 # KEYFRAME 79
0.08003292599823908
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=630 loss_distill=0.4024 tta_take=0.008s
Frame 143
tensor(0.6001)
 # KEYFRAME 80
0.0753832929985947
Frame 144
tensor(0.2042)
 # KEYFRAME 81
0.07730632599850651
Frame 145
tensor(0.1362)
 # KEYFRAME 82
0.07728326600044966
Frame 146
tensor(0.1246)
 # KEYFRAME 83
0.07852158199966652
Frame 147
tensor(0.1052)
 # KEYFRAME 84
0.07939580899983412
Frame 148
tensor(0.0934)
Frame 149
tensor(0.1328)
 # KEYFRAME 85
0.080312825000874
Backending... 86 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 61380, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=631 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 95/556] scannetpp/bc2fce1d81/DSC frames=150 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=631 time=47.6s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0068)
Frame 2
tensor(0.0373)
Frame 3
tensor(0.0681)
Frame 4
tensor(0.1097)
 # KEYFRAME 1
Frame 5
tensor(0.0337)
Frame 6
tensor(0.0929)
Frame 7
tensor(0.1325)
 # KEYFRAME 2
0.051603866999357706
Frame 8
tensor(0.0679)
Frame 9
tensor(0.1509)
 # KEYFRAME 3
0.05253758399703656
Frame 10
tensor(0.0603)
Frame 11
tensor(0.0987)
Frame 12
tensor(0.1577)
 # KEYFRAME 4
0.053857558999879984
Frame 13
tensor(0.0268)
Frame 14
tensor(0.0488)
Frame 15
tensor(0.1105)
 # KEYFRAME 5
0.0550449740003387
Frame 16
tensor(0.0557)
Frame 17
tensor(0.1505)
 # KEYFRAME 6
0.05512180400182842
Frame 18
tensor(0.0872)
Frame 19
tensor(0.1703)
 # KEYFRAME 7
0.056267330997798126
Frame 20
tensor(0.0470)
Frame 21
tensor(0.1492)
 # KEYFRAME 8
0.058289573000365635
Frame 22
tensor(0.0472)
Frame 23
tensor(0.1054)
 # KEYFRAME 9
0.05856791299811448
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 24
tensor(0.0455)
Frame 25
tensor(0.1597)
 # KEYFRAME 10
0.05174290600189124
Frame 26
tensor(0.0516)
Frame 27
tensor(0.0740)
Frame 28
tensor(0.1388)
 # KEYFRAME 11
0.05242007400011062
Frame 29
tensor(0.0556)
Frame 30
tensor(0.1211)
 # KEYFRAME 12
0.052977941999415634
Frame 31
tensor(0.0799)
Frame 32
tensor(0.1629)
 # KEYFRAME 13
0.054351726997992955
Frame 33
tensor(0.0826)
Frame 34
tensor(0.2096)
 # KEYFRAME 14
0.05460253599812859
Frame 35
tensor(0.1144)
 # KEYFRAME 15
0.05452060599782271
Frame 36
tensor(0.1165)
 # KEYFRAME 16
0.05487806499877479
Frame 37
tensor(0.0730)
Frame 38
tensor(0.1782)
 # KEYFRAME 17
0.05591417200048454
Frame 39
tensor(0.1136)
 # KEYFRAME 18
0.05670138899949961
Frame 40
tensor(0.1061)
 # KEYFRAME 19
0.057316876998811495
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 41
tensor(0.0553)
Frame 42
tensor(0.0974)
Frame 43
tensor(0.1191)
 # KEYFRAME 20
0.05427498800054309
Frame 44
tensor(0.0803)
Frame 45
tensor(0.1909)
 # KEYFRAME 21
0.054799665998871205
Frame 46
tensor(0.1036)
 # KEYFRAME 22
0.055293104000156745
Frame 47
tensor(0.0944)
Frame 48
tensor(0.2354)
 # KEYFRAME 23
0.05585051299931365
Frame 49
tensor(0.0750)
Frame 50
tensor(0.1457)
 # KEYFRAME 24
0.05665536900050938
Frame 51
tensor(0.0458)
Frame 52
tensor(0.0969)
Frame 53
tensor(0.0808)
Frame 54
tensor(0.0910)
Frame 55
tensor(0.0920)
Frame 56
tensor(0.1742)
 # KEYFRAME 25
0.05714597699989099
Frame 57
tensor(0.1051)
 # KEYFRAME 26
0.05814753400045447
Frame 58
tensor(0.0487)
Frame 59
tensor(0.0731)
Frame 60
tensor(0.0861)
Frame 61
tensor(0.1244)
 # KEYFRAME 27
0.05920443000286468
Frame 62
tensor(0.0725)
Frame 63
tensor(0.1057)
 # KEYFRAME 28
0.05965608800033806
Frame 64
tensor(0.0638)
Frame 65
tensor(0.0689)
Frame 66
tensor(0.2782)
 # KEYFRAME 29
0.060572264999791514
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 67
tensor(0.0316)
Frame 68
tensor(0.1272)
 # KEYFRAME 30
0.05858119299955433
Frame 69
tensor(0.0648)
Frame 70
tensor(0.1699)
 # KEYFRAME 31
0.05999525700099184
Frame 71
tensor(0.0696)
Frame 72
tensor(0.1196)
 # KEYFRAME 32
0.05942051900274237
Frame 73
tensor(0.0761)
Frame 74
tensor(0.1201)
 # KEYFRAME 33
0.060861344001750695
Frame 75
tensor(0.0789)
Frame 76
tensor(0.1125)
 # KEYFRAME 34
0.06089352399794734
Frame 77
tensor(0.0962)
Frame 78
tensor(0.1372)
 # KEYFRAME 35
0.06142438300230424
Frame 79
tensor(0.0545)
Frame 80
tensor(0.1016)
 # KEYFRAME 36
0.06237102900195168
Frame 81
tensor(0.0242)
Frame 82
tensor(0.0381)
Frame 83
tensor(0.1064)
 # KEYFRAME 37
0.06280774799961364
Frame 84
tensor(0.0900)
Frame 85
tensor(0.1292)
 # KEYFRAME 38
0.06385697400037316
Frame 86
tensor(0.0468)
Frame 87
tensor(0.1458)
 # KEYFRAME 39
0.06430749199716956
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=632 loss_distill=0.1733 tta_take=0.008s
Frame 88
tensor(0.0873)
Frame 89
tensor(0.1435)
 # KEYFRAME 40
0.06275114800155279
Frame 90
tensor(0.0830)
Frame 91
tensor(0.1987)
 # KEYFRAME 41
0.06427824200000032
Frame 92
tensor(0.0733)
Frame 93
tensor(0.1539)
 # KEYFRAME 42
0.0639884929987602
Frame 94
tensor(0.1006)
 # KEYFRAME 43
0.06393554299938842
Frame 95
tensor(0.0593)
Frame 96
tensor(0.1389)
 # KEYFRAME 44
0.06476384999768925
Frame 97
tensor(0.0478)
Frame 98
tensor(0.0955)
Frame 99
tensor(0.1217)
 # KEYFRAME 45
0.06561692800096353
Frame 100
tensor(0.0513)
Frame 101
tensor(0.1190)
 # KEYFRAME 46
0.0659617060009623
Frame 102
tensor(0.0954)
Frame 103
tensor(0.1539)
 # KEYFRAME 47
0.065928806001466
Frame 104
tensor(0.0636)
Frame 105
tensor(0.1390)
 # KEYFRAME 48
0.06679374300074414
Frame 106
tensor(0.0593)
Frame 107
tensor(0.1511)
 # KEYFRAME 49
0.06705997200333513
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=633 loss_distill=0.2747 tta_take=0.008s
Frame 108
tensor(0.0597)
Frame 109
tensor(0.0938)
Frame 110
tensor(0.1523)
 # KEYFRAME 50
0.06708155199885368
Frame 111
tensor(0.0706)
Frame 112
tensor(0.1912)
 # KEYFRAME 51
0.06851419799932046
Frame 113
tensor(0.1005)
 # KEYFRAME 52
0.06887319599991315
Frame 114
tensor(0.1008)
 # KEYFRAME 53
0.06909552500292193
Frame 115
tensor(0.0445)
Frame 116
tensor(0.0714)
Frame 117
tensor(0.0876)
Frame 118
tensor(0.0914)
Frame 119
tensor(0.1351)
 # KEYFRAME 54
0.06917515500026639
Frame 120
tensor(0.0812)
Frame 121
tensor(0.1782)
 # KEYFRAME 55
0.0704952099986258
Frame 122
tensor(0.1541)
 # KEYFRAME 56
0.07151901700126473
Frame 123
tensor(0.1934)
 # KEYFRAME 57
0.07273196199821541
Frame 124
tensor(0.1238)
 # KEYFRAME 58
0.07229171400103951
Frame 125
tensor(0.1069)
 # KEYFRAME 59
0.07275993200164521
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=634 loss_distill=0.3466 tta_take=0.008s
Frame 126
tensor(0.1438)
 # KEYFRAME 60
0.07138800699976855
Frame 127
tensor(0.1169)
 # KEYFRAME 61
0.07292663199768867
Frame 128
tensor(0.1023)
 # KEYFRAME 62
0.07287766199806356
Frame 129
tensor(0.0794)
Frame 130
tensor(0.1747)
 # KEYFRAME 63
0.07390488799865125
Frame 131
tensor(0.0650)
Frame 132
tensor(0.1588)
 # KEYFRAME 64
0.07496201500180177
Frame 133
tensor(0.1054)
 # KEYFRAME 65
0.07424151700251969
Frame 134
tensor(0.0686)
Frame 135
tensor(0.1354)
 # KEYFRAME 66
0.07679549699969357
Frame 136
tensor(0.0178)
Frame 137
tensor(0.1058)
 # KEYFRAME 67
0.07739856600164785
Frame 138
tensor(0.0686)
Frame 139
tensor(0.1028)
 # KEYFRAME 68
0.07822674300041399
Frame 140
tensor(0.1422)
 # KEYFRAME 69
0.07845221199750085
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=635 loss_distill=0.4024 tta_take=0.008s
Frame 141
tensor(0.1583)
 # KEYFRAME 70
0.07569346200034488
Frame 142
tensor(0.0944)
Frame 143
tensor(0.1589)
 # KEYFRAME 71
0.07782355499875848
Frame 144
tensor(0.0558)
Frame 145
tensor(0.1343)
 # KEYFRAME 72
0.07682984699931694
Frame 146
tensor(0.0628)
Frame 147
tensor(0.0989)
Frame 148
tensor(0.1325)
 # KEYFRAME 73
0.07772513500094647
Frame 149
tensor(0.0346)
Backending... 74 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 59520, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=636 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 96/556] scannetpp/b26e64c4b0/DSC frames=150 tta_steps_this_scene=5 mean_loss=0.3198 total_steps=636 time=42.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0579)
Frame 2
tensor(0.1077)
 # KEYFRAME 1
Frame 3
tensor(0.0607)
Frame 4
tensor(0.1487)
 # KEYFRAME 2
0.051665077000507154
Frame 5
tensor(0.0465)
Frame 6
tensor(0.0872)
Frame 7
tensor(0.1305)
 # KEYFRAME 3
0.05255998299981002
Frame 8
tensor(0.0570)
Frame 9
tensor(0.1156)
 # KEYFRAME 4
0.05361796999932267
Frame 10
tensor(0.0329)
Frame 11
tensor(0.0765)
Frame 12
tensor(0.1088)
 # KEYFRAME 5
0.054800705998786725
Frame 13
tensor(0.0473)
Frame 14
tensor(0.2367)
 # KEYFRAME 6
0.05506490499828942
Frame 15
tensor(0.0441)
Frame 16
tensor(0.1309)
 # KEYFRAME 7
0.05610190099832835
Frame 17
tensor(0.0311)
Frame 18
tensor(0.0656)
Frame 19
tensor(0.1088)
 # KEYFRAME 8
0.057984764000138966
Frame 20
tensor(0.0022)
Frame 21
tensor(0.4713)
 # KEYFRAME 9
0.058372823001263896
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 22
tensor(0.0587)
Frame 23
tensor(0.1523)
 # KEYFRAME 10
0.05155647700303234
Frame 24
tensor(0.0774)
Frame 25
tensor(0.1277)
 # KEYFRAME 11
0.05224798499693861
Frame 26
tensor(0.1078)
 # KEYFRAME 12
0.05306982199908816
Frame 27
tensor(0.0477)
Frame 28
tensor(0.1026)
 # KEYFRAME 13
0.05430784700001823
Frame 29
tensor(0.0775)
Frame 30
tensor(0.1394)
 # KEYFRAME 14
0.05442806700011715
Frame 31
tensor(0.0779)
Frame 32
tensor(0.0797)
Frame 33
tensor(0.1394)
 # KEYFRAME 15
0.05437389800135861
Frame 34
tensor(0.0497)
Frame 35
tensor(0.0835)
Frame 36
tensor(0.1562)
 # KEYFRAME 16
0.05478844599929289
Frame 37
tensor(0.0275)
Frame 38
tensor(0.1165)
 # KEYFRAME 17
0.05591904200264253
Frame 39
tensor(0.0309)
Frame 40
tensor(0.1286)
 # KEYFRAME 18
0.056555978997494094
Frame 41
tensor(0.0582)
Frame 42
tensor(0.1455)
 # KEYFRAME 19
0.057380186997761484
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 43
tensor(0.1723)
 # KEYFRAME 20
0.05409160799899837
Frame 44
tensor(0.0810)
Frame 45
tensor(0.3409)
 # KEYFRAME 21
0.054703916001017205
Frame 46
tensor(0.0347)
Frame 47
tensor(0.1556)
 # KEYFRAME 22
0.055212794002727605
Frame 48
tensor(0.0816)
Frame 49
tensor(0.1441)
 # KEYFRAME 23
0.055933540999831166
Frame 50
tensor(0.0839)
Frame 51
tensor(0.1240)
 # KEYFRAME 24
0.057003907997568604
Frame 52
tensor(0.1091)
 # KEYFRAME 25
0.05708941700140713
Frame 53
tensor(0.0547)
Frame 54
tensor(0.1229)
 # KEYFRAME 26
0.05826655399869196
Frame 55
tensor(0.1105)
 # KEYFRAME 27
0.05931971999962116
Frame 56
tensor(0.0592)
Frame 57
tensor(0.1736)
 # KEYFRAME 28
0.06148859200038714
Frame 58
tensor(0.0283)
Frame 59
tensor(0.0963)
Frame 60
tensor(1.0079)
 # KEYFRAME 29
0.06048366499817348
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 61
tensor(0.0542)
Frame 62
tensor(0.2144)
 # KEYFRAME 30
0.058519573001831304
Frame 63
tensor(0.0801)
Frame 64
tensor(0.2109)
 # KEYFRAME 31
0.059782887998153456
Frame 65
tensor(0.0615)
Frame 66
tensor(0.1271)
 # KEYFRAME 32
0.059220510000159265
Frame 67
tensor(0.1133)
 # KEYFRAME 33
0.06049426499885158
Frame 68
tensor(0.0487)
Frame 69
tensor(0.1574)
 # KEYFRAME 34
0.06087704500168911
Frame 70
tensor(0.0121)
Frame 71
tensor(0.0701)
Frame 72
tensor(0.0913)
Frame 73
tensor(0.1121)
 # KEYFRAME 35
0.06115329300155281
Frame 74
tensor(0.0363)
Frame 75
tensor(0.0348)
Frame 76
tensor(0.0851)
Frame 77
tensor(0.6216)
 # KEYFRAME 36
0.062295489999087295
Frame 78
tensor(0.1602)
 # KEYFRAME 37
0.0628257480020693
Frame 79
tensor(0.1201)
 # KEYFRAME 38
0.06364837500223075
Frame 80
tensor(0.0306)
Frame 81
tensor(0.0739)
Frame 82
tensor(0.1291)
 # KEYFRAME 39
0.06424091199733084
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=637 loss_distill=0.1733 tta_take=0.008s
Frame 83
tensor(0.1259)
 # KEYFRAME 40
0.0628732580007636
Frame 84
tensor(0.2443)
 # KEYFRAME 41
0.06410022300042328
Frame 85
tensor(0.0313)
Frame 86
tensor(0.1058)
 # KEYFRAME 42
0.0641613129992038
Frame 87
tensor(0.0522)
Frame 88
tensor(0.1372)
 # KEYFRAME 43
0.06411173300148221
Frame 89
tensor(0.0289)
Frame 90
tensor(0.0497)
Frame 91
tensor(0.0579)
Frame 92
tensor(0.0574)
Frame 93
tensor(0.0810)
Frame 94
tensor(0.0932)
Frame 95
tensor(0.0871)
Frame 96
tensor(0.1129)
 # KEYFRAME 44
0.06485653999698116
Frame 97
tensor(0.0325)
Frame 98
tensor(0.1166)
 # KEYFRAME 45
0.0658085069990193
Frame 99
tensor(0.0354)
Frame 100
tensor(0.0941)
Frame 101
tensor(0.1103)
 # KEYFRAME 46
0.06595662600011565
Frame 102
tensor(0.0144)
Frame 103
tensor(0.0725)
Frame 104
tensor(0.1021)
 # KEYFRAME 47
0.06599830699997256
Frame 105
tensor(0.0795)
Frame 106
tensor(0.0965)
Frame 107
tensor(0.1332)
 # KEYFRAME 48
0.06685260300218943
Frame 108
tensor(0.4708)
 # KEYFRAME 49
0.06729497100241133
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=638 loss_distill=0.2747 tta_take=0.008s
Frame 109
tensor(0.0131)
Frame 110
tensor(0.0581)
Frame 111
tensor(0.0861)
Frame 112
tensor(0.1245)
 # KEYFRAME 50
0.06712622200211626
Frame 113
tensor(0.0185)
Frame 114
tensor(0.0361)
Frame 115
tensor(0.0503)
Frame 116
tensor(0.0775)
Frame 117
tensor(0.1472)
 # KEYFRAME 51
0.06862742700104718
Frame 118
tensor(0.0203)
Frame 119
tensor(0.0597)
Frame 120
tensor(0.1001)
 # KEYFRAME 52
0.06906294500004151
Frame 121
tensor(0.0427)
Frame 122
tensor(0.1052)
 # KEYFRAME 53
0.06953733299815212
Frame 123
tensor(0.0224)
Frame 124
tensor(0.0349)
Frame 125
tensor(0.0776)
Frame 126
tensor(0.1363)
 # KEYFRAME 54
0.06931309499850613
Frame 127
tensor(0.4282)
 # KEYFRAME 55
0.07112632699863752
Frame 128
tensor(0.0689)
Frame 129
tensor(0.2004)
 # KEYFRAME 56
0.07131120700069005
Frame 130
tensor(0.0364)
Frame 131
tensor(0.4202)
 # KEYFRAME 57
0.07226105399968219
Frame 132
tensor(0.0649)
Frame 133
tensor(0.1097)
 # KEYFRAME 58
0.0736798190009722
Frame 134
tensor(0.0634)
Frame 135
tensor(0.1009)
 # KEYFRAME 59
0.07263458300076309
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=639 loss_distill=0.3466 tta_take=0.008s
Frame 136
tensor(0.0562)
Frame 137
tensor(0.1167)
 # KEYFRAME 60
0.0718048960006854
Frame 138
tensor(0.0693)
Frame 139
tensor(0.1766)
 # KEYFRAME 61
0.07269489200189128
Frame 140
tensor(0.0896)
Frame 141
tensor(0.1868)
 # KEYFRAME 62
0.07312820099832607
Frame 142
tensor(0.0175)
Frame 143
tensor(0.0532)
Frame 144
tensor(0.0690)
Frame 145
tensor(0.2321)
 # KEYFRAME 63
0.07411502700051642
Frame 146
tensor(0.0790)
Frame 147
tensor(0.1120)
 # KEYFRAME 64
0.0748112149994995
Frame 148
tensor(0.1157)
 # KEYFRAME 65
0.07449658599944087
Frame 149
tensor(0.0391)
Backending... 66 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 61380, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=640 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 97/556] scannetpp/1b9692f0c7/DSC frames=150 tta_steps_this_scene=4 mean_loss=0.2992 total_steps=640 time=42.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0435)
Frame 2
tensor(0.0808)
Frame 3
tensor(0.1257)
 # KEYFRAME 1
Frame 4
tensor(0.0483)
Frame 5
tensor(0.0875)
Frame 6
tensor(0.1339)
 # KEYFRAME 2
0.05205264599862858
Frame 7
tensor(0.0429)
Frame 8
tensor(0.0881)
Frame 9
tensor(0.1394)
 # KEYFRAME 3
0.051677707000635564
Frame 10
tensor(0.0429)
Frame 11
tensor(0.0898)
Frame 12
tensor(0.1403)
 # KEYFRAME 4
0.052403465000679716
Frame 13
tensor(0.0388)
Frame 14
tensor(0.0880)
Frame 15
tensor(0.1369)
 # KEYFRAME 5
0.05250429399893619
Frame 16
tensor(0.0442)
Frame 17
tensor(0.0879)
Frame 18
tensor(0.1348)
 # KEYFRAME 6
0.05301344200051972
Frame 19
tensor(0.0442)
Frame 20
tensor(0.0855)
Frame 21
tensor(0.1314)
 # KEYFRAME 7
0.05276740300178062
Frame 22
tensor(0.0338)
Frame 23
tensor(0.0677)
Frame 24
tensor(0.1150)
 # KEYFRAME 8
0.05372420999992755
Frame 25
tensor(0.0400)
Frame 26
tensor(0.0791)
Frame 27
tensor(0.1200)
 # KEYFRAME 9
0.0522551449976163
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 28
tensor(0.0363)
Frame 29
tensor(0.0822)
Frame 30
tensor(0.1264)
 # KEYFRAME 10
0.05187713600025745
Frame 31
tensor(0.0412)
Frame 32
tensor(0.0840)
Frame 33
tensor(0.1232)
 # KEYFRAME 11
0.05201422600293881
Frame 34
tensor(0.0425)
Frame 35
tensor(0.0881)
Frame 36
tensor(0.1259)
 # KEYFRAME 12
0.05255719400156522
Frame 37
tensor(0.0427)
Frame 38
tensor(0.0895)
Frame 39
tensor(0.1280)
 # KEYFRAME 13
0.052641183996456675
Frame 40
tensor(0.0364)
Frame 41
tensor(0.0883)
Frame 42
tensor(0.1330)
 # KEYFRAME 14
0.05457885700161569
Frame 43
tensor(0.0385)
Frame 44
tensor(0.0905)
Frame 45
tensor(0.1335)
 # KEYFRAME 15
0.05272806300126831
Frame 46
tensor(0.0419)
Frame 47
tensor(0.0896)
Frame 48
tensor(0.1252)
 # KEYFRAME 16
0.05272118300126749
Frame 49
tensor(0.0402)
Frame 50
tensor(0.0827)
Frame 51
tensor(0.1324)
 # KEYFRAME 17
0.05562350299805985
Frame 52
tensor(0.0432)
Frame 53
tensor(0.0949)
Frame 54
tensor(0.1429)
 # KEYFRAME 18
0.053051292001327965
Frame 55
tensor(0.0555)
Frame 56
tensor(0.1091)
 # KEYFRAME 19
0.05594015200040303
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 57
tensor(0.0498)
Frame 58
tensor(0.1023)
 # KEYFRAME 20
0.05234295499758446
Frame 59
tensor(0.0602)
Frame 60
tensor(0.1071)
 # KEYFRAME 21
0.053469400001631584
Frame 61
tensor(0.0475)
Frame 62
tensor(0.1070)
 # KEYFRAME 22
0.054951984999206616
Frame 63
tensor(0.0485)
Frame 64
tensor(0.0991)
Frame 65
tensor(0.1564)
 # KEYFRAME 23
0.0536362700004247
Frame 66
tensor(0.0415)
Frame 67
tensor(0.0909)
Frame 68
tensor(0.1357)
 # KEYFRAME 24
0.055362133996823104
Frame 69
tensor(0.0478)
Frame 70
tensor(0.0948)
Frame 71
tensor(0.1485)
 # KEYFRAME 25
0.053087172000232385
Frame 72
tensor(0.0500)
Frame 73
tensor(0.1052)
 # KEYFRAME 26
0.05306883199955337
Frame 74
tensor(0.0489)
Frame 75
tensor(0.0989)
Frame 76
tensor(0.1618)
 # KEYFRAME 27
0.057195987003069604
Frame 77
tensor(0.0543)
Frame 78
tensor(0.1105)
 # KEYFRAME 28
0.05329263099702075
Frame 79
tensor(0.0534)
Frame 80
tensor(0.1126)
 # KEYFRAME 29
0.05711090799741214
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 81
tensor(0.0507)
Frame 82
tensor(0.1080)
 # KEYFRAME 30
0.0524808239970298
Frame 83
tensor(0.0450)
Frame 84
tensor(0.0915)
Frame 85
tensor(0.1398)
 # KEYFRAME 31
0.05290449200037983
Frame 86
tensor(0.0437)
Frame 87
tensor(0.0863)
Frame 88
tensor(0.1372)
 # KEYFRAME 32
0.05377261900139274
Frame 89
tensor(0.0488)
Frame 90
tensor(0.1010)
 # KEYFRAME 33
0.05303467200064915
Frame 91
tensor(0.0459)
Frame 92
tensor(0.0909)
Frame 93
tensor(0.1376)
 # KEYFRAME 34
0.053619310001522535
Frame 94
tensor(0.0408)
Frame 95
tensor(0.0806)
Frame 96
tensor(0.1255)
 # KEYFRAME 35
0.05290682299892069
Frame 97
tensor(0.0414)
Frame 98
tensor(0.0849)
Frame 99
tensor(0.1303)
 # KEYFRAME 36
0.05225882500235457
Frame 100
tensor(0.0415)
Frame 101
tensor(0.0882)
Frame 102
tensor(0.1339)
 # KEYFRAME 37
0.05433384800198837
Frame 103
tensor(0.0418)
Frame 104
tensor(0.0814)
Frame 105
tensor(0.1315)
 # KEYFRAME 38
0.053187751000223216
Frame 106
tensor(0.0419)
Frame 107
tensor(0.0854)
Frame 108
tensor(0.1328)
 # KEYFRAME 39
0.05365491900010966
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=641 loss_distill=0.1733 tta_take=0.005s
Frame 109
tensor(0.0405)
Frame 110
tensor(0.0817)
Frame 111
tensor(0.1286)
 # KEYFRAME 40
0.05240401400078554
Frame 112
tensor(0.0336)
Frame 113
tensor(0.0699)
Frame 114
tensor(0.1180)
 # KEYFRAME 41
0.052993172001151834
Frame 115
tensor(0.0359)
Frame 116
tensor(0.0701)
Frame 117
tensor(0.1084)
 # KEYFRAME 42
0.054551796998566715
Frame 118
tensor(0.0370)
Frame 119
tensor(0.0779)
Frame 120
tensor(0.1094)
 # KEYFRAME 43
0.052730512998095946
Frame 121
tensor(0.0357)
Frame 122
tensor(0.0832)
Frame 123
tensor(0.1260)
 # KEYFRAME 44
0.05425076800020179
Frame 124
tensor(0.0406)
Frame 125
tensor(0.0833)
Frame 126
tensor(0.1209)
 # KEYFRAME 45
0.052061395999771776
Frame 127
tensor(0.0404)
Frame 128
tensor(0.0798)
Frame 129
tensor(0.1140)
 # KEYFRAME 46
0.05236356499881367
Frame 130
tensor(0.0284)
Frame 131
tensor(0.0649)
Frame 132
tensor(0.1032)
 # KEYFRAME 47
0.0541976579988841
Frame 133
tensor(0.0364)
Frame 134
tensor(0.0777)
Frame 135
tensor(0.1124)
 # KEYFRAME 48
0.05272756300109904
Frame 136
tensor(0.0427)
Frame 137
tensor(0.0850)
Frame 138
tensor(0.1296)
 # KEYFRAME 49
0.05496790500183124
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=642 loss_distill=0.2747 tta_take=0.005s
Frame 139
tensor(0.0461)
Frame 140
tensor(0.0896)
Frame 141
tensor(0.1286)
 # KEYFRAME 50
0.05238756499966257
Frame 142
tensor(0.0418)
Frame 143
tensor(0.0818)
Frame 144
tensor(0.1194)
 # KEYFRAME 51
0.05281879299946013
Frame 145
tensor(0.0388)
Frame 146
tensor(0.0707)
Frame 147
tensor(0.1072)
 # KEYFRAME 52
0.05384950900042895
Frame 148
tensor(0.0373)
Frame 149
tensor(0.0668)
Frame 150
tensor(0.1031)
 # KEYFRAME 53
0.05228999499740894
Frame 151
tensor(0.0283)
Frame 152
tensor(0.0568)
Frame 153
tensor(0.0918)
Frame 154
tensor(0.1266)
 # KEYFRAME 54
0.05361967000135337
Frame 155
tensor(0.0285)
Frame 156
tensor(0.0640)
Frame 157
tensor(0.0900)
Frame 158
tensor(0.1236)
 # KEYFRAME 55
0.0528572119983437
Frame 159
tensor(0.0265)
Frame 160
tensor(0.0536)
Frame 161
tensor(0.0790)
Frame 162
tensor(0.1047)
 # KEYFRAME 56
0.05315290200087475
Frame 163
tensor(0.0243)
Frame 164
tensor(0.0474)
Frame 165
tensor(0.0722)
Frame 166
tensor(0.0892)
Frame 167
tensor(0.1145)
 # KEYFRAME 57
0.05483909500253503
Frame 168
tensor(0.0203)
Frame 169
tensor(0.0413)
Frame 170
tensor(0.0660)
Frame 171
tensor(0.0851)
Frame 172
tensor(0.1009)
 # KEYFRAME 58
0.05232309499842813
Frame 173
tensor(0.0172)
Frame 174
tensor(0.0335)
Frame 175
tensor(0.0515)
Frame 176
tensor(0.0676)
Frame 177
tensor(0.0812)
Frame 178
tensor(0.0922)
Frame 179
tensor(0.1060)
 # KEYFRAME 59
0.054665415998897515
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=643 loss_distill=0.3466 tta_take=0.005s
Frame 180
tensor(0.0088)
Frame 181
tensor(0.0196)
Frame 182
tensor(0.0329)
Frame 183
tensor(0.0430)
Frame 184
tensor(0.0530)
Frame 185
tensor(0.0644)
Frame 186
tensor(0.0624)
Frame 187
tensor(0.0733)
Frame 188
tensor(0.0835)
Frame 189
tensor(0.0859)
Frame 190
tensor(0.0959)
Frame 191
tensor(0.1010)
 # KEYFRAME 60
0.05223136499989778
Frame 192
tensor(0.0044)
Frame 193
tensor(0.0122)
Frame 194
tensor(0.0175)
Frame 195
tensor(0.0250)
Frame 196
tensor(0.0299)
Frame 197
tensor(0.0373)
Frame 198
tensor(0.0450)
Frame 199
tensor(0.0516)
Frame 200
tensor(0.0591)
Frame 201
tensor(0.0666)
Frame 202
tensor(0.0742)
Frame 203
tensor(0.0819)
Frame 204
tensor(0.0946)
Frame 205
tensor(0.1065)
 # KEYFRAME 61
0.053249511001922656
Frame 206
tensor(0.0108)
Frame 207
tensor(0.0255)
Frame 208
tensor(0.0404)
Frame 209
tensor(0.0551)
Frame 210
tensor(0.0708)
Frame 211
tensor(0.0914)
Frame 212
tensor(0.1080)
 # KEYFRAME 62
0.05483111499779625
Frame 213
tensor(0.0159)
Frame 214
tensor(0.0366)
Frame 215
tensor(0.0560)
Frame 216
tensor(0.0759)
Frame 217
tensor(0.0969)
Frame 218
tensor(0.1210)
 # KEYFRAME 63
0.05227889399975538
Frame 219
tensor(0.0221)
Frame 220
tensor(0.0435)
Frame 221
tensor(0.0649)
Frame 222
tensor(0.0855)
Frame 223
tensor(0.1073)
 # KEYFRAME 64
0.05485875600061263
Frame 224
tensor(0.0223)
Frame 225
tensor(0.0484)
Frame 226
tensor(0.0753)
Frame 227
tensor(0.0999)
Frame 228
tensor(0.1240)
 # KEYFRAME 65
0.0526033140013169
Frame 229
tensor(0.0256)
Frame 230
tensor(0.0513)
Frame 231
tensor(0.0797)
Frame 232
tensor(0.1039)
 # KEYFRAME 66
0.052602804000343895
Frame 233
tensor(0.0244)
Frame 234
tensor(0.0542)
Frame 235
tensor(0.0786)
Frame 236
tensor(0.1073)
 # KEYFRAME 67
0.05475546600064263
Frame 237
tensor(0.0307)
Frame 238
tensor(0.0535)
Frame 239
tensor(0.0824)
Frame 240
tensor(0.1174)
 # KEYFRAME 68
0.05312142199909431
Frame 241
tensor(0.0266)
Frame 242
tensor(0.0614)
Frame 243
tensor(0.0934)
Frame 244
tensor(0.1346)
 # KEYFRAME 69
0.05458969699975569
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=644 loss_distill=0.4024 tta_take=0.005s
Frame 245
tensor(0.0372)
Frame 246
tensor(0.0733)
Frame 247
tensor(0.1100)
 # KEYFRAME 70
0.05326266200063401
Frame 248
tensor(0.0333)
Frame 249
tensor(0.0690)
Frame 250
tensor(0.1020)
 # KEYFRAME 71
0.05399678899993887
Frame 251
tensor(0.0347)
Frame 252
tensor(0.0689)
Frame 253
tensor(0.1019)
 # KEYFRAME 72
0.055436834001739044
Frame 254
tensor(0.0328)
Frame 255
tensor(0.0706)
Frame 256
tensor(0.1074)
 # KEYFRAME 73
0.05336418099977891
Frame 257
tensor(0.0293)
Frame 258
tensor(0.0642)
Frame 259
tensor(0.1003)
 # KEYFRAME 74
0.055427983999834396
Frame 260
tensor(0.0313)
Frame 261
tensor(0.0623)
Frame 262
tensor(0.0981)
Frame 263
tensor(0.1315)
 # KEYFRAME 75
0.05389162899882649
Frame 264
tensor(0.0359)
Frame 265
tensor(0.0635)
Frame 266
tensor(0.0910)
Frame 267
tensor(0.1198)
 # KEYFRAME 76
0.054223618000833085
Frame 268
tensor(0.0275)
Frame 269
tensor(0.0583)
Frame 270
tensor(0.0903)
Frame 271
tensor(0.1195)
 # KEYFRAME 77
0.05651396000030218
Frame 272
tensor(0.0294)
Frame 273
tensor(0.0571)
Frame 274
tensor(0.0874)
Frame 275
tensor(0.1224)
 # KEYFRAME 78
0.05417514800137724
Frame 276
tensor(0.0333)
Frame 277
tensor(0.0625)
Frame 278
tensor(0.0967)
Frame 279
tensor(0.1291)
 # KEYFRAME 79
0.056466879999788944
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=645 loss_distill=0.4024 tta_take=0.005s
Frame 280
tensor(0.0281)
Frame 281
tensor(0.0620)
Frame 282
tensor(0.0980)
Frame 283
tensor(0.1333)
 # KEYFRAME 80
0.05330761099685333
Frame 284
tensor(0.0395)
Frame 285
tensor(0.0721)
Frame 286
tensor(0.1083)
 # KEYFRAME 81
0.05402275899905362
Frame 287
tensor(0.0365)
Frame 288
tensor(0.0678)
Frame 289
tensor(0.1050)
 # KEYFRAME 82
0.05501354499938316
Frame 290
tensor(0.0370)
Frame 291
tensor(0.0761)
Frame 292
tensor(0.1104)
 # KEYFRAME 83
0.05402703899744665
Frame 293
tensor(0.0402)
Frame 294
tensor(0.0786)
Frame 295
tensor(0.1251)
 # KEYFRAME 84
0.05671249900115072
Frame 296
tensor(0.0393)
Frame 297
tensor(0.0780)
Frame 298
tensor(0.1216)
 # KEYFRAME 85
0.05428219700115733
Frame 299
tensor(0.0393)
Backending... 86 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27192, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=646 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 98/556] vkitti/Scene01/overcast/Camera_0 frames=300 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=646 time=77.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0212)
Frame 2
tensor(0.0233)
Frame 3
tensor(0.1212)
 # KEYFRAME 1
Frame 4
tensor(0.1085)
 # KEYFRAME 2
0.05106611900191638
Frame 5
tensor(0.0682)
Frame 6
tensor(0.1116)
 # KEYFRAME 3
0.05221366499972646
Frame 7
tensor(0.1392)
 # KEYFRAME 4
0.0541761980020965
Frame 8
tensor(0.1256)
 # KEYFRAME 5
0.054836696002894314
Frame 9
tensor(0.0878)
Frame 10
tensor(0.2201)
 # KEYFRAME 6
0.055876762002299074
Frame 11
tensor(0.0780)
Frame 12
tensor(0.3655)
 # KEYFRAME 7
0.056697748997976305
Frame 13
tensor(0.0985)
Frame 14
tensor(0.1911)
 # KEYFRAME 8
0.05735397700118483
Frame 15
tensor(0.1078)
 # KEYFRAME 9
0.057611595999333076
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 16
tensor(0.1419)
 # KEYFRAME 10
0.0522096650020103
Frame 17
tensor(0.1984)
 # KEYFRAME 11
0.053395240000099875
Frame 18
tensor(0.0867)
Frame 19
tensor(0.1121)
 # KEYFRAME 12
0.05418527800065931
Frame 20
tensor(0.0593)
Frame 21
tensor(0.1118)
 # KEYFRAME 13
0.05604866100111394
Frame 22
tensor(0.1560)
 # KEYFRAME 14
0.057506326000293484
Frame 23
tensor(0.1032)
 # KEYFRAME 15
0.05770209599722875
Frame 24
tensor(0.0744)
Frame 25
tensor(0.1008)
 # KEYFRAME 16
0.05896871100048884
Frame 26
tensor(0.1378)
 # KEYFRAME 17
0.05978929800039623
Frame 27
tensor(0.1569)
 # KEYFRAME 18
0.06087244399896008
Frame 28
tensor(0.1265)
 # KEYFRAME 19
0.06255244799831416
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 29
tensor(0.1237)
 # KEYFRAME 20
0.05916777099992032
Frame 30
tensor(0.1014)
 # KEYFRAME 21
0.0606480950009427
Frame 31
tensor(0.0560)
Frame 32
tensor(0.1281)
 # KEYFRAME 22
0.06133459300326649
Frame 33
tensor(0.0399)
Frame 34
tensor(0.0828)
Frame 35
tensor(0.2035)
 # KEYFRAME 23
0.06218196900226758
Frame 36
tensor(0.1051)
 # KEYFRAME 24
0.06274514799952158
Frame 37
tensor(0.0400)
Frame 38
tensor(0.1206)
 # KEYFRAME 25
0.06384579400037182
Frame 39
tensor(0.3896)
 # KEYFRAME 26
0.06546104800145258
Frame 40
tensor(0.1270)
 # KEYFRAME 27
0.06626780499937013
Frame 41
tensor(0.1404)
 # KEYFRAME 28
0.06704139299836243
Frame 42
tensor(0.1182)
 # KEYFRAME 29
0.06855542699850048
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 43
tensor(0.0623)
Frame 44
tensor(0.0945)
Frame 45
tensor(0.1130)
 # KEYFRAME 30
0.06591031600328279
Frame 46
tensor(0.1977)
 # KEYFRAME 31
0.06805871899996419
Frame 47
tensor(0.2223)
 # KEYFRAME 32
0.06880260600155452
Frame 48
tensor(0.1278)
 # KEYFRAME 33
0.07034413100336678
Frame 49
tensor(0.0558)
Frame 50
tensor(0.1225)
 # KEYFRAME 34
0.07147448700197856
Frame 51
tensor(0.1355)
 # KEYFRAME 35
0.07247661300061736
Frame 52
tensor(0.1232)
 # KEYFRAME 36
0.07425968600000488
Frame 53
tensor(0.2003)
 # KEYFRAME 37
0.07568254199941293
Frame 54
tensor(0.1028)
 # KEYFRAME 38
0.07758620499953395
Frame 55
tensor(0.0956)
Frame 56
tensor(0.1464)
 # KEYFRAME 39
0.0771921060004388
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=647 loss_distill=0.1733 tta_take=0.009s
Frame 57
tensor(0.0516)
Frame 58
tensor(0.1399)
 # KEYFRAME 40
0.07296982199841295
Frame 59
tensor(0.1297)
 # KEYFRAME 41
0.07483508400036953
Frame 60
tensor(0.2792)
 # KEYFRAME 42
0.07484346499768435
Frame 61
tensor(0.1443)
 # KEYFRAME 43
0.07550192200142192
Frame 62
tensor(0.0996)
Frame 63
tensor(0.1411)
 # KEYFRAME 44
0.07650864899915177
Frame 64
tensor(0.0412)
Frame 65
tensor(0.0759)
Frame 66
tensor(0.1166)
 # KEYFRAME 45
0.07718899600149598
Frame 67
tensor(0.0857)
Frame 68
tensor(0.1543)
 # KEYFRAME 46
0.07783125399873825
Frame 69
tensor(0.1630)
 # KEYFRAME 47
0.07872985100038932
Frame 70
tensor(0.0805)
Frame 71
tensor(0.1540)
 # KEYFRAME 48
0.07924739900045097
Frame 72
tensor(0.3046)
 # KEYFRAME 49
0.0794900979999511
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=648 loss_distill=0.2747 tta_take=0.009s
Frame 73
tensor(0.1623)
 # KEYFRAME 50
0.07932671899834531
Frame 74
tensor(0.1496)
 # KEYFRAME 51
0.0823018079972826
Frame 75
tensor(0.0601)
Frame 76
tensor(0.0825)
Frame 77
tensor(0.1804)
 # KEYFRAME 52
0.08241032799924142
Frame 78
tensor(0.2794)
 # KEYFRAME 53
0.08383379299993976
Frame 79
tensor(0.1418)
 # KEYFRAME 54
0.08521138799915207
Frame 80
tensor(0.0184)
Frame 81
tensor(0.0732)
Frame 82
tensor(0.0895)
Frame 83
tensor(0.0961)
Frame 84
tensor(0.1084)
 # KEYFRAME 55
0.08556543699887698
Frame 85
tensor(0.0447)
Frame 86
tensor(0.1389)
 # KEYFRAME 56
0.08595399600017117
Frame 87
tensor(0.0883)
Frame 88
tensor(0.1262)
 # KEYFRAME 57
0.08731167100268067
Frame 89
tensor(0.0395)
Frame 90
tensor(0.0975)
Frame 91
tensor(0.1761)
 # KEYFRAME 58
0.08711446199959028
Frame 92
tensor(0.0233)
Frame 93
tensor(0.1114)
 # KEYFRAME 59
0.08875322499807226
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=649 loss_distill=0.3466 tta_take=0.009s
Frame 94
tensor(0.0969)
Frame 95
tensor(0.1783)
 # KEYFRAME 60
0.08612268499928177
Frame 96
tensor(0.1024)
 # KEYFRAME 61
0.08877127500090864
Frame 97
tensor(0.0741)
Frame 98
tensor(0.1516)
 # KEYFRAME 62
0.08852647599996999
Frame 99
tensor(0.0688)
Frame 100
tensor(0.1780)
 # KEYFRAME 63
0.08972598199761705
Frame 101
tensor(0.1518)
 # KEYFRAME 64
0.09156070500102942
Frame 102
tensor(0.1156)
 # KEYFRAME 65
0.09230296299938345
Frame 103
tensor(0.2375)
 # KEYFRAME 66
0.09320084999853862
Frame 104
tensor(0.0769)
Frame 105
tensor(0.1626)
 # KEYFRAME 67
0.09529523200035328
Frame 106
tensor(0.0584)
Frame 107
tensor(0.1000)
Frame 108
tensor(0.1542)
 # KEYFRAME 68
0.09635723899918958
Frame 109
tensor(0.0716)
Frame 110
tensor(0.1138)
 # KEYFRAME 69
0.0970574460006901
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=650 loss_distill=0.4024 tta_take=0.009s
Frame 111
tensor(0.2822)
 # KEYFRAME 70
0.09265654100090615
Frame 112
tensor(0.1612)
 # KEYFRAME 71
0.09320761900016805
Frame 113
tensor(0.0855)
Frame 114
tensor(0.1881)
 # KEYFRAME 72
0.0948027650010772
Frame 115
tensor(0.1177)
 # KEYFRAME 73
0.09552462200008449
Frame 116
tensor(0.1597)
 # KEYFRAME 74
0.0965179779996106
Frame 117
tensor(0.1537)
 # KEYFRAME 75
0.09636363800018444
Frame 118
tensor(0.0970)
Frame 119
tensor(0.1714)
 # KEYFRAME 76
0.09776403299838421
Frame 120
tensor(0.1858)
 # KEYFRAME 77
0.09880711000005249
Frame 121
tensor(0.2775)
 # KEYFRAME 78
0.0994862679981452
Frame 122
tensor(0.1428)
 # KEYFRAME 79
0.09936278800159926
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=651 loss_distill=0.4024 tta_take=0.009s
Frame 123
tensor(0.0758)
Frame 124
tensor(0.2360)
 # KEYFRAME 80
0.09408280599745922
Frame 125
tensor(0.0200)
Frame 126
tensor(0.2027)
 # KEYFRAME 81
0.09424326599764754
Frame 127
tensor(0.0620)
Frame 128
tensor(0.1229)
 # KEYFRAME 82
0.09488484300163691
Frame 129
tensor(0.0993)
Frame 130
tensor(0.1843)
 # KEYFRAME 83
0.09636318900084007
Frame 131
tensor(0.0104)
Frame 132
tensor(0.0121)
Backending... 84 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 66624, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=652 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 99/556] scannetpp/0a5c013435/frame frames=133 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=652 time=43.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0360)
Frame 2
tensor(0.0902)
Frame 3
tensor(0.1681)
 # KEYFRAME 1
Frame 4
tensor(0.1832)
 # KEYFRAME 2
0.05151815799763426
Frame 5
tensor(0.0980)
Frame 6
tensor(0.2482)
 # KEYFRAME 3
0.052362654998432845
Frame 7
tensor(0.1749)
 # KEYFRAME 4
0.05317200199715444
Frame 8
tensor(0.1518)
 # KEYFRAME 5
0.05436962699968717
Frame 9
tensor(0.0951)
Frame 10
tensor(0.1783)
 # KEYFRAME 6
0.05554548300278839
Frame 11
tensor(0.2038)
 # KEYFRAME 7
0.0562549609967391
Frame 12
tensor(0.2861)
 # KEYFRAME 8
0.05692566799916676
Frame 13
tensor(0.1258)
 # KEYFRAME 9
0.05771223500050837
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 14
tensor(0.1529)
 # KEYFRAME 10
0.05186447700179997
Frame 15
tensor(0.1849)
 # KEYFRAME 11
0.052878602997225244
Frame 16
tensor(0.1570)
 # KEYFRAME 12
0.053062232000229415
Frame 17
tensor(0.1325)
 # KEYFRAME 13
0.05464514599952963
Frame 18
tensor(0.1026)
 # KEYFRAME 14
0.05490622500292375
Frame 19
tensor(0.1841)
 # KEYFRAME 15
0.05501253499824088
Frame 20
tensor(0.1114)
 # KEYFRAME 16
0.05612106099943048
Frame 21
tensor(0.1583)
 # KEYFRAME 17
0.05642668000291451
Frame 22
tensor(0.1698)
 # KEYFRAME 18
0.057041598000068916
Frame 23
tensor(0.0350)
Frame 24
tensor(0.1327)
 # KEYFRAME 19
0.05777269499958493
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.1671)
 # KEYFRAME 20
0.0541536479977367
Frame 26
tensor(0.0939)
Frame 27
tensor(0.1514)
 # KEYFRAME 21
0.05552963299851399
Frame 28
tensor(0.0495)
Frame 29
tensor(0.1393)
 # KEYFRAME 22
0.05641440000181319
Frame 30
tensor(0.1029)
 # KEYFRAME 23
0.05716552800004138
Frame 31
tensor(0.0732)
Frame 32
tensor(0.1810)
 # KEYFRAME 24
0.0581706730008591
Frame 33
tensor(0.1393)
 # KEYFRAME 25
0.05933531000118819
Frame 34
tensor(0.2626)
 # KEYFRAME 26
0.06004394699994009
Frame 35
tensor(0.1432)
 # KEYFRAME 27
0.06078681500002858
Frame 36
tensor(0.1636)
 # KEYFRAME 28
0.060782635002397
Frame 37
tensor(0.1171)
 # KEYFRAME 29
0.06172560100094415
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 38
tensor(0.0656)
Frame 39
tensor(0.1357)
 # KEYFRAME 30
0.058559113000228535
Frame 40
tensor(0.1146)
 # KEYFRAME 31
0.0594544589985162
Frame 41
tensor(0.2730)
 # KEYFRAME 32
0.05988994799918146
Frame 42
tensor(0.1895)
 # KEYFRAME 33
0.060335646998282755
Frame 43
tensor(0.1874)
 # KEYFRAME 34
0.061192773002403555
Frame 44
tensor(0.1331)
 # KEYFRAME 35
0.061412653001752915
Frame 45
tensor(0.0684)
Frame 46
tensor(0.1121)
 # KEYFRAME 36
0.06215520999830915
Frame 47
tensor(0.0557)
Frame 48
tensor(0.1182)
 # KEYFRAME 37
0.06271018800180173
Frame 49
tensor(0.1849)
 # KEYFRAME 38
0.06306273700101883
Frame 50
tensor(0.1836)
 # KEYFRAME 39
0.06361308499981533
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=653 loss_distill=0.1733 tta_take=0.008s
Frame 51
tensor(0.2017)
 # KEYFRAME 40
0.06277511799999047
Frame 52
tensor(0.1498)
 # KEYFRAME 41
0.06388260300082038
Frame 53
tensor(0.1558)
 # KEYFRAME 42
0.06401701299910201
Frame 54
tensor(0.0949)
Frame 55
tensor(0.1274)
 # KEYFRAME 43
0.0642907120018208
Frame 56
tensor(0.2706)
 # KEYFRAME 44
0.0647539700003108
Frame 57
tensor(0.1677)
 # KEYFRAME 45
0.06521486899873707
Frame 58
tensor(0.2257)
 # KEYFRAME 46
0.06543984800009639
Frame 59
tensor(0.1327)
 # KEYFRAME 47
0.06581786700189696
Frame 60
tensor(0.1162)
 # KEYFRAME 48
0.06697442299991962
Frame 61
tensor(0.1130)
 # KEYFRAME 49
0.06746142100018915
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531069278717
TTA-STEP: step=654 loss_distill=0.2747 tta_take=0.008s
Frame 62
tensor(0.0846)
Frame 63
tensor(0.1887)
 # KEYFRAME 50
0.06711408200135338
Frame 64
tensor(0.3896)
 # KEYFRAME 51
0.06818559900057153
Frame 65
tensor(0.2302)
 # KEYFRAME 52
0.06846891800159938
Frame 66
tensor(0.1807)
 # KEYFRAME 53
0.06923312400249415
Frame 67
tensor(0.2942)
 # KEYFRAME 54
0.06914881500051706
Frame 68
tensor(0.0551)
Frame 69
tensor(0.1138)
 # KEYFRAME 55
0.07037735099947895
Frame 70
tensor(0.0670)
Frame 71
tensor(0.2275)
 # KEYFRAME 56
0.07070595999903162
Frame 72
tensor(0.0780)
Frame 73
tensor(0.1662)
 # KEYFRAME 57
0.07169500600139145
Frame 74
tensor(0.0997)
Frame 75
tensor(0.2401)
 # KEYFRAME 58
0.07205095400058781
Frame 76
tensor(0.0726)
Frame 77
tensor(0.1426)
 # KEYFRAME 59
0.07269728200117243
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=655 loss_distill=0.3466 tta_take=0.008s
Frame 78
tensor(0.0881)
Frame 79
tensor(0.1604)
 # KEYFRAME 60
0.07154407699999865
Frame 80
tensor(0.1351)
 # KEYFRAME 61
0.07291093199819443
Frame 81
tensor(0.3025)
 # KEYFRAME 62
0.07212232399979257
Frame 82
tensor(0.3728)
 # KEYFRAME 63
0.07309147100022528
Frame 83
tensor(0.0401)
Frame 84
tensor(0.0711)
Frame 85
tensor(0.1642)
 # KEYFRAME 64
0.07362995999937993
Frame 86
tensor(0.1482)
 # KEYFRAME 65
0.07377960900339531
Frame 87
tensor(0.1513)
 # KEYFRAME 66
0.07444509700144408
Frame 88
tensor(0.2010)
 # KEYFRAME 67
0.07552363200011314
Frame 89
tensor(0.2198)
 # KEYFRAME 68
0.07606759099871852
Frame 90
tensor(0.0946)
Frame 91
tensor(0.1439)
 # KEYFRAME 69
0.07647043900215067
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=656 loss_distill=0.4024 tta_take=0.008s
Frame 92
tensor(0.1953)
 # KEYFRAME 70
0.07619983999757096
Frame 93
tensor(0.1343)
 # KEYFRAME 71
0.07595866100018611
Frame 94
tensor(0.2635)
 # KEYFRAME 72
0.07669694799915305
Frame 95
tensor(0.0645)
Frame 96
tensor(0.1477)
 # KEYFRAME 73
0.07719994600120117
Frame 97
tensor(0.1824)
 # KEYFRAME 74
0.07714642700011609
Frame 98
tensor(0.1288)
 # KEYFRAME 75
0.07809017399995355
Frame 99
tensor(0.0989)
Frame 100
tensor(0.1410)
 # KEYFRAME 76
0.07786261399814975
Frame 101
tensor(0.1382)
 # KEYFRAME 77
0.07898014999955194
Frame 102
tensor(0.2769)
 # KEYFRAME 78
0.07938020800065715
Frame 103
tensor(0.1784)
 # KEYFRAME 79
0.08012147599947639
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=657 loss_distill=0.4024 tta_take=0.008s
Frame 104
tensor(0.1145)
 # KEYFRAME 80
0.07542482299686526
Frame 105
tensor(0.1176)
 # KEYFRAME 81
0.0776924850033538
Frame 106
tensor(0.0961)
Frame 107
tensor(0.1918)
 # KEYFRAME 82
0.07711146599831409
Frame 108
tensor(0.1249)
 # KEYFRAME 83
0.07791157400060911
Frame 109
tensor(0.1575)
 # KEYFRAME 84
0.07920707000084803
Frame 110
tensor(0.0390)
Frame 111
tensor(0.0965)
Frame 112
tensor(0.1263)
 # KEYFRAME 85
0.0805709249980282
Frame 113
tensor(0.0863)
Frame 114
tensor(0.1417)
 # KEYFRAME 86
0.07908387000134098
Frame 115
tensor(0.1348)
 # KEYFRAME 87
0.08192502000019886
Frame 116
tensor(0.1254)
 # KEYFRAME 88
0.08218311900054687
Frame 117
tensor(0.1546)
 # KEYFRAME 89
0.08313447600085055
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=658 loss_distill=0.4024 tta_take=0.009s
Frame 118
tensor(0.2108)
 # KEYFRAME 90
0.07548830199812073
Frame 119
tensor(0.1720)
 # KEYFRAME 91
0.07728171599956113
Frame 120
tensor(0.1390)
 # KEYFRAME 92
0.07645412899728399
Frame 121
tensor(0.1076)
 # KEYFRAME 93
0.07767316500030574
Frame 122
tensor(0.0418)
Frame 123
tensor(0.1778)
 # KEYFRAME 94
0.07763365499704378
Frame 124
tensor(0.0629)
Frame 125
tensor(0.1005)
 # KEYFRAME 95
0.07849444200110156
Frame 126
tensor(0.0472)
Frame 127
tensor(0.1580)
 # KEYFRAME 96
0.07851875200140057
Frame 128
tensor(0.1091)
 # KEYFRAME 97
0.07891765000022133
Frame 129
tensor(0.1486)
 # KEYFRAME 98
0.07967533700139029
Frame 130
tensor(0.1801)
 # KEYFRAME 99
0.0810341430005792
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=659 loss_distill=0.4024 tta_take=0.008s
Frame 131
tensor(0.3221)
 # KEYFRAME 100
0.07533819300078903
Frame 132
tensor(0.0715)
Frame 133
tensor(0.1786)
 # KEYFRAME 101
0.07773164399986854
Frame 134
tensor(0.0366)
Frame 135
tensor(0.3322)
 # KEYFRAME 102
0.07710414699977264
Frame 136
tensor(0.0676)
Frame 137
tensor(0.1590)
 # KEYFRAME 103
0.07764764500097954
Frame 138
tensor(0.2287)
 # KEYFRAME 104
0.07792927400078042
Frame 139
tensor(0.1337)
 # KEYFRAME 105
0.07865760200002114
Frame 140
tensor(0.1045)
 # KEYFRAME 106
0.07820177199755562
Frame 141
tensor(0.0773)
Frame 142
tensor(0.1685)
 # KEYFRAME 107
0.07900715999858221
Frame 143
tensor(0.0592)
Frame 144
tensor(0.1028)
 # KEYFRAME 108
0.07959841699994286
Frame 145
tensor(0.0344)
Frame 146
tensor(0.1474)
 # KEYFRAME 109
0.08069124400208239
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=660 loss_distill=0.4024 tta_take=0.008s
Frame 147
tensor(0.1526)
 # KEYFRAME 110
0.07545328299966059
Frame 148
tensor(0.0439)
Frame 149
tensor(0.3768)
 # KEYFRAME 111
0.07631739999851561
Backending... 112 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 57660, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=661 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 100/556] scannetpp/5a269ba6fe/DSC frames=150 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=661 time=44.9s
[ckpt] /scratch-shared/wwei2/scorer_pretrain/scorer_v1/checkpoint-last.pth (epoch=0 scene=100)
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0365)
Frame 2
tensor(0.2202)
 # KEYFRAME 1
Frame 3
tensor(0.3395)
 # KEYFRAME 2
0.050860079001722625
Frame 4
tensor(0.2588)
 # KEYFRAME 3
0.05263486400144757
Frame 5
tensor(0.2636)
 # KEYFRAME 4
0.05289135199927841
Frame 6
tensor(0.3368)
 # KEYFRAME 5
0.0548709360009525
Frame 7
tensor(0.1704)
 # KEYFRAME 6
0.0556499430022086
Frame 8
tensor(0.1414)
 # KEYFRAME 7
0.056879249001212884
Frame 9
tensor(0.1565)
 # KEYFRAME 8
0.05742147600176395
Frame 10
tensor(0.2400)
 # KEYFRAME 9
0.05747191699992982
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.2338)
 # KEYFRAME 10
0.052109405001829145
Frame 12
tensor(0.1216)
 # KEYFRAME 11
0.05389556899899617
Frame 13
tensor(0.4195)
 # KEYFRAME 12
0.05474085600144463
Frame 14
tensor(0.1948)
 # KEYFRAME 13
0.056830769000953296
Frame 15
tensor(0.2314)
 # KEYFRAME 14
0.057514256001013564
Frame 16
tensor(0.3008)
 # KEYFRAME 15
0.058278394000808476
Frame 17
tensor(0.1573)
 # KEYFRAME 16
0.058617021997633856
Frame 18
tensor(0.3062)
 # KEYFRAME 17
0.059852678001334425
Frame 19
tensor(0.2255)
 # KEYFRAME 18
0.06777213999885134
Frame 20
tensor(0.3100)
 # KEYFRAME 19
0.0626109879995056
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.0974)
Frame 22
tensor(0.3704)
 # KEYFRAME 20
0.05923284999880707
Frame 23
tensor(0.2420)
 # KEYFRAME 21
0.06027010600155336
Frame 24
tensor(0.2817)
 # KEYFRAME 22
0.06131120300051407
Frame 25
tensor(0.2552)
 # KEYFRAME 23
0.06199326000205474
Frame 26
tensor(0.1915)
 # KEYFRAME 24
0.06271202800053288
Frame 27
tensor(0.4622)
 # KEYFRAME 25
0.06337987499864539
Frame 28
tensor(0.1932)
 # KEYFRAME 26
0.06498321000253782
Frame 29
tensor(0.1581)
 # KEYFRAME 27
0.06621923499915283
Frame 30
tensor(0.2874)
 # KEYFRAME 28
0.06730162099847803
Frame 31
tensor(0.2713)
 # KEYFRAME 29
0.0682617480015324
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.2847)
 # KEYFRAME 30
0.06592557700059842
Frame 33
tensor(0.2097)
 # KEYFRAME 31
0.06770576000053552
Frame 34
tensor(0.2536)
 # KEYFRAME 32
0.06831243800115772
Frame 35
tensor(0.1968)
 # KEYFRAME 33
0.06887545599965961
Frame 36
tensor(0.3318)
 # KEYFRAME 34
0.06967529300163733
Frame 37
tensor(0.3094)
 # KEYFRAME 35
0.07093420900127967
Frame 38
tensor(0.6088)
 # KEYFRAME 36
0.07103127799928188
Frame 39
tensor(0.5354)
 # KEYFRAME 37
0.07233494400134077
Frame 40
tensor(0.2758)
 # KEYFRAME 38
0.07321008000144502
Frame 41
tensor(0.2459)
 # KEYFRAME 39
0.07443143599812174
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=662 loss_distill=0.1733 tta_take=0.009s
Frame 42
tensor(0.4537)
 # KEYFRAME 40
0.0727352020003309
Frame 43
tensor(0.7676)
 # KEYFRAME 41
0.07415053700242424
Frame 44
tensor(0.1772)
 # KEYFRAME 42
0.07453456599978381
Frame 45
tensor(0.1763)
 # KEYFRAME 43
0.07560226200075704
Frame 46
tensor(0.1976)
 # KEYFRAME 44
0.07647182900109328
Frame 47
tensor(0.2494)
 # KEYFRAME 45
0.07651825900029507
Frame 48
tensor(0.2450)
 # KEYFRAME 46
0.07718326599933789
Frame 49
tensor(0.1628)
 # KEYFRAME 47
0.07760144499843591
Frame 50
tensor(0.1747)
 # KEYFRAME 48
0.07904174999930547
Frame 51
tensor(0.2369)
 # KEYFRAME 49
0.08006099600243033
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=663 loss_distill=0.2747 tta_take=0.009s
Frame 52
tensor(0.2080)
 # KEYFRAME 50
0.0791174799996952
Frame 53
tensor(0.2780)
 # KEYFRAME 51
0.08169319000080577
Frame 54
tensor(0.2040)
 # KEYFRAME 52
0.08196007900187396
Frame 55
tensor(0.2292)
 # KEYFRAME 53
0.08296948600036558
Frame 56
tensor(0.1222)
 # KEYFRAME 54
0.08344981399932294
Frame 57
tensor(0.2770)
 # KEYFRAME 55
0.0839742620009929
Frame 58
tensor(0.1771)
 # KEYFRAME 56
0.08453639099752763
Frame 59
tensor(0.2236)
 # KEYFRAME 57
0.08524552900053095
Frame 60
tensor(0.0982)
Frame 61
tensor(0.1945)
 # KEYFRAME 58
0.08712974100126303
Frame 62
tensor(0.1036)
 # KEYFRAME 59
0.08729042000049958
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=664 loss_distill=0.3466 tta_take=0.009s
Frame 63
tensor(0.1072)
 # KEYFRAME 60
0.08641880300274352
Frame 64
tensor(0.0755)
Frame 65
tensor(0.1875)
 # KEYFRAME 61
0.08912534399860306
Frame 66
tensor(0.0767)
Frame 67
tensor(0.2324)
 # KEYFRAME 62
0.08894495500135235
Frame 68
tensor(0.1895)
 # KEYFRAME 63
0.08991803099706885
Frame 69
tensor(0.1519)
 # KEYFRAME 64
0.0908686980001221
Frame 70
tensor(0.1384)
 # KEYFRAME 65
0.09218029299881891
Frame 71
tensor(0.1062)
 # KEYFRAME 66
0.09407869600181584
Frame 72
tensor(0.1373)
 # KEYFRAME 67
0.09452184499969007
Frame 73
tensor(0.1210)
 # KEYFRAME 68
0.09524631200110889
Frame 74
tensor(0.1106)
 # KEYFRAME 69
0.09621248000257765
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=665 loss_distill=0.4024 tta_take=0.009s
Frame 75
tensor(0.0451)
Frame 76
tensor(0.0628)
Frame 77
tensor(0.1071)
 # KEYFRAME 70
0.09296971000003396
Frame 78
tensor(0.1269)
 # KEYFRAME 71
0.09609864899903187
Frame 79
tensor(0.0220)
Frame 80
tensor(0.1207)
 # KEYFRAME 72
0.09442215599847259
Frame 81
tensor(0.0972)
Frame 82
tensor(0.1672)
 # KEYFRAME 73
0.09555167100188555
Frame 83
tensor(0.2290)
 # KEYFRAME 74
0.09658286699777818
Frame 84
tensor(0.1767)
 # KEYFRAME 75
0.09739912399891182
Frame 85
tensor(0.1477)
 # KEYFRAME 76
0.0985452909990272
Frame 86
tensor(0.1619)
 # KEYFRAME 77
0.09851193099893862
Frame 87
tensor(0.0894)
Frame 88
tensor(0.1946)
 # KEYFRAME 78
0.09950632700201822
Frame 89
tensor(0.0970)
Frame 90
tensor(0.9064)
 # KEYFRAME 79
0.09944434800127055
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=666 loss_distill=0.4024 tta_take=0.009s
Frame 91
tensor(0.1950)
 # KEYFRAME 80
0.09371175799969933
Frame 92
tensor(0.2180)
 # KEYFRAME 81
0.09406174699688563
Frame 93
tensor(0.4067)
 # KEYFRAME 82
0.09535188299923902
Frame 94
tensor(0.3359)
 # KEYFRAME 83
0.096825656000874
Frame 95
tensor(0.1510)
 # KEYFRAME 84
0.09737445499922615
Frame 96
tensor(0.1438)
 # KEYFRAME 85
0.099460707999242
Frame 97
tensor(0.2400)
 # KEYFRAME 86
0.09980444699976943
Frame 98
tensor(0.3258)
 # KEYFRAME 87
0.10087132300031953
Frame 99
tensor(0.1021)
 # KEYFRAME 88
0.1012871710008767
Frame 100
tensor(0.3631)
 # KEYFRAME 89
0.10280216499813832
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=667 loss_distill=0.4024 tta_take=0.009s
Frame 101
tensor(0.4073)
 # KEYFRAME 90
0.09318155999790179
Frame 102
tensor(0.1613)
 # KEYFRAME 91
0.09533331299826386
Frame 103
tensor(0.2256)
 # KEYFRAME 92
0.09525638299965067
Frame 104
tensor(0.1979)
 # KEYFRAME 93
0.09601639000175055
Frame 105
tensor(0.1893)
 # KEYFRAME 94
0.09656382799948915
Frame 106
tensor(0.1636)
 # KEYFRAME 95
0.09767166399979033
Frame 107
tensor(0.1580)
 # KEYFRAME 96
0.09868365999864182
Frame 108
tensor(0.0878)
Frame 109
tensor(0.1589)
 # KEYFRAME 97
0.09879902999819024
Frame 110
tensor(0.2493)
 # KEYFRAME 98
0.10017524499926367
Frame 111
tensor(0.1510)
 # KEYFRAME 99
0.1005952140003501
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=668 loss_distill=0.4024 tta_take=0.009s
Frame 112
tensor(0.2182)
 # KEYFRAME 100
0.09324285899856477
Frame 113
tensor(0.2225)
 # KEYFRAME 101
0.09582123099971795
Frame 114
tensor(0.0947)
Frame 115
tensor(0.2738)
 # KEYFRAME 102
0.09554191099960008
Frame 116
tensor(0.0918)
Frame 117
tensor(0.1115)
 # KEYFRAME 103
0.0968743759985955
Frame 118
tensor(0.0659)
Frame 119
tensor(0.1088)
 # KEYFRAME 104
0.09762389399838867
Frame 120
tensor(0.1159)
 # KEYFRAME 105
0.09950212800322333
Frame 121
tensor(0.1084)
 # KEYFRAME 106
0.09989588600001298
Frame 122
tensor(0.1227)
 # KEYFRAME 107
0.10182123899721773
Frame 123
tensor(0.0722)
Frame 124
tensor(0.4168)
 # KEYFRAME 108
0.10275158600052237
Frame 125
tensor(0.1311)
 # KEYFRAME 109
0.10304907500176341
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=669 loss_distill=0.4024 tta_take=0.009s
Frame 126
tensor(0.1922)
 # KEYFRAME 110
0.09359585899801459
Frame 127
tensor(0.8384)
 # KEYFRAME 111
0.09499182299987297
Frame 128
tensor(0.1540)
 # KEYFRAME 112
0.09573038000235101
Frame 129
tensor(0.0563)
Frame 130
tensor(0.1857)
 # KEYFRAME 113
0.09618208000028972
Frame 131
tensor(0.1155)
 # KEYFRAME 114
0.09684058700077003
Frame 132
tensor(0.1423)
 # KEYFRAME 115
0.09776971400060575
Frame 133
tensor(0.0803)
Frame 134
tensor(0.1434)
 # KEYFRAME 116
0.09898121900187107
Frame 135
tensor(0.2854)
 # KEYFRAME 117
0.09928448799837497
Frame 136
tensor(0.1742)
 # KEYFRAME 118
0.09972317600113456
Frame 137
tensor(0.2190)
 # KEYFRAME 119
0.10079725299874553
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=670 loss_distill=0.4024 tta_take=0.009s
Frame 138
tensor(0.1371)
 # KEYFRAME 120
0.0933017679999466
Frame 139
tensor(0.0909)
Frame 140
tensor(0.0809)
Backending... 121 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 63501, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=671 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 101/556] scannetpp/41b00feddb/frame frames=141 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=671 time=60.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0691)
Frame 2
tensor(0.1792)
 # KEYFRAME 1
Frame 3
tensor(0.1053)
 # KEYFRAME 2
0.051763256000413094
Frame 4
tensor(0.0967)
Frame 5
tensor(0.1611)
 # KEYFRAME 3
0.05143691699777264
Frame 6
tensor(0.1252)
 # KEYFRAME 4
0.05331193000165513
Frame 7
tensor(0.0715)
Frame 8
tensor(0.1376)
 # KEYFRAME 5
0.055697281000902876
Frame 9
tensor(0.0870)
Frame 10
tensor(0.2246)
 # KEYFRAME 6
0.05516966299910564
Frame 11
tensor(0.1048)
 # KEYFRAME 7
0.056172630000219215
Frame 12
tensor(0.2491)
 # KEYFRAME 8
0.05781937400024617
Frame 13
tensor(0.1520)
 # KEYFRAME 9
0.057861143999616615
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 14
tensor(0.3186)
 # KEYFRAME 10
0.05147613600274781
Frame 15
tensor(0.1609)
 # KEYFRAME 11
0.051562986001954414
Frame 16
tensor(0.1564)
 # KEYFRAME 12
0.051781315996777266
Frame 17
tensor(0.1781)
 # KEYFRAME 13
0.05396181799733313
Frame 18
tensor(0.2592)
 # KEYFRAME 14
0.0539442080007575
Frame 19
tensor(0.3488)
 # KEYFRAME 15
0.05427084699840634
Frame 20
tensor(0.0850)
Frame 21
tensor(0.3520)
 # KEYFRAME 16
0.05485019499974442
Frame 22
tensor(0.5647)
 # KEYFRAME 17
0.05520818299919483
Frame 23
tensor(0.1748)
 # KEYFRAME 18
0.05617642100332887
Frame 24
tensor(0.2871)
 # KEYFRAME 19
0.057369696001842385
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.1739)
 # KEYFRAME 20
0.054075598000054015
Frame 26
tensor(0.2251)
 # KEYFRAME 21
0.054849244999786606
Frame 27
tensor(0.1778)
 # KEYFRAME 22
0.055460643001424614
Frame 28
tensor(0.1778)
 # KEYFRAME 23
0.055984349997743266
Frame 29
tensor(0.4950)
 # KEYFRAME 24
0.05630673999985447
Frame 30
tensor(0.1838)
 # KEYFRAME 25
0.05678834799982724
Frame 31
tensor(0.1283)
 # KEYFRAME 26
0.058068703998287674
Frame 32
tensor(0.4134)
 # KEYFRAME 27
0.05896424999809824
Frame 33
tensor(0.3021)
 # KEYFRAME 28
0.05925522899997304
Frame 34
tensor(0.3250)
 # KEYFRAME 29
0.06028662500102655
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 35
tensor(0.2802)
 # KEYFRAME 30
0.058626141002605436
Frame 36
tensor(0.2589)
 # KEYFRAME 31
0.05916038899886189
Frame 37
tensor(0.1856)
 # KEYFRAME 32
0.059123319002537755
Frame 38
tensor(0.0977)
Frame 39
tensor(0.3001)
 # KEYFRAME 33
0.06019198599824449
Frame 40
tensor(0.2618)
 # KEYFRAME 34
0.06102760299836518
Frame 41
tensor(0.2534)
 # KEYFRAME 35
0.06147362200135831
Frame 42
tensor(0.2319)
 # KEYFRAME 36
0.06196406900198781
Frame 43
tensor(0.3622)
 # KEYFRAME 37
0.06287056599830976
Frame 44
tensor(0.2841)
 # KEYFRAME 38
0.06328371400013566
Frame 45
tensor(0.2462)
 # KEYFRAME 39
0.06422670100073447
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=672 loss_distill=0.1733 tta_take=0.008s
Frame 46
tensor(0.4413)
 # KEYFRAME 40
0.06266196700016735
Frame 47
tensor(0.5026)
 # KEYFRAME 41
0.06337367499872926
Frame 48
tensor(0.1815)
 # KEYFRAME 42
0.06406380200132844
Frame 49
tensor(0.2098)
 # KEYFRAME 43
0.06414048100123182
Frame 50
tensor(0.1239)
 # KEYFRAME 44
0.06482046000019182
Frame 51
tensor(0.0573)
Frame 52
tensor(0.3382)
 # KEYFRAME 45
0.06517241799883777
Frame 53
tensor(0.0990)
Frame 54
tensor(0.3223)
 # KEYFRAME 46
0.06568773599792621
Frame 55
tensor(0.1961)
 # KEYFRAME 47
0.06623410399697605
Frame 56
tensor(0.5139)
 # KEYFRAME 48
0.0668541519989958
Frame 57
tensor(0.1505)
 # KEYFRAME 49
0.06770399900051416
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=673 loss_distill=0.2747 tta_take=0.008s
Frame 58
tensor(0.1462)
 # KEYFRAME 50
0.06682187199839973
Frame 59
tensor(0.1798)
 # KEYFRAME 51
0.06773971900111064
Frame 60
tensor(0.0883)
Frame 61
tensor(0.2887)
 # KEYFRAME 52
0.06801634799921885
Frame 62
tensor(0.3386)
 # KEYFRAME 53
0.06867487500130665
Frame 63
tensor(0.0724)
Frame 64
tensor(0.1779)
 # KEYFRAME 54
0.06871100500211469
Frame 65
tensor(0.2305)
 # KEYFRAME 55
0.07000054099989939
Frame 66
tensor(0.1001)
 # KEYFRAME 56
0.07060435899984441
Frame 67
tensor(0.0795)
Frame 68
tensor(0.1337)
 # KEYFRAME 57
0.07052505899991957
Frame 69
tensor(0.1276)
 # KEYFRAME 58
0.07090944800074794
Frame 70
tensor(0.0927)
Frame 71
tensor(0.1537)
 # KEYFRAME 59
0.07146327500231564
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=674 loss_distill=0.3466 tta_take=0.008s
Frame 72
tensor(0.4019)
 # KEYFRAME 60
0.07180930400136276
Frame 73
tensor(0.1442)
 # KEYFRAME 61
0.0713661959998717
Frame 74
tensor(0.2211)
 # KEYFRAME 62
0.07223904300190043
Frame 75
tensor(0.1773)
 # KEYFRAME 63
0.07269305199952214
Frame 76
tensor(0.1685)
 # KEYFRAME 64
0.07348231799915084
Frame 77
tensor(0.1083)
 # KEYFRAME 65
0.07370097699822509
Frame 78
tensor(0.2576)
 # KEYFRAME 66
0.07476104399756878
Frame 79
tensor(0.1962)
 # KEYFRAME 67
0.07520710199969471
Frame 80
tensor(0.1460)
 # KEYFRAME 68
0.0761547590009286
Frame 81
tensor(0.0501)
Frame 82
tensor(0.1082)
 # KEYFRAME 69
0.07630075799897895
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=675 loss_distill=0.4024 tta_take=0.008s
Frame 83
tensor(0.0628)
Frame 84
tensor(0.1134)
 # KEYFRAME 70
0.0754550810015644
Frame 85
tensor(0.0828)
Frame 86
tensor(0.0880)
Frame 87
tensor(0.3903)
 # KEYFRAME 71
0.0761459189998277
Frame 88
tensor(0.1243)
 # KEYFRAME 72
0.07670621699799085
Frame 89
tensor(0.3324)
 # KEYFRAME 73
0.07726917500258423
Frame 90
tensor(0.2180)
 # KEYFRAME 74
0.07776216400088742
Frame 91
tensor(0.1426)
 # KEYFRAME 75
0.07815780199962319
Frame 92
tensor(0.1676)
 # KEYFRAME 76
0.0785833600020851
Frame 93
tensor(0.1279)
 # KEYFRAME 77
0.07917188800274744
Frame 94
tensor(0.1673)
 # KEYFRAME 78
0.0791584979997424
Frame 95
tensor(0.0721)
Frame 96
tensor(0.1656)
 # KEYFRAME 79
0.08012299400070333
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=676 loss_distill=0.4024 tta_take=0.008s
Frame 97
tensor(0.4672)
 # KEYFRAME 80
0.0753093519997492
Frame 98
tensor(0.5514)
 # KEYFRAME 81
0.07648935800170875
Frame 99
tensor(0.4507)
 # KEYFRAME 82
0.0771466660007718
Frame 100
tensor(0.4756)
 # KEYFRAME 83
0.07733973499853164
Frame 101
tensor(0.0957)
Frame 102
tensor(0.1879)
 # KEYFRAME 84
0.07841221099806717
Frame 103
tensor(0.3170)
 # KEYFRAME 85
0.07835277100093663
Frame 104
tensor(0.2180)
 # KEYFRAME 86
0.07887544900222565
Frame 105
tensor(0.1447)
 # KEYFRAME 87
0.07982556600109092
Frame 106
tensor(0.2576)
 # KEYFRAME 88
0.08008275499742012
Frame 107
tensor(0.1591)
 # KEYFRAME 89
0.08088683300229604
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=677 loss_distill=0.4024 tta_take=0.008s
Frame 108
tensor(0.3339)
 # KEYFRAME 90
0.07521319299848983
Frame 109
tensor(0.2569)
 # KEYFRAME 91
0.07625922899751458
Frame 110
tensor(0.4402)
 # KEYFRAME 92
0.07686043700232403
Frame 111
tensor(0.2903)
 # KEYFRAME 93
0.07711351500256569
Frame 112
tensor(0.1155)
 # KEYFRAME 94
0.07775191399923642
Frame 113
tensor(0.5479)
 # KEYFRAME 95
0.0782687419996364
Frame 114
tensor(0.6071)
 # KEYFRAME 96
0.07835658100157161
Frame 115
tensor(0.1170)
 # KEYFRAME 97
0.07928375800111098
Frame 116
tensor(0.2359)
 # KEYFRAME 98
0.07939652699860744
Frame 117
tensor(0.0924)
Frame 118
tensor(0.6275)
 # KEYFRAME 99
0.0804372839993448
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=678 loss_distill=0.4024 tta_take=0.008s
Frame 119
tensor(0.4049)
 # KEYFRAME 100
0.07519720300115296
Frame 120
tensor(0.2502)
 # KEYFRAME 101
0.07591211999897496
Frame 121
tensor(0.1434)
 # KEYFRAME 102
0.07707981600105995
Frame 122
tensor(0.0963)
Frame 123
tensor(0.3065)
 # KEYFRAME 103
0.07734408500255086
Frame 124
tensor(0.0744)
Frame 125
tensor(0.3662)
 # KEYFRAME 104
0.07765843400193262
Frame 126
tensor(0.1034)
 # KEYFRAME 105
0.0782487910000782
Frame 127
tensor(0.0534)
Frame 128
tensor(0.1021)
 # KEYFRAME 106
0.07805305200236035
Frame 129
tensor(0.2341)
 # KEYFRAME 107
0.07941589800248039
Frame 130
tensor(0.1194)
 # KEYFRAME 108
0.07999181500053965
Frame 131
tensor(0.0747)
Frame 132
tensor(0.2194)
 # KEYFRAME 109
0.08012239399977261
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=679 loss_distill=0.4024 tta_take=0.008s
Frame 133
tensor(0.1148)
 # KEYFRAME 110
0.07563904000198818
Frame 134
tensor(0.2368)
 # KEYFRAME 111
0.0764302179995866
Frame 135
tensor(0.1839)
 # KEYFRAME 112
0.07750635500269709
Frame 136
tensor(0.0688)
Frame 137
tensor(0.1654)
 # KEYFRAME 113
0.0773611639997398
Frame 138
tensor(0.5465)
 # KEYFRAME 114
0.07834204199753003
Frame 139
tensor(0.2345)
 # KEYFRAME 115
0.07823330199971679
Frame 140
tensor(0.3068)
 # KEYFRAME 116
0.07792133300245041
Frame 141
tensor(0.0604)
Frame 142
tensor(0.2459)
 # KEYFRAME 117
0.07924522900066222
Frame 143
tensor(0.2160)
 # KEYFRAME 118
0.07916217800084269
Frame 144
tensor(0.1697)
 # KEYFRAME 119
0.08025980399906985
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=680 loss_distill=0.4024 tta_take=0.008s
Frame 145
tensor(0.5672)
 # KEYFRAME 120
0.07545912100249552
Frame 146
tensor(0.3960)
 # KEYFRAME 121
0.07613648000187823
Frame 147
tensor(0.1722)
 # KEYFRAME 122
0.07652253699779976
Frame 148
tensor(0.1373)
 # KEYFRAME 123
0.07777717399949324
Frame 149
tensor(0.2675)
 # KEYFRAME 124
0.07781294300002628
Backending... 125 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 60450, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=681 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 102/556] scannetpp/41b00feddb/DSC frames=150 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=681 time=56.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0344)
Frame 2
tensor(0.2752)
 # KEYFRAME 1
Frame 3
tensor(0.2407)
 # KEYFRAME 2
0.051158528000087244
Frame 4
tensor(0.2344)
 # KEYFRAME 3
0.05277125200154842
Frame 5
tensor(0.4541)
 # KEYFRAME 4
0.05486672500046552
Frame 6
tensor(0.4685)
 # KEYFRAME 5
0.05537121299857972
Frame 7
tensor(0.3079)
 # KEYFRAME 6
0.056536819000029936
Frame 8
tensor(0.4446)
 # KEYFRAME 7
0.05672297799901571
Frame 9
tensor(0.3753)
 # KEYFRAME 8
0.057827964003081433
Frame 10
tensor(0.2942)
 # KEYFRAME 9
0.05836882199946558
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.2974)
 # KEYFRAME 10
0.05235839300075895
Frame 12
tensor(0.3397)
 # KEYFRAME 11
0.05341220999980578
Frame 13
tensor(0.2271)
 # KEYFRAME 12
0.05414032699991367
Frame 14
tensor(0.1875)
 # KEYFRAME 13
0.056568219002656406
Frame 15
tensor(0.2254)
 # KEYFRAME 14
0.05734029599989299
Frame 16
tensor(0.3637)
 # KEYFRAME 15
0.05816119299925049
Frame 17
tensor(0.3587)
 # KEYFRAME 16
0.05879990000175894
Frame 18
tensor(0.1792)
 # KEYFRAME 17
0.06006232599975192
Frame 19
tensor(0.3666)
 # KEYFRAME 18
0.06128135199833196
Frame 20
tensor(0.3177)
 # KEYFRAME 19
0.06245605799995246
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.2503)
 # KEYFRAME 20
0.0592469399998663
Frame 22
tensor(0.2799)
 # KEYFRAME 21
0.06033250499967835
Frame 23
tensor(0.0451)
Frame 24
tensor(0.2781)
 # KEYFRAME 22
0.0612386120010342
Frame 25
tensor(0.4084)
 # KEYFRAME 23
0.06213960899913218
Frame 26
tensor(0.2495)
 # KEYFRAME 24
0.06269821699970635
Frame 27
tensor(0.0485)
Frame 28
tensor(0.3236)
 # KEYFRAME 25
0.06377390299894614
Frame 29
tensor(0.2414)
 # KEYFRAME 26
0.06546283699935884
Frame 30
tensor(0.1302)
 # KEYFRAME 27
0.06640475299718673
Frame 31
tensor(0.1796)
 # KEYFRAME 28
0.06750254999860772
Frame 32
tensor(0.5023)
 # KEYFRAME 29
0.0682787969999481
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 33
tensor(0.1511)
 # KEYFRAME 30
0.06603265499870759
Frame 34
tensor(0.2356)
 # KEYFRAME 31
0.06739038999876357
Frame 35
tensor(0.3224)
 # KEYFRAME 32
0.0681033579967334
Frame 36
tensor(0.0805)
Frame 37
tensor(0.2630)
 # KEYFRAME 33
0.06905935400209273
Frame 38
tensor(0.2531)
 # KEYFRAME 34
0.06985074099793565
Frame 39
tensor(0.2322)
 # KEYFRAME 35
0.0705360190004285
Frame 40
tensor(0.4504)
 # KEYFRAME 36
0.07140815599996131
Frame 41
tensor(0.4470)
 # KEYFRAME 37
0.07228246299928287
Frame 42
tensor(0.1966)
 # KEYFRAME 38
0.07271010099793784
Frame 43
tensor(0.3379)
 # KEYFRAME 39
0.07393026700083283
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=682 loss_distill=0.1733 tta_take=0.009s
Frame 44
tensor(0.1760)
 # KEYFRAME 40
0.07277170100132935
Frame 45
tensor(0.2254)
 # KEYFRAME 41
0.07384277700111852
Frame 46
tensor(0.3113)
 # KEYFRAME 42
0.07474010399891995
Frame 47
tensor(0.3143)
 # KEYFRAME 43
0.07526275299824192
Frame 48
tensor(0.3517)
 # KEYFRAME 44
0.07590852999783237
Frame 49
tensor(0.1439)
 # KEYFRAME 45
0.07726341499801492
Frame 50
tensor(0.1978)
 # KEYFRAME 46
0.07784365300176432
Frame 51
tensor(0.3017)
 # KEYFRAME 47
0.07747420399755356
Frame 52
tensor(0.1559)
 # KEYFRAME 48
0.07952178699997603
Frame 53
tensor(0.2236)
 # KEYFRAME 49
0.08061361300133285
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=683 loss_distill=0.2747 tta_take=0.009s
Frame 54
tensor(0.1299)
 # KEYFRAME 50
0.07946404700123821
Frame 55
tensor(0.2170)
 # KEYFRAME 51
0.08019160500043654
Frame 56
tensor(0.3912)
 # KEYFRAME 52
0.0821305380013655
Frame 57
tensor(0.6538)
 # KEYFRAME 53
0.08266486499996972
Frame 58
tensor(0.1323)
 # KEYFRAME 54
0.08378917199661373
Frame 59
tensor(0.0853)
Frame 60
tensor(0.3240)
 # KEYFRAME 55
0.08378234100018744
Frame 61
tensor(0.4064)
 # KEYFRAME 56
0.08433810999849811
Frame 62
tensor(0.1088)
 # KEYFRAME 57
0.08574671499809483
Frame 63
tensor(0.0822)
Frame 64
tensor(0.1863)
 # KEYFRAME 58
0.08641737200014177
Frame 65
tensor(0.3855)
 # KEYFRAME 59
0.08760186899962719
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=684 loss_distill=0.3466 tta_take=0.009s
Frame 66
tensor(0.2470)
 # KEYFRAME 60
0.08629853300226387
Frame 67
tensor(0.1268)
 # KEYFRAME 61
0.0869400309966295
Frame 68
tensor(0.1849)
 # KEYFRAME 62
0.08797133700136328
Frame 69
tensor(0.2437)
 # KEYFRAME 63
0.08848583600047277
Frame 70
tensor(0.6328)
 # KEYFRAME 64
0.08973936999973375
Frame 71
tensor(0.3100)
 # KEYFRAME 65
0.09076666699911584
Frame 72
tensor(0.1696)
 # KEYFRAME 66
0.09134778499719687
Frame 73
tensor(0.1593)
 # KEYFRAME 67
0.09262804000172764
Frame 74
tensor(0.4404)
 # KEYFRAME 68
0.09319850800238783
Frame 75
tensor(0.5800)
 # KEYFRAME 69
0.09415215500121121
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=685 loss_distill=0.4024 tta_take=0.009s
Frame 76
tensor(0.4153)
 # KEYFRAME 70
0.09356908699919586
Frame 77
tensor(0.1657)
 # KEYFRAME 71
0.09411092500158702
Frame 78
tensor(0.1876)
 # KEYFRAME 72
0.09488933200191241
Frame 79
tensor(0.4178)
 # KEYFRAME 73
0.09568320000107633
Frame 80
tensor(0.1389)
 # KEYFRAME 74
0.0962275870006124
Frame 81
tensor(0.2180)
 # KEYFRAME 75
0.09779215199887403
Frame 82
tensor(0.4299)
 # KEYFRAME 76
0.0985757089983963
Frame 83
tensor(0.3778)
 # KEYFRAME 77
0.09936170600121841
Frame 84
tensor(0.1817)
 # KEYFRAME 78
0.09945247599898721
Frame 85
tensor(0.1614)
 # KEYFRAME 79
0.10056285199971171
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=686 loss_distill=0.4024 tta_take=0.009s
Frame 86
tensor(0.1442)
 # KEYFRAME 80
0.0931402780006465
Frame 87
tensor(0.1843)
 # KEYFRAME 81
0.09385057599865831
Frame 88
tensor(0.1570)
 # KEYFRAME 82
0.09458148300109315
Frame 89
tensor(0.0737)
Frame 90
tensor(0.2433)
 # KEYFRAME 83
0.0956399800015788
Frame 91
tensor(0.3435)
 # KEYFRAME 84
0.096771576001629
Frame 92
tensor(0.5912)
 # KEYFRAME 85
0.0973006140011421
Frame 93
tensor(0.2680)
 # KEYFRAME 86
0.09811416099910275
Frame 94
tensor(0.2791)
 # KEYFRAME 87
0.0989089380018413
Frame 95
tensor(0.2279)
 # KEYFRAME 88
0.09998366400031955
Frame 96
tensor(0.2729)
 # KEYFRAME 89
0.10107900100047118
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=687 loss_distill=0.4024 tta_take=0.009s
Frame 97
tensor(0.0906)
Frame 98
tensor(0.3187)
 # KEYFRAME 90
0.09354210800302099
Frame 99
tensor(0.0670)
Frame 100
tensor(0.2281)
 # KEYFRAME 91
0.09479476299748057
Frame 101
tensor(0.0858)
Frame 102
tensor(0.0980)
Frame 103
tensor(0.1673)
 # KEYFRAME 92
0.09509973199965316
Frame 104
tensor(0.3133)
 # KEYFRAME 93
0.09673259499686537
Frame 105
tensor(0.1624)
 # KEYFRAME 94
0.09718535399952088
Frame 106
tensor(0.1756)
 # KEYFRAME 95
0.09709978400132968
Frame 107
tensor(0.1082)
 # KEYFRAME 96
0.09817058100088616
Frame 108
tensor(0.2980)
 # KEYFRAME 97
0.09926293699754751
Frame 109
tensor(0.5620)
 # KEYFRAME 98
0.09943879599813954
Frame 110
tensor(0.2440)
 # KEYFRAME 99
0.10038231299768086
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=688 loss_distill=0.4024 tta_take=0.009s
Frame 111
tensor(0.1302)
 # KEYFRAME 100
0.09379524600080913
Frame 112
tensor(0.3903)
 # KEYFRAME 101
0.09488912199958577
Frame 113
tensor(0.2216)
 # KEYFRAME 102
0.09562558999823523
Frame 114
tensor(0.0921)
Frame 115
tensor(0.2968)
 # KEYFRAME 103
0.09641272700173431
Frame 116
tensor(0.2400)
 # KEYFRAME 104
0.09762488199703512
Frame 117
tensor(0.2438)
 # KEYFRAME 105
0.09742685299715959
Frame 118
tensor(0.2338)
 # KEYFRAME 106
0.0979425209989131
Frame 119
tensor(0.1440)
 # KEYFRAME 107
0.09975113499967847
Frame 120
tensor(0.2333)
 # KEYFRAME 108
0.10060036199865863
Frame 121
tensor(0.2024)
 # KEYFRAME 109
0.10136660900025163
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595452308655
TTA-STEP: step=689 loss_distill=0.4024 tta_take=0.009s
Frame 122
tensor(0.1197)
 # KEYFRAME 110
0.09322807799981092
Frame 123
tensor(0.4631)
 # KEYFRAME 111
0.09464356399985263
Frame 124
tensor(0.3365)
 # KEYFRAME 112
0.0957927289964573
Frame 125
tensor(0.4160)
 # KEYFRAME 113
0.0963746169982187
Frame 126
tensor(0.3002)
 # KEYFRAME 114
0.09792760200070916
Frame 127
tensor(0.4406)
 # KEYFRAME 115
0.09886717799963662
Frame 128
tensor(0.2717)
 # KEYFRAME 116
0.09916303800127935
Frame 129
tensor(0.2203)
 # KEYFRAME 117
0.099192656998639
Frame 130
tensor(0.2344)
 # KEYFRAME 118
0.09964325500186533
Frame 131
tensor(0.3631)
 # KEYFRAME 119
0.10063755200098967
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=690 loss_distill=0.4024 tta_take=0.009s
Frame 132
tensor(0.3897)
 # KEYFRAME 120
0.09321955799896386
Frame 133
tensor(0.2013)
 # KEYFRAME 121
0.09422114500193857
Frame 134
tensor(0.3664)
 # KEYFRAME 122
0.09531605099982698
Frame 135
tensor(0.2195)
 # KEYFRAME 123
0.09650491700085695
Backending... 124 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 66624, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=691 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 103/556] scannetpp/56a0ec536c/frame frames=136 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=691 time=59.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0890)
Frame 2
tensor(0.2968)
 # KEYFRAME 1
Frame 3
tensor(0.2474)
 # KEYFRAME 2
0.05091872900084127
Frame 4
tensor(0.1280)
 # KEYFRAME 3
0.051026567998633254
Frame 5
tensor(0.3045)
 # KEYFRAME 4
0.051151957999536535
Frame 6
tensor(0.3026)
 # KEYFRAME 5
0.05099133900148445
Frame 7
tensor(0.2010)
 # KEYFRAME 6
0.053159011000389
Frame 8
tensor(0.3204)
 # KEYFRAME 7
0.05384621899793274
Frame 9
tensor(0.2449)
 # KEYFRAME 8
0.054679805998603115
Frame 10
tensor(0.1367)
 # KEYFRAME 9
0.05513024399988353
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.1669)
 # KEYFRAME 10
0.05221534399970551
Frame 12
tensor(0.3676)
 # KEYFRAME 11
0.05280018199846381
Frame 13
tensor(0.0782)
Frame 14
tensor(0.3350)
 # KEYFRAME 12
0.053526920000877
Frame 15
tensor(0.2339)
 # KEYFRAME 13
0.055446982998546446
Frame 16
tensor(0.3558)
 # KEYFRAME 14
0.056119931003195234
Frame 17
tensor(0.3356)
 # KEYFRAME 15
0.05721749700023793
Frame 18
tensor(0.1669)
 # KEYFRAME 16
0.058530121998046525
Frame 19
tensor(0.2627)
 # KEYFRAME 17
0.059755056998255895
Frame 20
tensor(0.1731)
 # KEYFRAME 18
0.060902042998350225
Frame 21
tensor(0.3463)
 # KEYFRAME 19
0.06229817900020862
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 22
tensor(0.4347)
 # KEYFRAME 20
0.05912981000074069
Frame 23
tensor(0.3587)
 # KEYFRAME 21
0.06025805500030401
Frame 24
tensor(0.3453)
 # KEYFRAME 22
0.06114910199903534
Frame 25
tensor(0.2479)
 # KEYFRAME 23
0.06207920000088052
Frame 26
tensor(0.2429)
 # KEYFRAME 24
0.0624145280016819
Frame 27
tensor(0.1485)
 # KEYFRAME 25
0.063466834002611
Frame 28
tensor(0.2868)
 # KEYFRAME 26
0.065070257998741
Frame 29
tensor(0.1625)
 # KEYFRAME 27
0.0662827140004083
Frame 30
tensor(0.1302)
 # KEYFRAME 28
0.06697525200070231
Frame 31
tensor(0.2528)
 # KEYFRAME 29
0.06833092599845259
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.2119)
 # KEYFRAME 30
0.06623547399794916
Frame 33
tensor(0.0795)
Frame 34
tensor(0.0976)
Frame 35
tensor(0.0934)
Frame 36
tensor(0.0982)
Frame 37
tensor(0.2524)
 # KEYFRAME 31
0.06729581999752554
Frame 38
tensor(0.1692)
 # KEYFRAME 32
0.06801196800006437
Frame 39
tensor(0.2305)
 # KEYFRAME 33
0.06851180599915097
Frame 40
tensor(0.1844)
 # KEYFRAME 34
0.06957316199986963
Frame 41
tensor(0.2177)
 # KEYFRAME 35
0.07004329100163886
Frame 42
tensor(0.3513)
 # KEYFRAME 36
0.07118765599807375
Frame 43
tensor(0.0924)
Frame 44
tensor(0.4040)
 # KEYFRAME 37
0.07206793300065328
Frame 45
tensor(0.0726)
Frame 46
tensor(0.2548)
 # KEYFRAME 38
0.07308424999791896
Frame 47
tensor(0.1544)
 # KEYFRAME 39
0.07436674500058871
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=692 loss_distill=0.1733 tta_take=0.009s
Frame 48
tensor(0.1390)
 # KEYFRAME 40
0.07251239199831616
Frame 49
tensor(0.0674)
Frame 50
tensor(0.1960)
 # KEYFRAME 41
0.07348194900259841
Frame 51
tensor(0.1399)
 # KEYFRAME 42
0.07479602400053409
Frame 52
tensor(0.3064)
 # KEYFRAME 43
0.07481542300229194
Frame 53
tensor(0.1458)
 # KEYFRAME 44
0.07551425099882181
Frame 54
tensor(0.2317)
 # KEYFRAME 45
0.07666658700327389
Frame 55
tensor(0.1945)
 # KEYFRAME 46
0.0770892559994536
Frame 56
tensor(0.2368)
 # KEYFRAME 47
0.07815157199729583
Frame 57
tensor(0.0432)
Frame 58
tensor(0.2303)
 # KEYFRAME 48
0.07859670000107144
Frame 59
tensor(0.4530)
 # KEYFRAME 49
0.0793408579993411
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=693 loss_distill=0.2747 tta_take=0.009s
Frame 60
tensor(0.2318)
 # KEYFRAME 50
0.07960513699799776
Frame 61
tensor(0.3527)
 # KEYFRAME 51
0.08053343299980043
Frame 62
tensor(0.2938)
 # KEYFRAME 52
0.08163785899887444
Frame 63
tensor(0.1719)
 # KEYFRAME 53
0.08262107600239688
Frame 64
tensor(0.3183)
 # KEYFRAME 54
0.08361055199929979
Frame 65
tensor(0.2182)
 # KEYFRAME 55
0.08359909200225957
Frame 66
tensor(0.2012)
 # KEYFRAME 56
0.08466994899936253
Frame 67
tensor(0.1044)
 # KEYFRAME 57
0.08585619499717723
Frame 68
tensor(0.1661)
 # KEYFRAME 58
0.08597668400034308
Frame 69
tensor(0.2402)
 # KEYFRAME 59
0.08672630199725972
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=694 loss_distill=0.3466 tta_take=0.009s
Frame 70
tensor(0.1776)
 # KEYFRAME 60
0.08607750400187797
Frame 71
tensor(0.2294)
 # KEYFRAME 61
0.08750448800128652
Frame 72
tensor(0.0330)
Frame 73
tensor(0.1958)
 # KEYFRAME 62
0.08791122699767584
Frame 74
tensor(0.1168)
 # KEYFRAME 63
0.0885772250003356
Frame 75
tensor(0.1108)
 # KEYFRAME 64
0.08970592100013164
Frame 76
tensor(0.3236)
 # KEYFRAME 65
0.09016836899900227
Frame 77
tensor(0.1790)
 # KEYFRAME 66
0.09103584599870373
Frame 78
tensor(0.3241)
 # KEYFRAME 67
0.09158971400029259
Frame 79
tensor(0.1694)
 # KEYFRAME 68
0.09372081699984847
Frame 80
tensor(0.3450)
 # KEYFRAME 69
0.09452196400161483
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=695 loss_distill=0.4024 tta_take=0.009s
Frame 81
tensor(0.2422)
 # KEYFRAME 70
0.0938316659994598
Frame 82
tensor(0.1661)
 # KEYFRAME 71
0.0941586249973625
Frame 83
tensor(0.1743)
 # KEYFRAME 72
0.09475382299933699
Frame 84
tensor(0.3248)
 # KEYFRAME 73
0.09606772899860516
Frame 85
tensor(0.2526)
 # KEYFRAME 74
0.09645367600023746
Frame 86
tensor(0.2210)
 # KEYFRAME 75
0.09800567099955515
Frame 87
tensor(0.2636)
 # KEYFRAME 76
0.09820749099890236
Frame 88
tensor(0.1889)
 # KEYFRAME 77
0.09871151799961808
Frame 89
tensor(0.3723)
 # KEYFRAME 78
0.09980485499909264
Frame 90
tensor(0.7422)
 # KEYFRAME 79
0.10084862100120517
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=696 loss_distill=0.4024 tta_take=0.009s
Frame 91
tensor(0.2735)
 # KEYFRAME 80
0.09355845699974452
Frame 92
tensor(0.1455)
 # KEYFRAME 81
0.0943151850005961
Frame 93
tensor(0.4371)
 # KEYFRAME 82
0.0946470640010375
Frame 94
tensor(0.1745)
 # KEYFRAME 83
0.09587116900002002
Frame 95
tensor(0.1560)
 # KEYFRAME 84
0.09594490899689845
Frame 96
tensor(0.3141)
 # KEYFRAME 85
0.09835285000008298
Frame 97
tensor(0.3323)
 # KEYFRAME 86
0.09824808999837842
Frame 98
tensor(0.3797)
 # KEYFRAME 87
0.09934832699946128
Frame 99
tensor(0.3897)
 # KEYFRAME 88
0.09900183700301568
Frame 100
tensor(0.1444)
 # KEYFRAME 89
0.10134231899792212
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=697 loss_distill=0.4024 tta_take=0.009s
Frame 101
tensor(0.3227)
 # KEYFRAME 90
0.09342651699989801
Frame 102
tensor(0.1859)
 # KEYFRAME 91
0.09456608300024527
Frame 103
tensor(0.3895)
 # KEYFRAME 92
0.09566765899944585
Frame 104
tensor(0.3209)
 # KEYFRAME 93
0.09655026600012206
Frame 105
tensor(0.1393)
 # KEYFRAME 94
0.09656398600054672
Frame 106
tensor(0.3489)
 # KEYFRAME 95
0.09728785400147899
Frame 107
tensor(0.1833)
 # KEYFRAME 96
0.09892051799761248
Frame 108
tensor(0.2120)
 # KEYFRAME 97
0.09990358499999274
Frame 109
tensor(0.1689)
 # KEYFRAME 98
0.09999959400010994
Frame 110
tensor(0.1883)
 # KEYFRAME 99
0.10028183300164528
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=698 loss_distill=0.4024 tta_take=0.009s
Frame 111
tensor(0.0888)
Frame 112
tensor(0.1423)
 # KEYFRAME 100
0.09349658700011787
Frame 113
tensor(0.1095)
 # KEYFRAME 101
0.09409370499997749
Frame 114
tensor(0.2240)
 # KEYFRAME 102
0.09547093999935896
Frame 115
tensor(0.3158)
 # KEYFRAME 103
0.09687975600172649
Frame 116
tensor(0.4083)
 # KEYFRAME 104
0.0974788029998308
Frame 117
tensor(0.3971)
 # KEYFRAME 105
0.09855483900173567
Frame 118
tensor(0.2977)
 # KEYFRAME 106
0.09853247900173301
Frame 119
tensor(0.4479)
 # KEYFRAME 107
0.10048237199953292
Frame 120
tensor(0.3223)
 # KEYFRAME 108
0.10133756900177104
Frame 121
tensor(0.3106)
 # KEYFRAME 109
0.10194812700137845
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=699 loss_distill=0.4024 tta_take=0.009s
Frame 122
tensor(0.4020)
 # KEYFRAME 110
0.09302443900014623
Frame 123
tensor(0.1557)
 # KEYFRAME 111
0.09400361500229337
Frame 124
tensor(0.2124)
 # KEYFRAME 112
0.0950379919995612
Frame 125
tensor(0.2520)
 # KEYFRAME 113
0.09676037600002019
Frame 126
tensor(0.0909)
Frame 127
tensor(0.3591)
 # KEYFRAME 114
0.09800310100035858
Frame 128
tensor(0.2016)
 # KEYFRAME 115
0.09830393000083859
Frame 129
tensor(0.2363)
 # KEYFRAME 116
0.0986844889994245
Frame 130
tensor(0.2158)
 # KEYFRAME 117
0.09952452599827666
Frame 131
tensor(0.3208)
 # KEYFRAME 118
0.10078276200147229
Frame 132
tensor(0.1666)
 # KEYFRAME 119
0.1008824310010823
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595452308655
TTA-STEP: step=700 loss_distill=0.4024 tta_take=0.009s
Frame 133
tensor(0.0928)
Frame 134
tensor(0.3877)
 # KEYFRAME 120
0.09361846599858836
Frame 135
tensor(0.1481)
 # KEYFRAME 121
0.09458664300109376
Frame 136
tensor(0.3401)
 # KEYFRAME 122
0.095664989999932
Frame 137
tensor(0.2115)
 # KEYFRAME 123
0.09606053799871006
Frame 138
tensor(0.3020)
 # KEYFRAME 124
0.09707910499855643
Frame 139
tensor(0.2234)
 # KEYFRAME 125
0.09789057200032403
Frame 140
tensor(0.2771)
 # KEYFRAME 126
0.09851107000213233
Frame 141
tensor(0.2036)
 # KEYFRAME 127
0.09943546599970432
Frame 142
tensor(0.1501)
 # KEYFRAME 128
0.10004219400070724
Frame 143
tensor(0.1758)
 # KEYFRAME 129
0.10050543200122775
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=701 loss_distill=0.4024 tta_take=0.009s
Frame 144
tensor(0.2776)
 # KEYFRAME 130
0.0932278979998955
Frame 145
tensor(0.2012)
 # KEYFRAME 131
0.09401129500110983
Frame 146
tensor(0.2624)
 # KEYFRAME 132
0.09628084700307227
Frame 147
tensor(0.0905)
Frame 148
tensor(0.1519)
 # KEYFRAME 133
0.09629629700066289
Backending... 134 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 66624, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=702 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 104/556] scannetpp/e0abd740ba/frame frames=149 tta_steps_this_scene=11 mean_loss=0.3649 total_steps=702 time=61.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0433)
Frame 2
tensor(0.0886)
Frame 3
tensor(0.1249)
 # KEYFRAME 1
Frame 4
tensor(0.0389)
Frame 5
tensor(0.0847)
Frame 6
tensor(0.1250)
 # KEYFRAME 2
0.051837355000316165
Frame 7
tensor(0.0424)
Frame 8
tensor(0.0888)
Frame 9
tensor(0.1342)
 # KEYFRAME 3
0.05144432700035395
Frame 10
tensor(0.0420)
Frame 11
tensor(0.0869)
Frame 12
tensor(0.1412)
 # KEYFRAME 4
0.05163646599976346
Frame 13
tensor(0.0418)
Frame 14
tensor(0.0894)
Frame 15
tensor(0.1481)
 # KEYFRAME 5
0.05169477600065875
Frame 16
tensor(0.0500)
Frame 17
tensor(0.1041)
 # KEYFRAME 6
0.051457087000017054
Frame 18
tensor(0.0597)
Frame 19
tensor(0.1060)
 # KEYFRAME 7
0.05157466699893121
Frame 20
tensor(0.0467)
Frame 21
tensor(0.1051)
 # KEYFRAME 8
0.051519505999749526
Frame 22
tensor(0.0516)
Frame 23
tensor(0.0971)
Frame 24
tensor(0.1436)
 # KEYFRAME 9
0.05139284799952293
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.0480)
Frame 26
tensor(0.0986)
Frame 27
tensor(0.1469)
 # KEYFRAME 10
0.051919214998633834
Frame 28
tensor(0.0450)
Frame 29
tensor(0.0891)
Frame 30
tensor(0.1339)
 # KEYFRAME 11
0.05194806500003324
Frame 31
tensor(0.0449)
Frame 32
tensor(0.0923)
Frame 33
tensor(0.1394)
 # KEYFRAME 12
0.0519393049980863
Frame 34
tensor(0.0427)
Frame 35
tensor(0.0970)
Frame 36
tensor(0.1351)
 # KEYFRAME 13
0.051950324999779696
Frame 37
tensor(0.0413)
Frame 38
tensor(0.0899)
Frame 39
tensor(0.1294)
 # KEYFRAME 14
0.05184328599716537
Frame 40
tensor(0.0388)
Frame 41
tensor(0.0797)
Frame 42
tensor(0.1183)
 # KEYFRAME 15
0.05196004599929438
Frame 43
tensor(0.0330)
Frame 44
tensor(0.0812)
Frame 45
tensor(0.1161)
 # KEYFRAME 16
0.05207826500191004
Frame 46
tensor(0.0441)
Frame 47
tensor(0.0936)
Frame 48
tensor(0.1327)
 # KEYFRAME 17
0.05211676399994758
Frame 49
tensor(0.0406)
Frame 50
tensor(0.0954)
Frame 51
tensor(0.1336)
 # KEYFRAME 18
0.05314453100072569
Frame 52
tensor(0.0453)
Frame 53
tensor(0.1021)
 # KEYFRAME 19
0.0539908969985845
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 54
tensor(0.0495)
Frame 55
tensor(0.1095)
 # KEYFRAME 20
0.051749285998084815
Frame 56
tensor(0.0588)
Frame 57
tensor(0.1168)
 # KEYFRAME 21
0.051718626000365475
Frame 58
tensor(0.0628)
Frame 59
tensor(0.1189)
 # KEYFRAME 22
0.05164350600171019
Frame 60
tensor(0.0582)
Frame 61
tensor(0.1103)
 # KEYFRAME 23
0.05184846499832929
Frame 62
tensor(0.0625)
Frame 63
tensor(0.1174)
 # KEYFRAME 24
0.05177961600202252
Frame 64
tensor(0.0536)
Frame 65
tensor(0.1159)
 # KEYFRAME 25
0.05172526599926641
Frame 66
tensor(0.0492)
Frame 67
tensor(0.1066)
 # KEYFRAME 26
0.05190139599653776
Frame 68
tensor(0.0542)
Frame 69
tensor(0.1106)
 # KEYFRAME 27
0.05188444500163314
Frame 70
tensor(0.0521)
Frame 71
tensor(0.1174)
 # KEYFRAME 28
0.052819712000200525
Frame 72
tensor(0.0558)
Frame 73
tensor(0.1106)
 # KEYFRAME 29
0.053019791001133854
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 74
tensor(0.0496)
Frame 75
tensor(0.1110)
 # KEYFRAME 30
0.05215107399999397
Frame 76
tensor(0.0573)
Frame 77
tensor(0.1188)
 # KEYFRAME 31
0.05208745400159387
Frame 78
tensor(0.0559)
Frame 79
tensor(0.1123)
 # KEYFRAME 32
0.051926984997408
Frame 80
tensor(0.0520)
Frame 81
tensor(0.0998)
Frame 82
tensor(0.1453)
 # KEYFRAME 33
0.052044215000933036
Frame 83
tensor(0.0441)
Frame 84
tensor(0.0834)
Frame 85
tensor(0.1248)
 # KEYFRAME 34
0.051991325002745725
Frame 86
tensor(0.0429)
Frame 87
tensor(0.0889)
Frame 88
tensor(0.1365)
 # KEYFRAME 35
0.052263575002143625
Frame 89
tensor(0.0463)
Frame 90
tensor(0.0940)
Frame 91
tensor(0.1307)
 # KEYFRAME 36
0.052395014001376694
Frame 92
tensor(0.0369)
Frame 93
tensor(0.0847)
Frame 94
tensor(0.1247)
 # KEYFRAME 37
0.05184060600004159
Frame 95
tensor(0.0401)
Frame 96
tensor(0.0867)
Frame 97
tensor(0.1311)
 # KEYFRAME 38
0.05200042499927804
Frame 98
tensor(0.0459)
Frame 99
tensor(0.0921)
Frame 100
tensor(0.1443)
 # KEYFRAME 39
0.05203226500088931
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=703 loss_distill=0.1733 tta_take=0.005s
Frame 101
tensor(0.0525)
Frame 102
tensor(0.1023)
 # KEYFRAME 40
0.0519922849998693
Frame 103
tensor(0.0466)
Frame 104
tensor(0.0935)
Frame 105
tensor(0.1490)
 # KEYFRAME 41
0.052705073001561686
Frame 106
tensor(0.0467)
Frame 107
tensor(0.1019)
 # KEYFRAME 42
0.05243263300144463
Frame 108
tensor(0.0549)
Frame 109
tensor(0.1069)
 # KEYFRAME 43
0.05215173399847117
Frame 110
tensor(0.0457)
Frame 111
tensor(0.0996)
Frame 112
tensor(0.1485)
 # KEYFRAME 44
0.05333808100112947
Frame 113
tensor(0.0466)
Frame 114
tensor(0.0982)
Frame 115
tensor(0.1437)
 # KEYFRAME 45
0.05176987499726238
Frame 116
tensor(0.0510)
Frame 117
tensor(0.0957)
Frame 118
tensor(0.1469)
 # KEYFRAME 46
0.05181555600211141
Frame 119
tensor(0.0520)
Frame 120
tensor(0.1038)
 # KEYFRAME 47
0.05276517299716943
Frame 121
tensor(0.0478)
Frame 122
tensor(0.1004)
 # KEYFRAME 48
0.052932072001567576
Frame 123
tensor(0.0489)
Frame 124
tensor(0.0937)
Frame 125
tensor(0.1428)
 # KEYFRAME 49
0.05420775700258673
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=704 loss_distill=0.2747 tta_take=0.005s
Frame 126
tensor(0.0392)
Frame 127
tensor(0.0816)
Frame 128
tensor(0.1231)
 # KEYFRAME 50
0.05214183400312322
Frame 129
tensor(0.0349)
Frame 130
tensor(0.0739)
Frame 131
tensor(0.1129)
 # KEYFRAME 51
0.0518682460024138
Frame 132
tensor(0.0382)
Frame 133
tensor(0.0821)
Frame 134
tensor(0.1282)
 # KEYFRAME 52
0.053998838000552496
Frame 135
tensor(0.0386)
Frame 136
tensor(0.0871)
Frame 137
tensor(0.1301)
 # KEYFRAME 53
0.05242373399960343
Frame 138
tensor(0.0409)
Frame 139
tensor(0.0873)
Frame 140
tensor(0.1241)
 # KEYFRAME 54
0.05355309899823624
Frame 141
tensor(0.0371)
Frame 142
tensor(0.0837)
Frame 143
tensor(0.1215)
 # KEYFRAME 55
0.0523023829991871
Frame 144
tensor(0.0351)
Frame 145
tensor(0.0758)
Frame 146
tensor(0.1092)
 # KEYFRAME 56
0.0534541100023489
Frame 147
tensor(0.0340)
Frame 148
tensor(0.0753)
Frame 149
tensor(0.1088)
 # KEYFRAME 57
0.05393327699857764
Frame 150
tensor(0.0358)
Frame 151
tensor(0.0742)
Frame 152
tensor(0.0982)
Frame 153
tensor(0.1362)
 # KEYFRAME 58
0.052825972001301125
Frame 154
tensor(0.0292)
Frame 155
tensor(0.0590)
Frame 156
tensor(0.0891)
Frame 157
tensor(0.1162)
 # KEYFRAME 59
0.05425247699895408
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=705 loss_distill=0.3466 tta_take=0.005s
Frame 158
tensor(0.0266)
Frame 159
tensor(0.0605)
Frame 160
tensor(0.0793)
Frame 161
tensor(0.1104)
 # KEYFRAME 60
0.05217640499904519
Frame 162
tensor(0.0253)
Frame 163
tensor(0.0428)
Frame 164
tensor(0.0648)
Frame 165
tensor(0.0879)
Frame 166
tensor(0.1073)
 # KEYFRAME 61
0.05308433099708054
Frame 167
tensor(0.0162)
Frame 168
tensor(0.0388)
Frame 169
tensor(0.0573)
Frame 170
tensor(0.0751)
Frame 171
tensor(0.0933)
Frame 172
tensor(0.1158)
 # KEYFRAME 62
0.05479772499893443
Frame 173
tensor(0.0167)
Frame 174
tensor(0.0357)
Frame 175
tensor(0.0462)
Frame 176
tensor(0.0647)
Frame 177
tensor(0.0848)
Frame 178
tensor(0.0952)
Frame 179
tensor(0.1164)
 # KEYFRAME 63
0.0522548539993295
Frame 180
tensor(0.0118)
Frame 181
tensor(0.0220)
Frame 182
tensor(0.0380)
Frame 183
tensor(0.0475)
Frame 184
tensor(0.0565)
Frame 185
tensor(0.0664)
Frame 186
tensor(0.0797)
Frame 187
tensor(0.0840)
Frame 188
tensor(0.0943)
Frame 189
tensor(0.0923)
Frame 190
tensor(0.1017)
 # KEYFRAME 64
0.054405145998316584
Frame 191
tensor(0.0048)
Frame 192
tensor(0.0142)
Frame 193
tensor(0.0209)
Frame 194
tensor(0.0270)
Frame 195
tensor(0.0299)
Frame 196
tensor(0.0412)
Frame 197
tensor(0.0475)
Frame 198
tensor(0.0524)
Frame 199
tensor(0.0622)
Frame 200
tensor(0.0696)
Frame 201
tensor(0.0748)
Frame 202
tensor(0.0870)
Frame 203
tensor(0.0964)
Frame 204
tensor(0.1085)
 # KEYFRAME 65
0.05252446300073643
Frame 205
tensor(0.0118)
Frame 206
tensor(0.0238)
Frame 207
tensor(0.0395)
Frame 208
tensor(0.0551)
Frame 209
tensor(0.0737)
Frame 210
tensor(0.0879)
Frame 211
tensor(0.1084)
 # KEYFRAME 66
0.05255458299870952
Frame 212
tensor(0.0186)
Frame 213
tensor(0.0349)
Frame 214
tensor(0.0586)
Frame 215
tensor(0.0752)
Frame 216
tensor(0.0983)
Frame 217
tensor(0.1205)
 # KEYFRAME 67
0.05436481599826948
Frame 218
tensor(0.0194)
Frame 219
tensor(0.0387)
Frame 220
tensor(0.0629)
Frame 221
tensor(0.0832)
Frame 222
tensor(0.1055)
 # KEYFRAME 68
0.052953491001972
Frame 223
tensor(0.0258)
Frame 224
tensor(0.0509)
Frame 225
tensor(0.0746)
Frame 226
tensor(0.1040)
 # KEYFRAME 69
0.055683062000753125
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=706 loss_distill=0.4024 tta_take=0.005s
Frame 227
tensor(0.0249)
Frame 228
tensor(0.0514)
Frame 229
tensor(0.0805)
Frame 230
tensor(0.1050)
 # KEYFRAME 70
0.05340707999857841
Frame 231
tensor(0.0319)
Frame 232
tensor(0.0570)
Frame 233
tensor(0.0852)
Frame 234
tensor(0.1149)
 # KEYFRAME 71
0.05410568699880969
Frame 235
tensor(0.0273)
Frame 236
tensor(0.0518)
Frame 237
tensor(0.0865)
Frame 238
tensor(0.1155)
 # KEYFRAME 72
0.0553103030033526
Frame 239
tensor(0.0306)
Frame 240
tensor(0.0611)
Frame 241
tensor(0.0892)
Frame 242
tensor(0.1269)
 # KEYFRAME 73
0.05336450000322657
Frame 243
tensor(0.0319)
Frame 244
tensor(0.0654)
Frame 245
tensor(0.0984)
Frame 246
tensor(0.1324)
 # KEYFRAME 74
0.05521014400073909
Frame 247
tensor(0.0313)
Frame 248
tensor(0.0699)
Frame 249
tensor(0.1003)
 # KEYFRAME 75
0.05357701899993117
Frame 250
tensor(0.0313)
Frame 251
tensor(0.0679)
Frame 252
tensor(0.0953)
Frame 253
tensor(0.1339)
 # KEYFRAME 76
0.0537185489993135
Frame 254
tensor(0.0348)
Frame 255
tensor(0.0682)
Frame 256
tensor(0.1028)
 # KEYFRAME 77
0.05522432300131186
Frame 257
tensor(0.0309)
Frame 258
tensor(0.0636)
Frame 259
tensor(0.1002)
 # KEYFRAME 78
0.05437133600207744
Frame 260
tensor(0.0301)
Frame 261
tensor(0.0683)
Frame 262
tensor(0.0987)
Frame 263
tensor(0.1316)
 # KEYFRAME 79
0.05571792199771153
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=707 loss_distill=0.4024 tta_take=0.005s
Frame 264
tensor(0.0357)
Frame 265
tensor(0.0693)
Frame 266
tensor(0.1053)
 # KEYFRAME 80
0.053191931001492776
Frame 267
tensor(0.0298)
Frame 268
tensor(0.0704)
Frame 269
tensor(0.1060)
 # KEYFRAME 81
0.053660108998883516
Frame 270
tensor(0.0368)
Frame 271
tensor(0.0727)
Frame 272
tensor(0.1106)
 # KEYFRAME 82
0.05395714800033602
Frame 273
tensor(0.0404)
Frame 274
tensor(0.0754)
Frame 275
tensor(0.1086)
 # KEYFRAME 83
0.053723339002317516
Frame 276
tensor(0.0430)
Frame 277
tensor(0.0763)
Frame 278
tensor(0.1129)
 # KEYFRAME 84
0.05428971699802787
Frame 279
tensor(0.0388)
Frame 280
tensor(0.0722)
Frame 281
tensor(0.1048)
 # KEYFRAME 85
0.05377920899991295
Frame 282
tensor(0.0403)
Frame 283
tensor(0.0810)
Frame 284
tensor(0.1178)
 # KEYFRAME 86
0.053469620001123985
Frame 285
tensor(0.0356)
Frame 286
tensor(0.0740)
Frame 287
tensor(0.1100)
 # KEYFRAME 87
0.05508732399903238
Frame 288
tensor(0.0341)
Frame 289
tensor(0.0725)
Frame 290
tensor(0.1109)
 # KEYFRAME 88
0.05380444799811812
Frame 291
tensor(0.0368)
Frame 292
tensor(0.0779)
Frame 293
tensor(0.1214)
 # KEYFRAME 89
0.05487316399739939
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=708 loss_distill=0.4024 tta_take=0.005s
Frame 294
tensor(0.0365)
Frame 295
tensor(0.0862)
Frame 296
tensor(0.1240)
 # KEYFRAME 90
0.05276759199841763
Frame 297
tensor(0.0416)
Frame 298
tensor(0.0887)
Frame 299
tensor(0.1320)
 # KEYFRAME 91
0.05407184700015932
Backending... 92 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 25544, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=709 loss_distill=0.4024 tta_take=0.002s
[epoch 0 scene 105/556] vkitti/Scene01/morning/Camera_1 frames=300 tta_steps_this_scene=7 mean_loss=0.3434 total_steps=709 time=99.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.4539)
 # KEYFRAME 1
Frame 2
tensor(0.0754)
Frame 3
tensor(0.1382)
 # KEYFRAME 2
0.05191947499770322
Frame 4
tensor(0.5732)
 # KEYFRAME 3
0.05338222999853315
Frame 5
tensor(0.1232)
 # KEYFRAME 4
0.053605359000357566
Frame 6
tensor(0.1385)
 # KEYFRAME 5
0.054653835999488365
Frame 7
tensor(0.0978)
Frame 8
tensor(0.2348)
 # KEYFRAME 6
0.05569113199817366
Frame 9
tensor(0.0971)
Frame 10
tensor(0.1233)
 # KEYFRAME 7
0.056598259001475526
Frame 11
tensor(0.2534)
 # KEYFRAME 8
0.05708955700174556
Frame 12
tensor(0.1135)
 # KEYFRAME 9
0.05825385299976915
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 13
tensor(0.1029)
 # KEYFRAME 10
0.051488506000168854
Frame 14
tensor(0.1018)
 # KEYFRAME 11
0.05255676300293999
Frame 15
tensor(0.0548)
Frame 16
tensor(0.1294)
 # KEYFRAME 12
0.053772609000589
Frame 17
tensor(0.1095)
 # KEYFRAME 13
0.05471338499773992
Frame 18
tensor(0.0611)
Frame 19
tensor(0.1204)
 # KEYFRAME 14
0.054408706000685925
Frame 20
tensor(0.1051)
 # KEYFRAME 15
0.0547153059997072
Frame 21
tensor(0.1160)
 # KEYFRAME 16
0.055322652999166166
Frame 22
tensor(0.0983)
Frame 23
tensor(0.3276)
 # KEYFRAME 17
0.05629423999926075
Frame 24
tensor(0.1220)
 # KEYFRAME 18
0.05767870500130812
Frame 25
tensor(0.1061)
 # KEYFRAME 19
0.05727807599760126
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 26
tensor(0.0789)
Frame 27
tensor(0.1754)
 # KEYFRAME 20
0.05384708800193039
Frame 28
tensor(0.0655)
Frame 29
tensor(0.1428)
 # KEYFRAME 21
0.05506036400038283
Frame 30
tensor(0.1124)
 # KEYFRAME 22
0.05542018299820484
Frame 31
tensor(0.1384)
 # KEYFRAME 23
0.05588490100126364
Frame 32
tensor(0.1959)
 # KEYFRAME 24
0.056111391000740696
Frame 33
tensor(0.1839)
 # KEYFRAME 25
0.05666891900182236
Frame 34
tensor(0.1109)
 # KEYFRAME 26
0.057851745001244126
Frame 35
tensor(0.1005)
 # KEYFRAME 27
0.05877918100304669
Frame 36
tensor(0.0806)
Frame 37
tensor(0.1543)
 # KEYFRAME 28
0.060018546999344835
Frame 38
tensor(0.1998)
 # KEYFRAME 29
0.06060262399842031
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 39
tensor(0.1958)
 # KEYFRAME 30
0.05835789200136787
Frame 40
tensor(0.4301)
 # KEYFRAME 31
0.059402678001788445
Frame 41
tensor(0.0662)
Frame 42
tensor(0.1558)
 # KEYFRAME 32
0.059232728999631945
Frame 43
tensor(0.6143)
 # KEYFRAME 33
0.06012878600085969
Frame 44
tensor(0.1997)
 # KEYFRAME 34
0.06070548400020925
Frame 45
tensor(0.0853)
Frame 46
tensor(0.1536)
 # KEYFRAME 35
0.061496230999182444
Frame 47
tensor(0.0749)
Frame 48
tensor(0.1498)
 # KEYFRAME 36
0.06234192800184246
Frame 49
tensor(0.0571)
Frame 50
tensor(0.1334)
 # KEYFRAME 37
0.0629920850005874
Frame 51
tensor(0.0576)
Frame 52
tensor(0.0721)
Frame 53
tensor(0.1105)
 # KEYFRAME 38
0.06329993400140665
Frame 54
tensor(0.2373)
 # KEYFRAME 39
0.06403014299939969
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=710 loss_distill=0.1733 tta_take=0.008s
Frame 55
tensor(0.1236)
 # KEYFRAME 40
0.06247634799728985
Frame 56
tensor(0.0672)
Frame 57
tensor(0.1202)
 # KEYFRAME 41
0.06410937199689215
Frame 58
tensor(0.0721)
Frame 59
tensor(0.2057)
 # KEYFRAME 42
0.0641403919980803
Frame 60
tensor(0.1136)
 # KEYFRAME 43
0.06459186000211048
Frame 61
tensor(0.2876)
 # KEYFRAME 44
0.06657065300169052
Frame 62
tensor(0.0913)
Frame 63
tensor(0.1731)
 # KEYFRAME 45
0.06714120099786669
Frame 64
tensor(0.1046)
 # KEYFRAME 46
0.06806938799854834
Frame 65
tensor(0.0692)
Frame 66
tensor(0.4374)
 # KEYFRAME 47
0.06815166699743713
Frame 67
tensor(0.1296)
 # KEYFRAME 48
0.06901688399739214
Frame 68
tensor(0.3383)
 # KEYFRAME 49
0.06913672399969073
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=711 loss_distill=0.2747 tta_take=0.008s
Frame 69
tensor(0.0732)
Frame 70
tensor(0.1224)
 # KEYFRAME 50
0.06667562299844576
Frame 71
tensor(0.3729)
 # KEYFRAME 51
0.06839157700233045
Frame 72
tensor(0.1133)
 # KEYFRAME 52
0.0689897039992502
Frame 73
tensor(0.1219)
 # KEYFRAME 53
0.06955858199944487
Frame 74
tensor(0.6962)
 # KEYFRAME 54
0.06898777400056133
Frame 75
tensor(0.1012)
 # KEYFRAME 55
0.07118103700122447
Frame 76
tensor(0.0484)
Frame 77
tensor(0.0690)
Frame 78
tensor(0.1107)
 # KEYFRAME 56
0.07222972300223773
Frame 79
tensor(0.2839)
 # KEYFRAME 57
0.07335818899809965
Frame 80
tensor(0.1353)
 # KEYFRAME 58
0.07394755700079259
Frame 81
tensor(0.0499)
Frame 82
tensor(0.3805)
 # KEYFRAME 59
0.0746988840000995
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=712 loss_distill=0.3466 tta_take=0.008s
Frame 83
tensor(0.2242)
 # KEYFRAME 60
0.0709856569992553
Frame 84
tensor(0.0287)
Frame 85
tensor(0.0449)
Frame 86
tensor(0.0244)
Frame 87
tensor(0.6170)
 # KEYFRAME 61
0.07293861099969945
Frame 88
tensor(0.0248)
Frame 89
tensor(0.3575)
 # KEYFRAME 62
0.07302483999956166
Frame 90
tensor(0.0280)
Frame 91
tensor(0.1125)
 # KEYFRAME 63
0.07381117700060713
Frame 92
tensor(0.1215)
 # KEYFRAME 64
0.07481675400049426
Frame 93
tensor(0.1022)
 # KEYFRAME 65
0.07351373900019098
Frame 94
tensor(0.1260)
 # KEYFRAME 66
0.07656157800010988
Frame 95
tensor(0.1037)
 # KEYFRAME 67
0.07728246499755187
Frame 96
tensor(0.1985)
 # KEYFRAME 68
0.07835591099865269
Frame 97
tensor(0.1297)
 # KEYFRAME 69
0.07897051899999497
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=713 loss_distill=0.4024 tta_take=0.008s
Frame 98
tensor(0.1296)
 # KEYFRAME 70
0.07617648900122731
Frame 99
tensor(0.0618)
Frame 100
tensor(0.1859)
 # KEYFRAME 71
0.07617312899674289
Frame 101
tensor(0.3275)
 # KEYFRAME 72
0.0764884179989167
Frame 102
tensor(1.0172)
 # KEYFRAME 73
0.07688425599917537
Frame 103
tensor(0.1960)
 # KEYFRAME 74
0.07724585500182002
Frame 104
tensor(0.1198)
 # KEYFRAME 75
0.07789694299935945
Frame 105
tensor(0.3658)
 # KEYFRAME 76
0.07789331299863989
Frame 106
tensor(0.0617)
Frame 107
tensor(0.1342)
 # KEYFRAME 77
0.07886490999953821
Frame 108
tensor(0.1195)
 # KEYFRAME 78
0.07936788799997885
Frame 109
tensor(0.2129)
 # KEYFRAME 79
0.07981761599876336
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595452308655
TTA-STEP: step=714 loss_distill=0.4024 tta_take=0.009s
Frame 110
tensor(0.0990)
Frame 111
tensor(0.1994)
 # KEYFRAME 80
0.07543804200031445
Frame 112
tensor(0.1515)
 # KEYFRAME 81
0.07702546600194182
Frame 113
tensor(0.1007)
 # KEYFRAME 82
0.07701761600037571
Frame 114
tensor(0.2508)
 # KEYFRAME 83
0.07816125099998317
Frame 115
tensor(0.0938)
Frame 116
tensor(0.1733)
 # KEYFRAME 84
0.07922942900040653
Frame 117
tensor(0.0934)
Frame 118
tensor(0.1792)
 # KEYFRAME 85
0.07976265700199292
Frame 119
tensor(0.2218)
 # KEYFRAME 86
0.07850800099913613
Frame 120
tensor(0.1073)
 # KEYFRAME 87
0.08114265099720797
Frame 121
tensor(0.2037)
 # KEYFRAME 88
0.0823823570026434
Frame 122
tensor(0.0951)
Frame 123
tensor(0.1659)
 # KEYFRAME 89
0.08299536499907845
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=715 loss_distill=0.4024 tta_take=0.008s
Frame 124
tensor(0.1195)
 # KEYFRAME 90
0.07513663300051121
Frame 125
tensor(0.1096)
 # KEYFRAME 91
0.07559400100217317
Frame 126
tensor(0.1113)
 # KEYFRAME 92
0.07633294900006149
Frame 127
tensor(0.0995)
Frame 128
tensor(0.0576)
Frame 129
tensor(0.1702)
 # KEYFRAME 93
0.07677764699838008
Frame 130
tensor(0.4255)
 # KEYFRAME 94
0.07729850499890745
Frame 131
tensor(0.1063)
 # KEYFRAME 95
0.07788989199980278
Frame 132
tensor(0.0573)
Frame 133
tensor(0.1190)
 # KEYFRAME 96
0.07825019100346253
Frame 134
tensor(0.3363)
 # KEYFRAME 97
0.07866372999706073
Frame 135
tensor(0.0894)
Frame 136
tensor(0.1781)
 # KEYFRAME 98
0.07926263799890876
Frame 137
tensor(0.0867)
Frame 138
tensor(0.1968)
 # KEYFRAME 99
0.07956786700015073
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=716 loss_distill=0.4024 tta_take=0.009s
Frame 139
tensor(0.5556)
 # KEYFRAME 100
0.07522600300217164
Frame 140
tensor(0.0868)
Frame 141
tensor(0.2491)
 # KEYFRAME 101
0.0764347380027175
Frame 142
tensor(0.1144)
 # KEYFRAME 102
0.07633244800308603
Frame 143
tensor(0.0633)
Backending... 103 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 58590, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=717 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 106/556] scannetpp/6855e1ac32/DSC frames=144 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=717 time=47.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.4195)
 # KEYFRAME 1
Frame 2
tensor(0.2513)
 # KEYFRAME 2
0.05186219499955769
Frame 3
tensor(0.2000)
 # KEYFRAME 3
0.05419948700000532
Frame 4
tensor(0.1458)
 # KEYFRAME 4
0.05451432599875261
Frame 5
tensor(0.1457)
 # KEYFRAME 5
0.05485179500101367
Frame 6
tensor(0.4019)
 # KEYFRAME 6
0.056006140999670606
Frame 7
tensor(0.2010)
 # KEYFRAME 7
0.056831188001524424
Frame 8
tensor(0.1717)
 # KEYFRAME 8
0.05809717299780459
Frame 9
tensor(0.1535)
 # KEYFRAME 9
0.05816739299916662
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.3859)
 # KEYFRAME 10
0.0528697320005449
Frame 11
tensor(0.2314)
 # KEYFRAME 11
0.05353662999914377
Frame 12
tensor(0.1604)
 # KEYFRAME 12
0.054426556001999415
Frame 13
tensor(0.2001)
 # KEYFRAME 13
0.056590637999761384
Frame 14
tensor(0.2001)
 # KEYFRAME 14
0.057104325998807326
Frame 15
tensor(0.1427)
 # KEYFRAME 15
0.05777882400070666
Frame 16
tensor(0.2106)
 # KEYFRAME 16
0.05869535099918721
Frame 17
tensor(0.3033)
 # KEYFRAME 17
0.059858846998395165
Frame 18
tensor(0.2188)
 # KEYFRAME 18
0.06091771299907123
Frame 19
tensor(0.3116)
 # KEYFRAME 19
0.06240009800239932
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 20
tensor(0.1023)
 # KEYFRAME 20
0.059156678998988355
Frame 21
tensor(0.0744)
Frame 22
tensor(0.2439)
 # KEYFRAME 21
0.059934695997071685
Frame 23
tensor(0.5448)
 # KEYFRAME 22
0.060800963001383934
Frame 24
tensor(0.2284)
 # KEYFRAME 23
0.062039820000791224
Frame 25
tensor(0.2286)
 # KEYFRAME 24
0.06256807699901401
Frame 26
tensor(0.2136)
 # KEYFRAME 25
0.06376881300093373
Frame 27
tensor(0.1712)
 # KEYFRAME 26
0.06501166800080682
Frame 28
tensor(0.3360)
 # KEYFRAME 27
0.0656735770025989
Frame 29
tensor(0.1752)
 # KEYFRAME 28
0.06651518299986492
Frame 30
tensor(0.2841)
 # KEYFRAME 29
0.06823846699990099
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 31
tensor(0.1167)
 # KEYFRAME 30
0.06605151500116335
Frame 32
tensor(0.1076)
 # KEYFRAME 31
0.06700332100081141
Frame 33
tensor(0.0322)
Frame 34
tensor(0.1357)
 # KEYFRAME 32
0.06825495700104511
Frame 35
tensor(0.2014)
 # KEYFRAME 33
0.06884755499777384
Frame 36
tensor(0.2000)
 # KEYFRAME 34
0.06984337199901347
Frame 37
tensor(0.2381)
 # KEYFRAME 35
0.07062334799775272
Frame 38
tensor(0.1877)
 # KEYFRAME 36
0.07172676399932243
Frame 39
tensor(0.3263)
 # KEYFRAME 37
0.07224964299894054
Frame 40
tensor(0.2040)
 # KEYFRAME 38
0.07290982100312249
Frame 41
tensor(0.3979)
 # KEYFRAME 39
0.07368951799799106
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=718 loss_distill=0.1733 tta_take=0.009s
Frame 42
tensor(0.5951)
 # KEYFRAME 40
0.07218179300252814
Frame 43
tensor(0.1222)
 # KEYFRAME 41
0.07401166700219619
Frame 44
tensor(0.0729)
Frame 45
tensor(0.2126)
 # KEYFRAME 42
0.07444255500013242
Frame 46
tensor(0.1353)
 # KEYFRAME 43
0.07533019200127455
Frame 47
tensor(0.1642)
 # KEYFRAME 44
0.07586153000011109
Frame 48
tensor(0.3087)
 # KEYFRAME 45
0.07659935700212372
Frame 49
tensor(0.4798)
 # KEYFRAME 46
0.07694711599833681
Frame 50
tensor(0.3834)
 # KEYFRAME 47
0.07772092300001532
Frame 51
tensor(0.1790)
 # KEYFRAME 48
0.07911793799939915
Frame 52
tensor(0.2463)
 # KEYFRAME 49
0.07994428500023787
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=719 loss_distill=0.2747 tta_take=0.009s
Frame 53
tensor(0.5034)
 # KEYFRAME 50
0.07897730900003808
Frame 54
tensor(0.4843)
 # KEYFRAME 51
0.08144315999743412
Frame 55
tensor(0.3312)
 # KEYFRAME 52
0.08120948099895031
Frame 56
tensor(0.1108)
 # KEYFRAME 53
0.08262851600011345
Frame 57
tensor(0.1410)
 # KEYFRAME 54
0.0834578230023908
Frame 58
tensor(0.2030)
 # KEYFRAME 55
0.08462901899838471
Frame 59
tensor(0.0958)
Frame 60
tensor(0.2695)
 # KEYFRAME 56
0.08541558599972632
Frame 61
tensor(0.1228)
 # KEYFRAME 57
0.0865692420011328
Frame 62
tensor(0.0810)
Frame 63
tensor(0.0679)
Frame 64
tensor(0.1131)
 # KEYFRAME 58
0.08861053500004346
Frame 65
tensor(0.0950)
Frame 66
tensor(0.2390)
 # KEYFRAME 59
0.08877087400105665
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=720 loss_distill=0.3466 tta_take=0.009s
Frame 67
tensor(0.1279)
 # KEYFRAME 60
0.08659750099832308
Frame 68
tensor(0.2752)
 # KEYFRAME 61
0.08843420499761123
Frame 69
tensor(0.0829)
Frame 70
tensor(0.2454)
 # KEYFRAME 62
0.08915572299883934
Frame 71
tensor(0.1650)
 # KEYFRAME 63
0.08945786200274597
Frame 72
tensor(0.0565)
Frame 73
tensor(0.1452)
 # KEYFRAME 64
0.09105046600234346
Frame 74
tensor(0.0708)
Frame 75
tensor(0.2576)
 # KEYFRAME 65
0.09222245099954307
Frame 76
tensor(0.1265)
 # KEYFRAME 66
0.09357888700105832
Frame 77
tensor(0.2585)
 # KEYFRAME 67
0.09510940199834295
Frame 78
tensor(0.4496)
 # KEYFRAME 68
0.09601016899978276
Frame 79
tensor(0.1579)
 # KEYFRAME 69
0.09688858499794151
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=721 loss_distill=0.4024 tta_take=0.009s
Frame 80
tensor(0.1225)
 # KEYFRAME 70
0.09394370500012883
Frame 81
tensor(0.1725)
 # KEYFRAME 71
0.09447248300057254
Frame 82
tensor(0.0208)
Frame 83
tensor(0.1180)
 # KEYFRAME 72
0.09579857899734634
Frame 84
tensor(0.1768)
 # KEYFRAME 73
0.09621914699891931
Frame 85
tensor(0.0879)
Frame 86
tensor(0.1146)
 # KEYFRAME 74
0.09729325399894151
Frame 87
tensor(0.0719)
Frame 88
tensor(0.2685)
 # KEYFRAME 75
0.0984352499981469
Frame 89
tensor(0.0241)
Frame 90
tensor(0.1503)
 # KEYFRAME 76
0.1000124849997519
Frame 91
tensor(0.0280)
Frame 92
tensor(0.1355)
 # KEYFRAME 77
0.10095587100295234
Frame 93
tensor(0.1710)
 # KEYFRAME 78
0.10119888999906834
Frame 94
tensor(0.0813)
Frame 95
tensor(0.1046)
 # KEYFRAME 79
0.10192200699748355
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=722 loss_distill=0.4024 tta_take=0.009s
Frame 96
tensor(0.1185)
 # KEYFRAME 80
0.09341764800046803
Frame 97
tensor(0.1501)
 # KEYFRAME 81
0.09505988100136165
Frame 98
tensor(0.1315)
 # KEYFRAME 82
0.09497173199997633
Frame 99
tensor(0.1830)
 # KEYFRAME 83
0.09598783900219132
Frame 100
tensor(0.2081)
 # KEYFRAME 84
0.09590217799996026
Frame 101
tensor(0.2881)
 # KEYFRAME 85
0.09697924500142108
Frame 102
tensor(0.1540)
 # KEYFRAME 86
0.09812084100121865
Frame 103
tensor(0.1515)
 # KEYFRAME 87
0.09849197899893625
Frame 104
tensor(0.2093)
 # KEYFRAME 88
0.09951291600009426
Frame 105
tensor(0.1441)
 # KEYFRAME 89
0.10020283300036681
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=723 loss_distill=0.4024 tta_take=0.009s
Frame 106
tensor(0.0192)
Frame 107
tensor(0.2428)
 # KEYFRAME 90
0.09267032999923686
Frame 108
tensor(0.1818)
 # KEYFRAME 91
0.09488838199831662
Frame 109
tensor(0.2628)
 # KEYFRAME 92
0.0947603229978995
Frame 110
tensor(0.2285)
 # KEYFRAME 93
0.09602723799980595
Frame 111
tensor(0.2884)
 # KEYFRAME 94
0.09708583500105306
Frame 112
tensor(0.1902)
 # KEYFRAME 95
0.09663550600089366
Frame 113
tensor(0.0900)
Frame 114
tensor(0.2063)
 # KEYFRAME 96
0.09778083199853427
Frame 115
tensor(0.1758)
 # KEYFRAME 97
0.09801254100239021
Frame 116
tensor(0.1153)
 # KEYFRAME 98
0.09922839700084296
Frame 117
tensor(0.1248)
 # KEYFRAME 99
0.09988755400263472
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=724 loss_distill=0.4024 tta_take=0.009s
Frame 118
tensor(0.1138)
 # KEYFRAME 100
0.0930051489995094
Frame 119
tensor(0.1140)
 # KEYFRAME 101
0.0941553250013385
Frame 120
tensor(0.2076)
 # KEYFRAME 102
0.09558735999962664
Frame 121
tensor(0.0849)
Frame 122
tensor(0.1778)
 # KEYFRAME 103
0.09624524800165091
Frame 123
tensor(0.3793)
 # KEYFRAME 104
0.09635514700130443
Frame 124
tensor(0.4143)
 # KEYFRAME 105
0.09680690599998343
Frame 125
tensor(0.0739)
Frame 126
tensor(0.3903)
 # KEYFRAME 106
0.09726977399986936
Frame 127
tensor(0.1588)
 # KEYFRAME 107
0.09859139900072478
Frame 128
tensor(0.0687)
Frame 129
tensor(0.1143)
 # KEYFRAME 108
0.09853175000171177
Frame 130
tensor(0.1589)
 # KEYFRAME 109
0.09979092499997932
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=725 loss_distill=0.4024 tta_take=0.009s
Frame 131
tensor(0.1397)
 # KEYFRAME 110
0.09271271000034176
Frame 132
tensor(0.1948)
 # KEYFRAME 111
0.09398472499742638
Frame 133
tensor(0.1431)
 # KEYFRAME 112
0.09557021000000532
Frame 134
tensor(0.1116)
 # KEYFRAME 113
0.09525002100053825
Frame 135
tensor(0.0876)
Frame 136
tensor(0.3698)
 # KEYFRAME 114
0.09642859700034023
Frame 137
tensor(0.2636)
 # KEYFRAME 115
0.09674417600035667
Frame 138
tensor(0.1519)
 # KEYFRAME 116
0.09800470100162784
Frame 139
tensor(0.2132)
 # KEYFRAME 117
0.09851875900130835
Frame 140
tensor(0.1403)
 # KEYFRAME 118
0.09907377700073994
Frame 141
tensor(0.1305)
 # KEYFRAME 119
0.09917041700100526
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=726 loss_distill=0.4024 tta_take=0.009s
Frame 142
tensor(0.1824)
 # KEYFRAME 120
0.09246691099906457
Frame 143
tensor(0.0533)
Frame 144
tensor(0.1121)
 # KEYFRAME 121
0.0951694210016285
Frame 145
tensor(0.0812)
Backending... 122 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 64542, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=727 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 107/556] scannetpp/ef69d58016/frame frames=146 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=727 time=57.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0323)
Frame 2
tensor(0.1406)
 # KEYFRAME 1
Frame 3
tensor(0.0639)
Frame 4
tensor(0.1959)
 # KEYFRAME 2
0.05179467599737109
Frame 5
tensor(0.0560)
Frame 6
tensor(0.1624)
 # KEYFRAME 3
0.05329140000321786
Frame 7
tensor(0.2305)
 # KEYFRAME 4
0.05353976900005364
Frame 8
tensor(0.0635)
Frame 9
tensor(0.2207)
 # KEYFRAME 5
0.0546635860009701
Frame 10
tensor(0.0936)
Frame 11
tensor(0.2855)
 # KEYFRAME 6
0.05551331199967535
Frame 12
tensor(0.0541)
Frame 13
tensor(0.0923)
Frame 14
tensor(0.2111)
 # KEYFRAME 7
0.05626508000204922
Frame 15
tensor(0.1241)
 # KEYFRAME 8
0.057183046999853104
Frame 16
tensor(0.2426)
 # KEYFRAME 9
0.0589424810023047
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 17
tensor(0.1013)
 # KEYFRAME 10
0.05140287700123736
Frame 18
tensor(0.0330)
Frame 19
tensor(0.2409)
 # KEYFRAME 11
0.05236022399913054
Frame 20
tensor(0.0984)
Frame 21
tensor(0.4059)
 # KEYFRAME 12
0.053636739001376554
Frame 22
tensor(0.0759)
Frame 23
tensor(0.1106)
 # KEYFRAME 13
0.054650294998282334
Frame 24
tensor(0.1173)
 # KEYFRAME 14
0.054347436998796184
Frame 25
tensor(0.0384)
Frame 26
tensor(0.1539)
 # KEYFRAME 15
0.05465630599792348
Frame 27
tensor(0.1020)
 # KEYFRAME 16
0.05512268399979803
Frame 28
tensor(0.0678)
Frame 29
tensor(0.1705)
 # KEYFRAME 17
0.055937990997335874
Frame 30
tensor(0.0726)
Frame 31
tensor(0.1850)
 # KEYFRAME 18
0.056572607998532476
Frame 32
tensor(0.0359)
Frame 33
tensor(0.1312)
 # KEYFRAME 19
0.05713699700208963
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 34
tensor(0.0553)
Frame 35
tensor(0.0876)
Frame 36
tensor(0.2607)
 # KEYFRAME 20
0.05390362799880677
Frame 37
tensor(0.1212)
 # KEYFRAME 21
0.054589386003499385
Frame 38
tensor(0.3547)
 # KEYFRAME 22
0.055293732999416534
Frame 39
tensor(0.0777)
Frame 40
tensor(0.1635)
 # KEYFRAME 23
0.05564806199981831
Frame 41
tensor(0.1473)
 # KEYFRAME 24
0.056709058000706136
Frame 42
tensor(0.0588)
Frame 43
tensor(0.1681)
 # KEYFRAME 25
0.05649010900015128
Frame 44
tensor(0.0264)
Frame 45
tensor(0.0522)
Frame 46
tensor(0.0720)
Frame 47
tensor(0.0562)
Frame 48
tensor(0.1234)
 # KEYFRAME 26
0.05783363499722327
Frame 49
tensor(0.3889)
 # KEYFRAME 27
0.05877463099750457
Frame 50
tensor(0.0416)
Frame 51
tensor(0.1808)
 # KEYFRAME 28
0.05964574799872935
Frame 52
tensor(0.0701)
Frame 53
tensor(0.3017)
 # KEYFRAME 29
0.060230045000935206
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 54
tensor(0.0440)
Frame 55
tensor(0.1583)
 # KEYFRAME 30
0.058238983001501765
Frame 56
tensor(0.0697)
Frame 57
tensor(0.1731)
 # KEYFRAME 31
0.05904937000013888
Frame 58
tensor(0.1189)
 # KEYFRAME 32
0.05898331999924267
Frame 59
tensor(0.4086)
 # KEYFRAME 33
0.05995727600020473
Frame 60
tensor(0.1374)
 # KEYFRAME 34
0.06073226300213719
Frame 61
tensor(0.0550)
Frame 62
tensor(0.1282)
 # KEYFRAME 35
0.061310551998758456
Frame 63
tensor(0.2378)
 # KEYFRAME 36
0.06214267900213599
Frame 64
tensor(0.1089)
 # KEYFRAME 37
0.06261317700045765
Frame 65
tensor(0.1624)
 # KEYFRAME 38
0.06301815600090777
Frame 66
tensor(0.0349)
Frame 67
tensor(0.0845)
Frame 68
tensor(0.1564)
 # KEYFRAME 39
0.06397951199687668
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=728 loss_distill=0.1733 tta_take=0.008s
Frame 69
tensor(0.0283)
Frame 70
tensor(0.1053)
 # KEYFRAME 40
0.06241325799783226
Frame 71
tensor(0.0227)
Frame 72
tensor(0.0774)
Frame 73
tensor(0.1622)
 # KEYFRAME 41
0.06415924100292614
Frame 74
tensor(0.0395)
Frame 75
tensor(0.1805)
 # KEYFRAME 42
0.06422267199741327
Frame 76
tensor(0.1216)
 # KEYFRAME 43
0.06444150999959675
Frame 77
tensor(0.1923)
 # KEYFRAME 44
0.0662963149989082
Frame 78
tensor(0.0665)
Frame 79
tensor(0.1534)
 # KEYFRAME 45
0.06691479199798778
Frame 80
tensor(0.1019)
 # KEYFRAME 46
0.0678223489994707
Frame 81
tensor(0.1205)
 # KEYFRAME 47
0.06809259800138534
Frame 82
tensor(0.2319)
 # KEYFRAME 48
0.06896102500104462
Frame 83
tensor(0.1393)
 # KEYFRAME 49
0.06901197399929515
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=729 loss_distill=0.2747 tta_take=0.008s
Frame 84
tensor(0.0805)
Frame 85
tensor(0.1102)
 # KEYFRAME 50
0.06664551300127641
Frame 86
tensor(0.0671)
Frame 87
tensor(0.1068)
 # KEYFRAME 51
0.06835929700173438
Frame 88
tensor(0.0929)
Frame 89
tensor(0.1384)
 # KEYFRAME 52
0.06886788499832619
Frame 90
tensor(0.2257)
 # KEYFRAME 53
0.06964375199822825
Frame 91
tensor(0.1143)
 # KEYFRAME 54
0.0688383850028913
Frame 92
tensor(0.1993)
 # KEYFRAME 55
0.07158578499729629
Frame 93
tensor(0.4987)
 # KEYFRAME 56
0.07224797299932106
Frame 94
tensor(0.0071)
Frame 95
tensor(0.0454)
Frame 96
tensor(0.0592)
Frame 97
tensor(0.1718)
 # KEYFRAME 57
0.07308754000041517
Frame 98
tensor(0.0532)
Frame 99
tensor(0.0874)
Frame 100
tensor(0.0971)
Frame 101
tensor(0.1111)
 # KEYFRAME 58
0.07397987700096564
Frame 102
tensor(0.0794)
Frame 103
tensor(0.1039)
 # KEYFRAME 59
0.07483319300081348
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=730 loss_distill=0.3466 tta_take=0.008s
Frame 104
tensor(0.0894)
Frame 105
tensor(0.1758)
 # KEYFRAME 60
0.07121013600044535
Frame 106
tensor(0.0532)
Frame 107
tensor(0.3320)
 # KEYFRAME 61
0.07240666299912846
Frame 108
tensor(0.2123)
 # KEYFRAME 62
0.07287372099744971
Frame 109
tensor(0.0567)
Frame 110
tensor(0.2353)
 # KEYFRAME 63
0.0737122280006588
Frame 111
tensor(0.0763)
Frame 112
tensor(0.5711)
 # KEYFRAME 64
0.07474132400238886
Frame 113
tensor(0.0520)
Frame 114
tensor(0.2231)
 # KEYFRAME 65
0.07368583800052875
Frame 115
tensor(0.0830)
Frame 116
tensor(0.1068)
 # KEYFRAME 66
0.07658000700030243
Frame 117
tensor(0.0673)
Frame 118
tensor(0.0823)
Frame 119
tensor(0.1684)
 # KEYFRAME 67
0.07712001599793439
Frame 120
tensor(0.0353)
Frame 121
tensor(0.0615)
Frame 122
tensor(0.0953)
Frame 123
tensor(0.1455)
 # KEYFRAME 68
0.07825843099999474
Frame 124
tensor(0.0399)
Frame 125
tensor(0.4168)
 # KEYFRAME 69
0.0786567399991327
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=731 loss_distill=0.4024 tta_take=0.008s
Frame 126
tensor(0.1456)
 # KEYFRAME 70
0.07524512199961464
Frame 127
tensor(0.1070)
 # KEYFRAME 71
0.07566529100222397
Frame 128
tensor(0.0994)
Frame 129
tensor(0.2172)
 # KEYFRAME 72
0.07643783800085657
Frame 130
tensor(0.1093)
 # KEYFRAME 73
0.07670491700264392
Frame 131
tensor(0.3018)
 # KEYFRAME 74
0.07711769500019727
Frame 132
tensor(0.1511)
 # KEYFRAME 75
0.07807376199707505
Frame 133
tensor(0.0982)
Frame 134
tensor(0.0994)
Frame 135
tensor(0.2455)
 # KEYFRAME 76
0.07799195199913811
Frame 136
tensor(0.2598)
 # KEYFRAME 77
0.07891326900062268
Frame 137
tensor(0.1139)
 # KEYFRAME 78
0.07908450900140451
Frame 138
tensor(0.0765)
Frame 139
tensor(0.1445)
 # KEYFRAME 79
0.07953726699997787
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=732 loss_distill=0.4024 tta_take=0.008s
Frame 140
tensor(0.0640)
Frame 141
tensor(0.1250)
 # KEYFRAME 80
0.07555611099814996
Frame 142
tensor(0.0933)
Frame 143
tensor(0.3071)
 # KEYFRAME 81
0.07743426399974851
Frame 144
tensor(0.0411)
Frame 145
tensor(0.0772)
Frame 146
tensor(0.1687)
 # KEYFRAME 82
0.0767164770004456
Frame 147
tensor(0.0098)
Frame 148
tensor(0.6004)
 # KEYFRAME 83
0.07717976599815302
Frame 149
tensor(0.0123)
Backending... 84 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 59520, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=733 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 108/556] scannetpp/be0ed6b33c/DSC frames=150 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=733 time=46.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0006)
Frame 2
tensor(0.0006)
Frame 3
tensor(0.0011)
Frame 4
tensor(0.0011)
Frame 5
tensor(0.0012)
Frame 6
tensor(0.0004)
Frame 7
tensor(0.0006)
Frame 8
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Frame 9
tensor(0.0008)
Frame 10
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Frame 11
tensor(0.0007)
Frame 12
tensor(0.0008)
Frame 13
tensor(0.0010)
Frame 14
tensor(0.0010)
Frame 15
tensor(0.0008)
Frame 16
tensor(0.0007)
Frame 17
tensor(0.0016)
Frame 18
tensor(0.0011)
Frame 19
tensor(0.0011)
Frame 20
tensor(0.0006)
Frame 21
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tensor(0.0006)
Frame 24
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Frame 25
tensor(0.0010)
Frame 26
tensor(0.0005)
Frame 27
tensor(0.0008)
Frame 28
tensor(0.0007)
Frame 29
tensor(0.0011)
Frame 30
tensor(0.0014)
Frame 31
tensor(0.0011)
Frame 32
tensor(0.0009)
Frame 33
tensor(0.0009)
Frame 34
tensor(0.0017)
Frame 35
tensor(0.0014)
Frame 36
tensor(0.0014)
Frame 37
tensor(0.0011)
Frame 38
tensor(0.0014)
Frame 39
tensor(0.0008)
Frame 40
tensor(0.0023)
Frame 41
tensor(0.0028)
Frame 42
tensor(0.0035)
Frame 43
tensor(0.0031)
Frame 44
tensor(0.0013)
Frame 45
tensor(0.0017)
Frame 46
tensor(0.0016)
Frame 47
tensor(0.0017)
Frame 48
tensor(0.0011)
Frame 49
tensor(0.0013)
Frame 50
tensor(0.0022)
Frame 51
tensor(0.0026)
Frame 52
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Frame 53
tensor(0.0010)
Frame 54
tensor(0.0014)
Frame 55
tensor(0.0025)
Frame 56
tensor(0.0017)
Frame 57
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Frame 58
tensor(0.0014)
Frame 59
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Frame 60
tensor(0.0014)
Frame 61
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Frame 62
tensor(0.0027)
Frame 63
tensor(0.0015)
Frame 64
tensor(0.0018)
Frame 65
tensor(0.0024)
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Frame 67
tensor(0.0015)
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Frame 69
tensor(0.0013)
Frame 70
tensor(0.0030)
Frame 71
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Frame 72
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Frame 90
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Frame 99
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Frame 100
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Frame 101
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Frame 104
tensor(0.0029)
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Frame 109
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Frame 110
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Frame 111
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Frame 112
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Frame 113
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Frame 114
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Frame 117
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Frame 118
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Frame 119
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Frame 120
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Frame 121
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Frame 122
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Frame 123
tensor(0.0011)
Frame 124
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Frame 126
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Frame 128
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Frame 130
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Frame 131
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Frame 139
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Frame 140
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Frame 141
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Frame 142
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Frame 143
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Frame 149
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Frame 150
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tensor(0.0018)
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Frame 172
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tensor(0.0011)
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tensor(0.0019)
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tensor(0.0012)
Frame 178
tensor(0.0019)
Frame 179
tensor(0.0022)
Frame 180
tensor(0.0024)
Frame 181
tensor(0.0029)
Frame 182
tensor(0.0047)
Frame 183
tensor(0.0052)
Frame 184
tensor(0.0059)
Frame 185
tensor(0.0063)
Frame 186
tensor(0.0077)
Frame 187
tensor(0.0098)
Frame 188
tensor(0.0134)
Frame 189
tensor(0.0187)
Frame 190
tensor(0.0229)
Frame 191
tensor(0.0280)
Frame 192
tensor(0.0354)
Frame 193
tensor(0.0427)
Frame 194
tensor(0.0506)
Frame 195
tensor(0.0596)
Frame 196
tensor(0.0683)
Frame 197
tensor(0.0797)
Frame 198
tensor(0.0918)
Frame 199
tensor(0.1046)
 # KEYFRAME 1
Frame 200
tensor(0.0123)
Frame 201
tensor(0.0262)
Frame 202
tensor(0.0452)
Frame 203
tensor(0.0672)
Frame 204
tensor(0.0828)
Frame 205
tensor(0.1031)
 # KEYFRAME 2
0.05188335599814309
Frame 206
tensor(0.0154)
Frame 207
tensor(0.0356)
Frame 208
tensor(0.0538)
Frame 209
tensor(0.0748)
Frame 210
tensor(0.0920)
Frame 211
tensor(0.1084)
 # KEYFRAME 3
0.05209430499962764
Frame 212
tensor(0.0171)
Frame 213
tensor(0.0379)
Frame 214
tensor(0.0630)
Frame 215
tensor(0.0859)
Frame 216
tensor(0.1025)
 # KEYFRAME 4
0.052547633000358474
Frame 217
tensor(0.0211)
Frame 218
tensor(0.0455)
Frame 219
tensor(0.0743)
Frame 220
tensor(0.0945)
Frame 221
tensor(0.1252)
 # KEYFRAME 5
0.05207499500102131
Frame 222
tensor(0.0246)
Frame 223
tensor(0.0528)
Frame 224
tensor(0.0854)
Frame 225
tensor(0.1114)
 # KEYFRAME 6
0.05267791200094507
Frame 226
tensor(0.0287)
Frame 227
tensor(0.0601)
Frame 228
tensor(0.0896)
Frame 229
tensor(0.1246)
 # KEYFRAME 7
0.05243904300004942
Frame 230
tensor(0.0300)
Frame 231
tensor(0.0575)
Frame 232
tensor(0.0898)
Frame 233
tensor(0.1158)
 # KEYFRAME 8
0.05342951000056928
Frame 234
tensor(0.0304)
Frame 235
tensor(0.0583)
Frame 236
tensor(0.0911)
Frame 237
tensor(0.1204)
 # KEYFRAME 9
0.05264448199886829
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 238
tensor(0.0302)
Frame 239
tensor(0.0565)
Frame 240
tensor(0.0895)
Frame 241
tensor(0.1198)
 # KEYFRAME 10
0.05160069600242423
Frame 242
tensor(0.0282)
Frame 243
tensor(0.0644)
Frame 244
tensor(0.1018)
 # KEYFRAME 11
0.05261816200072644
Frame 245
tensor(0.0362)
Frame 246
tensor(0.0726)
Frame 247
tensor(0.1132)
 # KEYFRAME 12
0.053332880001107696
Frame 248
tensor(0.0414)
Frame 249
tensor(0.0779)
Frame 250
tensor(0.1221)
 # KEYFRAME 13
0.052196065000316594
Frame 251
tensor(0.0427)
Frame 252
tensor(0.0805)
Frame 253
tensor(0.1178)
 # KEYFRAME 14
0.054445215999294305
Frame 254
tensor(0.0412)
Frame 255
tensor(0.0799)
Frame 256
tensor(0.1209)
 # KEYFRAME 15
0.05211246500039124
Frame 257
tensor(0.0386)
Frame 258
tensor(0.0770)
Frame 259
tensor(0.1215)
 # KEYFRAME 16
0.052396482999029104
Frame 260
tensor(0.0379)
Frame 261
tensor(0.0749)
Frame 262
tensor(0.1255)
 # KEYFRAME 17
0.05534959299984621
Frame 263
tensor(0.0343)
Frame 264
tensor(0.0738)
Frame 265
tensor(0.1112)
 # KEYFRAME 18
0.05249711299984483
Frame 266
tensor(0.0346)
Frame 267
tensor(0.0741)
Frame 268
tensor(0.1180)
 # KEYFRAME 19
0.05561898200176074
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 269
tensor(0.0350)
[epoch 0 scene 109/556] vkitti/Scene06/morning/Camera_0 frames=270 tta_steps_this_scene=0 mean_loss=nan total_steps=733 time=79.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.3479)
 # KEYFRAME 1
Frame 2
tensor(0.4036)
 # KEYFRAME 2
0.05183707600008347
Frame 3
tensor(0.3073)
 # KEYFRAME 3
0.05432833699887851
Frame 4
tensor(0.3506)
 # KEYFRAME 4
0.05436428599932697
Frame 5
tensor(0.2200)
 # KEYFRAME 5
0.05489171500084922
Frame 6
tensor(0.2245)
 # KEYFRAME 6
0.05597851100174012
Frame 7
tensor(0.3364)
 # KEYFRAME 7
0.0567961179986014
Frame 8
tensor(0.0994)
Frame 9
tensor(0.3051)
 # KEYFRAME 8
0.05837602199972025
Frame 10
tensor(0.4116)
 # KEYFRAME 9
0.05819813299967791
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.3108)
 # KEYFRAME 10
0.05263490300058038
Frame 12
tensor(0.3315)
 # KEYFRAME 11
0.053537949999736156
Frame 13
tensor(0.3666)
 # KEYFRAME 12
0.05440455699863378
Frame 14
tensor(0.3358)
 # KEYFRAME 13
0.05634138900131802
Frame 15
tensor(0.2916)
 # KEYFRAME 14
0.057159077001415426
Frame 16
tensor(0.4933)
 # KEYFRAME 15
0.05797604400140699
Frame 17
tensor(0.3303)
 # KEYFRAME 16
0.058831620001001284
Frame 18
tensor(0.3381)
 # KEYFRAME 17
0.05975476799721946
Frame 19
tensor(0.1781)
 # KEYFRAME 18
0.060839953999675345
Frame 20
tensor(0.2790)
 # KEYFRAME 19
0.062214469002356054
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.2696)
 # KEYFRAME 20
0.05946218900135136
Frame 22
tensor(0.2310)
 # KEYFRAME 21
0.059926126999926055
Frame 23
tensor(0.2444)
 # KEYFRAME 22
0.061039633001200855
Frame 24
tensor(0.1730)
 # KEYFRAME 23
0.0619737589986471
Frame 25
tensor(0.0710)
Frame 26
tensor(0.3199)
 # KEYFRAME 24
0.06239475799884531
Frame 27
tensor(0.3637)
 # KEYFRAME 25
0.06374176300232648
Frame 28
tensor(0.1900)
 # KEYFRAME 26
0.06506324899964966
Frame 29
tensor(0.1417)
 # KEYFRAME 27
0.06621441500101355
Frame 30
tensor(0.3750)
 # KEYFRAME 28
0.06685498200022266
Frame 31
tensor(0.4140)
 # KEYFRAME 29
0.0697345319968008
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.2488)
 # KEYFRAME 30
0.06584417599879089
Frame 33
tensor(0.1455)
 # KEYFRAME 31
0.06698012199922232
Frame 34
tensor(0.2240)
 # KEYFRAME 32
0.06774637899798108
Frame 35
tensor(0.3849)
 # KEYFRAME 33
0.06898538499808637
Frame 36
tensor(0.2412)
 # KEYFRAME 34
0.06964386199979344
Frame 37
tensor(0.2297)
 # KEYFRAME 35
0.07032824900306878
Frame 38
tensor(0.6445)
 # KEYFRAME 36
0.07160683500114828
Frame 39
tensor(0.1829)
 # KEYFRAME 37
0.07252730199979851
Frame 40
tensor(0.2567)
 # KEYFRAME 38
0.0732126889997744
Frame 41
tensor(0.1841)
 # KEYFRAME 39
0.07383612799822004
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=734 loss_distill=0.1733 tta_take=0.009s
Frame 42
tensor(0.5671)
 # KEYFRAME 40
0.07232701300017652
Frame 43
tensor(0.6857)
 # KEYFRAME 41
0.07485871400058386
Frame 44
tensor(0.2939)
 # KEYFRAME 42
0.07429638599933241
Frame 45
tensor(0.3692)
 # KEYFRAME 43
0.07539765200272086
Frame 46
tensor(0.4691)
 # KEYFRAME 44
0.07626717899984214
Frame 47
tensor(0.4406)
 # KEYFRAME 45
0.07706896600211621
Frame 48
tensor(0.0599)
Frame 49
tensor(0.2631)
 # KEYFRAME 46
0.07755526399705559
Frame 50
tensor(0.2140)
 # KEYFRAME 47
0.0782186520009418
Frame 51
tensor(0.2936)
 # KEYFRAME 48
0.07884916900002281
Frame 52
tensor(0.2152)
 # KEYFRAME 49
0.08050278299924685
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=735 loss_distill=0.2747 tta_take=0.009s
Frame 53
tensor(0.3021)
 # KEYFRAME 50
0.07895040899893502
Frame 54
tensor(0.2828)
 # KEYFRAME 51
0.08099632100129384
Frame 55
tensor(0.3129)
 # KEYFRAME 52
0.08121656100047403
Frame 56
tensor(0.1509)
 # KEYFRAME 53
0.08207185799983563
Frame 57
tensor(0.2663)
 # KEYFRAME 54
0.08372143200176652
Frame 58
tensor(0.2493)
 # KEYFRAME 55
0.0851783370017074
Frame 59
tensor(0.3387)
 # KEYFRAME 56
0.0855557860013505
Frame 60
tensor(0.2543)
 # KEYFRAME 57
0.0865408120007487
Frame 61
tensor(0.0709)
Frame 62
tensor(0.1653)
 # KEYFRAME 58
0.0877012979981373
Frame 63
tensor(0.2355)
 # KEYFRAME 59
0.08852579499944113
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=736 loss_distill=0.3466 tta_take=0.009s
Frame 64
tensor(0.0513)
Frame 65
tensor(0.1710)
 # KEYFRAME 60
0.08560037600182113
Frame 66
tensor(0.2650)
 # KEYFRAME 61
0.08845005499824765
Frame 67
tensor(0.1337)
 # KEYFRAME 62
0.08886851399802254
Frame 68
tensor(0.0771)
Frame 69
tensor(0.4745)
 # KEYFRAME 63
0.09004701000230853
Frame 70
tensor(0.1976)
 # KEYFRAME 64
0.09130990600169753
Frame 71
tensor(0.2814)
 # KEYFRAME 65
0.0925532410001324
Frame 72
tensor(0.2857)
 # KEYFRAME 66
0.09359278700139839
Frame 73
tensor(0.1201)
 # KEYFRAME 67
0.09435743499852833
Frame 74
tensor(0.0700)
Frame 75
tensor(0.2637)
 # KEYFRAME 68
0.09540723099780735
Frame 76
tensor(0.1674)
 # KEYFRAME 69
0.0965481870007352
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=737 loss_distill=0.4024 tta_take=0.009s
Frame 77
tensor(0.1565)
 # KEYFRAME 70
0.09360380699945381
Frame 78
tensor(0.1347)
 # KEYFRAME 71
0.09533222000027308
Frame 79
tensor(0.2851)
 # KEYFRAME 72
0.09500900199782336
Frame 80
tensor(0.1876)
 # KEYFRAME 73
0.09668006599895307
Frame 81
tensor(0.2722)
 # KEYFRAME 74
0.09806200099774287
Frame 82
tensor(0.2423)
 # KEYFRAME 75
0.09842437900078949
Frame 83
tensor(0.1820)
 # KEYFRAME 76
0.10025431299800402
Frame 84
tensor(0.3045)
 # KEYFRAME 77
0.1007778019993566
Frame 85
tensor(0.2196)
 # KEYFRAME 78
0.10203684699808946
Frame 86
tensor(0.1340)
 # KEYFRAME 79
0.10376701100176433
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=738 loss_distill=0.4024 tta_take=0.009s
Frame 87
tensor(0.3794)
 # KEYFRAME 80
0.09297175900064758
Frame 88
tensor(0.8332)
 # KEYFRAME 81
0.09514045200194232
Frame 89
tensor(0.4954)
 # KEYFRAME 82
0.0943875039993145
Frame 90
tensor(0.5403)
 # KEYFRAME 83
0.09538810099911643
Frame 91
tensor(0.2320)
 # KEYFRAME 84
0.09635288799836417
Frame 92
tensor(0.4582)
 # KEYFRAME 85
0.09765237299870932
Frame 93
tensor(0.5480)
 # KEYFRAME 86
0.09796651199940243
Frame 94
tensor(0.4626)
 # KEYFRAME 87
0.0983756790010375
Frame 95
tensor(0.6238)
 # KEYFRAME 88
0.09893168800044805
Frame 96
tensor(0.4046)
 # KEYFRAME 89
0.0997071159981715
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=739 loss_distill=0.4024 tta_take=0.009s
Frame 97
tensor(0.9620)
 # KEYFRAME 90
0.09262383100212901
Frame 98
tensor(0.3108)
 # KEYFRAME 91
0.09481766300086747
Frame 99
tensor(0.3319)
 # KEYFRAME 92
0.09463011400293908
Frame 100
tensor(0.4641)
 # KEYFRAME 93
0.09555845000068075
Frame 101
tensor(0.1625)
 # KEYFRAME 94
0.09592406900264905
Frame 102
tensor(0.1281)
 # KEYFRAME 95
0.0976050329991267
Frame 103
tensor(0.4153)
 # KEYFRAME 96
0.0972405840002466
Frame 104
tensor(1.2129)
 # KEYFRAME 97
0.0985925099994347
Frame 105
tensor(0.2951)
 # KEYFRAME 98
0.09914955699787242
Frame 106
tensor(0.5715)
 # KEYFRAME 99
0.09999740400235169
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=740 loss_distill=0.4024 tta_take=0.009s
Frame 107
tensor(0.1264)
 # KEYFRAME 100
0.09300713899938273
Frame 108
tensor(0.2282)
 # KEYFRAME 101
0.09509257200261345
Frame 109
tensor(0.1287)
 # KEYFRAME 102
0.09441237400096725
Frame 110
tensor(0.3304)
 # KEYFRAME 103
0.09573224999985541
Frame 111
tensor(0.0796)
Frame 112
tensor(0.7965)
 # KEYFRAME 104
0.09655770600147662
Frame 113
tensor(0.3112)
 # KEYFRAME 105
0.09696759500002372
Frame 114
tensor(0.3115)
 # KEYFRAME 106
0.0977951020031469
Frame 115
tensor(0.2154)
 # KEYFRAME 107
0.09891870800129254
Frame 116
tensor(0.1816)
 # KEYFRAME 108
0.09929824699793244
Frame 117
tensor(0.5083)
 # KEYFRAME 109
0.09960723600306665
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=741 loss_distill=0.4024 tta_take=0.009s
Frame 118
tensor(0.3858)
 # KEYFRAME 110
0.0930155489986646
Frame 119
tensor(0.2319)
 # KEYFRAME 111
0.09384205599781126
Frame 120
tensor(0.1861)
 # KEYFRAME 112
0.09511568100060686
Frame 121
tensor(0.3640)
 # KEYFRAME 113
0.09645047699814313
Frame 122
tensor(0.4699)
 # KEYFRAME 114
0.09707237499969779
Frame 123
tensor(0.2126)
 # KEYFRAME 115
0.0980741509993095
Frame 124
tensor(0.2321)
 # KEYFRAME 116
0.09858804900068208
Frame 125
tensor(0.1469)
 # KEYFRAME 117
0.09926592600095319
Frame 126
tensor(0.2516)
 # KEYFRAME 118
0.0989960480001173
Backending... 119 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 71829, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=742 loss_distill=0.4024 tta_take=0.008s
[epoch 0 scene 110/556] scannetpp/39e6ee46df/frame frames=127 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=742 time=48.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0461)
Frame 2
tensor(0.0901)
Frame 3
tensor(0.1371)
 # KEYFRAME 1
Frame 4
tensor(0.0441)
Frame 5
tensor(0.0908)
Frame 6
tensor(0.1478)
 # KEYFRAME 2
0.052063095001358306
Frame 7
tensor(0.0360)
Frame 8
tensor(0.0919)
Frame 9
tensor(0.1540)
 # KEYFRAME 3
0.05228343400085578
Frame 10
tensor(0.0475)
Frame 11
tensor(0.1013)
 # KEYFRAME 4
0.05268637199696968
Frame 12
tensor(0.0553)
Frame 13
tensor(0.1055)
 # KEYFRAME 5
0.052676252998935524
Frame 14
tensor(0.0462)
Frame 15
tensor(0.0966)
Frame 16
tensor(0.1439)
 # KEYFRAME 6
0.05269558299914934
Frame 17
tensor(0.0418)
Frame 18
tensor(0.0851)
Frame 19
tensor(0.1321)
 # KEYFRAME 7
0.05242469299992081
Frame 20
tensor(0.0412)
Frame 21
tensor(0.0902)
Frame 22
tensor(0.1332)
 # KEYFRAME 8
0.05397811800139607
Frame 23
tensor(0.0425)
Frame 24
tensor(0.0866)
Frame 25
tensor(0.1233)
 # KEYFRAME 9
0.05225467399941408
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 26
tensor(0.0376)
Frame 27
tensor(0.0805)
Frame 28
tensor(0.1167)
 # KEYFRAME 10
0.05176948599910247
Frame 29
tensor(0.0353)
Frame 30
tensor(0.0790)
Frame 31
tensor(0.1206)
 # KEYFRAME 11
0.05274490200099535
Frame 32
tensor(0.0422)
Frame 33
tensor(0.0852)
Frame 34
tensor(0.1237)
 # KEYFRAME 12
0.05314745099894935
Frame 35
tensor(0.0481)
Frame 36
tensor(0.0957)
Frame 37
tensor(0.1382)
 # KEYFRAME 13
0.05208834500081139
Frame 38
tensor(0.0477)
Frame 39
tensor(0.0845)
Frame 40
tensor(0.1274)
 # KEYFRAME 14
0.05461695600024541
Frame 41
tensor(0.0486)
Frame 42
tensor(0.0930)
Frame 43
tensor(0.1380)
 # KEYFRAME 15
0.052285073998064036
Frame 44
tensor(0.0487)
Frame 45
tensor(0.0969)
Frame 46
tensor(0.1436)
 # KEYFRAME 16
0.052319903999887174
Frame 47
tensor(0.0463)
Frame 48
tensor(0.0928)
Frame 49
tensor(0.1338)
 # KEYFRAME 17
0.055578731997229625
Frame 50
tensor(0.0444)
Frame 51
tensor(0.0878)
Frame 52
tensor(0.1342)
 # KEYFRAME 18
0.05246438299946021
Frame 53
tensor(0.0486)
Frame 54
tensor(0.0981)
Frame 55
tensor(0.1462)
 # KEYFRAME 19
0.05581135099782841
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 56
tensor(0.0451)
Frame 57
tensor(0.0915)
Frame 58
tensor(0.1414)
 # KEYFRAME 20
0.051811135999741964
Frame 59
tensor(0.0534)
Frame 60
tensor(0.1024)
 # KEYFRAME 21
0.05193762499766308
Frame 61
tensor(0.0532)
Frame 62
tensor(0.1062)
 # KEYFRAME 22
0.05362712900023325
Frame 63
tensor(0.0458)
Frame 64
tensor(0.0942)
Frame 65
tensor(0.1432)
 # KEYFRAME 23
0.05179447599948617
Frame 66
tensor(0.0443)
Frame 67
tensor(0.0942)
Frame 68
tensor(0.1501)
 # KEYFRAME 24
0.054462126001453726
Frame 69
tensor(0.0486)
Frame 70
tensor(0.0916)
Frame 71
tensor(0.1405)
 # KEYFRAME 25
0.052713421999214916
Frame 72
tensor(0.0485)
Frame 73
tensor(0.1053)
 # KEYFRAME 26
0.05234419400221668
Frame 74
tensor(0.0492)
Frame 75
tensor(0.0980)
Frame 76
tensor(0.1537)
 # KEYFRAME 27
0.05631311999968602
Frame 77
tensor(0.0496)
Frame 78
tensor(0.1033)
 # KEYFRAME 28
0.05267183199975989
Frame 79
tensor(0.0512)
Frame 80
tensor(0.1035)
 # KEYFRAME 29
0.05654109899842297
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 81
tensor(0.0417)
Frame 82
tensor(0.0985)
Frame 83
tensor(0.1492)
 # KEYFRAME 30
0.05207827399863163
Frame 84
tensor(0.0470)
Frame 85
tensor(0.0999)
Frame 86
tensor(0.1486)
 # KEYFRAME 31
0.05194796599971596
Frame 87
tensor(0.0510)
Frame 88
tensor(0.1030)
 # KEYFRAME 32
0.05286073199749808
Frame 89
tensor(0.0475)
Frame 90
tensor(0.0967)
Frame 91
tensor(0.1367)
 # KEYFRAME 33
0.05192019500100287
Frame 92
tensor(0.0509)
Frame 93
tensor(0.1066)
 # KEYFRAME 34
0.05298843099808437
Frame 94
tensor(0.0512)
Frame 95
tensor(0.0974)
Frame 96
tensor(0.1535)
 # KEYFRAME 35
0.052293723998445785
Frame 97
tensor(0.0459)
Frame 98
tensor(0.0881)
Frame 99
tensor(0.1421)
 # KEYFRAME 36
0.05216015499900095
Frame 100
tensor(0.0465)
Frame 101
tensor(0.0942)
Frame 102
tensor(0.1453)
 # KEYFRAME 37
0.05333564100146759
Frame 103
tensor(0.0425)
Frame 104
tensor(0.0886)
Frame 105
tensor(0.1365)
 # KEYFRAME 38
0.05235447399900295
Frame 106
tensor(0.0464)
Frame 107
tensor(0.0880)
Frame 108
tensor(0.1387)
 # KEYFRAME 39
0.0535414789992501
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=743 loss_distill=0.1733 tta_take=0.005s
Frame 109
tensor(0.0421)
Frame 110
tensor(0.0837)
Frame 111
tensor(0.1317)
 # KEYFRAME 40
0.05208522500106483
Frame 112
tensor(0.0409)
Frame 113
tensor(0.0851)
Frame 114
tensor(0.1374)
 # KEYFRAME 41
0.05256189300052938
Frame 115
tensor(0.0474)
Frame 116
tensor(0.0968)
Frame 117
tensor(0.1342)
 # KEYFRAME 42
0.05233741399933933
Frame 118
tensor(0.0464)
Frame 119
tensor(0.1006)
 # KEYFRAME 43
0.05176845599999069
Frame 120
tensor(0.0474)
Frame 121
tensor(0.0931)
Frame 122
tensor(0.1437)
 # KEYFRAME 44
0.05270896300135064
Frame 123
tensor(0.0511)
Frame 124
tensor(0.1017)
 # KEYFRAME 45
0.052455852997809416
Frame 125
tensor(0.0532)
Frame 126
tensor(0.0994)
Frame 127
tensor(0.1490)
 # KEYFRAME 46
0.052502362999803154
Frame 128
tensor(0.0517)
Frame 129
tensor(0.0998)
Frame 130
tensor(0.1484)
 # KEYFRAME 47
0.05432365700107766
Frame 131
tensor(0.0518)
Frame 132
tensor(0.1009)
 # KEYFRAME 48
0.05219687499993597
Frame 133
tensor(0.0422)
Frame 134
tensor(0.0926)
Frame 135
tensor(0.1364)
 # KEYFRAME 49
0.053703578996646684
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=744 loss_distill=0.2747 tta_take=0.005s
Frame 136
tensor(0.0472)
Frame 137
tensor(0.0957)
Frame 138
tensor(0.1398)
 # KEYFRAME 50
0.05253843299942673
Frame 139
tensor(0.0495)
Frame 140
tensor(0.0967)
Frame 141
tensor(0.1387)
 # KEYFRAME 51
0.05266327299978002
Frame 142
tensor(0.0421)
Frame 143
tensor(0.0786)
Frame 144
tensor(0.1171)
 # KEYFRAME 52
0.053942098002153216
Frame 145
tensor(0.0427)
Frame 146
tensor(0.0755)
Frame 147
tensor(0.1155)
 # KEYFRAME 53
0.052853291999781504
Frame 148
tensor(0.0382)
Frame 149
tensor(0.0734)
Frame 150
tensor(0.1110)
 # KEYFRAME 54
0.054192756997508695
Frame 151
tensor(0.0337)
Frame 152
tensor(0.0656)
Frame 153
tensor(0.1033)
 # KEYFRAME 55
0.052453863001574064
Frame 154
tensor(0.0342)
Frame 155
tensor(0.0660)
Frame 156
tensor(0.1002)
 # KEYFRAME 56
0.05277197200121009
Frame 157
tensor(0.0289)
Frame 158
tensor(0.0613)
Frame 159
tensor(0.0897)
Frame 160
tensor(0.1184)
 # KEYFRAME 57
0.053742308999062516
Frame 161
tensor(0.0272)
Frame 162
tensor(0.0541)
Frame 163
tensor(0.0787)
Frame 164
tensor(0.1011)
 # KEYFRAME 58
0.052957812000386184
Frame 165
tensor(0.0249)
Frame 166
tensor(0.0449)
Frame 167
tensor(0.0687)
Frame 168
tensor(0.0876)
Frame 169
tensor(0.1065)
 # KEYFRAME 59
0.05371040899990476
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=745 loss_distill=0.3466 tta_take=0.005s
Frame 170
tensor(0.0174)
Frame 171
tensor(0.0307)
Frame 172
tensor(0.0472)
Frame 173
tensor(0.0641)
Frame 174
tensor(0.0788)
Frame 175
tensor(0.0946)
Frame 176
tensor(0.1152)
 # KEYFRAME 60
0.052141023999865865
Frame 177
tensor(0.0112)
Frame 178
tensor(0.0235)
Frame 179
tensor(0.0361)
Frame 180
tensor(0.0476)
Frame 181
tensor(0.0611)
Frame 182
tensor(0.0722)
Frame 183
tensor(0.0808)
Frame 184
tensor(0.0936)
Frame 185
tensor(0.1004)
 # KEYFRAME 61
0.052473653999186354
Frame 186
tensor(0.0067)
Frame 187
tensor(0.0108)
Frame 188
tensor(0.0195)
Frame 189
tensor(0.0259)
Frame 190
tensor(0.0287)
Frame 191
tensor(0.0347)
Frame 192
tensor(0.0378)
Frame 193
tensor(0.0449)
Frame 194
tensor(0.0473)
Frame 195
tensor(0.0509)
Frame 196
tensor(0.0597)
Frame 197
tensor(0.0660)
Frame 198
tensor(0.0677)
Frame 199
tensor(0.0743)
Frame 200
tensor(0.0780)
Frame 201
tensor(0.0849)
Frame 202
tensor(0.0866)
Frame 203
tensor(0.1000)
 # KEYFRAME 62
0.05376792899915017
Frame 204
tensor(0.0071)
Frame 205
tensor(0.0160)
Frame 206
tensor(0.0253)
Frame 207
tensor(0.0379)
Frame 208
tensor(0.0540)
Frame 209
tensor(0.0691)
Frame 210
tensor(0.0863)
Frame 211
tensor(0.1064)
 # KEYFRAME 63
0.0527573220024351
Frame 212
tensor(0.0139)
Frame 213
tensor(0.0330)
Frame 214
tensor(0.0521)
Frame 215
tensor(0.0698)
Frame 216
tensor(0.0879)
Frame 217
tensor(0.1080)
 # KEYFRAME 64
0.05390235799859511
Frame 218
tensor(0.0177)
Frame 219
tensor(0.0399)
Frame 220
tensor(0.0583)
Frame 221
tensor(0.0753)
Frame 222
tensor(0.0967)
Frame 223
tensor(0.1153)
 # KEYFRAME 65
0.05244700299954275
Frame 224
tensor(0.0201)
Frame 225
tensor(0.0405)
Frame 226
tensor(0.0651)
Frame 227
tensor(0.0831)
Frame 228
tensor(0.0971)
Frame 229
tensor(0.1203)
 # KEYFRAME 66
0.05257534300108091
Frame 230
tensor(0.0161)
Frame 231
tensor(0.0406)
Frame 232
tensor(0.0616)
Frame 233
tensor(0.0852)
Frame 234
tensor(0.1055)
 # KEYFRAME 67
0.054013338001823286
Frame 235
tensor(0.0199)
Frame 236
tensor(0.0407)
Frame 237
tensor(0.0648)
Frame 238
tensor(0.0870)
Frame 239
tensor(0.1132)
 # KEYFRAME 68
0.053286730999388965
Frame 240
tensor(0.0269)
Frame 241
tensor(0.0559)
Frame 242
tensor(0.0799)
Frame 243
tensor(0.1101)
 # KEYFRAME 69
0.054104606999317184
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=746 loss_distill=0.4024 tta_take=0.005s
Frame 244
tensor(0.0262)
Frame 245
tensor(0.0496)
Frame 246
tensor(0.0751)
Frame 247
tensor(0.1075)
 # KEYFRAME 70
0.05310036100127036
Frame 248
tensor(0.0267)
Frame 249
tensor(0.0593)
Frame 250
tensor(0.0875)
Frame 251
tensor(0.1153)
 # KEYFRAME 71
0.05370657900130027
Frame 252
tensor(0.0259)
Frame 253
tensor(0.0603)
Frame 254
tensor(0.0887)
Frame 255
tensor(0.1176)
 # KEYFRAME 72
0.05451295600141748
Frame 256
tensor(0.0271)
Frame 257
tensor(0.0617)
Frame 258
tensor(0.0882)
Frame 259
tensor(0.1161)
 # KEYFRAME 73
0.05336481999984244
Frame 260
tensor(0.0290)
Frame 261
tensor(0.0574)
Frame 262
tensor(0.0843)
Frame 263
tensor(0.1133)
 # KEYFRAME 74
0.05476136500146822
Frame 264
tensor(0.0270)
Frame 265
tensor(0.0586)
Frame 266
tensor(0.0893)
Frame 267
tensor(0.1264)
 # KEYFRAME 75
0.05362132899972494
Frame 268
tensor(0.0330)
Frame 269
tensor(0.0702)
Frame 270
tensor(0.1040)
 # KEYFRAME 76
0.053598049002175685
Frame 271
tensor(0.0318)
Frame 272
tensor(0.0630)
Frame 273
tensor(0.0988)
Frame 274
tensor(0.1393)
 # KEYFRAME 77
0.05486193500109948
Frame 275
tensor(0.0346)
Frame 276
tensor(0.0715)
Frame 277
tensor(0.1051)
 # KEYFRAME 78
0.054412866000348004
Frame 278
tensor(0.0328)
Frame 279
tensor(0.0742)
Frame 280
tensor(0.1148)
 # KEYFRAME 79
0.05504293400008464
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=747 loss_distill=0.4024 tta_take=0.005s
Frame 281
tensor(0.0395)
Frame 282
tensor(0.0755)
Frame 283
tensor(0.1183)
 # KEYFRAME 80
0.05348111000057543
Frame 284
tensor(0.0410)
Frame 285
tensor(0.0765)
Frame 286
tensor(0.1128)
 # KEYFRAME 81
0.0536522389993479
Frame 287
tensor(0.0384)
Frame 288
tensor(0.0693)
Frame 289
tensor(0.1087)
 # KEYFRAME 82
0.054352486000425415
Frame 290
tensor(0.0394)
Frame 291
tensor(0.0756)
Frame 292
tensor(0.1126)
 # KEYFRAME 83
0.053352140999777475
Frame 293
tensor(0.0407)
Frame 294
tensor(0.0794)
Frame 295
tensor(0.1195)
 # KEYFRAME 84
0.054707794999558246
Frame 296
tensor(0.0342)
Frame 297
tensor(0.0735)
Frame 298
tensor(0.1130)
 # KEYFRAME 85
0.05439496699909796
Frame 299
tensor(0.0365)
Backending... 86 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27192, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=748 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 111/556] vkitti/Scene01/30-deg-left/Camera_1 frames=300 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=748 time=90.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0129)
Frame 2
tensor(0.1032)
 # KEYFRAME 1
Frame 3
tensor(0.0837)
Frame 4
tensor(0.1716)
 # KEYFRAME 2
0.05126093800208764
Frame 5
tensor(0.1593)
 # KEYFRAME 3
0.052128713999991305
Frame 6
tensor(0.0713)
Frame 7
tensor(0.1953)
 # KEYFRAME 4
0.05361507899942808
Frame 8
tensor(0.1826)
 # KEYFRAME 5
0.05441477700151154
Frame 9
tensor(0.1239)
 # KEYFRAME 6
0.05595361100131413
Frame 10
tensor(0.1388)
 # KEYFRAME 7
0.05671167800028343
Frame 11
tensor(0.0938)
Frame 12
tensor(0.1653)
 # KEYFRAME 8
0.057115136998618254
Frame 13
tensor(0.1641)
 # KEYFRAME 9
0.05775746399740456
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 14
tensor(0.1283)
 # KEYFRAME 10
0.05180683599974145
Frame 15
tensor(0.1029)
 # KEYFRAME 11
0.0534844690009777
Frame 16
tensor(0.1074)
 # KEYFRAME 12
0.05461414599994896
Frame 17
tensor(0.1161)
 # KEYFRAME 13
0.05656810899745324
Frame 18
tensor(0.0888)
Frame 19
tensor(0.5983)
 # KEYFRAME 14
0.0572673759997997
Frame 20
tensor(0.3683)
 # KEYFRAME 15
0.05789079399983166
Frame 21
tensor(0.0896)
Frame 22
tensor(0.2645)
 # KEYFRAME 16
0.059828077002748614
Frame 23
tensor(0.1501)
 # KEYFRAME 17
0.060400264999771025
Frame 24
tensor(0.2339)
 # KEYFRAME 18
0.06112874300015392
Frame 25
tensor(0.1029)
 # KEYFRAME 19
0.06219864900049288
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 26
tensor(0.0574)
Frame 27
tensor(0.1432)
 # KEYFRAME 20
0.05880412099941168
Frame 28
tensor(0.1351)
 # KEYFRAME 21
0.06068925399813452
Frame 29
tensor(0.0606)
Frame 30
tensor(0.2114)
 # KEYFRAME 22
0.06147261099977186
Frame 31
tensor(0.0784)
Frame 32
tensor(0.2077)
 # KEYFRAME 23
0.061742650002997834
Frame 33
tensor(0.0562)
Frame 34
tensor(0.1135)
 # KEYFRAME 24
0.0628651560000435
Frame 35
tensor(0.1839)
 # KEYFRAME 25
0.06356632399911177
Frame 36
tensor(0.0807)
Frame 37
tensor(0.1251)
 # KEYFRAME 26
0.06511152899838635
Frame 38
tensor(0.0458)
Frame 39
tensor(0.0693)
Frame 40
tensor(0.1419)
 # KEYFRAME 27
0.0661108950007474
Frame 41
tensor(0.0901)
Frame 42
tensor(0.1966)
 # KEYFRAME 28
0.06747132000236888
Frame 43
tensor(0.1251)
 # KEYFRAME 29
0.06857733599827043
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 44
tensor(0.0695)
Frame 45
tensor(0.1974)
 # KEYFRAME 30
0.06613587499668938
Frame 46
tensor(0.1421)
 # KEYFRAME 31
0.06769223900118959
Frame 47
tensor(0.1427)
 # KEYFRAME 32
0.06831472699923324
Frame 48
tensor(0.0962)
Frame 49
tensor(0.0987)
Frame 50
tensor(0.1523)
 # KEYFRAME 33
0.06892109500040533
Frame 51
tensor(0.1355)
 # KEYFRAME 34
0.06989294099912513
Frame 52
tensor(0.1538)
 # KEYFRAME 35
0.07067933900179924
Frame 53
tensor(0.1236)
 # KEYFRAME 36
0.0716115750001336
Frame 54
tensor(0.1048)
 # KEYFRAME 37
0.07250240199937252
Frame 55
tensor(0.1238)
 # KEYFRAME 38
0.07277331200020853
Frame 56
tensor(0.0719)
Frame 57
tensor(0.2862)
 # KEYFRAME 39
0.0743479060001846
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=749 loss_distill=0.1733 tta_take=0.009s
Frame 58
tensor(0.1304)
 # KEYFRAME 40
0.07276835099764867
Frame 59
tensor(0.1127)
 # KEYFRAME 41
0.07429258600313915
Frame 60
tensor(0.0974)
Frame 61
tensor(0.1261)
 # KEYFRAME 42
0.07478268400154775
Frame 62
tensor(0.0724)
Frame 63
tensor(0.1241)
 # KEYFRAME 43
0.07562198099913076
Frame 64
tensor(0.0781)
Frame 65
tensor(0.0748)
Frame 66
tensor(0.0785)
Frame 67
tensor(0.1190)
 # KEYFRAME 44
0.07592663000104949
Frame 68
tensor(0.1037)
 # KEYFRAME 45
0.07647327800077619
Frame 69
tensor(0.0451)
Frame 70
tensor(0.1539)
 # KEYFRAME 46
0.07749635499931173
Frame 71
tensor(0.1463)
 # KEYFRAME 47
0.07830875199942966
Frame 72
tensor(0.1380)
 # KEYFRAME 48
0.07888960899799713
Frame 73
tensor(0.0966)
Frame 74
tensor(0.1305)
 # KEYFRAME 49
0.07953970699963975
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=750 loss_distill=0.2747 tta_take=0.009s
Frame 75
tensor(0.0677)
Frame 76
tensor(0.1533)
 # KEYFRAME 50
0.07917538899710053
Frame 77
tensor(0.0770)
Frame 78
tensor(0.0626)
Frame 79
tensor(0.1620)
 # KEYFRAME 51
0.08151950999672408
Frame 80
tensor(0.0253)
Frame 81
tensor(0.2685)
 # KEYFRAME 52
0.08132233100332087
Frame 82
tensor(0.0908)
Frame 83
tensor(0.1839)
 # KEYFRAME 53
0.08271959500052617
Frame 84
tensor(0.1389)
 # KEYFRAME 54
0.08339488400088158
Frame 85
tensor(0.1107)
 # KEYFRAME 55
0.0844543489984062
Frame 86
tensor(0.1305)
 # KEYFRAME 56
0.08477880899954471
Frame 87
tensor(0.0926)
Frame 88
tensor(0.0673)
Frame 89
tensor(0.0642)
Frame 90
tensor(0.0820)
Frame 91
tensor(0.1739)
 # KEYFRAME 57
0.08568686500075273
Frame 92
tensor(0.0573)
Frame 93
tensor(0.2208)
 # KEYFRAME 58
0.08646813199811731
Frame 94
tensor(0.1141)
 # KEYFRAME 59
0.08708000000115135
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=751 loss_distill=0.3466 tta_take=0.009s
Frame 95
tensor(0.0759)
Frame 96
tensor(0.4702)
 # KEYFRAME 60
0.08627387299929978
Frame 97
tensor(0.0947)
Frame 98
tensor(0.2785)
 # KEYFRAME 61
0.08834096499776933
Frame 99
tensor(0.1615)
 # KEYFRAME 62
0.08819760599726578
Frame 100
tensor(0.1263)
 # KEYFRAME 63
0.08868263499971363
Frame 101
tensor(0.1043)
 # KEYFRAME 64
0.0897614909990807
Frame 102
tensor(0.0793)
Frame 103
tensor(0.1484)
 # KEYFRAME 65
0.09032656899944413
Frame 104
tensor(0.1745)
 # KEYFRAME 66
0.09146007399976952
Frame 105
tensor(0.1044)
 # KEYFRAME 67
0.09215848200256005
Frame 106
tensor(0.1135)
 # KEYFRAME 68
0.09340110799894319
Frame 107
tensor(0.1102)
 # KEYFRAME 69
0.09375851699951454
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=752 loss_distill=0.4024 tta_take=0.009s
Frame 108
tensor(0.0507)
Frame 109
tensor(0.0805)
Frame 110
tensor(0.1340)
 # KEYFRAME 70
0.09270621000177925
Frame 111
tensor(0.0841)
Frame 112
tensor(0.1157)
 # KEYFRAME 71
0.09515682100027334
Frame 113
tensor(0.0909)
Frame 114
tensor(0.1278)
 # KEYFRAME 72
0.09503390199824935
Backending... 73 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65583, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=753 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 112/556] scannetpp/bd9305480d/frame frames=115 tta_steps_this_scene=5 mean_loss=0.3198 total_steps=753 time=38.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0091)
Frame 2
tensor(0.0429)
Frame 3
tensor(0.1030)
 # KEYFRAME 1
Frame 4
tensor(0.0786)
Frame 5
tensor(0.0852)
Frame 6
tensor(0.0694)
Frame 7
tensor(0.1400)
 # KEYFRAME 2
0.05122595799912233
Frame 8
tensor(0.1283)
 # KEYFRAME 3
0.05232851400069194
Frame 9
tensor(0.0590)
Frame 10
tensor(0.1288)
 # KEYFRAME 4
0.05364248899786617
Frame 11
tensor(0.0473)
Frame 12
tensor(0.0926)
Frame 13
tensor(0.1338)
 # KEYFRAME 5
0.05446259699965594
Frame 14
tensor(0.0150)
Frame 15
tensor(0.0559)
Frame 16
tensor(0.1247)
 # KEYFRAME 6
0.05597521099844016
Frame 17
tensor(0.0911)
Frame 18
tensor(0.1471)
 # KEYFRAME 7
0.05689563700070721
Frame 19
tensor(0.2244)
 # KEYFRAME 8
0.057209865997720044
Frame 20
tensor(0.0592)
Frame 21
tensor(0.1842)
 # KEYFRAME 9
0.05776374400011264
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 22
tensor(0.0615)
Frame 23
tensor(0.1704)
 # KEYFRAME 10
0.05196422500011977
Frame 24
tensor(0.0845)
Frame 25
tensor(0.2859)
 # KEYFRAME 11
0.053179611000814475
Frame 26
tensor(0.0213)
Frame 27
tensor(0.0930)
Frame 28
tensor(0.1576)
 # KEYFRAME 12
0.05454466499941191
Frame 29
tensor(0.0693)
Frame 30
tensor(0.1411)
 # KEYFRAME 13
0.05663052800082369
Frame 31
tensor(0.0583)
Frame 32
tensor(0.1229)
 # KEYFRAME 14
0.05736328599959961
Frame 33
tensor(0.0055)
Frame 34
tensor(0.0684)
Frame 35
tensor(0.0561)
Frame 36
tensor(0.0443)
Frame 37
tensor(0.0799)
Frame 38
tensor(0.1488)
 # KEYFRAME 15
0.057969313998910366
Frame 39
tensor(0.0963)
Frame 40
tensor(0.1269)
 # KEYFRAME 16
0.059430818997498136
Frame 41
tensor(0.0331)
Frame 42
tensor(0.1065)
 # KEYFRAME 17
0.060125365998828784
Frame 43
tensor(0.0602)
Frame 44
tensor(0.1468)
 # KEYFRAME 18
0.0625142480021168
Frame 45
tensor(0.1511)
 # KEYFRAME 19
0.06253395700332476
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 46
tensor(0.0952)
Frame 47
tensor(0.1521)
 # KEYFRAME 20
0.059164828999200836
Frame 48
tensor(0.0606)
Frame 49
tensor(0.1320)
 # KEYFRAME 21
0.060651874999166466
Frame 50
tensor(0.0958)
Frame 51
tensor(0.1093)
 # KEYFRAME 22
0.061353741999482736
Frame 52
tensor(0.0925)
Frame 53
tensor(0.1171)
 # KEYFRAME 23
0.06196853999790619
Frame 54
tensor(0.5052)
 # KEYFRAME 24
0.06262927699935972
Frame 55
tensor(0.1444)
 # KEYFRAME 25
0.06322113499845727
Frame 56
tensor(0.0871)
Frame 57
tensor(0.1325)
 # KEYFRAME 26
0.06483279899839545
Frame 58
tensor(0.1075)
 # KEYFRAME 27
0.06608718500137911
Frame 59
tensor(0.1127)
 # KEYFRAME 28
0.06744581000020844
Frame 60
tensor(0.0641)
Frame 61
tensor(0.1755)
 # KEYFRAME 29
0.06867568500092602
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 62
tensor(0.0424)
Frame 63
tensor(0.0686)
Frame 64
tensor(0.0615)
Frame 65
tensor(0.0698)
Frame 66
tensor(0.1430)
 # KEYFRAME 30
0.06580213599954732
Frame 67
tensor(0.0384)
Frame 68
tensor(0.1161)
 # KEYFRAME 31
0.06753359899812494
Frame 69
tensor(0.1156)
 # KEYFRAME 32
0.06787033900036477
Frame 70
tensor(0.0821)
Frame 71
tensor(0.1839)
 # KEYFRAME 33
0.06914065399905667
Frame 72
tensor(0.0397)
Frame 73
tensor(0.0541)
Frame 74
tensor(0.0739)
Frame 75
tensor(0.0836)
Frame 76
tensor(0.0991)
Frame 77
tensor(0.1111)
 # KEYFRAME 34
0.0697328819987888
Frame 78
tensor(0.0293)
Frame 79
tensor(0.0982)
Frame 80
tensor(0.1367)
 # KEYFRAME 35
0.07070714800283895
Frame 81
tensor(0.0461)
Frame 82
tensor(0.0987)
Frame 83
tensor(0.1030)
 # KEYFRAME 36
0.07172881400038023
Frame 84
tensor(0.0105)
Frame 85
tensor(0.0124)
Frame 86
tensor(0.0479)
Frame 87
tensor(0.0663)
Frame 88
tensor(0.0773)
Frame 89
tensor(0.1032)
 # KEYFRAME 37
0.07247940200250014
Frame 90
tensor(0.0699)
Frame 91
tensor(0.1101)
 # KEYFRAME 38
0.0728323610019288
Frame 92
tensor(0.2464)
 # KEYFRAME 39
0.07446813500064309
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=754 loss_distill=0.1733 tta_take=0.009s
Frame 93
tensor(0.0458)
Frame 94
tensor(0.1024)
 # KEYFRAME 40
0.07276400099726743
Frame 95
tensor(0.0624)
Frame 96
tensor(0.1061)
 # KEYFRAME 41
0.07478923400049098
Frame 97
tensor(0.1221)
 # KEYFRAME 42
0.07486475399855408
Frame 98
tensor(0.0599)
Frame 99
tensor(0.0882)
Frame 100
tensor(0.1076)
 # KEYFRAME 43
0.07564726100099506
Frame 101
tensor(0.0479)
Frame 102
tensor(0.1201)
 # KEYFRAME 44
0.07621849899805966
Frame 103
tensor(0.0619)
Frame 104
tensor(0.1147)
 # KEYFRAME 45
0.07646217799992883
Backending... 46 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 47886, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531069278717
TTA-STEP: step=755 loss_distill=0.2747 tta_take=0.006s
[epoch 0 scene 113/556] scannetpp/e01b287af5/frame frames=105 tta_steps_this_scene=2 mean_loss=0.2240 total_steps=755 time=23.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0378)
Frame 2
tensor(0.0143)
Frame 3
tensor(0.1014)
 # KEYFRAME 1
Frame 4
tensor(0.1578)
 # KEYFRAME 2
0.05144000699874596
Frame 5
tensor(0.1066)
 # KEYFRAME 3
0.05244141300136107
Frame 6
tensor(0.0469)
Frame 7
tensor(0.2048)
 # KEYFRAME 4
0.053734689001430525
Frame 8
tensor(0.1742)
 # KEYFRAME 5
0.05449483600023086
Frame 9
tensor(0.1675)
 # KEYFRAME 6
0.055924141001014505
Frame 10
tensor(0.1708)
 # KEYFRAME 7
0.05658037800094462
Frame 11
tensor(0.0934)
Frame 12
tensor(0.3191)
 # KEYFRAME 8
0.057247126002039295
Frame 13
tensor(0.0628)
Frame 14
tensor(0.1631)
 # KEYFRAME 9
0.05763526499868021
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 15
tensor(0.0952)
Frame 16
tensor(0.1356)
 # KEYFRAME 10
0.051820984997903
Frame 17
tensor(0.2372)
 # KEYFRAME 11
0.053465540000615874
Frame 18
tensor(0.1882)
 # KEYFRAME 12
0.05467214599775616
Frame 19
tensor(0.4148)
 # KEYFRAME 13
0.05654918900108896
Frame 20
tensor(0.1854)
 # KEYFRAME 14
0.05750327500209096
Frame 21
tensor(0.1392)
 # KEYFRAME 15
0.057964814001024934
Frame 22
tensor(0.0937)
Frame 23
tensor(0.1566)
 # KEYFRAME 16
0.05970367700138013
Frame 24
tensor(0.1047)
 # KEYFRAME 17
0.060288034997938666
Frame 25
tensor(0.0552)
Frame 26
tensor(0.2741)
 # KEYFRAME 18
0.06121087199790054
Frame 27
tensor(0.4594)
 # KEYFRAME 19
0.06255178699939279
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 28
tensor(0.5372)
 # KEYFRAME 20
0.05870325099749607
Frame 29
tensor(0.6096)
 # KEYFRAME 21
0.06035711600270588
Frame 30
tensor(0.2857)
 # KEYFRAME 22
0.06123337199824164
Frame 31
tensor(0.1765)
 # KEYFRAME 23
0.06200816899945494
Frame 32
tensor(0.0269)
Frame 33
tensor(0.4084)
 # KEYFRAME 24
0.06263739699716098
Frame 34
tensor(0.2422)
 # KEYFRAME 25
0.06354344400097034
Frame 35
tensor(0.1974)
 # KEYFRAME 26
0.06514239800162613
Frame 36
tensor(0.1548)
 # KEYFRAME 27
0.06636886400156072
Frame 37
tensor(0.5578)
 # KEYFRAME 28
0.06778125900018495
Frame 38
tensor(0.1250)
 # KEYFRAME 29
0.06790769799772534
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 39
tensor(0.2386)
 # KEYFRAME 30
0.06557976600015536
Frame 40
tensor(0.1699)
 # KEYFRAME 31
0.06727249100003974
Frame 41
tensor(0.1697)
 # KEYFRAME 32
0.06775176900191582
Frame 42
tensor(0.1258)
 # KEYFRAME 33
0.06887495499904617
Frame 43
tensor(0.1347)
 # KEYFRAME 34
0.06981130200074404
Frame 44
tensor(0.1660)
 # KEYFRAME 35
0.07082241799798794
Frame 45
tensor(0.2405)
 # KEYFRAME 36
0.07153896499949042
Frame 46
tensor(0.2742)
 # KEYFRAME 37
0.0721244940032193
Frame 47
tensor(0.2931)
 # KEYFRAME 38
0.07293571999980486
Frame 48
tensor(0.2727)
 # KEYFRAME 39
0.07433727500028908
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=756 loss_distill=0.1733 tta_take=0.009s
Frame 49
tensor(0.2304)
 # KEYFRAME 40
0.07215770300172153
Frame 50
tensor(0.2559)
 # KEYFRAME 41
0.07440011499784305
Frame 51
tensor(0.1709)
 # KEYFRAME 42
0.07482024400087539
Frame 52
tensor(0.1690)
 # KEYFRAME 43
0.07523999199838727
Frame 53
tensor(0.1259)
 # KEYFRAME 44
0.07555983099882724
Frame 54
tensor(0.1639)
 # KEYFRAME 45
0.07648974699986866
Frame 55
tensor(0.1771)
 # KEYFRAME 46
0.07762552400163258
Frame 56
tensor(0.1577)
 # KEYFRAME 47
0.07762680399901001
Frame 57
tensor(0.1784)
 # KEYFRAME 48
0.07896820899986778
Frame 58
tensor(0.0991)
Frame 59
tensor(0.2618)
 # KEYFRAME 49
0.07973815700097475
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=757 loss_distill=0.2747 tta_take=0.009s
Frame 60
tensor(0.2332)
 # KEYFRAME 50
0.07946441699823481
Frame 61
tensor(0.1669)
 # KEYFRAME 51
0.08129583100162563
Frame 62
tensor(0.2897)
 # KEYFRAME 52
0.08145682000031229
Frame 63
tensor(0.1885)
 # KEYFRAME 53
0.08198825900035445
Frame 64
tensor(0.1654)
 # KEYFRAME 54
0.0827124460010964
Frame 65
tensor(0.1186)
 # KEYFRAME 55
0.08369294300064212
Frame 66
tensor(0.0976)
Frame 67
tensor(0.2178)
 # KEYFRAME 56
0.08580810500279767
Frame 68
tensor(0.0436)
Frame 69
tensor(0.3932)
 # KEYFRAME 57
0.08501409699965734
Frame 70
tensor(0.8440)
 # KEYFRAME 58
0.08695578100014245
Frame 71
tensor(0.3529)
 # KEYFRAME 59
0.0871470700003556
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=758 loss_distill=0.3466 tta_take=0.009s
Frame 72
tensor(0.2974)
 # KEYFRAME 60
0.0860785630029568
Frame 73
tensor(0.1487)
 # KEYFRAME 61
0.08865419500216376
Frame 74
tensor(0.1681)
 # KEYFRAME 62
0.08823634600048536
Frame 75
tensor(0.5854)
 # KEYFRAME 63
0.088432485001249
Frame 76
tensor(0.4493)
 # KEYFRAME 64
0.08966859100110014
Frame 77
tensor(0.2466)
 # KEYFRAME 65
0.09019064899985096
Frame 78
tensor(0.2396)
 # KEYFRAME 66
0.09161423399928026
Frame 79
tensor(0.1846)
 # KEYFRAME 67
0.09253282999998191
Frame 80
tensor(0.2438)
 # KEYFRAME 68
0.0933592569999746
Frame 81
tensor(0.1557)
 # KEYFRAME 69
0.09425652400022955
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=759 loss_distill=0.4024 tta_take=0.009s
Frame 82
tensor(0.4500)
 # KEYFRAME 70
0.09253369100042619
Frame 83
tensor(0.1619)
 # KEYFRAME 71
0.09490583300066646
Frame 84
tensor(0.2477)
 # KEYFRAME 72
0.09506946100009372
Frame 85
tensor(0.3179)
 # KEYFRAME 73
0.09597851899889065
Frame 86
tensor(0.2475)
 # KEYFRAME 74
0.09618352700272226
Frame 87
tensor(0.2898)
 # KEYFRAME 75
0.09765212199999951
Frame 88
tensor(0.1250)
 # KEYFRAME 76
0.09752578400002676
Frame 89
tensor(0.1196)
 # KEYFRAME 77
0.09861510900009307
Frame 90
tensor(0.1807)
 # KEYFRAME 78
0.09955719500067062
Frame 91
tensor(0.1349)
 # KEYFRAME 79
0.10089069099922199
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=760 loss_distill=0.4024 tta_take=0.009s
Frame 92
tensor(0.1823)
 # KEYFRAME 80
0.09282964000158245
Frame 93
tensor(0.1612)
 # KEYFRAME 81
0.09575101899827132
Frame 94
tensor(0.2107)
 # KEYFRAME 82
0.09515526100221905
Frame 95
tensor(0.1717)
 # KEYFRAME 83
0.09555462999924202
Frame 96
tensor(0.1602)
 # KEYFRAME 84
0.09617290800088085
Frame 97
tensor(0.1656)
 # KEYFRAME 85
0.09731193400148186
Frame 98
tensor(0.2042)
 # KEYFRAME 86
0.09812946100282716
Frame 99
tensor(0.2052)
 # KEYFRAME 87
0.09885662799933925
Frame 100
tensor(0.0766)
Frame 101
tensor(0.2895)
 # KEYFRAME 88
0.09960236499682651
Frame 102
tensor(0.0667)
Frame 103
tensor(0.1458)
 # KEYFRAME 89
0.10060704200077453
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595452308655
TTA-STEP: step=761 loss_distill=0.4024 tta_take=0.009s
Frame 104
tensor(0.1355)
 # KEYFRAME 90
0.09283800899720518
Frame 105
tensor(0.2008)
 # KEYFRAME 91
0.09521396099808044
Frame 106
tensor(0.1634)
 # KEYFRAME 92
0.09546712999872398
Frame 107
tensor(0.0749)
Frame 108
tensor(0.2047)
 # KEYFRAME 93
0.09597356900121667
Frame 109
tensor(0.1757)
 # KEYFRAME 94
0.09768541299854405
Frame 110
tensor(0.1469)
 # KEYFRAME 95
0.0988389880003524
Frame 111
tensor(0.0500)
Frame 112
tensor(0.2037)
 # KEYFRAME 96
0.09919688700028928
Frame 113
tensor(0.1032)
 # KEYFRAME 97
0.10032152300118469
Frame 114
tensor(0.1880)
 # KEYFRAME 98
0.10113855999952648
Frame 115
tensor(0.3134)
 # KEYFRAME 99
0.10228427499896497
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=762 loss_distill=0.4024 tta_take=0.009s
Frame 116
tensor(0.0709)
Frame 117
tensor(0.4360)
 # KEYFRAME 100
0.09248753100109752
Frame 118
tensor(0.1978)
 # KEYFRAME 101
0.09591860900036409
Frame 119
tensor(0.2597)
 # KEYFRAME 102
0.09479748299781932
Frame 120
tensor(0.1757)
 # KEYFRAME 103
0.09566093999819714
Frame 121
tensor(0.2151)
 # KEYFRAME 104
0.09670846599692595
Frame 122
tensor(0.3776)
 # KEYFRAME 105
0.09715302499898826
Frame 123
tensor(0.1751)
 # KEYFRAME 106
0.09745536400077981
Frame 124
tensor(0.2834)
 # KEYFRAME 107
0.09882089799793903
Frame 125
tensor(0.2671)
 # KEYFRAME 108
0.09855841900207452
Frame 126
tensor(0.2539)
 # KEYFRAME 109
0.0998380349992658
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=763 loss_distill=0.4024 tta_take=0.009s
Frame 127
tensor(0.0924)
Frame 128
tensor(0.4347)
 # KEYFRAME 110
0.09299515900056576
Frame 129
tensor(0.2660)
 # KEYFRAME 111
0.09381681599916192
Frame 130
tensor(0.0465)
Backending... 112 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 64542, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=764 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 114/556] scannetpp/0e75f3c4d9/frame frames=131 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=764 time=54.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0671)
Frame 2
tensor(0.1251)
 # KEYFRAME 1
Frame 3
tensor(0.0625)
Frame 4
tensor(0.1337)
 # KEYFRAME 2
0.05196041499948478
Frame 5
tensor(0.0609)
Frame 6
tensor(0.1302)
 # KEYFRAME 3
0.05152860599991982
Frame 7
tensor(0.0608)
Frame 8
tensor(0.1247)
 # KEYFRAME 4
0.05150238699934562
Frame 9
tensor(0.0682)
Frame 10
tensor(0.1301)
 # KEYFRAME 5
0.05148245699820109
Frame 11
tensor(0.0605)
Frame 12
tensor(0.1254)
 # KEYFRAME 6
0.05242647400154965
Frame 13
tensor(0.0585)
Frame 14
tensor(0.1267)
 # KEYFRAME 7
0.05284100199787645
Frame 15
tensor(0.0550)
Frame 16
tensor(0.1145)
 # KEYFRAME 8
0.05296216100032325
Frame 17
tensor(0.0686)
Frame 18
tensor(0.1219)
 # KEYFRAME 9
0.05270173299868475
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 19
tensor(0.0744)
Frame 20
tensor(0.1345)
 # KEYFRAME 10
0.05190037499778555
Frame 21
tensor(0.0640)
Frame 22
tensor(0.1342)
 # KEYFRAME 11
0.052058064997254405
Frame 23
tensor(0.0632)
Frame 24
tensor(0.1288)
 # KEYFRAME 12
0.051967434999824036
Frame 25
tensor(0.0694)
Frame 26
tensor(0.1349)
 # KEYFRAME 13
0.0516521460012882
Frame 27
tensor(0.0644)
Frame 28
tensor(0.1286)
 # KEYFRAME 14
0.052194423999026185
Frame 29
tensor(0.0639)
Frame 30
tensor(0.1261)
 # KEYFRAME 15
0.05261239299943554
Frame 31
tensor(0.0519)
Frame 32
tensor(0.1066)
 # KEYFRAME 16
0.05252873299832572
Frame 33
tensor(0.0597)
Frame 34
tensor(0.1255)
 # KEYFRAME 17
0.05370416900041164
Frame 35
tensor(0.0730)
Frame 36
tensor(0.1277)
 # KEYFRAME 18
0.05296290199839859
Frame 37
tensor(0.0688)
Frame 38
tensor(0.1430)
 # KEYFRAME 19
0.0551744830008829
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 39
tensor(0.0657)
Frame 40
tensor(0.1280)
 # KEYFRAME 20
0.051800395998725435
Frame 41
tensor(0.0592)
Frame 42
tensor(0.1124)
 # KEYFRAME 21
0.05185561599864741
Frame 43
tensor(0.0612)
Frame 44
tensor(0.1223)
 # KEYFRAME 22
0.05194001500058221
Frame 45
tensor(0.0544)
Frame 46
tensor(0.1168)
 # KEYFRAME 23
0.05227434399785125
Frame 47
tensor(0.0540)
Frame 48
tensor(0.1252)
 # KEYFRAME 24
0.05214023400185397
Frame 49
tensor(0.0656)
Frame 50
tensor(0.1159)
 # KEYFRAME 25
0.05210560499835992
Frame 51
tensor(0.0647)
Frame 52
tensor(0.1208)
 # KEYFRAME 26
0.05240292300004512
Frame 53
tensor(0.0663)
Frame 54
tensor(0.1224)
 # KEYFRAME 27
0.05416827699809801
Frame 55
tensor(0.0527)
Frame 56
tensor(0.1189)
 # KEYFRAME 28
0.05235740400166833
Frame 57
tensor(0.0569)
Frame 58
tensor(0.1138)
 # KEYFRAME 29
0.05419038699983503
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 59
tensor(0.0641)
Frame 60
tensor(0.1127)
 # KEYFRAME 30
0.05190226500053541
Frame 61
tensor(0.0587)
Frame 62
tensor(0.1166)
 # KEYFRAME 31
0.05178241500107106
Frame 63
tensor(0.0551)
Frame 64
tensor(0.1169)
 # KEYFRAME 32
0.05226888400284224
Frame 65
tensor(0.0537)
Frame 66
tensor(0.1047)
 # KEYFRAME 33
0.05235835400162614
Frame 67
tensor(0.0610)
Frame 68
tensor(0.1105)
 # KEYFRAME 34
0.052722592001373414
Frame 69
tensor(0.0599)
Frame 70
tensor(0.1160)
 # KEYFRAME 35
0.052281313997809775
Frame 71
tensor(0.0595)
Frame 72
tensor(0.1153)
 # KEYFRAME 36
0.05217917399932048
Frame 73
tensor(0.0541)
Frame 74
tensor(0.1061)
 # KEYFRAME 37
0.05313158100034343
Frame 75
tensor(0.0592)
Frame 76
tensor(0.1077)
 # KEYFRAME 38
0.05203077500118525
Frame 77
tensor(0.0562)
Frame 78
tensor(0.1095)
 # KEYFRAME 39
0.05323891100124456
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=765 loss_distill=0.1733 tta_take=0.005s
Frame 79
tensor(0.0487)
Frame 80
tensor(0.0983)
Frame 81
tensor(0.1452)
 # KEYFRAME 40
0.052153415002976544
Frame 82
tensor(0.0516)
Frame 83
tensor(0.1042)
 # KEYFRAME 41
0.05264105300011579
Frame 84
tensor(0.0473)
Frame 85
tensor(0.1012)
 # KEYFRAME 42
0.05269645299995318
Frame 86
tensor(0.0505)
Frame 87
tensor(0.1013)
 # KEYFRAME 43
0.05205965499771992
Frame 88
tensor(0.0599)
Frame 89
tensor(0.1029)
 # KEYFRAME 44
0.05276022199905128
Frame 90
tensor(0.0483)
Frame 91
tensor(0.0902)
Frame 92
tensor(0.1282)
 # KEYFRAME 45
0.051960854998469586
Frame 93
tensor(0.0512)
Frame 94
tensor(0.0890)
Frame 95
tensor(0.1517)
 # KEYFRAME 46
0.05243675300152972
Frame 96
tensor(0.0439)
Frame 97
tensor(0.0824)
Frame 98
tensor(0.1262)
 # KEYFRAME 47
0.053145190999202896
Frame 99
tensor(0.0388)
Frame 100
tensor(0.0823)
Frame 101
tensor(0.1143)
 # KEYFRAME 48
0.05275955199977034
Frame 102
tensor(0.0390)
Frame 103
tensor(0.0708)
Frame 104
tensor(0.1064)
 # KEYFRAME 49
0.05447162699783803
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=766 loss_distill=0.2747 tta_take=0.005s
Frame 105
tensor(0.0398)
Frame 106
tensor(0.0711)
Frame 107
tensor(0.1042)
 # KEYFRAME 50
0.051956975999928545
Frame 108
tensor(0.0367)
Frame 109
tensor(0.0693)
Frame 110
tensor(0.1100)
 # KEYFRAME 51
0.05200854500071728
Frame 111
tensor(0.0303)
Frame 112
tensor(0.0613)
Frame 113
tensor(0.1020)
 # KEYFRAME 52
0.05382246799854329
Frame 114
tensor(0.0329)
Frame 115
tensor(0.0760)
Frame 116
tensor(0.1045)
 # KEYFRAME 53
0.05208265399778611
Frame 117
tensor(0.0340)
Frame 118
tensor(0.0720)
Frame 119
tensor(0.1050)
 # KEYFRAME 54
0.053579859999445034
Frame 120
tensor(0.0357)
Frame 121
tensor(0.0592)
Frame 122
tensor(0.0930)
Frame 123
tensor(0.1180)
 # KEYFRAME 55
0.0520496950011875
Frame 124
tensor(0.0266)
Frame 125
tensor(0.0517)
Frame 126
tensor(0.0697)
Frame 127
tensor(0.0930)
Frame 128
tensor(0.1163)
 # KEYFRAME 56
0.05254005299866549
Frame 129
tensor(0.0229)
Frame 130
tensor(0.0488)
Frame 131
tensor(0.0680)
Frame 132
tensor(0.0989)
Frame 133
tensor(0.1206)
 # KEYFRAME 57
0.05362764900201
Frame 134
tensor(0.0214)
Frame 135
tensor(0.0436)
Frame 136
tensor(0.0646)
Frame 137
tensor(0.0852)
Frame 138
tensor(0.1044)
 # KEYFRAME 58
0.05281622199981939
Frame 139
tensor(0.0215)
Frame 140
tensor(0.0437)
Frame 141
tensor(0.0630)
Frame 142
tensor(0.0863)
Frame 143
tensor(0.1071)
 # KEYFRAME 59
0.05404747799912002
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=767 loss_distill=0.3466 tta_take=0.005s
Frame 144
tensor(0.0212)
Frame 145
tensor(0.0430)
Frame 146
tensor(0.0622)
Frame 147
tensor(0.0848)
Frame 148
tensor(0.1010)
 # KEYFRAME 60
0.05182372600029339
Frame 149
tensor(0.0205)
Frame 150
tensor(0.0435)
Frame 151
tensor(0.0632)
Frame 152
tensor(0.0803)
Frame 153
tensor(0.1002)
 # KEYFRAME 61
0.05298680100167985
Frame 154
tensor(0.0202)
Frame 155
tensor(0.0437)
Frame 156
tensor(0.0561)
Frame 157
tensor(0.0799)
Frame 158
tensor(0.1029)
 # KEYFRAME 62
0.054685975999746006
Frame 159
tensor(0.0198)
Frame 160
tensor(0.0387)
Frame 161
tensor(0.0614)
Frame 162
tensor(0.0888)
Frame 163
tensor(0.1122)
 # KEYFRAME 63
0.05217125400304212
Frame 164
tensor(0.0241)
Frame 165
tensor(0.0455)
Frame 166
tensor(0.0635)
Frame 167
tensor(0.0934)
Frame 168
tensor(0.1179)
 # KEYFRAME 64
0.054276947001199005
Frame 169
tensor(0.0244)
Frame 170
tensor(0.0480)
Frame 171
tensor(0.0720)
Frame 172
tensor(0.1062)
 # KEYFRAME 65
0.05251585399673786
Frame 173
tensor(0.0276)
Frame 174
tensor(0.0538)
Frame 175
tensor(0.0776)
Frame 176
tensor(0.0997)
Frame 177
tensor(0.1279)
 # KEYFRAME 66
0.0526188629992248
Frame 178
tensor(0.0249)
Frame 179
tensor(0.0512)
Frame 180
tensor(0.0726)
Frame 181
tensor(0.0925)
Frame 182
tensor(0.1179)
 # KEYFRAME 67
0.054205387001275085
Frame 183
tensor(0.0202)
Frame 184
tensor(0.0375)
Frame 185
tensor(0.0576)
Frame 186
tensor(0.0778)
Frame 187
tensor(0.0985)
Frame 188
tensor(0.1232)
 # KEYFRAME 68
0.05289122099929955
Frame 189
tensor(0.0174)
Frame 190
tensor(0.0374)
Frame 191
tensor(0.0532)
Frame 192
tensor(0.0731)
Frame 193
tensor(0.0879)
Frame 194
tensor(0.1060)
 # KEYFRAME 69
0.05479846600064775
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=768 loss_distill=0.4024 tta_take=0.005s
Frame 195
tensor(0.0174)
Frame 196
tensor(0.0357)
Frame 197
tensor(0.0481)
Frame 198
tensor(0.0660)
Frame 199
tensor(0.0788)
Frame 200
tensor(0.0936)
Frame 201
tensor(0.1120)
 # KEYFRAME 70
0.05355340000096476
Frame 202
tensor(0.0136)
Frame 203
tensor(0.0301)
Frame 204
tensor(0.0414)
Frame 205
tensor(0.0514)
Frame 206
tensor(0.0657)
Frame 207
tensor(0.0790)
Frame 208
tensor(0.0939)
Frame 209
tensor(0.1052)
 # KEYFRAME 71
0.054142576998856384
Frame 210
tensor(0.0123)
Frame 211
tensor(0.0255)
Frame 212
tensor(0.0400)
Frame 213
tensor(0.0552)
Frame 214
tensor(0.0708)
Frame 215
tensor(0.0847)
Frame 216
tensor(0.1000)
Frame 217
tensor(0.1130)
 # KEYFRAME 72
0.05532615299671306
Frame 218
tensor(0.0172)
Frame 219
tensor(0.0373)
Frame 220
tensor(0.0584)
Frame 221
tensor(0.0754)
Frame 222
tensor(0.0904)
Frame 223
tensor(0.1090)
 # KEYFRAME 73
0.05326908999995794
Frame 224
tensor(0.0187)
Frame 225
tensor(0.0443)
Frame 226
tensor(0.0672)
Frame 227
tensor(0.0840)
Frame 228
tensor(0.1039)
 # KEYFRAME 74
0.05509926399827236
Frame 229
tensor(0.0183)
Frame 230
tensor(0.0372)
Frame 231
tensor(0.0592)
Frame 232
tensor(0.0812)
Frame 233
tensor(0.1003)
 # KEYFRAME 75
0.053490818998398026
Frame 234
tensor(0.0194)
Frame 235
tensor(0.0416)
Frame 236
tensor(0.0617)
Frame 237
tensor(0.0871)
Frame 238
tensor(0.1073)
 # KEYFRAME 76
0.05380688899822417
Frame 239
tensor(0.0177)
Frame 240
tensor(0.0387)
Frame 241
tensor(0.0730)
Frame 242
tensor(0.0960)
Frame 243
tensor(0.1176)
 # KEYFRAME 77
0.0549766650001402
Frame 244
tensor(0.0234)
Frame 245
tensor(0.0553)
Frame 246
tensor(0.0826)
Frame 247
tensor(0.1158)
 # KEYFRAME 78
0.05447414599984768
Frame 248
tensor(0.0266)
Frame 249
tensor(0.0576)
Frame 250
tensor(0.0796)
Frame 251
tensor(0.1159)
 # KEYFRAME 79
0.05564900199897238
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=769 loss_distill=0.4024 tta_take=0.005s
Frame 252
tensor(0.0260)
Frame 253
tensor(0.0558)
Frame 254
tensor(0.0807)
Frame 255
tensor(0.1076)
 # KEYFRAME 80
0.05344820000027539
Frame 256
tensor(0.0293)
Frame 257
tensor(0.0511)
Frame 258
tensor(0.0748)
Frame 259
tensor(0.1026)
 # KEYFRAME 81
0.05374957900130539
Frame 260
tensor(0.0246)
Frame 261
tensor(0.0540)
Frame 262
tensor(0.0715)
Frame 263
tensor(0.0991)
Frame 264
tensor(0.1244)
 # KEYFRAME 82
0.05405220800093957
Frame 265
tensor(0.0243)
Frame 266
tensor(0.0514)
Frame 267
tensor(0.0783)
Frame 268
tensor(0.1002)
 # KEYFRAME 83
0.053627219996997155
Frame 269
tensor(0.0229)
Frame 270
tensor(0.0471)
Frame 271
tensor(0.0693)
Frame 272
tensor(0.0891)
Frame 273
tensor(0.1113)
 # KEYFRAME 84
0.05464577599923359
Frame 274
tensor(0.0172)
Frame 275
tensor(0.0370)
Frame 276
tensor(0.0574)
Frame 277
tensor(0.0746)
Frame 278
tensor(0.0858)
Frame 279
tensor(0.0989)
Frame 280
tensor(0.1180)
 # KEYFRAME 85
0.05388012899857131
Frame 281
tensor(0.0127)
Frame 282
tensor(0.0231)
Frame 283
tensor(0.0375)
Frame 284
tensor(0.0568)
Frame 285
tensor(0.0725)
Frame 286
tensor(0.0823)
Frame 287
tensor(0.0913)
Frame 288
tensor(0.1058)
 # KEYFRAME 86
0.05396269799894071
Frame 289
tensor(0.0124)
Frame 290
tensor(0.0261)
Frame 291
tensor(0.0382)
Frame 292
tensor(0.0521)
Frame 293
tensor(0.0606)
Frame 294
tensor(0.0735)
Frame 295
tensor(0.0883)
Frame 296
tensor(0.0993)
Frame 297
tensor(0.1142)
 # KEYFRAME 87
0.05503852399851894
Frame 298
tensor(0.0120)
Frame 299
tensor(0.0239)
Backending... 88 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28016, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=770 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 115/556] vkitti/Scene18/30-deg-right/Camera_1 frames=300 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=770 time=72.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0093)
Frame 2
tensor(0.0184)
Frame 3
tensor(0.0621)
Frame 4
tensor(0.1771)
 # KEYFRAME 1
Frame 5
tensor(0.0694)
Frame 6
tensor(0.1287)
 # KEYFRAME 2
0.05138535699734348
Frame 7
tensor(0.1132)
 # KEYFRAME 3
0.05305146099999547
Frame 8
tensor(0.1080)
 # KEYFRAME 4
0.054510305999428965
Frame 9
tensor(0.0510)
Frame 10
tensor(0.1227)
 # KEYFRAME 5
0.05529498300165869
Frame 11
tensor(0.1301)
 # KEYFRAME 6
0.055709552001644624
Frame 12
tensor(0.1655)
 # KEYFRAME 7
0.05664411800171365
Frame 13
tensor(0.1398)
 # KEYFRAME 8
0.05818112300039502
Frame 14
tensor(0.1681)
 # KEYFRAME 9
0.05802486399988993
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 15
tensor(0.1659)
 # KEYFRAME 10
0.051952385998447426
Frame 16
tensor(0.1300)
 # KEYFRAME 11
0.05346610999913537
Frame 17
tensor(0.1797)
 # KEYFRAME 12
0.054088958000647835
Frame 18
tensor(0.1235)
 # KEYFRAME 13
0.056259100001625484
Frame 19
tensor(0.1253)
 # KEYFRAME 14
0.05687733699960518
Frame 20
tensor(0.1578)
 # KEYFRAME 15
0.0582247530001041
Frame 21
tensor(0.0879)
Frame 22
tensor(0.2043)
 # KEYFRAME 16
0.05856146199948853
Frame 23
tensor(0.0938)
Frame 24
tensor(0.2143)
 # KEYFRAME 17
0.059940136001387145
Frame 25
tensor(0.0675)
Frame 26
tensor(0.1174)
 # KEYFRAME 18
0.061190753000119
Frame 27
tensor(0.0230)
Frame 28
tensor(0.0967)
Frame 29
tensor(0.0884)
Frame 30
tensor(0.1187)
 # KEYFRAME 19
0.06231571799798985
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 31
tensor(0.0921)
Frame 32
tensor(0.1112)
 # KEYFRAME 20
0.058823780997045105
Frame 33
tensor(0.0242)
Frame 34
tensor(0.0729)
Frame 35
tensor(0.1398)
 # KEYFRAME 21
0.060672653999063186
Frame 36
tensor(0.1567)
 # KEYFRAME 22
0.060948463000386255
Frame 37
tensor(0.1348)
 # KEYFRAME 23
0.06131404199913959
Frame 38
tensor(0.0885)
Frame 39
tensor(0.2189)
 # KEYFRAME 24
0.062234298999101156
Frame 40
tensor(0.0964)
Frame 41
tensor(0.1162)
 # KEYFRAME 25
0.06350246399961179
Frame 42
tensor(0.1402)
 # KEYFRAME 26
0.06499631799670169
Frame 43
tensor(0.1652)
 # KEYFRAME 27
0.06651343300109147
Frame 44
tensor(0.0449)
Frame 45
tensor(0.1681)
 # KEYFRAME 28
0.06699688200023957
Frame 46
tensor(0.1124)
 # KEYFRAME 29
0.06796431800103164
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 47
tensor(0.0884)
Frame 48
tensor(0.1073)
 # KEYFRAME 30
0.06542898800034891
Frame 49
tensor(0.0587)
Frame 50
tensor(0.1468)
 # KEYFRAME 31
0.06767776900233002
Frame 51
tensor(0.1572)
 # KEYFRAME 32
0.06765684999845689
Frame 52
tensor(0.1192)
 # KEYFRAME 33
0.06886318499891786
Frame 53
tensor(0.0826)
Frame 54
tensor(0.1941)
 # KEYFRAME 34
0.0693959439995524
Frame 55
tensor(0.0770)
Frame 56
tensor(0.2412)
 # KEYFRAME 35
0.07039180000356282
Frame 57
tensor(0.1266)
 # KEYFRAME 36
0.07126336599685601
Frame 58
tensor(0.1453)
 # KEYFRAME 37
0.07235587300237967
Frame 59
tensor(0.0977)
Frame 60
tensor(0.1892)
 # KEYFRAME 38
0.07306473000062397
Frame 61
tensor(0.2038)
 # KEYFRAME 39
0.07424061599886045
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=771 loss_distill=0.1733 tta_take=0.009s
Frame 62
tensor(0.1826)
 # KEYFRAME 40
0.07241013200109592
Frame 63
tensor(0.2060)
 # KEYFRAME 41
0.07370295800137683
Frame 64
tensor(0.1289)
 # KEYFRAME 42
0.07440167499953532
Frame 65
tensor(0.1494)
 # KEYFRAME 43
0.07503149300100631
Frame 66
tensor(0.3688)
 # KEYFRAME 44
0.07570146099897102
Frame 67
tensor(0.1797)
 # KEYFRAME 45
0.07636255800025538
Frame 68
tensor(0.1688)
 # KEYFRAME 46
0.07703089600181556
Frame 69
tensor(0.0951)
Frame 70
tensor(0.1600)
 # KEYFRAME 47
0.07750133399895276
Frame 71
tensor(0.0623)
Frame 72
tensor(0.1752)
 # KEYFRAME 48
0.07885809900108143
Frame 73
tensor(0.1156)
 # KEYFRAME 49
0.08052210299865692
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=772 loss_distill=0.2747 tta_take=0.009s
Frame 74
tensor(0.1523)
 # KEYFRAME 50
0.07872113000121317
Frame 75
tensor(0.0884)
Frame 76
tensor(0.2368)
 # KEYFRAME 51
0.08118770099827088
Frame 77
tensor(0.1681)
 # KEYFRAME 52
0.08205987799738068
Frame 78
tensor(0.0650)
Frame 79
tensor(0.1624)
 # KEYFRAME 53
0.08426537999912398
Frame 80
tensor(0.1870)
 # KEYFRAME 54
0.08569220500066876
Frame 81
tensor(0.1178)
 # KEYFRAME 55
0.08668613099871436
Frame 82
tensor(0.1449)
 # KEYFRAME 56
0.08659730200088234
Frame 83
tensor(0.1817)
 # KEYFRAME 57
0.08750085900101112
Frame 84
tensor(0.1245)
 # KEYFRAME 58
0.08826938600032008
Frame 85
tensor(0.0877)
Frame 86
tensor(0.1728)
 # KEYFRAME 59
0.08896789299978991
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=773 loss_distill=0.3466 tta_take=0.009s
Frame 87
tensor(0.0781)
Frame 88
tensor(0.1431)
 # KEYFRAME 60
0.08582508499966934
Frame 89
tensor(0.0496)
Frame 90
tensor(0.0915)
Frame 91
tensor(0.1940)
 # KEYFRAME 61
0.08904172300026403
Frame 92
tensor(0.1918)
 # KEYFRAME 62
0.0892728229991917
Frame 93
tensor(0.1239)
 # KEYFRAME 63
0.08981650100031402
Frame 94
tensor(0.1753)
 # KEYFRAME 64
0.09134175500003039
Frame 95
tensor(0.1841)
 # KEYFRAME 65
0.09285436999925878
Frame 96
tensor(0.1167)
 # KEYFRAME 66
0.09366477699950337
Frame 97
tensor(0.0360)
Frame 98
tensor(0.2663)
 # KEYFRAME 67
0.09517811199839343
Frame 99
tensor(0.0462)
Frame 100
tensor(0.0786)
Frame 101
tensor(0.1366)
 # KEYFRAME 68
0.09583480900255381
Frame 102
tensor(0.1889)
 # KEYFRAME 69
0.09645158700004686
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=774 loss_distill=0.4024 tta_take=0.009s
Frame 103
tensor(0.3138)
 # KEYFRAME 70
0.09306403899972793
Frame 104
tensor(0.1971)
 # KEYFRAME 71
0.09536982099962188
Frame 105
tensor(0.1624)
 # KEYFRAME 72
0.09434178500305279
Frame 106
tensor(0.1839)
 # KEYFRAME 73
0.0953867509997508
Frame 107
tensor(0.2429)
 # KEYFRAME 74
0.09629704799954197
Frame 108
tensor(0.0724)
Frame 109
tensor(0.1163)
 # KEYFRAME 75
0.09727871400173171
Frame 110
tensor(0.0467)
Frame 111
tensor(0.1438)
 # KEYFRAME 76
0.09789567199914018
Frame 112
tensor(0.1303)
 # KEYFRAME 77
0.09834149000016623
Frame 113
tensor(0.0257)
Frame 114
tensor(0.1384)
 # KEYFRAME 78
0.09988163500020164
Frame 115
tensor(0.1251)
 # KEYFRAME 79
0.10034048300076392
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=775 loss_distill=0.4024 tta_take=0.009s
Frame 116
tensor(0.0383)
Frame 117
tensor(0.0146)
Frame 118
tensor(0.6096)
 # KEYFRAME 80
0.09293622900077025
Frame 119
tensor(0.1690)
 # KEYFRAME 81
0.09557290000157082
Frame 120
tensor(0.1325)
 # KEYFRAME 82
0.09554000999924028
Frame 121
tensor(0.0875)
Frame 122
tensor(0.1550)
 # KEYFRAME 83
0.09611968800163595
Frame 123
tensor(0.0509)
Frame 124
tensor(0.3366)
 # KEYFRAME 84
0.09616985699904035
Frame 125
tensor(0.1419)
 # KEYFRAME 85
0.09760578200075543
Frame 126
tensor(0.0540)
Frame 127
tensor(0.2081)
 # KEYFRAME 86
0.0976141130013275
Frame 128
tensor(0.1405)
 # KEYFRAME 87
0.09893452799951774
Frame 129
tensor(0.1160)
 # KEYFRAME 88
0.09980851499858545
Frame 130
tensor(0.2108)
 # KEYFRAME 89
0.10000992400091491
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=776 loss_distill=0.4024 tta_take=0.009s
Frame 131
tensor(0.2487)
 # KEYFRAME 90
0.09336672800054657
Frame 132
tensor(0.1308)
 # KEYFRAME 91
0.09497004199874937
Frame 133
tensor(0.1153)
 # KEYFRAME 92
0.09526840100079426
Frame 134
tensor(0.1212)
 # KEYFRAME 93
0.09621153800253524
Frame 135
tensor(0.3013)
 # KEYFRAME 94
0.09639499699915177
Frame 136
tensor(0.1186)
 # KEYFRAME 95
0.09767062299943063
Backending... 96 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 68706, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=777 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 116/556] scannetpp/0a184cf634/frame frames=137 tta_steps_this_scene=7 mean_loss=0.3434 total_steps=777 time=49.6s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0700)
Frame 2
tensor(0.1078)
 # KEYFRAME 1
Frame 3
tensor(0.1253)
 # KEYFRAME 2
0.05136036700059776
Frame 4
tensor(0.1277)
 # KEYFRAME 3
0.052302484000392724
Frame 5
tensor(0.0746)
Frame 6
tensor(0.1454)
 # KEYFRAME 4
0.053237430001900066
Frame 7
tensor(0.1043)
 # KEYFRAME 5
0.05468126499908976
Frame 8
tensor(0.0810)
Frame 9
tensor(0.1556)
 # KEYFRAME 6
0.05556661199807422
Frame 10
tensor(0.4308)
 # KEYFRAME 7
0.05665382799998042
Frame 11
tensor(0.1581)
 # KEYFRAME 8
0.057084686999587575
Frame 12
tensor(0.1257)
 # KEYFRAME 9
0.05821225199906621
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 13
tensor(0.0991)
Frame 14
tensor(0.1764)
 # KEYFRAME 10
0.051398457999312086
Frame 15
tensor(0.1685)
 # KEYFRAME 11
0.052318033998744795
Frame 16
tensor(0.0761)
Frame 17
tensor(0.3779)
 # KEYFRAME 12
0.05273017199942842
Frame 18
tensor(0.0759)
Frame 19
tensor(0.1124)
 # KEYFRAME 13
0.05469093499777955
Frame 20
tensor(0.0323)
Frame 21
tensor(0.0992)
Frame 22
tensor(0.1718)
 # KEYFRAME 14
0.05446391599980416
Frame 23
tensor(0.1375)
 # KEYFRAME 15
0.054223237002588576
Frame 24
tensor(0.0579)
Frame 25
tensor(0.1541)
 # KEYFRAME 16
0.05477801599772647
Frame 26
tensor(0.1069)
 # KEYFRAME 17
0.05567699200037168
Frame 27
tensor(0.1424)
 # KEYFRAME 18
0.05681852699854062
Frame 28
tensor(0.1515)
 # KEYFRAME 19
0.05733777599743917
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 29
tensor(0.1775)
 # KEYFRAME 20
0.05387117799909902
Frame 30
tensor(0.2084)
 # KEYFRAME 21
0.05458972600172274
Frame 31
tensor(0.1887)
 # KEYFRAME 22
0.05514963300083764
Frame 32
tensor(0.2351)
 # KEYFRAME 23
0.05553146199963521
Frame 33
tensor(0.1517)
 # KEYFRAME 24
0.05604174099789816
Frame 34
tensor(0.0598)
Frame 35
tensor(0.1458)
 # KEYFRAME 25
0.05685775800156989
Frame 36
tensor(0.0564)
Frame 37
tensor(0.0984)
Frame 38
tensor(0.1505)
 # KEYFRAME 26
0.057710605000465875
Frame 39
tensor(0.4288)
 # KEYFRAME 27
0.05886495099912281
Frame 40
tensor(0.0137)
Frame 41
tensor(0.0481)
Frame 42
tensor(0.0652)
Frame 43
tensor(0.1244)
 # KEYFRAME 28
0.059313878999091685
Frame 44
tensor(0.0960)
Frame 45
tensor(0.1194)
 # KEYFRAME 29
0.059842996997758746
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 46
tensor(0.0624)
Frame 47
tensor(0.1786)
 # KEYFRAME 30
0.05807216299945139
Frame 48
tensor(0.0500)
Frame 49
tensor(0.1021)
 # KEYFRAME 31
0.0596727070005727
Frame 50
tensor(0.0262)
Frame 51
tensor(0.1068)
 # KEYFRAME 32
0.05999661600071704
Frame 52
tensor(0.0830)
Frame 53
tensor(0.1945)
 # KEYFRAME 33
0.06129255199994077
Frame 54
tensor(0.0984)
Frame 55
tensor(0.2386)
 # KEYFRAME 34
0.06230066900025122
Frame 56
tensor(0.0641)
Frame 57
tensor(0.1925)
 # KEYFRAME 35
0.0634049540021806
Frame 58
tensor(0.0774)
Frame 59
tensor(0.2979)
 # KEYFRAME 36
0.06603849499879288
Frame 60
tensor(0.1104)
 # KEYFRAME 37
0.06549993700173218
Frame 61
tensor(0.0947)
Frame 62
tensor(0.1310)
 # KEYFRAME 38
0.0662367639997683
Frame 63
tensor(0.0912)
Frame 64
tensor(0.1498)
 # KEYFRAME 39
0.06631719399956637
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=778 loss_distill=0.1733 tta_take=0.008s
Frame 65
tensor(0.0786)
Frame 66
tensor(0.1690)
 # KEYFRAME 40
0.062406837998423725
Frame 67
tensor(0.1198)
 # KEYFRAME 41
0.06361905300218496
Frame 68
tensor(0.1003)
 # KEYFRAME 42
0.06360892399970908
Frame 69
tensor(0.0809)
Frame 70
tensor(0.1403)
 # KEYFRAME 43
0.06389575199864339
Frame 71
tensor(0.0690)
Frame 72
tensor(0.2311)
 # KEYFRAME 44
0.06457252000109293
Frame 73
tensor(0.0902)
Frame 74
tensor(0.6478)
 # KEYFRAME 45
0.06505536900294828
Frame 75
tensor(0.0448)
Frame 76
tensor(0.1083)
 # KEYFRAME 46
0.06556491700030165
Frame 77
tensor(0.1371)
 # KEYFRAME 47
0.06590222499653464
Frame 78
tensor(0.1021)
 # KEYFRAME 48
0.06648922300155391
Frame 79
tensor(0.2381)
 # KEYFRAME 49
0.06738891100030742
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=779 loss_distill=0.2747 tta_take=0.008s
Frame 80
tensor(0.0983)
Frame 81
tensor(0.2339)
 # KEYFRAME 50
0.06687106200115522
Frame 82
tensor(0.1205)
 # KEYFRAME 51
0.06874134600002435
Frame 83
tensor(0.6224)
 # KEYFRAME 52
0.06893880500138039
Frame 84
tensor(0.0501)
Frame 85
tensor(0.0866)
Frame 86
tensor(0.1299)
 # KEYFRAME 53
0.06982007199985674
Frame 87
tensor(0.0384)
Frame 88
tensor(0.0450)
Frame 89
tensor(0.0449)
Frame 90
tensor(0.0800)
Frame 91
tensor(0.1444)
 # KEYFRAME 54
0.06899015499948291
Frame 92
tensor(0.0680)
Frame 93
tensor(0.2151)
 # KEYFRAME 55
0.07083996799701708
Frame 94
tensor(0.0178)
Frame 95
tensor(0.0439)
Frame 96
tensor(0.1192)
 # KEYFRAME 56
0.07173887499811826
Frame 97
tensor(0.0575)
Frame 98
tensor(0.0856)
Frame 99
tensor(0.1144)
 # KEYFRAME 57
0.07169518499722471
Frame 100
tensor(0.0471)
Frame 101
tensor(0.3459)
 # KEYFRAME 58
0.07245165199856274
Frame 102
tensor(0.1786)
 # KEYFRAME 59
0.07274864200007869
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=780 loss_distill=0.3466 tta_take=0.008s
Frame 103
tensor(0.1113)
 # KEYFRAME 60
0.07107846700091613
Frame 104
tensor(0.0891)
Frame 105
tensor(0.0301)
Frame 106
tensor(0.0715)
Frame 107
tensor(0.0494)
Frame 108
tensor(0.0690)
Frame 109
tensor(0.1330)
 # KEYFRAME 61
0.07294226999874809
Frame 110
tensor(0.0277)
Frame 111
tensor(0.1602)
 # KEYFRAME 62
0.07282271099757054
Frame 112
tensor(0.1437)
 # KEYFRAME 63
0.07396083699859446
Frame 113
tensor(0.1017)
 # KEYFRAME 64
0.07516588300131843
Frame 114
tensor(0.2566)
 # KEYFRAME 65
0.07467434399950434
Frame 115
tensor(0.1350)
 # KEYFRAME 66
0.07668515700061107
Frame 116
tensor(0.2091)
 # KEYFRAME 67
0.07801203200142481
Frame 117
tensor(0.1196)
 # KEYFRAME 68
0.07855776999713271
Frame 118
tensor(0.2021)
 # KEYFRAME 69
0.07887139000013121
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=781 loss_distill=0.4024 tta_take=0.008s
Frame 119
tensor(0.0814)
Frame 120
tensor(0.2721)
 # KEYFRAME 70
0.07549111100161099
Frame 121
tensor(0.0324)
Frame 122
tensor(0.0709)
Frame 123
tensor(0.0848)
Frame 124
tensor(0.3028)
 # KEYFRAME 71
0.07758749300046475
Frame 125
tensor(0.0620)
Frame 126
tensor(0.0879)
Frame 127
tensor(0.1307)
 # KEYFRAME 72
0.07650334799836855
Frame 128
tensor(0.0283)
Frame 129
tensor(0.2244)
 # KEYFRAME 73
0.07724872499966295
Frame 130
tensor(0.0767)
Frame 131
tensor(0.7023)
 # KEYFRAME 74
0.07792534300097032
Frame 132
tensor(0.1182)
 # KEYFRAME 75
0.07845305099908728
Frame 133
tensor(0.3697)
 # KEYFRAME 76
0.07810421199974371
Frame 134
tensor(0.0641)
Frame 135
tensor(0.2327)
 # KEYFRAME 77
0.07961868699931074
Frame 136
tensor(0.0430)
Frame 137
tensor(0.1546)
 # KEYFRAME 78
0.07982266600083676
Frame 138
tensor(0.0481)
Frame 139
tensor(0.1949)
 # KEYFRAME 79
0.07998804499948164
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=782 loss_distill=0.4024 tta_take=0.009s
Frame 140
tensor(0.0974)
Frame 141
tensor(0.2092)
 # KEYFRAME 80
0.07559804099946632
Frame 142
tensor(0.0988)
Frame 143
tensor(0.2105)
 # KEYFRAME 81
0.07734092499958933
Frame 144
tensor(0.1587)
 # KEYFRAME 82
0.07697015599842416
Frame 145
tensor(0.6057)
 # KEYFRAME 83
0.07716190499922959
Frame 146
tensor(0.1577)
 # KEYFRAME 84
0.07861127100113663
Frame 147
tensor(0.1302)
 # KEYFRAME 85
0.07871584000167786
Frame 148
tensor(0.0996)
Frame 149
tensor(0.1790)
 # KEYFRAME 86
0.07797390300038387
Backending... 87 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62310, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=783 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 117/556] scannetpp/1b75758486/DSC frames=150 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=783 time=51.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.2429)
 # KEYFRAME 1
Frame 2
tensor(0.4275)
 # KEYFRAME 2
0.05127728800289333
Frame 3
tensor(0.2309)
 # KEYFRAME 3
0.05236045399942668
Frame 4
tensor(0.5522)
 # KEYFRAME 4
0.05344390000027488
Frame 5
tensor(0.1002)
 # KEYFRAME 5
0.05464788500103168
Frame 6
tensor(0.1693)
 # KEYFRAME 6
0.05560929200146347
Frame 7
tensor(0.3353)
 # KEYFRAME 7
0.0566323380007816
Frame 8
tensor(0.1936)
 # KEYFRAME 8
0.05739682599960361
Frame 9
tensor(0.1577)
 # KEYFRAME 9
0.05876032100059092
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.3535)
 # KEYFRAME 10
0.051369138000154635
Frame 11
tensor(0.2372)
 # KEYFRAME 11
0.05279241199968965
Frame 12
tensor(0.2636)
 # KEYFRAME 12
0.05278616299983696
Frame 13
tensor(0.1978)
 # KEYFRAME 13
0.05466007499853731
Frame 14
tensor(0.3431)
 # KEYFRAME 14
0.054429556999821216
Frame 15
tensor(0.1864)
 # KEYFRAME 15
0.054129557000123896
Frame 16
tensor(0.0763)
Frame 17
tensor(0.2410)
 # KEYFRAME 16
0.05485103500177502
Frame 18
tensor(0.1652)
 # KEYFRAME 17
0.05561237200163305
Frame 19
tensor(0.2727)
 # KEYFRAME 18
0.05682052799966186
Frame 20
tensor(0.1124)
 # KEYFRAME 19
0.05712059699726524
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.1871)
 # KEYFRAME 20
0.054003828001441434
Frame 22
tensor(0.4398)
 # KEYFRAME 21
0.05477502499707043
Frame 23
tensor(0.2883)
 # KEYFRAME 22
0.05514039300032891
Frame 24
tensor(0.1017)
 # KEYFRAME 23
0.05557612200209405
Frame 25
tensor(0.1979)
 # KEYFRAME 24
0.056057149999105604
Frame 26
tensor(0.2479)
 # KEYFRAME 25
0.05672724800024298
Frame 27
tensor(0.0818)
Frame 28
tensor(0.3366)
 # KEYFRAME 26
0.05791127300108201
Frame 29
tensor(0.0274)
Frame 30
tensor(0.1804)
 # KEYFRAME 27
0.05885865099844523
Frame 31
tensor(0.1341)
 # KEYFRAME 28
0.059325569000066025
Frame 32
tensor(0.2103)
 # KEYFRAME 29
0.059876056999200955
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 33
tensor(0.4467)
 # KEYFRAME 30
0.058046514001034666
Frame 34
tensor(0.2825)
 # KEYFRAME 31
0.05952864900245913
Frame 35
tensor(0.2160)
 # KEYFRAME 32
0.05952520799837657
Frame 36
tensor(0.1752)
 # KEYFRAME 33
0.061325961996772094
Frame 37
tensor(0.1050)
 # KEYFRAME 34
0.06250672800160828
Frame 38
tensor(0.0761)
Frame 39
tensor(0.2131)
 # KEYFRAME 35
0.06339717499940889
Frame 40
tensor(0.0649)
Frame 41
tensor(0.0794)
Frame 42
tensor(0.1816)
 # KEYFRAME 36
0.06481333999909111
Frame 43
tensor(0.1596)
 # KEYFRAME 37
0.06550356699881377
Frame 44
tensor(0.1355)
 # KEYFRAME 38
0.06662621299983584
Frame 45
tensor(0.1082)
 # KEYFRAME 39
0.0664436939987354
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=784 loss_distill=0.1733 tta_take=0.008s
Frame 46
tensor(0.2904)
 # KEYFRAME 40
0.062359388000913896
Frame 47
tensor(0.2933)
 # KEYFRAME 41
0.0636869129994011
Frame 48
tensor(0.0360)
Frame 49
tensor(0.2566)
 # KEYFRAME 42
0.06345828399935272
Frame 50
tensor(0.3835)
 # KEYFRAME 43
0.06363494399920455
Frame 51
tensor(0.2207)
 # KEYFRAME 44
0.06436612100151251
Frame 52
tensor(0.0829)
Frame 53
tensor(0.3313)
 # KEYFRAME 45
0.06530338800075697
Frame 54
tensor(0.1462)
 # KEYFRAME 46
0.06556854700102122
Frame 55
tensor(0.1544)
 # KEYFRAME 47
0.0660190650014556
Frame 56
tensor(0.2591)
 # KEYFRAME 48
0.06646528300188947
Frame 57
tensor(0.1342)
 # KEYFRAME 49
0.06709707200207049
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=785 loss_distill=0.2747 tta_take=0.008s
Frame 58
tensor(0.1594)
 # KEYFRAME 50
0.06666992199825472
Frame 59
tensor(0.0495)
Frame 60
tensor(0.0571)
Frame 61
tensor(0.0980)
Frame 62
tensor(0.2155)
 # KEYFRAME 51
0.06837949699911405
Frame 63
tensor(0.1585)
 # KEYFRAME 52
0.0687652460001118
Frame 64
tensor(0.1533)
 # KEYFRAME 53
0.06940658299936331
Frame 65
tensor(0.1239)
 # KEYFRAME 54
0.06934660399929271
Frame 66
tensor(0.0820)
Frame 67
tensor(0.2114)
 # KEYFRAME 55
0.07086543799960054
Frame 68
tensor(0.0387)
Frame 69
tensor(0.4165)
 # KEYFRAME 56
0.07185303399819531
Frame 70
tensor(0.0395)
Frame 71
tensor(0.1148)
 # KEYFRAME 57
0.07170237500031362
Frame 72
tensor(0.0416)
Frame 73
tensor(0.1998)
 # KEYFRAME 58
0.07225440299953334
Frame 74
tensor(0.2773)
 # KEYFRAME 59
0.07288382099795854
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=786 loss_distill=0.3466 tta_take=0.008s
Frame 75
tensor(0.2254)
 # KEYFRAME 60
0.07101601700196625
Frame 76
tensor(0.1684)
 # KEYFRAME 61
0.0730135000012524
Frame 77
tensor(0.0552)
Frame 78
tensor(0.0938)
Frame 79
tensor(0.0595)
Frame 80
tensor(0.0752)
Frame 81
tensor(0.1433)
 # KEYFRAME 62
0.07308031999855302
Frame 82
tensor(0.0955)
Frame 83
tensor(0.2187)
 # KEYFRAME 63
0.07424929599801544
Frame 84
tensor(0.0430)
Frame 85
tensor(0.1661)
 # KEYFRAME 64
0.07456952500069747
Frame 86
tensor(0.3772)
 # KEYFRAME 65
0.07406914600142045
Frame 87
tensor(0.1431)
 # KEYFRAME 66
0.0767783960000088
Frame 88
tensor(0.3546)
 # KEYFRAME 67
0.07804903199939872
Frame 89
tensor(0.2419)
 # KEYFRAME 68
0.07815141200262588
Frame 90
tensor(0.2099)
 # KEYFRAME 69
0.07917462899786187
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=787 loss_distill=0.4024 tta_take=0.009s
Frame 91
tensor(0.1332)
 # KEYFRAME 70
0.07550472100047045
Frame 92
tensor(0.2196)
 # KEYFRAME 71
0.07724607600175659
Frame 93
tensor(0.4627)
 # KEYFRAME 72
0.07634020799741847
Frame 94
tensor(0.2330)
 # KEYFRAME 73
0.07710915500138071
Frame 95
tensor(0.0843)
Frame 96
tensor(0.2538)
 # KEYFRAME 74
0.07783726300112903
Frame 97
tensor(0.2287)
 # KEYFRAME 75
0.07831265200002235
Frame 98
tensor(0.1669)
 # KEYFRAME 76
0.0780855220000376
Frame 99
tensor(0.2264)
 # KEYFRAME 77
0.07877695999923162
Frame 100
tensor(0.1581)
 # KEYFRAME 78
0.0799648749998596
Frame 101
tensor(0.0222)
Frame 102
tensor(0.0796)
Frame 103
tensor(0.1053)
 # KEYFRAME 79
0.07960396699854755
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=788 loss_distill=0.4024 tta_take=0.008s
Frame 104
tensor(0.0464)
Frame 105
tensor(0.0219)
Frame 106
tensor(0.0909)
Frame 107
tensor(0.0902)
Frame 108
tensor(0.1077)
 # KEYFRAME 80
0.07558330100073363
Frame 109
tensor(0.0439)
Frame 110
tensor(0.3355)
 # KEYFRAME 81
0.07733270500102662
Frame 111
tensor(0.2031)
 # KEYFRAME 82
0.0773007649986539
Frame 112
tensor(0.0749)
Frame 113
tensor(0.0923)
Frame 114
tensor(0.1153)
 # KEYFRAME 83
0.0771319150007912
Frame 115
tensor(0.0784)
Frame 116
tensor(0.9725)
 # KEYFRAME 84
0.07768466400011675
Frame 117
tensor(0.1867)
 # KEYFRAME 85
0.07891041900074924
Frame 118
tensor(0.1347)
 # KEYFRAME 86
0.07840930099700927
Frame 119
tensor(0.0501)
Frame 120
tensor(0.1144)
 # KEYFRAME 87
0.08012664499983657
Frame 121
tensor(0.1572)
 # KEYFRAME 88
0.08079479299703962
Frame 122
tensor(0.1688)
 # KEYFRAME 89
0.08106908099944121
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=789 loss_distill=0.4024 tta_take=0.009s
Frame 123
tensor(0.0903)
Frame 124
tensor(0.8041)
 # KEYFRAME 90
0.0756498510017991
Frame 125
tensor(0.1357)
 # KEYFRAME 91
0.07758951399955549
Frame 126
tensor(0.0770)
Frame 127
tensor(0.2616)
 # KEYFRAME 92
0.07739196500187973
Frame 128
tensor(0.1802)
 # KEYFRAME 93
0.07750135400056024
Frame 129
tensor(0.2343)
 # KEYFRAME 94
0.07770077299937839
Frame 130
tensor(0.0374)
Frame 131
tensor(0.1422)
 # KEYFRAME 95
0.07804106299954583
Frame 132
tensor(0.2034)
 # KEYFRAME 96
0.0785793899995042
Frame 133
tensor(0.1303)
 # KEYFRAME 97
0.07895612900028937
Frame 134
tensor(0.0753)
Frame 135
tensor(0.2107)
 # KEYFRAME 98
0.07990329599851975
Frame 136
tensor(0.5200)
 # KEYFRAME 99
0.0799900149977475
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=790 loss_distill=0.4024 tta_take=0.008s
Frame 137
tensor(0.0773)
Frame 138
tensor(0.1866)
 # KEYFRAME 100
0.07560359100170899
Frame 139
tensor(0.1786)
 # KEYFRAME 101
0.07735561500157928
Frame 140
tensor(0.1851)
 # KEYFRAME 102
0.07679923600153415
Frame 141
tensor(0.0666)
Frame 142
tensor(0.1070)
 # KEYFRAME 103
0.07694035600070492
Frame 143
tensor(0.1069)
 # KEYFRAME 104
0.07813257199813961
Frame 144
tensor(0.0172)
Frame 145
tensor(0.0688)
Frame 146
tensor(0.1326)
 # KEYFRAME 105
0.07820373199865571
Frame 147
tensor(0.1291)
 # KEYFRAME 106
0.07829118100198684
Frame 148
tensor(0.0165)
Frame 149
tensor(0.1118)
 # KEYFRAME 107
0.07897911899999599
Backending... 108 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 63240, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=791 loss_distill=0.4024 tta_take=0.007s
[epoch 0 scene 118/556] scannetpp/fd361ab85f/DSC frames=150 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=791 time=49.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0302)
Frame 2
tensor(0.0684)
Frame 3
tensor(0.0937)
Frame 4
tensor(0.0954)
Frame 5
tensor(0.1234)
 # KEYFRAME 1
Frame 6
tensor(0.0576)
Frame 7
tensor(0.0802)
Frame 8
tensor(0.1014)
 # KEYFRAME 2
0.05120988699854934
Frame 9
tensor(0.0276)
Frame 10
tensor(0.0857)
Frame 11
tensor(0.1162)
 # KEYFRAME 3
0.052450942999712424
Frame 12
tensor(0.0361)
Frame 13
tensor(0.0559)
Frame 14
tensor(0.0985)
Frame 15
tensor(0.1020)
 # KEYFRAME 4
0.05340812999929767
Frame 16
tensor(0.0395)
Frame 17
tensor(0.0682)
Frame 18
tensor(0.0854)
Frame 19
tensor(0.1323)
 # KEYFRAME 5
0.054733875000238186
Frame 20
tensor(0.0678)
Frame 21
tensor(0.1266)
 # KEYFRAME 6
0.055640651997237
Frame 22
tensor(0.0902)
Frame 23
tensor(0.1279)
 # KEYFRAME 7
0.05648097900120774
Frame 24
tensor(0.0296)
Frame 25
tensor(0.0603)
Frame 26
tensor(0.1046)
 # KEYFRAME 8
0.05719033599962131
Frame 27
tensor(0.0589)
Frame 28
tensor(0.1174)
 # KEYFRAME 9
0.05831898199903662
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 29
tensor(0.0284)
Frame 30
tensor(0.0891)
Frame 31
tensor(0.1418)
 # KEYFRAME 10
0.05157855600191397
Frame 32
tensor(0.0510)
Frame 33
tensor(0.0828)
Frame 34
tensor(0.1527)
 # KEYFRAME 11
0.05237842299902695
Frame 35
tensor(0.0711)
Frame 36
tensor(0.1328)
 # KEYFRAME 12
0.052684303002024535
Frame 37
tensor(0.0322)
Frame 38
tensor(0.0603)
Frame 39
tensor(0.1341)
 # KEYFRAME 13
0.05453430599663989
Frame 40
tensor(0.0587)
Frame 41
tensor(0.0991)
Frame 42
tensor(0.1525)
 # KEYFRAME 14
0.054469306000100914
Frame 43
tensor(0.0509)
Frame 44
tensor(0.0863)
Frame 45
tensor(0.1233)
 # KEYFRAME 15
0.054110776996822096
Frame 46
tensor(0.0383)
Frame 47
tensor(0.0862)
Frame 48
tensor(0.1466)
 # KEYFRAME 16
0.05473408599937102
Frame 49
tensor(0.0349)
Frame 50
tensor(0.0948)
Frame 51
tensor(0.1618)
 # KEYFRAME 17
0.05567511200206354
Frame 52
tensor(0.0253)
Frame 53
tensor(0.0551)
Frame 54
tensor(0.0473)
Frame 55
tensor(0.1103)
 # KEYFRAME 18
0.056578099000034854
Frame 56
tensor(0.0526)
Frame 57
tensor(0.1041)
 # KEYFRAME 19
0.05721742600144353
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 58
tensor(0.0327)
Frame 59
tensor(0.0706)
Frame 60
tensor(0.0893)
Frame 61
tensor(0.0685)
Frame 62
tensor(0.0623)
Frame 63
tensor(0.0809)
Frame 64
tensor(0.0942)
Frame 65
tensor(0.1091)
 # KEYFRAME 20
0.05386273800104391
Frame 66
tensor(0.0566)
Frame 67
tensor(0.1028)
 # KEYFRAME 21
0.05446182599916938
Frame 68
tensor(0.0485)
Frame 69
tensor(0.0746)
Frame 70
tensor(0.1089)
 # KEYFRAME 22
0.05525153299822705
Frame 71
tensor(0.0767)
Frame 72
tensor(0.1462)
 # KEYFRAME 23
0.05552515299859806
Frame 73
tensor(0.0714)
Frame 74
tensor(0.1300)
 # KEYFRAME 24
0.05612078000194742
Frame 75
tensor(0.0767)
Frame 76
tensor(0.1480)
 # KEYFRAME 25
0.0567369089985732
Frame 77
tensor(0.1105)
 # KEYFRAME 26
0.057830254001601133
Frame 78
tensor(0.0920)
Frame 79
tensor(0.1742)
 # KEYFRAME 27
0.058680240999819944
Frame 80
tensor(0.1111)
 # KEYFRAME 28
0.05922873899908154
Frame 81
tensor(0.0813)
Frame 82
tensor(0.1263)
 # KEYFRAME 29
0.059739307002018904
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 83
tensor(0.0507)
Frame 84
tensor(0.0782)
Frame 85
tensor(0.0728)
Frame 86
tensor(0.1531)
 # KEYFRAME 30
0.05831391199899372
Frame 87
tensor(0.0820)
Frame 88
tensor(0.1495)
 # KEYFRAME 31
0.0589792699975078
Frame 89
tensor(0.0275)
Frame 90
tensor(0.0180)
Frame 91
tensor(0.0539)
Frame 92
tensor(0.1376)
 # KEYFRAME 32
0.05941966800310183
Frame 93
tensor(0.0751)
Frame 94
tensor(0.1471)
 # KEYFRAME 33
0.06139762100065127
Frame 95
tensor(0.0854)
Frame 96
tensor(0.1473)
 # KEYFRAME 34
0.06277777700233855
Frame 97
tensor(0.0789)
Frame 98
tensor(0.1361)
 # KEYFRAME 35
0.06360245299947564
Frame 99
tensor(0.0973)
Frame 100
tensor(0.1945)
 # KEYFRAME 36
0.06445236999934423
Frame 101
tensor(0.1023)
 # KEYFRAME 37
0.06519715799731785
Frame 102
tensor(0.0935)
Frame 103
tensor(0.1807)
 # KEYFRAME 38
0.06581400600043708
Frame 104
tensor(0.0480)
Frame 105
tensor(0.1014)
 # KEYFRAME 39
0.06641213400143897
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=792 loss_distill=0.1733 tta_take=0.008s
Frame 106
tensor(0.1013)
 # KEYFRAME 40
0.06246344800092629
Frame 107
tensor(0.0415)
Frame 108
tensor(0.0845)
Frame 109
tensor(0.1448)
 # KEYFRAME 41
0.06377306400099769
Frame 110
tensor(0.0466)
Frame 111
tensor(0.0674)
Frame 112
tensor(0.1195)
 # KEYFRAME 42
0.06373096400056966
Frame 113
tensor(0.0989)
Frame 114
tensor(0.3452)
 # KEYFRAME 43
0.06409003199951258
Frame 115
tensor(0.0328)
Frame 116
tensor(0.0523)
Frame 117
tensor(0.0439)
Frame 118
tensor(0.1209)
 # KEYFRAME 44
0.06463506999716628
Frame 119
tensor(0.5281)
 # KEYFRAME 45
0.06570702600220102
Frame 120
tensor(0.0255)
Frame 121
tensor(0.0386)
Frame 122
tensor(0.0919)
Frame 123
tensor(0.1331)
 # KEYFRAME 46
0.06568818600135273
Frame 124
tensor(0.0979)
Frame 125
tensor(0.1485)
 # KEYFRAME 47
0.06623323399981018
Frame 126
tensor(0.0630)
Frame 127
tensor(0.0677)
Frame 128
tensor(0.0620)
Frame 129
tensor(0.0762)
Frame 130
tensor(0.1033)
 # KEYFRAME 48
0.06628900400028215
Frame 131
tensor(0.0840)
Frame 132
tensor(0.1837)
 # KEYFRAME 49
0.06726128099762718
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=793 loss_distill=0.2747 tta_take=0.008s
Frame 133
tensor(0.1094)
 # KEYFRAME 50
0.06657194299987168
Frame 134
tensor(0.0643)
Frame 135
tensor(0.1381)
 # KEYFRAME 51
0.06858193599691731
Frame 136
tensor(0.0808)
Frame 137
tensor(0.1119)
 # KEYFRAME 52
0.06881986499865889
Frame 138
tensor(0.1038)
 # KEYFRAME 53
0.06937336299961316
Frame 139
tensor(0.1103)
 # KEYFRAME 54
0.06882600500102853
Frame 140
tensor(0.1957)
 # KEYFRAME 55
0.07092460700005176
Frame 141
tensor(0.0489)
Frame 142
tensor(0.1188)
 # KEYFRAME 56
0.07144551599776605
Frame 143
tensor(0.0442)
Frame 144
tensor(0.0910)
Frame 145
tensor(0.1140)
 # KEYFRAME 57
0.07176108500061673
Frame 146
tensor(0.0291)
Frame 147
tensor(0.0575)
Frame 148
tensor(0.0817)
Frame 149
tensor(0.1010)
 # KEYFRAME 58
0.07239301199660986
Backending... 59 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 54870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=794 loss_distill=0.3466 tta_take=0.007s
[epoch 0 scene 119/556] scannetpp/d7abfc4b17/DSC frames=150 tta_steps_this_scene=3 mean_loss=0.2648 total_steps=794 time=36.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0471)
Frame 2
tensor(0.0857)
Frame 3
tensor(0.1290)
 # KEYFRAME 1
Frame 4
tensor(0.0501)
Frame 5
tensor(0.0882)
Frame 6
tensor(0.1342)
 # KEYFRAME 2
0.05180473600194091
Frame 7
tensor(0.0450)
Frame 8
tensor(0.0889)
Frame 9
tensor(0.1424)
 # KEYFRAME 3
0.05144673700124258
Frame 10
tensor(0.0438)
Frame 11
tensor(0.0881)
Frame 12
tensor(0.1351)
 # KEYFRAME 4
0.05245264399854932
Frame 13
tensor(0.0449)
Frame 14
tensor(0.0894)
Frame 15
tensor(0.1311)
 # KEYFRAME 5
0.05260843300129636
Frame 16
tensor(0.0460)
Frame 17
tensor(0.0929)
Frame 18
tensor(0.1384)
 # KEYFRAME 6
0.052622662002249854
Frame 19
tensor(0.0520)
Frame 20
tensor(0.0987)
Frame 21
tensor(0.1390)
 # KEYFRAME 7
0.05248677299823612
Frame 22
tensor(0.0413)
Frame 23
tensor(0.0768)
Frame 24
tensor(0.1139)
 # KEYFRAME 8
0.05329641100252047
Frame 25
tensor(0.0392)
Frame 26
tensor(0.0802)
Frame 27
tensor(0.1292)
 # KEYFRAME 9
0.05251272299938137
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 28
tensor(0.0452)
Frame 29
tensor(0.0917)
Frame 30
tensor(0.1332)
 # KEYFRAME 10
0.05181525599982706
Frame 31
tensor(0.0420)
Frame 32
tensor(0.0906)
Frame 33
tensor(0.1290)
 # KEYFRAME 11
0.05185230600181967
Frame 34
tensor(0.0425)
Frame 35
tensor(0.0937)
Frame 36
tensor(0.1331)
 # KEYFRAME 12
0.05225184400114813
Frame 37
tensor(0.0458)
Frame 38
tensor(0.0891)
Frame 39
tensor(0.1291)
 # KEYFRAME 13
0.052124113997706445
Frame 40
tensor(0.0401)
Frame 41
tensor(0.0878)
Frame 42
tensor(0.1338)
 # KEYFRAME 14
0.05390793799961102
Frame 43
tensor(0.0396)
Frame 44
tensor(0.0922)
Frame 45
tensor(0.1389)
 # KEYFRAME 15
0.05270871200264082
Frame 46
tensor(0.0463)
Frame 47
tensor(0.0947)
Frame 48
tensor(0.1281)
 # KEYFRAME 16
0.05339185000048019
Frame 49
tensor(0.0424)
Frame 50
tensor(0.0862)
Frame 51
tensor(0.1321)
 # KEYFRAME 17
0.05583868100075051
Frame 52
tensor(0.0468)
Frame 53
tensor(0.0971)
Frame 54
tensor(0.1467)
 # KEYFRAME 18
0.05229166399658425
Frame 55
tensor(0.0625)
Frame 56
tensor(0.1104)
 # KEYFRAME 19
0.056116409999958705
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 57
tensor(0.0524)
Frame 58
tensor(0.1083)
 # KEYFRAME 20
0.05180254500010051
Frame 59
tensor(0.0624)
Frame 60
tensor(0.1164)
 # KEYFRAME 21
0.05227310400005081
Frame 61
tensor(0.0517)
Frame 62
tensor(0.1123)
 # KEYFRAME 22
0.0531839699979173
Frame 63
tensor(0.0492)
Frame 64
tensor(0.1041)
 # KEYFRAME 23
0.05232137300117756
Frame 65
tensor(0.0544)
Frame 66
tensor(0.1037)
 # KEYFRAME 24
0.05394707800223841
Frame 67
tensor(0.0470)
Frame 68
tensor(0.0950)
Frame 69
tensor(0.1433)
 # KEYFRAME 25
0.05187370600106078
Frame 70
tensor(0.0489)
Frame 71
tensor(0.1019)
 # KEYFRAME 26
0.052438743001403054
Frame 72
tensor(0.0541)
Frame 73
tensor(0.1106)
 # KEYFRAME 27
0.055411732999345986
Frame 74
tensor(0.0521)
Frame 75
tensor(0.1037)
 # KEYFRAME 28
0.05260400299812318
Frame 76
tensor(0.0576)
Frame 77
tensor(0.1074)
 # KEYFRAME 29
0.055637141998886364
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 78
tensor(0.0564)
Frame 79
tensor(0.1129)
 # KEYFRAME 30
0.05202674500105786
Frame 80
tensor(0.0574)
Frame 81
tensor(0.1153)
 # KEYFRAME 31
0.05271267200078
Frame 82
tensor(0.0564)
Frame 83
tensor(0.1096)
 # KEYFRAME 32
0.05374956900050165
Frame 84
tensor(0.0487)
Frame 85
tensor(0.1019)
 # KEYFRAME 33
0.053424749999976484
Frame 86
tensor(0.0475)
Frame 87
tensor(0.1002)
 # KEYFRAME 34
0.05492360400239704
Frame 88
tensor(0.0547)
Frame 89
tensor(0.1068)
 # KEYFRAME 35
0.0527787620012532
Frame 90
tensor(0.0538)
Frame 91
tensor(0.0994)
Frame 92
tensor(0.1483)
 # KEYFRAME 36
0.05301288200280396
Frame 93
tensor(0.0447)
Frame 94
tensor(0.0899)
Frame 95
tensor(0.1321)
 # KEYFRAME 37
0.05687119800131768
Frame 96
tensor(0.0461)
Frame 97
tensor(0.0857)
Frame 98
tensor(0.1200)
 # KEYFRAME 38
0.05319800099823624
Frame 99
tensor(0.0447)
Frame 100
tensor(0.0893)
Frame 101
tensor(0.1366)
 # KEYFRAME 39
0.05861981099951663
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=795 loss_distill=0.1733 tta_take=0.005s
Frame 102
tensor(0.0505)
Frame 103
tensor(0.0971)
Frame 104
tensor(0.1427)
 # KEYFRAME 40
0.05203553400133387
Frame 105
tensor(0.0485)
Frame 106
tensor(0.0967)
Frame 107
tensor(0.1388)
 # KEYFRAME 41
0.05238548299894319
Frame 108
tensor(0.0481)
Frame 109
tensor(0.0991)
Frame 110
tensor(0.1386)
 # KEYFRAME 42
0.05247861300085788
Frame 111
tensor(0.0505)
Frame 112
tensor(0.0938)
Frame 113
tensor(0.1343)
 # KEYFRAME 43
0.05158819600183051
Frame 114
tensor(0.0464)
Frame 115
tensor(0.0848)
Frame 116
tensor(0.1317)
 # KEYFRAME 44
0.05278513200028101
Frame 117
tensor(0.0433)
Frame 118
tensor(0.0861)
Frame 119
tensor(0.1373)
 # KEYFRAME 45
0.051776946002064506
Frame 120
tensor(0.0408)
Frame 121
tensor(0.0848)
Frame 122
tensor(0.1377)
 # KEYFRAME 46
0.05184628500137478
Frame 123
tensor(0.0457)
Frame 124
tensor(0.0917)
Frame 125
tensor(0.1336)
 # KEYFRAME 47
0.05278636199727771
Frame 126
tensor(0.0424)
Frame 127
tensor(0.0925)
Frame 128
tensor(0.1297)
 # KEYFRAME 48
0.052019905000634026
Frame 129
tensor(0.0355)
Frame 130
tensor(0.0756)
Frame 131
tensor(0.1201)
 # KEYFRAME 49
0.053275579997716704
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=796 loss_distill=0.2747 tta_take=0.005s
Frame 132
tensor(0.0402)
Frame 133
tensor(0.0816)
Frame 134
tensor(0.1260)
 # KEYFRAME 50
0.05175071600024239
Frame 135
tensor(0.0445)
Frame 136
tensor(0.0959)
Frame 137
tensor(0.1346)
 # KEYFRAME 51
0.052467333000095095
Frame 138
tensor(0.0455)
Frame 139
tensor(0.0942)
Frame 140
tensor(0.1335)
 # KEYFRAME 52
0.053429359999427106
Frame 141
tensor(0.0430)
Frame 142
tensor(0.0886)
Frame 143
tensor(0.1298)
 # KEYFRAME 53
0.05307423100020969
Frame 144
tensor(0.0368)
Frame 145
tensor(0.0784)
Frame 146
tensor(0.1112)
 # KEYFRAME 54
0.05355416999736917
Frame 147
tensor(0.0362)
Frame 148
tensor(0.0743)
Frame 149
tensor(0.1082)
 # KEYFRAME 55
0.052449174003413646
Frame 150
tensor(0.0357)
Frame 151
tensor(0.0699)
Frame 152
tensor(0.1012)
 # KEYFRAME 56
0.053044691998366034
Frame 153
tensor(0.0354)
Frame 154
tensor(0.0684)
Frame 155
tensor(0.0937)
Frame 156
tensor(0.1386)
 # KEYFRAME 57
0.05476220499986084
Frame 157
tensor(0.0280)
Frame 158
tensor(0.0603)
Frame 159
tensor(0.0922)
Frame 160
tensor(0.1191)
 # KEYFRAME 58
0.052983681998739485
Frame 161
tensor(0.0248)
Frame 162
tensor(0.0494)
Frame 163
tensor(0.0738)
Frame 164
tensor(0.0919)
Frame 165
tensor(0.1201)
 # KEYFRAME 59
0.05599803099903511
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=797 loss_distill=0.3466 tta_take=0.005s
Frame 166
tensor(0.0165)
Frame 167
tensor(0.0437)
Frame 168
tensor(0.0646)
Frame 169
tensor(0.0831)
Frame 170
tensor(0.1045)
 # KEYFRAME 60
0.051949805001640925
Frame 171
tensor(0.0165)
Frame 172
tensor(0.0366)
Frame 173
tensor(0.0545)
Frame 174
tensor(0.0746)
Frame 175
tensor(0.0877)
Frame 176
tensor(0.1000)
Frame 177
tensor(0.1057)
 # KEYFRAME 61
0.05241408399888314
Frame 178
tensor(0.0122)
Frame 179
tensor(0.0293)
Frame 180
tensor(0.0360)
Frame 181
tensor(0.0519)
Frame 182
tensor(0.0611)
Frame 183
tensor(0.0725)
Frame 184
tensor(0.0808)
Frame 185
tensor(0.1003)
 # KEYFRAME 62
0.05341048999980558
Frame 186
tensor(0.0071)
Frame 187
tensor(0.0180)
Frame 188
tensor(0.0241)
Frame 189
tensor(0.0297)
Frame 190
tensor(0.0376)
Frame 191
tensor(0.0461)
Frame 192
tensor(0.0514)
Frame 193
tensor(0.0638)
Frame 194
tensor(0.0638)
Frame 195
tensor(0.0732)
Frame 196
tensor(0.0786)
Frame 197
tensor(0.0877)
Frame 198
tensor(0.0898)
Frame 199
tensor(0.1082)
 # KEYFRAME 63
0.052240003999031615
Frame 200
tensor(0.0062)
Frame 201
tensor(0.0129)
Frame 202
tensor(0.0223)
Frame 203
tensor(0.0310)
Frame 204
tensor(0.0408)
Frame 205
tensor(0.0563)
Frame 206
tensor(0.0685)
Frame 207
tensor(0.0831)
Frame 208
tensor(0.0942)
Frame 209
tensor(0.1165)
 # KEYFRAME 64
0.053653219001716934
Frame 210
tensor(0.0163)
Frame 211
tensor(0.0375)
Frame 212
tensor(0.0540)
Frame 213
tensor(0.0725)
Frame 214
tensor(0.0967)
Frame 215
tensor(0.1192)
 # KEYFRAME 65
0.05255138299980899
Frame 216
tensor(0.0235)
Frame 217
tensor(0.0467)
Frame 218
tensor(0.0673)
Frame 219
tensor(0.0892)
Frame 220
tensor(0.1158)
 # KEYFRAME 66
0.052389383999980055
Frame 221
tensor(0.0235)
Frame 222
tensor(0.0441)
Frame 223
tensor(0.0677)
Frame 224
tensor(0.0873)
Frame 225
tensor(0.1188)
 # KEYFRAME 67
0.05339645000276505
Frame 226
tensor(0.0284)
Frame 227
tensor(0.0562)
Frame 228
tensor(0.0782)
Frame 229
tensor(0.1045)
 # KEYFRAME 68
0.05281039200053783
Frame 230
tensor(0.0276)
Frame 231
tensor(0.0526)
Frame 232
tensor(0.0809)
Frame 233
tensor(0.1054)
 # KEYFRAME 69
0.05340874000103213
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=798 loss_distill=0.4024 tta_take=0.005s
Frame 234
tensor(0.0324)
Frame 235
tensor(0.0592)
Frame 236
tensor(0.0844)
Frame 237
tensor(0.1142)
 # KEYFRAME 70
0.05294063199835364
Frame 238
tensor(0.0278)
Frame 239
tensor(0.0544)
Frame 240
tensor(0.0883)
Frame 241
tensor(0.1179)
 # KEYFRAME 71
0.053957828000420704
Frame 242
tensor(0.0321)
Frame 243
tensor(0.0650)
Frame 244
tensor(0.1029)
 # KEYFRAME 72
0.05479447600009735
Frame 245
tensor(0.0370)
Frame 246
tensor(0.0719)
Frame 247
tensor(0.0946)
Frame 248
tensor(0.1315)
 # KEYFRAME 73
0.053433950000908226
Frame 249
tensor(0.0319)
Frame 250
tensor(0.0666)
Frame 251
tensor(0.0922)
Frame 252
tensor(0.1299)
 # KEYFRAME 74
0.05608643099913024
Frame 253
tensor(0.0373)
Frame 254
tensor(0.0666)
Frame 255
tensor(0.1021)
 # KEYFRAME 75
0.054153106997546274
Frame 256
tensor(0.0361)
Frame 257
tensor(0.0713)
Frame 258
tensor(0.1056)
 # KEYFRAME 76
0.054084997998870676
Frame 259
tensor(0.0323)
Frame 260
tensor(0.0649)
Frame 261
tensor(0.0953)
Frame 262
tensor(0.1302)
 # KEYFRAME 77
0.058104922998609254
Frame 263
tensor(0.0305)
Frame 264
tensor(0.0658)
Frame 265
tensor(0.0993)
Frame 266
tensor(0.1276)
 # KEYFRAME 78
0.054447295999125345
Frame 267
tensor(0.0285)
Frame 268
tensor(0.0626)
Frame 269
tensor(0.0939)
Frame 270
tensor(0.1381)
 # KEYFRAME 79
0.058237092998751905
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=799 loss_distill=0.4024 tta_take=0.005s
Frame 271
tensor(0.0309)
Frame 272
tensor(0.0667)
Frame 273
tensor(0.1008)
 # KEYFRAME 80
0.053142991000640905
Frame 274
tensor(0.0304)
Frame 275
tensor(0.0629)
Frame 276
tensor(0.0931)
Frame 277
tensor(0.1216)
 # KEYFRAME 81
0.053536049999820534
Frame 278
tensor(0.0331)
Frame 279
tensor(0.0639)
Frame 280
tensor(0.0997)
Frame 281
tensor(0.1287)
 # KEYFRAME 82
0.053923697996651754
Frame 282
tensor(0.0356)
Frame 283
tensor(0.0673)
Frame 284
tensor(0.1199)
 # KEYFRAME 83
0.05355195900119725
Frame 285
tensor(0.0356)
Frame 286
tensor(0.0733)
Frame 287
tensor(0.1015)
 # KEYFRAME 84
0.05434328599949367
Frame 288
tensor(0.0301)
Frame 289
tensor(0.0624)
Frame 290
tensor(0.0996)
Frame 291
tensor(0.1297)
 # KEYFRAME 85
0.054193576997931814
Frame 292
tensor(0.0371)
Frame 293
tensor(0.0755)
Frame 294
tensor(0.1134)
 # KEYFRAME 86
0.053807637999852886
Frame 295
tensor(0.0423)
Frame 296
tensor(0.0860)
Frame 297
tensor(0.1168)
 # KEYFRAME 87
0.05480725500092376
Frame 298
tensor(0.0464)
Frame 299
tensor(0.0793)
Backending... 88 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28016, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=800 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 120/556] vkitti/Scene01/rain/Camera_0 frames=300 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=800 time=72.3s
[ckpt] /scratch-shared/wwei2/scorer_pretrain/scorer_v1/checkpoint-last.pth (epoch=0 scene=120)
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0746)
Frame 2
tensor(0.1265)
 # KEYFRAME 1
Frame 3
tensor(0.1216)
 # KEYFRAME 2
0.05119100800220622
Frame 4
tensor(0.1023)
 # KEYFRAME 3
0.05212478500106954
Frame 5
tensor(0.1293)
 # KEYFRAME 4
0.05334634999962873
Frame 6
tensor(0.0749)
Frame 7
tensor(0.4288)
 # KEYFRAME 5
0.054363086997909704
Frame 8
tensor(0.2280)
 # KEYFRAME 6
0.055529913002828835
Frame 9
tensor(0.4249)
 # KEYFRAME 7
0.05624166000052355
Frame 10
tensor(0.1154)
 # KEYFRAME 8
0.05729974600035348
Frame 11
tensor(0.1451)
 # KEYFRAME 9
0.05792986300002667
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.2257)
 # KEYFRAME 10
0.05155239699888625
Frame 13
tensor(0.2068)
 # KEYFRAME 11
0.0514767060012673
Frame 14
tensor(0.1638)
 # KEYFRAME 12
0.05168675599998096
Frame 15
tensor(0.1855)
 # KEYFRAME 13
0.05358161899857805
Frame 16
tensor(0.2396)
 # KEYFRAME 14
0.05381796899746405
Frame 17
tensor(0.0786)
Frame 18
tensor(0.4248)
 # KEYFRAME 15
0.053600119001202984
Frame 19
tensor(0.3461)
 # KEYFRAME 16
0.054318246999173425
Frame 20
tensor(0.2529)
 # KEYFRAME 17
0.05516986300062854
Frame 21
tensor(0.0766)
Frame 22
tensor(0.3431)
 # KEYFRAME 18
0.05628163900109939
Frame 23
tensor(0.1041)
 # KEYFRAME 19
0.05701203699936741
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 24
tensor(0.1139)
 # KEYFRAME 20
0.05389970800024457
Frame 25
tensor(0.1219)
 # KEYFRAME 21
0.05493380500047351
Frame 26
tensor(0.3167)
 # KEYFRAME 22
0.05558086200107937
Frame 27
tensor(0.2470)
 # KEYFRAME 23
0.0560400300018955
Frame 28
tensor(0.3816)
 # KEYFRAME 24
0.05628402000002097
Frame 29
tensor(0.2637)
 # KEYFRAME 25
0.057182456002919935
Frame 30
tensor(0.1356)
 # KEYFRAME 26
0.05815525300204172
Frame 31
tensor(0.4217)
 # KEYFRAME 27
0.05892264999783947
Frame 32
tensor(0.1160)
 # KEYFRAME 28
0.05966496799737797
Frame 33
tensor(0.0377)
Frame 34
tensor(0.1710)
 # KEYFRAME 29
0.06024300499848323
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 35
tensor(0.1049)
 # KEYFRAME 30
0.05813396300072782
Frame 36
tensor(0.0440)
Frame 37
tensor(0.2086)
 # KEYFRAME 31
0.059661397001036676
Frame 38
tensor(0.2372)
 # KEYFRAME 32
0.05961277800088283
Frame 39
tensor(0.2242)
 # KEYFRAME 33
0.060628104001807515
Frame 40
tensor(0.0852)
Frame 41
tensor(0.2410)
 # KEYFRAME 34
0.061063743003614945
Frame 42
tensor(0.1814)
 # KEYFRAME 35
0.06124647199976607
Frame 43
tensor(0.0869)
Frame 44
tensor(0.1248)
 # KEYFRAME 36
0.06219563899867353
Frame 45
tensor(0.1190)
 # KEYFRAME 37
0.06257059700146783
Frame 46
tensor(0.1607)
 # KEYFRAME 38
0.06340806399748544
Frame 47
tensor(0.1009)
 # KEYFRAME 39
0.06380431299839984
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=801 loss_distill=0.1733 tta_take=0.008s
Frame 48
tensor(0.1171)
 # KEYFRAME 40
0.06269253700156696
Frame 49
tensor(0.1027)
 # KEYFRAME 41
0.06439157099885051
Frame 50
tensor(0.2771)
 # KEYFRAME 42
0.06455708099747426
Frame 51
tensor(0.1916)
 # KEYFRAME 43
0.064194161001069
Frame 52
tensor(0.3303)
 # KEYFRAME 44
0.06549702700067428
Frame 53
tensor(0.2236)
 # KEYFRAME 45
0.06607941499896697
Frame 54
tensor(0.1545)
 # KEYFRAME 46
0.06613632399967173
Frame 55
tensor(0.2024)
 # KEYFRAME 47
0.06681480200131773
Frame 56
tensor(0.4754)
 # KEYFRAME 48
0.06773332900047535
Frame 57
tensor(0.1746)
 # KEYFRAME 49
0.06856704600068042
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=802 loss_distill=0.2747 tta_take=0.008s
Frame 58
tensor(0.0889)
Frame 59
tensor(0.1679)
 # KEYFRAME 50
0.06691697200221824
Frame 60
tensor(0.1442)
 # KEYFRAME 51
0.06803415800095536
Frame 61
tensor(0.1194)
 # KEYFRAME 52
0.06787396900108433
Frame 62
tensor(0.0816)
Frame 63
tensor(0.2183)
 # KEYFRAME 53
0.06876094499966712
Frame 64
tensor(0.0456)
Frame 65
tensor(0.1723)
 # KEYFRAME 54
0.06880961500064586
Frame 66
tensor(0.1428)
 # KEYFRAME 55
0.06975258099919301
Frame 67
tensor(0.3286)
 # KEYFRAME 56
0.07016169999769772
Frame 68
tensor(0.2172)
 # KEYFRAME 57
0.07064572800300084
Frame 69
tensor(0.0670)
Frame 70
tensor(0.1622)
 # KEYFRAME 58
0.07076992899965262
Frame 71
tensor(0.0598)
Frame 72
tensor(0.3203)
 # KEYFRAME 59
0.07138346600186196
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=803 loss_distill=0.3466 tta_take=0.008s
Frame 73
tensor(0.1638)
 # KEYFRAME 60
0.0712797159976617
Frame 74
tensor(0.4697)
 # KEYFRAME 61
0.07288761100062402
Frame 75
tensor(0.4146)
 # KEYFRAME 62
0.07216228299876093
Frame 76
tensor(0.2033)
 # KEYFRAME 63
0.07248218199674739
Frame 77
tensor(0.1334)
 # KEYFRAME 64
0.07291805999921053
Frame 78
tensor(0.4262)
 # KEYFRAME 65
0.07349948800037964
Frame 79
tensor(0.3482)
 # KEYFRAME 66
0.0741305259980436
Frame 80
tensor(0.2698)
 # KEYFRAME 67
0.07503127300151391
Frame 81
tensor(0.0267)
Frame 82
tensor(0.0920)
Frame 83
tensor(0.2436)
 # KEYFRAME 68
0.07556917100009741
Frame 84
tensor(0.2653)
 # KEYFRAME 69
0.0766102170018712
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=804 loss_distill=0.4024 tta_take=0.008s
Frame 85
tensor(0.3684)
 # KEYFRAME 70
0.07570552100150962
Frame 86
tensor(0.1634)
 # KEYFRAME 71
0.07746725399920251
Frame 87
tensor(0.1597)
 # KEYFRAME 72
0.07705911600351101
Frame 88
tensor(0.0627)
Frame 89
tensor(0.2475)
 # KEYFRAME 73
0.07827650200124481
Frame 90
tensor(0.1437)
 # KEYFRAME 74
0.07900553899889928
Frame 91
tensor(0.3554)
 # KEYFRAME 75
0.07986691599944606
Frame 92
tensor(0.1309)
 # KEYFRAME 76
0.07872875000248314
Frame 93
tensor(0.2011)
 # KEYFRAME 77
0.08159419000003254
Frame 94
tensor(0.1061)
 # KEYFRAME 78
0.082093247998273
Frame 95
tensor(0.0171)
Frame 96
tensor(0.1944)
 # KEYFRAME 79
0.08301026500339503
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=805 loss_distill=0.4024 tta_take=0.008s
Frame 97
tensor(0.1354)
 # KEYFRAME 80
0.0752918319994933
Frame 98
tensor(0.0405)
Frame 99
tensor(0.0543)
Frame 100
tensor(0.5585)
 # KEYFRAME 81
0.07758066400128882
Frame 101
tensor(0.1375)
 # KEYFRAME 82
0.07730592499865452
Frame 102
tensor(0.5133)
 # KEYFRAME 83
0.07739298500018776
Frame 103
tensor(0.0995)
Frame 104
tensor(0.2770)
 # KEYFRAME 84
0.07779949299947475
Frame 105
tensor(0.0429)
Frame 106
tensor(0.1089)
 # KEYFRAME 85
0.07859101000212831
Frame 107
tensor(0.0491)
Frame 108
tensor(0.1880)
 # KEYFRAME 86
0.07888121900032274
Frame 109
tensor(0.0087)
Frame 110
tensor(0.0373)
Frame 111
tensor(0.2489)
 # KEYFRAME 87
0.07928279800034943
Frame 112
tensor(0.3939)
 # KEYFRAME 88
0.07972784600133309
Frame 113
tensor(0.1883)
 # KEYFRAME 89
0.0802681040004245
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=806 loss_distill=0.4024 tta_take=0.008s
Frame 114
tensor(0.1099)
 # KEYFRAME 90
0.07538249099889072
Frame 115
tensor(0.0858)
Frame 116
tensor(0.0987)
Frame 117
tensor(0.2638)
 # KEYFRAME 91
0.07744227500006673
Frame 118
tensor(0.7632)
 # KEYFRAME 92
0.07661958699827665
Frame 119
tensor(0.1422)
 # KEYFRAME 93
0.0771689149987651
Frame 120
tensor(0.0806)
Frame 121
tensor(0.3084)
 # KEYFRAME 94
0.07817240200165543
Frame 122
tensor(0.0766)
Frame 123
tensor(0.0574)
Frame 124
tensor(0.1388)
 # KEYFRAME 95
0.0787784099993587
Frame 125
tensor(0.0520)
Frame 126
tensor(0.0823)
Frame 127
tensor(0.2763)
 # KEYFRAME 96
0.0787329500017222
Frame 128
tensor(0.1379)
 # KEYFRAME 97
0.0794163570026285
Frame 129
tensor(0.0312)
Frame 130
tensor(0.1438)
 # KEYFRAME 98
0.0798661959997844
Frame 131
tensor(0.4169)
 # KEYFRAME 99
0.08084180199875846
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=807 loss_distill=0.4024 tta_take=0.009s
Frame 132
tensor(0.2586)
 # KEYFRAME 100
0.07560765100060962
Frame 133
tensor(0.1978)
 # KEYFRAME 101
0.07762890400044853
Frame 134
tensor(0.2384)
 # KEYFRAME 102
0.07695640599922626
Frame 135
tensor(0.1524)
 # KEYFRAME 103
0.07754038400162244
Frame 136
tensor(0.0623)
Frame 137
tensor(0.1682)
 # KEYFRAME 104
0.07822728199971607
Frame 138
tensor(0.1318)
 # KEYFRAME 105
0.07846618100302294
Frame 139
tensor(0.3904)
 # KEYFRAME 106
0.07806823200007784
Frame 140
tensor(0.1475)
 # KEYFRAME 107
0.07910768799774814
Frame 141
tensor(0.1200)
 # KEYFRAME 108
0.0799325649968523
Frame 142
tensor(0.1336)
 # KEYFRAME 109
0.08024411400037934
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=808 loss_distill=0.4024 tta_take=0.008s
Frame 143
tensor(0.0781)
Frame 144
tensor(0.1462)
 # KEYFRAME 110
0.07568022100167582
Frame 145
tensor(0.1155)
 # KEYFRAME 111
0.07654734800235019
Frame 146
tensor(0.2777)
 # KEYFRAME 112
0.07730870500017772
Frame 147
tensor(0.1173)
 # KEYFRAME 113
0.07746210400000564
Frame 148
tensor(0.0648)
Frame 149
tensor(0.1958)
 # KEYFRAME 114
0.07791627299957327
Backending... 115 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 60450, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=809 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 121/556] scannetpp/aaa11940d3/DSC frames=150 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=809 time=47.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0325)
Frame 2
tensor(0.1018)
 # KEYFRAME 1
Frame 3
tensor(0.4273)
 # KEYFRAME 2
0.05173529600142501
Frame 4
tensor(0.1638)
 # KEYFRAME 3
0.05327940100323758
Frame 5
tensor(0.1744)
 # KEYFRAME 4
0.05458151499988162
Frame 6
tensor(0.1674)
 # KEYFRAME 5
0.055634121999901254
Frame 7
tensor(0.1973)
 # KEYFRAME 6
0.05597470099746715
Frame 8
tensor(0.2625)
 # KEYFRAME 7
0.05683678800050984
Frame 9
tensor(0.1409)
 # KEYFRAME 8
0.05852040199897601
Frame 10
tensor(0.0575)
Frame 11
tensor(0.1008)
 # KEYFRAME 9
0.05829576199903386
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.0645)
Frame 13
tensor(0.1633)
 # KEYFRAME 10
0.05249703300069086
Frame 14
tensor(0.0940)
Frame 15
tensor(0.2020)
 # KEYFRAME 11
0.053783528001076775
Frame 16
tensor(0.1467)
 # KEYFRAME 12
0.05445111600056407
Frame 17
tensor(0.1066)
 # KEYFRAME 13
0.05622465999840642
Frame 18
tensor(0.1227)
 # KEYFRAME 14
0.05703134699797374
Frame 19
tensor(0.1460)
 # KEYFRAME 15
0.05793868399996427
Frame 20
tensor(0.0141)
Frame 21
tensor(0.1226)
 # KEYFRAME 16
0.05868305100011639
Frame 22
tensor(0.0977)
Frame 23
tensor(0.1651)
 # KEYFRAME 17
0.06005468600051245
Frame 24
tensor(0.0598)
Frame 25
tensor(0.1344)
 # KEYFRAME 18
0.061201922999316594
Frame 26
tensor(0.1114)
 # KEYFRAME 19
0.06251970700031961
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 27
tensor(0.0929)
Frame 28
tensor(0.2219)
 # KEYFRAME 20
0.05936131899943575
Frame 29
tensor(0.3623)
 # KEYFRAME 21
0.0604276940030104
Frame 30
tensor(0.2091)
 # KEYFRAME 22
0.06135577200257103
Frame 31
tensor(0.0718)
Frame 32
tensor(0.2307)
 # KEYFRAME 23
0.06209181899976102
Frame 33
tensor(0.1775)
 # KEYFRAME 24
0.0626087880009436
Frame 34
tensor(0.1134)
 # KEYFRAME 25
0.06357337400186225
Frame 35
tensor(0.1221)
 # KEYFRAME 26
0.06532871699891984
Frame 36
tensor(0.1059)
 # KEYFRAME 27
0.06610017500133836
Frame 37
tensor(0.1008)
 # KEYFRAME 28
0.06757130899859476
Frame 38
tensor(0.0968)
Frame 39
tensor(0.1562)
 # KEYFRAME 29
0.06859889599945745
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 40
tensor(0.0646)
Frame 41
tensor(0.1629)
 # KEYFRAME 30
0.06625134400019306
Frame 42
tensor(0.0463)
Frame 43
tensor(0.6236)
 # KEYFRAME 31
0.06675744200038025
Frame 44
tensor(0.2840)
 # KEYFRAME 32
0.06810062699878472
Frame 45
tensor(0.2075)
 # KEYFRAME 33
0.06856812600017292
Frame 46
tensor(0.2284)
 # KEYFRAME 34
0.06936244399912539
Frame 47
tensor(0.2683)
 # KEYFRAME 35
0.07000414100184571
Frame 48
tensor(0.2918)
 # KEYFRAME 36
0.07067575900146039
Frame 49
tensor(0.2220)
 # KEYFRAME 37
0.07199114399918471
Frame 50
tensor(0.2980)
 # KEYFRAME 38
0.07254034200013848
Frame 51
tensor(0.3241)
 # KEYFRAME 39
0.07362589799959096
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=810 loss_distill=0.1733 tta_take=0.009s
Frame 52
tensor(0.2246)
 # KEYFRAME 40
0.07252087199958623
Frame 53
tensor(0.1887)
 # KEYFRAME 41
0.07476313400184154
Frame 54
tensor(0.2198)
 # KEYFRAME 42
0.07475356400027522
Frame 55
tensor(0.1707)
 # KEYFRAME 43
0.07515709200015408
Frame 56
tensor(0.1370)
 # KEYFRAME 44
0.07626740799969411
Frame 57
tensor(0.2127)
 # KEYFRAME 45
0.07673942700057523
Frame 58
tensor(0.1352)
 # KEYFRAME 46
0.07704052600092837
Frame 59
tensor(0.1163)
 # KEYFRAME 47
0.07800623199727852
Frame 60
tensor(0.0715)
Frame 61
tensor(0.2244)
 # KEYFRAME 48
0.07932541699847206
Frame 62
tensor(0.1245)
 # KEYFRAME 49
0.08035428400035016
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=811 loss_distill=0.2747 tta_take=0.009s
Frame 63
tensor(0.0855)
Frame 64
tensor(0.1115)
 # KEYFRAME 50
0.0797709370017401
Frame 65
tensor(0.0482)
Frame 66
tensor(0.0613)
Frame 67
tensor(0.1179)
 # KEYFRAME 51
0.08171914999911678
Frame 68
tensor(0.0083)
Frame 69
tensor(0.1085)
 # KEYFRAME 52
0.08174015899930964
Frame 70
tensor(0.1019)
 # KEYFRAME 53
0.0829824250031379
Frame 71
tensor(0.1320)
 # KEYFRAME 54
0.08519560700005968
Frame 72
tensor(0.1721)
 # KEYFRAME 55
0.08547431599799893
Frame 73
tensor(0.1122)
 # KEYFRAME 56
0.08668732099977206
Frame 74
tensor(0.1894)
 # KEYFRAME 57
0.08754350900198915
Frame 75
tensor(0.2300)
 # KEYFRAME 58
0.0886042140009522
Frame 76
tensor(0.1235)
 # KEYFRAME 59
0.08924839199971757
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=812 loss_distill=0.3466 tta_take=0.009s
Frame 77
tensor(0.0782)
Frame 78
tensor(0.0373)
Frame 79
tensor(0.0458)
Frame 80
tensor(0.2084)
 # KEYFRAME 60
0.08645543199963868
Frame 81
tensor(0.1142)
 # KEYFRAME 61
0.088475765001931
Frame 82
tensor(0.2615)
 # KEYFRAME 62
0.08803766699929838
Frame 83
tensor(0.3290)
 # KEYFRAME 63
0.0890602729996317
Frame 84
tensor(0.1227)
 # KEYFRAME 64
0.08953976100019645
Frame 85
tensor(0.1462)
 # KEYFRAME 65
0.09021067899811896
Frame 86
tensor(0.1363)
 # KEYFRAME 66
0.09111247599867056
Frame 87
tensor(0.0777)
Frame 88
tensor(0.2329)
 # KEYFRAME 67
0.09145173499928205
Frame 89
tensor(0.0864)
Frame 90
tensor(0.1947)
 # KEYFRAME 68
0.09258282000155305
Frame 91
tensor(0.1803)
 # KEYFRAME 69
0.09271746999729658
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=813 loss_distill=0.4024 tta_take=0.009s
Frame 92
tensor(0.0718)
Frame 93
tensor(0.1378)
 # KEYFRAME 70
0.09311348899791483
Frame 94
tensor(0.1242)
 # KEYFRAME 71
0.09583915900293505
Frame 95
tensor(0.1537)
 # KEYFRAME 72
0.09496844199748011
Frame 96
tensor(0.0389)
Frame 97
tensor(0.0812)
Frame 98
tensor(0.1381)
 # KEYFRAME 73
0.09576607900089584
Frame 99
tensor(0.1021)
 # KEYFRAME 74
0.09654016700005741
Frame 100
tensor(0.0820)
Frame 101
tensor(0.1697)
 # KEYFRAME 75
0.09705191500324872
Frame 102
tensor(0.1340)
 # KEYFRAME 76
0.09833992999847396
Frame 103
tensor(0.3634)
 # KEYFRAME 77
0.09889079799904721
Frame 104
tensor(0.0249)
Frame 105
tensor(0.1075)
 # KEYFRAME 78
0.09935133599719848
Frame 106
tensor(0.0331)
Frame 107
tensor(0.7477)
 # KEYFRAME 79
0.10040243199910037
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=814 loss_distill=0.4024 tta_take=0.009s
Frame 108
tensor(0.2216)
 # KEYFRAME 80
0.09272203000000445
Frame 109
tensor(0.2201)
 # KEYFRAME 81
0.09575277899784851
Frame 110
tensor(0.1540)
 # KEYFRAME 82
0.09539636000044993
Frame 111
tensor(0.2589)
 # KEYFRAME 83
0.0968076259996451
Frame 112
tensor(0.0885)
Frame 113
tensor(0.1624)
 # KEYFRAME 84
0.09757385299963062
Frame 114
tensor(0.0789)
Frame 115
tensor(0.1963)
 # KEYFRAME 85
0.09897701799854985
Frame 116
tensor(0.1279)
 # KEYFRAME 86
0.09926488700148184
Frame 117
tensor(0.1081)
 # KEYFRAME 87
0.09990529500282719
Frame 118
tensor(0.1201)
 # KEYFRAME 88
0.10097080099876621
Frame 119
tensor(0.3281)
 # KEYFRAME 89
0.10217008600011468
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=815 loss_distill=0.4024 tta_take=0.009s
Frame 120
tensor(0.1567)
 # KEYFRAME 90
0.09311993800292839
Frame 121
tensor(0.0850)
Frame 122
tensor(0.1477)
 # KEYFRAME 91
0.09406744499938213
Frame 123
tensor(0.3136)
 # KEYFRAME 92
0.09623090800232603
Frame 124
tensor(0.1029)
 # KEYFRAME 93
0.09504659199956222
Frame 125
tensor(0.2359)
 # KEYFRAME 94
0.09654913700069301
Backending... 95 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 67665, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=816 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 122/556] scannetpp/3f1e1610de/frame frames=126 tta_steps_this_scene=7 mean_loss=0.3434 total_steps=816 time=40.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0470)
Frame 2
tensor(0.0882)
Frame 3
tensor(0.1303)
 # KEYFRAME 1
Frame 4
tensor(0.0475)
Frame 5
tensor(0.0927)
Frame 6
tensor(0.1415)
 # KEYFRAME 2
0.0519906549998268
Frame 7
tensor(0.0412)
Frame 8
tensor(0.0860)
Frame 9
tensor(0.1450)
 # KEYFRAME 3
0.051761945000180276
Frame 10
tensor(0.0410)
Frame 11
tensor(0.0881)
Frame 12
tensor(0.1328)
 # KEYFRAME 4
0.05251031399893691
Frame 13
tensor(0.0468)
Frame 14
tensor(0.0937)
Frame 15
tensor(0.1346)
 # KEYFRAME 5
0.05263868300244212
Frame 16
tensor(0.0443)
Frame 17
tensor(0.0927)
Frame 18
tensor(0.1348)
 # KEYFRAME 6
0.05247356299878447
Frame 19
tensor(0.0500)
Frame 20
tensor(0.0934)
Frame 21
tensor(0.1364)
 # KEYFRAME 7
0.05265213200254948
Frame 22
tensor(0.0492)
Frame 23
tensor(0.0999)
Frame 24
tensor(0.1467)
 # KEYFRAME 8
0.053495879998081364
Frame 25
tensor(0.0500)
Frame 26
tensor(0.0907)
Frame 27
tensor(0.1506)
 # KEYFRAME 9
0.052632653001637664
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 28
tensor(0.0389)
Frame 29
tensor(0.0830)
Frame 30
tensor(0.1342)
 # KEYFRAME 10
0.05187991600178066
Frame 31
tensor(0.0449)
Frame 32
tensor(0.0871)
Frame 33
tensor(0.1311)
 # KEYFRAME 11
0.05210104399884585
Frame 34
tensor(0.0438)
Frame 35
tensor(0.0919)
Frame 36
tensor(0.1325)
 # KEYFRAME 12
0.052421112999581965
Frame 37
tensor(0.0385)
Frame 38
tensor(0.0946)
Frame 39
tensor(0.1401)
 # KEYFRAME 13
0.05233340400081943
Frame 40
tensor(0.0484)
Frame 41
tensor(0.0894)
Frame 42
tensor(0.1369)
 # KEYFRAME 14
0.05412915799752227
Frame 43
tensor(0.0454)
Frame 44
tensor(0.0930)
Frame 45
tensor(0.1367)
 # KEYFRAME 15
0.05305984100050409
Frame 46
tensor(0.0465)
Frame 47
tensor(0.0936)
Frame 48
tensor(0.1417)
 # KEYFRAME 16
0.053234909999446245
Frame 49
tensor(0.0471)
Frame 50
tensor(0.0894)
Frame 51
tensor(0.1408)
 # KEYFRAME 17
0.05589042099745711
Frame 52
tensor(0.0472)
Frame 53
tensor(0.1030)
 # KEYFRAME 18
0.05201378499987186
Frame 54
tensor(0.0567)
Frame 55
tensor(0.0979)
Frame 56
tensor(0.1501)
 # KEYFRAME 19
0.05644211899925722
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 57
tensor(0.0454)
Frame 58
tensor(0.0933)
Frame 59
tensor(0.1410)
 # KEYFRAME 20
0.051939244996901834
Frame 60
tensor(0.0397)
Frame 61
tensor(0.0890)
Frame 62
tensor(0.1411)
 # KEYFRAME 21
0.05257034299938823
Frame 63
tensor(0.0456)
Frame 64
tensor(0.0963)
Frame 65
tensor(0.1354)
 # KEYFRAME 22
0.053513329999987036
Frame 66
tensor(0.0422)
Frame 67
tensor(0.0888)
Frame 68
tensor(0.1342)
 # KEYFRAME 23
0.05254093300027307
Frame 69
tensor(0.0473)
Frame 70
tensor(0.0961)
Frame 71
tensor(0.1336)
 # KEYFRAME 24
0.053943127997627016
Frame 72
tensor(0.0533)
Frame 73
tensor(0.0947)
Frame 74
tensor(0.1296)
 # KEYFRAME 25
0.05206500399799552
Frame 75
tensor(0.0468)
Frame 76
tensor(0.0876)
Frame 77
tensor(0.1396)
 # KEYFRAME 26
0.05233873299948755
Frame 78
tensor(0.0452)
Frame 79
tensor(0.0810)
Frame 80
tensor(0.1272)
 # KEYFRAME 27
0.05533379300322849
Frame 81
tensor(0.0438)
Frame 82
tensor(0.0868)
Frame 83
tensor(0.1220)
 # KEYFRAME 28
0.05270355200264021
Frame 84
tensor(0.0409)
Frame 85
tensor(0.0847)
Frame 86
tensor(0.1258)
 # KEYFRAME 29
0.05600573099945905
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 87
tensor(0.0380)
Frame 88
tensor(0.0810)
Frame 89
tensor(0.1123)
 # KEYFRAME 30
0.052253784000640735
Frame 90
tensor(0.0373)
Frame 91
tensor(0.0713)
Frame 92
tensor(0.0990)
Frame 93
tensor(0.1409)
 # KEYFRAME 31
0.053149780000239844
Frame 94
tensor(0.0316)
Frame 95
tensor(0.0712)
Frame 96
tensor(0.1014)
 # KEYFRAME 32
0.05388695799774723
Frame 97
tensor(0.0339)
Frame 98
tensor(0.0722)
Frame 99
tensor(0.1055)
 # KEYFRAME 33
0.0528742919996148
Frame 100
tensor(0.0345)
Frame 101
tensor(0.0658)
Frame 102
tensor(0.1003)
 # KEYFRAME 34
0.05513311400136445
Frame 103
tensor(0.0373)
Frame 104
tensor(0.0756)
Frame 105
tensor(0.1095)
 # KEYFRAME 35
0.052910401002009166
Frame 106
tensor(0.0318)
Frame 107
tensor(0.0639)
Frame 108
tensor(0.1001)
 # KEYFRAME 36
0.05305240100278752
Frame 109
tensor(0.0306)
Frame 110
tensor(0.0629)
Frame 111
tensor(0.0946)
Frame 112
tensor(0.1213)
 # KEYFRAME 37
0.05717098700188217
Frame 113
tensor(0.0337)
Frame 114
tensor(0.0599)
Frame 115
tensor(0.0951)
Frame 116
tensor(0.1260)
 # KEYFRAME 38
0.05275215300207492
Frame 117
tensor(0.0255)
Frame 118
tensor(0.0555)
Frame 119
tensor(0.0827)
Frame 120
tensor(0.1082)
 # KEYFRAME 39
0.058452512999792816
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=817 loss_distill=0.1733 tta_take=0.005s
Frame 121
tensor(0.0188)
Frame 122
tensor(0.0424)
Frame 123
tensor(0.0652)
Frame 124
tensor(0.0886)
Frame 125
tensor(0.1069)
 # KEYFRAME 40
0.052396823000890436
Frame 126
tensor(0.0166)
Frame 127
tensor(0.0451)
Frame 128
tensor(0.0594)
Frame 129
tensor(0.0814)
Frame 130
tensor(0.0993)
Frame 131
tensor(0.1198)
 # KEYFRAME 41
0.05273994200251764
Frame 132
tensor(0.0195)
Frame 133
tensor(0.0360)
Frame 134
tensor(0.0569)
Frame 135
tensor(0.0797)
Frame 136
tensor(0.0876)
Frame 137
tensor(0.1093)
 # KEYFRAME 42
0.05296134099990013
Frame 138
tensor(0.0141)
Frame 139
tensor(0.0313)
Frame 140
tensor(0.0512)
Frame 141
tensor(0.0673)
Frame 142
tensor(0.0878)
Frame 143
tensor(0.0984)
Frame 144
tensor(0.1124)
 # KEYFRAME 43
0.05225132399937138
Frame 145
tensor(0.0192)
Frame 146
tensor(0.0357)
Frame 147
tensor(0.0508)
Frame 148
tensor(0.0709)
Frame 149
tensor(0.0844)
Frame 150
tensor(0.0982)
Frame 151
tensor(0.1147)
 # KEYFRAME 44
0.053238971002429025
Frame 152
tensor(0.0091)
Frame 153
tensor(0.0231)
Frame 154
tensor(0.0432)
Frame 155
tensor(0.0573)
Frame 156
tensor(0.0742)
Frame 157
tensor(0.0857)
Frame 158
tensor(0.1027)
 # KEYFRAME 45
0.052217783999367384
Frame 159
tensor(0.0157)
Frame 160
tensor(0.0282)
Frame 161
tensor(0.0456)
Frame 162
tensor(0.0667)
Frame 163
tensor(0.0721)
Frame 164
tensor(0.0876)
Frame 165
tensor(0.0991)
Frame 166
tensor(0.1250)
 # KEYFRAME 46
0.05215969500204665
Frame 167
tensor(0.0167)
Frame 168
tensor(0.0336)
Frame 169
tensor(0.0586)
Frame 170
tensor(0.0770)
Frame 171
tensor(0.0947)
Frame 172
tensor(0.1177)
 # KEYFRAME 47
0.05326124000202981
Frame 173
tensor(0.0144)
Frame 174
tensor(0.0405)
Frame 175
tensor(0.0595)
Frame 176
tensor(0.0809)
Frame 177
tensor(0.0991)
Frame 178
tensor(0.1146)
 # KEYFRAME 48
0.05208506499911891
Frame 179
tensor(0.0165)
Frame 180
tensor(0.0347)
Frame 181
tensor(0.0527)
Frame 182
tensor(0.0752)
Frame 183
tensor(0.0993)
Frame 184
tensor(0.1075)
 # KEYFRAME 49
0.05357252000248991
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=818 loss_distill=0.2747 tta_take=0.005s
Frame 185
tensor(0.0153)
Frame 186
tensor(0.0330)
Frame 187
tensor(0.0488)
Frame 188
tensor(0.0696)
Frame 189
tensor(0.0893)
Frame 190
tensor(0.1022)
 # KEYFRAME 50
0.052294033997895895
Frame 191
tensor(0.0092)
Frame 192
tensor(0.0292)
Frame 193
tensor(0.0447)
Frame 194
tensor(0.0616)
Frame 195
tensor(0.0788)
Frame 196
tensor(0.0961)
Frame 197
tensor(0.1055)
 # KEYFRAME 51
0.05303510099838604
Frame 198
tensor(0.0093)
Frame 199
tensor(0.0225)
Frame 200
tensor(0.0344)
Frame 201
tensor(0.0509)
Frame 202
tensor(0.0689)
Frame 203
tensor(0.0822)
Frame 204
tensor(0.0943)
Frame 205
tensor(0.1090)
 # KEYFRAME 52
0.053836627997952746
Frame 206
tensor(0.0086)
Frame 207
tensor(0.0210)
Frame 208
tensor(0.0311)
Frame 209
tensor(0.0442)
Frame 210
tensor(0.0599)
Frame 211
tensor(0.0744)
Frame 212
tensor(0.0852)
Frame 213
tensor(0.0972)
Frame 214
tensor(0.1095)
 # KEYFRAME 53
0.053362679998826934
Frame 215
tensor(0.0126)
Frame 216
tensor(0.0285)
Frame 217
tensor(0.0428)
Frame 218
tensor(0.0547)
Frame 219
tensor(0.0820)
Frame 220
tensor(0.0960)
Frame 221
tensor(0.1114)
 # KEYFRAME 54
0.05425814599948353
Frame 222
tensor(0.0151)
Frame 223
tensor(0.0331)
Frame 224
tensor(0.0559)
Frame 225
tensor(0.0688)
Frame 226
tensor(0.0936)
Frame 227
tensor(0.1152)
 # KEYFRAME 55
0.05314489100055653
Frame 228
tensor(0.0168)
Frame 229
tensor(0.0377)
Frame 230
tensor(0.0595)
Frame 231
tensor(0.0807)
Frame 232
tensor(0.1014)
 # KEYFRAME 56
0.05359956000029342
Frame 233
tensor(0.0246)
Frame 234
tensor(0.0455)
Frame 235
tensor(0.0703)
Frame 236
tensor(0.0906)
Frame 237
tensor(0.1111)
 # KEYFRAME 57
0.05541959300171584
Frame 238
tensor(0.0167)
Frame 239
tensor(0.0474)
Frame 240
tensor(0.0674)
Frame 241
tensor(0.0915)
Frame 242
tensor(0.1150)
 # KEYFRAME 58
0.053623079002136365
Frame 243
tensor(0.0202)
Frame 244
tensor(0.0383)
Frame 245
tensor(0.0623)
Frame 246
tensor(0.0891)
Frame 247
tensor(0.1062)
 # KEYFRAME 59
0.05668424800023786
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=819 loss_distill=0.3466 tta_take=0.005s
Frame 248
tensor(0.0276)
Frame 249
tensor(0.0466)
Frame 250
tensor(0.0709)
Frame 251
tensor(0.0983)
Frame 252
tensor(0.1144)
 # KEYFRAME 60
0.052220084002328804
Frame 253
tensor(0.0202)
Frame 254
tensor(0.0428)
Frame 255
tensor(0.0647)
Frame 256
tensor(0.0938)
Frame 257
tensor(0.1190)
 # KEYFRAME 61
0.05294236099871341
Frame 258
tensor(0.0230)
Frame 259
tensor(0.0425)
Frame 260
tensor(0.0622)
Frame 261
tensor(0.0947)
Frame 262
tensor(0.1209)
 # KEYFRAME 62
0.05393034799999441
Frame 263
tensor(0.0185)
Frame 264
tensor(0.0411)
Frame 265
tensor(0.0655)
Frame 266
tensor(0.0861)
Frame 267
tensor(0.1139)
 # KEYFRAME 63
0.052498513003229164
Frame 268
tensor(0.0247)
Frame 269
tensor(0.0448)
Frame 270
tensor(0.0706)
Frame 271
tensor(0.0951)
Frame 272
tensor(0.1132)
 # KEYFRAME 64
0.05396256799940602
Frame 273
tensor(0.0162)
Frame 274
tensor(0.0379)
Frame 275
tensor(0.0584)
Frame 276
tensor(0.0710)
Frame 277
tensor(0.0847)
Frame 278
tensor(0.1074)
 # KEYFRAME 65
0.053054951000376604
Frame 279
tensor(0.0125)
Frame 280
tensor(0.0292)
Frame 281
tensor(0.0391)
Frame 282
tensor(0.0517)
Frame 283
tensor(0.0643)
Frame 284
tensor(0.0757)
Frame 285
tensor(0.0855)
Frame 286
tensor(0.0954)
Frame 287
tensor(0.1042)
 # KEYFRAME 66
0.05285189200003515
Frame 288
tensor(0.0094)
Frame 289
tensor(0.0217)
Frame 290
tensor(0.0322)
Frame 291
tensor(0.0447)
Frame 292
tensor(0.0571)
Frame 293
tensor(0.0708)
Frame 294
tensor(0.0768)
Frame 295
tensor(0.0883)
Frame 296
tensor(0.0956)
Frame 297
tensor(0.1028)
 # KEYFRAME 67
0.05395130800025072
Frame 298
tensor(0.0075)
Frame 299
tensor(0.0169)
Backending... 68 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28016, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=820 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 123/556] vkitti/Scene18/fog/Camera_0 frames=300 tta_steps_this_scene=4 mean_loss=0.2992 total_steps=820 time=62.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0179)
Frame 2
tensor(0.0441)
Frame 3
tensor(0.1960)
 # KEYFRAME 1
Frame 4
tensor(0.3526)
 # KEYFRAME 2
0.05195424500197987
Frame 5
tensor(0.0831)
Frame 6
tensor(0.3029)
 # KEYFRAME 3
0.054442085998744005
Frame 7
tensor(0.2068)
 # KEYFRAME 4
0.05457720599952154
Frame 8
tensor(0.2043)
 # KEYFRAME 5
0.0552504740007862
Frame 9
tensor(0.0910)
Frame 10
tensor(0.2101)
 # KEYFRAME 6
0.05615440999827115
Frame 11
tensor(0.1076)
 # KEYFRAME 7
0.05709409699920798
Frame 12
tensor(0.0793)
Frame 13
tensor(0.0610)
Frame 14
tensor(0.0695)
Frame 15
tensor(0.1915)
 # KEYFRAME 8
0.05878042100084713
Frame 16
tensor(0.0424)
Frame 17
tensor(0.1512)
 # KEYFRAME 9
0.058587090999935754
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 18
tensor(0.1654)
 # KEYFRAME 10
0.05259859199941275
Frame 19
tensor(0.1278)
 # KEYFRAME 11
0.05363314900023397
Frame 20
tensor(0.0497)
Frame 21
tensor(0.1556)
 # KEYFRAME 12
0.05485176499860245
Frame 22
tensor(0.1612)
 # KEYFRAME 13
0.05682049800088862
Frame 23
tensor(0.0822)
Frame 24
tensor(0.1474)
 # KEYFRAME 14
0.05743429600261152
Frame 25
tensor(0.1718)
 # KEYFRAME 15
0.05824749300154508
Frame 26
tensor(0.1709)
 # KEYFRAME 16
0.05929376899803174
Frame 27
tensor(0.0745)
Frame 28
tensor(0.1452)
 # KEYFRAME 17
0.06034598499900312
Frame 29
tensor(0.1241)
 # KEYFRAME 18
0.06173144000058528
Frame 30
tensor(0.2002)
 # KEYFRAME 19
0.06288142699850141
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 31
tensor(0.6449)
 # KEYFRAME 20
0.05909651000183658
Frame 32
tensor(0.5511)
 # KEYFRAME 21
0.060540785001649056
Frame 33
tensor(0.1878)
 # KEYFRAME 22
0.0608154330002435
Frame 34
tensor(0.2439)
 # KEYFRAME 23
0.0618720200000098
Frame 35
tensor(0.1145)
 # KEYFRAME 24
0.06280380599855562
Frame 36
tensor(0.2488)
 # KEYFRAME 25
0.06401606199870002
Frame 37
tensor(0.1576)
 # KEYFRAME 26
0.06516548800209421
Frame 38
tensor(0.1642)
 # KEYFRAME 27
0.06585533500037855
Frame 39
tensor(0.0765)
Frame 40
tensor(0.1771)
 # KEYFRAME 28
0.067042611000943
Frame 41
tensor(0.1738)
 # KEYFRAME 29
0.06871774500177708
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 42
tensor(0.1112)
 # KEYFRAME 30
0.0657587860005151
Frame 43
tensor(0.1920)
 # KEYFRAME 31
0.06785135799873387
Frame 44
tensor(0.0866)
Frame 45
tensor(0.0795)
Frame 46
tensor(0.0737)
Frame 47
tensor(0.0733)
Frame 48
tensor(0.0657)
Frame 49
tensor(0.0639)
Frame 50
tensor(0.0623)
Frame 51
tensor(0.0638)
Frame 52
tensor(0.0641)
Frame 53
tensor(0.0621)
Frame 54
tensor(0.0553)
Frame 55
tensor(0.0361)
Frame 56
tensor(0.2164)
 # KEYFRAME 32
0.0684288070006005
Frame 57
tensor(0.2225)
 # KEYFRAME 33
0.06925803299964173
Frame 58
tensor(0.0695)
Frame 59
tensor(0.1894)
 # KEYFRAME 34
0.06979504199989606
Frame 60
tensor(0.3322)
 # KEYFRAME 35
0.0708539679981186
Frame 61
tensor(0.2163)
 # KEYFRAME 36
0.07163476499772514
Frame 62
tensor(0.0833)
Frame 63
tensor(0.2931)
 # KEYFRAME 37
0.072601941999892
Frame 64
tensor(0.4021)
 # KEYFRAME 38
0.07322536900028354
Frame 65
tensor(0.0454)
Frame 66
tensor(0.1293)
 # KEYFRAME 39
0.07443463500021608
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=821 loss_distill=0.1733 tta_take=0.009s
Frame 67
tensor(0.1826)
 # KEYFRAME 40
0.0728469209971081
Frame 68
tensor(0.1873)
 # KEYFRAME 41
0.0746011540031759
Frame 69
tensor(0.0616)
Frame 70
tensor(0.2069)
 # KEYFRAME 42
0.07470915399972
Frame 71
tensor(0.1191)
 # KEYFRAME 43
0.07536237200110918
Frame 72
tensor(0.1012)
 # KEYFRAME 44
0.07618005900076241
Frame 73
tensor(0.1009)
 # KEYFRAME 45
0.07723369499944965
Frame 74
tensor(0.1500)
 # KEYFRAME 46
0.07712529600030393
Frame 75
tensor(0.1371)
 # KEYFRAME 47
0.07767190400045365
Frame 76
tensor(0.1264)
 # KEYFRAME 48
0.07895614899825887
Frame 77
tensor(0.1480)
 # KEYFRAME 49
0.08041808400230366
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=822 loss_distill=0.2747 tta_take=0.009s
Frame 78
tensor(0.1553)
 # KEYFRAME 50
0.0796449469999061
Frame 79
tensor(0.1305)
 # KEYFRAME 51
0.08178350900197984
Frame 80
tensor(0.1165)
 # KEYFRAME 52
0.08161002899942105
Frame 81
tensor(0.2062)
 # KEYFRAME 53
0.0827868260021205
Frame 82
tensor(0.3709)
 # KEYFRAME 54
0.08374859199830098
Frame 83
tensor(0.0959)
Frame 84
tensor(0.3186)
 # KEYFRAME 55
0.08518286700200406
Frame 85
tensor(0.3203)
 # KEYFRAME 56
0.08524102599767502
Frame 86
tensor(0.3063)
 # KEYFRAME 57
0.08676264099995024
Frame 87
tensor(0.2141)
 # KEYFRAME 58
0.08780076699986239
Frame 88
tensor(0.3018)
 # KEYFRAME 59
0.08906511299937847
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=823 loss_distill=0.3466 tta_take=0.009s
Frame 89
tensor(0.6989)
 # KEYFRAME 60
0.08696795099967858
Frame 90
tensor(0.5484)
 # KEYFRAME 61
0.088844223999331
Frame 91
tensor(0.0760)
Frame 92
tensor(0.0646)
Frame 93
tensor(0.0862)
Frame 94
tensor(0.1310)
 # KEYFRAME 62
0.08853877499859664
Frame 95
tensor(0.0049)
Frame 96
tensor(0.0433)
Frame 97
tensor(0.2269)
 # KEYFRAME 63
0.08992882100210409
Frame 98
tensor(0.1160)
 # KEYFRAME 64
0.09183122300237301
Frame 99
tensor(0.1114)
 # KEYFRAME 65
0.0932317980004882
Frame 100
tensor(0.1099)
 # KEYFRAME 66
0.09465043299860554
Frame 101
tensor(0.0893)
Frame 102
tensor(0.1070)
 # KEYFRAME 67
0.09580083900073078
Frame 103
tensor(0.0525)
Frame 104
tensor(0.0606)
Frame 105
tensor(0.1501)
 # KEYFRAME 68
0.09584865899887518
Frame 106
tensor(0.1321)
 # KEYFRAME 69
0.09611942799892859
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=824 loss_distill=0.4024 tta_take=0.009s
Frame 107
tensor(0.1131)
 # KEYFRAME 70
0.09347526700003073
Frame 108
tensor(0.2285)
 # KEYFRAME 71
0.09387840600174968
Frame 109
tensor(0.2316)
 # KEYFRAME 72
0.09531341099864221
Frame 110
tensor(0.1069)
 # KEYFRAME 73
0.09623133700006292
Frame 111
tensor(0.0921)
Frame 112
tensor(0.3814)
 # KEYFRAME 74
0.09802903099989635
Frame 113
tensor(0.2281)
 # KEYFRAME 75
0.09876113900099881
Frame 114
tensor(0.0839)
Frame 115
tensor(0.1886)
 # KEYFRAME 76
0.10070449200065923
Frame 116
tensor(0.1049)
 # KEYFRAME 77
0.10135839899885468
Frame 117
tensor(0.0746)
Frame 118
tensor(0.1473)
 # KEYFRAME 78
0.10188992799885455
Frame 119
tensor(0.0178)
Frame 120
tensor(0.2342)
 # KEYFRAME 79
0.10268453400203725
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=825 loss_distill=0.4024 tta_take=0.009s
Frame 121
tensor(0.4310)
 # KEYFRAME 80
0.09343800699934945
Frame 122
tensor(0.2429)
 # KEYFRAME 81
0.09523556100248243
Frame 123
tensor(0.0543)
Frame 124
tensor(0.1252)
 # KEYFRAME 82
0.09509114200045587
Frame 125
tensor(0.1686)
 # KEYFRAME 83
0.0959317579981871
Frame 126
tensor(0.2227)
 # KEYFRAME 84
0.09687515500263544
Frame 127
tensor(0.1072)
 # KEYFRAME 85
0.09796525099955034
Frame 128
tensor(0.0925)
Frame 129
tensor(0.0991)
Frame 130
tensor(0.1970)
 # KEYFRAME 86
0.09814623000056599
Frame 131
tensor(0.0365)
Frame 132
tensor(0.1880)
 # KEYFRAME 87
0.09844154000165872
Frame 133
tensor(0.1595)
 # KEYFRAME 88
0.09908453699972597
Frame 134
tensor(0.0317)
Frame 135
tensor(0.0264)
Frame 136
tensor(0.0188)
Backending... 89 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 71829, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=826 loss_distill=0.4024 tta_take=0.008s
[epoch 0 scene 124/556] scannetpp/45d2e33be1/frame frames=137 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=826 time=43.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0098)
Frame 2
tensor(0.0314)
Frame 3
tensor(0.0883)
Frame 4
tensor(0.2369)
 # KEYFRAME 1
Frame 5
tensor(0.0999)
Frame 6
tensor(0.1475)
 # KEYFRAME 2
0.05148571699828608
Frame 7
tensor(0.1759)
 # KEYFRAME 3
0.05297009100104333
Frame 8
tensor(0.1826)
 # KEYFRAME 4
0.05463593599779415
Frame 9
tensor(0.0533)
Frame 10
tensor(0.1677)
 # KEYFRAME 5
0.055200082999363076
Frame 11
tensor(0.1217)
 # KEYFRAME 6
0.0562673390013515
Frame 12
tensor(0.1541)
 # KEYFRAME 7
0.05696112699661171
Frame 13
tensor(0.1008)
 # KEYFRAME 8
0.05783878399961395
Frame 14
tensor(0.1111)
 # KEYFRAME 9
0.05851893200087943
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 15
tensor(0.0489)
Frame 16
tensor(0.3213)
 # KEYFRAME 10
0.05188787600127398
Frame 17
tensor(0.0883)
Frame 18
tensor(0.1381)
 # KEYFRAME 11
0.05376446900118026
Frame 19
tensor(0.7058)
 # KEYFRAME 12
0.05489714500072296
Frame 20
tensor(0.1566)
 # KEYFRAME 13
0.056708198000706034
Frame 21
tensor(0.2073)
 # KEYFRAME 14
0.057622885000455426
Frame 22
tensor(0.1255)
 # KEYFRAME 15
0.05815926300056162
Frame 23
tensor(0.2856)
 # KEYFRAME 16
0.05950316799862776
Frame 24
tensor(0.1044)
 # KEYFRAME 17
0.0604204649971507
Frame 25
tensor(0.1682)
 # KEYFRAME 18
0.06127568200099631
Frame 26
tensor(0.2096)
 # KEYFRAME 19
0.06347723399812821
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 27
tensor(0.2323)
 # KEYFRAME 20
0.05885398000100395
Frame 28
tensor(0.1486)
 # KEYFRAME 21
0.06060122399867396
Frame 29
tensor(0.1566)
 # KEYFRAME 22
0.06094650299928617
Frame 30
tensor(0.1267)
 # KEYFRAME 23
0.061562601000332506
Frame 31
tensor(0.1860)
 # KEYFRAME 24
0.062175349001336144
Frame 32
tensor(0.1489)
 # KEYFRAME 25
0.06333008500223514
Frame 33
tensor(0.1617)
 # KEYFRAME 26
0.06523949799884576
Frame 34
tensor(0.1516)
 # KEYFRAME 27
0.06612700400000904
Frame 35
tensor(0.1206)
 # KEYFRAME 28
0.06737989999965066
Frame 36
tensor(0.0572)
Frame 37
tensor(0.1314)
 # KEYFRAME 29
0.06827638699905947
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 38
tensor(0.1558)
 # KEYFRAME 30
0.0658763249994081
Frame 39
tensor(0.1918)
 # KEYFRAME 31
0.06789731800017762
Frame 40
tensor(0.1412)
 # KEYFRAME 32
0.06803822799702175
Frame 41
tensor(0.5253)
 # KEYFRAME 33
0.06938026300122146
Frame 42
tensor(0.1315)
 # KEYFRAME 34
0.0697099419994629
Frame 43
tensor(0.1612)
 # KEYFRAME 35
0.07098452699938207
Frame 44
tensor(0.1759)
 # KEYFRAME 36
0.0719497339996451
Frame 45
tensor(0.0566)
Frame 46
tensor(0.1125)
 # KEYFRAME 37
0.07231372199748876
Frame 47
tensor(0.5476)
 # KEYFRAME 38
0.07296479100114084
Frame 48
tensor(0.0695)
Frame 49
tensor(0.0738)
Frame 50
tensor(0.2273)
 # KEYFRAME 39
0.0745900639994943
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=827 loss_distill=0.1733 tta_take=0.009s
Frame 51
tensor(0.0917)
Frame 52
tensor(0.1834)
 # KEYFRAME 40
0.0728918499989959
Frame 53
tensor(0.1164)
 # KEYFRAME 41
0.0748029639980814
Frame 54
tensor(0.1046)
 # KEYFRAME 42
0.0756397309996828
Frame 55
tensor(0.0808)
Frame 56
tensor(0.1118)
 # KEYFRAME 43
0.07700277600088157
Frame 57
tensor(0.0613)
Frame 58
tensor(0.1297)
 # KEYFRAME 44
0.07734892500229762
Frame 59
tensor(0.1906)
 # KEYFRAME 45
0.07893161899846746
Frame 60
tensor(0.0886)
Frame 61
tensor(0.0864)
Frame 62
tensor(0.1099)
 # KEYFRAME 46
0.07965548599895556
Frame 63
tensor(0.0720)
Frame 64
tensor(0.0674)
Frame 65
tensor(0.1551)
 # KEYFRAME 47
0.08053506299984292
Frame 66
tensor(0.1198)
 # KEYFRAME 48
0.08150010999816004
Frame 67
tensor(0.1451)
 # KEYFRAME 49
0.0828559250003309
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=828 loss_distill=0.2747 tta_take=0.009s
Frame 68
tensor(0.0814)
Frame 69
tensor(0.1163)
 # KEYFRAME 50
0.07966117700198083
Frame 70
tensor(0.0648)
Frame 71
tensor(0.1842)
 # KEYFRAME 51
0.08240235700213816
Frame 72
tensor(0.1520)
 # KEYFRAME 52
0.08306817499760655
Frame 73
tensor(0.1721)
 # KEYFRAME 53
0.08349045300201396
Frame 74
tensor(0.1200)
 # KEYFRAME 54
0.08448643899828312
Frame 75
tensor(0.0770)
Frame 76
tensor(0.1383)
 # KEYFRAME 55
0.08617394300017622
Frame 77
tensor(0.0611)
Frame 78
tensor(0.0317)
Frame 79
tensor(0.1039)
 # KEYFRAME 56
0.08773363799991785
Frame 80
tensor(0.1517)
 # KEYFRAME 57
0.08843509600046673
Frame 81
tensor(0.0549)
Frame 82
tensor(0.0745)
Frame 83
tensor(0.1973)
 # KEYFRAME 58
0.08990311000161455
Frame 84
tensor(0.0978)
Frame 85
tensor(0.1155)
 # KEYFRAME 59
0.09066496800005552
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=829 loss_distill=0.3466 tta_take=0.009s
Frame 86
tensor(0.1111)
 # KEYFRAME 60
0.08651478200044949
Frame 87
tensor(0.0483)
Frame 88
tensor(0.1379)
 # KEYFRAME 61
0.08880379399852245
Frame 89
tensor(0.1148)
 # KEYFRAME 62
0.08759068900326383
Frame 90
tensor(0.1167)
 # KEYFRAME 63
0.08831119599926751
Frame 91
tensor(0.1045)
 # KEYFRAME 64
0.09005739900021581
Frame 92
tensor(0.2328)
 # KEYFRAME 65
0.08991365999827394
Frame 93
tensor(0.3142)
 # KEYFRAME 66
0.09113796599922352
Frame 94
tensor(0.1012)
 # KEYFRAME 67
0.09207313300066744
Frame 95
tensor(0.0754)
Frame 96
tensor(0.0711)
Frame 97
tensor(0.1017)
 # KEYFRAME 68
0.09518657199805602
Frame 98
tensor(0.0663)
Frame 99
tensor(0.0910)
Frame 100
tensor(0.1269)
 # KEYFRAME 69
0.0936817069996323
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=830 loss_distill=0.4024 tta_take=0.009s
Frame 101
tensor(0.0517)
Frame 102
tensor(0.0840)
Frame 103
tensor(0.1332)
 # KEYFRAME 70
0.0929688989999704
Frame 104
tensor(0.0448)
Frame 105
tensor(0.1008)
 # KEYFRAME 71
0.09555800000089221
Frame 106
tensor(0.0386)
Frame 107
tensor(0.1247)
 # KEYFRAME 72
0.0947918630008644
Frame 108
tensor(0.0740)
Frame 109
tensor(0.2213)
 # KEYFRAME 73
0.0951201409989153
Frame 110
tensor(0.1027)
 # KEYFRAME 74
0.09664460600106395
Frame 111
tensor(0.0827)
Frame 112
tensor(0.1172)
 # KEYFRAME 75
0.09719794400007231
Frame 113
tensor(0.1748)
 # KEYFRAME 76
0.09768188200177974
Frame 114
tensor(0.1530)
 # KEYFRAME 77
0.09838053999919794
Frame 115
tensor(0.1502)
 # KEYFRAME 78
0.09896757800015621
Frame 116
tensor(0.1455)
 # KEYFRAME 79
0.10011372399821994
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=831 loss_distill=0.4024 tta_take=0.009s
Frame 117
tensor(0.1234)
 # KEYFRAME 80
0.0936053669975081
Frame 118
tensor(0.0418)
Frame 119
tensor(0.0770)
Frame 120
tensor(0.0870)
Backending... 81 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 63501, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=832 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 125/556] scannetpp/1b9692f0c7/frame frames=121 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=832 time=41.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0509)
Frame 2
tensor(0.0954)
Frame 3
tensor(0.1390)
 # KEYFRAME 1
Frame 4
tensor(0.0572)
Frame 5
tensor(0.1024)
 # KEYFRAME 2
0.05212479500187328
Frame 6
tensor(0.0538)
Frame 7
tensor(0.1051)
 # KEYFRAME 3
0.05230107399984263
Frame 8
tensor(0.0535)
Frame 9
tensor(0.1036)
 # KEYFRAME 4
0.05270658199879108
Frame 10
tensor(0.0487)
Frame 11
tensor(0.1036)
 # KEYFRAME 5
0.05210611499933293
Frame 12
tensor(0.0497)
Frame 13
tensor(0.0985)
Frame 14
tensor(0.1480)
 # KEYFRAME 6
0.052731152001797454
Frame 15
tensor(0.0473)
Frame 16
tensor(0.0929)
Frame 17
tensor(0.1455)
 # KEYFRAME 7
0.05256911300239153
Frame 18
tensor(0.0468)
Frame 19
tensor(0.1076)
 # KEYFRAME 8
0.053827547999389935
Frame 20
tensor(0.0468)
Frame 21
tensor(0.0896)
Frame 22
tensor(0.1494)
 # KEYFRAME 9
0.05253457200160483
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 23
tensor(0.0521)
Frame 24
tensor(0.1000)
Frame 25
tensor(0.1569)
 # KEYFRAME 10
0.051784336003038334
Frame 26
tensor(0.0507)
Frame 27
tensor(0.1066)
 # KEYFRAME 11
0.05282494199855137
Frame 28
tensor(0.0409)
Frame 29
tensor(0.0860)
Frame 30
tensor(0.1460)
 # KEYFRAME 12
0.05319218099975842
Frame 31
tensor(0.0427)
Frame 32
tensor(0.0900)
Frame 33
tensor(0.1498)
 # KEYFRAME 13
0.05242693299805978
Frame 34
tensor(0.0427)
Frame 35
tensor(0.0935)
Frame 36
tensor(0.1372)
 # KEYFRAME 14
0.054659366000123555
Frame 37
tensor(0.0407)
Frame 38
tensor(0.0905)
Frame 39
tensor(0.1267)
 # KEYFRAME 15
0.05296559199996409
Frame 40
tensor(0.0527)
Frame 41
tensor(0.1003)
 # KEYFRAME 16
0.0523347640009888
Frame 42
tensor(0.0465)
Frame 43
tensor(0.0989)
Frame 44
tensor(0.1518)
 # KEYFRAME 17
0.05537822300175321
Frame 45
tensor(0.0496)
Frame 46
tensor(0.1077)
 # KEYFRAME 18
0.052595753000787226
Frame 47
tensor(0.0387)
Frame 48
tensor(0.0965)
Frame 49
tensor(0.1490)
 # KEYFRAME 19
0.05630957899847999
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 50
tensor(0.0534)
Frame 51
tensor(0.1108)
 # KEYFRAME 20
0.05204879400116624
Frame 52
tensor(0.0549)
Frame 53
tensor(0.1074)
 # KEYFRAME 21
0.05301973200039356
Frame 54
tensor(0.0555)
Frame 55
tensor(0.1017)
 # KEYFRAME 22
0.05420480699831387
Frame 56
tensor(0.0495)
Frame 57
tensor(0.0948)
Frame 58
tensor(0.1607)
 # KEYFRAME 23
0.052048514000489376
Frame 59
tensor(0.0459)
Frame 60
tensor(0.0884)
Frame 61
tensor(0.1427)
 # KEYFRAME 24
0.053992377997929
Frame 62
tensor(0.0463)
Frame 63
tensor(0.0960)
Frame 64
tensor(0.1436)
 # KEYFRAME 25
0.05241803300305037
Frame 65
tensor(0.0447)
Frame 66
tensor(0.0872)
Frame 67
tensor(0.1417)
 # KEYFRAME 26
0.052011874999152496
Frame 68
tensor(0.0426)
Frame 69
tensor(0.0974)
Frame 70
tensor(0.1396)
 # KEYFRAME 27
0.055927891000465024
Frame 71
tensor(0.0454)
Frame 72
tensor(0.0993)
Frame 73
tensor(0.1477)
 # KEYFRAME 28
0.052573733002645895
Frame 74
tensor(0.0496)
Frame 75
tensor(0.1031)
 # KEYFRAME 29
0.055794692001654766
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 76
tensor(0.0448)
Frame 77
tensor(0.0959)
Frame 78
tensor(0.1384)
 # KEYFRAME 30
0.05267003300104989
Frame 79
tensor(0.0402)
Frame 80
tensor(0.0913)
Frame 81
tensor(0.1390)
 # KEYFRAME 31
0.052567982998880325
Frame 82
tensor(0.0379)
Frame 83
tensor(0.0847)
Frame 84
tensor(0.1345)
 # KEYFRAME 32
0.05324420100077987
Frame 85
tensor(0.0491)
Frame 86
tensor(0.0904)
Frame 87
tensor(0.1297)
 # KEYFRAME 33
0.052331802999106
Frame 88
tensor(0.0413)
Frame 89
tensor(0.0768)
Frame 90
tensor(0.1200)
 # KEYFRAME 34
0.05325841000012588
Frame 91
tensor(0.0362)
Frame 92
tensor(0.0644)
Frame 93
tensor(0.1100)
 # KEYFRAME 35
0.05238547399858362
Frame 94
tensor(0.0331)
Frame 95
tensor(0.0727)
Frame 96
tensor(0.1110)
 # KEYFRAME 36
0.05235817299762857
Frame 97
tensor(0.0358)
Frame 98
tensor(0.0788)
Frame 99
tensor(0.1123)
 # KEYFRAME 37
0.053423090001160745
Frame 100
tensor(0.0414)
Frame 101
tensor(0.0767)
Frame 102
tensor(0.1074)
 # KEYFRAME 38
0.05258063300061622
Frame 103
tensor(0.0383)
Frame 104
tensor(0.0695)
Frame 105
tensor(0.1068)
 # KEYFRAME 39
0.05386388799888664
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=833 loss_distill=0.1733 tta_take=0.005s
Frame 106
tensor(0.0304)
Frame 107
tensor(0.0601)
Frame 108
tensor(0.1007)
 # KEYFRAME 40
0.05207244399935007
Frame 109
tensor(0.0303)
Frame 110
tensor(0.0657)
Frame 111
tensor(0.0957)
Frame 112
tensor(0.1263)
 # KEYFRAME 41
0.053260770000633784
Frame 113
tensor(0.0288)
Frame 114
tensor(0.0585)
Frame 115
tensor(0.0939)
Frame 116
tensor(0.1245)
 # KEYFRAME 42
0.054049938000389375
Frame 117
tensor(0.0285)
Frame 118
tensor(0.0579)
Frame 119
tensor(0.0837)
Frame 120
tensor(0.1179)
 # KEYFRAME 43
0.0528711619990645
Frame 121
tensor(0.0230)
Frame 122
tensor(0.0460)
Frame 123
tensor(0.0714)
Frame 124
tensor(0.0937)
Frame 125
tensor(0.1215)
 # KEYFRAME 44
0.05433986700154492
Frame 126
tensor(0.0180)
Frame 127
tensor(0.0451)
Frame 128
tensor(0.0623)
Frame 129
tensor(0.0843)
Frame 130
tensor(0.1078)
 # KEYFRAME 45
0.052414222998777404
Frame 131
tensor(0.0206)
Frame 132
tensor(0.0403)
Frame 133
tensor(0.0591)
Frame 134
tensor(0.0770)
Frame 135
tensor(0.1063)
 # KEYFRAME 46
0.05263654300142662
Frame 136
tensor(0.0174)
Frame 137
tensor(0.0380)
Frame 138
tensor(0.0562)
Frame 139
tensor(0.0758)
Frame 140
tensor(0.1026)
 # KEYFRAME 47
0.05455378600163385
Frame 141
tensor(0.0213)
Frame 142
tensor(0.0428)
Frame 143
tensor(0.0633)
Frame 144
tensor(0.0794)
Frame 145
tensor(0.0977)
Frame 146
tensor(0.1215)
 # KEYFRAME 48
0.05274327200095286
Frame 147
tensor(0.0159)
Frame 148
tensor(0.0374)
Frame 149
tensor(0.0518)
Frame 150
tensor(0.0688)
Frame 151
tensor(0.0807)
Frame 152
tensor(0.1026)
 # KEYFRAME 49
0.054697884999768576
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=834 loss_distill=0.2747 tta_take=0.005s
Frame 153
tensor(0.0179)
Frame 154
tensor(0.0349)
Frame 155
tensor(0.0586)
Frame 156
tensor(0.0771)
Frame 157
tensor(0.0986)
Frame 158
tensor(0.1195)
 # KEYFRAME 50
0.05235981399891898
Frame 159
tensor(0.0206)
Frame 160
tensor(0.0405)
Frame 161
tensor(0.0605)
Frame 162
tensor(0.0821)
Frame 163
tensor(0.1010)
 # KEYFRAME 51
0.052272433997131884
Frame 164
tensor(0.0248)
Frame 165
tensor(0.0445)
Frame 166
tensor(0.0649)
Frame 167
tensor(0.0868)
Frame 168
tensor(0.1065)
 # KEYFRAME 52
0.05433966700002202
Frame 169
tensor(0.0220)
Frame 170
tensor(0.0462)
Frame 171
tensor(0.0676)
Frame 172
tensor(0.0889)
Frame 173
tensor(0.1064)
 # KEYFRAME 53
0.052398682997591095
Frame 174
tensor(0.0258)
Frame 175
tensor(0.0483)
Frame 176
tensor(0.0577)
Frame 177
tensor(0.0823)
Frame 178
tensor(0.1013)
 # KEYFRAME 54
0.05404517799979658
Frame 179
tensor(0.0211)
Frame 180
tensor(0.0351)
Frame 181
tensor(0.0581)
Frame 182
tensor(0.0848)
Frame 183
tensor(0.0999)
Frame 184
tensor(0.1111)
 # KEYFRAME 55
0.05235998399803066
Frame 185
tensor(0.0187)
Frame 186
tensor(0.0416)
Frame 187
tensor(0.0568)
Frame 188
tensor(0.0738)
Frame 189
tensor(0.0979)
Frame 190
tensor(0.1138)
 # KEYFRAME 56
0.052822831999947084
Frame 191
tensor(0.0167)
Frame 192
tensor(0.0407)
Frame 193
tensor(0.0561)
Frame 194
tensor(0.0735)
Frame 195
tensor(0.0887)
Frame 196
tensor(0.1093)
 # KEYFRAME 57
0.054332136001903564
Frame 197
tensor(0.0127)
Frame 198
tensor(0.0272)
Frame 199
tensor(0.0427)
Frame 200
tensor(0.0511)
Frame 201
tensor(0.0610)
Frame 202
tensor(0.0784)
Frame 203
tensor(0.0899)
Frame 204
tensor(0.1054)
 # KEYFRAME 58
0.05351108999821008
Frame 205
tensor(0.0091)
Frame 206
tensor(0.0272)
Frame 207
tensor(0.0427)
Frame 208
tensor(0.0560)
Frame 209
tensor(0.0633)
Frame 210
tensor(0.0824)
Frame 211
tensor(0.0981)
Frame 212
tensor(0.1074)
 # KEYFRAME 59
0.05501955399813596
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=835 loss_distill=0.3466 tta_take=0.005s
Frame 213
tensor(0.0103)
Frame 214
tensor(0.0260)
Frame 215
tensor(0.0392)
Frame 216
tensor(0.0558)
Frame 217
tensor(0.0730)
Frame 218
tensor(0.0894)
Frame 219
tensor(0.1112)
 # KEYFRAME 60
0.05229523399975733
Frame 220
tensor(0.0152)
Frame 221
tensor(0.0326)
Frame 222
tensor(0.0485)
Frame 223
tensor(0.0649)
Frame 224
tensor(0.0866)
Frame 225
tensor(0.1127)
 # KEYFRAME 61
0.053306571000575786
Frame 226
tensor(0.0188)
Frame 227
tensor(0.0346)
Frame 228
tensor(0.0600)
Frame 229
tensor(0.0889)
Frame 230
tensor(0.1108)
 # KEYFRAME 62
0.05530077399816946
Frame 231
tensor(0.0211)
Frame 232
tensor(0.0446)
Frame 233
tensor(0.0666)
Frame 234
tensor(0.0895)
Frame 235
tensor(0.1071)
 # KEYFRAME 63
0.05273409299843479
Frame 236
tensor(0.0254)
Frame 237
tensor(0.0482)
Frame 238
tensor(0.0722)
Frame 239
tensor(0.0946)
Frame 240
tensor(0.1233)
 # KEYFRAME 64
0.055002254997816635
Frame 241
tensor(0.0216)
Frame 242
tensor(0.0476)
Frame 243
tensor(0.0739)
Frame 244
tensor(0.1051)
 # KEYFRAME 65
0.05292535200351267
Frame 245
tensor(0.0284)
Frame 246
tensor(0.0527)
Frame 247
tensor(0.0846)
Frame 248
tensor(0.1121)
 # KEYFRAME 66
0.05308005100232549
Frame 249
tensor(0.0208)
Frame 250
tensor(0.0457)
Frame 251
tensor(0.0830)
Frame 252
tensor(0.1080)
 # KEYFRAME 67
0.05495075499857194
Frame 253
tensor(0.0254)
Frame 254
tensor(0.0483)
Frame 255
tensor(0.0734)
Frame 256
tensor(0.1118)
 # KEYFRAME 68
0.05349565899814479
Frame 257
tensor(0.0226)
Frame 258
tensor(0.0500)
Frame 259
tensor(0.0778)
Frame 260
tensor(0.1031)
 # KEYFRAME 69
0.05538160300056916
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=836 loss_distill=0.4024 tta_take=0.005s
Frame 261
tensor(0.0364)
Frame 262
tensor(0.0574)
Frame 263
tensor(0.0819)
Frame 264
tensor(0.1164)
 # KEYFRAME 70
0.05353267899772618
Frame 265
tensor(0.0193)
Frame 266
tensor(0.0505)
Frame 267
tensor(0.0772)
Frame 268
tensor(0.1107)
 # KEYFRAME 71
0.054305335997923976
Frame 269
tensor(0.0269)
Frame 270
tensor(0.0582)
Frame 271
tensor(0.0829)
Frame 272
tensor(0.1013)
 # KEYFRAME 72
0.0555269420001423
Frame 273
tensor(0.0229)
Frame 274
tensor(0.0510)
Frame 275
tensor(0.0603)
Frame 276
tensor(0.0772)
Frame 277
tensor(0.1015)
 # KEYFRAME 73
0.05400776800161111
Frame 278
tensor(0.0170)
Frame 279
tensor(0.0335)
Frame 280
tensor(0.0502)
Frame 281
tensor(0.0622)
Frame 282
tensor(0.0800)
Frame 283
tensor(0.0905)
Frame 284
tensor(0.0993)
Frame 285
tensor(0.1219)
 # KEYFRAME 74
0.05556096200234606
Frame 286
tensor(0.0113)
Frame 287
tensor(0.0234)
Frame 288
tensor(0.0356)
Frame 289
tensor(0.0446)
Frame 290
tensor(0.0600)
Frame 291
tensor(0.0659)
Frame 292
tensor(0.0818)
Frame 293
tensor(0.0915)
Frame 294
tensor(0.0976)
Frame 295
tensor(0.1082)
 # KEYFRAME 75
0.05372563899800298
Frame 296
tensor(0.0079)
Frame 297
tensor(0.0175)
Frame 298
tensor(0.0303)
Frame 299
tensor(0.0422)
Backending... 76 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27192, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=837 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 126/556] vkitti/Scene18/rain/Camera_1 frames=300 tta_steps_this_scene=5 mean_loss=0.3198 total_steps=837 time=90.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0971)
Frame 2
tensor(0.1551)
 # KEYFRAME 1
Frame 3
tensor(0.0885)
Frame 4
tensor(0.1267)
 # KEYFRAME 2
0.051871665000362555
Frame 5
tensor(0.0736)
Frame 6
tensor(0.1428)
 # KEYFRAME 3
0.05347698900004616
Frame 7
tensor(0.0531)
Frame 8
tensor(0.0840)
Frame 9
tensor(0.0667)
Frame 10
tensor(0.1049)
 # KEYFRAME 4
0.05370949799907976
Frame 11
tensor(0.0831)
Frame 12
tensor(0.1332)
 # KEYFRAME 5
0.05525361300169607
Frame 13
tensor(0.0444)
Frame 14
tensor(0.0877)
Frame 15
tensor(0.0980)
Frame 16
tensor(0.1243)
 # KEYFRAME 6
0.056293519999599084
Frame 17
tensor(0.0564)
Frame 18
tensor(0.0883)
Frame 19
tensor(0.1047)
 # KEYFRAME 7
0.05698989699885715
Frame 20
tensor(0.0417)
Frame 21
tensor(0.1030)
 # KEYFRAME 8
0.057591795000917045
Frame 22
tensor(0.0395)
Frame 23
tensor(0.0950)
Frame 24
tensor(0.1585)
 # KEYFRAME 9
0.05875676100185956
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.0622)
Frame 26
tensor(0.1018)
 # KEYFRAME 10
0.05176335600117454
Frame 27
tensor(0.0340)
Frame 28
tensor(0.0709)
Frame 29
tensor(0.0993)
Frame 30
tensor(0.1323)
 # KEYFRAME 11
0.052864501001749886
Frame 31
tensor(0.0620)
Frame 32
tensor(0.0902)
Frame 33
tensor(0.1277)
 # KEYFRAME 12
0.05409200699796202
Frame 34
tensor(0.0541)
Frame 35
tensor(0.0758)
Frame 36
tensor(0.1098)
 # KEYFRAME 13
0.0552603239993914
Frame 37
tensor(0.0596)
Frame 38
tensor(0.0823)
Frame 39
tensor(0.1186)
 # KEYFRAME 14
0.054996343998936936
Frame 40
tensor(0.1330)
 # KEYFRAME 15
0.05513426399920718
Frame 41
tensor(0.0380)
Frame 42
tensor(0.0642)
Frame 43
tensor(0.0956)
Frame 44
tensor(0.1285)
 # KEYFRAME 16
0.055787802000850206
Frame 45
tensor(0.0911)
Frame 46
tensor(0.1252)
 # KEYFRAME 17
0.0566037079988746
Frame 47
tensor(0.0560)
Frame 48
tensor(0.0754)
Frame 49
tensor(0.1107)
 # KEYFRAME 18
0.05722094599695993
Frame 50
tensor(0.0272)
Frame 51
tensor(0.0735)
Frame 52
tensor(0.1256)
 # KEYFRAME 19
0.05756965500040678
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 53
tensor(0.0444)
Frame 54
tensor(0.0848)
Frame 55
tensor(0.1177)
 # KEYFRAME 20
0.05405127699850709
Frame 56
tensor(0.0553)
Frame 57
tensor(0.1147)
 # KEYFRAME 21
0.05513781400077278
Frame 58
tensor(0.0366)
Frame 59
tensor(0.0780)
Frame 60
tensor(0.2229)
 # KEYFRAME 22
0.05561404200125253
Frame 61
tensor(0.0606)
Frame 62
tensor(0.0736)
Frame 63
tensor(0.0992)
Frame 64
tensor(0.1161)
 # KEYFRAME 23
0.05599292999977479
Frame 65
tensor(0.0458)
Frame 66
tensor(0.1178)
 # KEYFRAME 24
0.056656738997844514
Frame 67
tensor(0.0728)
Frame 68
tensor(0.1338)
 # KEYFRAME 25
0.05705279700123356
Frame 69
tensor(0.0540)
Frame 70
tensor(0.1457)
 # KEYFRAME 26
0.05836800199904246
Frame 71
tensor(0.0817)
Frame 72
tensor(0.1256)
 # KEYFRAME 27
0.05920544999753474
Frame 73
tensor(0.0654)
Frame 74
tensor(0.1280)
 # KEYFRAME 28
0.06044623400157434
Frame 75
tensor(0.0616)
Frame 76
tensor(0.1910)
 # KEYFRAME 29
0.06095821300186799
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 77
tensor(0.1423)
 # KEYFRAME 30
0.058526682001684094
Frame 78
tensor(0.0551)
Frame 79
tensor(0.0657)
Frame 80
tensor(0.1030)
 # KEYFRAME 31
0.05978345699986676
Frame 81
tensor(0.0320)
Frame 82
tensor(0.5541)
 # KEYFRAME 32
0.059270599002047675
Frame 83
tensor(0.0926)
Frame 84
tensor(0.1526)
 # KEYFRAME 33
0.06028734500068822
Frame 85
tensor(0.2041)
 # KEYFRAME 34
0.061166182000306435
Frame 86
tensor(0.0469)
Frame 87
tensor(0.0862)
Frame 88
tensor(0.1160)
 # KEYFRAME 35
0.061871259997133166
Frame 89
tensor(0.0289)
Frame 90
tensor(0.2469)
 # KEYFRAME 36
0.06278884600033052
Frame 91
tensor(0.0866)
Frame 92
tensor(0.1589)
 # KEYFRAME 37
0.06281727699752082
Frame 93
tensor(0.1463)
 # KEYFRAME 38
0.06340403499780223
Frame 94
tensor(0.0602)
Frame 95
tensor(0.1061)
 # KEYFRAME 39
0.0642296219994023
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=838 loss_distill=0.1733 tta_take=0.008s
Frame 96
tensor(0.0768)
Frame 97
tensor(0.1437)
 # KEYFRAME 40
0.06280508599957102
Frame 98
tensor(0.0877)
Frame 99
tensor(0.1655)
 # KEYFRAME 41
0.06431984199662111
Frame 100
tensor(0.0473)
Frame 101
tensor(0.1019)
 # KEYFRAME 42
0.06465270999979111
Frame 102
tensor(0.0576)
Frame 103
tensor(0.1184)
 # KEYFRAME 43
0.06472598000254948
Frame 104
tensor(0.8155)
 # KEYFRAME 44
0.06656803299847525
Frame 105
tensor(0.0678)
Frame 106
tensor(0.1257)
 # KEYFRAME 45
0.06721105100223213
Frame 107
tensor(0.0489)
Frame 108
tensor(0.1010)
 # KEYFRAME 46
0.06819485700179939
Frame 109
tensor(0.0446)
Frame 110
tensor(0.2967)
 # KEYFRAME 47
0.06880498499958776
Frame 111
tensor(0.0558)
Frame 112
tensor(0.0990)
Frame 113
tensor(0.1296)
 # KEYFRAME 48
0.06950523300110945
Frame 114
tensor(0.0733)
Frame 115
tensor(0.1657)
 # KEYFRAME 49
0.06960060200071894
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=839 loss_distill=0.2747 tta_take=0.008s
Frame 116
tensor(0.0903)
Frame 117
tensor(0.1554)
 # KEYFRAME 50
0.06676287299706019
Frame 118
tensor(0.0896)
Frame 119
tensor(0.2040)
 # KEYFRAME 51
0.06853247699837084
Frame 120
tensor(0.0628)
Frame 121
tensor(0.1780)
 # KEYFRAME 52
0.06922047400075826
Frame 122
tensor(0.0848)
Frame 123
tensor(0.1584)
 # KEYFRAME 53
0.06985201100178529
Frame 124
tensor(0.1707)
 # KEYFRAME 54
0.06896900400170125
Frame 125
tensor(0.0787)
Frame 126
tensor(0.1174)
 # KEYFRAME 55
0.0717197740013944
Frame 127
tensor(0.0400)
Frame 128
tensor(0.0850)
Frame 129
tensor(0.1709)
 # KEYFRAME 56
0.07275914099955116
Frame 130
tensor(0.0811)
Frame 131
tensor(0.1216)
 # KEYFRAME 57
0.07335446900106035
Frame 132
tensor(0.6672)
 # KEYFRAME 58
0.07572287099901587
Frame 133
tensor(0.0297)
Frame 134
tensor(0.3689)
 # KEYFRAME 59
0.0752202519979619
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=840 loss_distill=0.3466 tta_take=0.008s
Frame 135
tensor(0.0714)
Frame 136
tensor(0.9450)
 # KEYFRAME 60
0.07137656599661568
Frame 137
tensor(0.7628)
 # KEYFRAME 61
0.07261493199985125
Frame 138
tensor(0.0872)
Frame 139
tensor(0.7769)
 # KEYFRAME 62
0.07320794900078909
Frame 140
tensor(0.3023)
 # KEYFRAME 63
0.07394801700138487
Frame 141
tensor(0.0914)
Frame 142
tensor(0.1840)
 # KEYFRAME 64
0.07509221199870808
Frame 143
tensor(0.0882)
Frame 144
tensor(0.1681)
 # KEYFRAME 65
0.07384515699959593
Frame 145
tensor(0.0828)
Frame 146
tensor(0.1766)
 # KEYFRAME 66
0.07701985600215266
Frame 147
tensor(0.2522)
 # KEYFRAME 67
0.07751936400018167
Frame 148
tensor(0.0811)
Frame 149
tensor(0.6960)
 # KEYFRAME 68
0.07892225899922778
Backending... 69 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 64170, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=841 loss_distill=0.4024 tta_take=0.008s
[epoch 0 scene 127/556] scannetpp/bc03d88fc3/DSC frames=150 tta_steps_this_scene=4 mean_loss=0.2992 total_steps=841 time=35.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1034)
 # KEYFRAME 1
Frame 2
tensor(0.2102)
 # KEYFRAME 2
0.0515089069995156
Frame 3
tensor(0.0635)
Frame 4
tensor(0.0828)
Frame 5
tensor(0.1409)
 # KEYFRAME 3
0.052329753001686186
Frame 6
tensor(0.1397)
 # KEYFRAME 4
0.05418914699839661
Frame 7
tensor(0.1366)
 # KEYFRAME 5
0.054771225000877166
Frame 8
tensor(0.0950)
Frame 9
tensor(0.2207)
 # KEYFRAME 6
0.05577825099680922
Frame 10
tensor(0.0879)
Frame 11
tensor(0.2457)
 # KEYFRAME 7
0.0567716779987677
Frame 12
tensor(0.1355)
 # KEYFRAME 8
0.056815337997250026
Frame 13
tensor(0.2101)
 # KEYFRAME 9
0.0580172340014542
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 14
tensor(0.1813)
 # KEYFRAME 10
0.051797795997117646
Frame 15
tensor(0.1791)
 # KEYFRAME 11
0.05170118600290152
Frame 16
tensor(0.1319)
 # KEYFRAME 12
0.052160524002829334
Frame 17
tensor(0.1385)
 # KEYFRAME 13
0.05452884600163088
Frame 18
tensor(0.1129)
 # KEYFRAME 14
0.054293236000376055
Frame 19
tensor(0.1779)
 # KEYFRAME 15
0.055019483999785734
Frame 20
tensor(0.2235)
 # KEYFRAME 16
0.05538589299976593
Frame 21
tensor(0.2008)
 # KEYFRAME 17
0.05636242000036873
Frame 22
tensor(0.0967)
Frame 23
tensor(0.1646)
 # KEYFRAME 18
0.057229476999054896
Frame 24
tensor(0.1122)
 # KEYFRAME 19
0.057597614999394864
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.1721)
 # KEYFRAME 20
0.05433565599741996
Frame 26
tensor(0.1855)
 # KEYFRAME 21
0.055252452999411616
Frame 27
tensor(0.1575)
 # KEYFRAME 22
0.05564629199943738
Frame 28
tensor(0.1773)
 # KEYFRAME 23
0.05615505999958259
Frame 29
tensor(0.1682)
 # KEYFRAME 24
0.05651212900193059
Frame 30
tensor(0.1584)
 # KEYFRAME 25
0.0574223149997124
Frame 31
tensor(0.1524)
 # KEYFRAME 26
0.05845466199752991
Frame 32
tensor(0.2501)
 # KEYFRAME 27
0.059621817999868654
Frame 33
tensor(0.1373)
 # KEYFRAME 28
0.06062661400210345
Frame 34
tensor(0.3522)
 # KEYFRAME 29
0.06093596299979254
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 35
tensor(0.1377)
 # KEYFRAME 30
0.05831819200102473
Frame 36
tensor(0.1191)
 # KEYFRAME 31
0.059847676999197574
Frame 37
tensor(0.1327)
 # KEYFRAME 32
0.06024991600133944
Frame 38
tensor(0.1613)
 # KEYFRAME 33
0.06171930100026657
Frame 39
tensor(0.1297)
 # KEYFRAME 34
0.06292726600077003
Frame 40
tensor(0.1418)
 # KEYFRAME 35
0.06365600400022231
Frame 41
tensor(0.1218)
 # KEYFRAME 36
0.06490085900077247
Frame 42
tensor(0.1224)
 # KEYFRAME 37
0.06596277499920689
Frame 43
tensor(0.1369)
 # KEYFRAME 38
0.0665944030006358
Frame 44
tensor(0.2440)
 # KEYFRAME 39
0.0669798710005125
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=842 loss_distill=0.1733 tta_take=0.008s
Frame 45
tensor(0.2765)
 # KEYFRAME 40
0.06275416599964956
Frame 46
tensor(0.1626)
 # KEYFRAME 41
0.06388815300306305
Frame 47
tensor(0.1585)
 # KEYFRAME 42
0.063816912999755
Frame 48
tensor(0.1649)
 # KEYFRAME 43
0.0640775619976921
Frame 49
tensor(0.2144)
 # KEYFRAME 44
0.0648189090024971
Frame 50
tensor(0.1675)
 # KEYFRAME 45
0.06545103700045729
Frame 51
tensor(0.1689)
 # KEYFRAME 46
0.06595616599952336
Frame 52
tensor(0.1552)
 # KEYFRAME 47
0.06614404500214732
Frame 53
tensor(0.0871)
Frame 54
tensor(0.3729)
 # KEYFRAME 48
0.06718699100019876
Frame 55
tensor(0.1583)
 # KEYFRAME 49
0.06733380100195063
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=843 loss_distill=0.2747 tta_take=0.008s
Frame 56
tensor(0.2394)
 # KEYFRAME 50
0.06756650999886915
Frame 57
tensor(0.2449)
 # KEYFRAME 51
0.0685129470002721
Frame 58
tensor(0.2152)
 # KEYFRAME 52
0.06828350700016017
Frame 59
tensor(0.2400)
 # KEYFRAME 53
0.06930764299977454
Frame 60
tensor(0.2330)
 # KEYFRAME 54
0.06910791499831248
Frame 61
tensor(0.1134)
 # KEYFRAME 55
0.07100767699739663
Frame 62
tensor(0.1122)
 # KEYFRAME 56
0.07189284400010365
Frame 63
tensor(0.0698)
Frame 64
tensor(0.2034)
 # KEYFRAME 57
0.15811965700049768
Frame 65
tensor(0.0582)
Frame 66
tensor(0.2387)
 # KEYFRAME 58
0.0858376939977461
Frame 67
tensor(0.1872)
 # KEYFRAME 59
0.07396736699956818
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736508369446
TTA-STEP: step=844 loss_distill=0.3466 tta_take=0.008s
Frame 68
tensor(0.1671)
 # KEYFRAME 60
0.07122826700287987
Frame 69
tensor(0.1017)
 # KEYFRAME 61
0.07278692099862383
Frame 70
tensor(0.0947)
Frame 71
tensor(0.2647)
 # KEYFRAME 62
0.07232283299890696
Frame 72
tensor(0.3020)
 # KEYFRAME 63
0.07265728199854493
Frame 73
tensor(0.2455)
 # KEYFRAME 64
0.07363954800166539
Frame 74
tensor(0.1843)
 # KEYFRAME 65
0.07353767799941124
Frame 75
tensor(0.2890)
 # KEYFRAME 66
0.07447923500149045
Frame 76
tensor(0.3799)
 # KEYFRAME 67
0.07519655299984151
Frame 77
tensor(0.2070)
 # KEYFRAME 68
0.07549416099936934
Frame 78
tensor(0.0326)
Frame 79
tensor(0.1092)
 # KEYFRAME 69
0.07623327799956314
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=845 loss_distill=0.4024 tta_take=0.009s
Frame 80
tensor(0.2392)
 # KEYFRAME 70
0.07575490099770832
Frame 81
tensor(0.3328)
 # KEYFRAME 71
0.07741024500137428
Frame 82
tensor(0.3323)
 # KEYFRAME 72
0.07754780400136951
Frame 83
tensor(0.3293)
 # KEYFRAME 73
0.0789879590010969
Frame 84
tensor(0.0823)
Frame 85
tensor(0.1965)
 # KEYFRAME 74
0.07979710599829559
Frame 86
tensor(0.4698)
 # KEYFRAME 75
0.08048219299962511
Frame 87
tensor(0.1699)
 # KEYFRAME 76
0.079338858002302
Frame 88
tensor(0.2164)
 # KEYFRAME 77
0.08194571900094161
Frame 89
tensor(0.1567)
 # KEYFRAME 78
0.08338465300039388
Frame 90
tensor(0.2703)
 # KEYFRAME 79
0.08333164400028181
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=846 loss_distill=0.4024 tta_take=0.008s
Frame 91
tensor(0.1766)
 # KEYFRAME 80
0.1731253639991337
Frame 92
tensor(0.1779)
 # KEYFRAME 81
0.0884183749985823
Frame 93
tensor(0.1806)
 # KEYFRAME 82
0.07777453300150228
Frame 94
tensor(0.2197)
 # KEYFRAME 83
0.07810064200020861
Frame 95
tensor(0.2873)
 # KEYFRAME 84
0.2581913309986703
Frame 96
tensor(0.1603)
 # KEYFRAME 85
0.07880812900111778
Frame 97
tensor(0.1626)
 # KEYFRAME 86
0.07873079999990296
Frame 98
tensor(0.2925)
 # KEYFRAME 87
0.14280289199814433
Frame 99
tensor(0.1642)
 # KEYFRAME 88
0.15570816599938553
Frame 100
tensor(0.1180)
 # KEYFRAME 89
0.08024879500226234
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595452308655
TTA-STEP: step=847 loss_distill=0.4024 tta_take=0.008s
Frame 101
tensor(0.1017)
 # KEYFRAME 90
0.07535079200170003
Frame 102
tensor(0.0723)
Frame 103
tensor(0.2026)
 # KEYFRAME 91
0.0784242509980686
Frame 104
tensor(0.1580)
 # KEYFRAME 92
0.07742272399991634
Frame 105
tensor(0.3931)
 # KEYFRAME 93
0.07802703200286487
Frame 106
tensor(0.1562)
 # KEYFRAME 94
0.07943509799952153
Frame 107
tensor(0.1852)
 # KEYFRAME 95
0.08130670000173268
Frame 108
tensor(0.1969)
 # KEYFRAME 96
0.07894526900054188
Frame 109
tensor(0.2625)
 # KEYFRAME 97
0.08175568899969221
Frame 110
tensor(0.2157)
 # KEYFRAME 98
0.0827207050024299
Frame 111
tensor(0.2143)
 # KEYFRAME 99
0.08338476399876527
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=848 loss_distill=0.4024 tta_take=0.008s
Frame 112
tensor(0.1132)
 # KEYFRAME 100
0.07563401099832845
Frame 113
tensor(0.6147)
 # KEYFRAME 101
0.07799279199753073
Frame 114
tensor(0.1293)
 # KEYFRAME 102
0.07754029400166473
Frame 115
tensor(0.1411)
 # KEYFRAME 103
0.0781616620006389
Frame 116
tensor(0.2048)
 # KEYFRAME 104
0.0783476310025435
Frame 117
tensor(0.1642)
 # KEYFRAME 105
0.07859009100138792
Frame 118
tensor(0.1592)
 # KEYFRAME 106
0.07841865100272116
Frame 119
tensor(0.1863)
 # KEYFRAME 107
0.07937001699974644
Frame 120
tensor(0.1320)
 # KEYFRAME 108
0.07959497699994245
Frame 121
tensor(0.3269)
 # KEYFRAME 109
0.08014934500170057
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=849 loss_distill=0.4024 tta_take=0.008s
Frame 122
tensor(0.1010)
 # KEYFRAME 110
0.08201733800160582
Frame 123
tensor(0.1166)
 # KEYFRAME 111
0.07630739899832406
Frame 124
tensor(0.1609)
 # KEYFRAME 112
0.07701145600003656
Frame 125
tensor(0.1088)
 # KEYFRAME 113
0.0772828249973827
Frame 126
tensor(0.1630)
 # KEYFRAME 114
0.0777315829982399
Frame 127
tensor(0.3010)
 # KEYFRAME 115
0.07817266099664266
Frame 128
tensor(0.2186)
 # KEYFRAME 116
0.07872168899848475
Frame 129
tensor(0.2087)
 # KEYFRAME 117
0.07895398900291184
Frame 130
tensor(0.2704)
 # KEYFRAME 118
0.07984752500124159
Frame 131
tensor(0.1962)
 # KEYFRAME 119
0.0802774949988816
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=850 loss_distill=0.4024 tta_take=0.008s
Frame 132
tensor(0.1396)
 # KEYFRAME 120
0.07531175199983409
Frame 133
tensor(0.4453)
 # KEYFRAME 121
0.0773505950019171
Frame 134
tensor(0.1327)
 # KEYFRAME 122
0.0775071249991015
Frame 135
tensor(0.1459)
 # KEYFRAME 123
0.07810721199712134
Frame 136
tensor(0.1461)
 # KEYFRAME 124
0.07798311300211935
Frame 137
tensor(0.1018)
 # KEYFRAME 125
0.07854815000246163
Frame 138
tensor(0.1180)
 # KEYFRAME 126
0.07848113999716588
Frame 139
tensor(0.3807)
 # KEYFRAME 127
0.07936261800205102
Frame 140
tensor(0.1192)
 # KEYFRAME 128
0.07979218600303284
Frame 141
tensor(0.0889)
Frame 142
tensor(0.1389)
 # KEYFRAME 129
0.08044173300004331
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=851 loss_distill=0.4024 tta_take=0.008s
Frame 143
tensor(0.0443)
Frame 144
tensor(0.1005)
 # KEYFRAME 130
0.07581361000120523
Frame 145
tensor(0.5191)
 # KEYFRAME 131
0.07617563899839297
Frame 146
tensor(0.4702)
 # KEYFRAME 132
0.07706517499900656
Frame 147
tensor(0.1394)
 # KEYFRAME 133
0.07809565199931967
Frame 148
tensor(0.1209)
 # KEYFRAME 134
0.0784663409976929
Frame 149
tensor(0.1454)
 # KEYFRAME 135
0.07851081099943258
Backending... 136 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 61380, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=852 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 128/556] scannetpp/8e6ff28354/DSC frames=150 tta_steps_this_scene=11 mean_loss=0.3649 total_steps=852 time=59.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0569)
Frame 2
tensor(0.1310)
 # KEYFRAME 1
Frame 3
tensor(0.0394)
Frame 4
tensor(0.1098)
 # KEYFRAME 2
0.052028345002327114
Frame 5
tensor(0.0543)
Frame 6
tensor(0.1174)
 # KEYFRAME 3
0.05352571899857139
Frame 7
tensor(0.0517)
Frame 8
tensor(0.1084)
 # KEYFRAME 4
0.053954687999066664
Frame 9
tensor(0.0254)
Frame 10
tensor(0.3493)
 # KEYFRAME 5
0.055045453998900484
Frame 11
tensor(0.0446)
Frame 12
tensor(0.1080)
 # KEYFRAME 6
0.05625214999963646
Frame 13
tensor(0.0561)
Frame 14
tensor(0.1010)
 # KEYFRAME 7
0.05695370700050262
Frame 15
tensor(0.0223)
Frame 16
tensor(0.0690)
Frame 17
tensor(0.1005)
 # KEYFRAME 8
0.05760488499799976
Frame 18
tensor(0.3892)
 # KEYFRAME 9
0.058508641999651445
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 19
tensor(0.0565)
Frame 20
tensor(0.1102)
 # KEYFRAME 10
0.05172982599833631
Frame 21
tensor(0.0271)
Frame 22
tensor(0.0778)
Frame 23
tensor(0.1257)
 # KEYFRAME 11
0.05272849200264318
Frame 24
tensor(0.0493)
Frame 25
tensor(0.1182)
 # KEYFRAME 12
0.05407648800246534
Frame 26
tensor(0.0329)
Frame 27
tensor(0.1132)
 # KEYFRAME 13
0.05527779399926658
Frame 28
tensor(0.0779)
Frame 29
tensor(0.1547)
 # KEYFRAME 14
0.05505926399928285
Frame 30
tensor(0.0731)
Frame 31
tensor(0.1406)
 # KEYFRAME 15
0.0550366440002108
Frame 32
tensor(0.0346)
Frame 33
tensor(0.0911)
Frame 34
tensor(0.1439)
 # KEYFRAME 16
0.05567588199846796
Frame 35
tensor(0.0587)
Frame 36
tensor(0.1041)
 # KEYFRAME 17
0.05641948899938143
Frame 37
tensor(0.4671)
 # KEYFRAME 18
0.05719779599894537
Frame 38
tensor(0.0274)
Frame 39
tensor(0.0741)
Frame 40
tensor(0.1283)
 # KEYFRAME 19
0.05751680599860265
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 41
tensor(0.0473)
Frame 42
tensor(0.0996)
Frame 43
tensor(0.1317)
 # KEYFRAME 20
0.05434584700196865
Frame 44
tensor(0.0630)
Frame 45
tensor(0.1475)
 # KEYFRAME 21
0.05481175499880919
Frame 46
tensor(0.0716)
Frame 47
tensor(0.1482)
 # KEYFRAME 22
0.0557191320003767
Frame 48
tensor(0.0597)
Frame 49
tensor(0.0837)
Frame 50
tensor(0.1324)
 # KEYFRAME 23
0.05608068999936222
Frame 51
tensor(0.5836)
 # KEYFRAME 24
0.0565564889984671
Frame 52
tensor(0.0276)
Frame 53
tensor(0.0651)
Frame 54
tensor(0.0938)
Frame 55
tensor(0.0933)
Frame 56
tensor(0.1185)
 # KEYFRAME 25
0.056987797001056606
Frame 57
tensor(0.0234)
Frame 58
tensor(0.0471)
Frame 59
tensor(0.0738)
Frame 60
tensor(0.1004)
 # KEYFRAME 26
0.05831103200034704
Frame 61
tensor(0.0133)
Frame 62
tensor(0.0361)
Frame 63
tensor(0.0579)
Frame 64
tensor(0.0960)
Frame 65
tensor(0.1065)
 # KEYFRAME 27
0.0589769799989881
Frame 66
tensor(0.0131)
Frame 67
tensor(0.0363)
Frame 68
tensor(0.0623)
Frame 69
tensor(0.0536)
Frame 70
tensor(0.0593)
Frame 71
tensor(0.0560)
Frame 72
tensor(0.0662)
Frame 73
tensor(0.3121)
 # KEYFRAME 28
0.06023654500313569
Frame 74
tensor(0.0160)
Frame 75
tensor(0.0342)
Frame 76
tensor(0.0570)
Frame 77
tensor(0.0647)
Frame 78
tensor(0.0737)
Frame 79
tensor(0.0841)
Frame 80
tensor(0.0962)
Frame 81
tensor(0.1675)
 # KEYFRAME 29
0.06051173499872675
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 82
tensor(0.0466)
Frame 83
tensor(0.0959)
Frame 84
tensor(0.1133)
 # KEYFRAME 30
0.05863406199932797
Frame 85
tensor(0.0590)
Frame 86
tensor(0.1347)
 # KEYFRAME 31
0.0596366069985379
Frame 87
tensor(0.0867)
Frame 88
tensor(0.1401)
 # KEYFRAME 32
0.059293039001204306
Frame 89
tensor(0.0304)
Frame 90
tensor(0.1031)
 # KEYFRAME 33
0.060263706000114325
Frame 91
tensor(0.0612)
Frame 92
tensor(0.1382)
 # KEYFRAME 34
0.06125690199769451
Frame 93
tensor(0.0884)
Frame 94
tensor(0.1650)
 # KEYFRAME 35
0.06158131999836769
Frame 95
tensor(0.0396)
Frame 96
tensor(0.1034)
 # KEYFRAME 36
0.06245558699811227
Frame 97
tensor(0.0661)
Frame 98
tensor(0.7028)
 # KEYFRAME 37
0.06300115499834646
Frame 99
tensor(0.0163)
Frame 100
tensor(0.0380)
Frame 101
tensor(0.0520)
Frame 102
tensor(0.0792)
Frame 103
tensor(0.1001)
 # KEYFRAME 38
0.06341826399875572
Frame 104
tensor(0.0227)
Frame 105
tensor(0.0490)
Frame 106
tensor(0.0726)
Frame 107
tensor(0.0861)
Frame 108
tensor(0.1068)
 # KEYFRAME 39
0.06422562100124196
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=853 loss_distill=0.1733 tta_take=0.008s
Frame 109
tensor(0.0180)
Frame 110
tensor(0.2996)
 # KEYFRAME 40
0.06296830599967507
Frame 111
tensor(0.0786)
Frame 112
tensor(0.1171)
 # KEYFRAME 41
0.06425757199758664
Frame 113
tensor(0.0878)
Frame 114
tensor(0.1713)
 # KEYFRAME 42
0.0644915699995181
Frame 115
tensor(0.0932)
Frame 116
tensor(0.1519)
 # KEYFRAME 43
0.06439954999950714
Frame 117
tensor(0.0892)
Frame 118
tensor(0.1135)
 # KEYFRAME 44
0.06688646199836512
Frame 119
tensor(0.0778)
Frame 120
tensor(0.1471)
 # KEYFRAME 45
0.0676013989977946
Frame 121
tensor(0.5246)
 # KEYFRAME 46
0.06845316700128024
Frame 122
tensor(0.0488)
Frame 123
tensor(0.1275)
 # KEYFRAME 47
0.06874439500097651
Frame 124
tensor(0.0315)
Frame 125
tensor(0.0983)
Frame 126
tensor(0.1874)
 # KEYFRAME 48
0.06933206299800077
Frame 127
tensor(0.0563)
Frame 128
tensor(0.4855)
 # KEYFRAME 49
0.06917413400151418
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=854 loss_distill=0.2747 tta_take=0.008s
Frame 129
tensor(0.0101)
Frame 130
tensor(0.0346)
Frame 131
tensor(0.0688)
Frame 132
tensor(0.5150)
 # KEYFRAME 50
0.06726739100122359
Frame 133
tensor(0.0710)
Frame 134
tensor(0.1299)
 # KEYFRAME 51
0.06842978599888738
Frame 135
tensor(0.0390)
Frame 136
tensor(0.1236)
 # KEYFRAME 52
0.06873419500334421
Frame 137
tensor(0.0843)
Frame 138
tensor(0.1504)
 # KEYFRAME 53
0.06993310100006056
Frame 139
tensor(0.5759)
 # KEYFRAME 54
0.0693107430015516
Frame 140
tensor(0.0560)
Frame 141
tensor(0.0817)
Frame 142
tensor(0.1270)
 # KEYFRAME 55
0.07155339500241098
Frame 143
tensor(0.4132)
 # KEYFRAME 56
0.0723119019967271
Frame 144
tensor(0.0369)
Frame 145
tensor(0.0826)
Frame 146
tensor(0.1206)
 # KEYFRAME 57
0.07347540900082095
Frame 147
tensor(0.0173)
Frame 148
tensor(0.0517)
Frame 149
tensor(0.0994)
Backending... 58 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 53940, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=855 loss_distill=0.3466 tta_take=0.007s
[epoch 0 scene 129/556] scannetpp/5656608266/DSC frames=150 tta_steps_this_scene=3 mean_loss=0.2648 total_steps=855 time=31.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0038)
Frame 2
tensor(0.1212)
 # KEYFRAME 1
Frame 3
tensor(0.1056)
 # KEYFRAME 2
0.051956375002191635
Frame 4
tensor(0.2020)
 # KEYFRAME 3
0.05417835799744353
Frame 5
tensor(0.0690)
Frame 6
tensor(0.1034)
 # KEYFRAME 4
0.054568096002185484
Frame 7
tensor(0.1794)
 # KEYFRAME 5
0.05512243400153238
Frame 8
tensor(0.2030)
 # KEYFRAME 6
0.05623213999933796
Frame 9
tensor(0.2479)
 # KEYFRAME 7
0.057155415997840464
Frame 10
tensor(0.3783)
 # KEYFRAME 8
0.058580241002346156
Frame 11
tensor(0.1808)
 # KEYFRAME 9
0.05865162099871668
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.3214)
 # KEYFRAME 10
0.05272132199752377
Frame 13
tensor(0.2607)
 # KEYFRAME 11
0.05365754900049069
Frame 14
tensor(0.1858)
 # KEYFRAME 12
0.054602716001681983
Frame 15
tensor(0.0953)
Frame 16
tensor(0.1707)
 # KEYFRAME 13
0.05667943799926434
Frame 17
tensor(0.0950)
Frame 18
tensor(0.1022)
 # KEYFRAME 14
0.05753917499896488
Frame 19
tensor(0.1879)
 # KEYFRAME 15
0.058244713000021875
Frame 20
tensor(0.1670)
 # KEYFRAME 16
0.05917726999905426
Frame 21
tensor(0.1529)
 # KEYFRAME 17
0.06014221599980374
Frame 22
tensor(0.0876)
Frame 23
tensor(0.1937)
 # KEYFRAME 18
0.061214172001200495
Frame 24
tensor(0.1483)
 # KEYFRAME 19
0.06271127699801582
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.1270)
 # KEYFRAME 20
0.058771940999577055
Frame 26
tensor(0.1620)
 # KEYFRAME 21
0.06079837400102406
Frame 27
tensor(0.1519)
 # KEYFRAME 22
0.060829193997051334
Frame 28
tensor(0.1942)
 # KEYFRAME 23
0.06198921900067944
Frame 29
tensor(0.0944)
Frame 30
tensor(0.2260)
 # KEYFRAME 24
0.062441898000543006
Frame 31
tensor(0.2155)
 # KEYFRAME 25
0.06377080200036289
Frame 32
tensor(0.1457)
 # KEYFRAME 26
0.06510340800014092
Frame 33
tensor(0.1909)
 # KEYFRAME 27
0.06603624499985017
Frame 34
tensor(0.1865)
 # KEYFRAME 28
0.06693437200010521
Frame 35
tensor(0.1892)
 # KEYFRAME 29
0.06860459599920432
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 36
tensor(0.1424)
 # KEYFRAME 30
0.06582134600103018
Frame 37
tensor(0.1123)
 # KEYFRAME 31
0.06780176800020854
Frame 38
tensor(0.0609)
Frame 39
tensor(0.1206)
 # KEYFRAME 32
0.06814659800147638
Frame 40
tensor(0.1485)
 # KEYFRAME 33
0.06877593500030343
Frame 41
tensor(0.1365)
 # KEYFRAME 34
0.06977151200044318
Frame 42
tensor(0.1041)
 # KEYFRAME 35
0.0704566389977117
Frame 43
tensor(0.0863)
Frame 44
tensor(0.5652)
 # KEYFRAME 36
0.07186884499969892
Frame 45
tensor(0.2295)
 # KEYFRAME 37
0.07263435200002277
Frame 46
tensor(0.0722)
Frame 47
tensor(0.0739)
Frame 48
tensor(0.2033)
 # KEYFRAME 38
0.0734202390012797
Frame 49
tensor(0.1518)
 # KEYFRAME 39
0.07386849700196763
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=856 loss_distill=0.1733 tta_take=0.009s
Frame 50
tensor(0.1621)
 # KEYFRAME 40
0.07248837199949776
Frame 51
tensor(0.1293)
 # KEYFRAME 41
0.07486427399999229
Frame 52
tensor(0.1133)
 # KEYFRAME 42
0.07455534499968053
Frame 53
tensor(0.2216)
 # KEYFRAME 43
0.07562442099879263
Frame 54
tensor(0.5282)
 # KEYFRAME 44
0.07655345699822647
Frame 55
tensor(0.6258)
 # KEYFRAME 45
0.07713327500096057
Frame 56
tensor(0.2438)
 # KEYFRAME 46
0.077099875001295
Frame 57
tensor(0.3342)
 # KEYFRAME 47
0.07819781099897227
Frame 58
tensor(0.1877)
 # KEYFRAME 48
0.07907234899903415
Frame 59
tensor(0.3576)
 # KEYFRAME 49
0.08038887300062925
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=857 loss_distill=0.2747 tta_take=0.009s
Frame 60
tensor(0.2221)
 # KEYFRAME 50
0.07950480699946638
Frame 61
tensor(0.2768)
 # KEYFRAME 51
0.08159766999960993
Frame 62
tensor(0.0884)
Frame 63
tensor(0.3847)
 # KEYFRAME 52
0.08172230000127456
Frame 64
tensor(0.2743)
 # KEYFRAME 53
0.08259913599977153
Frame 65
tensor(0.1317)
 # KEYFRAME 54
0.08410872099921107
Frame 66
tensor(0.2516)
 # KEYFRAME 55
0.08488017799754743
Frame 67
tensor(0.3014)
 # KEYFRAME 56
0.08589134400244802
Frame 68
tensor(0.3250)
 # KEYFRAME 57
0.08678557100211037
Frame 69
tensor(0.1397)
 # KEYFRAME 58
0.08823259600103484
Frame 70
tensor(0.2533)
 # KEYFRAME 59
0.08830515599765931
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=858 loss_distill=0.3466 tta_take=0.009s
Frame 71
tensor(0.2767)
 # KEYFRAME 60
0.08609601400166866
Frame 72
tensor(0.2505)
 # KEYFRAME 61
0.0891106220005895
Frame 73
tensor(0.1655)
 # KEYFRAME 62
0.08857527500003926
Frame 74
tensor(0.1659)
 # KEYFRAME 63
0.09033189899855643
Frame 75
tensor(0.1712)
 # KEYFRAME 64
0.09157651400164468
Frame 76
tensor(0.2424)
 # KEYFRAME 65
0.09303125899896258
Frame 77
tensor(0.2665)
 # KEYFRAME 66
0.09443906399974367
Frame 78
tensor(0.2607)
 # KEYFRAME 67
0.09541633099797764
Frame 79
tensor(0.1858)
 # KEYFRAME 68
0.0957903089984029
Frame 80
tensor(0.2908)
 # KEYFRAME 69
0.09692833499866538
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=859 loss_distill=0.4024 tta_take=0.009s
Frame 81
tensor(0.2082)
 # KEYFRAME 70
0.09353286700206809
Frame 82
tensor(0.2588)
 # KEYFRAME 71
0.09451096399789094
Frame 83
tensor(0.2383)
 # KEYFRAME 72
0.09569094899779884
Frame 84
tensor(0.2024)
 # KEYFRAME 73
0.09629247799966834
Frame 85
tensor(0.2974)
 # KEYFRAME 74
0.09787815199888428
Frame 86
tensor(0.2198)
 # KEYFRAME 75
0.098325750001095
Frame 87
tensor(0.1681)
 # KEYFRAME 76
0.09967478500038851
Frame 88
tensor(0.1813)
 # KEYFRAME 77
0.10093690099893138
Frame 89
tensor(0.1564)
 # KEYFRAME 78
0.10232874599751085
Frame 90
tensor(0.1157)
 # KEYFRAME 79
0.10232011599873658
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=860 loss_distill=0.4024 tta_take=0.009s
Frame 91
tensor(0.1740)
 # KEYFRAME 80
0.0928781299990078
Frame 92
tensor(0.1472)
 # KEYFRAME 81
0.09521202099858783
Frame 93
tensor(0.2258)
 # KEYFRAME 82
0.09521465100260684
Frame 94
tensor(0.1494)
 # KEYFRAME 83
0.09587409799860325
Frame 95
tensor(0.0940)
Frame 96
tensor(0.1837)
 # KEYFRAME 84
0.0970805150027445
Frame 97
tensor(0.0900)
Frame 98
tensor(0.4127)
 # KEYFRAME 85
0.09708600500016473
Frame 99
tensor(0.0981)
Frame 100
tensor(0.2085)
 # KEYFRAME 86
0.09852745899843285
Frame 101
tensor(0.2258)
 # KEYFRAME 87
0.09906737799974508
Frame 102
tensor(0.2266)
 # KEYFRAME 88
0.09906084800240933
Frame 103
tensor(0.2913)
 # KEYFRAME 89
0.1000822940004582
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=861 loss_distill=0.4024 tta_take=0.009s
Frame 104
tensor(0.1528)
 # KEYFRAME 90
0.09271737999733887
Frame 105
tensor(0.1055)
 # KEYFRAME 91
0.09556076000080793
Frame 106
tensor(0.0979)
Frame 107
tensor(0.0923)
Frame 108
tensor(0.2064)
 # KEYFRAME 92
0.09523270100180525
Frame 109
tensor(0.2960)
 # KEYFRAME 93
0.09576680900136125
Frame 110
tensor(0.1828)
 # KEYFRAME 94
0.09699372500108439
Frame 111
tensor(0.1469)
 # KEYFRAME 95
0.09777913200014154
Frame 112
tensor(0.2287)
 # KEYFRAME 96
0.09828224000011687
Frame 113
tensor(0.2122)
 # KEYFRAME 97
0.09906668800249463
Frame 114
tensor(0.4310)
 # KEYFRAME 98
0.09934520600290853
Frame 115
tensor(0.6854)
 # KEYFRAME 99
0.10018973299884237
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=862 loss_distill=0.4024 tta_take=0.009s
Frame 116
tensor(0.1732)
 # KEYFRAME 100
0.0936965369983227
Frame 117
tensor(0.1532)
 # KEYFRAME 101
0.09489708199907909
Frame 118
tensor(0.0985)
Frame 119
tensor(0.2574)
 # KEYFRAME 102
0.09522712199759553
Frame 120
tensor(0.2254)
 # KEYFRAME 103
0.09658887700061314
Frame 121
tensor(0.3703)
 # KEYFRAME 104
0.09675628600234631
Frame 122
tensor(0.2700)
 # KEYFRAME 105
0.09800481099955505
Frame 123
tensor(0.2857)
 # KEYFRAME 106
0.09810840999853099
Frame 124
tensor(0.1414)
 # KEYFRAME 107
0.09939844600012293
Frame 125
tensor(0.1267)
 # KEYFRAME 108
0.09935180699903867
Frame 126
tensor(0.2410)
 # KEYFRAME 109
0.09961525600010646
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=863 loss_distill=0.4024 tta_take=0.009s
Frame 127
tensor(0.2203)
 # KEYFRAME 110
0.09394817600332317
Frame 128
tensor(0.3668)
 # KEYFRAME 111
0.09409673499976634
Frame 129
tensor(0.1371)
 # KEYFRAME 112
0.09570004000124754
Frame 130
tensor(0.5448)
 # KEYFRAME 113
0.09649841700229445
Frame 131
tensor(0.4539)
 # KEYFRAME 114
0.09710344400082249
Frame 132
tensor(0.5255)
 # KEYFRAME 115
0.09749337299945182
Frame 133
tensor(0.1703)
 # KEYFRAME 116
0.09846178000225336
Frame 134
tensor(0.4005)
 # KEYFRAME 117
0.09912486800021725
Frame 135
tensor(0.2469)
 # KEYFRAME 118
0.09996239399697515
Frame 136
tensor(0.1647)
 # KEYFRAME 119
0.09988478500235942
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=864 loss_distill=0.4024 tta_take=0.009s
Frame 137
tensor(0.2460)
 # KEYFRAME 120
0.09378068699879805
Frame 138
tensor(0.2673)
 # KEYFRAME 121
0.09604220899927896
Frame 139
tensor(0.0963)
Frame 140
tensor(0.1220)
 # KEYFRAME 122
0.09666565599763999
Backending... 123 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65583, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=865 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 130/556] scannetpp/281ba69af1/frame frames=141 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=865 time=54.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0471)
Frame 2
tensor(0.0839)
Frame 3
tensor(0.1608)
 # KEYFRAME 1
Frame 4
tensor(0.1405)
 # KEYFRAME 2
0.05205582500275341
Frame 5
tensor(0.1130)
 # KEYFRAME 3
0.054446475998702226
Frame 6
tensor(0.1285)
 # KEYFRAME 4
0.05463854499976151
Frame 7
tensor(0.0919)
Frame 8
tensor(0.1532)
 # KEYFRAME 5
0.05532977300026687
Frame 9
tensor(0.1972)
 # KEYFRAME 6
0.05635511899890844
Frame 10
tensor(0.3795)
 # KEYFRAME 7
0.057224275999033125
Frame 11
tensor(0.1491)
 # KEYFRAME 8
0.05872274100329378
Frame 12
tensor(0.1549)
 # KEYFRAME 9
0.058697371001471765
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 13
tensor(0.1951)
 # KEYFRAME 10
0.052804662998823915
Frame 14
tensor(0.1683)
 # KEYFRAME 11
0.053836819002754055
Frame 15
tensor(0.0589)
Frame 16
tensor(0.2459)
 # KEYFRAME 12
0.05460978599876398
Frame 17
tensor(0.2334)
 # KEYFRAME 13
0.05662172800293774
Frame 18
tensor(0.0912)
Frame 19
tensor(0.1078)
 # KEYFRAME 14
0.05774486399968737
Frame 20
tensor(0.1752)
 # KEYFRAME 15
0.05805337300262181
Frame 21
tensor(0.1537)
 # KEYFRAME 16
0.05919938899751287
Frame 22
tensor(0.1235)
 # KEYFRAME 17
0.060346444999595406
Frame 23
tensor(0.2350)
 # KEYFRAME 18
0.06125387200154364
Frame 24
tensor(0.1126)
 # KEYFRAME 19
0.06276445699768374
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.2145)
 # KEYFRAME 20
0.059384408999903826
Frame 26
tensor(0.2079)
 # KEYFRAME 21
0.060242195999308024
Frame 27
tensor(0.1023)
 # KEYFRAME 22
0.06102261300111422
Frame 28
tensor(0.0663)
Frame 29
tensor(0.1293)
 # KEYFRAME 23
0.06222351899850764
Frame 30
tensor(0.0455)
Frame 31
tensor(0.1040)
 # KEYFRAME 24
0.06258161699952325
Frame 32
tensor(0.1009)
 # KEYFRAME 25
0.06364272299833829
Frame 33
tensor(0.0609)
Frame 34
tensor(0.2762)
 # KEYFRAME 26
0.06521835700186784
Frame 35
tensor(0.2460)
 # KEYFRAME 27
0.06599121500039473
Frame 36
tensor(0.0801)
Frame 37
tensor(0.1091)
 # KEYFRAME 28
0.06708605099993292
Frame 38
tensor(0.1353)
 # KEYFRAME 29
0.06885123499887413
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 39
tensor(0.2152)
 # KEYFRAME 30
0.0661246449999453
Frame 40
tensor(0.1020)
 # KEYFRAME 31
0.06702984199728235
Frame 41
tensor(0.3697)
 # KEYFRAME 32
0.06810353800028679
Frame 42
tensor(0.1320)
 # KEYFRAME 33
0.069414842997503
Frame 43
tensor(0.0668)
Frame 44
tensor(0.2098)
 # KEYFRAME 34
0.06996434099710314
Frame 45
tensor(0.0732)
Frame 46
tensor(0.0259)
Frame 47
tensor(0.1847)
 # KEYFRAME 35
0.07076011800018023
Frame 48
tensor(0.1498)
 # KEYFRAME 36
0.07183797399920877
Frame 49
tensor(0.0609)
Frame 50
tensor(0.2003)
 # KEYFRAME 37
0.072635481999896
Frame 51
tensor(0.1329)
 # KEYFRAME 38
0.07348480799919344
Frame 52
tensor(0.0674)
Frame 53
tensor(0.1847)
 # KEYFRAME 39
0.0745957150029426
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=866 loss_distill=0.1733 tta_take=0.009s
Frame 54
tensor(0.0883)
Frame 55
tensor(0.0642)
Frame 56
tensor(0.0654)
Frame 57
tensor(0.0840)
Frame 58
tensor(0.0578)
Frame 59
tensor(0.0678)
Frame 60
tensor(0.1476)
 # KEYFRAME 40
0.07269357200129889
Frame 61
tensor(0.0439)
Frame 62
tensor(0.0315)
Frame 63
tensor(0.0395)
Frame 64
tensor(0.1518)
 # KEYFRAME 41
0.07489645299938275
Frame 65
tensor(0.0226)
Frame 66
tensor(0.3154)
 # KEYFRAME 42
0.07490127300116001
Frame 67
tensor(0.0309)
Frame 68
tensor(0.5455)
 # KEYFRAME 43
0.07525463199999649
Frame 69
tensor(0.6097)
 # KEYFRAME 44
0.07637860899922089
Frame 70
tensor(0.1013)
 # KEYFRAME 45
0.07727883500047028
Frame 71
tensor(0.2534)
 # KEYFRAME 46
0.0774526050008717
Frame 72
tensor(0.0693)
Frame 73
tensor(0.1381)
 # KEYFRAME 47
0.07759340400298242
Frame 74
tensor(0.3060)
 # KEYFRAME 48
0.07918312799665728
Frame 75
tensor(0.1350)
 # KEYFRAME 49
0.08016734499688027
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=867 loss_distill=0.2747 tta_take=0.009s
Frame 76
tensor(0.2818)
 # KEYFRAME 50
0.07906015800108435
Frame 77
tensor(0.1038)
 # KEYFRAME 51
0.08147192999967956
Frame 78
tensor(0.2088)
 # KEYFRAME 52
0.0814788600000611
Frame 79
tensor(0.2808)
 # KEYFRAME 53
0.08213223799975822
Frame 80
tensor(0.0806)
Frame 81
tensor(0.1644)
 # KEYFRAME 54
0.08375274199715932
Frame 82
tensor(0.3634)
 # KEYFRAME 55
0.08425069000077201
Frame 83
tensor(0.1261)
 # KEYFRAME 56
0.08586020399889094
Frame 84
tensor(0.1097)
 # KEYFRAME 57
0.08643672300240723
Frame 85
tensor(0.2243)
 # KEYFRAME 58
0.0880697569991753
Frame 86
tensor(0.2638)
 # KEYFRAME 59
0.08839137500035577
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=868 loss_distill=0.3466 tta_take=0.009s
Frame 87
tensor(0.1368)
 # KEYFRAME 60
0.08659140199961257
Frame 88
tensor(0.0749)
Frame 89
tensor(0.3730)
 # KEYFRAME 61
0.08874587399986922
Frame 90
tensor(0.2253)
 # KEYFRAME 62
0.08851303499977803
Frame 91
tensor(0.0966)
Frame 92
tensor(0.1288)
 # KEYFRAME 63
0.09051733800151851
Frame 93
tensor(0.1374)
 # KEYFRAME 64
0.09170138399713323
Frame 94
tensor(0.0426)
Frame 95
tensor(0.2993)
 # KEYFRAME 65
0.09305775900065782
Frame 96
tensor(0.1669)
 # KEYFRAME 66
0.09372892600003979
Frame 97
tensor(0.1277)
 # KEYFRAME 67
0.0954153700004099
Frame 98
tensor(0.1313)
 # KEYFRAME 68
0.24638160399990738
Frame 99
tensor(0.1461)
 # KEYFRAME 69
0.1697357960001682
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=869 loss_distill=0.4024 tta_take=0.009s
Frame 100
tensor(0.1022)
 # KEYFRAME 70
0.09331090799969388
Frame 101
tensor(0.2121)
 # KEYFRAME 71
0.09589479900023434
Frame 102
tensor(0.0802)
Frame 103
tensor(0.1618)
 # KEYFRAME 72
0.09541333000015584
Frame 104
tensor(0.1984)
 # KEYFRAME 73
0.09676557599959779
Frame 105
tensor(0.2537)
 # KEYFRAME 74
0.09807804999945802
Frame 106
tensor(0.4452)
 # KEYFRAME 75
0.0994642859986925
Frame 107
tensor(0.2551)
 # KEYFRAME 76
0.1002855830010958
Frame 108
tensor(0.1495)
 # KEYFRAME 77
0.10184802799994941
Backending... 78 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 70788, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=870 loss_distill=0.4024 tta_take=0.007s
[epoch 0 scene 131/556] scannetpp/cf1ffd871d/frame frames=109 tta_steps_this_scene=5 mean_loss=0.3198 total_steps=870 time=32.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1301)
 # KEYFRAME 1
Frame 2
tensor(0.2359)
 # KEYFRAME 2
0.05182724600308575
Frame 3
tensor(0.2139)
 # KEYFRAME 3
0.05353446900335257
Frame 4
tensor(0.2426)
 # KEYFRAME 4
0.05384969800070394
Frame 5
tensor(0.3676)
 # KEYFRAME 5
0.055355692999000894
Frame 6
tensor(0.2300)
 # KEYFRAME 6
0.05629289900025469
Frame 7
tensor(0.2197)
 # KEYFRAME 7
0.056887427999754436
Frame 8
tensor(0.2539)
 # KEYFRAME 8
0.05752738500086707
Frame 9
tensor(0.4518)
 # KEYFRAME 9
0.05864993099748972
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.3804)
 # KEYFRAME 10
0.051746466000622604
Frame 11
tensor(0.2667)
 # KEYFRAME 11
0.05306832099813619
Frame 12
tensor(0.2160)
 # KEYFRAME 12
0.054231336998782353
Frame 13
tensor(0.1960)
 # KEYFRAME 13
0.055313553999440046
Frame 14
tensor(0.2279)
 # KEYFRAME 14
0.0551788429984299
Frame 15
tensor(0.5706)
 # KEYFRAME 15
0.055058693997125374
Frame 16
tensor(0.1615)
 # KEYFRAME 16
0.055777251996914856
Frame 17
tensor(0.4016)
 # KEYFRAME 17
0.05656626899872208
Frame 18
tensor(0.2545)
 # KEYFRAME 18
0.05728878599984455
Frame 19
tensor(0.3355)
 # KEYFRAME 19
0.05752829499760992
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 20
tensor(0.3721)
 # KEYFRAME 20
0.0543367770005716
Frame 21
tensor(0.2665)
 # KEYFRAME 21
0.05530524300047546
Frame 22
tensor(0.3550)
 # KEYFRAME 22
0.05589489200065145
Frame 23
tensor(0.3314)
 # KEYFRAME 23
0.05617791999975452
Frame 24
tensor(0.3677)
 # KEYFRAME 24
0.0566894580006192
Frame 25
tensor(0.0772)
Frame 26
tensor(0.1006)
 # KEYFRAME 25
0.05718303600224317
Frame 27
tensor(0.1377)
 # KEYFRAME 26
0.05849808199855033
Frame 28
tensor(0.2098)
 # KEYFRAME 27
0.05924485899959109
Frame 29
tensor(0.2805)
 # KEYFRAME 28
0.06034593599906657
Frame 30
tensor(0.2735)
 # KEYFRAME 29
0.060778753002523445
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 31
tensor(0.1558)
 # KEYFRAME 30
0.05859078100183979
Frame 32
tensor(0.3397)
 # KEYFRAME 31
0.05994109699895489
Frame 33
tensor(0.2726)
 # KEYFRAME 32
0.05933366899989778
Frame 34
tensor(0.2510)
 # KEYFRAME 33
0.060599694999837084
Frame 35
tensor(0.1255)
 # KEYFRAME 34
0.061325370999838924
Frame 36
tensor(0.1574)
 # KEYFRAME 35
0.06171503999939887
Frame 37
tensor(0.3567)
 # KEYFRAME 36
0.06241387800037046
Frame 38
tensor(0.2775)
 # KEYFRAME 37
0.06319465499836951
Frame 39
tensor(0.1116)
 # KEYFRAME 38
0.06375713300076313
Frame 40
tensor(0.1730)
 # KEYFRAME 39
0.06445433099725051
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=871 loss_distill=0.1733 tta_take=0.008s
Frame 41
tensor(0.2646)
 # KEYFRAME 40
0.06257333699977607
Frame 42
tensor(0.3231)
 # KEYFRAME 41
0.06414267200307222
Frame 43
tensor(0.2762)
 # KEYFRAME 42
0.06441358099982608
Frame 44
tensor(0.4085)
 # KEYFRAME 43
0.06498233800084563
Frame 45
tensor(0.3447)
 # KEYFRAME 44
0.06661815299958107
Frame 46
tensor(0.2357)
 # KEYFRAME 45
0.06759077999959118
Frame 47
tensor(0.1523)
 # KEYFRAME 46
0.06811548699988634
Frame 48
tensor(0.3074)
 # KEYFRAME 47
0.06866356599857681
Frame 49
tensor(0.0913)
Frame 50
tensor(0.2056)
 # KEYFRAME 48
0.06920213400007924
Frame 51
tensor(0.2560)
 # KEYFRAME 49
0.0691007540008286
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=872 loss_distill=0.2747 tta_take=0.008s
Frame 52
tensor(0.1559)
 # KEYFRAME 50
0.06690813199747936
Frame 53
tensor(0.3395)
 # KEYFRAME 51
0.06879776600180776
Frame 54
tensor(0.1954)
 # KEYFRAME 52
0.06862608599840314
Frame 55
tensor(0.5469)
 # KEYFRAME 53
0.07000776099812356
Frame 56
tensor(0.2562)
 # KEYFRAME 54
0.06925031300124829
Frame 57
tensor(0.2090)
 # KEYFRAME 55
0.07150311599980341
Frame 58
tensor(0.4724)
 # KEYFRAME 56
0.07300120100262575
Frame 59
tensor(0.2601)
 # KEYFRAME 57
0.07368647800103645
Frame 60
tensor(0.1504)
 # KEYFRAME 58
0.07461886500095716
Frame 61
tensor(0.1353)
 # KEYFRAME 59
0.07507503300075768
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=873 loss_distill=0.3466 tta_take=0.008s
Frame 62
tensor(0.0770)
Frame 63
tensor(0.1330)
 # KEYFRAME 60
0.07101202799822204
Frame 64
tensor(0.1316)
 # KEYFRAME 61
0.07262732200251776
Frame 65
tensor(0.1679)
 # KEYFRAME 62
0.07303660999968997
Frame 66
tensor(0.0556)
Frame 67
tensor(0.6251)
 # KEYFRAME 63
0.0738699470020947
Frame 68
tensor(0.1943)
 # KEYFRAME 64
0.07498050399954082
Frame 69
tensor(0.0967)
Frame 70
tensor(0.3115)
 # KEYFRAME 65
0.07370456799981184
Frame 71
tensor(0.4436)
 # KEYFRAME 66
0.07673961700129439
Frame 72
tensor(0.1281)
 # KEYFRAME 67
0.07735249499819474
Frame 73
tensor(0.2364)
 # KEYFRAME 68
0.07912756800214993
Frame 74
tensor(0.1813)
 # KEYFRAME 69
0.07915506800054573
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=874 loss_distill=0.4024 tta_take=0.008s
Frame 75
tensor(0.1592)
 # KEYFRAME 70
0.07577446000141208
Frame 76
tensor(0.1076)
 # KEYFRAME 71
0.07729246499729925
Frame 77
tensor(0.1575)
 # KEYFRAME 72
0.07680783699834137
Frame 78
tensor(0.1123)
 # KEYFRAME 73
0.07736568499967689
Frame 79
tensor(0.1761)
 # KEYFRAME 74
0.07796556199900806
Frame 80
tensor(0.2636)
 # KEYFRAME 75
0.07846896100090817
Frame 81
tensor(0.1486)
 # KEYFRAME 76
0.07816264100256376
Frame 82
tensor(0.1307)
 # KEYFRAME 77
0.07923988799666404
Frame 83
tensor(0.3480)
 # KEYFRAME 78
0.07937526800014894
Frame 84
tensor(0.1029)
 # KEYFRAME 79
0.08002506499906303
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=875 loss_distill=0.4024 tta_take=0.008s
Frame 85
tensor(0.3270)
 # KEYFRAME 80
0.07604537999941385
Frame 86
tensor(0.2014)
 # KEYFRAME 81
0.07743617400046787
Frame 87
tensor(0.2071)
 # KEYFRAME 82
0.07736233499963419
Frame 88
tensor(0.1233)
 # KEYFRAME 83
0.07740551399911055
Frame 89
tensor(0.1191)
 # KEYFRAME 84
0.07775520300128846
Frame 90
tensor(0.1374)
 # KEYFRAME 85
0.07776454299892066
Frame 91
tensor(0.2316)
 # KEYFRAME 86
0.07833338099953835
Frame 92
tensor(0.3394)
 # KEYFRAME 87
0.07884431899947231
Frame 93
tensor(0.2569)
 # KEYFRAME 88
0.07942541699958383
Frame 94
tensor(0.0757)
Frame 95
tensor(0.1846)
 # KEYFRAME 89
0.08039630400162423
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=876 loss_distill=0.4024 tta_take=0.008s
Frame 96
tensor(0.1342)
 # KEYFRAME 90
0.07544646200040006
Frame 97
tensor(0.3213)
 # KEYFRAME 91
0.07697752600142849
Frame 98
tensor(0.2664)
 # KEYFRAME 92
0.07670631700239028
Frame 99
tensor(0.0882)
Frame 100
tensor(0.2475)
 # KEYFRAME 93
0.07730500500110793
Frame 101
tensor(0.5008)
 # KEYFRAME 94
0.07869275000120979
Frame 102
tensor(0.3579)
 # KEYFRAME 95
0.07827223099957337
Frame 103
tensor(0.1100)
 # KEYFRAME 96
0.07859407000069041
Frame 104
tensor(0.1446)
 # KEYFRAME 97
0.07888150000144378
Frame 105
tensor(0.5084)
 # KEYFRAME 98
0.07921368800089112
Frame 106
tensor(0.2610)
 # KEYFRAME 99
0.079966155000875
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=877 loss_distill=0.4024 tta_take=0.008s
Frame 107
tensor(0.1429)
 # KEYFRAME 100
0.07561002099828329
Frame 108
tensor(0.1485)
 # KEYFRAME 101
0.07740214399746037
Frame 109
tensor(0.2280)
 # KEYFRAME 102
0.0772324950012262
Frame 110
tensor(0.3279)
 # KEYFRAME 103
0.07760063399837236
Frame 111
tensor(0.3309)
 # KEYFRAME 104
0.07829175100050634
Frame 112
tensor(0.2604)
 # KEYFRAME 105
0.07903988899852266
Frame 113
tensor(0.2564)
 # KEYFRAME 106
0.07821926199903828
Frame 114
tensor(0.2562)
 # KEYFRAME 107
0.08011000500118826
Frame 115
tensor(0.2118)
 # KEYFRAME 108
0.08047268399968743
Frame 116
tensor(0.2062)
 # KEYFRAME 109
0.08115726100004395
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=878 loss_distill=0.4024 tta_take=0.008s
Frame 117
tensor(0.1511)
 # KEYFRAME 110
0.07619494900063728
Frame 118
tensor(0.2391)
 # KEYFRAME 111
0.07622194799841964
Frame 119
tensor(0.4011)
 # KEYFRAME 112
0.07662945700212731
Frame 120
tensor(0.1708)
 # KEYFRAME 113
0.07723533500029589
Frame 121
tensor(0.3379)
 # KEYFRAME 114
0.07801279200066347
Frame 122
tensor(0.3362)
 # KEYFRAME 115
0.07825521199993091
Frame 123
tensor(0.4616)
 # KEYFRAME 116
0.07782022299943492
Frame 124
tensor(0.2186)
 # KEYFRAME 117
0.07894705899889232
Frame 125
tensor(0.0920)
Frame 126
tensor(0.4062)
 # KEYFRAME 118
0.07956686699981219
Frame 127
tensor(0.2765)
 # KEYFRAME 119
0.08020860499891569
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=879 loss_distill=0.4024 tta_take=0.008s
Frame 128
tensor(0.2437)
 # KEYFRAME 120
0.07540713200069149
Frame 129
tensor(0.2198)
 # KEYFRAME 121
0.07602563000182272
Frame 130
tensor(0.1688)
 # KEYFRAME 122
0.07656743800180266
Frame 131
tensor(0.1734)
 # KEYFRAME 123
0.0771374059986556
Frame 132
tensor(0.1617)
 # KEYFRAME 124
0.078016502000537
Frame 133
tensor(0.1527)
 # KEYFRAME 125
0.07832911099831108
Frame 134
tensor(0.2596)
 # KEYFRAME 126
0.07865363999735564
Frame 135
tensor(0.2450)
 # KEYFRAME 127
0.07925036900269333
Frame 136
tensor(0.2799)
 # KEYFRAME 128
0.07938139700127067
Frame 137
tensor(0.1202)
 # KEYFRAME 129
0.08002063499952783
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=880 loss_distill=0.4024 tta_take=0.009s
Frame 138
tensor(0.1106)
 # KEYFRAME 130
0.0757770000018354
Frame 139
tensor(0.1460)
 # KEYFRAME 131
0.07731464500102447
Frame 140
tensor(0.1080)
 # KEYFRAME 132
0.07693632699738373
Frame 141
tensor(0.3265)
 # KEYFRAME 133
0.07688229700215743
Frame 142
tensor(0.2865)
 # KEYFRAME 134
0.07730957500098157
Frame 143
tensor(0.2441)
 # KEYFRAME 135
0.07799641300152871
Frame 144
tensor(0.0910)
Frame 145
tensor(0.1494)
 # KEYFRAME 136
0.07878598000024795
Frame 146
tensor(0.0441)
Frame 147
tensor(0.4898)
 # KEYFRAME 137
0.07954958700065617
Frame 148
tensor(0.6464)
 # KEYFRAME 138
0.08015438499933225
Frame 149
tensor(0.2928)
 # KEYFRAME 139
0.08022722500027157
Backending... 140 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=881 loss_distill=0.4024 tta_take=0.008s
[epoch 0 scene 132/556] scannetpp/fe1733741f/DSC frames=150 tta_steps_this_scene=11 mean_loss=0.3649 total_steps=881 time=56.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0834)
Frame 2
tensor(0.1468)
 # KEYFRAME 1
Frame 3
tensor(0.0845)
Frame 4
tensor(0.1627)
 # KEYFRAME 2
0.05187775600279565
Frame 5
tensor(0.0658)
Frame 6
tensor(0.1444)
 # KEYFRAME 3
0.05333092000000761
Frame 7
tensor(0.0958)
Frame 8
tensor(0.1696)
 # KEYFRAME 4
0.05356562999804737
Frame 9
tensor(0.0784)
Frame 10
tensor(0.1558)
 # KEYFRAME 5
0.0550187239969091
Frame 11
tensor(0.1385)
 # KEYFRAME 6
0.055874801000754815
Frame 12
tensor(0.1167)
 # KEYFRAME 7
0.05671171799986041
Frame 13
tensor(0.0810)
Frame 14
tensor(0.1667)
 # KEYFRAME 8
0.057614125002146466
Frame 15
tensor(0.3378)
 # KEYFRAME 9
0.058462452001549536
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 16
tensor(0.1004)
 # KEYFRAME 10
0.051628905999677954
Frame 17
tensor(0.0910)
Frame 18
tensor(0.1549)
 # KEYFRAME 11
0.052650293000624515
Frame 19
tensor(0.1180)
 # KEYFRAME 12
0.053714049001428066
Frame 20
tensor(0.1486)
 # KEYFRAME 13
0.05495282499759924
Frame 21
tensor(0.1923)
 # KEYFRAME 14
0.05469556500247563
Frame 22
tensor(0.1052)
 # KEYFRAME 15
0.055114734001108445
Frame 23
tensor(0.1240)
 # KEYFRAME 16
0.0555962019971048
Frame 24
tensor(0.1213)
 # KEYFRAME 17
0.056396488998871064
Frame 25
tensor(0.1008)
 # KEYFRAME 18
0.057048586997552775
Frame 26
tensor(0.1101)
 # KEYFRAME 19
0.0575815349984623
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 27
tensor(0.1239)
 # KEYFRAME 20
0.054042947998823365
Frame 28
tensor(0.0963)
Frame 29
tensor(0.2299)
 # KEYFRAME 21
0.05478679500083672
Frame 30
tensor(0.1644)
 # KEYFRAME 22
0.05559452200031956
Frame 31
tensor(0.1031)
 # KEYFRAME 23
0.0558492109994404
Frame 32
tensor(0.0965)
Frame 33
tensor(0.1769)
 # KEYFRAME 24
0.056511359001888195
Frame 34
tensor(0.2001)
 # KEYFRAME 25
0.05705378700076835
Frame 35
tensor(0.0851)
Frame 36
tensor(0.1713)
 # KEYFRAME 26
0.05832626199844526
Frame 37
tensor(0.1486)
 # KEYFRAME 27
0.05900747000123374
Frame 38
tensor(0.0979)
Frame 39
tensor(0.1275)
 # KEYFRAME 28
0.06033905499862158
Frame 40
tensor(0.2285)
 # KEYFRAME 29
0.060632394001004286
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 41
tensor(0.1579)
 # KEYFRAME 30
0.05830236300243996
Frame 42
tensor(0.1280)
 # KEYFRAME 31
0.05917692000002717
Frame 43
tensor(0.1991)
 # KEYFRAME 32
0.05918372900123359
Frame 44
tensor(0.1874)
 # KEYFRAME 33
0.06044322500019916
Frame 45
tensor(0.1108)
 # KEYFRAME 34
0.06113090199869475
Frame 46
tensor(0.0684)
Frame 47
tensor(0.1248)
 # KEYFRAME 35
0.06160501100021065
Frame 48
tensor(0.0283)
Frame 49
tensor(0.0725)
Frame 50
tensor(0.1205)
 # KEYFRAME 36
0.06250564800211578
Frame 51
tensor(0.0615)
Frame 52
tensor(0.1525)
 # KEYFRAME 37
0.06271688699780498
Frame 53
tensor(0.0891)
Frame 54
tensor(0.1366)
 # KEYFRAME 38
0.06340644400188467
Frame 55
tensor(0.0447)
Frame 56
tensor(0.0655)
Frame 57
tensor(0.5047)
 # KEYFRAME 39
0.06412134200218134
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=882 loss_distill=0.1733 tta_take=0.008s
Frame 58
tensor(0.1484)
 # KEYFRAME 40
0.0628311059990665
Frame 59
tensor(0.1390)
 # KEYFRAME 41
0.06437107100282446
Frame 60
tensor(0.1859)
 # KEYFRAME 42
0.06466566000017338
Frame 61
tensor(0.0958)
Frame 62
tensor(0.1791)
 # KEYFRAME 43
0.06479629000023124
Frame 63
tensor(0.5521)
 # KEYFRAME 44
0.06689407199883135
Frame 64
tensor(0.0492)
Frame 65
tensor(0.0882)
Frame 66
tensor(0.1230)
 # KEYFRAME 45
0.06779800799995428
Frame 67
tensor(0.0615)
Frame 68
tensor(0.0785)
Frame 69
tensor(0.0556)
Frame 70
tensor(0.5741)
 # KEYFRAME 46
0.06862009600081365
Frame 71
tensor(0.0405)
Frame 72
tensor(0.0794)
Frame 73
tensor(0.1210)
 # KEYFRAME 47
0.06878044599943678
Frame 74
tensor(0.1176)
 # KEYFRAME 48
0.0697126320010284
Frame 75
tensor(0.1795)
 # KEYFRAME 49
0.06946921299822861
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=883 loss_distill=0.2747 tta_take=0.008s
Frame 76
tensor(0.1231)
 # KEYFRAME 50
0.06711950099997921
Frame 77
tensor(0.3953)
 # KEYFRAME 51
0.06859777600038797
Frame 78
tensor(0.0639)
Frame 79
tensor(0.0943)
Frame 80
tensor(0.1104)
 # KEYFRAME 52
0.06912673400074709
Frame 81
tensor(0.0314)
Frame 82
tensor(0.0642)
Frame 83
tensor(0.1537)
 # KEYFRAME 53
0.07015669999964302
Frame 84
tensor(0.1132)
 # KEYFRAME 54
0.06928577399958158
Frame 85
tensor(0.0795)
Frame 86
tensor(0.1770)
 # KEYFRAME 55
0.07139290600025561
Frame 87
tensor(0.1064)
 # KEYFRAME 56
0.07317031999991741
Frame 88
tensor(0.5289)
 # KEYFRAME 57
0.07357313799730036
Frame 89
tensor(0.1296)
 # KEYFRAME 58
0.07463795399962692
Frame 90
tensor(0.0878)
Frame 91
tensor(0.1469)
 # KEYFRAME 59
0.07567350099998293
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=884 loss_distill=0.3466 tta_take=0.008s
Frame 92
tensor(0.1002)
 # KEYFRAME 60
0.07140962600169587
Frame 93
tensor(0.1209)
 # KEYFRAME 61
0.0724679519989877
Frame 94
tensor(0.1225)
 # KEYFRAME 62
0.07268937099797768
Frame 95
tensor(0.1301)
 # KEYFRAME 63
0.07382974799838848
Frame 96
tensor(0.1817)
 # KEYFRAME 64
0.0748930730005668
Frame 97
tensor(0.1316)
 # KEYFRAME 65
0.07351487800042378
Frame 98
tensor(0.0862)
Frame 99
tensor(0.1548)
 # KEYFRAME 66
0.07676762599658105
Frame 100
tensor(0.0833)
Frame 101
tensor(0.1610)
 # KEYFRAME 67
0.07754254399696947
Frame 102
tensor(0.0770)
Frame 103
tensor(0.1753)
 # KEYFRAME 68
0.0788519690031535
Frame 104
tensor(0.1386)
 # KEYFRAME 69
0.07924495800034492
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=885 loss_distill=0.4024 tta_take=0.008s
Frame 105
tensor(0.1173)
 # KEYFRAME 70
0.07573231100104749
Frame 106
tensor(0.0578)
Frame 107
tensor(0.8278)
 # KEYFRAME 71
0.07732827499785344
Frame 108
tensor(0.0617)
Frame 109
tensor(0.1150)
 # KEYFRAME 72
0.07698864600024535
Frame 110
tensor(0.0415)
Frame 111
tensor(0.0736)
Frame 112
tensor(0.1073)
 # KEYFRAME 73
0.07735791499726474
Frame 113
tensor(0.0587)
Frame 114
tensor(0.1057)
 # KEYFRAME 74
0.07751448400085792
Frame 115
tensor(0.0760)
Frame 116
tensor(0.1286)
 # KEYFRAME 75
0.07838475099924835
Frame 117
tensor(0.1309)
 # KEYFRAME 76
0.07838154100318206
Frame 118
tensor(0.0383)
Frame 119
tensor(0.1182)
 # KEYFRAME 77
0.07913065899992944
Frame 120
tensor(0.0504)
Frame 121
tensor(0.3234)
 # KEYFRAME 78
0.07940983799926471
Frame 122
tensor(0.0441)
Frame 123
tensor(0.0994)
Frame 124
tensor(0.1056)
 # KEYFRAME 79
0.08003963499868405
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=886 loss_distill=0.4024 tta_take=0.009s
Frame 125
tensor(0.4590)
 # KEYFRAME 80
0.07538752199980081
Frame 126
tensor(0.1525)
 # KEYFRAME 81
0.0777872530015884
Frame 127
tensor(0.1591)
 # KEYFRAME 82
0.07777091400203062
Frame 128
tensor(0.1446)
 # KEYFRAME 83
0.077362734999042
Frame 129
tensor(0.1799)
 # KEYFRAME 84
0.07799428300131694
Frame 130
tensor(0.1242)
 # KEYFRAME 85
0.07830624099733541
Frame 131
tensor(0.0607)
Frame 132
tensor(0.1069)
 # KEYFRAME 86
0.07908632899852819
Frame 133
tensor(0.1326)
 # KEYFRAME 87
0.07974078600091161
Frame 134
tensor(0.0963)
Frame 135
tensor(0.2109)
 # KEYFRAME 88
0.07975489599994035
Frame 136
tensor(0.6514)
 # KEYFRAME 89
0.08118811100212042
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=887 loss_distill=0.4024 tta_take=0.008s
Frame 137
tensor(0.1084)
 # KEYFRAME 90
0.0756421109981602
Frame 138
tensor(0.1013)
 # KEYFRAME 91
0.07704166600160534
Frame 139
tensor(0.1399)
 # KEYFRAME 92
0.0773144949998823
Frame 140
tensor(0.1655)
 # KEYFRAME 93
0.07738224499917123
Frame 141
tensor(0.1866)
 # KEYFRAME 94
0.07782047300133854
Frame 142
tensor(0.1625)
 # KEYFRAME 95
0.0779740430007223
Frame 143
tensor(0.1579)
 # KEYFRAME 96
0.07836121099899174
Frame 144
tensor(0.4515)
 # KEYFRAME 97
0.07885678000093321
Frame 145
tensor(0.0994)
Frame 146
tensor(0.1558)
 # KEYFRAME 98
0.07930466800098657
Frame 147
tensor(0.1203)
 # KEYFRAME 99
0.08006941500207176
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=888 loss_distill=0.4024 tta_take=0.008s
Frame 148
tensor(0.0320)
Frame 149
tensor(0.0949)
[epoch 0 scene 133/556] scannetpp/251443268c/DSC frames=150 tta_steps_this_scene=7 mean_loss=0.3434 total_steps=888 time=49.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0558)
Frame 2
tensor(0.1041)
 # KEYFRAME 1
Frame 3
tensor(0.0571)
Frame 4
tensor(0.1152)
 # KEYFRAME 2
0.05225728399818763
Frame 5
tensor(0.0551)
Frame 6
tensor(0.1072)
 # KEYFRAME 3
0.05234116400242783
Frame 7
tensor(0.0506)
Frame 8
tensor(0.0950)
Frame 9
tensor(0.1501)
 # KEYFRAME 4
0.05284241199842654
Frame 10
tensor(0.0438)
Frame 11
tensor(0.0968)
Frame 12
tensor(0.1417)
 # KEYFRAME 5
0.052406402999622514
Frame 13
tensor(0.0451)
Frame 14
tensor(0.0920)
Frame 15
tensor(0.1441)
 # KEYFRAME 6
0.05312597100055427
Frame 16
tensor(0.0437)
Frame 17
tensor(0.0895)
Frame 18
tensor(0.1361)
 # KEYFRAME 7
0.05280725199918379
Frame 19
tensor(0.0451)
Frame 20
tensor(0.1013)
 # KEYFRAME 8
0.05404447800174239
Frame 21
tensor(0.0465)
Frame 22
tensor(0.1004)
 # KEYFRAME 9
0.05283407200113288
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 23
tensor(0.0512)
Frame 24
tensor(0.1072)
 # KEYFRAME 10
0.051833276000252226
Frame 25
tensor(0.0518)
Frame 26
tensor(0.1025)
 # KEYFRAME 11
0.05298805100028403
Frame 27
tensor(0.0523)
Frame 28
tensor(0.1015)
 # KEYFRAME 12
0.053644469000573736
Frame 29
tensor(0.0528)
Frame 30
tensor(0.1062)
 # KEYFRAME 13
0.05261841300307424
Frame 31
tensor(0.0509)
Frame 32
tensor(0.1083)
 # KEYFRAME 14
0.05518268300147611
Frame 33
tensor(0.0522)
Frame 34
tensor(0.1007)
 # KEYFRAME 15
0.0527698119985871
Frame 35
tensor(0.0533)
Frame 36
tensor(0.1095)
 # KEYFRAME 16
0.05266983199908282
Frame 37
tensor(0.0470)
Frame 38
tensor(0.1030)
 # KEYFRAME 17
0.05597635099911713
Frame 39
tensor(0.0502)
Frame 40
tensor(0.1077)
 # KEYFRAME 18
0.05298262100041029
Frame 41
tensor(0.0481)
Frame 42
tensor(0.0980)
Frame 43
tensor(0.1462)
 # KEYFRAME 19
0.05614230999708525
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 44
tensor(0.0458)
Frame 45
tensor(0.0944)
Frame 46
tensor(0.1522)
 # KEYFRAME 20
0.05208851400311687
Frame 47
tensor(0.0414)
Frame 48
tensor(0.0894)
Frame 49
tensor(0.1367)
 # KEYFRAME 21
0.05230921399925137
Frame 50
tensor(0.0465)
Frame 51
tensor(0.0901)
Frame 52
tensor(0.1376)
 # KEYFRAME 22
0.05420097699970938
Frame 53
tensor(0.0441)
Frame 54
tensor(0.0928)
Frame 55
tensor(0.1449)
 # KEYFRAME 23
0.05230026400022325
Frame 56
tensor(0.0461)
Frame 57
tensor(0.0956)
Frame 58
tensor(0.1388)
 # KEYFRAME 24
0.054025527999328915
Frame 59
tensor(0.0409)
Frame 60
tensor(0.0907)
Frame 61
tensor(0.1342)
 # KEYFRAME 25
0.052098345000558766
Frame 62
tensor(0.0431)
Frame 63
tensor(0.0921)
Frame 64
tensor(0.1241)
 # KEYFRAME 26
0.05244556400066358
Frame 65
tensor(0.0437)
Frame 66
tensor(0.0842)
Frame 67
tensor(0.1227)
 # KEYFRAME 27
0.05581240099854767
Frame 68
tensor(0.0404)
Frame 69
tensor(0.0836)
Frame 70
tensor(0.1216)
 # KEYFRAME 28
0.05286000200067065
Frame 71
tensor(0.0333)
Frame 72
tensor(0.0761)
Frame 73
tensor(0.1116)
 # KEYFRAME 29
0.05625593999866396
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 74
tensor(0.0365)
Frame 75
tensor(0.0681)
Frame 76
tensor(0.1037)
 # KEYFRAME 30
0.052624322997871786
Frame 77
tensor(0.0294)
Frame 78
tensor(0.0647)
Frame 79
tensor(0.1018)
 # KEYFRAME 31
0.052678871998068644
Frame 80
tensor(0.0338)
Frame 81
tensor(0.0664)
Frame 82
tensor(0.0973)
Frame 83
tensor(0.1352)
 # KEYFRAME 32
0.053332960000261664
Frame 84
tensor(0.0275)
Frame 85
tensor(0.0630)
Frame 86
tensor(0.0859)
Frame 87
tensor(0.1176)
 # KEYFRAME 33
0.052262024000810925
Frame 88
tensor(0.0275)
Frame 89
tensor(0.0526)
Frame 90
tensor(0.0804)
Frame 91
tensor(0.1056)
 # KEYFRAME 34
0.053381800000352086
Frame 92
tensor(0.0195)
Frame 93
tensor(0.0425)
Frame 94
tensor(0.0682)
Frame 95
tensor(0.0898)
Frame 96
tensor(0.1125)
 # KEYFRAME 35
0.052705811998748686
Frame 97
tensor(0.0185)
Frame 98
tensor(0.0368)
Frame 99
tensor(0.0528)
Frame 100
tensor(0.0717)
Frame 101
tensor(0.0901)
Frame 102
tensor(0.1054)
 # KEYFRAME 36
0.052394703998288605
Frame 103
tensor(0.0175)
Frame 104
tensor(0.0318)
Frame 105
tensor(0.0505)
Frame 106
tensor(0.0618)
Frame 107
tensor(0.0775)
Frame 108
tensor(0.0908)
Frame 109
tensor(0.1035)
 # KEYFRAME 37
0.05366527899968787
Frame 110
tensor(0.0118)
Frame 111
tensor(0.0229)
Frame 112
tensor(0.0332)
Frame 113
tensor(0.0454)
Frame 114
tensor(0.0562)
Frame 115
tensor(0.0650)
Frame 116
tensor(0.0762)
Frame 117
tensor(0.0878)
Frame 118
tensor(0.0966)
Frame 119
tensor(0.1034)
 # KEYFRAME 38
0.052824112000962486
Frame 120
tensor(0.0080)
Frame 121
tensor(0.0150)
Frame 122
tensor(0.0231)
Frame 123
tensor(0.0301)
Frame 124
tensor(0.0365)
Frame 125
tensor(0.0440)
Frame 126
tensor(0.0483)
Frame 127
tensor(0.0521)
Frame 128
tensor(0.0555)
Frame 129
tensor(0.0573)
Frame 130
tensor(0.0624)
Frame 131
tensor(0.0697)
Frame 132
tensor(0.0704)
Frame 133
tensor(0.0737)
Frame 134
tensor(0.0776)
Frame 135
tensor(0.0819)
Frame 136
tensor(0.0890)
Frame 137
tensor(0.0967)
Frame 138
tensor(0.1000)
 # KEYFRAME 39
0.05416921700089006
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=889 loss_distill=0.1733 tta_take=0.005s
Frame 139
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Frame 224
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Frame 225
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Frame 231
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Frame 232
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[epoch 0 scene 134/556] vkitti/Scene02/sunset/Camera_1 frames=233 tta_steps_this_scene=1 mean_loss=0.1733 total_steps=889 time=50.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1927)
 # KEYFRAME 1
Frame 2
tensor(0.2558)
 # KEYFRAME 2
0.05157993700049701
Frame 3
tensor(0.1556)
 # KEYFRAME 3
0.052202674000000115
Frame 4
tensor(0.1911)
 # KEYFRAME 4
0.05586586100253044
Frame 5
tensor(0.2407)
 # KEYFRAME 5
0.05529277300229296
Frame 6
tensor(0.2501)
 # KEYFRAME 6
0.056659579000552185
Frame 7
tensor(0.1578)
 # KEYFRAME 7
0.05716151699743932
Frame 8
tensor(0.1023)
 # KEYFRAME 8
0.057769524999457644
Frame 9
tensor(0.0853)
Frame 10
tensor(0.2705)
 # KEYFRAME 9
0.058307933002652135
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.2695)
 # KEYFRAME 10
0.05221483400237048
Frame 12
tensor(0.2269)
 # KEYFRAME 11
0.053649778998078546
Frame 13
tensor(0.2163)
 # KEYFRAME 12
0.05490031400040607
Frame 14
tensor(0.1073)
 # KEYFRAME 13
0.057059767001192085
Frame 15
tensor(0.1768)
 # KEYFRAME 14
0.057595955000579124
Frame 16
tensor(0.2535)
 # KEYFRAME 15
0.05876166099915281
Frame 17
tensor(0.2600)
 # KEYFRAME 16
0.059000209999794606
Frame 18
tensor(0.2874)
 # KEYFRAME 17
0.059834446998138446
Frame 19
tensor(0.3457)
 # KEYFRAME 18
0.06148078100159182
Frame 20
tensor(0.2828)
 # KEYFRAME 19
0.062613917998533
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.1610)
 # KEYFRAME 20
0.059026489998359466
Frame 22
tensor(0.1501)
 # KEYFRAME 21
0.06114211200110731
Frame 23
tensor(0.1310)
 # KEYFRAME 22
0.06202255999960471
Frame 24
tensor(0.1272)
 # KEYFRAME 23
0.06311866499891039
Frame 25
tensor(0.2204)
 # KEYFRAME 24
0.06411393199960003
Frame 26
tensor(0.1894)
 # KEYFRAME 25
0.06523020800159429
Frame 27
tensor(0.1491)
 # KEYFRAME 26
0.06750346999979229
Frame 28
tensor(0.1378)
 # KEYFRAME 27
0.07933958799912944
Frame 29
tensor(0.2372)
 # KEYFRAME 28
0.06893130499884137
Frame 30
tensor(0.1232)
 # KEYFRAME 29
0.07051716899877647
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 31
tensor(0.2028)
 # KEYFRAME 30
0.06607064499985427
Frame 32
tensor(0.1421)
 # KEYFRAME 31
0.06798605800213409
Frame 33
tensor(0.2362)
 # KEYFRAME 32
0.06859431599878008
Frame 34
tensor(0.1524)
 # KEYFRAME 33
0.06942528299987316
Frame 35
tensor(0.1214)
 # KEYFRAME 34
0.07037171000047238
Frame 36
tensor(0.1248)
 # KEYFRAME 35
0.07074655800170149
Frame 37
tensor(0.2393)
 # KEYFRAME 36
0.07130734600286814
Frame 38
tensor(0.1296)
 # KEYFRAME 37
0.07235396199757815
Frame 39
tensor(0.1437)
 # KEYFRAME 38
0.07286308000038844
Frame 40
tensor(0.0973)
Frame 41
tensor(0.2248)
 # KEYFRAME 39
0.07380639699840685
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=890 loss_distill=0.1733 tta_take=0.009s
Frame 42
tensor(0.1024)
 # KEYFRAME 40
0.07278236099955393
Frame 43
tensor(0.2258)
 # KEYFRAME 41
0.07404244600184029
Frame 44
tensor(0.1914)
 # KEYFRAME 42
0.07464978499774588
Frame 45
tensor(0.2009)
 # KEYFRAME 43
0.07484352300161845
Frame 46
tensor(0.2275)
 # KEYFRAME 44
0.07600979000199004
Frame 47
tensor(0.1339)
 # KEYFRAME 45
0.07706095599860419
Frame 48
tensor(0.1632)
 # KEYFRAME 46
0.07715206599823432
Frame 49
tensor(0.2163)
 # KEYFRAME 47
0.07791250200170907
Frame 50
tensor(0.0907)
Frame 51
tensor(0.2228)
 # KEYFRAME 48
0.07875206999960938
Frame 52
tensor(0.2173)
 # KEYFRAME 49
0.08027746500010835
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=891 loss_distill=0.2747 tta_take=0.009s
Frame 53
tensor(0.0679)
Frame 54
tensor(0.2344)
 # KEYFRAME 50
0.07978721700055758
Frame 55
tensor(0.3050)
 # KEYFRAME 51
0.08200640799987013
Frame 56
tensor(0.1554)
 # KEYFRAME 52
0.08230287699916516
Frame 57
tensor(0.1913)
 # KEYFRAME 53
0.08420206000300823
Frame 58
tensor(0.1743)
 # KEYFRAME 54
0.08565135499884491
Frame 59
tensor(0.1681)
 # KEYFRAME 55
0.08595576399966376
Frame 60
tensor(0.1537)
 # KEYFRAME 56
0.08664552100162837
Frame 61
tensor(0.2007)
 # KEYFRAME 57
0.0877580480009783
Frame 62
tensor(0.1806)
 # KEYFRAME 58
0.08863744500195025
Frame 63
tensor(0.2332)
 # KEYFRAME 59
0.08955147199958446
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=892 loss_distill=0.3466 tta_take=0.009s
Frame 64
tensor(0.2594)
 # KEYFRAME 60
0.08600275400021928
Frame 65
tensor(0.3366)
 # KEYFRAME 61
0.08923933299956843
Frame 66
tensor(0.2587)
 # KEYFRAME 62
0.08880105400021421
Frame 67
tensor(0.0784)
Frame 68
tensor(0.1791)
 # KEYFRAME 63
0.09061280799869564
Frame 69
tensor(0.1887)
 # KEYFRAME 64
0.09079399700203794
Frame 70
tensor(0.2077)
 # KEYFRAME 65
0.09234951100006583
Frame 71
tensor(0.1634)
 # KEYFRAME 66
0.09347429800254758
Frame 72
tensor(0.1093)
 # KEYFRAME 67
0.09422403500138898
Frame 73
tensor(0.2315)
 # KEYFRAME 68
0.09582211900124094
Frame 74
tensor(0.1981)
 # KEYFRAME 69
0.09665061600026092
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=893 loss_distill=0.4024 tta_take=0.009s
Frame 75
tensor(0.1319)
 # KEYFRAME 70
0.09328534800079069
Frame 76
tensor(0.1297)
 # KEYFRAME 71
0.09564648999730707
Frame 77
tensor(0.1473)
 # KEYFRAME 72
0.09528914100155816
Frame 78
tensor(0.1126)
 # KEYFRAME 73
0.09574073999829125
Frame 79
tensor(0.0972)
Frame 80
tensor(0.0632)
Frame 81
tensor(0.2296)
 # KEYFRAME 74
0.09678885500034085
Frame 82
tensor(0.3030)
 # KEYFRAME 75
0.09827323100034846
Frame 83
tensor(0.2138)
 # KEYFRAME 76
0.09782364199782023
Frame 84
tensor(0.1418)
 # KEYFRAME 77
0.09828550100064604
Frame 85
tensor(0.1803)
 # KEYFRAME 78
0.09994043400001829
Frame 86
tensor(0.0850)
Frame 87
tensor(0.1376)
 # KEYFRAME 79
0.10072535200015409
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=894 loss_distill=0.4024 tta_take=0.009s
Frame 88
tensor(0.3044)
 # KEYFRAME 80
0.09271484000055352
Frame 89
tensor(0.1349)
 # KEYFRAME 81
0.09584273899963591
Frame 90
tensor(0.2294)
 # KEYFRAME 82
0.09572021999701974
Frame 91
tensor(0.2156)
 # KEYFRAME 83
0.09593775800021831
Frame 92
tensor(0.2373)
 # KEYFRAME 84
0.09630078699774458
Frame 93
tensor(0.1365)
 # KEYFRAME 85
0.09777103200030979
Frame 94
tensor(0.2147)
 # KEYFRAME 86
0.09882323800047743
Frame 95
tensor(0.1997)
 # KEYFRAME 87
0.09910728700197069
Frame 96
tensor(0.1526)
 # KEYFRAME 88
0.09988381400034996
Frame 97
tensor(0.1757)
 # KEYFRAME 89
0.10103976000027615
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=895 loss_distill=0.4024 tta_take=0.009s
Frame 98
tensor(0.1565)
 # KEYFRAME 90
0.09387154599971836
Frame 99
tensor(0.1723)
 # KEYFRAME 91
0.09394188599981135
Frame 100
tensor(0.1613)
 # KEYFRAME 92
0.09603015799802961
Frame 101
tensor(0.3776)
 # KEYFRAME 93
0.09593563799717231
Frame 102
tensor(0.1437)
 # KEYFRAME 94
0.09724804399957065
Frame 103
tensor(0.1757)
 # KEYFRAME 95
0.0972075740028231
Frame 104
tensor(0.1365)
 # KEYFRAME 96
0.09869947900006082
Frame 105
tensor(0.0619)
Frame 106
tensor(0.1134)
 # KEYFRAME 97
0.09883169899694622
Frame 107
tensor(0.1653)
 # KEYFRAME 98
0.09993395399942528
Frame 108
tensor(0.2088)
 # KEYFRAME 99
0.0996721859992249
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=896 loss_distill=0.4024 tta_take=0.009s
Frame 109
tensor(0.1521)
 # KEYFRAME 100
0.0928376899973955
Frame 110
tensor(0.1488)
 # KEYFRAME 101
0.09580635900056222
Frame 111
tensor(0.2106)
 # KEYFRAME 102
0.09591299900057493
Frame 112
tensor(0.1655)
 # KEYFRAME 103
0.09655058700082009
Frame 113
tensor(0.0360)
Frame 114
tensor(0.3541)
 # KEYFRAME 104
0.09806948099867441
Frame 115
tensor(0.1926)
 # KEYFRAME 105
0.0980027909972705
Frame 116
tensor(0.1982)
 # KEYFRAME 106
0.09971163500085822
Frame 117
tensor(0.2613)
 # KEYFRAME 107
0.09952541600068798
Frame 118
tensor(0.2771)
 # KEYFRAME 108
0.10095163099686033
Frame 119
tensor(0.2376)
 # KEYFRAME 109
0.1004793520005478
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=897 loss_distill=0.4024 tta_take=0.009s
Frame 120
tensor(0.1901)
 # KEYFRAME 110
0.09383861599781085
Frame 121
tensor(0.1962)
 # KEYFRAME 111
0.09475217299768701
Frame 122
tensor(0.1033)
 # KEYFRAME 112
0.09517452099680668
Frame 123
tensor(0.2183)
 # KEYFRAME 113
0.09584766900297836
Frame 124
tensor(0.1943)
 # KEYFRAME 114
0.09709124499931931
Frame 125
tensor(0.3644)
 # KEYFRAME 115
0.0975363430006837
Frame 126
tensor(0.2079)
 # KEYFRAME 116
0.09806868100349675
Frame 127
tensor(0.2164)
 # KEYFRAME 117
0.09869062899815617
Frame 128
tensor(0.0244)
Frame 129
tensor(0.1263)
 # KEYFRAME 118
0.10006148400134407
Frame 130
tensor(0.3700)
 # KEYFRAME 119
0.09972898500200245
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=898 loss_distill=0.4024 tta_take=0.009s
Frame 131
tensor(0.2734)
 # KEYFRAME 120
0.09257251099916175
Frame 132
tensor(0.1248)
 # KEYFRAME 121
0.09588206900298246
Frame 133
tensor(0.0226)
Frame 134
tensor(0.3396)
 # KEYFRAME 122
0.0952102110022679
Frame 135
tensor(0.2416)
 # KEYFRAME 123
0.09602357800031314
Frame 136
tensor(0.1226)
 # KEYFRAME 124
0.09672226600014255
Frame 137
tensor(0.0521)
Frame 138
tensor(0.1620)
 # KEYFRAME 125
0.0975358529976802
Frame 139
tensor(0.1623)
 # KEYFRAME 126
0.09883603799971752
Frame 140
tensor(0.2076)
 # KEYFRAME 127
0.09840501000144286
Frame 141
tensor(0.2222)
 # KEYFRAME 128
0.09995432399955462
Frame 142
tensor(0.2119)
 # KEYFRAME 129
0.10088036099841702
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=899 loss_distill=0.4024 tta_take=0.009s
Frame 143
tensor(0.1608)
 # KEYFRAME 130
0.09386098600225523
Frame 144
tensor(0.1589)
 # KEYFRAME 131
0.09487552199789206
Backending... 132 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 64542, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=900 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 135/556] scannetpp/7f4d173c9c/frame frames=145 tta_steps_this_scene=11 mean_loss=0.3649 total_steps=900 time=57.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0663)
Frame 2
tensor(0.4126)
 # KEYFRAME 1
Frame 3
tensor(0.2149)
 # KEYFRAME 2
0.05151359700175817
Frame 4
tensor(0.1879)
 # KEYFRAME 3
0.05263710299914237
Frame 5
tensor(0.4332)
 # KEYFRAME 4
0.05413541700181668
Frame 6
tensor(0.3821)
 # KEYFRAME 5
0.05536994300200604
Frame 7
tensor(0.3860)
 # KEYFRAME 6
0.056902037002146244
Frame 8
tensor(0.2435)
 # KEYFRAME 7
0.056952406997879734
Frame 9
tensor(0.0814)
Frame 10
tensor(0.3001)
 # KEYFRAME 8
0.058074272998055676
Frame 11
tensor(0.2084)
 # KEYFRAME 9
0.05825759299841593
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.2175)
 # KEYFRAME 10
0.052012585001648404
Frame 13
tensor(0.2472)
 # KEYFRAME 11
0.054027197998948395
Frame 14
tensor(0.4212)
 # KEYFRAME 12
0.05540251300044474
Frame 15
tensor(0.2385)
 # KEYFRAME 13
0.05857252100031474
Frame 16
tensor(0.6593)
 # KEYFRAME 14
0.057887334001861745
Frame 17
tensor(0.8217)
 # KEYFRAME 15
0.05866692199924728
Frame 18
tensor(0.2263)
 # KEYFRAME 16
0.05981578799764975
Frame 19
tensor(0.2761)
 # KEYFRAME 17
0.060673554999084445
Frame 20
tensor(0.0990)
Frame 21
tensor(0.5728)
 # KEYFRAME 18
0.061372192001726944
Frame 22
tensor(0.1822)
 # KEYFRAME 19
0.06282160599948838
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 23
tensor(0.2284)
 # KEYFRAME 20
0.05897817000004579
Frame 24
tensor(0.2077)
 # KEYFRAME 21
0.06061885400049505
Frame 25
tensor(0.3931)
 # KEYFRAME 22
0.061100773000362096
Frame 26
tensor(0.1591)
 # KEYFRAME 23
0.06179098999928101
Frame 27
tensor(0.2675)
 # KEYFRAME 24
0.0624059279980429
Frame 28
tensor(0.2946)
 # KEYFRAME 25
0.06342775399753009
Frame 29
tensor(0.1307)
 # KEYFRAME 26
0.06549672699838993
Frame 30
tensor(0.0483)
Frame 31
tensor(0.1915)
 # KEYFRAME 27
0.06673404300090624
Frame 32
tensor(0.3067)
 # KEYFRAME 28
0.06684927199967206
Frame 33
tensor(0.1310)
 # KEYFRAME 29
0.06860610599687789
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 34
tensor(0.2011)
 # KEYFRAME 30
0.06573138599924278
Frame 35
tensor(0.2669)
 # KEYFRAME 31
0.06795274800242623
Frame 36
tensor(0.2913)
 # KEYFRAME 32
0.06912708399977419
Frame 37
tensor(0.3430)
 # KEYFRAME 33
0.0702207600006659
Frame 38
tensor(0.0215)
Frame 39
tensor(0.0293)
Frame 40
tensor(0.0269)
Frame 41
tensor(0.3393)
 # KEYFRAME 34
0.07218999299948337
Frame 42
tensor(0.2135)
 # KEYFRAME 35
0.07264859100178
Frame 43
tensor(0.4022)
 # KEYFRAME 36
0.07445131499844138
Frame 44
tensor(0.4444)
 # KEYFRAME 37
0.07557498100140947
Frame 45
tensor(0.4581)
 # KEYFRAME 38
0.07746706400212133
Frame 46
tensor(0.2658)
 # KEYFRAME 39
0.07691906599939102
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=901 loss_distill=0.1733 tta_take=0.009s
Frame 47
tensor(0.3685)
 # KEYFRAME 40
0.07274307100306032
Frame 48
tensor(0.1881)
 # KEYFRAME 41
0.07486991400219267
Frame 49
tensor(0.2132)
 # KEYFRAME 42
0.0745978049999394
Frame 50
tensor(0.1885)
 # KEYFRAME 43
0.07590978000007453
Frame 51
tensor(0.4475)
 # KEYFRAME 44
0.07652368800336262
Frame 52
tensor(0.1825)
 # KEYFRAME 45
0.07692917700114776
Frame 53
tensor(0.3388)
 # KEYFRAME 46
0.0778359329997329
Frame 54
tensor(0.1708)
 # KEYFRAME 47
0.07863483000255655
Frame 55
tensor(0.7395)
 # KEYFRAME 48
0.07919623800262343
Frame 56
tensor(0.1459)
 # KEYFRAME 49
0.07999544600170339
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=902 loss_distill=0.2747 tta_take=0.009s
Frame 57
tensor(0.1809)
 # KEYFRAME 50
0.07959845699951984
Frame 58
tensor(0.3083)
 # KEYFRAME 51
0.08167058999970322
Frame 59
tensor(0.1985)
 # KEYFRAME 52
0.08189411800049129
Frame 60
tensor(0.1480)
 # KEYFRAME 53
0.08328178400188335
Frame 61
tensor(0.1269)
 # KEYFRAME 54
0.08400701099890284
Frame 62
tensor(0.2303)
 # KEYFRAME 55
0.08472390799943241
Frame 63
tensor(0.3377)
 # KEYFRAME 56
0.08538866600065376
Frame 64
tensor(0.5371)
 # KEYFRAME 57
0.08625311300056637
Frame 65
tensor(0.1423)
 # KEYFRAME 58
0.08727053999973577
Frame 66
tensor(0.2153)
 # KEYFRAME 59
0.08808401599890203
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=903 loss_distill=0.3466 tta_take=0.009s
Frame 67
tensor(0.0887)
Frame 68
tensor(0.2944)
 # KEYFRAME 60
0.08657169199796044
Frame 69
tensor(0.1644)
 # KEYFRAME 61
0.0884737150008732
Frame 70
tensor(0.5579)
 # KEYFRAME 62
0.08944449100090424
Frame 71
tensor(0.3166)
 # KEYFRAME 63
0.09032075899813208
Frame 72
tensor(0.2967)
 # KEYFRAME 64
0.0913936940014537
Frame 73
tensor(0.4394)
 # KEYFRAME 65
0.09299685899895849
Frame 74
tensor(0.1812)
 # KEYFRAME 66
0.09344175699879997
Frame 75
tensor(0.3631)
 # KEYFRAME 67
0.09520408099706401
Frame 76
tensor(0.1752)
 # KEYFRAME 68
0.09641400700274971
Frame 77
tensor(0.4588)
 # KEYFRAME 69
0.09707637500105193
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=904 loss_distill=0.4024 tta_take=0.009s
Frame 78
tensor(0.4564)
 # KEYFRAME 70
0.09247621000031359
Frame 79
tensor(0.2160)
 # KEYFRAME 71
0.09544085100060329
Frame 80
tensor(0.1486)
 # KEYFRAME 72
0.09595564900155296
Frame 81
tensor(0.1647)
 # KEYFRAME 73
0.09706661499876645
Frame 82
tensor(0.1991)
 # KEYFRAME 74
0.09842236899930867
Frame 83
tensor(0.2336)
 # KEYFRAME 75
0.09943859600025462
Frame 84
tensor(0.3716)
 # KEYFRAME 76
0.10041722200185177
Frame 85
tensor(0.4408)
 # KEYFRAME 77
0.10123182000097586
Frame 86
tensor(0.2181)
 # KEYFRAME 78
0.10252655499789398
Frame 87
tensor(0.1506)
 # KEYFRAME 79
0.10348596100084251
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=905 loss_distill=0.4024 tta_take=0.009s
Frame 88
tensor(0.2685)
 # KEYFRAME 80
0.09353779700177256
Frame 89
tensor(0.0335)
Frame 90
tensor(0.4976)
 # KEYFRAME 81
0.09393227600230603
Frame 91
tensor(0.2546)
 # KEYFRAME 82
0.09534693099703873
Frame 92
tensor(0.1286)
 # KEYFRAME 83
0.09570279999752529
Frame 93
tensor(0.1000)
Frame 94
tensor(0.4749)
 # KEYFRAME 84
0.09675190499910968
Frame 95
tensor(0.1528)
 # KEYFRAME 85
0.09730024300006335
Frame 96
tensor(0.1055)
 # KEYFRAME 86
0.09783581200099434
Frame 97
tensor(0.1128)
 # KEYFRAME 87
0.09947167599966633
Frame 98
tensor(0.1960)
 # KEYFRAME 88
0.09958274499877007
Frame 99
tensor(0.2737)
 # KEYFRAME 89
0.1006808620004449
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=906 loss_distill=0.4024 tta_take=0.009s
Frame 100
tensor(0.3732)
 # KEYFRAME 90
0.09338840799682657
Frame 101
tensor(0.3263)
 # KEYFRAME 91
0.0938407659996301
Frame 102
tensor(0.3851)
 # KEYFRAME 92
0.09545949099992868
Frame 103
tensor(0.2883)
 # KEYFRAME 93
0.09605039799862425
Frame 104
tensor(0.1107)
 # KEYFRAME 94
0.09660085599898594
Frame 105
tensor(0.1788)
 # KEYFRAME 95
0.09773627200047486
Frame 106
tensor(0.1277)
 # KEYFRAME 96
0.0983753299988166
Frame 107
tensor(0.2760)
 # KEYFRAME 97
0.0987548480006808
Frame 108
tensor(0.1613)
 # KEYFRAME 98
0.10011124299853691
Frame 109
tensor(0.0948)
Frame 110
tensor(0.2793)
 # KEYFRAME 99
0.10079288099950645
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=907 loss_distill=0.4024 tta_take=0.009s
Frame 111
tensor(0.2343)
 # KEYFRAME 100
0.0935428269986005
Frame 112
tensor(0.0674)
Frame 113
tensor(0.3604)
 # KEYFRAME 101
0.09575060999850393
Frame 114
tensor(0.2055)
 # KEYFRAME 102
0.09482599199691322
Frame 115
tensor(0.4073)
 # KEYFRAME 103
0.09663676600030158
Frame 116
tensor(0.0863)
Frame 117
tensor(0.0897)
Frame 118
tensor(0.0911)
Frame 119
tensor(0.1005)
 # KEYFRAME 104
0.09691476500302088
Frame 120
tensor(0.1244)
 # KEYFRAME 105
0.09733663400038495
Frame 121
tensor(0.3741)
 # KEYFRAME 106
0.09786232199985534
Frame 122
tensor(0.4746)
 # KEYFRAME 107
0.09842878999916138
Frame 123
tensor(0.4040)
 # KEYFRAME 108
0.09919968699978199
Frame 124
tensor(0.3279)
 # KEYFRAME 109
0.0998709349987621
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=908 loss_distill=0.4024 tta_take=0.009s
Frame 125
tensor(0.2813)
 # KEYFRAME 110
0.09331036799994763
Frame 126
tensor(0.3998)
 # KEYFRAME 111
0.09427307499936433
Frame 127
tensor(0.2135)
 # KEYFRAME 112
0.0951398320030421
Frame 128
tensor(0.2842)
 # KEYFRAME 113
0.09612909800125635
Frame 129
tensor(0.4196)
 # KEYFRAME 114
0.09696994499972789
Frame 130
tensor(0.4765)
 # KEYFRAME 115
0.09693148499718518
Frame 131
tensor(0.3151)
 # KEYFRAME 116
0.09776435199819389
Frame 132
tensor(0.0621)
Frame 133
tensor(0.3421)
 # KEYFRAME 117
0.0989510870022059
Frame 134
tensor(0.3267)
 # KEYFRAME 118
0.09972861499772989
Frame 135
tensor(0.2232)
 # KEYFRAME 119
0.10074908099704771
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=909 loss_distill=0.4024 tta_take=0.009s
Frame 136
tensor(0.4460)
 # KEYFRAME 120
0.0924341310019372
Frame 137
tensor(0.3850)
 # KEYFRAME 121
0.09513750200130744
Frame 138
tensor(0.1248)
 # KEYFRAME 122
0.09543495999969309
Frame 139
tensor(0.1764)
 # KEYFRAME 123
0.09629104800114874
Frame 140
tensor(0.3689)
 # KEYFRAME 124
0.09746345399980783
Frame 141
tensor(0.0761)
Backending... 125 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 67665, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=910 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 136/556] scannetpp/1366d5ae89/frame frames=142 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=910 time=53.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0276)
Frame 2
tensor(0.0708)
Frame 3
tensor(0.1140)
 # KEYFRAME 1
Frame 4
tensor(0.0471)
Frame 5
tensor(0.0544)
Frame 6
tensor(0.1190)
 # KEYFRAME 2
0.051915585001552245
Frame 7
tensor(0.0670)
Frame 8
tensor(0.1379)
 # KEYFRAME 3
0.052180134000082035
Frame 9
tensor(0.2309)
 # KEYFRAME 4
0.053388670003187144
Frame 10
tensor(0.1163)
 # KEYFRAME 5
0.05434053600038169
Frame 11
tensor(0.1047)
 # KEYFRAME 6
0.055691302000923315
Frame 12
tensor(0.1006)
 # KEYFRAME 7
0.05610814000101527
Frame 13
tensor(0.0386)
Frame 14
tensor(0.0977)
Frame 15
tensor(0.1942)
 # KEYFRAME 8
0.056866907001676736
Frame 16
tensor(0.1043)
 # KEYFRAME 9
0.05749531599940383
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 17
tensor(0.0925)
Frame 18
tensor(0.1682)
 # KEYFRAME 10
0.05144911699971999
Frame 19
tensor(0.1761)
 # KEYFRAME 11
0.05234255300092627
Frame 20
tensor(0.1828)
 # KEYFRAME 12
0.053592308999213856
Frame 21
tensor(0.1776)
 # KEYFRAME 13
0.05562930200176197
Frame 22
tensor(0.1266)
 # KEYFRAME 14
0.055523372000607196
Frame 23
tensor(0.1323)
 # KEYFRAME 15
0.055593021999811754
Frame 24
tensor(0.1188)
 # KEYFRAME 16
0.05594652099898667
Frame 25
tensor(0.0690)
Frame 26
tensor(0.4902)
 # KEYFRAME 17
0.05671524799981853
Frame 27
tensor(0.1299)
 # KEYFRAME 18
0.05745510500128148
Frame 28
tensor(0.1464)
 # KEYFRAME 19
0.057583865000196965
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 29
tensor(0.1192)
 # KEYFRAME 20
0.053923717998259235
Frame 30
tensor(0.1199)
 # KEYFRAME 21
0.0545672359985474
Frame 31
tensor(0.1280)
 # KEYFRAME 22
0.05522804399879533
Frame 32
tensor(0.2050)
 # KEYFRAME 23
0.055560712000442436
Frame 33
tensor(0.1528)
 # KEYFRAME 24
0.056154789999709465
Frame 34
tensor(0.1977)
 # KEYFRAME 25
0.056874616999266436
Frame 35
tensor(0.1778)
 # KEYFRAME 26
0.05815371300195693
Frame 36
tensor(0.1550)
 # KEYFRAME 27
0.05929495899908943
Frame 37
tensor(0.2763)
 # KEYFRAME 28
0.05986558700169553
Frame 38
tensor(0.2584)
 # KEYFRAME 29
0.06072527400101535
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 39
tensor(0.1325)
 # KEYFRAME 30
0.05855103199792211
Frame 40
tensor(0.2686)
 # KEYFRAME 31
0.05948326900033862
Frame 41
tensor(0.0612)
Frame 42
tensor(0.2143)
 # KEYFRAME 32
0.059472977998666465
Frame 43
tensor(0.1960)
 # KEYFRAME 33
0.06049325399726513
Frame 44
tensor(0.2450)
 # KEYFRAME 34
0.060900073000084376
Frame 45
tensor(0.1818)
 # KEYFRAME 35
0.06135057200299343
Frame 46
tensor(0.2535)
 # KEYFRAME 36
0.06178734000059194
Frame 47
tensor(0.1848)
 # KEYFRAME 37
0.06251111700112233
Frame 48
tensor(0.1353)
 # KEYFRAME 38
0.06340889499915647
Frame 49
tensor(0.1571)
 # KEYFRAME 39
0.06443561100240913
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=911 loss_distill=0.1733 tta_take=0.008s
Frame 50
tensor(0.1596)
 # KEYFRAME 40
0.06252361700171605
Frame 51
tensor(0.1813)
 # KEYFRAME 41
0.06417662099920562
Frame 52
tensor(0.1043)
 # KEYFRAME 42
0.06454273100098362
Frame 53
tensor(0.1012)
 # KEYFRAME 43
0.06376683299822616
Frame 54
tensor(0.0995)
Frame 55
tensor(0.1608)
 # KEYFRAME 44
0.06559430600100313
Frame 56
tensor(0.1685)
 # KEYFRAME 45
0.06585894499949063
Frame 57
tensor(0.1530)
 # KEYFRAME 46
0.06609182500324096
Frame 58
tensor(0.1555)
 # KEYFRAME 47
0.06638850400122465
Frame 59
tensor(0.2180)
 # KEYFRAME 48
0.06791969799814979
Frame 60
tensor(0.2119)
 # KEYFRAME 49
0.0684417670017865
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=912 loss_distill=0.2747 tta_take=0.008s
Frame 61
tensor(0.1328)
 # KEYFRAME 50
0.0668376920002629
Frame 62
tensor(0.0946)
Frame 63
tensor(0.1141)
 # KEYFRAME 51
0.06826794700100436
Frame 64
tensor(0.0991)
Frame 65
tensor(0.2083)
 # KEYFRAME 52
0.06856984600017313
Frame 66
tensor(0.0170)
Frame 67
tensor(0.2166)
 # KEYFRAME 53
0.06893647399920155
Frame 68
tensor(0.1431)
 # KEYFRAME 54
0.0691313640018052
Frame 69
tensor(0.1111)
 # KEYFRAME 55
0.07050744899970596
Frame 70
tensor(0.1279)
 # KEYFRAME 56
0.07062760799817625
Frame 71
tensor(0.1489)
 # KEYFRAME 57
0.0711221370002022
Frame 72
tensor(0.1504)
 # KEYFRAME 58
0.07138477600165061
Frame 73
tensor(0.1385)
 # KEYFRAME 59
0.071776194999984
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=913 loss_distill=0.3466 tta_take=0.008s
Frame 74
tensor(0.1631)
 # KEYFRAME 60
0.07167639499675715
Frame 75
tensor(0.1431)
 # KEYFRAME 61
0.07291175099817337
Frame 76
tensor(0.1884)
 # KEYFRAME 62
0.07278406099794665
Frame 77
tensor(0.2211)
 # KEYFRAME 63
0.07323905899829697
Frame 78
tensor(0.2428)
 # KEYFRAME 64
0.07382481800232199
Frame 79
tensor(0.0920)
Frame 80
tensor(0.2439)
 # KEYFRAME 65
0.0732405100025062
Frame 81
tensor(0.1272)
 # KEYFRAME 66
0.07501128299918491
Frame 82
tensor(0.1748)
 # KEYFRAME 67
0.07574125999963144
Frame 83
tensor(0.2557)
 # KEYFRAME 68
0.07682565700088162
Frame 84
tensor(0.3081)
 # KEYFRAME 69
0.0774494239994965
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=914 loss_distill=0.4024 tta_take=0.008s
Frame 85
tensor(0.2561)
 # KEYFRAME 70
0.07541791199764702
Frame 86
tensor(0.1737)
 # KEYFRAME 71
0.07593022000219207
Frame 87
tensor(0.2003)
 # KEYFRAME 72
0.07680886600064696
Frame 88
tensor(0.1822)
 # KEYFRAME 73
0.0775879540015012
Frame 89
tensor(0.2307)
 # KEYFRAME 74
0.07862517000103253
Frame 90
tensor(0.2453)
 # KEYFRAME 75
0.07960387600178365
Frame 91
tensor(0.0840)
Frame 92
tensor(0.1071)
 # KEYFRAME 76
0.07827123100287281
Frame 93
tensor(0.1064)
 # KEYFRAME 77
0.08144929999980377
Frame 94
tensor(0.0893)
Frame 95
tensor(0.0886)
Frame 96
tensor(0.2095)
 # KEYFRAME 78
0.08193571900119423
Frame 97
tensor(0.2358)
 # KEYFRAME 79
0.08243100699837669
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=915 loss_distill=0.4024 tta_take=0.008s
Frame 98
tensor(0.2597)
 # KEYFRAME 80
0.07596064999961527
Frame 99
tensor(0.2504)
 # KEYFRAME 81
0.07587366899679182
Frame 100
tensor(0.2401)
 # KEYFRAME 82
0.0767568269984622
Frame 101
tensor(0.3386)
 # KEYFRAME 83
0.0777092829994217
Frame 102
tensor(0.2424)
 # KEYFRAME 84
0.07766160399842192
Frame 103
tensor(0.1868)
 # KEYFRAME 85
0.07793675199718564
Frame 104
tensor(0.1320)
 # KEYFRAME 86
0.07783409300100175
Frame 105
tensor(0.1490)
 # KEYFRAME 87
0.07922877800228889
Frame 106
tensor(0.1002)
 # KEYFRAME 88
0.07938319700042484
Frame 107
tensor(0.2239)
 # KEYFRAME 89
0.08041693400082295
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=916 loss_distill=0.4024 tta_take=0.008s
Frame 108
tensor(0.1365)
 # KEYFRAME 90
0.07552803100043093
Frame 109
tensor(0.2263)
 # KEYFRAME 91
0.07750229399971431
Frame 110
tensor(0.1029)
 # KEYFRAME 92
0.07781324300231063
Frame 111
tensor(0.2017)
 # KEYFRAME 93
0.07888158899731934
Frame 112
tensor(0.2930)
 # KEYFRAME 94
0.07940806699843961
Frame 113
tensor(0.2200)
 # KEYFRAME 95
0.08044900399909238
Frame 114
tensor(0.2327)
 # KEYFRAME 96
0.07916601799661294
Frame 115
tensor(0.2740)
 # KEYFRAME 97
0.08190139899670612
Frame 116
tensor(0.2131)
 # KEYFRAME 98
0.08257526599845733
Frame 117
tensor(0.1545)
 # KEYFRAME 99
0.0845819889982522
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=917 loss_distill=0.4024 tta_take=0.008s
Frame 118
tensor(0.2571)
 # KEYFRAME 100
0.07571948999975575
Frame 119
tensor(0.5817)
 # KEYFRAME 101
0.07805058299709344
Frame 120
tensor(0.0479)
Frame 121
tensor(0.1412)
 # KEYFRAME 102
0.07724586500262376
Frame 122
tensor(0.0824)
Frame 123
tensor(0.1645)
 # KEYFRAME 103
0.07788722300028894
Frame 124
tensor(0.3572)
 # KEYFRAME 104
0.07817961200271384
Frame 125
tensor(0.3383)
 # KEYFRAME 105
0.07873477899920545
Frame 126
tensor(0.1844)
 # KEYFRAME 106
0.07816938099858817
Frame 127
tensor(0.1614)
 # KEYFRAME 107
0.07942781699966872
Frame 128
tensor(0.1315)
 # KEYFRAME 108
0.0796044870003243
Frame 129
tensor(0.3573)
 # KEYFRAME 109
0.08087525199880474
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=918 loss_distill=0.4024 tta_take=0.008s
Frame 130
tensor(0.1480)
 # KEYFRAME 110
0.0753897020003933
Frame 131
tensor(0.1137)
 # KEYFRAME 111
0.07628925799872377
Frame 132
tensor(0.1520)
 # KEYFRAME 112
0.07712351500231307
Frame 133
tensor(0.1631)
 # KEYFRAME 113
0.07697554599872092
Frame 134
tensor(0.1581)
 # KEYFRAME 114
0.07775257300090743
Frame 135
tensor(0.4228)
 # KEYFRAME 115
0.07821092100130045
Frame 136
tensor(0.3293)
 # KEYFRAME 116
0.07790549299897975
Frame 137
tensor(0.0746)
Frame 138
tensor(0.1600)
 # KEYFRAME 117
0.07933778799997526
Frame 139
tensor(0.2519)
 # KEYFRAME 118
0.07968482700016466
Frame 140
tensor(0.2520)
 # KEYFRAME 119
0.07952026700149872
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=919 loss_distill=0.4024 tta_take=0.008s
Frame 141
tensor(0.0689)
Frame 142
tensor(0.1932)
 # KEYFRAME 120
0.07512632200086955
Frame 143
tensor(0.3578)
 # KEYFRAME 121
0.0773149349988671
Frame 144
tensor(0.3944)
 # KEYFRAME 122
0.07713192600203911
Frame 145
tensor(0.0269)
Frame 146
tensor(0.0370)
Frame 147
tensor(0.4313)
 # KEYFRAME 123
0.07718357499834383
Frame 148
tensor(0.1726)
 # KEYFRAME 124
0.07803874199817074
Frame 149
tensor(0.2019)
 # KEYFRAME 125
0.07868946000235155
Backending... 126 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 61380, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=920 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 137/556] scannetpp/076c822ecc/DSC frames=150 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=920 time=48.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.2356)
 # KEYFRAME 1
Frame 2
tensor(0.2097)
 # KEYFRAME 2
0.05156370600161608
Frame 3
tensor(0.1206)
 # KEYFRAME 3
0.05209206500148866
Frame 4
tensor(0.3081)
 # KEYFRAME 4
0.053394630002003396
Frame 5
tensor(0.4212)
 # KEYFRAME 5
0.05437059700125246
Frame 6
tensor(0.2352)
 # KEYFRAME 6
0.055671262001851574
Frame 7
tensor(0.2119)
 # KEYFRAME 7
0.05623625899897888
Frame 8
tensor(0.1063)
 # KEYFRAME 8
0.0566036090021953
Frame 9
tensor(0.1705)
 # KEYFRAME 9
0.057437625000602566
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.1656)
 # KEYFRAME 10
0.0515219970002363
Frame 11
tensor(0.2036)
 # KEYFRAME 11
0.05255080300048576
Frame 12
tensor(0.1322)
 # KEYFRAME 12
0.05366778899769997
Frame 13
tensor(0.1239)
 # KEYFRAME 13
0.055476822999480646
Frame 14
tensor(0.2029)
 # KEYFRAME 14
0.0552774040006625
Frame 15
tensor(0.1637)
 # KEYFRAME 15
0.05561585199757246
Frame 16
tensor(0.1945)
 # KEYFRAME 16
0.05583259099876159
Frame 17
tensor(0.1235)
 # KEYFRAME 17
0.05676909799876739
Frame 18
tensor(0.1143)
 # KEYFRAME 18
0.05738605499936966
Frame 19
tensor(0.1965)
 # KEYFRAME 19
0.057668975001433864
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 20
tensor(0.1943)
 # KEYFRAME 20
0.054163657001481624
Frame 21
tensor(0.1512)
 # KEYFRAME 21
0.054630466001981404
Frame 22
tensor(0.1171)
 # KEYFRAME 22
0.054985874998237705
Frame 23
tensor(0.0880)
Frame 24
tensor(0.2769)
 # KEYFRAME 23
0.05535167299967725
Frame 25
tensor(0.2612)
 # KEYFRAME 24
0.05594466099864803
Frame 26
tensor(0.1681)
 # KEYFRAME 25
0.056604409001010936
Frame 27
tensor(0.1747)
 # KEYFRAME 26
0.05788581399974646
Frame 28
tensor(0.2802)
 # KEYFRAME 27
0.05918050999753177
Frame 29
tensor(0.1854)
 # KEYFRAME 28
0.059567677999439184
Frame 30
tensor(0.1734)
 # KEYFRAME 29
0.06042669499947806
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 31
tensor(0.1388)
 # KEYFRAME 30
0.058450331998756155
Frame 32
tensor(0.2641)
 # KEYFRAME 31
0.059125890002178494
Frame 33
tensor(0.1889)
 # KEYFRAME 32
0.059488938000868075
Frame 34
tensor(0.2766)
 # KEYFRAME 33
0.060214066001208266
Frame 35
tensor(0.1457)
 # KEYFRAME 34
0.06063220499709132
Frame 36
tensor(0.1009)
 # KEYFRAME 35
0.060981323000305565
Frame 37
tensor(0.0863)
Frame 38
tensor(0.1545)
 # KEYFRAME 36
0.06173457000113558
Frame 39
tensor(0.0555)
Frame 40
tensor(0.2519)
 # KEYFRAME 37
0.06257132700193324
Frame 41
tensor(0.2932)
 # KEYFRAME 38
0.06313830500221229
Frame 42
tensor(0.1284)
 # KEYFRAME 39
0.06392427200262318
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=921 loss_distill=0.1733 tta_take=0.008s
Frame 43
tensor(0.1043)
 # KEYFRAME 40
0.06257637700036867
Frame 44
tensor(0.0912)
Frame 45
tensor(0.1692)
 # KEYFRAME 41
0.06394520300091244
Frame 46
tensor(0.0859)
Frame 47
tensor(0.1528)
 # KEYFRAME 42
0.06465417000072193
Frame 48
tensor(0.1365)
 # KEYFRAME 43
0.06388051199974143
Frame 49
tensor(0.0914)
Frame 50
tensor(0.1486)
 # KEYFRAME 44
0.06572457599759218
Frame 51
tensor(0.1596)
 # KEYFRAME 45
0.06628472400188912
Frame 52
tensor(0.0382)
Frame 53
tensor(0.1444)
 # KEYFRAME 46
0.06642043399915565
Frame 54
tensor(0.0725)
Frame 55
tensor(0.0845)
Frame 56
tensor(0.1754)
 # KEYFRAME 47
0.0662354839987529
Frame 57
tensor(0.0990)
Frame 58
tensor(0.1864)
 # KEYFRAME 48
0.06730790100118611
Frame 59
tensor(0.2530)
 # KEYFRAME 49
0.06892988500112551
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=922 loss_distill=0.2747 tta_take=0.008s
Frame 60
tensor(0.1301)
 # KEYFRAME 50
0.06692453100185958
Frame 61
tensor(0.2094)
 # KEYFRAME 51
0.06801813800120726
Frame 62
tensor(0.1344)
 # KEYFRAME 52
0.06899195399819291
Frame 63
tensor(0.0960)
Frame 64
tensor(0.4474)
 # KEYFRAME 53
0.06889842500095256
Frame 65
tensor(0.0629)
Frame 66
tensor(0.0710)
Frame 67
tensor(0.2544)
 # KEYFRAME 54
0.06901946400103043
Frame 68
tensor(0.3216)
 # KEYFRAME 55
0.07034010999996099
Frame 69
tensor(0.3048)
 # KEYFRAME 56
0.07081047799874796
Frame 70
tensor(0.0712)
Frame 71
tensor(0.2145)
 # KEYFRAME 57
0.07092655800079228
Frame 72
tensor(0.2185)
 # KEYFRAME 58
0.07121588600057294
Frame 73
tensor(0.1675)
 # KEYFRAME 59
0.07180530400000862
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=923 loss_distill=0.3466 tta_take=0.008s
Frame 74
tensor(0.0867)
Frame 75
tensor(0.1597)
 # KEYFRAME 60
0.071313125998131
Frame 76
tensor(0.3877)
 # KEYFRAME 61
0.07302622999850428
Frame 77
tensor(0.0909)
Frame 78
tensor(0.1425)
 # KEYFRAME 62
0.07269794199964963
Frame 79
tensor(0.1936)
 # KEYFRAME 63
0.07347310899785953
Frame 80
tensor(0.2331)
 # KEYFRAME 64
0.07437780599866528
Frame 81
tensor(0.1954)
 # KEYFRAME 65
0.07364824799878988
Frame 82
tensor(0.2200)
 # KEYFRAME 66
0.07554333100051736
Frame 83
tensor(0.1436)
 # KEYFRAME 67
0.0760098589998961
Frame 84
tensor(0.2750)
 # KEYFRAME 68
0.07707186599873239
Frame 85
tensor(0.3539)
 # KEYFRAME 69
0.07807762199809076
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=924 loss_distill=0.4024 tta_take=0.008s
Frame 86
tensor(0.4202)
 # KEYFRAME 70
0.07526224200046272
Frame 87
tensor(0.1338)
 # KEYFRAME 71
0.07751855499736848
Frame 88
tensor(0.1279)
 # KEYFRAME 72
0.0772679750007228
Frame 89
tensor(0.1799)
 # KEYFRAME 73
0.07810909199906746
Frame 90
tensor(0.3207)
 # KEYFRAME 74
0.07897098899775301
Frame 91
tensor(0.3827)
 # KEYFRAME 75
0.0803928339992126
Frame 92
tensor(0.1854)
 # KEYFRAME 76
0.07851232100074412
Frame 93
tensor(0.1545)
 # KEYFRAME 77
0.08154902000023867
Frame 94
tensor(0.2363)
 # KEYFRAME 78
0.08223960800023633
Frame 95
tensor(0.1371)
 # KEYFRAME 79
0.08318701399912243
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=925 loss_distill=0.4024 tta_take=0.008s
Frame 96
tensor(0.1193)
 # KEYFRAME 80
0.07539780099978088
Frame 97
tensor(0.0779)
Frame 98
tensor(0.1613)
 # KEYFRAME 81
0.07758385399938561
Frame 99
tensor(0.2778)
 # KEYFRAME 82
0.07670415699976729
Frame 100
tensor(0.1626)
 # KEYFRAME 83
0.07718078499965486
Frame 101
tensor(0.2960)
 # KEYFRAME 84
0.07833600099911564
Frame 102
tensor(0.3827)
 # KEYFRAME 85
0.07858934000250883
Frame 103
tensor(0.2224)
 # KEYFRAME 86
0.07839350100039155
Frame 104
tensor(0.4597)
 # KEYFRAME 87
0.07923535900044953
Frame 105
tensor(0.1672)
 # KEYFRAME 88
0.08013863499945728
Frame 106
tensor(0.2007)
 # KEYFRAME 89
0.08018691500183195
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=926 loss_distill=0.4024 tta_take=0.008s
Frame 107
tensor(0.2010)
 # KEYFRAME 90
0.07559138100259588
Frame 108
tensor(0.0896)
Frame 109
tensor(0.1021)
 # KEYFRAME 91
0.07640843800254515
Frame 110
tensor(0.1937)
 # KEYFRAME 92
0.07719825599997421
Frame 111
tensor(0.0455)
Frame 112
tensor(0.0876)
Frame 113
tensor(0.1145)
 # KEYFRAME 93
0.07810536200122442
Frame 114
tensor(0.2077)
 # KEYFRAME 94
0.07922386799691594
Frame 115
tensor(0.1885)
 # KEYFRAME 95
0.07965480700295302
Frame 116
tensor(0.3996)
 # KEYFRAME 96
0.07837236100021983
Frame 117
tensor(0.3127)
 # KEYFRAME 97
0.08124342099836213
Frame 118
tensor(0.1888)
 # KEYFRAME 98
0.08189081800082931
Frame 119
tensor(0.0658)
Frame 120
tensor(0.4174)
 # KEYFRAME 99
0.08230856699810829
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=927 loss_distill=0.4024 tta_take=0.008s
Frame 121
tensor(0.1669)
 # KEYFRAME 100
0.075392691000161
Frame 122
tensor(0.2646)
 # KEYFRAME 101
0.07777114300188259
Frame 123
tensor(0.2534)
 # KEYFRAME 102
0.07700607600054354
Frame 124
tensor(0.0682)
Frame 125
tensor(0.3738)
 # KEYFRAME 103
0.07787953299703076
Frame 126
tensor(0.2098)
 # KEYFRAME 104
0.07798782200188725
Frame 127
tensor(0.1826)
 # KEYFRAME 105
0.07850214099744335
Frame 128
tensor(0.0915)
Frame 129
tensor(0.1648)
 # KEYFRAME 106
0.07796447299915599
Frame 130
tensor(0.2198)
 # KEYFRAME 107
0.07924963799814577
Frame 131
tensor(0.7848)
 # KEYFRAME 108
0.07968631699986872
Frame 132
tensor(0.7252)
 # KEYFRAME 109
0.08052593300089939
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=928 loss_distill=0.4024 tta_take=0.008s
Frame 133
tensor(0.3204)
 # KEYFRAME 110
0.07612234900079784
Frame 134
tensor(0.1550)
 # KEYFRAME 111
0.07781917300235364
Frame 135
tensor(0.1744)
 # KEYFRAME 112
0.07770776400138857
Frame 136
tensor(0.1966)
 # KEYFRAME 113
0.0775121440019575
Frame 137
tensor(0.1786)
 # KEYFRAME 114
0.07849655000245548
Frame 138
tensor(0.1262)
 # KEYFRAME 115
0.07890381000106572
Frame 139
tensor(0.1212)
 # KEYFRAME 116
0.0785114300015266
Frame 140
tensor(0.1101)
 # KEYFRAME 117
0.07932950800022809
Frame 141
tensor(0.2138)
 # KEYFRAME 118
0.07998267600123654
Frame 142
tensor(0.1538)
 # KEYFRAME 119
0.08040122300008079
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=929 loss_distill=0.4024 tta_take=0.008s
Frame 143
tensor(0.1597)
 # KEYFRAME 120
0.07591246900119586
Frame 144
tensor(0.3455)
 # KEYFRAME 121
0.07654445699881762
Frame 145
tensor(0.4619)
 # KEYFRAME 122
0.0773285350005608
Frame 146
tensor(0.2418)
 # KEYFRAME 123
0.07780630300112534
Frame 147
tensor(0.2249)
 # KEYFRAME 124
0.07790457299779519
Frame 148
tensor(0.2802)
 # KEYFRAME 125
0.07860159000119893
Frame 149
tensor(0.2708)
 # KEYFRAME 126
0.07786815300278249
Backending... 127 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62310, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=930 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 138/556] scannetpp/2e74812d00/DSC frames=150 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=930 time=49.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0579)
Frame 2
tensor(0.1241)
 # KEYFRAME 1
Frame 3
tensor(0.0602)
Frame 4
tensor(0.1311)
 # KEYFRAME 2
0.051532305998989614
Frame 5
tensor(0.0568)
Frame 6
tensor(0.1448)
 # KEYFRAME 3
0.05185993500344921
Frame 7
tensor(0.0923)
Frame 8
tensor(0.1602)
 # KEYFRAME 4
0.05334677000064403
Frame 9
tensor(0.0698)
Frame 10
tensor(0.1287)
 # KEYFRAME 5
0.05415528700177674
Frame 11
tensor(0.0702)
Frame 12
tensor(0.1120)
 # KEYFRAME 6
0.05553145199883147
Frame 13
tensor(0.0633)
Frame 14
tensor(0.1403)
 # KEYFRAME 7
0.056174730001657736
Frame 15
tensor(0.0866)
Frame 16
tensor(0.1262)
 # KEYFRAME 8
0.05653903900019941
Frame 17
tensor(0.0954)
Frame 18
tensor(0.1493)
 # KEYFRAME 9
0.05751195500124595
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 19
tensor(0.0342)
Frame 20
tensor(0.0860)
Frame 21
tensor(0.1061)
 # KEYFRAME 10
0.05140835700149182
Frame 22
tensor(0.1028)
 # KEYFRAME 11
0.052382914000190794
Frame 23
tensor(0.0736)
Frame 24
tensor(0.1754)
 # KEYFRAME 12
0.05359025900179404
Frame 25
tensor(0.0691)
Frame 26
tensor(0.1206)
 # KEYFRAME 13
0.05539761299951351
Frame 27
tensor(0.0381)
Frame 28
tensor(0.0858)
Frame 29
tensor(0.1584)
 # KEYFRAME 14
0.05525125300118816
Frame 30
tensor(0.0878)
Frame 31
tensor(0.1872)
 # KEYFRAME 15
0.05555741200078046
Frame 32
tensor(0.0905)
Frame 33
tensor(0.2008)
 # KEYFRAME 16
0.05582634100210271
Frame 34
tensor(0.0566)
Frame 35
tensor(0.1211)
 # KEYFRAME 17
0.05666580899924156
Frame 36
tensor(0.0404)
Frame 37
tensor(0.0793)
Frame 38
tensor(0.1378)
 # KEYFRAME 18
0.05735472599917557
Frame 39
tensor(0.0709)
Frame 40
tensor(0.1288)
 # KEYFRAME 19
0.057509894999384414
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 41
tensor(0.1077)
 # KEYFRAME 20
0.05417110800044611
Frame 42
tensor(0.0787)
Frame 43
tensor(0.1234)
 # KEYFRAME 21
0.05449567500181729
Frame 44
tensor(0.1035)
 # KEYFRAME 22
0.05489333500008797
Frame 45
tensor(0.0515)
Frame 46
tensor(0.0838)
Frame 47
tensor(0.0598)
Frame 48
tensor(0.0793)
Frame 49
tensor(0.0697)
Frame 50
tensor(0.0804)
Frame 51
tensor(0.1498)
 # KEYFRAME 23
0.055289153002377134
Frame 52
tensor(0.0701)
Frame 53
tensor(0.1562)
 # KEYFRAME 24
0.056179610000981484
Frame 54
tensor(0.0894)
Frame 55
tensor(0.1012)
 # KEYFRAME 25
0.05670281900165719
Frame 56
tensor(0.0849)
Frame 57
tensor(0.1586)
 # KEYFRAME 26
0.057967524000559933
Frame 58
tensor(0.0909)
Frame 59
tensor(0.1845)
 # KEYFRAME 27
0.05926295899917022
Frame 60
tensor(0.0910)
Frame 61
tensor(0.1465)
 # KEYFRAME 28
0.059722078000049805
Frame 62
tensor(0.1440)
 # KEYFRAME 29
0.06064434399741003
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 63
tensor(0.0506)
Frame 64
tensor(0.1782)
 # KEYFRAME 30
0.05825665299926186
Frame 65
tensor(0.0962)
Frame 66
tensor(0.1718)
 # KEYFRAME 31
0.059111489998031175
Frame 67
tensor(0.0823)
Frame 68
tensor(0.0938)
Frame 69
tensor(0.1465)
 # KEYFRAME 32
0.05944320900016464
Frame 70
tensor(0.1207)
 # KEYFRAME 33
0.06002500599788618
Frame 71
tensor(0.0869)
Frame 72
tensor(0.1610)
 # KEYFRAME 34
0.06042025500210002
Frame 73
tensor(0.0697)
Frame 74
tensor(0.0187)
Frame 75
tensor(0.1358)
 # KEYFRAME 35
0.06106185200042091
Frame 76
tensor(0.0709)
Frame 77
tensor(0.1693)
 # KEYFRAME 36
0.06155545100045856
Frame 78
tensor(0.1202)
 # KEYFRAME 37
0.06234617800146225
Frame 79
tensor(0.0714)
Frame 80
tensor(0.0764)
Frame 81
tensor(0.1148)
 # KEYFRAME 38
0.06329048499901546
Frame 82
tensor(0.0852)
Frame 83
tensor(0.1493)
 # KEYFRAME 39
0.0639507619998767
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=931 loss_distill=0.1733 tta_take=0.008s
Frame 84
tensor(0.0644)
Frame 85
tensor(0.0566)
Frame 86
tensor(0.0787)
Frame 87
tensor(0.1386)
 # KEYFRAME 40
0.062316078001458663
Frame 88
tensor(0.0639)
Frame 89
tensor(0.0752)
Frame 90
tensor(0.1225)
 # KEYFRAME 41
0.06391752199851908
Frame 91
tensor(0.0512)
Frame 92
tensor(0.0828)
Frame 93
tensor(0.1620)
 # KEYFRAME 42
0.06439112100269995
Frame 94
tensor(0.0752)
Frame 95
tensor(0.1784)
 # KEYFRAME 43
0.06362982299833675
Frame 96
tensor(0.1035)
 # KEYFRAME 44
0.065464087001601
Frame 97
tensor(0.1125)
 # KEYFRAME 45
0.06589813599930494
Frame 98
tensor(0.1127)
 # KEYFRAME 46
0.06621408499995596
Frame 99
tensor(0.1194)
 # KEYFRAME 47
0.0663404740007536
Frame 100
tensor(0.0787)
Frame 101
tensor(0.1581)
 # KEYFRAME 48
0.0673395800004073
Frame 102
tensor(0.1249)
 # KEYFRAME 49
0.06824797699664487
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=932 loss_distill=0.2747 tta_take=0.008s
Frame 103
tensor(0.0559)
Frame 104
tensor(0.1512)
 # KEYFRAME 50
0.06684355200195569
Frame 105
tensor(0.1227)
 # KEYFRAME 51
0.06788297900129692
Frame 106
tensor(0.1153)
 # KEYFRAME 52
0.06848687599995174
Frame 107
tensor(0.0548)
Frame 108
tensor(0.1628)
 # KEYFRAME 53
0.06928564400004689
Frame 109
tensor(0.0711)
Frame 110
tensor(0.0995)
Frame 111
tensor(0.1367)
 # KEYFRAME 54
0.06898117400123738
Frame 112
tensor(0.1011)
 # KEYFRAME 55
0.06984323100186884
Frame 113
tensor(0.0313)
Frame 114
tensor(0.1449)
 # KEYFRAME 56
0.07049378900046577
Frame 115
tensor(0.0693)
Frame 116
tensor(0.1219)
 # KEYFRAME 57
0.07093804800024373
Frame 117
tensor(0.0513)
Frame 118
tensor(0.0454)
Frame 119
tensor(0.0957)
Frame 120
tensor(0.1491)
 # KEYFRAME 58
0.07174153499727254
Frame 121
tensor(0.0521)
Frame 122
tensor(0.1072)
 # KEYFRAME 59
0.07197716399969067
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=933 loss_distill=0.3466 tta_take=0.008s
Frame 123
tensor(0.0284)
Frame 124
tensor(0.0519)
Frame 125
tensor(0.0526)
Frame 126
tensor(0.1484)
 # KEYFRAME 60
0.07113890700202319
Frame 127
tensor(0.1139)
 # KEYFRAME 61
0.0731017799989786
Frame 128
tensor(0.1018)
 # KEYFRAME 62
0.07317783899998176
Frame 129
tensor(0.1283)
 # KEYFRAME 63
0.07295515999794588
Frame 130
tensor(0.1509)
 # KEYFRAME 64
0.07369488699987414
Frame 131
tensor(0.0866)
Frame 132
tensor(0.1371)
 # KEYFRAME 65
0.07356610799979535
Frame 133
tensor(0.0844)
Frame 134
tensor(0.1677)
 # KEYFRAME 66
0.07524236199969891
Frame 135
tensor(0.1106)
 # KEYFRAME 67
0.07616965899796924
Frame 136
tensor(0.1243)
 # KEYFRAME 68
0.07666507700196235
Frame 137
tensor(0.0751)
Frame 138
tensor(0.0917)
Frame 139
tensor(0.0678)
Frame 140
tensor(0.1607)
 # KEYFRAME 69
0.0779512019980757
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=934 loss_distill=0.4024 tta_take=0.008s
Frame 141
tensor(0.0784)
Frame 142
tensor(0.1383)
 # KEYFRAME 70
0.0757150499994168
Frame 143
tensor(0.0272)
Frame 144
tensor(0.1329)
 # KEYFRAME 71
0.07735469500039471
Frame 145
tensor(0.0601)
Frame 146
tensor(0.0897)
Frame 147
tensor(0.1192)
 # KEYFRAME 72
0.0770621960000426
Frame 148
tensor(0.0690)
Frame 149
tensor(0.0746)
Backending... 73 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 58590, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=935 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 139/556] scannetpp/9b74afd2d2/DSC frames=150 tta_steps_this_scene=5 mean_loss=0.3198 total_steps=935 time=31.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0098)
Frame 2
tensor(0.1052)
 # KEYFRAME 1
Frame 3
tensor(0.1897)
 # KEYFRAME 2
0.05102356799761765
Frame 4
tensor(0.1997)
 # KEYFRAME 3
0.05220886499955668
Frame 5
tensor(0.2175)
 # KEYFRAME 4
0.05383101799816359
Frame 6
tensor(0.1547)
 # KEYFRAME 5
0.05477645499922801
Frame 7
tensor(0.2430)
 # KEYFRAME 6
0.055905760997120524
Frame 8
tensor(0.2356)
 # KEYFRAME 7
0.056386808999377536
Frame 9
tensor(0.2846)
 # KEYFRAME 8
0.05771012499826611
Frame 10
tensor(0.5620)
 # KEYFRAME 9
0.05786701399847516
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.2021)
 # KEYFRAME 10
0.05181007599821896
Frame 12
tensor(0.1403)
 # KEYFRAME 11
0.05390970799999195
Frame 13
tensor(0.1494)
 # KEYFRAME 12
0.05494306400214555
Frame 14
tensor(0.1221)
 # KEYFRAME 13
0.05689471699952264
Frame 15
tensor(0.1375)
 # KEYFRAME 14
0.057771534000494285
Frame 16
tensor(0.1695)
 # KEYFRAME 15
0.058196523001242895
Frame 17
tensor(0.1853)
 # KEYFRAME 16
0.05952249800247955
Frame 18
tensor(0.1976)
 # KEYFRAME 17
0.0602933749978547
Frame 19
tensor(0.2901)
 # KEYFRAME 18
0.06094702300106292
Frame 20
tensor(0.1495)
 # KEYFRAME 19
0.06262388699906296
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.2294)
 # KEYFRAME 20
0.05861331199776032
Frame 22
tensor(0.3376)
 # KEYFRAME 21
0.06037072500112117
Frame 23
tensor(0.1176)
 # KEYFRAME 22
0.06118759200035129
Frame 24
tensor(0.3121)
 # KEYFRAME 23
0.061693299998296425
Frame 25
tensor(0.1155)
 # KEYFRAME 24
0.062288768000144046
Frame 26
tensor(1.2043)
 # KEYFRAME 25
0.06299965499783866
Frame 27
tensor(0.1997)
 # KEYFRAME 26
0.06512610799836693
Frame 28
tensor(0.0435)
Frame 29
tensor(0.0411)
Frame 30
tensor(0.0356)
Frame 31
tensor(0.0341)
Frame 32
tensor(0.0319)
Frame 33
tensor(0.0542)
Frame 34
tensor(0.1076)
 # KEYFRAME 27
0.06623082399892155
Frame 35
tensor(0.1935)
 # KEYFRAME 28
0.06694889099890133
Frame 36
tensor(0.1508)
 # KEYFRAME 29
0.06825437700172188
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 37
tensor(0.2913)
 # KEYFRAME 30
0.06538892800017493
Frame 38
tensor(0.0255)
Frame 39
tensor(0.1923)
 # KEYFRAME 31
0.06736883000121452
Frame 40
tensor(0.1081)
 # KEYFRAME 32
0.06859600499956287
Frame 41
tensor(0.1361)
 # KEYFRAME 33
0.06956065199847217
Frame 42
tensor(0.0864)
Frame 43
tensor(0.0669)
Frame 44
tensor(0.2883)
 # KEYFRAME 34
0.07183565399827785
Frame 45
tensor(0.2571)
 # KEYFRAME 35
0.07235770300030708
Frame 46
tensor(0.1263)
 # KEYFRAME 36
0.07399165699825971
Frame 47
tensor(0.1644)
 # KEYFRAME 37
0.07526073199915118
Frame 48
tensor(0.3554)
 # KEYFRAME 38
0.0768077769971569
Frame 49
tensor(0.1619)
 # KEYFRAME 39
0.07640035900112707
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=936 loss_distill=0.1733 tta_take=0.009s
Frame 50
tensor(0.1211)
 # KEYFRAME 40
0.07243865199779975
Frame 51
tensor(0.1077)
 # KEYFRAME 41
0.07405710600141902
Frame 52
tensor(0.1090)
 # KEYFRAME 42
0.07395853699927102
Frame 53
tensor(0.0878)
Frame 54
tensor(0.1348)
 # KEYFRAME 43
0.07527866199961863
Frame 55
tensor(0.0564)
Frame 56
tensor(0.1511)
 # KEYFRAME 44
0.07542583099711919
Frame 57
tensor(0.0477)
Frame 58
tensor(0.0847)
Frame 59
tensor(0.4679)
 # KEYFRAME 45
0.07669100700150011
Frame 60
tensor(0.2060)
 # KEYFRAME 46
0.07734139400054119
Frame 61
tensor(0.0571)
Frame 62
tensor(0.2792)
 # KEYFRAME 47
0.07769881400236045
Frame 63
tensor(0.1278)
 # KEYFRAME 48
0.07837583099899348
Frame 64
tensor(0.2196)
 # KEYFRAME 49
0.07897832899834611
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=937 loss_distill=0.2747 tta_take=0.009s
Frame 65
tensor(0.2339)
 # KEYFRAME 50
0.0793499179999344
Frame 66
tensor(0.1359)
 # KEYFRAME 51
0.08019664400126203
Frame 67
tensor(0.1151)
 # KEYFRAME 52
0.0813928700008546
Frame 68
tensor(0.0862)
Frame 69
tensor(0.1563)
 # KEYFRAME 53
0.08275757500086911
Frame 70
tensor(0.3416)
 # KEYFRAME 54
0.08362976300122682
Frame 71
tensor(0.1575)
 # KEYFRAME 55
0.08393621199866175
Frame 72
tensor(0.1246)
 # KEYFRAME 56
0.08476603899907786
Frame 73
tensor(0.1334)
 # KEYFRAME 57
0.08498516799954814
Frame 74
tensor(0.1863)
 # KEYFRAME 58
0.08636767300049542
Frame 75
tensor(0.2976)
 # KEYFRAME 59
0.08890958299889462
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=938 loss_distill=0.3466 tta_take=0.009s
Frame 76
tensor(0.1072)
 # KEYFRAME 60
0.08590329499929794
Frame 77
tensor(0.1401)
 # KEYFRAME 61
0.08869682400109014
Frame 78
tensor(0.1160)
 # KEYFRAME 62
0.08927400299944566
Frame 79
tensor(0.1321)
 # KEYFRAME 63
0.09024599899930763
Frame 80
tensor(0.1898)
 # KEYFRAME 64
0.09128191499985405
Frame 81
tensor(0.2113)
 # KEYFRAME 65
0.09283121000044048
Frame 82
tensor(0.1982)
 # KEYFRAME 66
0.09319998799765017
Frame 83
tensor(0.1704)
 # KEYFRAME 67
0.09511395099980291
Frame 84
tensor(0.1935)
 # KEYFRAME 68
0.09593782899901271
Frame 85
tensor(0.1729)
 # KEYFRAME 69
0.096102288000111
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=939 loss_distill=0.4024 tta_take=0.009s
Frame 86
tensor(0.2092)
 # KEYFRAME 70
0.09271363999869209
Frame 87
tensor(0.1229)
 # KEYFRAME 71
0.09583913900132757
Frame 88
tensor(0.1532)
 # KEYFRAME 72
0.09485438199772034
Frame 89
tensor(0.0730)
Frame 90
tensor(0.1495)
 # KEYFRAME 73
0.09685823499967228
Frame 91
tensor(0.1928)
 # KEYFRAME 74
0.09781245200065314
Frame 92
tensor(0.2273)
 # KEYFRAME 75
0.09886494799866341
Frame 93
tensor(0.1432)
 # KEYFRAME 76
0.10028801299995393
Frame 94
tensor(0.1361)
 # KEYFRAME 77
0.10155594800016843
Frame 95
tensor(0.1210)
 # KEYFRAME 78
0.10181603799719596
Frame 96
tensor(0.1075)
 # KEYFRAME 79
0.10349512199900346
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=940 loss_distill=0.4024 tta_take=0.009s
Frame 97
tensor(0.1535)
 # KEYFRAME 80
0.09309561899863183
Frame 98
tensor(0.1170)
 # KEYFRAME 81
0.09573488900059601
Frame 99
tensor(0.2226)
 # KEYFRAME 82
0.09487977200114983
Frame 100
tensor(0.1353)
 # KEYFRAME 83
0.0950981319983839
Frame 101
tensor(0.2007)
 # KEYFRAME 84
0.09671280600014143
Frame 102
tensor(0.4220)
 # KEYFRAME 85
0.09677259599993704
Frame 103
tensor(0.1264)
 # KEYFRAME 86
0.09830372999931569
Frame 104
tensor(0.3025)
 # KEYFRAME 87
0.09917118699740968
Frame 105
tensor(0.3407)
 # KEYFRAME 88
0.09899006799969357
Frame 106
tensor(0.2014)
 # KEYFRAME 89
0.1007862810001825
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=941 loss_distill=0.4024 tta_take=0.009s
Frame 107
tensor(0.1824)
 # KEYFRAME 90
0.0930815089996031
Frame 108
tensor(0.1858)
 # KEYFRAME 91
0.09532702000069548
Frame 109
tensor(0.3040)
 # KEYFRAME 92
0.09524863099795766
Frame 110
tensor(0.4818)
 # KEYFRAME 93
0.09539904000121169
Frame 111
tensor(0.1558)
 # KEYFRAME 94
0.09666526599903591
Frame 112
tensor(0.1815)
 # KEYFRAME 95
0.0976507519990264
Frame 113
tensor(0.0935)
Frame 114
tensor(0.1309)
 # KEYFRAME 96
0.09808106000127736
Frame 115
tensor(0.2706)
 # KEYFRAME 97
0.09804268999869237
Frame 116
tensor(0.1770)
 # KEYFRAME 98
0.09883744699982344
Frame 117
tensor(0.3164)
 # KEYFRAME 99
0.09998726299818372
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=942 loss_distill=0.4024 tta_take=0.009s
Frame 118
tensor(0.1988)
 # KEYFRAME 100
0.09280283900079667
Frame 119
tensor(0.1401)
 # KEYFRAME 101
0.09503522100203554
Frame 120
tensor(0.0887)
Frame 121
tensor(0.2893)
 # KEYFRAME 102
0.09506647099988186
Frame 122
tensor(0.3631)
 # KEYFRAME 103
0.09599060799882864
Frame 123
tensor(0.6026)
 # KEYFRAME 104
0.09610281699860934
Frame 124
tensor(0.1621)
 # KEYFRAME 105
0.09669725500134518
Frame 125
tensor(0.1827)
 # KEYFRAME 106
0.09793831100250827
Frame 126
tensor(0.1489)
 # KEYFRAME 107
0.09877740799856838
Frame 127
tensor(1.1538)
 # KEYFRAME 108
0.09948055499990005
Frame 128
tensor(0.0620)
Frame 129
tensor(0.1340)
 # KEYFRAME 109
0.10016346200063708
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=943 loss_distill=0.4024 tta_take=0.009s
[epoch 0 scene 140/556] scannetpp/f248c2bcdc/frame frames=130 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=943 time=45.3s
[ckpt] /scratch-shared/wwei2/scorer_pretrain/scorer_v1/checkpoint-last.pth (epoch=0 scene=140)
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0682)
Frame 2
tensor(0.1734)
 # KEYFRAME 1
Frame 3
tensor(0.1123)
 # KEYFRAME 2
0.051386146998993354
Frame 4
tensor(0.1112)
 # KEYFRAME 3
0.05248460299844737
Frame 5
tensor(0.0977)
Frame 6
tensor(0.1638)
 # KEYFRAME 4
0.054313655997248134
Frame 7
tensor(0.0834)
Frame 8
tensor(0.1393)
 # KEYFRAME 5
0.055205373999342555
Frame 9
tensor(0.0792)
Frame 10
tensor(0.1496)
 # KEYFRAME 6
0.05640189899713732
Frame 11
tensor(0.1470)
 # KEYFRAME 7
0.0566312580012891
Frame 12
tensor(0.1275)
 # KEYFRAME 8
0.05797261299812817
Frame 13
tensor(0.5681)
 # KEYFRAME 9
0.05801153299762518
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 14
tensor(0.0568)
Frame 15
tensor(0.0956)
Frame 16
tensor(0.1338)
 # KEYFRAME 10
0.05238069299957715
Frame 17
tensor(0.3003)
 # KEYFRAME 11
0.05374966799718095
Frame 18
tensor(0.1660)
 # KEYFRAME 12
0.05504363399813883
Frame 19
tensor(0.1797)
 # KEYFRAME 13
0.05691207699783263
Frame 20
tensor(0.0665)
Frame 21
tensor(0.1326)
 # KEYFRAME 14
0.05803240300156176
Frame 22
tensor(0.1185)
 # KEYFRAME 15
0.0587523299982422
Frame 23
tensor(0.3408)
 # KEYFRAME 16
0.05973532700227224
Frame 24
tensor(0.2918)
 # KEYFRAME 17
0.06038938500205404
Frame 25
tensor(0.2165)
 # KEYFRAME 18
0.06082553300075233
Frame 26
tensor(0.0815)
Frame 27
tensor(0.2212)
 # KEYFRAME 19
0.06266133700046339
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 28
tensor(0.1015)
 # KEYFRAME 20
0.059253827999782516
Frame 29
tensor(0.0751)
Frame 30
tensor(0.1273)
 # KEYFRAME 21
0.06024979499852634
Frame 31
tensor(0.0911)
Frame 32
tensor(0.1236)
 # KEYFRAME 22
0.061164081998867914
Frame 33
tensor(0.0754)
Frame 34
tensor(0.1728)
 # KEYFRAME 23
0.062072509001154685
Frame 35
tensor(0.0918)
Frame 36
tensor(0.1516)
 # KEYFRAME 24
0.06278268599999137
Frame 37
tensor(0.0683)
Frame 38
tensor(0.0732)
Frame 39
tensor(0.0946)
Frame 40
tensor(0.0390)
Frame 41
tensor(0.2043)
 # KEYFRAME 25
0.06371602199942572
Frame 42
tensor(0.0973)
Frame 43
tensor(0.1433)
 # KEYFRAME 26
0.06545916599861812
Frame 44
tensor(0.0883)
Frame 45
tensor(0.1753)
 # KEYFRAME 27
0.06619767399752163
Frame 46
tensor(0.1444)
 # KEYFRAME 28
0.06695368100190535
Frame 47
tensor(0.1267)
 # KEYFRAME 29
0.06817432599927997
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 48
tensor(0.1715)
 # KEYFRAME 30
0.06598639499861747
Frame 49
tensor(0.1880)
 # KEYFRAME 31
0.06719112000064342
Frame 50
tensor(0.1675)
 # KEYFRAME 32
0.0689705539989518
Frame 51
tensor(0.1957)
 # KEYFRAME 33
0.06991809000101057
Frame 52
tensor(0.0741)
Frame 53
tensor(0.1806)
 # KEYFRAME 34
0.07182269400072983
Frame 54
tensor(0.1928)
 # KEYFRAME 35
0.07240581199948792
Frame 55
tensor(0.1365)
 # KEYFRAME 36
0.07380214699878707
Frame 56
tensor(0.1953)
 # KEYFRAME 37
0.07525408200308448
Frame 57
tensor(0.3030)
 # KEYFRAME 38
0.07653909700093209
Frame 58
tensor(0.1557)
 # KEYFRAME 39
0.07681833600145183
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=944 loss_distill=0.1733 tta_take=0.009s
Frame 59
tensor(0.1975)
 # KEYFRAME 40
0.07262025000090944
Frame 60
tensor(0.1339)
 # KEYFRAME 41
0.07455021400164696
Frame 61
tensor(0.1495)
 # KEYFRAME 42
0.07451863499954925
Frame 62
tensor(0.1663)
 # KEYFRAME 43
0.07544751100067515
Frame 63
tensor(0.2184)
 # KEYFRAME 44
0.07631248799953028
Frame 64
tensor(0.1043)
 # KEYFRAME 45
0.07632361799915088
Frame 65
tensor(0.1695)
 # KEYFRAME 46
0.07756529399921419
Frame 66
tensor(0.2136)
 # KEYFRAME 47
0.07820236099723843
Frame 67
tensor(0.3862)
 # KEYFRAME 48
0.0788963889972365
Frame 68
tensor(0.2986)
 # KEYFRAME 49
0.07915717699870584
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=945 loss_distill=0.2747 tta_take=0.009s
Frame 69
tensor(0.2507)
 # KEYFRAME 50
0.07944351699916297
Frame 70
tensor(0.2217)
 # KEYFRAME 51
0.08138639900062117
Frame 71
tensor(0.1798)
 # KEYFRAME 52
0.0818382780016691
Frame 72
tensor(0.2183)
 # KEYFRAME 53
0.08299146400167956
Frame 73
tensor(0.1503)
 # KEYFRAME 54
0.08407665999766323
Frame 74
tensor(0.2096)
 # KEYFRAME 55
0.08442156800083467
Frame 75
tensor(0.1818)
 # KEYFRAME 56
0.08509033600057592
Frame 76
tensor(0.2397)
 # KEYFRAME 57
0.08594743299909169
Frame 77
tensor(0.1975)
 # KEYFRAME 58
0.08721181899818475
Frame 78
tensor(0.0591)
Frame 79
tensor(0.2523)
 # KEYFRAME 59
0.08873454299828154
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=946 loss_distill=0.3466 tta_take=0.009s
Frame 80
tensor(0.1750)
 # KEYFRAME 60
0.08589716399728786
Frame 81
tensor(0.1732)
 # KEYFRAME 61
0.08894905299894162
Frame 82
tensor(0.1215)
 # KEYFRAME 62
0.08891969300020719
Frame 83
tensor(0.2024)
 # KEYFRAME 63
0.08962631999747828
Frame 84
tensor(0.1812)
 # KEYFRAME 64
0.09170285299842362
Frame 85
tensor(0.4390)
 # KEYFRAME 65
0.09389172499868437
Frame 86
tensor(0.1025)
 # KEYFRAME 66
0.09415420400182484
Frame 87
tensor(0.0468)
Frame 88
tensor(0.2302)
 # KEYFRAME 67
0.09469211300165625
Frame 89
tensor(0.1845)
 # KEYFRAME 68
0.09624865599835175
Frame 90
tensor(0.1186)
 # KEYFRAME 69
0.09617823699954897
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=947 loss_distill=0.4024 tta_take=0.009s
Frame 91
tensor(0.1677)
 # KEYFRAME 70
0.09390411500135087
Frame 92
tensor(0.1708)
 # KEYFRAME 71
0.09417263399882358
Frame 93
tensor(0.2185)
 # KEYFRAME 72
0.09526554100011708
Frame 94
tensor(0.1490)
 # KEYFRAME 73
0.09602674699999625
Frame 95
tensor(0.1271)
 # KEYFRAME 74
0.09791712000151165
Frame 96
tensor(0.1339)
 # KEYFRAME 75
0.09847893800179008
Frame 97
tensor(0.1371)
 # KEYFRAME 76
0.09957055400082027
Frame 98
tensor(0.1170)
 # KEYFRAME 77
0.10107730999880005
Frame 99
tensor(0.2228)
 # KEYFRAME 78
0.10229441499905079
Frame 100
tensor(0.2028)
 # KEYFRAME 79
0.10292433299764525
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=948 loss_distill=0.4024 tta_take=0.009s
Frame 101
tensor(0.1337)
 # KEYFRAME 80
0.09286772799896426
Frame 102
tensor(0.1661)
 # KEYFRAME 81
0.09420919399781269
Frame 103
tensor(0.1178)
 # KEYFRAME 82
0.09476579200054402
Frame 104
tensor(0.1726)
 # KEYFRAME 83
0.09624268699917593
Frame 105
tensor(0.1467)
 # KEYFRAME 84
0.09620547699887538
Frame 106
tensor(0.1536)
 # KEYFRAME 85
0.09758327199961059
Frame 107
tensor(0.0830)
Frame 108
tensor(0.1693)
 # KEYFRAME 86
0.09814367999933893
Frame 109
tensor(0.0837)
Frame 110
tensor(0.1298)
 # KEYFRAME 87
0.09868451799775357
Frame 111
tensor(0.1400)
 # KEYFRAME 88
0.09942710600080318
Frame 112
tensor(0.1533)
 # KEYFRAME 89
0.09979511399797047
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=949 loss_distill=0.4024 tta_take=0.009s
Frame 113
tensor(0.0732)
Frame 114
tensor(0.1545)
 # KEYFRAME 90
0.09388924500308349
Frame 115
tensor(0.2002)
 # KEYFRAME 91
0.09441213299942319
Frame 116
tensor(0.1643)
 # KEYFRAME 92
0.09484134200101835
Frame 117
tensor(0.0617)
Frame 118
tensor(0.2013)
 # KEYFRAME 93
0.09621882599822129
Frame 119
tensor(0.0564)
Frame 120
tensor(0.0873)
Frame 121
tensor(0.2757)
 # KEYFRAME 94
0.09621960700314958
Frame 122
tensor(0.2259)
 # KEYFRAME 95
0.09718249399884371
Frame 123
tensor(0.1476)
 # KEYFRAME 96
0.09740265300206374
Frame 124
tensor(0.0686)
Frame 125
tensor(0.1070)
 # KEYFRAME 97
0.09926399599862634
Frame 126
tensor(0.1592)
 # KEYFRAME 98
0.09887264799908735
Frame 127
tensor(0.1940)
 # KEYFRAME 99
0.10050216200033901
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=950 loss_distill=0.4024 tta_take=0.009s
Frame 128
tensor(0.2694)
 # KEYFRAME 100
0.09250596000129008
Frame 129
tensor(0.2607)
 # KEYFRAME 101
0.09559076900040964
Frame 130
tensor(0.1889)
 # KEYFRAME 102
0.09523543000250356
Frame 131
tensor(0.1155)
 # KEYFRAME 103
0.09600019799836446
Frame 132
tensor(0.1013)
 # KEYFRAME 104
0.09679645500000333
Frame 133
tensor(0.1100)
 # KEYFRAME 105
0.09709458299766993
Backending... 106 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 68706, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=951 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 141/556] scannetpp/75d29d69b8/frame frames=134 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=951 time=41.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0111)
Frame 2
tensor(0.0790)
Frame 3
tensor(0.1649)
 # KEYFRAME 1
Frame 4
tensor(0.1131)
 # KEYFRAME 2
0.051599185997474706
Frame 5
tensor(0.0988)
Frame 6
tensor(0.1920)
 # KEYFRAME 3
0.05256349200135446
Frame 7
tensor(0.1857)
 # KEYFRAME 4
0.05423194700051681
Frame 8
tensor(0.2292)
 # KEYFRAME 5
0.0552387429997907
Frame 9
tensor(0.1574)
 # KEYFRAME 6
0.05635119900034624
Frame 10
tensor(0.1345)
 # KEYFRAME 7
0.05670040800032439
Frame 11
tensor(0.1782)
 # KEYFRAME 8
0.05788640399987344
Frame 12
tensor(0.2213)
 # KEYFRAME 9
0.05800176300181192
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 13
tensor(0.2582)
 # KEYFRAME 10
0.05243372300174087
Frame 14
tensor(0.1682)
 # KEYFRAME 11
0.05381645799934631
Frame 15
tensor(0.1813)
 # KEYFRAME 12
0.055254842998692766
Frame 16
tensor(0.3040)
 # KEYFRAME 13
0.05708883700208389
Frame 17
tensor(0.1022)
 # KEYFRAME 14
0.057878253999660956
Frame 18
tensor(0.3036)
 # KEYFRAME 15
0.05880475999947521
Frame 19
tensor(0.1679)
 # KEYFRAME 16
0.059815456999785965
Frame 20
tensor(0.0583)
Frame 21
tensor(0.1667)
 # KEYFRAME 17
0.06047921500066877
Frame 22
tensor(0.2043)
 # KEYFRAME 18
0.06086738299927674
Frame 23
tensor(0.1857)
 # KEYFRAME 19
0.06272192600226845
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 24
tensor(0.1326)
 # KEYFRAME 20
0.05934710800283938
Frame 25
tensor(0.1922)
 # KEYFRAME 21
0.060244205000344664
Frame 26
tensor(0.1726)
 # KEYFRAME 22
0.061340731001109816
Frame 27
tensor(0.1855)
 # KEYFRAME 23
0.061936279002111405
Frame 28
tensor(0.1103)
 # KEYFRAME 24
0.06282605600063107
Frame 29
tensor(0.1276)
 # KEYFRAME 25
0.06361357299829251
Frame 30
tensor(0.1269)
 # KEYFRAME 26
0.0654466970008798
Frame 31
tensor(0.0680)
Frame 32
tensor(0.1033)
 # KEYFRAME 27
0.06602577499870677
Frame 33
tensor(0.1076)
 # KEYFRAME 28
0.06687448199954815
Frame 34
tensor(0.1258)
 # KEYFRAME 29
0.06825053699867567
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 35
tensor(0.1394)
 # KEYFRAME 30
0.06620519300122396
Frame 36
tensor(0.2075)
 # KEYFRAME 31
0.06754225899931043
Frame 37
tensor(0.2015)
 # KEYFRAME 32
0.06896501400115085
Frame 38
tensor(0.0935)
Frame 39
tensor(0.1874)
 # KEYFRAME 33
0.06975257099838927
Frame 40
tensor(0.2454)
 # KEYFRAME 34
0.0713058559995261
Frame 41
tensor(0.3030)
 # KEYFRAME 35
0.07198433300072793
Frame 42
tensor(0.0472)
Frame 43
tensor(0.2304)
 # KEYFRAME 36
0.07365606700113858
Frame 44
tensor(0.3116)
 # KEYFRAME 37
0.0748355329997139
Frame 45
tensor(0.1018)
 # KEYFRAME 38
0.07685827600289485
Frame 46
tensor(0.0891)
Frame 47
tensor(0.1960)
 # KEYFRAME 39
0.07706450499972561
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=952 loss_distill=0.1733 tta_take=0.009s
Frame 48
tensor(0.0776)
Frame 49
tensor(0.2146)
 # KEYFRAME 40
0.07268626100267284
Frame 50
tensor(0.1514)
 # KEYFRAME 41
0.07462538399704499
Frame 51
tensor(0.1365)
 # KEYFRAME 42
0.07423918499989668
Frame 52
tensor(0.1120)
 # KEYFRAME 43
0.07553539000218734
Frame 53
tensor(0.0448)
Frame 54
tensor(0.0750)
Frame 55
tensor(0.2406)
 # KEYFRAME 44
0.0760191190020123
Frame 56
tensor(0.0064)
Frame 57
tensor(0.0664)
Frame 58
tensor(0.2064)
 # KEYFRAME 45
0.0770224549996783
Frame 59
tensor(0.0776)
Frame 60
tensor(0.1633)
 # KEYFRAME 46
0.07756747399980668
Frame 61
tensor(0.2677)
 # KEYFRAME 47
0.07778082300137612
Frame 62
tensor(0.1443)
 # KEYFRAME 48
0.07863142999849515
Frame 63
tensor(0.1705)
 # KEYFRAME 49
0.07971478599938564
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=953 loss_distill=0.2747 tta_take=0.009s
Frame 64
tensor(0.1105)
 # KEYFRAME 50
0.07910185799846658
Frame 65
tensor(0.2291)
 # KEYFRAME 51
0.08209243699820945
Frame 66
tensor(0.1203)
 # KEYFRAME 52
0.08110180999938166
Frame 67
tensor(0.1405)
 # KEYFRAME 53
0.08325521299775573
Frame 68
tensor(0.1396)
 # KEYFRAME 54
0.08425057000204106
Frame 69
tensor(0.1624)
 # KEYFRAME 55
0.0842973599974357
Frame 70
tensor(0.0573)
Frame 71
tensor(0.1229)
 # KEYFRAME 56
0.08507394700063742
Frame 72
tensor(0.0634)
Frame 73
tensor(0.0874)
Frame 74
tensor(0.2217)
 # KEYFRAME 57
0.08618399199986015
Frame 75
tensor(0.0893)
Frame 76
tensor(0.1675)
 # KEYFRAME 58
0.08692171999791753
Frame 77
tensor(0.0774)
Frame 78
tensor(0.1697)
 # KEYFRAME 59
0.08867442400151049
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.34657353162765503
TTA-STEP: step=954 loss_distill=0.3466 tta_take=0.009s
Frame 79
tensor(0.0469)
Frame 80
tensor(0.0760)
Frame 81
tensor(0.1042)
 # KEYFRAME 60
0.08661717100039823
Frame 82
tensor(0.2008)
 # KEYFRAME 61
0.08897398299814085
Frame 83
tensor(0.0369)
Frame 84
tensor(0.1621)
 # KEYFRAME 62
0.08916108199991868
Frame 85
tensor(0.1252)
 # KEYFRAME 63
0.08978083900001366
Frame 86
tensor(0.1117)
 # KEYFRAME 64
0.09107473499898333
Frame 87
tensor(0.2135)
 # KEYFRAME 65
0.09282444900236442
Frame 88
tensor(0.1832)
 # KEYFRAME 66
0.09378105499854428
Frame 89
tensor(0.0601)
Frame 90
tensor(0.0329)
Frame 91
tensor(0.1231)
 # KEYFRAME 67
0.09475334200033103
Frame 92
tensor(0.1064)
 # KEYFRAME 68
0.09597578800094198
Frame 93
tensor(0.0308)
Frame 94
tensor(0.1722)
 # KEYFRAME 69
0.09623267700226279
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=955 loss_distill=0.4024 tta_take=0.009s
Frame 95
tensor(0.1429)
 # KEYFRAME 70
0.09334489700268023
Frame 96
tensor(0.0577)
Frame 97
tensor(0.2277)
 # KEYFRAME 71
0.09565007800119929
Frame 98
tensor(0.0854)
Frame 99
tensor(0.1297)
 # KEYFRAME 72
0.09500781200040365
Frame 100
tensor(0.1516)
 # KEYFRAME 73
0.09685593500034884
Frame 101
tensor(0.1992)
 # KEYFRAME 74
0.09803508999902988
Frame 102
tensor(0.1606)
 # KEYFRAME 75
0.09833939899908728
Frame 103
tensor(0.1081)
 # KEYFRAME 76
0.10021808199962834
Frame 104
tensor(0.1366)
 # KEYFRAME 77
0.1005795909986773
Frame 105
tensor(0.0918)
Frame 106
tensor(0.2902)
 # KEYFRAME 78
0.10181543699945905
Frame 107
tensor(0.1722)
 # KEYFRAME 79
0.1031701020001492
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=956 loss_distill=0.4024 tta_take=0.009s
Frame 108
tensor(0.2670)
 # KEYFRAME 80
0.09321871800057124
Frame 109
tensor(0.1588)
 # KEYFRAME 81
0.09527796000111266
Frame 110
tensor(0.2501)
 # KEYFRAME 82
0.09439164400100708
Frame 111
tensor(0.1847)
 # KEYFRAME 83
0.09584625899879029
Frame 112
tensor(0.1818)
 # KEYFRAME 84
0.09708086400132743
Frame 113
tensor(0.2173)
 # KEYFRAME 85
0.09718931400129804
Frame 114
tensor(0.1025)
 # KEYFRAME 86
0.09802201999991667
Frame 115
tensor(0.0843)
Frame 116
tensor(0.1496)
 # KEYFRAME 87
0.09940538500086404
Frame 117
tensor(0.1181)
 # KEYFRAME 88
0.09986377300083404
Frame 118
tensor(0.0406)
Frame 119
tensor(0.1907)
 # KEYFRAME 89
0.10075053100081277
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=957 loss_distill=0.4024 tta_take=0.009s
Frame 120
tensor(0.2654)
 # KEYFRAME 90
0.09353910600111703
Frame 121
tensor(0.2786)
 # KEYFRAME 91
0.09519865099719027
Frame 122
tensor(0.1413)
 # KEYFRAME 92
0.0954249689966673
Frame 123
tensor(0.2570)
 # KEYFRAME 93
0.09597245799886878
Frame 124
tensor(0.1917)
 # KEYFRAME 94
0.09654817499904311
Frame 125
tensor(0.1578)
 # KEYFRAME 95
0.09655497499988996
Frame 126
tensor(0.1606)
 # KEYFRAME 96
0.09833084999991115
Frame 127
tensor(0.0769)
Frame 128
tensor(0.0362)
Frame 129
tensor(0.0734)
Frame 130
tensor(0.0744)
Frame 131
tensor(0.0701)
Frame 132
tensor(0.1580)
 # KEYFRAME 97
0.09899091699844575
Frame 133
tensor(0.2113)
 # KEYFRAME 98
0.09929076499975054
Frame 134
tensor(0.1599)
 # KEYFRAME 99
0.10052176200042595
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=958 loss_distill=0.4024 tta_take=0.009s
Frame 135
tensor(0.0388)
Frame 136
tensor(0.0780)
Frame 137
tensor(0.1894)
 # KEYFRAME 100
0.09259806000045501
Frame 138
tensor(0.1813)
 # KEYFRAME 101
0.09551030000147875
Frame 139
tensor(0.2679)
 # KEYFRAME 102
0.09497897199980798
Frame 140
tensor(0.1805)
 # KEYFRAME 103
0.09611502699772245
Frame 141
tensor(0.0532)
Frame 142
tensor(0.0616)
Frame 143
tensor(0.1641)
 # KEYFRAME 104
0.09708556300029159
Frame 144
tensor(0.0833)
Frame 145
tensor(0.0848)
Frame 146
tensor(0.0816)
Backending... 105 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 67665, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=959 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 142/556] scannetpp/5656608266/frame frames=147 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=959 time=48.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1587)
 # KEYFRAME 1
Frame 2
tensor(0.0779)
Frame 3
tensor(0.2167)
 # KEYFRAME 2
0.05163670599722536
Frame 4
tensor(0.1212)
 # KEYFRAME 3
0.05243709299975308
Frame 5
tensor(0.0567)
Frame 6
tensor(0.1118)
 # KEYFRAME 4
0.0542730359993584
Frame 7
tensor(0.1741)
 # KEYFRAME 5
0.05501862399978563
Frame 8
tensor(0.1715)
 # KEYFRAME 6
0.056427368999720784
Frame 9
tensor(0.2234)
 # KEYFRAME 7
0.05648962800114532
Frame 10
tensor(0.1714)
 # KEYFRAME 8
0.05775844399977359
Frame 11
tensor(0.1309)
 # KEYFRAME 9
0.05795147300159442
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.1563)
 # KEYFRAME 10
0.052309413000330096
Frame 13
tensor(0.1482)
 # KEYFRAME 11
0.053724387998954626
Frame 14
tensor(0.1832)
 # KEYFRAME 12
0.0550456140008464
Frame 15
tensor(0.2415)
 # KEYFRAME 13
0.05673539799681748
Frame 16
tensor(0.1571)
 # KEYFRAME 14
0.057911013002012623
Frame 17
tensor(0.1816)
 # KEYFRAME 15
0.05881510000108392
Frame 18
tensor(0.2378)
 # KEYFRAME 16
0.05989788700026111
Frame 19
tensor(0.1064)
 # KEYFRAME 17
0.06045308399916394
Frame 20
tensor(0.1447)
 # KEYFRAME 18
0.060759872998460196
Frame 21
tensor(0.1685)
 # KEYFRAME 19
0.06258114600132103
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 22
tensor(0.0866)
Frame 23
tensor(0.2672)
 # KEYFRAME 20
0.059328928000468295
Frame 24
tensor(0.1678)
 # KEYFRAME 21
0.06031130499832216
Frame 25
tensor(0.1708)
 # KEYFRAME 22
0.0611720319975575
Frame 26
tensor(0.0968)
Frame 27
tensor(0.1555)
 # KEYFRAME 23
0.061982799001270905
Frame 28
tensor(0.1529)
 # KEYFRAME 24
0.06278969600316486
Frame 29
tensor(0.0996)
Frame 30
tensor(0.1263)
 # KEYFRAME 25
0.0634533830016153
Frame 31
tensor(0.2029)
 # KEYFRAME 26
0.06550308599980781
Frame 32
tensor(0.1724)
 # KEYFRAME 27
0.06619721400056733
Frame 33
tensor(0.1859)
 # KEYFRAME 28
0.06701130100191222
Frame 34
tensor(0.1556)
 # KEYFRAME 29
0.06829556700176909
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 35
tensor(0.0906)
Frame 36
tensor(0.0558)
Frame 37
tensor(0.2261)
 # KEYFRAME 30
0.06596058500144864
Frame 38
tensor(0.0896)
Frame 39
tensor(0.0436)
Frame 40
tensor(0.0995)
Frame 41
tensor(0.1461)
 # KEYFRAME 31
0.06753341899820953
Frame 42
tensor(0.0703)
Frame 43
tensor(0.1420)
 # KEYFRAME 32
0.06862777499918593
Frame 44
tensor(0.1286)
 # KEYFRAME 33
0.06986828099979903
Frame 45
tensor(0.1387)
 # KEYFRAME 34
0.07163068500085501
Frame 46
tensor(0.1192)
 # KEYFRAME 35
0.07230865200108383
Frame 47
tensor(0.0321)
Frame 48
tensor(0.1450)
 # KEYFRAME 36
0.07411557600062224
Frame 49
tensor(0.1213)
 # KEYFRAME 37
0.07521238200206426
Frame 50
tensor(0.1594)
 # KEYFRAME 38
0.07631873799982714
Frame 51
tensor(0.1484)
 # KEYFRAME 39
0.07679489600195666
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=960 loss_distill=0.1733 tta_take=0.009s
Frame 52
tensor(0.1540)
 # KEYFRAME 40
0.07239893099904293
Frame 53
tensor(0.1346)
 # KEYFRAME 41
0.07476937300089048
Frame 54
tensor(0.1507)
 # KEYFRAME 42
0.07436584500101162
Frame 55
tensor(0.1315)
 # KEYFRAME 43
0.07536862100096187
Frame 56
tensor(0.1382)
 # KEYFRAME 44
0.07605570899977465
Frame 57
tensor(0.0789)
Frame 58
tensor(0.2191)
 # KEYFRAME 45
0.07649287700041896
Frame 59
tensor(0.1460)
 # KEYFRAME 46
0.0771914850010944
Frame 60
tensor(0.1616)
 # KEYFRAME 47
0.07794957200167119
Frame 61
tensor(0.2048)
 # KEYFRAME 48
0.07817185199746746
Frame 62
tensor(0.1173)
 # KEYFRAME 49
0.07897980899724644
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=961 loss_distill=0.2747 tta_take=0.009s
Frame 63
tensor(0.2164)
 # KEYFRAME 50
0.07925961699947948
Frame 64
tensor(0.1040)
 # KEYFRAME 51
0.08181906800018623
Frame 65
tensor(0.1631)
 # KEYFRAME 52
0.08201846700103488
Frame 66
tensor(0.1276)
 # KEYFRAME 53
0.08321987299859757
Frame 67
tensor(0.0902)
Frame 68
tensor(0.2613)
 # KEYFRAME 54
0.08435666899822536
Frame 69
tensor(0.1379)
 # KEYFRAME 55
0.08431901999938418
Frame 70
tensor(0.1454)
 # KEYFRAME 56
0.08545757499814499
Frame 71
tensor(0.1973)
 # KEYFRAME 57
0.08557190499777789
Frame 72
tensor(0.2290)
 # KEYFRAME 58
0.08682846000010613
Frame 73
tensor(0.2775)
 # KEYFRAME 59
0.08872833300119964
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=962 loss_distill=0.3466 tta_take=0.009s
Frame 74
tensor(0.1515)
 # KEYFRAME 60
0.08580916400023852
Frame 75
tensor(0.1092)
 # KEYFRAME 61
0.08833440499802236
Frame 76
tensor(0.3191)
 # KEYFRAME 62
0.08839442499811412
Frame 77
tensor(0.2257)
 # KEYFRAME 63
0.08984756900099455
Frame 78
tensor(0.1477)
 # KEYFRAME 64
0.09139209400018444
Frame 79
tensor(0.1840)
 # KEYFRAME 65
0.09248268000010285
Frame 80
tensor(0.2116)
 # KEYFRAME 66
0.09411703500154545
Frame 81
tensor(0.1690)
 # KEYFRAME 67
0.09519507000004523
Frame 82
tensor(0.1329)
 # KEYFRAME 68
0.09615710700018099
Frame 83
tensor(0.0692)
Frame 84
tensor(0.1169)
 # KEYFRAME 69
0.09677223400285584
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=963 loss_distill=0.4024 tta_take=0.009s
Frame 85
tensor(0.1360)
 # KEYFRAME 70
0.0927959489999921
Frame 86
tensor(0.1552)
 # KEYFRAME 71
0.09523028999683447
Frame 87
tensor(0.1643)
 # KEYFRAME 72
0.09489870199831785
Frame 88
tensor(0.1154)
 # KEYFRAME 73
0.0963558160001412
Frame 89
tensor(0.2634)
 # KEYFRAME 74
0.09759976100031054
Frame 90
tensor(0.1216)
 # KEYFRAME 75
0.0991801359996316
Frame 91
tensor(0.1075)
 # KEYFRAME 76
0.10079617999872426
Frame 92
tensor(0.1840)
 # KEYFRAME 77
0.10132426899872371
Frame 93
tensor(0.1407)
 # KEYFRAME 78
0.1020802260027267
Frame 94
tensor(0.0943)
Frame 95
tensor(0.2117)
 # KEYFRAME 79
0.10366337099912926
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=964 loss_distill=0.4024 tta_take=0.009s
Frame 96
tensor(0.2026)
 # KEYFRAME 80
0.09311268699821085
Frame 97
tensor(0.1846)
 # KEYFRAME 81
0.09476821199859842
Frame 98
tensor(0.2606)
 # KEYFRAME 82
0.09487466100108577
Frame 99
tensor(0.2394)
 # KEYFRAME 83
0.09575584800040815
Frame 100
tensor(0.1375)
 # KEYFRAME 84
0.09664157500083093
Frame 101
tensor(0.0377)
Frame 102
tensor(0.0843)
Frame 103
tensor(0.1346)
 # KEYFRAME 85
0.09733073200186482
Frame 104
tensor(0.1045)
 # KEYFRAME 86
0.09857297900089179
Frame 105
tensor(0.0924)
Frame 106
tensor(0.1917)
 # KEYFRAME 87
0.09937966500001494
Frame 107
tensor(0.1131)
 # KEYFRAME 88
0.09913043599954108
Frame 108
tensor(0.1909)
 # KEYFRAME 89
0.10083062000194332
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=965 loss_distill=0.4024 tta_take=0.009s
Frame 109
tensor(0.2898)
 # KEYFRAME 90
0.0928361890000815
Frame 110
tensor(0.1790)
 # KEYFRAME 91
0.09560117900036857
Frame 111
tensor(0.1386)
 # KEYFRAME 92
0.0951883909983735
Frame 112
tensor(0.1031)
 # KEYFRAME 93
0.09548360999906436
Frame 113
tensor(0.0848)
Frame 114
tensor(0.1112)
 # KEYFRAME 94
0.09692334400097025
Frame 115
tensor(0.1358)
 # KEYFRAME 95
0.09693382399927941
Frame 116
tensor(0.1041)
 # KEYFRAME 96
0.0981269500007329
Frame 117
tensor(0.1370)
 # KEYFRAME 97
0.09817833000124665
Frame 118
tensor(0.1179)
 # KEYFRAME 98
0.09886487699986901
Frame 119
tensor(0.0413)
Frame 120
tensor(0.1179)
 # KEYFRAME 99
0.10052633099985542
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=966 loss_distill=0.4024 tta_take=0.009s
Frame 121
tensor(0.1148)
 # KEYFRAME 100
0.09262978900005692
Frame 122
tensor(0.1143)
 # KEYFRAME 101
0.09487882100074785
Frame 123
tensor(0.1998)
 # KEYFRAME 102
0.09439590299734846
Frame 124
tensor(0.1696)
 # KEYFRAME 103
0.09610713800066151
Frame 125
tensor(0.1798)
 # KEYFRAME 104
0.0963907660006953
Frame 126
tensor(0.1731)
 # KEYFRAME 105
0.09755066199795692
Frame 127
tensor(0.1362)
 # KEYFRAME 106
0.09759091199885006
Frame 128
tensor(0.0451)
Frame 129
tensor(0.0926)
Frame 130
tensor(0.2081)
 # KEYFRAME 107
0.09871093800029485
Frame 131
tensor(0.0857)
Frame 132
tensor(0.2046)
 # KEYFRAME 108
0.09913113600123324
Frame 133
tensor(0.0678)
Frame 134
tensor(0.2423)
 # KEYFRAME 109
0.10058977100197808
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=967 loss_distill=0.4024 tta_take=0.009s
Frame 135
tensor(0.2002)
 # KEYFRAME 110
0.09305455799767515
Frame 136
tensor(0.1305)
 # KEYFRAME 111
0.09423661300024833
Frame 137
tensor(0.1886)
 # KEYFRAME 112
0.09540062899759505
Frame 138
tensor(0.1161)
 # KEYFRAME 113
0.09626465700057452
Frame 139
tensor(0.0710)
Frame 140
tensor(0.1635)
 # KEYFRAME 114
0.09638158600137103
Frame 141
tensor(0.1537)
 # KEYFRAME 115
0.09726278300149716
Frame 142
tensor(0.1289)
 # KEYFRAME 116
0.09817882000061218
Frame 143
tensor(0.1546)
 # KEYFRAME 117
0.09851236800022889
Frame 144
tensor(0.0802)
Frame 145
tensor(0.1231)
 # KEYFRAME 118
0.09952575500210514
Frame 146
tensor(0.1151)
 # KEYFRAME 119
0.10028707300079986
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=968 loss_distill=0.4024 tta_take=0.009s
Frame 147
tensor(0.1434)
 # KEYFRAME 120
0.09326657700148644
Frame 148
tensor(0.1733)
 # KEYFRAME 121
0.09519292099867016
Frame 149
tensor(0.1746)
 # KEYFRAME 122
0.0949514009989798
Backending... 123 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65583, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=969 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 143/556] scannetpp/eb4bc76767/frame frames=150 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=969 time=55.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0772)
Frame 2
tensor(0.1054)
 # KEYFRAME 1
Frame 3
tensor(0.1811)
 # KEYFRAME 2
0.051621955000882735
Frame 4
tensor(0.0463)
Frame 5
tensor(0.2839)
 # KEYFRAME 3
0.0526252019990352
Frame 6
tensor(0.1412)
 # KEYFRAME 4
0.05417548699915642
Frame 7
tensor(0.1688)
 # KEYFRAME 5
0.056000929998845095
Frame 8
tensor(0.2199)
 # KEYFRAME 6
0.05628420900029596
Frame 9
tensor(0.1975)
 # KEYFRAME 7
0.05671087799782981
Frame 10
tensor(0.1649)
 # KEYFRAME 8
0.057881073000316974
Frame 11
tensor(0.3061)
 # KEYFRAME 9
0.05793211299896939
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.2250)
 # KEYFRAME 10
0.05260193199865171
Frame 13
tensor(0.2283)
 # KEYFRAME 11
0.053697677998570725
Frame 14
tensor(0.4363)
 # KEYFRAME 12
0.055051303999789525
Frame 15
tensor(0.2086)
 # KEYFRAME 13
0.056963915998494485
Frame 16
tensor(0.1954)
 # KEYFRAME 14
0.05796606299918494
Frame 17
tensor(0.2830)
 # KEYFRAME 15
0.058526491000520764
Frame 18
tensor(0.1827)
 # KEYFRAME 16
0.0597820570001204
Frame 19
tensor(0.2091)
 # KEYFRAME 17
0.06020409499978996
Frame 20
tensor(0.0805)
Frame 21
tensor(0.1536)
 # KEYFRAME 18
0.06100378300106968
Frame 22
tensor(0.2386)
 # KEYFRAME 19
0.06262991599942325
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 23
tensor(0.2305)
 # KEYFRAME 20
0.059465667996846605
Frame 24
tensor(0.3856)
 # KEYFRAME 21
0.060263614999712445
Frame 25
tensor(0.1066)
 # KEYFRAME 22
0.06137799099815311
Frame 26
tensor(0.0787)
Frame 27
tensor(0.1820)
 # KEYFRAME 23
0.06207545799770742
Frame 28
tensor(0.3954)
 # KEYFRAME 24
0.06270042699907208
Frame 29
tensor(0.2107)
 # KEYFRAME 25
0.06374382300055004
Frame 30
tensor(0.1896)
 # KEYFRAME 26
0.06500955799856456
Frame 31
tensor(0.3226)
 # KEYFRAME 27
0.06601571499777492
Frame 32
tensor(0.3181)
 # KEYFRAME 28
0.0670803809989593
Frame 33
tensor(0.2057)
 # KEYFRAME 29
0.06779522799843107
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 34
tensor(0.1135)
 # KEYFRAME 30
0.06593294499907643
Frame 35
tensor(0.1818)
 # KEYFRAME 31
0.06755566900028498
Frame 36
tensor(0.3336)
 # KEYFRAME 32
0.06855924599949503
Frame 37
tensor(0.2994)
 # KEYFRAME 33
0.0698979299995699
Frame 38
tensor(0.3205)
 # KEYFRAME 34
0.0718052730007912
Frame 39
tensor(0.2222)
 # KEYFRAME 35
0.07197456300127669
Frame 40
tensor(0.1922)
 # KEYFRAME 36
0.07379419700009748
Frame 41
tensor(0.3012)
 # KEYFRAME 37
0.0748731419989781
Frame 42
tensor(0.2391)
 # KEYFRAME 38
0.07683313600136898
Frame 43
tensor(0.3055)
 # KEYFRAME 39
0.07655715699729626
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=970 loss_distill=0.1733 tta_take=0.009s
Frame 44
tensor(0.1354)
 # KEYFRAME 40
0.07239830199978314
Frame 45
tensor(0.1744)
 # KEYFRAME 41
0.07405035599731491
Frame 46
tensor(0.1954)
 # KEYFRAME 42
0.07445483400078956
Frame 47
tensor(0.5922)
 # KEYFRAME 43
0.07565180999881704
Frame 48
tensor(0.3129)
 # KEYFRAME 44
0.07546684999761055
Frame 49
tensor(0.2575)
 # KEYFRAME 45
0.07700978499997291
Frame 50
tensor(0.2025)
 # KEYFRAME 46
0.07675396600097883
Frame 51
tensor(0.2078)
 # KEYFRAME 47
0.07855457899859175
Frame 52
tensor(0.2072)
 # KEYFRAME 48
0.07846955999775673
Frame 53
tensor(0.1891)
 # KEYFRAME 49
0.07979622499988182
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=971 loss_distill=0.2747 tta_take=0.009s
Frame 54
tensor(0.2209)
 # KEYFRAME 50
0.07942542700038757
Frame 55
tensor(0.1895)
 # KEYFRAME 51
0.0819224379993102
Frame 56
tensor(0.2378)
 # KEYFRAME 52
0.08128357999885338
Frame 57
tensor(0.2290)
 # KEYFRAME 53
0.08327654299864662
Frame 58
tensor(0.2342)
 # KEYFRAME 54
0.08445726799982367
Frame 59
tensor(0.2760)
 # KEYFRAME 55
0.08410429999639746
Frame 60
tensor(0.1831)
 # KEYFRAME 56
0.0856589350005379
Frame 61
tensor(0.3990)
 # KEYFRAME 57
0.08650516099805827
Frame 62
tensor(0.4203)
 # KEYFRAME 58
0.08684768000239274
Frame 63
tensor(0.3484)
 # KEYFRAME 59
0.0877677370008314
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=972 loss_distill=0.3466 tta_take=0.009s
Frame 64
tensor(0.2693)
 # KEYFRAME 60
0.08578612400015118
Frame 65
tensor(0.0750)
Frame 66
tensor(0.2609)
 # KEYFRAME 61
0.08887137299825554
Frame 67
tensor(0.1092)
 # KEYFRAME 62
0.0884515840007225
Frame 68
tensor(0.2064)
 # KEYFRAME 63
0.08952605099693756
Frame 69
tensor(0.2774)
 # KEYFRAME 64
0.09067225600301754
Frame 70
tensor(0.4357)
 # KEYFRAME 65
0.09296206799990614
Frame 71
tensor(0.2126)
 # KEYFRAME 66
0.0937760349988821
Frame 72
tensor(0.1330)
 # KEYFRAME 67
0.09468846199888503
Frame 73
tensor(0.0763)
Frame 74
tensor(0.0772)
Frame 75
tensor(0.2630)
 # KEYFRAME 68
0.09619587599809165
Frame 76
tensor(0.2179)
 # KEYFRAME 69
0.09651721499903942
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=973 loss_distill=0.4024 tta_take=0.009s
Frame 77
tensor(0.3654)
 # KEYFRAME 70
0.09283876900008181
Frame 78
tensor(0.3205)
 # KEYFRAME 71
0.09513414100001683
Frame 79
tensor(0.2244)
 # KEYFRAME 72
0.09560843900180771
Frame 80
tensor(0.3903)
 # KEYFRAME 73
0.09674404500037781
Frame 81
tensor(0.1294)
 # KEYFRAME 74
0.09769805099858786
Frame 82
tensor(0.4184)
 # KEYFRAME 75
0.09952876500028651
Frame 83
tensor(0.3569)
 # KEYFRAME 76
0.10085617999720853
Frame 84
tensor(0.3424)
 # KEYFRAME 77
0.10188720700170961
Frame 85
tensor(0.1982)
 # KEYFRAME 78
0.10247086399976979
Frame 86
tensor(0.2621)
 # KEYFRAME 79
0.10330024100039736
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=974 loss_distill=0.4024 tta_take=0.009s
Frame 87
tensor(0.4705)
 # KEYFRAME 80
0.09401274400079274
Frame 88
tensor(0.1553)
 # KEYFRAME 81
0.0939204050009721
Frame 89
tensor(0.1617)
 # KEYFRAME 82
0.09450913299951935
Frame 90
tensor(0.1913)
 # KEYFRAME 83
0.09583926800041809
Frame 91
tensor(0.1858)
 # KEYFRAME 84
0.09694784400198841
Frame 92
tensor(0.2693)
 # KEYFRAME 85
0.09750813300342998
Frame 93
tensor(0.2983)
 # KEYFRAME 86
0.09747721299936529
Frame 94
tensor(0.1547)
 # KEYFRAME 87
0.09897887600163813
Frame 95
tensor(0.3667)
 # KEYFRAME 88
0.09914403600123478
Frame 96
tensor(0.3186)
 # KEYFRAME 89
0.09957872499944642
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=975 loss_distill=0.4024 tta_take=0.009s
Frame 97
tensor(0.2886)
 # KEYFRAME 90
0.09267384900158504
Frame 98
tensor(0.1757)
 # KEYFRAME 91
0.09522655100226984
Frame 99
tensor(0.3114)
 # KEYFRAME 92
0.09488221100036753
Frame 100
tensor(0.3007)
 # KEYFRAME 93
0.09604416799993487
Frame 101
tensor(0.2096)
 # KEYFRAME 94
0.09683334399960586
Frame 102
tensor(0.2887)
 # KEYFRAME 95
0.09656939599881298
Frame 103
tensor(0.2867)
 # KEYFRAME 96
0.09824603900051443
Frame 104
tensor(0.1199)
 # KEYFRAME 97
0.098217079997994
Frame 105
tensor(0.2933)
 # KEYFRAME 98
0.09925155499877292
Frame 106
tensor(0.3277)
 # KEYFRAME 99
0.09946552499968675
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=976 loss_distill=0.4024 tta_take=0.009s
Frame 107
tensor(0.2631)
 # KEYFRAME 100
0.093079148002289
Frame 108
tensor(0.1147)
 # KEYFRAME 101
0.09556257900112541
Frame 109
tensor(0.1250)
 # KEYFRAME 102
0.0953089699978591
Frame 110
tensor(0.4392)
 # KEYFRAME 103
0.09609829699911643
Frame 111
tensor(0.2374)
 # KEYFRAME 104
0.09646304600028088
Frame 112
tensor(0.2444)
 # KEYFRAME 105
0.0976612020022003
Frame 113
tensor(0.0869)
Frame 114
tensor(0.2739)
 # KEYFRAME 106
0.0984206989996892
Frame 115
tensor(0.0878)
Frame 116
tensor(0.2126)
 # KEYFRAME 107
0.0990512669995951
Frame 117
tensor(0.1424)
 # KEYFRAME 108
0.0989615969992883
Frame 118
tensor(0.1581)
 # KEYFRAME 109
0.10005859400189365
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=977 loss_distill=0.4024 tta_take=0.009s
Frame 119
tensor(0.2057)
 # KEYFRAME 110
0.09304373799750465
Frame 120
tensor(0.2177)
 # KEYFRAME 111
0.09460258300168789
Frame 121
tensor(0.1292)
 # KEYFRAME 112
0.09505006100152968
Frame 122
tensor(0.2163)
 # KEYFRAME 113
0.09575947800112772
Frame 123
tensor(0.1947)
 # KEYFRAME 114
0.09680246499920031
Frame 124
tensor(0.4149)
 # KEYFRAME 115
0.09718378300021868
Frame 125
tensor(0.2123)
 # KEYFRAME 116
0.09825228000045172
Frame 126
tensor(0.2876)
 # KEYFRAME 117
0.09878896699956385
Frame 127
tensor(0.3251)
 # KEYFRAME 118
0.09926577499936684
Frame 128
tensor(0.1948)
 # KEYFRAME 119
0.09995370300021023
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=978 loss_distill=0.4024 tta_take=0.009s
Frame 129
tensor(0.3824)
 # KEYFRAME 120
0.09258549000151106
Frame 130
tensor(0.2275)
 # KEYFRAME 121
0.09566214900041814
Frame 131
tensor(0.3477)
 # KEYFRAME 122
0.09529230000043754
Frame 132
tensor(0.3140)
 # KEYFRAME 123
0.09546843000134686
Frame 133
tensor(0.4013)
 # KEYFRAME 124
0.09712806400057161
Frame 134
tensor(0.1324)
 # KEYFRAME 125
0.0977383710014692
Frame 135
tensor(0.0958)
Frame 136
tensor(0.1270)
 # KEYFRAME 126
0.09835351000219816
Frame 137
tensor(0.0266)
Backending... 127 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 69747, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=979 loss_distill=0.4024 tta_take=0.007s
[epoch 0 scene 144/556] scannetpp/b08a908f0f/frame frames=138 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=979 time=51.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1047)
 # KEYFRAME 1
Frame 2
tensor(0.0744)
Frame 3
tensor(0.1435)
 # KEYFRAME 2
0.0515822159977688
Frame 4
tensor(0.1061)
 # KEYFRAME 3
0.052051924998522736
Frame 5
tensor(0.1147)
 # KEYFRAME 4
0.05334991999916383
Frame 6
tensor(0.0932)
Frame 7
tensor(0.1294)
 # KEYFRAME 5
0.054338795998774
Frame 8
tensor(0.1907)
 # KEYFRAME 6
0.055687962001684355
Frame 9
tensor(0.2247)
 # KEYFRAME 7
0.05613012899993919
Frame 10
tensor(0.0575)
Frame 11
tensor(0.0886)
Frame 12
tensor(0.1291)
 # KEYFRAME 8
0.05695421699783765
Frame 13
tensor(0.0507)
Frame 14
tensor(0.1308)
 # KEYFRAME 9
0.057440304997726344
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 15
tensor(0.0338)
Frame 16
tensor(0.0910)
Frame 17
tensor(0.1346)
 # KEYFRAME 10
0.05156002600051579
Frame 18
tensor(0.0721)
Frame 19
tensor(0.1091)
 # KEYFRAME 11
0.052474853000603616
Frame 20
tensor(0.2430)
 # KEYFRAME 12
0.05353152899988345
Frame 21
tensor(0.0691)
Frame 22
tensor(0.1557)
 # KEYFRAME 13
0.055438002997107105
Frame 23
tensor(0.1106)
 # KEYFRAME 14
0.0554522319980606
Frame 24
tensor(0.0978)
Frame 25
tensor(0.1968)
 # KEYFRAME 15
0.05565018100242014
Frame 26
tensor(0.1367)
 # KEYFRAME 16
0.055949901001440594
Frame 27
tensor(0.0972)
Frame 28
tensor(0.2272)
 # KEYFRAME 17
0.0567974769983266
Frame 29
tensor(0.0914)
Frame 30
tensor(0.0988)
Frame 31
tensor(0.0937)
Frame 32
tensor(0.1080)
 # KEYFRAME 18
0.05736285600141855
Frame 33
tensor(0.0975)
Frame 34
tensor(0.1705)
 # KEYFRAME 19
0.05778101400210289
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 35
tensor(0.0611)
Frame 36
tensor(0.0407)
Frame 37
tensor(0.0811)
Frame 38
tensor(0.1916)
 # KEYFRAME 20
0.05385198799922364
Frame 39
tensor(0.1211)
 # KEYFRAME 21
0.0547926550025295
Frame 40
tensor(0.0379)
Frame 41
tensor(0.0867)
Frame 42
tensor(0.0862)
Frame 43
tensor(0.1629)
 # KEYFRAME 22
0.05496791399855283
Frame 44
tensor(0.1001)
 # KEYFRAME 23
0.05556355199951213
Frame 45
tensor(0.1069)
 # KEYFRAME 24
0.055964821000088705
Frame 46
tensor(0.0836)
Frame 47
tensor(0.1337)
 # KEYFRAME 25
0.05650444799903198
Frame 48
tensor(0.0605)
Frame 49
tensor(0.1250)
 # KEYFRAME 26
0.058293531998060644
Frame 50
tensor(0.0480)
Frame 51
tensor(0.1677)
 # KEYFRAME 27
0.05922316899886937
Frame 52
tensor(0.1377)
 # KEYFRAME 28
0.059539218000281835
Frame 53
tensor(0.0872)
Frame 54
tensor(0.1534)
 # KEYFRAME 29
0.0604736250024871
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 55
tensor(0.0834)
Frame 56
tensor(0.1925)
 # KEYFRAME 30
0.05844798199905199
Frame 57
tensor(0.1047)
 # KEYFRAME 31
0.05935864899947774
Frame 58
tensor(0.0900)
Frame 59
tensor(0.1035)
 # KEYFRAME 32
0.05914214899894432
Frame 60
tensor(0.0858)
Frame 61
tensor(0.1562)
 # KEYFRAME 33
0.06006136599899037
Frame 62
tensor(0.0604)
Frame 63
tensor(0.1557)
 # KEYFRAME 34
0.06040087400106131
Frame 64
tensor(0.1059)
 # KEYFRAME 35
0.061001691999990726
Frame 65
tensor(0.0837)
Frame 66
tensor(0.1653)
 # KEYFRAME 36
0.061688499998126645
Frame 67
tensor(0.1041)
 # KEYFRAME 37
0.06264118699982646
Frame 68
tensor(0.1057)
 # KEYFRAME 38
0.06338468399917474
Frame 69
tensor(0.1208)
 # KEYFRAME 39
0.06421164099810994
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=980 loss_distill=0.1733 tta_take=0.008s
Frame 70
tensor(0.2139)
 # KEYFRAME 40
0.06242358800227521
Frame 71
tensor(0.0966)
Frame 72
tensor(0.4426)
 # KEYFRAME 41
0.06455328000083682
Frame 73
tensor(0.4644)
 # KEYFRAME 42
0.0647157290004543
Frame 74
tensor(0.4334)
 # KEYFRAME 43
0.0636359829986759
Frame 75
tensor(0.0885)
Frame 76
tensor(0.1607)
 # KEYFRAME 44
0.06533844599834993
Frame 77
tensor(0.0533)
Frame 78
tensor(0.0648)
Frame 79
tensor(0.1258)
 # KEYFRAME 45
0.06580901499910397
Frame 80
tensor(0.1029)
 # KEYFRAME 46
0.06631714300237945
Frame 81
tensor(0.0932)
Frame 82
tensor(0.0497)
Frame 83
tensor(0.0999)
Frame 84
tensor(0.1178)
 # KEYFRAME 47
0.06676278200029628
Frame 85
tensor(0.3978)
 # KEYFRAME 48
0.06751636899934965
Frame 86
tensor(0.0913)
Frame 87
tensor(0.3589)
 # KEYFRAME 49
0.06839958699856652
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=981 loss_distill=0.2747 tta_take=0.008s
Frame 88
tensor(0.4685)
 # KEYFRAME 50
0.06699445100093726
Frame 89
tensor(0.0953)
Frame 90
tensor(0.1849)
 # KEYFRAME 51
0.06790974799878313
Frame 91
tensor(0.1048)
 # KEYFRAME 52
0.06813451699781581
Frame 92
tensor(0.0980)
Frame 93
tensor(0.1768)
 # KEYFRAME 53
0.06887398400067468
Frame 94
tensor(0.1173)
 # KEYFRAME 54
0.06873788500161027
Frame 95
tensor(0.0951)
Frame 96
tensor(0.1548)
 # KEYFRAME 55
0.07011840000268421
Frame 97
tensor(0.0832)
Frame 98
tensor(0.0655)
Frame 99
tensor(0.0922)
Frame 100
tensor(0.1799)
 # KEYFRAME 56
0.07087731800129404
Frame 101
tensor(0.0869)
Frame 102
tensor(0.2069)
 # KEYFRAME 57
0.07124826600193046
Frame 103
tensor(0.2065)
 # KEYFRAME 58
0.07168602399906376
Frame 104
tensor(0.1181)
 # KEYFRAME 59
0.07197119299962651
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=982 loss_distill=0.3466 tta_take=0.008s
Frame 105
tensor(0.1439)
 # KEYFRAME 60
0.0714842849993147
Frame 106
tensor(0.0747)
Frame 107
tensor(0.1960)
 # KEYFRAME 61
0.07292068999959156
Frame 108
tensor(0.1595)
 # KEYFRAME 62
0.07316166900272947
Frame 109
tensor(0.1242)
 # KEYFRAME 63
0.07342169799812837
Frame 110
tensor(0.1515)
 # KEYFRAME 64
0.07395673599967267
Frame 111
tensor(0.0814)
Frame 112
tensor(0.1456)
 # KEYFRAME 65
0.07356843800153001
Frame 113
tensor(0.1067)
 # KEYFRAME 66
0.07492289299989352
Frame 114
tensor(0.1208)
 # KEYFRAME 67
0.07585848899907432
Frame 115
tensor(0.0682)
Frame 116
tensor(0.1450)
 # KEYFRAME 68
0.07735692399728578
Frame 117
tensor(0.0693)
Frame 118
tensor(0.1400)
 # KEYFRAME 69
0.07796223200057284
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=983 loss_distill=0.4024 tta_take=0.008s
Frame 119
tensor(0.0497)
Frame 120
tensor(0.0202)
Frame 121
tensor(0.0729)
Frame 122
tensor(0.1447)
 # KEYFRAME 70
0.07562353100001928
Frame 123
tensor(0.0161)
Frame 124
tensor(0.0526)
Frame 125
tensor(0.1130)
 # KEYFRAME 71
0.07622790800087387
Frame 126
tensor(0.1317)
 # KEYFRAME 72
0.07693575599842006
Frame 127
tensor(0.1118)
 # KEYFRAME 73
0.0776944330027618
Frame 128
tensor(0.1072)
 # KEYFRAME 74
0.07909062800172251
Frame 129
tensor(0.0925)
Frame 130
tensor(0.1667)
 # KEYFRAME 75
0.0794656859980023
Frame 131
tensor(0.0712)
Frame 132
tensor(0.1532)
 # KEYFRAME 76
0.07806821100166417
Frame 133
tensor(0.0365)
Frame 134
tensor(0.0919)
Frame 135
tensor(0.2388)
 # KEYFRAME 77
0.0814064789992699
Frame 136
tensor(0.0572)
Frame 137
tensor(0.1531)
 # KEYFRAME 78
0.08185023800251656
Frame 138
tensor(0.0698)
Frame 139
tensor(0.1512)
 # KEYFRAME 79
0.08227642600104446
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=984 loss_distill=0.4024 tta_take=0.008s
Frame 140
tensor(0.1444)
 # KEYFRAME 80
0.07592804899832117
Frame 141
tensor(0.1021)
 # KEYFRAME 81
0.07726218400057405
Frame 142
tensor(0.1442)
 # KEYFRAME 82
0.07685811600094894
Frame 143
tensor(0.1639)
 # KEYFRAME 83
0.07767847300056019
Frame 144
tensor(0.0933)
Frame 145
tensor(0.1740)
 # KEYFRAME 84
0.07746158299778472
Frame 146
tensor(0.0754)
Frame 147
tensor(0.0919)
Frame 148
tensor(0.1481)
 # KEYFRAME 85
0.07835172999693896
Frame 149
tensor(0.0720)
Backending... 86 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 61380, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=985 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 145/556] scannetpp/419cbe7c11/DSC frames=150 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=985 time=36.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0099)
Frame 2
tensor(0.0254)
Frame 3
tensor(0.1357)
 # KEYFRAME 1
Frame 4
tensor(0.0433)
Frame 5
tensor(0.1256)
 # KEYFRAME 2
0.05147714700069628
Frame 6
tensor(0.2303)
 # KEYFRAME 3
0.05237621399646741
Frame 7
tensor(0.0548)
Frame 8
tensor(0.0847)
Frame 9
tensor(0.1348)
 # KEYFRAME 4
0.0540722170007939
Frame 10
tensor(0.2108)
 # KEYFRAME 5
0.054954004001047
Frame 11
tensor(0.0807)
Frame 12
tensor(0.1851)
 # KEYFRAME 6
0.05614856999818585
Frame 13
tensor(0.1069)
 # KEYFRAME 7
0.05652661900239764
Frame 14
tensor(0.1550)
 # KEYFRAME 8
0.05769021400192287
Frame 15
tensor(0.1524)
 # KEYFRAME 9
0.05810699300127453
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 16
tensor(0.1870)
 # KEYFRAME 10
0.0521643040010531
Frame 17
tensor(0.1651)
 # KEYFRAME 11
0.05380527799934498
Frame 18
tensor(0.1841)
 # KEYFRAME 12
0.054916334000154166
Frame 19
tensor(0.0990)
Frame 20
tensor(0.1977)
 # KEYFRAME 13
0.056899836999946274
Frame 21
tensor(0.1617)
 # KEYFRAME 14
0.05773364400010905
Frame 22
tensor(0.2128)
 # KEYFRAME 15
0.05827296200004639
Frame 23
tensor(0.1469)
 # KEYFRAME 16
0.05962671700035571
Frame 24
tensor(0.1848)
 # KEYFRAME 17
0.06027367500064429
Frame 25
tensor(0.1634)
 # KEYFRAME 18
0.06100298300225404
Frame 26
tensor(0.2940)
 # KEYFRAME 19
0.06279676600024686
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 27
tensor(0.1185)
 # KEYFRAME 20
0.05878900999960024
Frame 28
tensor(0.0948)
Frame 29
tensor(0.2367)
 # KEYFRAME 21
0.060499904000607785
Frame 30
tensor(0.2779)
 # KEYFRAME 22
0.06118092199903913
Frame 31
tensor(0.0852)
Frame 32
tensor(0.1423)
 # KEYFRAME 23
0.06184190000203671
Frame 33
tensor(0.0762)
Frame 34
tensor(0.1576)
 # KEYFRAME 24
0.06264238599760574
Frame 35
tensor(0.0947)
Frame 36
tensor(0.1641)
 # KEYFRAME 25
0.06332860400289064
Frame 37
tensor(0.0996)
Frame 38
tensor(0.2366)
 # KEYFRAME 26
0.06522258700351813
Frame 39
tensor(0.1198)
 # KEYFRAME 27
0.06583652500194148
Frame 40
tensor(0.0859)
Frame 41
tensor(0.1202)
 # KEYFRAME 28
0.06646095300311572
Frame 42
tensor(0.1760)
 # KEYFRAME 29
0.06793103800009703
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 43
tensor(0.1033)
 # KEYFRAME 30
0.06545820700193872
Frame 44
tensor(0.1383)
 # KEYFRAME 31
0.0676386890008871
Frame 45
tensor(0.1338)
 # KEYFRAME 32
0.06850920500073698
Frame 46
tensor(0.1629)
 # KEYFRAME 33
0.06965620200207923
Frame 47
tensor(0.1014)
 # KEYFRAME 34
0.07158435399833252
Frame 48
tensor(0.2905)
 # KEYFRAME 35
0.07234204199994565
Frame 49
tensor(0.0982)
Frame 50
tensor(0.1685)
 # KEYFRAME 36
0.07383550600206945
Frame 51
tensor(0.1015)
 # KEYFRAME 37
0.07537574100206257
Frame 52
tensor(0.1064)
 # KEYFRAME 38
0.07635921800101642
Frame 53
tensor(0.1120)
 # KEYFRAME 39
0.07662072600214742
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=986 loss_distill=0.1733 tta_take=0.009s
Frame 54
tensor(0.0973)
Frame 55
tensor(0.1805)
 # KEYFRAME 40
0.07263506100207451
Frame 56
tensor(0.1436)
 # KEYFRAME 41
0.07417771500331583
Frame 57
tensor(0.1291)
 # KEYFRAME 42
0.07441953500165255
Frame 58
tensor(0.1296)
 # KEYFRAME 43
0.0755674310021277
Frame 59
tensor(0.1178)
 # KEYFRAME 44
0.07606468900121399
Frame 60
tensor(0.1832)
 # KEYFRAME 45
0.07681639600195922
Frame 61
tensor(0.0882)
Frame 62
tensor(0.1828)
 # KEYFRAME 46
0.07686171599925729
Frame 63
tensor(0.0808)
Frame 64
tensor(0.1539)
 # KEYFRAME 47
0.07832191999841598
Frame 65
tensor(0.1392)
 # KEYFRAME 48
0.07882899900141638
Frame 66
tensor(0.1134)
 # KEYFRAME 49
0.07970062499953201
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=987 loss_distill=0.2747 tta_take=0.009s
Frame 67
tensor(0.1257)
 # KEYFRAME 50
0.07929721700202208
Frame 68
tensor(0.1519)
 # KEYFRAME 51
0.08186416800162988
Frame 69
tensor(0.1285)
 # KEYFRAME 52
0.08100120100061758
Frame 70
tensor(0.2900)
 # KEYFRAME 53
0.0829739939981664
Frame 71
tensor(0.1173)
 # KEYFRAME 54
0.08387391100040986
Frame 72
tensor(0.1352)
 # KEYFRAME 55
0.08418096899913508
Frame 73
tensor(0.1213)
 # KEYFRAME 56
0.08508537599846022
Frame 74
tensor(0.0812)
Frame 75
tensor(0.1379)
 # KEYFRAME 57
0.08539198499784106
Frame 76
tensor(0.1451)
 # KEYFRAME 58
0.08620380200227373
Frame 77
tensor(0.1936)
 # KEYFRAME 59
0.08842028499930166
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=988 loss_distill=0.3466 tta_take=0.009s
Frame 78
tensor(0.1446)
 # KEYFRAME 60
0.08584620399778942
Frame 79
tensor(0.1319)
 # KEYFRAME 61
0.08902501199918333
Frame 80
tensor(0.4627)
 # KEYFRAME 62
0.08836197499840637
Frame 81
tensor(0.0395)
Frame 82
tensor(0.0686)
Frame 83
tensor(0.0402)
Frame 84
tensor(0.0862)
Frame 85
tensor(0.1389)
 # KEYFRAME 63
0.08982037900204887
Frame 86
tensor(0.1369)
 # KEYFRAME 64
0.09140338399811299
Frame 87
tensor(0.1045)
 # KEYFRAME 65
0.09247427000082098
Frame 88
tensor(0.0602)
Frame 89
tensor(0.0973)
Frame 90
tensor(0.1425)
 # KEYFRAME 66
0.09383645500201965
Frame 91
tensor(0.0912)
Frame 92
tensor(0.1902)
 # KEYFRAME 67
0.09527048999734689
Frame 93
tensor(0.0408)
Frame 94
tensor(0.0857)
Frame 95
tensor(0.1164)
 # KEYFRAME 68
0.09589396800220129
Frame 96
tensor(0.2081)
 # KEYFRAME 69
0.09682982500089565
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=989 loss_distill=0.4024 tta_take=0.009s
Frame 97
tensor(0.0734)
Frame 98
tensor(0.1271)
 # KEYFRAME 70
0.09294975900047575
Frame 99
tensor(0.1355)
 # KEYFRAME 71
0.09571690899974783
Frame 100
tensor(0.0746)
Frame 101
tensor(0.1245)
 # KEYFRAME 72
0.09549549900111742
Frame 102
tensor(0.0396)
Frame 103
tensor(0.3494)
 # KEYFRAME 73
0.09675615499872947
Frame 104
tensor(0.1175)
 # KEYFRAME 74
0.0981532400001015
Frame 105
tensor(0.1247)
 # KEYFRAME 75
0.09837246900133323
Frame 106
tensor(0.1940)
 # KEYFRAME 76
0.10007843299899832
Frame 107
tensor(0.1322)
 # KEYFRAME 77
0.10155531800046447
Frame 108
tensor(0.1526)
 # KEYFRAME 78
0.10280561300169211
Frame 109
tensor(0.1748)
 # KEYFRAME 79
0.10262604400122655
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595452308655
TTA-STEP: step=990 loss_distill=0.4024 tta_take=0.009s
Frame 110
tensor(0.4458)
 # KEYFRAME 80
0.09240968100129976
Frame 111
tensor(0.0857)
Frame 112
tensor(0.0744)
Frame 113
tensor(0.0792)
Frame 114
tensor(0.2327)
 # KEYFRAME 81
0.0953267600016261
Frame 115
tensor(0.0677)
Frame 116
tensor(0.1239)
 # KEYFRAME 82
0.09498088100008317
Frame 117
tensor(0.0854)
Frame 118
tensor(0.1351)
 # KEYFRAME 83
0.09526628000094206
Frame 119
tensor(0.6916)
 # KEYFRAME 84
0.0975781819979602
Frame 120
tensor(0.2461)
 # KEYFRAME 85
0.09718512299878057
Frame 121
tensor(0.1604)
 # KEYFRAME 86
0.09800438000092981
Frame 122
tensor(0.1424)
 # KEYFRAME 87
0.09841545900053461
Frame 123
tensor(0.1903)
 # KEYFRAME 88
0.09970564399918658
Frame 124
tensor(0.2045)
 # KEYFRAME 89
0.10063161099969875
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=991 loss_distill=0.4024 tta_take=0.009s
Frame 125
tensor(0.1187)
 # KEYFRAME 90
0.09332480699958978
Frame 126
tensor(0.0943)
Frame 127
tensor(0.1826)
 # KEYFRAME 91
0.09544866000214824
Frame 128
tensor(0.3319)
 # KEYFRAME 92
0.095520258997567
Frame 129
tensor(0.1315)
 # KEYFRAME 93
0.09545766900191666
Frame 130
tensor(0.0925)
Backending... 94 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 66624, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=992 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 146/556] scannetpp/116456116b/frame frames=131 tta_steps_this_scene=7 mean_loss=0.3434 total_steps=992 time=38.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.3031)
 # KEYFRAME 1
Frame 2
tensor(0.1069)
 # KEYFRAME 2
0.05155521599954227
Frame 3
tensor(0.0523)
Frame 4
tensor(0.1584)
 # KEYFRAME 3
0.05204230500021367
Frame 5
tensor(0.0658)
Frame 6
tensor(0.2144)
 # KEYFRAME 4
0.05329216000245651
Frame 7
tensor(0.0969)
Frame 8
tensor(0.2350)
 # KEYFRAME 5
0.054197995999857085
Frame 9
tensor(0.1564)
 # KEYFRAME 6
0.05559006199837313
Frame 10
tensor(0.5622)
 # KEYFRAME 7
0.05620732999886968
Frame 11
tensor(0.0663)
Frame 12
tensor(0.4094)
 # KEYFRAME 8
0.05659673799891607
Frame 13
tensor(0.1526)
 # KEYFRAME 9
0.05734815499818069
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 14
tensor(0.3474)
 # KEYFRAME 10
0.05165722599849687
Frame 15
tensor(0.0790)
Frame 16
tensor(0.2026)
 # KEYFRAME 11
0.052366353000252275
Frame 17
tensor(0.0337)
Frame 18
tensor(0.0938)
Frame 19
tensor(0.2353)
 # KEYFRAME 12
0.05354235900085769
Frame 20
tensor(0.1953)
 # KEYFRAME 13
0.05532363299789722
Frame 21
tensor(0.0582)
Frame 22
tensor(0.1336)
 # KEYFRAME 14
0.05536649300120189
Frame 23
tensor(0.0945)
Frame 24
tensor(0.2674)
 # KEYFRAME 15
0.05558506200031843
Frame 25
tensor(0.0998)
Frame 26
tensor(0.1995)
 # KEYFRAME 16
0.055839259999629576
Frame 27
tensor(0.0316)
Frame 28
tensor(0.3055)
 # KEYFRAME 17
0.056894417000876274
Frame 29
tensor(0.1792)
 # KEYFRAME 18
0.05755437499828986
Frame 30
tensor(0.1581)
 # KEYFRAME 19
0.05761299499863526
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 31
tensor(0.1478)
 # KEYFRAME 20
0.054093966999062104
Frame 32
tensor(0.1561)
 # KEYFRAME 21
0.05478327499804436
Frame 33
tensor(0.1865)
 # KEYFRAME 22
0.054989573000057135
Frame 34
tensor(0.4037)
 # KEYFRAME 23
0.05528251299983822
Frame 35
tensor(0.1602)
 # KEYFRAME 24
0.056054780001431936
Frame 36
tensor(0.1065)
 # KEYFRAME 25
0.056868956999096554
Frame 37
tensor(0.0545)
Frame 38
tensor(0.1052)
 # KEYFRAME 26
0.05805426300139516
Frame 39
tensor(0.0762)
Frame 40
tensor(0.0603)
Frame 41
tensor(0.0670)
Frame 42
tensor(0.0721)
Frame 43
tensor(0.0695)
Frame 44
tensor(0.2224)
 # KEYFRAME 27
0.0591592689997924
Frame 45
tensor(0.1057)
 # KEYFRAME 28
0.05961617800130625
Frame 46
tensor(0.1976)
 # KEYFRAME 29
0.06053028500173241
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 47
tensor(0.1016)
 # KEYFRAME 30
0.058398370998475
Frame 48
tensor(0.1971)
 # KEYFRAME 31
0.05956972800049698
Frame 49
tensor(0.0377)
Frame 50
tensor(0.1386)
 # KEYFRAME 32
0.059340928000892745
Frame 51
tensor(0.1062)
 # KEYFRAME 33
0.06005398599882028
Frame 52
tensor(0.1205)
 # KEYFRAME 34
0.06063309400269645
Frame 53
tensor(0.1646)
 # KEYFRAME 35
0.06107813200287637
Frame 54
tensor(0.3797)
 # KEYFRAME 36
0.061959017999470234
Frame 55
tensor(0.1229)
 # KEYFRAME 37
0.06269389600129216
Frame 56
tensor(0.2196)
 # KEYFRAME 38
0.06341737399998237
Frame 57
tensor(0.1559)
 # KEYFRAME 39
0.06428589099959936
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=993 loss_distill=0.1733 tta_take=0.008s
Frame 58
tensor(0.3508)
 # KEYFRAME 40
0.06242393699722015
Frame 59
tensor(0.1593)
 # KEYFRAME 41
0.06442892999984906
Frame 60
tensor(0.0705)
Frame 61
tensor(0.8127)
 # KEYFRAME 42
0.0647651789986412
Frame 62
tensor(0.1200)
 # KEYFRAME 43
0.06437418999848887
Frame 63
tensor(0.2157)
 # KEYFRAME 44
0.06532927700027358
Frame 64
tensor(0.4076)
 # KEYFRAME 45
0.0660815539995383
Frame 65
tensor(0.1655)
 # KEYFRAME 46
0.06634601399855455
Frame 66
tensor(0.1804)
 # KEYFRAME 47
0.06674089199805167
Frame 67
tensor(0.1015)
 # KEYFRAME 48
0.06767465799930505
Frame 68
tensor(0.1128)
 # KEYFRAME 49
0.0683904160032398
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=994 loss_distill=0.2747 tta_take=0.008s
Frame 69
tensor(0.1554)
 # KEYFRAME 50
0.06693088199972408
Frame 70
tensor(0.6465)
 # KEYFRAME 51
0.06824115699782851
Frame 71
tensor(0.0241)
Frame 72
tensor(0.0484)
Frame 73
tensor(0.1457)
 # KEYFRAME 52
0.06813109699942288
Frame 74
tensor(0.1794)
 # KEYFRAME 53
0.07003156000064337
Frame 75
tensor(0.0971)
Frame 76
tensor(0.2167)
 # KEYFRAME 54
0.06902085299952887
Frame 77
tensor(0.1522)
 # KEYFRAME 55
0.0698429309995845
Frame 78
tensor(0.6458)
 # KEYFRAME 56
0.07093012699988321
Frame 79
tensor(0.0685)
Frame 80
tensor(0.2299)
 # KEYFRAME 57
0.07101524699828587
Frame 81
tensor(0.0780)
Frame 82
tensor(0.1394)
 # KEYFRAME 58
0.07149198499973863
Frame 83
tensor(0.0757)
Frame 84
tensor(0.0514)
Frame 85
tensor(0.0915)
Frame 86
tensor(0.2049)
 # KEYFRAME 59
0.07149956500143162
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=995 loss_distill=0.3466 tta_take=0.008s
Frame 87
tensor(0.0456)
Frame 88
tensor(0.1502)
 # KEYFRAME 60
0.07109813599890913
Frame 89
tensor(0.1088)
 # KEYFRAME 61
0.073174059001758
Frame 90
tensor(0.1266)
 # KEYFRAME 62
0.07271971099908114
Frame 91
tensor(0.0254)
Frame 92
tensor(0.5612)
 # KEYFRAME 63
0.0735261170011654
Frame 93
tensor(0.1472)
 # KEYFRAME 64
0.07441247500173631
Frame 94
tensor(0.1385)
 # KEYFRAME 65
0.07331500799773494
Frame 95
tensor(0.0918)
Frame 96
tensor(0.3350)
 # KEYFRAME 66
0.07563728999957675
Frame 97
tensor(0.0321)
Frame 98
tensor(0.0620)
Frame 99
tensor(0.1052)
 # KEYFRAME 67
0.07622119799998472
Frame 100
tensor(0.1065)
 # KEYFRAME 68
0.07729654500144534
Frame 101
tensor(0.0530)
Frame 102
tensor(0.1126)
 # KEYFRAME 69
0.07758491300046444
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=996 loss_distill=0.4024 tta_take=0.008s
Frame 103
tensor(0.1988)
 # KEYFRAME 70
0.07571900000039022
Frame 104
tensor(0.3578)
 # KEYFRAME 71
0.07796891199905076
Frame 105
tensor(0.0591)
Frame 106
tensor(0.0763)
Frame 107
tensor(0.2793)
 # KEYFRAME 72
0.0769725060017663
Frame 108
tensor(0.2228)
 # KEYFRAME 73
0.07813321099820314
Frame 109
tensor(0.1569)
 # KEYFRAME 74
0.0792811069986783
Frame 110
tensor(0.3616)
 # KEYFRAME 75
0.07975236600032076
Frame 111
tensor(0.1443)
 # KEYFRAME 76
0.07864552899991395
Frame 112
tensor(0.2228)
 # KEYFRAME 77
0.08126709000134724
Frame 113
tensor(0.0785)
Frame 114
tensor(0.1925)
 # KEYFRAME 78
0.08247277600094094
Frame 115
tensor(0.1019)
 # KEYFRAME 79
0.08340026200312423
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=997 loss_distill=0.4024 tta_take=0.008s
Frame 116
tensor(0.2060)
 # KEYFRAME 80
0.07534294099968974
Frame 117
tensor(0.0616)
Frame 118
tensor(0.1492)
 # KEYFRAME 81
0.07716004399844678
Frame 119
tensor(0.1077)
 # KEYFRAME 82
0.07707198500065715
Frame 120
tensor(0.1263)
 # KEYFRAME 83
0.07819907100201817
Frame 121
tensor(0.0415)
Frame 122
tensor(0.7514)
 # KEYFRAME 84
0.07785842199882609
Frame 123
tensor(0.0562)
Frame 124
tensor(0.4128)
 # KEYFRAME 85
0.07844684999872698
Frame 125
tensor(0.1644)
 # KEYFRAME 86
0.07838341000024229
Frame 126
tensor(0.2471)
 # KEYFRAME 87
0.0792494679990341
Frame 127
tensor(0.1296)
 # KEYFRAME 88
0.0798934249978629
Frame 128
tensor(0.2106)
 # KEYFRAME 89
0.08067010200102231
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=998 loss_distill=0.4024 tta_take=0.008s
Frame 129
tensor(0.0985)
Frame 130
tensor(0.2320)
 # KEYFRAME 90
0.07536230100231478
Frame 131
tensor(0.1201)
 # KEYFRAME 91
0.07779187300184276
Frame 132
tensor(0.1418)
 # KEYFRAME 92
0.07781379200241645
Frame 133
tensor(0.0552)
Frame 134
tensor(0.1670)
 # KEYFRAME 93
0.07883019899963983
Frame 135
tensor(0.0107)
Frame 136
tensor(0.1425)
 # KEYFRAME 94
0.07991386499998043
Frame 137
tensor(0.1065)
 # KEYFRAME 95
0.08021015399936005
Frame 138
tensor(0.3181)
 # KEYFRAME 96
0.07890458900146768
Frame 139
tensor(0.1148)
 # KEYFRAME 97
0.08168869799919776
Frame 140
tensor(0.1660)
 # KEYFRAME 98
0.08234496700242744
Frame 141
tensor(0.1540)
 # KEYFRAME 99
0.08346682300179964
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=999 loss_distill=0.4024 tta_take=0.008s
Frame 142
tensor(0.3381)
 # KEYFRAME 100
0.07549376099996152
Frame 143
tensor(0.1085)
 # KEYFRAME 101
0.07789309299914748
Backending... 102 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 57660, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1000 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 147/556] scannetpp/56a0ec536c/DSC frames=144 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=1000 time=43.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0095)
Frame 2
tensor(0.0224)
Frame 3
tensor(0.0484)
Frame 4
tensor(0.0714)
Frame 5
tensor(0.0888)
Frame 6
tensor(0.1042)
 # KEYFRAME 1
Frame 7
tensor(0.0246)
Frame 8
tensor(0.0764)
Frame 9
tensor(0.1554)
 # KEYFRAME 2
0.05133185600061552
Frame 10
tensor(0.0670)
Frame 11
tensor(0.1384)
 # KEYFRAME 3
0.05204492399934679
Frame 12
tensor(0.0240)
Frame 13
tensor(0.0806)
Frame 14
tensor(0.1148)
 # KEYFRAME 4
0.05340000000069267
Frame 15
tensor(0.0743)
Frame 16
tensor(0.1468)
 # KEYFRAME 5
0.05420395699911751
Frame 17
tensor(0.0680)
Frame 18
tensor(0.6070)
 # KEYFRAME 6
0.055767991001630435
Frame 19
tensor(0.0165)
Frame 20
tensor(0.0371)
Frame 21
tensor(0.0569)
Frame 22
tensor(0.0816)
Frame 23
tensor(0.0927)
Frame 24
tensor(0.1088)
 # KEYFRAME 7
0.05608158999893931
Frame 25
tensor(0.0243)
Frame 26
tensor(0.0385)
Frame 27
tensor(0.0709)
Frame 28
tensor(0.0889)
Frame 29
tensor(0.1186)
 # KEYFRAME 8
0.05667057800019393
Frame 30
tensor(0.0298)
Frame 31
tensor(0.0609)
Frame 32
tensor(0.0913)
Frame 33
tensor(0.1276)
 # KEYFRAME 9
0.05745531499997014
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 34
tensor(0.4161)
 # KEYFRAME 10
0.05164559600234497
Frame 35
tensor(0.0547)
Frame 36
tensor(0.1194)
 # KEYFRAME 11
0.05257856300158892
Frame 37
tensor(0.0483)
Frame 38
tensor(0.1028)
 # KEYFRAME 12
0.053811879002751084
Frame 39
tensor(0.0829)
Frame 40
tensor(0.1401)
 # KEYFRAME 13
0.05543746199691668
Frame 41
tensor(0.0851)
Frame 42
tensor(0.1423)
 # KEYFRAME 14
0.05519544299750123
Frame 43
tensor(0.0890)
Frame 44
tensor(0.1560)
 # KEYFRAME 15
0.05556462199820089
Frame 45
tensor(0.0897)
Frame 46
tensor(0.1163)
 # KEYFRAME 16
0.05580525099867373
Frame 47
tensor(0.0845)
Frame 48
tensor(0.1382)
 # KEYFRAME 17
0.05674213800011785
Frame 49
tensor(0.6369)
 # KEYFRAME 18
0.057182956999895396
Frame 50
tensor(0.0630)
Frame 51
tensor(0.1431)
 # KEYFRAME 19
0.057580044001952047
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 52
tensor(0.0921)
Frame 53
tensor(0.1756)
 # KEYFRAME 20
0.05407314699914423
Frame 54
tensor(0.0598)
Frame 55
tensor(0.4882)
 # KEYFRAME 21
0.0546812749998935
Frame 56
tensor(0.0901)
Frame 57
tensor(0.2170)
 # KEYFRAME 22
0.05494135299886693
Frame 58
tensor(0.4458)
 # KEYFRAME 23
0.05537424299836857
Frame 59
tensor(0.0643)
Frame 60
tensor(0.1357)
 # KEYFRAME 24
0.056030651001492515
Frame 61
tensor(0.6139)
 # KEYFRAME 25
0.0567242979996081
Frame 62
tensor(0.0449)
Frame 63
tensor(0.0843)
Frame 64
tensor(0.1261)
 # KEYFRAME 26
0.05792045300040627
Frame 65
tensor(0.0454)
Frame 66
tensor(0.0904)
Frame 67
tensor(0.1395)
 # KEYFRAME 27
0.059058429000288015
Frame 68
tensor(0.0617)
Frame 69
tensor(0.1434)
 # KEYFRAME 28
0.059456816998135764
Frame 70
tensor(0.0793)
Frame 71
tensor(0.3278)
 # KEYFRAME 29
0.06023526499848231
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 72
tensor(0.0450)
Frame 73
tensor(0.0742)
Frame 74
tensor(0.0963)
Frame 75
tensor(0.1446)
 # KEYFRAME 30
0.05832571200153325
Frame 76
tensor(0.3522)
 # KEYFRAME 31
0.058871290002571186
Frame 77
tensor(0.0534)
Frame 78
tensor(0.0892)
Frame 79
tensor(0.1184)
 # KEYFRAME 32
0.059253498999169096
Frame 80
tensor(0.0452)
Frame 81
tensor(0.1154)
 # KEYFRAME 33
0.06012323599861702
Frame 82
tensor(0.0699)
Frame 83
tensor(0.4009)
 # KEYFRAME 34
0.060369194001395954
Frame 84
tensor(0.0311)
Frame 85
tensor(0.0633)
Frame 86
tensor(0.2768)
 # KEYFRAME 35
0.060857073000079254
Frame 87
tensor(0.0847)
Frame 88
tensor(0.1294)
 # KEYFRAME 36
0.062065498001175
Frame 89
tensor(0.0335)
Frame 90
tensor(0.0731)
Frame 91
tensor(0.1015)
 # KEYFRAME 37
0.06267017699792632
Frame 92
tensor(0.2950)
 # KEYFRAME 38
0.06325858399941353
Frame 93
tensor(0.0520)
Frame 94
tensor(0.0705)
Frame 95
tensor(0.0999)
Frame 96
tensor(0.7155)
 # KEYFRAME 39
0.06409139099923777
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1001 loss_distill=0.1733 tta_take=0.008s
Frame 97
tensor(0.0547)
Frame 98
tensor(0.1152)
 # KEYFRAME 40
0.06248485700052697
Frame 99
tensor(0.0488)
Frame 100
tensor(0.1015)
 # KEYFRAME 41
0.06442044000141323
Frame 101
tensor(0.2203)
 # KEYFRAME 42
0.06463904900010675
Frame 102
tensor(0.0491)
Frame 103
tensor(0.0978)
Frame 104
tensor(0.1432)
 # KEYFRAME 43
0.06380200200146646
Frame 105
tensor(0.4148)
 # KEYFRAME 44
0.06556047599951853
Frame 106
tensor(0.0545)
Frame 107
tensor(0.1157)
 # KEYFRAME 45
0.06613174399899435
Frame 108
tensor(0.0581)
Frame 109
tensor(0.0942)
Frame 110
tensor(0.3258)
 # KEYFRAME 46
0.06645551299880026
Frame 111
tensor(0.1782)
 # KEYFRAME 47
0.06644462300027953
Frame 112
tensor(0.0527)
Frame 113
tensor(0.1155)
 # KEYFRAME 48
0.06776587800050038
Frame 114
tensor(0.2127)
 # KEYFRAME 49
0.06828331599899684
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531069278717
TTA-STEP: step=1002 loss_distill=0.2747 tta_take=0.008s
Frame 115
tensor(0.0827)
Frame 116
tensor(0.1328)
 # KEYFRAME 50
0.06674030200156267
Frame 117
tensor(0.0432)
Frame 118
tensor(0.4050)
 # KEYFRAME 51
0.06814108699836652
Frame 119
tensor(0.0407)
Frame 120
tensor(0.0680)
Frame 121
tensor(0.0991)
Frame 122
tensor(0.1422)
 # KEYFRAME 52
0.0684890760021517
Frame 123
tensor(0.0835)
Frame 124
tensor(0.1296)
 # KEYFRAME 53
0.06896562399924733
Frame 125
tensor(0.0345)
Frame 126
tensor(0.0674)
Frame 127
tensor(0.0907)
Frame 128
tensor(0.1285)
 # KEYFRAME 54
0.06926505299998098
Frame 129
tensor(0.3568)
 # KEYFRAME 55
0.06999682099922211
Frame 130
tensor(0.0136)
Frame 131
tensor(0.0410)
Frame 132
tensor(0.0699)
Frame 133
tensor(0.0982)
Frame 134
tensor(0.1167)
 # KEYFRAME 56
0.07083109800078091
Frame 135
tensor(0.0290)
Frame 136
tensor(0.0531)
Frame 137
tensor(0.0627)
Frame 138
tensor(0.0888)
Frame 139
tensor(0.1168)
 # KEYFRAME 57
0.07125544600057765
Frame 140
tensor(0.3327)
 # KEYFRAME 58
0.07156436500008567
Frame 141
tensor(0.1282)
 # KEYFRAME 59
0.07188810399748036
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1003 loss_distill=0.3466 tta_take=0.008s
Frame 142
tensor(0.0527)
Frame 143
tensor(0.1080)
 # KEYFRAME 60
0.07126321499890764
Frame 144
tensor(0.2606)
 # KEYFRAME 61
0.07316519899904961
Frame 145
tensor(0.0317)
Frame 146
tensor(0.0893)
Frame 147
tensor(0.2121)
 # KEYFRAME 62
0.07275050099997316
Frame 148
tensor(0.0921)
Frame 149
tensor(0.1866)
 # KEYFRAME 63
0.07303862999833655
Backending... 64 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 59520, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1004 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 148/556] scannetpp/8890d0a267/DSC frames=150 tta_steps_this_scene=4 mean_loss=0.2992 total_steps=1004 time=29.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0030)
Frame 2
tensor(0.0192)
Frame 3
tensor(0.1538)
 # KEYFRAME 1
Frame 4
tensor(0.1140)
 # KEYFRAME 2
0.05132000700177741
Frame 5
tensor(0.1156)
 # KEYFRAME 3
0.0523356240009889
Frame 6
tensor(0.1532)
 # KEYFRAME 4
0.05427526600033161
Frame 7
tensor(0.2875)
 # KEYFRAME 5
0.05501031300082104
Frame 8
tensor(0.1592)
 # KEYFRAME 6
0.056226649998279754
Frame 9
tensor(0.5414)
 # KEYFRAME 7
0.056431888002407504
Frame 10
tensor(0.1915)
 # KEYFRAME 8
0.05761312400136376
Frame 11
tensor(0.2710)
 # KEYFRAME 9
0.05786662399987108
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.1939)
 # KEYFRAME 10
0.05189098499977263
Frame 13
tensor(0.1526)
 # KEYFRAME 11
0.05418320700118784
Frame 14
tensor(0.3145)
 # KEYFRAME 12
0.055186402998515405
Frame 15
tensor(0.5079)
 # KEYFRAME 13
0.056898476999776904
Frame 16
tensor(0.1563)
 # KEYFRAME 14
0.05764110399832134
Frame 17
tensor(0.2390)
 # KEYFRAME 15
0.05843661099788733
Frame 18
tensor(0.0708)
Frame 19
tensor(0.1243)
 # KEYFRAME 16
0.05963380799948936
Frame 20
tensor(0.0699)
Frame 21
tensor(0.1086)
 # KEYFRAME 17
0.060366155001247535
Frame 22
tensor(0.0698)
Frame 23
tensor(0.2095)
 # KEYFRAME 18
0.06107131200042204
Frame 24
tensor(0.0755)
Frame 25
tensor(0.1309)
 # KEYFRAME 19
0.06272965699827182
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 26
tensor(0.1283)
 # KEYFRAME 20
0.058828100001846906
Frame 27
tensor(0.1617)
 # KEYFRAME 21
0.06033740500060958
Frame 28
tensor(0.1483)
 # KEYFRAME 22
0.06143958100074087
Frame 29
tensor(0.2148)
 # KEYFRAME 23
0.061740149998513516
Frame 30
tensor(0.2003)
 # KEYFRAME 24
0.0627004570014833
Frame 31
tensor(0.1795)
 # KEYFRAME 25
0.06357385299997986
Frame 32
tensor(0.3019)
 # KEYFRAME 26
0.06533354700150085
Frame 33
tensor(0.3238)
 # KEYFRAME 27
0.06610458399882191
Frame 34
tensor(0.1587)
 # KEYFRAME 28
0.06698301099822856
Frame 35
tensor(0.2614)
 # KEYFRAME 29
0.06832674700126518
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 36
tensor(0.1916)
 # KEYFRAME 30
0.0654726960019616
Frame 37
tensor(0.0907)
Frame 38
tensor(0.1290)
 # KEYFRAME 31
0.06790232799903606
Frame 39
tensor(0.1185)
 # KEYFRAME 32
0.06861653499800013
Frame 40
tensor(0.1290)
 # KEYFRAME 33
0.06987862100140774
Frame 41
tensor(0.1182)
 # KEYFRAME 34
0.07144925499960664
Frame 42
tensor(0.1263)
 # KEYFRAME 35
0.07251767100024153
Frame 43
tensor(0.1375)
 # KEYFRAME 36
0.07420912499947008
Frame 44
tensor(0.0478)
Frame 45
tensor(0.2972)
 # KEYFRAME 37
0.0753989510012616
Frame 46
tensor(0.1033)
 # KEYFRAME 38
0.07689587499771733
Frame 47
tensor(0.3675)
 # KEYFRAME 39
0.07704162500158418
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1005 loss_distill=0.1733 tta_take=0.009s
Frame 48
tensor(0.2632)
 # KEYFRAME 40
0.07259739100118168
Frame 49
tensor(0.1223)
 # KEYFRAME 41
0.07458623400088982
Frame 50
tensor(0.1624)
 # KEYFRAME 42
0.07450230399990687
Frame 51
tensor(0.1637)
 # KEYFRAME 43
0.07493544299722998
Frame 52
tensor(0.0913)
Frame 53
tensor(0.3153)
 # KEYFRAME 44
0.07609217799836188
Frame 54
tensor(0.3694)
 # KEYFRAME 45
0.07696571599808522
Frame 55
tensor(0.1080)
 # KEYFRAME 46
0.07738660399991204
Frame 56
tensor(0.0319)
Frame 57
tensor(0.1035)
 # KEYFRAME 47
0.07782662300087395
Frame 58
tensor(0.1591)
 # KEYFRAME 48
0.0787703589994635
Frame 59
tensor(0.0969)
Frame 60
tensor(0.1650)
 # KEYFRAME 49
0.07956105599805596
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531069278717
TTA-STEP: step=1006 loss_distill=0.2747 tta_take=0.009s
Frame 61
tensor(0.0844)
Frame 62
tensor(0.1855)
 # KEYFRAME 50
0.0796960260013293
Frame 63
tensor(0.1449)
 # KEYFRAME 51
0.08132877000025474
Frame 64
tensor(0.1642)
 # KEYFRAME 52
0.08147404999908758
Frame 65
tensor(0.4966)
 # KEYFRAME 53
0.08297591399968951
Frame 66
tensor(0.1450)
 # KEYFRAME 54
0.0839707310005906
Frame 67
tensor(0.1377)
 # KEYFRAME 55
0.08459821799988276
Frame 68
tensor(0.4210)
 # KEYFRAME 56
0.08524358599970583
Frame 69
tensor(0.1589)
 # KEYFRAME 57
0.08627078299832647
Frame 70
tensor(0.1817)
 # KEYFRAME 58
0.08688559000074747
Frame 71
tensor(0.1303)
 # KEYFRAME 59
0.0884319040014816
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1007 loss_distill=0.3466 tta_take=0.009s
Frame 72
tensor(0.2056)
 # KEYFRAME 60
0.08579465400180197
Frame 73
tensor(0.2936)
 # KEYFRAME 61
0.08877717300129007
Frame 74
tensor(0.2458)
 # KEYFRAME 62
0.08901184199930867
Frame 75
tensor(0.0830)
Frame 76
tensor(0.2767)
 # KEYFRAME 63
0.09026348800034611
Frame 77
tensor(0.1581)
 # KEYFRAME 64
0.0912636940010998
Frame 78
tensor(0.1122)
 # KEYFRAME 65
0.09202464200279792
Frame 79
tensor(0.1180)
 # KEYFRAME 66
0.0931850269989809
Frame 80
tensor(0.2048)
 # KEYFRAME 67
0.09452223300104379
Frame 81
tensor(0.1788)
 # KEYFRAME 68
0.09568054800183745
Frame 82
tensor(0.1858)
 # KEYFRAME 69
0.09656192500187899
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1008 loss_distill=0.4024 tta_take=0.009s
Frame 83
tensor(0.1705)
 # KEYFRAME 70
0.09266295999987051
Frame 84
tensor(0.1040)
 # KEYFRAME 71
0.0956118290014274
Frame 85
tensor(0.3648)
 # KEYFRAME 72
0.09570527800315176
Frame 86
tensor(0.1605)
 # KEYFRAME 73
0.09644855599981383
Frame 87
tensor(0.2150)
 # KEYFRAME 74
0.0981723199984117
Frame 88
tensor(0.1527)
 # KEYFRAME 75
0.09883816799992928
Frame 89
tensor(0.1937)
 # KEYFRAME 76
0.1005972210004984
Frame 90
tensor(0.4016)
 # KEYFRAME 77
0.10106590900250012
Frame 91
tensor(0.5039)
 # KEYFRAME 78
0.1022457859980932
Frame 92
tensor(0.2019)
 # KEYFRAME 79
0.10300591199847986
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1009 loss_distill=0.4024 tta_take=0.009s
Frame 93
tensor(0.0694)
Frame 94
tensor(0.1140)
 # KEYFRAME 80
0.09273587899951963
Frame 95
tensor(0.0796)
Frame 96
tensor(0.2600)
 # KEYFRAME 81
0.0949398820011993
Frame 97
tensor(0.1869)
 # KEYFRAME 82
0.09494476200052304
Frame 98
tensor(0.1211)
 # KEYFRAME 83
0.09601631699842983
Frame 99
tensor(0.1621)
 # KEYFRAME 84
0.09660515500218025
Frame 100
tensor(0.3019)
 # KEYFRAME 85
0.09747122199769365
Frame 101
tensor(0.1433)
 # KEYFRAME 86
0.09826892000273801
Frame 102
tensor(0.3031)
 # KEYFRAME 87
0.09903747700082022
Frame 103
tensor(0.2401)
 # KEYFRAME 88
0.09965124399968772
Frame 104
tensor(0.0993)
Frame 105
tensor(0.3011)
 # KEYFRAME 89
0.10052597100002458
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1010 loss_distill=0.4024 tta_take=0.009s
Frame 106
tensor(0.1965)
 # KEYFRAME 90
0.09250560000145924
Frame 107
tensor(0.1903)
 # KEYFRAME 91
0.09566236899991054
Frame 108
tensor(0.2325)
 # KEYFRAME 92
0.09470964199863374
Frame 109
tensor(0.2408)
 # KEYFRAME 93
0.09598407800149289
Frame 110
tensor(0.1359)
 # KEYFRAME 94
0.09645654499763623
Frame 111
tensor(0.2055)
 # KEYFRAME 95
0.09699620399987907
Frame 112
tensor(0.4990)
 # KEYFRAME 96
0.09799014099917258
Frame 113
tensor(0.1923)
 # KEYFRAME 97
0.09838262899938854
Frame 114
tensor(0.2726)
 # KEYFRAME 98
0.09882313699927181
Frame 115
tensor(0.2327)
 # KEYFRAME 99
0.10003800299818977
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1011 loss_distill=0.4024 tta_take=0.009s
Frame 116
tensor(0.1682)
 # KEYFRAME 100
0.0926859789979062
Frame 117
tensor(0.1787)
 # KEYFRAME 101
0.09509557999990648
Frame 118
tensor(0.1044)
 # KEYFRAME 102
0.09502218099805759
Frame 119
tensor(0.1059)
 # KEYFRAME 103
0.09616305700183148
Frame 120
tensor(0.1347)
 # KEYFRAME 104
0.09656919600092806
Frame 121
tensor(0.4608)
 # KEYFRAME 105
0.09707966399946599
Frame 122
tensor(0.2820)
 # KEYFRAME 106
0.09755773099823273
Frame 123
tensor(0.1691)
 # KEYFRAME 107
0.09946544500053278
Frame 124
tensor(0.0935)
Backending... 108 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 70788, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1012 loss_distill=0.4024 tta_take=0.007s
[epoch 0 scene 149/556] scannetpp/9471b8d485/frame frames=125 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=1012 time=43.6s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0484)
Frame 2
tensor(0.0948)
Frame 3
tensor(0.1438)
 # KEYFRAME 1
Frame 4
tensor(0.0431)
Frame 5
tensor(0.0908)
Frame 6
tensor(0.1452)
 # KEYFRAME 2
0.05191277499761782
Frame 7
tensor(0.0432)
Frame 8
tensor(0.0931)
Frame 9
tensor(0.1464)
 # KEYFRAME 3
0.051845074998709606
Frame 10
tensor(0.0466)
Frame 11
tensor(0.0979)
Frame 12
tensor(0.1521)
 # KEYFRAME 4
0.051766944998234976
Frame 13
tensor(0.0447)
Frame 14
tensor(0.0941)
Frame 15
tensor(0.1384)
 # KEYFRAME 5
0.05257096199784428
Frame 16
tensor(0.0415)
Frame 17
tensor(0.0890)
Frame 18
tensor(0.1433)
 # KEYFRAME 6
0.052933220998966135
Frame 19
tensor(0.0433)
Frame 20
tensor(0.0921)
Frame 21
tensor(0.1405)
 # KEYFRAME 7
0.052603463002014905
Frame 22
tensor(0.0441)
Frame 23
tensor(0.0958)
Frame 24
tensor(0.1455)
 # KEYFRAME 8
0.05370845799916424
Frame 25
tensor(0.0440)
Frame 26
tensor(0.0998)
Frame 27
tensor(0.1522)
 # KEYFRAME 9
0.05252290299904416
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 28
tensor(0.0524)
Frame 29
tensor(0.1019)
 # KEYFRAME 10
0.05191628499960643
Frame 30
tensor(0.0473)
Frame 31
tensor(0.0912)
Frame 32
tensor(0.1397)
 # KEYFRAME 11
0.052336933000333374
Frame 33
tensor(0.0440)
Frame 34
tensor(0.0882)
Frame 35
tensor(0.1429)
 # KEYFRAME 12
0.05228021400034777
Frame 36
tensor(0.0465)
Frame 37
tensor(0.0926)
Frame 38
tensor(0.1428)
 # KEYFRAME 13
0.052336822998768184
Frame 39
tensor(0.0438)
Frame 40
tensor(0.0920)
Frame 41
tensor(0.1311)
 # KEYFRAME 14
0.0526423019982758
Frame 42
tensor(0.0423)
Frame 43
tensor(0.0851)
Frame 44
tensor(0.1258)
 # KEYFRAME 15
0.0531012510000437
Frame 45
tensor(0.0360)
Frame 46
tensor(0.0860)
Frame 47
tensor(0.1206)
 # KEYFRAME 16
0.052513752998493146
Frame 48
tensor(0.0341)
Frame 49
tensor(0.0821)
Frame 50
tensor(0.1223)
 # KEYFRAME 17
0.0541686069991556
Frame 51
tensor(0.0386)
Frame 52
tensor(0.0834)
Frame 53
tensor(0.1218)
 # KEYFRAME 18
0.05294127099841717
Frame 54
tensor(0.0368)
Frame 55
tensor(0.0827)
Frame 56
tensor(0.1236)
 # KEYFRAME 19
0.05528412299827323
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 57
tensor(0.0389)
Frame 58
tensor(0.0871)
Frame 59
tensor(0.1185)
 # KEYFRAME 20
0.05198082399874693
Frame 60
tensor(0.0372)
Frame 61
tensor(0.0753)
Frame 62
tensor(0.1150)
 # KEYFRAME 21
0.052280703999713296
Frame 63
tensor(0.0378)
Frame 64
tensor(0.0745)
Frame 65
tensor(0.1159)
 # KEYFRAME 22
0.05248313300035079
Frame 66
tensor(0.0328)
Frame 67
tensor(0.0692)
Frame 68
tensor(0.1060)
 # KEYFRAME 23
0.0523367829991912
Frame 69
tensor(0.0379)
Frame 70
tensor(0.0686)
Frame 71
tensor(0.1060)
 # KEYFRAME 24
0.05257506300040404
Frame 72
tensor(0.0332)
Frame 73
tensor(0.0645)
Frame 74
tensor(0.1012)
 # KEYFRAME 25
0.05244764300005045
Frame 75
tensor(0.0297)
Frame 76
tensor(0.0676)
Frame 77
tensor(0.0979)
Frame 78
tensor(0.1257)
 # KEYFRAME 26
0.052082394002354704
Frame 79
tensor(0.0304)
Frame 80
tensor(0.0627)
Frame 81
tensor(0.0946)
Frame 82
tensor(0.1232)
 # KEYFRAME 27
0.05473770499884267
Frame 83
tensor(0.0304)
Frame 84
tensor(0.0570)
Frame 85
tensor(0.0961)
Frame 86
tensor(0.1201)
 # KEYFRAME 28
0.05289418099710019
Frame 87
tensor(0.0243)
Frame 88
tensor(0.0539)
Frame 89
tensor(0.0775)
Frame 90
tensor(0.1003)
 # KEYFRAME 29
0.05462230499688303
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 91
tensor(0.0265)
Frame 92
tensor(0.0497)
Frame 93
tensor(0.0714)
Frame 94
tensor(0.0935)
Frame 95
tensor(0.1159)
 # KEYFRAME 30
0.05236055299974396
Frame 96
tensor(0.0196)
Frame 97
tensor(0.0414)
Frame 98
tensor(0.0610)
Frame 99
tensor(0.0749)
Frame 100
tensor(0.0861)
Frame 101
tensor(0.1104)
 # KEYFRAME 31
0.05263013199873967
Frame 102
tensor(0.0125)
Frame 103
tensor(0.0282)
Frame 104
tensor(0.0430)
Frame 105
tensor(0.0561)
Frame 106
tensor(0.0723)
Frame 107
tensor(0.0879)
Frame 108
tensor(0.0981)
Frame 109
tensor(0.1125)
 # KEYFRAME 32
0.053208819997962564
Frame 110
tensor(0.0098)
Frame 111
tensor(0.0220)
Frame 112
tensor(0.0328)
Frame 113
tensor(0.0401)
Frame 114
tensor(0.0494)
Frame 115
tensor(0.0595)
Frame 116
tensor(0.0704)
Frame 117
tensor(0.0774)
Frame 118
tensor(0.0860)
Frame 119
tensor(0.0972)
Frame 120
tensor(0.1082)
 # KEYFRAME 33
0.052788111999689136
Frame 121
tensor(0.0062)
Frame 122
tensor(0.0132)
Frame 123
tensor(0.0199)
Frame 124
tensor(0.0255)
Frame 125
tensor(0.0315)
Frame 126
tensor(0.0370)
Frame 127
tensor(0.0411)
Frame 128
tensor(0.0449)
Frame 129
tensor(0.0491)
Frame 130
tensor(0.0545)
Frame 131
tensor(0.0600)
Frame 132
tensor(0.0633)
Frame 133
tensor(0.0711)
Frame 134
tensor(0.0749)
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tensor(0.0780)
Frame 136
tensor(0.0832)
Frame 137
tensor(0.0884)
Frame 138
tensor(0.0927)
Frame 139
tensor(0.0980)
Frame 140
tensor(0.0976)
Frame 141
tensor(0.1017)
 # KEYFRAME 34
0.054633845000353176
Frame 142
tensor(0.0039)
Frame 143
tensor(0.0081)
Frame 144
tensor(0.0118)
Frame 145
tensor(0.0163)
Frame 146
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Frame 148
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Frame 150
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Frame 151
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Frame 152
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Frame 153
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Frame 154
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Frame 155
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Frame 157
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Frame 158
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Frame 159
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Frame 160
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Frame 161
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Frame 162
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Frame 163
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Frame 164
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Frame 165
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Frame 166
tensor(0.0529)
Frame 167
tensor(0.0532)
Frame 168
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Frame 169
tensor(0.0538)
Frame 170
tensor(0.0539)
Frame 171
tensor(0.0529)
Frame 172
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Frame 173
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Frame 174
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Frame 175
tensor(0.0530)
Frame 176
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Frame 177
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Frame 178
tensor(0.0533)
Frame 179
tensor(0.0532)
Frame 180
tensor(0.0530)
Frame 181
tensor(0.0524)
Frame 182
tensor(0.0526)
Frame 183
tensor(0.0526)
Frame 184
tensor(0.0529)
Frame 185
tensor(0.0521)
Frame 186
tensor(0.0531)
Frame 187
tensor(0.0530)
Frame 188
tensor(0.0526)
Frame 189
tensor(0.0538)
Frame 190
tensor(0.0525)
Frame 191
tensor(0.0512)
Frame 192
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Frame 193
tensor(0.0525)
Frame 194
tensor(0.0532)
Frame 195
tensor(0.0538)
Frame 196
tensor(0.0538)
Frame 197
tensor(0.0528)
Frame 198
tensor(0.0539)
Frame 199
tensor(0.0545)
Frame 200
tensor(0.0541)
Frame 201
tensor(0.0547)
Frame 202
tensor(0.0554)
Frame 203
tensor(0.0555)
Frame 204
tensor(0.0556)
Frame 205
tensor(0.0543)
Frame 206
tensor(0.0550)
Frame 207
tensor(0.0553)
Frame 208
tensor(0.0557)
Frame 209
tensor(0.0562)
Frame 210
tensor(0.0559)
Frame 211
tensor(0.0555)
Frame 212
tensor(0.0556)
Frame 213
tensor(0.0565)
Frame 214
tensor(0.0568)
Frame 215
tensor(0.0564)
Frame 216
tensor(0.0554)
Frame 217
tensor(0.0567)
Frame 218
tensor(0.0563)
Frame 219
tensor(0.0569)
Frame 220
tensor(0.0565)
Frame 221
tensor(0.0571)
Frame 222
tensor(0.0569)
Frame 223
tensor(0.0567)
Frame 224
tensor(0.0566)
Frame 225
tensor(0.0569)
Frame 226
tensor(0.0572)
Frame 227
tensor(0.0576)
Frame 228
tensor(0.0577)
Frame 229
tensor(0.0583)
Frame 230
tensor(0.0583)
Frame 231
tensor(0.0583)
Frame 232
tensor(0.0589)
Backending... 35 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 14420, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1013 loss_distill=0.1733 tta_take=0.003s
[epoch 0 scene 150/556] vkitti/Scene02/15-deg-right/Camera_0 frames=233 tta_steps_this_scene=1 mean_loss=0.1733 total_steps=1013 time=35.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.2063)
 # KEYFRAME 1
Frame 2
tensor(0.2904)
 # KEYFRAME 2
0.05241431299873511
Frame 3
tensor(0.2328)
 # KEYFRAME 3
0.052044864001800306
Frame 4
tensor(0.2701)
 # KEYFRAME 4
0.05542754199996125
Frame 5
tensor(0.2482)
 # KEYFRAME 5
0.05541452200122876
Frame 6
tensor(0.2985)
 # KEYFRAME 6
0.05621688999963226
Frame 7
tensor(0.2863)
 # KEYFRAME 7
0.05683730700184242
Frame 8
tensor(0.2084)
 # KEYFRAME 8
0.05810447199837654
Frame 9
tensor(0.1722)
 # KEYFRAME 9
0.057728643998416374
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.1658)
 # KEYFRAME 10
0.05267344200183288
Frame 11
tensor(0.2024)
 # KEYFRAME 11
0.05357162899963441
Frame 12
tensor(0.2312)
 # KEYFRAME 12
0.05417134600065765
Frame 13
tensor(0.1467)
 # KEYFRAME 13
0.05631018900021445
Frame 14
tensor(0.2910)
 # KEYFRAME 14
0.0570699469972169
Frame 15
tensor(0.1904)
 # KEYFRAME 15
0.057984773000498535
Frame 16
tensor(0.1850)
 # KEYFRAME 16
0.059475808000570396
Frame 17
tensor(0.4905)
 # KEYFRAME 17
0.06058865399973001
Frame 18
tensor(0.3749)
 # KEYFRAME 18
0.061592621001182124
Frame 19
tensor(0.3591)
 # KEYFRAME 19
0.06266313599917339
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 20
tensor(0.3681)
 # KEYFRAME 20
0.05894623999847681
Frame 21
tensor(0.2831)
 # KEYFRAME 21
0.060266324999247445
Frame 22
tensor(0.3535)
 # KEYFRAME 22
0.06114911199983908
Frame 23
tensor(0.2644)
 # KEYFRAME 23
0.06182471899955999
Frame 24
tensor(0.2553)
 # KEYFRAME 24
0.06281564600067213
Frame 25
tensor(0.3745)
 # KEYFRAME 25
0.06353012299950933
Frame 26
tensor(0.3365)
 # KEYFRAME 26
0.06528246699963347
Frame 27
tensor(0.5572)
 # KEYFRAME 27
0.06674775200008298
Frame 28
tensor(0.4637)
 # KEYFRAME 28
0.06772362800256815
Frame 29
tensor(0.6361)
 # KEYFRAME 29
0.06823897600042983
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 30
tensor(0.4799)
 # KEYFRAME 30
0.06569944500006386
Frame 31
tensor(0.2361)
 # KEYFRAME 31
0.06781169900204986
Frame 32
tensor(0.1202)
 # KEYFRAME 32
0.06814094700166606
Frame 33
tensor(0.3669)
 # KEYFRAME 33
0.06895959399844287
Frame 34
tensor(0.2545)
 # KEYFRAME 34
0.07007445999988704
Frame 35
tensor(0.2754)
 # KEYFRAME 35
0.07113263599967468
Frame 36
tensor(0.2388)
 # KEYFRAME 36
0.07126551600231323
Frame 37
tensor(0.2086)
 # KEYFRAME 37
0.07270358000096167
Frame 38
tensor(0.2191)
 # KEYFRAME 38
0.07311158900120063
Frame 39
tensor(0.4104)
 # KEYFRAME 39
0.07468957300079637
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1014 loss_distill=0.1733 tta_take=0.009s
Frame 40
tensor(0.2587)
 # KEYFRAME 40
0.07273980000172742
Frame 41
tensor(0.2633)
 # KEYFRAME 41
0.07471419399735169
Frame 42
tensor(0.2738)
 # KEYFRAME 42
0.07467271399946185
Frame 43
tensor(0.2484)
 # KEYFRAME 43
0.0754365200009488
Frame 44
tensor(0.2063)
 # KEYFRAME 44
0.07624039799702587
Frame 45
tensor(0.1961)
 # KEYFRAME 45
0.07709419499951764
Frame 46
tensor(0.2131)
 # KEYFRAME 46
0.07791100200120127
Frame 47
tensor(0.2795)
 # KEYFRAME 47
0.07810312100264127
Frame 48
tensor(0.2109)
 # KEYFRAME 48
0.07822221099922899
Frame 49
tensor(0.3362)
 # KEYFRAME 49
0.08009988400226575
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1015 loss_distill=0.2747 tta_take=0.009s
Frame 50
tensor(0.2668)
 # KEYFRAME 50
0.07947837600295315
Frame 51
tensor(0.2567)
 # KEYFRAME 51
0.08146904000022914
Frame 52
tensor(0.3224)
 # KEYFRAME 52
0.08116057000006549
Frame 53
tensor(0.4003)
 # KEYFRAME 53
0.08280569400085369
Frame 54
tensor(0.5091)
 # KEYFRAME 54
0.08346087199970498
Frame 55
tensor(0.3469)
 # KEYFRAME 55
0.08427756899982342
Frame 56
tensor(0.2754)
 # KEYFRAME 56
0.08468879800057039
Frame 57
tensor(0.3001)
 # KEYFRAME 57
0.08603884300100617
Frame 58
tensor(0.1675)
 # KEYFRAME 58
0.0866525109995564
Frame 59
tensor(0.1729)
 # KEYFRAME 59
0.08738330800042604
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1016 loss_distill=0.3466 tta_take=0.009s
Frame 60
tensor(0.1592)
 # KEYFRAME 60
0.08664984100323636
Frame 61
tensor(0.1462)
 # KEYFRAME 61
0.08925264099889318
Frame 62
tensor(0.1465)
 # KEYFRAME 62
0.08812003500133869
Frame 63
tensor(0.1862)
 # KEYFRAME 63
0.08864699400146492
Frame 64
tensor(0.1466)
 # KEYFRAME 64
0.09012990900009754
Frame 65
tensor(0.1808)
 # KEYFRAME 65
0.090425606998906
Frame 66
tensor(0.1933)
 # KEYFRAME 66
0.09150816400142503
Frame 67
tensor(0.2000)
 # KEYFRAME 67
0.09238419000030262
Frame 68
tensor(0.2596)
 # KEYFRAME 68
0.09357879699746263
Frame 69
tensor(0.2911)
 # KEYFRAME 69
0.09393566500148154
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1017 loss_distill=0.4024 tta_take=0.009s
Frame 70
tensor(0.3458)
 # KEYFRAME 70
0.09277621900037047
Frame 71
tensor(0.2498)
 # KEYFRAME 71
0.09549337999851559
Frame 72
tensor(0.4566)
 # KEYFRAME 72
0.09488639199844329
Frame 73
tensor(0.3887)
 # KEYFRAME 73
0.09681477499907487
Frame 74
tensor(0.3837)
 # KEYFRAME 74
0.09648452600231394
Frame 75
tensor(0.2040)
 # KEYFRAME 75
0.09657068500018795
Frame 76
tensor(0.2679)
 # KEYFRAME 76
0.09815454999989015
Frame 77
tensor(0.2327)
 # KEYFRAME 77
0.09850264899796457
Frame 78
tensor(0.1844)
 # KEYFRAME 78
0.09968791399660404
Frame 79
tensor(0.2029)
 # KEYFRAME 79
0.09980478400029824
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1018 loss_distill=0.4024 tta_take=0.009s
Frame 80
tensor(0.3555)
 # KEYFRAME 80
0.09243124099884881
Frame 81
tensor(0.1697)
 # KEYFRAME 81
0.09600970799874631
Frame 82
tensor(0.2545)
 # KEYFRAME 82
0.09528427999975975
Frame 83
tensor(0.2466)
 # KEYFRAME 83
0.09589508800127078
Frame 84
tensor(0.2904)
 # KEYFRAME 84
0.097418541998195
Frame 85
tensor(0.3094)
 # KEYFRAME 85
0.0970811839979433
Frame 86
tensor(0.2601)
 # KEYFRAME 86
0.09872391700264416
Frame 87
tensor(0.2183)
 # KEYFRAME 87
0.10014090299955569
Frame 88
tensor(0.6011)
 # KEYFRAME 88
0.10132912799963378
Frame 89
tensor(0.3500)
 # KEYFRAME 89
0.10110079899823177
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1019 loss_distill=0.4024 tta_take=0.009s
Frame 90
tensor(0.3939)
 # KEYFRAME 90
0.09260032000020146
Frame 91
tensor(0.4360)
 # KEYFRAME 91
0.09601614699931815
Frame 92
tensor(0.3472)
 # KEYFRAME 92
0.09554102900074213
Frame 93
tensor(0.3204)
 # KEYFRAME 93
0.09525116100121522
Frame 94
tensor(0.2708)
 # KEYFRAME 94
0.09737477300222963
Frame 95
tensor(0.2056)
 # KEYFRAME 95
0.09752824299721397
Frame 96
tensor(0.1780)
 # KEYFRAME 96
0.09883994700066978
Frame 97
tensor(0.2260)
 # KEYFRAME 97
0.09886906800238648
Frame 98
tensor(0.0669)
Frame 99
tensor(0.2348)
 # KEYFRAME 98
0.10079143099937937
Frame 100
tensor(0.1938)
 # KEYFRAME 99
0.1010408699985419
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1020 loss_distill=0.4024 tta_take=0.009s
Frame 101
tensor(0.2188)
 # KEYFRAME 100
0.09281927899792208
Frame 102
tensor(0.2435)
 # KEYFRAME 101
0.09602950699991197
Frame 103
tensor(0.2013)
 # KEYFRAME 102
0.09453655299876118
Frame 104
tensor(0.2661)
 # KEYFRAME 103
0.09589926799890236
Frame 105
tensor(0.3021)
 # KEYFRAME 104
0.09727830300107598
Frame 106
tensor(0.2611)
 # KEYFRAME 105
0.09821943899805774
Frame 107
tensor(0.2276)
 # KEYFRAME 106
0.09849318800115725
Frame 108
tensor(0.4180)
 # KEYFRAME 107
0.0995761650010536
Frame 109
tensor(0.2639)
 # KEYFRAME 108
0.10049150199847645
Frame 110
tensor(0.2573)
 # KEYFRAME 109
0.10166904700236046
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595452308655
TTA-STEP: step=1021 loss_distill=0.4024 tta_take=0.009s
Frame 111
tensor(0.2032)
 # KEYFRAME 110
0.09338754700002028
Frame 112
tensor(0.1555)
 # KEYFRAME 111
0.0947277720006241
Frame 113
tensor(0.1038)
 # KEYFRAME 112
0.09610504800002673
Frame 114
tensor(0.1646)
 # KEYFRAME 113
0.09678277500279364
Frame 115
tensor(0.1665)
 # KEYFRAME 114
0.09772079099639086
Frame 116
tensor(0.2148)
 # KEYFRAME 115
0.09848971900282777
Frame 117
tensor(0.2127)
 # KEYFRAME 116
0.09880541699749301
Frame 118
tensor(0.2667)
 # KEYFRAME 117
0.100065642996924
Frame 119
tensor(0.2940)
 # KEYFRAME 118
0.1002865419977752
Frame 120
tensor(0.2332)
 # KEYFRAME 119
0.10085189000164974
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1022 loss_distill=0.4024 tta_take=0.009s
Frame 121
tensor(0.2853)
 # KEYFRAME 120
0.09282931800044025
Frame 122
tensor(0.2797)
 # KEYFRAME 121
0.09633867600132362
Frame 123
tensor(0.3727)
 # KEYFRAME 122
0.09588006799822324
Frame 124
tensor(0.1495)
 # KEYFRAME 123
0.09626543600097648
Frame 125
tensor(0.3886)
 # KEYFRAME 124
0.097739950997493
Frame 126
tensor(0.2228)
 # KEYFRAME 125
0.09783197100114194
Frame 127
tensor(0.2067)
 # KEYFRAME 126
0.09769353099909495
Frame 128
tensor(0.3191)
 # KEYFRAME 127
0.09919654600162175
Frame 129
tensor(0.2928)
 # KEYFRAME 128
0.10000501299873576
Frame 130
tensor(0.2263)
 # KEYFRAME 129
0.10024815300130285
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1023 loss_distill=0.4024 tta_take=0.009s
Frame 131
tensor(0.2476)
 # KEYFRAME 130
0.09326942799816607
Frame 132
tensor(0.2279)
 # KEYFRAME 131
0.0963468659974751
Backending... 132 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 64542, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1024 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 151/556] scannetpp/8133208cb6/frame frames=133 tta_steps_this_scene=11 mean_loss=0.3649 total_steps=1024 time=54.6s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0441)
Frame 2
tensor(0.0898)
Frame 3
tensor(0.1354)
 # KEYFRAME 1
Frame 4
tensor(0.0504)
Frame 5
tensor(0.1018)
 # KEYFRAME 2
0.05207580400019651
Frame 6
tensor(0.0455)
Frame 7
tensor(0.0976)
Frame 8
tensor(0.1563)
 # KEYFRAME 3
0.05179012499866076
Frame 9
tensor(0.0519)
Frame 10
tensor(0.1005)
 # KEYFRAME 4
0.05247414300174569
Frame 11
tensor(0.0427)
Frame 12
tensor(0.0949)
Frame 13
tensor(0.1418)
 # KEYFRAME 5
0.052501743000902934
Frame 14
tensor(0.0478)
Frame 15
tensor(0.0983)
Frame 16
tensor(0.1492)
 # KEYFRAME 6
0.05287987200063071
Frame 17
tensor(0.0424)
Frame 18
tensor(0.0931)
Frame 19
tensor(0.1397)
 # KEYFRAME 7
0.05267271199772949
Frame 20
tensor(0.0412)
Frame 21
tensor(0.0917)
Frame 22
tensor(0.1330)
 # KEYFRAME 8
0.05382571800146252
Frame 23
tensor(0.0408)
Frame 24
tensor(0.0869)
Frame 25
tensor(0.1325)
 # KEYFRAME 9
0.0528194420003274
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 26
tensor(0.0485)
Frame 27
tensor(0.0960)
Frame 28
tensor(0.1350)
 # KEYFRAME 10
0.051937524000095436
Frame 29
tensor(0.0465)
Frame 30
tensor(0.0939)
Frame 31
tensor(0.1476)
 # KEYFRAME 11
0.052360912999574794
Frame 32
tensor(0.0501)
Frame 33
tensor(0.1006)
 # KEYFRAME 12
0.053620258000592
Frame 34
tensor(0.0444)
Frame 35
tensor(0.0947)
Frame 36
tensor(0.1362)
 # KEYFRAME 13
0.05294784099896788
Frame 37
tensor(0.0423)
Frame 38
tensor(0.0879)
Frame 39
tensor(0.1334)
 # KEYFRAME 14
0.05529204299818957
Frame 40
tensor(0.0398)
Frame 41
tensor(0.0885)
Frame 42
tensor(0.1346)
 # KEYFRAME 15
0.052588622998882784
Frame 43
tensor(0.0451)
Frame 44
tensor(0.0967)
Frame 45
tensor(0.1404)
 # KEYFRAME 16
0.14005806999921333
Frame 46
tensor(0.0416)
Frame 47
tensor(0.0876)
Frame 48
tensor(0.1302)
 # KEYFRAME 17
0.0601978649974626
Frame 49
tensor(0.0380)
Frame 50
tensor(0.0861)
Frame 51
tensor(0.1328)
 # KEYFRAME 18
0.05282945199724054
Frame 52
tensor(0.0465)
Frame 53
tensor(0.1008)
 # KEYFRAME 19
0.14679003700075555
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 54
tensor(0.0470)
Frame 55
tensor(0.1067)
 # KEYFRAME 20
0.05196488500223495
Frame 56
tensor(0.0509)
Frame 57
tensor(0.1000)
 # KEYFRAME 21
0.05313271100021666
Frame 58
tensor(0.0545)
Frame 59
tensor(0.1200)
 # KEYFRAME 22
0.0539314679990639
Frame 60
tensor(0.0586)
Frame 61
tensor(0.1196)
 # KEYFRAME 23
0.05280211200079066
Frame 62
tensor(0.0654)
Frame 63
tensor(0.1187)
 # KEYFRAME 24
0.05496750399834127
Frame 64
tensor(0.0590)
Frame 65
tensor(0.1138)
 # KEYFRAME 25
0.05294036100167432
Frame 66
tensor(0.0468)
Frame 67
tensor(0.0973)
Frame 68
tensor(0.1416)
 # KEYFRAME 26
0.053203719999146415
Frame 69
tensor(0.0516)
Frame 70
tensor(0.1085)
 # KEYFRAME 27
0.05722601599700283
Frame 71
tensor(0.0526)
Frame 72
tensor(0.1159)
 # KEYFRAME 28
0.05281112200100324
Frame 73
tensor(0.0573)
Frame 74
tensor(0.1116)
 # KEYFRAME 29
0.058353401997010224
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 75
tensor(0.0480)
Frame 76
tensor(0.1149)
 # KEYFRAME 30
0.05221830300069996
Frame 77
tensor(0.0517)
Frame 78
tensor(0.1087)
 # KEYFRAME 31
0.05339571999866166
Frame 79
tensor(0.0566)
Frame 80
tensor(0.1061)
 # KEYFRAME 32
0.05392699799995171
Frame 81
tensor(0.0433)
Frame 82
tensor(0.0974)
Frame 83
tensor(0.1479)
 # KEYFRAME 33
0.052892540999891935
Frame 84
tensor(0.0478)
Frame 85
tensor(0.1050)
 # KEYFRAME 34
0.05484352499843226
Frame 86
tensor(0.0482)
Frame 87
tensor(0.0989)
Frame 88
tensor(0.1517)
 # KEYFRAME 35
0.05284623199986527
Frame 89
tensor(0.0509)
Frame 90
tensor(0.1047)
 # KEYFRAME 36
0.052946371000871295
Frame 91
tensor(0.0468)
Frame 92
tensor(0.0954)
Frame 93
tensor(0.1520)
 # KEYFRAME 37
0.057008326999493875
Frame 94
tensor(0.0516)
Frame 95
tensor(0.0948)
Frame 96
tensor(0.1464)
 # KEYFRAME 38
0.052483003004454076
Frame 97
tensor(0.0440)
Frame 98
tensor(0.0909)
Frame 99
tensor(0.1467)
 # KEYFRAME 39
0.05822225300653372
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1025 loss_distill=0.1733 tta_take=0.005s
Frame 100
tensor(0.0499)
Frame 101
tensor(0.0985)
Frame 102
tensor(0.1465)
 # KEYFRAME 40
0.05239622299995972
Frame 103
tensor(0.0445)
Frame 104
tensor(0.1016)
 # KEYFRAME 41
0.05255388300429331
Frame 105
tensor(0.0520)
Frame 106
tensor(0.1024)
 # KEYFRAME 42
0.05283586099540116
Frame 107
tensor(0.0449)
Frame 108
tensor(0.0952)
Frame 109
tensor(0.1386)
 # KEYFRAME 43
0.052186583998263814
Frame 110
tensor(0.0386)
Frame 111
tensor(0.0848)
Frame 112
tensor(0.1246)
 # KEYFRAME 44
0.053323500003898516
Frame 113
tensor(0.0429)
Frame 114
tensor(0.0876)
Frame 115
tensor(0.1355)
 # KEYFRAME 45
0.05239600299682934
Frame 116
tensor(0.0500)
Frame 117
tensor(0.0976)
Frame 118
tensor(0.1530)
 # KEYFRAME 46
0.0522853340007714
Frame 119
tensor(0.0506)
Frame 120
tensor(0.1044)
 # KEYFRAME 47
0.05324390999885509
Frame 121
tensor(0.0500)
Frame 122
tensor(0.1056)
 # KEYFRAME 48
0.05223225399822695
Frame 123
tensor(0.0499)
Frame 124
tensor(0.0973)
Frame 125
tensor(0.1509)
 # KEYFRAME 49
0.05362356900150189
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1026 loss_distill=0.2747 tta_take=0.005s
Frame 126
tensor(0.0453)
Frame 127
tensor(0.0916)
Frame 128
tensor(0.1414)
 # KEYFRAME 50
0.05246351299865637
Frame 129
tensor(0.0423)
Frame 130
tensor(0.0874)
Frame 131
tensor(0.1388)
 # KEYFRAME 51
0.05235409400484059
Frame 132
tensor(0.0442)
Frame 133
tensor(0.0873)
Frame 134
tensor(0.1394)
 # KEYFRAME 52
0.052827862004050985
Frame 135
tensor(0.0460)
Frame 136
tensor(0.0996)
Frame 137
tensor(0.1385)
 # KEYFRAME 53
0.05297542100015562
Frame 138
tensor(0.0430)
Frame 139
tensor(0.0928)
Frame 140
tensor(0.1322)
 # KEYFRAME 54
0.0534663390062633
Frame 141
tensor(0.0434)
Frame 142
tensor(0.0922)
Frame 143
tensor(0.1309)
 # KEYFRAME 55
0.052711852003994863
Frame 144
tensor(0.0408)
Frame 145
tensor(0.0853)
Frame 146
tensor(0.1205)
 # KEYFRAME 56
0.053316928999265656
Frame 147
tensor(0.0349)
Frame 148
tensor(0.0752)
Frame 149
tensor(0.1139)
 # KEYFRAME 57
0.05489448399748653
Frame 150
tensor(0.0375)
Frame 151
tensor(0.0760)
Frame 152
tensor(0.1094)
 # KEYFRAME 58
0.052564382996934
Frame 153
tensor(0.0370)
Frame 154
tensor(0.0689)
Frame 155
tensor(0.0996)
Frame 156
tensor(0.1375)
 # KEYFRAME 59
0.05512531400017906
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=1027 loss_distill=0.3466 tta_take=0.005s
Frame 157
tensor(0.0309)
Frame 158
tensor(0.0609)
Frame 159
tensor(0.0969)
Frame 160
tensor(0.1216)
 # KEYFRAME 60
0.05237107400171226
Frame 161
tensor(0.0249)
Frame 162
tensor(0.0509)
Frame 163
tensor(0.0765)
Frame 164
tensor(0.0977)
Frame 165
tensor(0.1238)
 # KEYFRAME 61
0.05248351299815113
Frame 166
tensor(0.0196)
Frame 167
tensor(0.0418)
Frame 168
tensor(0.0628)
Frame 169
tensor(0.0800)
Frame 170
tensor(0.1083)
 # KEYFRAME 62
0.0540398869998171
Frame 171
tensor(0.0158)
Frame 172
tensor(0.0327)
Frame 173
tensor(0.0524)
Frame 174
tensor(0.0671)
Frame 175
tensor(0.0805)
Frame 176
tensor(0.1021)
 # KEYFRAME 63
0.05255261199636152
Frame 177
tensor(0.0099)
Frame 178
tensor(0.0192)
Frame 179
tensor(0.0288)
Frame 180
tensor(0.0440)
Frame 181
tensor(0.0560)
Frame 182
tensor(0.0683)
Frame 183
tensor(0.0753)
Frame 184
tensor(0.0879)
Frame 185
tensor(0.0930)
Frame 186
tensor(0.1080)
 # KEYFRAME 64
0.05395414800295839
Frame 187
tensor(0.0066)
Frame 188
tensor(0.0153)
Frame 189
tensor(0.0168)
Frame 190
tensor(0.0229)
Frame 191
tensor(0.0293)
Frame 192
tensor(0.0360)
Frame 193
tensor(0.0438)
Frame 194
tensor(0.0498)
Frame 195
tensor(0.0518)
Frame 196
tensor(0.0576)
Frame 197
tensor(0.0650)
Frame 198
tensor(0.0693)
Frame 199
tensor(0.0803)
Frame 200
tensor(0.0851)
Frame 201
tensor(0.0917)
Frame 202
tensor(0.1042)
 # KEYFRAME 65
0.05258985299587948
Frame 203
tensor(0.0069)
Frame 204
tensor(0.0137)
Frame 205
tensor(0.0262)
Frame 206
tensor(0.0384)
Frame 207
tensor(0.0519)
Frame 208
tensor(0.0686)
Frame 209
tensor(0.0827)
Frame 210
tensor(0.0960)
Frame 211
tensor(0.1141)
 # KEYFRAME 66
0.052645613002823666
Frame 212
tensor(0.0183)
Frame 213
tensor(0.0356)
Frame 214
tensor(0.0537)
Frame 215
tensor(0.0722)
Frame 216
tensor(0.0931)
Frame 217
tensor(0.1174)
 # KEYFRAME 67
0.05395926799974404
Frame 218
tensor(0.0219)
Frame 219
tensor(0.0399)
Frame 220
tensor(0.0678)
Frame 221
tensor(0.0856)
Frame 222
tensor(0.1028)
 # KEYFRAME 68
0.053256510000210255
Frame 223
tensor(0.0210)
Frame 224
tensor(0.0419)
Frame 225
tensor(0.0645)
Frame 226
tensor(0.0924)
Frame 227
tensor(0.1110)
 # KEYFRAME 69
0.053995598005712964
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1028 loss_distill=0.4024 tta_take=0.005s
Frame 228
tensor(0.0222)
Frame 229
tensor(0.0459)
Frame 230
tensor(0.0681)
Frame 231
tensor(0.0958)
Frame 232
tensor(0.1195)
 # KEYFRAME 70
0.0530853809977998
Frame 233
tensor(0.0235)
Frame 234
tensor(0.0477)
Frame 235
tensor(0.0715)
Frame 236
tensor(0.0939)
Frame 237
tensor(0.1248)
 # KEYFRAME 71
0.05407274699973641
Frame 238
tensor(0.0248)
Frame 239
tensor(0.0509)
Frame 240
tensor(0.0793)
Frame 241
tensor(0.1068)
 # KEYFRAME 72
0.05488343400065787
Frame 242
tensor(0.0282)
Frame 243
tensor(0.0482)
Frame 244
tensor(0.0808)
Frame 245
tensor(0.1102)
 # KEYFRAME 73
0.05387402799533447
Frame 246
tensor(0.0267)
Frame 247
tensor(0.0564)
Frame 248
tensor(0.0905)
Frame 249
tensor(0.1201)
 # KEYFRAME 74
0.05605174999800511
Frame 250
tensor(0.0274)
Frame 251
tensor(0.0671)
Frame 252
tensor(0.0972)
Frame 253
tensor(0.1290)
 # KEYFRAME 75
0.05446604600001592
Frame 254
tensor(0.0325)
Frame 255
tensor(0.0623)
Frame 256
tensor(0.0975)
Frame 257
tensor(0.1229)
 # KEYFRAME 76
0.05437203600013163
Frame 258
tensor(0.0284)
Frame 259
tensor(0.0650)
Frame 260
tensor(0.0963)
Frame 261
tensor(0.1245)
 # KEYFRAME 77
0.05835793100413866
Frame 262
tensor(0.0302)
Frame 263
tensor(0.0631)
Frame 264
tensor(0.1005)
 # KEYFRAME 78
0.054759423997893464
Frame 265
tensor(0.0307)
Frame 266
tensor(0.0622)
Frame 267
tensor(0.0989)
Frame 268
tensor(0.1310)
 # KEYFRAME 79
0.05864160999772139
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1029 loss_distill=0.4024 tta_take=0.005s
Frame 269
tensor(0.0365)
Frame 270
tensor(0.0740)
Frame 271
tensor(0.1114)
 # KEYFRAME 80
0.053379939003207255
Frame 272
tensor(0.0344)
Frame 273
tensor(0.0752)
Frame 274
tensor(0.1098)
 # KEYFRAME 81
0.05379714800073998
Frame 275
tensor(0.0337)
Frame 276
tensor(0.0737)
Frame 277
tensor(0.1098)
 # KEYFRAME 82
0.05431266599771334
Frame 278
tensor(0.0387)
Frame 279
tensor(0.0777)
Frame 280
tensor(0.1141)
 # KEYFRAME 83
0.05369367900129873
Frame 281
tensor(0.0374)
Frame 282
tensor(0.0774)
Frame 283
tensor(0.1206)
 # KEYFRAME 84
0.05475311399641214
Frame 284
tensor(0.0432)
Frame 285
tensor(0.0785)
Frame 286
tensor(0.1159)
 # KEYFRAME 85
0.0545614549992024
Frame 287
tensor(0.0390)
Frame 288
tensor(0.0739)
Frame 289
tensor(0.1132)
 # KEYFRAME 86
0.05419615699793212
Frame 290
tensor(0.0410)
Frame 291
tensor(0.0758)
Frame 292
tensor(0.1118)
 # KEYFRAME 87
0.054965904004347976
Frame 293
tensor(0.0417)
Frame 294
tensor(0.0817)
Frame 295
tensor(0.1245)
 # KEYFRAME 88
0.05447684600221692
Frame 296
tensor(0.0361)
Frame 297
tensor(0.0779)
Frame 298
tensor(0.1198)
 # KEYFRAME 89
0.05514956299884943
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1030 loss_distill=0.4024 tta_take=0.005s
Frame 299
tensor(0.0424)
[epoch 0 scene 152/556] vkitti/Scene01/15-deg-left/Camera_1 frames=300 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=1030 time=52.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0136)
Frame 2
tensor(0.0677)
Frame 3
tensor(0.1466)
 # KEYFRAME 1
Frame 4
tensor(0.0764)
Frame 5
tensor(0.1810)
 # KEYFRAME 2
0.05106154800159857
Frame 6
tensor(0.1002)
 # KEYFRAME 3
0.052979631000198424
Frame 7
tensor(0.1075)
 # KEYFRAME 4
0.05425846599973738
Frame 8
tensor(0.0553)
Frame 9
tensor(0.0753)
Frame 10
tensor(0.1834)
 # KEYFRAME 5
0.05512090399861336
Frame 11
tensor(0.1287)
 # KEYFRAME 6
0.05599104999419069
Frame 12
tensor(0.1167)
 # KEYFRAME 7
0.05784127399965655
Frame 13
tensor(0.0851)
Frame 14
tensor(0.1112)
 # KEYFRAME 8
0.05777670399402268
Frame 15
tensor(0.0736)
Frame 16
tensor(0.1466)
 # KEYFRAME 9
0.057860733999405056
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 17
tensor(0.0663)
Frame 18
tensor(0.1209)
 # KEYFRAME 10
0.05185913500463357
Frame 19
tensor(0.0881)
Frame 20
tensor(0.1484)
 # KEYFRAME 11
0.05364550800004508
Frame 21
tensor(0.0875)
Frame 22
tensor(0.1806)
 # KEYFRAME 12
0.05492735400184756
Frame 23
tensor(0.0731)
Frame 24
tensor(0.1791)
 # KEYFRAME 13
0.05701234599837335
Frame 25
tensor(0.1012)
 # KEYFRAME 14
0.05750141500175232
Frame 26
tensor(0.1621)
 # KEYFRAME 15
0.05858903099579038
Frame 27
tensor(0.1648)
 # KEYFRAME 16
0.05940896800166229
Frame 28
tensor(0.0728)
Frame 29
tensor(0.2146)
 # KEYFRAME 17
0.06025946499721613
Frame 30
tensor(0.1322)
 # KEYFRAME 18
0.061356350997812115
Frame 31
tensor(0.1005)
 # KEYFRAME 19
0.0625844070018502
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.1489)
 # KEYFRAME 20
0.058733171004860196
Frame 33
tensor(0.1485)
 # KEYFRAME 21
0.06067980300576892
Frame 34
tensor(0.0783)
Frame 35
tensor(0.1746)
 # KEYFRAME 22
0.060937613001442514
Frame 36
tensor(0.1224)
 # KEYFRAME 23
0.06195268900046358
Frame 37
tensor(0.1692)
 # KEYFRAME 24
0.0627106059982907
Frame 38
tensor(0.1375)
 # KEYFRAME 25
0.06338799300283426
Frame 39
tensor(0.2367)
 # KEYFRAME 26
0.06543318600597559
Frame 40
tensor(0.1249)
 # KEYFRAME 27
0.06595905499852961
Frame 41
tensor(0.2057)
 # KEYFRAME 28
0.06673870200029342
Frame 42
tensor(0.3094)
 # KEYFRAME 29
0.0680933969997568
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 43
tensor(0.1281)
 # KEYFRAME 30
0.06582512500608573
Frame 44
tensor(0.1383)
 # KEYFRAME 31
0.06778134899650468
Frame 45
tensor(0.1532)
 # KEYFRAME 32
0.06908385299902875
Frame 46
tensor(0.1803)
 # KEYFRAME 33
0.06903479400352808
Frame 47
tensor(0.2090)
 # KEYFRAME 34
0.07013455000560498
Frame 48
tensor(0.0823)
Frame 49
tensor(0.1918)
 # KEYFRAME 35
0.0703492889952031
Frame 50
tensor(0.0355)
Frame 51
tensor(0.0777)
Frame 52
tensor(0.1999)
 # KEYFRAME 36
0.07146554499922786
Frame 53
tensor(0.1580)
 # KEYFRAME 37
0.07219537199853221
Frame 54
tensor(0.1290)
 # KEYFRAME 38
0.0736031170017668
Frame 55
tensor(0.2412)
 # KEYFRAME 39
0.07391691600059858
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1031 loss_distill=0.1733 tta_take=0.009s
Frame 56
tensor(0.2251)
 # KEYFRAME 40
0.07257158099673688
Frame 57
tensor(0.2453)
 # KEYFRAME 41
0.07475603299826616
Frame 58
tensor(0.2009)
 # KEYFRAME 42
0.07475108300423017
Frame 59
tensor(0.2541)
 # KEYFRAME 43
0.07533277200127486
Frame 60
tensor(0.1770)
 # KEYFRAME 44
0.07592579899937846
Frame 61
tensor(0.2423)
 # KEYFRAME 45
0.07730262399854837
Frame 62
tensor(0.1605)
 # KEYFRAME 46
0.07759222399909049
Frame 63
tensor(0.2334)
 # KEYFRAME 47
0.07823222099978011
Frame 64
tensor(0.1040)
 # KEYFRAME 48
0.07961435600009281
Frame 65
tensor(0.1901)
 # KEYFRAME 49
0.08027690400194842
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1032 loss_distill=0.2747 tta_take=0.009s
Frame 66
tensor(0.2223)
 # KEYFRAME 50
0.07915244800096843
Frame 67
tensor(0.2239)
 # KEYFRAME 51
0.08157553899945924
Frame 68
tensor(0.2388)
 # KEYFRAME 52
0.08171826799662085
Frame 69
tensor(0.2132)
 # KEYFRAME 53
0.08296096400590613
Frame 70
tensor(0.2589)
 # KEYFRAME 54
0.08387065099668689
Frame 71
tensor(0.1924)
 # KEYFRAME 55
0.085717873997055
Frame 72
tensor(0.0751)
Frame 73
tensor(0.2686)
 # KEYFRAME 56
0.0859989430027781
Frame 74
tensor(0.3182)
 # KEYFRAME 57
0.08665800100425258
Frame 75
tensor(0.2134)
 # KEYFRAME 58
0.08776301699981559
Frame 76
tensor(0.0413)
Frame 77
tensor(0.0685)
Frame 78
tensor(0.3741)
 # KEYFRAME 59
0.08839618499769131
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=1033 loss_distill=0.3466 tta_take=0.009s
Frame 79
tensor(0.4031)
 # KEYFRAME 60
0.08657929200126091
Frame 80
tensor(0.4212)
 # KEYFRAME 61
0.08825536500080489
Frame 81
tensor(0.2252)
 # KEYFRAME 62
0.08818738499394385
Frame 82
tensor(0.1013)
 # KEYFRAME 63
0.08911635199910961
Frame 83
tensor(0.2164)
 # KEYFRAME 64
0.08939459099929081
Frame 84
tensor(0.2587)
 # KEYFRAME 65
0.09044910700322362
Frame 85
tensor(0.0522)
Frame 86
tensor(0.3107)
 # KEYFRAME 66
0.09119341499899747
Frame 87
tensor(0.1322)
 # KEYFRAME 67
0.09238048000406707
Frame 88
tensor(0.3571)
 # KEYFRAME 68
0.09275162899575662
Frame 89
tensor(0.3154)
 # KEYFRAME 69
0.09316710699931718
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1034 loss_distill=0.4024 tta_take=0.009s
Frame 90
tensor(0.1636)
 # KEYFRAME 70
0.09264429999893764
Frame 91
tensor(0.1461)
 # KEYFRAME 71
0.09428081300575286
Frame 92
tensor(0.1965)
 # KEYFRAME 72
0.09497077099513263
Frame 93
tensor(0.2801)
 # KEYFRAME 73
0.09559837899723789
Frame 94
tensor(0.2161)
 # KEYFRAME 74
0.09593203799886396
Frame 95
tensor(0.2354)
 # KEYFRAME 75
0.09736538300057873
Frame 96
tensor(0.1431)
 # KEYFRAME 76
0.0979597109981114
Frame 97
tensor(0.0940)
Frame 98
tensor(0.0687)
Frame 99
tensor(0.1882)
 # KEYFRAME 77
0.09833378899929812
Frame 100
tensor(0.1500)
 # KEYFRAME 78
0.0998377639989485
Frame 101
tensor(0.1080)
 # KEYFRAME 79
0.10026807199756149
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1035 loss_distill=0.4024 tta_take=0.009s
Frame 102
tensor(0.1203)
 # KEYFRAME 80
0.09303135800291784
Frame 103
tensor(0.1703)
 # KEYFRAME 81
0.09451001299748896
Frame 104
tensor(0.3354)
 # KEYFRAME 82
0.09499817100004293
Frame 105
tensor(0.3337)
 # KEYFRAME 83
0.09541680999973323
Frame 106
tensor(0.3113)
 # KEYFRAME 84
0.09647556600248208
Frame 107
tensor(0.1205)
 # KEYFRAME 85
0.09735602200089488
Frame 108
tensor(0.1127)
 # KEYFRAME 86
0.09794955999677768
Frame 109
tensor(0.0669)
Frame 110
tensor(0.1227)
 # KEYFRAME 87
0.09894413699657889
Frame 111
tensor(0.0709)
Frame 112
tensor(0.2607)
 # KEYFRAME 88
0.09999355299805757
Frame 113
tensor(0.1541)
 # KEYFRAME 89
0.10102924899547361
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1036 loss_distill=0.4024 tta_take=0.009s
Frame 114
tensor(0.1058)
 # KEYFRAME 90
0.09261108899954706
Frame 115
tensor(0.1903)
 # KEYFRAME 91
0.09557875899918145
Frame 116
tensor(0.1690)
 # KEYFRAME 92
0.09565143800136866
Frame 117
tensor(0.1319)
 # KEYFRAME 93
0.09629660599603085
Frame 118
tensor(0.3095)
 # KEYFRAME 94
0.09824146999744698
Frame 119
tensor(0.4009)
 # KEYFRAME 95
0.09886100699804956
Frame 120
tensor(0.2696)
 # KEYFRAME 96
0.0997648839984322
Frame 121
tensor(0.1544)
 # KEYFRAME 97
0.09956030499597546
Frame 122
tensor(0.0830)
Frame 123
tensor(0.3003)
 # KEYFRAME 98
0.101192729001923
Frame 124
tensor(0.2304)
 # KEYFRAME 99
0.10226934499951312
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1037 loss_distill=0.4024 tta_take=0.009s
Frame 125
tensor(0.1073)
 # KEYFRAME 100
0.09343591699871467
Frame 126
tensor(0.1022)
 # KEYFRAME 101
0.09478156200202648
Frame 127
tensor(0.1631)
 # KEYFRAME 102
0.09521446100552566
Frame 128
tensor(0.1630)
 # KEYFRAME 103
0.09634471600293182
Frame 129
tensor(0.1943)
 # KEYFRAME 104
0.09837043899460696
Frame 130
tensor(0.1173)
 # KEYFRAME 105
0.09921737599506741
Frame 131
tensor(0.1321)
 # KEYFRAME 106
0.0992084459940088
Frame 132
tensor(0.0988)
Frame 133
tensor(0.0311)
Frame 134
tensor(0.1422)
 # KEYFRAME 107
0.10068482100177789
Frame 135
tensor(0.1241)
 # KEYFRAME 108
0.10154107800190104
Frame 136
tensor(0.0368)
Frame 137
tensor(0.3370)
 # KEYFRAME 109
0.10136634800437605
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1038 loss_distill=0.4024 tta_take=0.009s
Frame 138
tensor(0.1745)
 # KEYFRAME 110
0.09362846599833574
Frame 139
tensor(0.0878)
Frame 140
tensor(0.1790)
 # KEYFRAME 111
0.095854038001562
Frame 141
tensor(0.1890)
 # KEYFRAME 112
0.09536492999905022
Frame 142
tensor(0.1722)
 # KEYFRAME 113
0.09692398399783997
Backending... 114 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 66624, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1039 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 153/556] scannetpp/bb87c292ad/frame frames=143 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=1039 time=46.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0282)
Frame 2
tensor(0.1818)
 # KEYFRAME 1
Frame 3
tensor(0.1505)
 # KEYFRAME 2
0.05176681499870028
Frame 4
tensor(0.0768)
Frame 5
tensor(0.1841)
 # KEYFRAME 3
0.052491722999548074
Frame 6
tensor(0.1910)
 # KEYFRAME 4
0.054234697003266774
Frame 7
tensor(0.0513)
Frame 8
tensor(0.0623)
Frame 9
tensor(0.1663)
 # KEYFRAME 5
0.05555288100003963
Frame 10
tensor(0.1796)
 # KEYFRAME 6
0.057271615994977765
Frame 11
tensor(0.0926)
Frame 12
tensor(0.2496)
 # KEYFRAME 7
0.05723217599734198
Frame 13
tensor(0.0815)
Frame 14
tensor(0.0475)
Frame 15
tensor(0.1373)
 # KEYFRAME 8
0.057764953999139834
Frame 16
tensor(0.2542)
 # KEYFRAME 9
0.05788022300112061
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 17
tensor(0.1480)
 # KEYFRAME 10
0.05244006300199544
Frame 18
tensor(0.1322)
 # KEYFRAME 11
0.053403639998578
Frame 19
tensor(0.1080)
 # KEYFRAME 12
0.05422297600307502
Frame 20
tensor(0.2139)
 # KEYFRAME 13
0.05652914899837924
Frame 21
tensor(0.1489)
 # KEYFRAME 14
0.057301455999549944
Frame 22
tensor(0.0728)
Frame 23
tensor(0.2911)
 # KEYFRAME 15
0.05839595200086478
Frame 24
tensor(0.2151)
 # KEYFRAME 16
0.05874504099483602
Frame 25
tensor(0.0656)
Frame 26
tensor(0.4493)
 # KEYFRAME 17
0.05992285600223113
Frame 27
tensor(0.0411)
Frame 28
tensor(0.1533)
 # KEYFRAME 18
0.06142641099722823
Frame 29
tensor(0.0994)
Frame 30
tensor(0.1652)
 # KEYFRAME 19
0.06270967599994037
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 31
tensor(0.0697)
Frame 32
tensor(0.1178)
 # KEYFRAME 20
0.05929600899980869
Frame 33
tensor(0.1570)
 # KEYFRAME 21
0.05993989600392524
Frame 34
tensor(0.1423)
 # KEYFRAME 22
0.061100161998183466
Frame 35
tensor(0.0675)
Frame 36
tensor(0.3589)
 # KEYFRAME 23
0.06196365899813827
Frame 37
tensor(0.2972)
 # KEYFRAME 24
0.06278453599952627
Frame 38
tensor(0.0623)
Frame 39
tensor(0.1183)
 # KEYFRAME 25
0.06388344200240681
Frame 40
tensor(0.3006)
 # KEYFRAME 26
0.06550218700431287
Frame 41
tensor(0.0894)
Frame 42
tensor(0.2048)
 # KEYFRAME 27
0.06678399199881824
Frame 43
tensor(0.1664)
 # KEYFRAME 28
0.06726238899864256
Frame 44
tensor(0.0709)
Frame 45
tensor(0.2317)
 # KEYFRAME 29
0.06794647700007772
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 46
tensor(0.1321)
 # KEYFRAME 30
0.06631796400324674
Frame 47
tensor(0.2228)
 # KEYFRAME 31
0.06773681800405029
Frame 48
tensor(0.1884)
 # KEYFRAME 32
0.06926593300158856
Frame 49
tensor(0.1089)
 # KEYFRAME 33
0.07062954800494481
Frame 50
tensor(0.2126)
 # KEYFRAME 34
0.0710720869974466
Frame 51
tensor(0.1017)
 # KEYFRAME 35
0.07308253899827832
Frame 52
tensor(0.0497)
Frame 53
tensor(0.5028)
 # KEYFRAME 36
0.07369851700059371
Frame 54
tensor(0.0941)
Frame 55
tensor(0.2194)
 # KEYFRAME 37
0.0753047219986911
Frame 56
tensor(0.1497)
 # KEYFRAME 38
0.07571348900091834
Frame 57
tensor(0.0835)
Frame 58
tensor(0.1601)
 # KEYFRAME 39
0.07665769699815428
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1040 loss_distill=0.1733 tta_take=0.009s
Frame 59
tensor(0.2524)
 # KEYFRAME 40
0.07256053199671442
Frame 60
tensor(0.2166)
 # KEYFRAME 41
0.07470812300016405
Frame 61
tensor(0.1958)
 # KEYFRAME 42
0.07416177599952789
Frame 62
tensor(0.0674)
Frame 63
tensor(0.3306)
 # KEYFRAME 43
0.07533359199442202
Frame 64
tensor(0.1194)
 # KEYFRAME 44
0.07576685999811161
Frame 65
tensor(0.2462)
 # KEYFRAME 45
0.07703375499841059
Frame 66
tensor(0.1997)
 # KEYFRAME 46
0.07823132100020302
Frame 67
tensor(0.2634)
 # KEYFRAME 47
0.07866695900156628
Frame 68
tensor(0.1507)
 # KEYFRAME 48
0.0792302169938921
Frame 69
tensor(0.2693)
 # KEYFRAME 49
0.08019342399347806
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531069278717
TTA-STEP: step=1041 loss_distill=0.2747 tta_take=0.009s
Frame 70
tensor(0.1236)
 # KEYFRAME 50
0.07991355499689234
Frame 71
tensor(0.1440)
 # KEYFRAME 51
0.08146235900494503
Frame 72
tensor(0.1853)
 # KEYFRAME 52
0.08090485099819489
Frame 73
tensor(0.1110)
 # KEYFRAME 53
0.0827402049981174
Frame 74
tensor(0.0890)
Frame 75
tensor(0.1088)
 # KEYFRAME 54
0.08319154300261289
Frame 76
tensor(0.1470)
 # KEYFRAME 55
0.08428266900591552
Frame 77
tensor(0.0553)
Frame 78
tensor(0.2464)
 # KEYFRAME 56
0.0850813460056088
Frame 79
tensor(0.1101)
 # KEYFRAME 57
0.0848618570016697
Frame 80
tensor(0.2693)
 # KEYFRAME 58
0.0864801509960671
Frame 81
tensor(0.2342)
 # KEYFRAME 59
0.0877255969971884
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=1042 loss_distill=0.3466 tta_take=0.009s
Frame 82
tensor(0.2227)
 # KEYFRAME 60
0.08579270399786765
Frame 83
tensor(0.0918)
Frame 84
tensor(0.1191)
 # KEYFRAME 61
0.08816251600364922
Backending... 62 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 64542, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1043 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 154/556] scannetpp/3e928dc2f6/frame frames=85 tta_steps_this_scene=4 mean_loss=0.2992 total_steps=1043 time=22.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.2028)
 # KEYFRAME 1
Frame 2
tensor(0.2712)
 # KEYFRAME 2
0.051392535999184474
Frame 3
tensor(0.2106)
 # KEYFRAME 3
0.051548076000472065
Frame 4
tensor(0.3620)
 # KEYFRAME 4
0.05279609099670779
Frame 5
tensor(0.1678)
 # KEYFRAME 5
0.05392795700026909
Frame 6
tensor(0.1484)
 # KEYFRAME 6
0.05469909500243375
Frame 7
tensor(0.2735)
 # KEYFRAME 7
0.05601094000303419
Frame 8
tensor(0.1691)
 # KEYFRAME 8
0.05688340699998662
Frame 9
tensor(0.1058)
 # KEYFRAME 9
0.0571087569987867
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.2262)
 # KEYFRAME 10
0.05160083500231849
Frame 11
tensor(0.0547)
Frame 12
tensor(0.1669)
 # KEYFRAME 11
0.05174091499793576
Frame 13
tensor(0.0650)
Frame 14
tensor(0.1278)
 # KEYFRAME 12
0.05245560299954377
Frame 15
tensor(0.1886)
 # KEYFRAME 13
0.05458564600121463
Frame 16
tensor(0.0974)
Frame 17
tensor(0.1785)
 # KEYFRAME 14
0.054923174000578
Frame 18
tensor(0.2291)
 # KEYFRAME 15
0.054985504000796936
Frame 19
tensor(0.0982)
Frame 20
tensor(0.0927)
Frame 21
tensor(0.0842)
Frame 22
tensor(0.2914)
 # KEYFRAME 16
0.055914680000569206
Frame 23
tensor(0.4169)
 # KEYFRAME 17
0.056914136999694165
Frame 24
tensor(0.0884)
Frame 25
tensor(0.2064)
 # KEYFRAME 18
0.05752987500454765
Frame 26
tensor(0.2403)
 # KEYFRAME 19
0.058205391993396915
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 27
tensor(0.1367)
 # KEYFRAME 20
0.054217607001191936
Frame 28
tensor(0.2453)
 # KEYFRAME 21
0.05479520399967441
Frame 29
tensor(0.0994)
Frame 30
tensor(0.2116)
 # KEYFRAME 22
0.05489511400082847
Frame 31
tensor(0.2337)
 # KEYFRAME 23
0.05563318100030301
Frame 32
tensor(0.0614)
Frame 33
tensor(0.1588)
 # KEYFRAME 24
0.056162829998356756
Frame 34
tensor(0.1506)
 # KEYFRAME 25
0.056681298003240954
Frame 35
tensor(0.0659)
Frame 36
tensor(0.3422)
 # KEYFRAME 26
0.05811409300076775
Frame 37
tensor(0.1504)
 # KEYFRAME 27
0.05877988000429468
Frame 38
tensor(0.1559)
 # KEYFRAME 28
0.059838546003447846
Frame 39
tensor(0.1561)
 # KEYFRAME 29
0.060849672998301685
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 40
tensor(0.0875)
Frame 41
tensor(0.1843)
 # KEYFRAME 30
0.05839098100113915
Frame 42
tensor(0.1405)
 # KEYFRAME 31
0.05976289699901827
Frame 43
tensor(0.1136)
 # KEYFRAME 32
0.05982252700050594
Frame 44
tensor(0.0608)
Frame 45
tensor(0.1344)
 # KEYFRAME 33
0.06029953499819385
Frame 46
tensor(0.0662)
Frame 47
tensor(0.1562)
 # KEYFRAME 34
0.061251271996297874
Frame 48
tensor(0.1110)
 # KEYFRAME 35
0.06173708000278566
Frame 49
tensor(0.1855)
 # KEYFRAME 36
0.06278053599817213
Frame 50
tensor(0.1952)
 # KEYFRAME 37
0.0630461649998324
Frame 51
tensor(0.1228)
 # KEYFRAME 38
0.06358552299934672
Frame 52
tensor(0.1061)
 # KEYFRAME 39
0.06500124799640616
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1044 loss_distill=0.1733 tta_take=0.008s
Frame 53
tensor(0.0651)
Frame 54
tensor(0.1440)
 # KEYFRAME 40
0.06268476600234862
Frame 55
tensor(0.0414)
Frame 56
tensor(0.1163)
 # KEYFRAME 41
0.0644096609976259
Frame 57
tensor(0.1357)
 # KEYFRAME 42
0.06434076100413222
Frame 58
tensor(0.4540)
 # KEYFRAME 43
0.06441686000471236
Frame 59
tensor(0.1416)
 # KEYFRAME 44
0.0649877079995349
Frame 60
tensor(0.2343)
 # KEYFRAME 45
0.06579629499901785
Frame 61
tensor(0.0726)
Frame 62
tensor(0.1251)
 # KEYFRAME 46
0.06584889499936253
Frame 63
tensor(0.2162)
 # KEYFRAME 47
0.0661714439993375
Frame 64
tensor(0.0903)
Frame 65
tensor(0.1604)
 # KEYFRAME 48
0.06699591099459212
Frame 66
tensor(0.1001)
 # KEYFRAME 49
0.06783456799894338
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1045 loss_distill=0.2747 tta_take=0.008s
Frame 67
tensor(0.1371)
 # KEYFRAME 50
0.06673785200109705
Frame 68
tensor(0.2873)
 # KEYFRAME 51
0.06880681499751518
Frame 69
tensor(0.2645)
 # KEYFRAME 52
0.0692876319953939
Frame 70
tensor(0.1064)
 # KEYFRAME 53
0.07047751799836988
Frame 71
tensor(0.4732)
 # KEYFRAME 54
0.06928274299571058
Frame 72
tensor(0.0993)
Frame 73
tensor(0.1934)
 # KEYFRAME 55
0.07192400400526822
Frame 74
tensor(0.1546)
 # KEYFRAME 56
0.08289665499614784
Frame 75
tensor(0.0320)
Frame 76
tensor(0.1407)
 # KEYFRAME 57
0.07281109999894397
Frame 77
tensor(0.0445)
Frame 78
tensor(0.1555)
 # KEYFRAME 58
0.0736558270000387
Frame 79
tensor(0.2451)
 # KEYFRAME 59
0.07376396699692123
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1046 loss_distill=0.3466 tta_take=0.008s
Frame 80
tensor(0.4998)
 # KEYFRAME 60
0.0718642430001637
Frame 81
tensor(0.0758)
Frame 82
tensor(0.1088)
 # KEYFRAME 61
0.0727898799959803
Frame 83
tensor(0.7663)
 # KEYFRAME 62
0.0722860820023925
Frame 84
tensor(0.4749)
 # KEYFRAME 63
0.07274119100475218
Frame 85
tensor(0.1484)
 # KEYFRAME 64
0.0735756180001772
Frame 86
tensor(0.1065)
 # KEYFRAME 65
0.07356339800026035
Frame 87
tensor(0.1817)
 # KEYFRAME 66
0.0748603730025934
Frame 88
tensor(0.0462)
Frame 89
tensor(0.0766)
Frame 90
tensor(0.3131)
 # KEYFRAME 67
0.07514507199812215
Frame 91
tensor(0.1631)
 # KEYFRAME 68
0.07502215199929196
Frame 92
tensor(0.1993)
 # KEYFRAME 69
0.07629326800088165
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1047 loss_distill=0.4024 tta_take=0.009s
Frame 93
tensor(0.0917)
Frame 94
tensor(0.1782)
 # KEYFRAME 70
0.07595134899747791
Frame 95
tensor(0.1377)
 # KEYFRAME 71
0.07775820299866609
Frame 96
tensor(0.0794)
Frame 97
tensor(0.1671)
 # KEYFRAME 72
0.07768238299468067
Frame 98
tensor(0.1197)
 # KEYFRAME 73
0.07818866099842126
Frame 99
tensor(0.1079)
 # KEYFRAME 74
0.07919535700057168
Frame 100
tensor(0.1817)
 # KEYFRAME 75
0.08045830300397938
Frame 101
tensor(0.2693)
 # KEYFRAME 76
0.07897840799705591
Frame 102
tensor(0.0451)
Frame 103
tensor(0.0731)
Frame 104
tensor(0.2407)
 # KEYFRAME 77
0.08223420600552345
Frame 105
tensor(0.1821)
 # KEYFRAME 78
0.0824414960006834
Frame 106
tensor(0.2124)
 # KEYFRAME 79
0.08314209400123218
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1048 loss_distill=0.4024 tta_take=0.008s
Frame 107
tensor(0.2156)
 # KEYFRAME 80
0.07547155000065686
Frame 108
tensor(0.2968)
 # KEYFRAME 81
0.07713171500654425
Frame 109
tensor(0.3113)
 # KEYFRAME 82
0.07646588700299617
Frame 110
tensor(0.2413)
 # KEYFRAME 83
0.07754298300278606
Frame 111
tensor(0.2985)
 # KEYFRAME 84
0.07760982299805619
Frame 112
tensor(0.2309)
 # KEYFRAME 85
0.07833995999681065
Frame 113
tensor(0.2848)
 # KEYFRAME 86
0.07793343199591618
Frame 114
tensor(0.3568)
 # KEYFRAME 87
0.0790346479989239
Frame 115
tensor(0.0434)
Frame 116
tensor(0.2858)
 # KEYFRAME 88
0.07986035499925492
Frame 117
tensor(0.1490)
 # KEYFRAME 89
0.07942514599562855
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1049 loss_distill=0.4024 tta_take=0.008s
Frame 118
tensor(0.1389)
 # KEYFRAME 90
0.07567732999450527
Frame 119
tensor(0.0820)
Frame 120
tensor(0.1398)
 # KEYFRAME 91
0.07624285799829522
Frame 121
tensor(0.0588)
Frame 122
tensor(0.3850)
 # KEYFRAME 92
0.07764999199571321
Frame 123
tensor(0.1899)
 # KEYFRAME 93
0.07776691300387029
Frame 124
tensor(0.6396)
 # KEYFRAME 94
0.07897476800280856
Frame 125
tensor(0.2072)
 # KEYFRAME 95
0.07986086600431008
Frame 126
tensor(0.0675)
Frame 127
tensor(0.3496)
 # KEYFRAME 96
0.07856140000512823
Frame 128
tensor(0.0901)
Frame 129
tensor(0.2088)
 # KEYFRAME 97
0.08168965900404146
Frame 130
tensor(0.1963)
 # KEYFRAME 98
0.08226333700440591
Frame 131
tensor(0.0919)
Frame 132
tensor(0.2593)
 # KEYFRAME 99
0.08256068600167055
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1050 loss_distill=0.4024 tta_take=0.008s
Frame 133
tensor(0.0898)
Frame 134
tensor(0.1297)
 # KEYFRAME 100
0.075769939001475
Frame 135
tensor(0.1402)
 # KEYFRAME 101
0.07605532799789216
Frame 136
tensor(0.0511)
Frame 137
tensor(0.0868)
Frame 138
tensor(0.1449)
 # KEYFRAME 102
0.07686904599540867
Frame 139
tensor(0.0494)
Frame 140
tensor(0.1720)
 # KEYFRAME 103
0.07763660400087247
Frame 141
tensor(0.0753)
Frame 142
tensor(0.3923)
 # KEYFRAME 104
0.07769159299641615
Frame 143
tensor(0.1449)
 # KEYFRAME 105
0.07827425099821994
Frame 144
tensor(0.1209)
 # KEYFRAME 106
0.07842702999914763
Frame 145
tensor(0.5884)
 # KEYFRAME 107
0.07950692600570619
Frame 146
tensor(0.1740)
 # KEYFRAME 108
0.0789217080018716
Frame 147
tensor(0.0953)
Frame 148
tensor(0.2866)
 # KEYFRAME 109
0.07995200499863131
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1051 loss_distill=0.4024 tta_take=0.009s
Frame 149
tensor(0.0876)
[epoch 0 scene 155/556] scannetpp/d6702c681d/DSC frames=150 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=1051 time=42.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1007)
 # KEYFRAME 1
Frame 2
tensor(0.1695)
 # KEYFRAME 2
0.0517416160000721
Frame 3
tensor(0.2077)
 # KEYFRAME 3
0.052831011002126615
Frame 4
tensor(0.1260)
 # KEYFRAME 4
0.05481843500456307
Frame 5
tensor(0.2228)
 # KEYFRAME 5
0.05545900199649623
Frame 6
tensor(0.2737)
 # KEYFRAME 6
0.05629630899784388
Frame 7
tensor(0.2212)
 # KEYFRAME 7
0.05698355700587854
Frame 8
tensor(0.1779)
 # KEYFRAME 8
0.058377210996695794
Frame 9
tensor(0.2031)
 # KEYFRAME 9
0.05830719199730083
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.1466)
 # KEYFRAME 10
0.05206827400252223
Frame 11
tensor(0.1319)
 # KEYFRAME 11
0.05364045900205383
Frame 12
tensor(0.1253)
 # KEYFRAME 12
0.05448117600462865
Frame 13
tensor(0.1541)
 # KEYFRAME 13
0.056388518998574
Frame 14
tensor(0.1345)
 # KEYFRAME 14
0.057216676003008615
Frame 15
tensor(0.2462)
 # KEYFRAME 15
0.05800288300088141
Frame 16
tensor(0.1781)
 # KEYFRAME 16
0.0586806009960128
Frame 17
tensor(0.1382)
 # KEYFRAME 17
0.06031029499717988
Frame 18
tensor(0.1086)
 # KEYFRAME 18
0.060995822997938376
Frame 19
tensor(0.0570)
Frame 20
tensor(0.1004)
 # KEYFRAME 19
0.062089638006000314
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.0800)
Frame 22
tensor(0.1395)
 # KEYFRAME 20
0.05884004000108689
Frame 23
tensor(0.1663)
 # KEYFRAME 21
0.060695623003994115
Frame 24
tensor(0.0964)
Frame 25
tensor(0.2639)
 # KEYFRAME 22
0.06132128200260922
Frame 26
tensor(0.1061)
 # KEYFRAME 23
0.06181574999936856
Frame 27
tensor(0.1371)
 # KEYFRAME 24
0.0624384269976872
Frame 28
tensor(0.3526)
 # KEYFRAME 25
0.06370339199929731
Frame 29
tensor(0.1908)
 # KEYFRAME 26
0.06551657599629834
Frame 30
tensor(0.2594)
 # KEYFRAME 27
0.06651133300329093
Frame 31
tensor(0.2709)
 # KEYFRAME 28
0.06767047899484169
Frame 32
tensor(0.1906)
 # KEYFRAME 29
0.06838352599879727
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 33
tensor(0.2249)
 # KEYFRAME 30
0.06589989500207594
Frame 34
tensor(0.0918)
Frame 35
tensor(0.1125)
 # KEYFRAME 31
0.0675542199969641
Frame 36
tensor(0.2778)
 # KEYFRAME 32
0.06799515700549819
Frame 37
tensor(0.1820)
 # KEYFRAME 33
0.06923386299604317
Frame 38
tensor(0.1863)
 # KEYFRAME 34
0.06938850200094748
Frame 39
tensor(0.2808)
 # KEYFRAME 35
0.07007983999938006
Frame 40
tensor(0.1238)
 # KEYFRAME 36
0.07084195700008422
Frame 41
tensor(0.2018)
 # KEYFRAME 37
0.07216710299690021
Frame 42
tensor(0.2052)
 # KEYFRAME 38
0.07365991800179472
Frame 43
tensor(0.1180)
 # KEYFRAME 39
0.07449057399935555
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1052 loss_distill=0.1733 tta_take=0.009s
Frame 44
tensor(0.1235)
 # KEYFRAME 40
0.07255841100413818
Frame 45
tensor(0.1800)
 # KEYFRAME 41
0.07472334400517866
Frame 46
tensor(0.2345)
 # KEYFRAME 42
0.0754458009978407
Frame 47
tensor(0.1781)
 # KEYFRAME 43
0.07606067899905611
Frame 48
tensor(0.3116)
 # KEYFRAME 44
0.07809423199796584
Frame 49
tensor(0.1274)
 # KEYFRAME 45
0.07934460700198542
Frame 50
tensor(0.0501)
Frame 51
tensor(0.1101)
 # KEYFRAME 46
0.08050202299637021
Frame 52
tensor(0.0962)
Frame 53
tensor(0.1460)
 # KEYFRAME 47
0.08070029200462159
Frame 54
tensor(0.1268)
 # KEYFRAME 48
0.08169132899638498
Frame 55
tensor(0.1078)
 # KEYFRAME 49
0.08180330799950752
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1053 loss_distill=0.2747 tta_take=0.009s
Frame 56
tensor(0.2238)
 # KEYFRAME 50
0.07990003500162857
Frame 57
tensor(0.2210)
 # KEYFRAME 51
0.0810535710043041
Frame 58
tensor(0.0979)
Frame 59
tensor(0.1599)
 # KEYFRAME 52
0.08144755900138989
Frame 60
tensor(0.2114)
 # KEYFRAME 53
0.08157732900144765
Frame 61
tensor(0.1632)
 # KEYFRAME 54
0.08293018500262406
Frame 62
tensor(0.2125)
 # KEYFRAME 55
0.08348378200025763
Frame 63
tensor(0.2268)
 # KEYFRAME 56
0.08375935100048082
Frame 64
tensor(0.2759)
 # KEYFRAME 57
0.08492219700565329
Frame 65
tensor(0.2388)
 # KEYFRAME 58
0.0855852849999792
Frame 66
tensor(0.1304)
 # KEYFRAME 59
0.08595866399991792
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1054 loss_distill=0.3466 tta_take=0.009s
Frame 67
tensor(0.2424)
 # KEYFRAME 60
0.08582597399799852
Frame 68
tensor(0.1887)
 # KEYFRAME 61
0.08880216399847995
Frame 69
tensor(0.2078)
 # KEYFRAME 62
0.08922653099580202
Frame 70
tensor(0.1779)
 # KEYFRAME 63
0.08987855900340946
Frame 71
tensor(0.0902)
Frame 72
tensor(0.3614)
 # KEYFRAME 64
0.09040465799625963
Frame 73
tensor(0.3433)
 # KEYFRAME 65
0.09089260600012494
Frame 74
tensor(0.4059)
 # KEYFRAME 66
0.09214353100105654
Frame 75
tensor(0.2489)
 # KEYFRAME 67
0.09323710700118681
Frame 76
tensor(0.0812)
Frame 77
tensor(0.2004)
 # KEYFRAME 68
0.09476915200502845
Frame 78
tensor(0.2185)
 # KEYFRAME 69
0.09498081199853914
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1055 loss_distill=0.4024 tta_take=0.009s
Frame 79
tensor(0.1073)
 # KEYFRAME 70
0.09326298799715005
Frame 80
tensor(0.1057)
 # KEYFRAME 71
0.0964159360009944
Frame 81
tensor(0.2045)
 # KEYFRAME 72
0.09577234800235601
Frame 82
tensor(0.1749)
 # KEYFRAME 73
0.09709286299766973
Frame 83
tensor(0.2940)
 # KEYFRAME 74
0.0973618930001976
Frame 84
tensor(0.2231)
 # KEYFRAME 75
0.09967009400133975
Frame 85
tensor(0.2174)
 # KEYFRAME 76
0.10109203899628483
Frame 86
tensor(0.2011)
 # KEYFRAME 77
0.10093198999675224
Frame 87
tensor(0.1693)
 # KEYFRAME 78
0.10288221300288569
Frame 88
tensor(0.2360)
 # KEYFRAME 79
0.10337863199674757
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1056 loss_distill=0.4024 tta_take=0.009s
Frame 89
tensor(0.1469)
 # KEYFRAME 80
0.09261096000409452
Frame 90
tensor(0.2100)
 # KEYFRAME 81
0.09601894799561705
Frame 91
tensor(0.2203)
 # KEYFRAME 82
0.09613191699463641
Frame 92
tensor(0.1713)
 # KEYFRAME 83
0.09693539400177542
Frame 93
tensor(0.1097)
 # KEYFRAME 84
0.0984989479984506
Frame 94
tensor(0.1985)
 # KEYFRAME 85
0.09952814500138629
Frame 95
tensor(0.3357)
 # KEYFRAME 86
0.10095159900083672
Frame 96
tensor(0.3518)
 # KEYFRAME 87
0.10140956900431775
Frame 97
tensor(0.3672)
 # KEYFRAME 88
0.10289772300166078
Frame 98
tensor(0.1175)
 # KEYFRAME 89
0.10222238500136882
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1057 loss_distill=0.4024 tta_take=0.009s
Frame 99
tensor(0.2087)
 # KEYFRAME 90
0.09343481699761469
Frame 100
tensor(0.1315)
 # KEYFRAME 91
0.09451139200245962
Frame 101
tensor(0.0939)
Frame 102
tensor(0.1189)
 # KEYFRAME 92
0.09542327000235673
Frame 103
tensor(0.1492)
 # KEYFRAME 93
0.09556553899892606
Frame 104
tensor(0.1176)
 # KEYFRAME 94
0.10157223800342763
Frame 105
tensor(0.2366)
 # KEYFRAME 95
0.09769522200076608
Frame 106
tensor(0.1112)
 # KEYFRAME 96
0.0982488489971729
Frame 107
tensor(0.2134)
 # KEYFRAME 97
0.09901537699624896
Frame 108
tensor(0.1294)
 # KEYFRAME 98
0.0991500059972168
Frame 109
tensor(0.1481)
 # KEYFRAME 99
0.10061509100341937
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=1058 loss_distill=0.4024 tta_take=0.009s
Frame 110
tensor(0.1313)
 # KEYFRAME 100
0.09335271699819714
Frame 111
tensor(0.0585)
Frame 112
tensor(0.1261)
 # KEYFRAME 101
0.09553027899528388
Frame 113
tensor(0.0508)
Frame 114
tensor(0.1647)
 # KEYFRAME 102
0.09607601699826773
Frame 115
tensor(0.1530)
 # KEYFRAME 103
0.09629207600664813
Frame 116
tensor(0.0810)
Frame 117
tensor(0.1617)
 # KEYFRAME 104
0.0980117799990694
Frame 118
tensor(0.1163)
 # KEYFRAME 105
0.09816554900316987
Frame 119
tensor(0.1077)
 # KEYFRAME 106
0.09916992599755758
Frame 120
tensor(0.0550)
Frame 121
tensor(0.0781)
Frame 122
tensor(0.1772)
 # KEYFRAME 107
0.09950089500489412
Frame 123
tensor(0.1077)
 # KEYFRAME 108
0.10018105200288119
Frame 124
tensor(0.0593)
Frame 125
tensor(0.0608)
Frame 126
tensor(0.4646)
 # KEYFRAME 109
0.10075025100377388
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1059 loss_distill=0.4024 tta_take=0.009s
Frame 127
tensor(0.1604)
 # KEYFRAME 110
0.09250889000395546
Frame 128
tensor(0.0500)
Frame 129
tensor(0.1553)
 # KEYFRAME 111
0.09609892700245837
Frame 130
tensor(0.0720)
Frame 131
tensor(0.0379)
Backending... 112 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 64542, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595452308655
TTA-STEP: step=1060 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 156/556] scannetpp/54b6127146/frame frames=132 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=1060 time=45.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0003)
Frame 2
tensor(0.0014)
Frame 3
tensor(0.0019)
Frame 4
tensor(0.0013)
Frame 5
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Frame 6
tensor(0.0020)
Frame 7
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tensor(0.0024)
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tensor(0.0023)
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tensor(0.0017)
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tensor(0.0006)
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tensor(0.0011)
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tensor(0.0005)
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tensor(0.0009)
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tensor(0.0006)
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tensor(0.0010)
Frame 178
tensor(0.0014)
Frame 179
tensor(0.0011)
Frame 180
tensor(0.0009)
Frame 181
tensor(0.0014)
Frame 182
tensor(0.0026)
Frame 183
tensor(0.0043)
Frame 184
tensor(0.0059)
Frame 185
tensor(0.0061)
Frame 186
tensor(0.0096)
Frame 187
tensor(0.0108)
Frame 188
tensor(0.0136)
Frame 189
tensor(0.0171)
Frame 190
tensor(0.0218)
Frame 191
tensor(0.0265)
Frame 192
tensor(0.0339)
Frame 193
tensor(0.0405)
Frame 194
tensor(0.0496)
Frame 195
tensor(0.0612)
Frame 196
tensor(0.0723)
Frame 197
tensor(0.0799)
Frame 198
tensor(0.0967)
Frame 199
tensor(0.1086)
 # KEYFRAME 1
Frame 200
tensor(0.0151)
Frame 201
tensor(0.0365)
Frame 202
tensor(0.0527)
Frame 203
tensor(0.0727)
Frame 204
tensor(0.0962)
Frame 205
tensor(0.1181)
 # KEYFRAME 2
0.0520056450041011
Frame 206
tensor(0.0233)
Frame 207
tensor(0.0467)
Frame 208
tensor(0.0675)
Frame 209
tensor(0.0873)
Frame 210
tensor(0.1078)
 # KEYFRAME 3
0.052191383998433594
Frame 211
tensor(0.0231)
Frame 212
tensor(0.0409)
Frame 213
tensor(0.0577)
Frame 214
tensor(0.0785)
Frame 215
tensor(0.0995)
Frame 216
tensor(0.1199)
 # KEYFRAME 4
0.05270982199726859
Frame 217
tensor(0.0155)
Frame 218
tensor(0.0411)
Frame 219
tensor(0.0596)
Frame 220
tensor(0.0851)
Frame 221
tensor(0.1026)
 # KEYFRAME 5
0.052161784005875234
Frame 222
tensor(0.0205)
Frame 223
tensor(0.0436)
Frame 224
tensor(0.0657)
Frame 225
tensor(0.0866)
Frame 226
tensor(0.1082)
 # KEYFRAME 6
0.052728121998370625
Frame 227
tensor(0.0204)
Frame 228
tensor(0.0438)
Frame 229
tensor(0.0690)
Frame 230
tensor(0.0914)
Frame 231
tensor(0.1200)
 # KEYFRAME 7
0.05244517300161533
Frame 232
tensor(0.0199)
Frame 233
tensor(0.0467)
Frame 234
tensor(0.0750)
Frame 235
tensor(0.1001)
 # KEYFRAME 8
0.053379039993160404
Frame 236
tensor(0.0246)
Frame 237
tensor(0.0581)
Frame 238
tensor(0.0883)
Frame 239
tensor(0.1116)
 # KEYFRAME 9
0.05235701300262008
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 240
tensor(0.0338)
Frame 241
tensor(0.0640)
Frame 242
tensor(0.0941)
Frame 243
tensor(0.1180)
 # KEYFRAME 10
0.05156717599311378
Frame 244
tensor(0.0315)
Frame 245
tensor(0.0708)
Frame 246
tensor(0.0976)
Frame 247
tensor(0.1338)
 # KEYFRAME 11
0.05259156200190773
Frame 248
tensor(0.0391)
Frame 249
tensor(0.0775)
Frame 250
tensor(0.1142)
 # KEYFRAME 12
0.05329537999932654
Frame 251
tensor(0.0371)
Frame 252
tensor(0.0736)
Frame 253
tensor(0.1100)
 # KEYFRAME 13
0.05267927199747646
Frame 254
tensor(0.0349)
Frame 255
tensor(0.0699)
Frame 256
tensor(0.1124)
 # KEYFRAME 14
0.05484690400044201
Frame 257
tensor(0.0346)
Frame 258
tensor(0.0702)
Frame 259
tensor(0.1171)
 # KEYFRAME 15
0.05233972299902234
Frame 260
tensor(0.0357)
Frame 261
tensor(0.0749)
Frame 262
tensor(0.1187)
 # KEYFRAME 16
0.05244729300466133
Frame 263
tensor(0.0305)
Frame 264
tensor(0.0763)
Frame 265
tensor(0.1192)
 # KEYFRAME 17
0.056189409995567985
Frame 266
tensor(0.0389)
Frame 267
tensor(0.0750)
Frame 268
tensor(0.1104)
 # KEYFRAME 18
0.052519872995617334
Frame 269
tensor(0.0333)
Backending... 19 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
[epoch 0 scene 157/556] vkitti/Scene06/30-deg-left/Camera_1 frames=270 tta_steps_this_scene=0 mean_loss=nan total_steps=1060 time=40.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1158)
 # KEYFRAME 1
Frame 2
tensor(0.0803)
Frame 3
tensor(0.1680)
 # KEYFRAME 2
0.05180120599834481
Frame 4
tensor(0.1634)
 # KEYFRAME 3
0.0530759209941607
Frame 5
tensor(0.1597)
 # KEYFRAME 4
0.05357541899866192
Frame 6
tensor(0.2666)
 # KEYFRAME 5
0.05479642499994952
Frame 7
tensor(0.5691)
 # KEYFRAME 6
0.055885870999190956
Frame 8
tensor(0.0596)
Frame 9
tensor(0.1304)
 # KEYFRAME 7
0.05657965900172712
Frame 10
tensor(0.1542)
 # KEYFRAME 8
0.05708363599842414
Frame 11
tensor(0.7398)
 # KEYFRAME 9
0.05816746199707268
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.1358)
 # KEYFRAME 10
0.05152977599937003
Frame 13
tensor(0.1683)
 # KEYFRAME 11
0.052505403000395745
Frame 14
tensor(0.1722)
 # KEYFRAME 12
0.053690318993176334
Frame 15
tensor(0.0983)
Frame 16
tensor(0.1623)
 # KEYFRAME 13
0.05489386399858631
Frame 17
tensor(0.1073)
 # KEYFRAME 14
0.054709155003365595
Frame 18
tensor(0.0632)
Frame 19
tensor(0.2392)
 # KEYFRAME 15
0.054836515002534725
Frame 20
tensor(0.2502)
 # KEYFRAME 16
0.055448681996495
Frame 21
tensor(0.3559)
 # KEYFRAME 17
0.05610352000076091
Frame 22
tensor(0.5027)
 # KEYFRAME 18
0.056809836998581886
Frame 23
tensor(0.1277)
 # KEYFRAME 19
0.05760996399476426
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 24
tensor(0.3142)
 # KEYFRAME 20
0.054038487003708724
Frame 25
tensor(0.3015)
 # KEYFRAME 21
0.05475645499973325
Frame 26
tensor(0.1343)
 # KEYFRAME 22
0.055464103003032506
Frame 27
tensor(0.1430)
 # KEYFRAME 23
0.055750471001374535
Frame 28
tensor(0.3857)
 # KEYFRAME 24
0.05635863900533877
Frame 29
tensor(0.1203)
 # KEYFRAME 25
0.05685073699714849
Frame 30
tensor(0.1830)
 # KEYFRAME 26
0.05788497399771586
Frame 31
tensor(0.1821)
 # KEYFRAME 27
0.05870029099605745
Frame 32
tensor(0.1203)
 # KEYFRAME 28
0.05981994699686766
Frame 33
tensor(0.6710)
 # KEYFRAME 29
0.060344785000779666
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 34
tensor(0.0993)
Frame 35
tensor(0.4045)
 # KEYFRAME 30
0.05842193200078327
Frame 36
tensor(0.2034)
 # KEYFRAME 31
0.059100878999743145
Frame 37
tensor(0.4917)
 # KEYFRAME 32
0.059215328998107
Frame 38
tensor(0.8646)
 # KEYFRAME 33
0.060128434997750446
Frame 39
tensor(0.7276)
 # KEYFRAME 34
0.06085495300067123
Frame 40
tensor(0.4526)
 # KEYFRAME 35
0.06134828100039158
Frame 41
tensor(0.1932)
 # KEYFRAME 36
0.06215012900065631
Frame 42
tensor(0.6488)
 # KEYFRAME 37
0.06289097599801607
Frame 43
tensor(0.2525)
 # KEYFRAME 38
0.06344663399795536
Frame 44
tensor(1.1208)
 # KEYFRAME 39
0.06383377200108953
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1061 loss_distill=0.1733 tta_take=0.008s
Frame 45
tensor(0.0835)
Frame 46
tensor(0.7618)
 # KEYFRAME 40
0.06288312600372592
Frame 47
tensor(2.0517)
 # KEYFRAME 41
0.06443824999587378
Frame 48
tensor(0.1484)
 # KEYFRAME 42
0.06446906000201125
Frame 49
tensor(0.0810)
Frame 50
tensor(0.1857)
 # KEYFRAME 43
0.06435755099664675
Frame 51
tensor(0.1552)
 # KEYFRAME 44
0.06627471299725585
Frame 52
tensor(0.1053)
 # KEYFRAME 45
0.06705800999770872
Frame 53
tensor(0.2198)
 # KEYFRAME 46
0.06785875799687346
Frame 54
tensor(0.1082)
 # KEYFRAME 47
0.06823088599776383
Frame 55
tensor(0.1970)
 # KEYFRAME 48
0.06901618400297593
Frame 56
tensor(0.1400)
 # KEYFRAME 49
0.06895596400136128
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1062 loss_distill=0.2747 tta_take=0.008s
Frame 57
tensor(0.2547)
 # KEYFRAME 50
0.06708004100073595
Frame 58
tensor(0.1529)
 # KEYFRAME 51
0.06829570599802537
Frame 59
tensor(0.2324)
 # KEYFRAME 52
0.06884872400405584
Frame 60
tensor(0.1202)
 # KEYFRAME 53
0.06964330100163352
Frame 61
tensor(0.2845)
 # KEYFRAME 54
0.0689626439998392
Frame 62
tensor(0.2074)
 # KEYFRAME 55
0.0713345650001429
Frame 63
tensor(0.1493)
 # KEYFRAME 56
0.07242474100348772
Frame 64
tensor(0.4376)
 # KEYFRAME 57
0.07330457900388865
Frame 65
tensor(0.0919)
Frame 66
tensor(0.2993)
 # KEYFRAME 58
0.07439389500359539
Frame 67
tensor(0.6189)
 # KEYFRAME 59
0.07540285099821631
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1063 loss_distill=0.3466 tta_take=0.008s
Frame 68
tensor(0.3645)
 # KEYFRAME 60
0.07137834499735618
Frame 69
tensor(0.1567)
 # KEYFRAME 61
0.07271973999741022
Frame 70
tensor(0.2848)
 # KEYFRAME 62
0.07307101899641566
Frame 71
tensor(0.1942)
 # KEYFRAME 63
0.07416506500157993
Frame 72
tensor(0.1820)
 # KEYFRAME 64
0.07503918199654436
Frame 73
tensor(0.3288)
 # KEYFRAME 65
0.07382649600185687
Frame 74
tensor(0.2530)
 # KEYFRAME 66
0.07672671700129285
Frame 75
tensor(0.6838)
 # KEYFRAME 67
0.07767794300161768
Frame 76
tensor(0.4028)
 # KEYFRAME 68
0.07864918900304474
Frame 77
tensor(0.1830)
 # KEYFRAME 69
0.07922130700171692
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1064 loss_distill=0.4024 tta_take=0.008s
Frame 78
tensor(0.1571)
 # KEYFRAME 70
0.07557816100597847
Frame 79
tensor(0.1523)
 # KEYFRAME 71
0.07578274999832502
Frame 80
tensor(0.1790)
 # KEYFRAME 72
0.0769089859968517
Frame 81
tensor(0.2559)
 # KEYFRAME 73
0.07691075500042643
Frame 82
tensor(0.3253)
 # KEYFRAME 74
0.07761843300249893
Frame 83
tensor(0.1524)
 # KEYFRAME 75
0.07792910199350445
Frame 84
tensor(0.1419)
 # KEYFRAME 76
0.07765977300005034
Frame 85
tensor(0.2796)
 # KEYFRAME 77
0.07860543899732875
Frame 86
tensor(0.3497)
 # KEYFRAME 78
0.07898171799752163
Frame 87
tensor(0.2760)
 # KEYFRAME 79
0.07983703600621084
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1065 loss_distill=0.4024 tta_take=0.008s
Frame 88
tensor(0.3477)
 # KEYFRAME 80
0.07593009999982314
Frame 89
tensor(0.2432)
 # KEYFRAME 81
0.07729797400679672
Frame 90
tensor(0.4066)
 # KEYFRAME 82
0.07658889699814608
Frame 91
tensor(0.2218)
 # KEYFRAME 83
0.07761125399701996
Frame 92
tensor(0.0846)
Frame 93
tensor(0.0938)
Frame 94
tensor(0.1905)
 # KEYFRAME 84
0.07749239300028421
Frame 95
tensor(0.1563)
 # KEYFRAME 85
0.07822776099783368
Frame 96
tensor(0.2660)
 # KEYFRAME 86
0.07814004100509919
Frame 97
tensor(0.1555)
 # KEYFRAME 87
0.0788025590009056
Frame 98
tensor(0.1941)
 # KEYFRAME 88
0.0793960969967884
Frame 99
tensor(0.1528)
 # KEYFRAME 89
0.08029807400453137
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1066 loss_distill=0.4024 tta_take=0.008s
Frame 100
tensor(0.2236)
 # KEYFRAME 90
0.07540585000242572
Frame 101
tensor(0.2559)
 # KEYFRAME 91
0.07704081499832682
Frame 102
tensor(0.4072)
 # KEYFRAME 92
0.07688480499928119
Frame 103
tensor(0.4791)
 # KEYFRAME 93
0.07740277399716433
Frame 104
tensor(0.2078)
 # KEYFRAME 94
0.07785756199882599
Frame 105
tensor(0.5800)
 # KEYFRAME 95
0.0781943809997756
Frame 106
tensor(0.3738)
 # KEYFRAME 96
0.07865232000040123
Frame 107
tensor(0.6292)
 # KEYFRAME 97
0.07864298899949063
Frame 108
tensor(0.1226)
 # KEYFRAME 98
0.07960680600081105
Frame 109
tensor(0.2832)
 # KEYFRAME 99
0.07952044700505212
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1067 loss_distill=0.4024 tta_take=0.008s
Frame 110
tensor(0.1147)
 # KEYFRAME 100
0.0753892509965226
Frame 111
tensor(0.1907)
 # KEYFRAME 101
0.07716597500257194
Frame 112
tensor(0.1267)
 # KEYFRAME 102
0.07697174599888967
Frame 113
tensor(0.2137)
 # KEYFRAME 103
0.07726913400256308
Frame 114
tensor(0.3832)
 # KEYFRAME 104
0.07799964099831413
Frame 115
tensor(0.1408)
 # KEYFRAME 105
0.07868473899725359
Frame 116
tensor(0.2069)
 # KEYFRAME 106
0.07793221199972322
Frame 117
tensor(0.2065)
 # KEYFRAME 107
0.07938067699433304
Frame 118
tensor(0.1629)
 # KEYFRAME 108
0.07935874699614942
Frame 119
tensor(0.1004)
 # KEYFRAME 109
0.08060977200511843
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1068 loss_distill=0.4024 tta_take=0.008s
Frame 120
tensor(0.1560)
 # KEYFRAME 110
0.0756210299950908
Frame 121
tensor(0.3825)
 # KEYFRAME 111
0.07601800800330238
Frame 122
tensor(0.2372)
 # KEYFRAME 112
0.07672882699989714
Frame 123
tensor(0.1975)
 # KEYFRAME 113
0.07722215499961749
Frame 124
tensor(0.2846)
 # KEYFRAME 114
0.07785271300235763
Frame 125
tensor(0.3921)
 # KEYFRAME 115
0.07807760099967709
Frame 126
tensor(0.1738)
 # KEYFRAME 116
0.0780390720028663
Frame 127
tensor(1.2742)
 # KEYFRAME 117
0.07968928600166691
Frame 128
tensor(0.2906)
 # KEYFRAME 118
0.0793923269957304
Frame 129
tensor(0.1918)
 # KEYFRAME 119
0.08030220399814425
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1069 loss_distill=0.4024 tta_take=0.008s
Frame 130
tensor(0.1578)
 # KEYFRAME 120
0.07595480900636176
Frame 131
tensor(0.1713)
 # KEYFRAME 121
0.07633428699773503
Frame 132
tensor(0.2787)
 # KEYFRAME 122
0.07667081600084202
Frame 133
tensor(0.2915)
 # KEYFRAME 123
0.07755299299606122
Frame 134
tensor(0.2763)
 # KEYFRAME 124
0.07781047200114699
Frame 135
tensor(0.3498)
 # KEYFRAME 125
0.07863443899987033
Frame 136
tensor(0.2351)
 # KEYFRAME 126
0.07825253100600094
Frame 137
tensor(0.7133)
 # KEYFRAME 127
0.07940105699526612
Frame 138
tensor(0.9178)
 # KEYFRAME 128
0.0801216440013377
Frame 139
tensor(0.2595)
 # KEYFRAME 129
0.08087667100335239
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1070 loss_distill=0.4024 tta_take=0.008s
Frame 140
tensor(0.2130)
 # KEYFRAME 130
0.07594125899777282
Frame 141
tensor(0.1868)
 # KEYFRAME 131
0.0757965000011609
Frame 142
tensor(0.6892)
 # KEYFRAME 132
0.07691365599748679
Frame 143
tensor(0.2679)
 # KEYFRAME 133
0.07734389400138753
Frame 144
tensor(0.7370)
 # KEYFRAME 134
0.07760685399989597
Frame 145
tensor(0.4674)
 # KEYFRAME 135
0.07780098300281679
Frame 146
tensor(0.1051)
 # KEYFRAME 136
0.07832510099979118
Frame 147
tensor(0.6806)
 # KEYFRAME 137
0.07874437900318298
Frame 148
tensor(0.3409)
 # KEYFRAME 138
0.07928299700142816
Frame 149
tensor(0.2601)
 # KEYFRAME 139
0.07961971599434037
Backending... 140 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1071 loss_distill=0.4024 tta_take=0.008s
[epoch 0 scene 158/556] scannetpp/410c470782/DSC frames=150 tta_steps_this_scene=11 mean_loss=0.3649 total_steps=1071 time=49.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0987)
Frame 2
tensor(0.1762)
 # KEYFRAME 1
Frame 3
tensor(0.1468)
 # KEYFRAME 2
0.05139402699569473
Frame 4
tensor(0.1374)
 # KEYFRAME 3
0.05236003300524317
Frame 5
tensor(0.2246)
 # KEYFRAME 4
0.05374583799857646
Frame 6
tensor(0.0866)
Frame 7
tensor(0.1089)
 # KEYFRAME 5
0.05465715500031365
Frame 8
tensor(0.1386)
 # KEYFRAME 6
0.055547251999087166
Frame 9
tensor(0.1596)
 # KEYFRAME 7
0.05585916099516908
Frame 10
tensor(0.1899)
 # KEYFRAME 8
0.05732864499441348
Frame 11
tensor(0.1960)
 # KEYFRAME 9
0.0577818940000725
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.0695)
Frame 13
tensor(0.2011)
 # KEYFRAME 10
0.052286093996372074
Frame 14
tensor(0.1207)
 # KEYFRAME 11
0.05166657599329483
Frame 15
tensor(0.0858)
Frame 16
tensor(0.0808)
Frame 17
tensor(0.1412)
 # KEYFRAME 12
0.05207277400040766
Frame 18
tensor(0.0462)
Frame 19
tensor(0.0787)
Frame 20
tensor(0.1335)
 # KEYFRAME 13
0.05396934799500741
Frame 21
tensor(0.0969)
Frame 22
tensor(0.1920)
 # KEYFRAME 14
0.05424996600049781
Frame 23
tensor(0.1177)
 # KEYFRAME 15
0.05384645800222643
Frame 24
tensor(0.1189)
 # KEYFRAME 16
0.05471315499744378
Frame 25
tensor(0.1890)
 # KEYFRAME 17
0.05537561300297966
Frame 26
tensor(0.0794)
Frame 27
tensor(0.1332)
 # KEYFRAME 18
0.055654890995356254
Frame 28
tensor(0.0363)
Frame 29
tensor(0.0796)
Frame 30
tensor(0.2569)
 # KEYFRAME 19
0.0570044069972937
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 31
tensor(0.0761)
Frame 32
tensor(0.1799)
 # KEYFRAME 20
0.05399391699756961
Frame 33
tensor(0.1326)
 # KEYFRAME 21
0.05484649400023045
Frame 34
tensor(0.0967)
Frame 35
tensor(0.2423)
 # KEYFRAME 22
0.054965374001767486
Frame 36
tensor(0.1886)
 # KEYFRAME 23
0.055628301997785456
Frame 37
tensor(0.1213)
 # KEYFRAME 24
0.05633749900152907
Frame 38
tensor(0.1807)
 # KEYFRAME 25
0.05676523799775168
Frame 39
tensor(0.1545)
 # KEYFRAME 26
0.058092541999940295
Frame 40
tensor(0.0360)
Frame 41
tensor(0.1198)
 # KEYFRAME 27
0.05923731800430687
Frame 42
tensor(0.1493)
 # KEYFRAME 28
0.05962283699773252
Frame 43
tensor(0.0647)
Frame 44
tensor(0.0767)
Frame 45
tensor(0.0568)
Frame 46
tensor(0.0845)
Frame 47
tensor(0.0547)
Frame 48
tensor(0.1710)
 # KEYFRAME 29
0.061022743000648916
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 49
tensor(0.1191)
 # KEYFRAME 30
0.058149233002041
Frame 50
tensor(0.1521)
 # KEYFRAME 31
0.05955294799787225
Frame 51
tensor(0.2077)
 # KEYFRAME 32
0.05970715700095752
Frame 52
tensor(0.1747)
 # KEYFRAME 33
0.06025003499962622
Frame 53
tensor(0.1144)
 # KEYFRAME 34
0.060854572999232914
Frame 54
tensor(0.1572)
 # KEYFRAME 35
0.061405091000779066
Frame 55
tensor(0.3216)
 # KEYFRAME 36
0.06187432899605483
Frame 56
tensor(0.0537)
Frame 57
tensor(0.2130)
 # KEYFRAME 37
0.06305946499924175
Frame 58
tensor(0.0760)
Frame 59
tensor(0.2115)
 # KEYFRAME 38
0.06318154499604134
Frame 60
tensor(0.0622)
Frame 61
tensor(0.0534)
Frame 62
tensor(0.1064)
 # KEYFRAME 39
0.06469821900100214
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1072 loss_distill=0.1733 tta_take=0.008s
Frame 63
tensor(0.1711)
 # KEYFRAME 40
0.06286581500171451
Frame 64
tensor(0.7174)
 # KEYFRAME 41
0.0643252610025229
Frame 65
tensor(0.0251)
Frame 66
tensor(0.0192)
Frame 67
tensor(0.0690)
Frame 68
tensor(0.0489)
Frame 69
tensor(0.2775)
 # KEYFRAME 42
0.06504271800076822
Frame 70
tensor(0.1770)
 # KEYFRAME 43
0.06425944100192282
Frame 71
tensor(0.1183)
 # KEYFRAME 44
0.06568404599966016
Frame 72
tensor(0.0927)
Frame 73
tensor(0.3028)
 # KEYFRAME 45
0.06607235399860656
Frame 74
tensor(0.2199)
 # KEYFRAME 46
0.06671949199517258
Frame 75
tensor(0.0808)
Frame 76
tensor(0.2144)
 # KEYFRAME 47
0.06685135200677905
Frame 77
tensor(0.0928)
Frame 78
tensor(0.1183)
 # KEYFRAME 48
0.0680299370069406
Frame 79
tensor(0.1330)
 # KEYFRAME 49
0.06881819500267738
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1073 loss_distill=0.2747 tta_take=0.008s
Frame 80
tensor(0.2009)
 # KEYFRAME 50
0.06715747999987798
Frame 81
tensor(0.0910)
Frame 82
tensor(0.2781)
 # KEYFRAME 51
0.06862821499817073
Frame 83
tensor(0.2021)
 # KEYFRAME 52
0.06855614500091178
Frame 84
tensor(0.1270)
 # KEYFRAME 53
0.06899383400013903
Frame 85
tensor(0.1090)
 # KEYFRAME 54
0.06921469300141325
Frame 86
tensor(0.1758)
 # KEYFRAME 55
0.07012979999853997
Frame 87
tensor(0.2234)
 # KEYFRAME 56
0.07074158699833788
Frame 88
tensor(0.0621)
Frame 89
tensor(0.1220)
 # KEYFRAME 57
0.07120837600086816
Frame 90
tensor(0.4823)
 # KEYFRAME 58
0.07134575499367202
Frame 91
tensor(0.0647)
Frame 92
tensor(0.1202)
 # KEYFRAME 59
0.07157852499949513
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=1074 loss_distill=0.3466 tta_take=0.008s
Frame 93
tensor(0.1150)
 # KEYFRAME 60
0.07138684500387171
Frame 94
tensor(0.0945)
Frame 95
tensor(0.1258)
 # KEYFRAME 61
0.07285518999560736
Frame 96
tensor(0.1401)
 # KEYFRAME 62
0.07298590000573313
Frame 97
tensor(0.1086)
 # KEYFRAME 63
0.07407585599867161
Frame 98
tensor(0.2224)
 # KEYFRAME 64
0.07458555400080513
Frame 99
tensor(0.2167)
 # KEYFRAME 65
0.07387271600600798
Frame 100
tensor(0.0812)
Frame 101
tensor(0.2364)
 # KEYFRAME 66
0.07648935700126458
Frame 102
tensor(0.0546)
Frame 103
tensor(0.1554)
 # KEYFRAME 67
0.07774755200080108
Frame 104
tensor(0.0544)
Frame 105
tensor(0.2712)
 # KEYFRAME 68
0.07877145900420146
Frame 106
tensor(0.3155)
 # KEYFRAME 69
0.07924981800169917
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1075 loss_distill=0.4024 tta_take=0.008s
Frame 107
tensor(0.1096)
 # KEYFRAME 70
0.07532000100036385
Frame 108
tensor(0.0658)
Frame 109
tensor(0.2130)
 # KEYFRAME 71
0.07733267400180921
Frame 110
tensor(0.1172)
 # KEYFRAME 72
0.07667911700264085
Frame 111
tensor(0.5791)
 # KEYFRAME 73
0.07719495399942389
Frame 112
tensor(0.1694)
 # KEYFRAME 74
0.07728004499949748
Frame 113
tensor(0.1587)
 # KEYFRAME 75
0.07781084199814359
Frame 114
tensor(0.1996)
 # KEYFRAME 76
0.07840312000189442
Frame 115
tensor(0.2138)
 # KEYFRAME 77
0.07893582800170407
Frame 116
tensor(0.2000)
 # KEYFRAME 78
0.07932452699606074
Frame 117
tensor(0.1784)
 # KEYFRAME 79
0.0796276159962872
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1076 loss_distill=0.4024 tta_take=0.008s
Frame 118
tensor(0.2456)
 # KEYFRAME 80
0.07547832100681262
Frame 119
tensor(0.2721)
 # KEYFRAME 81
0.07604960799653782
Frame 120
tensor(0.1311)
 # KEYFRAME 82
0.076921266001591
Frame 121
tensor(0.0998)
Frame 122
tensor(0.2190)
 # KEYFRAME 83
0.07751742399705108
Frame 123
tensor(0.0924)
Frame 124
tensor(0.1005)
 # KEYFRAME 84
0.07838883999647805
Frame 125
tensor(0.1014)
 # KEYFRAME 85
0.07877221899980213
Frame 126
tensor(0.1787)
 # KEYFRAME 86
0.07877029899827903
Frame 127
tensor(0.1996)
 # KEYFRAME 87
0.08063353199395351
Frame 128
tensor(0.1866)
 # KEYFRAME 88
0.08175561800453579
Frame 129
tensor(0.1065)
 # KEYFRAME 89
0.08246193599916296
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1077 loss_distill=0.4024 tta_take=0.008s
Frame 130
tensor(0.2688)
 # KEYFRAME 90
0.07582223899953533
Frame 131
tensor(0.9047)
 # KEYFRAME 91
0.07770372200320708
Frame 132
tensor(0.1662)
 # KEYFRAME 92
0.07739439400029369
Frame 133
tensor(0.1313)
 # KEYFRAME 93
0.07881780899333535
Frame 134
tensor(0.0574)
Frame 135
tensor(0.1353)
 # KEYFRAME 94
0.07974918500258354
Frame 136
tensor(0.0360)
Frame 137
tensor(0.0636)
Frame 138
tensor(0.0474)
Frame 139
tensor(0.6885)
 # KEYFRAME 95
0.08068694199755555
Frame 140
tensor(0.2569)
 # KEYFRAME 96
0.0786186990007991
Frame 141
tensor(0.4963)
 # KEYFRAME 97
0.08122210999863455
Frame 142
tensor(0.0785)
Frame 143
tensor(0.2069)
 # KEYFRAME 98
0.08299308399728034
Frame 144
tensor(0.2068)
 # KEYFRAME 99
0.08348146200296469
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1078 loss_distill=0.4024 tta_take=0.008s
Frame 145
tensor(0.1800)
 # KEYFRAME 100
0.07589490900136298
Frame 146
tensor(0.4820)
 # KEYFRAME 101
0.07704411500162678
Frame 147
tensor(0.0944)
Frame 148
tensor(0.1084)
 # KEYFRAME 102
0.07660838699666783
Frame 149
tensor(0.1763)
 # KEYFRAME 103
0.07746516400220571
Backending... 104 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 59520, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1079 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 159/556] scannetpp/2b1dc6d6a5/DSC frames=150 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=1079 time=38.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0709)
Frame 2
tensor(0.2856)
 # KEYFRAME 1
Frame 3
tensor(0.1720)
 # KEYFRAME 2
0.051572265998402145
Frame 4
tensor(0.2086)
 # KEYFRAME 3
0.052324304000649136
Frame 5
tensor(0.3090)
 # KEYFRAME 4
0.053844747999391984
Frame 6
tensor(0.1171)
 # KEYFRAME 5
0.05477323499508202
Frame 7
tensor(0.1311)
 # KEYFRAME 6
0.055258603002585005
Frame 8
tensor(0.3182)
 # KEYFRAME 7
0.05612968000059482
Frame 9
tensor(0.2026)
 # KEYFRAME 8
0.05720223599928431
Frame 10
tensor(0.1946)
 # KEYFRAME 9
0.057702373997017276
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.2953)
 # KEYFRAME 10
0.05219784400105709
Frame 12
tensor(0.2436)
 # KEYFRAME 11
0.05138155700115021
Frame 13
tensor(0.1774)
 # KEYFRAME 12
0.05222296300053131
Frame 14
tensor(0.1062)
 # KEYFRAME 13
0.05379047799942782
Frame 15
tensor(0.1923)
 # KEYFRAME 14
0.05416636699374067
Frame 16
tensor(0.3197)
 # KEYFRAME 15
0.053705578997323755
Frame 17
tensor(0.2044)
 # KEYFRAME 16
0.05451025599904824
Frame 18
tensor(0.2457)
 # KEYFRAME 17
0.055381402002240065
Frame 19
tensor(0.2665)
 # KEYFRAME 18
0.055611951000173576
Frame 20
tensor(0.3690)
 # KEYFRAME 19
0.05692556699796114
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.3015)
 # KEYFRAME 20
0.05383951800467912
Frame 22
tensor(0.3386)
 # KEYFRAME 21
0.05461215499963146
Frame 23
tensor(0.1564)
 # KEYFRAME 22
0.05504877299972577
Frame 24
tensor(0.0698)
Frame 25
tensor(0.0596)
Frame 26
tensor(0.2756)
 # KEYFRAME 23
0.05592453099961858
Frame 27
tensor(0.5120)
 # KEYFRAME 24
0.05636679899907904
Frame 28
tensor(0.2984)
 # KEYFRAME 25
0.05682377699849894
Frame 29
tensor(0.3714)
 # KEYFRAME 26
0.057960383004683536
Frame 30
tensor(0.1867)
 # KEYFRAME 27
0.059172638997551985
Frame 31
tensor(0.0751)
Frame 32
tensor(0.2152)
 # KEYFRAME 28
0.059871165998629294
Frame 33
tensor(0.4297)
 # KEYFRAME 29
0.06020919499860611
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 34
tensor(0.3094)
 # KEYFRAME 30
0.05822554199403385
Frame 35
tensor(0.3209)
 # KEYFRAME 31
0.05892429000232369
Frame 36
tensor(0.2279)
 # KEYFRAME 32
0.05951767800434027
Frame 37
tensor(0.3284)
 # KEYFRAME 33
0.06016967500181636
Frame 38
tensor(0.3902)
 # KEYFRAME 34
0.060672744002658874
Frame 39
tensor(0.4746)
 # KEYFRAME 35
0.06119370200030971
Frame 40
tensor(0.0892)
Frame 41
tensor(0.0919)
Frame 42
tensor(0.1831)
 # KEYFRAME 36
0.06166146000032313
Frame 43
tensor(0.2304)
 # KEYFRAME 37
0.06231928800116293
Frame 44
tensor(0.1247)
 # KEYFRAME 38
0.06323175400029868
Frame 45
tensor(0.0340)
Frame 46
tensor(0.1027)
 # KEYFRAME 39
0.06380846200045198
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1080 loss_distill=0.1733 tta_take=0.008s
Frame 47
tensor(0.4339)
 # KEYFRAME 40
0.062490406999131665
Frame 48
tensor(0.4749)
 # KEYFRAME 41
0.0644266100061941
Frame 49
tensor(0.5767)
 # KEYFRAME 42
0.0646673590017599
Frame 50
tensor(0.1754)
 # KEYFRAME 43
0.06388435300323181
Frame 51
tensor(0.2698)
 # KEYFRAME 44
0.0656874459964456
Frame 52
tensor(0.1789)
 # KEYFRAME 45
0.06596687400451628
Frame 53
tensor(0.0820)
Frame 54
tensor(0.1406)
 # KEYFRAME 46
0.06634420299815247
Frame 55
tensor(0.0577)
Frame 56
tensor(0.0839)
Frame 57
tensor(0.1009)
 # KEYFRAME 47
0.0666364619974047
Frame 58
tensor(0.1696)
 # KEYFRAME 48
0.06792056699487148
Frame 59
tensor(0.2586)
 # KEYFRAME 49
0.06885152400354855
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1081 loss_distill=0.2747 tta_take=0.008s
Frame 60
tensor(0.0622)
Frame 61
tensor(0.0221)
Frame 62
tensor(0.1485)
 # KEYFRAME 50
0.06723980999959167
Frame 63
tensor(0.1088)
 # KEYFRAME 51
0.06824048700218555
Frame 64
tensor(0.1223)
 # KEYFRAME 52
0.06804992799879983
Frame 65
tensor(0.0442)
Frame 66
tensor(0.0256)
Frame 67
tensor(0.0774)
Frame 68
tensor(0.1139)
 # KEYFRAME 53
0.06878622400108725
Frame 69
tensor(0.0369)
Frame 70
tensor(0.2478)
 # KEYFRAME 54
0.06909808299678843
Frame 71
tensor(0.1502)
 # KEYFRAME 55
0.06995772100344766
Frame 72
tensor(0.1416)
 # KEYFRAME 56
0.07055986799969105
Frame 73
tensor(0.0454)
Frame 74
tensor(0.4194)
 # KEYFRAME 57
0.07055100900470279
Frame 75
tensor(0.2124)
 # KEYFRAME 58
0.07147760500083677
Frame 76
tensor(0.2736)
 # KEYFRAME 59
0.07212034300027881
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1082 loss_distill=0.3466 tta_take=0.008s
Frame 77
tensor(0.1637)
 # KEYFRAME 60
0.07083940699521918
Frame 78
tensor(0.3028)
 # KEYFRAME 61
0.07310723899718141
Frame 79
tensor(0.1650)
 # KEYFRAME 62
0.07303527900512563
Frame 80
tensor(0.2624)
 # KEYFRAME 63
0.07382344600046054
Frame 81
tensor(0.0874)
Frame 82
tensor(0.1494)
 # KEYFRAME 64
0.07506881200242788
Frame 83
tensor(0.1214)
 # KEYFRAME 65
0.07402059600281063
Frame 84
tensor(0.0775)
Frame 85
tensor(0.0581)
Frame 86
tensor(0.0175)
Frame 87
tensor(0.1336)
 # KEYFRAME 66
0.0769636149998405
Frame 88
tensor(0.1019)
 # KEYFRAME 67
0.0783117810060503
Frame 89
tensor(0.1858)
 # KEYFRAME 68
0.0781561409967253
Frame 90
tensor(0.3829)
 # KEYFRAME 69
0.07869213899539318
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1083 loss_distill=0.4024 tta_take=0.008s
Frame 91
tensor(0.2879)
 # KEYFRAME 70
0.07528602100501303
Frame 92
tensor(0.1915)
 # KEYFRAME 71
0.07593153899506433
Frame 93
tensor(0.1372)
 # KEYFRAME 72
0.07635344799928134
Frame 94
tensor(0.0827)
Frame 95
tensor(0.6856)
 # KEYFRAME 73
0.07690921500034165
Frame 96
tensor(0.1078)
 # KEYFRAME 74
0.07714936500269687
Frame 97
tensor(0.1944)
 # KEYFRAME 75
0.07781640300527215
Frame 98
tensor(0.3341)
 # KEYFRAME 76
0.07812418100365903
Frame 99
tensor(0.3304)
 # KEYFRAME 77
0.07889304900163552
Frame 100
tensor(0.1771)
 # KEYFRAME 78
0.0794875459978357
Frame 101
tensor(0.1751)
 # KEYFRAME 79
0.07948486699751811
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1084 loss_distill=0.4024 tta_take=0.008s
Frame 102
tensor(0.2547)
 # KEYFRAME 80
0.07597630900272634
Frame 103
tensor(0.2059)
 # KEYFRAME 81
0.07749913400039077
Frame 104
tensor(0.3262)
 # KEYFRAME 82
0.07703738500276813
Frame 105
tensor(0.1692)
 # KEYFRAME 83
0.0776685630044085
Frame 106
tensor(0.1182)
 # KEYFRAME 84
0.07898221799405292
Frame 107
tensor(0.0520)
Frame 108
tensor(0.1917)
 # KEYFRAME 85
0.07962638600292848
Frame 109
tensor(0.1001)
 # KEYFRAME 86
0.07874328899924876
Frame 110
tensor(0.2599)
 # KEYFRAME 87
0.08150871899852064
Frame 111
tensor(0.3748)
 # KEYFRAME 88
0.08199742699798662
Frame 112
tensor(0.3408)
 # KEYFRAME 89
0.0827956449938938
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1085 loss_distill=0.4024 tta_take=0.008s
Frame 113
tensor(0.0883)
Frame 114
tensor(0.6034)
 # KEYFRAME 90
0.07572179000271717
Frame 115
tensor(0.1957)
 # KEYFRAME 91
0.07756077300291508
Frame 116
tensor(0.1477)
 # KEYFRAME 92
0.07744365400139941
Frame 117
tensor(0.1143)
 # KEYFRAME 93
0.07831682099640602
Frame 118
tensor(0.1605)
 # KEYFRAME 94
0.07954776599945035
Frame 119
tensor(0.0523)
Frame 120
tensor(0.1340)
 # KEYFRAME 95
0.08077775199490134
Frame 121
tensor(0.0185)
Frame 122
tensor(0.1876)
 # KEYFRAME 96
0.07895772800111445
Frame 123
tensor(0.4170)
 # KEYFRAME 97
0.0813626800008933
Frame 124
tensor(0.6029)
 # KEYFRAME 98
0.08280356499744812
Frame 125
tensor(0.1101)
 # KEYFRAME 99
0.08330412299983436
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1086 loss_distill=0.4024 tta_take=0.009s
Frame 126
tensor(0.1245)
 # KEYFRAME 100
0.07536082199658267
Frame 127
tensor(0.0960)
Frame 128
tensor(0.1821)
 # KEYFRAME 101
0.07722416400065413
Frame 129
tensor(0.1201)
 # KEYFRAME 102
0.07687950499530416
Frame 130
tensor(0.0639)
Frame 131
tensor(0.4643)
 # KEYFRAME 103
0.07754864299931796
Frame 132
tensor(0.1453)
 # KEYFRAME 104
0.07818078100535786
Frame 133
tensor(0.2538)
 # KEYFRAME 105
0.07820402099605417
Frame 134
tensor(0.0851)
Frame 135
tensor(0.1799)
 # KEYFRAME 106
0.0778665319958236
Frame 136
tensor(0.0802)
Frame 137
tensor(0.2123)
 # KEYFRAME 107
0.07900397799676284
Frame 138
tensor(0.1789)
 # KEYFRAME 108
0.079287676999229
Frame 139
tensor(0.1244)
 # KEYFRAME 109
0.07999251499859383
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1087 loss_distill=0.4024 tta_take=0.008s
Frame 140
tensor(0.1402)
 # KEYFRAME 110
0.07553339999867603
Frame 141
tensor(0.4989)
 # KEYFRAME 111
0.07602305899490602
Frame 142
tensor(0.1703)
 # KEYFRAME 112
0.0769373649964109
Frame 143
tensor(0.5131)
 # KEYFRAME 113
0.07834737100347411
Frame 144
tensor(0.0603)
Frame 145
tensor(0.0402)
Frame 146
tensor(0.1684)
 # KEYFRAME 114
0.07938641699729487
Frame 147
tensor(0.0885)
Frame 148
tensor(0.1385)
 # KEYFRAME 115
0.08000490500126034
Frame 149
tensor(0.0862)
Backending... 116 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 61380, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1088 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 160/556] scannetpp/e1b1d9de55/DSC frames=150 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=1088 time=46.1s
[ckpt] /scratch-shared/wwei2/scorer_pretrain/scorer_v1/checkpoint-last.pth (epoch=0 scene=160)
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0546)
Frame 2
tensor(0.1339)
 # KEYFRAME 1
Frame 3
tensor(0.1230)
 # KEYFRAME 2
0.05203215400251793
Frame 4
tensor(0.1526)
 # KEYFRAME 3
0.0533245699989493
Frame 5
tensor(0.1184)
 # KEYFRAME 4
0.05346957899746485
Frame 6
tensor(0.1309)
 # KEYFRAME 5
0.054902153999137226
Frame 7
tensor(0.1634)
 # KEYFRAME 6
0.05614414899901021
Frame 8
tensor(0.1393)
 # KEYFRAME 7
0.05676205799682066
Frame 9
tensor(0.1606)
 # KEYFRAME 8
0.057391105001443066
Frame 10
tensor(0.1146)
 # KEYFRAME 9
0.05845799099915894
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.1771)
 # KEYFRAME 10
0.0516063649993157
Frame 12
tensor(0.1760)
 # KEYFRAME 11
0.05255709299672162
Frame 13
tensor(0.1573)
 # KEYFRAME 12
0.05360640899743885
Frame 14
tensor(0.1162)
 # KEYFRAME 13
0.0549609040026553
Frame 15
tensor(0.1373)
 # KEYFRAME 14
0.05452784599765437
Frame 16
tensor(0.0711)
Frame 17
tensor(0.1964)
 # KEYFRAME 15
0.054794055002275854
Frame 18
tensor(0.1051)
 # KEYFRAME 16
0.055482351999671664
Frame 19
tensor(0.0991)
Frame 20
tensor(0.2243)
 # KEYFRAME 17
0.0564407880010549
Frame 21
tensor(0.0792)
Frame 22
tensor(0.1845)
 # KEYFRAME 18
0.0570186169934459
Frame 23
tensor(0.1118)
 # KEYFRAME 19
0.057452555003692396
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 24
tensor(0.0431)
Frame 25
tensor(0.2866)
 # KEYFRAME 20
0.05402264800068224
Frame 26
tensor(0.1630)
 # KEYFRAME 21
0.05502057400008198
Frame 27
tensor(0.1608)
 # KEYFRAME 22
0.05546582199895056
Frame 28
tensor(0.1233)
 # KEYFRAME 23
0.05583302099694265
Frame 29
tensor(0.1316)
 # KEYFRAME 24
0.056494748998375144
Frame 30
tensor(0.0618)
Frame 31
tensor(0.1862)
 # KEYFRAME 25
0.05705980599304894
Frame 32
tensor(0.1607)
 # KEYFRAME 26
0.05836710100265918
Frame 33
tensor(0.1350)
 # KEYFRAME 27
0.05906403900007717
Frame 34
tensor(0.0752)
Frame 35
tensor(0.1942)
 # KEYFRAME 28
0.06020304499543272
Frame 36
tensor(0.2608)
 # KEYFRAME 29
0.06055275400285609
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 37
tensor(0.1914)
 # KEYFRAME 30
0.05867892099922756
Frame 38
tensor(0.1276)
 # KEYFRAME 31
0.059417918004328385
Frame 39
tensor(0.1196)
 # KEYFRAME 32
0.05946467799367383
Frame 40
tensor(0.1264)
 # KEYFRAME 33
0.060448684002039954
Frame 41
tensor(0.1059)
 # KEYFRAME 34
0.061076873003912624
Frame 42
tensor(0.3317)
 # KEYFRAME 35
0.06132055100169964
Frame 43
tensor(0.1621)
 # KEYFRAME 36
0.06214087799889967
Frame 44
tensor(0.1571)
 # KEYFRAME 37
0.06258202599565266
Frame 45
tensor(0.1559)
 # KEYFRAME 38
0.06294826600060333
Frame 46
tensor(0.3142)
 # KEYFRAME 39
0.06410745099856285
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1089 loss_distill=0.1733 tta_take=0.008s
Frame 47
tensor(0.2518)
 # KEYFRAME 40
0.06294863599759992
Frame 48
tensor(0.1369)
 # KEYFRAME 41
0.06424713999876985
Frame 49
tensor(0.1454)
 # KEYFRAME 42
0.06462287999602268
Frame 50
tensor(0.3349)
 # KEYFRAME 43
0.06456278000405291
Frame 51
tensor(0.3831)
 # KEYFRAME 44
0.06651020299614174
Frame 52
tensor(0.1477)
 # KEYFRAME 45
0.06706852000206709
Frame 53
tensor(0.1346)
 # KEYFRAME 46
0.06800977700186195
Frame 54
tensor(0.1782)
 # KEYFRAME 47
0.06818155699875206
Frame 55
tensor(0.1903)
 # KEYFRAME 48
0.06911227299860911
Frame 56
tensor(0.2440)
 # KEYFRAME 49
0.06922738299908815
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1090 loss_distill=0.2747 tta_take=0.008s
Frame 57
tensor(0.1269)
 # KEYFRAME 50
0.06665799199981848
Frame 58
tensor(0.0819)
Frame 59
tensor(0.1958)
 # KEYFRAME 51
0.0683377359964652
Frame 60
tensor(0.2715)
 # KEYFRAME 52
0.06872927499352954
Frame 61
tensor(0.1576)
 # KEYFRAME 53
0.06976400099665625
Frame 62
tensor(0.4184)
 # KEYFRAME 54
0.06908993400429608
Frame 63
tensor(0.1889)
 # KEYFRAME 55
0.07156680499610957
Frame 64
tensor(0.0854)
Frame 65
tensor(0.2660)
 # KEYFRAME 56
0.07300369999575196
Frame 66
tensor(0.1849)
 # KEYFRAME 57
0.07341650799935451
Frame 67
tensor(0.0789)
Frame 68
tensor(0.2463)
 # KEYFRAME 58
0.07462951400520978
Frame 69
tensor(0.5166)
 # KEYFRAME 59
0.07519652100017993
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1091 loss_distill=0.3466 tta_take=0.008s
Frame 70
tensor(0.0825)
Frame 71
tensor(0.2044)
 # KEYFRAME 60
0.07141962500463706
Frame 72
tensor(0.1541)
 # KEYFRAME 61
0.07292773900553584
Frame 73
tensor(0.1898)
 # KEYFRAME 62
0.07320326899935026
Frame 74
tensor(0.0843)
Frame 75
tensor(0.1224)
 # KEYFRAME 63
0.07414736499777064
Frame 76
tensor(0.1422)
 # KEYFRAME 64
0.07510611200268613
Frame 77
tensor(0.1580)
 # KEYFRAME 65
0.07365812700300012
Frame 78
tensor(0.1246)
 # KEYFRAME 66
0.07682760599709582
Frame 79
tensor(0.0749)
Frame 80
tensor(0.1354)
 # KEYFRAME 67
0.07732150399533566
Frame 81
tensor(0.1422)
 # KEYFRAME 68
0.07878761900065001
Frame 82
tensor(0.1439)
 # KEYFRAME 69
0.07940158699784661
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1092 loss_distill=0.4024 tta_take=0.008s
Frame 83
tensor(0.1009)
 # KEYFRAME 70
0.07595698899967829
Frame 84
tensor(0.2525)
 # KEYFRAME 71
0.07688345499627758
Frame 85
tensor(0.1787)
 # KEYFRAME 72
0.07642362699698424
Frame 86
tensor(0.1431)
 # KEYFRAME 73
0.07744124400051078
Frame 87
tensor(0.2434)
 # KEYFRAME 74
0.07753728399984539
Frame 88
tensor(0.2236)
 # KEYFRAME 75
0.07831309099856298
Frame 89
tensor(0.1471)
 # KEYFRAME 76
0.07793072200001916
Frame 90
tensor(0.1804)
 # KEYFRAME 77
0.07865948999824468
Frame 91
tensor(0.0958)
Frame 92
tensor(0.1575)
 # KEYFRAME 78
0.0796984960034024
Frame 93
tensor(0.2495)
 # KEYFRAME 79
0.07977809599833563
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1093 loss_distill=0.4024 tta_take=0.008s
Frame 94
tensor(0.1819)
 # KEYFRAME 80
0.07538562099944102
Frame 95
tensor(0.1121)
 # KEYFRAME 81
0.07727226400311338
Frame 96
tensor(0.1352)
 # KEYFRAME 82
0.13970569200319005
Frame 97
tensor(0.2798)
 # KEYFRAME 83
0.07869572900381172
Frame 98
tensor(0.0728)
Frame 99
tensor(0.3775)
 # KEYFRAME 84
0.07762149300106103
Frame 100
tensor(0.1650)
 # KEYFRAME 85
0.0780023519982933
Frame 101
tensor(0.2056)
 # KEYFRAME 86
0.10505812499468448
Frame 102
tensor(0.1041)
 # KEYFRAME 87
0.2194202770042466
Frame 103
tensor(0.2621)
 # KEYFRAME 88
0.07935905700287549
Frame 104
tensor(0.1721)
 # KEYFRAME 89
0.07992474499769742
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1094 loss_distill=0.4024 tta_take=0.008s
Frame 105
tensor(0.1169)
 # KEYFRAME 90
0.07529836100002285
Frame 106
tensor(0.1627)
 # KEYFRAME 91
0.07660719699924812
Frame 107
tensor(0.3070)
 # KEYFRAME 92
0.07669896600418724
Frame 108
tensor(0.2656)
 # KEYFRAME 93
0.0771574350001174
Frame 109
tensor(0.1356)
 # KEYFRAME 94
0.07723982400057139
Frame 110
tensor(0.1152)
 # KEYFRAME 95
0.07769844299764372
Frame 111
tensor(0.1188)
 # KEYFRAME 96
0.07828080100443913
Frame 112
tensor(0.1610)
 # KEYFRAME 97
0.07871347900072578
Frame 113
tensor(0.0171)
Frame 114
tensor(0.0950)
Frame 115
tensor(0.1748)
 # KEYFRAME 98
0.07911360800062539
Frame 116
tensor(0.0485)
Frame 117
tensor(0.0923)
Frame 118
tensor(0.2208)
 # KEYFRAME 99
0.07956374700006563
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1095 loss_distill=0.4024 tta_take=0.008s
Frame 119
tensor(0.6800)
 # KEYFRAME 100
0.07562904999940656
Frame 120
tensor(0.0890)
Frame 121
tensor(0.1416)
 # KEYFRAME 101
0.07739680400118232
Frame 122
tensor(0.0831)
Frame 123
tensor(0.0864)
Frame 124
tensor(0.2023)
 # KEYFRAME 102
0.07735541400325019
Frame 125
tensor(0.2192)
 # KEYFRAME 103
0.0774529039990739
Frame 126
tensor(0.1841)
 # KEYFRAME 104
0.0779207219966338
Frame 127
tensor(0.0988)
Frame 128
tensor(0.3048)
 # KEYFRAME 105
0.07896528799756197
Frame 129
tensor(0.1629)
 # KEYFRAME 106
0.07846531999530271
Frame 130
tensor(0.1253)
 # KEYFRAME 107
0.07914981799694942
Frame 131
tensor(0.2821)
 # KEYFRAME 108
0.07994011499977205
Frame 132
tensor(0.2474)
 # KEYFRAME 109
0.08014815400383668
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1096 loss_distill=0.4024 tta_take=0.008s
Frame 133
tensor(0.0750)
Frame 134
tensor(0.0999)
Frame 135
tensor(0.1714)
 # KEYFRAME 110
0.0760363689987571
Frame 136
tensor(0.1821)
 # KEYFRAME 111
0.07619320900266757
Frame 137
tensor(0.1827)
 # KEYFRAME 112
0.07804434200079413
Frame 138
tensor(0.0615)
Frame 139
tensor(0.1704)
 # KEYFRAME 113
0.07795629199972609
Frame 140
tensor(0.2480)
 # KEYFRAME 114
0.07806033200176898
Frame 141
tensor(0.1889)
 # KEYFRAME 115
0.07925743699888699
Frame 142
tensor(0.3219)
 # KEYFRAME 116
0.07859674000064842
Frame 143
tensor(0.2173)
 # KEYFRAME 117
0.0797632550020353
Frame 144
tensor(0.1233)
 # KEYFRAME 118
0.08020965299510863
Frame 145
tensor(0.0946)
Frame 146
tensor(0.1553)
 # KEYFRAME 119
0.0807889320058166
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1097 loss_distill=0.4024 tta_take=0.009s
Frame 147
tensor(0.1195)
 # KEYFRAME 120
0.07584129899623804
Frame 148
tensor(0.0991)
Frame 149
tensor(0.1315)
 # KEYFRAME 121
0.07691040500503732
Backending... 122 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 57660, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1098 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 161/556] scannetpp/8b2c0938d6/DSC frames=150 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=1098 time=48.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0093)
Frame 2
tensor(0.0204)
Frame 3
tensor(0.0318)
Frame 4
tensor(0.0382)
Frame 5
tensor(0.0521)
Frame 6
tensor(0.0565)
Frame 7
tensor(0.0701)
Frame 8
tensor(0.0815)
Frame 9
tensor(0.1027)
 # KEYFRAME 1
Frame 10
tensor(0.0100)
Frame 11
tensor(0.0149)
Frame 12
tensor(0.0225)
Frame 13
tensor(0.0302)
Frame 14
tensor(0.0393)
Frame 15
tensor(0.0411)
Frame 16
tensor(0.0688)
Frame 17
tensor(0.0751)
Frame 18
tensor(0.0988)
Frame 19
tensor(0.1271)
 # KEYFRAME 2
0.051869075003196485
Frame 20
tensor(0.0075)
Frame 21
tensor(0.0089)
Frame 22
tensor(0.0247)
Frame 23
tensor(0.0295)
Frame 24
tensor(0.0385)
Frame 25
tensor(0.0473)
Frame 26
tensor(0.0549)
Frame 27
tensor(0.0628)
Frame 28
tensor(0.0681)
Frame 29
tensor(0.0813)
Frame 30
tensor(0.0807)
Frame 31
tensor(0.0956)
Frame 32
tensor(0.1096)
 # KEYFRAME 3
0.05170808500406565
Frame 33
tensor(0.0102)
Frame 34
tensor(0.0117)
Frame 35
tensor(0.0231)
Frame 36
tensor(0.0338)
Frame 37
tensor(0.0399)
Frame 38
tensor(0.0483)
Frame 39
tensor(0.0559)
Frame 40
tensor(0.0601)
Frame 41
tensor(0.0713)
Frame 42
tensor(0.0842)
Frame 43
tensor(0.0942)
Frame 44
tensor(0.1006)
 # KEYFRAME 4
0.05260935200203676
Frame 45
tensor(0.0069)
Frame 46
tensor(0.0183)
Frame 47
tensor(0.0271)
Frame 48
tensor(0.0392)
Frame 49
tensor(0.0500)
Frame 50
tensor(0.0588)
Frame 51
tensor(0.0685)
Frame 52
tensor(0.0909)
Frame 53
tensor(0.0905)
Frame 54
tensor(0.1255)
 # KEYFRAME 5
0.052212704002158716
Frame 55
tensor(0.0153)
Frame 56
tensor(0.0330)
Frame 57
tensor(0.0368)
Frame 58
tensor(0.0517)
Frame 59
tensor(0.0764)
Frame 60
tensor(0.0949)
Frame 61
tensor(0.1082)
 # KEYFRAME 6
0.05294484100159025
Frame 62
tensor(0.0196)
Frame 63
tensor(0.0370)
Frame 64
tensor(0.0509)
Frame 65
tensor(0.0649)
Frame 66
tensor(0.0835)
Frame 67
tensor(0.1112)
 # KEYFRAME 7
0.05278187200019602
Frame 68
tensor(0.0157)
Frame 69
tensor(0.0343)
Frame 70
tensor(0.0507)
Frame 71
tensor(0.0698)
Frame 72
tensor(0.0896)
Frame 73
tensor(0.1090)
 # KEYFRAME 8
0.05326878999767359
Frame 74
tensor(0.0161)
Frame 75
tensor(0.0354)
Frame 76
tensor(0.0507)
Frame 77
tensor(0.0739)
Frame 78
tensor(0.0899)
Frame 79
tensor(0.1081)
 # KEYFRAME 9
0.052180774000589736
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 80
tensor(0.0118)
Frame 81
tensor(0.0304)
Frame 82
tensor(0.0467)
Frame 83
tensor(0.0581)
Frame 84
tensor(0.0757)
Frame 85
tensor(0.0947)
Frame 86
tensor(0.1230)
 # KEYFRAME 10
0.05169288600154687
Frame 87
tensor(0.0133)
Frame 88
tensor(0.0277)
Frame 89
tensor(0.0494)
Frame 90
tensor(0.0681)
Frame 91
tensor(0.0843)
Frame 92
tensor(0.1056)
 # KEYFRAME 11
0.052010005005286075
Frame 93
tensor(0.0148)
Frame 94
tensor(0.0309)
Frame 95
tensor(0.0473)
Frame 96
tensor(0.0596)
Frame 97
tensor(0.0771)
Frame 98
tensor(0.0939)
Frame 99
tensor(0.1110)
 # KEYFRAME 12
0.05288642099912977
Frame 100
tensor(0.0176)
Frame 101
tensor(0.0307)
Frame 102
tensor(0.0449)
Frame 103
tensor(0.0624)
Frame 104
tensor(0.0761)
Frame 105
tensor(0.0959)
Frame 106
tensor(0.1132)
 # KEYFRAME 13
0.05234510300215334
Frame 107
tensor(0.0111)
Frame 108
tensor(0.0240)
Frame 109
tensor(0.0380)
Frame 110
tensor(0.0510)
Frame 111
tensor(0.0692)
Frame 112
tensor(0.0850)
Frame 113
tensor(0.1059)
 # KEYFRAME 14
0.0542282160022296
Frame 114
tensor(0.0112)
Frame 115
tensor(0.0226)
Frame 116
tensor(0.0314)
Frame 117
tensor(0.0494)
Frame 118
tensor(0.0583)
Frame 119
tensor(0.0756)
Frame 120
tensor(0.0879)
Frame 121
tensor(0.1041)
 # KEYFRAME 15
0.05243248199985828
Frame 122
tensor(0.0108)
Frame 123
tensor(0.0253)
Frame 124
tensor(0.0364)
Frame 125
tensor(0.0507)
Frame 126
tensor(0.0647)
Frame 127
tensor(0.0846)
Frame 128
tensor(0.0889)
Frame 129
tensor(0.1025)
 # KEYFRAME 16
0.05319889000384137
Frame 130
tensor(0.0118)
Frame 131
tensor(0.0217)
Frame 132
tensor(0.0356)
Frame 133
tensor(0.0442)
Frame 134
tensor(0.0570)
Frame 135
tensor(0.0697)
Frame 136
tensor(0.0819)
Frame 137
tensor(0.1119)
 # KEYFRAME 17
0.05563777200586628
Frame 138
tensor(0.0111)
Frame 139
tensor(0.0202)
Frame 140
tensor(0.0309)
Frame 141
tensor(0.0403)
Frame 142
tensor(0.0544)
Frame 143
tensor(0.0660)
Frame 144
tensor(0.0741)
Frame 145
tensor(0.0868)
Frame 146
tensor(0.1117)
 # KEYFRAME 18
0.05274508200091077
Frame 147
tensor(0.0051)
Frame 148
tensor(0.0232)
Frame 149
tensor(0.0295)
Frame 150
tensor(0.0403)
Frame 151
tensor(0.0526)
Frame 152
tensor(0.0732)
Frame 153
tensor(0.0750)
Frame 154
tensor(0.0930)
Frame 155
tensor(0.0958)
Frame 156
tensor(0.1201)
 # KEYFRAME 19
0.05633634900004836
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 157
tensor(0.0106)
Frame 158
tensor(0.0206)
Frame 159
tensor(0.0313)
Frame 160
tensor(0.0460)
Frame 161
tensor(0.0550)
Frame 162
tensor(0.0653)
Frame 163
tensor(0.0871)
Frame 164
tensor(0.1032)
 # KEYFRAME 20
0.05194940500223311
Frame 165
tensor(0.0166)
Frame 166
tensor(0.0324)
Frame 167
tensor(0.0445)
Frame 168
tensor(0.0695)
Frame 169
tensor(0.0896)
Frame 170
tensor(0.1049)
 # KEYFRAME 21
0.05183074499655049
Frame 171
tensor(0.0179)
Frame 172
tensor(0.0367)
Frame 173
tensor(0.0513)
Frame 174
tensor(0.0696)
Frame 175
tensor(0.0897)
Frame 176
tensor(0.1150)
 # KEYFRAME 22
0.053181809998932295
Frame 177
tensor(0.0177)
Frame 178
tensor(0.0296)
Frame 179
tensor(0.0606)
Frame 180
tensor(0.0810)
Frame 181
tensor(0.1040)
 # KEYFRAME 23
0.052240334000089206
Frame 182
tensor(0.0245)
Frame 183
tensor(0.0443)
Frame 184
tensor(0.0695)
Frame 185
tensor(0.0991)
Frame 186
tensor(0.1174)
 # KEYFRAME 24
0.053146199999901
Frame 187
tensor(0.0266)
Frame 188
tensor(0.0479)
Frame 189
tensor(0.0848)
Frame 190
tensor(0.1124)
 # KEYFRAME 25
0.05233366299944464
Frame 191
tensor(0.0200)
Frame 192
tensor(0.0481)
Frame 193
tensor(0.0736)
Frame 194
tensor(0.1027)
 # KEYFRAME 26
0.052282992997788824
Frame 195
tensor(0.0242)
Frame 196
tensor(0.0431)
Frame 197
tensor(0.0675)
Frame 198
tensor(0.0918)
Frame 199
tensor(0.1210)
 # KEYFRAME 27
0.05506845399941085
Frame 200
tensor(0.0164)
Frame 201
tensor(0.0415)
Frame 202
tensor(0.0634)
Frame 203
tensor(0.0810)
Frame 204
tensor(0.1062)
 # KEYFRAME 28
0.05269631299597677
Frame 205
tensor(0.0169)
Frame 206
tensor(0.0352)
Frame 207
tensor(0.0535)
Frame 208
tensor(0.0757)
Frame 209
tensor(0.0966)
Frame 210
tensor(0.1144)
 # KEYFRAME 29
0.055411332003131974
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 211
tensor(0.0176)
Frame 212
tensor(0.0356)
Frame 213
tensor(0.0555)
Frame 214
tensor(0.0771)
Frame 215
tensor(0.0931)
Frame 216
tensor(0.1101)
 # KEYFRAME 30
0.051947284999187104
Frame 217
tensor(0.0176)
Frame 218
tensor(0.0330)
Frame 219
tensor(0.0513)
Frame 220
tensor(0.0724)
Frame 221
tensor(0.0894)
Frame 222
tensor(0.1131)
 # KEYFRAME 31
0.053388369000458624
Frame 223
tensor(0.0176)
Frame 224
tensor(0.0364)
Frame 225
tensor(0.0548)
Frame 226
tensor(0.0801)
Frame 227
tensor(0.1024)
 # KEYFRAME 32
0.05401988800440449
Frame 228
tensor(0.0212)
Frame 229
tensor(0.0408)
Frame 230
tensor(0.0566)
Frame 231
tensor(0.0909)
Frame 232
tensor(0.1101)
 # KEYFRAME 33
0.052970020995417144
Frame 233
tensor(0.0201)
Frame 234
tensor(0.0360)
Frame 235
tensor(0.0565)
Frame 236
tensor(0.0826)
Frame 237
tensor(0.1061)
 # KEYFRAME 34
0.05519588300376199
Frame 238
tensor(0.0179)
Frame 239
tensor(0.0429)
Frame 240
tensor(0.0699)
Frame 241
tensor(0.0905)
Frame 242
tensor(0.1099)
 # KEYFRAME 35
0.052930421006749384
Frame 243
tensor(0.0194)
Frame 244
tensor(0.0462)
Frame 245
tensor(0.0670)
Frame 246
tensor(0.0927)
Frame 247
tensor(0.1170)
 # KEYFRAME 36
0.05311914100457216
Frame 248
tensor(0.0199)
Frame 249
tensor(0.0462)
Frame 250
tensor(0.0722)
Frame 251
tensor(0.0987)
Frame 252
tensor(0.1289)
 # KEYFRAME 37
0.057870124001055956
Frame 253
tensor(0.0224)
Frame 254
tensor(0.0473)
Frame 255
tensor(0.0745)
Frame 256
tensor(0.1054)
 # KEYFRAME 38
0.052603673000703566
Frame 257
tensor(0.0211)
Frame 258
tensor(0.0478)
Frame 259
tensor(0.0752)
Frame 260
tensor(0.0942)
Frame 261
tensor(0.1184)
 # KEYFRAME 39
0.058603261000826024
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1099 loss_distill=0.1733 tta_take=0.005s
Frame 262
tensor(0.0250)
Frame 263
tensor(0.0568)
Frame 264
tensor(0.0807)
Frame 265
tensor(0.1047)
 # KEYFRAME 40
0.05250054199859733
Frame 266
tensor(0.0285)
Frame 267
tensor(0.0504)
Frame 268
tensor(0.0809)
Frame 269
tensor(0.1106)
 # KEYFRAME 41
0.05268123200221453
Frame 270
tensor(0.0231)
Frame 271
tensor(0.0430)
Frame 272
tensor(0.0677)
Frame 273
tensor(0.0981)
Frame 274
tensor(0.1285)
 # KEYFRAME 42
0.05329327999788802
Frame 275
tensor(0.0233)
Frame 276
tensor(0.0467)
Frame 277
tensor(0.0732)
Frame 278
tensor(0.0976)
Frame 279
tensor(0.1202)
 # KEYFRAME 43
0.052469952002866194
Frame 280
tensor(0.0254)
Frame 281
tensor(0.0471)
Frame 282
tensor(0.0645)
Frame 283
tensor(0.0965)
Frame 284
tensor(0.1185)
 # KEYFRAME 44
0.05336484900180949
Frame 285
tensor(0.0220)
Frame 286
tensor(0.0438)
Frame 287
tensor(0.0673)
Frame 288
tensor(0.0934)
Frame 289
tensor(0.1141)
 # KEYFRAME 45
0.05245008299971232
Frame 290
tensor(0.0183)
Frame 291
tensor(0.0424)
Frame 292
tensor(0.0622)
Frame 293
tensor(0.0903)
Frame 294
tensor(0.1052)
 # KEYFRAME 46
0.05235114300012356
Frame 295
tensor(0.0211)
Frame 296
tensor(0.0468)
Frame 297
tensor(0.0649)
Frame 298
tensor(0.0883)
Frame 299
tensor(0.1097)
 # KEYFRAME 47
0.053349890004028566
Backending... 48 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 19776, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1100 loss_distill=0.2747 tta_take=0.004s
[epoch 0 scene 162/556] vkitti/Scene20/rain/Camera_1 frames=300 tta_steps_this_scene=2 mean_loss=0.2240 total_steps=1100 time=48.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0423)
Frame 2
tensor(0.1547)
 # KEYFRAME 1
Frame 3
tensor(0.0186)
Frame 4
tensor(0.0459)
Frame 5
tensor(0.1122)
 # KEYFRAME 2
0.05154027599928668
Frame 6
tensor(0.0652)
Frame 7
tensor(0.0339)
Frame 8
tensor(0.0887)
Frame 9
tensor(0.0862)
Frame 10
tensor(0.0676)
Frame 11
tensor(0.0608)
Frame 12
tensor(0.0738)
Frame 13
tensor(0.0702)
Frame 14
tensor(0.1163)
 # KEYFRAME 3
0.05217831299523823
Frame 15
tensor(0.3196)
 # KEYFRAME 4
0.053477819994441234
Frame 16
tensor(0.0945)
Frame 17
tensor(0.1791)
 # KEYFRAME 5
0.05427390599652426
Frame 18
tensor(0.2221)
 # KEYFRAME 6
0.05561541100178147
Frame 19
tensor(0.1675)
 # KEYFRAME 7
0.05605226999614388
Frame 20
tensor(0.0824)
Frame 21
tensor(0.1588)
 # KEYFRAME 8
0.05781750399910379
Frame 22
tensor(0.1803)
 # KEYFRAME 9
0.0582708120055031
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 23
tensor(0.2961)
 # KEYFRAME 10
0.051483577000908554
Frame 24
tensor(0.1134)
 # KEYFRAME 11
0.05244036299700383
Frame 25
tensor(0.1902)
 # KEYFRAME 12
0.05247754199808696
Frame 26
tensor(0.0599)
Frame 27
tensor(0.1179)
 # KEYFRAME 13
0.05447774500498781
Frame 28
tensor(0.1756)
 # KEYFRAME 14
0.05491600400273455
Frame 29
tensor(0.1925)
 # KEYFRAME 15
0.05505634399742121
Frame 30
tensor(0.0861)
Frame 31
tensor(0.2576)
 # KEYFRAME 16
0.055177314003231004
Frame 32
tensor(0.1165)
 # KEYFRAME 17
0.05605560099502327
Frame 33
tensor(0.1491)
 # KEYFRAME 18
0.05700566599989543
Frame 34
tensor(0.0735)
Frame 35
tensor(0.2001)
 # KEYFRAME 19
0.058057693000591826
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 36
tensor(0.0717)
Frame 37
tensor(0.1350)
 # KEYFRAME 20
0.053822737994778436
Frame 38
tensor(0.2689)
 # KEYFRAME 21
0.05490320499666268
Frame 39
tensor(0.0668)
Frame 40
tensor(0.1565)
 # KEYFRAME 22
0.055747341000824235
Frame 41
tensor(0.1052)
 # KEYFRAME 23
0.05612961900624214
Frame 42
tensor(0.1995)
 # KEYFRAME 24
0.05680151799606392
Frame 43
tensor(0.1695)
 # KEYFRAME 25
0.05747398499806877
Frame 44
tensor(0.1154)
 # KEYFRAME 26
0.05832790099520935
Frame 45
tensor(0.0430)
Frame 46
tensor(0.1090)
 # KEYFRAME 27
0.059544247000303585
Frame 47
tensor(0.0813)
Frame 48
tensor(0.2919)
 # KEYFRAME 28
0.05998772600287339
Frame 49
tensor(0.0377)
Frame 50
tensor(0.0465)
Frame 51
tensor(0.0502)
Frame 52
tensor(0.1041)
 # KEYFRAME 29
0.060835602998849936
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 53
tensor(0.2733)
 # KEYFRAME 30
0.058356792003905866
Frame 54
tensor(0.1079)
 # KEYFRAME 31
0.06002344599983189
Frame 55
tensor(0.2075)
 # KEYFRAME 32
0.05943200799811166
Frame 56
tensor(0.1641)
 # KEYFRAME 33
0.06096448199969018
Frame 57
tensor(0.0551)
Frame 58
tensor(0.1801)
 # KEYFRAME 34
0.06125575099576963
Frame 59
tensor(0.1347)
 # KEYFRAME 35
0.06199088900029892
Frame 60
tensor(0.3373)
 # KEYFRAME 36
0.06270755700097652
Frame 61
tensor(0.0982)
Frame 62
tensor(0.4833)
 # KEYFRAME 37
0.06329090399958659
Frame 63
tensor(0.0366)
Frame 64
tensor(0.1670)
 # KEYFRAME 38
0.06393020199902821
Frame 65
tensor(0.0690)
Frame 66
tensor(0.2859)
 # KEYFRAME 39
0.06501312799809966
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1101 loss_distill=0.1733 tta_take=0.008s
Frame 67
tensor(0.1486)
 # KEYFRAME 40
0.06233424700621981
Frame 68
tensor(0.1355)
 # KEYFRAME 41
0.0644006999937119
Frame 69
tensor(0.4450)
 # KEYFRAME 42
0.0639174429961713
Frame 70
tensor(0.3116)
 # KEYFRAME 43
0.06374351299746195
Frame 71
tensor(0.1002)
 # KEYFRAME 44
0.0644249300021329
Frame 72
tensor(0.0518)
Frame 73
tensor(0.1376)
 # KEYFRAME 45
0.06509473800542764
Frame 74
tensor(0.2355)
 # KEYFRAME 46
0.06566565599496244
Frame 75
tensor(0.0813)
Frame 76
tensor(0.0540)
Frame 77
tensor(0.1269)
 # KEYFRAME 47
0.06611487399641192
Frame 78
tensor(0.3341)
 # KEYFRAME 48
0.0665383829982602
Frame 79
tensor(0.0698)
Frame 80
tensor(0.0995)
Frame 81
tensor(0.0967)
Frame 82
tensor(0.0820)
Frame 83
tensor(0.1217)
 # KEYFRAME 49
0.06785101800051052
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531069278717
TTA-STEP: step=1102 loss_distill=0.2747 tta_take=0.008s
Frame 84
tensor(0.0813)
Frame 85
tensor(0.1904)
 # KEYFRAME 50
0.06703257100161863
Frame 86
tensor(0.0650)
Frame 87
tensor(0.1772)
 # KEYFRAME 51
0.06905192399426596
Frame 88
tensor(0.1162)
 # KEYFRAME 52
0.07137346600211458
Frame 89
tensor(0.0724)
Frame 90
tensor(0.0913)
Frame 91
tensor(0.1391)
 # KEYFRAME 53
0.07072037800389808
Frame 92
tensor(0.1076)
 # KEYFRAME 54
0.06940156199561898
Frame 93
tensor(0.0659)
Frame 94
tensor(0.1250)
 # KEYFRAME 55
0.07169740399695002
Frame 95
tensor(0.0851)
Frame 96
tensor(0.1482)
 # KEYFRAME 56
0.072985348997463
Frame 97
tensor(0.0936)
Frame 98
tensor(0.1557)
 # KEYFRAME 57
0.07230048200290184
Frame 99
tensor(0.0570)
Frame 100
tensor(0.5607)
 # KEYFRAME 58
0.07341717799863545
Frame 101
tensor(0.0516)
Frame 102
tensor(0.1427)
 # KEYFRAME 59
0.07397864600352477
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1103 loss_distill=0.3466 tta_take=0.008s
Frame 103
tensor(0.0956)
Frame 104
tensor(0.1807)
 # KEYFRAME 60
0.07125910600007046
Frame 105
tensor(0.0368)
Frame 106
tensor(0.1015)
 # KEYFRAME 61
0.0730520900033298
Frame 107
tensor(0.0565)
Frame 108
tensor(0.0948)
Frame 109
tensor(0.1298)
 # KEYFRAME 62
0.07223847199929878
Frame 110
tensor(0.0721)
Frame 111
tensor(0.1309)
 # KEYFRAME 63
0.07320034899748862
Frame 112
tensor(0.3600)
 # KEYFRAME 64
0.07344382799783489
Frame 113
tensor(0.3998)
 # KEYFRAME 65
0.0735317880025832
Frame 114
tensor(0.0844)
Frame 115
tensor(0.4745)
 # KEYFRAME 66
0.07442089399410179
Frame 116
tensor(0.2460)
 # KEYFRAME 67
0.07517162200383609
Frame 117
tensor(0.1168)
 # KEYFRAME 68
0.07550485099636717
Frame 118
tensor(0.0440)
Frame 119
tensor(0.1229)
 # KEYFRAME 69
0.07589314899814781
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1104 loss_distill=0.4024 tta_take=0.009s
Frame 120
tensor(0.0413)
Frame 121
tensor(0.0225)
Frame 122
tensor(0.0315)
Frame 123
tensor(0.0744)
Frame 124
tensor(0.2237)
 # KEYFRAME 70
0.07560506000299938
Frame 125
tensor(0.3584)
 # KEYFRAME 71
0.077460243999667
Frame 126
tensor(0.0332)
Frame 127
tensor(0.0647)
Frame 128
tensor(0.1398)
 # KEYFRAME 72
0.07680701599747408
Frame 129
tensor(0.2995)
 # KEYFRAME 73
0.07771967299777316
Frame 130
tensor(0.6196)
 # KEYFRAME 74
0.07847684999433113
Frame 131
tensor(0.0710)
Frame 132
tensor(0.2248)
 # KEYFRAME 75
0.07914700800029095
Frame 133
tensor(0.5510)
 # KEYFRAME 76
0.07874523899954511
Frame 134
tensor(0.2090)
 # KEYFRAME 77
0.07953802600241033
Frame 135
tensor(0.1681)
 # KEYFRAME 78
0.08044397299818229
Frame 136
tensor(0.2252)
 # KEYFRAME 79
0.0808692710052128
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1105 loss_distill=0.4024 tta_take=0.008s
Frame 137
tensor(0.0580)
Frame 138
tensor(0.1614)
 # KEYFRAME 80
0.07559123000100954
Frame 139
tensor(0.1253)
 # KEYFRAME 81
0.07711803500569658
Frame 140
tensor(0.0711)
Frame 141
tensor(0.1326)
 # KEYFRAME 82
0.07680693600559607
Frame 142
tensor(0.1014)
 # KEYFRAME 83
0.07735247399978107
Frame 143
tensor(0.0664)
Frame 144
tensor(0.1249)
 # KEYFRAME 84
0.07788485199853312
Frame 145
tensor(0.1005)
 # KEYFRAME 85
0.07826368100359105
Frame 146
tensor(0.0612)
Frame 147
tensor(0.2254)
 # KEYFRAME 86
0.07820633099618135
Frame 148
tensor(0.0289)
Frame 149
tensor(0.4234)
 # KEYFRAME 87
0.07961799600161612
Backending... 88 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 63240, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=1106 loss_distill=0.4024 tta_take=0.007s
[epoch 0 scene 163/556] scannetpp/94ee15e8ba/DSC frames=150 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=1106 time=35.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0195)
Frame 2
tensor(0.0499)
Frame 3
tensor(0.1498)
 # KEYFRAME 1
Frame 4
tensor(0.1169)
 # KEYFRAME 2
0.05080652899778215
Frame 5
tensor(0.1280)
 # KEYFRAME 3
0.05214555400016252
Frame 6
tensor(0.1151)
 # KEYFRAME 4
0.052977961000578944
Frame 7
tensor(0.0987)
Frame 8
tensor(0.1658)
 # KEYFRAME 5
0.05483728399849497
Frame 9
tensor(0.2192)
 # KEYFRAME 6
0.05544335199374473
Frame 10
tensor(0.1553)
 # KEYFRAME 7
0.056395069004793186
Frame 11
tensor(0.0866)
Frame 12
tensor(0.0510)
Frame 13
tensor(0.1268)
 # KEYFRAME 8
0.05737622499873396
Frame 14
tensor(0.1184)
 # KEYFRAME 9
0.056914346998382825
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 15
tensor(0.1217)
 # KEYFRAME 10
0.05223827399458969
Frame 16
tensor(0.2032)
 # KEYFRAME 11
0.05295069100247929
Frame 17
tensor(0.1504)
 # KEYFRAME 12
0.05371765800373396
Frame 18
tensor(0.2333)
 # KEYFRAME 13
0.056133620004402474
Frame 19
tensor(0.1304)
 # KEYFRAME 14
0.056869056999858
Frame 20
tensor(0.0966)
Frame 21
tensor(0.2015)
 # KEYFRAME 15
0.0575607740029227
Frame 22
tensor(0.1526)
 # KEYFRAME 16
0.05841177199908998
Frame 23
tensor(0.1762)
 # KEYFRAME 17
0.059419257995614316
Frame 24
tensor(0.1694)
 # KEYFRAME 18
0.060487274000479374
Frame 25
tensor(0.1469)
 # KEYFRAME 19
0.06207874900428578
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 26
tensor(0.1101)
 # KEYFRAME 20
0.05868576999637298
Frame 27
tensor(0.1650)
 # KEYFRAME 21
0.060508033995574806
Frame 28
tensor(0.1495)
 # KEYFRAME 22
0.06098751199897379
Frame 29
tensor(0.0215)
Frame 30
tensor(0.1840)
 # KEYFRAME 23
0.06229231799807167
Frame 31
tensor(0.1452)
 # KEYFRAME 24
0.06288612599746557
Frame 32
tensor(0.0849)
Frame 33
tensor(0.0910)
Frame 34
tensor(0.1936)
 # KEYFRAME 25
0.06359921299736015
Frame 35
tensor(0.0777)
Frame 36
tensor(0.1996)
 # KEYFRAME 26
0.0655862959974911
Frame 37
tensor(0.0295)
Frame 38
tensor(0.1355)
 # KEYFRAME 27
0.06640740299917525
Frame 39
tensor(0.1170)
 # KEYFRAME 28
0.06726765000348678
Frame 40
tensor(0.1036)
 # KEYFRAME 29
0.06880495500081452
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 41
tensor(0.1191)
 # KEYFRAME 30
0.06561378599872114
Frame 42
tensor(0.2038)
 # KEYFRAME 31
0.06780300800164696
Frame 43
tensor(0.2792)
 # KEYFRAME 32
0.06848055600130465
Frame 44
tensor(0.1257)
 # KEYFRAME 33
0.07030039899836993
Frame 45
tensor(0.1028)
 # KEYFRAME 34
0.07104322699888144
Frame 46
tensor(0.1437)
 # KEYFRAME 35
0.07271270099590765
Frame 47
tensor(0.0898)
Frame 48
tensor(0.1807)
 # KEYFRAME 36
0.07309995999821695
Frame 49
tensor(0.1159)
 # KEYFRAME 37
0.07495763300539693
Frame 50
tensor(0.2382)
 # KEYFRAME 38
0.07549516099970788
Frame 51
tensor(0.2126)
 # KEYFRAME 39
0.07665479600109393
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1107 loss_distill=0.1733 tta_take=0.009s
Frame 52
tensor(0.1707)
 # KEYFRAME 40
0.07249987200339092
Frame 53
tensor(0.1402)
 # KEYFRAME 41
0.07472875399980694
Frame 54
tensor(0.1715)
 # KEYFRAME 42
0.07521064200409455
Frame 55
tensor(0.0750)
Frame 56
tensor(0.1285)
 # KEYFRAME 43
0.07661253699916415
Frame 57
tensor(0.1195)
 # KEYFRAME 44
0.07771361299819546
Frame 58
tensor(0.0599)
Frame 59
tensor(0.1325)
 # KEYFRAME 45
0.0789697080035694
Frame 60
tensor(0.1945)
 # KEYFRAME 46
0.07976068500283873
Frame 61
tensor(0.2801)
 # KEYFRAME 47
0.0814020600009826
Frame 62
tensor(0.0878)
Frame 63
tensor(0.1735)
 # KEYFRAME 48
0.08275756499642739
Frame 64
tensor(0.1552)
 # KEYFRAME 49
0.08434016899991548
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=1108 loss_distill=0.2747 tta_take=0.009s
Frame 65
tensor(0.1417)
 # KEYFRAME 50
0.0791172480021487
Frame 66
tensor(0.1845)
 # KEYFRAME 51
0.0809738620009739
Frame 67
tensor(0.1556)
 # KEYFRAME 52
0.08136319999903208
Frame 68
tensor(0.3085)
 # KEYFRAME 53
0.0819741170053021
Frame 69
tensor(0.1456)
 # KEYFRAME 54
0.08222931699856417
Frame 70
tensor(0.2581)
 # KEYFRAME 55
0.08407171999715501
Frame 71
tensor(0.1987)
 # KEYFRAME 56
0.08474197700707009
Frame 72
tensor(0.1469)
 # KEYFRAME 57
0.08476232799876016
Frame 73
tensor(0.2020)
 # KEYFRAME 58
0.0860026439986541
Frame 74
tensor(0.1466)
 # KEYFRAME 59
0.08672798000043258
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=1109 loss_distill=0.3466 tta_take=0.009s
Frame 75
tensor(0.1143)
 # KEYFRAME 60
0.0866327409967198
Frame 76
tensor(0.1147)
 # KEYFRAME 61
0.08904366200295044
Frame 77
tensor(0.2038)
 # KEYFRAME 62
0.08831204599846387
Frame 78
tensor(0.0868)
Frame 79
tensor(0.1428)
 # KEYFRAME 63
0.08945209200464888
Frame 80
tensor(0.0952)
Frame 81
tensor(0.1902)
 # KEYFRAME 64
0.09040343899687286
Frame 82
tensor(0.2374)
 # KEYFRAME 65
0.09024700900044991
Frame 83
tensor(0.1580)
 # KEYFRAME 66
0.09218459200201323
Frame 84
tensor(0.0940)
Frame 85
tensor(0.2599)
 # KEYFRAME 67
0.09355125699948985
Frame 86
tensor(0.0979)
Frame 87
tensor(0.2327)
 # KEYFRAME 68
0.09415161600190913
Frame 88
tensor(0.0424)
Frame 89
tensor(0.0978)
Frame 90
tensor(0.0791)
Frame 91
tensor(0.2150)
 # KEYFRAME 69
0.09487849200377241
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1110 loss_distill=0.4024 tta_take=0.009s
Frame 92
tensor(0.0602)
Frame 93
tensor(0.1097)
 # KEYFRAME 70
0.09246273100143299
Frame 94
tensor(0.2235)
 # KEYFRAME 71
0.09581040899502113
Frame 95
tensor(0.1356)
 # KEYFRAME 72
0.09563446899846895
Frame 96
tensor(0.0764)
Frame 97
tensor(0.1520)
 # KEYFRAME 73
0.09676380600285484
Frame 98
tensor(0.1488)
 # KEYFRAME 74
0.09816573099669768
Frame 99
tensor(0.0911)
Frame 100
tensor(0.1778)
 # KEYFRAME 75
0.09883559800073272
Frame 101
tensor(0.1939)
 # KEYFRAME 76
0.10065456200391054
Frame 102
tensor(0.1431)
 # KEYFRAME 77
0.10137753000162775
Frame 103
tensor(0.0446)
Frame 104
tensor(0.2264)
 # KEYFRAME 78
0.10277322500041919
Frame 105
tensor(0.1343)
 # KEYFRAME 79
0.10296214400295867
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1111 loss_distill=0.4024 tta_take=0.009s
Frame 106
tensor(0.1440)
 # KEYFRAME 80
0.09326435800176114
Frame 107
tensor(0.2481)
 # KEYFRAME 81
0.09537576000002446
Frame 108
tensor(0.1569)
 # KEYFRAME 82
0.09524969099584268
Frame 109
tensor(0.0865)
Frame 110
tensor(0.0454)
Frame 111
tensor(0.1540)
 # KEYFRAME 83
0.09615439800109016
Frame 112
tensor(0.1625)
 # KEYFRAME 84
0.0963787479995517
Frame 113
tensor(0.1185)
 # KEYFRAME 85
0.09800890199403511
Frame 114
tensor(0.3865)
 # KEYFRAME 86
0.09859052899992093
Frame 115
tensor(0.2773)
 # KEYFRAME 87
0.09960570499970345
Frame 116
tensor(0.1145)
 # KEYFRAME 88
0.09928069699526532
Frame 117
tensor(0.1679)
 # KEYFRAME 89
0.10054917299567023
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1112 loss_distill=0.4024 tta_take=0.009s
Frame 118
tensor(0.0688)
Frame 119
tensor(0.2604)
 # KEYFRAME 90
0.09270879000541754
Frame 120
tensor(0.0417)
Frame 121
tensor(0.0689)
Frame 122
tensor(0.1194)
 # KEYFRAME 91
0.0956756400046288
Frame 123
tensor(0.0926)
Frame 124
tensor(0.1491)
 # KEYFRAME 92
0.09525121100159595
Frame 125
tensor(0.1415)
 # KEYFRAME 93
0.09674810599972261
Frame 126
tensor(0.1150)
 # KEYFRAME 94
0.09676806600327836
Frame 127
tensor(0.1192)
 # KEYFRAME 95
0.09747599299589638
Frame 128
tensor(0.2047)
 # KEYFRAME 96
0.0985257790016476
Frame 129
tensor(0.0800)
Frame 130
tensor(0.3548)
 # KEYFRAME 97
0.09946125600254163
Frame 131
tensor(0.2396)
 # KEYFRAME 98
0.09993974400276784
Frame 132
tensor(0.1137)
 # KEYFRAME 99
0.10004585400020005
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1113 loss_distill=0.4024 tta_take=0.009s
Frame 133
tensor(0.1763)
 # KEYFRAME 100
0.0930075400028727
Frame 134
tensor(0.1460)
 # KEYFRAME 101
0.09582856899942271
Frame 135
tensor(0.1260)
 # KEYFRAME 102
0.09568517000298016
Frame 136
tensor(0.1310)
 # KEYFRAME 103
0.0959208989952458
Frame 137
tensor(0.0557)
Frame 138
tensor(0.0382)
Frame 139
tensor(0.2028)
 # KEYFRAME 104
0.09791010199842276
Frame 140
tensor(0.1576)
 # KEYFRAME 105
0.09828455000388203
Frame 141
tensor(0.1807)
 # KEYFRAME 106
0.09903747800126439
Frame 142
tensor(0.1239)
 # KEYFRAME 107
0.09952144600538304
Frame 143
tensor(0.1890)
 # KEYFRAME 108
0.09995594400243135
Frame 144
tensor(0.1873)
 # KEYFRAME 109
0.09984011499909684
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1114 loss_distill=0.4024 tta_take=0.009s
Frame 145
tensor(0.2174)
 # KEYFRAME 110
0.09309643800224876
Frame 146
tensor(0.1741)
 # KEYFRAME 111
0.09417686499364208
Frame 147
tensor(0.1362)
 # KEYFRAME 112
0.09572635000222363
Backending... 113 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65583, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1115 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 164/556] scannetpp/bc400d86e1/frame frames=148 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=1115 time=46.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0983)
Frame 2
tensor(0.0520)
Frame 3
tensor(0.2619)
 # KEYFRAME 1
Frame 4
tensor(0.2734)
 # KEYFRAME 2
0.05112319799809484
Frame 5
tensor(0.1847)
 # KEYFRAME 3
0.052862591997836716
Frame 6
tensor(0.1421)
 # KEYFRAME 4
0.053934149000269827
Frame 7
tensor(0.2216)
 # KEYFRAME 5
0.05472941500192974
Frame 8
tensor(0.3124)
 # KEYFRAME 6
0.05594505099725211
Frame 9
tensor(0.1761)
 # KEYFRAME 7
0.05702424699848052
Frame 10
tensor(0.4216)
 # KEYFRAME 8
0.05770786500215763
Frame 11
tensor(0.3028)
 # KEYFRAME 9
0.05808306299877586
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.2930)
 # KEYFRAME 10
0.05184271599864587
Frame 13
tensor(0.2841)
 # KEYFRAME 11
0.05292867100069998
Frame 14
tensor(0.3779)
 # KEYFRAME 12
0.05415179699775763
Frame 15
tensor(0.1536)
 # KEYFRAME 13
0.05619254000339424
Frame 16
tensor(0.0292)
Frame 17
tensor(0.6301)
 # KEYFRAME 14
0.05700243700266583
Frame 18
tensor(0.4257)
 # KEYFRAME 15
0.057695004004926886
Frame 19
tensor(0.3207)
 # KEYFRAME 16
0.05867292099719634
Frame 20
tensor(0.3629)
 # KEYFRAME 17
0.05966316799458582
Frame 21
tensor(0.4363)
 # KEYFRAME 18
0.06099003300187178
Frame 22
tensor(0.3477)
 # KEYFRAME 19
0.06243851799808908
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 23
tensor(0.2426)
 # KEYFRAME 20
0.0589396499999566
Frame 24
tensor(0.3292)
 # KEYFRAME 21
0.06023506500059739
Frame 25
tensor(0.2114)
 # KEYFRAME 22
0.06134718199609779
Frame 26
tensor(0.1549)
 # KEYFRAME 23
0.06178241100133164
Frame 27
tensor(0.1308)
 # KEYFRAME 24
0.06251407799572917
Frame 28
tensor(0.1029)
 # KEYFRAME 25
0.06314754499908304
Frame 29
tensor(0.2160)
 # KEYFRAME 26
0.06494324900268111
Frame 30
tensor(0.1899)
 # KEYFRAME 27
0.06604051499743946
Frame 31
tensor(0.1118)
 # KEYFRAME 28
0.0681588980005472
Frame 32
tensor(0.0604)
Frame 33
tensor(0.0616)
Frame 34
tensor(0.0812)
Frame 35
tensor(0.1690)
 # KEYFRAME 29
0.06848734700179193
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 36
tensor(0.1765)
 # KEYFRAME 30
0.0657549659954384
Frame 37
tensor(0.1079)
 # KEYFRAME 31
0.06792068800132256
Frame 38
tensor(0.1003)
 # KEYFRAME 32
0.0682434869959252
Frame 39
tensor(0.2091)
 # KEYFRAME 33
0.07017110999731813
Frame 40
tensor(0.1360)
 # KEYFRAME 34
0.0712092159956228
Frame 41
tensor(0.0863)
Frame 42
tensor(0.1489)
 # KEYFRAME 35
0.07291186999646015
Frame 43
tensor(0.1319)
 # KEYFRAME 36
0.07397491699521197
Frame 44
tensor(0.0949)
Frame 45
tensor(0.1342)
 # KEYFRAME 37
0.07470416399883106
Frame 46
tensor(0.1279)
 # KEYFRAME 38
0.07509466299961787
Frame 47
tensor(0.1573)
 # KEYFRAME 39
0.07672238699888112
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1116 loss_distill=0.1733 tta_take=0.009s
Frame 48
tensor(0.1374)
 # KEYFRAME 40
0.0725306919994182
Frame 49
tensor(0.0703)
Frame 50
tensor(0.2556)
 # KEYFRAME 41
0.0746971249973285
Frame 51
tensor(0.1239)
 # KEYFRAME 42
0.0749312639964046
Frame 52
tensor(0.1166)
 # KEYFRAME 43
0.0765141180017963
Frame 53
tensor(0.0794)
Frame 54
tensor(0.1687)
 # KEYFRAME 44
0.0779851420011255
Frame 55
tensor(0.1694)
 # KEYFRAME 45
0.0789046200006851
Frame 56
tensor(0.1222)
 # KEYFRAME 46
0.07992807599657681
Frame 57
tensor(0.3061)
 # KEYFRAME 47
0.08069277300091926
Frame 58
tensor(0.3421)
 # KEYFRAME 48
0.08248527600517264
Frame 59
tensor(0.3787)
 # KEYFRAME 49
0.08306072500272421
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531069278717
TTA-STEP: step=1117 loss_distill=0.2747 tta_take=0.009s
Frame 60
tensor(0.2006)
 # KEYFRAME 50
0.07897738899919204
Frame 61
tensor(0.1080)
 # KEYFRAME 51
0.08181931899889605
Frame 62
tensor(0.2593)
 # KEYFRAME 52
0.08235215699824039
Frame 63
tensor(0.2810)
 # KEYFRAME 53
0.08356479299982311
Frame 64
tensor(0.1881)
 # KEYFRAME 54
0.08459407900227234
Frame 65
tensor(0.1672)
 # KEYFRAME 55
0.08533160600200063
Frame 66
tensor(0.2143)
 # KEYFRAME 56
0.08682454100198811
Frame 67
tensor(0.1764)
 # KEYFRAME 57
0.08800072700250894
Frame 68
tensor(0.1237)
 # KEYFRAME 58
0.0891591330000665
Frame 69
tensor(0.1552)
 # KEYFRAME 59
0.09040774799359497
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=1118 loss_distill=0.3466 tta_take=0.009s
Frame 70
tensor(0.2173)
 # KEYFRAME 60
0.08668745099566877
Frame 71
tensor(0.1070)
 # KEYFRAME 61
0.08856367499538464
Frame 72
tensor(0.1214)
 # KEYFRAME 62
0.08795352699962677
Frame 73
tensor(0.1789)
 # KEYFRAME 63
0.08808055700501427
Frame 74
tensor(0.1338)
 # KEYFRAME 64
0.08966765100194607
Frame 75
tensor(0.1919)
 # KEYFRAME 65
0.09026803899905644
Frame 76
tensor(0.1965)
 # KEYFRAME 66
0.09088599700044142
Frame 77
tensor(0.2904)
 # KEYFRAME 67
0.09154454500094289
Frame 78
tensor(0.4486)
 # KEYFRAME 68
0.0920840329999919
Frame 79
tensor(0.1304)
 # KEYFRAME 69
0.09341669799323427
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1119 loss_distill=0.4024 tta_take=0.009s
Frame 80
tensor(0.5606)
 # KEYFRAME 70
0.09391809600492707
Frame 81
tensor(0.4623)
 # KEYFRAME 71
0.09453135399962775
Frame 82
tensor(0.2684)
 # KEYFRAME 72
0.09459743299521506
Frame 83
tensor(0.1537)
 # KEYFRAME 73
0.09626787700108252
Frame 84
tensor(0.2646)
 # KEYFRAME 74
0.09663665599509841
Frame 85
tensor(0.1971)
 # KEYFRAME 75
0.09692928600270534
Frame 86
tensor(0.2261)
 # KEYFRAME 76
0.09826112000155263
Frame 87
tensor(0.3713)
 # KEYFRAME 77
0.09774521300278138
Frame 88
tensor(0.3621)
 # KEYFRAME 78
0.09895590799715137
Frame 89
tensor(0.5592)
 # KEYFRAME 79
0.09987895499943988
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1120 loss_distill=0.4024 tta_take=0.010s
Frame 90
tensor(0.2290)
 # KEYFRAME 80
0.09321086799900513
Frame 91
tensor(0.5657)
 # KEYFRAME 81
0.09389046599972062
Frame 92
tensor(0.4175)
 # KEYFRAME 82
0.0944387139970786
Frame 93
tensor(0.2749)
 # KEYFRAME 83
0.09484034300112398
Frame 94
tensor(0.3739)
 # KEYFRAME 84
0.09602476799773285
Frame 95
tensor(0.2052)
 # KEYFRAME 85
0.09724470400396967
Frame 96
tensor(0.3345)
 # KEYFRAME 86
0.09824867100542178
Frame 97
tensor(0.1777)
 # KEYFRAME 87
0.09824566099996446
Frame 98
tensor(0.2388)
 # KEYFRAME 88
0.09912950699799694
Frame 99
tensor(0.1798)
 # KEYFRAME 89
0.10078354099823628
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595452308655
TTA-STEP: step=1121 loss_distill=0.4024 tta_take=0.009s
Frame 100
tensor(0.3113)
 # KEYFRAME 90
0.09258165099890903
Frame 101
tensor(0.3178)
 # KEYFRAME 91
0.09319862899428699
Frame 102
tensor(0.3762)
 # KEYFRAME 92
0.09503349200531375
Frame 103
tensor(0.2036)
 # KEYFRAME 93
0.09588242899917532
Frame 104
tensor(0.3196)
 # KEYFRAME 94
0.09579758899781154
Frame 105
tensor(0.1747)
 # KEYFRAME 95
0.09754385299311252
Frame 106
tensor(0.3765)
 # KEYFRAME 96
0.09783941200294066
Frame 107
tensor(0.2569)
 # KEYFRAME 97
0.09833886999695096
Frame 108
tensor(0.2644)
 # KEYFRAME 98
0.09958869600086473
Frame 109
tensor(0.4285)
 # KEYFRAME 99
0.10075467199931154
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1122 loss_distill=0.4024 tta_take=0.009s
Frame 110
tensor(0.2113)
 # KEYFRAME 100
0.09293992900347803
Frame 111
tensor(0.3370)
 # KEYFRAME 101
0.09563793000415899
Frame 112
tensor(0.3146)
 # KEYFRAME 102
0.09472209300292889
Frame 113
tensor(0.2646)
 # KEYFRAME 103
0.09589098900323734
Frame 114
tensor(0.3554)
 # KEYFRAME 104
0.09695009499409935
Frame 115
tensor(0.2531)
 # KEYFRAME 105
0.09778717200242681
Frame 116
tensor(0.3745)
 # KEYFRAME 106
0.09822580999752972
Frame 117
tensor(0.2609)
 # KEYFRAME 107
0.09930044700013241
Frame 118
tensor(0.2962)
 # KEYFRAME 108
0.10032557300291955
Frame 119
tensor(0.1472)
 # KEYFRAME 109
0.10001381400070386
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1123 loss_distill=0.4024 tta_take=0.009s
Frame 120
tensor(0.2623)
 # KEYFRAME 110
0.09352151700295508
Frame 121
tensor(0.6595)
 # KEYFRAME 111
0.09498730199993588
Frame 122
tensor(0.4471)
 # KEYFRAME 112
0.09550613999454072
Frame 123
tensor(0.1815)
 # KEYFRAME 113
0.09627827700023772
Frame 124
tensor(0.1401)
 # KEYFRAME 114
0.0977914119939669
Frame 125
tensor(0.1996)
 # KEYFRAME 115
0.0983359699966968
Frame 126
tensor(0.3766)
 # KEYFRAME 116
0.09901575800176943
Frame 127
tensor(0.2545)
 # KEYFRAME 117
0.10084042099333601
Frame 128
tensor(0.2148)
 # KEYFRAME 118
0.10162608900282066
Frame 129
tensor(0.1839)
 # KEYFRAME 119
0.10162746900459751
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1124 loss_distill=0.4024 tta_take=0.009s
Frame 130
tensor(0.5543)
 # KEYFRAME 120
0.09253847099898849
Frame 131
tensor(0.1952)
 # KEYFRAME 121
0.0937026669998886
Frame 132
tensor(0.2234)
 # KEYFRAME 122
0.09454259300400736
Frame 133
tensor(0.3243)
 # KEYFRAME 123
0.09561453999776859
Frame 134
tensor(0.1983)
 # KEYFRAME 124
0.09583036000549328
Frame 135
tensor(0.2340)
 # KEYFRAME 125
0.09686085599969374
Backending... 126 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 68706, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1125 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 165/556] scannetpp/8e00ac7f59/frame frames=136 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=1125 time=49.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0923)
Frame 2
tensor(0.1522)
 # KEYFRAME 1
Frame 3
tensor(0.0737)
Frame 4
tensor(0.0952)
Frame 5
tensor(0.2330)
 # KEYFRAME 2
0.051341806996788364
Frame 6
tensor(0.0469)
Frame 7
tensor(0.0862)
Frame 8
tensor(0.1729)
 # KEYFRAME 3
0.05375311899842927
Frame 9
tensor(0.0205)
Frame 10
tensor(0.0707)
Frame 11
tensor(0.1631)
 # KEYFRAME 4
0.053383759994176216
Frame 12
tensor(0.1218)
 # KEYFRAME 5
0.05403788800322218
Frame 13
tensor(0.0964)
Frame 14
tensor(0.0835)
Frame 15
tensor(0.1185)
 # KEYFRAME 6
0.055657611999777146
Frame 16
tensor(0.1169)
 # KEYFRAME 7
0.05611248099739896
Frame 17
tensor(0.0712)
Frame 18
tensor(0.1171)
 # KEYFRAME 8
0.057454206005786546
Frame 19
tensor(0.1004)
 # KEYFRAME 9
0.05831531299918424
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 20
tensor(0.0703)
Frame 21
tensor(0.0638)
Frame 22
tensor(0.0604)
Frame 23
tensor(0.1540)
 # KEYFRAME 10
0.05143597699498059
Frame 24
tensor(0.1341)
 # KEYFRAME 11
0.05250198299472686
Frame 25
tensor(0.1247)
 # KEYFRAME 12
0.05261153299943544
Frame 26
tensor(0.1462)
 # KEYFRAME 13
0.05441013599920552
Frame 27
tensor(0.2475)
 # KEYFRAME 14
0.054420356995251495
Frame 28
tensor(0.0833)
Frame 29
tensor(0.0409)
Frame 30
tensor(0.0970)
Frame 31
tensor(0.2237)
 # KEYFRAME 15
0.054816464995383285
Frame 32
tensor(0.1917)
 # KEYFRAME 16
0.055021544998453464
Frame 33
tensor(0.1356)
 # KEYFRAME 17
0.05565376199956518
Frame 34
tensor(0.1148)
 # KEYFRAME 18
0.05682783800148172
Frame 35
tensor(0.1146)
 # KEYFRAME 19
0.057792893996520434
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 36
tensor(0.1428)
 # KEYFRAME 20
0.05402213799970923
Frame 37
tensor(0.1066)
 # KEYFRAME 21
0.05465200599428499
Frame 38
tensor(0.1080)
 # KEYFRAME 22
0.05530630300199846
Frame 39
tensor(0.0813)
Frame 40
tensor(0.1071)
 # KEYFRAME 23
0.05608239000139292
Frame 41
tensor(0.1204)
 # KEYFRAME 24
0.056758548002108
Frame 42
tensor(0.1049)
 # KEYFRAME 25
0.05748633600160247
Frame 43
tensor(0.0909)
Frame 44
tensor(0.1352)
 # KEYFRAME 26
0.05843068200192647
Frame 45
tensor(0.0625)
Frame 46
tensor(0.1657)
 # KEYFRAME 27
0.05967747799877543
Frame 47
tensor(0.0777)
Frame 48
tensor(0.1676)
 # KEYFRAME 28
0.06042682499537477
Frame 49
tensor(0.0991)
Frame 50
tensor(0.2353)
 # KEYFRAME 29
0.060858373006340116
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 51
tensor(0.0767)
Frame 52
tensor(0.1801)
 # KEYFRAME 30
0.05890961000113748
Frame 53
tensor(0.0782)
Frame 54
tensor(0.1972)
 # KEYFRAME 31
0.05953729800239671
Frame 55
tensor(0.0757)
Frame 56
tensor(0.1324)
 # KEYFRAME 32
0.059669477996067144
Frame 57
tensor(0.0801)
Frame 58
tensor(0.1056)
 # KEYFRAME 33
0.060983522998867556
Frame 59
tensor(0.0764)
Frame 60
tensor(0.1997)
 # KEYFRAME 34
0.06133582199981902
Frame 61
tensor(0.0574)
Frame 62
tensor(0.1043)
 # KEYFRAME 35
0.061988100002054125
Frame 63
tensor(0.1201)
 # KEYFRAME 36
0.06273488699662266
Frame 64
tensor(0.1073)
 # KEYFRAME 37
0.06313145600142889
Frame 65
tensor(0.1487)
 # KEYFRAME 38
0.06376214299962157
Frame 66
tensor(0.1680)
 # KEYFRAME 39
0.0647235689975787
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1126 loss_distill=0.1733 tta_take=0.008s
Frame 67
tensor(0.2155)
 # KEYFRAME 40
0.0624385280025308
Frame 68
tensor(0.2107)
 # KEYFRAME 41
0.06392045199754648
Frame 69
tensor(0.1567)
 # KEYFRAME 42
0.0636210230004508
Frame 70
tensor(0.0790)
Frame 71
tensor(0.1688)
 # KEYFRAME 43
0.06373263299610699
Frame 72
tensor(0.1206)
 # KEYFRAME 44
0.0644553599995561
Frame 73
tensor(0.1219)
 # KEYFRAME 45
0.06505830799869727
Frame 74
tensor(0.1254)
 # KEYFRAME 46
0.06592752600408858
Frame 75
tensor(0.0985)
Frame 76
tensor(0.2303)
 # KEYFRAME 47
0.06628304499463411
Frame 77
tensor(0.1706)
 # KEYFRAME 48
0.06646613400516799
Frame 78
tensor(0.1087)
 # KEYFRAME 49
0.06721922100405209
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1127 loss_distill=0.2747 tta_take=0.008s
Frame 79
tensor(0.1365)
 # KEYFRAME 50
0.06723928100109333
Frame 80
tensor(0.1194)
 # KEYFRAME 51
0.06911827500152867
Frame 81
tensor(0.1239)
 # KEYFRAME 52
0.06931168399751186
Frame 82
tensor(0.0424)
Frame 83
tensor(0.1334)
 # KEYFRAME 53
0.0707072689983761
Frame 84
tensor(0.1288)
 # KEYFRAME 54
0.06899538500147173
Frame 85
tensor(0.1383)
 # KEYFRAME 55
0.07154305500444025
Frame 86
tensor(0.0504)
Frame 87
tensor(0.1732)
 # KEYFRAME 56
0.0730888899997808
Frame 88
tensor(0.0815)
Frame 89
tensor(0.1141)
 # KEYFRAME 57
0.07250882200605702
Frame 90
tensor(0.0814)
Frame 91
tensor(0.1370)
 # KEYFRAME 58
0.07346096800029045
Frame 92
tensor(0.1007)
 # KEYFRAME 59
0.07424897599412361
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1128 loss_distill=0.3466 tta_take=0.008s
Frame 93
tensor(0.0484)
Frame 94
tensor(0.1096)
 # KEYFRAME 60
0.07116937699902337
Frame 95
tensor(0.0545)
Frame 96
tensor(0.0821)
Frame 97
tensor(0.1178)
 # KEYFRAME 61
0.07279012100480031
Frame 98
tensor(0.0311)
Frame 99
tensor(0.1011)
 # KEYFRAME 62
0.07278422100353055
Frame 100
tensor(0.0561)
Frame 101
tensor(0.1123)
 # KEYFRAME 63
0.07330265999917174
Frame 102
tensor(0.0548)
Frame 103
tensor(0.1064)
 # KEYFRAME 64
0.07345530900056474
Frame 104
tensor(0.1358)
 # KEYFRAME 65
0.07393042699550278
Frame 105
tensor(0.1135)
 # KEYFRAME 66
0.07443147499725455
Frame 106
tensor(0.1091)
 # KEYFRAME 67
0.07523593200312462
Frame 107
tensor(0.0441)
Frame 108
tensor(0.1427)
 # KEYFRAME 68
0.07579901099961717
Frame 109
tensor(0.5690)
 # KEYFRAME 69
0.07607611000275938
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1129 loss_distill=0.4024 tta_take=0.008s
Frame 110
tensor(0.1444)
 # KEYFRAME 70
0.07611231900227722
Frame 111
tensor(0.1468)
 # KEYFRAME 71
0.0777558140034671
Frame 112
tensor(0.1440)
 # KEYFRAME 72
0.07722538600501139
Frame 113
tensor(0.0696)
Frame 114
tensor(0.1992)
 # KEYFRAME 73
0.07774556399817811
Frame 115
tensor(0.1204)
 # KEYFRAME 74
0.0781120120009291
Frame 116
tensor(0.0867)
Frame 117
tensor(0.0537)
Frame 118
tensor(0.1234)
 # KEYFRAME 75
0.0789388190023601
Frame 119
tensor(0.1574)
 # KEYFRAME 76
0.07892023899330525
Frame 120
tensor(0.1267)
 # KEYFRAME 77
0.0793675870008883
Frame 121
tensor(0.1586)
 # KEYFRAME 78
0.08055806300399126
Frame 122
tensor(0.1138)
 # KEYFRAME 79
0.08037567400606349
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1130 loss_distill=0.4024 tta_take=0.008s
Frame 123
tensor(0.0941)
Frame 124
tensor(0.0970)
Frame 125
tensor(0.0884)
Frame 126
tensor(0.1023)
 # KEYFRAME 80
0.07548227100051008
Frame 127
tensor(0.0399)
Frame 128
tensor(0.0683)
Frame 129
tensor(0.0811)
Frame 130
tensor(0.0875)
Frame 131
tensor(0.0287)
Frame 132
tensor(0.1068)
 # KEYFRAME 81
0.07773863300099038
Frame 133
tensor(0.0406)
Frame 134
tensor(0.0713)
Frame 135
tensor(0.1112)
 # KEYFRAME 82
0.0773781850002706
Frame 136
tensor(0.0771)
Frame 137
tensor(0.1618)
 # KEYFRAME 83
0.0777866830030689
Frame 138
tensor(0.0802)
Frame 139
tensor(0.1049)
 # KEYFRAME 84
0.07790002300316701
Frame 140
tensor(0.0855)
Frame 141
tensor(0.2220)
 # KEYFRAME 85
0.07875069999863626
Frame 142
tensor(0.1123)
 # KEYFRAME 86
0.07843527099612402
Frame 143
tensor(0.0799)
Frame 144
tensor(0.1590)
 # KEYFRAME 87
0.07932414699462242
Frame 145
tensor(0.1317)
 # KEYFRAME 88
0.0799189050012501
Frame 146
tensor(0.1504)
 # KEYFRAME 89
0.08108536199870287
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1131 loss_distill=0.4024 tta_take=0.009s
Frame 147
tensor(0.1315)
 # KEYFRAME 90
0.07591315999889048
Frame 148
tensor(0.0599)
Frame 149
tensor(0.1265)
 # KEYFRAME 91
0.07772869300242746
Backending... 92 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 57660, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1132 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 166/556] scannetpp/eb4bc76767/DSC frames=150 tta_steps_this_scene=7 mean_loss=0.3434 total_steps=1132 time=38.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0364)
Frame 2
tensor(0.1446)
 # KEYFRAME 1
Frame 3
tensor(0.1019)
 # KEYFRAME 2
0.05084749899833696
Frame 4
tensor(0.1181)
 # KEYFRAME 3
0.05313743100123247
Frame 5
tensor(0.1471)
 # KEYFRAME 4
0.0536812389982515
Frame 6
tensor(0.1504)
 # KEYFRAME 5
0.05501613399974303
Frame 7
tensor(0.0968)
Frame 8
tensor(0.0973)
Frame 9
tensor(0.1196)
 # KEYFRAME 6
0.056430910000926815
Frame 10
tensor(0.1585)
 # KEYFRAME 7
0.05706375699810451
Frame 11
tensor(0.1583)
 # KEYFRAME 8
0.05731914599891752
Frame 12
tensor(0.0945)
Frame 13
tensor(0.1861)
 # KEYFRAME 9
0.05795465400296962
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 14
tensor(0.0952)
Frame 15
tensor(0.2543)
 # KEYFRAME 10
0.05201254499843344
Frame 16
tensor(0.1533)
 # KEYFRAME 11
0.05373267899994971
Frame 17
tensor(0.1348)
 # KEYFRAME 12
0.05458723600168014
Frame 18
tensor(0.1524)
 # KEYFRAME 13
0.056350699000176974
Frame 19
tensor(0.2157)
 # KEYFRAME 14
0.0578469940010109
Frame 20
tensor(0.1172)
 # KEYFRAME 15
0.05779882500064559
Frame 21
tensor(0.1071)
 # KEYFRAME 16
0.05886745099996915
Frame 22
tensor(0.0819)
Frame 23
tensor(0.1040)
 # KEYFRAME 17
0.05987357699632412
Frame 24
tensor(0.1463)
 # KEYFRAME 18
0.06153480099601438
Frame 25
tensor(0.1010)
 # KEYFRAME 19
0.06263073700392852
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 26
tensor(0.0896)
Frame 27
tensor(0.1704)
 # KEYFRAME 20
0.05870505200437037
Frame 28
tensor(0.1065)
 # KEYFRAME 21
0.06070867399830604
Frame 29
tensor(0.0717)
Frame 30
tensor(0.1409)
 # KEYFRAME 22
0.06133137200231431
Frame 31
tensor(0.0791)
Frame 32
tensor(0.2272)
 # KEYFRAME 23
0.06211739900027169
Frame 33
tensor(0.1664)
 # KEYFRAME 24
0.06270969699835405
Frame 34
tensor(0.1524)
 # KEYFRAME 25
0.06379641300009098
Frame 35
tensor(0.1731)
 # KEYFRAME 26
0.06572089600376785
Frame 36
tensor(0.1398)
 # KEYFRAME 27
0.06630886399943847
Frame 37
tensor(0.1606)
 # KEYFRAME 28
0.0674685900012264
Frame 38
tensor(0.0759)
Frame 39
tensor(0.2177)
 # KEYFRAME 29
0.06866452600661432
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 40
tensor(0.0536)
Frame 41
tensor(0.0893)
Frame 42
tensor(0.1351)
 # KEYFRAME 30
0.06635295400337782
Frame 43
tensor(0.0558)
Frame 44
tensor(0.0841)
Frame 45
tensor(0.0398)
Frame 46
tensor(0.0997)
Frame 47
tensor(0.2629)
 # KEYFRAME 31
0.06793405800272012
Frame 48
tensor(0.1430)
 # KEYFRAME 32
0.06920471400371753
Frame 49
tensor(0.1263)
 # KEYFRAME 33
0.07029607000004034
Frame 50
tensor(0.1446)
 # KEYFRAME 34
0.07162180599698331
Frame 51
tensor(0.1435)
 # KEYFRAME 35
0.07293114999629324
Frame 52
tensor(0.1217)
 # KEYFRAME 36
0.07430030599789461
Frame 53
tensor(0.0803)
Frame 54
tensor(0.1979)
 # KEYFRAME 37
0.07548546199541306
Frame 55
tensor(0.0979)
Frame 56
tensor(0.2138)
 # KEYFRAME 38
0.07591302000219002
Frame 57
tensor(0.0777)
Frame 58
tensor(0.1284)
 # KEYFRAME 39
0.07697262699366547
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1133 loss_distill=0.1733 tta_take=0.009s
Frame 59
tensor(0.0576)
Frame 60
tensor(0.0748)
Frame 61
tensor(0.1367)
 # KEYFRAME 40
0.0725017820004723
Frame 62
tensor(0.1187)
 # KEYFRAME 41
0.07497961299668532
Frame 63
tensor(0.0727)
Frame 64
tensor(0.1526)
 # KEYFRAME 42
0.0748853529948974
Frame 65
tensor(0.1571)
 # KEYFRAME 43
0.07668683800147846
Frame 66
tensor(0.1504)
 # KEYFRAME 44
0.07709107600385323
Frame 67
tensor(0.0717)
Frame 68
tensor(0.0545)
Frame 69
tensor(0.0959)
Frame 70
tensor(0.1896)
 # KEYFRAME 45
0.07860392000293359
Frame 71
tensor(0.1302)
 # KEYFRAME 46
0.07980226600193419
Frame 72
tensor(0.0380)
Frame 73
tensor(0.0967)
Frame 74
tensor(0.1679)
 # KEYFRAME 47
0.08159049000096275
Frame 75
tensor(0.0792)
Frame 76
tensor(0.1874)
 # KEYFRAME 48
0.08249234699906083
Frame 77
tensor(0.0924)
Frame 78
tensor(0.1396)
 # KEYFRAME 49
0.08315344499715138
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1134 loss_distill=0.2747 tta_take=0.009s
Frame 79
tensor(0.0643)
Frame 80
tensor(0.1481)
 # KEYFRAME 50
0.07924971800093772
Frame 81
tensor(0.0368)
Frame 82
tensor(0.0671)
Frame 83
tensor(0.1134)
 # KEYFRAME 51
0.08184575899940683
Frame 84
tensor(0.0723)
Frame 85
tensor(0.1388)
 # KEYFRAME 52
0.08201059800194344
Frame 86
tensor(0.0168)
Frame 87
tensor(0.1164)
 # KEYFRAME 53
0.08366570200450951
Frame 88
tensor(0.1303)
 # KEYFRAME 54
0.08478566799749387
Frame 89
tensor(0.0859)
Frame 90
tensor(0.1616)
 # KEYFRAME 55
0.08592937399953371
Frame 91
tensor(0.0744)
Frame 92
tensor(0.1959)
 # KEYFRAME 56
0.08731781000096817
Frame 93
tensor(0.1022)
 # KEYFRAME 57
0.0877407080042758
Frame 94
tensor(0.0807)
Frame 95
tensor(0.1113)
 # KEYFRAME 58
0.08962771100050304
Frame 96
tensor(0.1872)
 # KEYFRAME 59
0.0909612060058862
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1135 loss_distill=0.3466 tta_take=0.009s
Frame 97
tensor(0.1195)
 # KEYFRAME 60
0.08678167199832387
Frame 98
tensor(0.0776)
Frame 99
tensor(0.1709)
 # KEYFRAME 61
0.08873617500648834
Frame 100
tensor(0.0892)
Frame 101
tensor(0.1872)
 # KEYFRAME 62
0.0880307269981131
Frame 102
tensor(0.0962)
Frame 103
tensor(0.1909)
 # KEYFRAME 63
0.08848294500057818
Frame 104
tensor(0.0806)
Frame 105
tensor(0.1781)
 # KEYFRAME 64
0.08980471100221621
Frame 106
tensor(0.1120)
 # KEYFRAME 65
0.08977050099929329
Frame 107
tensor(0.0551)
Frame 108
tensor(0.0420)
Frame 109
tensor(0.1729)
 # KEYFRAME 66
0.09099406600580551
Frame 110
tensor(0.1408)
 # KEYFRAME 67
0.09156489500310272
Frame 111
tensor(0.2703)
 # KEYFRAME 68
0.09214561199769378
Frame 112
tensor(0.1109)
 # KEYFRAME 69
0.09348510700510815
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1136 loss_distill=0.4024 tta_take=0.009s
Frame 113
tensor(0.1100)
 # KEYFRAME 70
0.09251303099881625
Frame 114
tensor(0.1069)
 # KEYFRAME 71
0.09612037800252438
Frame 115
tensor(0.1083)
 # KEYFRAME 72
0.09564304000377888
Frame 116
tensor(0.1507)
 # KEYFRAME 73
0.09636391700041713
Frame 117
tensor(0.3689)
 # KEYFRAME 74
0.09614615800091997
Frame 118
tensor(0.0728)
Frame 119
tensor(0.1166)
 # KEYFRAME 75
0.09763480300171068
Frame 120
tensor(0.0777)
Frame 121
tensor(0.1585)
 # KEYFRAME 76
0.09870019899972249
Frame 122
tensor(0.0580)
Frame 123
tensor(0.1178)
 # KEYFRAME 77
0.09877736899943557
Frame 124
tensor(0.0746)
Frame 125
tensor(0.1920)
 # KEYFRAME 78
0.10023072400508681
Frame 126
tensor(0.1631)
 # KEYFRAME 79
0.10071210099704331
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1137 loss_distill=0.4024 tta_take=0.009s
Frame 127
tensor(0.1457)
 # KEYFRAME 80
0.09261660099582514
Backending... 81 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 63501, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1138 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 167/556] scannetpp/d7abfc4b17/frame frames=128 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=1138 time=32.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1191)
 # KEYFRAME 1
Frame 2
tensor(0.0990)
Frame 3
tensor(0.2888)
 # KEYFRAME 2
0.05140542700246442
Frame 4
tensor(0.1003)
 # KEYFRAME 3
0.05228012400039006
Frame 5
tensor(0.1557)
 # KEYFRAME 4
0.053602618994773366
Frame 6
tensor(0.1548)
 # KEYFRAME 5
0.05429203699895879
Frame 7
tensor(0.1607)
 # KEYFRAME 6
0.05562802199710859
Frame 8
tensor(0.2145)
 # KEYFRAME 7
0.05665281899564434
Frame 9
tensor(0.2846)
 # KEYFRAME 8
0.05754314600198995
Frame 10
tensor(0.1573)
 # KEYFRAME 9
0.05839339199883398
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.1848)
 # KEYFRAME 10
0.051584436994744465
Frame 12
tensor(0.1006)
 # KEYFRAME 11
0.05218954500014661
Frame 13
tensor(0.1903)
 # KEYFRAME 12
0.05267694299982395
Frame 14
tensor(0.1564)
 # KEYFRAME 13
0.054975475002720486
Frame 15
tensor(0.2174)
 # KEYFRAME 14
0.05478040599700762
Frame 16
tensor(0.2638)
 # KEYFRAME 15
0.05425600799935637
Frame 17
tensor(0.1554)
 # KEYFRAME 16
0.05526189300144324
Frame 18
tensor(0.0998)
Frame 19
tensor(0.1966)
 # KEYFRAME 17
0.05602732099941932
Frame 20
tensor(0.0884)
Frame 21
tensor(0.2782)
 # KEYFRAME 18
0.05687079799827188
Frame 22
tensor(0.1980)
 # KEYFRAME 19
0.057776244000706356
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 23
tensor(0.2043)
 # KEYFRAME 20
0.054064757998276036
Frame 24
tensor(0.1254)
 # KEYFRAME 21
0.05499303399847122
Frame 25
tensor(0.1550)
 # KEYFRAME 22
0.05572943099832628
Frame 26
tensor(0.2052)
 # KEYFRAME 23
0.05676914799551014
Frame 27
tensor(0.2145)
 # KEYFRAME 24
0.05773027500254102
Frame 28
tensor(0.1055)
 # KEYFRAME 25
0.05827968299854547
Frame 29
tensor(0.1674)
 # KEYFRAME 26
0.05949162800243357
Frame 30
tensor(0.1382)
 # KEYFRAME 27
0.060118256995338015
Frame 31
tensor(0.0972)
Frame 32
tensor(0.0275)
Frame 33
tensor(0.2543)
 # KEYFRAME 28
0.0605053749968647
Frame 34
tensor(0.1381)
 # KEYFRAME 29
0.06146600099600619
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 35
tensor(0.1241)
 # KEYFRAME 30
0.05821771299815737
Frame 36
tensor(0.1423)
 # KEYFRAME 31
0.059034099998825695
Frame 37
tensor(0.1386)
 # KEYFRAME 32
0.05922744900453836
Frame 38
tensor(0.1210)
 # KEYFRAME 33
0.060215846002392936
Frame 39
tensor(0.1925)
 # KEYFRAME 34
0.06079491399577819
Frame 40
tensor(0.1879)
 # KEYFRAME 35
0.06139852199703455
Frame 41
tensor(0.2287)
 # KEYFRAME 36
0.06264273800479714
Frame 42
tensor(0.1817)
 # KEYFRAME 37
0.06255471699842019
Frame 43
tensor(0.1400)
 # KEYFRAME 38
0.06366559399612015
Frame 44
tensor(0.0854)
Frame 45
tensor(0.0893)
Frame 46
tensor(0.0992)
Frame 47
tensor(0.0983)
Frame 48
tensor(0.1382)
 # KEYFRAME 39
0.06422312199720182
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1139 loss_distill=0.1733 tta_take=0.008s
Frame 49
tensor(0.0211)
Frame 50
tensor(0.0670)
Frame 51
tensor(0.1137)
 # KEYFRAME 40
0.06282147600722965
Frame 52
tensor(0.0423)
Frame 53
tensor(0.1546)
 # KEYFRAME 41
0.06380801300110761
Frame 54
tensor(0.0903)
Frame 55
tensor(0.2925)
 # KEYFRAME 42
0.0638041729980614
Frame 56
tensor(0.2035)
 # KEYFRAME 43
0.06390337300399551
Frame 57
tensor(0.3518)
 # KEYFRAME 44
0.06474956999591086
Frame 58
tensor(0.2699)
 # KEYFRAME 45
0.06499323900061427
Frame 59
tensor(0.2081)
 # KEYFRAME 46
0.06543624700134387
Frame 60
tensor(0.2324)
 # KEYFRAME 47
0.0658085149989347
Frame 61
tensor(0.1243)
 # KEYFRAME 48
0.06675000299583189
Frame 62
tensor(0.1726)
 # KEYFRAME 49
0.06711135099612875
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=1140 loss_distill=0.2747 tta_take=0.008s
Frame 63
tensor(0.3633)
 # KEYFRAME 50
0.06649399299931247
Frame 64
tensor(0.2195)
 # KEYFRAME 51
0.0683921370000462
Frame 65
tensor(0.0408)
Frame 66
tensor(0.1733)
 # KEYFRAME 52
0.06827366800280288
Frame 67
tensor(0.3528)
 # KEYFRAME 53
0.06939732300088508
Frame 68
tensor(0.2562)
 # KEYFRAME 54
0.06947912200121209
Frame 69
tensor(0.2188)
 # KEYFRAME 55
0.07021229000383755
Frame 70
tensor(0.1268)
 # KEYFRAME 56
0.07087714800582035
Frame 71
tensor(0.1085)
 # KEYFRAME 57
0.07149582500278484
Frame 72
tensor(0.0727)
Frame 73
tensor(0.2483)
 # KEYFRAME 58
0.07137284600321436
Frame 74
tensor(0.2238)
 # KEYFRAME 59
0.07210181399568683
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1141 loss_distill=0.3466 tta_take=0.008s
Frame 75
tensor(0.2538)
 # KEYFRAME 60
0.07130938599584624
Frame 76
tensor(0.1603)
 # KEYFRAME 61
0.07306378099747235
Frame 77
tensor(0.1602)
 # KEYFRAME 62
0.0725708219979424
Frame 78
tensor(0.1800)
 # KEYFRAME 63
0.07291999999870313
Frame 79
tensor(0.1672)
 # KEYFRAME 64
0.07352525900205364
Frame 80
tensor(0.2480)
 # KEYFRAME 65
0.07360219799738843
Frame 81
tensor(0.2824)
 # KEYFRAME 66
0.07432682599755935
Frame 82
tensor(0.0888)
Frame 83
tensor(0.0961)
Frame 84
tensor(0.1617)
 # KEYFRAME 67
0.07532080199598568
Frame 85
tensor(0.0227)
Frame 86
tensor(0.0686)
Frame 87
tensor(0.1866)
 # KEYFRAME 68
0.0753408419986954
Frame 88
tensor(0.1754)
 # KEYFRAME 69
0.07578608000039821
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1142 loss_distill=0.4024 tta_take=0.008s
Frame 89
tensor(0.2280)
 # KEYFRAME 70
0.0755608809995465
Frame 90
tensor(0.3004)
 # KEYFRAME 71
0.07774999299726915
Frame 91
tensor(0.1380)
 # KEYFRAME 72
0.07759461399837164
Frame 92
tensor(0.1033)
 # KEYFRAME 73
0.07833632199617568
Frame 93
tensor(0.3030)
 # KEYFRAME 74
0.0788353090028977
Frame 94
tensor(0.2549)
 # KEYFRAME 75
0.08016588500322541
Frame 95
tensor(0.2100)
 # KEYFRAME 76
0.07868894000421278
Frame 96
tensor(0.1601)
 # KEYFRAME 77
0.08127960999991046
Frame 97
tensor(0.0839)
Frame 98
tensor(0.4886)
 # KEYFRAME 78
0.08216253799764672
Frame 99
tensor(0.2787)
 # KEYFRAME 79
0.0840960810019169
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1143 loss_distill=0.4024 tta_take=0.008s
Frame 100
tensor(0.1342)
 # KEYFRAME 80
0.07555390199559042
Frame 101
tensor(0.0725)
Frame 102
tensor(0.0656)
Frame 103
tensor(0.1228)
 # KEYFRAME 81
0.07755181399988942
Frame 104
tensor(0.1857)
 # KEYFRAME 82
0.07816312200156972
Frame 105
tensor(0.2328)
 # KEYFRAME 83
0.0782198610031628
Frame 106
tensor(0.0878)
Frame 107
tensor(0.1034)
 # KEYFRAME 84
0.07925211800466059
Frame 108
tensor(0.0783)
Frame 109
tensor(0.0792)
Frame 110
tensor(0.1739)
 # KEYFRAME 85
0.08041424400289543
Frame 111
tensor(0.1300)
 # KEYFRAME 86
0.07936876799794845
Frame 112
tensor(0.2382)
 # KEYFRAME 87
0.08085690200095996
Frame 113
tensor(0.2135)
 # KEYFRAME 88
0.0816707799967844
Frame 114
tensor(0.1493)
 # KEYFRAME 89
0.08260254599736072
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1144 loss_distill=0.4024 tta_take=0.008s
Frame 115
tensor(0.1111)
 # KEYFRAME 90
0.07534877199941548
Frame 116
tensor(0.0254)
Frame 117
tensor(0.1413)
 # KEYFRAME 91
0.07725425600074232
Frame 118
tensor(0.0734)
Frame 119
tensor(0.2079)
 # KEYFRAME 92
0.07715502600331092
Frame 120
tensor(0.1346)
 # KEYFRAME 93
0.07752490499842679
Frame 121
tensor(0.0642)
Frame 122
tensor(0.2109)
 # KEYFRAME 94
0.07822601199586643
Frame 123
tensor(0.1302)
 # KEYFRAME 95
0.07886170900019351
Frame 124
tensor(0.0697)
Frame 125
tensor(0.2198)
 # KEYFRAME 96
0.07806603299832204
Frame 126
tensor(0.1491)
 # KEYFRAME 97
0.07888791900040815
Frame 127
tensor(0.1460)
 # KEYFRAME 98
0.07969319599942537
Frame 128
tensor(0.1209)
 # KEYFRAME 99
0.08032870399620151
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1145 loss_distill=0.4024 tta_take=0.008s
Frame 129
tensor(0.1293)
 # KEYFRAME 100
0.07609636900451733
Frame 130
tensor(0.1790)
 # KEYFRAME 101
0.07771496399800526
Frame 131
tensor(0.1282)
 # KEYFRAME 102
0.07753720400069142
Frame 132
tensor(0.1295)
 # KEYFRAME 103
0.07793043299898272
Frame 133
tensor(0.0438)
Frame 134
tensor(0.0894)
Frame 135
tensor(0.1534)
 # KEYFRAME 104
0.07872755999414949
Frame 136
tensor(0.0877)
Frame 137
tensor(0.1161)
 # KEYFRAME 105
0.0784850399941206
Frame 138
tensor(0.0990)
Frame 139
tensor(0.3919)
 # KEYFRAME 106
0.0786221000016667
Frame 140
tensor(0.3314)
 # KEYFRAME 107
0.07940691700059688
Frame 141
tensor(0.3032)
 # KEYFRAME 108
0.07970694599498529
Frame 142
tensor(0.2170)
 # KEYFRAME 109
0.08074698199925479
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1146 loss_distill=0.4024 tta_take=0.008s
Frame 143
tensor(0.8342)
 # KEYFRAME 110
0.07597598899883451
Frame 144
tensor(0.1140)
 # KEYFRAME 111
0.07671018700057175
Frame 145
tensor(0.0883)
Frame 146
tensor(0.2599)
 # KEYFRAME 112
0.07706768599746283
Frame 147
tensor(0.3794)
 # KEYFRAME 113
0.07749554399924818
Frame 148
tensor(0.2143)
 # KEYFRAME 114
0.07873647000087658
Frame 149
tensor(0.2601)
 # KEYFRAME 115
0.07855325000127777
Backending... 116 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 61380, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1147 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 168/556] scannetpp/302a7f6b67/DSC frames=150 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=1147 time=45.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0179)
Frame 2
tensor(0.0466)
Frame 3
tensor(0.0953)
Frame 4
tensor(0.1461)
 # KEYFRAME 1
Frame 5
tensor(0.0710)
Frame 6
tensor(0.1534)
 # KEYFRAME 2
0.051787185002467595
Frame 7
tensor(0.3157)
 # KEYFRAME 3
0.05272710199642461
Frame 8
tensor(0.0845)
Frame 9
tensor(0.1608)
 # KEYFRAME 4
0.05452433600294171
Frame 10
tensor(0.0405)
Frame 11
tensor(0.0521)
Frame 12
tensor(0.1000)
Frame 13
tensor(0.3597)
 # KEYFRAME 5
0.055518551998829935
Frame 14
tensor(0.1204)
 # KEYFRAME 6
0.0560414400024456
Frame 15
tensor(0.1223)
 # KEYFRAME 7
0.056742819004284684
Frame 16
tensor(0.0772)
Frame 17
tensor(0.1409)
 # KEYFRAME 8
0.05772092400002293
Frame 18
tensor(0.1106)
 # KEYFRAME 9
0.05797565299872076
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 19
tensor(0.6633)
 # KEYFRAME 10
0.05234567300067283
Frame 20
tensor(0.0692)
Frame 21
tensor(0.1475)
 # KEYFRAME 11
0.05344930000137538
Frame 22
tensor(0.1102)
 # KEYFRAME 12
0.054542735997529235
Frame 23
tensor(0.1268)
 # KEYFRAME 13
0.05669970900635235
Frame 24
tensor(0.1138)
 # KEYFRAME 14
0.05720689599547768
Frame 25
tensor(0.1019)
 # KEYFRAME 15
0.05761462599912193
Frame 26
tensor(0.0935)
Frame 27
tensor(0.1732)
 # KEYFRAME 16
0.05888552000396885
Frame 28
tensor(0.0890)
Frame 29
tensor(0.1776)
 # KEYFRAME 17
0.05969733699748758
Frame 30
tensor(0.0675)
Frame 31
tensor(0.0606)
Frame 32
tensor(0.1487)
 # KEYFRAME 18
0.06065141400176799
Frame 33
tensor(0.5027)
 # KEYFRAME 19
0.06185831000038888
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 34
tensor(0.2029)
 # KEYFRAME 20
0.05934826900193002
Frame 35
tensor(0.0856)
Frame 36
tensor(0.1834)
 # KEYFRAME 21
0.06008769600157393
Frame 37
tensor(0.0456)
Frame 38
tensor(0.2943)
 # KEYFRAME 22
0.06177587000274798
Frame 39
tensor(0.0931)
Frame 40
tensor(0.1661)
 # KEYFRAME 23
0.06281166699773166
Frame 41
tensor(0.0479)
Frame 42
tensor(0.1233)
 # KEYFRAME 24
0.0636813839955721
Frame 43
tensor(0.0253)
Frame 44
tensor(0.1610)
 # KEYFRAME 25
0.06491682899650186
Frame 45
tensor(0.1175)
 # KEYFRAME 26
0.06719696100481087
Frame 46
tensor(0.0780)
Frame 47
tensor(0.1182)
 # KEYFRAME 27
0.06699238200235413
Frame 48
tensor(0.1166)
 # KEYFRAME 28
0.06805910800176207
Frame 49
tensor(0.0517)
Frame 50
tensor(0.1262)
 # KEYFRAME 29
0.06933245300024282
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 51
tensor(0.0254)
Frame 52
tensor(0.0764)
Frame 53
tensor(0.1531)
 # KEYFRAME 30
0.06651898300333414
Frame 54
tensor(0.0864)
Frame 55
tensor(0.1504)
 # KEYFRAME 31
0.06722851100494154
Frame 56
tensor(0.0938)
Frame 57
tensor(0.1624)
 # KEYFRAME 32
0.06875056499848142
Frame 58
tensor(0.1113)
 # KEYFRAME 33
0.06989859100576723
Frame 59
tensor(0.1113)
 # KEYFRAME 34
0.07129607700335328
Frame 60
tensor(0.1710)
 # KEYFRAME 35
0.07287133100180654
Frame 61
tensor(0.1871)
 # KEYFRAME 36
0.07337766900309362
Frame 62
tensor(0.0727)
Frame 63
tensor(0.0692)
Frame 64
tensor(0.0698)
Frame 65
tensor(0.1407)
 # KEYFRAME 37
0.07508443299593637
Frame 66
tensor(0.1602)
 # KEYFRAME 38
0.07617977899644757
Frame 67
tensor(0.0930)
Frame 68
tensor(0.2493)
 # KEYFRAME 39
0.07695314600277925
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1148 loss_distill=0.1733 tta_take=0.009s
Frame 69
tensor(0.1638)
 # KEYFRAME 40
0.07252587199764093
Frame 70
tensor(0.1385)
 # KEYFRAME 41
0.07460416499816347
Frame 71
tensor(0.0991)
Frame 72
tensor(0.1545)
 # KEYFRAME 42
0.07483635400421917
Frame 73
tensor(0.1037)
 # KEYFRAME 43
0.0753462920038146
Frame 74
tensor(0.0605)
Frame 75
tensor(0.1129)
 # KEYFRAME 44
0.07614537899644347
Frame 76
tensor(0.1120)
 # KEYFRAME 45
0.07664156700047897
Frame 77
tensor(0.0817)
Frame 78
tensor(0.1493)
 # KEYFRAME 46
0.0778638029951253
Frame 79
tensor(0.0953)
Frame 80
tensor(0.1228)
 # KEYFRAME 47
0.0779373130062595
Frame 81
tensor(0.1190)
 # KEYFRAME 48
0.07885159899888095
Frame 82
tensor(0.1031)
 # KEYFRAME 49
0.07943224699556595
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1149 loss_distill=0.2747 tta_take=0.009s
Frame 83
tensor(0.1048)
 # KEYFRAME 50
0.07915454800240695
Frame 84
tensor(0.1174)
 # KEYFRAME 51
0.08189997899899026
Frame 85
tensor(0.0682)
Frame 86
tensor(0.0759)
Frame 87
tensor(0.0667)
Frame 88
tensor(0.0824)
Frame 89
tensor(0.0790)
Frame 90
tensor(0.1773)
 # KEYFRAME 52
0.08310559399978956
Frame 91
tensor(0.0919)
Frame 92
tensor(0.1462)
 # KEYFRAME 53
0.08437337999930605
Frame 93
tensor(0.0363)
Frame 94
tensor(0.1058)
 # KEYFRAME 54
0.08589372399728745
Frame 95
tensor(0.2290)
 # KEYFRAME 55
0.08690175099764019
Frame 96
tensor(0.0844)
Frame 97
tensor(0.1024)
 # KEYFRAME 56
0.08719850899797166
Frame 98
tensor(0.1150)
 # KEYFRAME 57
0.08728046900068875
Frame 99
tensor(0.1322)
 # KEYFRAME 58
0.0891766029963037
Frame 100
tensor(0.0938)
Frame 101
tensor(0.1773)
 # KEYFRAME 59
0.09006245899945498
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1150 loss_distill=0.3466 tta_take=0.009s
Frame 102
tensor(0.0932)
Frame 103
tensor(0.1625)
 # KEYFRAME 60
0.08595700500154635
Frame 104
tensor(0.0438)
Frame 105
tensor(0.0674)
Frame 106
tensor(0.0841)
Frame 107
tensor(0.1231)
 # KEYFRAME 61
0.08876982400397537
Frame 108
tensor(0.1595)
 # KEYFRAME 62
0.08821633600018686
Frame 109
tensor(0.1140)
 # KEYFRAME 63
0.08886579400132177
Frame 110
tensor(0.0798)
Frame 111
tensor(0.1397)
 # KEYFRAME 64
0.08998317000077805
Frame 112
tensor(0.1069)
 # KEYFRAME 65
0.09009067899751244
Frame 113
tensor(0.1133)
 # KEYFRAME 66
0.09061647699854802
Frame 114
tensor(0.0834)
Frame 115
tensor(0.1711)
 # KEYFRAME 67
0.09214062299724901
Frame 116
tensor(0.0766)
Frame 117
tensor(0.1685)
 # KEYFRAME 68
0.09300677900318988
Frame 118
tensor(0.1249)
 # KEYFRAME 69
0.09342965800169623
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1151 loss_distill=0.4024 tta_take=0.010s
Frame 119
tensor(0.0366)
Frame 120
tensor(0.0956)
Frame 121
tensor(0.1562)
 # KEYFRAME 70
0.09262176000629552
Frame 122
tensor(0.0506)
Frame 123
tensor(0.1703)
 # KEYFRAME 71
0.0963539669974125
Frame 124
tensor(0.0689)
Frame 125
tensor(0.1295)
 # KEYFRAME 72
0.09556574999442091
Frame 126
tensor(0.0548)
Frame 127
tensor(0.0906)
Backending... 73 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65583, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1152 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 169/556] scannetpp/a4e227f506/frame frames=128 tta_steps_this_scene=5 mean_loss=0.3198 total_steps=1152 time=33.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0530)
Frame 2
tensor(0.1670)
 # KEYFRAME 1
Frame 3
tensor(0.3766)
 # KEYFRAME 2
0.05181436600105371
Frame 4
tensor(0.1627)
 # KEYFRAME 3
0.05299896199721843
Frame 5
tensor(0.3251)
 # KEYFRAME 4
0.05362061000050744
Frame 6
tensor(0.2404)
 # KEYFRAME 5
0.054741255997214466
Frame 7
tensor(0.1224)
 # KEYFRAME 6
0.055998731004365254
Frame 8
tensor(0.1618)
 # KEYFRAME 7
0.05656744899897603
Frame 9
tensor(0.1087)
 # KEYFRAME 8
0.05725132700172253
Frame 10
tensor(0.4770)
 # KEYFRAME 9
0.05803755400120281
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.0673)
Frame 12
tensor(0.1592)
 # KEYFRAME 10
0.05142924699612195
Frame 13
tensor(0.0488)
Frame 14
tensor(0.1407)
 # KEYFRAME 11
0.05276529199909419
Frame 15
tensor(0.3070)
 # KEYFRAME 12
0.0535426889982773
Frame 16
tensor(0.1649)
 # KEYFRAME 13
0.05511955400288571
Frame 17
tensor(0.3291)
 # KEYFRAME 14
0.055586661997949705
Frame 18
tensor(0.2260)
 # KEYFRAME 15
0.05498011500458233
Frame 19
tensor(0.0811)
Frame 20
tensor(0.2079)
 # KEYFRAME 16
0.055690692002826836
Frame 21
tensor(0.2901)
 # KEYFRAME 17
0.05664688799879514
Frame 22
tensor(0.0963)
Frame 23
tensor(0.1792)
 # KEYFRAME 18
0.05725331699795788
Frame 24
tensor(0.2992)
 # KEYFRAME 19
0.05829713200364495
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.0590)
Frame 26
tensor(0.1233)
 # KEYFRAME 20
0.05429150700365426
Frame 27
tensor(0.0910)
Frame 28
tensor(0.1523)
 # KEYFRAME 21
0.05467833600414451
Frame 29
tensor(0.1050)
 # KEYFRAME 22
0.055192533996887505
Frame 30
tensor(0.5457)
 # KEYFRAME 23
0.05580901099892799
Frame 31
tensor(0.0325)
Frame 32
tensor(0.2209)
 # KEYFRAME 24
0.05594067100173561
Frame 33
tensor(0.1544)
 # KEYFRAME 25
0.05659790900244843
Frame 34
tensor(0.1009)
 # KEYFRAME 26
0.05775270499725593
Frame 35
tensor(0.4920)
 # KEYFRAME 27
0.05860988199856365
Frame 36
tensor(0.0810)
Frame 37
tensor(0.1437)
 # KEYFRAME 28
0.05968134800059488
Frame 38
tensor(0.0695)
Frame 39
tensor(0.1444)
 # KEYFRAME 29
0.06032209499971941
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 40
tensor(0.0295)
Frame 41
tensor(0.1238)
 # KEYFRAME 30
0.058377611996547785
Frame 42
tensor(0.1093)
 # KEYFRAME 31
0.05938745900493814
Frame 43
tensor(0.1633)
 # KEYFRAME 32
0.05949785900156712
Frame 44
tensor(0.1430)
 # KEYFRAME 33
0.06041396500222618
Frame 45
tensor(0.4692)
 # KEYFRAME 34
0.06092220400023507
Frame 46
tensor(0.1513)
 # KEYFRAME 35
0.06141941199894063
Frame 47
tensor(0.0773)
Frame 48
tensor(0.1786)
 # KEYFRAME 36
0.06248459799826378
Frame 49
tensor(0.1380)
 # KEYFRAME 37
0.0630168860006961
Frame 50
tensor(0.2191)
 # KEYFRAME 38
0.06337465500109829
Frame 51
tensor(0.2505)
 # KEYFRAME 39
0.06406331200560089
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1153 loss_distill=0.1733 tta_take=0.008s
Frame 52
tensor(0.1404)
 # KEYFRAME 40
0.06276546700246399
Frame 53
tensor(0.3300)
 # KEYFRAME 41
0.06430445100704674
Frame 54
tensor(0.0677)
Frame 55
tensor(0.1432)
 # KEYFRAME 42
0.06444111100427108
Frame 56
tensor(0.1658)
 # KEYFRAME 43
0.06441667100443738
Frame 57
tensor(0.0503)
Frame 58
tensor(0.0737)
Frame 59
tensor(0.2478)
 # KEYFRAME 44
0.06687302299542353
Frame 60
tensor(0.0929)
Frame 61
tensor(0.5036)
 # KEYFRAME 45
0.06721599100274034
Frame 62
tensor(0.2456)
 # KEYFRAME 46
0.06833898699551355
Frame 63
tensor(0.0668)
Frame 64
tensor(0.0834)
Frame 65
tensor(0.0197)
Frame 66
tensor(0.1484)
 # KEYFRAME 47
0.06868540600407869
Frame 67
tensor(0.0431)
Frame 68
tensor(0.1331)
 # KEYFRAME 48
0.06890189499972621
Frame 69
tensor(0.1610)
 # KEYFRAME 49
0.06981023099797312
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531069278717
TTA-STEP: step=1154 loss_distill=0.2747 tta_take=0.008s
Frame 70
tensor(0.1023)
 # KEYFRAME 50
0.06734054999833461
Frame 71
tensor(0.2977)
 # KEYFRAME 51
0.06799043799401261
Frame 72
tensor(0.1597)
 # KEYFRAME 52
0.06808537799952319
Frame 73
tensor(0.0947)
Frame 74
tensor(0.1888)
 # KEYFRAME 53
0.0685473470002762
Frame 75
tensor(0.0787)
Frame 76
tensor(0.1178)
 # KEYFRAME 54
0.06889734500146005
Frame 77
tensor(0.0555)
Frame 78
tensor(0.0583)
Frame 79
tensor(0.3048)
 # KEYFRAME 55
0.06956977299705613
Frame 80
tensor(0.2457)
 # KEYFRAME 56
0.07025290999445133
Frame 81
tensor(0.1369)
 # KEYFRAME 57
0.07043705000251066
Frame 82
tensor(0.0696)
Frame 83
tensor(0.1032)
 # KEYFRAME 58
0.07081288799963659
Frame 84
tensor(0.2663)
 # KEYFRAME 59
0.07144358599907719
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1155 loss_distill=0.3466 tta_take=0.008s
Frame 85
tensor(0.0331)
Frame 86
tensor(0.0730)
Frame 87
tensor(0.1356)
 # KEYFRAME 60
0.07144197599700419
Frame 88
tensor(0.1325)
 # KEYFRAME 61
0.07289521100028651
Frame 89
tensor(0.4165)
 # KEYFRAME 62
0.07340946899785195
Frame 90
tensor(0.5411)
 # KEYFRAME 63
0.07418365599733079
Frame 91
tensor(0.2243)
 # KEYFRAME 64
0.07421870599500835
Frame 92
tensor(0.1570)
 # KEYFRAME 65
0.07398803700198187
Frame 93
tensor(0.3874)
 # KEYFRAME 66
0.07548541099822614
Frame 94
tensor(0.1882)
 # KEYFRAME 67
0.07630887800041819
Frame 95
tensor(0.0450)
Frame 96
tensor(0.1267)
 # KEYFRAME 68
0.07687630600412376
Frame 97
tensor(0.1890)
 # KEYFRAME 69
0.07745057500142138
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1156 loss_distill=0.4024 tta_take=0.008s
Frame 98
tensor(0.0832)
Frame 99
tensor(0.4753)
 # KEYFRAME 70
0.07596568000008119
Frame 100
tensor(0.3645)
 # KEYFRAME 71
0.07602192900230875
Frame 101
tensor(0.2640)
 # KEYFRAME 72
0.0770574959969963
Frame 102
tensor(0.3275)
 # KEYFRAME 73
0.07798378200095613
Frame 103
tensor(0.0808)
Frame 104
tensor(0.3127)
 # KEYFRAME 74
0.07927749800001038
Frame 105
tensor(0.1989)
 # KEYFRAME 75
0.07952092699997593
Frame 106
tensor(0.0871)
Frame 107
tensor(0.1649)
 # KEYFRAME 76
0.07847128099820111
Frame 108
tensor(0.0696)
Frame 109
tensor(0.1238)
 # KEYFRAME 77
0.08103397100057919
Frame 110
tensor(0.1075)
 # KEYFRAME 78
0.08133177000127034
Frame 111
tensor(0.1917)
 # KEYFRAME 79
0.08259767600247869
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1157 loss_distill=0.4024 tta_take=0.008s
Frame 112
tensor(0.0709)
Frame 113
tensor(0.1188)
 # KEYFRAME 80
0.07580301100097131
Frame 114
tensor(0.0968)
Frame 115
tensor(0.1270)
 # KEYFRAME 81
0.07749392499681562
Frame 116
tensor(0.4974)
 # KEYFRAME 82
0.07688500700169243
Frame 117
tensor(0.0838)
Frame 118
tensor(0.2377)
 # KEYFRAME 83
0.07757985400530742
Frame 119
tensor(0.1180)
 # KEYFRAME 84
0.07843114100251114
Frame 120
tensor(0.1598)
 # KEYFRAME 85
0.07833354100148426
Frame 121
tensor(0.2352)
 # KEYFRAME 86
0.07814747200609418
Frame 122
tensor(0.5576)
 # KEYFRAME 87
0.07913629899849184
Frame 123
tensor(0.2247)
 # KEYFRAME 88
0.07916923900484107
Frame 124
tensor(0.3176)
 # KEYFRAME 89
0.0801905850021285
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1158 loss_distill=0.4024 tta_take=0.008s
Frame 125
tensor(0.1022)
 # KEYFRAME 90
0.0759402699986822
Frame 126
tensor(0.5849)
 # KEYFRAME 91
0.07814810200216016
Frame 127
tensor(0.1591)
 # KEYFRAME 92
0.0776292239970644
Frame 128
tensor(0.2268)
 # KEYFRAME 93
0.07816825200279709
Frame 129
tensor(0.5836)
 # KEYFRAME 94
0.07942165799613576
Frame 130
tensor(0.1299)
 # KEYFRAME 95
0.08054517400159966
Frame 131
tensor(0.0476)
Frame 132
tensor(0.6362)
 # KEYFRAME 96
0.07880288999876939
Frame 133
tensor(0.0660)
Frame 134
tensor(0.1378)
 # KEYFRAME 97
0.08197795899468474
Frame 135
tensor(0.0651)
Frame 136
tensor(0.1017)
 # KEYFRAME 98
0.08238052699744003
Frame 137
tensor(0.0806)
Frame 138
tensor(0.1567)
 # KEYFRAME 99
0.08351314299943624
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1159 loss_distill=0.4024 tta_take=0.008s
Frame 139
tensor(0.1748)
 # KEYFRAME 100
0.07553765099873999
Frame 140
tensor(0.1126)
 # KEYFRAME 101
0.07751022400043439
Frame 141
tensor(0.0650)
Frame 142
tensor(0.1174)
 # KEYFRAME 102
0.07720197600428946
Frame 143
tensor(0.2292)
 # KEYFRAME 103
0.07787980300054187
Frame 144
tensor(0.1147)
 # KEYFRAME 104
0.0781772819973412
Frame 145
tensor(0.3672)
 # KEYFRAME 105
0.0787992999976268
Frame 146
tensor(0.0698)
Frame 147
tensor(0.3993)
 # KEYFRAME 106
0.07809276199986925
Frame 148
tensor(0.0664)
Frame 149
tensor(0.0646)
Backending... 107 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62310, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1160 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 170/556] scannetpp/260fa55d50/DSC frames=150 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=1160 time=42.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1143)
 # KEYFRAME 1
Frame 2
tensor(0.1959)
 # KEYFRAME 2
0.05127215800166596
Frame 3
tensor(0.1364)
 # KEYFRAME 3
0.05129157699411735
Frame 4
tensor(0.1220)
 # KEYFRAME 4
0.0512585470060003
Frame 5
tensor(0.0604)
Frame 6
tensor(0.1065)
 # KEYFRAME 5
0.05153747699660016
Frame 7
tensor(0.1467)
 # KEYFRAME 6
0.05183479499828536
Frame 8
tensor(0.1637)
 # KEYFRAME 7
0.05378645900054835
Frame 9
tensor(0.0372)
Frame 10
tensor(0.1537)
 # KEYFRAME 8
0.054084027993667405
Frame 11
tensor(0.1344)
 # KEYFRAME 9
0.05518664400005946
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.1415)
 # KEYFRAME 10
0.05177028599428013
Frame 13
tensor(0.0978)
Frame 14
tensor(0.2443)
 # KEYFRAME 11
0.051411816995823756
Frame 15
tensor(0.1518)
 # KEYFRAME 12
0.05272877300012624
Frame 16
tensor(0.1417)
 # KEYFRAME 13
0.05378555900097126
Frame 17
tensor(0.1247)
 # KEYFRAME 14
0.05409307800437091
Frame 18
tensor(0.1009)
 # KEYFRAME 15
0.054923805000726134
Frame 19
tensor(0.1749)
 # KEYFRAME 16
0.05541113299841527
Frame 20
tensor(0.0938)
Frame 21
tensor(0.0583)
Frame 22
tensor(0.1171)
 # KEYFRAME 17
0.05600437099928968
Frame 23
tensor(0.2373)
 # KEYFRAME 18
0.0565762080004788
Frame 24
tensor(0.1899)
 # KEYFRAME 19
0.056852378002076875
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.2185)
 # KEYFRAME 20
0.053812409001693595
Frame 26
tensor(0.1081)
 # KEYFRAME 21
0.05434321599750547
Frame 27
tensor(0.1292)
 # KEYFRAME 22
0.055693802001769654
Frame 28
tensor(0.1361)
 # KEYFRAME 23
0.0566647089945036
Frame 29
tensor(0.1488)
 # KEYFRAME 24
0.057403565995628014
Frame 30
tensor(0.1138)
 # KEYFRAME 25
0.058658022004237864
Frame 31
tensor(0.2011)
 # KEYFRAME 26
0.05941774899838492
Frame 32
tensor(0.1783)
 # KEYFRAME 27
0.06014117599988822
Frame 33
tensor(0.1810)
 # KEYFRAME 28
0.06036071500420803
Frame 34
tensor(0.2726)
 # KEYFRAME 29
0.06125672199414112
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 35
tensor(0.1035)
 # KEYFRAME 30
0.05841910200251732
Frame 36
tensor(0.1772)
 # KEYFRAME 31
0.05900724999810336
Frame 37
tensor(0.1237)
 # KEYFRAME 32
0.059441477998916525
Frame 38
tensor(0.1165)
 # KEYFRAME 33
0.060504054999910295
Frame 39
tensor(0.0707)
Frame 40
tensor(0.2366)
 # KEYFRAME 34
0.060911622997082304
Frame 41
tensor(0.0734)
Frame 42
tensor(0.1687)
 # KEYFRAME 35
0.06139540200092597
Frame 43
tensor(0.1131)
 # KEYFRAME 36
0.06217789899528725
Frame 44
tensor(0.1158)
 # KEYFRAME 37
0.06271476700203493
Frame 45
tensor(0.2411)
 # KEYFRAME 38
0.06342419499560492
Frame 46
tensor(0.1416)
 # KEYFRAME 39
0.06363702400267357
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1161 loss_distill=0.1733 tta_take=0.008s
Frame 47
tensor(0.1385)
 # KEYFRAME 40
0.06240905799495522
Frame 48
tensor(0.0542)
Frame 49
tensor(0.1637)
 # KEYFRAME 41
0.06426703200122574
Frame 50
tensor(0.1486)
 # KEYFRAME 42
0.06409367200103588
Frame 51
tensor(0.2134)
 # KEYFRAME 43
0.06379323299915995
Frame 52
tensor(0.0575)
Frame 53
tensor(0.1642)
 # KEYFRAME 44
0.06485745999816572
Frame 54
tensor(0.0621)
Frame 55
tensor(0.1550)
 # KEYFRAME 45
0.06548943700181553
Frame 56
tensor(0.1092)
 # KEYFRAME 46
0.06558790700364625
Frame 57
tensor(0.0744)
Frame 58
tensor(0.1299)
 # KEYFRAME 47
0.06575140600034501
Frame 59
tensor(0.1769)
 # KEYFRAME 48
0.06661087300017243
Frame 60
tensor(0.3001)
 # KEYFRAME 49
0.06735168999875896
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1162 loss_distill=0.2747 tta_take=0.008s
Frame 61
tensor(0.2433)
 # KEYFRAME 50
0.06696655199630186
Frame 62
tensor(0.6506)
 # KEYFRAME 51
0.06870473599701654
Frame 63
tensor(0.1683)
 # KEYFRAME 52
0.06975639199663419
Frame 64
tensor(0.2665)
 # KEYFRAME 53
0.07096795800316613
Frame 65
tensor(0.1706)
 # KEYFRAME 54
0.06945011299831094
Frame 66
tensor(0.2120)
 # KEYFRAME 55
0.0721188540046569
Frame 67
tensor(0.0892)
Frame 68
tensor(0.2704)
 # KEYFRAME 56
0.07321666999632725
Frame 69
tensor(0.3282)
 # KEYFRAME 57
0.07315545000165002
Frame 70
tensor(0.1935)
 # KEYFRAME 58
0.0736433779966319
Frame 71
tensor(0.1646)
 # KEYFRAME 59
0.0746595550008351
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1163 loss_distill=0.3466 tta_take=0.008s
Frame 72
tensor(0.0885)
Frame 73
tensor(0.2072)
 # KEYFRAME 60
0.07113661699986551
Frame 74
tensor(0.0925)
Frame 75
tensor(0.1182)
 # KEYFRAME 61
0.0728931810008362
Frame 76
tensor(0.0453)
Frame 77
tensor(0.0966)
Frame 78
tensor(0.2074)
 # KEYFRAME 62
0.07259020100173075
Frame 79
tensor(0.2236)
 # KEYFRAME 63
0.0730141599997296
Frame 80
tensor(0.1334)
 # KEYFRAME 64
0.07322843900328735
Frame 81
tensor(0.2858)
 # KEYFRAME 65
0.07324614899698645
Frame 82
tensor(0.0516)
Frame 83
tensor(0.2356)
 # KEYFRAME 66
0.07423030599602498
Frame 84
tensor(0.1029)
 # KEYFRAME 67
0.07546769199689152
Frame 85
tensor(0.2043)
 # KEYFRAME 68
0.07572161099960795
Frame 86
tensor(0.1745)
 # KEYFRAME 69
0.0755750909956987
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.40235939621925354
TTA-STEP: step=1164 loss_distill=0.4024 tta_take=0.008s
Frame 87
tensor(0.1385)
 # KEYFRAME 70
0.07536193200212438
Frame 88
tensor(0.1624)
 # KEYFRAME 71
0.07755724399612518
Frame 89
tensor(0.1665)
 # KEYFRAME 72
0.07739931499963859
Frame 90
tensor(0.2475)
 # KEYFRAME 73
0.078120931997546
Frame 91
tensor(0.1328)
 # KEYFRAME 74
0.07891913899948122
Frame 92
tensor(0.2390)
 # KEYFRAME 75
0.0791118590059341
Frame 93
tensor(0.0530)
Frame 94
tensor(0.1522)
 # KEYFRAME 76
0.07804349199432181
Frame 95
tensor(0.2179)
 # KEYFRAME 77
0.07980302599753486
Frame 96
tensor(0.1631)
 # KEYFRAME 78
0.08088368199969409
Frame 97
tensor(0.2254)
 # KEYFRAME 79
0.08088182299979962
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1165 loss_distill=0.4024 tta_take=0.008s
Frame 98
tensor(0.1225)
 # KEYFRAME 80
0.07529451199661708
Frame 99
tensor(0.2164)
 # KEYFRAME 81
0.07777011299913283
Frame 100
tensor(0.2619)
 # KEYFRAME 82
0.0774166140035959
Frame 101
tensor(0.4023)
 # KEYFRAME 83
0.07765226400078973
Frame 102
tensor(0.2146)
 # KEYFRAME 84
0.0781457419943763
Frame 103
tensor(0.1825)
 # KEYFRAME 85
0.0778899930010084
Frame 104
tensor(0.2988)
 # KEYFRAME 86
0.07851117100653937
Frame 105
tensor(0.1540)
 # KEYFRAME 87
0.07990297500509769
Frame 106
tensor(0.5277)
 # KEYFRAME 88
0.08051724299730267
Frame 107
tensor(0.1559)
 # KEYFRAME 89
0.0815113599965116
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1166 loss_distill=0.4024 tta_take=0.009s
Frame 108
tensor(0.1417)
 # KEYFRAME 90
0.07606895999924745
Frame 109
tensor(0.1221)
 # KEYFRAME 91
0.07742451500234893
Frame 110
tensor(0.3046)
 # KEYFRAME 92
0.07719666600314667
Frame 111
tensor(0.6508)
 # KEYFRAME 93
0.07754184400255326
Frame 112
tensor(0.1584)
 # KEYFRAME 94
0.07813439200253924
Frame 113
tensor(0.1096)
 # KEYFRAME 95
0.07892688999709208
Frame 114
tensor(0.1043)
 # KEYFRAME 96
0.07869277000281727
Frame 115
tensor(0.1189)
 # KEYFRAME 97
0.0793687979967217
Frame 116
tensor(0.1867)
 # KEYFRAME 98
0.07972283600247465
Frame 117
tensor(0.1816)
 # KEYFRAME 99
0.07981515600113198
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1167 loss_distill=0.4024 tta_take=0.008s
Frame 118
tensor(0.0752)
Frame 119
tensor(0.1629)
 # KEYFRAME 100
0.07514234200061765
Frame 120
tensor(0.2903)
 # KEYFRAME 101
0.07782578300248133
Frame 121
tensor(0.1709)
 # KEYFRAME 102
0.07843420100107323
Frame 122
tensor(0.1438)
 # KEYFRAME 103
0.07833938200201374
Frame 123
tensor(0.2549)
 # KEYFRAME 104
0.07953947699570563
Frame 124
tensor(0.1217)
 # KEYFRAME 105
0.07956439700501505
Frame 125
tensor(0.1088)
 # KEYFRAME 106
0.07853827000508318
Frame 126
tensor(0.1355)
 # KEYFRAME 107
0.08057822300179396
Frame 127
tensor(0.2291)
 # KEYFRAME 108
0.08101519199408358
Frame 128
tensor(0.1191)
 # KEYFRAME 109
0.08097698199708248
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1168 loss_distill=0.4024 tta_take=0.008s
Frame 129
tensor(0.1249)
 # KEYFRAME 110
0.07555490200320492
Frame 130
tensor(0.0994)
Frame 131
tensor(0.6542)
 # KEYFRAME 111
0.0759204400019371
Frame 132
tensor(0.1786)
 # KEYFRAME 112
0.07714691599539947
Frame 133
tensor(0.3741)
 # KEYFRAME 113
0.07790745300007984
Frame 134
tensor(0.0725)
Frame 135
tensor(0.1289)
 # KEYFRAME 114
0.07826879200001713
Frame 136
tensor(0.0486)
Frame 137
tensor(0.1997)
 # KEYFRAME 115
0.07834310099860886
Frame 138
tensor(0.2483)
 # KEYFRAME 116
0.07791494299453916
Frame 139
tensor(0.0852)
Frame 140
tensor(0.1776)
 # KEYFRAME 117
0.07901520900486503
Frame 141
tensor(0.1317)
 # KEYFRAME 118
0.07963272699998925
Frame 142
tensor(0.2152)
 # KEYFRAME 119
0.08017732499865815
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1169 loss_distill=0.4024 tta_take=0.009s
Frame 143
tensor(0.3348)
 # KEYFRAME 120
0.07547715100372443
Frame 144
tensor(0.1012)
 # KEYFRAME 121
0.07773109299887437
Frame 145
tensor(0.2937)
 # KEYFRAME 122
0.0776803939952515
Frame 146
tensor(0.1414)
 # KEYFRAME 123
0.07783118399675004
Frame 147
tensor(0.2046)
 # KEYFRAME 124
0.07895912999811117
Frame 148
tensor(0.2044)
 # KEYFRAME 125
0.07928623799671186
Frame 149
tensor(0.0500)
Backending... 126 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 61380, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1170 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 171/556] scannetpp/480ddaadc0/DSC frames=150 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=1170 time=50.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0678)
Frame 2
tensor(0.1328)
 # KEYFRAME 1
Frame 3
tensor(0.0602)
Frame 4
tensor(0.1256)
 # KEYFRAME 2
0.05185939600050915
Frame 5
tensor(0.0628)
Frame 6
tensor(0.1258)
 # KEYFRAME 3
0.05168257700279355
Frame 7
tensor(0.0611)
Frame 8
tensor(0.1290)
 # KEYFRAME 4
0.05228293399704853
Frame 9
tensor(0.0703)
Frame 10
tensor(0.1343)
 # KEYFRAME 5
0.05181326499587158
Frame 11
tensor(0.0613)
Frame 12
tensor(0.1262)
 # KEYFRAME 6
0.051647476000653114
Frame 13
tensor(0.0580)
Frame 14
tensor(0.1245)
 # KEYFRAME 7
0.05176954600028694
Frame 15
tensor(0.0583)
Frame 16
tensor(0.1192)
 # KEYFRAME 8
0.05170241599989822
Frame 17
tensor(0.0738)
Frame 18
tensor(0.1230)
 # KEYFRAME 9
0.05150746700383024
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 19
tensor(0.0695)
Frame 20
tensor(0.1322)
 # KEYFRAME 10
0.051889066002331674
Frame 21
tensor(0.0610)
Frame 22
tensor(0.1294)
 # KEYFRAME 11
0.05215631399914855
Frame 23
tensor(0.0651)
Frame 24
tensor(0.1316)
 # KEYFRAME 12
0.05188737500429852
Frame 25
tensor(0.0675)
Frame 26
tensor(0.1253)
 # KEYFRAME 13
0.05193682500248542
Frame 27
tensor(0.0671)
Frame 28
tensor(0.1238)
 # KEYFRAME 14
0.051883575004467275
Frame 29
tensor(0.0647)
Frame 30
tensor(0.1207)
 # KEYFRAME 15
0.05181483599881176
Frame 31
tensor(0.0525)
Frame 32
tensor(0.1044)
 # KEYFRAME 16
0.051925366002251394
Frame 33
tensor(0.0586)
Frame 34
tensor(0.1198)
 # KEYFRAME 17
0.05199157500464935
Frame 35
tensor(0.0700)
Frame 36
tensor(0.1210)
 # KEYFRAME 18
0.051890014998207334
Frame 37
tensor(0.0639)
Frame 38
tensor(0.1334)
 # KEYFRAME 19
0.05192537500261096
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 39
tensor(0.0647)
Frame 40
tensor(0.1265)
 # KEYFRAME 20
0.0517766959965229
Frame 41
tensor(0.0565)
Frame 42
tensor(0.1110)
 # KEYFRAME 21
0.052066535004996695
Frame 43
tensor(0.0594)
Frame 44
tensor(0.1172)
 # KEYFRAME 22
0.05191917499905685
Frame 45
tensor(0.0560)
Frame 46
tensor(0.1189)
 # KEYFRAME 23
0.05193679500371218
Frame 47
tensor(0.0583)
Frame 48
tensor(0.1208)
 # KEYFRAME 24
0.051924055005656555
Frame 49
tensor(0.0615)
Frame 50
tensor(0.1181)
 # KEYFRAME 25
0.05182051500014495
Frame 51
tensor(0.0670)
Frame 52
tensor(0.1179)
 # KEYFRAME 26
0.05194416599988472
Frame 53
tensor(0.0640)
Frame 54
tensor(0.1260)
 # KEYFRAME 27
0.05230527399544371
Frame 55
tensor(0.0520)
Frame 56
tensor(0.1149)
 # KEYFRAME 28
0.05245761300466256
Frame 57
tensor(0.0552)
Frame 58
tensor(0.1057)
 # KEYFRAME 29
0.05317089100572048
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 59
tensor(0.0570)
Frame 60
tensor(0.1063)
 # KEYFRAME 30
0.05220317400380736
Frame 61
tensor(0.0535)
Frame 62
tensor(0.1110)
 # KEYFRAME 31
0.05208172499987995
Frame 63
tensor(0.0564)
Frame 64
tensor(0.1084)
 # KEYFRAME 32
0.05211396500089904
Frame 65
tensor(0.0527)
Frame 66
tensor(0.0985)
Frame 67
tensor(0.1628)
 # KEYFRAME 33
0.052102615001786035
Frame 68
tensor(0.0509)
Frame 69
tensor(0.1081)
 # KEYFRAME 34
0.052204113999323454
Frame 70
tensor(0.0544)
Frame 71
tensor(0.1088)
 # KEYFRAME 35
0.05194214500079397
Frame 72
tensor(0.0647)
Frame 73
tensor(0.1160)
 # KEYFRAME 36
0.052051315004064236
Frame 74
tensor(0.0563)
Frame 75
tensor(0.1197)
 # KEYFRAME 37
0.05212614400079474
Frame 76
tensor(0.0479)
Frame 77
tensor(0.0999)
Frame 78
tensor(0.1448)
 # KEYFRAME 38
0.052122014996712096
Frame 79
tensor(0.0489)
Frame 80
tensor(0.0950)
Frame 81
tensor(0.1474)
 # KEYFRAME 39
0.052160954001010396
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1171 loss_distill=0.1733 tta_take=0.005s
Frame 82
tensor(0.0482)
Frame 83
tensor(0.1013)
 # KEYFRAME 40
0.0520817850047024
Frame 84
tensor(0.0533)
Frame 85
tensor(0.1021)
 # KEYFRAME 41
0.05296424100379227
Frame 86
tensor(0.0542)
Frame 87
tensor(0.1004)
 # KEYFRAME 42
0.05353852899861522
Frame 88
tensor(0.0539)
Frame 89
tensor(0.0969)
Frame 90
tensor(0.1381)
 # KEYFRAME 43
0.0527107320012874
Frame 91
tensor(0.0425)
Frame 92
tensor(0.0822)
Frame 93
tensor(0.1356)
 # KEYFRAME 44
0.054227686996455304
Frame 94
tensor(0.0430)
Frame 95
tensor(0.0957)
Frame 96
tensor(0.1343)
 # KEYFRAME 45
0.052170424998621456
Frame 97
tensor(0.0426)
Frame 98
tensor(0.0901)
Frame 99
tensor(0.1172)
 # KEYFRAME 46
0.052110755001194775
Frame 100
tensor(0.0399)
Frame 101
tensor(0.0825)
Frame 102
tensor(0.1225)
 # KEYFRAME 47
0.0539945179989445
Frame 103
tensor(0.0382)
Frame 104
tensor(0.0737)
Frame 105
tensor(0.1130)
 # KEYFRAME 48
0.05253417300264118
Frame 106
tensor(0.0357)
Frame 107
tensor(0.0711)
Frame 108
tensor(0.1173)
 # KEYFRAME 49
0.05503245400177548
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1172 loss_distill=0.2747 tta_take=0.005s
Frame 109
tensor(0.0366)
Frame 110
tensor(0.0730)
Frame 111
tensor(0.1067)
 # KEYFRAME 50
0.05202775500220014
Frame 112
tensor(0.0274)
Frame 113
tensor(0.0702)
Frame 114
tensor(0.1015)
 # KEYFRAME 51
0.0522444039961556
Frame 115
tensor(0.0352)
Frame 116
tensor(0.0651)
Frame 117
tensor(0.0969)
Frame 118
tensor(0.1369)
 # KEYFRAME 52
0.05416360700473888
Frame 119
tensor(0.0295)
Frame 120
tensor(0.0534)
Frame 121
tensor(0.0836)
Frame 122
tensor(0.1128)
 # KEYFRAME 53
0.05242968400125392
Frame 123
tensor(0.0281)
Frame 124
tensor(0.0541)
Frame 125
tensor(0.0748)
Frame 126
tensor(0.0973)
Frame 127
tensor(0.1291)
 # KEYFRAME 54
0.05380242899991572
Frame 128
tensor(0.0230)
Frame 129
tensor(0.0447)
Frame 130
tensor(0.0698)
Frame 131
tensor(0.1005)
 # KEYFRAME 55
0.052464683998550754
Frame 132
tensor(0.0262)
Frame 133
tensor(0.0495)
Frame 134
tensor(0.0699)
Frame 135
tensor(0.0971)
Frame 136
tensor(0.1200)
 # KEYFRAME 56
0.05276464199414477
Frame 137
tensor(0.0250)
Frame 138
tensor(0.0443)
Frame 139
tensor(0.0652)
Frame 140
tensor(0.0922)
Frame 141
tensor(0.1123)
 # KEYFRAME 57
0.054179308004677296
Frame 142
tensor(0.0229)
Frame 143
tensor(0.0445)
Frame 144
tensor(0.0683)
Frame 145
tensor(0.0859)
Frame 146
tensor(0.1083)
 # KEYFRAME 58
0.05299633200047538
Frame 147
tensor(0.0234)
Frame 148
tensor(0.0412)
Frame 149
tensor(0.0628)
Frame 150
tensor(0.0854)
Frame 151
tensor(0.1033)
 # KEYFRAME 59
0.05444388699834235
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1173 loss_distill=0.3466 tta_take=0.005s
Frame 152
tensor(0.0234)
Frame 153
tensor(0.0427)
Frame 154
tensor(0.0602)
Frame 155
tensor(0.0819)
Frame 156
tensor(0.1001)
 # KEYFRAME 60
0.05237878299521981
Frame 157
tensor(0.0271)
Frame 158
tensor(0.0479)
Frame 159
tensor(0.0700)
Frame 160
tensor(0.0836)
Frame 161
tensor(0.1095)
 # KEYFRAME 61
0.05330409100133693
Frame 162
tensor(0.0235)
Frame 163
tensor(0.0443)
Frame 164
tensor(0.0658)
Frame 165
tensor(0.0892)
Frame 166
tensor(0.1049)
 # KEYFRAME 62
0.05489457500516437
Frame 167
tensor(0.0232)
Frame 168
tensor(0.0466)
Frame 169
tensor(0.0763)
Frame 170
tensor(0.0995)
Frame 171
tensor(0.1252)
 # KEYFRAME 63
0.05262896299973363
Frame 172
tensor(0.0289)
Frame 173
tensor(0.0500)
Frame 174
tensor(0.0802)
Frame 175
tensor(0.1012)
 # KEYFRAME 64
0.05505618399911327
Frame 176
tensor(0.0227)
Frame 177
tensor(0.0481)
Frame 178
tensor(0.0734)
Frame 179
tensor(0.0917)
Frame 180
tensor(0.1070)
 # KEYFRAME 65
0.05266315300104907
Frame 181
tensor(0.0196)
Frame 182
tensor(0.0403)
Frame 183
tensor(0.0566)
Frame 184
tensor(0.0786)
Frame 185
tensor(0.0957)
Frame 186
tensor(0.1181)
 # KEYFRAME 66
0.052785182000661734
Frame 187
tensor(0.0215)
Frame 188
tensor(0.0372)
Frame 189
tensor(0.0577)
Frame 190
tensor(0.0703)
Frame 191
tensor(0.0909)
Frame 192
tensor(0.1135)
 # KEYFRAME 67
0.05479676500544883
Frame 193
tensor(0.0197)
Frame 194
tensor(0.0378)
Frame 195
tensor(0.0497)
Frame 196
tensor(0.0674)
Frame 197
tensor(0.0827)
Frame 198
tensor(0.0982)
Frame 199
tensor(0.1169)
 # KEYFRAME 68
0.053132941997318994
Frame 200
tensor(0.0145)
Frame 201
tensor(0.0304)
Frame 202
tensor(0.0412)
Frame 203
tensor(0.0557)
Frame 204
tensor(0.0756)
Frame 205
tensor(0.0822)
Frame 206
tensor(0.0934)
Frame 207
tensor(0.1038)
 # KEYFRAME 69
0.05454381599702174
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1174 loss_distill=0.4024 tta_take=0.005s
Frame 208
tensor(0.0102)
Frame 209
tensor(0.0275)
Frame 210
tensor(0.0395)
Frame 211
tensor(0.0539)
Frame 212
tensor(0.0710)
Frame 213
tensor(0.0819)
Frame 214
tensor(0.0947)
Frame 215
tensor(0.1070)
 # KEYFRAME 70
0.05358266000257572
Frame 216
tensor(0.0154)
Frame 217
tensor(0.0322)
Frame 218
tensor(0.0485)
Frame 219
tensor(0.0687)
Frame 220
tensor(0.0866)
Frame 221
tensor(0.1059)
 # KEYFRAME 71
0.05404089799412759
Frame 222
tensor(0.0174)
Frame 223
tensor(0.0357)
Frame 224
tensor(0.0526)
Frame 225
tensor(0.0736)
Frame 226
tensor(0.0983)
Frame 227
tensor(0.1175)
 # KEYFRAME 72
0.055402852995030116
Frame 228
tensor(0.0219)
Frame 229
tensor(0.0397)
Frame 230
tensor(0.0572)
Frame 231
tensor(0.0842)
Frame 232
tensor(0.1055)
 # KEYFRAME 73
0.053412219996971544
Frame 233
tensor(0.0220)
Frame 234
tensor(0.0393)
Frame 235
tensor(0.0622)
Frame 236
tensor(0.0852)
Frame 237
tensor(0.1106)
 # KEYFRAME 74
0.055309593000856694
Frame 238
tensor(0.0231)
Frame 239
tensor(0.0409)
Frame 240
tensor(0.0714)
Frame 241
tensor(0.0934)
Frame 242
tensor(0.1188)
 # KEYFRAME 75
0.05423540700576268
Frame 243
tensor(0.0258)
Frame 244
tensor(0.0543)
Frame 245
tensor(0.0843)
Frame 246
tensor(0.1137)
 # KEYFRAME 76
0.05440647700015688
Frame 247
tensor(0.0271)
Frame 248
tensor(0.0588)
Frame 249
tensor(0.0810)
Frame 250
tensor(0.1065)
 # KEYFRAME 77
0.05677293799817562
Frame 251
tensor(0.0258)
Frame 252
tensor(0.0585)
Frame 253
tensor(0.0817)
Frame 254
tensor(0.1082)
 # KEYFRAME 78
0.05443853600445436
Frame 255
tensor(0.0276)
Frame 256
tensor(0.0553)
Frame 257
tensor(0.0770)
Frame 258
tensor(0.0974)
Frame 259
tensor(0.1253)
 # KEYFRAME 79
0.05636240899912082
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1175 loss_distill=0.4024 tta_take=0.005s
Frame 260
tensor(0.0235)
Frame 261
tensor(0.0556)
Frame 262
tensor(0.0728)
Frame 263
tensor(0.1012)
 # KEYFRAME 80
0.053549389995168895
Frame 264
tensor(0.0214)
Frame 265
tensor(0.0490)
Frame 266
tensor(0.0758)
Frame 267
tensor(0.0988)
Frame 268
tensor(0.1260)
 # KEYFRAME 81
0.054164396999112796
Frame 269
tensor(0.0252)
Frame 270
tensor(0.0483)
Frame 271
tensor(0.0667)
Frame 272
tensor(0.0942)
Frame 273
tensor(0.1159)
 # KEYFRAME 82
0.05510569400212262
Frame 274
tensor(0.0173)
Frame 275
tensor(0.0423)
Frame 276
tensor(0.0585)
Frame 277
tensor(0.0751)
Frame 278
tensor(0.0885)
Frame 279
tensor(0.0996)
Frame 280
tensor(0.1166)
 # KEYFRAME 83
0.05416420799883781
Frame 281
tensor(0.0132)
Frame 282
tensor(0.0237)
Frame 283
tensor(0.0353)
Frame 284
tensor(0.0534)
Frame 285
tensor(0.0644)
Frame 286
tensor(0.0762)
Frame 287
tensor(0.0900)
Frame 288
tensor(0.1008)
 # KEYFRAME 84
0.05676699800096685
Frame 289
tensor(0.0122)
Frame 290
tensor(0.0240)
Frame 291
tensor(0.0421)
Frame 292
tensor(0.0514)
Frame 293
tensor(0.0645)
Frame 294
tensor(0.0778)
Frame 295
tensor(0.0892)
Frame 296
tensor(0.1034)
 # KEYFRAME 85
0.0546063649962889
Frame 297
tensor(0.0127)
Frame 298
tensor(0.0234)
Frame 299
tensor(0.0361)
Backending... 86 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27192, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1176 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 172/556] vkitti/Scene18/30-deg-right/Camera_0 frames=300 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=1176 time=46.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0229)
Frame 2
tensor(0.0727)
Frame 3
tensor(0.1250)
 # KEYFRAME 1
Frame 4
tensor(0.0494)
Frame 5
tensor(0.1015)
 # KEYFRAME 2
0.05131920799612999
Frame 6
tensor(0.0274)
Frame 7
tensor(0.0847)
Frame 8
tensor(0.1523)
 # KEYFRAME 3
0.05155866700079059
Frame 9
tensor(0.0551)
Frame 10
tensor(0.1175)
 # KEYFRAME 4
0.053343079998739995
Frame 11
tensor(0.0995)
Frame 12
tensor(0.1487)
 # KEYFRAME 5
0.054109727003378794
Frame 13
tensor(0.0989)
Frame 14
tensor(0.1190)
 # KEYFRAME 6
0.05563591299869586
Frame 15
tensor(0.0895)
Frame 16
tensor(0.1995)
 # KEYFRAME 7
0.0563945789981517
Frame 17
tensor(0.0964)
Frame 18
tensor(0.1282)
 # KEYFRAME 8
0.057444685997324996
Frame 19
tensor(0.1078)
 # KEYFRAME 9
0.05761540499952389
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 20
tensor(0.1084)
 # KEYFRAME 10
0.051434157001494896
Frame 21
tensor(0.1054)
 # KEYFRAME 11
0.05189322600199375
Frame 22
tensor(0.0912)
Frame 23
tensor(0.1789)
 # KEYFRAME 12
0.05228463400271721
Frame 24
tensor(0.1536)
 # KEYFRAME 13
0.05398386700107949
Frame 25
tensor(0.0957)
Frame 26
tensor(0.1451)
 # KEYFRAME 14
0.05435931599640753
Frame 27
tensor(0.1002)
 # KEYFRAME 15
0.05446166600449942
Frame 28
tensor(0.0888)
Frame 29
tensor(0.1318)
 # KEYFRAME 16
0.054551526001887396
Frame 30
tensor(0.1793)
 # KEYFRAME 17
0.05570450199593324
Frame 31
tensor(0.0727)
Frame 32
tensor(0.2171)
 # KEYFRAME 18
0.05639573899679817
Frame 33
tensor(0.1401)
 # KEYFRAME 19
0.05770944500545738
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 34
tensor(0.2036)
 # KEYFRAME 20
0.05407405799633125
Frame 35
tensor(0.1838)
 # KEYFRAME 21
0.05492897399381036
Frame 36
tensor(0.1518)
 # KEYFRAME 22
0.055127453997556586
Frame 37
tensor(0.0713)
Frame 38
tensor(0.1724)
 # KEYFRAME 23
0.05556045200501103
Frame 39
tensor(0.0947)
Frame 40
tensor(0.1615)
 # KEYFRAME 24
0.05624155000259634
Frame 41
tensor(0.0290)
Frame 42
tensor(0.1709)
 # KEYFRAME 25
0.05661930900532752
Frame 43
tensor(0.0968)
Frame 44
tensor(0.0875)
Frame 45
tensor(0.0862)
Frame 46
tensor(0.2380)
 # KEYFRAME 26
0.058056503999978304
Frame 47
tensor(0.1052)
 # KEYFRAME 27
0.059025230002589524
Frame 48
tensor(0.0846)
Frame 49
tensor(0.1508)
 # KEYFRAME 28
0.059635738005454186
Frame 50
tensor(0.1082)
 # KEYFRAME 29
0.06008788700273726
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 51
tensor(0.3514)
 # KEYFRAME 30
0.05852018199948361
Frame 52
tensor(0.0034)
Frame 53
tensor(0.1711)
 # KEYFRAME 31
0.05935290899651591
Frame 54
tensor(0.1131)
 # KEYFRAME 32
0.05967657699511619
Frame 55
tensor(0.3873)
 # KEYFRAME 33
0.060169636002683546
Frame 56
tensor(0.1100)
 # KEYFRAME 34
0.060688914003549144
Frame 57
tensor(0.0630)
Frame 58
tensor(0.1345)
 # KEYFRAME 35
0.061520850998931564
Frame 59
tensor(0.3891)
 # KEYFRAME 36
0.06192575000022771
Frame 60
tensor(0.1316)
 # KEYFRAME 37
0.0624897979942034
Frame 61
tensor(0.2527)
 # KEYFRAME 38
0.06310266599757597
Frame 62
tensor(0.0963)
Frame 63
tensor(0.2404)
 # KEYFRAME 39
0.06362066400470212
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1177 loss_distill=0.1733 tta_take=0.008s
Frame 64
tensor(0.0536)
Frame 65
tensor(0.2819)
 # KEYFRAME 40
0.06275508600083413
Frame 66
tensor(0.2901)
 # KEYFRAME 41
0.06411395199393155
Frame 67
tensor(0.1681)
 # KEYFRAME 42
0.06491515900415834
Frame 68
tensor(0.0318)
Frame 69
tensor(0.1297)
 # KEYFRAME 43
0.06455958999868017
Frame 70
tensor(0.2139)
 # KEYFRAME 44
0.06664095399901271
Frame 71
tensor(0.1306)
 # KEYFRAME 45
0.06733642100152792
Frame 72
tensor(0.2880)
 # KEYFRAME 46
0.06841472600353882
Frame 73
tensor(0.1387)
 # KEYFRAME 47
0.06877803499810398
Frame 74
tensor(0.0973)
Frame 75
tensor(0.1496)
 # KEYFRAME 48
0.06914549400244141
Frame 76
tensor(0.1640)
 # KEYFRAME 49
0.06962540300446562
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=1178 loss_distill=0.2747 tta_take=0.008s
Frame 77
tensor(0.1877)
 # KEYFRAME 50
0.06664325299789198
Frame 78
tensor(0.1611)
 # KEYFRAME 51
0.06776875899959123
Frame 79
tensor(0.1838)
 # KEYFRAME 52
0.06772832899878267
Frame 80
tensor(0.3635)
 # KEYFRAME 53
0.06833432700659614
Frame 81
tensor(0.1259)
 # KEYFRAME 54
0.06853201599733438
Frame 82
tensor(0.1375)
 # KEYFRAME 55
0.06920491400524043
Frame 83
tensor(0.2064)
 # KEYFRAME 56
0.0700031609958387
Frame 84
tensor(0.1431)
 # KEYFRAME 57
0.07033331999991788
Frame 85
tensor(0.1400)
 # KEYFRAME 58
0.07131580600253073
Frame 86
tensor(0.0839)
Frame 87
tensor(0.2338)
 # KEYFRAME 59
0.07177524399594404
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=1179 loss_distill=0.3466 tta_take=0.008s
Frame 88
tensor(0.1006)
 # KEYFRAME 60
0.07146528599696467
Frame 89
tensor(0.2572)
 # KEYFRAME 61
0.07611362900206586
Frame 90
tensor(0.0660)
Frame 91
tensor(0.0778)
Frame 92
tensor(0.0889)
Frame 93
tensor(0.1001)
 # KEYFRAME 62
0.159354852999968
Frame 94
tensor(0.1713)
 # KEYFRAME 63
0.14534380300028715
Frame 95
tensor(0.2690)
 # KEYFRAME 64
0.07387089700205252
Frame 96
tensor(0.1462)
 # KEYFRAME 65
0.07317144999979064
Frame 97
tensor(0.1824)
 # KEYFRAME 66
0.07495424299850129
Frame 98
tensor(0.0309)
Frame 99
tensor(0.3116)
 # KEYFRAME 67
0.07515870300267125
Frame 100
tensor(0.1650)
 # KEYFRAME 68
0.07559226099692751
Frame 101
tensor(0.2334)
 # KEYFRAME 69
0.0764844270015601
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1180 loss_distill=0.4024 tta_take=0.009s
Frame 102
tensor(0.1880)
 # KEYFRAME 70
0.0757208700015326
Frame 103
tensor(0.1157)
 # KEYFRAME 71
0.07754659399506636
Frame 104
tensor(0.0698)
Frame 105
tensor(0.3485)
 # KEYFRAME 72
0.07721178599604173
Frame 106
tensor(0.1511)
 # KEYFRAME 73
0.07813098200131208
Frame 107
tensor(0.4326)
 # KEYFRAME 74
0.07958838699414628
Frame 108
tensor(0.1367)
 # KEYFRAME 75
0.08061637299397262
Frame 109
tensor(0.0758)
Frame 110
tensor(0.1549)
 # KEYFRAME 76
0.07905310900241602
Frame 111
tensor(0.0708)
Frame 112
tensor(0.0988)
Frame 113
tensor(0.1278)
 # KEYFRAME 77
0.08190926899987971
Frame 114
tensor(0.0718)
Frame 115
tensor(0.2018)
 # KEYFRAME 78
0.08253370600141352
Frame 116
tensor(0.1415)
 # KEYFRAME 79
0.08310319500014884
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1181 loss_distill=0.4024 tta_take=0.008s
Frame 117
tensor(0.1805)
 # KEYFRAME 80
0.07528005199856125
Frame 118
tensor(0.1571)
 # KEYFRAME 81
0.07741122500010533
Frame 119
tensor(0.0546)
Frame 120
tensor(0.1803)
 # KEYFRAME 82
0.0764806180013693
Frame 121
tensor(0.0759)
Frame 122
tensor(0.1905)
 # KEYFRAME 83
0.07752740399882896
Frame 123
tensor(0.4304)
 # KEYFRAME 84
0.07828747099847533
Frame 124
tensor(0.1690)
 # KEYFRAME 85
0.07843132100242656
Frame 125
tensor(0.3728)
 # KEYFRAME 86
0.07867124000040349
Frame 126
tensor(0.0712)
Frame 127
tensor(0.2426)
 # KEYFRAME 87
0.07928849799645832
Frame 128
tensor(0.1551)
 # KEYFRAME 88
0.07946251700195717
Frame 129
tensor(0.1228)
 # KEYFRAME 89
0.0798872660016059
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1182 loss_distill=0.4024 tta_take=0.008s
Frame 130
tensor(0.1622)
 # KEYFRAME 90
0.07546995099983178
Frame 131
tensor(0.0489)
Frame 132
tensor(0.1271)
 # KEYFRAME 91
0.07767380400036927
Frame 133
tensor(0.3975)
 # KEYFRAME 92
0.0778004530002363
Frame 134
tensor(0.1236)
 # KEYFRAME 93
0.07864595000137342
Frame 135
tensor(0.1537)
 # KEYFRAME 94
0.07974683700012974
Frame 136
tensor(0.0859)
Frame 137
tensor(0.2220)
 # KEYFRAME 95
0.08060104299511295
Frame 138
tensor(0.1707)
 # KEYFRAME 96
0.07874871999956667
Frame 139
tensor(0.0127)
Frame 140
tensor(0.1482)
 # KEYFRAME 97
0.0814379710063804
Frame 141
tensor(0.1109)
 # KEYFRAME 98
0.08243188699998427
Frame 142
tensor(0.1080)
 # KEYFRAME 99
0.08295792499848176
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1183 loss_distill=0.4024 tta_take=0.008s
Frame 143
tensor(0.2704)
 # KEYFRAME 100
0.07605460000195308
Frame 144
tensor(0.0704)
Frame 145
tensor(0.4533)
 # KEYFRAME 101
0.15702382199378917
Frame 146
tensor(0.1899)
 # KEYFRAME 102
0.15627124399907188
Frame 147
tensor(0.3696)
 # KEYFRAME 103
0.07869829999981448
Frame 148
tensor(0.1455)
 # KEYFRAME 104
0.07951257799868472
Frame 149
tensor(0.1146)
 # KEYFRAME 105
0.07996406500024023
Backending... 106 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 61380, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1184 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 173/556] scannetpp/ed2216380b/DSC frames=150 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=1184 time=42.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1144)
 # KEYFRAME 1
Frame 2
tensor(0.1041)
 # KEYFRAME 2
0.051413488006801344
Frame 3
tensor(0.0843)
Frame 4
tensor(0.1708)
 # KEYFRAME 3
0.051489156001480296
Frame 5
tensor(0.1011)
 # KEYFRAME 4
0.05305001099623041
Frame 6
tensor(0.2694)
 # KEYFRAME 5
0.05399754799873335
Frame 7
tensor(0.0969)
Frame 8
tensor(0.1686)
 # KEYFRAME 6
0.05557274199964013
Frame 9
tensor(0.0929)
Frame 10
tensor(0.1610)
 # KEYFRAME 7
0.05639145899476716
Frame 11
tensor(0.0477)
Frame 12
tensor(0.0551)
Frame 13
tensor(0.1618)
 # KEYFRAME 8
0.05748627599678002
Frame 14
tensor(0.1008)
 # KEYFRAME 9
0.05753059499693336
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 15
tensor(0.1533)
 # KEYFRAME 10
0.051562685999670066
Frame 16
tensor(0.1309)
 # KEYFRAME 11
0.05158326699893223
Frame 17
tensor(0.1049)
 # KEYFRAME 12
0.05183064600714715
Frame 18
tensor(0.4620)
 # KEYFRAME 13
0.0541901879987563
Frame 19
tensor(0.0792)
Frame 20
tensor(0.1713)
 # KEYFRAME 14
0.054214777002925985
Frame 21
tensor(0.0599)
Frame 22
tensor(0.1316)
 # KEYFRAME 15
0.05427409699768759
Frame 23
tensor(0.3598)
 # KEYFRAME 16
0.05438096699799644
Frame 24
tensor(0.1185)
 # KEYFRAME 17
0.05539612299617147
Frame 25
tensor(0.1046)
 # KEYFRAME 18
0.05628855899703922
Frame 26
tensor(0.1026)
 # KEYFRAME 19
0.05738059600116685
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 27
tensor(0.0979)
Frame 28
tensor(0.0986)
Frame 29
tensor(0.1742)
 # KEYFRAME 20
0.05402253799547907
Frame 30
tensor(0.1606)
 # KEYFRAME 21
0.05470800599869108
Frame 31
tensor(0.0649)
Frame 32
tensor(0.0986)
Frame 33
tensor(0.1428)
 # KEYFRAME 22
0.05524764399888227
Frame 34
tensor(0.0622)
Frame 35
tensor(0.2200)
 # KEYFRAME 23
0.05547960300464183
Frame 36
tensor(0.1122)
 # KEYFRAME 24
0.05598650100000668
Frame 37
tensor(0.1133)
 # KEYFRAME 25
0.05660050900041824
Frame 38
tensor(0.1091)
 # KEYFRAME 26
0.057899075000023004
Frame 39
tensor(0.4586)
 # KEYFRAME 27
0.058921529998769984
Frame 40
tensor(0.1322)
 # KEYFRAME 28
0.05939093900087755
Frame 41
tensor(0.1083)
 # KEYFRAME 29
0.05981230700126616
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 42
tensor(0.0997)
Frame 43
tensor(0.1535)
 # KEYFRAME 30
0.058396222004375886
Frame 44
tensor(0.1077)
 # KEYFRAME 31
0.05916725999850314
Frame 45
tensor(0.1993)
 # KEYFRAME 32
0.05952937799884239
Frame 46
tensor(0.1514)
 # KEYFRAME 33
0.06032600499747787
Frame 47
tensor(0.1216)
 # KEYFRAME 34
0.060668464000627864
Frame 48
tensor(0.1171)
 # KEYFRAME 35
0.061339542000496294
Frame 49
tensor(0.0858)
Frame 50
tensor(0.2189)
 # KEYFRAME 36
0.06162659099936718
Frame 51
tensor(0.3397)
 # KEYFRAME 37
0.16887178899924038
Frame 52
tensor(0.1135)
 # KEYFRAME 38
0.06291341600444866
Frame 53
tensor(0.1617)
 # KEYFRAME 39
0.06362582300062058
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1185 loss_distill=0.1733 tta_take=0.008s
Frame 54
tensor(0.1017)
 # KEYFRAME 40
0.06270391699945321
Frame 55
tensor(0.1070)
 # KEYFRAME 41
0.06457547999889357
Frame 56
tensor(0.1110)
 # KEYFRAME 42
0.16723119499511085
Frame 57
tensor(0.0867)
Frame 58
tensor(0.0882)
Frame 59
tensor(0.2313)
 # KEYFRAME 43
0.06447930000285851
Frame 60
tensor(0.1129)
 # KEYFRAME 44
0.06661365300533362
Frame 61
tensor(0.2007)
 # KEYFRAME 45
0.0672695510002086
Frame 62
tensor(0.2002)
 # KEYFRAME 46
0.06856530599907273
Frame 63
tensor(0.1497)
 # KEYFRAME 47
0.06899191400589189
Frame 64
tensor(0.1158)
 # KEYFRAME 48
0.0694713530028821
Frame 65
tensor(0.1387)
 # KEYFRAME 49
0.07120726600260241
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531069278717
TTA-STEP: step=1186 loss_distill=0.2747 tta_take=0.008s
Frame 66
tensor(0.1826)
 # KEYFRAME 50
0.06697560100292321
Frame 67
tensor(0.2409)
 # KEYFRAME 51
0.06816502699803095
Frame 68
tensor(0.2223)
 # KEYFRAME 52
0.06794268799421843
Frame 69
tensor(0.1348)
 # KEYFRAME 53
0.06866037500003586
Frame 70
tensor(0.0711)
Frame 71
tensor(0.6022)
 # KEYFRAME 54
0.0687976350018289
Frame 72
tensor(0.1192)
 # KEYFRAME 55
0.06973171100253239
Frame 73
tensor(0.0777)
Frame 74
tensor(0.2825)
 # KEYFRAME 56
0.07000038100522943
Frame 75
tensor(0.1008)
 # KEYFRAME 57
0.07034884000313468
Frame 76
tensor(0.0927)
Frame 77
tensor(0.1541)
 # KEYFRAME 58
0.07082828800048446
Frame 78
tensor(0.0510)
Frame 79
tensor(0.1117)
 # KEYFRAME 59
0.07137290699756704
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=1187 loss_distill=0.3466 tta_take=0.008s
Frame 80
tensor(0.0553)
Frame 81
tensor(0.1212)
 # KEYFRAME 60
0.07137909699667944
Frame 82
tensor(0.8868)
 # KEYFRAME 61
0.07290894999459852
Frame 83
tensor(0.1343)
 # KEYFRAME 62
0.07291043099394301
Frame 84
tensor(0.1050)
 # KEYFRAME 63
0.07346437800151762
Frame 85
tensor(0.0923)
Frame 86
tensor(0.1348)
 # KEYFRAME 64
0.07369291799841449
Frame 87
tensor(0.0937)
Frame 88
tensor(0.1897)
 # KEYFRAME 65
0.0737594079982955
Frame 89
tensor(0.1236)
 # KEYFRAME 66
0.07500035299744923
Frame 90
tensor(0.0842)
Frame 91
tensor(0.1434)
 # KEYFRAME 67
0.07514542299759341
Frame 92
tensor(0.0801)
Frame 93
tensor(0.1476)
 # KEYFRAME 68
0.07629773799999384
Frame 94
tensor(0.0919)
Frame 95
tensor(0.1885)
 # KEYFRAME 69
0.21363503999600653
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1188 loss_distill=0.4024 tta_take=0.008s
Frame 96
tensor(0.0936)
Frame 97
tensor(0.1489)
 # KEYFRAME 70
0.0755154419966857
Frame 98
tensor(0.1561)
 # KEYFRAME 71
0.07753695499559399
Frame 99
tensor(0.1295)
 # KEYFRAME 72
0.07762342400383204
Frame 100
tensor(0.0695)
Frame 101
tensor(0.1657)
 # KEYFRAME 73
0.07824829099990893
Frame 102
tensor(0.1294)
 # KEYFRAME 74
0.07981305599969346
Frame 103
tensor(0.1365)
 # KEYFRAME 75
0.08010594499501167
Frame 104
tensor(0.0970)
Frame 105
tensor(0.1889)
 # KEYFRAME 76
0.07844349099468673
Frame 106
tensor(0.0575)
Frame 107
tensor(0.1009)
 # KEYFRAME 77
0.08199438900192035
Frame 108
tensor(0.3072)
 # KEYFRAME 78
0.08206091800093418
Frame 109
tensor(0.1019)
 # KEYFRAME 79
0.0825110469959327
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1189 loss_distill=0.4024 tta_take=0.008s
Frame 110
tensor(0.1101)
 # KEYFRAME 80
0.0752001829969231
Frame 111
tensor(0.1036)
 # KEYFRAME 81
0.07771778399910545
Frame 112
tensor(0.0693)
Frame 113
tensor(0.1239)
 # KEYFRAME 82
0.07697362600447377
Frame 114
tensor(0.1107)
 # KEYFRAME 83
0.07747005499550141
Frame 115
tensor(0.1268)
 # KEYFRAME 84
0.07809237200126518
Frame 116
tensor(0.1549)
 # KEYFRAME 85
0.07867562000319595
Frame 117
tensor(0.6404)
 # KEYFRAME 86
0.07812243299849797
Frame 118
tensor(0.0402)
Frame 119
tensor(0.0772)
Frame 120
tensor(0.5866)
 # KEYFRAME 87
0.07996183500654297
Frame 121
tensor(0.1092)
 # KEYFRAME 88
0.0798317959997803
Frame 122
tensor(0.0874)
Frame 123
tensor(0.6673)
 # KEYFRAME 89
0.08081198199943174
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1190 loss_distill=0.4024 tta_take=0.008s
Frame 124
tensor(0.0907)
Frame 125
tensor(0.1126)
 # KEYFRAME 90
0.07551960200362373
Frame 126
tensor(0.1558)
 # KEYFRAME 91
0.0777488829990034
Frame 127
tensor(0.1073)
 # KEYFRAME 92
0.07783438300248235
Frame 128
tensor(0.1271)
 # KEYFRAME 93
0.07857358000183012
Frame 129
tensor(0.1308)
 # KEYFRAME 94
0.07937858699733624
Frame 130
tensor(0.1099)
 # KEYFRAME 95
0.08067485300125554
Frame 131
tensor(0.0889)
Frame 132
tensor(0.1927)
 # KEYFRAME 96
0.07888876899960451
Frame 133
tensor(0.1377)
 # KEYFRAME 97
0.08154356999875745
Frame 134
tensor(0.2359)
 # KEYFRAME 98
0.08230033699510386
Frame 135
tensor(0.1591)
 # KEYFRAME 99
0.08302115399419563
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1191 loss_distill=0.4024 tta_take=0.008s
Frame 136
tensor(0.0840)
Frame 137
tensor(0.1361)
 # KEYFRAME 100
0.07555595099984203
Frame 138
tensor(0.0552)
Frame 139
tensor(0.1831)
 # KEYFRAME 101
0.07758887399540981
Frame 140
tensor(0.0429)
Frame 141
tensor(0.4162)
 # KEYFRAME 102
0.07806207199610071
Frame 142
tensor(0.1957)
 # KEYFRAME 103
0.07897935900109587
Frame 143
tensor(0.1337)
 # KEYFRAME 104
0.07950411699857796
Frame 144
tensor(0.6402)
 # KEYFRAME 105
0.08057336400088388
Frame 145
tensor(0.1756)
 # KEYFRAME 106
0.07895738999650348
Frame 146
tensor(0.1458)
 # KEYFRAME 107
0.08160244000464445
Frame 147
tensor(0.1296)
 # KEYFRAME 108
0.08264449600392254
Frame 148
tensor(0.1153)
 # KEYFRAME 109
0.08323986399773275
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1192 loss_distill=0.4024 tta_take=0.008s
Frame 149
tensor(0.0744)
[epoch 0 scene 174/556] scannetpp/d6d9ddb03f/DSC frames=150 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=1192 time=44.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0112)
Frame 2
tensor(0.0594)
Frame 3
tensor(0.0862)
Frame 4
tensor(0.1148)
 # KEYFRAME 1
Frame 5
tensor(0.0568)
Frame 6
tensor(0.0868)
Frame 7
tensor(0.1172)
 # KEYFRAME 2
0.051719035996939056
Frame 8
tensor(0.0565)
Frame 9
tensor(0.0810)
Frame 10
tensor(0.0970)
Frame 11
tensor(0.1233)
 # KEYFRAME 3
0.051514776998374145
Frame 12
tensor(0.0442)
Frame 13
tensor(0.4448)
 # KEYFRAME 4
0.05332377000013366
Frame 14
tensor(0.0428)
Frame 15
tensor(0.0565)
Frame 16
tensor(0.0800)
Frame 17
tensor(0.1166)
 # KEYFRAME 5
0.054134756996063516
Frame 18
tensor(0.0281)
Frame 19
tensor(0.1282)
 # KEYFRAME 6
0.055610233001061715
Frame 20
tensor(0.0183)
Frame 21
tensor(0.0343)
Frame 22
tensor(0.0567)
Frame 23
tensor(0.0675)
Frame 24
tensor(0.0786)
Frame 25
tensor(0.1039)
 # KEYFRAME 7
0.056507478999265004
Frame 26
tensor(0.1678)
 # KEYFRAME 8
0.057452305998594966
Frame 27
tensor(0.0056)
Frame 28
tensor(0.0321)
Frame 29
tensor(0.0533)
Frame 30
tensor(0.0705)
Frame 31
tensor(0.1105)
 # KEYFRAME 9
0.05765901500126347
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.0216)
Frame 33
tensor(0.0485)
Frame 34
tensor(0.1180)
 # KEYFRAME 10
0.05150340600084746
Frame 35
tensor(0.0381)
Frame 36
tensor(0.0092)
Frame 37
tensor(0.0606)
Frame 38
tensor(0.0996)
Frame 39
tensor(0.1427)
 # KEYFRAME 11
0.051675545997568406
Frame 40
tensor(0.0697)
Frame 41
tensor(0.1020)
 # KEYFRAME 12
0.0520004349964438
Frame 42
tensor(0.2479)
 # KEYFRAME 13
0.0541176769984304
Frame 43
tensor(0.0371)
Frame 44
tensor(0.0503)
Frame 45
tensor(0.0599)
Frame 46
tensor(0.0886)
Frame 47
tensor(0.1085)
 # KEYFRAME 14
0.05410015799861867
Frame 48
tensor(0.0239)
Frame 49
tensor(0.2871)
 # KEYFRAME 15
0.054654285006108694
Frame 50
tensor(0.0276)
Frame 51
tensor(0.0549)
Frame 52
tensor(0.1011)
 # KEYFRAME 16
0.05451909700059332
Frame 53
tensor(0.0212)
Frame 54
tensor(0.0483)
Frame 55
tensor(0.1006)
 # KEYFRAME 17
0.05553363299986813
Frame 56
tensor(0.0238)
Frame 57
tensor(0.2435)
 # KEYFRAME 18
0.05648201900476124
Frame 58
tensor(0.0186)
Frame 59
tensor(0.0305)
Frame 60
tensor(0.0716)
Frame 61
tensor(0.1016)
 # KEYFRAME 19
0.05756545600161189
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 62
tensor(0.0268)
Frame 63
tensor(0.0674)
Frame 64
tensor(0.0913)
Frame 65
tensor(0.1172)
 # KEYFRAME 20
0.05407036800170317
Frame 66
tensor(0.2339)
 # KEYFRAME 21
0.05488416500156745
Frame 67
tensor(0.0274)
Frame 68
tensor(0.0588)
Frame 69
tensor(0.1568)
 # KEYFRAME 22
0.05535233300179243
Frame 70
tensor(0.0337)
Frame 71
tensor(0.2838)
 # KEYFRAME 23
0.05573151200223947
Frame 72
tensor(0.0487)
Frame 73
tensor(0.0781)
Frame 74
tensor(0.1137)
 # KEYFRAME 24
0.056148110001231544
Frame 75
tensor(0.0664)
Frame 76
tensor(0.1019)
 # KEYFRAME 25
0.05686179699841887
Frame 77
tensor(0.0208)
Frame 78
tensor(0.0647)
Frame 79
tensor(0.0860)
Frame 80
tensor(0.0984)
Frame 81
tensor(0.1277)
 # KEYFRAME 26
0.05802127399510937
Frame 82
tensor(0.0125)
Frame 83
tensor(0.0291)
Frame 84
tensor(0.0712)
Frame 85
tensor(0.1000)
 # KEYFRAME 27
0.059053620003396645
Frame 86
tensor(0.0338)
Frame 87
tensor(0.1018)
 # KEYFRAME 28
0.05943627799570095
Frame 88
tensor(0.0361)
Frame 89
tensor(0.1394)
 # KEYFRAME 29
0.0653168380013085
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 90
tensor(0.0794)
Frame 91
tensor(0.1086)
 # KEYFRAME 30
0.05827957300061826
Frame 92
tensor(0.0265)
Frame 93
tensor(0.0866)
Frame 94
tensor(0.1044)
 # KEYFRAME 31
0.05922454000392463
Frame 95
tensor(0.2574)
 # KEYFRAME 32
0.05967751699790824
Frame 96
tensor(0.0198)
Frame 97
tensor(0.0379)
Frame 98
tensor(0.0657)
Frame 99
tensor(0.0868)
Frame 100
tensor(0.1110)
 # KEYFRAME 33
0.060388495003280696
Frame 101
tensor(0.0558)
Frame 102
tensor(0.3994)
 # KEYFRAME 34
0.06076982300146483
Frame 103
tensor(0.0363)
Frame 104
tensor(0.0991)
Frame 105
tensor(0.1326)
 # KEYFRAME 35
0.06142361099773552
Frame 106
tensor(0.1675)
 # KEYFRAME 36
0.06188037999527296
Frame 107
tensor(0.0766)
Frame 108
tensor(0.1146)
 # KEYFRAME 37
0.06235129800188588
Frame 109
tensor(0.0365)
Frame 110
tensor(0.1321)
 # KEYFRAME 38
0.06287735699879704
Frame 111
tensor(0.0486)
Frame 112
tensor(0.0898)
Frame 113
tensor(0.1559)
 # KEYFRAME 39
0.06427936100226361
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1193 loss_distill=0.1733 tta_take=0.008s
Frame 114
tensor(0.0361)
Frame 115
tensor(0.1366)
 # KEYFRAME 40
0.06273983699793462
Frame 116
tensor(0.1749)
 # KEYFRAME 41
0.06411934200150426
Frame 117
tensor(0.0306)
Frame 118
tensor(0.0527)
Frame 119
tensor(0.0615)
Frame 120
tensor(0.0811)
Frame 121
tensor(0.7525)
 # KEYFRAME 42
0.06487638899852755
Frame 122
tensor(0.0393)
Frame 123
tensor(0.0774)
Frame 124
tensor(0.1322)
 # KEYFRAME 43
0.06442336100008106
Frame 125
tensor(0.0265)
Frame 126
tensor(0.1904)
 # KEYFRAME 44
0.0668635119945975
Frame 127
tensor(0.0187)
Frame 128
tensor(0.0446)
Frame 129
tensor(0.1192)
 # KEYFRAME 45
0.06758972899842774
Frame 130
tensor(0.0447)
Frame 131
tensor(0.1328)
 # KEYFRAME 46
0.06873830599943176
Frame 132
tensor(0.0441)
Frame 133
tensor(0.0791)
Frame 134
tensor(0.3066)
 # KEYFRAME 47
0.06892435500049032
Frame 135
tensor(0.0240)
Frame 136
tensor(0.0486)
Frame 137
tensor(0.1117)
 # KEYFRAME 48
0.0696074130028137
Frame 138
tensor(0.1865)
 # KEYFRAME 49
0.07006356099736877
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1194 loss_distill=0.2747 tta_take=0.008s
Frame 139
tensor(0.0259)
Frame 140
tensor(0.0778)
Frame 141
tensor(0.2604)
 # KEYFRAME 50
0.06687477200466674
Frame 142
tensor(0.1319)
 # KEYFRAME 51
0.06799059800687246
Frame 143
tensor(0.1934)
 # KEYFRAME 52
0.06831298700126354
Frame 144
tensor(0.0228)
Frame 145
tensor(0.0565)
Frame 146
tensor(0.1175)
 # KEYFRAME 53
0.06894660500256578
Frame 147
tensor(0.0195)
Backending... 54 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 50220, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1195 loss_distill=0.3466 tta_take=0.004s
[epoch 0 scene 175/556] scannetpp/0cf2e9402d/DSC frames=148 tta_steps_this_scene=3 mean_loss=0.2648 total_steps=1195 time=25.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.7278)
 # KEYFRAME 1
Frame 2
tensor(0.3788)
 # KEYFRAME 2
0.05090601900155889
Frame 3
tensor(0.2201)
 # KEYFRAME 3
0.0520617649963242
Frame 4
tensor(0.1602)
 # KEYFRAME 4
0.05326306099595968
Frame 5
tensor(0.0815)
Frame 6
tensor(0.1932)
 # KEYFRAME 5
0.055215063999639824
Frame 7
tensor(0.2511)
 # KEYFRAME 6
0.05624261000048136
Frame 8
tensor(0.2299)
 # KEYFRAME 7
0.05684257800021442
Frame 9
tensor(0.1259)
 # KEYFRAME 8
0.05707763700047508
Frame 10
tensor(0.0799)
Frame 11
tensor(0.1360)
 # KEYFRAME 9
0.057252826998592354
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.0862)
Frame 13
tensor(0.0717)
Frame 14
tensor(0.2788)
 # KEYFRAME 10
0.052009895000082906
Frame 15
tensor(0.2387)
 # KEYFRAME 11
0.05348542999854544
Frame 16
tensor(0.1358)
 # KEYFRAME 12
0.05475433499668725
Frame 17
tensor(0.1012)
 # KEYFRAME 13
0.056767948997730855
Frame 18
tensor(0.1932)
 # KEYFRAME 14
0.05761266499757767
Frame 19
tensor(0.2452)
 # KEYFRAME 15
0.058846521002124064
Frame 20
tensor(0.1485)
 # KEYFRAME 16
0.059133738999662455
Frame 21
tensor(0.0061)
Frame 22
tensor(0.0069)
Frame 23
tensor(0.0077)
Frame 24
tensor(0.0171)
Frame 25
tensor(0.1936)
 # KEYFRAME 17
0.06055794499843614
Frame 26
tensor(0.2314)
 # KEYFRAME 18
0.06166387000121176
Frame 27
tensor(0.0985)
Frame 28
tensor(0.2475)
 # KEYFRAME 19
0.0627561169967521
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 29
tensor(0.0518)
Frame 30
tensor(0.1401)
 # KEYFRAME 20
0.0591119599994272
Frame 31
tensor(0.1847)
 # KEYFRAME 21
0.060689923993777484
Frame 32
tensor(0.0958)
Frame 33
tensor(0.0833)
Frame 34
tensor(0.1796)
 # KEYFRAME 22
0.061281362002773676
Frame 35
tensor(0.1027)
 # KEYFRAME 23
0.06179874000372365
Frame 36
tensor(0.0525)
Frame 37
tensor(0.1304)
 # KEYFRAME 24
0.06242774800193729
Frame 38
tensor(0.0950)
Frame 39
tensor(0.1146)
 # KEYFRAME 25
0.06371452299936209
Frame 40
tensor(0.0884)
Frame 41
tensor(0.1496)
 # KEYFRAME 26
0.06521832800353877
Frame 42
tensor(0.0884)
Frame 43
tensor(0.1502)
 # KEYFRAME 27
0.06621003400505288
Frame 44
tensor(0.0166)
Frame 45
tensor(0.0484)
Frame 46
tensor(0.1154)
 # KEYFRAME 28
0.06716813099774299
Frame 47
tensor(0.0355)
Frame 48
tensor(0.1056)
 # KEYFRAME 29
0.06856946599873481
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 49
tensor(0.0996)
Frame 50
tensor(0.1773)
 # KEYFRAME 30
0.06609782500163419
Frame 51
tensor(0.0970)
Frame 52
tensor(0.0652)
Frame 53
tensor(0.2132)
 # KEYFRAME 31
0.06732501999795204
Frame 54
tensor(0.1345)
 # KEYFRAME 32
0.0681774780023261
Frame 55
tensor(0.0365)
Frame 56
tensor(0.1337)
 # KEYFRAME 33
0.06881048499781173
Frame 57
tensor(0.1056)
 # KEYFRAME 34
0.06959259300492704
Frame 58
tensor(0.1560)
 # KEYFRAME 35
0.070871468000405
Frame 59
tensor(0.1308)
 # KEYFRAME 36
0.07173462500213645
Frame 60
tensor(0.1507)
 # KEYFRAME 37
0.07256632200005697
Frame 61
tensor(0.1492)
 # KEYFRAME 38
0.07346640799369197
Frame 62
tensor(0.1078)
 # KEYFRAME 39
0.07454674499604153
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1196 loss_distill=0.1733 tta_take=0.009s
Frame 63
tensor(0.1878)
 # KEYFRAME 40
0.07284657100535696
Frame 64
tensor(0.1266)
 # KEYFRAME 41
0.07454354500077898
Frame 65
tensor(0.0890)
Frame 66
tensor(0.1118)
 # KEYFRAME 42
0.0744133949992829
Frame 67
tensor(0.0959)
Frame 68
tensor(0.1196)
 # KEYFRAME 43
0.07543326199811418
Frame 69
tensor(0.0458)
Frame 70
tensor(0.0971)
Frame 71
tensor(0.1425)
 # KEYFRAME 44
0.07614111899601994
Frame 72
tensor(0.0928)
Frame 73
tensor(0.1726)
 # KEYFRAME 45
0.07701675599673763
Frame 74
tensor(0.1626)
 # KEYFRAME 46
0.07769649300462333
Frame 75
tensor(0.1491)
 # KEYFRAME 47
0.07764075400336878
Frame 76
tensor(0.1750)
 # KEYFRAME 48
0.07895999900210882
Frame 77
tensor(0.2277)
 # KEYFRAME 49
0.07980931600468466
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531069278717
TTA-STEP: step=1197 loss_distill=0.2747 tta_take=0.009s
Frame 78
tensor(0.0875)
Frame 79
tensor(0.1579)
 # KEYFRAME 50
0.07959310700243805
Frame 80
tensor(0.1348)
 # KEYFRAME 51
0.08144308000191813
Frame 81
tensor(0.1413)
 # KEYFRAME 52
0.08259725599782541
Frame 82
tensor(0.2049)
 # KEYFRAME 53
0.09352185699390247
Frame 83
tensor(0.1394)
 # KEYFRAME 54
0.08509121799579589
Frame 84
tensor(0.0732)
Frame 85
tensor(0.1778)
 # KEYFRAME 55
0.08536541699868394
Frame 86
tensor(0.0359)
Frame 87
tensor(0.1608)
 # KEYFRAME 56
0.0867551019982784
Frame 88
tensor(0.1226)
 # KEYFRAME 57
0.08713419999548933
Frame 89
tensor(0.1416)
 # KEYFRAME 58
0.08805766600562492
Frame 90
tensor(0.1518)
 # KEYFRAME 59
0.08851468499779003
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1198 loss_distill=0.3466 tta_take=0.009s
Frame 91
tensor(0.1256)
 # KEYFRAME 60
0.08637845300108893
Frame 92
tensor(0.1889)
 # KEYFRAME 61
0.08905351399880601
Frame 93
tensor(0.1609)
 # KEYFRAME 62
0.08842722499684896
Frame 94
tensor(0.0882)
Frame 95
tensor(0.2090)
 # KEYFRAME 63
0.08922771300422028
Frame 96
tensor(0.1178)
 # KEYFRAME 64
0.09003664000192657
Frame 97
tensor(0.0856)
Frame 98
tensor(0.1307)
 # KEYFRAME 65
0.09067231800145237
Frame 99
tensor(0.0238)
Frame 100
tensor(0.0615)
Frame 101
tensor(0.1048)
 # KEYFRAME 66
0.09163395400537411
Frame 102
tensor(0.1640)
 # KEYFRAME 67
0.09215886199672241
Frame 103
tensor(0.1223)
 # KEYFRAME 68
0.09298655900056474
Frame 104
tensor(0.2491)
 # KEYFRAME 69
0.0933195079996949
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=1199 loss_distill=0.4024 tta_take=0.009s
Frame 105
tensor(0.1604)
 # KEYFRAME 70
0.09320664800179657
Frame 106
tensor(0.1397)
 # KEYFRAME 71
0.09444783400249435
Frame 107
tensor(0.1290)
 # KEYFRAME 72
0.09613802799867699
Frame 108
tensor(0.1927)
 # KEYFRAME 73
0.09683913500339258
Frame 109
tensor(0.2200)
 # KEYFRAME 74
0.09742556399578461
Frame 110
tensor(0.1556)
 # KEYFRAME 75
0.09807037100108573
Frame 111
tensor(0.0886)
Frame 112
tensor(0.1975)
 # KEYFRAME 76
0.09894427800463745
Frame 113
tensor(0.2072)
 # KEYFRAME 77
0.09897302799799945
Frame 114
tensor(0.1198)
 # KEYFRAME 78
0.09995489499851828
Frame 115
tensor(0.1248)
 # KEYFRAME 79
0.10138578899932327
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1200 loss_distill=0.4024 tta_take=0.009s
Frame 116
tensor(0.1548)
 # KEYFRAME 80
0.09255633000429953
Frame 117
tensor(0.0930)
Frame 118
tensor(0.0403)
Frame 119
tensor(0.1519)
 # KEYFRAME 81
0.09519019199797185
Frame 120
tensor(0.2015)
 # KEYFRAME 82
0.09446794399991632
Frame 121
tensor(0.1437)
 # KEYFRAME 83
0.09582839899667306
Frame 122
tensor(0.0683)
Frame 123
tensor(0.0272)
Frame 124
tensor(0.1313)
 # KEYFRAME 84
0.09630808800284285
Frame 125
tensor(0.1426)
 # KEYFRAME 85
0.09763988299528137
Frame 126
tensor(0.1657)
 # KEYFRAME 86
0.09808739200525451
Frame 127
tensor(0.1115)
 # KEYFRAME 87
0.09914279700024053
Frame 128
tensor(0.1494)
 # KEYFRAME 88
0.09923491700465092
Frame 129
tensor(0.2170)
 # KEYFRAME 89
0.10112999099510489
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1201 loss_distill=0.4024 tta_take=0.009s
Frame 130
tensor(0.2265)
 # KEYFRAME 90
0.09399751599994488
Frame 131
tensor(0.1901)
 # KEYFRAME 91
0.0941484950017184
Backending... 92 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 64542, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1202 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 176/556] scannetpp/2a496183e1/frame frames=132 tta_steps_this_scene=7 mean_loss=0.3434 total_steps=1202 time=38.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1232)
 # KEYFRAME 1
Frame 2
tensor(0.1543)
 # KEYFRAME 2
0.05080797900154721
Frame 3
tensor(0.1785)
 # KEYFRAME 3
0.05158909700548975
Frame 4
tensor(0.1975)
 # KEYFRAME 4
0.05332478000491392
Frame 5
tensor(0.1455)
 # KEYFRAME 5
0.05448161600361345
Frame 6
tensor(0.1159)
 # KEYFRAME 6
0.054954195002210326
Frame 7
tensor(0.1652)
 # KEYFRAME 7
0.055869711002742406
Frame 8
tensor(0.1967)
 # KEYFRAME 8
0.0566266980022192
Frame 9
tensor(0.1898)
 # KEYFRAME 9
0.05667572899983497
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.1678)
 # KEYFRAME 10
0.051989154999319
Frame 11
tensor(0.1251)
 # KEYFRAME 11
0.05261690300540067
Frame 12
tensor(0.2336)
 # KEYFRAME 12
0.05301788100041449
Frame 13
tensor(0.2275)
 # KEYFRAME 13
0.055042314997990616
Frame 14
tensor(0.1429)
 # KEYFRAME 14
0.056246590000228025
Frame 15
tensor(0.1970)
 # KEYFRAME 15
0.05726708599831909
Frame 16
tensor(0.1442)
 # KEYFRAME 16
0.05888127099751728
Frame 17
tensor(0.1826)
 # KEYFRAME 17
0.059698498000216205
Frame 18
tensor(0.1926)
 # KEYFRAME 18
0.060642714001005515
Frame 19
tensor(0.2102)
 # KEYFRAME 19
0.06233202799921855
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 20
tensor(0.1000)
Frame 21
tensor(0.1905)
 # KEYFRAME 20
0.05888527999923099
Frame 22
tensor(0.1134)
 # KEYFRAME 21
0.060525854998559225
Frame 23
tensor(0.1369)
 # KEYFRAME 22
0.06204833899391815
Frame 24
tensor(0.0950)
Frame 25
tensor(0.1530)
 # KEYFRAME 23
0.06321333499363391
Frame 26
tensor(0.1811)
 # KEYFRAME 24
0.06446586099627893
Frame 27
tensor(0.1229)
 # KEYFRAME 25
0.06569249599851901
Frame 28
tensor(0.0840)
Frame 29
tensor(0.1107)
 # KEYFRAME 26
0.06698439100000542
Frame 30
tensor(0.1457)
 # KEYFRAME 27
0.06792983899504179
Frame 31
tensor(0.2131)
 # KEYFRAME 28
0.06829314700007671
Frame 32
tensor(0.1633)
 # KEYFRAME 29
0.06960217300365912
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 33
tensor(0.1126)
 # KEYFRAME 30
0.06582264600001508
Frame 34
tensor(0.1005)
 # KEYFRAME 31
0.06782167899655178
Frame 35
tensor(0.1119)
 # KEYFRAME 32
0.06809222800075077
Frame 36
tensor(0.1444)
 # KEYFRAME 33
0.06902100399747724
Frame 37
tensor(0.1048)
 # KEYFRAME 34
0.06989987199631287
Frame 38
tensor(0.1708)
 # KEYFRAME 35
0.07083650799904717
Frame 39
tensor(0.1371)
 # KEYFRAME 36
0.07117181699868524
Frame 40
tensor(0.1391)
 # KEYFRAME 37
0.07244510199961951
Frame 41
tensor(0.1386)
 # KEYFRAME 38
0.07301713000197196
Frame 42
tensor(0.1218)
 # KEYFRAME 39
0.0745294250009465
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1203 loss_distill=0.1733 tta_take=0.009s
Frame 43
tensor(0.1091)
 # KEYFRAME 40
0.07281530100590317
Frame 44
tensor(0.0315)
Frame 45
tensor(0.1885)
 # KEYFRAME 41
0.07440494499314809
Frame 46
tensor(0.1315)
 # KEYFRAME 42
0.07447349499852862
Frame 47
tensor(0.1279)
 # KEYFRAME 43
0.07559479100018507
Frame 48
tensor(0.1483)
 # KEYFRAME 44
0.07632828799978597
Frame 49
tensor(0.0967)
Frame 50
tensor(0.1787)
 # KEYFRAME 45
0.07730081499903463
Frame 51
tensor(0.0222)
Frame 52
tensor(0.1178)
 # KEYFRAME 46
0.07800656199833611
Frame 53
tensor(0.1106)
 # KEYFRAME 47
0.07876410000608303
Frame 54
tensor(0.1740)
 # KEYFRAME 48
0.07959548700455343
Frame 55
tensor(0.1435)
 # KEYFRAME 49
0.08075358300266089
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1204 loss_distill=0.2747 tta_take=0.009s
Frame 56
tensor(0.1063)
 # KEYFRAME 50
0.07912321800540667
Frame 57
tensor(0.0905)
Frame 58
tensor(0.0686)
Frame 59
tensor(0.0692)
Frame 60
tensor(0.1412)
 # KEYFRAME 51
0.08191771799465641
Frame 61
tensor(0.1640)
 # KEYFRAME 52
0.082327586998872
Frame 62
tensor(0.1923)
 # KEYFRAME 53
0.08373093199770665
Frame 63
tensor(0.1348)
 # KEYFRAME 54
0.08514543699857313
Frame 64
tensor(0.0954)
Frame 65
tensor(0.1955)
 # KEYFRAME 55
0.08577989500190597
Frame 66
tensor(0.1056)
 # KEYFRAME 56
0.08742482899833703
Frame 67
tensor(0.0818)
Frame 68
tensor(0.1225)
 # KEYFRAME 57
0.08847705500375014
Frame 69
tensor(0.0953)
Frame 70
tensor(0.0285)
Frame 71
tensor(0.2250)
 # KEYFRAME 58
0.08926257200073451
Frame 72
tensor(0.0659)
Frame 73
tensor(0.1166)
 # KEYFRAME 59
0.0900016500017955
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1205 loss_distill=0.3466 tta_take=0.009s
Frame 74
tensor(0.1179)
 # KEYFRAME 60
0.08666703199560288
Frame 75
tensor(0.1791)
 # KEYFRAME 61
0.08867114399618004
Frame 76
tensor(0.0754)
Frame 77
tensor(0.1844)
 # KEYFRAME 62
0.08809408599336166
Frame 78
tensor(0.0844)
Frame 79
tensor(0.1332)
 # KEYFRAME 63
0.08920887300337199
Frame 80
tensor(0.0987)
Frame 81
tensor(0.0418)
Frame 82
tensor(0.1439)
 # KEYFRAME 64
0.08998151999549009
Frame 83
tensor(0.2220)
 # KEYFRAME 65
0.09038909800437978
Frame 84
tensor(0.2177)
 # KEYFRAME 66
0.09161707400198793
Frame 85
tensor(0.1411)
 # KEYFRAME 67
0.09141743500367738
Frame 86
tensor(0.0788)
Frame 87
tensor(0.1343)
 # KEYFRAME 68
0.09293071999854874
Frame 88
tensor(0.2224)
 # KEYFRAME 69
0.09347510700172279
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1206 loss_distill=0.4024 tta_take=0.009s
Frame 89
tensor(0.1122)
 # KEYFRAME 70
0.09252708999702008
Frame 90
tensor(0.0644)
Frame 91
tensor(0.0333)
Frame 92
tensor(0.0474)
Frame 93
tensor(0.1469)
 # KEYFRAME 71
0.09579532900534105
Frame 94
tensor(0.0936)
Frame 95
tensor(0.1417)
 # KEYFRAME 72
0.09516617099870928
Frame 96
tensor(0.1333)
 # KEYFRAME 73
0.09597789899999043
Frame 97
tensor(0.0955)
Frame 98
tensor(0.2157)
 # KEYFRAME 74
0.09585712900297949
Frame 99
tensor(0.2431)
 # KEYFRAME 75
0.09734891400148626
Frame 100
tensor(0.1747)
 # KEYFRAME 76
0.09857117899809964
Frame 101
tensor(0.2049)
 # KEYFRAME 77
0.09924789700016845
Frame 102
tensor(0.1292)
 # KEYFRAME 78
0.09986663499876158
Frame 103
tensor(0.1446)
 # KEYFRAME 79
0.1005409019999206
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1207 loss_distill=0.4024 tta_take=0.009s
Frame 104
tensor(0.1744)
 # KEYFRAME 80
0.09354187700228067
Frame 105
tensor(0.1246)
 # KEYFRAME 81
0.09585334899747977
Frame 106
tensor(0.1174)
 # KEYFRAME 82
0.09505344200442778
Frame 107
tensor(0.0478)
Frame 108
tensor(0.0950)
Frame 109
tensor(0.0962)
Frame 110
tensor(0.1553)
 # KEYFRAME 83
0.09619792699959362
Frame 111
tensor(0.1722)
 # KEYFRAME 84
0.09651538699836237
Frame 112
tensor(0.1606)
 # KEYFRAME 85
0.09789761200227076
Frame 113
tensor(0.1369)
 # KEYFRAME 86
0.09863660900009563
Frame 114
tensor(0.2087)
 # KEYFRAME 87
0.09868308899604017
Frame 115
tensor(0.0408)
Frame 116
tensor(0.1974)
 # KEYFRAME 88
0.10012276400084374
Frame 117
tensor(0.1364)
 # KEYFRAME 89
0.1016618580033537
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1208 loss_distill=0.4024 tta_take=0.009s
Frame 118
tensor(0.1507)
 # KEYFRAME 90
0.0926294310047524
Frame 119
tensor(0.1784)
 # KEYFRAME 91
0.09531772100308444
Frame 120
tensor(0.1572)
 # KEYFRAME 92
0.09591081899998244
Frame 121
tensor(0.1894)
 # KEYFRAME 93
0.09620103799534263
Frame 122
tensor(0.1396)
 # KEYFRAME 94
0.09641340799862519
Frame 123
tensor(0.0962)
Frame 124
tensor(0.2347)
 # KEYFRAME 95
0.09844426000199746
Frame 125
tensor(0.1231)
 # KEYFRAME 96
0.09940398699836805
Frame 126
tensor(0.0699)
Frame 127
tensor(0.1815)
 # KEYFRAME 97
0.10002580400032457
Frame 128
tensor(0.0773)
Frame 129
tensor(0.1971)
 # KEYFRAME 98
0.10013280400016811
Frame 130
tensor(0.1251)
 # KEYFRAME 99
0.10151259900158038
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1209 loss_distill=0.4024 tta_take=0.009s
Frame 131
tensor(0.0517)
Frame 132
tensor(0.2986)
 # KEYFRAME 100
0.09325910900224699
Frame 133
tensor(0.1016)
 # KEYFRAME 101
0.09484214300027816
Frame 134
tensor(0.1997)
 # KEYFRAME 102
0.0956175399987842
Frame 135
tensor(0.1056)
 # KEYFRAME 103
0.09643634699750692
Frame 136
tensor(0.0926)
Frame 137
tensor(0.2234)
 # KEYFRAME 104
0.09760788299900014
Frame 138
tensor(0.1568)
 # KEYFRAME 105
0.09765310300281271
Frame 139
tensor(0.1133)
 # KEYFRAME 106
0.09932672699505929
Frame 140
tensor(0.1114)
 # KEYFRAME 107
0.09987795499910135
Frame 141
tensor(0.2096)
 # KEYFRAME 108
0.09966633600561181
Backending... 109 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 71829, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1210 loss_distill=0.4024 tta_take=0.008s
[epoch 0 scene 177/556] scannetpp/0a76e06478/frame frames=142 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=1210 time=44.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0481)
Frame 2
tensor(0.0940)
Frame 3
tensor(0.1447)
 # KEYFRAME 1
Frame 4
tensor(0.0539)
Frame 5
tensor(0.0952)
Frame 6
tensor(0.1437)
 # KEYFRAME 2
0.05219622400181834
Frame 7
tensor(0.0463)
Frame 8
tensor(0.0912)
Frame 9
tensor(0.1468)
 # KEYFRAME 3
0.05205357500381069
Frame 10
tensor(0.0422)
Frame 11
tensor(0.0871)
Frame 12
tensor(0.1467)
 # KEYFRAME 4
0.05206552500021644
Frame 13
tensor(0.0435)
Frame 14
tensor(0.0940)
Frame 15
tensor(0.1456)
 # KEYFRAME 5
0.052022584997757804
Frame 16
tensor(0.0481)
Frame 17
tensor(0.1000)
 # KEYFRAME 6
0.05236647399578942
Frame 18
tensor(0.0544)
Frame 19
tensor(0.1009)
 # KEYFRAME 7
0.05261749299825169
Frame 20
tensor(0.0447)
Frame 21
tensor(0.1025)
 # KEYFRAME 8
0.053033152005809825
Frame 22
tensor(0.0463)
Frame 23
tensor(0.0953)
Frame 24
tensor(0.1436)
 # KEYFRAME 9
0.05296832200110657
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.0503)
Frame 26
tensor(0.0948)
Frame 27
tensor(0.1448)
 # KEYFRAME 10
0.052120265005214605
Frame 28
tensor(0.0398)
Frame 29
tensor(0.0883)
Frame 30
tensor(0.1321)
 # KEYFRAME 11
0.052143615001114085
Frame 31
tensor(0.0464)
Frame 32
tensor(0.0994)
Frame 33
tensor(0.1481)
 # KEYFRAME 12
0.05221647500002291
Frame 34
tensor(0.0500)
Frame 35
tensor(0.1077)
 # KEYFRAME 13
0.05225109500315739
Frame 36
tensor(0.0461)
Frame 37
tensor(0.0960)
Frame 38
tensor(0.1436)
 # KEYFRAME 14
0.05213521500263596
Frame 39
tensor(0.0448)
Frame 40
tensor(0.0872)
Frame 41
tensor(0.1357)
 # KEYFRAME 15
0.05324921099963831
Frame 42
tensor(0.0416)
Frame 43
tensor(0.0846)
Frame 44
tensor(0.1320)
 # KEYFRAME 16
0.052595832996303216
Frame 45
tensor(0.0471)
Frame 46
tensor(0.0923)
Frame 47
tensor(0.1427)
 # KEYFRAME 17
0.053745848999824375
Frame 48
tensor(0.0484)
Frame 49
tensor(0.0955)
Frame 50
tensor(0.1466)
 # KEYFRAME 18
0.05286875199817587
Frame 51
tensor(0.0455)
Frame 52
tensor(0.0921)
Frame 53
tensor(0.1490)
 # KEYFRAME 19
0.05456727599812439
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 54
tensor(0.0488)
Frame 55
tensor(0.1093)
 # KEYFRAME 20
0.05189956500544213
Frame 56
tensor(0.0522)
Frame 57
tensor(0.1069)
 # KEYFRAME 21
0.05219885500264354
Frame 58
tensor(0.0574)
Frame 59
tensor(0.1267)
 # KEYFRAME 22
0.052875332003168296
Frame 60
tensor(0.0560)
Frame 61
tensor(0.1170)
 # KEYFRAME 23
0.05219924500124762
Frame 62
tensor(0.0604)
Frame 63
tensor(0.1126)
 # KEYFRAME 24
0.053038691003166605
Frame 64
tensor(0.0471)
Frame 65
tensor(0.1087)
 # KEYFRAME 25
0.05231518400250934
Frame 66
tensor(0.0439)
Frame 67
tensor(0.0945)
Frame 68
tensor(0.1468)
 # KEYFRAME 26
0.05275245200027712
Frame 69
tensor(0.0461)
Frame 70
tensor(0.0947)
Frame 71
tensor(0.1529)
 # KEYFRAME 27
0.054721255000913516
Frame 72
tensor(0.0549)
Frame 73
tensor(0.1067)
 # KEYFRAME 28
0.05273859199951403
Frame 74
tensor(0.0521)
Frame 75
tensor(0.1114)
 # KEYFRAME 29
0.05449218599824235
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 76
tensor(0.0640)
Frame 77
tensor(0.1184)
 # KEYFRAME 30
0.05237702400336275
Frame 78
tensor(0.0570)
Frame 79
tensor(0.1204)
 # KEYFRAME 31
0.05221014400012791
Frame 80
tensor(0.0507)
Frame 81
tensor(0.1030)
 # KEYFRAME 32
0.05245319299865514
Frame 82
tensor(0.0494)
Frame 83
tensor(0.0952)
Frame 84
tensor(0.1409)
 # KEYFRAME 33
0.05228343400085578
Frame 85
tensor(0.0544)
Frame 86
tensor(0.1038)
 # KEYFRAME 34
0.05288921199826291
Frame 87
tensor(0.0490)
Frame 88
tensor(0.1031)
 # KEYFRAME 35
0.052730132003489416
Frame 89
tensor(0.0491)
Frame 90
tensor(0.1045)
 # KEYFRAME 36
0.052206434003892355
Frame 91
tensor(0.0485)
Frame 92
tensor(0.0928)
Frame 93
tensor(0.1414)
 # KEYFRAME 37
0.053705589001765475
Frame 94
tensor(0.0467)
Frame 95
tensor(0.0872)
Frame 96
tensor(0.1332)
 # KEYFRAME 38
0.05227899400051683
Frame 97
tensor(0.0458)
Frame 98
tensor(0.0940)
Frame 99
tensor(0.1454)
 # KEYFRAME 39
0.053269550000550225
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1211 loss_distill=0.1733 tta_take=0.005s
Frame 100
tensor(0.0482)
Frame 101
tensor(0.0949)
Frame 102
tensor(0.1512)
 # KEYFRAME 40
0.05220283399830805
Frame 103
tensor(0.0482)
Frame 104
tensor(0.0955)
Frame 105
tensor(0.1487)
 # KEYFRAME 41
0.05228010399878258
Frame 106
tensor(0.0495)
Frame 107
tensor(0.0947)
Frame 108
tensor(0.1469)
 # KEYFRAME 42
0.05285358199762413
Frame 109
tensor(0.0464)
Frame 110
tensor(0.0876)
Frame 111
tensor(0.1408)
 # KEYFRAME 43
0.052266104001319036
Frame 112
tensor(0.0444)
Frame 113
tensor(0.0863)
Frame 114
tensor(0.1350)
 # KEYFRAME 44
0.05279162200167775
Frame 115
tensor(0.0429)
Frame 116
tensor(0.0841)
Frame 117
tensor(0.1288)
 # KEYFRAME 45
0.052376653999090195
Frame 118
tensor(0.0444)
Frame 119
tensor(0.0902)
Frame 120
tensor(0.1388)
 # KEYFRAME 46
0.05254092300310731
Frame 121
tensor(0.0461)
Frame 122
tensor(0.0997)
Frame 123
tensor(0.1412)
 # KEYFRAME 47
0.05329592000634875
Frame 124
tensor(0.0499)
Frame 125
tensor(0.0982)
Frame 126
tensor(0.1418)
 # KEYFRAME 48
0.053422359997057356
Frame 127
tensor(0.0478)
Frame 128
tensor(0.0972)
Frame 129
tensor(0.1417)
 # KEYFRAME 49
0.05437266599619761
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1212 loss_distill=0.2747 tta_take=0.005s
Frame 130
tensor(0.0436)
Frame 131
tensor(0.0930)
Frame 132
tensor(0.1374)
 # KEYFRAME 50
0.052281734002463054
Frame 133
tensor(0.0460)
Frame 134
tensor(0.0931)
Frame 135
tensor(0.1370)
 # KEYFRAME 51
0.053113781003048643
Frame 136
tensor(0.0491)
Frame 137
tensor(0.0967)
Frame 138
tensor(0.1369)
 # KEYFRAME 52
0.05483970500063151
Frame 139
tensor(0.0481)
Frame 140
tensor(0.0886)
Frame 141
tensor(0.1315)
 # KEYFRAME 53
0.052616572997067124
Frame 142
tensor(0.0456)
Frame 143
tensor(0.0885)
Frame 144
tensor(0.1289)
 # KEYFRAME 54
0.054604065997409634
Frame 145
tensor(0.0431)
Frame 146
tensor(0.0831)
Frame 147
tensor(0.1218)
 # KEYFRAME 55
0.05277394199947594
Frame 148
tensor(0.0427)
Frame 149
tensor(0.0805)
Frame 150
tensor(0.1171)
 # KEYFRAME 56
0.05381788899831008
Frame 151
tensor(0.0350)
Frame 152
tensor(0.0688)
Frame 153
tensor(0.1057)
 # KEYFRAME 57
0.054857675000675954
Frame 154
tensor(0.0346)
Frame 155
tensor(0.0676)
Frame 156
tensor(0.1022)
 # KEYFRAME 58
0.05333136000263039
Frame 157
tensor(0.0305)
Frame 158
tensor(0.0624)
Frame 159
tensor(0.0982)
Frame 160
tensor(0.1272)
 # KEYFRAME 59
0.055082703998778015
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1213 loss_distill=0.3466 tta_take=0.005s
Frame 161
tensor(0.0263)
Frame 162
tensor(0.0517)
Frame 163
tensor(0.0777)
Frame 164
tensor(0.0990)
Frame 165
tensor(0.1246)
 # KEYFRAME 60
0.05233668399887392
Frame 166
tensor(0.0187)
Frame 167
tensor(0.0451)
Frame 168
tensor(0.0716)
Frame 169
tensor(0.0908)
Frame 170
tensor(0.1126)
 # KEYFRAME 61
0.05265535299986368
Frame 171
tensor(0.0173)
Frame 172
tensor(0.0368)
Frame 173
tensor(0.0612)
Frame 174
tensor(0.0830)
Frame 175
tensor(0.0959)
Frame 176
tensor(0.1208)
 # KEYFRAME 62
0.05480661600449821
Frame 177
tensor(0.0112)
Frame 178
tensor(0.0276)
Frame 179
tensor(0.0458)
Frame 180
tensor(0.0589)
Frame 181
tensor(0.0718)
Frame 182
tensor(0.0871)
Frame 183
tensor(0.0936)
Frame 184
tensor(0.0999)
Frame 185
tensor(0.1137)
 # KEYFRAME 63
0.052545762999216095
Frame 186
tensor(0.0078)
Frame 187
tensor(0.0188)
Frame 188
tensor(0.0249)
Frame 189
tensor(0.0330)
Frame 190
tensor(0.0412)
Frame 191
tensor(0.0476)
Frame 192
tensor(0.0507)
Frame 193
tensor(0.0536)
Frame 194
tensor(0.0621)
Frame 195
tensor(0.0696)
Frame 196
tensor(0.0738)
Frame 197
tensor(0.0799)
Frame 198
tensor(0.0841)
Frame 199
tensor(0.0970)
Frame 200
tensor(0.1061)
 # KEYFRAME 64
0.05440853699838044
Frame 201
tensor(0.0064)
Frame 202
tensor(0.0151)
Frame 203
tensor(0.0234)
Frame 204
tensor(0.0335)
Frame 205
tensor(0.0450)
Frame 206
tensor(0.0600)
Frame 207
tensor(0.0759)
Frame 208
tensor(0.0908)
Frame 209
tensor(0.1012)
 # KEYFRAME 65
0.05308183099987218
Frame 210
tensor(0.0158)
Frame 211
tensor(0.0352)
Frame 212
tensor(0.0521)
Frame 213
tensor(0.0690)
Frame 214
tensor(0.0880)
Frame 215
tensor(0.1094)
 # KEYFRAME 66
0.05338029000267852
Frame 216
tensor(0.0207)
Frame 217
tensor(0.0414)
Frame 218
tensor(0.0633)
Frame 219
tensor(0.0861)
Frame 220
tensor(0.1066)
 # KEYFRAME 67
0.055168433995277155
Frame 221
tensor(0.0190)
Frame 222
tensor(0.0430)
Frame 223
tensor(0.0655)
Frame 224
tensor(0.0902)
Frame 225
tensor(0.1144)
 # KEYFRAME 68
0.053150820996961556
Frame 226
tensor(0.0273)
Frame 227
tensor(0.0543)
Frame 228
tensor(0.0790)
Frame 229
tensor(0.1075)
 # KEYFRAME 69
0.05574166099540889
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1214 loss_distill=0.4024 tta_take=0.005s
Frame 230
tensor(0.0283)
Frame 231
tensor(0.0565)
Frame 232
tensor(0.0839)
Frame 233
tensor(0.1100)
 # KEYFRAME 70
0.05340276999777416
Frame 234
tensor(0.0316)
Frame 235
tensor(0.0570)
Frame 236
tensor(0.0852)
Frame 237
tensor(0.1169)
 # KEYFRAME 71
0.05407684800593415
Frame 238
tensor(0.0291)
Frame 239
tensor(0.0554)
Frame 240
tensor(0.0902)
Frame 241
tensor(0.1255)
 # KEYFRAME 72
0.05535275299916975
Frame 242
tensor(0.0355)
Frame 243
tensor(0.0680)
Frame 244
tensor(0.1028)
 # KEYFRAME 73
0.05349913900136016
Frame 245
tensor(0.0373)
Frame 246
tensor(0.0723)
Frame 247
tensor(0.1071)
 # KEYFRAME 74
0.055572693003341556
Frame 248
tensor(0.0383)
Frame 249
tensor(0.0707)
Frame 250
tensor(0.1058)
 # KEYFRAME 75
0.053649289002351
Frame 251
tensor(0.0351)
Frame 252
tensor(0.0695)
Frame 253
tensor(0.1074)
 # KEYFRAME 76
0.054063308001786936
Frame 254
tensor(0.0353)
Frame 255
tensor(0.0712)
Frame 256
tensor(0.1094)
 # KEYFRAME 77
0.05540759299765341
Frame 257
tensor(0.0340)
Frame 258
tensor(0.0686)
Frame 259
tensor(0.1064)
 # KEYFRAME 78
0.054739835002692416
Frame 260
tensor(0.0348)
Frame 261
tensor(0.0726)
Frame 262
tensor(0.1141)
 # KEYFRAME 79
0.0559439009957714
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1215 loss_distill=0.4024 tta_take=0.005s
Frame 263
tensor(0.0340)
Frame 264
tensor(0.0764)
Frame 265
tensor(0.1126)
 # KEYFRAME 80
0.0537914090018603
Frame 266
tensor(0.0348)
Frame 267
tensor(0.0719)
Frame 268
tensor(0.1072)
 # KEYFRAME 81
0.05385827799909748
Frame 269
tensor(0.0378)
Frame 270
tensor(0.0830)
Frame 271
tensor(0.1129)
 # KEYFRAME 82
0.0545202259963844
Frame 272
tensor(0.0374)
Frame 273
tensor(0.0758)
Frame 274
tensor(0.1149)
 # KEYFRAME 83
0.05402548799611395
Frame 275
tensor(0.0347)
Frame 276
tensor(0.0749)
Frame 277
tensor(0.1134)
 # KEYFRAME 84
0.055769001999578904
Frame 278
tensor(0.0339)
Frame 279
tensor(0.0697)
Frame 280
tensor(0.1189)
 # KEYFRAME 85
0.053609198999765795
Frame 281
tensor(0.0368)
Frame 282
tensor(0.0811)
Frame 283
tensor(0.1215)
 # KEYFRAME 86
0.053683279002143536
Frame 284
tensor(0.0400)
Frame 285
tensor(0.0774)
Frame 286
tensor(0.1148)
 # KEYFRAME 87
0.05609381099930033
Frame 287
tensor(0.0444)
Frame 288
tensor(0.0783)
Frame 289
tensor(0.1141)
 # KEYFRAME 88
0.054283236000628676
Frame 290
tensor(0.0404)
Frame 291
tensor(0.0783)
Frame 292
tensor(0.1209)
 # KEYFRAME 89
0.05597418099932838
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1216 loss_distill=0.4024 tta_take=0.005s
Frame 293
tensor(0.0378)
Frame 294
tensor(0.0786)
Frame 295
tensor(0.1262)
 # KEYFRAME 90
0.05359524899540702
Frame 296
tensor(0.0404)
Frame 297
tensor(0.0798)
Frame 298
tensor(0.1301)
 # KEYFRAME 91
0.05407795799692394
Frame 299
tensor(0.0350)
Backending... 92 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 25544, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1217 loss_distill=0.4024 tta_take=0.002s
[epoch 0 scene 178/556] vkitti/Scene01/sunset/Camera_0 frames=300 tta_steps_this_scene=7 mean_loss=0.3434 total_steps=1217 time=50.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0228)
Frame 2
tensor(0.0434)
Frame 3
tensor(0.0877)
Frame 4
tensor(0.1336)
 # KEYFRAME 1
Frame 5
tensor(0.0663)
Frame 6
tensor(0.1452)
 # KEYFRAME 2
0.05195507500320673
Frame 7
tensor(0.0820)
Frame 8
tensor(0.1585)
 # KEYFRAME 3
0.05322440100280801
Frame 9
tensor(0.1437)
 # KEYFRAME 4
0.053607929999998305
Frame 10
tensor(0.1072)
 # KEYFRAME 5
0.05503497499739751
Frame 11
tensor(0.1030)
 # KEYFRAME 6
0.05592920100025367
Frame 12
tensor(0.0924)
Frame 13
tensor(0.2322)
 # KEYFRAME 7
0.05661277900071582
Frame 14
tensor(0.0907)
Frame 15
tensor(0.2162)
 # KEYFRAME 8
0.05750692500441801
Frame 16
tensor(0.1300)
 # KEYFRAME 9
0.058475392004766036
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 17
tensor(0.0178)
Frame 18
tensor(0.0870)
Frame 19
tensor(0.1648)
 # KEYFRAME 10
0.05162041600124212
Frame 20
tensor(0.1355)
 # KEYFRAME 11
0.05257073300163029
Frame 21
tensor(0.0283)
Frame 22
tensor(0.0645)
Frame 23
tensor(0.3892)
 # KEYFRAME 12
0.05396014799771365
Frame 24
tensor(0.0222)
Frame 25
tensor(0.0927)
Frame 26
tensor(0.0834)
Frame 27
tensor(0.1474)
 # KEYFRAME 13
0.054916845001571346
Frame 28
tensor(0.0991)
Frame 29
tensor(0.2478)
 # KEYFRAME 14
0.05472198499774095
Frame 30
tensor(0.0286)
Frame 31
tensor(0.0559)
Frame 32
tensor(0.0198)
Frame 33
tensor(0.0245)
Frame 34
tensor(0.0583)
Frame 35
tensor(0.3552)
 # KEYFRAME 15
0.0564840489969356
Frame 36
tensor(0.0376)
Frame 37
tensor(0.0395)
Frame 38
tensor(0.0723)
Frame 39
tensor(0.1005)
 # KEYFRAME 16
0.05561939300241647
Frame 40
tensor(0.0417)
Frame 41
tensor(0.1110)
 # KEYFRAME 17
0.05665313899953617
Frame 42
tensor(0.0322)
Frame 43
tensor(0.0726)
Frame 44
tensor(0.0318)
Frame 45
tensor(0.0348)
Frame 46
tensor(0.0915)
Frame 47
tensor(0.1780)
 # KEYFRAME 18
0.05727824600035092
Frame 48
tensor(0.1314)
 # KEYFRAME 19
0.05739772600645665
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 49
tensor(0.0876)
Frame 50
tensor(0.1580)
 # KEYFRAME 20
0.05428104699967662
Frame 51
tensor(0.0858)
Frame 52
tensor(0.6849)
 # KEYFRAME 21
0.055022624001139775
Frame 53
tensor(0.0194)
Frame 54
tensor(0.0795)
Frame 55
tensor(0.0979)
Frame 56
tensor(0.1075)
 # KEYFRAME 22
0.05592169100418687
Frame 57
tensor(0.1432)
 # KEYFRAME 23
0.05601139100326691
Frame 58
tensor(0.0372)
Frame 59
tensor(0.0925)
Frame 60
tensor(0.1460)
 # KEYFRAME 24
0.05676801800291287
Frame 61
tensor(0.2207)
 # KEYFRAME 25
0.056985397000971716
Frame 62
tensor(0.0731)
Frame 63
tensor(0.1935)
 # KEYFRAME 26
0.05818802300200332
Frame 64
tensor(0.7491)
 # KEYFRAME 27
0.05923128899303265
Frame 65
tensor(0.0534)
Frame 66
tensor(0.2177)
 # KEYFRAME 28
0.06014397599938093
Frame 67
tensor(0.0538)
Frame 68
tensor(0.1042)
 # KEYFRAME 29
0.06059731499408372
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 69
tensor(0.0360)
Frame 70
tensor(0.0886)
Frame 71
tensor(0.1592)
 # KEYFRAME 30
0.05846832200040808
Frame 72
tensor(0.1650)
 # KEYFRAME 31
0.059788767001009546
Frame 73
tensor(0.1131)
 # KEYFRAME 32
0.05937055899994448
Frame 74
tensor(0.1363)
 # KEYFRAME 33
0.06019082599959802
Frame 75
tensor(0.0902)
Frame 76
tensor(0.1959)
 # KEYFRAME 34
0.06098817299789516
Frame 77
tensor(0.0806)
Frame 78
tensor(0.1458)
 # KEYFRAME 35
0.06171467000240227
Frame 79
tensor(0.1029)
 # KEYFRAME 36
0.062478517000272404
Frame 80
tensor(0.0665)
Frame 81
tensor(0.1404)
 # KEYFRAME 37
0.06296503600606229
Frame 82
tensor(0.0721)
Frame 83
tensor(0.1527)
 # KEYFRAME 38
0.06352418399910675
Frame 84
tensor(0.0631)
Frame 85
tensor(0.0349)
Frame 86
tensor(0.1784)
 # KEYFRAME 39
0.06437705099961022
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1218 loss_distill=0.1733 tta_take=0.008s
Frame 87
tensor(0.2080)
 # KEYFRAME 40
0.062818086000334
Frame 88
tensor(0.0774)
Frame 89
tensor(0.1926)
 # KEYFRAME 41
0.06447123100224417
Frame 90
tensor(0.2207)
 # KEYFRAME 42
0.0643784810017678
Frame 91
tensor(0.0615)
Frame 92
tensor(0.1388)
 # KEYFRAME 43
0.06472737999865785
Frame 93
tensor(0.3896)
 # KEYFRAME 44
0.06669338299980154
Frame 94
tensor(0.0629)
Frame 95
tensor(0.1523)
 # KEYFRAME 45
0.06735124099941459
Frame 96
tensor(0.0882)
Frame 97
tensor(0.1657)
 # KEYFRAME 46
0.06832220700016478
Frame 98
tensor(0.3600)
 # KEYFRAME 47
0.06854664600541582
Frame 99
tensor(0.1260)
 # KEYFRAME 48
0.069545812002616
Frame 100
tensor(0.0747)
Frame 101
tensor(0.1228)
 # KEYFRAME 49
0.06951706199470209
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1219 loss_distill=0.2747 tta_take=0.008s
Frame 102
tensor(0.0716)
Frame 103
tensor(0.1502)
 # KEYFRAME 50
0.06710666100116214
Frame 104
tensor(0.0520)
Frame 105
tensor(0.1193)
 # KEYFRAME 51
0.06865296599426074
Frame 106
tensor(0.3904)
 # KEYFRAME 52
0.06886540500272531
Frame 107
tensor(0.0960)
Frame 108
tensor(0.2218)
 # KEYFRAME 53
0.06995356099650962
Frame 109
tensor(0.1926)
 # KEYFRAME 54
0.06892693400004646
Frame 110
tensor(0.0937)
Frame 111
tensor(0.2248)
 # KEYFRAME 55
0.0714140660056728
Frame 112
tensor(0.1980)
 # KEYFRAME 56
0.07283737100078724
Frame 113
tensor(0.3322)
 # KEYFRAME 57
0.07326235000073211
Frame 114
tensor(0.0542)
Frame 115
tensor(0.1314)
 # KEYFRAME 58
0.07437466599367326
Frame 116
tensor(0.0204)
Frame 117
tensor(0.0691)
Frame 118
tensor(0.1180)
 # KEYFRAME 59
0.07585308000125224
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1220 loss_distill=0.3466 tta_take=0.008s
Frame 119
tensor(0.0328)
Frame 120
tensor(0.1743)
 # KEYFRAME 60
0.07121803600603016
Frame 121
tensor(0.0655)
Frame 122
tensor(0.1266)
 # KEYFRAME 61
0.07277311100187944
Frame 123
tensor(0.3561)
 # KEYFRAME 62
0.07325958000001265
Frame 124
tensor(0.0517)
Frame 125
tensor(0.0909)
Frame 126
tensor(0.1125)
 # KEYFRAME 63
0.07444132499949774
Frame 127
tensor(0.0296)
Frame 128
tensor(0.0542)
Frame 129
tensor(0.0533)
Frame 130
tensor(0.0175)
Frame 131
tensor(0.0384)
Frame 132
tensor(0.0571)
Frame 133
tensor(0.0538)
Frame 134
tensor(0.0835)
Frame 135
tensor(0.1009)
 # KEYFRAME 64
0.07524745199771132
Frame 136
tensor(0.5324)
 # KEYFRAME 65
0.07374425700254506
Frame 137
tensor(0.0397)
Frame 138
tensor(0.0813)
Frame 139
tensor(0.1271)
 # KEYFRAME 66
0.0768949160046759
Frame 140
tensor(0.0448)
Frame 141
tensor(0.1258)
 # KEYFRAME 67
0.0776567239954602
Frame 142
tensor(0.0483)
Frame 143
tensor(0.4975)
 # KEYFRAME 68
0.07873334000032628
Frame 144
tensor(0.1293)
 # KEYFRAME 69
0.07938880800065817
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1221 loss_distill=0.4024 tta_take=0.008s
Frame 145
tensor(0.0873)
Frame 146
tensor(0.1941)
 # KEYFRAME 70
0.0759377799986396
Frame 147
tensor(0.6349)
 # KEYFRAME 71
0.07689431600010721
Frame 148
tensor(0.0298)
Frame 149
tensor(0.0881)
Backending... 72 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 57660, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1222 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 179/556] scannetpp/a29cccc784/DSC frames=150 tta_steps_this_scene=5 mean_loss=0.3198 total_steps=1222 time=29.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.2063)
 # KEYFRAME 1
Frame 2
tensor(0.2816)
 # KEYFRAME 2
0.05163342699961504
Frame 3
tensor(0.3746)
 # KEYFRAME 3
0.05171128599613439
Frame 4
tensor(0.4650)
 # KEYFRAME 4
0.05386523799825227
Frame 5
tensor(0.3225)
 # KEYFRAME 5
0.05423931700352114
Frame 6
tensor(0.2598)
 # KEYFRAME 6
0.055820371002482716
Frame 7
tensor(0.1939)
 # KEYFRAME 7
0.056346530000155326
Frame 8
tensor(0.1571)
 # KEYFRAME 8
0.05725417599751381
Frame 9
tensor(0.5690)
 # KEYFRAME 9
0.05801895400509238
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.5100)
 # KEYFRAME 10
0.05164283599879127
Frame 11
tensor(0.2694)
 # KEYFRAME 11
0.05214135399728548
Frame 12
tensor(0.4269)
 # KEYFRAME 12
0.052750851995369885
Frame 13
tensor(0.4226)
 # KEYFRAME 13
0.054250667002634145
Frame 14
tensor(0.5455)
 # KEYFRAME 14
0.054431325996119995
Frame 15
tensor(0.1052)
 # KEYFRAME 15
0.05444375699880766
Frame 16
tensor(0.0708)
Frame 17
tensor(0.5829)
 # KEYFRAME 16
0.05474744499952067
Frame 18
tensor(0.2555)
 # KEYFRAME 17
0.055912960997375194
Frame 19
tensor(0.1495)
 # KEYFRAME 18
0.05684181700053159
Frame 20
tensor(0.1219)
 # KEYFRAME 19
0.05686970800161362
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.2976)
 # KEYFRAME 20
0.054203927000344265
Frame 22
tensor(0.1980)
 # KEYFRAME 21
0.05523302399524255
Frame 23
tensor(0.3523)
 # KEYFRAME 22
0.055797982000513
Frame 24
tensor(0.4504)
 # KEYFRAME 23
0.056214260002889205
Frame 25
tensor(0.1192)
 # KEYFRAME 24
0.056827207998139784
Frame 26
tensor(0.1913)
 # KEYFRAME 25
0.05706634699890856
Frame 27
tensor(0.2370)
 # KEYFRAME 26
0.058340483003121335
Frame 28
tensor(0.1471)
 # KEYFRAME 27
0.05907080000179121
Frame 29
tensor(0.2418)
 # KEYFRAME 28
0.05986527699860744
Frame 30
tensor(0.9307)
 # KEYFRAME 29
0.060447635005402844
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 31
tensor(0.1519)
 # KEYFRAME 30
0.05846542200015392
Frame 32
tensor(0.1086)
 # KEYFRAME 31
0.059623077999276575
Frame 33
tensor(0.2897)
 # KEYFRAME 32
0.05932097999902908
Frame 34
tensor(0.1563)
 # KEYFRAME 33
0.06051444399781758
Frame 35
tensor(0.3050)
 # KEYFRAME 34
0.06101721299637575
Frame 36
tensor(0.2695)
 # KEYFRAME 35
0.061860709996835794
Frame 37
tensor(0.1768)
 # KEYFRAME 36
0.06250587799877394
Frame 38
tensor(0.3148)
 # KEYFRAME 37
0.06241202799719758
Frame 39
tensor(0.3998)
 # KEYFRAME 38
0.06380039299983764
Frame 40
tensor(0.3024)
 # KEYFRAME 39
0.0645298199960962
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1223 loss_distill=0.1733 tta_take=0.008s
Frame 41
tensor(0.4550)
 # KEYFRAME 40
0.06272811700182501
Frame 42
tensor(0.0934)
Frame 43
tensor(0.2703)
 # KEYFRAME 41
0.06451188999926671
Frame 44
tensor(0.2230)
 # KEYFRAME 42
0.0647155600017868
Frame 45
tensor(0.2736)
 # KEYFRAME 43
0.0649111590028042
Frame 46
tensor(0.0514)
Frame 47
tensor(0.5487)
 # KEYFRAME 44
0.06672929199703503
Frame 48
tensor(0.4922)
 # KEYFRAME 45
0.06735494999884395
Frame 49
tensor(0.1636)
 # KEYFRAME 46
0.06855929599987576
Frame 50
tensor(0.1148)
 # KEYFRAME 47
0.06845448599779047
Frame 51
tensor(0.1274)
 # KEYFRAME 48
0.06940675299847499
Frame 52
tensor(0.0395)
Frame 53
tensor(0.3951)
 # KEYFRAME 49
0.06958701300027315
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=1224 loss_distill=0.2747 tta_take=0.008s
Frame 54
tensor(0.2582)
 # KEYFRAME 50
0.06683589299791493
Frame 55
tensor(0.1905)
 # KEYFRAME 51
0.06814094699802808
Frame 56
tensor(0.1239)
 # KEYFRAME 52
0.06796376800048165
Frame 57
tensor(0.0934)
Frame 58
tensor(0.1349)
 # KEYFRAME 53
0.06860679599776631
Frame 59
tensor(0.0934)
Frame 60
tensor(0.0959)
Frame 61
tensor(0.3782)
 # KEYFRAME 54
0.06910874399909517
Frame 62
tensor(0.0953)
Frame 63
tensor(0.1948)
 # KEYFRAME 55
0.06942142300249543
Frame 64
tensor(0.1645)
 # KEYFRAME 56
0.07020583000121405
Frame 65
tensor(0.0619)
Frame 66
tensor(0.2707)
 # KEYFRAME 57
0.0705777789989952
Frame 67
tensor(0.2097)
 # KEYFRAME 58
0.07113144699542318
Frame 68
tensor(0.2582)
 # KEYFRAME 59
0.07169554499705555
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1225 loss_distill=0.3466 tta_take=0.008s
Frame 69
tensor(0.1380)
 # KEYFRAME 60
0.07148780600255122
Frame 70
tensor(0.1296)
 # KEYFRAME 61
0.07305230000201846
Frame 71
tensor(0.1274)
 # KEYFRAME 62
0.07445358500262955
Frame 72
tensor(0.4362)
 # KEYFRAME 63
0.07394583699351642
Frame 73
tensor(0.2384)
 # KEYFRAME 64
0.07485429300140822
Frame 74
tensor(0.8211)
 # KEYFRAME 65
0.07448570500127971
Frame 75
tensor(0.1085)
 # KEYFRAME 66
0.07700511599978199
Frame 76
tensor(0.2207)
 # KEYFRAME 67
0.0783493909984827
Frame 77
tensor(0.4480)
 # KEYFRAME 68
0.07897408899589209
Frame 78
tensor(0.3942)
 # KEYFRAME 69
0.07931548800115706
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1226 loss_distill=0.4024 tta_take=0.009s
Frame 79
tensor(0.4273)
 # KEYFRAME 70
0.07606825999391731
Frame 80
tensor(0.3231)
 # KEYFRAME 71
0.07777382399945054
Frame 81
tensor(0.3383)
 # KEYFRAME 72
0.07737936500052456
Frame 82
tensor(0.8870)
 # KEYFRAME 73
0.07793159199354704
Frame 83
tensor(0.0873)
Frame 84
tensor(0.2529)
 # KEYFRAME 74
0.07939458700275281
Frame 85
tensor(0.2862)
 # KEYFRAME 75
0.0802329650032334
Frame 86
tensor(0.3405)
 # KEYFRAME 76
0.07880971900158329
Frame 87
tensor(0.2567)
 # KEYFRAME 77
0.08149969000078272
Frame 88
tensor(0.4230)
 # KEYFRAME 78
0.08269854600075632
Frame 89
tensor(0.1253)
 # KEYFRAME 79
0.08315819400013424
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1227 loss_distill=0.4024 tta_take=0.009s
Frame 90
tensor(0.9556)
 # KEYFRAME 80
0.07567672100412892
Frame 91
tensor(0.3529)
 # KEYFRAME 81
0.07734577499650186
Frame 92
tensor(0.4816)
 # KEYFRAME 82
0.0764575280045392
Frame 93
tensor(0.2171)
 # KEYFRAME 83
0.07683715599705465
Frame 94
tensor(0.2953)
 # KEYFRAME 84
0.07722654499957571
Frame 95
tensor(0.1748)
 # KEYFRAME 85
0.07785391300421907
Frame 96
tensor(0.2215)
 # KEYFRAME 86
0.07826154200301971
Frame 97
tensor(0.1308)
 # KEYFRAME 87
0.0789838190030423
Frame 98
tensor(0.3460)
 # KEYFRAME 88
0.07931639800517587
Frame 99
tensor(0.2082)
 # KEYFRAME 89
0.07965514700481435
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1228 loss_distill=0.4024 tta_take=0.008s
Frame 100
tensor(0.2493)
 # KEYFRAME 90
0.0756186809958308
Frame 101
tensor(0.2736)
 # KEYFRAME 91
0.07728432600561064
Frame 102
tensor(0.1174)
 # KEYFRAME 92
0.07739087500522146
Frame 103
tensor(0.2255)
 # KEYFRAME 93
0.0780508820025716
Frame 104
tensor(0.3400)
 # KEYFRAME 94
0.0791740380009287
Frame 105
tensor(0.6964)
 # KEYFRAME 95
0.0795963469936396
Frame 106
tensor(0.2130)
 # KEYFRAME 96
0.07858293099707225
Frame 107
tensor(0.1910)
 # KEYFRAME 97
0.08116036099818302
Frame 108
tensor(0.2929)
 # KEYFRAME 98
0.08260351599892601
Frame 109
tensor(0.3190)
 # KEYFRAME 99
0.08305579500301974
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1229 loss_distill=0.4024 tta_take=0.009s
Frame 110
tensor(0.1718)
 # KEYFRAME 100
0.07540953199350042
Frame 111
tensor(0.0679)
Frame 112
tensor(0.1902)
 # KEYFRAME 101
0.0768056870001601
Frame 113
tensor(0.4061)
 # KEYFRAME 102
0.07685401599883335
Frame 114
tensor(0.3919)
 # KEYFRAME 103
0.0773991850001039
Frame 115
tensor(0.2942)
 # KEYFRAME 104
0.07723626599909039
Frame 116
tensor(0.3683)
 # KEYFRAME 105
0.07831136100139702
Frame 117
tensor(0.2956)
 # KEYFRAME 106
0.07827124199684476
Frame 118
tensor(0.3473)
 # KEYFRAME 107
0.07889507000072626
Frame 119
tensor(0.1627)
 # KEYFRAME 108
0.07931468799506547
Frame 120
tensor(0.1846)
 # KEYFRAME 109
0.07978828599880217
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1230 loss_distill=0.4024 tta_take=0.008s
Frame 121
tensor(0.0851)
Frame 122
tensor(0.1879)
 # KEYFRAME 110
0.07519215199863538
Frame 123
tensor(0.0977)
Frame 124
tensor(0.2127)
 # KEYFRAME 111
0.07575910099694738
Frame 125
tensor(0.0998)
Frame 126
tensor(0.1925)
 # KEYFRAME 112
0.0765868180023972
Frame 127
tensor(0.1248)
 # KEYFRAME 113
0.07745311499456875
Frame 128
tensor(0.0845)
Frame 129
tensor(0.1711)
 # KEYFRAME 114
0.07745471499947598
Frame 130
tensor(0.2061)
 # KEYFRAME 115
0.07788112299749628
Frame 131
tensor(0.1684)
 # KEYFRAME 116
0.07811784200021066
Frame 132
tensor(0.1900)
 # KEYFRAME 117
0.0789958690002095
Frame 133
tensor(0.1699)
 # KEYFRAME 118
0.07888767000258667
Frame 134
tensor(0.4205)
 # KEYFRAME 119
0.0796796569993603
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1231 loss_distill=0.4024 tta_take=0.008s
Frame 135
tensor(0.1736)
 # KEYFRAME 120
0.0759697600005893
Frame 136
tensor(0.1300)
 # KEYFRAME 121
0.07728233500529313
Frame 137
tensor(0.1799)
 # KEYFRAME 122
0.07666640700335847
Frame 138
tensor(0.1488)
 # KEYFRAME 123
0.0774213940021582
Frame 139
tensor(0.1438)
 # KEYFRAME 124
0.07774418299959507
Frame 140
tensor(0.1461)
 # KEYFRAME 125
0.07804975199542241
Frame 141
tensor(0.1581)
 # KEYFRAME 126
0.07861593100096798
Frame 142
tensor(0.1258)
 # KEYFRAME 127
0.07884405899676494
Frame 143
tensor(0.1088)
 # KEYFRAME 128
0.07925201799662318
Frame 144
tensor(0.1407)
 # KEYFRAME 129
0.07920804800232872
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1232 loss_distill=0.4024 tta_take=0.009s
Frame 145
tensor(0.1456)
 # KEYFRAME 130
0.07518726200214587
Frame 146
tensor(0.1595)
 # KEYFRAME 131
0.07591448000312084
Frame 147
tensor(0.1281)
 # KEYFRAME 132
0.07662527800130192
Frame 148
tensor(0.1683)
 # KEYFRAME 133
0.0768877459995565
Backending... 134 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 59520, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1233 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 180/556] scannetpp/e9ac2fc517/DSC frames=149 tta_steps_this_scene=11 mean_loss=0.3649 total_steps=1233 time=52.3s
[ckpt] /scratch-shared/wwei2/scorer_pretrain/scorer_v1/checkpoint-last.pth (epoch=0 scene=180)
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.2267)
 # KEYFRAME 1
Frame 2
tensor(0.5335)
 # KEYFRAME 2
0.05165128600492608
Frame 3
tensor(0.6042)
 # KEYFRAME 3
0.05237990399473347
Frame 4
tensor(0.3154)
 # KEYFRAME 4
0.053053351999551523
Frame 5
tensor(0.0451)
Frame 6
tensor(0.0752)
Frame 7
tensor(0.0985)
Frame 8
tensor(0.1259)
 # KEYFRAME 5
0.0544549559999723
Frame 9
tensor(0.0438)
Frame 10
tensor(0.1090)
 # KEYFRAME 6
0.0554754420008976
Frame 11
tensor(0.2891)
 # KEYFRAME 7
0.05633999899873743
Frame 12
tensor(0.3094)
 # KEYFRAME 8
0.057098347002465744
Frame 13
tensor(0.0359)
Frame 14
tensor(0.0925)
Frame 15
tensor(0.1270)
 # KEYFRAME 9
0.05781049500365043
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 16
tensor(0.0135)
Frame 17
tensor(0.1010)
 # KEYFRAME 10
0.051557557002524845
Frame 18
tensor(0.0549)
Frame 19
tensor(0.1412)
 # KEYFRAME 11
0.052557242997863796
Frame 20
tensor(0.0574)
Frame 21
tensor(0.1050)
 # KEYFRAME 12
0.053088430999196135
Frame 22
tensor(0.4974)
 # KEYFRAME 13
0.05449413600581465
Frame 23
tensor(0.0402)
Frame 24
tensor(0.1359)
 # KEYFRAME 14
0.05472559500049101
Frame 25
tensor(0.1511)
 # KEYFRAME 15
0.05488736500410596
Frame 26
tensor(0.0208)
Frame 27
tensor(0.0419)
Frame 28
tensor(0.0604)
Frame 29
tensor(0.1209)
 # KEYFRAME 16
0.05531414299912285
Frame 30
tensor(0.0540)
Frame 31
tensor(0.0927)
Frame 32
tensor(0.1087)
 # KEYFRAME 17
0.05606626099324785
Frame 33
tensor(0.0333)
Frame 34
tensor(0.1152)
 # KEYFRAME 18
0.05687305799801834
Frame 35
tensor(0.0487)
Frame 36
tensor(0.1613)
 # KEYFRAME 19
0.05770230499911122
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 37
tensor(0.1151)
 # KEYFRAME 20
0.054057007997471374
Frame 38
tensor(0.0249)
Frame 39
tensor(0.0987)
Frame 40
tensor(0.3144)
 # KEYFRAME 21
0.054742115004046354
Frame 41
tensor(0.0569)
Frame 42
tensor(0.0950)
Frame 43
tensor(0.1388)
 # KEYFRAME 22
0.055160534000606276
Frame 44
tensor(0.0602)
Frame 45
tensor(0.2480)
 # KEYFRAME 23
0.055872511002235115
Frame 46
tensor(0.2779)
 # KEYFRAME 24
0.056511128997954074
Frame 47
tensor(0.0692)
Frame 48
tensor(0.1015)
 # KEYFRAME 25
0.05718447599792853
Frame 49
tensor(0.4423)
 # KEYFRAME 26
0.05853524199483218
Frame 50
tensor(0.0492)
Frame 51
tensor(0.1004)
 # KEYFRAME 27
0.05943134800327243
Frame 52
tensor(0.1746)
 # KEYFRAME 28
0.059654477998265065
Frame 53
tensor(0.2647)
 # KEYFRAME 29
0.060537755001860205
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 54
tensor(0.1673)
 # KEYFRAME 30
0.05854420200193999
Frame 55
tensor(0.0421)
Frame 56
tensor(0.1064)
 # KEYFRAME 31
0.05888853099895641
Frame 57
tensor(0.0630)
Frame 58
tensor(0.0977)
Frame 59
tensor(0.1295)
 # KEYFRAME 32
0.05953687799774343
Frame 60
tensor(0.1505)
 # KEYFRAME 33
0.06045437500142725
Frame 61
tensor(0.2489)
 # KEYFRAME 34
0.06077655399712967
Frame 62
tensor(0.0715)
Frame 63
tensor(0.1584)
 # KEYFRAME 35
0.061138401993957814
Frame 64
tensor(0.0341)
Frame 65
tensor(0.0790)
Frame 66
tensor(0.1823)
 # KEYFRAME 36
0.06167251000442775
Frame 67
tensor(0.0483)
Frame 68
tensor(0.0884)
Frame 69
tensor(0.1606)
 # KEYFRAME 37
0.06245947800198337
Frame 70
tensor(0.0364)
Frame 71
tensor(0.0901)
Frame 72
tensor(0.1485)
 # KEYFRAME 38
0.06339944399951492
Frame 73
tensor(0.0112)
Frame 74
tensor(0.0677)
Frame 75
tensor(0.1073)
 # KEYFRAME 39
0.06433585099875927
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1234 loss_distill=0.1733 tta_take=0.008s
Frame 76
tensor(0.0453)
Frame 77
tensor(0.0883)
Frame 78
tensor(0.1610)
 # KEYFRAME 40
0.06278418700094335
Frame 79
tensor(0.0450)
Frame 80
tensor(0.1532)
 # KEYFRAME 41
0.06414073199994164
Frame 81
tensor(0.1365)
 # KEYFRAME 42
0.06405149299826007
Frame 82
tensor(0.0603)
Frame 83
tensor(0.1270)
 # KEYFRAME 43
0.06427937199623557
Frame 84
tensor(0.1145)
 # KEYFRAME 44
0.06500280800537439
Frame 85
tensor(0.0587)
Frame 86
tensor(0.1098)
 # KEYFRAME 45
0.06564051599707454
Frame 87
tensor(0.1630)
 # KEYFRAME 46
0.06612127500557108
Frame 88
tensor(0.0618)
Frame 89
tensor(0.1152)
 # KEYFRAME 47
0.06612317499821074
Frame 90
tensor(0.0664)
Frame 91
tensor(0.1159)
 # KEYFRAME 48
0.0669276609987719
Frame 92
tensor(0.0166)
Frame 93
tensor(0.0807)
Frame 94
tensor(0.1419)
 # KEYFRAME 49
0.06775376899895491
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1235 loss_distill=0.2747 tta_take=0.008s
Frame 95
tensor(0.0618)
Frame 96
tensor(0.0928)
Frame 97
tensor(0.1050)
 # KEYFRAME 50
0.06716601100197295
Frame 98
tensor(0.2164)
 # KEYFRAME 51
0.06862339600047562
Frame 99
tensor(0.0376)
Frame 100
tensor(0.0159)
Frame 101
tensor(0.0506)
Frame 102
tensor(0.0634)
Frame 103
tensor(0.0721)
Frame 104
tensor(0.4969)
 # KEYFRAME 52
0.0694594730011886
Frame 105
tensor(0.0431)
Frame 106
tensor(0.0924)
Frame 107
tensor(0.1710)
 # KEYFRAME 53
0.07023223999567563
Frame 108
tensor(0.0558)
Frame 109
tensor(0.2110)
 # KEYFRAME 54
0.0694634129977203
Frame 110
tensor(0.1039)
 # KEYFRAME 55
0.07222355400153901
Frame 111
tensor(0.0817)
Frame 112
tensor(0.1315)
 # KEYFRAME 56
0.07326151899906108
Frame 113
tensor(0.1180)
 # KEYFRAME 57
0.07355792900489178
Frame 114
tensor(0.0747)
Frame 115
tensor(0.1129)
 # KEYFRAME 58
0.07381816699489718
Frame 116
tensor(0.1265)
 # KEYFRAME 59
0.07443222499568947
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1236 loss_distill=0.3466 tta_take=0.008s
Frame 117
tensor(0.1034)
 # KEYFRAME 60
0.07169302499823971
Frame 118
tensor(0.0863)
Frame 119
tensor(0.1985)
 # KEYFRAME 61
0.07279729100264376
Frame 120
tensor(0.0554)
Frame 121
tensor(0.1105)
 # KEYFRAME 62
0.0730938399938168
Frame 122
tensor(0.1273)
 # KEYFRAME 63
0.07411334599601105
Frame 123
tensor(0.0588)
Frame 124
tensor(0.1212)
 # KEYFRAME 64
0.0750741529991501
Frame 125
tensor(0.1597)
 # KEYFRAME 65
0.07394676699914271
Frame 126
tensor(0.0433)
Frame 127
tensor(0.0934)
Frame 128
tensor(0.4529)
 # KEYFRAME 66
0.0769045470005949
Frame 129
tensor(0.0412)
Frame 130
tensor(0.6947)
 # KEYFRAME 67
0.07819692199700512
Frame 131
tensor(0.1049)
 # KEYFRAME 68
0.07895753999764565
Frame 132
tensor(0.0548)
Frame 133
tensor(0.4648)
 # KEYFRAME 69
0.07941052700334694
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1237 loss_distill=0.4024 tta_take=0.008s
Frame 134
tensor(0.0876)
Frame 135
tensor(0.1672)
 # KEYFRAME 70
0.0759547800043947
Frame 136
tensor(0.2027)
 # KEYFRAME 71
0.0776300940051442
Frame 137
tensor(0.1188)
 # KEYFRAME 72
0.07719996599917067
Frame 138
tensor(0.1006)
 # KEYFRAME 73
0.0781774819988641
Frame 139
tensor(0.3833)
 # KEYFRAME 74
0.079032059002202
Frame 140
tensor(0.0412)
Frame 141
tensor(0.1328)
 # KEYFRAME 75
0.08027171400317457
Frame 142
tensor(0.1679)
 # KEYFRAME 76
0.0791664989956189
Frame 143
tensor(0.0342)
Frame 144
tensor(0.0872)
Frame 145
tensor(0.0862)
Frame 146
tensor(0.1133)
 # KEYFRAME 77
0.08191102799901273
Frame 147
tensor(0.0200)
Frame 148
tensor(0.0590)
Frame 149
tensor(0.0724)
Backending... 78 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 63240, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1238 loss_distill=0.4024 tta_take=0.007s
[epoch 0 scene 181/556] scannetpp/3928249b53/DSC frames=150 tta_steps_this_scene=5 mean_loss=0.3198 total_steps=1238 time=33.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0452)
Frame 2
tensor(0.0808)
Frame 3
tensor(0.1441)
 # KEYFRAME 1
Frame 4
tensor(0.0269)
Frame 5
tensor(0.0773)
Frame 6
tensor(0.1011)
 # KEYFRAME 2
0.05139435700402828
Frame 7
tensor(0.0406)
Frame 8
tensor(0.0707)
Frame 9
tensor(0.1604)
 # KEYFRAME 3
0.0523702240025159
Frame 10
tensor(0.0307)
Frame 11
tensor(0.1147)
 # KEYFRAME 4
0.05298852099804208
Frame 12
tensor(0.0395)
Frame 13
tensor(0.1241)
 # KEYFRAME 5
0.05459746500127949
Frame 14
tensor(0.0357)
Frame 15
tensor(0.1069)
 # KEYFRAME 6
0.05618790999869816
Frame 16
tensor(0.0259)
Frame 17
tensor(0.0852)
Frame 18
tensor(0.1283)
 # KEYFRAME 7
0.056447049995767884
Frame 19
tensor(0.0808)
Frame 20
tensor(0.1185)
 # KEYFRAME 8
0.057605754998803604
Frame 21
tensor(0.0791)
Frame 22
tensor(0.1126)
 # KEYFRAME 9
0.058038692994159646
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 23
tensor(0.0560)
Frame 24
tensor(0.0722)
Frame 25
tensor(0.1129)
 # KEYFRAME 10
0.051540836997446604
Frame 26
tensor(0.0310)
Frame 27
tensor(0.0844)
Frame 28
tensor(0.1080)
 # KEYFRAME 11
0.052651432997663505
Frame 29
tensor(0.0621)
Frame 30
tensor(0.0582)
Frame 31
tensor(0.0462)
Frame 32
tensor(0.0363)
Frame 33
tensor(0.0870)
Frame 34
tensor(0.1291)
 # KEYFRAME 12
0.05361748900031671
Frame 35
tensor(0.0596)
Frame 36
tensor(0.0731)
Frame 37
tensor(0.1128)
 # KEYFRAME 13
0.05539602300268598
Frame 38
tensor(0.0236)
Frame 39
tensor(0.0828)
Frame 40
tensor(0.1095)
 # KEYFRAME 14
0.05517353300092509
Frame 41
tensor(0.0441)
Frame 42
tensor(0.0640)
Frame 43
tensor(0.1543)
 # KEYFRAME 15
0.0553308040034608
Frame 44
tensor(0.0391)
Frame 45
tensor(0.2380)
 # KEYFRAME 16
0.0558603219978977
Frame 46
tensor(0.0421)
Frame 47
tensor(0.0928)
Frame 48
tensor(0.1242)
 # KEYFRAME 17
0.056904518001829274
Frame 49
tensor(0.0973)
Frame 50
tensor(0.2267)
 # KEYFRAME 18
0.05743953500495991
Frame 51
tensor(0.0632)
Frame 52
tensor(0.1846)
 # KEYFRAME 19
0.05813745300110895
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 53
tensor(0.0456)
Frame 54
tensor(0.1094)
 # KEYFRAME 20
0.05423040700407
Frame 55
tensor(0.0536)
Frame 56
tensor(0.1499)
 # KEYFRAME 21
0.05466601499938406
Frame 57
tensor(0.0493)
Frame 58
tensor(0.1928)
 # KEYFRAME 22
0.0552386440031114
Frame 59
tensor(0.0128)
Frame 60
tensor(0.0900)
Frame 61
tensor(0.1389)
 # KEYFRAME 23
0.05589541100198403
Frame 62
tensor(0.1038)
 # KEYFRAME 24
0.05616297000233317
Frame 63
tensor(0.0513)
Frame 64
tensor(0.1452)
 # KEYFRAME 25
0.05670305800595088
Frame 65
tensor(0.0503)
Frame 66
tensor(0.1881)
 # KEYFRAME 26
0.05793692400038708
Frame 67
tensor(0.0637)
Frame 68
tensor(0.0568)
Frame 69
tensor(0.0443)
Frame 70
tensor(0.1880)
 # KEYFRAME 27
0.059282468995661475
Frame 71
tensor(0.0444)
Frame 72
tensor(0.0932)
Frame 73
tensor(0.1113)
 # KEYFRAME 28
0.059827238001162186
Frame 74
tensor(0.0186)
Frame 75
tensor(0.0304)
Frame 76
tensor(0.0411)
Frame 77
tensor(0.0470)
Frame 78
tensor(0.0874)
Frame 79
tensor(0.0879)
Frame 80
tensor(0.3358)
 # KEYFRAME 29
0.060234185999433976
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 81
tensor(0.0255)
Frame 82
tensor(0.0968)
Frame 83
tensor(0.1229)
 # KEYFRAME 30
0.05849451199901523
Frame 84
tensor(0.0406)
Frame 85
tensor(0.0701)
Frame 86
tensor(0.1192)
 # KEYFRAME 31
0.059826206997968256
Frame 87
tensor(0.0249)
Frame 88
tensor(0.0733)
Frame 89
tensor(0.1114)
 # KEYFRAME 32
0.059927197005890775
Frame 90
tensor(0.0707)
Frame 91
tensor(0.0947)
Frame 92
tensor(0.2803)
 # KEYFRAME 33
0.061706470005447045
Frame 93
tensor(0.0115)
Frame 94
tensor(0.0577)
Frame 95
tensor(0.0883)
Frame 96
tensor(0.1256)
 # KEYFRAME 34
0.06255352700100048
Frame 97
tensor(0.0510)
Frame 98
tensor(0.1615)
 # KEYFRAME 35
0.0636344239974278
Frame 99
tensor(0.0381)
Frame 100
tensor(0.0954)
Frame 101
tensor(0.1602)
 # KEYFRAME 36
0.06452300100499997
Frame 102
tensor(0.0425)
Frame 103
tensor(0.1071)
 # KEYFRAME 37
0.06563954600278521
Frame 104
tensor(0.0547)
Frame 105
tensor(0.1024)
 # KEYFRAME 38
0.06581210600415943
Frame 106
tensor(0.0733)
Frame 107
tensor(0.1459)
 # KEYFRAME 39
0.06718423100392101
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1239 loss_distill=0.1733 tta_take=0.008s
Frame 108
tensor(0.1463)
 # KEYFRAME 40
0.062811685995257
Frame 109
tensor(0.0501)
Frame 110
tensor(0.0628)
Frame 111
tensor(0.0891)
Frame 112
tensor(0.1039)
 # KEYFRAME 41
0.0643194809963461
Frame 113
tensor(0.1794)
 # KEYFRAME 42
0.064085772006365
Frame 114
tensor(0.0212)
Frame 115
tensor(0.0898)
Frame 116
tensor(0.1227)
 # KEYFRAME 43
0.06429184199805604
Frame 117
tensor(0.6084)
 # KEYFRAME 44
0.064734010004031
Frame 118
tensor(0.0069)
Frame 119
tensor(0.0419)
Frame 120
tensor(0.0636)
Frame 121
tensor(0.1014)
 # KEYFRAME 45
0.06500913899799343
Frame 122
tensor(0.0190)
Frame 123
tensor(0.1844)
 # KEYFRAME 46
0.0654128070018487
Frame 124
tensor(0.0146)
Frame 125
tensor(0.1460)
 # KEYFRAME 47
0.06603481500496855
Frame 126
tensor(0.0071)
Frame 127
tensor(0.0259)
Frame 128
tensor(0.0341)
Frame 129
tensor(0.0477)
Frame 130
tensor(0.0403)
Frame 131
tensor(0.2136)
 # KEYFRAME 48
0.06666811300237896
Frame 132
tensor(0.1631)
 # KEYFRAME 49
0.06720679100544658
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531069278717
TTA-STEP: step=1240 loss_distill=0.2747 tta_take=0.008s
Frame 133
tensor(0.1266)
 # KEYFRAME 50
0.0671646709961351
Frame 134
tensor(0.0266)
Frame 135
tensor(0.1029)
 # KEYFRAME 51
0.0695012720025261
Frame 136
tensor(0.0399)
Frame 137
tensor(0.0988)
Frame 138
tensor(0.1230)
 # KEYFRAME 52
0.06923940400156425
Frame 139
tensor(0.0827)
Frame 140
tensor(0.1176)
 # KEYFRAME 53
0.07095785799901932
Frame 141
tensor(0.0772)
Frame 142
tensor(0.1179)
 # KEYFRAME 54
0.06955777300026966
Frame 143
tensor(0.0961)
Frame 144
tensor(0.1269)
 # KEYFRAME 55
0.07296464999672025
Frame 145
tensor(0.0343)
Frame 146
tensor(0.0577)
Frame 147
tensor(0.1517)
 # KEYFRAME 56
0.07296474000031594
Frame 148
tensor(0.0397)
Frame 149
tensor(0.0780)
Backending... 57 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 53010, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1241 loss_distill=0.3466 tta_take=0.006s
[epoch 0 scene 182/556] scannetpp/7e09430da7/DSC frames=150 tta_steps_this_scene=3 mean_loss=0.2648 total_steps=1241 time=26.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0106)
Frame 2
tensor(0.0266)
Frame 3
tensor(0.0813)
Frame 4
tensor(0.1313)
 # KEYFRAME 1
Frame 5
tensor(0.0582)
Frame 6
tensor(0.1046)
 # KEYFRAME 2
0.05083485899376683
Frame 7
tensor(0.0847)
Frame 8
tensor(0.1268)
 # KEYFRAME 3
0.05204465499991784
Frame 9
tensor(0.1102)
 # KEYFRAME 4
0.05499443400185555
Frame 10
tensor(0.0928)
Frame 11
tensor(0.1347)
 # KEYFRAME 5
0.05579427199700149
Frame 12
tensor(0.1255)
 # KEYFRAME 6
0.05603428999893367
Frame 13
tensor(0.1186)
 # KEYFRAME 7
0.05715977700310759
Frame 14
tensor(0.0866)
Frame 15
tensor(0.1319)
 # KEYFRAME 8
0.05788733399822377
Frame 16
tensor(0.1866)
 # KEYFRAME 9
0.05797313399671111
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 17
tensor(0.0921)
Frame 18
tensor(0.2101)
 # KEYFRAME 10
0.05181848600477679
Frame 19
tensor(0.1249)
 # KEYFRAME 11
0.053351009999460075
Frame 20
tensor(0.1038)
 # KEYFRAME 12
0.05430482699739514
Frame 21
tensor(0.0742)
Frame 22
tensor(0.1195)
 # KEYFRAME 13
0.056249100001878105
Frame 23
tensor(0.1419)
 # KEYFRAME 14
0.057232205996115226
Frame 24
tensor(0.1662)
 # KEYFRAME 15
0.059394398995209485
Frame 25
tensor(0.0811)
Frame 26
tensor(0.2603)
 # KEYFRAME 16
0.05889218099764548
Frame 27
tensor(0.1292)
 # KEYFRAME 17
0.05994787699455628
Frame 28
tensor(0.1161)
 # KEYFRAME 18
0.06125315200188197
Frame 29
tensor(0.0801)
Frame 30
tensor(0.1561)
 # KEYFRAME 19
0.0623696580005344
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 31
tensor(0.0667)
Frame 32
tensor(0.0841)
Frame 33
tensor(0.1427)
 # KEYFRAME 20
0.059025750000728294
Frame 34
tensor(0.0930)
Frame 35
tensor(0.1622)
 # KEYFRAME 21
0.06047023500286741
Frame 36
tensor(0.0895)
Frame 37
tensor(0.2116)
 # KEYFRAME 22
0.060825953994935844
Frame 38
tensor(0.0742)
Frame 39
tensor(0.1140)
 # KEYFRAME 23
0.061768320003466215
Frame 40
tensor(0.0977)
Frame 41
tensor(0.1817)
 # KEYFRAME 24
0.06252013699850067
Frame 42
tensor(0.0662)
Frame 43
tensor(0.0641)
Frame 44
tensor(0.2674)
 # KEYFRAME 25
0.06303699599811807
Frame 45
tensor(0.0775)
Frame 46
tensor(0.1474)
 # KEYFRAME 26
0.06530885800020769
Frame 47
tensor(0.1386)
 # KEYFRAME 27
0.0663047740017646
Frame 48
tensor(0.1667)
 # KEYFRAME 28
0.06605031499930192
Frame 49
tensor(0.0578)
Frame 50
tensor(0.0496)
Frame 51
tensor(0.0553)
Frame 52
tensor(0.0933)
Frame 53
tensor(0.1464)
 # KEYFRAME 29
0.06792965800559614
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 54
tensor(0.1558)
 # KEYFRAME 30
0.06581827600166434
Frame 55
tensor(0.1008)
 # KEYFRAME 31
0.06765270899632014
Frame 56
tensor(0.2515)
 # KEYFRAME 32
0.06872915499843657
Frame 57
tensor(0.2484)
 # KEYFRAME 33
0.07058325899561169
Frame 58
tensor(0.1890)
 # KEYFRAME 34
0.0714206060001743
Frame 59
tensor(0.1639)
 # KEYFRAME 35
0.07339983899873914
Frame 60
tensor(0.1593)
 # KEYFRAME 36
0.07399334700312465
Frame 61
tensor(0.2172)
 # KEYFRAME 37
0.0760722490012995
Frame 62
tensor(0.1657)
 # KEYFRAME 38
0.07565013100247597
Frame 63
tensor(0.1303)
 # KEYFRAME 39
0.0768483659994672
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1242 loss_distill=0.1733 tta_take=0.009s
Frame 64
tensor(0.0940)
Frame 65
tensor(0.1553)
 # KEYFRAME 40
0.07268346199998632
Frame 66
tensor(0.1450)
 # KEYFRAME 41
0.0744966350030154
Frame 67
tensor(0.0698)
Frame 68
tensor(0.1244)
 # KEYFRAME 42
0.07471699499728857
Frame 69
tensor(0.1573)
 # KEYFRAME 43
0.07519381299789529
Frame 70
tensor(0.0913)
Frame 71
tensor(0.0594)
Frame 72
tensor(0.1171)
 # KEYFRAME 44
0.07626957799948286
Frame 73
tensor(0.0807)
Frame 74
tensor(0.1491)
 # KEYFRAME 45
0.07656457700068131
Frame 75
tensor(0.1064)
 # KEYFRAME 46
0.07709342599991942
Frame 76
tensor(0.0597)
Frame 77
tensor(0.1076)
 # KEYFRAME 47
0.07818306199624203
Frame 78
tensor(0.0804)
Frame 79
tensor(0.1265)
 # KEYFRAME 48
0.07920917800220195
Frame 80
tensor(0.1440)
 # KEYFRAME 49
0.07957640699896729
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1243 loss_distill=0.2747 tta_take=0.009s
Frame 81
tensor(0.0922)
Frame 82
tensor(0.1533)
 # KEYFRAME 50
0.08009522600332275
Frame 83
tensor(0.1218)
 # KEYFRAME 51
0.08195985800557537
Frame 84
tensor(0.1488)
 # KEYFRAME 52
0.08177536899893312
Frame 85
tensor(0.1421)
 # KEYFRAME 53
0.08280893500341335
Frame 86
tensor(0.1377)
 # KEYFRAME 54
0.08429684000293491
Frame 87
tensor(0.1144)
 # KEYFRAME 55
0.08484913800202776
Frame 88
tensor(0.0559)
Frame 89
tensor(0.1268)
 # KEYFRAME 56
0.08476507900195429
Frame 90
tensor(0.1257)
 # KEYFRAME 57
0.08571077499800595
Frame 91
tensor(0.0345)
Frame 92
tensor(0.2389)
 # KEYFRAME 58
0.08714837000297848
Frame 93
tensor(0.1391)
 # KEYFRAME 59
0.08711409999523312
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1244 loss_distill=0.3466 tta_take=0.009s
Frame 94
tensor(0.2392)
 # KEYFRAME 60
0.08637367300252663
Frame 95
tensor(0.1650)
 # KEYFRAME 61
0.088172815994767
Frame 96
tensor(0.0985)
Frame 97
tensor(0.0929)
Frame 98
tensor(0.2178)
 # KEYFRAME 62
0.08814452600199729
Frame 99
tensor(0.1005)
 # KEYFRAME 63
0.08847417600190965
Frame 100
tensor(0.0767)
Frame 101
tensor(0.1798)
 # KEYFRAME 64
0.08965678200183902
Frame 102
tensor(0.0480)
Frame 103
tensor(0.0777)
Frame 104
tensor(0.1152)
 # KEYFRAME 65
0.090504908002913
Frame 105
tensor(0.0819)
Frame 106
tensor(0.1411)
 # KEYFRAME 66
0.0911883860026137
Frame 107
tensor(0.1200)
 # KEYFRAME 67
0.0922158009998384
Frame 108
tensor(0.0426)
Frame 109
tensor(0.1297)
 # KEYFRAME 68
0.0926152500032913
Frame 110
tensor(0.0760)
Frame 111
tensor(0.1445)
 # KEYFRAME 69
0.09362539700669004
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1245 loss_distill=0.4024 tta_take=0.009s
Frame 112
tensor(0.1716)
 # KEYFRAME 70
0.09290799999871524
Frame 113
tensor(0.0868)
Frame 114
tensor(0.1000)
Frame 115
tensor(0.1765)
 # KEYFRAME 71
0.09437023400096223
Frame 116
tensor(0.1732)
 # KEYFRAME 72
0.09501958200416993
Frame 117
tensor(0.2325)
 # KEYFRAME 73
0.09586277900234563
Frame 118
tensor(0.2053)
 # KEYFRAME 74
0.09647330699954182
Frame 119
tensor(0.1918)
 # KEYFRAME 75
0.09801533200516133
Frame 120
tensor(0.3209)
 # KEYFRAME 76
0.09876791899296222
Frame 121
tensor(0.1703)
 # KEYFRAME 77
0.09865223900123965
Frame 122
tensor(0.1657)
 # KEYFRAME 78
0.09979435499553801
Frame 123
tensor(0.1516)
 # KEYFRAME 79
0.10080498200113652
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1246 loss_distill=0.4024 tta_take=0.009s
Frame 124
tensor(0.2215)
 # KEYFRAME 80
0.09396985600324115
Frame 125
tensor(0.1382)
 # KEYFRAME 81
0.09406749599293107
Frame 126
tensor(0.1041)
 # KEYFRAME 82
0.09580960900348146
Frame 127
tensor(0.3743)
 # KEYFRAME 83
0.09680012600438204
Frame 128
tensor(0.1025)
 # KEYFRAME 84
0.09804516100120964
Frame 129
tensor(0.1556)
 # KEYFRAME 85
0.09934208699996816
Frame 130
tensor(0.0928)
Frame 131
tensor(0.0513)
Frame 132
tensor(0.1686)
 # KEYFRAME 86
0.10047444299561903
Frame 133
tensor(0.0846)
Frame 134
tensor(0.1327)
 # KEYFRAME 87
0.10181746699527139
Frame 135
tensor(0.0967)
Frame 136
tensor(0.1894)
 # KEYFRAME 88
0.10153380900010234
Frame 137
tensor(0.1048)
 # KEYFRAME 89
0.10297144400101388
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1247 loss_distill=0.4024 tta_take=0.009s
Frame 138
tensor(0.0619)
Frame 139
tensor(0.0807)
Frame 140
tensor(0.1874)
 # KEYFRAME 90
0.09322182900359621
Frame 141
tensor(0.1908)
 # KEYFRAME 91
0.09538367000641301
Frame 142
tensor(0.1545)
 # KEYFRAME 92
0.09465049300342798
Frame 143
tensor(0.0744)
Backending... 93 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65583, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1248 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 183/556] scannetpp/4c5c60fa76/frame frames=144 tta_steps_this_scene=7 mean_loss=0.3434 total_steps=1248 time=39.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0467)
Frame 2
tensor(0.4497)
 # KEYFRAME 1
Frame 3
tensor(0.3269)
 # KEYFRAME 2
0.0519505449992721
Frame 4
tensor(0.2294)
 # KEYFRAME 3
0.05429219699726673
Frame 5
tensor(0.1823)
 # KEYFRAME 4
0.055809790996136144
Frame 6
tensor(0.2893)
 # KEYFRAME 5
0.055014564000885
Frame 7
tensor(0.1928)
 # KEYFRAME 6
0.056266840001626406
Frame 8
tensor(0.1229)
 # KEYFRAME 7
0.057037336999201216
Frame 9
tensor(0.0503)
Frame 10
tensor(0.8430)
 # KEYFRAME 8
0.058473192002566066
Frame 11
tensor(0.2221)
 # KEYFRAME 9
0.05849941199994646
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.3560)
 # KEYFRAME 10
0.052573013002984226
Frame 13
tensor(0.0758)
Frame 14
tensor(0.1579)
 # KEYFRAME 11
0.05366684900218388
Frame 15
tensor(0.4848)
 # KEYFRAME 12
0.05454103600641247
Frame 16
tensor(0.3448)
 # KEYFRAME 13
0.056483209002180956
Frame 17
tensor(0.4024)
 # KEYFRAME 14
0.05728197599819396
Frame 18
tensor(0.5696)
 # KEYFRAME 15
0.05815567399986321
Frame 19
tensor(0.3266)
 # KEYFRAME 16
0.059214489003352355
Frame 20
tensor(0.3825)
 # KEYFRAME 17
0.060057086004235316
Frame 21
tensor(0.5045)
 # KEYFRAME 18
0.06102655299764592
Frame 22
tensor(0.0668)
Frame 23
tensor(0.2552)
 # KEYFRAME 19
0.062488627998391166
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 24
tensor(0.9615)
 # KEYFRAME 20
0.05899988000601297
Frame 25
tensor(0.0835)
Frame 26
tensor(0.2405)
 # KEYFRAME 21
0.060437195003032684
Frame 27
tensor(0.2591)
 # KEYFRAME 22
0.061159923003287986
Frame 28
tensor(0.7103)
 # KEYFRAME 23
0.06191932000365341
Frame 29
tensor(0.1042)
 # KEYFRAME 24
0.062461098001222126
Frame 30
tensor(0.0124)
Frame 31
tensor(0.1290)
 # KEYFRAME 25
0.06391360300040105
Frame 32
tensor(0.5165)
 # KEYFRAME 26
0.06532713700289605
Frame 33
tensor(0.2633)
 # KEYFRAME 27
0.06598012600443326
Frame 34
tensor(0.1445)
 # KEYFRAME 28
0.06709269199927803
Frame 35
tensor(0.1153)
 # KEYFRAME 29
0.06864654600212816
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 36
tensor(0.0854)
Frame 37
tensor(0.0650)
Frame 38
tensor(0.2383)
 # KEYFRAME 30
0.0658362850008416
Frame 39
tensor(0.1317)
 # KEYFRAME 31
0.06749369000317529
Frame 40
tensor(0.2755)
 # KEYFRAME 32
0.06787319800059777
Frame 41
tensor(0.1949)
 # KEYFRAME 33
0.0690548040001886
Frame 42
tensor(0.1583)
 # KEYFRAME 34
0.06964686200080905
Frame 43
tensor(0.7778)
 # KEYFRAME 35
0.07095115700212773
Frame 44
tensor(0.3054)
 # KEYFRAME 36
0.07159222599875648
Frame 45
tensor(0.4853)
 # KEYFRAME 37
0.07230409299518215
Frame 46
tensor(0.1463)
 # KEYFRAME 38
0.07301256999926409
Frame 47
tensor(0.2486)
 # KEYFRAME 39
0.0741796560032526
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1249 loss_distill=0.1733 tta_take=0.009s
Frame 48
tensor(0.0887)
Frame 49
tensor(0.2314)
 # KEYFRAME 40
0.0725735820014961
Frame 50
tensor(0.1446)
 # KEYFRAME 41
0.07474937399820192
Frame 51
tensor(0.2033)
 # KEYFRAME 42
0.07453141499718186
Frame 52
tensor(0.2123)
 # KEYFRAME 43
0.07551324200176168
Frame 53
tensor(0.1922)
 # KEYFRAME 44
0.07631607900111703
Frame 54
tensor(0.4732)
 # KEYFRAME 45
0.07708655599708436
Frame 55
tensor(0.2911)
 # KEYFRAME 46
0.07759731400437886
Frame 56
tensor(0.1536)
 # KEYFRAME 47
0.07814759200118715
Frame 57
tensor(0.2610)
 # KEYFRAME 48
0.07873306999681517
Frame 58
tensor(0.1555)
 # KEYFRAME 49
0.08037561400124105
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1250 loss_distill=0.2747 tta_take=0.009s
Frame 59
tensor(0.5671)
 # KEYFRAME 50
0.07942205799918156
Frame 60
tensor(0.2790)
 # KEYFRAME 51
0.08121603100153152
Frame 61
tensor(0.6008)
 # KEYFRAME 52
0.0813525799967465
Frame 62
tensor(0.3649)
 # KEYFRAME 53
0.08234218700090423
Frame 63
tensor(0.3786)
 # KEYFRAME 54
0.08401851099915802
Frame 64
tensor(0.2088)
 # KEYFRAME 55
0.08433007999701658
Frame 65
tensor(0.4412)
 # KEYFRAME 56
0.08596525400207611
Frame 66
tensor(0.1907)
 # KEYFRAME 57
0.08675137099635322
Frame 67
tensor(0.4146)
 # KEYFRAME 58
0.0878082280032686
Frame 68
tensor(0.1914)
 # KEYFRAME 59
0.08842956599983154
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1251 loss_distill=0.3466 tta_take=0.009s
Frame 69
tensor(0.2672)
 # KEYFRAME 60
0.0859889139974257
Frame 70
tensor(0.2783)
 # KEYFRAME 61
0.08905671300453832
Frame 71
tensor(0.1281)
 # KEYFRAME 62
0.08892852399731055
Frame 72
tensor(0.2701)
 # KEYFRAME 63
0.08994938999967417
Frame 73
tensor(0.3414)
 # KEYFRAME 64
0.09145642400108045
Frame 74
tensor(0.5847)
 # KEYFRAME 65
0.09279984000022523
Frame 75
tensor(0.1295)
 # KEYFRAME 66
0.09434098500059918
Frame 76
tensor(0.1319)
 # KEYFRAME 67
0.09492783199675614
Frame 77
tensor(0.3537)
 # KEYFRAME 68
0.09656673700374085
Frame 78
tensor(0.6145)
 # KEYFRAME 69
0.0961353489983594
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1252 loss_distill=0.4024 tta_take=0.009s
Frame 79
tensor(0.1037)
 # KEYFRAME 70
0.09282268999959342
Frame 80
tensor(0.1627)
 # KEYFRAME 71
0.09506259200134082
Frame 81
tensor(0.7348)
 # KEYFRAME 72
0.09573567999905208
Frame 82
tensor(0.2597)
 # KEYFRAME 73
0.09642043700296199
Frame 83
tensor(0.4432)
 # KEYFRAME 74
0.09776580199832097
Frame 84
tensor(0.3037)
 # KEYFRAME 75
0.0985935389981023
Frame 85
tensor(0.3842)
 # KEYFRAME 76
0.10046736300137127
Frame 86
tensor(0.2201)
 # KEYFRAME 77
0.10073934200045187
Frame 87
tensor(0.2860)
 # KEYFRAME 78
0.10253854600159684
Frame 88
tensor(0.1996)
 # KEYFRAME 79
0.10393879999901401
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1253 loss_distill=0.4024 tta_take=0.009s
Frame 89
tensor(0.3462)
 # KEYFRAME 80
0.09337514800427016
Frame 90
tensor(0.1383)
 # KEYFRAME 81
0.09567396999773337
Frame 91
tensor(0.3997)
 # KEYFRAME 82
0.09509660099865869
Frame 92
tensor(0.1246)
 # KEYFRAME 83
0.09606965899729403
Frame 93
tensor(0.2582)
 # KEYFRAME 84
0.09677269499661634
Frame 94
tensor(0.2861)
 # KEYFRAME 85
0.09710632499627536
Frame 95
tensor(0.2444)
 # KEYFRAME 86
0.09801872100069886
Frame 96
tensor(0.3776)
 # KEYFRAME 87
0.09888195800158428
Frame 97
tensor(0.5103)
 # KEYFRAME 88
0.09836882000672631
Frame 98
tensor(0.2953)
 # KEYFRAME 89
0.09995148400048492
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1254 loss_distill=0.4024 tta_take=0.009s
Frame 99
tensor(0.3055)
 # KEYFRAME 90
0.09343379799975082
Frame 100
tensor(0.3809)
 # KEYFRAME 91
0.09512890099722426
Frame 101
tensor(0.4040)
 # KEYFRAME 92
0.09448876399983419
Frame 102
tensor(0.2568)
 # KEYFRAME 93
0.09551653000380611
Frame 103
tensor(0.1787)
 # KEYFRAME 94
0.09658879599737702
Frame 104
tensor(0.2016)
 # KEYFRAME 95
0.09713583499978995
Frame 105
tensor(0.2569)
 # KEYFRAME 96
0.09787462199892616
Frame 106
tensor(0.2911)
 # KEYFRAME 97
0.09813769099855563
Frame 107
tensor(0.1877)
 # KEYFRAME 98
0.0991738080047071
Frame 108
tensor(0.4520)
 # KEYFRAME 99
0.09985718399548205
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1255 loss_distill=0.4024 tta_take=0.009s
Frame 109
tensor(0.3664)
 # KEYFRAME 100
0.09297784899536055
Frame 110
tensor(0.2045)
 # KEYFRAME 101
0.09491995199641678
Frame 111
tensor(0.3822)
 # KEYFRAME 102
0.09503106199554168
Frame 112
tensor(0.0896)
Frame 113
tensor(0.6369)
 # KEYFRAME 103
0.09589215899904957
Frame 114
tensor(0.1854)
 # KEYFRAME 104
0.09646755700669019
Frame 115
tensor(0.5362)
 # KEYFRAME 105
0.09675878599955468
Frame 116
tensor(0.1346)
 # KEYFRAME 106
0.09747885300021153
Frame 117
tensor(0.0948)
Frame 118
tensor(0.6635)
 # KEYFRAME 107
0.09904106799513102
Frame 119
tensor(0.4169)
 # KEYFRAME 108
0.09939178700005868
Frame 120
tensor(0.4288)
 # KEYFRAME 109
0.1004207329970086
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1256 loss_distill=0.4024 tta_take=0.009s
Frame 121
tensor(0.1155)
 # KEYFRAME 110
0.09314836900011869
Frame 122
tensor(0.2619)
 # KEYFRAME 111
0.09411906499735778
Frame 123
tensor(0.2366)
 # KEYFRAME 112
0.09583721899980446
Frame 124
tensor(0.3239)
 # KEYFRAME 113
0.09642898699530633
Frame 125
tensor(0.2686)
 # KEYFRAME 114
0.09676884599321056
Frame 126
tensor(0.2638)
 # KEYFRAME 115
0.09736704399983864
Frame 127
tensor(0.3605)
 # KEYFRAME 116
0.09862111899565207
Frame 128
tensor(0.3211)
 # KEYFRAME 117
0.09911519700108329
Frame 129
tensor(0.4098)
 # KEYFRAME 118
0.09888029799913056
Frame 130
tensor(0.2443)
 # KEYFRAME 119
0.09999317399342544
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1257 loss_distill=0.4024 tta_take=0.009s
Frame 131
tensor(0.2995)
 # KEYFRAME 120
0.09283460900041973
Frame 132
tensor(0.3392)
 # KEYFRAME 121
0.09589475900429534
Frame 133
tensor(0.3767)
 # KEYFRAME 122
0.09604454800137319
Frame 134
tensor(0.1338)
 # KEYFRAME 123
0.09599320800043643
Frame 135
tensor(0.3324)
 # KEYFRAME 124
0.09744527399743674
Frame 136
tensor(0.2765)
 # KEYFRAME 125
0.09814638100215234
Frame 137
tensor(0.1283)
 # KEYFRAME 126
0.0996411860032822
Frame 138
tensor(0.3307)
 # KEYFRAME 127
0.09915809799713315
Frame 139
tensor(0.2366)
 # KEYFRAME 128
0.10065725200547604
Frame 140
tensor(0.2381)
 # KEYFRAME 129
0.1001318229973549
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1258 loss_distill=0.4024 tta_take=0.009s
Frame 141
tensor(0.2676)
 # KEYFRAME 130
0.09333855799923185
Frame 142
tensor(0.1930)
 # KEYFRAME 131
0.09442905399919255
Backending... 132 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 64542, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1259 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 184/556] scannetpp/1a130d092a/frame frames=143 tta_steps_this_scene=11 mean_loss=0.3649 total_steps=1259 time=52.6s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0190)
Frame 2
tensor(0.0516)
Frame 3
tensor(0.0679)
Frame 4
tensor(0.0989)
Frame 5
tensor(0.1439)
 # KEYFRAME 1
Frame 6
tensor(0.0498)
Frame 7
tensor(0.0969)
Frame 8
tensor(0.1229)
 # KEYFRAME 2
0.051904624997405335
Frame 9
tensor(0.0541)
Frame 10
tensor(0.1075)
 # KEYFRAME 3
0.052938332002668176
Frame 11
tensor(0.0532)
Frame 12
tensor(0.1071)
 # KEYFRAME 4
0.05331569999543717
Frame 13
tensor(0.0244)
Frame 14
tensor(0.0679)
Frame 15
tensor(0.1140)
 # KEYFRAME 5
0.055130904001998715
Frame 16
tensor(0.0356)
Frame 17
tensor(0.0529)
Frame 18
tensor(0.0914)
Frame 19
tensor(0.1338)
 # KEYFRAME 6
0.056036191002931446
Frame 20
tensor(0.0509)
Frame 21
tensor(0.1015)
 # KEYFRAME 7
0.056953366998641286
Frame 22
tensor(0.0339)
Frame 23
tensor(0.1068)
 # KEYFRAME 8
0.05885277000197675
Frame 24
tensor(0.0777)
Frame 25
tensor(0.1656)
 # KEYFRAME 9
0.058539632002066355
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 26
tensor(0.0356)
Frame 27
tensor(0.0528)
Frame 28
tensor(0.0960)
Frame 29
tensor(0.1152)
 # KEYFRAME 10
0.0515809860007721
Frame 30
tensor(0.0339)
Frame 31
tensor(0.0780)
Frame 32
tensor(0.1120)
 # KEYFRAME 11
0.05255063299409812
Frame 33
tensor(0.0515)
Frame 34
tensor(0.1140)
 # KEYFRAME 12
0.05348935999791138
Frame 35
tensor(0.0693)
Frame 36
tensor(0.1310)
 # KEYFRAME 13
0.05489151499932632
Frame 37
tensor(0.0259)
Frame 38
tensor(0.0596)
Frame 39
tensor(0.0859)
Frame 40
tensor(0.1098)
 # KEYFRAME 14
0.05479434500011848
Frame 41
tensor(0.0264)
Frame 42
tensor(0.0751)
Frame 43
tensor(0.0625)
Frame 44
tensor(0.0434)
Frame 45
tensor(0.0484)
Frame 46
tensor(0.0616)
Frame 47
tensor(0.0810)
Frame 48
tensor(0.0921)
Frame 49
tensor(0.1099)
 # KEYFRAME 15
0.05514825399586698
Frame 50
tensor(0.0377)
Frame 51
tensor(0.0544)
Frame 52
tensor(0.0815)
Frame 53
tensor(0.1031)
 # KEYFRAME 16
0.05570683200494386
Frame 54
tensor(0.0280)
Frame 55
tensor(0.0654)
Frame 56
tensor(0.0873)
Frame 57
tensor(0.1656)
 # KEYFRAME 17
0.05629549000150291
Frame 58
tensor(0.0832)
Frame 59
tensor(0.1008)
 # KEYFRAME 18
0.056965126997965854
Frame 60
tensor(0.2162)
 # KEYFRAME 19
0.057762854994507506
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 61
tensor(0.0215)
Frame 62
tensor(0.0755)
Frame 63
tensor(0.1465)
 # KEYFRAME 20
0.05395626800600439
Frame 64
tensor(0.0681)
Frame 65
tensor(0.1062)
 # KEYFRAME 21
0.05459600500034867
Frame 66
tensor(0.0699)
Frame 67
tensor(0.1355)
 # KEYFRAME 22
0.054990683995129075
Frame 68
tensor(0.0657)
Frame 69
tensor(0.1435)
 # KEYFRAME 23
0.05551735300105065
Frame 70
tensor(0.0262)
Frame 71
tensor(0.2298)
 # KEYFRAME 24
0.05584369099960895
Frame 72
tensor(0.0207)
Frame 73
tensor(0.1985)
 # KEYFRAME 25
0.05687579799996456
Frame 74
tensor(0.0382)
Frame 75
tensor(0.0707)
Frame 76
tensor(0.1704)
 # KEYFRAME 26
0.057764124001550954
Frame 77
tensor(0.0631)
Frame 78
tensor(0.1235)
 # KEYFRAME 27
0.05895112099824473
Frame 79
tensor(0.0488)
Frame 80
tensor(0.0740)
Frame 81
tensor(0.1102)
 # KEYFRAME 28
0.05972522799856961
Frame 82
tensor(0.3577)
 # KEYFRAME 29
0.06034960500255693
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 83
tensor(0.0399)
Frame 84
tensor(0.2106)
 # KEYFRAME 30
0.058207592999679036
Frame 85
tensor(0.0146)
Frame 86
tensor(0.0550)
Frame 87
tensor(0.0843)
Frame 88
tensor(0.1054)
 # KEYFRAME 31
0.059643628002959304
Frame 89
tensor(0.0356)
Frame 90
tensor(0.3102)
 # KEYFRAME 32
0.05971098699956201
Frame 91
tensor(0.0379)
Frame 92
tensor(0.2320)
 # KEYFRAME 33
0.060342575001413934
Frame 93
tensor(0.0304)
Frame 94
tensor(0.0544)
Frame 95
tensor(0.1139)
 # KEYFRAME 34
0.06081154300045455
Frame 96
tensor(0.0370)
Frame 97
tensor(0.1074)
 # KEYFRAME 35
0.06145676199957961
Frame 98
tensor(0.0803)
Frame 99
tensor(0.1173)
 # KEYFRAME 36
0.06236817900207825
Frame 100
tensor(0.0375)
Frame 101
tensor(0.0878)
Frame 102
tensor(0.1516)
 # KEYFRAME 37
0.06300007599929813
Frame 103
tensor(0.1098)
 # KEYFRAME 38
0.06331388499529567
Frame 104
tensor(0.0394)
Frame 105
tensor(0.1922)
 # KEYFRAME 39
0.06402200200682273
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1260 loss_distill=0.1733 tta_take=0.008s
Frame 106
tensor(0.0303)
Frame 107
tensor(0.0500)
Frame 108
tensor(0.8018)
 # KEYFRAME 40
0.0626566070059198
Frame 109
tensor(0.0066)
Frame 110
tensor(0.0363)
Frame 111
tensor(0.0529)
Frame 112
tensor(0.1009)
 # KEYFRAME 41
0.06447225099691423
Frame 113
tensor(0.0265)
Frame 114
tensor(0.0700)
Frame 115
tensor(0.1509)
 # KEYFRAME 42
0.06455739100056235
Frame 116
tensor(0.0458)
Frame 117
tensor(0.7026)
 # KEYFRAME 43
0.06449938000150723
Frame 118
tensor(0.0135)
Frame 119
tensor(0.0764)
Frame 120
tensor(0.1469)
 # KEYFRAME 44
0.06591183500131592
Frame 121
tensor(0.0530)
Frame 122
tensor(0.1410)
 # KEYFRAME 45
0.06617614399874583
Frame 123
tensor(0.0009)
Frame 124
tensor(0.0133)
Frame 125
tensor(0.0433)
Frame 126
tensor(0.3314)
 # KEYFRAME 46
0.06655686299927766
Frame 127
tensor(0.0389)
Frame 128
tensor(0.3189)
 # KEYFRAME 47
0.0670723819930572
Frame 129
tensor(0.2935)
 # KEYFRAME 48
0.0679768280024291
Frame 130
tensor(0.0056)
Frame 131
tensor(0.0358)
Frame 132
tensor(0.5129)
 # KEYFRAME 49
0.0687341560042114
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531069278717
TTA-STEP: step=1261 loss_distill=0.2747 tta_take=0.008s
Frame 133
tensor(0.0155)
Frame 134
tensor(0.3836)
 # KEYFRAME 50
0.06672050199995283
Frame 135
tensor(0.0259)
Frame 136
tensor(0.3812)
 # KEYFRAME 51
0.06818938799551688
Frame 137
tensor(0.0120)
Frame 138
tensor(0.2011)
 # KEYFRAME 52
0.06828483800200047
Frame 139
tensor(0.0499)
Frame 140
tensor(0.0900)
Frame 141
tensor(0.2589)
 # KEYFRAME 53
0.06917355400219094
Frame 142
tensor(0.0146)
Frame 143
tensor(0.0503)
Frame 144
tensor(0.1646)
 # KEYFRAME 54
0.06894370500231162
Frame 145
tensor(0.0391)
Frame 146
tensor(0.0784)
Frame 147
tensor(0.1483)
 # KEYFRAME 55
0.07004196100024274
Frame 148
tensor(0.0533)
Frame 149
tensor(0.2086)
 # KEYFRAME 56
0.07059590800054139
Backending... 57 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 53010, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1262 loss_distill=0.3466 tta_take=0.006s
[epoch 0 scene 185/556] scannetpp/b1d75ecd55/DSC frames=150 tta_steps_this_scene=3 mean_loss=0.2648 total_steps=1262 time=26.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0387)
Frame 2
tensor(0.1439)
 # KEYFRAME 1
Frame 3
tensor(0.1857)
 # KEYFRAME 2
0.05173360600019805
Frame 4
tensor(0.2304)
 # KEYFRAME 3
0.05424873699666932
Frame 5
tensor(0.3642)
 # KEYFRAME 4
0.0544999959965935
Frame 6
tensor(0.2287)
 # KEYFRAME 5
0.055215063999639824
Frame 7
tensor(0.4863)
 # KEYFRAME 6
0.056143740002880804
Frame 8
tensor(0.8778)
 # KEYFRAME 7
0.05731866600399371
Frame 9
tensor(0.3160)
 # KEYFRAME 8
0.0584051219993853
Frame 10
tensor(0.4668)
 # KEYFRAME 9
0.05849533199943835
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.7758)
 # KEYFRAME 10
0.052602922994992696
Frame 12
tensor(0.8773)
 # KEYFRAME 11
0.053544650007097516
Frame 13
tensor(0.3008)
 # KEYFRAME 12
0.05469688599987421
Frame 14
tensor(0.2987)
 # KEYFRAME 13
0.056481519000953995
Frame 15
tensor(0.1988)
 # KEYFRAME 14
0.057435424998402596
Frame 16
tensor(0.5424)
 # KEYFRAME 15
0.05792058400402311
Frame 17
tensor(0.3552)
 # KEYFRAME 16
0.05894146000355249
Frame 18
tensor(0.3109)
 # KEYFRAME 17
0.05991295700368937
Frame 19
tensor(0.3001)
 # KEYFRAME 18
0.061079911996785086
Frame 20
tensor(0.0906)
Frame 21
tensor(0.2880)
 # KEYFRAME 19
0.06259328700252809
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 22
tensor(0.1534)
 # KEYFRAME 20
0.058949300000676885
Frame 23
tensor(0.6000)
 # KEYFRAME 21
0.06006960700324271
Frame 24
tensor(0.3470)
 # KEYFRAME 22
0.060811993993411306
Frame 25
tensor(0.2629)
 # KEYFRAME 23
0.06183951999992132
Frame 26
tensor(0.2218)
 # KEYFRAME 24
0.06260759699944174
Frame 27
tensor(0.2124)
 # KEYFRAME 25
0.06366616299783345
Frame 28
tensor(0.3112)
 # KEYFRAME 26
0.0652532579988474
Frame 29
tensor(0.2624)
 # KEYFRAME 27
0.06568543699540896
Frame 30
tensor(0.1874)
 # KEYFRAME 28
0.06675793299655197
Frame 31
tensor(0.5505)
 # KEYFRAME 29
0.06894478500180412
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.5614)
 # KEYFRAME 30
0.06592349499987904
Frame 33
tensor(0.2308)
 # KEYFRAME 31
0.06782624799961923
Frame 34
tensor(0.4524)
 # KEYFRAME 32
0.0681507870031055
Frame 35
tensor(0.2203)
 # KEYFRAME 33
0.0692677740007639
Frame 36
tensor(0.4715)
 # KEYFRAME 34
0.07010864100448089
Frame 37
tensor(0.0768)
Frame 38
tensor(0.0597)
Frame 39
tensor(0.1759)
 # KEYFRAME 35
0.07082095799705712
Frame 40
tensor(0.2200)
 # KEYFRAME 36
0.07155105499987258
Frame 41
tensor(0.3355)
 # KEYFRAME 37
0.07230273300228873
Frame 42
tensor(0.3963)
 # KEYFRAME 38
0.07330843999807257
Frame 43
tensor(0.4544)
 # KEYFRAME 39
0.07377514799736673
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1263 loss_distill=0.1733 tta_take=0.009s
Frame 44
tensor(0.4545)
 # KEYFRAME 40
0.07268961099907756
Frame 45
tensor(0.4243)
 # KEYFRAME 41
0.07457713499752572
Frame 46
tensor(0.4411)
 # KEYFRAME 42
0.074471594998613
Frame 47
tensor(0.4576)
 # KEYFRAME 43
0.07562998100183904
Frame 48
tensor(0.2214)
 # KEYFRAME 44
0.07644948799861595
Frame 49
tensor(0.1596)
 # KEYFRAME 45
0.07668925700272666
Frame 50
tensor(0.3633)
 # KEYFRAME 46
0.07790471300540958
Frame 51
tensor(0.1768)
 # KEYFRAME 47
0.07771917300124187
Frame 52
tensor(0.2632)
 # KEYFRAME 48
0.07925986800546525
Frame 53
tensor(0.2473)
 # KEYFRAME 49
0.07967802599887364
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1264 loss_distill=0.2747 tta_take=0.009s
Frame 54
tensor(0.2799)
 # KEYFRAME 50
0.07949396700132638
Frame 55
tensor(0.3993)
 # KEYFRAME 51
0.08141186099965125
Frame 56
tensor(0.1873)
 # KEYFRAME 52
0.08141242099372903
Frame 57
tensor(0.7241)
 # KEYFRAME 53
0.08267033599986462
Frame 58
tensor(0.0599)
Frame 59
tensor(0.1139)
 # KEYFRAME 54
0.0837075720046414
Frame 60
tensor(0.1392)
 # KEYFRAME 55
0.08422670100117102
Frame 61
tensor(0.1118)
 # KEYFRAME 56
0.08572557500156108
Frame 62
tensor(0.2946)
 # KEYFRAME 57
0.08755372900486691
Frame 63
tensor(0.0584)
Frame 64
tensor(0.0786)
Frame 65
tensor(0.0966)
Frame 66
tensor(0.1442)
 # KEYFRAME 58
0.08770028800063301
Frame 67
tensor(0.1430)
 # KEYFRAME 59
0.08856567500333767
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1265 loss_distill=0.3466 tta_take=0.009s
Frame 68
tensor(0.1800)
 # KEYFRAME 60
0.08608499399997527
Frame 69
tensor(0.1678)
 # KEYFRAME 61
0.08882665399869438
Frame 70
tensor(0.1656)
 # KEYFRAME 62
0.08887803399557015
Frame 71
tensor(0.1072)
 # KEYFRAME 63
0.09026790899952175
Frame 72
tensor(0.0644)
Frame 73
tensor(0.1776)
 # KEYFRAME 64
0.09086541600117926
Frame 74
tensor(0.1930)
 # KEYFRAME 65
0.09231279099913081
Frame 75
tensor(0.1276)
 # KEYFRAME 66
0.09345431800466031
Frame 76
tensor(0.0980)
Frame 77
tensor(0.0368)
Frame 78
tensor(0.1886)
 # KEYFRAME 67
0.09510265199787682
Frame 79
tensor(0.3174)
 # KEYFRAME 68
0.09586372900230344
Frame 80
tensor(0.1493)
 # KEYFRAME 69
0.09583937900606543
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1266 loss_distill=0.4024 tta_take=0.009s
Frame 81
tensor(0.1296)
 # KEYFRAME 70
0.09282852899923455
Frame 82
tensor(0.0520)
Frame 83
tensor(0.1764)
 # KEYFRAME 71
0.0944042549963342
Frame 84
tensor(0.1732)
 # KEYFRAME 72
0.09543576100259088
Frame 85
tensor(0.1947)
 # KEYFRAME 73
0.09629057799611473
Frame 86
tensor(0.1862)
 # KEYFRAME 74
0.09747874300228432
Frame 87
tensor(0.1159)
 # KEYFRAME 75
0.0977737020002678
Frame 88
tensor(0.1582)
 # KEYFRAME 76
0.09946061600203393
Frame 89
tensor(0.2837)
 # KEYFRAME 77
0.10002536400133977
Frame 90
tensor(0.1218)
 # KEYFRAME 78
0.1013519490006729
Frame 91
tensor(0.2383)
 # KEYFRAME 79
0.10160062900104094
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1267 loss_distill=0.4024 tta_take=0.009s
Frame 92
tensor(0.4126)
 # KEYFRAME 80
0.0931977780055604
Frame 93
tensor(0.1963)
 # KEYFRAME 81
0.09445520399458474
Frame 94
tensor(0.3817)
 # KEYFRAME 82
0.0952159720036434
Frame 95
tensor(0.1414)
 # KEYFRAME 83
0.09601117900456302
Frame 96
tensor(0.2369)
 # KEYFRAME 84
0.09644105700135697
Frame 97
tensor(0.2255)
 # KEYFRAME 85
0.09759758300060639
Frame 98
tensor(0.3642)
 # KEYFRAME 86
0.0976967520036851
Frame 99
tensor(0.1299)
 # KEYFRAME 87
0.09938133700052276
Frame 100
tensor(0.2266)
 # KEYFRAME 88
0.09965554500377038
Frame 101
tensor(0.1725)
 # KEYFRAME 89
0.09909776799759129
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1268 loss_distill=0.4024 tta_take=0.009s
Frame 102
tensor(0.1496)
 # KEYFRAME 90
0.09321992900368059
Frame 103
tensor(0.2171)
 # KEYFRAME 91
0.09500824200222269
Frame 104
tensor(0.1402)
 # KEYFRAME 92
0.09523683099541813
Frame 105
tensor(0.1455)
 # KEYFRAME 93
0.09573629000078654
Frame 106
tensor(0.1308)
 # KEYFRAME 94
0.09578124000108801
Frame 107
tensor(0.3161)
 # KEYFRAME 95
0.09736049400089541
Frame 108
tensor(0.2054)
 # KEYFRAME 96
0.09790954200434498
Frame 109
tensor(0.1265)
 # KEYFRAME 97
0.1002949030007585
Frame 110
tensor(0.2536)
 # KEYFRAME 98
0.09903992799809203
Frame 111
tensor(0.1793)
 # KEYFRAME 99
0.09906271700310754
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1269 loss_distill=0.4024 tta_take=0.009s
Frame 112
tensor(0.1468)
 # KEYFRAME 100
0.0925110099997255
Frame 113
tensor(0.0221)
Frame 114
tensor(0.4292)
 # KEYFRAME 101
0.09496481200039852
Frame 115
tensor(0.1217)
 # KEYFRAME 102
0.09511928099527722
Frame 116
tensor(0.2456)
 # KEYFRAME 103
0.09628012699977262
Frame 117
tensor(0.2955)
 # KEYFRAME 104
0.09641008700418752
Frame 118
tensor(0.4863)
 # KEYFRAME 105
0.09780580200458644
Frame 119
tensor(0.4628)
 # KEYFRAME 106
0.09806038099486614
Frame 120
tensor(0.1310)
 # KEYFRAME 107
0.09830848000274273
Frame 121
tensor(0.5931)
 # KEYFRAME 108
0.09965118600666756
Frame 122
tensor(0.7027)
 # KEYFRAME 109
0.10064687200065237
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1270 loss_distill=0.4024 tta_take=0.009s
Frame 123
tensor(0.3128)
 # KEYFRAME 110
0.09329806800087681
Frame 124
tensor(0.3279)
 # KEYFRAME 111
0.09480851300031645
Frame 125
tensor(0.2160)
 # KEYFRAME 112
0.0952315210015513
Frame 126
tensor(0.1769)
 # KEYFRAME 113
0.09581731999787735
Frame 127
tensor(0.2570)
 # KEYFRAME 114
0.09699567499774275
Frame 128
tensor(0.3105)
 # KEYFRAME 115
0.09793420200003311
Frame 129
tensor(0.2195)
 # KEYFRAME 116
0.09803339099744335
Frame 130
tensor(0.3058)
 # KEYFRAME 117
0.09967295600654325
Frame 131
tensor(0.5860)
 # KEYFRAME 118
0.09989536499779206
Frame 132
tensor(0.3625)
 # KEYFRAME 119
0.1008563610012061
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1271 loss_distill=0.4024 tta_take=0.009s
Frame 133
tensor(0.2048)
 # KEYFRAME 120
0.09324540799570968
Frame 134
tensor(0.2858)
 # KEYFRAME 121
0.09591298900340917
Frame 135
tensor(0.0098)
Backending... 122 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 64542, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1272 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 186/556] scannetpp/a1d9da703c/frame frames=136 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=1272 time=50.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0296)
Frame 2
tensor(0.0931)
Frame 3
tensor(0.2414)
 # KEYFRAME 1
Frame 4
tensor(0.1240)
 # KEYFRAME 2
0.05188695499964524
Frame 5
tensor(0.1667)
 # KEYFRAME 3
0.054185656998015475
Frame 6
tensor(0.1870)
 # KEYFRAME 4
0.054517185999429785
Frame 7
tensor(0.0776)
Frame 8
tensor(0.2220)
 # KEYFRAME 5
0.055420403004973195
Frame 9
tensor(0.1381)
 # KEYFRAME 6
0.05615171100362204
Frame 10
tensor(0.1267)
 # KEYFRAME 7
0.05702246799774002
Frame 11
tensor(0.2917)
 # KEYFRAME 8
0.058483931999944616
Frame 12
tensor(0.1862)
 # KEYFRAME 9
0.05835993299842812
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 13
tensor(0.1981)
 # KEYFRAME 10
0.05267839299631305
Frame 14
tensor(0.2013)
 # KEYFRAME 11
0.05377311899792403
Frame 15
tensor(0.2323)
 # KEYFRAME 12
0.05455940600222675
Frame 16
tensor(0.1235)
 # KEYFRAME 13
0.056473349999578204
Frame 17
tensor(0.1804)
 # KEYFRAME 14
0.05734201599989319
Frame 18
tensor(0.2222)
 # KEYFRAME 15
0.0578895740036387
Frame 19
tensor(0.1904)
 # KEYFRAME 16
0.058924240998749156
Frame 20
tensor(0.2423)
 # KEYFRAME 17
0.05992066700127907
Frame 21
tensor(0.1847)
 # KEYFRAME 18
0.06123208200006047
Frame 22
tensor(0.1577)
 # KEYFRAME 19
0.06260121800005436
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 23
tensor(0.1400)
 # KEYFRAME 20
0.05928178899921477
Frame 24
tensor(0.1702)
 # KEYFRAME 21
0.060671924002235755
Frame 25
tensor(0.2191)
 # KEYFRAME 22
0.0611438129999442
Frame 26
tensor(0.1994)
 # KEYFRAME 23
0.06204602000070736
Frame 27
tensor(0.1340)
 # KEYFRAME 24
0.06256914800178492
Frame 28
tensor(0.1943)
 # KEYFRAME 25
0.0637019439964206
Frame 29
tensor(0.2773)
 # KEYFRAME 26
0.0650361489970237
Frame 30
tensor(0.2834)
 # KEYFRAME 27
0.06598458599910373
Frame 31
tensor(0.2095)
 # KEYFRAME 28
0.06704599100339692
Frame 32
tensor(0.1234)
 # KEYFRAME 29
0.06895717499719467
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 33
tensor(0.1440)
 # KEYFRAME 30
0.0660330749960849
Frame 34
tensor(0.1759)
 # KEYFRAME 31
0.0670370220032055
Frame 35
tensor(0.1122)
 # KEYFRAME 32
0.06831409699952928
Frame 36
tensor(0.2434)
 # KEYFRAME 33
0.06939997299923562
Frame 37
tensor(0.1673)
 # KEYFRAME 34
0.06999432099837577
Frame 38
tensor(0.0960)
Frame 39
tensor(0.3020)
 # KEYFRAME 35
0.07088716799626127
Frame 40
tensor(0.1485)
 # KEYFRAME 36
0.07176542399975006
Frame 41
tensor(0.0381)
Frame 42
tensor(0.1162)
 # KEYFRAME 37
0.07270631100254832
Frame 43
tensor(0.0896)
Frame 44
tensor(0.2581)
 # KEYFRAME 38
0.07329087999823969
Frame 45
tensor(0.1111)
 # KEYFRAME 39
0.07387602800008608
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1273 loss_distill=0.1733 tta_take=0.009s
Frame 46
tensor(0.2912)
 # KEYFRAME 40
0.07294981100130826
Frame 47
tensor(0.1973)
 # KEYFRAME 41
0.07444106500042835
Frame 48
tensor(0.2557)
 # KEYFRAME 42
0.07443998599774204
Frame 49
tensor(0.2800)
 # KEYFRAME 43
0.07566098099778173
Frame 50
tensor(0.1297)
 # KEYFRAME 44
0.07629273900238331
Frame 51
tensor(0.3900)
 # KEYFRAME 45
0.07678238700464135
Frame 52
tensor(0.2338)
 # KEYFRAME 46
0.07779056300205411
Frame 53
tensor(0.1378)
 # KEYFRAME 47
0.07817561199772172
Frame 54
tensor(0.0958)
Frame 55
tensor(0.2627)
 # KEYFRAME 48
0.07863145000010263
Frame 56
tensor(0.1769)
 # KEYFRAME 49
0.08031343400216429
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1274 loss_distill=0.2747 tta_take=0.009s
Frame 57
tensor(0.0856)
Frame 58
tensor(0.1345)
 # KEYFRAME 50
0.07949188699421939
Frame 59
tensor(0.2331)
 # KEYFRAME 51
0.08162492900009966
Frame 60
tensor(0.0604)
Frame 61
tensor(0.1631)
 # KEYFRAME 52
0.08157078999647638
Frame 62
tensor(0.1550)
 # KEYFRAME 53
0.08257092599524185
Frame 63
tensor(0.1878)
 # KEYFRAME 54
0.08385095200355863
Frame 64
tensor(0.0939)
Frame 65
tensor(0.2409)
 # KEYFRAME 55
0.08516487700399011
Frame 66
tensor(0.0732)
Frame 67
tensor(0.1770)
 # KEYFRAME 56
0.08513037699594861
Frame 68
tensor(0.0567)
Frame 69
tensor(0.1125)
 # KEYFRAME 57
0.08649155299644917
Frame 70
tensor(0.0152)
Frame 71
tensor(0.0395)
Frame 72
tensor(0.0432)
Frame 73
tensor(0.0543)
Frame 74
tensor(0.0323)
Frame 75
tensor(0.0245)
Frame 76
tensor(0.1147)
 # KEYFRAME 58
0.08796948699455243
Frame 77
tensor(0.1123)
 # KEYFRAME 59
0.08871173499937868
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1275 loss_distill=0.3466 tta_take=0.009s
Frame 78
tensor(0.1047)
 # KEYFRAME 60
0.08637901300244266
Frame 79
tensor(0.0891)
Frame 80
tensor(0.1388)
 # KEYFRAME 61
0.08883529400191037
Frame 81
tensor(0.1055)
 # KEYFRAME 62
0.08882916400034446
Frame 82
tensor(0.0936)
Frame 83
tensor(0.1117)
 # KEYFRAME 63
0.089775460997771
Frame 84
tensor(0.0450)
Frame 85
tensor(0.1394)
 # KEYFRAME 64
0.09110169600171503
Frame 86
tensor(0.2012)
 # KEYFRAME 65
0.09190747299726354
Frame 87
tensor(0.2448)
 # KEYFRAME 66
0.09371116699912818
Frame 88
tensor(0.2068)
 # KEYFRAME 67
0.09541021000040928
Frame 89
tensor(0.2332)
 # KEYFRAME 68
0.09613300800265279
Frame 90
tensor(0.2195)
 # KEYFRAME 69
0.09636727800534572
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1276 loss_distill=0.4024 tta_take=0.009s
Frame 91
tensor(0.1693)
 # KEYFRAME 70
0.09317660799570149
Frame 92
tensor(0.3622)
 # KEYFRAME 71
0.09584859900496667
Frame 93
tensor(0.2230)
 # KEYFRAME 72
0.09553889100061497
Frame 94
tensor(0.1832)
 # KEYFRAME 73
0.09604711800056975
Frame 95
tensor(0.0668)
Frame 96
tensor(0.1390)
 # KEYFRAME 74
0.09811096100020222
Frame 97
tensor(0.0836)
Frame 98
tensor(0.1659)
 # KEYFRAME 75
0.0986049089988228
Frame 99
tensor(0.2514)
 # KEYFRAME 76
0.10006317400257103
Frame 100
tensor(0.2094)
 # KEYFRAME 77
0.10082190100365551
Frame 101
tensor(0.0957)
Frame 102
tensor(0.2298)
 # KEYFRAME 78
0.10250942599668633
Frame 103
tensor(0.1751)
 # KEYFRAME 79
0.10259202599991113
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1277 loss_distill=0.4024 tta_take=0.009s
Frame 104
tensor(0.2581)
 # KEYFRAME 80
0.09307352900214028
Frame 105
tensor(0.2667)
 # KEYFRAME 81
0.09489871199912159
Frame 106
tensor(0.1757)
 # KEYFRAME 82
0.09514267199847382
Frame 107
tensor(0.2278)
 # KEYFRAME 83
0.0961932779973722
Frame 108
tensor(0.0731)
Frame 109
tensor(0.4294)
 # KEYFRAME 84
0.09620882799936226
Frame 110
tensor(0.2826)
 # KEYFRAME 85
0.09765087199775735
Frame 111
tensor(0.2226)
 # KEYFRAME 86
0.09717309400002705
Frame 112
tensor(0.1944)
 # KEYFRAME 87
0.09897230800561374
Frame 113
tensor(0.1339)
 # KEYFRAME 88
0.09940908599674003
Frame 114
tensor(0.0559)
Frame 115
tensor(0.1424)
 # KEYFRAME 89
0.10022040300100343
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595452308655
TTA-STEP: step=1278 loss_distill=0.4024 tta_take=0.009s
Frame 116
tensor(0.1939)
 # KEYFRAME 90
0.09316326800035313
Frame 117
tensor(0.0728)
Frame 118
tensor(0.1875)
 # KEYFRAME 91
0.09527065099973697
Frame 119
tensor(0.0624)
Frame 120
tensor(0.1237)
 # KEYFRAME 92
0.09484311300184345
Frame 121
tensor(0.1560)
 # KEYFRAME 93
0.09602237900253385
Frame 122
tensor(0.2746)
 # KEYFRAME 94
0.09657382699515438
Frame 123
tensor(0.3288)
 # KEYFRAME 95
0.09694542500074022
Frame 124
tensor(0.3876)
 # KEYFRAME 96
0.09784112199849915
Frame 125
tensor(0.2543)
 # KEYFRAME 97
0.09855005900317337
Frame 126
tensor(0.2753)
 # KEYFRAME 98
0.09883436900418019
Frame 127
tensor(0.2723)
 # KEYFRAME 99
0.10004192400083411
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1279 loss_distill=0.4024 tta_take=0.009s
Frame 128
tensor(0.2306)
 # KEYFRAME 100
0.09287061000213725
Frame 129
tensor(0.3896)
 # KEYFRAME 101
0.09522150099655846
Frame 130
tensor(0.2618)
 # KEYFRAME 102
0.09443913400173187
Frame 131
tensor(0.1792)
 # KEYFRAME 103
0.09604154899716377
Frame 132
tensor(0.1211)
 # KEYFRAME 104
0.09601328799908515
Frame 133
tensor(0.1189)
 # KEYFRAME 105
0.09721595399605576
Frame 134
tensor(0.2232)
 # KEYFRAME 106
0.09727789399767062
Frame 135
tensor(0.2258)
 # KEYFRAME 107
0.09860809900419554
Frame 136
tensor(0.2286)
 # KEYFRAME 108
0.09954403599840589
Frame 137
tensor(0.1555)
 # KEYFRAME 109
0.09945561600034125
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1280 loss_distill=0.4024 tta_take=0.009s
Frame 138
tensor(0.2773)
 # KEYFRAME 110
0.0933425279945368
Frame 139
tensor(0.2641)
 # KEYFRAME 111
0.0944649040029617
Frame 140
tensor(0.0864)
Frame 141
tensor(0.2164)
 # KEYFRAME 112
0.09569378000014694
Frame 142
tensor(0.1387)
 # KEYFRAME 113
0.095535819993529
Frame 143
tensor(0.0788)
Frame 144
tensor(0.2039)
 # KEYFRAME 114
0.09734414300328353
Frame 145
tensor(0.0988)
Frame 146
tensor(0.0871)
Frame 147
tensor(0.2824)
 # KEYFRAME 115
0.09762777300056769
Frame 148
tensor(0.1717)
 # KEYFRAME 116
0.098233299999265
Backending... 117 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 69747, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1281 loss_distill=0.4024 tta_take=0.007s
[epoch 0 scene 187/556] scannetpp/7977624358/frame frames=149 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=1281 time=63.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0655)
Frame 2
tensor(0.2010)
 # KEYFRAME 1
Frame 3
tensor(0.0396)
Frame 4
tensor(0.1131)
 # KEYFRAME 2
0.052007385005708784
Frame 5
tensor(0.0185)
Frame 6
tensor(0.0795)
Frame 7
tensor(0.1203)
 # KEYFRAME 3
0.05308262100152206
Frame 8
tensor(0.3122)
 # KEYFRAME 4
0.05335075999755645
Frame 9
tensor(0.0397)
Frame 10
tensor(0.1028)
 # KEYFRAME 5
0.055292192999331746
Frame 11
tensor(0.0424)
Frame 12
tensor(0.0709)
Frame 13
tensor(0.1040)
 # KEYFRAME 6
0.05603233099827776
Frame 14
tensor(0.0301)
Frame 15
tensor(0.0357)
Frame 16
tensor(0.2275)
 # KEYFRAME 7
0.05708974699518876
Frame 17
tensor(0.2676)
 # KEYFRAME 8
0.05791754399979254
Frame 18
tensor(0.2126)
 # KEYFRAME 9
0.05859426100505516
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 19
tensor(0.1419)
 # KEYFRAME 10
0.05172652599867433
Frame 20
tensor(0.6101)
 # KEYFRAME 11
0.05255303400190314
Frame 21
tensor(0.0642)
Frame 22
tensor(0.1192)
 # KEYFRAME 12
0.05372564899880672
Frame 23
tensor(0.1080)
 # KEYFRAME 13
0.05501474400080042
Frame 24
tensor(0.0246)
Frame 25
tensor(0.0580)
Frame 26
tensor(0.1545)
 # KEYFRAME 14
0.05494607400032692
Frame 27
tensor(0.0190)
Frame 28
tensor(0.1275)
 # KEYFRAME 15
0.05517813400365412
Frame 29
tensor(0.0462)
Frame 30
tensor(0.1512)
 # KEYFRAME 16
0.05576247200224316
Frame 31
tensor(0.3388)
 # KEYFRAME 17
0.056311929001822136
Frame 32
tensor(0.2329)
 # KEYFRAME 18
0.057117267002468
Frame 33
tensor(0.0549)
Frame 34
tensor(0.2592)
 # KEYFRAME 19
0.05783596400578972
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 35
tensor(0.2014)
 # KEYFRAME 20
0.05411913699936122
Frame 36
tensor(0.2936)
 # KEYFRAME 21
0.05457533600565512
Frame 37
tensor(0.4522)
 # KEYFRAME 22
0.05509504399378784
Frame 38
tensor(0.1099)
 # KEYFRAME 23
0.055304873996647075
Frame 39
tensor(0.0381)
Frame 40
tensor(0.1796)
 # KEYFRAME 24
0.055745261000993196
Frame 41
tensor(0.0165)
Frame 42
tensor(0.1180)
 # KEYFRAME 25
0.056544398998084944
Frame 43
tensor(0.1206)
 # KEYFRAME 26
0.057806764998531435
Frame 44
tensor(0.1974)
 # KEYFRAME 27
0.05892173000029288
Frame 45
tensor(0.0575)
Frame 46
tensor(0.2468)
 # KEYFRAME 28
0.05971627800317947
Frame 47
tensor(0.0651)
Frame 48
tensor(0.1365)
 # KEYFRAME 29
0.06042651499592466
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 49
tensor(0.1602)
 # KEYFRAME 30
0.05846635199850425
Frame 50
tensor(0.1538)
 # KEYFRAME 31
0.059620897998684086
Frame 51
tensor(0.1256)
 # KEYFRAME 32
0.05954367800586624
Frame 52
tensor(0.5446)
 # KEYFRAME 33
0.06022513600328239
Frame 53
tensor(0.1004)
 # KEYFRAME 34
0.06071549400076037
Frame 54
tensor(0.0392)
Frame 55
tensor(0.2158)
 # KEYFRAME 35
0.061363841996353585
Frame 56
tensor(0.6538)
 # KEYFRAME 36
0.062352588000067044
Frame 57
tensor(0.0795)
Frame 58
tensor(0.4224)
 # KEYFRAME 37
0.06315222600096604
Frame 59
tensor(0.4941)
 # KEYFRAME 38
0.06322611499490449
Frame 60
tensor(0.1155)
 # KEYFRAME 39
0.06407708200276829
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1282 loss_distill=0.1733 tta_take=0.008s
Frame 61
tensor(0.0494)
Frame 62
tensor(0.1237)
 # KEYFRAME 40
0.06277720700018108
Frame 63
tensor(0.3571)
 # KEYFRAME 41
0.06461824000143679
Frame 64
tensor(0.6100)
 # KEYFRAME 42
0.06449779100512387
Frame 65
tensor(0.6057)
 # KEYFRAME 43
0.0640291919989977
Frame 66
tensor(0.1088)
 # KEYFRAME 44
0.065876846005267
Frame 67
tensor(0.0439)
Frame 68
tensor(0.4911)
 # KEYFRAME 45
0.06605507500353269
Frame 69
tensor(0.3177)
 # KEYFRAME 46
0.06702318199677393
Frame 70
tensor(0.7246)
 # KEYFRAME 47
0.06723415099986596
Frame 71
tensor(0.1397)
 # KEYFRAME 48
0.06802690799668198
Frame 72
tensor(0.1093)
 # KEYFRAME 49
0.06864282600145089
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1283 loss_distill=0.2747 tta_take=0.008s
Frame 73
tensor(0.4172)
 # KEYFRAME 50
0.06701344199973391
Frame 74
tensor(0.3800)
 # KEYFRAME 51
0.06832577699969988
Frame 75
tensor(0.2550)
 # KEYFRAME 52
0.0685959760012338
Frame 76
tensor(0.4562)
 # KEYFRAME 53
0.06886867499997607
Frame 77
tensor(0.0536)
Frame 78
tensor(0.1380)
 # KEYFRAME 54
0.06927512399852276
Frame 79
tensor(0.1635)
 # KEYFRAME 55
0.07026374999986729
Frame 80
tensor(0.0462)
Frame 81
tensor(0.0759)
Frame 82
tensor(0.5654)
 # KEYFRAME 56
0.07051904899708461
Frame 83
tensor(0.0346)
Frame 84
tensor(0.1747)
 # KEYFRAME 57
0.07121654700313229
Frame 85
tensor(0.0750)
Frame 86
tensor(0.1169)
 # KEYFRAME 58
0.07109746700007236
Frame 87
tensor(0.0405)
Frame 88
tensor(0.0971)
Frame 89
tensor(0.1772)
 # KEYFRAME 59
0.0718451049979194
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1284 loss_distill=0.3466 tta_take=0.008s
Frame 90
tensor(0.2386)
 # KEYFRAME 60
0.07107066699973075
Frame 91
tensor(0.0619)
Frame 92
tensor(0.1265)
 # KEYFRAME 61
0.07256237199908355
Frame 93
tensor(0.0453)
Frame 94
tensor(0.0848)
Frame 95
tensor(0.1450)
 # KEYFRAME 62
0.07258774199726759
Frame 96
tensor(0.0195)
Frame 97
tensor(0.0394)
Frame 98
tensor(0.0706)
Frame 99
tensor(0.1036)
 # KEYFRAME 63
0.07327577900286997
Frame 100
tensor(0.0788)
Frame 101
tensor(0.1209)
 # KEYFRAME 64
0.07381499699840788
Frame 102
tensor(0.0413)
Frame 103
tensor(0.1738)
 # KEYFRAME 65
0.07410510699992301
Frame 104
tensor(0.0551)
Frame 105
tensor(0.1113)
 # KEYFRAME 66
0.07491714399657212
Frame 106
tensor(0.2796)
 # KEYFRAME 67
0.07508652300020913
Frame 107
tensor(0.4544)
 # KEYFRAME 68
0.07637594799598446
Frame 108
tensor(0.1514)
 # KEYFRAME 69
0.07598227999551455
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1285 loss_distill=0.4024 tta_take=0.008s
Frame 109
tensor(0.1867)
 # KEYFRAME 70
0.07601511000393657
Frame 110
tensor(0.0722)
Frame 111
tensor(0.1815)
 # KEYFRAME 71
0.07746416400186718
Frame 112
tensor(0.0606)
Frame 113
tensor(0.1281)
 # KEYFRAME 72
0.07633975800126791
Frame 114
tensor(0.1306)
 # KEYFRAME 73
0.07692104700254276
Frame 115
tensor(0.1283)
 # KEYFRAME 74
0.07800879199930932
Frame 116
tensor(0.4215)
 # KEYFRAME 75
0.07817170199996326
Frame 117
tensor(0.0147)
Frame 118
tensor(0.0245)
Frame 119
tensor(0.7741)
 # KEYFRAME 76
0.07896771899686428
Frame 120
tensor(0.1081)
 # KEYFRAME 77
0.07907201900525251
Frame 121
tensor(0.0928)
Frame 122
tensor(0.1499)
 # KEYFRAME 78
0.0799492449950776
Frame 123
tensor(0.0221)
Frame 124
tensor(0.1228)
 # KEYFRAME 79
0.08067742300045211
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1286 loss_distill=0.4024 tta_take=0.008s
Frame 125
tensor(0.0863)
Frame 126
tensor(0.1608)
 # KEYFRAME 80
0.07549458099674666
Frame 127
tensor(0.1251)
 # KEYFRAME 81
0.0774467450028169
Frame 128
tensor(0.0564)
Frame 129
tensor(0.0983)
Frame 130
tensor(0.3763)
 # KEYFRAME 82
0.07680653600255027
Frame 131
tensor(0.0951)
Frame 132
tensor(0.2860)
 # KEYFRAME 83
0.07722452499729116
Frame 133
tensor(0.0638)
Frame 134
tensor(0.1135)
 # KEYFRAME 84
0.07803760200476972
Frame 135
tensor(0.1403)
 # KEYFRAME 85
0.07890510900324443
Frame 136
tensor(0.0544)
Frame 137
tensor(0.4562)
 # KEYFRAME 86
0.0784778009983711
Frame 138
tensor(0.1358)
 # KEYFRAME 87
0.07969237699580844
Frame 139
tensor(0.0705)
Frame 140
tensor(0.1487)
 # KEYFRAME 88
0.07979993600019952
Frame 141
tensor(0.0378)
Frame 142
tensor(0.0992)
Frame 143
tensor(0.1637)
 # KEYFRAME 89
0.08065734300180338
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1287 loss_distill=0.4024 tta_take=0.008s
Frame 144
tensor(0.1454)
 # KEYFRAME 90
0.07567317000211915
Frame 145
tensor(0.0244)
Frame 146
tensor(0.5249)
 # KEYFRAME 91
0.07721271499758586
Frame 147
tensor(0.0240)
Frame 148
tensor(0.1226)
 # KEYFRAME 92
0.07729130500229076
Frame 149
tensor(0.4338)
 # KEYFRAME 93
0.07780378400639165
Backending... 94 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 59520, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1288 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 188/556] scannetpp/1366d5ae89/DSC frames=150 tta_steps_this_scene=7 mean_loss=0.3434 total_steps=1288 time=37.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0192)
Frame 2
tensor(0.0387)
Frame 3
tensor(0.0850)
Frame 4
tensor(0.1337)
 # KEYFRAME 1
Frame 5
tensor(0.0962)
Frame 6
tensor(0.0890)
Frame 7
tensor(0.0865)
Frame 8
tensor(0.1049)
 # KEYFRAME 2
0.05148812700645067
Frame 9
tensor(0.0120)
Frame 10
tensor(0.0326)
Frame 11
tensor(0.4224)
 # KEYFRAME 3
0.052385303999471944
Frame 12
tensor(0.4332)
 # KEYFRAME 4
0.05400895799539285
Frame 13
tensor(0.0578)
Frame 14
tensor(0.1638)
 # KEYFRAME 5
0.05515474399726372
Frame 15
tensor(0.0458)
Frame 16
tensor(0.1179)
 # KEYFRAME 6
0.05595338100101799
Frame 17
tensor(0.0634)
Frame 18
tensor(0.0830)
Frame 19
tensor(0.0708)
Frame 20
tensor(0.0845)
Frame 21
tensor(0.1396)
 # KEYFRAME 7
0.05697840799984988
Frame 22
tensor(0.0444)
Frame 23
tensor(0.0460)
Frame 24
tensor(0.0363)
Frame 25
tensor(0.0448)
Frame 26
tensor(0.2096)
 # KEYFRAME 8
0.057755124995310325
Frame 27
tensor(0.0664)
Frame 28
tensor(0.0871)
Frame 29
tensor(0.1435)
 # KEYFRAME 9
0.05823893300112104
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 30
tensor(0.0232)
Frame 31
tensor(0.0654)
Frame 32
tensor(0.0810)
Frame 33
tensor(0.0797)
Frame 34
tensor(0.0478)
Frame 35
tensor(0.0578)
Frame 36
tensor(0.1133)
 # KEYFRAME 10
0.052083774004131556
Frame 37
tensor(0.0584)
Frame 38
tensor(0.0955)
Frame 39
tensor(0.1330)
 # KEYFRAME 11
0.05338255999959074
Frame 40
tensor(0.0582)
Frame 41
tensor(0.0817)
Frame 42
tensor(0.1062)
 # KEYFRAME 12
0.05416535700351233
Frame 43
tensor(0.4479)
 # KEYFRAME 13
0.056427759998769034
Frame 44
tensor(0.0312)
Frame 45
tensor(0.0573)
Frame 46
tensor(0.1249)
 # KEYFRAME 14
0.05731661599565996
Frame 47
tensor(0.0690)
Frame 48
tensor(0.1006)
 # KEYFRAME 15
0.05795035399933113
Frame 49
tensor(0.0750)
Frame 50
tensor(0.1314)
 # KEYFRAME 16
0.059154710004804656
Frame 51
tensor(0.1203)
 # KEYFRAME 17
0.05982174699602183
Frame 52
tensor(0.0601)
Frame 53
tensor(0.0584)
Frame 54
tensor(0.0990)
Frame 55
tensor(0.1248)
 # KEYFRAME 18
0.06123003300308483
Frame 56
tensor(0.0818)
Frame 57
tensor(0.1231)
 # KEYFRAME 19
0.06200746999820694
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 58
tensor(0.0044)
Frame 59
tensor(0.0777)
Frame 60
tensor(0.1153)
 # KEYFRAME 20
0.058942489995388314
Frame 61
tensor(0.0326)
Frame 62
tensor(0.0503)
Frame 63
tensor(0.0721)
Frame 64
tensor(0.1097)
 # KEYFRAME 21
0.06096079399867449
Frame 65
tensor(0.0172)
Frame 66
tensor(0.0947)
Frame 67
tensor(0.2027)
 # KEYFRAME 22
0.06128453200653894
Frame 68
tensor(0.2329)
 # KEYFRAME 23
0.06175052000617143
Frame 69
tensor(0.0912)
Frame 70
tensor(0.1226)
 # KEYFRAME 24
0.06236316799913766
Frame 71
tensor(0.0923)
Frame 72
tensor(0.2131)
 # KEYFRAME 25
0.0636769339980674
Frame 73
tensor(0.0465)
Frame 74
tensor(0.1106)
 # KEYFRAME 26
0.06559164699865505
Frame 75
tensor(0.0235)
Frame 76
tensor(0.0708)
Frame 77
tensor(0.0781)
Frame 78
tensor(0.0593)
Frame 79
tensor(0.1177)
 # KEYFRAME 27
0.06667580299836118
Frame 80
tensor(0.0179)
Frame 81
tensor(0.0294)
Frame 82
tensor(0.0153)
Frame 83
tensor(0.0473)
Frame 84
tensor(0.1287)
 # KEYFRAME 28
0.06716996100294637
Frame 85
tensor(0.0419)
Frame 86
tensor(0.1219)
 # KEYFRAME 29
0.06862376599747222
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 87
tensor(0.0209)
[epoch 0 scene 189/556] scannetpp/88cf747085/frame frames=88 tta_steps_this_scene=0 mean_loss=nan total_steps=1288 time=14.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0007)
Frame 2
tensor(0.0018)
Frame 3
tensor(0.0023)
Frame 4
tensor(0.0014)
Frame 5
tensor(0.0008)
Frame 6
tensor(0.0005)
Frame 7
tensor(0.0005)
Frame 8
tensor(0.0011)
Frame 9
tensor(0.0006)
Frame 10
tensor(0.0007)
Frame 11
tensor(0.0006)
Frame 12
tensor(0.0008)
Frame 13
tensor(0.0010)
Frame 14
tensor(0.0009)
Frame 15
tensor(0.0008)
Frame 16
tensor(0.0007)
Frame 17
tensor(0.0005)
Frame 18
tensor(0.0011)
Frame 19
tensor(0.0007)
Frame 20
tensor(0.0008)
Frame 21
tensor(0.0008)
Frame 22
tensor(0.0007)
Frame 23
tensor(0.0009)
Frame 24
tensor(0.0006)
Frame 25
tensor(0.0007)
Frame 26
tensor(0.0009)
Frame 27
tensor(0.0005)
Frame 28
tensor(0.0009)
Frame 29
tensor(0.0009)
Frame 30
tensor(0.0006)
Frame 31
tensor(0.0007)
Frame 32
tensor(0.0005)
Frame 33
tensor(0.0010)
Frame 34
tensor(0.0011)
Frame 35
tensor(0.0012)
Frame 36
tensor(0.0019)
Frame 37
tensor(0.0011)
Frame 38
tensor(0.0015)
Frame 39
tensor(0.0019)
Frame 40
tensor(0.0018)
Frame 41
tensor(0.0017)
Frame 42
tensor(0.0016)
Frame 43
tensor(0.0015)
Frame 44
tensor(0.0018)
Frame 45
tensor(0.0018)
Frame 46
tensor(0.0015)
Frame 47
tensor(0.0018)
Frame 48
tensor(0.0019)
Frame 49
tensor(0.0014)
Frame 50
tensor(0.0008)
Frame 51
tensor(0.0011)
Frame 52
tensor(0.0008)
Frame 53
tensor(0.0007)
Frame 54
tensor(0.0008)
Frame 55
tensor(0.0014)
Frame 56
tensor(0.0015)
Frame 57
tensor(0.0021)
Frame 58
tensor(0.0022)
Frame 59
tensor(0.0025)
Frame 60
tensor(0.0024)
Frame 61
tensor(0.0023)
Frame 62
tensor(0.0018)
Frame 63
tensor(0.0024)
Frame 64
tensor(0.0027)
Frame 65
tensor(0.0017)
Frame 66
tensor(0.0016)
Frame 67
tensor(0.0019)
Frame 68
tensor(0.0013)
Frame 69
tensor(0.0023)
Frame 70
tensor(0.0025)
Frame 71
tensor(0.0029)
Frame 72
tensor(0.0033)
Frame 73
tensor(0.0037)
Frame 74
tensor(0.0041)
Frame 75
tensor(0.0048)
Frame 76
tensor(0.0045)
Frame 77
tensor(0.0046)
Frame 78
tensor(0.0042)
Frame 79
tensor(0.0043)
Frame 80
tensor(0.0035)
Frame 81
tensor(0.0032)
Frame 82
tensor(0.0026)
Frame 83
tensor(0.0018)
Frame 84
tensor(0.0024)
Frame 85
tensor(0.0014)
Frame 86
tensor(0.0016)
Frame 87
tensor(0.0021)
Frame 88
tensor(0.0028)
Frame 89
tensor(0.0027)
Frame 90
tensor(0.0031)
Frame 91
tensor(0.0029)
Frame 92
tensor(0.0028)
Frame 93
tensor(0.0025)
Frame 94
tensor(0.0024)
Frame 95
tensor(0.0014)
Frame 96
tensor(0.0011)
Frame 97
tensor(0.0014)
Frame 98
tensor(0.0017)
Frame 99
tensor(0.0024)
Frame 100
tensor(0.0025)
Frame 101
tensor(0.0025)
Frame 102
tensor(0.0022)
Frame 103
tensor(0.0028)
Frame 104
tensor(0.0022)
Frame 105
tensor(0.0020)
Frame 106
tensor(0.0019)
Frame 107
tensor(0.0015)
Frame 108
tensor(0.0011)
Frame 109
tensor(0.0009)
Frame 110
tensor(0.0007)
Frame 111
tensor(0.0005)
Frame 112
tensor(0.0004)
Frame 113
tensor(0.0008)
Frame 114
tensor(0.0008)
Frame 115
tensor(0.0003)
Frame 116
tensor(0.0002)
Frame 117
tensor(0.0003)
Frame 118
tensor(0.0003)
Frame 119
tensor(0.0004)
Frame 120
tensor(0.0003)
Frame 121
tensor(0.0004)
Frame 122
tensor(0.0011)
Frame 123
tensor(0.0021)
Frame 124
tensor(0.0014)
Frame 125
tensor(0.0015)
Frame 126
tensor(0.0017)
Frame 127
tensor(0.0016)
Frame 128
tensor(0.0012)
Frame 129
tensor(0.0012)
Frame 130
tensor(0.0016)
Frame 131
tensor(0.0011)
Frame 132
tensor(0.0008)
Frame 133
tensor(0.0010)
Frame 134
tensor(0.0008)
Frame 135
tensor(0.0013)
Frame 136
tensor(0.0007)
Frame 137
tensor(0.0007)
Frame 138
tensor(0.0010)
Frame 139
tensor(0.0008)
Frame 140
tensor(0.0005)
Frame 141
tensor(0.0007)
Frame 142
tensor(0.0004)
Frame 143
tensor(0.0009)
Frame 144
tensor(0.0006)
Frame 145
tensor(0.0011)
Frame 146
tensor(0.0009)
Frame 147
tensor(0.0012)
Frame 148
tensor(0.0006)
Frame 149
tensor(0.0012)
Frame 150
tensor(0.0013)
Frame 151
tensor(0.0014)
Frame 152
tensor(0.0018)
Frame 153
tensor(0.0006)
Frame 154
tensor(0.0006)
Frame 155
tensor(0.0010)
Frame 156
tensor(0.0008)
Frame 157
tensor(0.0015)
Frame 158
tensor(0.0014)
Frame 159
tensor(0.0013)
Frame 160
tensor(0.0013)
Frame 161
tensor(0.0017)
Frame 162
tensor(0.0012)
Frame 163
tensor(0.0013)
Frame 164
tensor(0.0008)
Frame 165
tensor(0.0011)
Frame 166
tensor(0.0017)
Frame 167
tensor(0.0011)
Frame 168
tensor(0.0006)
Frame 169
tensor(0.0014)
Frame 170
tensor(0.0005)
Frame 171
tensor(0.0008)
Frame 172
tensor(0.0009)
Frame 173
tensor(0.0009)
Frame 174
tensor(0.0018)
Frame 175
tensor(0.0010)
Frame 176
tensor(0.0010)
Frame 177
tensor(0.0009)
Frame 178
tensor(0.0009)
Frame 179
tensor(0.0011)
Frame 180
tensor(0.0020)
Frame 181
tensor(0.0025)
Frame 182
tensor(0.0033)
Frame 183
tensor(0.0050)
Frame 184
tensor(0.0063)
Frame 185
tensor(0.0085)
Frame 186
tensor(0.0094)
Frame 187
tensor(0.0117)
Frame 188
tensor(0.0135)
Frame 189
tensor(0.0169)
Frame 190
tensor(0.0210)
Frame 191
tensor(0.0263)
Frame 192
tensor(0.0329)
Frame 193
tensor(0.0388)
Frame 194
tensor(0.0471)
Frame 195
tensor(0.0559)
Frame 196
tensor(0.0684)
Frame 197
tensor(0.0780)
Frame 198
tensor(0.0919)
Frame 199
tensor(0.1028)
 # KEYFRAME 1
Frame 200
tensor(0.0129)
Frame 201
tensor(0.0313)
Frame 202
tensor(0.0474)
Frame 203
tensor(0.0686)
Frame 204
tensor(0.0894)
Frame 205
tensor(0.1075)
 # KEYFRAME 2
0.05209798400028376
Frame 206
tensor(0.0198)
Frame 207
tensor(0.0418)
Frame 208
tensor(0.0567)
Frame 209
tensor(0.0816)
Frame 210
tensor(0.1040)
 # KEYFRAME 3
0.052444503002334386
Frame 211
tensor(0.0204)
Frame 212
tensor(0.0410)
Frame 213
tensor(0.0600)
Frame 214
tensor(0.0823)
Frame 215
tensor(0.1130)
 # KEYFRAME 4
0.052581632997316774
Frame 216
tensor(0.0198)
Frame 217
tensor(0.0463)
Frame 218
tensor(0.0719)
Frame 219
tensor(0.0985)
Frame 220
tensor(0.1231)
 # KEYFRAME 5
0.052583313001377974
Frame 221
tensor(0.0297)
Frame 222
tensor(0.0585)
Frame 223
tensor(0.0912)
Frame 224
tensor(0.1180)
 # KEYFRAME 6
0.05330310000135796
Frame 225
tensor(0.0300)
Frame 226
tensor(0.0628)
Frame 227
tensor(0.0943)
Frame 228
tensor(0.1299)
 # KEYFRAME 7
0.052427593000174966
Frame 229
tensor(0.0363)
Frame 230
tensor(0.0653)
Frame 231
tensor(0.0941)
Frame 232
tensor(0.1284)
 # KEYFRAME 8
0.05400816699693678
Frame 233
tensor(0.0280)
Frame 234
tensor(0.0636)
Frame 235
tensor(0.0921)
Frame 236
tensor(0.1282)
 # KEYFRAME 9
0.053075682000780944
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 237
tensor(0.0343)
Frame 238
tensor(0.0655)
Frame 239
tensor(0.0963)
Frame 240
tensor(0.1361)
 # KEYFRAME 10
0.05206021400226746
Frame 241
tensor(0.0317)
Frame 242
tensor(0.0622)
Frame 243
tensor(0.1056)
 # KEYFRAME 11
0.05254770299507072
Frame 244
tensor(0.0375)
Frame 245
tensor(0.0756)
Frame 246
tensor(0.1117)
 # KEYFRAME 12
0.05289243199513294
Frame 247
tensor(0.0343)
Frame 248
tensor(0.0725)
Frame 249
tensor(0.1153)
 # KEYFRAME 13
0.05248251299781259
Frame 250
tensor(0.0371)
Frame 251
tensor(0.0853)
Frame 252
tensor(0.1204)
 # KEYFRAME 14
0.054730215000745375
Frame 253
tensor(0.0362)
Frame 254
tensor(0.0794)
Frame 255
tensor(0.1156)
 # KEYFRAME 15
0.052333063998958096
Frame 256
tensor(0.0344)
Frame 257
tensor(0.0719)
Frame 258
tensor(0.1110)
 # KEYFRAME 16
0.05307173100300133
Frame 259
tensor(0.0396)
Frame 260
tensor(0.0773)
Frame 261
tensor(0.1161)
 # KEYFRAME 17
0.05562771199765848
Frame 262
tensor(0.0412)
Frame 263
tensor(0.0765)
Frame 264
tensor(0.1180)
 # KEYFRAME 18
0.05285377200198127
Frame 265
tensor(0.0349)
Frame 266
tensor(0.0664)
Frame 267
tensor(0.1075)
 # KEYFRAME 19
0.05650243900163332
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 268
tensor(0.0364)
Frame 269
tensor(0.0762)
[epoch 0 scene 190/556] vkitti/Scene06/clone/Camera_1 frames=270 tta_steps_this_scene=0 mean_loss=nan total_steps=1288 time=39.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0361)
Frame 2
tensor(0.0804)
Frame 3
tensor(0.1170)
 # KEYFRAME 1
Frame 4
tensor(0.0597)
Frame 5
tensor(0.0893)
Frame 6
tensor(0.1435)
 # KEYFRAME 2
0.051789955999993253
Frame 7
tensor(0.0517)
Frame 8
tensor(0.0707)
Frame 9
tensor(0.1279)
 # KEYFRAME 3
0.0528157220032881
Frame 10
tensor(0.0557)
Frame 11
tensor(0.0638)
Frame 12
tensor(0.0840)
Frame 13
tensor(0.1147)
 # KEYFRAME 4
0.053251071003614925
Frame 14
tensor(0.0398)
Frame 15
tensor(0.4431)
 # KEYFRAME 5
0.05528350300301099
Frame 16
tensor(0.0401)
Frame 17
tensor(0.0790)
Frame 18
tensor(0.0927)
Frame 19
tensor(0.1211)
 # KEYFRAME 6
0.056088141005602665
Frame 20
tensor(0.5627)
 # KEYFRAME 7
0.05706482700043125
Frame 21
tensor(0.0386)
Frame 22
tensor(0.0937)
Frame 23
tensor(0.1517)
 # KEYFRAME 8
0.05786182399606332
Frame 24
tensor(0.0433)
Frame 25
tensor(0.0918)
Frame 26
tensor(0.1366)
 # KEYFRAME 9
0.05858401099976618
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 27
tensor(0.0432)
Frame 28
tensor(0.3289)
 # KEYFRAME 10
0.05160729600174818
Frame 29
tensor(0.0478)
Frame 30
tensor(0.0879)
Frame 31
tensor(0.1269)
 # KEYFRAME 11
0.05264416299905861
Frame 32
tensor(0.0253)
Frame 33
tensor(0.0763)
Frame 34
tensor(0.1021)
 # KEYFRAME 12
0.05360389899578877
Frame 35
tensor(0.2052)
 # KEYFRAME 13
0.05516569400060689
Frame 36
tensor(0.0255)
Frame 37
tensor(0.0547)
Frame 38
tensor(0.1161)
 # KEYFRAME 14
0.054999694002617616
Frame 39
tensor(0.0470)
Frame 40
tensor(0.0749)
Frame 41
tensor(0.1091)
 # KEYFRAME 15
0.055059113998140674
Frame 42
tensor(0.0222)
Frame 43
tensor(0.0458)
Frame 44
tensor(0.0718)
Frame 45
tensor(0.0907)
Frame 46
tensor(0.1172)
 # KEYFRAME 16
0.05585826099559199
Frame 47
tensor(0.1260)
 # KEYFRAME 17
0.05639053900085855
Frame 48
tensor(0.0180)
Frame 49
tensor(0.0405)
Frame 50
tensor(0.0664)
Frame 51
tensor(0.1008)
 # KEYFRAME 18
0.05726123599743005
Frame 52
tensor(0.0234)
Frame 53
tensor(0.0461)
Frame 54
tensor(0.0781)
Frame 55
tensor(0.0987)
Frame 56
tensor(0.1180)
 # KEYFRAME 19
0.057967874003225006
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 57
tensor(0.4077)
 # KEYFRAME 20
0.05413247699470958
Frame 58
tensor(0.0498)
Frame 59
tensor(0.0953)
Frame 60
tensor(0.1078)
 # KEYFRAME 21
0.05463128499832237
Frame 61
tensor(0.5784)
 # KEYFRAME 22
0.055184932993142866
Frame 62
tensor(0.0696)
Frame 63
tensor(0.1080)
 # KEYFRAME 23
0.05541578300471883
Frame 64
tensor(0.1275)
 # KEYFRAME 24
0.05594316100177821
Frame 65
tensor(0.1939)
 # KEYFRAME 25
0.05664535899995826
Frame 66
tensor(0.1451)
 # KEYFRAME 26
0.05801433300075587
Frame 67
tensor(0.1472)
 # KEYFRAME 27
0.05897219100006623
Frame 68
tensor(0.0398)
Frame 69
tensor(0.1695)
 # KEYFRAME 28
0.059526798002480064
Frame 70
tensor(0.3136)
 # KEYFRAME 29
0.060306395003863145
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 71
tensor(0.1503)
 # KEYFRAME 30
0.058395143001689576
Frame 72
tensor(0.0691)
Frame 73
tensor(0.0970)
Frame 74
tensor(0.1513)
 # KEYFRAME 31
0.059821467999427114
Frame 75
tensor(0.0862)
Frame 76
tensor(0.1142)
 # KEYFRAME 32
0.06067286399775185
Frame 77
tensor(0.0217)
Frame 78
tensor(0.0717)
Frame 79
tensor(0.0965)
Frame 80
tensor(0.1604)
 # KEYFRAME 33
0.060622274002525955
Frame 81
tensor(0.0559)
Frame 82
tensor(0.1180)
 # KEYFRAME 34
0.060885252998559736
Frame 83
tensor(0.0770)
Frame 84
tensor(0.1442)
 # KEYFRAME 35
0.06122319200221682
Frame 85
tensor(0.5153)
 # KEYFRAME 36
0.0620526089987834
Frame 86
tensor(0.0474)
Frame 87
tensor(0.0709)
Frame 88
tensor(0.1489)
 # KEYFRAME 37
0.06303882599604549
Frame 89
tensor(0.1546)
 # KEYFRAME 38
0.0635912739962805
Frame 90
tensor(0.1269)
 # KEYFRAME 39
0.064266700996086
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1289 loss_distill=0.1733 tta_take=0.009s
Frame 91
tensor(0.1771)
 # KEYFRAME 40
0.06279528699815273
Frame 92
tensor(0.1234)
 # KEYFRAME 41
0.06439352100278484
Frame 93
tensor(0.6111)
 # KEYFRAME 42
0.06491975900280522
Frame 94
tensor(0.0361)
Frame 95
tensor(0.0654)
Frame 96
tensor(0.0967)
Frame 97
tensor(0.1346)
 # KEYFRAME 43
0.06418763200053945
Frame 98
tensor(0.0222)
Frame 99
tensor(0.0652)
Frame 100
tensor(0.0940)
Frame 101
tensor(0.1505)
 # KEYFRAME 44
0.0660394950027694
Frame 102
tensor(0.0134)
Frame 103
tensor(0.0294)
Frame 104
tensor(0.0480)
Frame 105
tensor(0.3340)
 # KEYFRAME 45
0.06635998399724485
Frame 106
tensor(0.0047)
Frame 107
tensor(0.0240)
Frame 108
tensor(0.1152)
 # KEYFRAME 46
0.06663375299831387
Frame 109
tensor(0.0356)
Frame 110
tensor(0.0666)
Frame 111
tensor(0.0730)
Frame 112
tensor(0.1126)
 # KEYFRAME 47
0.066983472002903
Frame 113
tensor(0.0268)
Frame 114
tensor(0.0781)
Frame 115
tensor(0.5230)
 # KEYFRAME 48
0.06761010899936082
Frame 116
tensor(0.0128)
Frame 117
tensor(0.0625)
Frame 118
tensor(0.1075)
 # KEYFRAME 49
0.06881739500386175
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1290 loss_distill=0.2747 tta_take=0.008s
Frame 119
tensor(0.0901)
Frame 120
tensor(0.1394)
 # KEYFRAME 50
0.0672223310029949
Frame 121
tensor(0.0601)
Frame 122
tensor(0.1039)
 # KEYFRAME 51
0.06816552799864439
Frame 123
tensor(0.0665)
Frame 124
tensor(0.1829)
 # KEYFRAME 52
0.0686887849951745
Frame 125
tensor(0.0792)
Frame 126
tensor(0.0381)
Frame 127
tensor(0.1553)
 # KEYFRAME 53
0.06909645399719011
Frame 128
tensor(0.0679)
Frame 129
tensor(0.2299)
 # KEYFRAME 54
0.06927658399945358
Frame 130
tensor(1.0156)
 # KEYFRAME 55
0.07020188099704683
Frame 131
tensor(0.0257)
Frame 132
tensor(0.0602)
Frame 133
tensor(0.0897)
Frame 134
tensor(0.1102)
 # KEYFRAME 56
0.07073891799518606
Frame 135
tensor(0.0350)
Frame 136
tensor(0.0546)
Frame 137
tensor(0.0681)
Frame 138
tensor(0.2257)
 # KEYFRAME 57
0.07136106600228231
Frame 139
tensor(0.0490)
Frame 140
tensor(0.1368)
 # KEYFRAME 58
0.07096405700576724
Frame 141
tensor(0.0291)
Frame 142
tensor(0.0656)
Frame 143
tensor(0.1338)
 # KEYFRAME 59
0.07149015500181122
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1291 loss_distill=0.3466 tta_take=0.008s
Frame 144
tensor(0.0546)
Frame 145
tensor(0.0789)
Frame 146
tensor(0.3854)
 # KEYFRAME 60
0.07103874700260349
Frame 147
tensor(0.0691)
Frame 148
tensor(0.1755)
 # KEYFRAME 61
0.07267702100216411
Frame 149
tensor(0.0740)
Backending... 62 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 57660, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1292 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 191/556] scannetpp/bc400d86e1/DSC frames=150 tta_steps_this_scene=4 mean_loss=0.2992 total_steps=1292 time=27.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1489)
 # KEYFRAME 1
Frame 2
tensor(0.2119)
 # KEYFRAME 2
0.05200017400056822
Frame 3
tensor(0.2366)
 # KEYFRAME 3
0.054180847997486126
Frame 4
tensor(0.2888)
 # KEYFRAME 4
0.05463698600215139
Frame 5
tensor(0.1809)
 # KEYFRAME 5
0.054988304000289645
Frame 6
tensor(0.2264)
 # KEYFRAME 6
0.05636837000201922
Frame 7
tensor(0.1061)
 # KEYFRAME 7
0.056888767998316325
Frame 8
tensor(0.4419)
 # KEYFRAME 8
0.05839559200103395
Frame 9
tensor(0.2229)
 # KEYFRAME 9
0.05830775199865457
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.2600)
 # KEYFRAME 10
0.0527589320045081
Frame 11
tensor(0.1697)
 # KEYFRAME 11
0.05377226899872767
Frame 12
tensor(0.2302)
 # KEYFRAME 12
0.05433957700006431
Frame 13
tensor(0.0796)
Frame 14
tensor(0.2959)
 # KEYFRAME 13
0.05657628799963277
Frame 15
tensor(0.0837)
Frame 16
tensor(0.1904)
 # KEYFRAME 14
0.05737546599993948
Frame 17
tensor(0.0912)
Frame 18
tensor(0.1954)
 # KEYFRAME 15
0.0581711129998439
Frame 19
tensor(0.2295)
 # KEYFRAME 16
0.05904707000445342
Frame 20
tensor(0.1340)
 # KEYFRAME 17
0.06014141599735012
Frame 21
tensor(0.2236)
 # KEYFRAME 18
0.0613279019962647
Frame 22
tensor(0.2017)
 # KEYFRAME 19
0.06270438699721126
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 23
tensor(0.3307)
 # KEYFRAME 20
0.05875123099394841
Frame 24
tensor(0.2528)
 # KEYFRAME 21
0.06056690400146181
Frame 25
tensor(0.2889)
 # KEYFRAME 22
0.06106243300018832
Frame 26
tensor(0.2531)
 # KEYFRAME 23
0.06204868899658322
Frame 27
tensor(0.1291)
 # KEYFRAME 24
0.062290107998705935
Frame 28
tensor(0.1726)
 # KEYFRAME 25
0.06356352399598109
Frame 29
tensor(0.1619)
 # KEYFRAME 26
0.065279547998216
Frame 30
tensor(0.2056)
 # KEYFRAME 27
0.06591897600446828
Frame 31
tensor(0.2561)
 # KEYFRAME 28
0.06674541200482054
Frame 32
tensor(0.1343)
 # KEYFRAME 29
0.0685561560021597
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 33
tensor(0.2005)
 # KEYFRAME 30
0.06550694699399173
Frame 34
tensor(0.2020)
 # KEYFRAME 31
0.06737253999745008
Frame 35
tensor(0.3256)
 # KEYFRAME 32
0.06778895900060888
Frame 36
tensor(0.2251)
 # KEYFRAME 33
0.06863102599891135
Frame 37
tensor(0.2818)
 # KEYFRAME 34
0.06944385200040415
Frame 38
tensor(0.1316)
 # KEYFRAME 35
0.0703834599989932
Frame 39
tensor(0.2420)
 # KEYFRAME 36
0.07158397600142052
Frame 40
tensor(0.2083)
 # KEYFRAME 37
0.07239307300187647
Frame 41
tensor(0.1538)
 # KEYFRAME 38
0.07307819999550702
Frame 42
tensor(0.1881)
 # KEYFRAME 39
0.07414235600299435
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1293 loss_distill=0.1733 tta_take=0.009s
Frame 43
tensor(0.2060)
 # KEYFRAME 40
0.07295552999858046
Frame 44
tensor(0.1226)
 # KEYFRAME 41
0.0749001229996793
Frame 45
tensor(0.2151)
 # KEYFRAME 42
0.07494901299651247
Frame 46
tensor(0.3576)
 # KEYFRAME 43
0.0756898710023961
Frame 47
tensor(0.2768)
 # KEYFRAME 44
0.07651516800251557
Frame 48
tensor(0.2998)
 # KEYFRAME 45
0.077077724999981
Frame 49
tensor(0.5006)
 # KEYFRAME 46
0.0771048559981864
Frame 50
tensor(0.4743)
 # KEYFRAME 47
0.0774583949969383
Frame 51
tensor(0.1882)
 # KEYFRAME 48
0.079144178002025
Frame 52
tensor(0.2613)
 # KEYFRAME 49
0.08017216400185134
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531069278717
TTA-STEP: step=1294 loss_distill=0.2747 tta_take=0.009s
Frame 53
tensor(0.3328)
 # KEYFRAME 50
0.07914916799927596
Frame 54
tensor(0.3255)
 # KEYFRAME 51
0.08118521099822829
Frame 55
tensor(0.2140)
 # KEYFRAME 52
0.08091649199923268
Frame 56
tensor(0.1053)
 # KEYFRAME 53
0.08218731800297974
Frame 57
tensor(0.1345)
 # KEYFRAME 54
0.08327784299763152
Frame 58
tensor(0.1702)
 # KEYFRAME 55
0.08482254800037481
Frame 59
tensor(0.1596)
 # KEYFRAME 56
0.08565951499622315
Frame 60
tensor(0.1377)
 # KEYFRAME 57
0.08592076499917312
Frame 61
tensor(0.1642)
 # KEYFRAME 58
0.08812970699364087
Frame 62
tensor(0.3808)
 # KEYFRAME 59
0.08863434399972903
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=1295 loss_distill=0.3466 tta_take=0.009s
Frame 63
tensor(0.1835)
 # KEYFRAME 60
0.08642614200653043
Frame 64
tensor(0.1222)
 # KEYFRAME 61
0.08857869500207016
Frame 65
tensor(0.1900)
 # KEYFRAME 62
0.08873559399944497
Frame 66
tensor(0.1305)
 # KEYFRAME 63
0.09040634799748659
Frame 67
tensor(0.2524)
 # KEYFRAME 64
0.09094716699473793
Frame 68
tensor(0.3050)
 # KEYFRAME 65
0.09296577899658587
Frame 69
tensor(0.2731)
 # KEYFRAME 66
0.09426268500101287
Frame 70
tensor(0.2842)
 # KEYFRAME 67
0.09512996099510929
Frame 71
tensor(0.3371)
 # KEYFRAME 68
0.09542857099586399
Frame 72
tensor(0.2822)
 # KEYFRAME 69
0.09658296600537142
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1296 loss_distill=0.4024 tta_take=0.009s
Frame 73
tensor(0.2716)
 # KEYFRAME 70
0.09350282700324897
Frame 74
tensor(0.6541)
 # KEYFRAME 71
0.09586832900095033
Frame 75
tensor(0.2749)
 # KEYFRAME 72
0.09612635800294811
Frame 76
tensor(0.2539)
 # KEYFRAME 73
0.09683903500263114
Frame 77
tensor(0.2848)
 # KEYFRAME 74
0.09821646999625955
Frame 78
tensor(0.2943)
 # KEYFRAME 75
0.09943260600266512
Frame 79
tensor(0.2710)
 # KEYFRAME 76
0.10052864199678879
Frame 80
tensor(0.3230)
 # KEYFRAME 77
0.1009093109969399
Frame 81
tensor(0.1804)
 # KEYFRAME 78
0.10280642400175566
Frame 82
tensor(0.1751)
 # KEYFRAME 79
0.10340883200115059
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1297 loss_distill=0.4024 tta_take=0.009s
Frame 83
tensor(0.2439)
 # KEYFRAME 80
0.0937848860048689
Frame 84
tensor(0.3457)
 # KEYFRAME 81
0.0935002269980032
Frame 85
tensor(0.3170)
 # KEYFRAME 82
0.09507328199833864
Frame 86
tensor(0.1341)
 # KEYFRAME 83
0.09571968900127104
Frame 87
tensor(0.1286)
 # KEYFRAME 84
0.09639578699716367
Frame 88
tensor(0.5431)
 # KEYFRAME 85
0.09671835600602208
Frame 89
tensor(0.0814)
Frame 90
tensor(0.2207)
 # KEYFRAME 86
0.09796916099730879
Frame 91
tensor(0.3250)
 # KEYFRAME 87
0.09902849799982505
Frame 92
tensor(0.2710)
 # KEYFRAME 88
0.09929882700089365
Frame 93
tensor(0.1308)
 # KEYFRAME 89
0.0999060649992316
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1298 loss_distill=0.4024 tta_take=0.009s
Frame 94
tensor(0.2055)
 # KEYFRAME 90
0.09312015899922699
Frame 95
tensor(0.2302)
 # KEYFRAME 91
0.09379126599378651
Frame 96
tensor(0.2119)
 # KEYFRAME 92
0.09451653299765894
Frame 97
tensor(0.2589)
 # KEYFRAME 93
0.09621779699955368
Frame 98
tensor(0.3026)
 # KEYFRAME 94
0.09721014399838168
Frame 99
tensor(0.2995)
 # KEYFRAME 95
0.09783394099940779
Frame 100
tensor(0.3611)
 # KEYFRAME 96
0.09800692100543529
Frame 101
tensor(0.2927)
 # KEYFRAME 97
0.09899606799444882
Frame 102
tensor(0.0811)
Frame 103
tensor(0.1306)
 # KEYFRAME 98
0.0992195869985153
Frame 104
tensor(0.3179)
 # KEYFRAME 99
0.09986105500138365
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1299 loss_distill=0.4024 tta_take=0.009s
Frame 105
tensor(0.1005)
 # KEYFRAME 100
0.0925677609993727
Frame 106
tensor(0.2444)
 # KEYFRAME 101
0.09516463099862449
Frame 107
tensor(0.1050)
 # KEYFRAME 102
0.09475417299836408
Frame 108
tensor(0.3660)
 # KEYFRAME 103
0.09617887800413882
Frame 109
tensor(0.3837)
 # KEYFRAME 104
0.09583395800291328
Frame 110
tensor(0.2132)
 # KEYFRAME 105
0.0969372050021775
Frame 111
tensor(0.0912)
Frame 112
tensor(0.1233)
 # KEYFRAME 106
0.09812101099669235
Frame 113
tensor(0.2157)
 # KEYFRAME 107
0.09878208900045138
Frame 114
tensor(0.1164)
 # KEYFRAME 108
0.09937788599927444
Frame 115
tensor(0.0328)
Frame 116
tensor(0.2485)
 # KEYFRAME 109
0.09949650600174209
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1300 loss_distill=0.4024 tta_take=0.009s
Frame 117
tensor(0.1885)
 # KEYFRAME 110
0.09254858100030106
Frame 118
tensor(0.2801)
 # KEYFRAME 111
0.09593213799962541
Frame 119
tensor(0.1627)
 # KEYFRAME 112
0.0955683600041084
Frame 120
tensor(0.1927)
 # KEYFRAME 113
0.09634569700574502
Frame 121
tensor(0.3427)
 # KEYFRAME 114
0.09708848399895942
Frame 122
tensor(0.2687)
 # KEYFRAME 115
0.09772102200076915
Frame 123
tensor(0.1513)
 # KEYFRAME 116
0.09845786899677478
Frame 124
tensor(0.2248)
 # KEYFRAME 117
0.09907439700327814
Frame 125
tensor(0.2608)
 # KEYFRAME 118
0.09961746499902802
Frame 126
tensor(0.1681)
 # KEYFRAME 119
0.10037760299746878
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1301 loss_distill=0.4024 tta_take=0.009s
Frame 127
tensor(0.2122)
 # KEYFRAME 120
0.09390350600006059
Frame 128
tensor(0.2911)
 # KEYFRAME 121
0.09441628400236368
Frame 129
tensor(0.3439)
 # KEYFRAME 122
0.09542378000332974
Backending... 123 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65583, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1302 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 192/556] scannetpp/355e5e32db/frame frames=130 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=1302 time=48.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1985)
 # KEYFRAME 1
Frame 2
tensor(0.4303)
 # KEYFRAME 2
0.051810755001497455
Frame 3
tensor(0.4674)
 # KEYFRAME 3
0.05277158199896803
Frame 4
tensor(0.2045)
 # KEYFRAME 4
0.05331108999962453
Frame 5
tensor(0.7619)
 # KEYFRAME 5
0.05516857399925357
Frame 6
tensor(0.4376)
 # KEYFRAME 6
0.05599774099391652
Frame 7
tensor(0.3397)
 # KEYFRAME 7
0.057018027000594884
Frame 8
tensor(0.2727)
 # KEYFRAME 8
0.05766239500371739
Frame 9
tensor(0.7509)
 # KEYFRAME 9
0.058423711998329964
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.1248)
 # KEYFRAME 10
0.05158609700447414
Frame 11
tensor(0.2326)
 # KEYFRAME 11
0.05232560399599606
Frame 12
tensor(0.2943)
 # KEYFRAME 12
0.053379369994217996
Frame 13
tensor(0.3029)
 # KEYFRAME 13
0.05599661100131925
Frame 14
tensor(0.3709)
 # KEYFRAME 14
0.05461830599961104
Frame 15
tensor(0.5771)
 # KEYFRAME 15
0.05495029399753548
Frame 16
tensor(0.0681)
Frame 17
tensor(0.2540)
 # KEYFRAME 16
0.055909531001816504
Frame 18
tensor(0.2311)
 # KEYFRAME 17
0.05605937099608127
Frame 19
tensor(0.1123)
 # KEYFRAME 18
0.056911956999101676
Frame 20
tensor(0.3108)
 # KEYFRAME 19
0.05767151500185719
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.4861)
 # KEYFRAME 20
0.05409091700130375
Frame 22
tensor(0.3183)
 # KEYFRAME 21
0.05447471600200515
Frame 23
tensor(0.1849)
 # KEYFRAME 22
0.05498791500576772
Frame 24
tensor(0.1176)
 # KEYFRAME 23
0.05526512299547903
Frame 25
tensor(0.1853)
 # KEYFRAME 24
0.05586119100189535
Frame 26
tensor(0.0865)
Frame 27
tensor(0.4261)
 # KEYFRAME 25
0.056576538998342585
Frame 28
tensor(0.1348)
 # KEYFRAME 26
0.05771426400315249
Frame 29
tensor(0.4740)
 # KEYFRAME 27
0.05863649099774193
Frame 30
tensor(0.3046)
 # KEYFRAME 28
0.05931965899799252
Frame 31
tensor(0.1252)
 # KEYFRAME 29
0.060316714996588416
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.1674)
 # KEYFRAME 30
0.0585065420018509
Frame 33
tensor(0.1769)
 # KEYFRAME 31
0.05921197899442632
Frame 34
tensor(0.1608)
 # KEYFRAME 32
0.05951412899594288
Frame 35
tensor(0.2299)
 # KEYFRAME 33
0.06017616600001929
Frame 36
tensor(0.0662)
Frame 37
tensor(0.2551)
 # KEYFRAME 34
0.0609015929949237
Frame 38
tensor(0.3676)
 # KEYFRAME 35
0.06109527200169396
Frame 39
tensor(0.3830)
 # KEYFRAME 36
0.06232828800420975
Frame 40
tensor(0.0955)
Frame 41
tensor(0.3906)
 # KEYFRAME 37
0.06278230599855306
Frame 42
tensor(0.5515)
 # KEYFRAME 38
0.06313078499806579
Frame 43
tensor(0.2482)
 # KEYFRAME 39
0.0638863330023014
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1303 loss_distill=0.1733 tta_take=0.008s
Frame 44
tensor(0.1485)
 # KEYFRAME 40
0.06282594700314803
Frame 45
tensor(0.1004)
 # KEYFRAME 41
0.06473701899813022
Frame 46
tensor(0.1038)
 # KEYFRAME 42
0.06472621900320519
Frame 47
tensor(0.1213)
 # KEYFRAME 43
0.06446442999731516
Frame 48
tensor(0.1409)
 # KEYFRAME 44
0.06601788500120165
Frame 49
tensor(0.0953)
Frame 50
tensor(0.2273)
 # KEYFRAME 45
0.06598032499459805
Frame 51
tensor(0.5699)
 # KEYFRAME 46
0.06643755400000373
Frame 52
tensor(0.2909)
 # KEYFRAME 47
0.06679976300074486
Frame 53
tensor(0.0437)
Frame 54
tensor(0.1566)
 # KEYFRAME 48
0.06747001999610802
Frame 55
tensor(0.1240)
 # KEYFRAME 49
0.06864755599963246
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=1304 loss_distill=0.2747 tta_take=0.008s
Frame 56
tensor(0.2628)
 # KEYFRAME 50
0.06678630300302757
Frame 57
tensor(0.2754)
 # KEYFRAME 51
0.06851422599720536
Frame 58
tensor(0.4035)
 # KEYFRAME 52
0.06860970600246219
Frame 59
tensor(0.2957)
 # KEYFRAME 53
0.06898113499482861
Frame 60
tensor(0.2169)
 # KEYFRAME 54
0.06898447399726138
Frame 61
tensor(0.1476)
 # KEYFRAME 55
0.07037089899677085
Frame 62
tensor(0.1463)
 # KEYFRAME 56
0.07111338700633496
Frame 63
tensor(0.1482)
 # KEYFRAME 57
0.07141387600131566
Frame 64
tensor(0.0889)
Frame 65
tensor(0.1997)
 # KEYFRAME 58
0.07164450600248529
Frame 66
tensor(0.2838)
 # KEYFRAME 59
0.07198767299996689
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1305 loss_distill=0.3466 tta_take=0.008s
Frame 67
tensor(0.1135)
 # KEYFRAME 60
0.07134859600046184
Frame 68
tensor(0.2107)
 # KEYFRAME 61
0.07310306999715976
Frame 69
tensor(0.1988)
 # KEYFRAME 62
0.07243060299515491
Frame 70
tensor(0.1741)
 # KEYFRAME 63
0.07286604999535484
Frame 71
tensor(0.1218)
 # KEYFRAME 64
0.07337617900338955
Frame 72
tensor(0.0951)
Frame 73
tensor(0.1978)
 # KEYFRAME 65
0.07372041800408624
Frame 74
tensor(0.1480)
 # KEYFRAME 66
0.07444558499992127
Frame 75
tensor(0.1336)
 # KEYFRAME 67
0.07554207099747146
Frame 76
tensor(0.0951)
Frame 77
tensor(0.1826)
 # KEYFRAME 68
0.07623828900250373
Frame 78
tensor(0.0790)
Frame 79
tensor(0.2446)
 # KEYFRAME 69
0.07614709900371963
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1306 loss_distill=0.4024 tta_take=0.008s
Frame 80
tensor(0.0521)
Frame 81
tensor(0.0922)
Frame 82
tensor(0.3332)
 # KEYFRAME 70
0.07610305900016101
Frame 83
tensor(0.1638)
 # KEYFRAME 71
0.07748374399670865
Frame 84
tensor(0.1343)
 # KEYFRAME 72
0.07681245700223371
Frame 85
tensor(0.0805)
Frame 86
tensor(0.5874)
 # KEYFRAME 73
0.07719272500253282
Frame 87
tensor(0.1478)
 # KEYFRAME 74
0.07763017300021602
Frame 88
tensor(0.2654)
 # KEYFRAME 75
0.07814573200448649
Frame 89
tensor(0.3044)
 # KEYFRAME 76
0.07816164199903142
Frame 90
tensor(0.5305)
 # KEYFRAME 77
0.0797045560029801
Frame 91
tensor(0.4347)
 # KEYFRAME 78
0.07985528599965619
Frame 92
tensor(0.2560)
 # KEYFRAME 79
0.08067005300108576
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595452308655
TTA-STEP: step=1307 loss_distill=0.4024 tta_take=0.009s
Frame 93
tensor(0.0761)
Frame 94
tensor(0.2286)
 # KEYFRAME 80
0.07535355199797777
Frame 95
tensor(0.3566)
 # KEYFRAME 81
0.07714712499728194
Frame 96
tensor(0.1174)
 # KEYFRAME 82
0.07646307699906174
Frame 97
tensor(0.2015)
 # KEYFRAME 83
0.07702426600008039
Frame 98
tensor(1.0125)
 # KEYFRAME 84
0.07795102200179826
Frame 99
tensor(0.3113)
 # KEYFRAME 85
0.07867018000251846
Frame 100
tensor(0.1980)
 # KEYFRAME 86
0.07824938200064935
Frame 101
tensor(0.2754)
 # KEYFRAME 87
0.07949120699777268
Frame 102
tensor(0.2981)
 # KEYFRAME 88
0.07940587800112553
Frame 103
tensor(0.1184)
 # KEYFRAME 89
0.0805194529966684
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1308 loss_distill=0.4024 tta_take=0.008s
Frame 104
tensor(0.0792)
Frame 105
tensor(0.2082)
 # KEYFRAME 90
0.07530035299714655
Frame 106
tensor(0.4800)
 # KEYFRAME 91
0.07759743400674779
Frame 107
tensor(0.1440)
 # KEYFRAME 92
0.0766470080052386
Frame 108
tensor(0.2341)
 # KEYFRAME 93
0.0777013929982786
Frame 109
tensor(0.1720)
 # KEYFRAME 94
0.0784896100012702
Frame 110
tensor(0.2000)
 # KEYFRAME 95
0.07858843999565579
Frame 111
tensor(0.1891)
 # KEYFRAME 96
0.07832276100089075
Frame 112
tensor(0.1607)
 # KEYFRAME 97
0.08026967499608872
Frame 113
tensor(0.1517)
 # KEYFRAME 98
0.08013948499865364
Frame 114
tensor(0.1410)
 # KEYFRAME 99
0.08068040200305404
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1309 loss_distill=0.4024 tta_take=0.008s
Frame 115
tensor(0.1897)
 # KEYFRAME 100
0.075732519995654
Frame 116
tensor(0.1332)
 # KEYFRAME 101
0.07734188500035089
Frame 117
tensor(0.0726)
Frame 118
tensor(0.1272)
 # KEYFRAME 102
0.07704844499676256
Frame 119
tensor(0.2030)
 # KEYFRAME 103
0.07785489299567416
Frame 120
tensor(0.1522)
 # KEYFRAME 104
0.07888525899761589
Frame 121
tensor(0.1614)
 # KEYFRAME 105
0.07931693799764616
Frame 122
tensor(0.1578)
 # KEYFRAME 106
0.07832975200290093
Frame 123
tensor(0.2756)
 # KEYFRAME 107
0.08004361499479273
Frame 124
tensor(0.2384)
 # KEYFRAME 108
0.08127440099633532
Frame 125
tensor(0.2670)
 # KEYFRAME 109
0.08113701199908974
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1310 loss_distill=0.4024 tta_take=0.008s
Frame 126
tensor(0.2224)
 # KEYFRAME 110
0.07539468100003432
Frame 127
tensor(0.1569)
 # KEYFRAME 111
0.07613514900003793
Frame 128
tensor(0.1675)
 # KEYFRAME 112
0.07725732499966398
Frame 129
tensor(0.1430)
 # KEYFRAME 113
0.0777846330020111
Frame 130
tensor(0.1035)
 # KEYFRAME 114
0.07829859100456815
Frame 131
tensor(0.0638)
Frame 132
tensor(0.1276)
 # KEYFRAME 115
0.07895698900392745
Frame 133
tensor(0.0788)
Frame 134
tensor(0.1344)
 # KEYFRAME 116
0.07856719999836059
Frame 135
tensor(0.5332)
 # KEYFRAME 117
0.07962646600208245
Frame 136
tensor(0.1384)
 # KEYFRAME 118
0.07980498499819078
Frame 137
tensor(0.1380)
 # KEYFRAME 119
0.08033686400449369
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1311 loss_distill=0.4024 tta_take=0.008s
Frame 138
tensor(0.0405)
Frame 139
tensor(0.1415)
 # KEYFRAME 120
0.0758029010030441
Frame 140
tensor(0.7181)
 # KEYFRAME 121
0.07813060199987376
Frame 141
tensor(0.0862)
Frame 142
tensor(0.2011)
 # KEYFRAME 122
0.07810222200350836
Frame 143
tensor(0.1007)
 # KEYFRAME 123
0.07882895999500761
Frame 144
tensor(0.1543)
 # KEYFRAME 124
0.08010865499818465
Frame 145
tensor(0.0775)
Frame 146
tensor(0.9630)
 # KEYFRAME 125
0.08102745200449135
Frame 147
tensor(0.1184)
 # KEYFRAME 126
0.07853834999696119
Frame 148
tensor(0.0361)
Frame 149
tensor(0.0349)
Backending... 127 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62310, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1312 loss_distill=0.4024 tta_take=0.007s
[epoch 0 scene 193/556] scannetpp/c5f701a8c7/DSC frames=150 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=1312 time=47.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0580)
Frame 2
tensor(0.3657)
 # KEYFRAME 1
Frame 3
tensor(0.2099)
 # KEYFRAME 2
0.05210567500034813
Frame 4
tensor(0.1087)
 # KEYFRAME 3
0.05464797500462737
Frame 5
tensor(0.1619)
 # KEYFRAME 4
0.054574784997384995
Frame 6
tensor(0.2925)
 # KEYFRAME 5
0.055238532993826084
Frame 7
tensor(0.2332)
 # KEYFRAME 6
0.05632196999795269
Frame 8
tensor(0.2055)
 # KEYFRAME 7
0.05704037699615583
Frame 9
tensor(0.2027)
 # KEYFRAME 8
0.05859161099942867
Frame 10
tensor(0.1169)
 # KEYFRAME 9
0.058541622005577665
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.1306)
 # KEYFRAME 10
0.05292619200190529
Frame 12
tensor(0.1152)
 # KEYFRAME 11
0.053595418998156674
Frame 13
tensor(0.1461)
 # KEYFRAME 12
0.05470981499820482
Frame 14
tensor(0.0605)
Frame 15
tensor(0.1771)
 # KEYFRAME 13
0.0568010979986866
Frame 16
tensor(0.0472)
Frame 17
tensor(0.0378)
Frame 18
tensor(0.2236)
 # KEYFRAME 14
0.05737685499479994
Frame 19
tensor(0.1976)
 # KEYFRAME 15
0.05840481199993519
Frame 20
tensor(0.2489)
 # KEYFRAME 16
0.0591947290013195
Frame 21
tensor(0.2341)
 # KEYFRAME 17
0.06021843599592103
Frame 22
tensor(0.2341)
 # KEYFRAME 18
0.06126992200006498
Frame 23
tensor(0.0894)
Frame 24
tensor(0.4408)
 # KEYFRAME 19
0.0630099859990878
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.2088)
 # KEYFRAME 20
0.05938076899474254
Frame 26
tensor(0.2605)
 # KEYFRAME 21
0.060283965001872275
Frame 27
tensor(0.1887)
 # KEYFRAME 22
0.06116143200051738
Frame 28
tensor(0.1883)
 # KEYFRAME 23
0.06218737900053384
Frame 29
tensor(0.2894)
 # KEYFRAME 24
0.06225148800149327
Frame 30
tensor(0.2120)
 # KEYFRAME 25
0.06358714300586144
Frame 31
tensor(0.1171)
 # KEYFRAME 26
0.06508233799831942
Frame 32
tensor(0.2037)
 # KEYFRAME 27
0.06566802599991206
Frame 33
tensor(0.2038)
 # KEYFRAME 28
0.06683469200652326
Frame 34
tensor(0.1270)
 # KEYFRAME 29
0.06875973600108409
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 35
tensor(0.0701)
Frame 36
tensor(0.2103)
 # KEYFRAME 30
0.06612575499457307
Frame 37
tensor(0.2654)
 # KEYFRAME 31
0.06774896899878513
Frame 38
tensor(0.2375)
 # KEYFRAME 32
0.06832571699487744
Frame 39
tensor(0.2138)
 # KEYFRAME 33
0.06896410499757621
Frame 40
tensor(0.1600)
 # KEYFRAME 34
0.07019809999474091
Frame 41
tensor(0.1547)
 # KEYFRAME 35
0.07067491899942979
Frame 42
tensor(0.0907)
Frame 43
tensor(0.1342)
 # KEYFRAME 36
0.07185673400090309
Frame 44
tensor(0.2373)
 # KEYFRAME 37
0.0721384529970237
Frame 45
tensor(0.1745)
 # KEYFRAME 38
0.07307990999834146
Frame 46
tensor(0.0939)
Frame 47
tensor(0.1047)
 # KEYFRAME 39
0.07408198600023752
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1313 loss_distill=0.1733 tta_take=0.009s
Frame 48
tensor(0.1222)
 # KEYFRAME 40
0.07304899000155274
Frame 49
tensor(0.0599)
Frame 50
tensor(0.2082)
 # KEYFRAME 41
0.07518741200328805
Frame 51
tensor(0.2862)
 # KEYFRAME 42
0.07485704400460236
Frame 52
tensor(0.1653)
 # KEYFRAME 43
0.07560744100192096
Frame 53
tensor(0.1614)
 # KEYFRAME 44
0.0763505580034689
Frame 54
tensor(0.2460)
 # KEYFRAME 45
0.07700968599965563
Frame 55
tensor(0.0529)
Frame 56
tensor(0.1918)
 # KEYFRAME 46
0.07788023300236091
Frame 57
tensor(0.3079)
 # KEYFRAME 47
0.07828122100181645
Frame 58
tensor(0.1060)
 # KEYFRAME 48
0.07883487000071909
Frame 59
tensor(0.0462)
Frame 60
tensor(0.1196)
 # KEYFRAME 49
0.08046326399926329
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531069278717
TTA-STEP: step=1314 loss_distill=0.2747 tta_take=0.009s
Frame 61
tensor(0.2225)
 # KEYFRAME 50
0.07930528799624881
Frame 62
tensor(0.0375)
Frame 63
tensor(0.1272)
 # KEYFRAME 51
0.08139873999607516
Frame 64
tensor(0.2435)
 # KEYFRAME 52
0.08133960999839474
Frame 65
tensor(0.2074)
 # KEYFRAME 53
0.08273688600456808
Frame 66
tensor(0.2233)
 # KEYFRAME 54
0.08404435000556987
Frame 67
tensor(0.1437)
 # KEYFRAME 55
0.08443408000312047
Frame 68
tensor(0.2266)
 # KEYFRAME 56
0.08540466600243235
Frame 69
tensor(0.4414)
 # KEYFRAME 57
0.08669373099837685
Frame 70
tensor(0.4208)
 # KEYFRAME 58
0.08742364899808308
Frame 71
tensor(0.1238)
 # KEYFRAME 59
0.08904180300305597
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1315 loss_distill=0.3466 tta_take=0.009s
Frame 72
tensor(0.2535)
 # KEYFRAME 60
0.08613166400027694
Frame 73
tensor(0.1438)
 # KEYFRAME 61
0.0893389430057141
Frame 74
tensor(0.0635)
Frame 75
tensor(0.1154)
 # KEYFRAME 62
0.08852343499893323
Frame 76
tensor(0.1037)
 # KEYFRAME 63
0.09038972800044576
Frame 77
tensor(0.4422)
 # KEYFRAME 64
0.09194327300065197
Frame 78
tensor(0.3153)
 # KEYFRAME 65
0.09317737899982603
Frame 79
tensor(0.1859)
 # KEYFRAME 66
0.09388167600263841
Frame 80
tensor(0.2057)
 # KEYFRAME 67
0.09460418399976334
Frame 81
tensor(0.1109)
 # KEYFRAME 68
0.09561052000208292
Frame 82
tensor(0.1657)
 # KEYFRAME 69
0.09607830800086958
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1316 loss_distill=0.4024 tta_take=0.009s
Frame 83
tensor(0.1751)
 # KEYFRAME 70
0.0935446570001659
Frame 84
tensor(0.3191)
 # KEYFRAME 71
0.09444067299773451
Frame 85
tensor(0.2249)
 # KEYFRAME 72
0.09535650099860504
Frame 86
tensor(0.3417)
 # KEYFRAME 73
0.09655144700082019
Frame 87
tensor(0.2571)
 # KEYFRAME 74
0.09754801300005056
Frame 88
tensor(0.4413)
 # KEYFRAME 75
0.0989159680029843
Frame 89
tensor(0.0901)
Frame 90
tensor(0.3181)
 # KEYFRAME 76
0.10028493299614638
Frame 91
tensor(0.2873)
 # KEYFRAME 77
0.10095388999616262
Frame 92
tensor(0.1059)
 # KEYFRAME 78
0.10155635900446214
Frame 93
tensor(0.2258)
 # KEYFRAME 79
0.10227253600169206
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1317 loss_distill=0.4024 tta_take=0.009s
Frame 94
tensor(0.2626)
 # KEYFRAME 80
0.09356583699991461
Frame 95
tensor(0.0848)
Frame 96
tensor(0.1801)
 # KEYFRAME 81
0.09423630400124239
Frame 97
tensor(0.1797)
 # KEYFRAME 82
0.09485007200419204
Frame 98
tensor(0.2299)
 # KEYFRAME 83
0.09625152700027684
Frame 99
tensor(0.3573)
 # KEYFRAME 84
0.09655675700196298
Frame 100
tensor(0.3182)
 # KEYFRAME 85
0.0975453130013193
Frame 101
tensor(0.2238)
 # KEYFRAME 86
0.09775829199497821
Frame 102
tensor(0.2291)
 # KEYFRAME 87
0.09870375899481587
Frame 103
tensor(0.5342)
 # KEYFRAME 88
0.09879392800212372
Frame 104
tensor(0.1411)
 # KEYFRAME 89
0.0998497149994364
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1318 loss_distill=0.4024 tta_take=0.009s
Frame 105
tensor(0.1380)
 # KEYFRAME 90
0.09257858999626478
Frame 106
tensor(0.1860)
 # KEYFRAME 91
0.09514113199838903
Frame 107
tensor(0.2454)
 # KEYFRAME 92
0.09479697200004011
Frame 108
tensor(0.2012)
 # KEYFRAME 93
0.09543273100280203
Frame 109
tensor(0.2447)
 # KEYFRAME 94
0.09673416599980555
Frame 110
tensor(0.3945)
 # KEYFRAME 95
0.09701501399831614
Frame 111
tensor(0.1582)
 # KEYFRAME 96
0.09701561400288483
Frame 112
tensor(0.3364)
 # KEYFRAME 97
0.09866989900183398
Frame 113
tensor(0.1645)
 # KEYFRAME 98
0.0984465400033514
Frame 114
tensor(0.2885)
 # KEYFRAME 99
0.09913162700104294
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1319 loss_distill=0.4024 tta_take=0.009s
Frame 115
tensor(0.3630)
 # KEYFRAME 100
0.09364408700639615
Frame 116
tensor(0.1301)
 # KEYFRAME 101
0.09561296999891056
Frame 117
tensor(0.6177)
 # KEYFRAME 102
0.09438184399914462
Frame 118
tensor(0.2486)
 # KEYFRAME 103
0.09526651100168237
Frame 119
tensor(0.2573)
 # KEYFRAME 104
0.09675453499949072
Frame 120
tensor(0.2575)
 # KEYFRAME 105
0.09722912400320638
Frame 121
tensor(0.1394)
 # KEYFRAME 106
0.09770657199987909
Frame 122
tensor(0.1816)
 # KEYFRAME 107
0.09850464899500366
Frame 123
tensor(0.2850)
 # KEYFRAME 108
0.09914978700544452
Frame 124
tensor(0.2166)
 # KEYFRAME 109
0.09918188699521124
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1320 loss_distill=0.4024 tta_take=0.009s
Frame 125
tensor(0.1302)
 # KEYFRAME 110
0.09332150800037198
Frame 126
tensor(0.1643)
 # KEYFRAME 111
0.09452030399552314
Frame 127
tensor(0.1877)
 # KEYFRAME 112
0.09603012900333852
Frame 128
tensor(0.3522)
 # KEYFRAME 113
0.09626077699795133
Frame 129
tensor(0.2741)
 # KEYFRAME 114
0.0974515930065536
Frame 130
tensor(0.1172)
 # KEYFRAME 115
0.09753399300097954
Frame 131
tensor(0.8940)
 # KEYFRAME 116
0.0986581990000559
Frame 132
tensor(0.2168)
 # KEYFRAME 117
0.09969487600028515
Frame 133
tensor(0.1725)
 # KEYFRAME 118
0.09977629400236765
Frame 134
tensor(0.0961)
Frame 135
tensor(0.2549)
 # KEYFRAME 119
0.10069964199647075
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1321 loss_distill=0.4024 tta_take=0.009s
Frame 136
tensor(0.2041)
 # KEYFRAME 120
0.09321755800192477
Frame 137
tensor(0.2082)
 # KEYFRAME 121
0.09516007199999876
Frame 138
tensor(0.1745)
 # KEYFRAME 122
0.09562728000310017
Frame 139
tensor(0.1473)
 # KEYFRAME 123
0.09609011800057488
Frame 140
tensor(0.0676)
Frame 141
tensor(0.2011)
 # KEYFRAME 124
0.09753744299814571
Frame 142
tensor(0.0571)
Frame 143
tensor(0.2578)
 # KEYFRAME 125
0.098328930005664
Backending... 126 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 68706, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1322 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 194/556] scannetpp/e8ea9b4da8/frame frames=144 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=1322 time=53.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0297)
Frame 2
tensor(0.0642)
Frame 3
tensor(0.1082)
 # KEYFRAME 1
Frame 4
tensor(0.0358)
Frame 5
tensor(0.0734)
Frame 6
tensor(0.1101)
 # KEYFRAME 2
0.05193309599417262
Frame 7
tensor(0.0332)
Frame 8
tensor(0.0733)
Frame 9
tensor(0.1201)
 # KEYFRAME 3
0.052637863002019
Frame 10
tensor(0.0379)
Frame 11
tensor(0.0816)
Frame 12
tensor(0.1153)
 # KEYFRAME 4
0.05307251100020949
Frame 13
tensor(0.0345)
Frame 14
tensor(0.0785)
Frame 15
tensor(0.1193)
 # KEYFRAME 5
0.05256324299989501
Frame 16
tensor(0.0370)
Frame 17
tensor(0.0825)
Frame 18
tensor(0.1251)
 # KEYFRAME 6
0.052795852003328037
Frame 19
tensor(0.0385)
Frame 20
tensor(0.0860)
Frame 21
tensor(0.1300)
 # KEYFRAME 7
0.052558912997483276
Frame 22
tensor(0.0422)
Frame 23
tensor(0.0924)
Frame 24
tensor(0.1344)
 # KEYFRAME 8
0.053834227997867856
Frame 25
tensor(0.0428)
Frame 26
tensor(0.0862)
Frame 27
tensor(0.1361)
 # KEYFRAME 9
0.05251162400236353
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 28
tensor(0.0447)
Frame 29
tensor(0.0928)
Frame 30
tensor(0.1371)
 # KEYFRAME 10
0.05186495499947341
Frame 31
tensor(0.0423)
Frame 32
tensor(0.0962)
Frame 33
tensor(0.1342)
 # KEYFRAME 11
0.05247177300043404
Frame 34
tensor(0.0397)
Frame 35
tensor(0.0793)
Frame 36
tensor(0.1236)
 # KEYFRAME 12
0.05270157300401479
Frame 37
tensor(0.0401)
Frame 38
tensor(0.0938)
Frame 39
tensor(0.1372)
 # KEYFRAME 13
0.052130554999166634
Frame 40
tensor(0.0484)
Frame 41
tensor(0.0892)
Frame 42
tensor(0.1268)
 # KEYFRAME 14
0.0545505160043831
Frame 43
tensor(0.0422)
Frame 44
tensor(0.0834)
Frame 45
tensor(0.1267)
 # KEYFRAME 15
0.0521608550043311
Frame 46
tensor(0.0404)
Frame 47
tensor(0.0819)
Frame 48
tensor(0.1252)
 # KEYFRAME 16
0.052760622995265294
Frame 49
tensor(0.0396)
Frame 50
tensor(0.0880)
Frame 51
tensor(0.1279)
 # KEYFRAME 17
0.05562087200087262
Frame 52
tensor(0.0397)
Frame 53
tensor(0.0782)
Frame 54
tensor(0.1213)
 # KEYFRAME 18
0.05247642299946165
Frame 55
tensor(0.0404)
Frame 56
tensor(0.0803)
Frame 57
tensor(0.1219)
 # KEYFRAME 19
0.0562446900003124
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 58
tensor(0.0431)
Frame 59
tensor(0.0803)
Frame 60
tensor(0.1243)
 # KEYFRAME 20
0.051969514999655075
Frame 61
tensor(0.0366)
Frame 62
tensor(0.0754)
Frame 63
tensor(0.1204)
 # KEYFRAME 21
0.052580752002540976
Frame 64
tensor(0.0352)
Frame 65
tensor(0.0727)
Frame 66
tensor(0.1133)
 # KEYFRAME 22
0.05315224099467741
Frame 67
tensor(0.0325)
Frame 68
tensor(0.0703)
Frame 69
tensor(0.1184)
 # KEYFRAME 23
0.0523174440022558
Frame 70
tensor(0.0255)
Frame 71
tensor(0.0566)
Frame 72
tensor(0.0897)
Frame 73
tensor(0.1213)
 # KEYFRAME 24
0.05348205899645109
Frame 74
tensor(0.0260)
Frame 75
tensor(0.0534)
Frame 76
tensor(0.0925)
Frame 77
tensor(0.1177)
 # KEYFRAME 25
0.052604172997234855
Frame 78
tensor(0.0245)
Frame 79
tensor(0.0528)
Frame 80
tensor(0.0844)
Frame 81
tensor(0.1126)
 # KEYFRAME 26
0.052730221999809146
Frame 82
tensor(0.0272)
Frame 83
tensor(0.0572)
Frame 84
tensor(0.0873)
Frame 85
tensor(0.1227)
 # KEYFRAME 27
0.054892003994609695
Frame 86
tensor(0.0252)
Frame 87
tensor(0.0528)
Frame 88
tensor(0.0839)
Frame 89
tensor(0.1060)
 # KEYFRAME 28
0.05323952999606263
Frame 90
tensor(0.0228)
Frame 91
tensor(0.0489)
Frame 92
tensor(0.0731)
Frame 93
tensor(0.1006)
 # KEYFRAME 29
0.05485543399845483
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 94
tensor(0.0221)
Frame 95
tensor(0.0399)
Frame 96
tensor(0.0624)
Frame 97
tensor(0.0846)
Frame 98
tensor(0.1067)
 # KEYFRAME 30
0.052728112998011056
Frame 99
tensor(0.0159)
Frame 100
tensor(0.0328)
Frame 101
tensor(0.0502)
Frame 102
tensor(0.0729)
Frame 103
tensor(0.0895)
Frame 104
tensor(0.1034)
 # KEYFRAME 31
0.05252963300154079
Frame 105
tensor(0.0165)
Frame 106
tensor(0.0278)
Frame 107
tensor(0.0456)
Frame 108
tensor(0.0580)
Frame 109
tensor(0.0683)
Frame 110
tensor(0.0825)
Frame 111
tensor(0.0971)
Frame 112
tensor(0.1038)
 # KEYFRAME 32
0.053715107998868916
Frame 113
tensor(0.0084)
Frame 114
tensor(0.0191)
Frame 115
tensor(0.0282)
Frame 116
tensor(0.0402)
Frame 117
tensor(0.0486)
Frame 118
tensor(0.0609)
Frame 119
tensor(0.0689)
Frame 120
tensor(0.0772)
Frame 121
tensor(0.0826)
Frame 122
tensor(0.0925)
Frame 123
tensor(0.0978)
Frame 124
tensor(0.1033)
 # KEYFRAME 33
0.052182113999151625
Frame 125
tensor(0.0058)
Frame 126
tensor(0.0110)
Frame 127
tensor(0.0156)
Frame 128
tensor(0.0187)
Frame 129
tensor(0.0225)
Frame 130
tensor(0.0267)
Frame 131
tensor(0.0289)
Frame 132
tensor(0.0331)
Frame 133
tensor(0.0365)
Frame 134
tensor(0.0401)
Frame 135
tensor(0.0445)
Frame 136
tensor(0.0485)
Frame 137
tensor(0.0529)
Frame 138
tensor(0.0561)
Frame 139
tensor(0.0584)
Frame 140
tensor(0.0645)
Frame 141
tensor(0.0675)
Frame 142
tensor(0.0733)
Frame 143
tensor(0.0742)
Frame 144
tensor(0.0792)
Frame 145
tensor(0.0817)
Frame 146
tensor(0.0832)
Frame 147
tensor(0.0895)
Frame 148
tensor(0.0886)
Frame 149
tensor(0.0904)
Frame 150
tensor(0.0887)
Frame 151
tensor(0.0931)
Frame 152
tensor(0.0938)
Frame 153
tensor(0.1001)
 # KEYFRAME 34
0.05324921099963831
Frame 154
tensor(0.0009)
Frame 155
tensor(0.0039)
Frame 156
tensor(0.0071)
Frame 157
tensor(0.0081)
Frame 158
tensor(0.0095)
Frame 159
tensor(0.0110)
Frame 160
tensor(0.0116)
Frame 161
tensor(0.0136)
Frame 162
tensor(0.0132)
Frame 163
tensor(0.0148)
Frame 164
tensor(0.0155)
Frame 165
tensor(0.0161)
Frame 166
tensor(0.0174)
Frame 167
tensor(0.0146)
Frame 168
tensor(0.0154)
Frame 169
tensor(0.0159)
Frame 170
tensor(0.0144)
Frame 171
tensor(0.0153)
Frame 172
tensor(0.0155)
Frame 173
tensor(0.0140)
Frame 174
tensor(0.0151)
Frame 175
tensor(0.0150)
Frame 176
tensor(0.0149)
Frame 177
tensor(0.0150)
Frame 178
tensor(0.0152)
Frame 179
tensor(0.0160)
Frame 180
tensor(0.0163)
Frame 181
tensor(0.0151)
Frame 182
tensor(0.0152)
Frame 183
tensor(0.0150)
Frame 184
tensor(0.0161)
Frame 185
tensor(0.0158)
Frame 186
tensor(0.0168)
Frame 187
tensor(0.0169)
Frame 188
tensor(0.0160)
Frame 189
tensor(0.0156)
Frame 190
tensor(0.0161)
Frame 191
tensor(0.0159)
Frame 192
tensor(0.0172)
Frame 193
tensor(0.0167)
Frame 194
tensor(0.0155)
Frame 195
tensor(0.0164)
Frame 196
tensor(0.0170)
Frame 197
tensor(0.0178)
Frame 198
tensor(0.0173)
Frame 199
tensor(0.0172)
Frame 200
tensor(0.0184)
Frame 201
tensor(0.0185)
Frame 202
tensor(0.0177)
Frame 203
tensor(0.0178)
Frame 204
tensor(0.0187)
Frame 205
tensor(0.0181)
Frame 206
tensor(0.0188)
Frame 207
tensor(0.0176)
Frame 208
tensor(0.0186)
Frame 209
tensor(0.0179)
Frame 210
tensor(0.0180)
Frame 211
tensor(0.0173)
Frame 212
tensor(0.0169)
Frame 213
tensor(0.0167)
Frame 214
tensor(0.0175)
Frame 215
tensor(0.0180)
Frame 216
tensor(0.0174)
Frame 217
tensor(0.0161)
Frame 218
tensor(0.0168)
Frame 219
tensor(0.0169)
Frame 220
tensor(0.0169)
Frame 221
tensor(0.0176)
Frame 222
tensor(0.0175)
Frame 223
tensor(0.0179)
Frame 224
tensor(0.0169)
Frame 225
tensor(0.0170)
Frame 226
tensor(0.0176)
Frame 227
tensor(0.0181)
Frame 228
tensor(0.0176)
Frame 229
tensor(0.0178)
Frame 230
tensor(0.0182)
Frame 231
tensor(0.0180)
Frame 232
tensor(0.0180)
Backending... 35 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 14420, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1323 loss_distill=0.1733 tta_take=0.003s
[epoch 0 scene 195/556] vkitti/Scene02/fog/Camera_1 frames=233 tta_steps_this_scene=1 mean_loss=0.1733 total_steps=1323 time=32.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0575)
Frame 2
tensor(0.1633)
 # KEYFRAME 1
Frame 3
tensor(0.0629)
Frame 4
tensor(0.1330)
 # KEYFRAME 2
0.05148514700704254
Frame 5
tensor(0.0451)
Frame 6
tensor(0.0747)
Frame 7
tensor(0.1719)
 # KEYFRAME 3
0.0520695049999631
Frame 8
tensor(0.0647)
Frame 9
tensor(0.1103)
 # KEYFRAME 4
0.053369170003861655
Frame 10
tensor(0.3608)
 # KEYFRAME 5
0.05458230600197567
Frame 11
tensor(0.0440)
Frame 12
tensor(0.0798)
Frame 13
tensor(0.0909)
Frame 14
tensor(0.1102)
 # KEYFRAME 6
0.0557346610003151
Frame 15
tensor(0.0613)
Frame 16
tensor(0.0816)
Frame 17
tensor(0.0976)
Frame 18
tensor(0.1558)
 # KEYFRAME 7
0.056457758997567
Frame 19
tensor(0.0458)
Frame 20
tensor(0.1769)
 # KEYFRAME 8
0.05676563800079748
Frame 21
tensor(0.0472)
Frame 22
tensor(0.1141)
 # KEYFRAME 9
0.05743737600278109
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 23
tensor(0.2731)
 # KEYFRAME 10
0.05161448600119911
Frame 24
tensor(0.1728)
 # KEYFRAME 11
0.051607845998660196
Frame 25
tensor(0.0543)
Frame 26
tensor(0.1442)
 # KEYFRAME 12
0.0519388649991015
Frame 27
tensor(0.6059)
 # KEYFRAME 13
0.053514669998548925
Frame 28
tensor(0.1143)
 # KEYFRAME 14
0.05400108799949521
Frame 29
tensor(0.0849)
Frame 30
tensor(0.1407)
 # KEYFRAME 15
0.05449549600598402
Frame 31
tensor(0.0425)
Frame 32
tensor(0.1012)
 # KEYFRAME 16
0.05499515400151722
Frame 33
tensor(0.0593)
Frame 34
tensor(0.1754)
 # KEYFRAME 17
0.05561144200328272
Frame 35
tensor(0.0295)
Frame 36
tensor(0.1298)
 # KEYFRAME 18
0.05645329899562057
Frame 37
tensor(0.3395)
 # KEYFRAME 19
0.05740135599626228
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 38
tensor(0.0867)
Frame 39
tensor(0.1705)
 # KEYFRAME 20
0.05395767799927853
Frame 40
tensor(0.3767)
 # KEYFRAME 21
0.05513795400474919
Frame 41
tensor(0.0725)
Frame 42
tensor(0.3377)
 # KEYFRAME 22
0.05531993299518945
Frame 43
tensor(0.0291)
Frame 44
tensor(0.0565)
Frame 45
tensor(0.1662)
 # KEYFRAME 23
0.05607243000122253
Frame 46
tensor(0.0145)
Frame 47
tensor(0.1225)
 # KEYFRAME 24
0.05662801799917361
Frame 48
tensor(0.0376)
Frame 49
tensor(0.0538)
Frame 50
tensor(0.1080)
 # KEYFRAME 25
0.05709070699958829
Frame 51
tensor(0.0325)
Frame 52
tensor(0.0477)
Frame 53
tensor(0.0798)
Frame 54
tensor(0.0908)
Frame 55
tensor(0.1593)
 # KEYFRAME 26
0.0581198130021221
Frame 56
tensor(0.0857)
Frame 57
tensor(0.1393)
 # KEYFRAME 27
0.0593119389959611
Frame 58
tensor(0.1062)
 # KEYFRAME 28
0.059837136999703944
Frame 59
tensor(0.0331)
Frame 60
tensor(0.0477)
Frame 61
tensor(0.0649)
Frame 62
tensor(0.3988)
 # KEYFRAME 29
0.06034356499731075
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 63
tensor(0.1793)
 # KEYFRAME 30
0.058616751004592516
Frame 64
tensor(0.0685)
Frame 65
tensor(0.1476)
 # KEYFRAME 31
0.059514358996239025
Frame 66
tensor(0.5936)
 # KEYFRAME 32
0.059406627995485906
Frame 67
tensor(0.0455)
Frame 68
tensor(0.1662)
 # KEYFRAME 33
0.06002786700264551
Frame 69
tensor(0.0658)
Frame 70
tensor(0.1246)
 # KEYFRAME 34
0.060622873999818694
Frame 71
tensor(0.1135)
 # KEYFRAME 35
0.06225646899838466
Frame 72
tensor(0.1326)
 # KEYFRAME 36
0.06164097999862861
Frame 73
tensor(0.2820)
 # KEYFRAME 37
0.062322937999852
Frame 74
tensor(0.0843)
Frame 75
tensor(0.0951)
Frame 76
tensor(0.3272)
 # KEYFRAME 38
0.0635040540000773
Frame 77
tensor(0.0437)
Frame 78
tensor(0.1074)
 # KEYFRAME 39
0.06454832999588689
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1324 loss_distill=0.1733 tta_take=0.008s
Frame 79
tensor(0.1138)
 # KEYFRAME 40
0.06249745800596429
Frame 80
tensor(0.0683)
Frame 81
tensor(0.3977)
 # KEYFRAME 41
0.06388225199771114
Frame 82
tensor(0.3903)
 # KEYFRAME 42
0.06444482099323068
Frame 83
tensor(0.0579)
Frame 84
tensor(0.1153)
 # KEYFRAME 43
0.06465456000296399
Frame 85
tensor(0.5411)
 # KEYFRAME 44
0.06636777400126448
Frame 86
tensor(0.0543)
Frame 87
tensor(0.3229)
 # KEYFRAME 45
0.0670653310007765
Frame 88
tensor(0.5276)
 # KEYFRAME 46
0.06811974800075404
Frame 89
tensor(0.0292)
Frame 90
tensor(0.1603)
 # KEYFRAME 47
0.06827690699719824
Frame 91
tensor(0.1244)
 # KEYFRAME 48
0.06872231600573286
Frame 92
tensor(0.1175)
 # KEYFRAME 49
0.06933403299626661
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1325 loss_distill=0.2747 tta_take=0.008s
Frame 93
tensor(0.0522)
Frame 94
tensor(0.0849)
Frame 95
tensor(0.3159)
 # KEYFRAME 50
0.06712861100095324
Frame 96
tensor(0.1959)
 # KEYFRAME 51
0.06876814499992179
Frame 97
tensor(0.0326)
Frame 98
tensor(0.1108)
 # KEYFRAME 52
0.0684927059992333
Frame 99
tensor(0.0836)
Frame 100
tensor(0.0749)
Frame 101
tensor(0.0829)
Frame 102
tensor(0.1033)
 # KEYFRAME 53
0.06906223400437739
Frame 103
tensor(0.0647)
Frame 104
tensor(0.1225)
 # KEYFRAME 54
0.06911831400066148
Frame 105
tensor(0.0701)
Frame 106
tensor(0.5140)
 # KEYFRAME 55
0.06981019199884031
Frame 107
tensor(0.0264)
Frame 108
tensor(0.1903)
 # KEYFRAME 56
0.07088031800230965
Frame 109
tensor(0.3270)
 # KEYFRAME 57
0.07104355699993903
Frame 110
tensor(0.1182)
 # KEYFRAME 58
0.0708135079985368
Frame 111
tensor(0.1115)
 # KEYFRAME 59
0.0713095959945349
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1326 loss_distill=0.3466 tta_take=0.008s
Frame 112
tensor(0.0817)
Frame 113
tensor(0.1064)
 # KEYFRAME 60
0.07120432599913329
Frame 114
tensor(0.3044)
 # KEYFRAME 61
0.07280262099811807
Frame 115
tensor(0.0820)
Frame 116
tensor(0.1083)
 # KEYFRAME 62
0.07225715200183913
Frame 117
tensor(0.1736)
 # KEYFRAME 63
0.07289990000572288
Frame 118
tensor(0.0227)
Frame 119
tensor(0.0733)
Frame 120
tensor(0.0953)
Frame 121
tensor(0.5617)
 # KEYFRAME 64
0.07362558800377883
Frame 122
tensor(0.1459)
 # KEYFRAME 65
0.07381587699637748
Frame 123
tensor(0.0476)
Frame 124
tensor(0.2008)
 # KEYFRAME 66
0.07473282400314929
Frame 125
tensor(0.0677)
Frame 126
tensor(0.1237)
 # KEYFRAME 67
0.07572349099791609
Frame 127
tensor(0.0994)
Frame 128
tensor(0.1221)
 # KEYFRAME 68
0.07670154700463172
Frame 129
tensor(0.0209)
Frame 130
tensor(0.0495)
Frame 131
tensor(0.0742)
Frame 132
tensor(0.0906)
Frame 133
tensor(0.0952)
Frame 134
tensor(0.1231)
 # KEYFRAME 69
0.077253435003513
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1327 loss_distill=0.4024 tta_take=0.009s
Frame 135
tensor(0.4983)
 # KEYFRAME 70
0.0757458400039468
Frame 136
tensor(0.0619)
Frame 137
tensor(0.1804)
 # KEYFRAME 71
0.07792488300037803
Frame 138
tensor(0.0612)
Frame 139
tensor(0.0971)
Frame 140
tensor(0.2074)
 # KEYFRAME 72
0.07648152700130595
Frame 141
tensor(0.0599)
Frame 142
tensor(0.2071)
 # KEYFRAME 73
0.07755893399735214
Frame 143
tensor(0.2032)
 # KEYFRAME 74
0.07824030200572452
Frame 144
tensor(0.0655)
Frame 145
tensor(0.4028)
 # KEYFRAME 75
0.07800094200501917
Frame 146
tensor(0.3122)
 # KEYFRAME 76
0.07845560999703594
Frame 147
tensor(0.0754)
Frame 148
tensor(0.1821)
 # KEYFRAME 77
0.07973188599862624
Frame 149
tensor(0.0477)
Backending... 78 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 63240, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1328 loss_distill=0.4024 tta_take=0.007s
[epoch 0 scene 196/556] scannetpp/59e3f1ea37/DSC frames=150 tta_steps_this_scene=5 mean_loss=0.3198 total_steps=1328 time=32.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.6122)
 # KEYFRAME 1
Frame 2
tensor(0.3155)
 # KEYFRAME 2
0.05117566799890483
Frame 3
tensor(0.3571)
 # KEYFRAME 3
0.05113304800033802
Frame 4
tensor(0.5232)
 # KEYFRAME 4
0.050886279001133516
Frame 5
tensor(0.0989)
Frame 6
tensor(0.1625)
 # KEYFRAME 5
0.056928657002572436
Frame 7
tensor(0.3304)
 # KEYFRAME 6
0.05406975700316252
Frame 8
tensor(0.3393)
 # KEYFRAME 7
0.12268374399718596
Frame 9
tensor(0.1390)
 # KEYFRAME 8
0.0550034539992339
Frame 10
tensor(0.3014)
 # KEYFRAME 9
0.05563683200307423
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.1478)
 # KEYFRAME 10
0.05192690499825403
Frame 12
tensor(0.1943)
 # KEYFRAME 11
0.052451593001023866
Frame 13
tensor(0.1667)
 # KEYFRAME 12
0.05437278599856654
Frame 14
tensor(0.2677)
 # KEYFRAME 13
0.05594924099568743
Frame 15
tensor(0.1761)
 # KEYFRAME 14
0.056918927999504376
Frame 16
tensor(0.1962)
 # KEYFRAME 15
0.05756910500349477
Frame 17
tensor(0.2486)
 # KEYFRAME 16
0.059074990000226535
Frame 18
tensor(0.5292)
 # KEYFRAME 17
0.0603305350014125
Frame 19
tensor(0.4157)
 # KEYFRAME 18
0.06186825999611756
Frame 20
tensor(0.3625)
 # KEYFRAME 19
0.06261156699474668
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.1489)
 # KEYFRAME 20
0.05895442100154469
Frame 22
tensor(0.2358)
 # KEYFRAME 21
0.05934943900501821
Frame 23
tensor(0.0764)
Frame 24
tensor(0.4178)
 # KEYFRAME 22
0.0600472859950969
Frame 25
tensor(0.3130)
 # KEYFRAME 23
0.061904330003017094
Frame 26
tensor(0.1595)
 # KEYFRAME 24
0.062067489001492504
Frame 27
tensor(0.1004)
 # KEYFRAME 25
0.06302962500194553
Frame 28
tensor(0.0988)
Frame 29
tensor(0.1992)
 # KEYFRAME 26
0.06527121800172608
Frame 30
tensor(0.1497)
 # KEYFRAME 27
0.06602404399745865
Frame 31
tensor(0.3706)
 # KEYFRAME 28
0.0672928510030033
Frame 32
tensor(0.1362)
 # KEYFRAME 29
0.06779124899912858
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 33
tensor(0.0956)
Frame 34
tensor(0.1669)
 # KEYFRAME 30
0.06545131700113416
Frame 35
tensor(0.1184)
 # KEYFRAME 31
0.06808909800020047
Frame 36
tensor(0.1351)
 # KEYFRAME 32
0.06828039699757937
Frame 37
tensor(0.0163)
Frame 38
tensor(0.2340)
 # KEYFRAME 33
0.0689891340007307
Frame 39
tensor(0.3484)
 # KEYFRAME 34
0.07005368099635234
Frame 40
tensor(0.1717)
 # KEYFRAME 35
0.0709019569985685
Frame 41
tensor(0.3807)
 # KEYFRAME 36
0.07168346500111511
Frame 42
tensor(0.2135)
 # KEYFRAME 37
0.07231226300064009
Frame 43
tensor(0.3331)
 # KEYFRAME 38
0.07338394899852574
Frame 44
tensor(0.0637)
Frame 45
tensor(0.2967)
 # KEYFRAME 39
0.07400588599557523
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1329 loss_distill=0.1733 tta_take=0.009s
Frame 46
tensor(0.2424)
 # KEYFRAME 40
0.07220100300037302
Frame 47
tensor(0.1833)
 # KEYFRAME 41
0.0751179430008051
Frame 48
tensor(0.0927)
Frame 49
tensor(0.1903)
 # KEYFRAME 42
0.0757957699970575
Frame 50
tensor(0.1344)
 # KEYFRAME 43
0.07642678800038993
Frame 51
tensor(0.1662)
 # KEYFRAME 44
0.077421095003956
Frame 52
tensor(0.1400)
 # KEYFRAME 45
0.07995595500688069
Frame 53
tensor(0.0711)
Frame 54
tensor(0.0451)
Frame 55
tensor(0.1264)
 # KEYFRAME 46
0.0795208370036562
Frame 56
tensor(0.1733)
 # KEYFRAME 47
0.0805074039963074
Frame 57
tensor(0.1582)
 # KEYFRAME 48
0.08136904000275536
Frame 58
tensor(0.0613)
Frame 59
tensor(0.1458)
 # KEYFRAME 49
0.08232523699552985
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=1330 loss_distill=0.2747 tta_take=0.009s
Frame 60
tensor(0.1721)
 # KEYFRAME 50
0.07916994900006102
Frame 61
tensor(0.7240)
 # KEYFRAME 51
0.08154897899657954
Frame 62
tensor(0.2329)
 # KEYFRAME 52
0.08169950899900869
Frame 63
tensor(0.3792)
 # KEYFRAME 53
0.08183666799595812
Frame 64
tensor(0.3056)
 # KEYFRAME 54
0.08309967399691232
Frame 65
tensor(0.0449)
Frame 66
tensor(0.1246)
 # KEYFRAME 55
0.08402725100313546
Frame 67
tensor(0.1785)
 # KEYFRAME 56
0.08477454799867701
Frame 68
tensor(0.3303)
 # KEYFRAME 57
0.08526253700256348
Frame 69
tensor(0.1490)
 # KEYFRAME 58
0.08587244399677729
Frame 70
tensor(0.3835)
 # KEYFRAME 59
0.08676204099901952
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1331 loss_distill=0.3466 tta_take=0.009s
Frame 71
tensor(0.1355)
 # KEYFRAME 60
0.08657093199872179
Frame 72
tensor(0.4299)
 # KEYFRAME 61
0.08842628500133287
Frame 73
tensor(0.2433)
 # KEYFRAME 62
0.08824664599524112
Frame 74
tensor(0.2546)
 # KEYFRAME 63
0.08905200300068827
Frame 75
tensor(0.3194)
 # KEYFRAME 64
0.08961293099855538
Frame 76
tensor(0.3035)
 # KEYFRAME 65
0.0906966780021321
Frame 77
tensor(0.3344)
 # KEYFRAME 66
0.09143285399477463
Frame 78
tensor(0.3513)
 # KEYFRAME 67
0.09270100999856368
Frame 79
tensor(0.1064)
 # KEYFRAME 68
0.09298042899899883
Frame 80
tensor(0.3350)
 # KEYFRAME 69
0.09429035500215832
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1332 loss_distill=0.4024 tta_take=0.009s
Frame 81
tensor(0.2480)
 # KEYFRAME 70
0.09316410799510777
Frame 82
tensor(0.2228)
 # KEYFRAME 71
0.09513618199707707
Frame 83
tensor(0.1576)
 # KEYFRAME 72
0.09551751000253716
Frame 84
tensor(0.1190)
 # KEYFRAME 73
0.09553434000554262
Frame 85
tensor(0.1233)
 # KEYFRAME 74
0.09696626500226557
Frame 86
tensor(0.4715)
 # KEYFRAME 75
0.09682259600231191
Frame 87
tensor(0.1975)
 # KEYFRAME 76
0.09751196300203446
Frame 88
tensor(0.1255)
 # KEYFRAME 77
0.09776236200559651
Frame 89
tensor(0.0535)
Frame 90
tensor(0.1927)
 # KEYFRAME 78
0.09910360699723242
Frame 91
tensor(0.1577)
 # KEYFRAME 79
0.0995677360042464
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1333 loss_distill=0.4024 tta_take=0.009s
Frame 92
tensor(0.1555)
 # KEYFRAME 80
0.09294398999918485
Frame 93
tensor(0.0746)
Frame 94
tensor(0.1746)
 # KEYFRAME 81
0.09499275200505508
Frame 95
tensor(0.2650)
 # KEYFRAME 82
0.09550781099824235
Frame 96
tensor(0.2298)
 # KEYFRAME 83
0.09578484899975592
Frame 97
tensor(0.2300)
 # KEYFRAME 84
0.0963064680036041
Frame 98
tensor(0.1563)
 # KEYFRAME 85
0.09800648099917453
Frame 99
tensor(0.1434)
 # KEYFRAME 86
0.09913921700353967
Frame 100
tensor(0.1526)
 # KEYFRAME 87
0.09991588400589535
Frame 101
tensor(0.4136)
 # KEYFRAME 88
0.10076364200358512
Frame 102
tensor(0.2737)
 # KEYFRAME 89
0.10214884699962568
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1334 loss_distill=0.4024 tta_take=0.009s
Frame 103
tensor(0.2689)
 # KEYFRAME 90
0.09280955899885157
Frame 104
tensor(0.2093)
 # KEYFRAME 91
0.0956477290019393
Frame 105
tensor(0.1570)
 # KEYFRAME 92
0.09523082100349711
Frame 106
tensor(0.1881)
 # KEYFRAME 93
0.09619529799965676
Frame 107
tensor(0.2601)
 # KEYFRAME 94
0.0967258760065306
Frame 108
tensor(0.2348)
 # KEYFRAME 95
0.09870741800114047
Frame 109
tensor(0.1666)
 # KEYFRAME 96
0.09865132899722084
Frame 110
tensor(0.1668)
 # KEYFRAME 97
0.09989502400276251
Frame 111
tensor(0.2503)
 # KEYFRAME 98
0.10094812100578565
Frame 112
tensor(0.2933)
 # KEYFRAME 99
0.10154094899917254
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1335 loss_distill=0.4024 tta_take=0.009s
Frame 113
tensor(0.2470)
 # KEYFRAME 100
0.09291543899598764
Frame 114
tensor(0.2089)
 # KEYFRAME 101
0.0949835119972704
Frame 115
tensor(0.6164)
 # KEYFRAME 102
0.09540256000036607
Frame 116
tensor(0.2401)
 # KEYFRAME 103
0.09535267100000056
Frame 117
tensor(0.0893)
Frame 118
tensor(0.2228)
 # KEYFRAME 104
0.09679953500017291
Frame 119
tensor(0.0861)
Frame 120
tensor(0.1909)
 # KEYFRAME 105
0.09715625399985583
Frame 121
tensor(0.0922)
Frame 122
tensor(0.1001)
 # KEYFRAME 106
0.09762591199978488
Frame 123
tensor(0.1073)
 # KEYFRAME 107
0.0981301009960589
Frame 124
tensor(0.1533)
 # KEYFRAME 108
0.09974346499802778
Frame 125
tensor(0.0155)
Frame 126
tensor(0.1107)
 # KEYFRAME 109
0.09937475599872414
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1336 loss_distill=0.4024 tta_take=0.009s
Frame 127
tensor(0.0955)
Frame 128
tensor(0.1295)
 # KEYFRAME 110
0.09381678600038867
Frame 129
tensor(0.1020)
 # KEYFRAME 111
0.09480735200486379
Frame 130
tensor(0.1550)
 # KEYFRAME 112
0.09539655999833485
Frame 131
tensor(0.1124)
 # KEYFRAME 113
0.0962025970002287
Frame 132
tensor(0.0496)
Frame 133
tensor(0.2532)
 # KEYFRAME 114
0.09698756500438321
Frame 134
tensor(0.0771)
Frame 135
tensor(0.2899)
 # KEYFRAME 115
0.09778276200086111
Frame 136
tensor(0.3132)
 # KEYFRAME 116
0.09772167299524881
Frame 137
tensor(0.3570)
 # KEYFRAME 117
0.0992167669974151
Frame 138
tensor(0.5059)
 # KEYFRAME 118
0.10006720400269842
Frame 139
tensor(0.2082)
 # KEYFRAME 119
0.09981771399907302
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1337 loss_distill=0.4024 tta_take=0.009s
Frame 140
tensor(0.1614)
 # KEYFRAME 120
0.09268241999961901
Frame 141
tensor(0.2599)
 # KEYFRAME 121
0.09522463099710876
Frame 142
tensor(0.1083)
 # KEYFRAME 122
0.09534830099437386
Backending... 123 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65583, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1338 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 197/556] scannetpp/bc03d88fc3/frame frames=143 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=1338 time=54.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0435)
Frame 2
tensor(0.1561)
 # KEYFRAME 1
Frame 3
tensor(0.1588)
 # KEYFRAME 2
0.05141644700051984
Frame 4
tensor(0.1473)
 # KEYFRAME 3
0.05140927700267639
Frame 5
tensor(0.1171)
 # KEYFRAME 4
0.05154558700451162
Frame 6
tensor(0.0615)
Frame 7
tensor(0.1106)
 # KEYFRAME 5
0.05141072699916549
Frame 8
tensor(0.0293)
Frame 9
tensor(0.1816)
 # KEYFRAME 6
0.05211039399728179
Frame 10
tensor(0.0696)
Frame 11
tensor(0.3872)
 # KEYFRAME 7
0.05353268000180833
Frame 12
tensor(0.0999)
Frame 13
tensor(0.1495)
 # KEYFRAME 8
0.0539421380017302
Frame 14
tensor(0.0625)
Frame 15
tensor(0.1725)
 # KEYFRAME 9
0.05538737300230423
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 16
tensor(0.1641)
 # KEYFRAME 10
0.05154499700438464
Frame 17
tensor(0.0503)
Frame 18
tensor(0.1328)
 # KEYFRAME 11
0.0516867460028152
Frame 19
tensor(0.1131)
 # KEYFRAME 12
0.05148921599902678
Frame 20
tensor(0.0601)
Frame 21
tensor(0.1154)
 # KEYFRAME 13
0.05188664500019513
Frame 22
tensor(0.0645)
Frame 23
tensor(0.2053)
 # KEYFRAME 14
0.053602598993165884
Frame 24
tensor(0.1166)
 # KEYFRAME 15
0.053672299000027124
Frame 25
tensor(0.2076)
 # KEYFRAME 16
0.05457338599808281
Frame 26
tensor(0.1257)
 # KEYFRAME 17
0.055235863001144025
Frame 27
tensor(0.0653)
Frame 28
tensor(0.1609)
 # KEYFRAME 18
0.0560213209973881
Frame 29
tensor(0.1010)
 # KEYFRAME 19
0.0564517290040385
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 30
tensor(0.0777)
Frame 31
tensor(0.1268)
 # KEYFRAME 20
0.053994758003682364
Frame 32
tensor(0.0348)
Frame 33
tensor(0.1911)
 # KEYFRAME 21
0.054554346002987586
Frame 34
tensor(0.1487)
 # KEYFRAME 22
0.055669302004389465
Frame 35
tensor(0.7406)
 # KEYFRAME 23
0.05677051800012123
Frame 36
tensor(0.1835)
 # KEYFRAME 24
0.05703426700347336
Frame 37
tensor(0.1904)
 # KEYFRAME 25
0.058236921999196056
Frame 38
tensor(0.1166)
 # KEYFRAME 26
0.05883551099395845
Frame 39
tensor(0.2178)
 # KEYFRAME 27
0.05955610800447175
Frame 40
tensor(0.1612)
 # KEYFRAME 28
0.059489967999979854
Frame 41
tensor(0.1867)
 # KEYFRAME 29
0.06087997400027234
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 42
tensor(0.2323)
 # KEYFRAME 30
0.05835958299576305
Frame 43
tensor(0.2073)
 # KEYFRAME 31
0.0594933980028145
Frame 44
tensor(0.1615)
 # KEYFRAME 32
0.05977820700354641
Frame 45
tensor(0.6417)
 # KEYFRAME 33
0.061630939999304246
Frame 46
tensor(0.1064)
 # KEYFRAME 34
0.06250230699515669
Frame 47
tensor(0.1126)
 # KEYFRAME 35
0.06347701399499783
Frame 48
tensor(0.0962)
Frame 49
tensor(0.2203)
 # KEYFRAME 36
0.06414810100250179
Frame 50
tensor(0.1508)
 # KEYFRAME 37
0.06559616600134177
Frame 51
tensor(0.1251)
 # KEYFRAME 38
0.0658029659971362
Frame 52
tensor(0.1317)
 # KEYFRAME 39
0.06648797400703188
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1339 loss_distill=0.1733 tta_take=0.008s
Frame 53
tensor(0.1483)
 # KEYFRAME 40
0.06265152699779719
Frame 54
tensor(0.1053)
 # KEYFRAME 41
0.06372112299868604
Frame 55
tensor(0.0798)
Frame 56
tensor(0.2713)
 # KEYFRAME 42
0.06396684200444724
Frame 57
tensor(0.0564)
Frame 58
tensor(0.2494)
 # KEYFRAME 43
0.06401403299969388
Frame 59
tensor(0.1033)
 # KEYFRAME 44
0.06462361999729183
Frame 60
tensor(0.1275)
 # KEYFRAME 45
0.06530306799686514
Frame 61
tensor(0.6465)
 # KEYFRAME 46
0.06589693599380553
Frame 62
tensor(1.1842)
 # KEYFRAME 47
0.06607108499883907
Frame 63
tensor(1.0279)
 # KEYFRAME 48
0.06668606300081592
Frame 64
tensor(0.0459)
Frame 65
tensor(0.1128)
 # KEYFRAME 49
0.06738603999838233
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1340 loss_distill=0.2747 tta_take=0.008s
Frame 66
tensor(0.1941)
 # KEYFRAME 50
0.06728171100257896
Frame 67
tensor(0.0901)
Frame 68
tensor(0.1046)
 # KEYFRAME 51
0.06900358400162077
Frame 69
tensor(0.0975)
Frame 70
tensor(0.2931)
 # KEYFRAME 52
0.06842736699763918
Frame 71
tensor(0.1039)
 # KEYFRAME 53
0.06949425299535505
Frame 72
tensor(0.0867)
Frame 73
tensor(0.4360)
 # KEYFRAME 54
0.06850574599957326
Frame 74
tensor(0.0477)
Frame 75
tensor(0.1347)
 # KEYFRAME 55
0.07112300700100604
Frame 76
tensor(0.0580)
Frame 77
tensor(0.1676)
 # KEYFRAME 56
0.07080373800272355
Frame 78
tensor(0.0687)
Frame 79
tensor(0.6764)
 # KEYFRAME 57
0.07162860500102397
Frame 80
tensor(1.0947)
 # KEYFRAME 58
0.07270836099633016
Frame 81
tensor(0.0607)
Frame 82
tensor(0.1282)
 # KEYFRAME 59
0.07294747999549145
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=1341 loss_distill=0.3466 tta_take=0.008s
Frame 83
tensor(0.1074)
 # KEYFRAME 60
0.07150332500168588
Frame 84
tensor(0.0881)
Frame 85
tensor(0.1425)
 # KEYFRAME 61
0.07280211000033887
Frame 86
tensor(0.0923)
Frame 87
tensor(0.1540)
 # KEYFRAME 62
0.07241983200219693
Frame 88
tensor(0.2472)
 # KEYFRAME 63
0.07258500200259732
Frame 89
tensor(0.1775)
 # KEYFRAME 64
0.07327290000102948
Frame 90
tensor(0.2551)
 # KEYFRAME 65
0.07349204800266307
Frame 91
tensor(0.1629)
 # KEYFRAME 66
0.07419367599504767
Frame 92
tensor(0.0851)
Frame 93
tensor(0.1720)
 # KEYFRAME 67
0.07494148299883818
Frame 94
tensor(0.1533)
 # KEYFRAME 68
0.07521669199923053
Frame 95
tensor(0.2446)
 # KEYFRAME 69
0.07590377999440534
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1342 loss_distill=0.4024 tta_take=0.009s
Frame 96
tensor(0.1419)
 # KEYFRAME 70
0.0757994300001883
Frame 97
tensor(0.5400)
 # KEYFRAME 71
0.07710074599890504
Frame 98
tensor(0.1544)
 # KEYFRAME 72
0.07683635600551497
Frame 99
tensor(0.1616)
 # KEYFRAME 73
0.07725941500393674
Frame 100
tensor(0.2059)
 # KEYFRAME 74
0.07808178300183499
Frame 101
tensor(0.2292)
 # KEYFRAME 75
0.07813221200194675
Frame 102
tensor(0.1190)
 # KEYFRAME 76
0.07844053099688608
Frame 103
tensor(0.8329)
 # KEYFRAME 77
0.07925105799949961
Frame 104
tensor(0.3098)
 # KEYFRAME 78
0.079965055003413
Frame 105
tensor(0.1176)
 # KEYFRAME 79
0.08045011400099611
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1343 loss_distill=0.4024 tta_take=0.008s
Frame 106
tensor(0.0686)
Frame 107
tensor(0.1400)
 # KEYFRAME 80
0.07593466899561463
Frame 108
tensor(0.2131)
 # KEYFRAME 81
0.07799021199753042
Frame 109
tensor(0.1972)
 # KEYFRAME 82
0.07742461399902822
Frame 110
tensor(0.2301)
 # KEYFRAME 83
0.07762216399714816
Frame 111
tensor(0.2823)
 # KEYFRAME 84
0.078221110998129
Frame 112
tensor(0.0579)
Frame 113
tensor(0.2038)
 # KEYFRAME 85
0.07820268200157443
Frame 114
tensor(0.1555)
 # KEYFRAME 86
0.07853682100540027
Frame 115
tensor(0.0460)
Frame 116
tensor(0.0831)
Frame 117
tensor(0.4977)
 # KEYFRAME 87
0.08034487399709178
Frame 118
tensor(0.1090)
 # KEYFRAME 88
0.0803408439969644
Frame 119
tensor(0.1231)
 # KEYFRAME 89
0.0811334509999142
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1344 loss_distill=0.4024 tta_take=0.008s
Frame 120
tensor(0.1541)
 # KEYFRAME 90
0.07587780000176281
Frame 121
tensor(0.2954)
 # KEYFRAME 91
0.0769327859961777
Frame 122
tensor(0.0955)
Frame 123
tensor(0.2216)
 # KEYFRAME 92
0.07655734699801542
Frame 124
tensor(0.1076)
 # KEYFRAME 93
0.07747737399768084
Frame 125
tensor(0.9297)
 # KEYFRAME 94
0.07827769199502654
Frame 126
tensor(0.1063)
 # KEYFRAME 95
0.07860553000500659
Frame 127
tensor(0.1233)
 # KEYFRAME 96
0.07831184099632083
Frame 128
tensor(0.0972)
Frame 129
tensor(0.1153)
 # KEYFRAME 97
0.07922137800051132
Frame 130
tensor(0.0626)
Frame 131
tensor(1.0181)
 # KEYFRAME 98
0.08004852500016568
Frame 132
tensor(0.0622)
Frame 133
tensor(0.2012)
 # KEYFRAME 99
0.0806875529960962
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1345 loss_distill=0.4024 tta_take=0.009s
Frame 134
tensor(0.0562)
Frame 135
tensor(0.1851)
 # KEYFRAME 100
0.07547795199934626
Frame 136
tensor(0.1123)
 # KEYFRAME 101
0.07796321299974807
Frame 137
tensor(0.0918)
Frame 138
tensor(0.1745)
 # KEYFRAME 102
0.07731932499882532
Frame 139
tensor(0.1111)
 # KEYFRAME 103
0.07879223899362842
Frame 140
tensor(0.0530)
Frame 141
tensor(0.0705)
Frame 142
tensor(0.0657)
Frame 143
tensor(0.0602)
Frame 144
tensor(0.4029)
 # KEYFRAME 104
0.07925642799818888
Frame 145
tensor(0.1588)
 # KEYFRAME 105
0.08044223400065675
Frame 146
tensor(0.3084)
 # KEYFRAME 106
0.07910436900419882
Frame 147
tensor(0.1642)
 # KEYFRAME 107
0.08136941099655814
Frame 148
tensor(0.1841)
 # KEYFRAME 108
0.08208746799937217
Frame 149
tensor(0.1540)
 # KEYFRAME 109
0.08212554700003238
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1346 loss_distill=0.4024 tta_take=0.008s
[epoch 0 scene 198/556] scannetpp/7e7cd69a59/DSC frames=150 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=1346 time=41.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.2596)
 # KEYFRAME 1
Frame 2
tensor(0.1374)
 # KEYFRAME 2
0.05096682799921837
Frame 3
tensor(0.1724)
 # KEYFRAME 3
0.051261577995319385
Frame 4
tensor(0.0989)
Frame 5
tensor(0.2025)
 # KEYFRAME 4
0.05225666399928741
Frame 6
tensor(0.1374)
 # KEYFRAME 5
0.05415993700444233
Frame 7
tensor(0.1796)
 # KEYFRAME 6
0.054852875000506174
Frame 8
tensor(0.1103)
 # KEYFRAME 7
0.054977843996312004
Frame 9
tensor(0.2258)
 # KEYFRAME 8
0.05592467099631904
Frame 10
tensor(0.2088)
 # KEYFRAME 9
0.05608926000422798
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.0647)
Frame 12
tensor(0.1907)
 # KEYFRAME 10
0.05247689299721969
Frame 13
tensor(0.1347)
 # KEYFRAME 11
0.05307674100185977
Frame 14
tensor(0.1048)
 # KEYFRAME 12
0.053746377998322714
Frame 15
tensor(0.0559)
Frame 16
tensor(0.2324)
 # KEYFRAME 13
0.05588606100354809
Frame 17
tensor(0.1813)
 # KEYFRAME 14
0.0565415680030128
Frame 18
tensor(0.1284)
 # KEYFRAME 15
0.05780985499586677
Frame 19
tensor(0.0851)
Frame 20
tensor(0.1638)
 # KEYFRAME 16
0.058606280996173155
Frame 21
tensor(0.1630)
 # KEYFRAME 17
0.059813917003339157
Frame 22
tensor(0.1173)
 # KEYFRAME 18
0.06139551199885318
Frame 23
tensor(0.1215)
 # KEYFRAME 19
0.06286050599737791
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 24
tensor(0.1320)
 # KEYFRAME 20
0.05917768999643158
Frame 25
tensor(0.0692)
Frame 26
tensor(0.0781)
Frame 27
tensor(0.1311)
 # KEYFRAME 21
0.060545904001628514
Frame 28
tensor(0.1725)
 # KEYFRAME 22
0.061658480000915006
Frame 29
tensor(0.2208)
 # KEYFRAME 23
0.0624907669989625
Frame 30
tensor(0.1431)
 # KEYFRAME 24
0.06335324500105344
Frame 31
tensor(0.1408)
 # KEYFRAME 25
0.06397416200343287
Frame 32
tensor(0.1029)
 # KEYFRAME 26
0.06515786800446222
Frame 33
tensor(0.1351)
 # KEYFRAME 27
0.06615079499897547
Frame 34
tensor(0.0936)
Frame 35
tensor(0.2043)
 # KEYFRAME 28
0.06746096899587428
Frame 36
tensor(0.2055)
 # KEYFRAME 29
0.06846447700081626
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 37
tensor(0.1350)
 # KEYFRAME 30
0.0663809840043541
Frame 38
tensor(0.0855)
Frame 39
tensor(0.1337)
 # KEYFRAME 31
0.06739031100005377
Frame 40
tensor(0.2503)
 # KEYFRAME 32
0.06819009799801279
Frame 41
tensor(0.0807)
Frame 42
tensor(0.2269)
 # KEYFRAME 33
0.06925408400275046
Frame 43
tensor(0.0780)
Frame 44
tensor(0.2564)
 # KEYFRAME 34
0.07052943999588024
Frame 45
tensor(0.1740)
 # KEYFRAME 35
0.07082252800319111
Frame 46
tensor(0.1325)
 # KEYFRAME 36
0.07151811600488145
Frame 47
tensor(0.0262)
Frame 48
tensor(0.0795)
Frame 49
tensor(0.1992)
 # KEYFRAME 37
0.07297427100274945
Frame 50
tensor(0.1312)
 # KEYFRAME 38
0.07334500899742125
Frame 51
tensor(0.1179)
 # KEYFRAME 39
0.07428479500231333
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1347 loss_distill=0.1733 tta_take=0.009s
Frame 52
tensor(0.4928)
 # KEYFRAME 40
0.07215366400487255
Frame 53
tensor(0.1406)
 # KEYFRAME 41
0.07511349300330039
Frame 54
tensor(0.0453)
Frame 55
tensor(0.1663)
 # KEYFRAME 42
0.07506711300084135
Frame 56
tensor(0.3013)
 # KEYFRAME 43
0.07685581599798752
Frame 57
tensor(0.1384)
 # KEYFRAME 44
0.07780654299858725
Frame 58
tensor(0.2626)
 # KEYFRAME 45
0.07876486999884946
Frame 59
tensor(0.0755)
Frame 60
tensor(0.1873)
 # KEYFRAME 46
0.08029598400025861
Frame 61
tensor(0.2010)
 # KEYFRAME 47
0.08077051299915183
Frame 62
tensor(0.0921)
Frame 63
tensor(0.1395)
 # KEYFRAME 48
0.08182401900558034
Frame 64
tensor(0.2425)
 # KEYFRAME 49
0.08199087800312554
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1348 loss_distill=0.2747 tta_take=0.009s
Frame 65
tensor(0.1707)
 # KEYFRAME 50
0.0799608450033702
Frame 66
tensor(0.1012)
 # KEYFRAME 51
0.08174456899723737
Frame 67
tensor(0.1642)
 # KEYFRAME 52
0.08098050199623685
Frame 68
tensor(0.1839)
 # KEYFRAME 53
0.08222360700165154
Frame 69
tensor(0.0679)
Frame 70
tensor(0.0898)
Frame 71
tensor(0.0635)
Frame 72
tensor(0.1948)
 # KEYFRAME 54
0.08331451399862999
Frame 73
tensor(0.1474)
 # KEYFRAME 55
0.08385957199789118
Frame 74
tensor(0.1059)
 # KEYFRAME 56
0.08440513900131918
Frame 75
tensor(0.3151)
 # KEYFRAME 57
0.0854050069974619
Frame 76
tensor(0.0898)
Frame 77
tensor(0.1963)
 # KEYFRAME 58
0.08608842399553396
Frame 78
tensor(0.1421)
 # KEYFRAME 59
0.08671703100117156
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1349 loss_distill=0.3466 tta_take=0.009s
Frame 79
tensor(0.1139)
 # KEYFRAME 60
0.08690561999537749
Frame 80
tensor(0.1370)
 # KEYFRAME 61
0.08822113600035664
Frame 81
tensor(0.1561)
 # KEYFRAME 62
0.0885054449972813
Frame 82
tensor(0.0953)
Frame 83
tensor(0.1419)
 # KEYFRAME 63
0.08845464500336675
Frame 84
tensor(0.2439)
 # KEYFRAME 64
0.08890376300405478
Frame 85
tensor(0.1762)
 # KEYFRAME 65
0.09064956799556967
Frame 86
tensor(0.1357)
 # KEYFRAME 66
0.09124624599644449
Frame 87
tensor(0.1983)
 # KEYFRAME 67
0.09209798299707472
Frame 88
tensor(0.1386)
 # KEYFRAME 68
0.09261623999918811
Frame 89
tensor(0.2821)
 # KEYFRAME 69
0.09427015400433447
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1350 loss_distill=0.4024 tta_take=0.009s
Frame 90
tensor(0.2390)
 # KEYFRAME 70
0.09319774900359334
Frame 91
tensor(0.0794)
Frame 92
tensor(0.1606)
 # KEYFRAME 71
0.09433650400023907
Frame 93
tensor(0.1393)
 # KEYFRAME 72
0.09538425000209827
Frame 94
tensor(0.1334)
 # KEYFRAME 73
0.09592208799585933
Frame 95
tensor(0.0997)
Frame 96
tensor(0.3099)
 # KEYFRAME 74
0.09643650699581485
Frame 97
tensor(0.2123)
 # KEYFRAME 75
0.09798262199910823
Frame 98
tensor(0.3790)
 # KEYFRAME 76
0.09803555099642836
Frame 99
tensor(0.2081)
 # KEYFRAME 77
0.09928389699780382
Frame 100
tensor(0.2539)
 # KEYFRAME 78
0.09911997699964559
Frame 101
tensor(0.2360)
 # KEYFRAME 79
0.10058730200398713
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1351 loss_distill=0.4024 tta_take=0.009s
Frame 102
tensor(0.0253)
Frame 103
tensor(0.2769)
 # KEYFRAME 80
0.09226216100068996
Frame 104
tensor(0.1253)
 # KEYFRAME 81
0.09600983800191898
Frame 105
tensor(0.2397)
 # KEYFRAME 82
0.09577164999791421
Frame 106
tensor(0.2801)
 # KEYFRAME 83
0.0965811060013948
Frame 107
tensor(0.1333)
 # KEYFRAME 84
0.09775948199967388
Frame 108
tensor(0.1805)
 # KEYFRAME 85
0.09958734500105493
Frame 109
tensor(0.1544)
 # KEYFRAME 86
0.10048935200029518
Frame 110
tensor(0.3189)
 # KEYFRAME 87
0.10185545800050022
Frame 111
tensor(0.1689)
 # KEYFRAME 88
0.10190647700073896
Frame 112
tensor(0.1209)
 # KEYFRAME 89
0.10312383299606154
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1352 loss_distill=0.4024 tta_take=0.009s
Frame 113
tensor(0.2766)
 # KEYFRAME 90
0.09306605900201248
Frame 114
tensor(0.2927)
 # KEYFRAME 91
0.09454413299681619
Frame 115
tensor(0.1389)
 # KEYFRAME 92
0.09604761799710104
Frame 116
tensor(0.1944)
 # KEYFRAME 93
0.0963141469983384
Backending... 94 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 66624, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1353 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 199/556] scannetpp/a5114ca13d/frame frames=117 tta_steps_this_scene=7 mean_loss=0.3434 total_steps=1353 time=35.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0337)
Frame 2
tensor(0.0757)
Frame 3
tensor(0.1214)
 # KEYFRAME 1
Frame 4
tensor(0.0362)
Frame 5
tensor(0.0664)
Frame 6
tensor(0.0936)
Frame 7
tensor(0.1029)
 # KEYFRAME 2
0.052808421998634
Frame 8
tensor(0.0337)
Frame 9
tensor(0.0610)
Frame 10
tensor(0.0936)
Frame 11
tensor(0.1189)
 # KEYFRAME 3
0.05142563700064784
Frame 12
tensor(0.0186)
Frame 13
tensor(0.0382)
Frame 14
tensor(0.1187)
 # KEYFRAME 4
0.051503515998774674
Frame 15
tensor(0.0194)
Frame 16
tensor(0.0427)
Frame 17
tensor(0.0579)
Frame 18
tensor(0.0762)
Frame 19
tensor(0.0852)
Frame 20
tensor(0.0961)
Frame 21
tensor(0.1056)
 # KEYFRAME 5
0.05351801900542341
Frame 22
tensor(0.0292)
Frame 23
tensor(0.0596)
Frame 24
tensor(0.0896)
Frame 25
tensor(0.0946)
Frame 26
tensor(0.0971)
Frame 27
tensor(0.0819)
Frame 28
tensor(0.0671)
Frame 29
tensor(0.0593)
Frame 30
tensor(0.0566)
Frame 31
tensor(0.0496)
Frame 32
tensor(0.0310)
Frame 33
tensor(0.0332)
Frame 34
tensor(0.0489)
Frame 35
tensor(0.0599)
Frame 36
tensor(0.0719)
Frame 37
tensor(0.0779)
Frame 38
tensor(0.0748)
Frame 39
tensor(0.0680)
Frame 40
tensor(0.0507)
Frame 41
tensor(0.0311)
Frame 42
tensor(0.0351)
Frame 43
tensor(0.0613)
Frame 44
tensor(0.0893)
Frame 45
tensor(0.1029)
 # KEYFRAME 6
0.05476949500007322
Frame 46
tensor(0.0373)
Frame 47
tensor(0.0639)
Frame 48
tensor(0.0833)
Frame 49
tensor(0.1054)
 # KEYFRAME 7
0.05567776200041408
Frame 50
tensor(0.0233)
Frame 51
tensor(0.0455)
Frame 52
tensor(0.0610)
Frame 53
tensor(0.0744)
Frame 54
tensor(0.1067)
 # KEYFRAME 8
0.055674401999567635
Frame 55
tensor(0.0476)
Frame 56
tensor(0.0726)
Frame 57
tensor(0.0740)
Frame 58
tensor(0.0987)
Frame 59
tensor(0.1343)
 # KEYFRAME 9
0.056169059993408155
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 60
tensor(0.0373)
Frame 61
tensor(0.0716)
Frame 62
tensor(0.0914)
Frame 63
tensor(0.1060)
 # KEYFRAME 10
0.051716415997361764
Frame 64
tensor(0.0185)
Frame 65
tensor(0.0476)
Frame 66
tensor(0.0711)
Frame 67
tensor(0.0970)
Frame 68
tensor(0.1237)
 # KEYFRAME 11
0.051432266998745035
Frame 69
tensor(0.0171)
Frame 70
tensor(0.0412)
Frame 71
tensor(0.1331)
 # KEYFRAME 12
0.05252630299946759
Frame 72
tensor(0.0058)
Frame 73
tensor(0.0264)
Frame 74
tensor(0.0436)
Frame 75
tensor(0.0546)
Frame 76
tensor(0.0664)
Frame 77
tensor(0.0775)
Frame 78
tensor(0.0983)
Frame 79
tensor(0.1146)
 # KEYFRAME 13
0.0540875180013245
Frame 80
tensor(0.0277)
Frame 81
tensor(0.0514)
Frame 82
tensor(0.0599)
Frame 83
tensor(0.0731)
Frame 84
tensor(0.0983)
Frame 85
tensor(0.1217)
 # KEYFRAME 14
0.054737735001253895
Frame 86
tensor(0.0323)
Frame 87
tensor(0.0678)
Frame 88
tensor(0.1028)
 # KEYFRAME 15
0.05443646699859528
Frame 89
tensor(0.0318)
Frame 90
tensor(0.0570)
Frame 91
tensor(0.0617)
Frame 92
tensor(0.0859)
Frame 93
tensor(0.1078)
 # KEYFRAME 16
0.05572652200498851
Frame 94
tensor(0.0131)
Frame 95
tensor(0.0420)
Frame 96
tensor(0.0615)
Frame 97
tensor(0.0923)
Frame 98
tensor(0.1292)
 # KEYFRAME 17
0.05656866900244495
Frame 99
tensor(0.0880)
Frame 100
tensor(0.0653)
Frame 101
tensor(0.0551)
Frame 102
tensor(0.0779)
Frame 103
tensor(0.1098)
 # KEYFRAME 18
0.057502704999933485
Frame 104
tensor(0.1210)
 # KEYFRAME 19
0.05783770400012145
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 105
tensor(0.0278)
Frame 106
tensor(0.0559)
Frame 107
tensor(0.0853)
Frame 108
tensor(0.1188)
 # KEYFRAME 20
0.054122627996548545
Frame 109
tensor(0.1336)
 # KEYFRAME 21
0.05543473300349433
Frame 110
tensor(0.0228)
Frame 111
tensor(0.0534)
Frame 112
tensor(0.0696)
Frame 113
tensor(0.0836)
Frame 114
tensor(0.0880)
Frame 115
tensor(0.0914)
Frame 116
tensor(0.1060)
 # KEYFRAME 22
0.055784142001357395
Frame 117
tensor(0.0718)
Frame 118
tensor(0.0863)
Frame 119
tensor(0.1118)
 # KEYFRAME 23
0.05635320999863325
Frame 120
tensor(0.0116)
Frame 121
tensor(0.4203)
 # KEYFRAME 24
0.0565830090054078
Frame 122
tensor(0.0240)
Frame 123
tensor(0.0583)
Frame 124
tensor(0.0937)
Frame 125
tensor(0.1260)
 # KEYFRAME 25
0.05747209599940106
Frame 126
tensor(0.0205)
Frame 127
tensor(0.0349)
Frame 128
tensor(0.1815)
 # KEYFRAME 26
0.058489331997407135
Frame 129
tensor(0.0587)
Frame 130
tensor(0.0954)
Frame 131
tensor(0.4382)
 # KEYFRAME 27
0.05984928700490855
Frame 132
tensor(0.0288)
Frame 133
tensor(0.0497)
Frame 134
tensor(0.0748)
Frame 135
tensor(0.0987)
Frame 136
tensor(0.1249)
 # KEYFRAME 28
0.05988058700313559
Frame 137
tensor(0.0371)
Frame 138
tensor(0.0604)
Frame 139
tensor(0.0835)
Frame 140
tensor(0.1643)
 # KEYFRAME 29
0.06055958499928238
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 141
tensor(0.0717)
Frame 142
tensor(0.0516)
Frame 143
tensor(0.0712)
Frame 144
tensor(0.3069)
 # KEYFRAME 30
0.058879500000330154
Frame 145
tensor(0.0287)
Frame 146
tensor(0.0445)
Frame 147
tensor(0.0654)
Frame 148
tensor(0.1775)
 # KEYFRAME 31
0.059781677002320066
Frame 149
tensor(0.3891)
 # KEYFRAME 32
0.059999247001542244
Backending... 33 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 30690, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1354 loss_distill=0.1733 tta_take=0.004s
[epoch 0 scene 200/556] scannetpp/4ea827f5a1/DSC frames=150 tta_steps_this_scene=1 mean_loss=0.1733 total_steps=1354 time=21.7s
[ckpt] /scratch-shared/wwei2/scorer_pretrain/scorer_v1/checkpoint-last.pth (epoch=0 scene=200)
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0730)
Frame 2
tensor(0.1890)
 # KEYFRAME 1
Frame 3
tensor(0.1613)
 # KEYFRAME 2
0.05121272700489499
Frame 4
tensor(0.1420)
 # KEYFRAME 3
0.052121505003015045
Frame 5
tensor(0.2323)
 # KEYFRAME 4
0.05365195900230901
Frame 6
tensor(0.2589)
 # KEYFRAME 5
0.05476416499732295
Frame 7
tensor(0.2863)
 # KEYFRAME 6
0.05550527200102806
Frame 8
tensor(0.1165)
 # KEYFRAME 7
0.056228859997645486
Frame 9
tensor(0.5924)
 # KEYFRAME 8
0.05699788700439967
Frame 10
tensor(0.1784)
 # KEYFRAME 9
0.057731694003450684
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.1913)
 # KEYFRAME 10
0.051941594996606
Frame 12
tensor(0.2974)
 # KEYFRAME 11
0.05333966999751283
Frame 13
tensor(0.2913)
 # KEYFRAME 12
0.054916214001423214
Frame 14
tensor(0.1490)
 # KEYFRAME 13
0.05659070800174959
Frame 15
tensor(0.2735)
 # KEYFRAME 14
0.05749073500192026
Frame 16
tensor(0.2494)
 # KEYFRAME 15
0.05930413900205167
Frame 17
tensor(0.2228)
 # KEYFRAME 16
0.05984490700211609
Frame 18
tensor(0.1703)
 # KEYFRAME 17
0.06091051299881656
Frame 19
tensor(0.0513)
Frame 20
tensor(0.1401)
 # KEYFRAME 18
0.061049111995089334
Frame 21
tensor(0.1381)
 # KEYFRAME 19
0.06276049699954456
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 22
tensor(0.1741)
 # KEYFRAME 20
0.058861971003352664
Frame 23
tensor(0.2097)
 # KEYFRAME 21
0.06054147500253748
Frame 24
tensor(0.0744)
Frame 25
tensor(0.1702)
 # KEYFRAME 22
0.06133312200108776
Frame 26
tensor(0.1891)
 # KEYFRAME 23
0.06207139899925096
Frame 27
tensor(0.2613)
 # KEYFRAME 24
0.06283857599919429
Frame 28
tensor(0.2200)
 # KEYFRAME 25
0.0636779429987655
Frame 29
tensor(0.2220)
 # KEYFRAME 26
0.06519494800159009
Frame 30
tensor(0.1081)
 # KEYFRAME 27
0.06643932300357847
Frame 31
tensor(0.0691)
Frame 32
tensor(0.0559)
Frame 33
tensor(0.2678)
 # KEYFRAME 28
0.06724479099648306
Frame 34
tensor(0.2030)
 # KEYFRAME 29
0.06839212700288044
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 35
tensor(0.1683)
 # KEYFRAME 30
0.06584036600543186
Frame 36
tensor(0.1674)
 # KEYFRAME 31
0.06783927900687559
Frame 37
tensor(0.1025)
 # KEYFRAME 32
0.0685733659993275
Frame 38
tensor(0.3078)
 # KEYFRAME 33
0.07059352900250815
Frame 39
tensor(0.9545)
 # KEYFRAME 34
0.0716251949997968
Frame 40
tensor(0.3127)
 # KEYFRAME 35
0.07282524100446608
Frame 41
tensor(0.2145)
 # KEYFRAME 36
0.07435180599713931
Frame 42
tensor(0.4181)
 # KEYFRAME 37
0.0758250799990492
Frame 43
tensor(0.1869)
 # KEYFRAME 38
0.07661042700055987
Frame 44
tensor(0.1508)
 # KEYFRAME 39
0.07719395499589154
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1355 loss_distill=0.1733 tta_take=0.009s
Frame 45
tensor(0.1396)
 # KEYFRAME 40
0.07263211099780165
Frame 46
tensor(0.1917)
 # KEYFRAME 41
0.07501030300045386
Frame 47
tensor(0.1080)
 # KEYFRAME 42
0.07479272299678996
Frame 48
tensor(0.1797)
 # KEYFRAME 43
0.0757254509953782
Frame 49
tensor(0.1328)
 # KEYFRAME 44
0.07633908800198697
Frame 50
tensor(0.2184)
 # KEYFRAME 45
0.07709133499884047
Frame 51
tensor(0.0774)
Frame 52
tensor(0.3838)
 # KEYFRAME 46
0.0777435029958724
Frame 53
tensor(0.4360)
 # KEYFRAME 47
0.0787812889975612
Frame 54
tensor(0.3861)
 # KEYFRAME 48
0.07920572799775982
Frame 55
tensor(0.3108)
 # KEYFRAME 49
0.08028683399606962
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531069278717
TTA-STEP: step=1356 loss_distill=0.2747 tta_take=0.009s
Frame 56
tensor(0.6264)
 # KEYFRAME 50
0.07890672900248319
Frame 57
tensor(0.2458)
 # KEYFRAME 51
0.08153434000269044
Frame 58
tensor(0.4362)
 # KEYFRAME 52
0.0809535020016483
Frame 59
tensor(0.3872)
 # KEYFRAME 53
0.08321132399578346
Frame 60
tensor(0.2545)
 # KEYFRAME 54
0.08361717299703741
Frame 61
tensor(0.1628)
 # KEYFRAME 55
0.08509264700114727
Frame 62
tensor(0.1061)
 # KEYFRAME 56
0.08542569600103889
Frame 63
tensor(0.1932)
 # KEYFRAME 57
0.08655854200333124
Frame 64
tensor(0.1458)
 # KEYFRAME 58
0.08746619900193764
Frame 65
tensor(0.1233)
 # KEYFRAME 59
0.0883300360001158
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=1357 loss_distill=0.3466 tta_take=0.009s
Frame 66
tensor(0.1022)
 # KEYFRAME 60
0.08682528100325726
Frame 67
tensor(0.1390)
 # KEYFRAME 61
0.08880172399949515
Frame 68
tensor(0.2575)
 # KEYFRAME 62
0.08901541299564997
Frame 69
tensor(0.2402)
 # KEYFRAME 63
0.09017774899984943
Frame 70
tensor(0.8554)
 # KEYFRAME 64
0.09115892599947983
Frame 71
tensor(0.2553)
 # KEYFRAME 65
0.09263718000147492
Frame 72
tensor(0.2045)
 # KEYFRAME 66
0.09394072600116488
Frame 73
tensor(0.2578)
 # KEYFRAME 67
0.094841402999009
Frame 74
tensor(0.2766)
 # KEYFRAME 68
0.09615119799855165
Frame 75
tensor(0.4407)
 # KEYFRAME 69
0.0970849340010318
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1358 loss_distill=0.4024 tta_take=0.009s
Frame 76
tensor(0.2059)
 # KEYFRAME 70
0.09269353000127012
Frame 77
tensor(0.2381)
 # KEYFRAME 71
0.09551741999894148
Frame 78
tensor(0.3616)
 # KEYFRAME 72
0.0945892429954256
Frame 79
tensor(0.1480)
 # KEYFRAME 73
0.09597794800356496
Frame 80
tensor(0.1427)
 # KEYFRAME 74
0.09639958699699491
Frame 81
tensor(0.1041)
 # KEYFRAME 75
0.09756683299929136
Frame 82
tensor(0.0790)
Frame 83
tensor(0.1554)
 # KEYFRAME 76
0.09835835999547271
Frame 84
tensor(0.1495)
 # KEYFRAME 77
0.09889359799853992
Frame 85
tensor(0.1529)
 # KEYFRAME 78
0.09932720600045286
Frame 86
tensor(0.1207)
 # KEYFRAME 79
0.1001666939991992
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1359 loss_distill=0.4024 tta_take=0.009s
Frame 87
tensor(0.1241)
 # KEYFRAME 80
0.09380274699651636
Frame 88
tensor(0.2796)
 # KEYFRAME 81
0.09459616299864138
Frame 89
tensor(0.1785)
 # KEYFRAME 82
0.09545500999956857
Frame 90
tensor(0.1284)
 # KEYFRAME 83
0.09637428700079909
Frame 91
tensor(0.1899)
 # KEYFRAME 84
0.0977019330020994
Frame 92
tensor(0.1163)
 # KEYFRAME 85
0.09875251799530815
Frame 93
tensor(0.2236)
 # KEYFRAME 86
0.09974904500268167
Frame 94
tensor(0.1672)
 # KEYFRAME 87
0.10091744099918287
Frame 95
tensor(0.0850)
Frame 96
tensor(0.1885)
 # KEYFRAME 88
0.10249247499450576
Frame 97
tensor(0.3684)
 # KEYFRAME 89
0.10260553500120295
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1360 loss_distill=0.4024 tta_take=0.009s
Frame 98
tensor(0.3773)
 # KEYFRAME 90
0.09288172000378836
Frame 99
tensor(0.3217)
 # KEYFRAME 91
0.09561146999476478
Frame 100
tensor(0.3401)
 # KEYFRAME 92
0.09628912799962563
Frame 101
tensor(0.2415)
 # KEYFRAME 93
0.09754012299526948
Frame 102
tensor(0.1325)
 # KEYFRAME 94
0.09838745999877574
Frame 103
tensor(0.2139)
 # KEYFRAME 95
0.09951591599383391
Frame 104
tensor(0.1424)
 # KEYFRAME 96
0.10049709199665813
Frame 105
tensor(0.1403)
 # KEYFRAME 97
0.1003760620005778
Frame 106
tensor(0.1357)
 # KEYFRAME 98
0.10205688599671703
Frame 107
tensor(0.1793)
 # KEYFRAME 99
0.1028941040058271
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1361 loss_distill=0.4024 tta_take=0.009s
Frame 108
tensor(0.2439)
 # KEYFRAME 100
0.09344626699748915
Frame 109
tensor(0.2908)
 # KEYFRAME 101
0.09460771400335943
Frame 110
tensor(0.2269)
 # KEYFRAME 102
0.09602576800534735
Frame 111
tensor(0.1153)
 # KEYFRAME 103
0.09693795500061242
Frame 112
tensor(0.1454)
 # KEYFRAME 104
0.09772587200131966
Frame 113
tensor(0.0890)
Frame 114
tensor(0.2875)
 # KEYFRAME 105
0.09884431800310267
Frame 115
tensor(0.1018)
 # KEYFRAME 106
0.09981159400194883
Frame 116
tensor(0.0829)
Frame 117
tensor(0.1044)
 # KEYFRAME 107
0.1011890299996594
Frame 118
tensor(0.0796)
Frame 119
tensor(0.3065)
 # KEYFRAME 108
0.10199444700265303
Frame 120
tensor(0.2270)
 # KEYFRAME 109
0.10293564399762545
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1362 loss_distill=0.4024 tta_take=0.009s
Frame 121
tensor(0.2242)
 # KEYFRAME 110
0.09325657800218323
Frame 122
tensor(0.1910)
 # KEYFRAME 111
0.0939562260027742
Frame 123
tensor(0.2833)
 # KEYFRAME 112
0.09516497200092999
Frame 124
tensor(0.2475)
 # KEYFRAME 113
0.09540205099619925
Frame 125
tensor(0.2659)
 # KEYFRAME 114
0.09632160700130044
Frame 126
tensor(0.3676)
 # KEYFRAME 115
0.09745134299737401
Frame 127
tensor(0.4499)
 # KEYFRAME 116
0.09835638899676269
Frame 128
tensor(0.4947)
 # KEYFRAME 117
0.099158527002146
Frame 129
tensor(0.4161)
 # KEYFRAME 118
0.1000779340029112
Frame 130
tensor(0.2923)
 # KEYFRAME 119
0.09970230500039179
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1363 loss_distill=0.4024 tta_take=0.009s
Frame 131
tensor(0.3080)
 # KEYFRAME 120
0.0933446470007766
Frame 132
tensor(0.3364)
 # KEYFRAME 121
0.0952154009937658
Frame 133
tensor(0.2635)
 # KEYFRAME 122
0.09453236400440801
Frame 134
tensor(0.2853)
 # KEYFRAME 123
0.09553943000355503
Frame 135
tensor(0.0991)
Frame 136
tensor(0.1676)
 # KEYFRAME 124
0.09628286700171884
Frame 137
tensor(0.2546)
 # KEYFRAME 125
0.09701466499973321
Frame 138
tensor(0.2282)
 # KEYFRAME 126
0.09820591999596218
Backending... 127 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 69747, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1364 loss_distill=0.4024 tta_take=0.007s
[epoch 0 scene 201/556] scannetpp/785e7504b9/frame frames=139 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=1364 time=50.6s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0332)
Frame 2
tensor(0.1099)
 # KEYFRAME 1
Frame 3
tensor(0.0662)
Frame 4
tensor(0.1249)
 # KEYFRAME 2
0.05137345699768048
Frame 5
tensor(0.0748)
Frame 6
tensor(0.1652)
 # KEYFRAME 3
0.051922754995757714
Frame 7
tensor(0.0860)
Frame 8
tensor(0.1018)
 # KEYFRAME 4
0.05338029000267852
Frame 9
tensor(0.3537)
 # KEYFRAME 5
0.05407398799434304
Frame 10
tensor(0.0674)
Frame 11
tensor(0.1405)
 # KEYFRAME 6
0.055406193001545034
Frame 12
tensor(0.3315)
 # KEYFRAME 7
0.0558761010033777
Frame 13
tensor(0.1323)
 # KEYFRAME 8
0.05651560900150798
Frame 14
tensor(0.2163)
 # KEYFRAME 9
0.05773884399968665
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 15
tensor(0.0714)
Frame 16
tensor(0.1831)
 # KEYFRAME 10
0.05151357599970652
Frame 17
tensor(0.0771)
Frame 18
tensor(0.1169)
 # KEYFRAME 11
0.052599192000343464
Frame 19
tensor(0.1505)
 # KEYFRAME 12
0.0536392989961314
Frame 20
tensor(0.0845)
Frame 21
tensor(0.1614)
 # KEYFRAME 13
0.05483760499919299
Frame 22
tensor(0.3290)
 # KEYFRAME 14
0.05560968200006755
Frame 23
tensor(0.0624)
Frame 24
tensor(0.1186)
 # KEYFRAME 15
0.055455221998272464
Frame 25
tensor(0.8683)
 # KEYFRAME 16
0.05571055199834518
Frame 26
tensor(0.1274)
 # KEYFRAME 17
0.056628598998941015
Frame 27
tensor(0.1757)
 # KEYFRAME 18
0.05680224800016731
Frame 28
tensor(0.1778)
 # KEYFRAME 19
0.057826395001029596
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 29
tensor(0.1872)
 # KEYFRAME 20
0.05420651700114831
Frame 30
tensor(0.1504)
 # KEYFRAME 21
0.05471754600148415
Frame 31
tensor(0.4355)
 # KEYFRAME 22
0.05548455299867783
Frame 32
tensor(0.1741)
 # KEYFRAME 23
0.0561231410028995
Frame 33
tensor(0.1873)
 # KEYFRAME 24
0.05637486899649957
Frame 34
tensor(0.1060)
 # KEYFRAME 25
0.05693418699956965
Frame 35
tensor(0.5466)
 # KEYFRAME 26
0.058150192999164574
Frame 36
tensor(0.1307)
 # KEYFRAME 27
0.05939939800009597
Frame 37
tensor(0.0906)
Frame 38
tensor(0.2350)
 # KEYFRAME 28
0.05967773700103862
Frame 39
tensor(0.1366)
 # KEYFRAME 29
0.06044549500074936
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 40
tensor(0.1598)
 # KEYFRAME 30
0.058617021997633856
Frame 41
tensor(0.0703)
Frame 42
tensor(0.3881)
 # KEYFRAME 31
0.05962054800329497
Frame 43
tensor(0.1178)
 # KEYFRAME 32
0.0595311379947816
Frame 44
tensor(0.0939)
Frame 45
tensor(0.1751)
 # KEYFRAME 33
0.061544021002191585
Frame 46
tensor(0.4569)
 # KEYFRAME 34
0.06230959800450364
Frame 47
tensor(0.1016)
 # KEYFRAME 35
0.06329936499969335
Frame 48
tensor(0.6539)
 # KEYFRAME 36
0.06447998100338737
Frame 49
tensor(0.0866)
Frame 50
tensor(0.1650)
 # KEYFRAME 37
0.06538179700146429
Frame 51
tensor(0.1450)
 # KEYFRAME 38
0.06608399499964435
Frame 52
tensor(0.1277)
 # KEYFRAME 39
0.06643006399826845
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1365 loss_distill=0.1733 tta_take=0.008s
Frame 53
tensor(0.1303)
 # KEYFRAME 40
0.06271044700406492
Frame 54
tensor(0.4844)
 # KEYFRAME 41
0.06421085100009805
Frame 55
tensor(0.0933)
Frame 56
tensor(0.1838)
 # KEYFRAME 42
0.06458899100107374
Frame 57
tensor(0.0840)
Frame 58
tensor(0.1868)
 # KEYFRAME 43
0.06458084100449923
Frame 59
tensor(0.5642)
 # KEYFRAME 44
0.06657472300139489
Frame 60
tensor(0.1211)
 # KEYFRAME 45
0.06750424000347266
Frame 61
tensor(0.1044)
 # KEYFRAME 46
0.06798608800454531
Frame 62
tensor(0.1196)
 # KEYFRAME 47
0.06867128600424621
Frame 63
tensor(0.2050)
 # KEYFRAME 48
0.06964091199915856
Frame 64
tensor(0.1552)
 # KEYFRAME 49
0.07069212799979141
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=1366 loss_distill=0.2747 tta_take=0.008s
Frame 65
tensor(0.1405)
 # KEYFRAME 50
0.0670395820052363
Frame 66
tensor(0.1829)
 # KEYFRAME 51
0.0685658259972115
Frame 67
tensor(0.4753)
 # KEYFRAME 52
0.06895924400305375
Frame 68
tensor(0.0879)
Frame 69
tensor(0.5039)
 # KEYFRAME 53
0.17152722000173526
Frame 70
tensor(0.4833)
 # KEYFRAME 54
0.14075919900642475
Frame 71
tensor(0.1209)
 # KEYFRAME 55
0.07144146600330714
Frame 72
tensor(0.1233)
 # KEYFRAME 56
0.07288439099647803
Frame 73
tensor(0.1406)
 # KEYFRAME 57
0.1633165690000169
Frame 74
tensor(0.3327)
 # KEYFRAME 58
0.1305489860023954
Frame 75
tensor(0.1553)
 # KEYFRAME 59
0.07502548300544731
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1367 loss_distill=0.3466 tta_take=0.008s
Frame 76
tensor(0.2061)
 # KEYFRAME 60
0.0715762160034501
Frame 77
tensor(0.1572)
 # KEYFRAME 61
0.07241820199851645
Frame 78
tensor(0.4544)
 # KEYFRAME 62
0.07290305999777047
Frame 79
tensor(0.1244)
 # KEYFRAME 63
0.0727991009989637
Frame 80
tensor(0.1947)
 # KEYFRAME 64
0.07364953700016486
Frame 81
tensor(0.1205)
 # KEYFRAME 65
0.07393416699778754
Frame 82
tensor(0.0853)
Frame 83
tensor(0.2368)
 # KEYFRAME 66
0.07436861599853728
Frame 84
tensor(0.1699)
 # KEYFRAME 67
0.07482346400502138
Frame 85
tensor(0.1765)
 # KEYFRAME 68
0.0752927420035121
Frame 86
tensor(0.2434)
 # KEYFRAME 69
0.07561521099705715
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1368 loss_distill=0.4024 tta_take=0.008s
Frame 87
tensor(0.2736)
 # KEYFRAME 70
0.07563175100221997
Frame 88
tensor(0.1032)
 # KEYFRAME 71
0.07746615399810253
Frame 89
tensor(0.5327)
 # KEYFRAME 72
0.07757255299657118
Frame 90
tensor(0.1978)
 # KEYFRAME 73
0.0783285520010395
Frame 91
tensor(0.2001)
 # KEYFRAME 74
0.079402356997889
Frame 92
tensor(0.1304)
 # KEYFRAME 75
0.08016681399749359
Frame 93
tensor(0.2712)
 # KEYFRAME 76
0.07906050900055561
Frame 94
tensor(0.0691)
Frame 95
tensor(0.1444)
 # KEYFRAME 77
0.08164026000304148
Frame 96
tensor(0.1850)
 # KEYFRAME 78
0.08204741899680812
Frame 97
tensor(0.1478)
 # KEYFRAME 79
0.08305135399859864
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1369 loss_distill=0.4024 tta_take=0.008s
Frame 98
tensor(0.6003)
 # KEYFRAME 80
0.07574066999950446
Frame 99
tensor(0.0979)
Frame 100
tensor(0.2524)
 # KEYFRAME 81
0.07698958599939942
Frame 101
tensor(0.1449)
 # KEYFRAME 82
0.07724856499407906
Frame 102
tensor(0.2693)
 # KEYFRAME 83
0.07743889499397483
Frame 103
tensor(0.1430)
 # KEYFRAME 84
0.07798533199820668
Frame 104
tensor(0.1217)
 # KEYFRAME 85
0.07852637999894796
Frame 105
tensor(0.1417)
 # KEYFRAME 86
0.07846022099693073
Frame 106
tensor(0.1747)
 # KEYFRAME 87
0.07874049900419777
Frame 107
tensor(0.1771)
 # KEYFRAME 88
0.0792724180064397
Frame 108
tensor(0.1437)
 # KEYFRAME 89
0.0800243350022356
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1370 loss_distill=0.4024 tta_take=0.008s
Frame 109
tensor(0.0641)
Frame 110
tensor(0.6504)
 # KEYFRAME 90
0.07562969099672046
Frame 111
tensor(0.0545)
Frame 112
tensor(0.1596)
 # KEYFRAME 91
0.07721526499517495
Frame 113
tensor(0.1578)
 # KEYFRAME 92
0.07671494699752657
Frame 114
tensor(0.2893)
 # KEYFRAME 93
0.07737984399864217
Frame 115
tensor(0.2357)
 # KEYFRAME 94
0.07756390400027158
Frame 116
tensor(0.3370)
 # KEYFRAME 95
0.07895940000162227
Frame 117
tensor(0.5969)
 # KEYFRAME 96
0.07798816300055478
Frame 118
tensor(0.2109)
 # KEYFRAME 97
0.07863402999646496
Frame 119
tensor(0.1297)
 # KEYFRAME 98
0.07994878500176128
Frame 120
tensor(0.1464)
 # KEYFRAME 99
0.07980186599888839
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595452308655
TTA-STEP: step=1371 loss_distill=0.4024 tta_take=0.009s
Frame 121
tensor(0.0725)
Frame 122
tensor(0.1250)
 # KEYFRAME 100
0.07576120100566186
Frame 123
tensor(0.1926)
 # KEYFRAME 101
0.07745900499867275
Frame 124
tensor(0.1122)
 # KEYFRAME 102
0.07653782800480258
Frame 125
tensor(0.1191)
 # KEYFRAME 103
0.07733409500360722
Frame 126
tensor(0.1213)
 # KEYFRAME 104
0.07765245300106471
Frame 127
tensor(0.4252)
 # KEYFRAME 105
0.07828195100591984
Frame 128
tensor(0.0955)
Frame 129
tensor(0.1888)
 # KEYFRAME 106
0.07820569099567365
Frame 130
tensor(0.1054)
 # KEYFRAME 107
0.07937642799515743
Frame 131
tensor(0.0775)
Frame 132
tensor(0.5611)
 # KEYFRAME 108
0.07934706800006097
Frame 133
tensor(0.1918)
 # KEYFRAME 109
0.07998215599945979
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1372 loss_distill=0.4024 tta_take=0.008s
Frame 134
tensor(0.1205)
 # KEYFRAME 110
0.07596470000135014
Frame 135
tensor(0.1312)
 # KEYFRAME 111
0.07612658899597591
Frame 136
tensor(0.2825)
 # KEYFRAME 112
0.07657777799613541
Frame 137
tensor(0.4462)
 # KEYFRAME 113
0.07711977600411046
Frame 138
tensor(0.1982)
 # KEYFRAME 114
0.07741107399488101
Frame 139
tensor(0.1001)
 # KEYFRAME 115
0.07820101199467899
Frame 140
tensor(0.4889)
 # KEYFRAME 116
0.07840149099502014
Frame 141
tensor(0.0659)
Frame 142
tensor(0.1484)
 # KEYFRAME 117
0.15629473400622373
Frame 143
tensor(0.4695)
 # KEYFRAME 118
0.08049515400489327
Frame 144
tensor(0.1542)
 # KEYFRAME 119
0.0794306680036243
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1373 loss_distill=0.4024 tta_take=0.008s
Frame 145
tensor(0.1817)
 # KEYFRAME 120
0.10464398700423772
Frame 146
tensor(0.1849)
 # KEYFRAME 121
0.07653122799820267
Frame 147
tensor(0.1531)
 # KEYFRAME 122
0.07673338700260501
Frame 148
tensor(0.1432)
 # KEYFRAME 123
0.07699842599686235
Frame 149
tensor(0.3513)
 # KEYFRAME 124
0.07760009400226409
Backending... 125 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 60450, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1374 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 202/556] scannetpp/785e7504b9/DSC frames=150 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=1374 time=49.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0209)
Frame 2
tensor(0.0644)
Frame 3
tensor(0.1087)
 # KEYFRAME 1
Frame 4
tensor(0.0494)
Frame 5
tensor(0.0967)
Frame 6
tensor(0.1606)
 # KEYFRAME 2
0.05132070699619362
Frame 7
tensor(0.0711)
Frame 8
tensor(0.1817)
 # KEYFRAME 3
0.05165497600683011
Frame 9
tensor(0.0412)
Frame 10
tensor(0.1133)
 # KEYFRAME 4
0.05328960999759147
Frame 11
tensor(0.1108)
 # KEYFRAME 5
0.0542539369998849
Frame 12
tensor(0.0338)
Frame 13
tensor(0.0790)
Frame 14
tensor(0.1183)
 # KEYFRAME 6
0.05516210399946431
Frame 15
tensor(0.0880)
Frame 16
tensor(0.1366)
 # KEYFRAME 7
0.05626779000158422
Frame 17
tensor(0.0847)
Frame 18
tensor(0.1332)
 # KEYFRAME 8
0.056818517005012836
Frame 19
tensor(0.0568)
Frame 20
tensor(0.7470)
 # KEYFRAME 9
0.05737465599668212
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.0098)
Frame 22
tensor(0.0427)
Frame 23
tensor(0.0554)
Frame 24
tensor(0.0808)
Frame 25
tensor(0.0870)
Frame 26
tensor(0.0805)
Frame 27
tensor(0.0744)
Frame 28
tensor(0.0584)
Frame 29
tensor(0.0390)
Frame 30
tensor(0.0401)
Frame 31
tensor(0.0462)
Frame 32
tensor(0.3082)
 # KEYFRAME 10
0.05164648599748034
Frame 33
tensor(0.0980)
Frame 34
tensor(0.1342)
 # KEYFRAME 11
0.051420295996649656
Frame 35
tensor(0.0750)
Frame 36
tensor(0.1214)
 # KEYFRAME 12
0.05261731300561223
Frame 37
tensor(0.0518)
Frame 38
tensor(0.1337)
 # KEYFRAME 13
0.05414222700346727
Frame 39
tensor(0.0795)
Frame 40
tensor(0.1956)
 # KEYFRAME 14
0.05448489599802997
Frame 41
tensor(0.0410)
Frame 42
tensor(0.1184)
 # KEYFRAME 15
0.05446893599582836
Frame 43
tensor(0.1913)
 # KEYFRAME 16
0.054898995003895834
Frame 44
tensor(0.5087)
 # KEYFRAME 17
0.055908600996190216
Frame 45
tensor(0.1023)
 # KEYFRAME 18
0.056503838997741695
Frame 46
tensor(0.0628)
Frame 47
tensor(0.1276)
 # KEYFRAME 19
0.057543095004803035
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 48
tensor(0.0244)
Frame 49
tensor(0.1218)
 # KEYFRAME 20
0.054335275999619626
Frame 50
tensor(0.1494)
 # KEYFRAME 21
0.054901825002161786
Frame 51
tensor(0.5440)
 # KEYFRAME 22
0.05554023200238589
Frame 52
tensor(0.0447)
Frame 53
tensor(0.6066)
 # KEYFRAME 23
0.055911750998348
Frame 54
tensor(0.0557)
Frame 55
tensor(0.0810)
Frame 56
tensor(0.1268)
 # KEYFRAME 24
0.0561146899999585
Frame 57
tensor(0.0290)
Frame 58
tensor(0.0601)
Frame 59
tensor(0.0706)
Frame 60
tensor(0.0916)
Frame 61
tensor(0.1058)
 # KEYFRAME 25
0.056905227997049224
Frame 62
tensor(0.0067)
Frame 63
tensor(0.0772)
Frame 64
tensor(0.2166)
 # KEYFRAME 26
0.05818419300339883
Frame 65
tensor(0.0408)
Frame 66
tensor(0.0692)
Frame 67
tensor(0.0879)
Frame 68
tensor(0.0961)
Frame 69
tensor(0.1294)
 # KEYFRAME 27
0.05913190999854123
Frame 70
tensor(0.0104)
Frame 71
tensor(0.0309)
Frame 72
tensor(0.3415)
 # KEYFRAME 28
0.059166609004023485
Frame 73
tensor(0.0165)
Frame 74
tensor(0.0551)
Frame 75
tensor(0.0773)
Frame 76
tensor(0.1116)
 # KEYFRAME 29
0.05971324699930847
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 77
tensor(0.0183)
Frame 78
tensor(0.0462)
Frame 79
tensor(0.0741)
Frame 80
tensor(0.0962)
Frame 81
tensor(0.1233)
 # KEYFRAME 30
0.058313852998253424
Frame 82
tensor(0.0197)
Frame 83
tensor(0.0503)
Frame 84
tensor(0.0722)
Frame 85
tensor(0.0881)
Frame 86
tensor(0.0953)
Frame 87
tensor(0.1084)
 # KEYFRAME 31
0.05922388999897521
Frame 88
tensor(0.0195)
Frame 89
tensor(0.0427)
Frame 90
tensor(0.1825)
 # KEYFRAME 32
0.05928487900382606
Frame 91
tensor(0.0391)
Frame 92
tensor(0.0778)
Frame 93
tensor(0.0954)
Frame 94
tensor(0.1345)
 # KEYFRAME 33
0.060164995993545745
Frame 95
tensor(0.0160)
Frame 96
tensor(0.0459)
Frame 97
tensor(0.4667)
 # KEYFRAME 34
0.060803963999205735
Frame 98
tensor(0.0344)
Frame 99
tensor(0.1085)
 # KEYFRAME 35
0.061340701999142766
Frame 100
tensor(0.0381)
Frame 101
tensor(0.1320)
 # KEYFRAME 36
0.062046229002589826
Frame 102
tensor(0.0369)
Frame 103
tensor(0.0909)
Frame 104
tensor(0.1305)
 # KEYFRAME 37
0.0625140280026244
Frame 105
tensor(0.0342)
Frame 106
tensor(0.1263)
 # KEYFRAME 38
0.06315991600422421
Frame 107
tensor(0.0243)
Frame 108
tensor(0.1269)
 # KEYFRAME 39
0.06357312299951445
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1375 loss_distill=0.1733 tta_take=0.008s
Frame 109
tensor(0.0383)
Frame 110
tensor(0.3785)
 # KEYFRAME 40
0.06271303699759301
Frame 111
tensor(0.0333)
Frame 112
tensor(0.0682)
Frame 113
tensor(0.0905)
Frame 114
tensor(0.1274)
 # KEYFRAME 41
0.0642905719942064
Frame 115
tensor(0.0485)
Frame 116
tensor(0.0672)
Frame 117
tensor(0.0936)
Frame 118
tensor(0.1137)
 # KEYFRAME 42
0.06406642200454371
Frame 119
tensor(0.2428)
 # KEYFRAME 43
0.06447350000235019
Frame 120
tensor(0.0304)
Frame 121
tensor(0.0983)
Frame 122
tensor(0.5412)
 # KEYFRAME 44
0.0648841399961384
Frame 123
tensor(0.0362)
Frame 124
tensor(0.0711)
Frame 125
tensor(0.0919)
Frame 126
tensor(0.1233)
 # KEYFRAME 45
0.06546320699999342
Frame 127
tensor(0.0265)
Frame 128
tensor(0.0614)
Frame 129
tensor(0.7972)
 # KEYFRAME 46
0.06601646499620983
Frame 130
tensor(0.1102)
 # KEYFRAME 47
0.06673956300073769
Frame 131
tensor(0.0845)
Frame 132
tensor(0.1174)
 # KEYFRAME 48
0.06740891999652376
Frame 133
tensor(0.0282)
Frame 134
tensor(0.0416)
Frame 135
tensor(0.7162)
 # KEYFRAME 49
0.06794081800035201
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1376 loss_distill=0.2747 tta_take=0.008s
Frame 136
tensor(0.0668)
Frame 137
tensor(0.1162)
 # KEYFRAME 50
0.06720929099537898
Frame 138
tensor(0.0483)
Frame 139
tensor(0.0788)
Frame 140
tensor(0.0982)
Frame 141
tensor(0.1539)
 # KEYFRAME 51
0.06862824600102613
Frame 142
tensor(0.0599)
Frame 143
tensor(0.1104)
 # KEYFRAME 52
0.06857232600304997
Frame 144
tensor(0.3029)
 # KEYFRAME 53
0.06937179299711715
Frame 145
tensor(0.0709)
Frame 146
tensor(0.1486)
 # KEYFRAME 54
0.06910103400150547
Frame 147
tensor(0.0368)
Frame 148
tensor(0.0894)
Frame 149
tensor(0.1261)
 # KEYFRAME 55
0.07029110000439687
Backending... 56 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52080, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1377 loss_distill=0.3466 tta_take=0.006s
[epoch 0 scene 203/556] scannetpp/4318f8bb3c/DSC frames=150 tta_steps_this_scene=3 mean_loss=0.2648 total_steps=1377 time=27.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.2600)
 # KEYFRAME 1
Frame 2
tensor(0.3019)
 # KEYFRAME 2
0.050902848997793626
Frame 3
tensor(0.0806)
Frame 4
tensor(0.1900)
 # KEYFRAME 3
0.05271953299961751
Frame 5
tensor(0.3207)
 # KEYFRAME 4
0.053448758997546975
Frame 6
tensor(0.3050)
 # KEYFRAME 5
0.05437098599941237
Frame 7
tensor(0.2534)
 # KEYFRAME 6
0.056101269998180214
Frame 8
tensor(0.4341)
 # KEYFRAME 7
0.05636503000278026
Frame 9
tensor(0.6015)
 # KEYFRAME 8
0.057190135994460434
Frame 10
tensor(0.2970)
 # KEYFRAME 9
0.05750777499633841
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.2393)
 # KEYFRAME 10
0.05195617499703076
Frame 12
tensor(0.4611)
 # KEYFRAME 11
0.052411933000257704
Frame 13
tensor(0.3091)
 # KEYFRAME 12
0.0540022580025834
Frame 14
tensor(0.1506)
 # KEYFRAME 13
0.05633304900402436
Frame 15
tensor(0.4438)
 # KEYFRAME 14
0.05778249500144739
Frame 16
tensor(0.3726)
 # KEYFRAME 15
0.057781753996096086
Frame 17
tensor(0.2395)
 # KEYFRAME 16
0.05853272099921014
Frame 18
tensor(0.3518)
 # KEYFRAME 17
0.06004949599446263
Frame 19
tensor(0.2763)
 # KEYFRAME 18
0.0610876329956227
Frame 20
tensor(0.4067)
 # KEYFRAME 19
0.06159363100596238
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.3365)
 # KEYFRAME 20
0.05909459000395145
Frame 22
tensor(0.1104)
 # KEYFRAME 21
0.06084114399709506
Frame 23
tensor(0.3765)
 # KEYFRAME 22
0.06178088000160642
Frame 24
tensor(0.2280)
 # KEYFRAME 23
0.06354240299697267
Frame 25
tensor(0.5854)
 # KEYFRAME 24
0.06418419200053904
Frame 26
tensor(0.4415)
 # KEYFRAME 25
0.06517598799837288
Frame 27
tensor(0.3462)
 # KEYFRAME 26
0.06644061299448367
Frame 28
tensor(0.1981)
 # KEYFRAME 27
0.06720350999967195
Frame 29
tensor(0.5722)
 # KEYFRAME 28
0.06779348899726756
Frame 30
tensor(0.3362)
 # KEYFRAME 29
0.06920037300005788
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 31
tensor(0.4075)
 # KEYFRAME 30
0.06552653700055089
Frame 32
tensor(0.2998)
 # KEYFRAME 31
0.06751972899655811
Frame 33
tensor(0.1446)
 # KEYFRAME 32
0.06809779800096294
Frame 34
tensor(0.3524)
 # KEYFRAME 33
0.06891931499558268
Frame 35
tensor(0.3939)
 # KEYFRAME 34
0.0696195619966602
Frame 36
tensor(0.3540)
 # KEYFRAME 35
0.0707685980014503
Frame 37
tensor(0.7234)
 # KEYFRAME 36
0.07142575600300916
Frame 38
tensor(0.3777)
 # KEYFRAME 37
0.07250318200385664
Frame 39
tensor(0.2132)
 # KEYFRAME 38
0.0732844890007982
Frame 40
tensor(0.0973)
Frame 41
tensor(0.2401)
 # KEYFRAME 39
0.0736755180041655
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1378 loss_distill=0.1733 tta_take=0.009s
Frame 42
tensor(0.1413)
 # KEYFRAME 40
0.07231796300038695
Frame 43
tensor(0.4010)
 # KEYFRAME 41
0.07394963700062362
Frame 44
tensor(0.5255)
 # KEYFRAME 42
0.07396896599675529
Frame 45
tensor(0.4138)
 # KEYFRAME 43
0.07509843199659372
Frame 46
tensor(0.3168)
 # KEYFRAME 44
0.07579345999693032
Frame 47
tensor(0.5644)
 # KEYFRAME 45
0.07648886799870525
Frame 48
tensor(0.5897)
 # KEYFRAME 46
0.07700857600138988
Frame 49
tensor(0.2470)
 # KEYFRAME 47
0.07771157299430342
Frame 50
tensor(0.2640)
 # KEYFRAME 48
0.0788611989992205
Frame 51
tensor(0.2374)
 # KEYFRAME 49
0.07950468699709745
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1379 loss_distill=0.2747 tta_take=0.009s
Frame 52
tensor(0.2711)
 # KEYFRAME 50
0.07956774700141978
Frame 53
tensor(0.3931)
 # KEYFRAME 51
0.08185621900338447
Frame 54
tensor(0.7183)
 # KEYFRAME 52
0.08201576799910981
Frame 55
tensor(0.1491)
 # KEYFRAME 53
0.08408839999901829
Frame 56
tensor(0.3191)
 # KEYFRAME 54
0.08547597599681467
Frame 57
tensor(0.1818)
 # KEYFRAME 55
0.08613827299996046
Frame 58
tensor(0.1657)
 # KEYFRAME 56
0.08653775200218661
Frame 59
tensor(0.1991)
 # KEYFRAME 57
0.08846598499803804
Frame 60
tensor(0.1488)
 # KEYFRAME 58
0.08872378499654587
Frame 61
tensor(0.1463)
 # KEYFRAME 59
0.08963591099745827
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=1380 loss_distill=0.3466 tta_take=0.009s
Frame 62
tensor(0.1489)
 # KEYFRAME 60
0.08650670199858723
Frame 63
tensor(0.1450)
 # KEYFRAME 61
0.08884204299829435
Frame 64
tensor(0.2680)
 # KEYFRAME 62
0.0878915479988791
Frame 65
tensor(0.1410)
 # KEYFRAME 63
0.08922203200199874
Frame 66
tensor(0.2213)
 # KEYFRAME 64
0.08947835199796828
Frame 67
tensor(0.1656)
 # KEYFRAME 65
0.09027413799776696
Frame 68
tensor(0.5971)
 # KEYFRAME 66
0.09170696300134296
Frame 69
tensor(0.2047)
 # KEYFRAME 67
0.0922648220002884
Frame 70
tensor(0.3138)
 # KEYFRAME 68
0.09287693900114391
Frame 71
tensor(0.5471)
 # KEYFRAME 69
0.09290330899966648
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1381 loss_distill=0.4024 tta_take=0.009s
Frame 72
tensor(0.1320)
 # KEYFRAME 70
0.09358073699695524
Frame 73
tensor(0.2218)
 # KEYFRAME 71
0.0955587700009346
Frame 74
tensor(0.3691)
 # KEYFRAME 72
0.09537124000053154
Frame 75
tensor(0.2861)
 # KEYFRAME 73
0.09682319599960465
Frame 76
tensor(0.2724)
 # KEYFRAME 74
0.09779031100333668
Frame 77
tensor(0.2564)
 # KEYFRAME 75
0.09942992699507158
Frame 78
tensor(0.1897)
 # KEYFRAME 76
0.10034608300338732
Frame 79
tensor(0.2151)
 # KEYFRAME 77
0.10122140000021318
Frame 80
tensor(0.4696)
 # KEYFRAME 78
0.10253913500491763
Frame 81
tensor(0.4609)
 # KEYFRAME 79
0.10364483099692734
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1382 loss_distill=0.4024 tta_take=0.009s
Frame 82
tensor(0.5075)
 # KEYFRAME 80
0.09271540999907302
Frame 83
tensor(0.1708)
 # KEYFRAME 81
0.09391343600145774
Frame 84
tensor(0.4928)
 # KEYFRAME 82
0.09587101900251582
Frame 85
tensor(0.3165)
 # KEYFRAME 83
0.09584673900099006
Frame 86
tensor(0.3005)
 # KEYFRAME 84
0.09762697200494586
Frame 87
tensor(0.4194)
 # KEYFRAME 85
0.09779797199735185
Frame 88
tensor(0.2966)
 # KEYFRAME 86
0.09921940699859988
Frame 89
tensor(0.2937)
 # KEYFRAME 87
0.10035941199748777
Frame 90
tensor(0.3778)
 # KEYFRAME 88
0.10183020800468512
Frame 91
tensor(0.3084)
 # KEYFRAME 89
0.10262474499904783
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1383 loss_distill=0.4024 tta_take=0.009s
Frame 92
tensor(0.4501)
 # KEYFRAME 90
0.09302638900408056
Frame 93
tensor(0.3931)
 # KEYFRAME 91
0.0932443380006589
Frame 94
tensor(0.1119)
 # KEYFRAME 92
0.09618451799906325
Frame 95
tensor(0.2583)
 # KEYFRAME 93
0.09523928099952172
Frame 96
tensor(0.4301)
 # KEYFRAME 94
0.09574619900377002
Frame 97
tensor(0.2641)
 # KEYFRAME 95
0.09661591600161046
Frame 98
tensor(0.2154)
 # KEYFRAME 96
0.09780687199963722
Frame 99
tensor(0.4125)
 # KEYFRAME 97
0.09825382000417449
Frame 100
tensor(0.2986)
 # KEYFRAME 98
0.09831076999398647
Frame 101
tensor(0.1507)
 # KEYFRAME 99
0.10061557200242532
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1384 loss_distill=0.4024 tta_take=0.009s
Frame 102
tensor(0.3390)
 # KEYFRAME 100
0.09259851000388153
Frame 103
tensor(0.3586)
 # KEYFRAME 101
0.09553353999945102
Frame 104
tensor(0.2248)
 # KEYFRAME 102
0.09511879100318765
Frame 105
tensor(0.1197)
 # KEYFRAME 103
0.09556234900082927
Frame 106
tensor(0.1679)
 # KEYFRAME 104
0.09752561299683293
Frame 107
tensor(0.1489)
 # KEYFRAME 105
0.09747097299987217
Frame 108
tensor(0.1391)
 # KEYFRAME 106
0.09848928000428714
Frame 109
tensor(0.1385)
 # KEYFRAME 107
0.099258636997547
Frame 110
tensor(0.3075)
 # KEYFRAME 108
0.0992920270000468
Frame 111
tensor(0.2195)
 # KEYFRAME 109
0.10015695299807703
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1385 loss_distill=0.4024 tta_take=0.009s
Frame 112
tensor(0.1339)
 # KEYFRAME 110
0.09343323799839709
Frame 113
tensor(0.1841)
 # KEYFRAME 111
0.09421690499584656
Frame 114
tensor(0.1865)
 # KEYFRAME 112
0.09535803100152407
Frame 115
tensor(0.2280)
 # KEYFRAME 113
0.09642681699915556
Frame 116
tensor(0.1397)
 # KEYFRAME 114
0.09700402499584015
Frame 117
tensor(0.2889)
 # KEYFRAME 115
0.09771706200262997
Frame 118
tensor(0.2028)
 # KEYFRAME 116
0.09813756000221474
Frame 119
tensor(0.0714)
Frame 120
tensor(0.2517)
 # KEYFRAME 117
0.09920500699809054
Frame 121
tensor(0.1853)
 # KEYFRAME 118
0.09969169599935412
Frame 122
tensor(0.0867)
Frame 123
tensor(0.0598)
Frame 124
tensor(0.1108)
 # KEYFRAME 119
0.10063011100282893
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1386 loss_distill=0.4024 tta_take=0.009s
Frame 125
tensor(0.0666)
Frame 126
tensor(0.1711)
 # KEYFRAME 120
0.09306989800097654
Frame 127
tensor(0.2989)
 # KEYFRAME 121
0.09499736200086772
Frame 128
tensor(0.1107)
 # KEYFRAME 122
0.09488850199704757
Frame 129
tensor(0.1837)
 # KEYFRAME 123
0.09593642899562838
Frame 130
tensor(0.1550)
 # KEYFRAME 124
0.09658798599411966
Frame 131
tensor(0.1889)
 # KEYFRAME 125
0.097904672002187
Frame 132
tensor(0.1457)
 # KEYFRAME 126
0.09809078100079205
Frame 133
tensor(0.0512)
Frame 134
tensor(0.1765)
 # KEYFRAME 127
0.09913693700218573
Frame 135
tensor(0.4557)
 # KEYFRAME 128
0.099170977002359
Frame 136
tensor(0.3584)
 # KEYFRAME 129
0.10067990099923918
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1387 loss_distill=0.4024 tta_take=0.009s
Frame 137
tensor(0.2308)
 # KEYFRAME 130
0.09392359600315103
Backending... 131 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 63501, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1388 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 204/556] scannetpp/8e6ff28354/frame frames=138 tta_steps_this_scene=11 mean_loss=0.3649 total_steps=1388 time=53.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0457)
Frame 2
tensor(0.0936)
Frame 3
tensor(0.1437)
 # KEYFRAME 1
Frame 4
tensor(0.0475)
Frame 5
tensor(0.1014)
 # KEYFRAME 2
0.051865916000679135
Frame 6
tensor(0.0553)
Frame 7
tensor(0.1085)
 # KEYFRAME 3
0.0525656230020104
Frame 8
tensor(0.0452)
Frame 9
tensor(0.0979)
Frame 10
tensor(0.1464)
 # KEYFRAME 4
0.053044211002998054
Frame 11
tensor(0.0401)
Frame 12
tensor(0.0923)
Frame 13
tensor(0.1405)
 # KEYFRAME 5
0.052416953003557865
Frame 14
tensor(0.0441)
Frame 15
tensor(0.0973)
Frame 16
tensor(0.1449)
 # KEYFRAME 6
0.05323477100318996
Frame 17
tensor(0.0490)
Frame 18
tensor(0.1089)
 # KEYFRAME 7
0.05260675300087314
Frame 19
tensor(0.0509)
Frame 20
tensor(0.0974)
Frame 21
tensor(0.1460)
 # KEYFRAME 8
0.05385311899590306
Frame 22
tensor(0.0415)
Frame 23
tensor(0.0897)
Frame 24
tensor(0.1352)
 # KEYFRAME 9
0.05289858199830633
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.0389)
Frame 26
tensor(0.0874)
Frame 27
tensor(0.1350)
 # KEYFRAME 10
0.051880655002605636
Frame 28
tensor(0.0430)
Frame 29
tensor(0.0896)
Frame 30
tensor(0.1341)
 # KEYFRAME 11
0.052604723001422826
Frame 31
tensor(0.0445)
Frame 32
tensor(0.0922)
Frame 33
tensor(0.1394)
 # KEYFRAME 12
0.05262009300349746
Frame 34
tensor(0.0444)
Frame 35
tensor(0.0957)
Frame 36
tensor(0.1364)
 # KEYFRAME 13
0.05265706300269812
Frame 37
tensor(0.0436)
Frame 38
tensor(0.0937)
Frame 39
tensor(0.1385)
 # KEYFRAME 14
0.05518258299707668
Frame 40
tensor(0.0409)
Frame 41
tensor(0.0854)
Frame 42
tensor(0.1278)
 # KEYFRAME 15
0.0531181610058411
Frame 43
tensor(0.0388)
Frame 44
tensor(0.0874)
Frame 45
tensor(0.1259)
 # KEYFRAME 16
0.05290853099722881
Frame 46
tensor(0.0384)
Frame 47
tensor(0.0897)
Frame 48
tensor(0.1317)
 # KEYFRAME 17
0.056127989999367855
Frame 49
tensor(0.0413)
Frame 50
tensor(0.0942)
Frame 51
tensor(0.1353)
 # KEYFRAME 18
0.052830372005701065
Frame 52
tensor(0.0412)
Frame 53
tensor(0.0917)
Frame 54
tensor(0.1424)
 # KEYFRAME 19
0.05646590900141746
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 55
tensor(0.0549)
Frame 56
tensor(0.1094)
 # KEYFRAME 20
0.0520652240011259
Frame 57
tensor(0.0566)
Frame 58
tensor(0.1195)
 # KEYFRAME 21
0.052453652999247424
Frame 59
tensor(0.0640)
Frame 60
tensor(0.1241)
 # KEYFRAME 22
0.05419522699958179
Frame 61
tensor(0.0557)
Frame 62
tensor(0.1221)
 # KEYFRAME 23
0.052352823004184756
Frame 63
tensor(0.0547)
Frame 64
tensor(0.1018)
 # KEYFRAME 24
0.054237917000136804
Frame 65
tensor(0.0593)
Frame 66
tensor(0.1155)
 # KEYFRAME 25
0.05236613399756607
Frame 67
tensor(0.0527)
Frame 68
tensor(0.1066)
 # KEYFRAME 26
0.0528255219978746
Frame 69
tensor(0.0511)
Frame 70
tensor(0.0949)
Frame 71
tensor(0.1535)
 # KEYFRAME 27
0.0557849810065818
Frame 72
tensor(0.0541)
Frame 73
tensor(0.1104)
 # KEYFRAME 28
0.05294926100032171
Frame 74
tensor(0.0537)
Frame 75
tensor(0.1103)
 # KEYFRAME 29
0.05579051100357901
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 76
tensor(0.0534)
Frame 77
tensor(0.1123)
 # KEYFRAME 30
0.05267265300062718
Frame 78
tensor(0.0512)
Frame 79
tensor(0.1083)
 # KEYFRAME 31
0.052660722998552956
Frame 80
tensor(0.0540)
Frame 81
tensor(0.1012)
 # KEYFRAME 32
0.05339016999641899
Frame 82
tensor(0.0567)
Frame 83
tensor(0.1004)
 # KEYFRAME 33
0.05241009299788857
Frame 84
tensor(0.0463)
Frame 85
tensor(0.0938)
Frame 86
tensor(0.1348)
 # KEYFRAME 34
0.05361177000304451
Frame 87
tensor(0.0488)
Frame 88
tensor(0.1047)
 # KEYFRAME 35
0.05223679399932735
Frame 89
tensor(0.0510)
Frame 90
tensor(0.1019)
 # KEYFRAME 36
0.052736443001776934
Frame 91
tensor(0.0467)
Frame 92
tensor(0.0928)
Frame 93
tensor(0.1437)
 # KEYFRAME 37
0.053576749000058044
Frame 94
tensor(0.0415)
Frame 95
tensor(0.0822)
Frame 96
tensor(0.1333)
 # KEYFRAME 38
0.05276990200218279
Frame 97
tensor(0.0417)
Frame 98
tensor(0.0849)
Frame 99
tensor(0.1353)
 # KEYFRAME 39
0.05399877799936803
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1389 loss_distill=0.1733 tta_take=0.005s
Frame 100
tensor(0.0458)
Frame 101
tensor(0.0971)
Frame 102
tensor(0.1413)
 # KEYFRAME 40
0.052453962998697534
Frame 103
tensor(0.0477)
Frame 104
tensor(0.0981)
Frame 105
tensor(0.1517)
 # KEYFRAME 41
0.052717352999025024
Frame 106
tensor(0.0480)
Frame 107
tensor(0.0965)
Frame 108
tensor(0.1527)
 # KEYFRAME 42
0.05315086100017652
Frame 109
tensor(0.0452)
Frame 110
tensor(0.0921)
Frame 111
tensor(0.1476)
 # KEYFRAME 43
0.05222824399970705
Frame 112
tensor(0.0425)
Frame 113
tensor(0.0871)
Frame 114
tensor(0.1409)
 # KEYFRAME 44
0.053335979995608795
Frame 115
tensor(0.0413)
Frame 116
tensor(0.0917)
Frame 117
tensor(0.1369)
 # KEYFRAME 45
0.05224789400381269
Frame 118
tensor(0.0484)
Frame 119
tensor(0.1011)
 # KEYFRAME 46
0.05253173299570335
Frame 120
tensor(0.0515)
Frame 121
tensor(0.0957)
Frame 122
tensor(0.1455)
 # KEYFRAME 47
0.053796838998096064
Frame 123
tensor(0.0511)
Frame 124
tensor(0.0989)
Frame 125
tensor(0.1501)
 # KEYFRAME 48
0.05349595999723533
Frame 126
tensor(0.0481)
Frame 127
tensor(0.0925)
Frame 128
tensor(0.1391)
 # KEYFRAME 49
0.05501341399940429
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531069278717
TTA-STEP: step=1390 loss_distill=0.2747 tta_take=0.005s
Frame 129
tensor(0.0390)
Frame 130
tensor(0.0861)
Frame 131
tensor(0.1352)
 # KEYFRAME 50
0.05225724399497267
Frame 132
tensor(0.0464)
Frame 133
tensor(0.0962)
Frame 134
tensor(0.1445)
 # KEYFRAME 51
0.052619733003666624
Frame 135
tensor(0.0449)
Frame 136
tensor(0.0957)
Frame 137
tensor(0.1373)
 # KEYFRAME 52
0.054095406994747464
Frame 138
tensor(0.0454)
Frame 139
tensor(0.0934)
Frame 140
tensor(0.1295)
 # KEYFRAME 53
0.05258433299604803
Frame 141
tensor(0.0396)
Frame 142
tensor(0.0828)
Frame 143
tensor(0.1221)
 # KEYFRAME 54
0.05393896799796494
Frame 144
tensor(0.0395)
Frame 145
tensor(0.0810)
Frame 146
tensor(0.1177)
 # KEYFRAME 55
0.053200289999949746
Frame 147
tensor(0.0375)
Frame 148
tensor(0.0793)
Frame 149
tensor(0.1211)
 # KEYFRAME 56
0.053343499996117316
Frame 150
tensor(0.0350)
Frame 151
tensor(0.0747)
Frame 152
tensor(0.1061)
 # KEYFRAME 57
0.05475541499617975
Frame 153
tensor(0.0358)
Frame 154
tensor(0.0716)
Frame 155
tensor(0.1021)
 # KEYFRAME 58
0.052733342003193684
Frame 156
tensor(0.0352)
Frame 157
tensor(0.0629)
Frame 158
tensor(0.0933)
Frame 159
tensor(0.1240)
 # KEYFRAME 59
0.055032643998856656
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.34657353162765503
TTA-STEP: step=1391 loss_distill=0.3466 tta_take=0.005s
Frame 160
tensor(0.0253)
Frame 161
tensor(0.0495)
Frame 162
tensor(0.0797)
Frame 163
tensor(0.1037)
 # KEYFRAME 60
0.05215251399931731
Frame 164
tensor(0.0230)
Frame 165
tensor(0.0520)
Frame 166
tensor(0.0731)
Frame 167
tensor(0.0944)
Frame 168
tensor(0.1206)
 # KEYFRAME 61
0.05253760299819987
Frame 169
tensor(0.0210)
Frame 170
tensor(0.0448)
Frame 171
tensor(0.0614)
Frame 172
tensor(0.0835)
Frame 173
tensor(0.1039)
 # KEYFRAME 62
0.05429239699878963
Frame 174
tensor(0.0117)
Frame 175
tensor(0.0276)
Frame 176
tensor(0.0464)
Frame 177
tensor(0.0603)
Frame 178
tensor(0.0764)
Frame 179
tensor(0.0921)
Frame 180
tensor(0.1101)
 # KEYFRAME 63
0.05349243000091519
Frame 181
tensor(0.0084)
Frame 182
tensor(0.0167)
Frame 183
tensor(0.0209)
Frame 184
tensor(0.0350)
Frame 185
tensor(0.0435)
Frame 186
tensor(0.0537)
Frame 187
tensor(0.0661)
Frame 188
tensor(0.0724)
Frame 189
tensor(0.0773)
Frame 190
tensor(0.0818)
Frame 191
tensor(0.0919)
Frame 192
tensor(0.0983)
Frame 193
tensor(0.1041)
 # KEYFRAME 64
0.05415829699632013
Frame 194
tensor(0.0059)
Frame 195
tensor(0.0131)
Frame 196
tensor(0.0193)
Frame 197
tensor(0.0246)
Frame 198
tensor(0.0326)
Frame 199
tensor(0.0408)
Frame 200
tensor(0.0454)
Frame 201
tensor(0.0536)
Frame 202
tensor(0.0586)
Frame 203
tensor(0.0711)
Frame 204
tensor(0.0801)
Frame 205
tensor(0.0954)
Frame 206
tensor(0.1033)
 # KEYFRAME 65
0.05304248099855613
Frame 207
tensor(0.0142)
Frame 208
tensor(0.0286)
Frame 209
tensor(0.0465)
Frame 210
tensor(0.0619)
Frame 211
tensor(0.0819)
Frame 212
tensor(0.1002)
 # KEYFRAME 66
0.05318526100018062
Frame 213
tensor(0.0184)
Frame 214
tensor(0.0405)
Frame 215
tensor(0.0588)
Frame 216
tensor(0.0821)
Frame 217
tensor(0.1007)
 # KEYFRAME 67
0.05485194399807369
Frame 218
tensor(0.0221)
Frame 219
tensor(0.0439)
Frame 220
tensor(0.0661)
Frame 221
tensor(0.0872)
Frame 222
tensor(0.1045)
 # KEYFRAME 68
0.05288028200448025
Frame 223
tensor(0.0238)
Frame 224
tensor(0.0475)
Frame 225
tensor(0.0758)
Frame 226
tensor(0.1029)
 # KEYFRAME 69
0.05549783300375566
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1392 loss_distill=0.4024 tta_take=0.005s
Frame 227
tensor(0.0243)
Frame 228
tensor(0.0482)
Frame 229
tensor(0.0782)
Frame 230
tensor(0.1032)
 # KEYFRAME 70
0.05326632099604467
Frame 231
tensor(0.0296)
Frame 232
tensor(0.0557)
Frame 233
tensor(0.0794)
Frame 234
tensor(0.1114)
 # KEYFRAME 71
0.0542205469973851
Frame 235
tensor(0.0242)
Frame 236
tensor(0.0508)
Frame 237
tensor(0.0793)
Frame 238
tensor(0.1062)
 # KEYFRAME 72
0.05550468299770728
Frame 239
tensor(0.0270)
Frame 240
tensor(0.0620)
Frame 241
tensor(0.0895)
Frame 242
tensor(0.1247)
 # KEYFRAME 73
0.05351882000104524
Frame 243
tensor(0.0312)
Frame 244
tensor(0.0632)
Frame 245
tensor(0.0968)
Frame 246
tensor(0.1239)
 # KEYFRAME 74
0.055506062002677936
Frame 247
tensor(0.0285)
Frame 248
tensor(0.0690)
Frame 249
tensor(0.0974)
Frame 250
tensor(0.1264)
 # KEYFRAME 75
0.05413714700262062
Frame 251
tensor(0.0361)
Frame 252
tensor(0.0687)
Frame 253
tensor(0.1023)
 # KEYFRAME 76
0.0543659570030286
Frame 254
tensor(0.0339)
Frame 255
tensor(0.0656)
Frame 256
tensor(0.0983)
Frame 257
tensor(0.1333)
 # KEYFRAME 77
0.05623953999747755
Frame 258
tensor(0.0328)
Frame 259
tensor(0.0637)
Frame 260
tensor(0.0964)
Frame 261
tensor(0.1350)
 # KEYFRAME 78
0.05453596499864943
Frame 262
tensor(0.0320)
Frame 263
tensor(0.0629)
Frame 264
tensor(0.1068)
 # KEYFRAME 79
0.05717569699481828
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1393 loss_distill=0.4024 tta_take=0.005s
Frame 265
tensor(0.0258)
Frame 266
tensor(0.0581)
Frame 267
tensor(0.0895)
Frame 268
tensor(0.1299)
 # KEYFRAME 80
0.05347481899661943
Frame 269
tensor(0.0325)
Frame 270
tensor(0.0699)
Frame 271
tensor(0.1013)
 # KEYFRAME 81
0.053695458998845425
Frame 272
tensor(0.0357)
Frame 273
tensor(0.0776)
Frame 274
tensor(0.1169)
 # KEYFRAME 82
0.05438713700277731
Frame 275
tensor(0.0397)
Frame 276
tensor(0.0835)
Frame 277
tensor(0.1199)
 # KEYFRAME 83
0.05347186000290094
Frame 278
tensor(0.0382)
Frame 279
tensor(0.0823)
Frame 280
tensor(0.1161)
 # KEYFRAME 84
0.054616305002127774
Frame 281
tensor(0.0369)
Frame 282
tensor(0.0799)
Frame 283
tensor(0.1269)
 # KEYFRAME 85
0.05415127699961886
Frame 284
tensor(0.0431)
Frame 285
tensor(0.0811)
Frame 286
tensor(0.1182)
 # KEYFRAME 86
0.05468088499765145
Frame 287
tensor(0.0404)
Frame 288
tensor(0.0768)
Frame 289
tensor(0.1087)
 # KEYFRAME 87
0.05617467999400105
Frame 290
tensor(0.0429)
Frame 291
tensor(0.0785)
Frame 292
tensor(0.1204)
 # KEYFRAME 88
0.05408643699774984
Frame 293
tensor(0.0428)
Frame 294
tensor(0.0831)
Frame 295
tensor(0.1330)
 # KEYFRAME 89
0.056469219001883175
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1394 loss_distill=0.4024 tta_take=0.005s
Frame 296
tensor(0.0370)
Frame 297
tensor(0.0812)
Frame 298
tensor(0.1215)
 # KEYFRAME 90
0.05349307000142289
Frame 299
tensor(0.0475)
Backending... 91 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 25132, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1395 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 205/556] vkitti/Scene01/clone/Camera_1 frames=300 tta_steps_this_scene=7 mean_loss=0.3434 total_steps=1395 time=52.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.2559)
 # KEYFRAME 1
Frame 2
tensor(0.2008)
 # KEYFRAME 2
0.051434986999083776
Frame 3
tensor(0.1843)
 # KEYFRAME 3
0.052763052997761406
Frame 4
tensor(0.9322)
 # KEYFRAME 4
0.054020308001781814
Frame 5
tensor(0.2235)
 # KEYFRAME 5
0.05508888400072465
Frame 6
tensor(0.3648)
 # KEYFRAME 6
0.0555349530040985
Frame 7
tensor(0.3327)
 # KEYFRAME 7
0.05708224700356368
Frame 8
tensor(0.1707)
 # KEYFRAME 8
0.05739038599858759
Frame 9
tensor(0.2111)
 # KEYFRAME 9
0.057912272997782566
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.0543)
Frame 11
tensor(0.1194)
 # KEYFRAME 10
0.0519708450010512
Frame 12
tensor(0.0735)
Frame 13
tensor(0.3076)
 # KEYFRAME 11
0.05278064300364349
Frame 14
tensor(0.1771)
 # KEYFRAME 12
0.053605018998496234
Frame 15
tensor(0.2043)
 # KEYFRAME 13
0.05603411099582445
Frame 16
tensor(0.1321)
 # KEYFRAME 14
0.057084886997472495
Frame 17
tensor(0.3520)
 # KEYFRAME 15
0.057829634002700914
Frame 18
tensor(0.1711)
 # KEYFRAME 16
0.058393052000610624
Frame 19
tensor(0.7143)
 # KEYFRAME 17
0.059475488000316545
Frame 20
tensor(0.1841)
 # KEYFRAME 18
0.06067519400676247
Frame 21
tensor(0.1186)
 # KEYFRAME 19
0.06205415899603395
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 22
tensor(0.2547)
 # KEYFRAME 20
0.05904639000073075
Frame 23
tensor(0.2088)
 # KEYFRAME 21
0.06043235499964794
Frame 24
tensor(0.3569)
 # KEYFRAME 22
0.060752473000320606
Frame 25
tensor(0.9560)
 # KEYFRAME 23
0.06150109100417467
Frame 26
tensor(0.2985)
 # KEYFRAME 24
0.062454307997541036
Frame 27
tensor(0.6321)
 # KEYFRAME 25
0.06304677599837305
Frame 28
tensor(0.3206)
 # KEYFRAME 26
0.06448934000218287
Frame 29
tensor(0.2391)
 # KEYFRAME 27
0.06600757499836618
Frame 30
tensor(0.1507)
 # KEYFRAME 28
0.06712435100052971
Frame 31
tensor(0.2984)
 # KEYFRAME 29
0.06821166699955938
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.2428)
 # KEYFRAME 30
0.06562154599669157
Frame 33
tensor(0.0556)
Frame 34
tensor(0.4425)
 # KEYFRAME 31
0.06782958900294034
Frame 35
tensor(0.2895)
 # KEYFRAME 32
0.06754494000051636
Frame 36
tensor(0.2505)
 # KEYFRAME 33
0.06836299700080417
Frame 37
tensor(0.0090)
Frame 38
tensor(0.0945)
Frame 39
tensor(0.3092)
 # KEYFRAME 34
0.06909665399871301
Frame 40
tensor(0.1602)
 # KEYFRAME 35
0.0703316199942492
Frame 41
tensor(0.1971)
 # KEYFRAME 36
0.07116132700321032
Frame 42
tensor(0.3451)
 # KEYFRAME 37
0.07173266499739839
Frame 43
tensor(0.1838)
 # KEYFRAME 38
0.07274381200113567
Frame 44
tensor(0.2567)
 # KEYFRAME 39
0.07362796799861826
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1396 loss_distill=0.1733 tta_take=0.009s
Frame 45
tensor(0.1794)
 # KEYFRAME 40
0.07232675299746916
Frame 46
tensor(0.1300)
 # KEYFRAME 41
0.07434454499889398
Frame 47
tensor(0.2091)
 # KEYFRAME 42
0.07473278399993433
Frame 48
tensor(0.1280)
 # KEYFRAME 43
0.07532589200127404
Frame 49
tensor(0.1280)
 # KEYFRAME 44
0.07611380900198128
Frame 50
tensor(0.3338)
 # KEYFRAME 45
0.07678815699910047
Frame 51
tensor(0.2029)
 # KEYFRAME 46
0.07688598700042348
Frame 52
tensor(0.1171)
 # KEYFRAME 47
0.07792382300249301
Frame 53
tensor(0.3076)
 # KEYFRAME 48
0.07889627900294727
Frame 54
tensor(0.2277)
 # KEYFRAME 49
0.08057854299840983
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1397 loss_distill=0.2747 tta_take=0.009s
Frame 55
tensor(0.3695)
 # KEYFRAME 50
0.07923348800250096
Frame 56
tensor(0.3477)
 # KEYFRAME 51
0.081032800997491
Frame 57
tensor(0.4603)
 # KEYFRAME 52
0.08129803100018762
Frame 58
tensor(0.0904)
Frame 59
tensor(1.0585)
 # KEYFRAME 53
0.08254598599887686
Frame 60
tensor(0.1982)
 # KEYFRAME 54
0.08360701199853793
Frame 61
tensor(0.2390)
 # KEYFRAME 55
0.08444792000227608
Frame 62
tensor(0.2072)
 # KEYFRAME 56
0.08474388799368171
Frame 63
tensor(0.2484)
 # KEYFRAME 57
0.08541631599655375
Frame 64
tensor(0.2870)
 # KEYFRAME 58
0.08622345299954759
Frame 65
tensor(0.2761)
 # KEYFRAME 59
0.08741721900150878
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1398 loss_distill=0.3466 tta_take=0.009s
Frame 66
tensor(0.2594)
 # KEYFRAME 60
0.08676020099665038
Frame 67
tensor(0.2764)
 # KEYFRAME 61
0.08909647299878998
Frame 68
tensor(0.1995)
 # KEYFRAME 62
0.08885617400665069
Frame 69
tensor(0.2984)
 # KEYFRAME 63
0.09010891900106799
Frame 70
tensor(0.1277)
 # KEYFRAME 64
0.09106705599697307
Frame 71
tensor(0.2496)
 # KEYFRAME 65
0.09247572100139223
Frame 72
tensor(0.2523)
 # KEYFRAME 66
0.09391961599612841
Frame 73
tensor(0.1550)
 # KEYFRAME 67
0.09464133300207322
Frame 74
tensor(0.0854)
Frame 75
tensor(0.3097)
 # KEYFRAME 68
0.0959839089991874
Frame 76
tensor(0.1980)
 # KEYFRAME 69
0.0964829269942129
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1399 loss_distill=0.4024 tta_take=0.009s
Frame 77
tensor(0.2826)
 # KEYFRAME 70
0.09336931799771264
Frame 78
tensor(0.3158)
 # KEYFRAME 71
0.09410907499841414
Frame 79
tensor(0.2731)
 # KEYFRAME 72
0.09481677300209412
Frame 80
tensor(0.2950)
 # KEYFRAME 73
0.09613148800417548
Frame 81
tensor(0.4025)
 # KEYFRAME 74
0.09660685600101715
Frame 82
tensor(0.3880)
 # KEYFRAME 75
0.09781676199781941
Frame 83
tensor(0.3098)
 # KEYFRAME 76
0.09832849999656901
Frame 84
tensor(0.1996)
 # KEYFRAME 77
0.09884085899830097
Frame 85
tensor(0.2275)
 # KEYFRAME 78
0.09893789800116792
Frame 86
tensor(0.1973)
 # KEYFRAME 79
0.10027030300261686
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1400 loss_distill=0.4024 tta_take=0.009s
Frame 87
tensor(0.2442)
 # KEYFRAME 80
0.09279899999819463
Frame 88
tensor(0.1572)
 # KEYFRAME 81
0.09596610799781047
Frame 89
tensor(0.4320)
 # KEYFRAME 82
0.09581301900470862
Frame 90
tensor(0.3723)
 # KEYFRAME 83
0.0972810040038894
Frame 91
tensor(0.1863)
 # KEYFRAME 84
0.09848508900176967
Frame 92
tensor(0.1453)
 # KEYFRAME 85
0.09935402600240195
Frame 93
tensor(0.2645)
 # KEYFRAME 86
0.10009687400452094
Frame 94
tensor(0.4263)
 # KEYFRAME 87
0.10184003700123867
Frame 95
tensor(0.1306)
 # KEYFRAME 88
0.10211980699386913
Frame 96
tensor(0.0967)
Frame 97
tensor(0.1611)
 # KEYFRAME 89
0.10279213399917353
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1401 loss_distill=0.4024 tta_take=0.009s
Frame 98
tensor(0.1094)
 # KEYFRAME 90
0.09331846799614141
Frame 99
tensor(0.1183)
 # KEYFRAME 91
0.0950265620049322
Frame 100
tensor(0.3545)
 # KEYFRAME 92
0.09666695600026287
Frame 101
tensor(0.3972)
 # KEYFRAME 93
0.09733337400393793
Frame 102
tensor(0.2570)
 # KEYFRAME 94
0.09803238099993905
Frame 103
tensor(0.1385)
 # KEYFRAME 95
0.09962418499344494
Frame 104
tensor(0.3421)
 # KEYFRAME 96
0.1000725140038412
Frame 105
tensor(0.2409)
 # KEYFRAME 97
0.10129850899829762
Frame 106
tensor(0.2677)
 # KEYFRAME 98
0.10193809700285783
Frame 107
tensor(0.2414)
 # KEYFRAME 99
0.1021566060007899
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1402 loss_distill=0.4024 tta_take=0.009s
Frame 108
tensor(0.2740)
 # KEYFRAME 100
0.09252117099822499
Frame 109
tensor(0.2566)
 # KEYFRAME 101
0.09632641699863598
Frame 110
tensor(0.2825)
 # KEYFRAME 102
0.09553921999759041
Frame 111
tensor(0.2063)
 # KEYFRAME 103
0.0967439249943709
Frame 112
tensor(0.1808)
 # KEYFRAME 104
0.09751502300059656
Frame 113
tensor(0.1956)
 # KEYFRAME 105
0.09790139100368833
Frame 114
tensor(0.0824)
Frame 115
tensor(0.2371)
 # KEYFRAME 106
0.0980957009960548
Frame 116
tensor(0.2240)
 # KEYFRAME 107
0.09866911800054368
Frame 117
tensor(0.2701)
 # KEYFRAME 108
0.10020854399772361
Frame 118
tensor(0.1823)
 # KEYFRAME 109
0.10061355200014077
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1403 loss_distill=0.4024 tta_take=0.009s
Frame 119
tensor(0.2733)
 # KEYFRAME 110
0.09393699499923969
Frame 120
tensor(0.2317)
 # KEYFRAME 111
0.09508387200185098
Frame 121
tensor(0.2829)
 # KEYFRAME 112
0.09618610699544661
Frame 122
tensor(0.9091)
 # KEYFRAME 113
0.09726375399623066
Frame 123
tensor(0.6014)
 # KEYFRAME 114
0.09817190100147855
Frame 124
tensor(0.2809)
 # KEYFRAME 115
0.0993486360021052
Frame 125
tensor(0.2965)
 # KEYFRAME 116
0.1001943930023117
Frame 126
tensor(0.2084)
 # KEYFRAME 117
0.10093777099973522
Frame 127
tensor(0.2544)
 # KEYFRAME 118
0.10134409899910679
Frame 128
tensor(0.1873)
 # KEYFRAME 119
0.10222613599762553
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1404 loss_distill=0.4024 tta_take=0.009s
[epoch 0 scene 206/556] scannetpp/e9ac2fc517/frame frames=129 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=1404 time=49.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0037)
Frame 2
tensor(0.0087)
Frame 3
tensor(0.0097)
Frame 4
tensor(0.0958)
Frame 5
tensor(0.1241)
 # KEYFRAME 1
Frame 6
tensor(0.0897)
Frame 7
tensor(0.1327)
 # KEYFRAME 2
0.05117619800148532
Frame 8
tensor(0.1180)
 # KEYFRAME 3
0.05246742300369078
Frame 9
tensor(0.0493)
Frame 10
tensor(0.1580)
 # KEYFRAME 4
0.05396161800308619
Frame 11
tensor(0.0577)
Frame 12
tensor(0.0997)
Frame 13
tensor(0.1193)
 # KEYFRAME 5
0.055014284000208136
Frame 14
tensor(0.0864)
Frame 15
tensor(0.1385)
 # KEYFRAME 6
0.05540659300459083
Frame 16
tensor(0.1164)
 # KEYFRAME 7
0.05694842700177105
Frame 17
tensor(0.0509)
Frame 18
tensor(0.1424)
 # KEYFRAME 8
0.05705042699992191
Frame 19
tensor(0.1653)
 # KEYFRAME 9
0.05781369399483083
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 20
tensor(0.0946)
Frame 21
tensor(0.1312)
 # KEYFRAME 10
0.05191916500189109
Frame 22
tensor(0.0332)
Frame 23
tensor(0.0561)
Frame 24
tensor(0.0837)
Frame 25
tensor(0.1201)
 # KEYFRAME 11
0.05263323300459888
Frame 26
tensor(0.0634)
Frame 27
tensor(0.0992)
Frame 28
tensor(0.1396)
 # KEYFRAME 12
0.05348814900207799
Frame 29
tensor(0.0200)
Frame 30
tensor(0.0743)
Frame 31
tensor(0.1035)
 # KEYFRAME 13
0.05610189000435639
Frame 32
tensor(0.0919)
Frame 33
tensor(0.1239)
 # KEYFRAME 14
0.05701549699733732
Frame 34
tensor(0.0113)
Frame 35
tensor(0.0424)
Frame 36
tensor(0.1113)
 # KEYFRAME 15
0.05760225500125671
Frame 37
tensor(0.0209)
Frame 38
tensor(0.0984)
Frame 39
tensor(0.1352)
 # KEYFRAME 16
0.05846226200083038
Frame 40
tensor(0.0605)
Frame 41
tensor(0.1034)
 # KEYFRAME 17
0.05951222900330322
Frame 42
tensor(0.1461)
 # KEYFRAME 18
0.06086955299542751
Frame 43
tensor(0.0706)
Frame 44
tensor(0.1796)
 # KEYFRAME 19
0.062281759004690684
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 45
tensor(0.0227)
Frame 46
tensor(0.0540)
Frame 47
tensor(0.0822)
Frame 48
tensor(0.0743)
Frame 49
tensor(0.0685)
Frame 50
tensor(0.0987)
Frame 51
tensor(0.1190)
 # KEYFRAME 20
0.058951799997885246
Frame 52
tensor(0.0598)
Frame 53
tensor(0.0592)
Frame 54
tensor(0.0698)
Frame 55
tensor(0.0645)
Frame 56
tensor(0.1247)
 # KEYFRAME 21
0.06044261499482673
Frame 57
tensor(0.0488)
Frame 58
tensor(0.1499)
 # KEYFRAME 22
0.06091942299826769
Frame 59
tensor(0.0416)
Frame 60
tensor(0.3034)
 # KEYFRAME 23
0.061612170000444166
Frame 61
tensor(0.0251)
Frame 62
tensor(0.0825)
Frame 63
tensor(0.1080)
 # KEYFRAME 24
0.06245018800109392
Frame 64
tensor(0.0555)
Frame 65
tensor(0.0864)
Frame 66
tensor(0.1311)
 # KEYFRAME 25
0.06328263500472531
Frame 67
tensor(0.0149)
Frame 68
tensor(0.0441)
Frame 69
tensor(0.0513)
Frame 70
tensor(0.0298)
Frame 71
tensor(0.0265)
Frame 72
tensor(0.0687)
Frame 73
tensor(0.1213)
 # KEYFRAME 26
0.06480345899763051
Frame 74
tensor(0.0854)
Frame 75
tensor(0.1369)
 # KEYFRAME 27
0.06575918599992292
Frame 76
tensor(0.1166)
 # KEYFRAME 28
0.06700038100098027
Frame 77
tensor(0.0460)
Frame 78
tensor(0.1865)
 # KEYFRAME 29
0.06801646800158778
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 79
tensor(0.0366)
Frame 80
tensor(0.0879)
Frame 81
tensor(0.1068)
 # KEYFRAME 30
0.06554514700110303
Frame 82
tensor(0.0303)
Frame 83
tensor(0.0483)
Frame 84
tensor(0.3422)
 # KEYFRAME 31
0.06752744999539573
Frame 85
tensor(0.0939)
Frame 86
tensor(0.1200)
 # KEYFRAME 32
0.06746802999987267
Frame 87
tensor(0.0269)
Frame 88
tensor(0.0223)
Frame 89
tensor(0.0501)
Frame 90
tensor(0.0613)
Frame 91
tensor(0.0846)
Frame 92
tensor(0.1021)
 # KEYFRAME 33
0.06829701700189617
Frame 93
tensor(0.1551)
 # KEYFRAME 34
0.0692152739939047
Frame 94
tensor(0.0553)
Frame 95
tensor(0.1101)
 # KEYFRAME 35
0.0701958600038779
Frame 96
tensor(0.0732)
Frame 97
tensor(0.0952)
Frame 98
tensor(0.1157)
 # KEYFRAME 36
0.07108535699808272
Frame 99
tensor(0.0084)
Frame 100
tensor(0.0630)
Frame 101
tensor(0.1055)
 # KEYFRAME 37
0.07182765500328969
Frame 102
tensor(0.0733)
Frame 103
tensor(0.0731)
Frame 104
tensor(0.3979)
 # KEYFRAME 38
0.07281317099841544
Frame 105
tensor(0.0883)
Frame 106
tensor(0.1496)
 # KEYFRAME 39
0.0739102070001536
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1405 loss_distill=0.1733 tta_take=0.009s
Frame 107
tensor(0.0213)
Frame 108
tensor(0.0349)
Frame 109
tensor(0.0407)
Frame 110
tensor(0.0669)
Frame 111
tensor(0.1108)
 # KEYFRAME 40
0.07252218200301286
Frame 112
tensor(0.0810)
Frame 113
tensor(0.1174)
 # KEYFRAME 41
0.07429346500430256
Frame 114
tensor(0.0858)
Frame 115
tensor(0.1305)
 # KEYFRAME 42
0.07479827300267061
Frame 116
tensor(0.0723)
Frame 117
tensor(0.1118)
 # KEYFRAME 43
0.07561569099925691
Frame 118
tensor(0.1223)
 # KEYFRAME 44
0.07610218999616336
Frame 119
tensor(0.0389)
Frame 120
tensor(0.2174)
 # KEYFRAME 45
0.07666849700035527
Frame 121
tensor(0.0779)
Frame 122
tensor(0.1559)
 # KEYFRAME 46
0.07712658499804093
Frame 123
tensor(0.0218)
Frame 124
tensor(0.0577)
Frame 125
tensor(0.0625)
Frame 126
tensor(0.1188)
 # KEYFRAME 47
0.07802295299916295
Frame 127
tensor(0.0530)
Frame 128
tensor(0.1460)
 # KEYFRAME 48
0.07901732800382888
Frame 129
tensor(0.0398)
Frame 130
tensor(0.0881)
Frame 131
tensor(0.0987)
Frame 132
tensor(0.1163)
 # KEYFRAME 49
0.08028221400309121
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1406 loss_distill=0.2747 tta_take=0.009s
Frame 133
tensor(0.0023)
[epoch 0 scene 207/556] scannetpp/85251de7d1/frame frames=134 tta_steps_this_scene=2 mean_loss=0.2240 total_steps=1406 time=22.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0555)
Frame 2
tensor(0.1158)
 # KEYFRAME 1
Frame 3
tensor(0.0563)
Frame 4
tensor(0.1146)
 # KEYFRAME 2
0.051653935996000655
Frame 5
tensor(0.0557)
Frame 6
tensor(0.1157)
 # KEYFRAME 3
0.05160187600267818
Frame 7
tensor(0.0459)
Frame 8
tensor(0.0997)
Frame 9
tensor(0.1543)
 # KEYFRAME 4
0.051775995998468716
Frame 10
tensor(0.0453)
Frame 11
tensor(0.0932)
Frame 12
tensor(0.1478)
 # KEYFRAME 5
0.051639456003613304
Frame 13
tensor(0.0490)
Frame 14
tensor(0.1016)
 # KEYFRAME 6
0.05260058299609227
Frame 15
tensor(0.0491)
Frame 16
tensor(0.0997)
Frame 17
tensor(0.1515)
 # KEYFRAME 7
0.05248524300259305
Frame 18
tensor(0.0499)
Frame 19
tensor(0.0980)
Frame 20
tensor(0.1390)
 # KEYFRAME 8
0.05316400100127794
Frame 21
tensor(0.0470)
Frame 22
tensor(0.0991)
Frame 23
tensor(0.1388)
 # KEYFRAME 9
0.05267696199734928
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 24
tensor(0.0470)
Frame 25
tensor(0.1035)
 # KEYFRAME 10
0.05162887600454269
Frame 26
tensor(0.0581)
Frame 27
tensor(0.1080)
 # KEYFRAME 11
0.05188894500315655
Frame 28
tensor(0.0457)
Frame 29
tensor(0.0961)
Frame 30
tensor(0.1573)
 # KEYFRAME 12
0.05217097500280943
Frame 31
tensor(0.0500)
Frame 32
tensor(0.0951)
Frame 33
tensor(0.1507)
 # KEYFRAME 13
0.0522153550045914
Frame 34
tensor(0.0487)
Frame 35
tensor(0.0956)
Frame 36
tensor(0.1458)
 # KEYFRAME 14
0.052141223997750785
Frame 37
tensor(0.0453)
Frame 38
tensor(0.1035)
 # KEYFRAME 15
0.05296717099554371
Frame 39
tensor(0.0535)
Frame 40
tensor(0.0998)
Frame 41
tensor(0.1402)
 # KEYFRAME 16
0.05306879099953221
Frame 42
tensor(0.0482)
Frame 43
tensor(0.1055)
 # KEYFRAME 17
0.05423962700297125
Frame 44
tensor(0.0515)
Frame 45
tensor(0.1007)
 # KEYFRAME 18
0.052363513997988775
Frame 46
tensor(0.0459)
Frame 47
tensor(0.0864)
Frame 48
tensor(0.1351)
 # KEYFRAME 19
0.05470408600376686
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 49
tensor(0.0514)
Frame 50
tensor(0.0901)
Frame 51
tensor(0.1370)
 # KEYFRAME 20
0.05190726499859011
Frame 52
tensor(0.0442)
Frame 53
tensor(0.0944)
Frame 54
tensor(0.1493)
 # KEYFRAME 21
0.05223503399611218
Frame 55
tensor(0.0444)
Frame 56
tensor(0.1056)
 # KEYFRAME 22
0.052264844001911115
Frame 57
tensor(0.0407)
Frame 58
tensor(0.0878)
Frame 59
tensor(0.1336)
 # KEYFRAME 23
0.05274959200323792
Frame 60
tensor(0.0396)
Frame 61
tensor(0.0838)
Frame 62
tensor(0.1336)
 # KEYFRAME 24
0.05330824999691686
Frame 63
tensor(0.0433)
Frame 64
tensor(0.0920)
Frame 65
tensor(0.1350)
 # KEYFRAME 25
0.05246646299929125
Frame 66
tensor(0.0410)
Frame 67
tensor(0.0916)
Frame 68
tensor(0.1454)
 # KEYFRAME 26
0.053108250998775475
Frame 69
tensor(0.0532)
Frame 70
tensor(0.1043)
 # KEYFRAME 27
0.053691617998993024
Frame 71
tensor(0.0450)
Frame 72
tensor(0.0933)
Frame 73
tensor(0.1321)
 # KEYFRAME 28
0.05356279999978142
Frame 74
tensor(0.0439)
Frame 75
tensor(0.0874)
Frame 76
tensor(0.1213)
 # KEYFRAME 29
0.05474384500121232
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 77
tensor(0.0467)
Frame 78
tensor(0.0834)
Frame 79
tensor(0.1175)
 # KEYFRAME 30
0.052279652998549864
Frame 80
tensor(0.0442)
Frame 81
tensor(0.0804)
Frame 82
tensor(0.1228)
 # KEYFRAME 31
0.05223836399818538
Frame 83
tensor(0.0424)
Frame 84
tensor(0.0805)
Frame 85
tensor(0.1234)
 # KEYFRAME 32
0.05271641199942678
Frame 86
tensor(0.0399)
Frame 87
tensor(0.0818)
Frame 88
tensor(0.1222)
 # KEYFRAME 33
0.052246584004024044
Frame 89
tensor(0.0376)
Frame 90
tensor(0.0780)
Frame 91
tensor(0.1195)
 # KEYFRAME 34
0.05255155300255865
Frame 92
tensor(0.0286)
Frame 93
tensor(0.0652)
Frame 94
tensor(0.0991)
Frame 95
tensor(0.1440)
 # KEYFRAME 35
0.052823261998128146
Frame 96
tensor(0.0316)
Frame 97
tensor(0.0663)
Frame 98
tensor(0.1072)
 # KEYFRAME 36
0.052819901997281704
Frame 99
tensor(0.0284)
Frame 100
tensor(0.0686)
Frame 101
tensor(0.0980)
Frame 102
tensor(0.1314)
 # KEYFRAME 37
0.05323689099896001
Frame 103
tensor(0.0412)
Frame 104
tensor(0.0711)
Frame 105
tensor(0.1160)
 # KEYFRAME 38
0.05273676200158661
Frame 106
tensor(0.0290)
Frame 107
tensor(0.0589)
Frame 108
tensor(0.0975)
Frame 109
tensor(0.1315)
 # KEYFRAME 39
0.0533477299977676
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1407 loss_distill=0.1733 tta_take=0.005s
Frame 110
tensor(0.0321)
Frame 111
tensor(0.0719)
Frame 112
tensor(0.1008)
 # KEYFRAME 40
0.05232040400005644
Frame 113
tensor(0.0363)
Frame 114
tensor(0.0670)
Frame 115
tensor(0.1036)
 # KEYFRAME 41
0.05295789200317813
Frame 116
tensor(0.0278)
Frame 117
tensor(0.0567)
Frame 118
tensor(0.0884)
Frame 119
tensor(0.1159)
 # KEYFRAME 42
0.05274422199727269
Frame 120
tensor(0.0271)
Frame 121
tensor(0.0494)
Frame 122
tensor(0.0758)
Frame 123
tensor(0.1050)
 # KEYFRAME 43
0.05201491499610711
Frame 124
tensor(0.0217)
Frame 125
tensor(0.0468)
Frame 126
tensor(0.0675)
Frame 127
tensor(0.0881)
Frame 128
tensor(0.1044)
 # KEYFRAME 44
0.052888591002556495
Frame 129
tensor(0.0177)
Frame 130
tensor(0.0373)
Frame 131
tensor(0.0581)
Frame 132
tensor(0.0800)
Frame 133
tensor(0.0967)
Frame 134
tensor(0.1256)
 # KEYFRAME 45
0.05305930200120201
Frame 135
tensor(0.0215)
Frame 136
tensor(0.0385)
Frame 137
tensor(0.0615)
Frame 138
tensor(0.0808)
Frame 139
tensor(0.0972)
Frame 140
tensor(0.1207)
 # KEYFRAME 46
0.05214119399897754
Frame 141
tensor(0.0164)
Frame 142
tensor(0.0410)
Frame 143
tensor(0.0617)
Frame 144
tensor(0.0785)
Frame 145
tensor(0.1025)
 # KEYFRAME 47
0.05410730699804844
Frame 146
tensor(0.0162)
Frame 147
tensor(0.0387)
Frame 148
tensor(0.0564)
Frame 149
tensor(0.0800)
Frame 150
tensor(0.1009)
 # KEYFRAME 48
0.05296044199349126
Frame 151
tensor(0.0168)
Frame 152
tensor(0.0382)
Frame 153
tensor(0.0540)
Frame 154
tensor(0.0767)
Frame 155
tensor(0.0971)
Frame 156
tensor(0.1105)
 # KEYFRAME 49
0.054723134999221656
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1408 loss_distill=0.2747 tta_take=0.005s
Frame 157
tensor(0.0189)
Frame 158
tensor(0.0414)
Frame 159
tensor(0.0600)
Frame 160
tensor(0.0814)
Frame 161
tensor(0.0957)
Frame 162
tensor(0.1195)
 # KEYFRAME 50
0.05216277400177205
Frame 163
tensor(0.0158)
Frame 164
tensor(0.0358)
Frame 165
tensor(0.0558)
Frame 166
tensor(0.0750)
Frame 167
tensor(0.0909)
Frame 168
tensor(0.1111)
 # KEYFRAME 51
0.051989644998684525
Frame 169
tensor(0.0231)
Frame 170
tensor(0.0420)
Frame 171
tensor(0.0601)
Frame 172
tensor(0.0775)
Frame 173
tensor(0.0965)
Frame 174
tensor(0.1212)
 # KEYFRAME 52
0.05422783699759748
Frame 175
tensor(0.0165)
Frame 176
tensor(0.0338)
Frame 177
tensor(0.0531)
Frame 178
tensor(0.0742)
Frame 179
tensor(0.1030)
 # KEYFRAME 53
0.052284863995737396
Frame 180
tensor(0.0132)
Frame 181
tensor(0.0296)
Frame 182
tensor(0.0543)
Frame 183
tensor(0.0730)
Frame 184
tensor(0.0816)
Frame 185
tensor(0.1011)
 # KEYFRAME 54
0.05394672799593536
Frame 186
tensor(0.0164)
Frame 187
tensor(0.0341)
Frame 188
tensor(0.0522)
Frame 189
tensor(0.0705)
Frame 190
tensor(0.0856)
Frame 191
tensor(0.1047)
 # KEYFRAME 55
0.05274245199689176
Frame 192
tensor(0.0166)
Frame 193
tensor(0.0320)
Frame 194
tensor(0.0494)
Frame 195
tensor(0.0622)
Frame 196
tensor(0.0815)
Frame 197
tensor(0.0903)
Frame 198
tensor(0.1042)
 # KEYFRAME 56
0.052677013001812156
Frame 199
tensor(0.0111)
Frame 200
tensor(0.0204)
Frame 201
tensor(0.0412)
Frame 202
tensor(0.0519)
Frame 203
tensor(0.0657)
Frame 204
tensor(0.0806)
Frame 205
tensor(0.0921)
Frame 206
tensor(0.1048)
 # KEYFRAME 57
0.05405697799869813
Frame 207
tensor(0.0102)
Frame 208
tensor(0.0208)
Frame 209
tensor(0.0325)
Frame 210
tensor(0.0449)
Frame 211
tensor(0.0580)
Frame 212
tensor(0.0715)
Frame 213
tensor(0.0880)
Frame 214
tensor(0.0990)
Frame 215
tensor(0.1159)
 # KEYFRAME 58
0.053206219999992754
Frame 216
tensor(0.0143)
Frame 217
tensor(0.0273)
Frame 218
tensor(0.0426)
Frame 219
tensor(0.0621)
Frame 220
tensor(0.0742)
Frame 221
tensor(0.0902)
Frame 222
tensor(0.1068)
 # KEYFRAME 59
0.05438040599983651
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1409 loss_distill=0.3466 tta_take=0.005s
Frame 223
tensor(0.0152)
Frame 224
tensor(0.0342)
Frame 225
tensor(0.0524)
Frame 226
tensor(0.0783)
Frame 227
tensor(0.0948)
Frame 228
tensor(0.1170)
 # KEYFRAME 60
0.0525049330026377
Frame 229
tensor(0.0143)
Frame 230
tensor(0.0349)
Frame 231
tensor(0.0555)
Frame 232
tensor(0.0787)
Frame 233
tensor(0.1006)
 # KEYFRAME 61
0.05336074100341648
Frame 234
tensor(0.0223)
Frame 235
tensor(0.0456)
Frame 236
tensor(0.0656)
Frame 237
tensor(0.0856)
Frame 238
tensor(0.1090)
 # KEYFRAME 62
0.05502552400139393
Frame 239
tensor(0.0190)
Frame 240
tensor(0.0443)
Frame 241
tensor(0.0742)
Frame 242
tensor(0.1004)
 # KEYFRAME 63
0.05248696300259326
Frame 243
tensor(0.0256)
Frame 244
tensor(0.0488)
Frame 245
tensor(0.0747)
Frame 246
tensor(0.0985)
Frame 247
tensor(0.1267)
 # KEYFRAME 64
0.05582422099541873
Frame 248
tensor(0.0282)
Frame 249
tensor(0.0510)
Frame 250
tensor(0.0724)
Frame 251
tensor(0.0984)
Frame 252
tensor(0.1215)
 # KEYFRAME 65
0.05272978200082434
Frame 253
tensor(0.0205)
Frame 254
tensor(0.0401)
Frame 255
tensor(0.0633)
Frame 256
tensor(0.0891)
Frame 257
tensor(0.1018)
 # KEYFRAME 66
0.05284002199914539
Frame 258
tensor(0.0211)
Frame 259
tensor(0.0429)
Frame 260
tensor(0.0632)
Frame 261
tensor(0.0945)
Frame 262
tensor(0.1186)
 # KEYFRAME 67
0.05458270500093931
Frame 263
tensor(0.0194)
Frame 264
tensor(0.0442)
Frame 265
tensor(0.0653)
Frame 266
tensor(0.0934)
Frame 267
tensor(0.1198)
 # KEYFRAME 68
0.05318048100161832
Frame 268
tensor(0.0264)
Frame 269
tensor(0.0479)
Frame 270
tensor(0.0732)
Frame 271
tensor(0.0926)
Frame 272
tensor(0.1165)
 # KEYFRAME 69
0.05499803500424605
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1410 loss_distill=0.4024 tta_take=0.005s
Frame 273
tensor(0.0182)
Frame 274
tensor(0.0366)
Frame 275
tensor(0.0605)
Frame 276
tensor(0.0786)
Frame 277
tensor(0.0951)
Frame 278
tensor(0.1145)
 # KEYFRAME 70
0.05335897099575959
Frame 279
tensor(0.0141)
Frame 280
tensor(0.0269)
Frame 281
tensor(0.0403)
Frame 282
tensor(0.0491)
Frame 283
tensor(0.0596)
Frame 284
tensor(0.0695)
Frame 285
tensor(0.0814)
Frame 286
tensor(0.0919)
Frame 287
tensor(0.1023)
 # KEYFRAME 71
0.05412925799464574
Frame 288
tensor(0.0093)
Frame 289
tensor(0.0192)
Frame 290
tensor(0.0299)
Frame 291
tensor(0.0438)
Frame 292
tensor(0.0542)
Frame 293
tensor(0.0634)
Frame 294
tensor(0.0722)
Frame 295
tensor(0.0836)
Frame 296
tensor(0.0922)
Frame 297
tensor(0.0994)
Frame 298
tensor(0.1100)
 # KEYFRAME 72
0.0553780629998073
Frame 299
tensor(0.0093)
Backending... 73 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 25956, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595452308655
TTA-STEP: step=1411 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 208/556] vkitti/Scene18/sunset/Camera_0 frames=300 tta_steps_this_scene=5 mean_loss=0.3198 total_steps=1411 time=58.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0093)
Frame 2
tensor(0.1470)
 # KEYFRAME 1
Frame 3
tensor(0.3524)
 # KEYFRAME 2
0.05132236799545353
Frame 4
tensor(0.3757)
 # KEYFRAME 3
0.05318250999698648
Frame 5
tensor(0.4437)
 # KEYFRAME 4
0.053822948000743054
Frame 6
tensor(0.2134)
 # KEYFRAME 5
0.05428385699633509
Frame 7
tensor(0.2423)
 # KEYFRAME 6
0.054833574999065604
Frame 8
tensor(0.3345)
 # KEYFRAME 7
0.05575509200571105
Frame 9
tensor(0.1773)
 # KEYFRAME 8
0.057185475998267066
Frame 10
tensor(0.1387)
 # KEYFRAME 9
0.0583964020042913
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.0934)
Frame 12
tensor(0.3021)
 # KEYFRAME 10
0.05189861599501455
Frame 13
tensor(0.1451)
 # KEYFRAME 11
0.053202440998575184
Frame 14
tensor(0.0558)
Frame 15
tensor(0.1782)
 # KEYFRAME 12
0.05396873800054891
Frame 16
tensor(0.1411)
 # KEYFRAME 13
0.05602047099819174
Frame 17
tensor(0.1144)
 # KEYFRAME 14
0.05715883700031554
Frame 18
tensor(0.2332)
 # KEYFRAME 15
0.057666054999572225
Frame 19
tensor(0.1486)
 # KEYFRAME 16
0.05854028199973982
Frame 20
tensor(0.2752)
 # KEYFRAME 17
0.059837377004441805
Frame 21
tensor(0.3048)
 # KEYFRAME 18
0.060911123000551015
Frame 22
tensor(0.2065)
 # KEYFRAME 19
0.06238067799858982
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 23
tensor(0.2421)
 # KEYFRAME 20
0.05877668100583833
Frame 24
tensor(0.4933)
 # KEYFRAME 21
0.0604394649999449
Frame 25
tensor(0.1487)
 # KEYFRAME 22
0.06092806300148368
Frame 26
tensor(0.1483)
 # KEYFRAME 23
0.0615214110002853
Frame 27
tensor(0.3697)
 # KEYFRAME 24
0.06216492899693549
Frame 28
tensor(0.1301)
 # KEYFRAME 25
0.06309141599922441
Frame 29
tensor(0.0860)
Frame 30
tensor(0.3290)
 # KEYFRAME 26
0.06536777799919946
Frame 31
tensor(0.2420)
 # KEYFRAME 27
0.06615143499948317
Frame 32
tensor(0.4680)
 # KEYFRAME 28
0.067147000998375
Frame 33
tensor(0.4059)
 # KEYFRAME 29
0.06830097700003535
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 34
tensor(0.2263)
 # KEYFRAME 30
0.06586944599985145
Frame 35
tensor(0.2247)
 # KEYFRAME 31
0.06789133900019806
Frame 36
tensor(0.0716)
Frame 37
tensor(0.0757)
Frame 38
tensor(0.0942)
Frame 39
tensor(0.1455)
 # KEYFRAME 32
0.06795675800094614
Frame 40
tensor(0.1604)
 # KEYFRAME 33
0.06964001199958147
Frame 41
tensor(0.1499)
 # KEYFRAME 34
0.06978101200365927
Frame 42
tensor(0.2585)
 # KEYFRAME 35
0.07029001900082221
Frame 43
tensor(0.1620)
 # KEYFRAME 36
0.07174314399890136
Frame 44
tensor(0.1702)
 # KEYFRAME 37
0.07243348299380159
Frame 45
tensor(0.0867)
Frame 46
tensor(0.1219)
 # KEYFRAME 38
0.07292212100583129
Frame 47
tensor(0.1697)
 # KEYFRAME 39
0.07374458700360265
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1412 loss_distill=0.1733 tta_take=0.009s
Frame 48
tensor(0.1146)
 # KEYFRAME 40
0.07266495100338943
Frame 49
tensor(0.1644)
 # KEYFRAME 41
0.07451447499624919
Frame 50
tensor(0.1316)
 # KEYFRAME 42
0.07541694099927554
Frame 51
tensor(0.1645)
 # KEYFRAME 43
0.076523477997398
Frame 52
tensor(0.0607)
Frame 53
tensor(0.1096)
 # KEYFRAME 44
0.07748949399683625
Frame 54
tensor(0.1550)
 # KEYFRAME 45
0.0788137999988976
Frame 55
tensor(0.1492)
 # KEYFRAME 46
0.07961727699876064
Frame 56
tensor(0.1452)
 # KEYFRAME 47
0.0804061439994257
Frame 57
tensor(0.2143)
 # KEYFRAME 48
0.08158913900115294
Frame 58
tensor(0.0620)
Frame 59
tensor(0.2112)
 # KEYFRAME 49
0.08338039399677655
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531069278717
TTA-STEP: step=1413 loss_distill=0.2747 tta_take=0.009s
Frame 60
tensor(0.0371)
Frame 61
tensor(0.0726)
Frame 62
tensor(0.5164)
 # KEYFRAME 50
0.07957150699803606
Frame 63
tensor(0.1697)
 # KEYFRAME 51
0.08119462100148667
Frame 64
tensor(0.5541)
 # KEYFRAME 52
0.0816066800034605
Frame 65
tensor(0.1418)
 # KEYFRAME 53
0.08172812900011195
Frame 66
tensor(0.2378)
 # KEYFRAME 54
0.08295591400383273
Frame 67
tensor(0.2255)
 # KEYFRAME 55
0.08330678299535066
Frame 68
tensor(0.1459)
 # KEYFRAME 56
0.08463758899597451
Frame 69
tensor(0.1431)
 # KEYFRAME 57
0.08492565699998522
Frame 70
tensor(0.3231)
 # KEYFRAME 58
0.08563552600389812
Frame 71
tensor(0.2271)
 # KEYFRAME 59
0.08672882199607557
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1414 loss_distill=0.3466 tta_take=0.009s
Frame 72
tensor(0.0917)
Frame 73
tensor(0.1944)
 # KEYFRAME 60
0.08593592399847694
Frame 74
tensor(0.0497)
Frame 75
tensor(0.1581)
 # KEYFRAME 61
0.08910471299896017
Frame 76
tensor(0.1515)
 # KEYFRAME 62
0.08802069600642426
Frame 77
tensor(0.3668)
 # KEYFRAME 63
0.08916785300243646
Frame 78
tensor(0.1696)
 # KEYFRAME 64
0.09013312000024598
Frame 79
tensor(0.1506)
 # KEYFRAME 65
0.09053451799991308
Frame 80
tensor(0.1417)
 # KEYFRAME 66
0.09206389199971454
Frame 81
tensor(0.1605)
 # KEYFRAME 67
0.09240434099774575
Frame 82
tensor(0.1512)
 # KEYFRAME 68
0.09370158600358991
Frame 83
tensor(0.1889)
 # KEYFRAME 69
0.0936553069986985
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1415 loss_distill=0.4024 tta_take=0.009s
Frame 84
tensor(0.1902)
 # KEYFRAME 70
0.09309133900387678
Frame 85
tensor(0.1396)
 # KEYFRAME 71
0.09568402000149945
Frame 86
tensor(0.1059)
 # KEYFRAME 72
0.09629399700497743
Frame 87
tensor(0.1366)
 # KEYFRAME 73
0.09648587700212374
Frame 88
tensor(0.0742)
Frame 89
tensor(0.1357)
 # KEYFRAME 74
0.09853730900067603
Frame 90
tensor(0.0610)
Frame 91
tensor(0.2022)
 # KEYFRAME 75
0.09963475500262575
Frame 92
tensor(0.0617)
Frame 93
tensor(0.1177)
 # KEYFRAME 76
0.10213314599968726
Frame 94
tensor(0.0419)
Frame 95
tensor(0.1194)
 # KEYFRAME 77
0.10144943899649661
Frame 96
tensor(0.2861)
 # KEYFRAME 78
0.10339406199636869
Frame 97
tensor(0.3040)
 # KEYFRAME 79
0.10380954100401141
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1416 loss_distill=0.4024 tta_take=0.009s
Frame 98
tensor(0.0975)
Frame 99
tensor(0.1338)
 # KEYFRAME 80
0.09330452799622435
Frame 100
tensor(0.0644)
Frame 101
tensor(0.0963)
Frame 102
tensor(0.2896)
 # KEYFRAME 81
0.09441114400397055
Frame 103
tensor(0.2522)
 # KEYFRAME 82
0.09547529999690596
Frame 104
tensor(0.2073)
 # KEYFRAME 83
0.09657877699646633
Frame 105
tensor(0.1430)
 # KEYFRAME 84
0.09818798099877313
Frame 106
tensor(0.1440)
 # KEYFRAME 85
0.09943866599496687
Frame 107
tensor(0.1345)
 # KEYFRAME 86
0.09991863500181353
Frame 108
tensor(0.1926)
 # KEYFRAME 87
0.10086375099490397
Frame 109
tensor(0.2788)
 # KEYFRAME 88
0.10247110599448206
Frame 110
tensor(0.1032)
 # KEYFRAME 89
0.10293751300196163
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1417 loss_distill=0.4024 tta_take=0.009s
Frame 111
tensor(0.1365)
 # KEYFRAME 90
0.09323095800209558
Frame 112
tensor(0.0892)
Frame 113
tensor(0.1292)
 # KEYFRAME 91
0.09466425300342962
Frame 114
tensor(0.0516)
Frame 115
tensor(0.1374)
 # KEYFRAME 92
0.09625620800215984
Frame 116
tensor(0.1655)
 # KEYFRAME 93
0.09643553599744337
Frame 117
tensor(0.1240)
 # KEYFRAME 94
0.09828882999863708
Frame 118
tensor(0.1936)
 # KEYFRAME 95
0.09910283699719002
Frame 119
tensor(0.8157)
 # KEYFRAME 96
0.10046574200532632
Frame 120
tensor(0.2552)
 # KEYFRAME 97
0.10184748699975898
Frame 121
tensor(0.1517)
 # KEYFRAME 98
0.10255330499785487
Frame 122
tensor(0.0811)
Frame 123
tensor(0.1381)
 # KEYFRAME 99
0.10356848200171953
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1418 loss_distill=0.4024 tta_take=0.009s
Frame 124
tensor(0.1294)
 # KEYFRAME 100
0.09333205800066935
Frame 125
tensor(0.1011)
 # KEYFRAME 101
0.09615889799897559
Frame 126
tensor(0.1452)
 # KEYFRAME 102
0.09646195599634666
Frame 127
tensor(0.2406)
 # KEYFRAME 103
0.0967591349981376
Frame 128
tensor(0.2381)
 # KEYFRAME 104
0.09850091900443658
Frame 129
tensor(0.1533)
 # KEYFRAME 105
0.10030833299970254
Frame 130
tensor(0.2010)
 # KEYFRAME 106
0.10074032199918292
Frame 131
tensor(0.1169)
 # KEYFRAME 107
0.10270212500472553
Frame 132
tensor(0.2217)
 # KEYFRAME 108
0.10278056399693014
Frame 133
tensor(0.0923)
Frame 134
tensor(0.0510)
Frame 135
tensor(0.0989)
Frame 136
tensor(0.1239)
 # KEYFRAME 109
0.10440439800004242
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1419 loss_distill=0.4024 tta_take=0.009s
Frame 137
tensor(0.1253)
 # KEYFRAME 110
0.09346041800017701
Frame 138
tensor(0.0470)
Frame 139
tensor(0.3751)
 # KEYFRAME 111
0.09531472999515245
Frame 140
tensor(0.3158)
 # KEYFRAME 112
0.09523325099871727
Frame 141
tensor(0.0699)
Frame 142
tensor(0.1264)
 # KEYFRAME 113
0.0963091270023142
Frame 143
tensor(0.0480)
Frame 144
tensor(0.0505)
Backending... 114 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 66624, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1420 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 209/556] scannetpp/30966f4c6e/frame frames=145 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=1420 time=49.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1305)
 # KEYFRAME 1
Frame 2
tensor(0.4265)
 # KEYFRAME 2
0.05119153800478671
Frame 3
tensor(0.2693)
 # KEYFRAME 3
0.05341477999900235
Frame 4
tensor(0.3787)
 # KEYFRAME 4
0.05372880900540622
Frame 5
tensor(0.1569)
 # KEYFRAME 5
0.054381376998208
Frame 6
tensor(0.5348)
 # KEYFRAME 6
0.05503635399509221
Frame 7
tensor(0.4276)
 # KEYFRAME 7
0.055929251000634395
Frame 8
tensor(0.3505)
 # KEYFRAME 8
0.0572596860001795
Frame 9
tensor(0.3169)
 # KEYFRAME 9
0.058559031000186224
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.3111)
 # KEYFRAME 10
0.05184087499947054
Frame 11
tensor(0.2345)
 # KEYFRAME 11
0.05303511099918978
Frame 12
tensor(0.2639)
 # KEYFRAME 12
0.05400929800089216
Frame 13
tensor(0.1879)
 # KEYFRAME 13
0.05602468000142835
Frame 14
tensor(0.3941)
 # KEYFRAME 14
0.05711361700377893
Frame 15
tensor(0.2652)
 # KEYFRAME 15
0.0577700440044282
Frame 16
tensor(0.3284)
 # KEYFRAME 16
0.05866196200076956
Frame 17
tensor(0.1739)
 # KEYFRAME 17
0.05977138700109208
Frame 18
tensor(0.2622)
 # KEYFRAME 18
0.061155431998486165
Frame 19
tensor(0.3268)
 # KEYFRAME 19
0.06242376800219063
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 20
tensor(0.1393)
 # KEYFRAME 20
0.05873435099783819
Frame 21
tensor(0.1787)
 # KEYFRAME 21
0.06046178500400856
Frame 22
tensor(0.0523)
Frame 23
tensor(0.0939)
Frame 24
tensor(0.3030)
 # KEYFRAME 22
0.060976613000093494
Frame 25
tensor(0.3635)
 # KEYFRAME 23
0.06167435999668669
Frame 26
tensor(0.2162)
 # KEYFRAME 24
0.062235678000433836
Frame 27
tensor(0.2218)
 # KEYFRAME 25
0.06322108500171453
Frame 28
tensor(0.0778)
Frame 29
tensor(0.1839)
 # KEYFRAME 26
0.06515687800128944
Frame 30
tensor(0.0902)
Frame 31
tensor(0.0700)
Frame 32
tensor(0.2143)
 # KEYFRAME 27
0.06593552499543875
Frame 33
tensor(0.0792)
Frame 34
tensor(0.1340)
 # KEYFRAME 28
0.0668935620051343
Frame 35
tensor(0.1946)
 # KEYFRAME 29
0.06810224799846765
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 36
tensor(0.1626)
 # KEYFRAME 30
0.06580111500079511
Frame 37
tensor(0.1216)
 # KEYFRAME 31
0.06777796900132671
Frame 38
tensor(0.2604)
 # KEYFRAME 32
0.06820938799501164
Frame 39
tensor(0.2132)
 # KEYFRAME 33
0.0691638040007092
Frame 40
tensor(0.0594)
Frame 41
tensor(0.1613)
 # KEYFRAME 34
0.0699276919986005
Frame 42
tensor(0.1431)
 # KEYFRAME 35
0.07077124799980083
Frame 43
tensor(0.1107)
 # KEYFRAME 36
0.07158617499953834
Frame 44
tensor(0.2294)
 # KEYFRAME 37
0.07237012300174683
Frame 45
tensor(0.1762)
 # KEYFRAME 38
0.07279504100006307
Frame 46
tensor(0.0857)
Frame 47
tensor(0.1582)
 # KEYFRAME 39
0.07439559499471216
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1421 loss_distill=0.1733 tta_take=0.009s
Frame 48
tensor(0.0624)
Frame 49
tensor(0.1456)
 # KEYFRAME 40
0.07292907100054435
Frame 50
tensor(0.1445)
 # KEYFRAME 41
0.0749859329953324
Frame 51
tensor(0.0978)
Frame 52
tensor(0.2238)
 # KEYFRAME 42
0.07593863899819553
Frame 53
tensor(0.1853)
 # KEYFRAME 43
0.07621445899712853
Frame 54
tensor(0.1812)
 # KEYFRAME 44
0.07785571300337324
Frame 55
tensor(0.1628)
 # KEYFRAME 45
0.07907162800256629
Frame 56
tensor(0.1776)
 # KEYFRAME 46
0.08010997499513905
Frame 57
tensor(0.1847)
 # KEYFRAME 47
0.08120059099746868
Frame 58
tensor(0.1957)
 # KEYFRAME 48
0.08188901899848133
Frame 59
tensor(0.2022)
 # KEYFRAME 49
0.08225751700229011
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1422 loss_distill=0.2747 tta_take=0.009s
Frame 60
tensor(0.0950)
Frame 61
tensor(0.0847)
Frame 62
tensor(0.1109)
 # KEYFRAME 50
0.07976699600112624
Frame 63
tensor(0.1782)
 # KEYFRAME 51
0.08116076100122882
Frame 64
tensor(0.1733)
 # KEYFRAME 52
0.08175200899859192
Frame 65
tensor(0.1862)
 # KEYFRAME 53
0.08212666799954604
Frame 66
tensor(0.1675)
 # KEYFRAME 54
0.0830775150025147
Frame 67
tensor(0.1650)
 # KEYFRAME 55
0.08334161400125595
Frame 68
tensor(0.4746)
 # KEYFRAME 56
0.08466921799845295
Frame 69
tensor(0.3314)
 # KEYFRAME 57
0.0851265669989516
Frame 70
tensor(0.1540)
 # KEYFRAME 58
0.08591852400422795
Frame 71
tensor(0.0975)
Frame 72
tensor(0.0852)
Frame 73
tensor(0.0791)
Frame 74
tensor(0.1259)
 # KEYFRAME 59
0.08670168100070441
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1423 loss_distill=0.3466 tta_take=0.009s
Frame 75
tensor(0.1435)
 # KEYFRAME 60
0.08596224399661878
Frame 76
tensor(0.0916)
Frame 77
tensor(0.2143)
 # KEYFRAME 61
0.08863691500300774
Frame 78
tensor(0.3744)
 # KEYFRAME 62
0.08860404499864671
Frame 79
tensor(0.2307)
 # KEYFRAME 63
0.08916204299748642
Frame 80
tensor(0.1937)
 # KEYFRAME 64
0.08926569300092524
Frame 81
tensor(0.3154)
 # KEYFRAME 65
0.09042591799516231
Frame 82
tensor(0.3404)
 # KEYFRAME 66
0.09197347200097283
Frame 83
tensor(0.3431)
 # KEYFRAME 67
0.09292905899928883
Frame 84
tensor(0.3373)
 # KEYFRAME 68
0.09358851699653314
Frame 85
tensor(0.1663)
 # KEYFRAME 69
0.09391427599621238
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1424 loss_distill=0.4024 tta_take=0.009s
Frame 86
tensor(0.3543)
 # KEYFRAME 70
0.09251048100122716
Frame 87
tensor(0.5181)
 # KEYFRAME 71
0.09567255000001751
Frame 88
tensor(0.0937)
Frame 89
tensor(0.5076)
 # KEYFRAME 72
0.09600533799675759
Frame 90
tensor(0.4550)
 # KEYFRAME 73
0.09638750700105447
Frame 91
tensor(0.3695)
 # KEYFRAME 74
0.09806047100573778
Frame 92
tensor(0.1650)
 # KEYFRAME 75
0.09903442799986806
Frame 93
tensor(0.1280)
 # KEYFRAME 76
0.10107389000040712
Frame 94
tensor(0.0802)
Frame 95
tensor(0.1658)
 # KEYFRAME 77
0.10222860600333661
Frame 96
tensor(0.4467)
 # KEYFRAME 78
0.10244025599968154
Frame 97
tensor(0.4535)
 # KEYFRAME 79
0.10368666100112023
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1425 loss_distill=0.4024 tta_take=0.009s
Frame 98
tensor(0.3172)
 # KEYFRAME 80
0.093508167003165
Frame 99
tensor(0.2389)
 # KEYFRAME 81
0.09524855100607965
Frame 100
tensor(0.1189)
 # KEYFRAME 82
0.09604760799993528
Frame 101
tensor(0.1161)
 # KEYFRAME 83
0.09742726299737114
Frame 102
tensor(0.3071)
 # KEYFRAME 84
0.09832671999902232
Frame 103
tensor(0.0861)
Frame 104
tensor(0.3882)
 # KEYFRAME 85
0.09967634599888697
Frame 105
tensor(0.2092)
 # KEYFRAME 86
0.10093936100020073
Frame 106
tensor(0.1438)
 # KEYFRAME 87
0.10216016600315925
Frame 107
tensor(0.0269)
Frame 108
tensor(0.2121)
 # KEYFRAME 88
0.10242183600348653
Frame 109
tensor(0.3697)
 # KEYFRAME 89
0.1038498600028106
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1426 loss_distill=0.4024 tta_take=0.009s
Frame 110
tensor(0.1958)
 # KEYFRAME 90
0.09319165800116025
Frame 111
tensor(0.3347)
 # KEYFRAME 91
0.0954229499984649
Frame 112
tensor(0.2149)
 # KEYFRAME 92
0.09603671800141456
Frame 113
tensor(0.2058)
 # KEYFRAME 93
0.09713803399790777
Frame 114
tensor(0.2798)
 # KEYFRAME 94
0.0986327889986569
Frame 115
tensor(0.0503)
Frame 116
tensor(0.2667)
 # KEYFRAME 95
0.10002443400298944
Frame 117
tensor(0.1145)
 # KEYFRAME 96
0.10150115799478954
Frame 118
tensor(0.1128)
 # KEYFRAME 97
0.10183574799884809
Frame 119
tensor(0.0588)
Frame 120
tensor(0.2346)
 # KEYFRAME 98
0.10298993399919709
Frame 121
tensor(0.1734)
 # KEYFRAME 99
0.10415039899817202
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1427 loss_distill=0.4024 tta_take=0.009s
Frame 122
tensor(0.0624)
Frame 123
tensor(0.1242)
 # KEYFRAME 100
0.09317288899910636
Frame 124
tensor(0.3949)
 # KEYFRAME 101
0.09615259800193598
Frame 125
tensor(0.1760)
 # KEYFRAME 102
0.09558807999565033
Frame 126
tensor(0.1598)
 # KEYFRAME 103
0.09687902499717893
Frame 127
tensor(0.2145)
 # KEYFRAME 104
0.09911240800283849
Frame 128
tensor(0.3919)
 # KEYFRAME 105
0.10030313299648697
Frame 129
tensor(0.0467)
Frame 130
tensor(0.1546)
 # KEYFRAME 106
0.10084354099672055
Frame 131
tensor(0.1433)
 # KEYFRAME 107
0.10291034399415366
Frame 132
tensor(0.1289)
 # KEYFRAME 108
0.10306613300053868
Frame 133
tensor(0.2213)
 # KEYFRAME 109
0.10393611000472447
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1428 loss_distill=0.4024 tta_take=0.009s
Frame 134
tensor(0.1259)
 # KEYFRAME 110
0.09338537700386951
Frame 135
tensor(0.1930)
 # KEYFRAME 111
0.09445654299634043
Frame 136
tensor(0.2919)
 # KEYFRAME 112
0.0956512400007341
Backending... 113 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65583, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1429 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 210/556] scannetpp/f8062cb7ce/frame frames=137 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=1429 time=47.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0082)
Frame 2
tensor(0.0803)
Frame 3
tensor(0.1425)
 # KEYFRAME 1
Frame 4
tensor(0.0340)
Frame 5
tensor(0.0164)
Frame 6
tensor(0.0879)
Frame 7
tensor(0.1220)
 # KEYFRAME 2
0.05138459700538078
Frame 8
tensor(0.0617)
Frame 9
tensor(0.1288)
 # KEYFRAME 3
0.05343960000027437
Frame 10
tensor(0.0326)
Frame 11
tensor(0.1205)
 # KEYFRAME 4
0.05394046800211072
Frame 12
tensor(0.0577)
Frame 13
tensor(0.1759)
 # KEYFRAME 5
0.05444860600255197
Frame 14
tensor(0.0902)
Frame 15
tensor(0.1518)
 # KEYFRAME 6
0.05497999399813125
Frame 16
tensor(0.0569)
Frame 17
tensor(0.0879)
Frame 18
tensor(0.0708)
Frame 19
tensor(0.1283)
 # KEYFRAME 7
0.05604019099700963
Frame 20
tensor(0.0946)
Frame 21
tensor(0.2477)
 # KEYFRAME 8
0.05736607599828858
Frame 22
tensor(0.1580)
 # KEYFRAME 9
0.05861668100260431
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 23
tensor(0.1061)
 # KEYFRAME 10
0.05192983499728143
Frame 24
tensor(0.1108)
 # KEYFRAME 11
0.05320128099992871
Frame 25
tensor(0.1027)
 # KEYFRAME 12
0.05409353700088104
Frame 26
tensor(0.1042)
 # KEYFRAME 13
0.056171390002418775
Frame 27
tensor(0.1093)
 # KEYFRAME 14
0.05850019200443057
Frame 28
tensor(0.0623)
Frame 29
tensor(0.1659)
 # KEYFRAME 15
0.05767714499961585
Frame 30
tensor(0.1042)
 # KEYFRAME 16
0.05888322999817319
Frame 31
tensor(0.0384)
Frame 32
tensor(0.1096)
 # KEYFRAME 17
0.059866587005672045
Frame 33
tensor(0.0219)
Frame 34
tensor(0.0626)
Frame 35
tensor(0.1161)
 # KEYFRAME 18
0.061131351998483296
Frame 36
tensor(0.0597)
Frame 37
tensor(0.1196)
 # KEYFRAME 19
0.06233560799591942
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 38
tensor(0.0844)
Frame 39
tensor(0.1016)
 # KEYFRAME 20
0.05878711099649081
Frame 40
tensor(0.1275)
 # KEYFRAME 21
0.0605449239956215
Frame 41
tensor(0.1526)
 # KEYFRAME 22
0.06127939200086985
Frame 42
tensor(0.0574)
Frame 43
tensor(0.0636)
Frame 44
tensor(0.1736)
 # KEYFRAME 23
0.0619537489983486
Frame 45
tensor(0.1031)
 # KEYFRAME 24
0.06261104700388387
Frame 46
tensor(0.1101)
 # KEYFRAME 25
0.06346586400468368
Frame 47
tensor(0.0838)
Frame 48
tensor(0.1858)
 # KEYFRAME 26
0.06538345699664205
Frame 49
tensor(0.0828)
Frame 50
tensor(0.1358)
 # KEYFRAME 27
0.06620432400086429
Frame 51
tensor(0.0649)
Frame 52
tensor(0.1201)
 # KEYFRAME 28
0.06731680099619552
Frame 53
tensor(0.0399)
Frame 54
tensor(0.0906)
Frame 55
tensor(0.1495)
 # KEYFRAME 29
0.06809949799935566
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 56
tensor(0.0503)
Frame 57
tensor(0.1244)
 # KEYFRAME 30
0.06572521600173786
Frame 58
tensor(0.0768)
Frame 59
tensor(0.0919)
Frame 60
tensor(0.1256)
 # KEYFRAME 31
0.06787918900226941
Frame 61
tensor(0.0814)
Frame 62
tensor(0.1800)
 # KEYFRAME 32
0.06822967700281879
Frame 63
tensor(0.0835)
Frame 64
tensor(0.1843)
 # KEYFRAME 33
0.06919759399897885
Frame 65
tensor(0.3915)
 # KEYFRAME 34
0.0700668100034818
Frame 66
tensor(0.1255)
 # KEYFRAME 35
0.07069950900040567
Frame 67
tensor(0.0940)
Frame 68
tensor(0.1981)
 # KEYFRAME 36
0.0712432469954365
Frame 69
tensor(0.1032)
 # KEYFRAME 37
0.07248326199623989
Frame 70
tensor(0.1768)
 # KEYFRAME 38
0.0726299210000434
Frame 71
tensor(0.1323)
 # KEYFRAME 39
0.07373723699856782
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1430 loss_distill=0.1733 tta_take=0.009s
Frame 72
tensor(0.1370)
 # KEYFRAME 40
0.07271578099607723
Frame 73
tensor(0.0848)
Frame 74
tensor(0.1405)
 # KEYFRAME 41
0.07478112399985548
Frame 75
tensor(0.0597)
Frame 76
tensor(0.2337)
 # KEYFRAME 42
0.07546814200031804
Frame 77
tensor(0.1615)
 # KEYFRAME 43
0.07659811800112948
Frame 78
tensor(0.0875)
Frame 79
tensor(0.2114)
 # KEYFRAME 44
0.07776538300095126
Frame 80
tensor(0.0527)
Frame 81
tensor(0.0894)
Frame 82
tensor(0.1633)
 # KEYFRAME 45
0.07930135800415883
Frame 83
tensor(0.0668)
Frame 84
tensor(0.1378)
 # KEYFRAME 46
0.08041821399820037
Frame 85
tensor(0.1072)
 # KEYFRAME 47
0.08088193200092064
Frame 86
tensor(0.1374)
 # KEYFRAME 48
0.08211258700612234
Frame 87
tensor(0.0730)
Frame 88
tensor(0.1348)
 # KEYFRAME 49
0.0823836370036588
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1431 loss_distill=0.2747 tta_take=0.009s
Frame 89
tensor(0.0844)
Frame 90
tensor(0.1297)
 # KEYFRAME 50
0.07981504599592881
Frame 91
tensor(0.0524)
Frame 92
tensor(0.1193)
 # KEYFRAME 51
0.08172407900565304
Frame 93
tensor(0.1116)
 # KEYFRAME 52
0.0813486710030702
Frame 94
tensor(0.0494)
Frame 95
tensor(0.1072)
 # KEYFRAME 53
0.08219529800408054
Frame 96
tensor(0.1186)
 # KEYFRAME 54
0.08265920599660603
Frame 97
tensor(0.0837)
Frame 98
tensor(0.1937)
 # KEYFRAME 55
0.08363044200086733
Frame 99
tensor(0.3442)
 # KEYFRAME 56
0.08414493100281106
Frame 100
tensor(0.0966)
Frame 101
tensor(0.1098)
 # KEYFRAME 57
0.08484390800003894
Frame 102
tensor(0.0435)
Frame 103
tensor(0.1420)
 # KEYFRAME 58
0.08511465699848486
Frame 104
tensor(0.0765)
Frame 105
tensor(0.1123)
 # KEYFRAME 59
0.08622426300280495
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1432 loss_distill=0.3466 tta_take=0.009s
Frame 106
tensor(0.0449)
Frame 107
tensor(0.1261)
 # KEYFRAME 60
0.08634808300121222
Frame 108
tensor(0.0378)
Frame 109
tensor(0.1027)
 # KEYFRAME 61
0.08883870399586158
Frame 110
tensor(0.0548)
Frame 111
tensor(0.1073)
 # KEYFRAME 62
0.08869682399381418
Frame 112
tensor(0.0344)
Frame 113
tensor(0.0879)
Frame 114
tensor(0.6141)
 # KEYFRAME 63
0.08921977200225228
Frame 115
tensor(0.0550)
Frame 116
tensor(0.0890)
Frame 117
tensor(0.1396)
 # KEYFRAME 64
0.09007338900119066
Frame 118
tensor(0.0820)
Frame 119
tensor(0.1536)
 # KEYFRAME 65
0.0908187960012583
Frame 120
tensor(0.0662)
Frame 121
tensor(0.1623)
 # KEYFRAME 66
0.09212135199777549
Frame 122
tensor(0.0560)
Frame 123
tensor(0.0267)
Frame 124
tensor(0.0926)
Frame 125
tensor(0.2316)
 # KEYFRAME 67
0.09280592999857618
Frame 126
tensor(0.2126)
 # KEYFRAME 68
0.09382637700036867
Frame 127
tensor(0.2440)
 # KEYFRAME 69
0.09422684500168543
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1433 loss_distill=0.4024 tta_take=0.009s
Frame 128
tensor(0.2004)
 # KEYFRAME 70
0.09276915899681626
Frame 129
tensor(0.0683)
Frame 130
tensor(0.1918)
 # KEYFRAME 71
0.09571064900228521
Frame 131
tensor(0.0483)
Frame 132
tensor(0.0910)
Frame 133
tensor(0.0980)
Backending... 72 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 64542, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1434 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 211/556] scannetpp/b26e64c4b0/frame frames=134 tta_steps_this_scene=5 mean_loss=0.3198 total_steps=1434 time=33.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0062)
Frame 2
tensor(0.1500)
 # KEYFRAME 1
Frame 3
tensor(0.2046)
 # KEYFRAME 2
0.0512274879947654
Frame 4
tensor(0.2290)
 # KEYFRAME 3
0.0534336600030656
Frame 5
tensor(0.2024)
 # KEYFRAME 4
0.053711339001893066
Frame 6
tensor(0.2137)
 # KEYFRAME 5
0.05437735699524637
Frame 7
tensor(0.1773)
 # KEYFRAME 6
0.055184753000503406
Frame 8
tensor(0.1838)
 # KEYFRAME 7
0.0557727019986487
Frame 9
tensor(0.0987)
Frame 10
tensor(0.1842)
 # KEYFRAME 8
0.05754415500268806
Frame 11
tensor(0.2807)
 # KEYFRAME 9
0.05867116100125713
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.1749)
 # KEYFRAME 10
0.05172588599816663
Frame 13
tensor(0.2392)
 # KEYFRAME 11
0.05306846200255677
Frame 14
tensor(0.2799)
 # KEYFRAME 12
0.05400970800110372
Frame 15
tensor(0.2087)
 # KEYFRAME 13
0.055964731000130996
Frame 16
tensor(0.1989)
 # KEYFRAME 14
0.05692285799887031
Frame 17
tensor(0.2895)
 # KEYFRAME 15
0.05758298499858938
Frame 18
tensor(0.2896)
 # KEYFRAME 16
0.05854801099485485
Frame 19
tensor(0.2835)
 # KEYFRAME 17
0.059968897003273014
Frame 20
tensor(0.2151)
 # KEYFRAME 18
0.060994362997007556
Frame 21
tensor(0.2986)
 # KEYFRAME 19
0.062388498001382686
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 22
tensor(0.5977)
 # KEYFRAME 20
0.05893664999894099
Frame 23
tensor(0.3678)
 # KEYFRAME 21
0.0603489860004629
Frame 24
tensor(0.1577)
 # KEYFRAME 22
0.0614430919958977
Frame 25
tensor(0.2316)
 # KEYFRAME 23
0.06187561999831814
Frame 26
tensor(0.1239)
 # KEYFRAME 24
0.06258709699613973
Frame 27
tensor(0.3210)
 # KEYFRAME 25
0.06351560400071321
Frame 28
tensor(0.1500)
 # KEYFRAME 26
0.06523444699996617
Frame 29
tensor(0.1565)
 # KEYFRAME 27
0.06603433500276878
Frame 30
tensor(0.3599)
 # KEYFRAME 28
0.06738308999774745
Frame 31
tensor(0.3456)
 # KEYFRAME 29
0.06803488799778279
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.2217)
 # KEYFRAME 30
0.06569190599839203
Frame 33
tensor(0.2334)
 # KEYFRAME 31
0.06785930800106144
Frame 34
tensor(0.3400)
 # KEYFRAME 32
0.06813204699574271
Frame 35
tensor(0.1380)
 # KEYFRAME 33
0.06920117400295567
Frame 36
tensor(0.3490)
 # KEYFRAME 34
0.07011348100058967
Frame 37
tensor(0.2259)
 # KEYFRAME 35
0.07056483899941668
Frame 38
tensor(0.3194)
 # KEYFRAME 36
0.07157555499725277
Frame 39
tensor(0.2348)
 # KEYFRAME 37
0.07225305300380569
Frame 40
tensor(0.1886)
 # KEYFRAME 38
0.07303739999770187
Frame 41
tensor(0.1950)
 # KEYFRAME 39
0.0740017669959343
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1435 loss_distill=0.1733 tta_take=0.009s
Frame 42
tensor(0.4047)
 # KEYFRAME 40
0.07287752100091893
Frame 43
tensor(0.1875)
 # KEYFRAME 41
0.07490897300158395
Frame 44
tensor(0.4081)
 # KEYFRAME 42
0.0757477299994207
Frame 45
tensor(0.1663)
 # KEYFRAME 43
0.07694859599723713
Frame 46
tensor(0.2605)
 # KEYFRAME 44
0.07797900300647598
Frame 47
tensor(0.2296)
 # KEYFRAME 45
0.07917347799957497
Frame 48
tensor(0.3170)
 # KEYFRAME 46
0.08054104299662868
Frame 49
tensor(0.2305)
 # KEYFRAME 47
0.08056174299417762
Frame 50
tensor(0.1051)
 # KEYFRAME 48
0.08223520699539222
Frame 51
tensor(0.0140)
Frame 52
tensor(0.0269)
Frame 53
tensor(0.0444)
Frame 54
tensor(0.2101)
 # KEYFRAME 49
0.08267080599762267
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1436 loss_distill=0.2747 tta_take=0.009s
Frame 55
tensor(0.2719)
 # KEYFRAME 50
0.07999806500447448
Frame 56
tensor(0.2223)
 # KEYFRAME 51
0.08121197100263089
Frame 57
tensor(0.1274)
 # KEYFRAME 52
0.0814940599957481
Frame 58
tensor(0.1453)
 # KEYFRAME 53
0.08221713700186228
Frame 59
tensor(0.1542)
 # KEYFRAME 54
0.0824338969978271
Frame 60
tensor(0.1829)
 # KEYFRAME 55
0.08385685199755244
Frame 61
tensor(0.1792)
 # KEYFRAME 56
0.08415918999526184
Frame 62
tensor(0.1502)
 # KEYFRAME 57
0.08488213799864752
Frame 63
tensor(0.1971)
 # KEYFRAME 58
0.08560253500036197
Frame 64
tensor(0.1734)
 # KEYFRAME 59
0.08619625299616018
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1437 loss_distill=0.3466 tta_take=0.009s
Frame 65
tensor(0.2655)
 # KEYFRAME 60
0.085875714001304
Frame 66
tensor(0.1616)
 # KEYFRAME 61
0.08829998500004876
Frame 67
tensor(0.1605)
 # KEYFRAME 62
0.08874319500318961
Frame 68
tensor(0.2454)
 # KEYFRAME 63
0.08923193300142884
Frame 69
tensor(0.1161)
 # KEYFRAME 64
0.09007681000366574
Frame 70
tensor(0.2012)
 # KEYFRAME 65
0.09042474799935007
Frame 71
tensor(0.1069)
 # KEYFRAME 66
0.0917162530022324
Frame 72
tensor(0.2816)
 # KEYFRAME 67
0.09251346100063529
Frame 73
tensor(0.1561)
 # KEYFRAME 68
0.0938260659968364
Frame 74
tensor(0.1519)
 # KEYFRAME 69
0.0941875450007501
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1438 loss_distill=0.4024 tta_take=0.009s
Frame 75
tensor(0.1735)
 # KEYFRAME 70
0.09405600500031142
Frame 76
tensor(0.2193)
 # KEYFRAME 71
0.094341534000705
Frame 77
tensor(0.1600)
 # KEYFRAME 72
0.09572302000015043
Frame 78
tensor(0.3423)
 # KEYFRAME 73
0.09694326500175521
Frame 79
tensor(0.3132)
 # KEYFRAME 74
0.09788410199689679
Frame 80
tensor(0.2420)
 # KEYFRAME 75
0.09864168900094228
Frame 81
tensor(0.3169)
 # KEYFRAME 76
0.09998235399689293
Frame 82
tensor(0.2693)
 # KEYFRAME 77
0.1016021079994971
Frame 83
tensor(0.1868)
 # KEYFRAME 78
0.102509665004618
Frame 84
tensor(0.3605)
 # KEYFRAME 79
0.1032527619972825
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1439 loss_distill=0.4024 tta_take=0.009s
Frame 85
tensor(0.2403)
 # KEYFRAME 80
0.0930889989977004
Frame 86
tensor(0.3606)
 # KEYFRAME 81
0.09521757100446848
Frame 87
tensor(0.2046)
 # KEYFRAME 82
0.09601760900113732
Frame 88
tensor(0.4277)
 # KEYFRAME 83
0.09678806499869097
Frame 89
tensor(0.2455)
 # KEYFRAME 84
0.0981144809993566
Frame 90
tensor(0.1520)
 # KEYFRAME 85
0.09904740799538558
Frame 91
tensor(0.2195)
 # KEYFRAME 86
0.10068527100520441
Frame 92
tensor(0.1365)
 # KEYFRAME 87
0.10156099799496587
Frame 93
tensor(0.2670)
 # KEYFRAME 88
0.10310717299580574
Frame 94
tensor(0.1079)
 # KEYFRAME 89
0.10316436299763154
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1440 loss_distill=0.4024 tta_take=0.009s
Frame 95
tensor(0.1700)
 # KEYFRAME 90
0.09371248700335855
Frame 96
tensor(0.1652)
 # KEYFRAME 91
0.09440701400308171
Frame 97
tensor(0.1176)
 # KEYFRAME 92
0.09606883800006472
Frame 98
tensor(0.1399)
 # KEYFRAME 93
0.096432565995201
Frame 99
tensor(0.2269)
 # KEYFRAME 94
0.09830864000105066
Frame 100
tensor(0.1217)
 # KEYFRAME 95
0.09893815800023731
Frame 101
tensor(0.2941)
 # KEYFRAME 96
0.09976209499291144
Frame 102
tensor(0.2613)
 # KEYFRAME 97
0.10177250699780416
Frame 103
tensor(0.2189)
 # KEYFRAME 98
0.1017388479958754
Frame 104
tensor(0.1028)
 # KEYFRAME 99
0.1028934339992702
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1441 loss_distill=0.4024 tta_take=0.009s
Frame 105
tensor(0.1736)
 # KEYFRAME 100
0.09416719499859028
Frame 106
tensor(0.1612)
 # KEYFRAME 101
0.09453516299981857
Frame 107
tensor(0.1143)
 # KEYFRAME 102
0.09626350700273179
Frame 108
tensor(0.1664)
 # KEYFRAME 103
0.09711463400162756
Frame 109
tensor(0.1281)
 # KEYFRAME 104
0.09770952300459612
Frame 110
tensor(0.2418)
 # KEYFRAME 105
0.09974650499498239
Frame 111
tensor(0.2459)
 # KEYFRAME 106
0.10053271200013114
Frame 112
tensor(0.1383)
 # KEYFRAME 107
0.10274372400454013
Frame 113
tensor(0.1952)
 # KEYFRAME 108
0.10201091699855169
Frame 114
tensor(0.1185)
 # KEYFRAME 109
0.10291537400189554
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1442 loss_distill=0.4024 tta_take=0.009s
Frame 115
tensor(0.1051)
 # KEYFRAME 110
0.09252033999655396
Frame 116
tensor(0.1417)
 # KEYFRAME 111
0.09541371999512194
Frame 117
tensor(0.1731)
 # KEYFRAME 112
0.09510921099717962
Frame 118
tensor(0.3506)
 # KEYFRAME 113
0.09604329799913103
Frame 119
tensor(0.1289)
 # KEYFRAME 114
0.0973467139992863
Frame 120
tensor(0.0956)
Frame 121
tensor(0.1337)
 # KEYFRAME 115
0.09801323099964065
Frame 122
tensor(0.1195)
 # KEYFRAME 116
0.09866865900403354
Frame 123
tensor(0.1276)
 # KEYFRAME 117
0.09927591599989682
Frame 124
tensor(0.2758)
 # KEYFRAME 118
0.09917062699969392
Frame 125
tensor(0.0624)
Frame 126
tensor(0.3881)
 # KEYFRAME 119
0.10029052299796604
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1443 loss_distill=0.4024 tta_take=0.009s
Frame 127
tensor(0.0885)
Frame 128
tensor(0.2197)
 # KEYFRAME 120
0.093905335997988
Frame 129
tensor(0.3148)
 # KEYFRAME 121
0.09411239500332158
Frame 130
tensor(0.1875)
 # KEYFRAME 122
0.09589615799632156
Frame 131
tensor(0.2504)
 # KEYFRAME 123
0.09650321600202005
Frame 132
tensor(0.2971)
 # KEYFRAME 124
0.09725814400007948
Frame 133
tensor(0.2130)
 # KEYFRAME 125
0.09759716300322907
Frame 134
tensor(0.3017)
 # KEYFRAME 126
0.09879452799941646
Frame 135
tensor(0.2290)
 # KEYFRAME 127
0.09872313899541041
Frame 136
tensor(0.1757)
 # KEYFRAME 128
0.10006348400202114
Frame 137
tensor(0.4095)
 # KEYFRAME 129
0.09967126499395818
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1444 loss_distill=0.4024 tta_take=0.009s
Frame 138
tensor(0.1872)
 # KEYFRAME 130
0.09336204799910774
Frame 139
tensor(0.5425)
 # KEYFRAME 131
0.0961153780008317
Frame 140
tensor(0.2816)
 # KEYFRAME 132
0.09622375800245209
Frame 141
tensor(0.0494)
Backending... 133 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65583, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1445 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 212/556] scannetpp/c856c41c99/frame frames=142 tta_steps_this_scene=11 mean_loss=0.3649 total_steps=1445 time=52.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0501)
Frame 2
tensor(0.0231)
Frame 3
tensor(0.0642)
Frame 4
tensor(0.0967)
Frame 5
tensor(0.1085)
 # KEYFRAME 1
Frame 6
tensor(0.0769)
Frame 7
tensor(0.0660)
Frame 8
tensor(0.0444)
Frame 9
tensor(0.0921)
Frame 10
tensor(0.1494)
 # KEYFRAME 2
0.0515454070045962
Frame 11
tensor(0.0545)
Frame 12
tensor(0.1176)
 # KEYFRAME 3
0.05204802499793004
Frame 13
tensor(0.0392)
Frame 14
tensor(0.0732)
Frame 15
tensor(0.1182)
 # KEYFRAME 4
0.05379895800433587
Frame 16
tensor(0.0433)
Frame 17
tensor(0.0884)
Frame 18
tensor(0.1052)
 # KEYFRAME 5
0.05546049200347625
Frame 19
tensor(0.0069)
Frame 20
tensor(0.1779)
 # KEYFRAME 6
0.05570970199914882
Frame 21
tensor(0.0348)
Frame 22
tensor(0.0774)
Frame 23
tensor(0.1085)
 # KEYFRAME 7
0.056660337999346666
Frame 24
tensor(0.0371)
Frame 25
tensor(0.0825)
Frame 26
tensor(0.0589)
Frame 27
tensor(0.0529)
Frame 28
tensor(0.0463)
Frame 29
tensor(0.0195)
Frame 30
tensor(0.0687)
Frame 31
tensor(0.0509)
Frame 32
tensor(0.0156)
Frame 33
tensor(0.0655)
Frame 34
tensor(0.0909)
Frame 35
tensor(0.0742)
Frame 36
tensor(0.0402)
Frame 37
tensor(0.0767)
Frame 38
tensor(0.0933)
Frame 39
tensor(0.0743)
Frame 40
tensor(0.0612)
Frame 41
tensor(0.1200)
 # KEYFRAME 8
0.05835507200390566
Frame 42
tensor(0.0372)
Frame 43
tensor(0.0511)
Frame 44
tensor(0.0727)
Frame 45
tensor(0.1084)
 # KEYFRAME 9
0.058719032000226434
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 46
tensor(0.0904)
Frame 47
tensor(0.0961)
Frame 48
tensor(0.1313)
 # KEYFRAME 10
0.051902815997891594
Frame 49
tensor(0.0489)
Frame 50
tensor(0.0715)
Frame 51
tensor(0.1062)
 # KEYFRAME 11
0.051580077000835445
Frame 52
tensor(0.0692)
Frame 53
tensor(0.0580)
Frame 54
tensor(0.0685)
Frame 55
tensor(0.1108)
 # KEYFRAME 12
0.05187883500184398
Frame 56
tensor(0.0712)
Frame 57
tensor(0.1701)
 # KEYFRAME 13
0.054377166001359
Frame 58
tensor(0.0595)
Frame 59
tensor(0.0897)
Frame 60
tensor(0.1106)
 # KEYFRAME 14
0.05410196699813241
Frame 61
tensor(0.0225)
Frame 62
tensor(0.0336)
Frame 63
tensor(0.0616)
Frame 64
tensor(0.0988)
Frame 65
tensor(0.1359)
 # KEYFRAME 15
0.054553075999137945
Frame 66
tensor(0.0395)
Frame 67
tensor(0.0836)
Frame 68
tensor(0.1031)
 # KEYFRAME 16
0.05487929499940947
Frame 69
tensor(0.0383)
Frame 70
tensor(0.0814)
Frame 71
tensor(0.1223)
 # KEYFRAME 17
0.05610245099524036
Frame 72
tensor(0.0318)
Frame 73
tensor(0.0241)
Frame 74
tensor(0.0098)
Frame 75
tensor(0.0415)
Frame 76
tensor(0.0648)
Frame 77
tensor(0.0808)
Frame 78
tensor(0.0738)
Frame 79
tensor(0.0600)
Frame 80
tensor(0.0452)
Frame 81
tensor(0.0546)
Frame 82
tensor(0.0844)
Frame 83
tensor(0.1215)
 # KEYFRAME 18
0.05719074600347085
Frame 84
tensor(0.0463)
Frame 85
tensor(0.0797)
Frame 86
tensor(0.1113)
 # KEYFRAME 19
0.05742246599402279
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 87
tensor(0.0160)
Frame 88
tensor(0.0481)
Frame 89
tensor(0.0668)
Frame 90
tensor(0.0997)
Frame 91
tensor(0.1330)
 # KEYFRAME 20
0.054098266999062616
Frame 92
tensor(0.0371)
Frame 93
tensor(0.0566)
Frame 94
tensor(0.0709)
Frame 95
tensor(0.1028)
 # KEYFRAME 21
0.05526989400095772
Frame 96
tensor(0.0436)
Frame 97
tensor(0.0721)
Frame 98
tensor(0.0693)
Frame 99
tensor(0.0397)
Frame 100
tensor(0.0482)
Frame 101
tensor(0.0611)
Frame 102
tensor(0.0962)
Frame 103
tensor(0.1352)
 # KEYFRAME 22
0.0556137520034099
Frame 104
tensor(0.0671)
Frame 105
tensor(0.1165)
 # KEYFRAME 23
0.05606106000050204
Frame 106
tensor(0.0118)
Frame 107
tensor(0.0450)
Frame 108
tensor(0.0692)
Frame 109
tensor(0.0757)
Frame 110
tensor(0.0856)
Frame 111
tensor(0.1054)
 # KEYFRAME 24
0.05664635799621465
Frame 112
tensor(0.0288)
Frame 113
tensor(0.0532)
Frame 114
tensor(0.0859)
Frame 115
tensor(0.1075)
 # KEYFRAME 25
0.05737267599761253
Frame 116
tensor(0.0932)
Frame 117
tensor(0.1052)
 # KEYFRAME 26
0.058476111000345554
Frame 118
tensor(0.0398)
Frame 119
tensor(0.0878)
Frame 120
tensor(0.1516)
 # KEYFRAME 27
0.05894138100120472
Frame 121
tensor(0.0602)
Frame 122
tensor(0.1075)
 # KEYFRAME 28
0.059681157996237744
Frame 123
tensor(0.0486)
Frame 124
tensor(0.0768)
Frame 125
tensor(0.1096)
 # KEYFRAME 29
0.06026367600134108
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 126
tensor(0.0590)
Frame 127
tensor(0.0794)
Frame 128
tensor(0.1092)
 # KEYFRAME 30
0.05848425199656049
Frame 129
tensor(0.0568)
Frame 130
tensor(0.1106)
 # KEYFRAME 31
0.05957181799749378
Frame 131
tensor(0.0428)
Frame 132
tensor(0.0986)
Frame 133
tensor(0.1374)
 # KEYFRAME 32
0.0594595680013299
Frame 134
tensor(0.2739)
 # KEYFRAME 33
0.0611020020005526
Frame 135
tensor(0.1063)
 # KEYFRAME 34
0.06078797400550684
Frame 136
tensor(0.2556)
 # KEYFRAME 35
0.06150183100544382
Frame 137
tensor(0.0659)
Frame 138
tensor(0.1059)
 # KEYFRAME 36
0.06208905899984529
Frame 139
tensor(0.0666)
Frame 140
tensor(0.0495)
Frame 141
tensor(0.0731)
Frame 142
tensor(0.0974)
Frame 143
tensor(0.1187)
 # KEYFRAME 37
0.06259482799941907
Frame 144
tensor(0.6789)
 # KEYFRAME 38
0.06299963500350714
Frame 145
tensor(0.0250)
Frame 146
tensor(0.2410)
 # KEYFRAME 39
0.06369997299771057
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1446 loss_distill=0.1733 tta_take=0.008s
Frame 147
tensor(0.2918)
 # KEYFRAME 40
0.06304729499970563
Frame 148
tensor(0.0300)
Frame 149
tensor(0.0897)
Backending... 41 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 38130, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1447 loss_distill=0.2747 tta_take=0.002s
[epoch 0 scene 213/556] scannetpp/3e928dc2f6/DSC frames=150 tta_steps_this_scene=2 mean_loss=0.2240 total_steps=1447 time=21.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0088)
Frame 2
tensor(0.0159)
Frame 3
tensor(0.0334)
Frame 4
tensor(0.0553)
Frame 5
tensor(0.0713)
Frame 6
tensor(0.0882)
Frame 7
tensor(0.1081)
 # KEYFRAME 1
Frame 8
tensor(0.0171)
Frame 9
tensor(0.0645)
Frame 10
tensor(0.1541)
 # KEYFRAME 2
0.051491817001078743
Frame 11
tensor(0.0328)
Frame 12
tensor(0.0972)
Frame 13
tensor(0.1211)
 # KEYFRAME 3
0.05303597199963406
Frame 14
tensor(0.0586)
Frame 15
tensor(0.0707)
Frame 16
tensor(0.1010)
 # KEYFRAME 4
0.05344250999769429
Frame 17
tensor(0.0206)
Frame 18
tensor(0.1310)
 # KEYFRAME 5
0.05493094399571419
Frame 19
tensor(0.0285)
Frame 20
tensor(0.0550)
Frame 21
tensor(0.1060)
 # KEYFRAME 6
0.055975960996875074
Frame 22
tensor(0.0130)
Frame 23
tensor(0.0528)
Frame 24
tensor(0.0673)
Frame 25
tensor(0.0869)
Frame 26
tensor(0.1060)
 # KEYFRAME 7
0.05653764899761882
Frame 27
tensor(0.0514)
Frame 28
tensor(0.0778)
Frame 29
tensor(0.1092)
 # KEYFRAME 8
0.05740237499412615
Frame 30
tensor(0.0515)
Frame 31
tensor(0.0615)
Frame 32
tensor(0.1148)
 # KEYFRAME 9
0.05845371200121008
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 33
tensor(0.0149)
Frame 34
tensor(0.1480)
 # KEYFRAME 10
0.051372396999795455
Frame 35
tensor(0.0024)
Frame 36
tensor(0.0154)
Frame 37
tensor(0.1522)
 # KEYFRAME 11
0.05267120200005593
Frame 38
tensor(0.2271)
 # KEYFRAME 12
0.053806349002115894
Frame 39
tensor(0.0274)
Frame 40
tensor(0.0410)
Frame 41
tensor(0.1044)
 # KEYFRAME 13
0.05496337399381446
Frame 42
tensor(0.0160)
Frame 43
tensor(0.3631)
 # KEYFRAME 14
0.054726055001083296
Frame 44
tensor(0.0259)
Frame 45
tensor(0.0488)
Frame 46
tensor(0.1235)
 # KEYFRAME 15
0.05507433399907313
Frame 47
tensor(0.0367)
Frame 48
tensor(0.0732)
Frame 49
tensor(0.1140)
 # KEYFRAME 16
0.05555088200344471
Frame 50
tensor(0.0339)
Frame 51
tensor(0.0458)
Frame 52
tensor(0.0768)
Frame 53
tensor(0.6744)
 # KEYFRAME 17
0.056296959999599494
Frame 54
tensor(0.0363)
Frame 55
tensor(0.0674)
Frame 56
tensor(0.1257)
 # KEYFRAME 18
0.05713669700344326
Frame 57
tensor(0.0723)
Frame 58
tensor(0.0884)
Frame 59
tensor(0.1259)
 # KEYFRAME 19
0.05774384400137933
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 60
tensor(0.0342)
Frame 61
tensor(0.0759)
Frame 62
tensor(0.1264)
 # KEYFRAME 20
0.053975877999619115
Frame 63
tensor(0.0520)
Frame 64
tensor(0.1047)
 # KEYFRAME 21
0.055074563999369275
Frame 65
tensor(0.0231)
Frame 66
tensor(0.0492)
Frame 67
tensor(0.0591)
Frame 68
tensor(0.1038)
 # KEYFRAME 22
0.05552287299360614
Frame 69
tensor(0.0126)
Frame 70
tensor(0.0735)
Frame 71
tensor(0.1216)
 # KEYFRAME 23
0.05564805199537659
Frame 72
tensor(0.0573)
Frame 73
tensor(0.1306)
 # KEYFRAME 24
0.05622158999904059
Frame 74
tensor(0.0395)
Frame 75
tensor(0.2098)
 # KEYFRAME 25
0.05701192699780222
Frame 76
tensor(0.0532)
Frame 77
tensor(0.1365)
 # KEYFRAME 26
0.05811790299776476
Frame 78
tensor(0.0439)
Frame 79
tensor(0.0837)
Frame 80
tensor(0.2970)
 # KEYFRAME 27
0.05903542000305606
Frame 81
tensor(0.0156)
Frame 82
tensor(0.0857)
Frame 83
tensor(0.0935)
Frame 84
tensor(0.2007)
 # KEYFRAME 28
0.06019115600065561
Frame 85
tensor(0.0189)
Frame 86
tensor(0.1335)
 # KEYFRAME 29
0.060613075002038386
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 87
tensor(0.0087)
Frame 88
tensor(0.0829)
Frame 89
tensor(0.1128)
 # KEYFRAME 30
0.058720631001051515
Frame 90
tensor(0.0368)
Frame 91
tensor(0.2236)
 # KEYFRAME 31
0.05995483700098703
Frame 92
tensor(0.0095)
Frame 93
tensor(0.0784)
Frame 94
tensor(0.1043)
 # KEYFRAME 32
0.05941891800466692
Frame 95
tensor(0.1268)
 # KEYFRAME 33
0.060348735001753084
Frame 96
tensor(0.1219)
 # KEYFRAME 34
0.06094306299928576
Frame 97
tensor(0.0497)
Frame 98
tensor(0.1913)
 # KEYFRAME 35
0.0616818409980624
Frame 99
tensor(0.0695)
Frame 100
tensor(0.0420)
Frame 101
tensor(0.0311)
Frame 102
tensor(0.1547)
 # KEYFRAME 36
0.06259020700235851
Frame 103
tensor(0.0236)
Frame 104
tensor(0.1549)
 # KEYFRAME 37
0.06301532599900384
Frame 105
tensor(0.0200)
Frame 106
tensor(0.4803)
 # KEYFRAME 38
0.06351638400519732
Frame 107
tensor(0.1305)
 # KEYFRAME 39
0.06442609099758556
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1448 loss_distill=0.1733 tta_take=0.008s
Frame 108
tensor(0.1190)
 # KEYFRAME 40
0.06275363600434503
Frame 109
tensor(0.1160)
 # KEYFRAME 41
0.06414493099873653
Frame 110
tensor(0.0209)
Frame 111
tensor(0.1375)
 # KEYFRAME 42
0.06464787999721011
Frame 112
tensor(0.0284)
Frame 113
tensor(0.1413)
 # KEYFRAME 43
0.06476933899830328
Frame 114
tensor(0.1431)
 # KEYFRAME 44
0.06659406300605042
Frame 115
tensor(0.0560)
Frame 116
tensor(0.6757)
 # KEYFRAME 45
0.06741966999834403
Frame 117
tensor(0.0049)
Frame 118
tensor(0.0407)
Frame 119
tensor(0.0638)
Frame 120
tensor(0.1037)
 # KEYFRAME 46
0.06834489800530719
Frame 121
tensor(0.0082)
Frame 122
tensor(0.0382)
Frame 123
tensor(0.7303)
 # KEYFRAME 47
0.06857277699600672
Frame 124
tensor(0.0201)
Frame 125
tensor(0.1133)
 # KEYFRAME 48
0.06922978500369936
Frame 126
tensor(0.0094)
Frame 127
tensor(0.1330)
 # KEYFRAME 49
0.0694194530005916
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1449 loss_distill=0.2747 tta_take=0.008s
Frame 128
tensor(0.0690)
Frame 129
tensor(0.1006)
 # KEYFRAME 50
0.0672664910016465
Frame 130
tensor(0.0824)
Frame 131
tensor(0.1081)
 # KEYFRAME 51
0.06851117699989118
Frame 132
tensor(0.0985)
Frame 133
tensor(0.1192)
 # KEYFRAME 52
0.06862893600191455
Frame 134
tensor(0.0933)
Frame 135
tensor(0.1075)
 # KEYFRAME 53
0.06953589300246676
Frame 136
tensor(0.2400)
 # KEYFRAME 54
0.06905922499572625
Frame 137
tensor(0.0229)
Frame 138
tensor(0.0595)
Frame 139
tensor(0.1210)
 # KEYFRAME 55
0.07145998700434575
Frame 140
tensor(0.0730)
Frame 141
tensor(0.1028)
 # KEYFRAME 56
0.07258862299931934
Frame 142
tensor(0.0530)
Frame 143
tensor(0.4684)
 # KEYFRAME 57
0.07328520999726607
Frame 144
tensor(0.0288)
Frame 145
tensor(0.1944)
 # KEYFRAME 58
0.0745503660000395
Frame 146
tensor(0.0067)
Frame 147
tensor(0.1081)
 # KEYFRAME 59
0.07510087300033774
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1450 loss_distill=0.3466 tta_take=0.008s
Frame 148
tensor(0.0393)
Frame 149
tensor(0.2863)
 # KEYFRAME 60
0.07101820800016867
Backending... 61 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 56730, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1451 loss_distill=0.4024 tta_take=0.002s
[epoch 0 scene 214/556] scannetpp/1841a0b525/DSC frames=150 tta_steps_this_scene=4 mean_loss=0.2992 total_steps=1451 time=26.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0106)
Frame 2
tensor(0.0210)
Frame 3
tensor(0.0322)
Frame 4
tensor(0.0428)
Frame 5
tensor(0.0550)
Frame 6
tensor(0.0618)
Frame 7
tensor(0.0789)
Frame 8
tensor(0.0902)
Frame 9
tensor(0.1092)
 # KEYFRAME 1
Frame 10
tensor(0.0079)
Frame 11
tensor(0.0164)
Frame 12
tensor(0.0244)
Frame 13
tensor(0.0353)
Frame 14
tensor(0.0435)
Frame 15
tensor(0.0583)
Frame 16
tensor(0.0711)
Frame 17
tensor(0.0800)
Frame 18
tensor(0.0932)
Frame 19
tensor(0.1079)
 # KEYFRAME 2
0.05233280399988871
Frame 20
tensor(0.0084)
Frame 21
tensor(0.0143)
Frame 22
tensor(0.0268)
Frame 23
tensor(0.0334)
Frame 24
tensor(0.0421)
Frame 25
tensor(0.0512)
Frame 26
tensor(0.0574)
Frame 27
tensor(0.0679)
Frame 28
tensor(0.0748)
Frame 29
tensor(0.0852)
Frame 30
tensor(0.0929)
Frame 31
tensor(0.1010)
 # KEYFRAME 3
0.05252942299557617
Frame 32
tensor(0.0088)
Frame 33
tensor(0.0137)
Frame 34
tensor(0.0232)
Frame 35
tensor(0.0288)
Frame 36
tensor(0.0382)
Frame 37
tensor(0.0494)
Frame 38
tensor(0.0580)
Frame 39
tensor(0.0682)
Frame 40
tensor(0.0761)
Frame 41
tensor(0.0857)
Frame 42
tensor(0.0932)
Frame 43
tensor(0.1069)
 # KEYFRAME 4
0.05302068199671339
Frame 44
tensor(0.0074)
Frame 45
tensor(0.0194)
Frame 46
tensor(0.0277)
Frame 47
tensor(0.0325)
Frame 48
tensor(0.0457)
Frame 49
tensor(0.0615)
Frame 50
tensor(0.0732)
Frame 51
tensor(0.0913)
Frame 52
tensor(0.1002)
 # KEYFRAME 5
0.05252761399606243
Frame 53
tensor(0.0136)
Frame 54
tensor(0.0244)
Frame 55
tensor(0.0366)
Frame 56
tensor(0.0528)
Frame 57
tensor(0.0680)
Frame 58
tensor(0.0821)
Frame 59
tensor(0.0984)
Frame 60
tensor(0.1264)
 # KEYFRAME 6
0.05294824199518189
Frame 61
tensor(0.0115)
Frame 62
tensor(0.0317)
Frame 63
tensor(0.0470)
Frame 64
tensor(0.0702)
Frame 65
tensor(0.0867)
Frame 66
tensor(0.0996)
Frame 67
tensor(0.1226)
 # KEYFRAME 7
0.052659464003227185
Frame 68
tensor(0.0160)
Frame 69
tensor(0.0317)
Frame 70
tensor(0.0502)
Frame 71
tensor(0.0654)
Frame 72
tensor(0.0866)
Frame 73
tensor(0.1091)
 # KEYFRAME 8
0.053896308003459126
Frame 74
tensor(0.0151)
Frame 75
tensor(0.0342)
Frame 76
tensor(0.0495)
Frame 77
tensor(0.0718)
Frame 78
tensor(0.0902)
Frame 79
tensor(0.1093)
 # KEYFRAME 9
0.05307636199722765
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 80
tensor(0.0160)
Frame 81
tensor(0.0333)
Frame 82
tensor(0.0496)
Frame 83
tensor(0.0645)
Frame 84
tensor(0.0876)
Frame 85
tensor(0.1076)
 # KEYFRAME 10
0.052108135001617484
Frame 86
tensor(0.0195)
Frame 87
tensor(0.0343)
Frame 88
tensor(0.0505)
Frame 89
tensor(0.0719)
Frame 90
tensor(0.0906)
Frame 91
tensor(0.1099)
 # KEYFRAME 11
0.052767013003176544
Frame 92
tensor(0.0138)
Frame 93
tensor(0.0289)
Frame 94
tensor(0.0497)
Frame 95
tensor(0.0672)
Frame 96
tensor(0.0901)
Frame 97
tensor(0.1029)
 # KEYFRAME 12
0.05356010000105016
Frame 98
tensor(0.0121)
Frame 99
tensor(0.0284)
Frame 100
tensor(0.0438)
Frame 101
tensor(0.0595)
Frame 102
tensor(0.0807)
Frame 103
tensor(0.1058)
 # KEYFRAME 13
0.0527181430006749
Frame 104
tensor(0.0129)
Frame 105
tensor(0.0253)
Frame 106
tensor(0.0403)
Frame 107
tensor(0.0589)
Frame 108
tensor(0.0786)
Frame 109
tensor(0.0935)
Frame 110
tensor(0.1094)
 # KEYFRAME 14
0.05523030399490381
Frame 111
tensor(0.0154)
Frame 112
tensor(0.0294)
Frame 113
tensor(0.0449)
Frame 114
tensor(0.0618)
Frame 115
tensor(0.0796)
Frame 116
tensor(0.0944)
Frame 117
tensor(0.1091)
 # KEYFRAME 15
0.05262040300294757
Frame 118
tensor(0.0126)
Frame 119
tensor(0.0274)
Frame 120
tensor(0.0403)
Frame 121
tensor(0.0540)
Frame 122
tensor(0.0684)
Frame 123
tensor(0.0822)
Frame 124
tensor(0.0977)
Frame 125
tensor(0.1123)
 # KEYFRAME 16
0.05308230199443642
Frame 126
tensor(0.0123)
Frame 127
tensor(0.0253)
Frame 128
tensor(0.0380)
Frame 129
tensor(0.0497)
Frame 130
tensor(0.0630)
Frame 131
tensor(0.0740)
Frame 132
tensor(0.0930)
Frame 133
tensor(0.1067)
 # KEYFRAME 17
0.056054322005365975
Frame 134
tensor(0.0101)
Frame 135
tensor(0.0193)
Frame 136
tensor(0.0349)
Frame 137
tensor(0.0552)
Frame 138
tensor(0.0661)
Frame 139
tensor(0.0762)
Frame 140
tensor(0.0894)
Frame 141
tensor(0.0998)
Frame 142
tensor(0.1153)
 # KEYFRAME 18
0.05318105199694401
Frame 143
tensor(0.0131)
Frame 144
tensor(0.0220)
Frame 145
tensor(0.0287)
Frame 146
tensor(0.0403)
Frame 147
tensor(0.0510)
Frame 148
tensor(0.0652)
Frame 149
tensor(0.0771)
Frame 150
tensor(0.0883)
Frame 151
tensor(0.1027)
 # KEYFRAME 19
0.05624380100198323
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 152
tensor(0.0127)
Frame 153
tensor(0.0213)
Frame 154
tensor(0.0363)
Frame 155
tensor(0.0449)
Frame 156
tensor(0.0626)
Frame 157
tensor(0.0793)
Frame 158
tensor(0.1024)
 # KEYFRAME 20
0.051930806002928875
Frame 159
tensor(0.0101)
Frame 160
tensor(0.0246)
Frame 161
tensor(0.0385)
Frame 162
tensor(0.0479)
Frame 163
tensor(0.0608)
Frame 164
tensor(0.0894)
Frame 165
tensor(0.1147)
 # KEYFRAME 21
0.052438813996559475
Frame 166
tensor(0.0123)
Frame 167
tensor(0.0310)
Frame 168
tensor(0.0522)
Frame 169
tensor(0.0780)
Frame 170
tensor(0.0890)
Frame 171
tensor(0.0986)
Frame 172
tensor(0.1340)
 # KEYFRAME 22
0.053999868003302254
Frame 173
tensor(0.0190)
Frame 174
tensor(0.0351)
Frame 175
tensor(0.0520)
Frame 176
tensor(0.0724)
Frame 177
tensor(0.0913)
Frame 178
tensor(0.1318)
 # KEYFRAME 23
0.05253557399555575
Frame 179
tensor(0.0230)
Frame 180
tensor(0.0475)
Frame 181
tensor(0.0671)
Frame 182
tensor(0.0902)
Frame 183
tensor(0.1164)
 # KEYFRAME 24
0.05380672900355421
Frame 184
tensor(0.0249)
Frame 185
tensor(0.0468)
Frame 186
tensor(0.0756)
Frame 187
tensor(0.0981)
Frame 188
tensor(0.1244)
 # KEYFRAME 25
0.052335134001623373
Frame 189
tensor(0.0215)
Frame 190
tensor(0.0503)
Frame 191
tensor(0.0748)
Frame 192
tensor(0.0941)
Frame 193
tensor(0.1198)
 # KEYFRAME 26
0.05287961199792335
Frame 194
tensor(0.0191)
Frame 195
tensor(0.0412)
Frame 196
tensor(0.0633)
Frame 197
tensor(0.0885)
Frame 198
tensor(0.1104)
 # KEYFRAME 27
0.05562504299450666
Frame 199
tensor(0.0188)
Frame 200
tensor(0.0374)
Frame 201
tensor(0.0591)
Frame 202
tensor(0.0823)
Frame 203
tensor(0.0995)
Frame 204
tensor(0.1267)
 # KEYFRAME 28
0.053018322003481444
Frame 205
tensor(0.0176)
Frame 206
tensor(0.0351)
Frame 207
tensor(0.0504)
Frame 208
tensor(0.0761)
Frame 209
tensor(0.0934)
Frame 210
tensor(0.1178)
 # KEYFRAME 29
0.0555493329957244
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 211
tensor(0.0162)
Frame 212
tensor(0.0341)
Frame 213
tensor(0.0547)
Frame 214
tensor(0.0800)
Frame 215
tensor(0.0974)
Frame 216
tensor(0.1152)
 # KEYFRAME 30
0.05296705199725693
Frame 217
tensor(0.0180)
Frame 218
tensor(0.0349)
Frame 219
tensor(0.0595)
Frame 220
tensor(0.0769)
Frame 221
tensor(0.1022)
 # KEYFRAME 31
0.05264771400106838
Frame 222
tensor(0.0198)
Frame 223
tensor(0.0457)
Frame 224
tensor(0.0664)
Frame 225
tensor(0.0901)
Frame 226
tensor(0.1183)
 # KEYFRAME 32
0.05315856100060046
Frame 227
tensor(0.0186)
Frame 228
tensor(0.0400)
Frame 229
tensor(0.0609)
Frame 230
tensor(0.0775)
Frame 231
tensor(0.1038)
 # KEYFRAME 33
0.05228431500290753
Frame 232
tensor(0.0140)
Frame 233
tensor(0.0391)
Frame 234
tensor(0.0518)
Frame 235
tensor(0.0812)
Frame 236
tensor(0.1055)
 # KEYFRAME 34
0.05326266100018984
Frame 237
tensor(0.0155)
Frame 238
tensor(0.0359)
Frame 239
tensor(0.0602)
Frame 240
tensor(0.0886)
Frame 241
tensor(0.1093)
 # KEYFRAME 35
0.052653123006166425
Frame 242
tensor(0.0185)
Frame 243
tensor(0.0428)
Frame 244
tensor(0.0660)
Frame 245
tensor(0.0878)
Frame 246
tensor(0.1215)
 # KEYFRAME 36
0.052230894994863775
Frame 247
tensor(0.0211)
Frame 248
tensor(0.0423)
Frame 249
tensor(0.0695)
Frame 250
tensor(0.1030)
 # KEYFRAME 37
0.053655999996408354
Frame 251
tensor(0.0197)
Frame 252
tensor(0.0477)
Frame 253
tensor(0.0723)
Frame 254
tensor(0.0950)
Frame 255
tensor(0.1162)
 # KEYFRAME 38
0.052733953001734335
Frame 256
tensor(0.0183)
Frame 257
tensor(0.0429)
Frame 258
tensor(0.0781)
Frame 259
tensor(0.1094)
 # KEYFRAME 39
0.05393539899523603
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1452 loss_distill=0.1733 tta_take=0.005s
Frame 260
tensor(0.0214)
Frame 261
tensor(0.0498)
Frame 262
tensor(0.0771)
Frame 263
tensor(0.1033)
 # KEYFRAME 40
0.05237986399879446
Frame 264
tensor(0.0228)
Frame 265
tensor(0.0524)
Frame 266
tensor(0.0760)
Frame 267
tensor(0.0989)
Frame 268
tensor(0.1172)
 # KEYFRAME 41
0.05303238200576743
Frame 269
tensor(0.0231)
Frame 270
tensor(0.0484)
Frame 271
tensor(0.0657)
Frame 272
tensor(0.0877)
Frame 273
tensor(0.1153)
 # KEYFRAME 42
0.05271885299589485
Frame 274
tensor(0.0262)
Frame 275
tensor(0.0514)
Frame 276
tensor(0.0730)
Frame 277
tensor(0.0971)
Frame 278
tensor(0.1264)
 # KEYFRAME 43
0.05222952499752864
Frame 279
tensor(0.0230)
Frame 280
tensor(0.0468)
Frame 281
tensor(0.0738)
Frame 282
tensor(0.0874)
Frame 283
tensor(0.1123)
 # KEYFRAME 44
0.05292169300082605
Frame 284
tensor(0.0198)
Frame 285
tensor(0.0420)
Frame 286
tensor(0.0637)
Frame 287
tensor(0.0820)
Frame 288
tensor(0.1031)
 # KEYFRAME 45
0.05269622299965704
Frame 289
tensor(0.0199)
Frame 290
tensor(0.0416)
Frame 291
tensor(0.0614)
Frame 292
tensor(0.0832)
Frame 293
tensor(0.1085)
 # KEYFRAME 46
0.05254527299985057
Frame 294
tensor(0.0193)
Frame 295
tensor(0.0395)
Frame 296
tensor(0.0659)
Frame 297
tensor(0.0851)
Frame 298
tensor(0.1074)
 # KEYFRAME 47
0.05412147800234379
Frame 299
tensor(0.0235)
Backending... 48 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 19776, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1453 loss_distill=0.2747 tta_take=0.004s
[epoch 0 scene 215/556] vkitti/Scene20/overcast/Camera_1 frames=300 tta_steps_this_scene=2 mean_loss=0.2240 total_steps=1453 time=69.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0967)
Frame 2
tensor(0.2398)
 # KEYFRAME 1
Frame 3
tensor(0.1778)
 # KEYFRAME 2
0.05127269800141221
Frame 4
tensor(0.1664)
 # KEYFRAME 3
0.051668455998878926
Frame 5
tensor(0.1469)
 # KEYFRAME 4
0.05353049000405008
Frame 6
tensor(0.1351)
 # KEYFRAME 5
0.05418931799795246
Frame 7
tensor(0.1904)
 # KEYFRAME 6
0.055190983999636956
Frame 8
tensor(0.2006)
 # KEYFRAME 7
0.05617646100290585
Frame 9
tensor(0.2486)
 # KEYFRAME 8
0.05740648600476561
Frame 10
tensor(0.1467)
 # KEYFRAME 9
0.05797109500417719
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.0758)
Frame 12
tensor(0.1635)
 # KEYFRAME 10
0.05141814699891256
Frame 13
tensor(0.0674)
Frame 14
tensor(0.1863)
 # KEYFRAME 11
0.05158648699580226
Frame 15
tensor(0.1704)
 # KEYFRAME 12
0.05133539799862774
Frame 16
tensor(0.1129)
 # KEYFRAME 13
0.05337076000432717
Frame 17
tensor(0.1884)
 # KEYFRAME 14
0.05400159800046822
Frame 18
tensor(0.1198)
 # KEYFRAME 15
0.05430721699667629
Frame 19
tensor(0.1109)
 # KEYFRAME 16
0.054981744004180655
Frame 20
tensor(0.1509)
 # KEYFRAME 17
0.05559360299957916
Frame 21
tensor(0.1112)
 # KEYFRAME 18
0.056515109004976694
Frame 22
tensor(0.1671)
 # KEYFRAME 19
0.057537026004865766
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 23
tensor(0.1778)
 # KEYFRAME 20
0.053734909000922926
Frame 24
tensor(0.1844)
 # KEYFRAME 21
0.055073715004255064
Frame 25
tensor(0.1312)
 # KEYFRAME 22
0.05528471399884438
Frame 26
tensor(0.1734)
 # KEYFRAME 23
0.0556902030002675
Frame 27
tensor(0.1552)
 # KEYFRAME 24
0.05634147000091616
Frame 28
tensor(0.2096)
 # KEYFRAME 25
0.0570947870000964
Frame 29
tensor(0.1081)
 # KEYFRAME 26
0.05843535200256156
Frame 30
tensor(0.1145)
 # KEYFRAME 27
0.05957657899853075
Frame 31
tensor(0.1323)
 # KEYFRAME 28
0.06005219699727604
Frame 32
tensor(0.2001)
 # KEYFRAME 29
0.06033791600202676
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 33
tensor(0.0981)
Frame 34
tensor(0.1799)
 # KEYFRAME 30
0.05809644400142133
Frame 35
tensor(0.0852)
Frame 36
tensor(0.0731)
Frame 37
tensor(0.1179)
 # KEYFRAME 31
0.05948489899310516
Frame 38
tensor(0.0546)
Frame 39
tensor(0.0779)
Frame 40
tensor(0.1549)
 # KEYFRAME 32
0.05936231899977429
Frame 41
tensor(0.1928)
 # KEYFRAME 33
0.06035420600528596
Frame 42
tensor(0.1635)
 # KEYFRAME 34
0.06064915400202153
Frame 43
tensor(0.1293)
 # KEYFRAME 35
0.061143222999817226
Frame 44
tensor(0.1364)
 # KEYFRAME 36
0.06194182000035653
Frame 45
tensor(0.2699)
 # KEYFRAME 37
0.06272025700309314
Frame 46
tensor(0.1297)
 # KEYFRAME 38
0.06357830499473494
Frame 47
tensor(0.1675)
 # KEYFRAME 39
0.06418330199812772
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1454 loss_distill=0.1733 tta_take=0.008s
Frame 48
tensor(0.0615)
Frame 49
tensor(0.4377)
 # KEYFRAME 40
0.06253892800305039
Frame 50
tensor(0.1767)
 # KEYFRAME 41
0.06364214399945922
Frame 51
tensor(0.1286)
 # KEYFRAME 42
0.06373934400471626
Frame 52
tensor(0.0985)
Frame 53
tensor(0.2614)
 # KEYFRAME 43
0.06374532300105784
Frame 54
tensor(0.3848)
 # KEYFRAME 44
0.06454532099451171
Frame 55
tensor(0.2265)
 # KEYFRAME 45
0.0651327189989388
Frame 56
tensor(0.2290)
 # KEYFRAME 46
0.06596183600049699
Frame 57
tensor(0.1515)
 # KEYFRAME 47
0.06585663699661382
Frame 58
tensor(0.3834)
 # KEYFRAME 48
0.06655928299733205
Frame 59
tensor(0.2005)
 # KEYFRAME 49
0.06714241200097604
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1455 loss_distill=0.2747 tta_take=0.008s
Frame 60
tensor(0.1512)
 # KEYFRAME 50
0.0669494130052044
Frame 61
tensor(0.0758)
Frame 62
tensor(0.1994)
 # KEYFRAME 51
0.06859496700053569
Frame 63
tensor(0.1019)
 # KEYFRAME 52
0.06830214799992973
Frame 64
tensor(0.2143)
 # KEYFRAME 53
0.06894258499960415
Frame 65
tensor(0.1359)
 # KEYFRAME 54
0.06874646600044798
Frame 66
tensor(0.0558)
Frame 67
tensor(0.2462)
 # KEYFRAME 55
0.07016954099526629
Frame 68
tensor(0.1494)
 # KEYFRAME 56
0.07046483000158332
Frame 69
tensor(0.1727)
 # KEYFRAME 57
0.07111406799958786
Frame 70
tensor(0.1383)
 # KEYFRAME 58
0.07181346500146901
Frame 71
tensor(0.3015)
 # KEYFRAME 59
0.07265924300008919
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1456 loss_distill=0.3466 tta_take=0.008s
Frame 72
tensor(0.1467)
 # KEYFRAME 60
0.07179476499732118
Frame 73
tensor(0.1450)
 # KEYFRAME 61
0.07283361100417096
Frame 74
tensor(0.1557)
 # KEYFRAME 62
0.07256494200555608
Frame 75
tensor(0.2203)
 # KEYFRAME 63
0.07296457100164844
Frame 76
tensor(0.0641)
Frame 77
tensor(0.1520)
 # KEYFRAME 64
0.07358823899994604
Frame 78
tensor(0.0856)
Frame 79
tensor(0.0695)
Frame 80
tensor(0.1433)
 # KEYFRAME 65
0.07407965699530905
Frame 81
tensor(0.1141)
 # KEYFRAME 66
0.07486677400447661
Frame 82
tensor(0.0820)
Frame 83
tensor(0.2552)
 # KEYFRAME 67
0.07523572300124215
Frame 84
tensor(0.2967)
 # KEYFRAME 68
0.07565515200258233
Frame 85
tensor(0.1603)
 # KEYFRAME 69
0.07653953800036106
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1457 loss_distill=0.4024 tta_take=0.008s
Frame 86
tensor(0.2437)
 # KEYFRAME 70
0.07542812199972104
Frame 87
tensor(0.1868)
 # KEYFRAME 71
0.07641010899533285
Frame 88
tensor(0.3591)
 # KEYFRAME 72
0.0769762769996305
Frame 89
tensor(0.2120)
 # KEYFRAME 73
0.07779694400232984
Frame 90
tensor(0.0923)
Frame 91
tensor(0.2046)
 # KEYFRAME 74
0.07824812200124143
Frame 92
tensor(0.0714)
Frame 93
tensor(0.1697)
 # KEYFRAME 75
0.07853965099639026
Frame 94
tensor(0.3550)
 # KEYFRAME 76
0.07876724000379909
Frame 95
tensor(0.2398)
 # KEYFRAME 77
0.0793524789987714
Frame 96
tensor(0.2499)
 # KEYFRAME 78
0.07938976899458794
Frame 97
tensor(0.2615)
 # KEYFRAME 79
0.08018494499992812
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1458 loss_distill=0.4024 tta_take=0.008s
Frame 98
tensor(0.2244)
 # KEYFRAME 80
0.07545365199621301
Frame 99
tensor(0.3357)
 # KEYFRAME 81
0.07798577300127363
Frame 100
tensor(0.3159)
 # KEYFRAME 82
0.0772007260020473
Frame 101
tensor(0.2583)
 # KEYFRAME 83
0.07759339400217868
Frame 102
tensor(0.1829)
 # KEYFRAME 84
0.07806339300441323
Frame 103
tensor(0.1210)
 # KEYFRAME 85
0.0785997910061269
Frame 104
tensor(0.1276)
 # KEYFRAME 86
0.07970218699483667
Frame 105
tensor(0.2860)
 # KEYFRAME 87
0.07949617800477426
Frame 106
tensor(0.1474)
 # KEYFRAME 88
0.0807082840037765
Frame 107
tensor(0.1144)
 # KEYFRAME 89
0.0810057720009354
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595452308655
TTA-STEP: step=1459 loss_distill=0.4024 tta_take=0.008s
Frame 108
tensor(0.0836)
Frame 109
tensor(0.2346)
 # KEYFRAME 90
0.07556332099920837
Frame 110
tensor(0.0686)
Frame 111
tensor(0.1654)
 # KEYFRAME 91
0.07681730799959041
Frame 112
tensor(0.0623)
Frame 113
tensor(0.1520)
 # KEYFRAME 92
0.07734619500115514
Frame 114
tensor(0.1178)
 # KEYFRAME 93
0.07792061399959493
Frame 115
tensor(0.1908)
 # KEYFRAME 94
0.0784314920019824
Frame 116
tensor(0.1749)
 # KEYFRAME 95
0.07880712999758543
Frame 117
tensor(0.1956)
 # KEYFRAME 96
0.0786708509986056
Frame 118
tensor(0.1344)
 # KEYFRAME 97
0.07920171900332207
Frame 119
tensor(0.1102)
 # KEYFRAME 98
0.07955966799636371
Frame 120
tensor(0.1154)
 # KEYFRAME 99
0.080779342999449
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1460 loss_distill=0.4024 tta_take=0.008s
Frame 121
tensor(0.0714)
Frame 122
tensor(0.2845)
 # KEYFRAME 100
0.0758646009999211
Frame 123
tensor(0.1244)
 # KEYFRAME 101
0.07638170899735996
Frame 124
tensor(0.1265)
 # KEYFRAME 102
0.07737096599885263
Frame 125
tensor(0.1647)
 # KEYFRAME 103
0.07762451400049031
Frame 126
tensor(0.2441)
 # KEYFRAME 104
0.07819571300206007
Frame 127
tensor(0.3110)
 # KEYFRAME 105
0.0787254809984006
Frame 128
tensor(0.1936)
 # KEYFRAME 106
0.07796732399583561
Frame 129
tensor(0.1524)
 # KEYFRAME 107
0.07921078899380518
Frame 130
tensor(0.2231)
 # KEYFRAME 108
0.07913163900229847
Frame 131
tensor(0.1712)
 # KEYFRAME 109
0.08015158499620156
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1461 loss_distill=0.4024 tta_take=0.008s
Frame 132
tensor(0.0870)
Frame 133
tensor(0.2114)
 # KEYFRAME 110
0.07538391300477087
Frame 134
tensor(0.1532)
 # KEYFRAME 111
0.07856611099850852
Frame 135
tensor(0.2730)
 # KEYFRAME 112
0.07845160199940437
Frame 136
tensor(0.1827)
 # KEYFRAME 113
0.07892977000301471
Frame 137
tensor(0.2151)
 # KEYFRAME 114
0.0803902250045212
Frame 138
tensor(0.2000)
 # KEYFRAME 115
0.08075388299766928
Frame 139
tensor(0.1846)
 # KEYFRAME 116
0.078878939995775
Frame 140
tensor(0.0864)
Frame 141
tensor(0.1542)
 # KEYFRAME 117
0.08160248000058345
Frame 142
tensor(0.1309)
 # KEYFRAME 118
0.08185462900291895
Frame 143
tensor(0.1129)
 # KEYFRAME 119
0.08307166500162566
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1462 loss_distill=0.4024 tta_take=0.008s
Frame 144
tensor(0.1045)
 # KEYFRAME 120
0.07603322000068147
Frame 145
tensor(0.1506)
 # KEYFRAME 121
0.07768204400053946
Frame 146
tensor(0.2032)
 # KEYFRAME 122
0.07716263600013917
Frame 147
tensor(0.3730)
 # KEYFRAME 123
0.0778939240044565
Frame 148
tensor(0.2149)
 # KEYFRAME 124
0.07881030999851646
Frame 149
tensor(0.1251)
 # KEYFRAME 125
0.07889150099799735
Backending... 126 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 61380, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1463 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 216/556] scannetpp/e0abd740ba/DSC frames=150 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=1463 time=50.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1224)
 # KEYFRAME 1
Frame 2
tensor(0.1553)
 # KEYFRAME 2
0.05159734699554974
Frame 3
tensor(0.2041)
 # KEYFRAME 3
0.05240225399757037
Frame 4
tensor(0.2141)
 # KEYFRAME 4
0.05355802999838488
Frame 5
tensor(0.1333)
 # KEYFRAME 5
0.054354437001165934
Frame 6
tensor(0.2340)
 # KEYFRAME 6
0.05581285199878039
Frame 7
tensor(0.2198)
 # KEYFRAME 7
0.05635650000476744
Frame 8
tensor(0.2350)
 # KEYFRAME 8
0.057523525996657554
Frame 9
tensor(0.1869)
 # KEYFRAME 9
0.058240022997779306
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.1768)
 # KEYFRAME 10
0.05156237699702615
Frame 11
tensor(0.2104)
 # KEYFRAME 11
0.05246714399982011
Frame 12
tensor(0.2225)
 # KEYFRAME 12
0.052738253005372826
Frame 13
tensor(0.3540)
 # KEYFRAME 13
0.05464728600054514
Frame 14
tensor(0.2101)
 # KEYFRAME 14
0.054540826997254044
Frame 15
tensor(0.2375)
 # KEYFRAME 15
0.055141233999165706
Frame 16
tensor(0.2956)
 # KEYFRAME 16
0.05557554299593903
Frame 17
tensor(0.1733)
 # KEYFRAME 17
0.05622711099567823
Frame 18
tensor(0.2503)
 # KEYFRAME 18
0.05707273699954385
Frame 19
tensor(0.1961)
 # KEYFRAME 19
0.05775110499962466
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 20
tensor(0.1694)
 # KEYFRAME 20
0.05426676699426025
Frame 21
tensor(0.1547)
 # KEYFRAME 21
0.05500239499815507
Frame 22
tensor(0.2243)
 # KEYFRAME 22
0.05575923199648969
Frame 23
tensor(0.1508)
 # KEYFRAME 23
0.05637148000096204
Frame 24
tensor(0.0974)
Frame 25
tensor(0.2118)
 # KEYFRAME 24
0.05688104800356086
Frame 26
tensor(0.1134)
 # KEYFRAME 25
0.05757604599784827
Frame 27
tensor(0.1611)
 # KEYFRAME 26
0.05877302099543158
Frame 28
tensor(0.0573)
Frame 29
tensor(0.1095)
 # KEYFRAME 27
0.05969911899592262
Frame 30
tensor(0.1087)
 # KEYFRAME 28
0.06047063499863725
Frame 31
tensor(0.1200)
 # KEYFRAME 29
0.061170463006419595
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.1402)
 # KEYFRAME 30
0.05861850200017216
Frame 33
tensor(0.0889)
Frame 34
tensor(0.1802)
 # KEYFRAME 31
0.05963770800008206
Frame 35
tensor(0.1269)
 # KEYFRAME 32
0.05987350799841806
Frame 36
tensor(0.1222)
 # KEYFRAME 33
0.061118192999856547
Frame 37
tensor(0.0552)
Frame 38
tensor(0.2744)
 # KEYFRAME 34
0.06154893200437073
Frame 39
tensor(0.1267)
 # KEYFRAME 35
0.06196832999557955
Frame 40
tensor(0.2541)
 # KEYFRAME 36
0.06245694799872581
Frame 41
tensor(0.2109)
 # KEYFRAME 37
0.06317782599944621
Frame 42
tensor(0.1446)
 # KEYFRAME 38
0.0642121019991464
Frame 43
tensor(0.2582)
 # KEYFRAME 39
0.06491305000236025
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1464 loss_distill=0.1733 tta_take=0.008s
Frame 44
tensor(0.2524)
 # KEYFRAME 40
0.06264857800124446
Frame 45
tensor(0.1349)
 # KEYFRAME 41
0.06464360099926125
Frame 46
tensor(0.1050)
 # KEYFRAME 42
0.06384135400003288
Frame 47
tensor(0.2706)
 # KEYFRAME 43
0.06399497300299117
Frame 48
tensor(0.2610)
 # KEYFRAME 44
0.06465046100493055
Frame 49
tensor(0.1609)
 # KEYFRAME 45
0.06513462899602018
Frame 50
tensor(0.3211)
 # KEYFRAME 46
0.06611596500442829
Frame 51
tensor(0.1410)
 # KEYFRAME 47
0.06641781399957836
Frame 52
tensor(0.0695)
Frame 53
tensor(0.1071)
 # KEYFRAME 48
0.06649429399840301
Frame 54
tensor(0.1196)
 # KEYFRAME 49
0.06745992099604337
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=1465 loss_distill=0.2747 tta_take=0.008s
Frame 55
tensor(0.1071)
 # KEYFRAME 50
0.06722165200335439
Frame 56
tensor(0.1698)
 # KEYFRAME 51
0.06890356499934569
Frame 57
tensor(0.1022)
 # KEYFRAME 52
0.06932583399611758
Frame 58
tensor(0.0236)
Frame 59
tensor(0.1874)
 # KEYFRAME 53
0.07062910999957239
Frame 60
tensor(0.4169)
 # KEYFRAME 54
0.06901995500084013
Frame 61
tensor(0.1647)
 # KEYFRAME 55
0.0716211850012769
Frame 62
tensor(0.0682)
Frame 63
tensor(0.1699)
 # KEYFRAME 56
0.07256720199802658
Frame 64
tensor(0.1662)
 # KEYFRAME 57
0.07251059299596818
Frame 65
tensor(0.1943)
 # KEYFRAME 58
0.07327909000014188
Frame 66
tensor(0.1633)
 # KEYFRAME 59
0.07397935700282687
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=1466 loss_distill=0.3466 tta_take=0.008s
Frame 67
tensor(0.1747)
 # KEYFRAME 60
0.07163032599783037
Frame 68
tensor(0.0877)
Frame 69
tensor(0.1234)
 # KEYFRAME 61
0.0728806910046842
Frame 70
tensor(0.0569)
Frame 71
tensor(0.0862)
Frame 72
tensor(0.4202)
 # KEYFRAME 62
0.0722136140029761
Frame 73
tensor(0.2916)
 # KEYFRAME 63
0.07291093099775026
Frame 74
tensor(0.2219)
 # KEYFRAME 64
0.07352730999991763
Frame 75
tensor(0.3994)
 # KEYFRAME 65
0.074578976003977
Frame 76
tensor(0.1403)
 # KEYFRAME 66
0.074884943998768
Frame 77
tensor(0.3483)
 # KEYFRAME 67
0.0753612129992689
Frame 78
tensor(0.4861)
 # KEYFRAME 68
0.07530939300340833
Frame 79
tensor(0.2852)
 # KEYFRAME 69
0.07564734100014903
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1467 loss_distill=0.4024 tta_take=0.008s
Frame 80
tensor(0.0829)
Frame 81
tensor(0.1350)
 # KEYFRAME 70
0.07544617299572565
Frame 82
tensor(0.1341)
 # KEYFRAME 71
0.07767744500597473
Frame 83
tensor(0.2656)
 # KEYFRAME 72
0.07654564800031949
Frame 84
tensor(0.0584)
Frame 85
tensor(0.2368)
 # KEYFRAME 73
0.07800825299636927
Frame 86
tensor(0.0798)
Frame 87
tensor(0.3624)
 # KEYFRAME 74
0.07852723199903267
Frame 88
tensor(0.0732)
Frame 89
tensor(0.1469)
 # KEYFRAME 75
0.07879187099752016
Frame 90
tensor(0.0858)
Frame 91
tensor(0.1130)
 # KEYFRAME 76
0.07904607000091346
Frame 92
tensor(0.2247)
 # KEYFRAME 77
0.07924511900637299
Frame 93
tensor(0.1139)
 # KEYFRAME 78
0.08019497599889291
Frame 94
tensor(0.1405)
 # KEYFRAME 79
0.08113248200243106
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1468 loss_distill=0.4024 tta_take=0.008s
Frame 95
tensor(0.2424)
 # KEYFRAME 80
0.0755686920019798
Frame 96
tensor(0.1572)
 # KEYFRAME 81
0.07742705499549629
Frame 97
tensor(0.1575)
 # KEYFRAME 82
0.07687747699674219
Frame 98
tensor(0.0739)
Frame 99
tensor(0.1289)
 # KEYFRAME 83
0.07738806599809323
Frame 100
tensor(0.1234)
 # KEYFRAME 84
0.07773535400338005
Frame 101
tensor(0.1439)
 # KEYFRAME 85
0.07832224199955817
Frame 102
tensor(0.1773)
 # KEYFRAME 86
0.07868608999706339
Frame 103
tensor(0.1460)
 # KEYFRAME 87
0.07970010700228158
Frame 104
tensor(0.2205)
 # KEYFRAME 88
0.07981922700128052
Frame 105
tensor(0.2163)
 # KEYFRAME 89
0.08117564199346816
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1469 loss_distill=0.4024 tta_take=0.008s
Frame 106
tensor(0.1350)
 # KEYFRAME 90
0.07615079999959562
Frame 107
tensor(0.1983)
 # KEYFRAME 91
0.07752550399891334
Frame 108
tensor(0.1402)
 # KEYFRAME 92
0.07743457600008696
Frame 109
tensor(0.2016)
 # KEYFRAME 93
0.0778618140029721
Frame 110
tensor(0.1631)
 # KEYFRAME 94
0.07857590099592926
Frame 111
tensor(0.0396)
Frame 112
tensor(0.1963)
 # KEYFRAME 95
0.07869257999846013
Frame 113
tensor(0.0783)
Frame 114
tensor(0.3890)
 # KEYFRAME 96
0.07893139999941923
Frame 115
tensor(0.1983)
 # KEYFRAME 97
0.07953559800080257
Frame 116
tensor(0.1913)
 # KEYFRAME 98
0.07985498700145399
Frame 117
tensor(0.1711)
 # KEYFRAME 99
0.0811129229987273
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1470 loss_distill=0.4024 tta_take=0.009s
Frame 118
tensor(0.2808)
 # KEYFRAME 100
0.07577908100211062
Frame 119
tensor(0.1737)
 # KEYFRAME 101
0.077342705000774
Frame 120
tensor(0.0613)
Frame 121
tensor(0.1510)
 # KEYFRAME 102
0.07789395400322974
Frame 122
tensor(0.1626)
 # KEYFRAME 103
0.07775551400118275
Frame 123
tensor(0.1200)
 # KEYFRAME 104
0.07865145100367954
Frame 124
tensor(0.4174)
 # KEYFRAME 105
0.07893884999793954
Frame 125
tensor(0.1917)
 # KEYFRAME 106
0.07809488299972145
Frame 126
tensor(0.1224)
 # KEYFRAME 107
0.07994153699837625
Frame 127
tensor(0.2244)
 # KEYFRAME 108
0.07978697700309567
Frame 128
tensor(0.2861)
 # KEYFRAME 109
0.08045151500118664
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1471 loss_distill=0.4024 tta_take=0.008s
Frame 129
tensor(0.2168)
 # KEYFRAME 110
0.07556332200329052
Frame 130
tensor(0.2362)
 # KEYFRAME 111
0.0761040299985325
Frame 131
tensor(0.2180)
 # KEYFRAME 112
0.07755355500557926
Frame 132
tensor(0.2952)
 # KEYFRAME 113
0.07824711200373713
Frame 133
tensor(0.3286)
 # KEYFRAME 114
0.0796217569950386
Frame 134
tensor(0.1990)
 # KEYFRAME 115
0.08087328299734509
Frame 135
tensor(0.1086)
 # KEYFRAME 116
0.07834143199579557
Frame 136
tensor(0.0210)
Frame 137
tensor(0.1400)
 # KEYFRAME 117
0.08139192200178513
Frame 138
tensor(0.3657)
 # KEYFRAME 118
0.08150898000167217
Frame 139
tensor(0.1662)
 # KEYFRAME 119
0.08420970199949807
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1472 loss_distill=0.4024 tta_take=0.009s
Frame 140
tensor(0.2604)
 # KEYFRAME 120
0.07554115200036904
Frame 141
tensor(0.2229)
 # KEYFRAME 121
0.07831977200112306
Frame 142
tensor(0.2319)
 # KEYFRAME 122
0.07812393300264375
Frame 143
tensor(0.3201)
 # KEYFRAME 123
0.07867874100338668
Frame 144
tensor(0.1806)
 # KEYFRAME 124
0.08026432499900693
Frame 145
tensor(0.1110)
 # KEYFRAME 125
0.08078379300422966
Frame 146
tensor(0.0414)
Frame 147
tensor(0.5369)
 # KEYFRAME 126
0.07915438900090521
Frame 148
tensor(0.3656)
 # KEYFRAME 127
0.0813861410060781
Frame 149
tensor(0.2164)
 # KEYFRAME 128
0.08230558800278232
Backending... 129 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 64170, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1473 loss_distill=0.4024 tta_take=0.008s
[epoch 0 scene 217/556] scannetpp/f8062cb7ce/DSC frames=150 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=1473 time=49.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0132)
Frame 2
tensor(0.2794)
 # KEYFRAME 1
Frame 3
tensor(0.1132)
 # KEYFRAME 2
0.05149706699739909
Frame 4
tensor(0.1535)
 # KEYFRAME 3
0.05347635000362061
Frame 5
tensor(0.1741)
 # KEYFRAME 4
0.054015258996514603
Frame 6
tensor(0.3211)
 # KEYFRAME 5
0.05493338499945821
Frame 7
tensor(0.5749)
 # KEYFRAME 6
0.05557961299928138
Frame 8
tensor(0.2840)
 # KEYFRAME 7
0.05669930800650036
Frame 9
tensor(0.4955)
 # KEYFRAME 8
0.05791824500192888
Frame 10
tensor(0.1545)
 # KEYFRAME 9
0.05789736500446452
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.2353)
 # KEYFRAME 10
0.05249108300631633
Frame 12
tensor(0.2920)
 # KEYFRAME 11
0.05352462999871932
Frame 13
tensor(0.2829)
 # KEYFRAME 12
0.054369687000871636
Frame 14
tensor(0.2140)
 # KEYFRAME 13
0.05625547999807168
Frame 15
tensor(0.1819)
 # KEYFRAME 14
0.057353836004040204
Frame 16
tensor(0.2015)
 # KEYFRAME 15
0.057765444995311555
Frame 17
tensor(0.2933)
 # KEYFRAME 16
0.05885823100106791
Frame 18
tensor(0.2161)
 # KEYFRAME 17
0.05993149699497735
Frame 19
tensor(0.2493)
 # KEYFRAME 18
0.06101506399863865
Frame 20
tensor(0.2029)
 # KEYFRAME 19
0.0621308690024307
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.2249)
 # KEYFRAME 20
0.05932416900031967
Frame 22
tensor(0.0859)
Frame 23
tensor(0.1705)
 # KEYFRAME 21
0.06075530400266871
Frame 24
tensor(0.1870)
 # KEYFRAME 22
0.06131395199918188
Frame 25
tensor(0.1731)
 # KEYFRAME 23
0.06248293899989221
Frame 26
tensor(0.2066)
 # KEYFRAME 24
0.0629782760006492
Frame 27
tensor(0.4047)
 # KEYFRAME 25
0.06442496200179448
Frame 28
tensor(0.2080)
 # KEYFRAME 26
0.06569216600473737
Frame 29
tensor(0.1786)
 # KEYFRAME 27
0.06640324399631936
Frame 30
tensor(0.2136)
 # KEYFRAME 28
0.06743003099836642
Frame 31
tensor(0.1996)
 # KEYFRAME 29
0.06822923800064018
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.6460)
 # KEYFRAME 30
0.06591871599812293
Frame 33
tensor(0.1529)
 # KEYFRAME 31
0.06711388200346846
Frame 34
tensor(0.3774)
 # KEYFRAME 32
0.06799849899834953
Frame 35
tensor(0.7246)
 # KEYFRAME 33
0.06886683600168908
Frame 36
tensor(0.2624)
 # KEYFRAME 34
0.07027061100234278
Frame 37
tensor(0.2514)
 # KEYFRAME 35
0.07115814700227929
Frame 38
tensor(0.3414)
 # KEYFRAME 36
0.07195627400506055
Frame 39
tensor(0.4567)
 # KEYFRAME 37
0.07293453099555336
Frame 40
tensor(0.3248)
 # KEYFRAME 38
0.07371056899864925
Frame 41
tensor(0.3706)
 # KEYFRAME 39
0.07472321399836801
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1474 loss_distill=0.1733 tta_take=0.009s
Frame 42
tensor(0.2616)
 # KEYFRAME 40
0.07294964099855861
Frame 43
tensor(0.1871)
 # KEYFRAME 41
0.07476553499873262
Frame 44
tensor(0.2919)
 # KEYFRAME 42
0.07464757499838015
Frame 45
tensor(0.3019)
 # KEYFRAME 43
0.07541572199988877
Frame 46
tensor(0.2573)
 # KEYFRAME 44
0.07591094999952475
Frame 47
tensor(0.3477)
 # KEYFRAME 45
0.07684751799388323
Frame 48
tensor(0.1494)
 # KEYFRAME 46
0.07705077699938556
Frame 49
tensor(0.1225)
 # KEYFRAME 47
0.07792019299813546
Frame 50
tensor(0.3073)
 # KEYFRAME 48
0.07919304899405688
Frame 51
tensor(0.1976)
 # KEYFRAME 49
0.08031527500133961
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1475 loss_distill=0.2747 tta_take=0.009s
Frame 52
tensor(0.3758)
 # KEYFRAME 50
0.07938184800150339
Frame 53
tensor(0.0838)
Frame 54
tensor(0.4912)
 # KEYFRAME 51
0.08140019099664642
Frame 55
tensor(0.2226)
 # KEYFRAME 52
0.08233971799927531
Frame 56
tensor(0.3138)
 # KEYFRAME 53
0.08251828699576436
Frame 57
tensor(0.1832)
 # KEYFRAME 54
0.08395562200166751
Frame 58
tensor(0.2403)
 # KEYFRAME 55
0.08491368900286034
Frame 59
tensor(0.7818)
 # KEYFRAME 56
0.0854188770026667
Frame 60
tensor(0.3468)
 # KEYFRAME 57
0.08606981399498181
Frame 61
tensor(0.6420)
 # KEYFRAME 58
0.08722618000319926
Frame 62
tensor(0.2360)
 # KEYFRAME 59
0.08735811000224203
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1476 loss_distill=0.3466 tta_take=0.009s
Frame 63
tensor(0.2488)
 # KEYFRAME 60
0.08606592399883084
Frame 64
tensor(0.2707)
 # KEYFRAME 61
0.08903040400036843
Frame 65
tensor(0.1749)
 # KEYFRAME 62
0.08837632599897915
Frame 66
tensor(0.1117)
 # KEYFRAME 63
0.08874291500251275
Frame 67
tensor(0.2461)
 # KEYFRAME 64
0.08988295099698007
Frame 68
tensor(0.1431)
 # KEYFRAME 65
0.09055203900061315
Frame 69
tensor(0.3385)
 # KEYFRAME 66
0.09112539699708577
Frame 70
tensor(0.3994)
 # KEYFRAME 67
0.09257037199859042
Frame 71
tensor(0.2039)
 # KEYFRAME 68
0.09277136000309838
Frame 72
tensor(0.2380)
 # KEYFRAME 69
0.09467455400590552
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1477 loss_distill=0.4024 tta_take=0.052s
Frame 73
tensor(0.1519)
 # KEYFRAME 70
0.09462612399511272
Frame 74
tensor(0.2627)
 # KEYFRAME 71
0.15476520999800414
Frame 75
tensor(0.1843)
 # KEYFRAME 72
0.09508076299971435
Frame 76
tensor(0.4422)
 # KEYFRAME 73
0.09540263200324262
Frame 77
tensor(0.5248)
 # KEYFRAME 74
0.0966905770037556
Frame 78
tensor(0.2340)
 # KEYFRAME 75
0.09776702300587203
Frame 79
tensor(0.2005)
 # KEYFRAME 76
0.09824821099755354
Frame 80
tensor(0.4689)
 # KEYFRAME 77
0.09997683599794982
Frame 81
tensor(0.2950)
 # KEYFRAME 78
0.09945200799847953
Frame 82
tensor(0.4484)
 # KEYFRAME 79
0.10081192199868383
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1478 loss_distill=0.4024 tta_take=0.009s
Frame 83
tensor(0.6694)
 # KEYFRAME 80
0.09333769899967592
Frame 84
tensor(0.2686)
 # KEYFRAME 81
0.09574502000032226
Frame 85
tensor(0.2905)
 # KEYFRAME 82
0.09545661200536415
Frame 86
tensor(0.2041)
 # KEYFRAME 83
0.0965943769988371
Frame 87
tensor(0.1398)
 # KEYFRAME 84
0.09673834699788131
Frame 88
tensor(0.2071)
 # KEYFRAME 85
0.09755858400603756
Frame 89
tensor(0.2780)
 # KEYFRAME 86
0.09936558800109196
Frame 90
tensor(0.1413)
 # KEYFRAME 87
0.09957951700198464
Frame 91
tensor(0.2528)
 # KEYFRAME 88
0.10043609399872366
Frame 92
tensor(0.3030)
 # KEYFRAME 89
0.10121657099807635
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1479 loss_distill=0.4024 tta_take=0.009s
Frame 93
tensor(0.1664)
 # KEYFRAME 90
0.09269488100107992
Frame 94
tensor(0.1572)
 # KEYFRAME 91
0.09645347799960291
Frame 95
tensor(0.2742)
 # KEYFRAME 92
0.09496499299712013
Frame 96
tensor(0.2426)
 # KEYFRAME 93
0.09665138700074749
Frame 97
tensor(0.1380)
 # KEYFRAME 94
0.09643240799778141
Frame 98
tensor(0.4746)
 # KEYFRAME 95
0.0984803399987868
Frame 99
tensor(0.3932)
 # KEYFRAME 96
0.09900982800172642
Frame 100
tensor(0.1991)
 # KEYFRAME 97
0.09893821900186595
Frame 101
tensor(0.3279)
 # KEYFRAME 98
0.10032764499919722
Frame 102
tensor(0.1089)
 # KEYFRAME 99
0.10061728300206596
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1480 loss_distill=0.4024 tta_take=0.009s
Frame 103
tensor(0.2121)
 # KEYFRAME 100
0.09392907700384967
Frame 104
tensor(0.3914)
 # KEYFRAME 101
0.09406910600228002
Frame 105
tensor(0.3408)
 # KEYFRAME 102
0.09515445300348802
Frame 106
tensor(0.4048)
 # KEYFRAME 103
0.09669080700405175
Frame 107
tensor(0.4533)
 # KEYFRAME 104
0.09730519399454352
Frame 108
tensor(0.2894)
 # KEYFRAME 105
0.09743418399739312
Frame 109
tensor(0.3864)
 # KEYFRAME 106
0.09816040199802956
Frame 110
tensor(0.5030)
 # KEYFRAME 107
0.0995035160012776
Frame 111
tensor(0.3712)
 # KEYFRAME 108
0.09954968699457822
Frame 112
tensor(0.1723)
 # KEYFRAME 109
0.10104475199477747
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1481 loss_distill=0.4024 tta_take=0.009s
Frame 113
tensor(0.2757)
 # KEYFRAME 110
0.09316580899758264
Frame 114
tensor(0.1933)
 # KEYFRAME 111
0.09429958599503152
Frame 115
tensor(0.2467)
 # KEYFRAME 112
0.09599381900625303
Frame 116
tensor(0.2367)
 # KEYFRAME 113
0.09596650899766246
Frame 117
tensor(0.2201)
 # KEYFRAME 114
0.09771600300155114
Frame 118
tensor(0.2085)
 # KEYFRAME 115
0.09724444399762433
Frame 119
tensor(0.1256)
 # KEYFRAME 116
0.09884485899965512
Frame 120
tensor(0.4296)
 # KEYFRAME 117
0.10012896500120405
Frame 121
tensor(0.2514)
 # KEYFRAME 118
0.10021578500163741
Frame 122
tensor(0.2023)
 # KEYFRAME 119
0.1006326930000796
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1482 loss_distill=0.4024 tta_take=0.009s
Frame 123
tensor(0.3946)
 # KEYFRAME 120
0.093595088001166
Frame 124
tensor(0.1272)
 # KEYFRAME 121
0.09709017500426853
Frame 125
tensor(0.3297)
 # KEYFRAME 122
0.09640631799993571
Frame 126
tensor(0.1209)
 # KEYFRAME 123
0.09657909700035816
Frame 127
tensor(0.5152)
 # KEYFRAME 124
0.0972528450001846
Frame 128
tensor(0.4619)
 # KEYFRAME 125
0.09857969099539332
Frame 129
tensor(0.2085)
 # KEYFRAME 126
0.09887235900532687
Frame 130
tensor(0.2690)
 # KEYFRAME 127
0.0992274379968876
Frame 131
tensor(0.1303)
 # KEYFRAME 128
0.10098563200153876
Frame 132
tensor(0.3656)
 # KEYFRAME 129
0.10117611099849455
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1483 loss_distill=0.4024 tta_take=0.009s
[epoch 0 scene 218/556] scannetpp/fe1733741f/frame frames=133 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=1483 time=51.6s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0005)
Frame 2
tensor(0.0008)
Frame 3
tensor(0.0013)
Frame 4
tensor(0.0005)
Frame 5
tensor(0.0007)
Frame 6
tensor(0.0008)
Frame 7
tensor(0.0008)
Frame 8
tensor(0.0008)
Frame 9
tensor(0.0008)
Frame 10
tensor(0.0008)
Frame 11
tensor(0.0009)
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tensor(0.0008)
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tensor(0.0008)
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tensor(0.0008)
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tensor(0.0005)
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tensor(0.0009)
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Frame 18
tensor(0.0008)
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tensor(0.0006)
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tensor(0.0007)
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tensor(0.0009)
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tensor(0.0010)
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tensor(0.0008)
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tensor(0.0011)
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tensor(0.0007)
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tensor(0.0015)
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tensor(0.0023)
Frame 38
tensor(0.0030)
Frame 39
tensor(0.0020)
Frame 40
tensor(0.0024)
Frame 41
tensor(0.0027)
Frame 42
tensor(0.0024)
Frame 43
tensor(0.0020)
Frame 44
tensor(0.0015)
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tensor(0.0021)
Frame 46
tensor(0.0027)
Frame 47
tensor(0.0017)
Frame 48
tensor(0.0012)
Frame 49
tensor(0.0008)
Frame 50
tensor(0.0006)
Frame 51
tensor(0.0005)
Frame 52
tensor(0.0006)
Frame 53
tensor(0.0018)
Frame 54
tensor(0.0015)
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tensor(0.0019)
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tensor(0.0029)
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tensor(0.0035)
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tensor(0.0038)
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tensor(0.0041)
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tensor(0.0035)
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tensor(0.0029)
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tensor(0.0023)
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tensor(0.0007)
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tensor(0.0022)
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tensor(0.0045)
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tensor(0.0041)
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tensor(0.0041)
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tensor(0.0022)
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tensor(0.0014)
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tensor(0.0015)
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tensor(0.0016)
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tensor(0.0003)
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tensor(0.0008)
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tensor(0.0007)
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tensor(0.0006)
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Frame 119
tensor(0.0010)
Frame 120
tensor(0.0007)
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tensor(0.0009)
Frame 122
tensor(0.0009)
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tensor(0.0022)
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tensor(0.0024)
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tensor(0.0022)
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tensor(0.0015)
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tensor(0.0007)
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tensor(0.0003)
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tensor(0.0007)
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tensor(0.0008)
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tensor(0.0007)
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tensor(0.0010)
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tensor(0.0010)
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tensor(0.0009)
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tensor(0.0012)
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tensor(0.0011)
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tensor(0.0014)
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tensor(0.0010)
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tensor(0.0010)
Frame 149
tensor(0.0010)
Frame 150
tensor(0.0018)
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tensor(0.0013)
Frame 152
tensor(0.0013)
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tensor(0.0015)
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tensor(0.0017)
Frame 155
tensor(0.0014)
Frame 156
tensor(0.0013)
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tensor(0.0011)
Frame 158
tensor(0.0013)
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tensor(0.0020)
Frame 160
tensor(0.0018)
Frame 161
tensor(0.0021)
Frame 162
tensor(0.0015)
Frame 163
tensor(0.0015)
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tensor(0.0017)
Frame 165
tensor(0.0014)
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tensor(0.0012)
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tensor(0.0015)
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tensor(0.0014)
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tensor(0.0015)
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tensor(0.0017)
Frame 171
tensor(0.0011)
Frame 172
tensor(0.0015)
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tensor(0.0011)
Frame 174
tensor(0.0012)
Frame 175
tensor(0.0011)
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tensor(0.0015)
Frame 177
tensor(0.0012)
Frame 178
tensor(0.0010)
Frame 179
tensor(0.0012)
Frame 180
tensor(0.0012)
Frame 181
tensor(0.0018)
Frame 182
tensor(0.0032)
Frame 183
tensor(0.0040)
Frame 184
tensor(0.0050)
Frame 185
tensor(0.0070)
Frame 186
tensor(0.0096)
Frame 187
tensor(0.0110)
Frame 188
tensor(0.0138)
Frame 189
tensor(0.0185)
Frame 190
tensor(0.0218)
Frame 191
tensor(0.0269)
Frame 192
tensor(0.0326)
Frame 193
tensor(0.0402)
Frame 194
tensor(0.0471)
Frame 195
tensor(0.0574)
Frame 196
tensor(0.0692)
Frame 197
tensor(0.0783)
Frame 198
tensor(0.0929)
Frame 199
tensor(0.1038)
 # KEYFRAME 1
Frame 200
tensor(0.0129)
Frame 201
tensor(0.0297)
Frame 202
tensor(0.0455)
Frame 203
tensor(0.0655)
Frame 204
tensor(0.0843)
Frame 205
tensor(0.1038)
 # KEYFRAME 2
0.051845365996996406
Frame 206
tensor(0.0188)
Frame 207
tensor(0.0358)
Frame 208
tensor(0.0556)
Frame 209
tensor(0.0793)
Frame 210
tensor(0.0973)
Frame 211
tensor(0.1146)
 # KEYFRAME 3
0.05166768700291868
Frame 212
tensor(0.0229)
Frame 213
tensor(0.0451)
Frame 214
tensor(0.0691)
Frame 215
tensor(0.0923)
Frame 216
tensor(0.1108)
 # KEYFRAME 4
0.052080825000302866
Frame 217
tensor(0.0273)
Frame 218
tensor(0.0504)
Frame 219
tensor(0.0762)
Frame 220
tensor(0.1082)
 # KEYFRAME 5
0.052579363000404555
Frame 221
tensor(0.0330)
Frame 222
tensor(0.0662)
Frame 223
tensor(0.1034)
 # KEYFRAME 6
0.05287446200236445
Frame 224
tensor(0.0328)
Frame 225
tensor(0.0647)
Frame 226
tensor(0.0972)
Frame 227
tensor(0.1358)
 # KEYFRAME 7
0.05222650500218151
Frame 228
tensor(0.0355)
Frame 229
tensor(0.0710)
Frame 230
tensor(0.1067)
 # KEYFRAME 8
0.052969292002671864
Frame 231
tensor(0.0397)
Frame 232
tensor(0.0760)
Frame 233
tensor(0.1108)
 # KEYFRAME 9
0.05256572300277185
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 234
tensor(0.0344)
Frame 235
tensor(0.0671)
Frame 236
tensor(0.1066)
 # KEYFRAME 10
0.051872675998311024
Frame 237
tensor(0.0386)
Frame 238
tensor(0.0714)
Frame 239
tensor(0.1073)
 # KEYFRAME 11
0.05212974599999143
Frame 240
tensor(0.0393)
Frame 241
tensor(0.0705)
Frame 242
tensor(0.1076)
 # KEYFRAME 12
0.0522603950012126
Frame 243
tensor(0.0421)
Frame 244
tensor(0.0804)
Frame 245
tensor(0.1250)
 # KEYFRAME 13
0.05274991299665999
Frame 246
tensor(0.0405)
Frame 247
tensor(0.0845)
Frame 248
tensor(0.1225)
 # KEYFRAME 14
0.05495798500487581
Frame 249
tensor(0.0390)
Frame 250
tensor(0.0801)
Frame 251
tensor(0.1274)
 # KEYFRAME 15
0.05250546400202438
Frame 252
tensor(0.0384)
Frame 253
tensor(0.0789)
Frame 254
tensor(0.1133)
 # KEYFRAME 16
0.05316801199660404
Frame 255
tensor(0.0366)
Frame 256
tensor(0.0788)
Frame 257
tensor(0.1192)
 # KEYFRAME 17
0.05631540100148413
Frame 258
tensor(0.0322)
Frame 259
tensor(0.0775)
Frame 260
tensor(0.1117)
 # KEYFRAME 18
0.053076222000527196
Frame 261
tensor(0.0363)
Frame 262
tensor(0.0727)
Frame 263
tensor(0.1118)
 # KEYFRAME 19
0.05750546600029338
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 264
tensor(0.0376)
Frame 265
tensor(0.0680)
Frame 266
tensor(0.1062)
 # KEYFRAME 20
0.051985805002914276
Frame 267
tensor(0.0366)
Frame 268
tensor(0.0708)
Frame 269
tensor(0.1070)
 # KEYFRAME 21
0.052054214997042436
Backending... 22 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 9064, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
[epoch 0 scene 219/556] vkitti/Scene06/15-deg-right/Camera_1 frames=270 tta_steps_this_scene=0 mean_loss=nan total_steps=1483 time=35.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.2383)
 # KEYFRAME 1
Frame 2
tensor(0.2187)
 # KEYFRAME 2
0.05122329800360603
Frame 3
tensor(0.1728)
 # KEYFRAME 3
0.05319135200261371
Frame 4
tensor(0.4900)
 # KEYFRAME 4
0.05378968000150053
Frame 5
tensor(0.4030)
 # KEYFRAME 5
0.054684716000338085
Frame 6
tensor(0.4788)
 # KEYFRAME 6
0.055198695001308806
Frame 7
tensor(0.4722)
 # KEYFRAME 7
0.05666834899602691
Frame 8
tensor(0.2451)
 # KEYFRAME 8
0.057743695004319306
Frame 9
tensor(0.3508)
 # KEYFRAME 9
0.05800902400369523
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.3590)
 # KEYFRAME 10
0.05210341500060167
Frame 11
tensor(0.3636)
 # KEYFRAME 11
0.053266291004547384
Frame 12
tensor(0.2402)
 # KEYFRAME 12
0.0541705979994731
Frame 13
tensor(0.5784)
 # KEYFRAME 13
0.05625506099750055
Frame 14
tensor(0.3054)
 # KEYFRAME 14
0.05731410699809203
Frame 15
tensor(0.2165)
 # KEYFRAME 15
0.05764660600107163
Frame 16
tensor(0.1055)
 # KEYFRAME 16
0.058920499999658205
Frame 17
tensor(0.3370)
 # KEYFRAME 17
0.06001494700467447
Frame 18
tensor(0.2049)
 # KEYFRAME 18
0.060925404002773575
Frame 19
tensor(0.3613)
 # KEYFRAME 19
0.06224069900054019
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 20
tensor(0.3094)
 # KEYFRAME 20
0.058903921002638526
Frame 21
tensor(0.2522)
 # KEYFRAME 21
0.06080993399518775
Frame 22
tensor(0.3123)
 # KEYFRAME 22
0.061136583994084504
Frame 23
tensor(0.2893)
 # KEYFRAME 23
0.062312918998941313
Frame 24
tensor(0.3519)
 # KEYFRAME 24
0.0629849769975408
Frame 25
tensor(0.1747)
 # KEYFRAME 25
0.06392829299875302
Frame 26
tensor(0.4426)
 # KEYFRAME 26
0.06527551799808862
Frame 27
tensor(0.5096)
 # KEYFRAME 27
0.06642245500552235
Frame 28
tensor(0.4346)
 # KEYFRAME 28
0.06754001099761808
Frame 29
tensor(0.3755)
 # KEYFRAME 29
0.06850691699946765
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 30
tensor(0.4920)
 # KEYFRAME 30
0.06586165600310778
Frame 31
tensor(0.5114)
 # KEYFRAME 31
0.06796735900570638
Frame 32
tensor(0.1163)
 # KEYFRAME 32
0.06804207799723372
Frame 33
tensor(0.7193)
 # KEYFRAME 33
0.069414143996255
Frame 34
tensor(0.4047)
 # KEYFRAME 34
0.06989534200693015
Frame 35
tensor(0.3462)
 # KEYFRAME 35
0.07110636799916392
Frame 36
tensor(0.3834)
 # KEYFRAME 36
0.07163691499590641
Frame 37
tensor(0.1496)
 # KEYFRAME 37
0.07311777099675965
Frame 38
tensor(0.7054)
 # KEYFRAME 38
0.07382489799783798
Frame 39
tensor(0.3769)
 # KEYFRAME 39
0.0746790450066328
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1484 loss_distill=0.1733 tta_take=0.009s
Frame 40
tensor(0.2446)
 # KEYFRAME 40
0.07279072199889924
Frame 41
tensor(0.2761)
 # KEYFRAME 41
0.07431129599717679
Frame 42
tensor(0.3903)
 # KEYFRAME 42
0.07471092499326915
Frame 43
tensor(0.5787)
 # KEYFRAME 43
0.07491364399902523
Frame 44
tensor(0.1967)
 # KEYFRAME 44
0.0757002009995631
Frame 45
tensor(0.4922)
 # KEYFRAME 45
0.07654905800154665
Frame 46
tensor(0.2511)
 # KEYFRAME 46
0.07741778500349028
Frame 47
tensor(0.3557)
 # KEYFRAME 47
0.07796049399621552
Frame 48
tensor(0.5839)
 # KEYFRAME 48
0.07911570900614606
Frame 49
tensor(0.4146)
 # KEYFRAME 49
0.07945767799537862
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1485 loss_distill=0.2747 tta_take=0.009s
Frame 50
tensor(0.4374)
 # KEYFRAME 50
0.0792447589992662
Frame 51
tensor(0.5385)
 # KEYFRAME 51
0.08189157000015257
Frame 52
tensor(0.0878)
Frame 53
tensor(0.5078)
 # KEYFRAME 52
0.08206873900053324
Frame 54
tensor(0.3917)
 # KEYFRAME 53
0.0824018179991981
Frame 55
tensor(0.4923)
 # KEYFRAME 54
0.08370825300517026
Frame 56
tensor(0.4219)
 # KEYFRAME 55
0.08497303899639519
Frame 57
tensor(0.2932)
 # KEYFRAME 56
0.08534954799688421
Frame 58
tensor(0.5567)
 # KEYFRAME 57
0.08578939500148408
Frame 59
tensor(0.4902)
 # KEYFRAME 58
0.0871902310027508
Frame 60
tensor(0.3733)
 # KEYFRAME 59
0.08718377100012731
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1486 loss_distill=0.3466 tta_take=0.009s
Frame 61
tensor(0.1253)
 # KEYFRAME 60
0.08646400299767265
Frame 62
tensor(0.4208)
 # KEYFRAME 61
0.08890929400513414
Frame 63
tensor(0.1491)
 # KEYFRAME 62
0.08840717600105563
Frame 64
tensor(0.4324)
 # KEYFRAME 63
0.08849861600174336
Frame 65
tensor(0.3610)
 # KEYFRAME 64
0.09004280000226572
Frame 66
tensor(0.2218)
 # KEYFRAME 65
0.09021890900476137
Frame 67
tensor(0.2986)
 # KEYFRAME 66
0.09189793399855262
Frame 68
tensor(0.3041)
 # KEYFRAME 67
0.09264133100077743
Frame 69
tensor(0.6450)
 # KEYFRAME 68
0.09247103199595585
Frame 70
tensor(0.7086)
 # KEYFRAME 69
0.09463924399460666
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1487 loss_distill=0.4024 tta_take=0.009s
Frame 71
tensor(0.4892)
 # KEYFRAME 70
0.09405097700073384
Frame 72
tensor(0.4423)
 # KEYFRAME 71
0.09431616499932716
Frame 73
tensor(0.6647)
 # KEYFRAME 72
0.09561876999941887
Frame 74
tensor(0.3468)
 # KEYFRAME 73
0.09602463900228031
Frame 75
tensor(0.4543)
 # KEYFRAME 74
0.09700265600258717
Frame 76
tensor(0.4069)
 # KEYFRAME 75
0.09751885399600724
Frame 77
tensor(0.2568)
 # KEYFRAME 76
0.09925522800040198
Frame 78
tensor(0.3750)
 # KEYFRAME 77
0.09961788699729368
Frame 79
tensor(0.2569)
 # KEYFRAME 78
0.09929597799782641
Frame 80
tensor(0.5470)
 # KEYFRAME 79
0.099901415000204
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1488 loss_distill=0.4024 tta_take=0.009s
Frame 81
tensor(0.1423)
 # KEYFRAME 80
0.09331294900039211
Frame 82
tensor(0.4428)
 # KEYFRAME 81
0.09546312100428622
Frame 83
tensor(0.2672)
 # KEYFRAME 82
0.09516899300069781
Frame 84
tensor(0.3336)
 # KEYFRAME 83
0.09622651799872983
Frame 85
tensor(0.3459)
 # KEYFRAME 84
0.09681969699886395
Frame 86
tensor(0.2736)
 # KEYFRAME 85
0.09730219400080387
Frame 87
tensor(0.2355)
 # KEYFRAME 86
0.09831002099963371
Frame 88
tensor(0.3757)
 # KEYFRAME 87
0.09913107800093712
Frame 89
tensor(0.3172)
 # KEYFRAME 88
0.10014502499689115
Frame 90
tensor(0.1609)
 # KEYFRAME 89
0.1010434810013976
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1489 loss_distill=0.4024 tta_take=0.009s
Frame 91
tensor(0.4346)
 # KEYFRAME 90
0.0935000979952747
Frame 92
tensor(0.4482)
 # KEYFRAME 91
0.0958067499959725
Frame 93
tensor(0.4199)
 # KEYFRAME 92
0.09549593100382481
Frame 94
tensor(0.3126)
 # KEYFRAME 93
0.09638752799946815
Frame 95
tensor(0.2216)
 # KEYFRAME 94
0.09705519500130322
Frame 96
tensor(0.4901)
 # KEYFRAME 95
0.09804479200101923
Frame 97
tensor(0.2367)
 # KEYFRAME 96
0.09893676899810089
Frame 98
tensor(0.3401)
 # KEYFRAME 97
0.09964031699928455
Frame 99
tensor(0.2598)
 # KEYFRAME 98
0.10044026400282746
Frame 100
tensor(0.2961)
 # KEYFRAME 99
0.10124267099308781
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1490 loss_distill=0.4024 tta_take=0.009s
Frame 101
tensor(0.3029)
 # KEYFRAME 100
0.09270498100522673
Frame 102
tensor(0.4583)
 # KEYFRAME 101
0.0961315789973014
Frame 103
tensor(0.2204)
 # KEYFRAME 102
0.09530971200001659
Frame 104
tensor(0.4130)
 # KEYFRAME 103
0.09669402699364582
Frame 105
tensor(0.1707)
 # KEYFRAME 104
0.09673589700105367
Frame 106
tensor(0.2535)
 # KEYFRAME 105
0.09810266199929174
Frame 107
tensor(0.2779)
 # KEYFRAME 106
0.09856141999625834
Frame 108
tensor(0.7998)
 # KEYFRAME 107
0.09988137500477023
Frame 109
tensor(0.2640)
 # KEYFRAME 108
0.10014774499722989
Frame 110
tensor(0.4985)
 # KEYFRAME 109
0.10147421999863582
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1491 loss_distill=0.4024 tta_take=0.009s
Frame 111
tensor(0.3963)
 # KEYFRAME 110
0.09270955100510037
Frame 112
tensor(0.2546)
 # KEYFRAME 111
0.09655356800067239
Frame 113
tensor(0.1678)
 # KEYFRAME 112
0.09588568899926031
Frame 114
tensor(0.3387)
 # KEYFRAME 113
0.09697031600080663
Frame 115
tensor(0.1684)
 # KEYFRAME 114
0.0978982820015517
Frame 116
tensor(0.3279)
 # KEYFRAME 115
0.09823583199613495
Frame 117
tensor(0.2362)
 # KEYFRAME 116
0.09865024000464473
Frame 118
tensor(0.5385)
 # KEYFRAME 117
0.09967551600129809
Frame 119
tensor(0.4575)
 # KEYFRAME 118
0.10033689400006551
Frame 120
tensor(0.3675)
 # KEYFRAME 119
0.10117639099917142
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1492 loss_distill=0.4024 tta_take=0.009s
Frame 121
tensor(0.5978)
 # KEYFRAME 120
0.09408795700437622
Frame 122
tensor(0.2331)
 # KEYFRAME 121
0.09455536500172457
Frame 123
tensor(0.3305)
 # KEYFRAME 122
0.0954428819968598
Frame 124
tensor(0.1947)
 # KEYFRAME 123
0.09650507799960906
Frame 125
tensor(0.3835)
 # KEYFRAME 124
0.09728773499955423
Frame 126
tensor(0.5302)
 # KEYFRAME 125
0.097728733002441
Frame 127
tensor(0.0930)
Frame 128
tensor(0.6217)
 # KEYFRAME 126
0.0992837480007438
Frame 129
tensor(0.3451)
 # KEYFRAME 127
0.09961993699835148
Frame 130
tensor(0.2514)
 # KEYFRAME 128
0.09994691500469344
Backending... 129 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 71829, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1493 loss_distill=0.4024 tta_take=0.008s
[epoch 0 scene 220/556] scannetpp/d918af9c5f/frame frames=131 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=1493 time=50.3s
[ckpt] /scratch-shared/wwei2/scorer_pretrain/scorer_v1/checkpoint-last.pth (epoch=0 scene=220)
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.3734)
 # KEYFRAME 1
Frame 2
tensor(0.1175)
 # KEYFRAME 2
0.05161644700274337
Frame 3
tensor(0.0821)
Frame 4
tensor(0.1675)
 # KEYFRAME 3
0.052332195002236404
Frame 5
tensor(0.1240)
 # KEYFRAME 4
0.053030662005767226
Frame 6
tensor(0.1041)
 # KEYFRAME 5
0.054274838003038894
Frame 7
tensor(0.0695)
Frame 8
tensor(0.1055)
 # KEYFRAME 6
0.055802711998694576
Frame 9
tensor(0.1008)
 # KEYFRAME 7
0.05619064000347862
Frame 10
tensor(0.0412)
Frame 11
tensor(0.1486)
 # KEYFRAME 8
0.05720552699494874
Frame 12
tensor(0.1116)
 # KEYFRAME 9
0.057765764999203384
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 13
tensor(0.0501)
Frame 14
tensor(0.1635)
 # KEYFRAME 10
0.05161686700012069
Frame 15
tensor(0.1069)
 # KEYFRAME 11
0.052428713999688625
Frame 16
tensor(0.1269)
 # KEYFRAME 12
0.05264531300053932
Frame 17
tensor(0.0676)
Frame 18
tensor(0.2323)
 # KEYFRAME 13
0.054571315995417535
Frame 19
tensor(0.0573)
Frame 20
tensor(0.0997)
Frame 21
tensor(0.0784)
Frame 22
tensor(0.0710)
Frame 23
tensor(0.0811)
Frame 24
tensor(0.1063)
 # KEYFRAME 14
0.05452237700228579
Frame 25
tensor(0.0661)
Frame 26
tensor(0.0635)
Frame 27
tensor(0.1297)
 # KEYFRAME 15
0.05453463700541761
Frame 28
tensor(0.0819)
Frame 29
tensor(0.1498)
 # KEYFRAME 16
0.05543442400085041
Frame 30
tensor(0.0844)
Frame 31
tensor(0.1585)
 # KEYFRAME 17
0.0556792220013449
Frame 32
tensor(0.1513)
 # KEYFRAME 18
0.05613146100222366
Frame 33
tensor(0.2037)
 # KEYFRAME 19
0.05735929599904921
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 34
tensor(0.0821)
Frame 35
tensor(0.0655)
Frame 36
tensor(0.1923)
 # KEYFRAME 20
0.05396872900018934
Frame 37
tensor(0.2787)
 # KEYFRAME 21
0.055024624001816846
Frame 38
tensor(0.0809)
Frame 39
tensor(0.2145)
 # KEYFRAME 22
0.05540236399974674
Frame 40
tensor(0.1793)
 # KEYFRAME 23
0.05605795099836541
Frame 41
tensor(0.1201)
 # KEYFRAME 24
0.05627787000412354
Frame 42
tensor(0.0780)
Frame 43
tensor(0.0744)
Frame 44
tensor(0.1464)
 # KEYFRAME 25
0.05728157699923031
Frame 45
tensor(0.0385)
Frame 46
tensor(0.8438)
 # KEYFRAME 26
0.05842050299543189
Frame 47
tensor(0.1815)
 # KEYFRAME 27
0.059025850001489744
Frame 48
tensor(0.1412)
 # KEYFRAME 28
0.06025030599994352
Frame 49
tensor(0.1655)
 # KEYFRAME 29
0.06053490500198677
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 50
tensor(0.1431)
 # KEYFRAME 30
0.0582340929977363
Frame 51
tensor(0.0983)
Frame 52
tensor(0.1382)
 # KEYFRAME 31
0.060376576002454385
Frame 53
tensor(0.2035)
 # KEYFRAME 32
0.059632229000271764
Frame 54
tensor(0.1857)
 # KEYFRAME 33
0.062119829999573994
Frame 55
tensor(0.3178)
 # KEYFRAME 34
0.06271274699975038
Frame 56
tensor(0.0693)
Frame 57
tensor(0.0847)
Frame 58
tensor(0.2584)
 # KEYFRAME 35
0.06386179399851244
Frame 59
tensor(0.1621)
 # KEYFRAME 36
0.06515692800167017
Frame 60
tensor(0.0783)
Frame 61
tensor(0.1837)
 # KEYFRAME 37
0.06586887600133196
Frame 62
tensor(0.1142)
 # KEYFRAME 38
0.06649028500396525
Frame 63
tensor(0.0245)
Frame 64
tensor(0.0565)
Frame 65
tensor(0.1239)
 # KEYFRAME 39
0.06684397199569503
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1494 loss_distill=0.1733 tta_take=0.008s
Frame 66
tensor(0.1052)
 # KEYFRAME 40
0.06288482699892484
Frame 67
tensor(0.1738)
 # KEYFRAME 41
0.0643255719987792
Frame 68
tensor(0.2441)
 # KEYFRAME 42
0.06427092200465268
Frame 69
tensor(0.3479)
 # KEYFRAME 43
0.0640845729940338
Frame 70
tensor(0.2140)
 # KEYFRAME 44
0.06505285999446642
Frame 71
tensor(0.0787)
Frame 72
tensor(0.1257)
 # KEYFRAME 45
0.06532943800266366
Frame 73
tensor(0.2160)
 # KEYFRAME 46
0.06645072399987839
Frame 74
tensor(0.1928)
 # KEYFRAME 47
0.06659375399613054
Frame 75
tensor(0.1670)
 # KEYFRAME 48
0.06721598099829862
Frame 76
tensor(0.0971)
Frame 77
tensor(0.4135)
 # KEYFRAME 49
0.06728042099712184
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1495 loss_distill=0.2747 tta_take=0.008s
Frame 78
tensor(0.0773)
Frame 79
tensor(0.0805)
Frame 80
tensor(0.0699)
Frame 81
tensor(0.0941)
Frame 82
tensor(0.1951)
 # KEYFRAME 50
0.0672593510025763
Frame 83
tensor(0.2874)
 # KEYFRAME 51
0.06928741399315186
Frame 84
tensor(0.2484)
 # KEYFRAME 52
0.06913474499742733
Frame 85
tensor(0.1088)
 # KEYFRAME 53
0.07053856999846175
Frame 86
tensor(0.3301)
 # KEYFRAME 54
0.0694516340008704
Frame 87
tensor(0.1399)
 # KEYFRAME 55
0.0719209749950096
Frame 88
tensor(0.1431)
 # KEYFRAME 56
0.07320281000284012
Frame 89
tensor(0.2393)
 # KEYFRAME 57
0.07288833200436784
Frame 90
tensor(0.1361)
 # KEYFRAME 58
0.07351580900285626
Frame 91
tensor(0.2979)
 # KEYFRAME 59
0.07394210799975554
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1496 loss_distill=0.3466 tta_take=0.008s
Frame 92
tensor(0.1697)
 # KEYFRAME 60
0.07110120699508116
Frame 93
tensor(0.1848)
 # KEYFRAME 61
0.0731981199933216
Frame 94
tensor(0.1290)
 # KEYFRAME 62
0.07268549299624283
Frame 95
tensor(0.1555)
 # KEYFRAME 63
0.07356810900091659
Frame 96
tensor(0.1853)
 # KEYFRAME 64
0.07399488700320944
Frame 97
tensor(0.1419)
 # KEYFRAME 65
0.07419521699921461
Frame 98
tensor(0.0750)
Frame 99
tensor(0.1771)
 # KEYFRAME 66
0.07513268399634399
Frame 100
tensor(0.2084)
 # KEYFRAME 67
0.07535510299931047
Frame 101
tensor(0.0928)
Frame 102
tensor(0.1403)
 # KEYFRAME 68
0.07613403000141261
Frame 103
tensor(0.2232)
 # KEYFRAME 69
0.07659692900051596
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595452308655
TTA-STEP: step=1497 loss_distill=0.4024 tta_take=0.008s
Frame 104
tensor(0.2300)
 # KEYFRAME 70
0.07551748200057773
Frame 105
tensor(0.1600)
 # KEYFRAME 71
0.07630007899570046
Frame 106
tensor(0.0627)
Frame 107
tensor(0.1398)
 # KEYFRAME 72
0.07746702599979471
Frame 108
tensor(0.1556)
 # KEYFRAME 73
0.07767711499764118
Frame 109
tensor(0.1783)
 # KEYFRAME 74
0.07847382099862443
Frame 110
tensor(0.2195)
 # KEYFRAME 75
0.07897881900134962
Frame 111
tensor(0.2321)
 # KEYFRAME 76
0.07858765100536402
Frame 112
tensor(0.1200)
 # KEYFRAME 77
0.07994888599932892
Frame 113
tensor(0.1633)
 # KEYFRAME 78
0.08077797399892006
Frame 114
tensor(0.0420)
Frame 115
tensor(0.0939)
Frame 116
tensor(0.1160)
 # KEYFRAME 79
0.08181478000187781
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1498 loss_distill=0.4024 tta_take=0.008s
Frame 117
tensor(0.0580)
Frame 118
tensor(0.2786)
 # KEYFRAME 80
0.07643142899905797
Frame 119
tensor(0.1905)
 # KEYFRAME 81
0.07804032300191466
Frame 120
tensor(0.2368)
 # KEYFRAME 82
0.07674101700104075
Frame 121
tensor(0.1464)
 # KEYFRAME 83
0.0777519539988134
Frame 122
tensor(0.1789)
 # KEYFRAME 84
0.0784498020002502
Frame 123
tensor(0.2199)
 # KEYFRAME 85
0.07901350899919635
Frame 124
tensor(0.2416)
 # KEYFRAME 86
0.0785412510012975
Frame 125
tensor(0.2499)
 # KEYFRAME 87
0.07997152600000845
Frame 126
tensor(0.2595)
 # KEYFRAME 88
0.07986786700348603
Frame 127
tensor(0.2009)
 # KEYFRAME 89
0.08088996299920836
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1499 loss_distill=0.4024 tta_take=0.008s
Frame 128
tensor(0.1657)
 # KEYFRAME 90
0.07589603099768283
Frame 129
tensor(0.3836)
 # KEYFRAME 91
0.07628901900170604
Frame 130
tensor(0.1502)
 # KEYFRAME 92
0.07724102599604521
Frame 131
tensor(0.2207)
 # KEYFRAME 93
0.07734744600020349
Frame 132
tensor(0.1017)
 # KEYFRAME 94
0.0784322309991694
Frame 133
tensor(0.0695)
Frame 134
tensor(0.1097)
 # KEYFRAME 95
0.07804064299853053
Frame 135
tensor(0.0619)
Frame 136
tensor(0.0630)
Frame 137
tensor(0.1479)
 # KEYFRAME 96
0.07835436199820833
Frame 138
tensor(0.0683)
Frame 139
tensor(0.2171)
 # KEYFRAME 97
0.0795902469981229
Frame 140
tensor(0.2678)
 # KEYFRAME 98
0.07972965700173518
Frame 141
tensor(0.3566)
 # KEYFRAME 99
0.08057888400071533
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1500 loss_distill=0.4024 tta_take=0.008s
Frame 142
tensor(0.1995)
 # KEYFRAME 100
0.07604867999907583
Frame 143
tensor(0.0847)
Frame 144
tensor(0.2253)
 # KEYFRAME 101
0.07748610500129871
Frame 145
tensor(0.0736)
Frame 146
tensor(0.2375)
 # KEYFRAME 102
0.07777619399712421
Frame 147
tensor(0.6188)
 # KEYFRAME 103
0.07793410299927928
Frame 148
tensor(0.1735)
 # KEYFRAME 104
0.07878655000240542
Frame 149
tensor(0.1890)
 # KEYFRAME 105
0.07926537899766117
Backending... 106 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 61380, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1501 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 221/556] scannetpp/d2f44bf242/DSC frames=150 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=1501 time=38.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0068)
Frame 2
tensor(0.2513)
 # KEYFRAME 1
Frame 3
tensor(0.2483)
 # KEYFRAME 2
0.051557617996877525
Frame 4
tensor(0.1525)
 # KEYFRAME 3
0.053709740001067985
Frame 5
tensor(0.2044)
 # KEYFRAME 4
0.054105438000988215
Frame 6
tensor(0.1325)
 # KEYFRAME 5
0.05502998500014655
Frame 7
tensor(0.2340)
 # KEYFRAME 6
0.055362592996971216
Frame 8
tensor(0.3387)
 # KEYFRAME 7
0.05702750700584147
Frame 9
tensor(0.5303)
 # KEYFRAME 8
0.0583292529991013
Frame 10
tensor(0.2489)
 # KEYFRAME 9
0.05807472400192637
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.2019)
 # KEYFRAME 10
0.05243740400328534
Frame 12
tensor(0.6153)
 # KEYFRAME 11
0.05351607999909902
Frame 13
tensor(0.2967)
 # KEYFRAME 12
0.0544195770053193
Frame 14
tensor(0.3759)
 # KEYFRAME 13
0.05618034000508487
Frame 15
tensor(0.2844)
 # KEYFRAME 14
0.057332555996254086
Frame 16
tensor(0.2038)
 # KEYFRAME 15
0.057631936004327144
Frame 17
tensor(0.3614)
 # KEYFRAME 16
0.05884159100241959
Frame 18
tensor(0.2797)
 # KEYFRAME 17
0.05967989800410578
Frame 19
tensor(0.2138)
 # KEYFRAME 18
0.061162074001913425
Frame 20
tensor(0.1672)
 # KEYFRAME 19
0.06258349800191354
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.2457)
 # KEYFRAME 20
0.059476278998772614
Frame 22
tensor(0.1431)
 # KEYFRAME 21
0.06067575400084024
Frame 23
tensor(0.2429)
 # KEYFRAME 22
0.06144172199856257
Frame 24
tensor(0.0693)
Frame 25
tensor(0.1668)
 # KEYFRAME 23
0.0624614480038872
Frame 26
tensor(0.1728)
 # KEYFRAME 24
0.06284388700441923
Frame 27
tensor(0.4375)
 # KEYFRAME 25
0.06392724299803376
Frame 28
tensor(0.2407)
 # KEYFRAME 26
0.06567361699853791
Frame 29
tensor(0.3418)
 # KEYFRAME 27
0.06678894299693638
Frame 30
tensor(0.2196)
 # KEYFRAME 28
0.06790486999670975
Frame 31
tensor(0.1863)
 # KEYFRAME 29
0.06816813800105592
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.3243)
 # KEYFRAME 30
0.066366104001645
Frame 33
tensor(0.6600)
 # KEYFRAME 31
0.06759040000179084
Frame 34
tensor(0.0526)
Frame 35
tensor(0.2560)
 # KEYFRAME 32
0.0682903080014512
Frame 36
tensor(0.2955)
 # KEYFRAME 33
0.06930072399700293
Frame 37
tensor(0.2815)
 # KEYFRAME 34
0.07003034199442482
Frame 38
tensor(0.1433)
 # KEYFRAME 35
0.07089240800269181
Frame 39
tensor(0.5130)
 # KEYFRAME 36
0.07184330500604119
Frame 40
tensor(0.4193)
 # KEYFRAME 37
0.0728185920015676
Frame 41
tensor(0.4911)
 # KEYFRAME 38
0.07374883799639065
Frame 42
tensor(0.3866)
 # KEYFRAME 39
0.07447951599897351
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1502 loss_distill=0.1733 tta_take=0.009s
Frame 43
tensor(0.3648)
 # KEYFRAME 40
0.07259387300291564
Frame 44
tensor(0.4180)
 # KEYFRAME 41
0.0746846049951273
Frame 45
tensor(0.5211)
 # KEYFRAME 42
0.07461240499833366
Frame 46
tensor(0.3137)
 # KEYFRAME 43
0.07548132199735846
Frame 47
tensor(0.4888)
 # KEYFRAME 44
0.07559356099955039
Frame 48
tensor(0.2907)
 # KEYFRAME 45
0.07699149700056296
Frame 49
tensor(0.4594)
 # KEYFRAME 46
0.07747442500112811
Frame 50
tensor(0.4151)
 # KEYFRAME 47
0.07766523500322364
Frame 51
tensor(0.2199)
 # KEYFRAME 48
0.07858019099512603
Frame 52
tensor(0.1428)
 # KEYFRAME 49
0.07990680600050837
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=1503 loss_distill=0.2747 tta_take=0.009s
Frame 53
tensor(0.5597)
 # KEYFRAME 50
0.07959092800592771
Frame 54
tensor(0.3453)
 # KEYFRAME 51
0.0820174489999772
Frame 55
tensor(0.4434)
 # KEYFRAME 52
0.0819445389934117
Frame 56
tensor(0.3849)
 # KEYFRAME 53
0.08294617500359891
Frame 57
tensor(0.1701)
 # KEYFRAME 54
0.08384240199666237
Frame 58
tensor(0.5937)
 # KEYFRAME 55
0.08476642899768194
Frame 59
tensor(0.3453)
 # KEYFRAME 56
0.08524840799509548
Frame 60
tensor(0.3995)
 # KEYFRAME 57
0.08546789699903456
Frame 61
tensor(0.3476)
 # KEYFRAME 58
0.08731912999792257
Frame 62
tensor(0.1307)
 # KEYFRAME 59
0.08768470900395187
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=1504 loss_distill=0.3466 tta_take=0.009s
Frame 63
tensor(0.5904)
 # KEYFRAME 60
0.08708112100430299
Frame 64
tensor(0.1279)
 # KEYFRAME 61
0.08884960500290617
Frame 65
tensor(0.2255)
 # KEYFRAME 62
0.08860498500143876
Frame 66
tensor(0.1929)
 # KEYFRAME 63
0.08936919300322188
Frame 67
tensor(0.1621)
 # KEYFRAME 64
0.09018461000232492
Frame 68
tensor(0.1972)
 # KEYFRAME 65
0.09109316599642625
Frame 69
tensor(0.1291)
 # KEYFRAME 66
0.09168604499427602
Frame 70
tensor(0.2291)
 # KEYFRAME 67
0.09263197100517573
Frame 71
tensor(0.4167)
 # KEYFRAME 68
0.09288954999647103
Frame 72
tensor(0.3944)
 # KEYFRAME 69
0.09464269399904879
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1505 loss_distill=0.4024 tta_take=0.009s
Frame 73
tensor(0.4167)
 # KEYFRAME 70
0.0933172889999696
Frame 74
tensor(0.1508)
 # KEYFRAME 71
0.09487228299985873
Frame 75
tensor(0.3077)
 # KEYFRAME 72
0.09554241099976934
Frame 76
tensor(0.2891)
 # KEYFRAME 73
0.09619805900001666
Frame 77
tensor(0.2210)
 # KEYFRAME 74
0.09675098700245144
Frame 78
tensor(0.2811)
 # KEYFRAME 75
0.09777144400140969
Frame 79
tensor(0.2212)
 # KEYFRAME 76
0.09845640099956654
Frame 80
tensor(0.1460)
 # KEYFRAME 77
0.09936784800083842
Frame 81
tensor(0.1873)
 # KEYFRAME 78
0.10029284399934113
Frame 82
tensor(0.3353)
 # KEYFRAME 79
0.10065331299847458
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595452308655
TTA-STEP: step=1506 loss_distill=0.4024 tta_take=0.009s
Frame 83
tensor(0.1618)
 # KEYFRAME 80
0.09263618200202473
Frame 84
tensor(0.2620)
 # KEYFRAME 81
0.09628838799835648
Frame 85
tensor(0.2415)
 # KEYFRAME 82
0.09574466099729761
Frame 86
tensor(0.3097)
 # KEYFRAME 83
0.09649760700267507
Frame 87
tensor(0.2156)
 # KEYFRAME 84
0.0965671369995107
Frame 88
tensor(0.0647)
Frame 89
tensor(0.1439)
 # KEYFRAME 85
0.0979047430009814
Frame 90
tensor(0.0833)
Frame 91
tensor(0.1832)
 # KEYFRAME 86
0.09881558999768458
Frame 92
tensor(0.2376)
 # KEYFRAME 87
0.09943878699414199
Frame 93
tensor(0.2101)
 # KEYFRAME 88
0.10067570299725048
Frame 94
tensor(0.0782)
Frame 95
tensor(0.2130)
 # KEYFRAME 89
0.10143071999482345
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1507 loss_distill=0.4024 tta_take=0.009s
Frame 96
tensor(0.0973)
Frame 97
tensor(0.1116)
 # KEYFRAME 90
0.09257540199905634
Frame 98
tensor(0.2242)
 # KEYFRAME 91
0.0963741379964631
Frame 99
tensor(0.4666)
 # KEYFRAME 92
0.0957063410023693
Frame 100
tensor(0.3531)
 # KEYFRAME 93
0.09589734000473982
Frame 101
tensor(0.3718)
 # KEYFRAME 94
0.09706114499567775
Frame 102
tensor(0.2216)
 # KEYFRAME 95
0.09829533100128174
Frame 103
tensor(0.2584)
 # KEYFRAME 96
0.09908000799623551
Frame 104
tensor(0.1516)
 # KEYFRAME 97
0.09892650899564615
Frame 105
tensor(0.1692)
 # KEYFRAME 98
0.09999334500025725
Frame 106
tensor(0.3164)
 # KEYFRAME 99
0.10128023099969141
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1508 loss_distill=0.4024 tta_take=0.009s
Frame 107
tensor(0.2773)
 # KEYFRAME 100
0.09279370099829976
Frame 108
tensor(0.0810)
Frame 109
tensor(0.1467)
 # KEYFRAME 101
0.09632695800246438
Frame 110
tensor(0.1935)
 # KEYFRAME 102
0.09480895299930125
Frame 111
tensor(0.3104)
 # KEYFRAME 103
0.096542468003463
Frame 112
tensor(0.3327)
 # KEYFRAME 104
0.09677664599439595
Frame 113
tensor(0.3703)
 # KEYFRAME 105
0.09760981400177116
Frame 114
tensor(0.3790)
 # KEYFRAME 106
0.09824965199368307
Frame 115
tensor(0.1855)
 # KEYFRAME 107
0.09959606600023108
Frame 116
tensor(0.2726)
 # KEYFRAME 108
0.10087372199632227
Frame 117
tensor(0.3085)
 # KEYFRAME 109
0.10138350000488572
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1509 loss_distill=0.4024 tta_take=0.009s
Frame 118
tensor(0.2065)
 # KEYFRAME 110
0.09314862999599427
Frame 119
tensor(0.1273)
 # KEYFRAME 111
0.09445120400050655
Frame 120
tensor(0.0643)
Frame 121
tensor(0.0874)
Frame 122
tensor(0.0867)
Frame 123
tensor(0.1202)
 # KEYFRAME 112
0.0960046690015588
Frame 124
tensor(0.1455)
 # KEYFRAME 113
0.09600485899863997
Frame 125
tensor(0.0907)
Frame 126
tensor(0.1753)
 # KEYFRAME 114
0.09774081399518764
Frame 127
tensor(0.0905)
Frame 128
tensor(0.0738)
Frame 129
tensor(0.0758)
Backending... 115 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 67665, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1510 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 222/556] scannetpp/281bc17764/frame frames=130 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=1510 time=45.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0393)
Frame 2
tensor(0.1478)
 # KEYFRAME 1
Frame 3
tensor(0.0919)
Frame 4
tensor(0.1446)
 # KEYFRAME 2
0.0514842869961285
Frame 5
tensor(0.1741)
 # KEYFRAME 3
0.05350552000163589
Frame 6
tensor(0.1332)
 # KEYFRAME 4
0.05387370900280075
Frame 7
tensor(0.0805)
Frame 8
tensor(0.0648)
Frame 9
tensor(0.1934)
 # KEYFRAME 5
0.05485843499627663
Frame 10
tensor(0.0457)
Frame 11
tensor(0.2073)
 # KEYFRAME 6
0.055417583003873006
Frame 12
tensor(0.1292)
 # KEYFRAME 7
0.05691136800305685
Frame 13
tensor(0.1019)
 # KEYFRAME 8
0.05799169399688253
Frame 14
tensor(0.0902)
Frame 15
tensor(0.2671)
 # KEYFRAME 9
0.05915983000159031
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 16
tensor(0.1539)
 # KEYFRAME 10
0.05200272599904565
Frame 17
tensor(0.1441)
 # KEYFRAME 11
0.05326953099574894
Frame 18
tensor(0.1628)
 # KEYFRAME 12
0.054180028004338965
Frame 19
tensor(0.2152)
 # KEYFRAME 13
0.056112040001607966
Frame 20
tensor(0.2878)
 # KEYFRAME 14
0.057124847000523005
Frame 21
tensor(0.2038)
 # KEYFRAME 15
0.057688904998940416
Frame 22
tensor(0.3404)
 # KEYFRAME 16
0.0585436019973713
Frame 23
tensor(0.2693)
 # KEYFRAME 17
0.05994967700098641
Frame 24
tensor(0.1297)
 # KEYFRAME 18
0.0607973439982743
Frame 25
tensor(0.2039)
 # KEYFRAME 19
0.06219291999877896
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 26
tensor(0.4517)
 # KEYFRAME 20
0.058907441001792904
Frame 27
tensor(0.1467)
 # KEYFRAME 21
0.06102183299663011
Frame 28
tensor(0.2134)
 # KEYFRAME 22
0.06124844300211407
Frame 29
tensor(0.1831)
 # KEYFRAME 23
0.06249240800389089
Frame 30
tensor(0.2495)
 # KEYFRAME 24
0.06313235699781217
Frame 31
tensor(0.0417)
Frame 32
tensor(0.3658)
 # KEYFRAME 25
0.0641682419955032
Frame 33
tensor(0.2421)
 # KEYFRAME 26
0.06537211799877696
Frame 34
tensor(0.2328)
 # KEYFRAME 27
0.06681528299668571
Frame 35
tensor(0.2674)
 # KEYFRAME 28
0.06738878000032855
Frame 36
tensor(0.2351)
 # KEYFRAME 29
0.06831433700426714
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 37
tensor(0.0904)
Frame 38
tensor(0.1143)
 # KEYFRAME 30
0.06596344600256998
Frame 39
tensor(0.1250)
 # KEYFRAME 31
0.06789957900036825
Frame 40
tensor(0.0611)
Frame 41
tensor(0.0663)
Frame 42
tensor(0.0859)
Frame 43
tensor(0.1270)
 # KEYFRAME 32
0.06853558700095164
Frame 44
tensor(0.0698)
Frame 45
tensor(0.1439)
 # KEYFRAME 33
0.06946974400489125
Frame 46
tensor(0.1913)
 # KEYFRAME 34
0.0701801510003861
Frame 47
tensor(0.4075)
 # KEYFRAME 35
0.07066834899887908
Frame 48
tensor(0.2927)
 # KEYFRAME 36
0.07177070600300794
Frame 49
tensor(0.2566)
 # KEYFRAME 37
0.07231324400345329
Frame 50
tensor(0.2130)
 # KEYFRAME 38
0.07349516999965999
Frame 51
tensor(0.2111)
 # KEYFRAME 39
0.0742514259982272
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1511 loss_distill=0.1733 tta_take=0.009s
Frame 52
tensor(0.2459)
 # KEYFRAME 40
0.07253519199730363
Frame 53
tensor(0.3082)
 # KEYFRAME 41
0.07461321499431506
Frame 54
tensor(0.4554)
 # KEYFRAME 42
0.07461982499808073
Frame 55
tensor(0.1064)
 # KEYFRAME 43
0.0751495540025644
Frame 56
tensor(0.1976)
 # KEYFRAME 44
0.07547380199684994
Frame 57
tensor(0.0914)
Frame 58
tensor(0.2229)
 # KEYFRAME 45
0.0769042769970838
Frame 59
tensor(0.1780)
 # KEYFRAME 46
0.07753376500477316
Frame 60
tensor(0.1887)
 # KEYFRAME 47
0.07741978599369759
Frame 61
tensor(0.1469)
 # KEYFRAME 48
0.07921053899917752
Frame 62
tensor(0.2594)
 # KEYFRAME 49
0.07990896699629957
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1512 loss_distill=0.2747 tta_take=0.009s
Frame 63
tensor(0.2070)
 # KEYFRAME 50
0.07984388600016246
Frame 64
tensor(0.0851)
Frame 65
tensor(0.0174)
Frame 66
tensor(0.0993)
Frame 67
tensor(0.0829)
Frame 68
tensor(0.1757)
 # KEYFRAME 51
0.08195403900026577
Frame 69
tensor(0.0970)
Frame 70
tensor(0.1569)
 # KEYFRAME 52
0.08216782800445799
Frame 71
tensor(0.2917)
 # KEYFRAME 53
0.0828568360011559
Frame 72
tensor(0.5376)
 # KEYFRAME 54
0.08417647099850001
Frame 73
tensor(0.3131)
 # KEYFRAME 55
0.08511132800049381
Frame 74
tensor(0.3286)
 # KEYFRAME 56
0.08543911699962337
Frame 75
tensor(0.4193)
 # KEYFRAME 57
0.0853618170003756
Frame 76
tensor(0.3725)
 # KEYFRAME 58
0.08736707999923965
Frame 77
tensor(0.2745)
 # KEYFRAME 59
0.0873626399989007
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=1513 loss_distill=0.3466 tta_take=0.009s
Frame 78
tensor(0.1981)
 # KEYFRAME 60
0.08699896100006299
Frame 79
tensor(0.1535)
 # KEYFRAME 61
0.08923935399798211
Frame 80
tensor(0.1472)
 # KEYFRAME 62
0.08831996699882438
Frame 81
tensor(0.2475)
 # KEYFRAME 63
0.08906145399669185
Frame 82
tensor(0.2440)
 # KEYFRAME 64
0.0898258410015842
Frame 83
tensor(0.1470)
 # KEYFRAME 65
0.0908528979998664
Frame 84
tensor(0.2489)
 # KEYFRAME 66
0.09126260600169189
Frame 85
tensor(0.1207)
 # KEYFRAME 67
0.09265577099722577
Frame 86
tensor(0.0856)
Frame 87
tensor(0.1832)
 # KEYFRAME 68
0.09355665800103452
Frame 88
tensor(0.1176)
 # KEYFRAME 69
0.09399477700208081
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1514 loss_distill=0.4024 tta_take=0.009s
Frame 89
tensor(0.0658)
Frame 90
tensor(0.0997)
Frame 91
tensor(0.1113)
 # KEYFRAME 70
0.09329168900148943
Frame 92
tensor(0.1156)
 # KEYFRAME 71
0.09396249700512271
Frame 93
tensor(0.0863)
Frame 94
tensor(0.0752)
Frame 95
tensor(0.1622)
 # KEYFRAME 72
0.09567865099961637
Frame 96
tensor(0.2185)
 # KEYFRAME 73
0.09545089099992765
Frame 97
tensor(0.2129)
 # KEYFRAME 74
0.09714846499991836
Frame 98
tensor(0.2122)
 # KEYFRAME 75
0.0971728950025863
Frame 99
tensor(0.3524)
 # KEYFRAME 76
0.09832756099785911
Frame 100
tensor(0.0701)
Frame 101
tensor(0.4252)
 # KEYFRAME 77
0.09943223700247472
Frame 102
tensor(0.1361)
 # KEYFRAME 78
0.09958761600137223
Frame 103
tensor(0.3439)
 # KEYFRAME 79
0.10083225199923618
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1515 loss_distill=0.4024 tta_take=0.009s
Frame 104
tensor(0.3522)
 # KEYFRAME 80
0.0932706590028829
Frame 105
tensor(0.2122)
 # KEYFRAME 81
0.09479955400456674
Frame 106
tensor(0.2295)
 # KEYFRAME 82
0.0957400300030713
Frame 107
tensor(0.1264)
 # KEYFRAME 83
0.09622631799720693
Frame 108
tensor(0.3313)
 # KEYFRAME 84
0.09652920700318646
Frame 109
tensor(0.1802)
 # KEYFRAME 85
0.09780003300693352
Frame 110
tensor(0.3421)
 # KEYFRAME 86
0.09868801000266103
Frame 111
tensor(0.2010)
 # KEYFRAME 87
0.0986272399968584
Frame 112
tensor(0.1902)
 # KEYFRAME 88
0.10003192499425495
Frame 113
tensor(0.1654)
 # KEYFRAME 89
0.100778611995338
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1516 loss_distill=0.4024 tta_take=0.009s
Frame 114
tensor(0.1870)
 # KEYFRAME 90
0.09324265900067985
Frame 115
tensor(0.0639)
Frame 116
tensor(0.2416)
 # KEYFRAME 91
0.09671021699614357
Frame 117
tensor(0.1847)
 # KEYFRAME 92
0.0952589220032678
Frame 118
tensor(0.1606)
 # KEYFRAME 93
0.09681505600019591
Frame 119
tensor(0.0480)
Frame 120
tensor(0.1221)
 # KEYFRAME 94
0.0969753760000458
Frame 121
tensor(0.2082)
 # KEYFRAME 95
0.09775460299715633
Frame 122
tensor(0.2223)
 # KEYFRAME 96
0.09921418799785897
Frame 123
tensor(0.2572)
 # KEYFRAME 97
0.09921937799663283
Frame 124
tensor(0.1721)
 # KEYFRAME 98
0.0999746649977169
Frame 125
tensor(0.0632)
Frame 126
tensor(0.0736)
Frame 127
tensor(0.6464)
 # KEYFRAME 99
0.101084820998949
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1517 loss_distill=0.4024 tta_take=0.009s
Frame 128
tensor(0.4547)
 # KEYFRAME 100
0.09331242799817119
Frame 129
tensor(0.3557)
 # KEYFRAME 101
0.09645933800493367
Frame 130
tensor(0.1154)
 # KEYFRAME 102
0.09533257199655054
Frame 131
tensor(0.1276)
 # KEYFRAME 103
0.09624256800452713
Frame 132
tensor(0.1669)
 # KEYFRAME 104
0.0968161959972349
Frame 133
tensor(0.1594)
 # KEYFRAME 105
0.09728119499777677
Frame 134
tensor(0.1963)
 # KEYFRAME 106
0.0985671100061154
Frame 135
tensor(0.1317)
 # KEYFRAME 107
0.09935599700111197
Frame 136
tensor(0.2504)
 # KEYFRAME 108
0.10048369399737567
Frame 137
tensor(0.1917)
 # KEYFRAME 109
0.10062226300215116
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1518 loss_distill=0.4024 tta_take=0.009s
Frame 138
tensor(0.2033)
 # KEYFRAME 110
0.09374717700120527
Frame 139
tensor(0.1409)
 # KEYFRAME 111
0.09483591399475699
Frame 140
tensor(0.1905)
 # KEYFRAME 112
0.09538086099928478
Frame 141
tensor(0.3699)
 # KEYFRAME 113
0.09667510699364357
Frame 142
tensor(0.1754)
 # KEYFRAME 114
0.09741669499635464
Backending... 115 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 67665, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1519 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 223/556] scannetpp/108ec0b806/frame frames=143 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=1519 time=47.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.2448)
 # KEYFRAME 1
Frame 2
tensor(0.1313)
 # KEYFRAME 2
0.05170229700161144
Frame 3
tensor(0.1984)
 # KEYFRAME 3
0.05239977400196949
Frame 4
tensor(0.1080)
 # KEYFRAME 4
0.0536975290015107
Frame 5
tensor(0.1536)
 # KEYFRAME 5
0.05433092699968256
Frame 6
tensor(0.1081)
 # KEYFRAME 6
0.05580742199526867
Frame 7
tensor(0.1215)
 # KEYFRAME 7
0.05750024599547032
Frame 8
tensor(0.1884)
 # KEYFRAME 8
0.057654165000712965
Frame 9
tensor(0.1094)
 # KEYFRAME 9
0.05865546200220706
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.1160)
 # KEYFRAME 10
0.05177488700428512
Frame 11
tensor(0.0892)
Frame 12
tensor(0.1493)
 # KEYFRAME 11
0.052832331995887216
Frame 13
tensor(0.1044)
 # KEYFRAME 12
0.05290170299849706
Frame 14
tensor(0.2102)
 # KEYFRAME 13
0.054834196002047975
Frame 15
tensor(0.0811)
Frame 16
tensor(0.1318)
 # KEYFRAME 14
0.054471907002152875
Frame 17
tensor(0.0619)
Frame 18
tensor(0.1070)
 # KEYFRAME 15
0.05541845299740089
Frame 19
tensor(0.1955)
 # KEYFRAME 16
0.05538634300319245
Frame 20
tensor(0.0305)
Frame 21
tensor(0.1032)
 # KEYFRAME 17
0.05616314099461306
Frame 22
tensor(0.0560)
Frame 23
tensor(0.1176)
 # KEYFRAME 18
0.05720605699752923
Frame 24
tensor(0.0914)
Frame 25
tensor(0.1710)
 # KEYFRAME 19
0.05832728400127962
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 26
tensor(0.0261)
Frame 27
tensor(0.1058)
 # KEYFRAME 20
0.05411677800293546
Frame 28
tensor(0.1279)
 # KEYFRAME 21
0.05525782400218304
Frame 29
tensor(0.1436)
 # KEYFRAME 22
0.05580483200174058
Frame 30
tensor(0.6025)
 # KEYFRAME 23
0.05625909000082174
Frame 31
tensor(0.0805)
Frame 32
tensor(0.3620)
 # KEYFRAME 24
0.056782458996167406
Frame 33
tensor(0.0695)
Frame 34
tensor(0.2021)
 # KEYFRAME 25
0.05767118600488175
Frame 35
tensor(0.1015)
 # KEYFRAME 26
0.05860671299888054
Frame 36
tensor(0.0892)
Frame 37
tensor(0.1916)
 # KEYFRAME 27
0.05974850900383899
Frame 38
tensor(0.1097)
 # KEYFRAME 28
0.0604250550022698
Frame 39
tensor(0.1036)
 # KEYFRAME 29
0.061244493001140654
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 40
tensor(0.1056)
 # KEYFRAME 30
0.058460323001781944
Frame 41
tensor(0.2614)
 # KEYFRAME 31
0.06023892599478131
Frame 42
tensor(0.0737)
Frame 43
tensor(0.1998)
 # KEYFRAME 32
0.059730307999416254
Frame 44
tensor(0.0855)
Frame 45
tensor(0.2210)
 # KEYFRAME 33
0.06098176399973454
Frame 46
tensor(0.1540)
 # KEYFRAME 34
0.062286118998599704
Frame 47
tensor(0.1580)
 # KEYFRAME 35
0.062411758000962436
Frame 48
tensor(0.1767)
 # KEYFRAME 36
0.06294119600352133
Frame 49
tensor(0.1427)
 # KEYFRAME 37
0.06335191499965731
Frame 50
tensor(0.2147)
 # KEYFRAME 38
0.06407161300012376
Frame 51
tensor(0.1398)
 # KEYFRAME 39
0.06504968900117092
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1520 loss_distill=0.1733 tta_take=0.008s
Frame 52
tensor(0.2488)
 # KEYFRAME 40
0.0628817059987341
Frame 53
tensor(0.1317)
 # KEYFRAME 41
0.06433511200157227
Frame 54
tensor(0.1588)
 # KEYFRAME 42
0.06421183200291125
Frame 55
tensor(0.1371)
 # KEYFRAME 43
0.06413195299683139
Frame 56
tensor(0.1489)
 # KEYFRAME 44
0.06486700999812456
Frame 57
tensor(0.1321)
 # KEYFRAME 45
0.06553108699881705
Frame 58
tensor(0.1476)
 # KEYFRAME 46
0.06626690499979304
Frame 59
tensor(0.1818)
 # KEYFRAME 47
0.06672573399555404
Frame 60
tensor(0.1898)
 # KEYFRAME 48
0.06663715399918146
Frame 61
tensor(0.0804)
Frame 62
tensor(0.1774)
 # KEYFRAME 49
0.0678148599981796
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1521 loss_distill=0.2747 tta_take=0.008s
Frame 63
tensor(0.1106)
 # KEYFRAME 50
0.06708697199792368
Frame 64
tensor(0.2092)
 # KEYFRAME 51
0.06907730499369791
Frame 65
tensor(0.1819)
 # KEYFRAME 52
0.06970976299635367
Frame 66
tensor(0.1361)
 # KEYFRAME 53
0.07119732699356973
Frame 67
tensor(0.1103)
 # KEYFRAME 54
0.0694478639998124
Frame 68
tensor(0.0918)
Frame 69
tensor(0.1055)
 # KEYFRAME 55
0.07218798399844673
Frame 70
tensor(0.0750)
Frame 71
tensor(0.1309)
 # KEYFRAME 56
0.07330157999967923
Frame 72
tensor(0.0625)
Frame 73
tensor(0.0998)
Frame 74
tensor(0.0660)
Frame 75
tensor(0.1859)
 # KEYFRAME 57
0.07256983299885178
Frame 76
tensor(0.1016)
 # KEYFRAME 58
0.07374283899844158
Frame 77
tensor(0.1143)
 # KEYFRAME 59
0.07435068700578995
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1522 loss_distill=0.3466 tta_take=0.008s
Frame 78
tensor(0.1657)
 # KEYFRAME 60
0.07140944600541843
Frame 79
tensor(0.0998)
Frame 80
tensor(0.1483)
 # KEYFRAME 61
0.07329454000137048
Frame 81
tensor(0.1379)
 # KEYFRAME 62
0.07256696299737087
Frame 82
tensor(0.0696)
Frame 83
tensor(0.1110)
 # KEYFRAME 63
0.07315312100399751
Frame 84
tensor(0.1205)
 # KEYFRAME 64
0.07368129899987252
Frame 85
tensor(0.0344)
Frame 86
tensor(0.0375)
Frame 87
tensor(0.1163)
 # KEYFRAME 65
0.07394538800144801
Frame 88
tensor(0.1458)
 # KEYFRAME 66
0.07484427500457969
Frame 89
tensor(0.1125)
 # KEYFRAME 67
0.07492074400215643
Frame 90
tensor(0.0546)
Frame 91
tensor(0.1571)
 # KEYFRAME 68
0.07581096100329887
Frame 92
tensor(0.1657)
 # KEYFRAME 69
0.07546286200522445
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1523 loss_distill=0.4024 tta_take=0.008s
Frame 93
tensor(0.0825)
Frame 94
tensor(0.1358)
 # KEYFRAME 70
0.0760655609992682
Frame 95
tensor(0.1262)
 # KEYFRAME 71
0.0780297530000098
Frame 96
tensor(0.1688)
 # KEYFRAME 72
0.0770318170034443
Frame 97
tensor(0.1015)
 # KEYFRAME 73
0.07810446200164733
Frame 98
tensor(0.1468)
 # KEYFRAME 74
0.07872192100330722
Frame 99
tensor(0.1357)
 # KEYFRAME 75
0.07893796999996994
Frame 100
tensor(0.0932)
Frame 101
tensor(0.1763)
 # KEYFRAME 76
0.07900803999655182
Frame 102
tensor(0.0704)
Frame 103
tensor(0.1972)
 # KEYFRAME 77
0.08009302600112278
Frame 104
tensor(0.1438)
 # KEYFRAME 78
0.08047553499636706
Frame 105
tensor(0.1941)
 # KEYFRAME 79
0.08182698000018718
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1524 loss_distill=0.4024 tta_take=0.009s
Frame 106
tensor(0.0944)
Frame 107
tensor(0.0909)
Frame 108
tensor(0.1184)
 # KEYFRAME 80
0.07559430199762573
Frame 109
tensor(0.1372)
 # KEYFRAME 81
0.07616887000040151
Frame 110
tensor(0.3600)
 # KEYFRAME 82
0.0766302780029946
Frame 111
tensor(0.1440)
 # KEYFRAME 83
0.07740146500145784
Frame 112
tensor(0.1819)
 # KEYFRAME 84
0.07800725300330669
Frame 113
tensor(0.1705)
 # KEYFRAME 85
0.07815864300209796
Frame 114
tensor(0.1450)
 # KEYFRAME 86
0.0793134990017279
Frame 115
tensor(0.1943)
 # KEYFRAME 87
0.0792243989999406
Frame 116
tensor(0.1036)
 # KEYFRAME 88
0.08005137599684531
Frame 117
tensor(0.1869)
 # KEYFRAME 89
0.08072905400331365
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1525 loss_distill=0.4024 tta_take=0.008s
Frame 118
tensor(0.1462)
 # KEYFRAME 90
0.07568619200173998
Frame 119
tensor(0.1811)
 # KEYFRAME 91
0.07605634000356076
Frame 120
tensor(0.1152)
 # KEYFRAME 92
0.07809437299874844
Frame 121
tensor(0.1167)
 # KEYFRAME 93
0.07808523299900116
Frame 122
tensor(0.1326)
 # KEYFRAME 94
0.0786439910007175
Frame 123
tensor(0.1391)
 # KEYFRAME 95
0.0794242679985473
Frame 124
tensor(0.1729)
 # KEYFRAME 96
0.07900188000348862
Frame 125
tensor(0.0886)
Frame 126
tensor(0.1724)
 # KEYFRAME 97
0.07971059699775651
Frame 127
tensor(0.0983)
Frame 128
tensor(0.1726)
 # KEYFRAME 98
0.07991244699951494
Frame 129
tensor(0.1278)
 # KEYFRAME 99
0.08045540400053142
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1526 loss_distill=0.4024 tta_take=0.008s
Frame 130
tensor(0.0992)
Frame 131
tensor(0.1744)
 # KEYFRAME 100
0.07645296899863752
Frame 132
tensor(0.0712)
Frame 133
tensor(0.1524)
 # KEYFRAME 101
0.07757679399946937
Frame 134
tensor(0.0880)
Frame 135
tensor(0.1460)
 # KEYFRAME 102
0.0773069549977663
Frame 136
tensor(0.0935)
Frame 137
tensor(0.1748)
 # KEYFRAME 103
0.07789942400268046
Frame 138
tensor(0.0530)
Frame 139
tensor(0.1556)
 # KEYFRAME 104
0.07843023200257448
Frame 140
tensor(0.0601)
Frame 141
tensor(0.0999)
Frame 142
tensor(0.1495)
 # KEYFRAME 105
0.07919053899968276
Frame 143
tensor(0.1398)
 # KEYFRAME 106
0.07875827100360766
Frame 144
tensor(0.1172)
 # KEYFRAME 107
0.08022500499646412
Frame 145
tensor(0.0453)
Frame 146
tensor(0.1254)
 # KEYFRAME 108
0.0803407450002851
Backending... 109 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 64170, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1527 loss_distill=0.4024 tta_take=0.007s
[epoch 0 scene 224/556] scannetpp/8133208cb6/DSC frames=147 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=1527 time=44.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0612)
Frame 2
tensor(0.1447)
 # KEYFRAME 1
Frame 3
tensor(0.0855)
Frame 4
tensor(0.1734)
 # KEYFRAME 2
0.051745415999903344
Frame 5
tensor(0.1102)
 # KEYFRAME 3
0.05238294399896404
Frame 6
tensor(0.1459)
 # KEYFRAME 4
0.05371978000039235
Frame 7
tensor(0.1404)
 # KEYFRAME 5
0.05442595599743072
Frame 8
tensor(0.2482)
 # KEYFRAME 6
0.05605608100449899
Frame 9
tensor(0.1593)
 # KEYFRAME 7
0.056358620000537485
Frame 10
tensor(0.4137)
 # KEYFRAME 8
0.05772126500232844
Frame 11
tensor(0.1390)
 # KEYFRAME 9
0.058399513000040315
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.1705)
 # KEYFRAME 10
0.05193078499723924
Frame 13
tensor(0.2318)
 # KEYFRAME 11
0.052631822996772826
Frame 14
tensor(0.2150)
 # KEYFRAME 12
0.05285344200092368
Frame 15
tensor(0.2352)
 # KEYFRAME 13
0.05475313500210177
Frame 16
tensor(0.1397)
 # KEYFRAME 14
0.054565306003496516
Frame 17
tensor(0.0876)
Frame 18
tensor(0.1865)
 # KEYFRAME 15
0.05527240399533184
Frame 19
tensor(0.0857)
Frame 20
tensor(0.0777)
Frame 21
tensor(0.1470)
 # KEYFRAME 16
0.055380732999765314
Frame 22
tensor(0.1730)
 # KEYFRAME 17
0.05733567699644482
Frame 23
tensor(0.3327)
 # KEYFRAME 18
0.05710476700187428
Frame 24
tensor(0.1376)
 # KEYFRAME 19
0.05794507399696158
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.0786)
Frame 26
tensor(0.2014)
 # KEYFRAME 20
0.054160728002898395
Frame 27
tensor(0.1325)
 # KEYFRAME 21
0.05482018600014271
Frame 28
tensor(0.1126)
 # KEYFRAME 22
0.055737711998517625
Frame 29
tensor(0.1294)
 # KEYFRAME 23
0.056209770002169535
Frame 30
tensor(0.1855)
 # KEYFRAME 24
0.05672451900318265
Frame 31
tensor(0.1453)
 # KEYFRAME 25
0.05764158499368932
Frame 32
tensor(0.0767)
Frame 33
tensor(0.1841)
 # KEYFRAME 26
0.058685572003014386
Frame 34
tensor(0.0836)
Frame 35
tensor(0.2225)
 # KEYFRAME 27
0.059866538002097514
Frame 36
tensor(0.0986)
Frame 37
tensor(0.1520)
 # KEYFRAME 28
0.06026159600151004
Frame 38
tensor(0.1009)
 # KEYFRAME 29
0.06112335299985716
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 39
tensor(0.2366)
 # KEYFRAME 30
0.05850202200235799
Frame 40
tensor(0.0894)
Frame 41
tensor(0.2017)
 # KEYFRAME 31
0.05963967899879208
Frame 42
tensor(0.1278)
 # KEYFRAME 32
0.059798677000799216
Frame 43
tensor(0.3766)
 # KEYFRAME 33
0.061100753002392594
Frame 44
tensor(0.1958)
 # KEYFRAME 34
0.06142035200173268
Frame 45
tensor(0.1294)
 # KEYFRAME 35
0.06191440999828046
Frame 46
tensor(0.0929)
Frame 47
tensor(0.1966)
 # KEYFRAME 36
0.062393369000346866
Frame 48
tensor(0.1711)
 # KEYFRAME 37
0.06342723499983549
Frame 49
tensor(0.1245)
 # KEYFRAME 38
0.06415826200100128
Frame 50
tensor(0.1267)
 # KEYFRAME 39
0.06496645999868633
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1528 loss_distill=0.1733 tta_take=0.008s
Frame 51
tensor(0.0782)
Frame 52
tensor(0.0581)
Frame 53
tensor(0.1878)
 # KEYFRAME 40
0.06298157600394916
Frame 54
tensor(0.1782)
 # KEYFRAME 41
0.06470232099673012
Frame 55
tensor(0.2108)
 # KEYFRAME 42
0.0641155630000867
Frame 56
tensor(0.1830)
 # KEYFRAME 43
0.06460009099828312
Frame 57
tensor(0.1575)
 # KEYFRAME 44
0.0649264800013043
Frame 58
tensor(0.0977)
Frame 59
tensor(0.1571)
 # KEYFRAME 45
0.06549474799976451
Frame 60
tensor(0.0651)
Frame 61
tensor(0.1579)
 # KEYFRAME 46
0.06626627500372706
Frame 62
tensor(0.0967)
Frame 63
tensor(0.1378)
 # KEYFRAME 47
0.06671857399487635
Frame 64
tensor(0.0443)
Frame 65
tensor(0.0796)
Frame 66
tensor(0.1366)
 # KEYFRAME 48
0.06667977399774827
Frame 67
tensor(0.1035)
 # KEYFRAME 49
0.06726072099991143
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1529 loss_distill=0.2747 tta_take=0.008s
Frame 68
tensor(0.0948)
Frame 69
tensor(0.1253)
 # KEYFRAME 50
0.0675485999963712
Frame 70
tensor(0.0705)
Frame 71
tensor(0.1734)
 # KEYFRAME 51
0.0694662440000684
Frame 72
tensor(0.1415)
 # KEYFRAME 52
0.06945853399520274
Frame 73
tensor(0.1321)
 # KEYFRAME 53
0.07104392800101778
Frame 74
tensor(0.0947)
Frame 75
tensor(0.1511)
 # KEYFRAME 54
0.06977138300135266
Frame 76
tensor(0.0128)
Frame 77
tensor(0.0816)
Frame 78
tensor(0.1425)
 # KEYFRAME 55
0.07218671400187304
Frame 79
tensor(0.1221)
 # KEYFRAME 56
0.07325079000293044
Frame 80
tensor(0.1188)
 # KEYFRAME 57
0.07276550099777523
Frame 81
tensor(0.1155)
 # KEYFRAME 58
0.07387636799830943
Frame 82
tensor(0.3215)
 # KEYFRAME 59
0.07472828499885509
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=1530 loss_distill=0.3466 tta_take=0.008s
Frame 83
tensor(0.0600)
Frame 84
tensor(0.1981)
 # KEYFRAME 60
0.071657745000266
Frame 85
tensor(0.1012)
 # KEYFRAME 61
0.07368870799837168
Frame 86
tensor(0.1075)
 # KEYFRAME 62
0.0725032629998168
Frame 87
tensor(0.1273)
 # KEYFRAME 63
0.0731324799999129
Frame 88
tensor(0.1053)
 # KEYFRAME 64
0.07357983899419196
Frame 89
tensor(0.1031)
 # KEYFRAME 65
0.07399219799845014
Frame 90
tensor(0.0858)
Frame 91
tensor(0.2592)
 # KEYFRAME 66
0.07516810300148791
Frame 92
tensor(0.1973)
 # KEYFRAME 67
0.07536994200199842
Frame 93
tensor(0.1388)
 # KEYFRAME 68
0.07612681999307824
Frame 94
tensor(0.0967)
Frame 95
tensor(0.2040)
 # KEYFRAME 69
0.07612851000158116
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1531 loss_distill=0.4024 tta_take=0.008s
Frame 96
tensor(0.1158)
 # KEYFRAME 70
0.07569614199746866
Frame 97
tensor(0.1411)
 # KEYFRAME 71
0.07762789499975042
Frame 98
tensor(0.0731)
Frame 99
tensor(0.3413)
 # KEYFRAME 72
0.07734750500094378
Frame 100
tensor(0.0694)
Frame 101
tensor(0.1883)
 # KEYFRAME 73
0.07764381499873707
Frame 102
tensor(0.0836)
Frame 103
tensor(0.1838)
 # KEYFRAME 74
0.07850933100417024
Frame 104
tensor(0.1748)
 # KEYFRAME 75
0.0791656889996375
Frame 105
tensor(0.2104)
 # KEYFRAME 76
0.0791963890005718
Frame 106
tensor(0.1608)
 # KEYFRAME 77
0.07952375800232403
Frame 107
tensor(0.2843)
 # KEYFRAME 78
0.08046159500372596
Frame 108
tensor(0.1248)
 # KEYFRAME 79
0.08140309100417653
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1532 loss_distill=0.4024 tta_take=0.008s
Frame 109
tensor(0.1155)
 # KEYFRAME 80
0.07626049999817042
Frame 110
tensor(0.1287)
 # KEYFRAME 81
0.07613032000517705
Frame 111
tensor(0.1126)
 # KEYFRAME 82
0.07689833699987503
Frame 112
tensor(0.3556)
 # KEYFRAME 83
0.0777763540027081
Frame 113
tensor(0.1195)
 # KEYFRAME 84
0.07773695400101133
Frame 114
tensor(0.7113)
 # KEYFRAME 85
0.0786308309980086
Frame 115
tensor(0.1048)
 # KEYFRAME 86
0.07836955199309159
Frame 116
tensor(0.2471)
 # KEYFRAME 87
0.08011325600091368
Frame 117
tensor(0.2631)
 # KEYFRAME 88
0.07973208699695533
Frame 118
tensor(0.2076)
 # KEYFRAME 89
0.08096448300057091
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1533 loss_distill=0.4024 tta_take=0.008s
Frame 119
tensor(0.1229)
 # KEYFRAME 90
0.07635700899845688
Frame 120
tensor(0.1545)
 # KEYFRAME 91
0.0776621149998391
Frame 121
tensor(0.2945)
 # KEYFRAME 92
0.07789458399929572
Frame 122
tensor(0.3160)
 # KEYFRAME 93
0.07821935199899599
Frame 123
tensor(0.1004)
 # KEYFRAME 94
0.0788375000047381
Frame 124
tensor(0.1595)
 # KEYFRAME 95
0.079235058001359
Frame 125
tensor(0.1576)
 # KEYFRAME 96
0.07883674999902723
Frame 126
tensor(0.3553)
 # KEYFRAME 97
0.08026068499748362
Frame 127
tensor(0.2572)
 # KEYFRAME 98
0.08044793500448577
Frame 128
tensor(0.2146)
 # KEYFRAME 99
0.08155725100368727
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1534 loss_distill=0.4024 tta_take=0.008s
Frame 129
tensor(0.0331)
Frame 130
tensor(0.1026)
 # KEYFRAME 100
0.07599407099769451
Frame 131
tensor(0.0683)
Frame 132
tensor(0.1454)
 # KEYFRAME 101
0.07810723299917299
Frame 133
tensor(0.0593)
Frame 134
tensor(0.6412)
 # KEYFRAME 102
0.0775123550047283
Frame 135
tensor(0.0662)
Frame 136
tensor(0.1590)
 # KEYFRAME 103
0.07837624200328719
Frame 137
tensor(0.0973)
Frame 138
tensor(0.7465)
 # KEYFRAME 104
0.07880248999572359
Frame 139
tensor(0.0856)
Frame 140
tensor(0.3724)
 # KEYFRAME 105
0.07969442699686624
Frame 141
tensor(0.2116)
 # KEYFRAME 106
0.07830268199904822
Frame 142
tensor(0.2512)
 # KEYFRAME 107
0.08010646599723259
Frame 143
tensor(0.1741)
 # KEYFRAME 108
0.0805722339937347
Frame 144
tensor(0.1538)
 # KEYFRAME 109
0.08097606299998006
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1535 loss_distill=0.4024 tta_take=0.008s
Frame 145
tensor(0.1145)
 # KEYFRAME 110
0.07594791099836584
Frame 146
tensor(0.0458)
Frame 147
tensor(0.3077)
 # KEYFRAME 111
0.07625107900094008
Frame 148
tensor(0.1941)
 # KEYFRAME 112
0.07817673200042918
Frame 149
tensor(0.1968)
 # KEYFRAME 113
0.0788925399974687
Backending... 114 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 59520, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1536 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 225/556] scannetpp/116456116b/DSC frames=150 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=1536 time=41.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0908)
Frame 2
tensor(0.2003)
 # KEYFRAME 1
Frame 3
tensor(0.0823)
Frame 4
tensor(0.1774)
 # KEYFRAME 2
0.05154227699676994
Frame 5
tensor(0.1331)
 # KEYFRAME 3
0.052182134000759106
Frame 6
tensor(0.1313)
 # KEYFRAME 4
0.053645369996957015
Frame 7
tensor(0.0682)
Frame 8
tensor(0.1668)
 # KEYFRAME 5
0.05448404599883361
Frame 9
tensor(0.0943)
Frame 10
tensor(0.2530)
 # KEYFRAME 6
0.055852261000836734
Frame 11
tensor(0.0551)
Frame 12
tensor(0.1087)
 # KEYFRAME 7
0.05640496999694733
Frame 13
tensor(0.0262)
Frame 14
tensor(0.0498)
Frame 15
tensor(0.0731)
Frame 16
tensor(0.0885)
Frame 17
tensor(0.1327)
 # KEYFRAME 8
0.05765399499796331
Frame 18
tensor(0.0910)
Frame 19
tensor(0.1436)
 # KEYFRAME 9
0.058395341999130324
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 20
tensor(0.1113)
 # KEYFRAME 10
0.051702936994843185
Frame 21
tensor(0.1294)
 # KEYFRAME 11
0.05234017399925506
Frame 22
tensor(0.1039)
 # KEYFRAME 12
0.05275075299869059
Frame 23
tensor(0.0788)
Frame 24
tensor(0.1443)
 # KEYFRAME 13
0.05470365600194782
Frame 25
tensor(0.0380)
Frame 26
tensor(0.0963)
Frame 27
tensor(0.2072)
 # KEYFRAME 14
0.054388856995501556
Frame 28
tensor(0.0836)
Frame 29
tensor(0.1099)
 # KEYFRAME 15
0.05512544399971375
Frame 30
tensor(0.0990)
Frame 31
tensor(0.2390)
 # KEYFRAME 16
0.0552062639981159
Frame 32
tensor(0.0907)
Frame 33
tensor(0.0946)
Frame 34
tensor(0.1079)
 # KEYFRAME 17
0.05601321100402856
Frame 35
tensor(0.0333)
Frame 36
tensor(0.0387)
Frame 37
tensor(0.0932)
Frame 38
tensor(0.1177)
 # KEYFRAME 18
0.05711514799622819
Frame 39
tensor(0.0985)
Frame 40
tensor(0.1797)
 # KEYFRAME 19
0.05806257399672177
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 41
tensor(0.0826)
Frame 42
tensor(0.1304)
 # KEYFRAME 20
0.05414324800221948
Frame 43
tensor(0.1121)
 # KEYFRAME 21
0.054606777004664764
Frame 44
tensor(0.0593)
Frame 45
tensor(0.1144)
 # KEYFRAME 22
0.05556228299974464
Frame 46
tensor(0.0816)
Frame 47
tensor(0.1388)
 # KEYFRAME 23
0.056133380996470805
Frame 48
tensor(0.3159)
 # KEYFRAME 24
0.05668453899852466
Frame 49
tensor(0.1283)
 # KEYFRAME 25
0.05745569600549061
Frame 50
tensor(0.1080)
 # KEYFRAME 26
0.058623051998438314
Frame 51
tensor(0.1008)
 # KEYFRAME 27
0.06056739499763353
Frame 52
tensor(0.0615)
Frame 53
tensor(0.1137)
 # KEYFRAME 28
0.060202465996553656
Frame 54
tensor(0.0825)
Frame 55
tensor(0.1513)
 # KEYFRAME 29
0.060924164004973136
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 56
tensor(0.1310)
 # KEYFRAME 30
0.058557851996738464
Frame 57
tensor(0.1816)
 # KEYFRAME 31
0.05942379900079686
Frame 58
tensor(0.0707)
Frame 59
tensor(0.1418)
 # KEYFRAME 32
0.059716438001487404
Frame 60
tensor(0.0500)
Frame 61
tensor(0.0964)
Frame 62
tensor(0.1285)
 # KEYFRAME 33
0.06128902199998265
Frame 63
tensor(0.0462)
Frame 64
tensor(0.0815)
Frame 65
tensor(0.3774)
 # KEYFRAME 34
0.06152302100235829
Frame 66
tensor(0.0673)
Frame 67
tensor(0.0914)
Frame 68
tensor(0.1498)
 # KEYFRAME 35
0.062127269004122354
Frame 69
tensor(0.0515)
Frame 70
tensor(0.1117)
 # KEYFRAME 36
0.0627765770041151
Frame 71
tensor(0.0756)
Frame 72
tensor(0.1691)
 # KEYFRAME 37
0.06299253700126428
Frame 73
tensor(0.0591)
Frame 74
tensor(0.1185)
 # KEYFRAME 38
0.06411311199917691
Frame 75
tensor(0.0277)
Frame 76
tensor(0.0842)
Frame 77
tensor(0.1436)
 # KEYFRAME 39
0.06492723999690497
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1537 loss_distill=0.1733 tta_take=0.008s
Frame 78
tensor(0.5612)
 # KEYFRAME 40
0.06287945700023556
Frame 79
tensor(0.1541)
 # KEYFRAME 41
0.06434734100184869
Frame 80
tensor(0.1990)
 # KEYFRAME 42
0.06403377300011925
Frame 81
tensor(0.0794)
Frame 82
tensor(0.1158)
 # KEYFRAME 43
0.06425689200113993
Frame 83
tensor(0.5749)
 # KEYFRAME 44
0.06494960900454316
Frame 84
tensor(0.0983)
Frame 85
tensor(0.0453)
Frame 86
tensor(0.1014)
 # KEYFRAME 45
0.0655521669978043
Frame 87
tensor(0.1069)
 # KEYFRAME 46
0.0660918759967899
Frame 88
tensor(0.1053)
 # KEYFRAME 47
0.0663179350012797
Frame 89
tensor(0.3902)
 # KEYFRAME 48
0.06678974299575202
Frame 90
tensor(0.0085)
Frame 91
tensor(0.0211)
Frame 92
tensor(0.0198)
Frame 93
tensor(0.0167)
Frame 94
tensor(0.0183)
Frame 95
tensor(0.0515)
Frame 96
tensor(0.1290)
 # KEYFRAME 49
0.06767840999964392
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1538 loss_distill=0.2747 tta_take=0.008s
Frame 97
tensor(0.0643)
Frame 98
tensor(0.1066)
 # KEYFRAME 50
0.06768066999939037
Frame 99
tensor(0.0419)
Frame 100
tensor(0.1005)
 # KEYFRAME 51
0.06943860300089
Frame 101
tensor(0.0465)
Frame 102
tensor(0.0687)
Frame 103
tensor(0.4356)
 # KEYFRAME 52
0.06960010300099384
Frame 104
tensor(0.0514)
Frame 105
tensor(0.3296)
 # KEYFRAME 53
0.07075481899664737
Frame 106
tensor(0.0892)
Frame 107
tensor(0.1501)
 # KEYFRAME 54
0.06970524200005457
Frame 108
tensor(0.0914)
Frame 109
tensor(0.1797)
 # KEYFRAME 55
0.07186384499800624
Frame 110
tensor(0.0964)
Frame 111
tensor(0.1592)
 # KEYFRAME 56
0.0729602010032977
Frame 112
tensor(0.0969)
Frame 113
tensor(0.1841)
 # KEYFRAME 57
0.07290364200162003
Frame 114
tensor(0.1209)
 # KEYFRAME 58
0.0739362570020603
Frame 115
tensor(0.1292)
 # KEYFRAME 59
0.0744604560022708
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=1539 loss_distill=0.3466 tta_take=0.008s
Frame 116
tensor(0.1426)
 # KEYFRAME 60
0.0716775350010721
Frame 117
tensor(0.0600)
Frame 118
tensor(0.1979)
 # KEYFRAME 61
0.07354635900264839
Frame 119
tensor(0.0774)
Frame 120
tensor(0.1809)
 # KEYFRAME 62
0.07257074299559463
Frame 121
tensor(0.1271)
 # KEYFRAME 63
0.07366100799845299
Frame 122
tensor(0.1179)
 # KEYFRAME 64
0.07375204900017707
Frame 123
tensor(0.0421)
Frame 124
tensor(0.0717)
Frame 125
tensor(0.1213)
 # KEYFRAME 65
0.0737302180059487
Frame 126
tensor(0.4786)
 # KEYFRAME 66
0.07512286299606785
Frame 127
tensor(0.0912)
Frame 128
tensor(0.1664)
 # KEYFRAME 67
0.075030523003079
Frame 129
tensor(0.6093)
 # KEYFRAME 68
0.07551833199977409
Frame 130
tensor(0.0385)
Frame 131
tensor(0.0919)
Frame 132
tensor(0.1503)
 # KEYFRAME 69
0.07585872100025881
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1540 loss_distill=0.4024 tta_take=0.008s
Frame 133
tensor(0.0822)
Frame 134
tensor(0.4750)
 # KEYFRAME 70
0.07559732200024882
Frame 135
tensor(0.0685)
Frame 136
tensor(0.0982)
Frame 137
tensor(0.0781)
Frame 138
tensor(0.1420)
 # KEYFRAME 71
0.07653107799706049
Frame 139
tensor(0.0683)
Frame 140
tensor(0.1372)
 # KEYFRAME 72
0.07675766700413078
Frame 141
tensor(0.0597)
Frame 142
tensor(0.1242)
 # KEYFRAME 73
0.0778296729986323
Frame 143
tensor(0.0613)
Frame 144
tensor(0.0990)
Frame 145
tensor(0.0456)
Frame 146
tensor(0.0994)
Frame 147
tensor(0.1538)
 # KEYFRAME 74
0.07815588300582021
Frame 148
tensor(0.2769)
 # KEYFRAME 75
0.0790237499968498
Frame 149
tensor(0.0783)
Backending... 76 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 61380, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1541 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 226/556] scannetpp/fb05e13ad1/DSC frames=150 tta_steps_this_scene=5 mean_loss=0.3198 total_steps=1541 time=35.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0719)
Frame 2
tensor(0.6548)
 # KEYFRAME 1
Frame 3
tensor(0.2722)
 # KEYFRAME 2
0.051573696997365914
Frame 4
tensor(0.2682)
 # KEYFRAME 3
0.0534718700000667
Frame 5
tensor(0.1131)
 # KEYFRAME 4
0.05404508799983887
Frame 6
tensor(0.1844)
 # KEYFRAME 5
0.05475016600394156
Frame 7
tensor(0.2389)
 # KEYFRAME 6
0.055313213997578714
Frame 8
tensor(0.3001)
 # KEYFRAME 7
0.0567789479973726
Frame 9
tensor(0.2475)
 # KEYFRAME 8
0.05782798499421915
Frame 10
tensor(0.2351)
 # KEYFRAME 9
0.057907145004719496
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.2871)
 # KEYFRAME 10
0.05198039600509219
Frame 12
tensor(0.3717)
 # KEYFRAME 11
0.05350409999664407
Frame 13
tensor(0.2445)
 # KEYFRAME 12
0.054333556996425614
Frame 14
tensor(0.2138)
 # KEYFRAME 13
0.05623913100134814
Frame 15
tensor(0.3492)
 # KEYFRAME 14
0.05726789699838264
Frame 16
tensor(0.1521)
 # KEYFRAME 15
0.05803404399921419
Frame 17
tensor(0.2154)
 # KEYFRAME 16
0.05866129199421266
Frame 18
tensor(0.1409)
 # KEYFRAME 17
0.059553098006290384
Frame 19
tensor(0.4189)
 # KEYFRAME 18
0.06071077500382671
Frame 20
tensor(0.2790)
 # KEYFRAME 19
0.06224612000369234
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.3463)
 # KEYFRAME 20
0.05886878100136528
Frame 22
tensor(0.1684)
 # KEYFRAME 21
0.06084681399806868
Frame 23
tensor(0.4849)
 # KEYFRAME 22
0.061469642001611646
Frame 24
tensor(0.2308)
 # KEYFRAME 23
0.06238883799960604
Frame 25
tensor(0.2393)
 # KEYFRAME 24
0.06320496500120498
Frame 26
tensor(0.2874)
 # KEYFRAME 25
0.06422812200617045
Frame 27
tensor(0.3040)
 # KEYFRAME 26
0.06559535700216657
Frame 28
tensor(0.2925)
 # KEYFRAME 27
0.06669115299882833
Frame 29
tensor(0.6122)
 # KEYFRAME 28
0.06739341099455487
Frame 30
tensor(0.0990)
Frame 31
tensor(0.3769)
 # KEYFRAME 29
0.06873039600031916
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.2019)
 # KEYFRAME 30
0.06564242699823808
Frame 33
tensor(0.3697)
 # KEYFRAME 31
0.06829161800123984
Frame 34
tensor(0.3281)
 # KEYFRAME 32
0.06821398799365852
Frame 35
tensor(0.0629)
Frame 36
tensor(0.0657)
Frame 37
tensor(0.0734)
Frame 38
tensor(0.0777)
Frame 39
tensor(0.0810)
Frame 40
tensor(0.1875)
 # KEYFRAME 33
0.06932285400398541
Frame 41
tensor(0.1892)
 # KEYFRAME 34
0.0701738209972973
Frame 42
tensor(0.1485)
 # KEYFRAME 35
0.07082947900198633
Frame 43
tensor(0.1071)
 # KEYFRAME 36
0.07211163399915677
Frame 44
tensor(0.3161)
 # KEYFRAME 37
0.07296723099716473
Frame 45
tensor(0.2564)
 # KEYFRAME 38
0.07378059799520997
Frame 46
tensor(0.2112)
 # KEYFRAME 39
0.07481512399681378
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1542 loss_distill=0.1733 tta_take=0.009s
Frame 47
tensor(0.2326)
 # KEYFRAME 40
0.07235210300132167
Frame 48
tensor(0.2195)
 # KEYFRAME 41
0.07452844599902164
Frame 49
tensor(0.4302)
 # KEYFRAME 42
0.07471860400255537
Frame 50
tensor(0.3273)
 # KEYFRAME 43
0.07564219100459013
Frame 51
tensor(0.2714)
 # KEYFRAME 44
0.07612688899826026
Frame 52
tensor(0.3899)
 # KEYFRAME 45
0.07712027600064175
Frame 53
tensor(0.1688)
 # KEYFRAME 46
0.0775560440015397
Frame 54
tensor(0.3154)
 # KEYFRAME 47
0.07809079199796543
Frame 55
tensor(0.4788)
 # KEYFRAME 48
0.07905710900377017
Frame 56
tensor(0.1598)
 # KEYFRAME 49
0.08080561400129227
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1543 loss_distill=0.2747 tta_take=0.009s
Frame 57
tensor(0.8097)
 # KEYFRAME 50
0.07985575700149639
Frame 58
tensor(0.2786)
 # KEYFRAME 51
0.0821359580004355
Frame 59
tensor(0.3755)
 # KEYFRAME 52
0.08257013699767413
Frame 60
tensor(0.4014)
 # KEYFRAME 53
0.08322903400403447
Frame 61
tensor(0.2402)
 # KEYFRAME 54
0.08426872100244509
Frame 62
tensor(0.4749)
 # KEYFRAME 55
0.0844594500013045
Frame 63
tensor(0.4848)
 # KEYFRAME 56
0.08535295700130519
Frame 64
tensor(0.4332)
 # KEYFRAME 57
0.0853571070038015
Frame 65
tensor(0.1582)
 # KEYFRAME 58
0.08732602999953087
Frame 66
tensor(0.1281)
 # KEYFRAME 59
0.08746909999899799
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1544 loss_distill=0.3466 tta_take=0.009s
Frame 67
tensor(0.6323)
 # KEYFRAME 60
0.08662371300306404
Frame 68
tensor(0.2904)
 # KEYFRAME 61
0.08888393500092207
Frame 69
tensor(0.2770)
 # KEYFRAME 62
0.08860057499987306
Frame 70
tensor(0.3659)
 # KEYFRAME 63
0.08921114300028421
Frame 71
tensor(0.1935)
 # KEYFRAME 64
0.09000453099724837
Frame 72
tensor(0.1744)
 # KEYFRAME 65
0.10096993199840654
Frame 73
tensor(0.2545)
 # KEYFRAME 66
0.09181541400175774
Frame 74
tensor(0.1304)
 # KEYFRAME 67
0.09269081099773757
Frame 75
tensor(0.1827)
 # KEYFRAME 68
0.09316222900088178
Frame 76
tensor(0.3187)
 # KEYFRAME 69
0.09424615599709796
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1545 loss_distill=0.4024 tta_take=0.009s
Frame 77
tensor(0.3119)
 # KEYFRAME 70
0.0927533699941705
Frame 78
tensor(0.3492)
 # KEYFRAME 71
0.09593833899998572
Frame 79
tensor(0.1564)
 # KEYFRAME 72
0.09487419300421607
Frame 80
tensor(0.1714)
 # KEYFRAME 73
0.09609137899678899
Frame 81
tensor(0.2309)
 # KEYFRAME 74
0.09690348600270227
Frame 82
tensor(0.1715)
 # KEYFRAME 75
0.09722464499645866
Frame 83
tensor(0.3515)
 # KEYFRAME 76
0.09873030999733601
Frame 84
tensor(0.1447)
 # KEYFRAME 77
0.09916449800221017
Frame 85
tensor(0.1144)
 # KEYFRAME 78
0.09968613599630771
Frame 86
tensor(0.0931)
Frame 87
tensor(0.1898)
 # KEYFRAME 79
0.10021776399662485
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1546 loss_distill=0.4024 tta_take=0.009s
Frame 88
tensor(0.1055)
 # KEYFRAME 80
0.0934481579970452
Frame 89
tensor(0.2571)
 # KEYFRAME 81
0.09622994799428852
Frame 90
tensor(0.2148)
 # KEYFRAME 82
0.09598391000326956
Frame 91
tensor(0.2773)
 # KEYFRAME 83
0.096198627994454
Frame 92
tensor(0.1264)
 # KEYFRAME 84
0.09647141699679196
Frame 93
tensor(0.1804)
 # KEYFRAME 85
0.09785966199706309
Frame 94
tensor(0.2876)
 # KEYFRAME 86
0.09850758999527898
Frame 95
tensor(0.2751)
 # KEYFRAME 87
0.09941927700128872
Frame 96
tensor(0.1583)
 # KEYFRAME 88
0.09992587600572733
Frame 97
tensor(0.1931)
 # KEYFRAME 89
0.10137912999925902
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1547 loss_distill=0.4024 tta_take=0.009s
Frame 98
tensor(0.1794)
 # KEYFRAME 90
0.09275928100396413
Frame 99
tensor(0.3636)
 # KEYFRAME 91
0.09661516699998174
Frame 100
tensor(0.4133)
 # KEYFRAME 92
0.09511360299802618
Frame 101
tensor(0.3673)
 # KEYFRAME 93
0.09672323600534583
Frame 102
tensor(0.4423)
 # KEYFRAME 94
0.09727473499515327
Frame 103
tensor(0.2066)
 # KEYFRAME 95
0.09873746000084793
Frame 104
tensor(0.3740)
 # KEYFRAME 96
0.0991923979963758
Frame 105
tensor(0.2441)
 # KEYFRAME 97
0.09894001900102012
Frame 106
tensor(0.3282)
 # KEYFRAME 98
0.10046569300175179
Frame 107
tensor(0.1033)
 # KEYFRAME 99
0.10089303200220456
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1548 loss_distill=0.4024 tta_take=0.009s
Frame 108
tensor(0.3704)
 # KEYFRAME 100
0.09335921899764799
Frame 109
tensor(0.1625)
 # KEYFRAME 101
0.09666054700210225
Frame 110
tensor(0.1504)
 # KEYFRAME 102
0.09492840299935779
Frame 111
tensor(0.1731)
 # KEYFRAME 103
0.09685621600510785
Frame 112
tensor(0.2428)
 # KEYFRAME 104
0.09801267199509311
Frame 113
tensor(0.2022)
 # KEYFRAME 105
0.09741098499944201
Frame 114
tensor(0.0509)
Frame 115
tensor(0.0459)
Frame 116
tensor(0.2483)
 # KEYFRAME 106
0.09945744700235082
Frame 117
tensor(0.3621)
 # KEYFRAME 107
0.10021772400068585
Frame 118
tensor(0.2870)
 # KEYFRAME 108
0.10125701100332662
Frame 119
tensor(0.2447)
 # KEYFRAME 109
0.10143171000527218
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1549 loss_distill=0.4024 tta_take=0.009s
Frame 120
tensor(0.0774)
Frame 121
tensor(0.3553)
 # KEYFRAME 110
0.09343641799932811
Frame 122
tensor(0.2122)
 # KEYFRAME 111
0.09423657600564184
Frame 123
tensor(0.2128)
 # KEYFRAME 112
0.09597721899626777
Frame 124
tensor(0.1020)
 # KEYFRAME 113
0.09608171899890294
Frame 125
tensor(0.1584)
 # KEYFRAME 114
0.09772020300442819
Frame 126
tensor(0.3320)
 # KEYFRAME 115
0.09790098299708916
Frame 127
tensor(0.4390)
 # KEYFRAME 116
0.09867995999957202
Frame 128
tensor(0.2153)
 # KEYFRAME 117
0.09963066699856427
Frame 129
tensor(0.1151)
 # KEYFRAME 118
0.09986161500273738
Frame 130
tensor(0.0338)
Backending... 119 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 71829, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1550 loss_distill=0.4024 tta_take=0.008s
[epoch 0 scene 227/556] scannetpp/8b2c0938d6/frame frames=131 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=1550 time=45.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0840)
Frame 2
tensor(0.1789)
 # KEYFRAME 1
Frame 3
tensor(0.0740)
Frame 4
tensor(0.1931)
 # KEYFRAME 2
0.051819596003042534
Frame 5
tensor(0.0669)
Frame 6
tensor(0.1574)
 # KEYFRAME 3
0.052264184996602125
Frame 7
tensor(0.0961)
Frame 8
tensor(0.1957)
 # KEYFRAME 4
0.05416086799959885
Frame 9
tensor(0.0572)
Frame 10
tensor(0.1277)
 # KEYFRAME 5
0.05467372600105591
Frame 11
tensor(0.0936)
Frame 12
tensor(0.2414)
 # KEYFRAME 6
0.05633485999715049
Frame 13
tensor(0.0466)
Frame 14
tensor(0.2516)
 # KEYFRAME 7
0.05648692900285823
Frame 15
tensor(0.1205)
 # KEYFRAME 8
0.057609285999205895
Frame 16
tensor(0.1828)
 # KEYFRAME 9
0.058375332999276
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 17
tensor(0.0880)
Frame 18
tensor(0.1605)
 # KEYFRAME 10
0.05163718700350728
Frame 19
tensor(0.1175)
 # KEYFRAME 11
0.05241069399926346
Frame 20
tensor(0.1936)
 # KEYFRAME 12
0.05281213299895171
Frame 21
tensor(0.0946)
Frame 22
tensor(0.2707)
 # KEYFRAME 13
0.05492239500017604
Frame 23
tensor(0.1777)
 # KEYFRAME 14
0.054500195998116396
Frame 24
tensor(0.1394)
 # KEYFRAME 15
0.05524332400091225
Frame 25
tensor(0.1717)
 # KEYFRAME 16
0.055415193004591856
Frame 26
tensor(0.2109)
 # KEYFRAME 17
0.056037321002804674
Frame 27
tensor(0.0983)
Frame 28
tensor(0.2282)
 # KEYFRAME 18
0.05705592699814588
Frame 29
tensor(0.1799)
 # KEYFRAME 19
0.05801147400052287
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 30
tensor(0.1492)
 # KEYFRAME 20
0.0542781069962075
Frame 31
tensor(0.1880)
 # KEYFRAME 21
0.055081124999560416
Frame 32
tensor(0.1327)
 # KEYFRAME 22
0.05602785099472385
Frame 33
tensor(0.0648)
Frame 34
tensor(0.1826)
 # KEYFRAME 23
0.056387730001006275
Frame 35
tensor(0.0675)
Frame 36
tensor(0.1031)
 # KEYFRAME 24
0.057033666998904664
Frame 37
tensor(0.1119)
 # KEYFRAME 25
0.05748351600050228
Frame 38
tensor(0.0950)
Frame 39
tensor(0.1019)
 # KEYFRAME 26
0.058844952000072226
Frame 40
tensor(0.1592)
 # KEYFRAME 27
0.05987330700008897
Frame 41
tensor(0.3285)
 # KEYFRAME 28
0.060330435997457244
Frame 42
tensor(0.2695)
 # KEYFRAME 29
0.06156876200111583
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 43
tensor(0.2976)
 # KEYFRAME 30
0.058456801998545416
Frame 44
tensor(0.2177)
 # KEYFRAME 31
0.0593751490014256
Frame 45
tensor(0.1213)
 # KEYFRAME 32
0.059872298006666824
Frame 46
tensor(0.0809)
Frame 47
tensor(0.2105)
 # KEYFRAME 33
0.06111271300324006
Frame 48
tensor(0.3276)
 # KEYFRAME 34
0.061344642999756616
Frame 49
tensor(0.2448)
 # KEYFRAME 35
0.06194085100287339
Frame 50
tensor(0.3159)
 # KEYFRAME 36
0.06268107700452674
Frame 51
tensor(0.0964)
Frame 52
tensor(0.3203)
 # KEYFRAME 37
0.06299053600378102
Frame 53
tensor(0.2491)
 # KEYFRAME 38
0.06393135299731512
Frame 54
tensor(0.1465)
 # KEYFRAME 39
0.06488775999605423
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1551 loss_distill=0.1733 tta_take=0.008s
Frame 55
tensor(0.1612)
 # KEYFRAME 40
0.06274292700254591
Frame 56
tensor(0.1443)
 # KEYFRAME 41
0.06461740100348834
Frame 57
tensor(0.0841)
Frame 58
tensor(0.1750)
 # KEYFRAME 42
0.06378870300250128
Frame 59
tensor(0.1610)
 # KEYFRAME 43
0.06392163299460663
Frame 60
tensor(0.1445)
 # KEYFRAME 44
0.06488423900009366
Frame 61
tensor(0.1806)
 # KEYFRAME 45
0.06550077699648682
Frame 62
tensor(0.1617)
 # KEYFRAME 46
0.06606050599657465
Frame 63
tensor(0.0977)
Frame 64
tensor(0.2043)
 # KEYFRAME 47
0.06643497399636544
Frame 65
tensor(0.0801)
Frame 66
tensor(0.1668)
 # KEYFRAME 48
0.06652933399891481
Frame 67
tensor(0.2067)
 # KEYFRAME 49
0.06725498200103175
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1552 loss_distill=0.2747 tta_take=0.008s
Frame 68
tensor(0.2570)
 # KEYFRAME 50
0.06707232199551072
Frame 69
tensor(0.0589)
Frame 70
tensor(0.1214)
 # KEYFRAME 51
0.06914463499560952
Frame 71
tensor(0.1951)
 # KEYFRAME 52
0.06954492299701087
Frame 72
tensor(0.2295)
 # KEYFRAME 53
0.07083616899763001
Frame 73
tensor(0.2337)
 # KEYFRAME 54
0.06930691400339128
Frame 74
tensor(0.2113)
 # KEYFRAME 55
0.07178349499736214
Frame 75
tensor(0.1064)
 # KEYFRAME 56
0.07275517199741444
Frame 76
tensor(0.2381)
 # KEYFRAME 57
0.0727877620010986
Frame 77
tensor(0.1608)
 # KEYFRAME 58
0.07356951900146669
Frame 78
tensor(0.2595)
 # KEYFRAME 59
0.07420538699807366
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1553 loss_distill=0.3466 tta_take=0.008s
Frame 79
tensor(0.2840)
 # KEYFRAME 60
0.07186551500490168
Frame 80
tensor(0.2778)
 # KEYFRAME 61
0.0729545110007166
Frame 81
tensor(0.0924)
Frame 82
tensor(0.3201)
 # KEYFRAME 62
0.07290983200073242
Frame 83
tensor(0.3633)
 # KEYFRAME 63
0.0731507500022417
Frame 84
tensor(0.4223)
 # KEYFRAME 64
0.07345394900039537
Frame 85
tensor(0.2402)
 # KEYFRAME 65
0.0739848970042658
Frame 86
tensor(0.2967)
 # KEYFRAME 66
0.07428031699964777
Frame 87
tensor(0.0086)
Frame 88
tensor(0.1759)
 # KEYFRAME 67
0.07531786300387466
Frame 89
tensor(0.0744)
Frame 90
tensor(0.1361)
 # KEYFRAME 68
0.07549287199799437
Frame 91
tensor(0.0861)
Frame 92
tensor(0.2215)
 # KEYFRAME 69
0.07629759900009958
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=1554 loss_distill=0.4024 tta_take=0.008s
Frame 93
tensor(0.0645)
Frame 94
tensor(0.2636)
 # KEYFRAME 70
0.07551249199605081
Frame 95
tensor(0.1895)
 # KEYFRAME 71
0.0775659050050308
Frame 96
tensor(0.0961)
Frame 97
tensor(0.1325)
 # KEYFRAME 72
0.07709045599767705
Frame 98
tensor(0.0935)
Frame 99
tensor(0.0999)
Frame 100
tensor(0.1247)
 # KEYFRAME 73
0.07779642399691511
Frame 101
tensor(0.1390)
 # KEYFRAME 74
0.07849338199594058
Frame 102
tensor(0.0841)
Frame 103
tensor(0.1528)
 # KEYFRAME 75
0.079035358998226
Frame 104
tensor(0.1540)
 # KEYFRAME 76
0.07893562000390375
Frame 105
tensor(0.1280)
 # KEYFRAME 77
0.07939702799922088
Frame 106
tensor(0.2335)
 # KEYFRAME 78
0.08032036499935202
Frame 107
tensor(0.1229)
 # KEYFRAME 79
0.08069700399937574
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1555 loss_distill=0.4024 tta_take=0.008s
Frame 108
tensor(0.1982)
 # KEYFRAME 80
0.07544247199984966
Frame 109
tensor(0.2418)
 # KEYFRAME 81
0.07759662500029663
Frame 110
tensor(0.2708)
 # KEYFRAME 82
0.0770268370033591
Frame 111
tensor(0.0957)
Frame 112
tensor(0.1224)
 # KEYFRAME 83
0.07737009599804878
Frame 113
tensor(0.2697)
 # KEYFRAME 84
0.07804821299941977
Frame 114
tensor(0.3123)
 # KEYFRAME 85
0.07857066099677468
Frame 115
tensor(0.1276)
 # KEYFRAME 86
0.07838274199457373
Frame 116
tensor(0.1026)
 # KEYFRAME 87
0.07977482699789107
Frame 117
tensor(0.0529)
Frame 118
tensor(0.1048)
 # KEYFRAME 88
0.08024846499756677
Frame 119
tensor(0.1826)
 # KEYFRAME 89
0.08095217299705837
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1556 loss_distill=0.4024 tta_take=0.008s
Frame 120
tensor(0.2250)
 # KEYFRAME 90
0.07545705200027442
Frame 121
tensor(0.3028)
 # KEYFRAME 91
0.07729558600112796
Frame 122
tensor(0.1641)
 # KEYFRAME 92
0.07730023600015556
Frame 123
tensor(0.0690)
Frame 124
tensor(0.1686)
 # KEYFRAME 93
0.07747059499524767
Frame 125
tensor(0.1450)
 # KEYFRAME 94
0.07832612200581934
Frame 126
tensor(0.1746)
 # KEYFRAME 95
0.07844242200371809
Frame 127
tensor(0.1327)
 # KEYFRAME 96
0.07845659099984914
Frame 128
tensor(0.1518)
 # KEYFRAME 97
0.07989470600296045
Frame 129
tensor(0.0676)
Frame 130
tensor(0.1523)
 # KEYFRAME 98
0.08049266399757471
Frame 131
tensor(0.0721)
Frame 132
tensor(0.1982)
 # KEYFRAME 99
0.08125637200282654
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1557 loss_distill=0.4024 tta_take=0.009s
Frame 133
tensor(0.2087)
 # KEYFRAME 100
0.07604766000440577
Frame 134
tensor(0.2438)
 # KEYFRAME 101
0.07821438200335251
Frame 135
tensor(0.1033)
 # KEYFRAME 102
0.07745616600004723
Frame 136
tensor(0.2698)
 # KEYFRAME 103
0.07800440300343325
Frame 137
tensor(0.2007)
 # KEYFRAME 104
0.07848331200511893
Frame 138
tensor(0.1323)
 # KEYFRAME 105
0.07923844900506083
Frame 139
tensor(0.1163)
 # KEYFRAME 106
0.07833560199651401
Frame 140
tensor(0.1167)
 # KEYFRAME 107
0.07988913599547232
Frame 141
tensor(0.1223)
 # KEYFRAME 108
0.07977693599968916
Frame 142
tensor(0.1034)
 # KEYFRAME 109
0.08060791400203016
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1558 loss_distill=0.4024 tta_take=0.008s
Frame 143
tensor(0.1098)
 # KEYFRAME 110
0.07607288000144763
Frame 144
tensor(0.2492)
 # KEYFRAME 111
0.07687652700406034
Frame 145
tensor(0.1520)
 # KEYFRAME 112
0.07741623600304592
Frame 146
tensor(0.1255)
 # KEYFRAME 113
0.07853243200224824
Frame 147
tensor(0.1635)
 # KEYFRAME 114
0.07923855899571208
Frame 148
tensor(0.3147)
 # KEYFRAME 115
0.08008710500143934
Frame 149
tensor(0.2112)
 # KEYFRAME 116
0.07878342000185512
Backending... 117 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62310, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=1559 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 228/556] scannetpp/8b5caf3398/DSC frames=150 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=1559 time=42.6s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0060)
Frame 2
tensor(0.0411)
Frame 3
tensor(0.1232)
 # KEYFRAME 1
Frame 4
tensor(0.1386)
 # KEYFRAME 2
0.0515725370059954
Frame 5
tensor(0.1408)
 # KEYFRAME 3
0.05364705999818398
Frame 6
tensor(0.1036)
 # KEYFRAME 4
0.05408562799857464
Frame 7
tensor(0.0697)
Frame 8
tensor(0.0935)
Frame 9
tensor(0.1566)
 # KEYFRAME 5
0.055234983999980614
Frame 10
tensor(0.0777)
Frame 11
tensor(0.1531)
 # KEYFRAME 6
0.055588653005543165
Frame 12
tensor(0.0610)
Frame 13
tensor(0.0991)
Frame 14
tensor(0.0672)
Frame 15
tensor(0.1385)
 # KEYFRAME 7
0.057091677001153585
Frame 16
tensor(0.1279)
 # KEYFRAME 8
0.05807522399845766
Frame 17
tensor(0.1185)
 # KEYFRAME 9
0.05795141499402234
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 18
tensor(0.0730)
Frame 19
tensor(0.1107)
 # KEYFRAME 10
0.05248743400443345
Frame 20
tensor(0.0655)
Frame 21
tensor(0.1404)
 # KEYFRAME 11
0.05346748000010848
Frame 22
tensor(0.0598)
Frame 23
tensor(0.1375)
 # KEYFRAME 12
0.05439475700404728
Frame 24
tensor(0.0455)
Frame 25
tensor(0.1162)
 # KEYFRAME 13
0.05633701000624569
Frame 26
tensor(0.1096)
 # KEYFRAME 14
0.057521456001268234
Frame 27
tensor(0.1163)
 # KEYFRAME 15
0.05761849600094138
Frame 28
tensor(0.0735)
Frame 29
tensor(0.1974)
 # KEYFRAME 16
0.05876071200327715
Frame 30
tensor(0.1051)
 # KEYFRAME 17
0.05972339800064219
Frame 31
tensor(0.0960)
Frame 32
tensor(0.1613)
 # KEYFRAME 18
0.0612399120000191
Frame 33
tensor(0.1045)
 # KEYFRAME 19
0.06253672800085042
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 34
tensor(0.1069)
 # KEYFRAME 20
0.05931955899723107
Frame 35
tensor(0.1097)
 # KEYFRAME 21
0.06042011499812361
Frame 36
tensor(0.1165)
 # KEYFRAME 22
0.06133351199969184
Frame 37
tensor(0.0937)
Frame 38
tensor(0.1476)
 # KEYFRAME 23
0.06225566900684498
Frame 39
tensor(0.0794)
Frame 40
tensor(0.1344)
 # KEYFRAME 24
0.06280419699760387
Frame 41
tensor(0.0778)
Frame 42
tensor(0.1616)
 # KEYFRAME 25
0.06400182299694279
Frame 43
tensor(0.0443)
Frame 44
tensor(0.0835)
Frame 45
tensor(0.1027)
 # KEYFRAME 26
0.06542181799886748
Frame 46
tensor(0.1431)
 # KEYFRAME 27
0.06641345399839338
Frame 47
tensor(0.0629)
Frame 48
tensor(0.1365)
 # KEYFRAME 28
0.0677148800023133
Frame 49
tensor(0.0667)
Frame 50
tensor(0.1401)
 # KEYFRAME 29
0.06861662599840201
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 51
tensor(0.1250)
 # KEYFRAME 30
0.06607821600482566
Frame 52
tensor(0.1250)
 # KEYFRAME 31
0.06796570799633628
Frame 53
tensor(0.1298)
 # KEYFRAME 32
0.06907401499483967
Frame 54
tensor(0.0886)
Frame 55
tensor(0.0887)
Frame 56
tensor(0.2211)
 # KEYFRAME 33
0.06955003300390672
Frame 57
tensor(0.1030)
 # KEYFRAME 34
0.07034212999860756
Frame 58
tensor(0.1751)
 # KEYFRAME 35
0.07092964799812762
Frame 59
tensor(0.2507)
 # KEYFRAME 36
0.07203418400604278
Frame 60
tensor(0.2004)
 # KEYFRAME 37
0.0731763400035561
Frame 61
tensor(0.1717)
 # KEYFRAME 38
0.07390072700218298
Frame 62
tensor(0.0595)
Frame 63
tensor(0.2618)
 # KEYFRAME 39
0.07462145499448525
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1560 loss_distill=0.1733 tta_take=0.009s
Frame 64
tensor(0.1375)
 # KEYFRAME 40
0.07255807200272102
Frame 65
tensor(0.1115)
 # KEYFRAME 41
0.07434565600124188
Frame 66
tensor(0.1783)
 # KEYFRAME 42
0.07478237400209764
Frame 67
tensor(0.1322)
 # KEYFRAME 43
0.07502240400208393
Frame 68
tensor(0.0707)
Frame 69
tensor(0.1360)
 # KEYFRAME 44
0.07623852999677183
Frame 70
tensor(0.2086)
 # KEYFRAME 45
0.07668980800372083
Frame 71
tensor(0.1003)
 # KEYFRAME 46
0.07773194399487693
Frame 72
tensor(0.0426)
Frame 73
tensor(0.1686)
 # KEYFRAME 47
0.07798058399930596
Frame 74
tensor(0.0886)
Frame 75
tensor(0.1505)
 # KEYFRAME 48
0.07943032800540095
Frame 76
tensor(0.0848)
Frame 77
tensor(0.2417)
 # KEYFRAME 49
0.07997090600110823
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1561 loss_distill=0.2747 tta_take=0.009s
Frame 78
tensor(0.1586)
 # KEYFRAME 50
0.07935962799820118
Frame 79
tensor(0.1196)
 # KEYFRAME 51
0.08143903999734903
Frame 80
tensor(0.1042)
 # KEYFRAME 52
0.08187571899907198
Frame 81
tensor(0.1382)
 # KEYFRAME 53
0.08253611699910834
Frame 82
tensor(0.1163)
 # KEYFRAME 54
0.08323159500287147
Frame 83
tensor(0.1354)
 # KEYFRAME 55
0.08507260799524374
Frame 84
tensor(0.1541)
 # KEYFRAME 56
0.08513295800366905
Frame 85
tensor(0.0643)
Frame 86
tensor(0.1218)
 # KEYFRAME 57
0.08604828399984399
Frame 87
tensor(0.0505)
Frame 88
tensor(0.1517)
 # KEYFRAME 58
0.08632664300239412
Frame 89
tensor(0.1664)
 # KEYFRAME 59
0.08784810899669537
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1562 loss_distill=0.3466 tta_take=0.009s
Frame 90
tensor(0.1586)
 # KEYFRAME 60
0.0869110109997564
Frame 91
tensor(0.2328)
 # KEYFRAME 61
0.08889215499948477
Frame 92
tensor(0.1681)
 # KEYFRAME 62
0.08791058800125029
Frame 93
tensor(0.1426)
 # KEYFRAME 63
0.08912209300615359
Frame 94
tensor(0.1398)
 # KEYFRAME 64
0.08984987200528849
Frame 95
tensor(0.0621)
Frame 96
tensor(0.1153)
 # KEYFRAME 65
0.09033017999900039
Frame 97
tensor(0.0817)
Frame 98
tensor(0.1227)
 # KEYFRAME 66
0.091340905004472
Frame 99
tensor(0.0205)
Frame 100
tensor(0.1545)
 # KEYFRAME 67
0.09216146299877437
Frame 101
tensor(0.1358)
 # KEYFRAME 68
0.09295656999893254
Frame 102
tensor(0.1037)
 # KEYFRAME 69
0.09465402399655432
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1563 loss_distill=0.4024 tta_take=0.009s
Frame 103
tensor(0.0811)
Frame 104
tensor(0.1476)
 # KEYFRAME 70
0.09254742199846078
Frame 105
tensor(0.0863)
Frame 106
tensor(0.1632)
 # KEYFRAME 71
0.09629256799962604
Frame 107
tensor(0.0599)
Frame 108
tensor(0.1232)
 # KEYFRAME 72
0.09550013099942589
Frame 109
tensor(0.0396)
Frame 110
tensor(0.0585)
Frame 111
tensor(0.0626)
Frame 112
tensor(0.1202)
 # KEYFRAME 73
0.09644789799494902
Frame 113
tensor(0.1124)
 # KEYFRAME 74
0.09649376800371101
Frame 114
tensor(0.0600)
Frame 115
tensor(0.1067)
 # KEYFRAME 75
0.097843413001101
Frame 116
tensor(0.1279)
 # KEYFRAME 76
0.09808390199759742
Frame 117
tensor(0.0932)
Frame 118
tensor(0.0486)
Frame 119
tensor(0.0657)
Frame 120
tensor(0.1305)
 # KEYFRAME 77
0.09909218800021335
Frame 121
tensor(0.0891)
Frame 122
tensor(0.1674)
 # KEYFRAME 78
0.10016756500408519
Frame 123
tensor(0.1013)
 # KEYFRAME 79
0.10037566399842035
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1564 loss_distill=0.4024 tta_take=0.009s
Frame 124
tensor(0.0785)
Frame 125
tensor(0.1231)
 # KEYFRAME 80
0.09335402800206793
Frame 126
tensor(0.0999)
Frame 127
tensor(0.1596)
 # KEYFRAME 81
0.09541589099535486
Frame 128
tensor(0.0372)
Frame 129
tensor(0.0973)
Frame 130
tensor(0.1560)
 # KEYFRAME 82
0.09523743199679302
Frame 131
tensor(0.2465)
 # KEYFRAME 83
0.0957405410008505
Frame 132
tensor(0.1061)
 # KEYFRAME 84
0.09730500499426853
Frame 133
tensor(0.0867)
Frame 134
tensor(0.1378)
 # KEYFRAME 85
0.09750158399401698
Frame 135
tensor(0.0504)
Frame 136
tensor(0.1070)
 # KEYFRAME 86
0.0991888979988289
Frame 137
tensor(0.0644)
Frame 138
tensor(0.1323)
 # KEYFRAME 87
0.09886039899720345
Frame 139
tensor(0.0804)
Frame 140
tensor(0.1601)
 # KEYFRAME 88
0.10096335100388387
Frame 141
tensor(0.0916)
Frame 142
tensor(0.1691)
 # KEYFRAME 89
0.10144493899861118
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1565 loss_distill=0.4024 tta_take=0.009s
Frame 143
tensor(0.0508)
Frame 144
tensor(0.0697)
[epoch 0 scene 229/556] scannetpp/480ddaadc0/frame frames=145 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=1565 time=43.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0254)
Frame 2
tensor(0.2157)
 # KEYFRAME 1
Frame 3
tensor(0.2439)
 # KEYFRAME 2
0.05149019799864618
Frame 4
tensor(0.2745)
 # KEYFRAME 3
0.05229775499901734
Frame 5
tensor(0.2168)
 # KEYFRAME 4
0.054592057000263594
Frame 6
tensor(0.2047)
 # KEYFRAME 5
0.055010295000101905
Frame 7
tensor(0.1432)
 # KEYFRAME 6
0.0556829920024029
Frame 8
tensor(0.1539)
 # KEYFRAME 7
0.056245140003738925
Frame 9
tensor(0.1774)
 # KEYFRAME 8
0.05761183600407094
Frame 10
tensor(0.1476)
 # KEYFRAME 9
0.058480981999309734
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.2744)
 # KEYFRAME 10
0.0520537560005323
Frame 12
tensor(0.1751)
 # KEYFRAME 11
0.05286753200198291
Frame 13
tensor(0.3869)
 # KEYFRAME 12
0.05417724800645374
Frame 14
tensor(0.3133)
 # KEYFRAME 13
0.05600033100199653
Frame 15
tensor(0.1532)
 # KEYFRAME 14
0.05739545599499252
Frame 16
tensor(0.4075)
 # KEYFRAME 15
0.05760193600144703
Frame 17
tensor(0.4702)
 # KEYFRAME 16
0.058937260997481644
Frame 18
tensor(0.2966)
 # KEYFRAME 17
0.05942360900371568
Frame 19
tensor(0.3252)
 # KEYFRAME 18
0.060858424003527034
Frame 20
tensor(0.1936)
 # KEYFRAME 19
0.06227033899631351
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.7317)
 # KEYFRAME 20
0.059159369993722066
Frame 22
tensor(0.0919)
Frame 23
tensor(0.3038)
 # KEYFRAME 21
0.060811903997091576
Frame 24
tensor(0.1712)
 # KEYFRAME 22
0.06146762199932709
Frame 25
tensor(0.3956)
 # KEYFRAME 23
0.06223068899998907
Frame 26
tensor(0.4413)
 # KEYFRAME 24
0.06295878600212745
Frame 27
tensor(0.1192)
 # KEYFRAME 25
0.06389649299671873
Frame 28
tensor(0.3975)
 # KEYFRAME 26
0.06524833799630869
Frame 29
tensor(0.3855)
 # KEYFRAME 27
0.06630298500385834
Frame 30
tensor(0.4349)
 # KEYFRAME 28
0.06756815999688115
Frame 31
tensor(0.0935)
Frame 32
tensor(0.2659)
 # KEYFRAME 29
0.06820828800118761
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 33
tensor(0.2503)
 # KEYFRAME 30
0.06553869799972745
Frame 34
tensor(0.2724)
 # KEYFRAME 31
0.06769399000040721
Frame 35
tensor(0.2915)
 # KEYFRAME 32
0.06888819499727106
Frame 36
tensor(0.0464)
Frame 37
tensor(0.2978)
 # KEYFRAME 33
0.07057219900161726
Frame 38
tensor(0.0294)
Frame 39
tensor(0.3449)
 # KEYFRAME 34
0.0716378450015327
Frame 40
tensor(0.4703)
 # KEYFRAME 35
0.07269999200070743
Frame 41
tensor(0.0818)
Frame 42
tensor(0.0532)
Frame 43
tensor(0.0488)
Frame 44
tensor(0.1695)
 # KEYFRAME 36
0.0742506470051012
Frame 45
tensor(0.4988)
 # KEYFRAME 37
0.07545153300452512
Frame 46
tensor(0.2911)
 # KEYFRAME 38
0.07652533899818081
Frame 47
tensor(0.3889)
 # KEYFRAME 39
0.07693410699721426
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1566 loss_distill=0.1733 tta_take=0.009s
Frame 48
tensor(0.1846)
 # KEYFRAME 40
0.07239590300014243
Frame 49
tensor(0.2601)
 # KEYFRAME 41
0.07438478599942755
Frame 50
tensor(0.0821)
Frame 51
tensor(0.1372)
 # KEYFRAME 42
0.07450302499637473
Frame 52
tensor(0.0952)
Frame 53
tensor(0.2761)
 # KEYFRAME 43
0.07535995299986098
Frame 54
tensor(0.2112)
 # KEYFRAME 44
0.07610160999320215
Frame 55
tensor(0.1699)
 # KEYFRAME 45
0.07668078799906652
Frame 56
tensor(0.2164)
 # KEYFRAME 46
0.0773961250015418
Frame 57
tensor(0.2794)
 # KEYFRAME 47
0.07806244300445542
Frame 58
tensor(0.2903)
 # KEYFRAME 48
0.07965642800263595
Frame 59
tensor(0.3066)
 # KEYFRAME 49
0.07993306600110373
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1567 loss_distill=0.2747 tta_take=0.009s
Frame 60
tensor(0.2768)
 # KEYFRAME 50
0.07961416699981783
Frame 61
tensor(0.3035)
 # KEYFRAME 51
0.082060728003853
Frame 62
tensor(0.3292)
 # KEYFRAME 52
0.08214175900502596
Frame 63
tensor(0.1902)
 # KEYFRAME 53
0.083694282999204
Frame 64
tensor(0.4132)
 # KEYFRAME 54
0.08474857999681262
Frame 65
tensor(0.0963)
Frame 66
tensor(0.1038)
 # KEYFRAME 55
0.08530992799933301
Frame 67
tensor(0.3980)
 # KEYFRAME 56
0.08605524399899878
Frame 68
tensor(0.1689)
 # KEYFRAME 57
0.08673905199975707
Frame 69
tensor(0.3845)
 # KEYFRAME 58
0.08691028199973516
Frame 70
tensor(0.2468)
 # KEYFRAME 59
0.08869714500178816
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1568 loss_distill=0.3466 tta_take=0.009s
Frame 71
tensor(0.2832)
 # KEYFRAME 60
0.0861484039996867
Frame 72
tensor(0.1449)
 # KEYFRAME 61
0.08892501499940408
Frame 73
tensor(0.2662)
 # KEYFRAME 62
0.08824108700355282
Frame 74
tensor(0.3131)
 # KEYFRAME 63
0.0889634639970609
Frame 75
tensor(0.3170)
 # KEYFRAME 64
0.08970570099336328
Frame 76
tensor(0.2213)
 # KEYFRAME 65
0.090538338998158
Frame 77
tensor(0.3871)
 # KEYFRAME 66
0.09138087600149447
Frame 78
tensor(0.1470)
 # KEYFRAME 67
0.09221973300009267
Frame 79
tensor(0.1617)
 # KEYFRAME 68
0.09305232900078408
Frame 80
tensor(0.2328)
 # KEYFRAME 69
0.0932910989940865
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1569 loss_distill=0.4024 tta_take=0.009s
Frame 81
tensor(0.1650)
 # KEYFRAME 70
0.09359614799905103
Frame 82
tensor(0.2728)
 # KEYFRAME 71
0.09539249199588085
Frame 83
tensor(0.1998)
 # KEYFRAME 72
0.09430921600142028
Frame 84
tensor(0.2637)
 # KEYFRAME 73
0.0955060299966135
Frame 85
tensor(0.2252)
 # KEYFRAME 74
0.09611311899789143
Frame 86
tensor(0.1479)
 # KEYFRAME 75
0.09624972799792886
Frame 87
tensor(0.1034)
 # KEYFRAME 76
0.09797220299515175
Frame 88
tensor(0.1101)
 # KEYFRAME 77
0.09847096999874339
Frame 89
tensor(0.0996)
Frame 90
tensor(0.1281)
 # KEYFRAME 78
0.10010382500331616
Frame 91
tensor(0.1099)
 # KEYFRAME 79
0.10048272299900418
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1570 loss_distill=0.4024 tta_take=0.009s
Frame 92
tensor(0.2011)
 # KEYFRAME 80
0.09321137899678433
Frame 93
tensor(0.0558)
Frame 94
tensor(0.1509)
 # KEYFRAME 81
0.09579446999850916
Frame 95
tensor(0.2812)
 # KEYFRAME 82
0.09435798499907833
Frame 96
tensor(0.3026)
 # KEYFRAME 83
0.09523894199810456
Frame 97
tensor(0.3166)
 # KEYFRAME 84
0.09670898700278485
Frame 98
tensor(0.1418)
 # KEYFRAME 85
0.09739432400238002
Frame 99
tensor(0.3598)
 # KEYFRAME 86
0.09837916999822482
Frame 100
tensor(0.2216)
 # KEYFRAME 87
0.09931504799897084
Frame 101
tensor(0.5851)
 # KEYFRAME 88
0.09971004600083688
Frame 102
tensor(0.4293)
 # KEYFRAME 89
0.10171223900397308
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1571 loss_distill=0.4024 tta_take=0.009s
Frame 103
tensor(0.1674)
 # KEYFRAME 90
0.09284230100456625
Frame 104
tensor(0.3899)
 # KEYFRAME 91
0.0957691200019326
Frame 105
tensor(0.3183)
 # KEYFRAME 92
0.09589221899659606
Frame 106
tensor(0.2463)
 # KEYFRAME 93
0.09663070700480603
Frame 107
tensor(0.0936)
Frame 108
tensor(0.2080)
 # KEYFRAME 94
0.09806461200059857
Frame 109
tensor(0.0277)
Frame 110
tensor(0.0932)
Frame 111
tensor(0.1403)
 # KEYFRAME 95
0.09957673699682346
Frame 112
tensor(0.3016)
 # KEYFRAME 96
0.10062789299990982
Frame 113
tensor(0.1182)
 # KEYFRAME 97
0.10207475799688837
Frame 114
tensor(0.1443)
 # KEYFRAME 98
0.10219287699874258
Frame 115
tensor(0.1504)
 # KEYFRAME 99
0.10374574200250208
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1572 loss_distill=0.4024 tta_take=0.009s
Frame 116
tensor(0.2933)
 # KEYFRAME 100
0.0925672619996476
Frame 117
tensor(0.2945)
 # KEYFRAME 101
0.09578862000489607
Frame 118
tensor(0.2662)
 # KEYFRAME 102
0.09484721299668308
Frame 119
tensor(0.3674)
 # KEYFRAME 103
0.09549965099722613
Frame 120
tensor(0.1990)
 # KEYFRAME 104
0.1064467420001165
Frame 121
tensor(0.4107)
 # KEYFRAME 105
0.0970649750015582
Frame 122
tensor(0.4227)
 # KEYFRAME 106
0.09901846899447264
Frame 123
tensor(0.0707)
Frame 124
tensor(0.6182)
 # KEYFRAME 107
0.09951786700548837
Frame 125
tensor(0.2867)
 # KEYFRAME 108
0.09980496599746402
Frame 126
tensor(0.1759)
 # KEYFRAME 109
0.10033588299847906
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1573 loss_distill=0.4024 tta_take=0.009s
Frame 127
tensor(0.3219)
 # KEYFRAME 110
0.09351631800382165
Frame 128
tensor(0.1869)
 # KEYFRAME 111
0.09459160400001565
Frame 129
tensor(0.1701)
 # KEYFRAME 112
0.09577001000434393
Frame 130
tensor(0.1633)
 # KEYFRAME 113
0.09653006699954858
Frame 131
tensor(0.1229)
 # KEYFRAME 114
0.09741633399971761
Frame 132
tensor(0.1288)
 # KEYFRAME 115
0.09838704099820461
Frame 133
tensor(0.1116)
 # KEYFRAME 116
0.09819799199613044
Frame 134
tensor(0.1823)
 # KEYFRAME 117
0.09952222699939739
Frame 135
tensor(0.0678)
Frame 136
tensor(0.0821)
Frame 137
tensor(0.2936)
 # KEYFRAME 118
0.09998993499903008
Frame 138
tensor(0.0880)
Frame 139
tensor(0.1986)
 # KEYFRAME 119
0.10111703099391889
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1574 loss_distill=0.4024 tta_take=0.009s
[epoch 0 scene 230/556] scannetpp/c0c863b72d/frame frames=140 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=1574 time=46.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0008)
Frame 2
tensor(0.0015)
Frame 3
tensor(0.0017)
Frame 4
tensor(0.0010)
Frame 5
tensor(0.0009)
Frame 6
tensor(0.0014)
Frame 7
tensor(0.0012)
Frame 8
tensor(0.0007)
Frame 9
tensor(0.0007)
Frame 10
tensor(0.0010)
Frame 11
tensor(0.0011)
Frame 12
tensor(0.0009)
Frame 13
tensor(0.0008)
Frame 14
tensor(0.0009)
Frame 15
tensor(0.0009)
Frame 16
tensor(0.0009)
Frame 17
tensor(0.0009)
Frame 18
tensor(0.0015)
Frame 19
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Frame 20
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Frame 26
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Frame 99
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Frame 100
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Frame 102
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Frame 109
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Frame 110
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Frame 111
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Frame 112
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Frame 113
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Frame 114
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Frame 115
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Frame 117
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Frame 118
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Frame 119
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Frame 120
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Frame 121
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Frame 122
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Frame 123
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Frame 124
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Frame 125
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Frame 126
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Frame 128
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Frame 130
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Frame 131
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Frame 134
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Frame 135
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Frame 136
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Frame 138
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Frame 139
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Frame 140
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Frame 141
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Frame 142
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Frame 144
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Frame 145
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Frame 147
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Frame 148
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Frame 149
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Frame 150
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Frame 151
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Frame 152
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Frame 153
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Frame 154
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Frame 155
tensor(0.0022)
Frame 156
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Frame 157
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Frame 158
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Frame 159
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Frame 160
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Frame 161
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Frame 162
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Frame 163
tensor(0.0016)
Frame 164
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Frame 165
tensor(0.0017)
Frame 166
tensor(0.0014)
Frame 167
tensor(0.0016)
Frame 168
tensor(0.0017)
Frame 169
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Frame 170
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Frame 171
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Frame 172
tensor(0.0019)
Frame 173
tensor(0.0017)
Frame 174
tensor(0.0018)
Frame 175
tensor(0.0021)
Frame 176
tensor(0.0010)
Frame 177
tensor(0.0010)
Frame 178
tensor(0.0018)
Frame 179
tensor(0.0007)
Frame 180
tensor(0.0013)
Frame 181
tensor(0.0020)
Frame 182
tensor(0.0029)
Frame 183
tensor(0.0043)
Frame 184
tensor(0.0056)
Frame 185
tensor(0.0061)
Frame 186
tensor(0.0082)
Frame 187
tensor(0.0103)
Frame 188
tensor(0.0141)
Frame 189
tensor(0.0164)
Frame 190
tensor(0.0229)
Frame 191
tensor(0.0293)
Frame 192
tensor(0.0346)
Frame 193
tensor(0.0426)
Frame 194
tensor(0.0511)
Frame 195
tensor(0.0613)
Frame 196
tensor(0.0716)
Frame 197
tensor(0.0786)
Frame 198
tensor(0.0903)
Frame 199
tensor(0.1053)
 # KEYFRAME 1
Frame 200
tensor(0.0152)
Frame 201
tensor(0.0336)
Frame 202
tensor(0.0507)
Frame 203
tensor(0.0745)
Frame 204
tensor(0.0968)
Frame 205
tensor(0.1141)
 # KEYFRAME 2
0.05205662499793107
Frame 206
tensor(0.0222)
Frame 207
tensor(0.0465)
Frame 208
tensor(0.0713)
Frame 209
tensor(0.0903)
Frame 210
tensor(0.1104)
 # KEYFRAME 3
0.052067864999116864
Frame 211
tensor(0.0240)
Frame 212
tensor(0.0471)
Frame 213
tensor(0.0627)
Frame 214
tensor(0.0826)
Frame 215
tensor(0.1046)
 # KEYFRAME 4
0.052405043999897316
Frame 216
tensor(0.0153)
Frame 217
tensor(0.0315)
Frame 218
tensor(0.0560)
Frame 219
tensor(0.0733)
Frame 220
tensor(0.0969)
Frame 221
tensor(0.1212)
 # KEYFRAME 5
0.052525532999425195
Frame 222
tensor(0.0181)
Frame 223
tensor(0.0393)
Frame 224
tensor(0.0626)
Frame 225
tensor(0.0850)
Frame 226
tensor(0.1042)
 # KEYFRAME 6
0.053036651996080764
Frame 227
tensor(0.0170)
Frame 228
tensor(0.0428)
Frame 229
tensor(0.0661)
Frame 230
tensor(0.0907)
Frame 231
tensor(0.1133)
 # KEYFRAME 7
0.05261017299926607
Frame 232
tensor(0.0220)
Frame 233
tensor(0.0430)
Frame 234
tensor(0.0684)
Frame 235
tensor(0.0923)
Frame 236
tensor(0.1169)
 # KEYFRAME 8
0.053373950999230146
Frame 237
tensor(0.0301)
Frame 238
tensor(0.0580)
Frame 239
tensor(0.0848)
Frame 240
tensor(0.1206)
 # KEYFRAME 9
0.05289707199699478
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 241
tensor(0.0284)
Frame 242
tensor(0.0597)
Frame 243
tensor(0.0896)
Frame 244
tensor(0.1103)
 # KEYFRAME 10
0.052036645996849984
Frame 245
tensor(0.0347)
Frame 246
tensor(0.0722)
Frame 247
tensor(0.1034)
 # KEYFRAME 11
0.05203808499936713
Frame 248
tensor(0.0405)
Frame 249
tensor(0.0802)
Frame 250
tensor(0.1179)
 # KEYFRAME 12
0.052194014002452604
Frame 251
tensor(0.0378)
Frame 252
tensor(0.0753)
Frame 253
tensor(0.1133)
 # KEYFRAME 13
0.053031272000225727
Frame 254
tensor(0.0363)
Frame 255
tensor(0.0741)
Frame 256
tensor(0.1083)
 # KEYFRAME 14
0.05502272499870742
Frame 257
tensor(0.0347)
Frame 258
tensor(0.0751)
Frame 259
tensor(0.1124)
 # KEYFRAME 15
0.05291152199788485
Frame 260
tensor(0.0355)
Frame 261
tensor(0.0731)
Frame 262
tensor(0.1205)
 # KEYFRAME 16
0.053654030001780484
Frame 263
tensor(0.0376)
Frame 264
tensor(0.0776)
Frame 265
tensor(0.1144)
 # KEYFRAME 17
0.056824438004696276
Frame 266
tensor(0.0405)
Frame 267
tensor(0.0752)
Frame 268
tensor(0.1114)
 # KEYFRAME 18
0.05366909999429481
Frame 269
tensor(0.0340)
Backending... 19 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
[epoch 0 scene 231/556] vkitti/Scene06/30-deg-left/Camera_0 frames=270 tta_steps_this_scene=0 mean_loss=nan total_steps=1574 time=40.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0358)
Frame 2
tensor(0.0615)
Frame 3
tensor(0.1181)
 # KEYFRAME 1
Frame 4
tensor(0.0782)
Frame 5
tensor(0.1177)
 # KEYFRAME 2
0.05163712600187864
Frame 6
tensor(0.0888)
Frame 7
tensor(0.1378)
 # KEYFRAME 3
0.052460443002928514
Frame 8
tensor(0.0500)
Frame 9
tensor(0.1412)
 # KEYFRAME 4
0.05369210000208113
Frame 10
tensor(0.0400)
Frame 11
tensor(0.0440)
Frame 12
tensor(0.0573)
Frame 13
tensor(0.0606)
Frame 14
tensor(0.0851)
Frame 15
tensor(0.0793)
Frame 16
tensor(0.1051)
 # KEYFRAME 5
0.05453288600256201
Frame 17
tensor(0.0686)
Frame 18
tensor(0.1271)
 # KEYFRAME 6
0.05612019100226462
Frame 19
tensor(0.0662)
Frame 20
tensor(0.2009)
 # KEYFRAME 7
0.05661416899965843
Frame 21
tensor(0.1187)
 # KEYFRAME 8
0.057783824995567556
Frame 22
tensor(0.0357)
Frame 23
tensor(0.1187)
 # KEYFRAME 9
0.05958359799842583
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 24
tensor(0.6363)
 # KEYFRAME 10
0.051578186998085584
Frame 25
tensor(0.0116)
Frame 26
tensor(0.0562)
Frame 27
tensor(0.0903)
Frame 28
tensor(0.1066)
 # KEYFRAME 11
0.05291873199894326
Frame 29
tensor(0.0086)
Frame 30
tensor(0.0962)
Frame 31
tensor(0.1237)
 # KEYFRAME 12
0.05281339200155344
Frame 32
tensor(0.0392)
Frame 33
tensor(0.0303)
Frame 34
tensor(0.0948)
Frame 35
tensor(0.1859)
 # KEYFRAME 13
0.054847464998601936
Frame 36
tensor(0.0494)
Frame 37
tensor(0.4838)
 # KEYFRAME 14
0.05473588599852519
Frame 38
tensor(0.0999)
Frame 39
tensor(0.1599)
 # KEYFRAME 15
0.05527969400282018
Frame 40
tensor(0.1343)
 # KEYFRAME 16
0.05557119299919577
Frame 41
tensor(0.1482)
 # KEYFRAME 17
0.056208171001344454
Frame 42
tensor(0.0535)
Frame 43
tensor(0.1454)
 # KEYFRAME 18
0.057234786996559706
Frame 44
tensor(0.0644)
Frame 45
tensor(0.0639)
Frame 46
tensor(0.2586)
 # KEYFRAME 19
0.058107093995204195
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 47
tensor(0.0997)
Frame 48
tensor(0.1040)
 # KEYFRAME 20
0.05395286900602514
Frame 49
tensor(0.0478)
Frame 50
tensor(0.1212)
 # KEYFRAME 21
0.05530765400180826
Frame 51
tensor(0.0204)
Frame 52
tensor(0.1117)
 # KEYFRAME 22
0.055816561995015945
Frame 53
tensor(0.2433)
 # KEYFRAME 23
0.05643535900162533
Frame 54
tensor(0.0289)
Frame 55
tensor(0.1153)
 # KEYFRAME 24
0.05692760799865937
Frame 56
tensor(0.0578)
Frame 57
tensor(0.1742)
 # KEYFRAME 25
0.057761814998229966
Frame 58
tensor(0.1301)
 # KEYFRAME 26
0.05872753099538386
Frame 59
tensor(0.0560)
Frame 60
tensor(0.1347)
 # KEYFRAME 27
0.060075806999520864
Frame 61
tensor(0.0749)
Frame 62
tensor(0.1298)
 # KEYFRAME 28
0.0604524259979371
Frame 63
tensor(0.0335)
Frame 64
tensor(0.0394)
Frame 65
tensor(0.0431)
Frame 66
tensor(0.0488)
Frame 67
tensor(0.0451)
Frame 68
tensor(0.0293)
Frame 69
tensor(0.1500)
 # KEYFRAME 29
0.06120018299407093
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 70
tensor(0.1124)
 # KEYFRAME 30
0.05849556199973449
Frame 71
tensor(0.0344)
Frame 72
tensor(0.1849)
 # KEYFRAME 31
0.06029830600164132
Frame 73
tensor(0.1527)
 # KEYFRAME 32
0.060154065999086015
Frame 74
tensor(0.1111)
 # KEYFRAME 33
0.06127719299547607
Frame 75
tensor(0.2237)
 # KEYFRAME 34
0.0615414409985533
Frame 76
tensor(0.0857)
Frame 77
tensor(0.1920)
 # KEYFRAME 35
0.0623685780010419
Frame 78
tensor(0.1062)
 # KEYFRAME 36
0.06286332700256025
Frame 79
tensor(0.0585)
Frame 80
tensor(0.4601)
 # KEYFRAME 37
0.06325370600097813
Frame 81
tensor(0.3837)
 # KEYFRAME 38
0.06400928299990483
Frame 82
tensor(0.0099)
Frame 83
tensor(0.0462)
Frame 84
tensor(0.1385)
 # KEYFRAME 39
0.06529035900166491
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1575 loss_distill=0.1733 tta_take=0.008s
Frame 85
tensor(0.0266)
Frame 86
tensor(0.0596)
Frame 87
tensor(0.1574)
 # KEYFRAME 40
0.06300873599684564
Frame 88
tensor(0.0661)
Frame 89
tensor(0.2007)
 # KEYFRAME 41
0.0643454719975125
Frame 90
tensor(0.1257)
 # KEYFRAME 42
0.06413544200040633
Frame 91
tensor(0.0342)
Frame 92
tensor(0.0572)
Frame 93
tensor(0.1474)
 # KEYFRAME 43
0.06401840299804462
Frame 94
tensor(0.1086)
 # KEYFRAME 44
0.06516625899530482
Frame 95
tensor(0.1876)
 # KEYFRAME 45
0.06552059699606616
Frame 96
tensor(0.0596)
Frame 97
tensor(0.1552)
 # KEYFRAME 46
0.06625275499391137
Frame 98
tensor(0.1460)
 # KEYFRAME 47
0.06654183399950853
Frame 99
tensor(0.0576)
Frame 100
tensor(0.0869)
Frame 101
tensor(0.2303)
 # KEYFRAME 48
0.06710010099777719
Frame 102
tensor(0.1381)
 # KEYFRAME 49
0.06743533100234345
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1576 loss_distill=0.2747 tta_take=0.008s
Frame 103
tensor(0.1294)
 # KEYFRAME 50
0.0671896120038582
Frame 104
tensor(0.1201)
 # KEYFRAME 51
0.06918658500217134
Frame 105
tensor(0.0397)
Frame 106
tensor(0.0775)
Frame 107
tensor(0.1006)
 # KEYFRAME 52
0.0695096339986776
Frame 108
tensor(0.0078)
Frame 109
tensor(0.1451)
 # KEYFRAME 53
0.07069248899642844
Frame 110
tensor(0.1394)
 # KEYFRAME 54
0.06958616300107678
Frame 111
tensor(0.0338)
Frame 112
tensor(0.1087)
 # KEYFRAME 55
0.0721017940013553
Frame 113
tensor(0.0916)
Frame 114
tensor(0.2796)
 # KEYFRAME 56
0.07306898000388173
Frame 115
tensor(0.0586)
Frame 116
tensor(0.1180)
 # KEYFRAME 57
0.0727220920016407
Frame 117
tensor(0.0281)
Frame 118
tensor(0.2900)
 # KEYFRAME 58
0.07423321600072086
Frame 119
tensor(0.0548)
Frame 120
tensor(0.1192)
 # KEYFRAME 59
0.0747175549986423
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1577 loss_distill=0.3466 tta_take=0.008s
Frame 121
tensor(0.1075)
 # KEYFRAME 60
0.07140978700044798
Frame 122
tensor(0.0485)
Frame 123
tensor(0.1089)
 # KEYFRAME 61
0.07292385199980345
Frame 124
tensor(0.0768)
Frame 125
tensor(0.1294)
 # KEYFRAME 62
0.0724605830037035
Frame 126
tensor(0.0933)
Frame 127
tensor(0.5963)
 # KEYFRAME 63
0.07364337900071405
Frame 128
tensor(0.0683)
Frame 129
tensor(0.2412)
 # KEYFRAME 64
0.07367667899961816
Frame 130
tensor(0.2000)
 # KEYFRAME 65
0.0739539269998204
Frame 131
tensor(0.0688)
Frame 132
tensor(0.2348)
 # KEYFRAME 66
0.07453759499912849
Frame 133
tensor(0.1132)
 # KEYFRAME 67
0.0747358649969101
Frame 134
tensor(0.0715)
Frame 135
tensor(0.1744)
 # KEYFRAME 68
0.07543413300300017
Frame 136
tensor(0.1191)
 # KEYFRAME 69
0.076094269999885
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1578 loss_distill=0.4024 tta_take=0.009s
Frame 137
tensor(0.0898)
Frame 138
tensor(0.2285)
 # KEYFRAME 70
0.07609446000424214
Frame 139
tensor(0.0441)
Frame 140
tensor(0.1654)
 # KEYFRAME 71
0.07743457600008696
Frame 141
tensor(0.1600)
 # KEYFRAME 72
0.0768400470042252
Frame 142
tensor(0.0460)
Frame 143
tensor(0.0607)
Frame 144
tensor(0.0626)
Frame 145
tensor(0.0787)
Frame 146
tensor(0.0803)
Frame 147
tensor(0.1916)
 # KEYFRAME 73
0.07800272299937205
Frame 148
tensor(0.0579)
Frame 149
tensor(0.1376)
 # KEYFRAME 74
0.07855341100366786
Backending... 75 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 60450, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1579 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 232/556] scannetpp/e8e81396b6/DSC frames=150 tta_steps_this_scene=5 mean_loss=0.3198 total_steps=1579 time=33.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0128)
Frame 2
tensor(0.0229)
Frame 3
tensor(0.0338)
Frame 4
tensor(0.0462)
Frame 5
tensor(0.0607)
Frame 6
tensor(0.0703)
Frame 7
tensor(0.0827)
Frame 8
tensor(0.0941)
Frame 9
tensor(0.1242)
 # KEYFRAME 1
Frame 10
tensor(0.0069)
Frame 11
tensor(0.0200)
Frame 12
tensor(0.0257)
Frame 13
tensor(0.0389)
Frame 14
tensor(0.0498)
Frame 15
tensor(0.0655)
Frame 16
tensor(0.0825)
Frame 17
tensor(0.0907)
Frame 18
tensor(0.0971)
Frame 19
tensor(0.1103)
 # KEYFRAME 2
0.05191971600288525
Frame 20
tensor(0.0081)
Frame 21
tensor(0.0122)
Frame 22
tensor(0.0172)
Frame 23
tensor(0.0288)
Frame 24
tensor(0.0391)
Frame 25
tensor(0.0531)
Frame 26
tensor(0.0607)
Frame 27
tensor(0.0780)
Frame 28
tensor(0.0878)
Frame 29
tensor(0.0923)
Frame 30
tensor(0.1117)
 # KEYFRAME 3
0.05183677700551925
Frame 31
tensor(0.0081)
Frame 32
tensor(0.0147)
Frame 33
tensor(0.0215)
Frame 34
tensor(0.0296)
Frame 35
tensor(0.0384)
Frame 36
tensor(0.0488)
Frame 37
tensor(0.0547)
Frame 38
tensor(0.0620)
Frame 39
tensor(0.0716)
Frame 40
tensor(0.0802)
Frame 41
tensor(0.0882)
Frame 42
tensor(0.0913)
Frame 43
tensor(0.1063)
 # KEYFRAME 4
0.05236236400378402
Frame 44
tensor(0.0068)
Frame 45
tensor(0.0181)
Frame 46
tensor(0.0286)
Frame 47
tensor(0.0412)
Frame 48
tensor(0.0558)
Frame 49
tensor(0.0700)
Frame 50
tensor(0.0839)
Frame 51
tensor(0.0850)
Frame 52
tensor(0.1088)
 # KEYFRAME 5
0.052658393993624486
Frame 53
tensor(0.0122)
Frame 54
tensor(0.0258)
Frame 55
tensor(0.0385)
Frame 56
tensor(0.0585)
Frame 57
tensor(0.0738)
Frame 58
tensor(0.0857)
Frame 59
tensor(0.1067)
 # KEYFRAME 6
0.05319136099569732
Frame 60
tensor(0.0174)
Frame 61
tensor(0.0334)
Frame 62
tensor(0.0508)
Frame 63
tensor(0.0728)
Frame 64
tensor(0.0950)
Frame 65
tensor(0.1173)
 # KEYFRAME 7
0.05242042400641367
Frame 66
tensor(0.0107)
Frame 67
tensor(0.0314)
Frame 68
tensor(0.0520)
Frame 69
tensor(0.0744)
Frame 70
tensor(0.0927)
Frame 71
tensor(0.1110)
 # KEYFRAME 8
0.05334158099867636
Frame 72
tensor(0.0174)
Frame 73
tensor(0.0389)
Frame 74
tensor(0.0545)
Frame 75
tensor(0.0756)
Frame 76
tensor(0.0935)
Frame 77
tensor(0.1104)
 # KEYFRAME 9
0.05320863200176973
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 78
tensor(0.0172)
Frame 79
tensor(0.0346)
Frame 80
tensor(0.0533)
Frame 81
tensor(0.0746)
Frame 82
tensor(0.0922)
Frame 83
tensor(0.1119)
 # KEYFRAME 10
0.05212769499485148
Frame 84
tensor(0.0156)
Frame 85
tensor(0.0313)
Frame 86
tensor(0.0523)
Frame 87
tensor(0.0704)
Frame 88
tensor(0.0855)
Frame 89
tensor(0.1078)
 # KEYFRAME 11
0.052009144994372036
Frame 90
tensor(0.0167)
Frame 91
tensor(0.0340)
Frame 92
tensor(0.0510)
Frame 93
tensor(0.0651)
Frame 94
tensor(0.0865)
Frame 95
tensor(0.1012)
 # KEYFRAME 12
0.05246548399736639
Frame 96
tensor(0.0146)
Frame 97
tensor(0.0303)
Frame 98
tensor(0.0495)
Frame 99
tensor(0.0635)
Frame 100
tensor(0.0804)
Frame 101
tensor(0.0942)
Frame 102
tensor(0.1195)
 # KEYFRAME 13
0.05328421999729471
Frame 103
tensor(0.0130)
Frame 104
tensor(0.0274)
Frame 105
tensor(0.0440)
Frame 106
tensor(0.0614)
Frame 107
tensor(0.0817)
Frame 108
tensor(0.1056)
 # KEYFRAME 14
0.05506396399869118
Frame 109
tensor(0.0114)
Frame 110
tensor(0.0267)
Frame 111
tensor(0.0506)
Frame 112
tensor(0.0636)
Frame 113
tensor(0.0817)
Frame 114
tensor(0.1017)
 # KEYFRAME 15
0.053041052000480704
Frame 115
tensor(0.0123)
Frame 116
tensor(0.0272)
Frame 117
tensor(0.0416)
Frame 118
tensor(0.0612)
Frame 119
tensor(0.0789)
Frame 120
tensor(0.0964)
Frame 121
tensor(0.1097)
 # KEYFRAME 16
0.05353123000531923
Frame 122
tensor(0.0170)
Frame 123
tensor(0.0322)
Frame 124
tensor(0.0463)
Frame 125
tensor(0.0626)
Frame 126
tensor(0.0759)
Frame 127
tensor(0.0954)
Frame 128
tensor(0.1070)
 # KEYFRAME 17
0.05671242899552453
Frame 129
tensor(0.0109)
Frame 130
tensor(0.0244)
Frame 131
tensor(0.0383)
Frame 132
tensor(0.0520)
Frame 133
tensor(0.0630)
Frame 134
tensor(0.0768)
Frame 135
tensor(0.0910)
Frame 136
tensor(0.1052)
 # KEYFRAME 18
0.05296382199594518
Frame 137
tensor(0.0103)
Frame 138
tensor(0.0222)
Frame 139
tensor(0.0322)
Frame 140
tensor(0.0473)
Frame 141
tensor(0.0593)
Frame 142
tensor(0.0692)
Frame 143
tensor(0.0784)
Frame 144
tensor(0.0915)
Frame 145
tensor(0.1009)
 # KEYFRAME 19
0.057162097000400536
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 146
tensor(0.0106)
Frame 147
tensor(0.0209)
Frame 148
tensor(0.0304)
Frame 149
tensor(0.0425)
Frame 150
tensor(0.0543)
Frame 151
tensor(0.0679)
Frame 152
tensor(0.0828)
Frame 153
tensor(0.0898)
Frame 154
tensor(0.1059)
 # KEYFRAME 20
0.0521477349975612
Frame 155
tensor(0.0068)
Frame 156
tensor(0.0226)
Frame 157
tensor(0.0350)
Frame 158
tensor(0.0462)
Frame 159
tensor(0.0529)
Frame 160
tensor(0.0722)
Frame 161
tensor(0.0853)
Frame 162
tensor(0.0982)
Frame 163
tensor(0.1129)
 # KEYFRAME 21
0.05230571400170447
Frame 164
tensor(0.0122)
Frame 165
tensor(0.0318)
Frame 166
tensor(0.0416)
Frame 167
tensor(0.0559)
Frame 168
tensor(0.0789)
Frame 169
tensor(0.0921)
Frame 170
tensor(0.1104)
 # KEYFRAME 22
0.0532174309992115
Frame 171
tensor(0.0141)
Frame 172
tensor(0.0337)
Frame 173
tensor(0.0570)
Frame 174
tensor(0.0770)
Frame 175
tensor(0.0922)
Frame 176
tensor(0.1173)
 # KEYFRAME 23
0.05258298300032038
Frame 177
tensor(0.0189)
Frame 178
tensor(0.0427)
Frame 179
tensor(0.0644)
Frame 180
tensor(0.0862)
Frame 181
tensor(0.1032)
 # KEYFRAME 24
0.05374420899897814
Frame 182
tensor(0.0209)
Frame 183
tensor(0.0436)
Frame 184
tensor(0.0666)
Frame 185
tensor(0.0911)
Frame 186
tensor(0.1192)
 # KEYFRAME 25
0.052099085005465895
Frame 187
tensor(0.0185)
Frame 188
tensor(0.0429)
Frame 189
tensor(0.0733)
Frame 190
tensor(0.0959)
Frame 191
tensor(0.1197)
 # KEYFRAME 26
0.05231779500172706
Frame 192
tensor(0.0247)
Frame 193
tensor(0.0511)
Frame 194
tensor(0.0746)
Frame 195
tensor(0.1045)
 # KEYFRAME 27
0.0550129850016674
Frame 196
tensor(0.0238)
Frame 197
tensor(0.0458)
Frame 198
tensor(0.0744)
Frame 199
tensor(0.0963)
Frame 200
tensor(0.1182)
 # KEYFRAME 28
0.05306856199604226
Frame 201
tensor(0.0238)
Frame 202
tensor(0.0470)
Frame 203
tensor(0.0710)
Frame 204
tensor(0.0924)
Frame 205
tensor(0.1132)
 # KEYFRAME 29
0.05556853300367948
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 206
tensor(0.0225)
Frame 207
tensor(0.0446)
Frame 208
tensor(0.0723)
Frame 209
tensor(0.0970)
Frame 210
tensor(0.1196)
 # KEYFRAME 30
0.05225513500045054
Frame 211
tensor(0.0240)
Frame 212
tensor(0.0464)
Frame 213
tensor(0.0677)
Frame 214
tensor(0.0922)
Frame 215
tensor(0.1106)
 # KEYFRAME 31
0.053382919999421574
Frame 216
tensor(0.0188)
Frame 217
tensor(0.0403)
Frame 218
tensor(0.0631)
Frame 219
tensor(0.0902)
Frame 220
tensor(0.1124)
 # KEYFRAME 32
0.05336587099736789
Frame 221
tensor(0.0200)
Frame 222
tensor(0.0424)
Frame 223
tensor(0.0654)
Frame 224
tensor(0.0879)
Frame 225
tensor(0.1155)
 # KEYFRAME 33
0.05269068299821811
Frame 226
tensor(0.0204)
Frame 227
tensor(0.0386)
Frame 228
tensor(0.0703)
Frame 229
tensor(0.0867)
Frame 230
tensor(0.1107)
 # KEYFRAME 34
0.053403480000270065
Frame 231
tensor(0.0247)
Frame 232
tensor(0.0466)
Frame 233
tensor(0.0719)
Frame 234
tensor(0.0968)
Frame 235
tensor(0.1174)
 # KEYFRAME 35
0.052578524002456106
Frame 236
tensor(0.0219)
Frame 237
tensor(0.0413)
Frame 238
tensor(0.0643)
Frame 239
tensor(0.0947)
Frame 240
tensor(0.1127)
 # KEYFRAME 36
0.052867812002659775
Frame 241
tensor(0.0198)
Frame 242
tensor(0.0456)
Frame 243
tensor(0.0699)
Frame 244
tensor(0.1006)
 # KEYFRAME 37
0.05368417000136105
Frame 245
tensor(0.0248)
Frame 246
tensor(0.0434)
Frame 247
tensor(0.0706)
Frame 248
tensor(0.0936)
Frame 249
tensor(0.1202)
 # KEYFRAME 38
0.052314255000965204
Frame 250
tensor(0.0222)
Frame 251
tensor(0.0440)
Frame 252
tensor(0.0766)
Frame 253
tensor(0.1017)
 # KEYFRAME 39
0.05394120900018606
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1580 loss_distill=0.1733 tta_take=0.005s
Frame 254
tensor(0.0277)
Frame 255
tensor(0.0559)
Frame 256
tensor(0.0860)
Frame 257
tensor(0.1131)
 # KEYFRAME 40
0.05253621299925726
Frame 258
tensor(0.0262)
Frame 259
tensor(0.0470)
Frame 260
tensor(0.0760)
Frame 261
tensor(0.1013)
 # KEYFRAME 41
0.05243709399655927
Frame 262
tensor(0.0224)
Frame 263
tensor(0.0505)
Frame 264
tensor(0.0753)
Frame 265
tensor(0.0946)
Frame 266
tensor(0.1375)
 # KEYFRAME 42
0.052242364996345714
Frame 267
tensor(0.0225)
Frame 268
tensor(0.0446)
Frame 269
tensor(0.0775)
Frame 270
tensor(0.1078)
 # KEYFRAME 43
0.0523780040020938
Frame 271
tensor(0.0244)
Frame 272
tensor(0.0537)
Frame 273
tensor(0.0752)
Frame 274
tensor(0.1023)
 # KEYFRAME 44
0.05395983900234569
Frame 275
tensor(0.0234)
Frame 276
tensor(0.0464)
Frame 277
tensor(0.0706)
Frame 278
tensor(0.0937)
Frame 279
tensor(0.1139)
 # KEYFRAME 45
0.05234937400382478
Frame 280
tensor(0.0228)
Frame 281
tensor(0.0503)
Frame 282
tensor(0.0591)
Frame 283
tensor(0.0921)
Frame 284
tensor(0.1173)
 # KEYFRAME 46
0.05251511399546871
Frame 285
tensor(0.0251)
Frame 286
tensor(0.0486)
Frame 287
tensor(0.0741)
Frame 288
tensor(0.0979)
Frame 289
tensor(0.1256)
 # KEYFRAME 47
0.054444266999780666
Frame 290
tensor(0.0243)
Frame 291
tensor(0.0470)
Frame 292
tensor(0.0725)
Frame 293
tensor(0.1020)
 # KEYFRAME 48
0.05254521300230408
Frame 294
tensor(0.0221)
Frame 295
tensor(0.0474)
Frame 296
tensor(0.0726)
Frame 297
tensor(0.0964)
Frame 298
tensor(0.1233)
 # KEYFRAME 49
0.053775150001456495
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1581 loss_distill=0.2747 tta_take=0.005s
Frame 299
tensor(0.0216)
[epoch 0 scene 233/556] vkitti/Scene20/sunset/Camera_1 frames=300 tta_steps_this_scene=2 mean_loss=0.2240 total_steps=1581 time=45.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0686)
Frame 2
tensor(0.1595)
 # KEYFRAME 1
Frame 3
tensor(0.0827)
Frame 4
tensor(0.1490)
 # KEYFRAME 2
0.051506427000276744
Frame 5
tensor(0.0603)
Frame 6
tensor(0.1294)
 # KEYFRAME 3
0.05225757399603026
Frame 7
tensor(0.0647)
Frame 8
tensor(0.1270)
 # KEYFRAME 4
0.05319381099980092
Frame 9
tensor(0.0808)
Frame 10
tensor(0.1639)
 # KEYFRAME 5
0.05422772699967027
Frame 11
tensor(0.0883)
Frame 12
tensor(0.1222)
 # KEYFRAME 6
0.055798952002078295
Frame 13
tensor(0.0752)
Frame 14
tensor(0.1325)
 # KEYFRAME 7
0.056380829999397974
Frame 15
tensor(0.0673)
Frame 16
tensor(0.1009)
 # KEYFRAME 8
0.05770216599921696
Frame 17
tensor(0.0339)
Frame 18
tensor(0.0574)
Frame 19
tensor(0.1273)
 # KEYFRAME 9
0.057914334000088274
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 20
tensor(0.0526)
Frame 21
tensor(0.1118)
 # KEYFRAME 10
0.0516193959992961
Frame 22
tensor(0.0747)
Frame 23
tensor(0.1129)
 # KEYFRAME 11
0.05227666499558836
Frame 24
tensor(0.0337)
Frame 25
tensor(0.0649)
Frame 26
tensor(0.0934)
Frame 27
tensor(0.1139)
 # KEYFRAME 12
0.052466054003161844
Frame 28
tensor(0.0317)
Frame 29
tensor(0.0309)
Frame 30
tensor(0.0754)
Frame 31
tensor(0.1187)
 # KEYFRAME 13
0.05415619799896376
Frame 32
tensor(0.0156)
Frame 33
tensor(0.0280)
Frame 34
tensor(0.0306)
Frame 35
tensor(0.0588)
Frame 36
tensor(0.0952)
Frame 37
tensor(0.1420)
 # KEYFRAME 14
0.05450620600458933
Frame 38
tensor(0.0983)
Frame 39
tensor(0.1741)
 # KEYFRAME 15
0.05478854599641636
Frame 40
tensor(0.0780)
Frame 41
tensor(0.1386)
 # KEYFRAME 16
0.05562215299869422
Frame 42
tensor(0.0856)
Frame 43
tensor(0.1466)
 # KEYFRAME 17
0.056286129998625256
Frame 44
tensor(0.0387)
Frame 45
tensor(0.0932)
Frame 46
tensor(0.1387)
 # KEYFRAME 18
0.057499356000334956
Frame 47
tensor(0.3377)
 # KEYFRAME 19
0.05768131600052584
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 48
tensor(0.0592)
Frame 49
tensor(0.1188)
 # KEYFRAME 20
0.053957308002281934
Frame 50
tensor(0.0524)
Frame 51
tensor(0.1047)
 # KEYFRAME 21
0.05484722500114003
Frame 52
tensor(0.0750)
Frame 53
tensor(0.1745)
 # KEYFRAME 22
0.0548926159972325
Frame 54
tensor(0.0643)
Frame 55
tensor(0.1356)
 # KEYFRAME 23
0.05549041299673263
Frame 56
tensor(0.0511)
Frame 57
tensor(0.0993)
Frame 58
tensor(0.1322)
 # KEYFRAME 24
0.056031081003311556
Frame 59
tensor(0.0639)
Frame 60
tensor(0.1183)
 # KEYFRAME 25
0.05685285799700068
Frame 61
tensor(0.0417)
Frame 62
tensor(0.0621)
Frame 63
tensor(0.0858)
Frame 64
tensor(0.0964)
Frame 65
tensor(0.1682)
 # KEYFRAME 26
0.0580923140005325
Frame 66
tensor(0.0346)
Frame 67
tensor(0.0608)
Frame 68
tensor(0.0736)
Frame 69
tensor(0.0869)
Frame 70
tensor(0.1251)
 # KEYFRAME 27
0.05915785999968648
Frame 71
tensor(0.0277)
Frame 72
tensor(0.0538)
Frame 73
tensor(0.0775)
Frame 74
tensor(0.0971)
Frame 75
tensor(0.0967)
Frame 76
tensor(0.0983)
Frame 77
tensor(0.0949)
Frame 78
tensor(0.0953)
Frame 79
tensor(0.2563)
 # KEYFRAME 28
0.06071295499714324
Frame 80
tensor(0.0802)
Frame 81
tensor(0.1233)
 # KEYFRAME 29
0.06060259499645326
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 82
tensor(0.0626)
Frame 83
tensor(0.0920)
Frame 84
tensor(0.1061)
 # KEYFRAME 30
0.058088113997655455
Frame 85
tensor(0.0791)
Frame 86
tensor(0.1345)
 # KEYFRAME 31
0.059356149002269376
Frame 87
tensor(0.0117)
Frame 88
tensor(0.0300)
Frame 89
tensor(0.0549)
Frame 90
tensor(0.0600)
Frame 91
tensor(0.0594)
Frame 92
tensor(0.0648)
Frame 93
tensor(0.0884)
Frame 94
tensor(0.0985)
Frame 95
tensor(0.1527)
 # KEYFRAME 32
0.059132459995453246
Frame 96
tensor(0.0349)
Frame 97
tensor(0.2321)
 # KEYFRAME 33
0.06023075599659933
Frame 98
tensor(0.0413)
Frame 99
tensor(0.0918)
Frame 100
tensor(0.1530)
 # KEYFRAME 34
0.060925473997485824
Frame 101
tensor(0.0544)
Frame 102
tensor(0.1038)
 # KEYFRAME 35
0.06192921999900136
Frame 103
tensor(0.0339)
Frame 104
tensor(0.2857)
 # KEYFRAME 36
0.06246025899599772
Frame 105
tensor(0.0445)
Frame 106
tensor(0.0716)
Frame 107
tensor(0.1118)
 # KEYFRAME 37
0.0627955669988296
Frame 108
tensor(0.0272)
Frame 109
tensor(0.0565)
Frame 110
tensor(0.0813)
Frame 111
tensor(0.1037)
 # KEYFRAME 38
0.06331206500180997
Frame 112
tensor(0.0312)
Frame 113
tensor(0.0555)
Frame 114
tensor(0.2720)
 # KEYFRAME 39
0.06406088299991097
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1582 loss_distill=0.1733 tta_take=0.008s
Frame 115
tensor(0.0312)
Frame 116
tensor(0.0552)
Frame 117
tensor(0.0820)
Frame 118
tensor(0.0978)
Frame 119
tensor(0.1288)
 # KEYFRAME 40
0.062411498998699244
Frame 120
tensor(0.0218)
Frame 121
tensor(0.0461)
Frame 122
tensor(0.0680)
Frame 123
tensor(0.2427)
 # KEYFRAME 41
0.06373948399414076
Frame 124
tensor(0.0235)
Frame 125
tensor(0.4205)
 # KEYFRAME 42
0.06386431399732828
Frame 126
tensor(0.0670)
Frame 127
tensor(0.1110)
 # KEYFRAME 43
0.0639390829965123
Frame 128
tensor(0.3100)
 # KEYFRAME 44
0.06477102999633644
Frame 129
tensor(0.0431)
Frame 130
tensor(0.0923)
Frame 131
tensor(0.1310)
 # KEYFRAME 45
0.06558478800434386
Frame 132
tensor(0.1282)
 # KEYFRAME 46
0.06550054800027283
Frame 133
tensor(0.0478)
Frame 134
tensor(0.0986)
Frame 135
tensor(0.1316)
 # KEYFRAME 47
0.0661020049956278
Frame 136
tensor(0.0354)
Frame 137
tensor(0.0627)
Frame 138
tensor(0.2135)
 # KEYFRAME 48
0.06708724200143479
Frame 139
tensor(0.0336)
Frame 140
tensor(0.0645)
Frame 141
tensor(0.2207)
 # KEYFRAME 49
0.06776145999901928
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531069278717
TTA-STEP: step=1583 loss_distill=0.2747 tta_take=0.008s
Frame 142
tensor(0.0205)
Frame 143
tensor(0.0304)
Frame 144
tensor(0.0383)
Frame 145
tensor(0.0541)
Frame 146
tensor(0.1107)
 # KEYFRAME 50
0.06749583099735901
Frame 147
tensor(0.0655)
Frame 148
tensor(0.1133)
 # KEYFRAME 51
0.06844082700263243
Frame 149
tensor(0.0800)
Backending... 52 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 48360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1584 loss_distill=0.3466 tta_take=0.003s
[epoch 0 scene 234/556] scannetpp/f5401524e5/DSC frames=150 tta_steps_this_scene=3 mean_loss=0.2648 total_steps=1584 time=25.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0653)
Frame 2
tensor(0.1297)
 # KEYFRAME 1
Frame 3
tensor(0.0630)
Frame 4
tensor(0.1285)
 # KEYFRAME 2
0.051943635000498034
Frame 5
tensor(0.0638)
Frame 6
tensor(0.1295)
 # KEYFRAME 3
0.0516550760003156
Frame 7
tensor(0.0611)
Frame 8
tensor(0.1262)
 # KEYFRAME 4
0.052113695004663896
Frame 9
tensor(0.0731)
Frame 10
tensor(0.1239)
 # KEYFRAME 5
0.052677202998893335
Frame 11
tensor(0.0572)
Frame 12
tensor(0.1246)
 # KEYFRAME 6
0.05252743399614701
Frame 13
tensor(0.0624)
Frame 14
tensor(0.1336)
 # KEYFRAME 7
0.05310364100296283
Frame 15
tensor(0.0683)
Frame 16
tensor(0.1294)
 # KEYFRAME 8
0.053048982001200784
Frame 17
tensor(0.0692)
Frame 18
tensor(0.1358)
 # KEYFRAME 9
0.05309697100165067
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 19
tensor(0.0758)
Frame 20
tensor(0.1388)
 # KEYFRAME 10
0.052009754996106494
Frame 21
tensor(0.0644)
Frame 22
tensor(0.1353)
 # KEYFRAME 11
0.05196030499791959
Frame 23
tensor(0.0665)
Frame 24
tensor(0.1380)
 # KEYFRAME 12
0.05200662500283215
Frame 25
tensor(0.0693)
Frame 26
tensor(0.1437)
 # KEYFRAME 13
0.05206591499882052
Frame 27
tensor(0.0662)
Frame 28
tensor(0.1273)
 # KEYFRAME 14
0.05285187199478969
Frame 29
tensor(0.0587)
Frame 30
tensor(0.1171)
 # KEYFRAME 15
0.05299228199874051
Frame 31
tensor(0.0599)
Frame 32
tensor(0.1208)
 # KEYFRAME 16
0.05303234200255247
Frame 33
tensor(0.0630)
Frame 34
tensor(0.1288)
 # KEYFRAME 17
0.054331428000296
Frame 35
tensor(0.0683)
Frame 36
tensor(0.1358)
 # KEYFRAME 18
0.05301849199895514
Frame 37
tensor(0.0587)
Frame 38
tensor(0.1275)
 # KEYFRAME 19
0.05510129499452887
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 39
tensor(0.0567)
Frame 40
tensor(0.1100)
 # KEYFRAME 20
0.05223201499757124
Frame 41
tensor(0.0578)
Frame 42
tensor(0.1119)
 # KEYFRAME 21
0.05233079499885207
Frame 43
tensor(0.0643)
Frame 44
tensor(0.1211)
 # KEYFRAME 22
0.053875598998274654
Frame 45
tensor(0.0609)
Frame 46
tensor(0.1299)
 # KEYFRAME 23
0.05263920300058089
Frame 47
tensor(0.0621)
Frame 48
tensor(0.1261)
 # KEYFRAME 24
0.05417448799562408
Frame 49
tensor(0.0601)
Frame 50
tensor(0.1193)
 # KEYFRAME 25
0.05265409300045576
Frame 51
tensor(0.0659)
Frame 52
tensor(0.1337)
 # KEYFRAME 26
0.05261047300155042
Frame 53
tensor(0.0621)
Frame 54
tensor(0.1216)
 # KEYFRAME 27
0.05550137299724156
Frame 55
tensor(0.0576)
Frame 56
tensor(0.1217)
 # KEYFRAME 28
0.05269343299733009
Frame 57
tensor(0.0584)
Frame 58
tensor(0.1207)
 # KEYFRAME 29
0.05532312300056219
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 59
tensor(0.0681)
Frame 60
tensor(0.1247)
 # KEYFRAME 30
0.05222858500201255
Frame 61
tensor(0.0565)
Frame 62
tensor(0.1205)
 # KEYFRAME 31
0.05275766300474061
Frame 63
tensor(0.0569)
Frame 64
tensor(0.1202)
 # KEYFRAME 32
0.052693163001094945
Frame 65
tensor(0.0585)
Frame 66
tensor(0.1122)
 # KEYFRAME 33
0.05249355400155764
Frame 67
tensor(0.0677)
Frame 68
tensor(0.1238)
 # KEYFRAME 34
0.05325329100014642
Frame 69
tensor(0.0682)
Frame 70
tensor(0.1289)
 # KEYFRAME 35
0.05238159399596043
Frame 71
tensor(0.0591)
Frame 72
tensor(0.1234)
 # KEYFRAME 36
0.05234251399815548
Frame 73
tensor(0.0569)
Frame 74
tensor(0.1102)
 # KEYFRAME 37
0.053077561999089085
Frame 75
tensor(0.0616)
Frame 76
tensor(0.1090)
 # KEYFRAME 38
0.05261549400165677
Frame 77
tensor(0.0564)
Frame 78
tensor(0.1113)
 # KEYFRAME 39
0.053214831998047885
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1585 loss_distill=0.1733 tta_take=0.005s
Frame 79
tensor(0.0453)
Frame 80
tensor(0.0857)
Frame 81
tensor(0.1315)
 # KEYFRAME 40
0.05225964500277769
Frame 82
tensor(0.0471)
Frame 83
tensor(0.0994)
Frame 84
tensor(0.1434)
 # KEYFRAME 41
0.05319605099793989
Frame 85
tensor(0.0482)
Frame 86
tensor(0.0997)
Frame 87
tensor(0.1459)
 # KEYFRAME 42
0.05423442799656186
Frame 88
tensor(0.0472)
Frame 89
tensor(0.0946)
Frame 90
tensor(0.1393)
 # KEYFRAME 43
0.05305821200454375
Frame 91
tensor(0.0450)
Frame 92
tensor(0.0846)
Frame 93
tensor(0.1289)
 # KEYFRAME 44
0.054704636000678875
Frame 94
tensor(0.0401)
Frame 95
tensor(0.0872)
Frame 96
tensor(0.1248)
 # KEYFRAME 45
0.0530443519965047
Frame 97
tensor(0.0401)
Frame 98
tensor(0.0825)
Frame 99
tensor(0.1151)
 # KEYFRAME 46
0.05261801300366642
Frame 100
tensor(0.0440)
Frame 101
tensor(0.0822)
Frame 102
tensor(0.1230)
 # KEYFRAME 47
0.05551042300066911
Frame 103
tensor(0.0432)
Frame 104
tensor(0.0833)
Frame 105
tensor(0.1252)
 # KEYFRAME 48
0.05311344200163148
Frame 106
tensor(0.0382)
Frame 107
tensor(0.0782)
Frame 108
tensor(0.1209)
 # KEYFRAME 49
0.056124759998056106
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1586 loss_distill=0.2747 tta_take=0.005s
Frame 109
tensor(0.0385)
Frame 110
tensor(0.0802)
Frame 111
tensor(0.1204)
 # KEYFRAME 50
0.05221090499981074
Frame 112
tensor(0.0350)
Frame 113
tensor(0.0790)
Frame 114
tensor(0.1204)
 # KEYFRAME 51
0.052852172004349995
Frame 115
tensor(0.0354)
Frame 116
tensor(0.0688)
Frame 117
tensor(0.1018)
 # KEYFRAME 52
0.05400596799881896
Frame 118
tensor(0.0364)
Frame 119
tensor(0.0630)
Frame 120
tensor(0.0961)
Frame 121
tensor(0.1313)
 # KEYFRAME 53
0.052448344002186786
Frame 122
tensor(0.0273)
Frame 123
tensor(0.0578)
Frame 124
tensor(0.0853)
Frame 125
tensor(0.1132)
 # KEYFRAME 54
0.05373348899593111
Frame 126
tensor(0.0255)
Frame 127
tensor(0.0519)
Frame 128
tensor(0.0776)
Frame 129
tensor(0.0979)
Frame 130
tensor(0.1230)
 # KEYFRAME 55
0.05227593499876093
Frame 131
tensor(0.0220)
Frame 132
tensor(0.0487)
Frame 133
tensor(0.0660)
Frame 134
tensor(0.0918)
Frame 135
tensor(0.1140)
 # KEYFRAME 56
0.05236262400285341
Frame 136
tensor(0.0205)
Frame 137
tensor(0.0425)
Frame 138
tensor(0.0642)
Frame 139
tensor(0.0845)
Frame 140
tensor(0.1079)
 # KEYFRAME 57
0.05346243999520084
Frame 141
tensor(0.0167)
Frame 142
tensor(0.0448)
Frame 143
tensor(0.0668)
Frame 144
tensor(0.0886)
Frame 145
tensor(0.1122)
 # KEYFRAME 58
0.05288599200139288
Frame 146
tensor(0.0187)
Frame 147
tensor(0.0422)
Frame 148
tensor(0.0642)
Frame 149
tensor(0.0853)
Frame 150
tensor(0.1086)
 # KEYFRAME 59
0.05398685899854172
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1587 loss_distill=0.3466 tta_take=0.005s
Frame 151
tensor(0.0168)
Frame 152
tensor(0.0402)
Frame 153
tensor(0.0604)
Frame 154
tensor(0.0852)
Frame 155
tensor(0.1052)
 # KEYFRAME 60
0.05212261500128079
Frame 156
tensor(0.0171)
Frame 157
tensor(0.0408)
Frame 158
tensor(0.0612)
Frame 159
tensor(0.0836)
Frame 160
tensor(0.1090)
 # KEYFRAME 61
0.05309433199727209
Frame 161
tensor(0.0177)
Frame 162
tensor(0.0461)
Frame 163
tensor(0.0682)
Frame 164
tensor(0.0960)
Frame 165
tensor(0.1176)
 # KEYFRAME 62
0.05430108799919253
Frame 166
tensor(0.0236)
Frame 167
tensor(0.0475)
Frame 168
tensor(0.0661)
Frame 169
tensor(0.0958)
Frame 170
tensor(0.1139)
 # KEYFRAME 63
0.0524291039982927
Frame 171
tensor(0.0243)
Frame 172
tensor(0.0494)
Frame 173
tensor(0.0736)
Frame 174
tensor(0.0975)
Frame 175
tensor(0.1195)
 # KEYFRAME 64
0.053963308993843384
Frame 176
tensor(0.0193)
Frame 177
tensor(0.0432)
Frame 178
tensor(0.0642)
Frame 179
tensor(0.0947)
Frame 180
tensor(0.1109)
 # KEYFRAME 65
0.052583293996576685
Frame 181
tensor(0.0140)
Frame 182
tensor(0.0350)
Frame 183
tensor(0.0637)
Frame 184
tensor(0.0755)
Frame 185
tensor(0.0934)
Frame 186
tensor(0.1112)
 # KEYFRAME 66
0.053802038994035684
Frame 187
tensor(0.0196)
Frame 188
tensor(0.0395)
Frame 189
tensor(0.0615)
Frame 190
tensor(0.0805)
Frame 191
tensor(0.1062)
 # KEYFRAME 67
0.05495403499662643
Frame 192
tensor(0.0168)
Frame 193
tensor(0.0351)
Frame 194
tensor(0.0582)
Frame 195
tensor(0.0765)
Frame 196
tensor(0.0959)
Frame 197
tensor(0.1104)
 # KEYFRAME 68
0.05315729200083297
Frame 198
tensor(0.0133)
Frame 199
tensor(0.0319)
Frame 200
tensor(0.0453)
Frame 201
tensor(0.0645)
Frame 202
tensor(0.0775)
Frame 203
tensor(0.0904)
Frame 204
tensor(0.1046)
 # KEYFRAME 69
0.054490126996824984
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1588 loss_distill=0.4024 tta_take=0.005s
Frame 205
tensor(0.0126)
Frame 206
tensor(0.0272)
Frame 207
tensor(0.0443)
Frame 208
tensor(0.0579)
Frame 209
tensor(0.0749)
Frame 210
tensor(0.0873)
Frame 211
tensor(0.0976)
Frame 212
tensor(0.1097)
 # KEYFRAME 70
0.0533449010035838
Frame 213
tensor(0.0113)
Frame 214
tensor(0.0296)
Frame 215
tensor(0.0430)
Frame 216
tensor(0.0622)
Frame 217
tensor(0.0790)
Frame 218
tensor(0.0992)
Frame 219
tensor(0.1178)
 # KEYFRAME 71
0.05384360899915919
Frame 220
tensor(0.0138)
Frame 221
tensor(0.0367)
Frame 222
tensor(0.0569)
Frame 223
tensor(0.0778)
Frame 224
tensor(0.1005)
 # KEYFRAME 72
0.05533186300453963
Frame 225
tensor(0.0170)
Frame 226
tensor(0.0401)
Frame 227
tensor(0.0698)
Frame 228
tensor(0.0914)
Frame 229
tensor(0.1158)
 # KEYFRAME 73
0.05341866999515332
Frame 230
tensor(0.0185)
Frame 231
tensor(0.0393)
Frame 232
tensor(0.0678)
Frame 233
tensor(0.0928)
Frame 234
tensor(0.1147)
 # KEYFRAME 74
0.055389933004335035
Frame 235
tensor(0.0216)
Frame 236
tensor(0.0493)
Frame 237
tensor(0.0749)
Frame 238
tensor(0.0996)
Frame 239
tensor(0.1274)
 # KEYFRAME 75
0.05416694800078403
Frame 240
tensor(0.0212)
Frame 241
tensor(0.0520)
Frame 242
tensor(0.0799)
Frame 243
tensor(0.1141)
 # KEYFRAME 76
0.05435554699943168
Frame 244
tensor(0.0284)
Frame 245
tensor(0.0537)
Frame 246
tensor(0.0889)
Frame 247
tensor(0.1129)
 # KEYFRAME 77
0.05651460000080988
Frame 248
tensor(0.0294)
Frame 249
tensor(0.0599)
Frame 250
tensor(0.0901)
Frame 251
tensor(0.1134)
 # KEYFRAME 78
0.054291836997435894
Frame 252
tensor(0.0261)
Frame 253
tensor(0.0537)
Frame 254
tensor(0.0786)
Frame 255
tensor(0.1113)
 # KEYFRAME 79
0.056505099004425574
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1589 loss_distill=0.4024 tta_take=0.005s
Frame 256
tensor(0.0259)
Frame 257
tensor(0.0518)
Frame 258
tensor(0.0806)
Frame 259
tensor(0.1120)
 # KEYFRAME 80
0.05317593100335216
Frame 260
tensor(0.0226)
Frame 261
tensor(0.0576)
Frame 262
tensor(0.0802)
Frame 263
tensor(0.1152)
 # KEYFRAME 81
0.05415764700592263
Frame 264
tensor(0.0259)
Frame 265
tensor(0.0511)
Frame 266
tensor(0.0847)
Frame 267
tensor(0.1158)
 # KEYFRAME 82
0.05540144299448002
Frame 268
tensor(0.0274)
Frame 269
tensor(0.0501)
Frame 270
tensor(0.0800)
Frame 271
tensor(0.0995)
Frame 272
tensor(0.1264)
 # KEYFRAME 83
0.05355383999994956
Frame 273
tensor(0.0223)
Frame 274
tensor(0.0434)
Frame 275
tensor(0.0684)
Frame 276
tensor(0.0865)
Frame 277
tensor(0.1047)
 # KEYFRAME 84
0.055729892003000714
Frame 278
tensor(0.0168)
Frame 279
tensor(0.0337)
Frame 280
tensor(0.0503)
Frame 281
tensor(0.0643)
Frame 282
tensor(0.0806)
Frame 283
tensor(0.0944)
Frame 284
tensor(0.1018)
 # KEYFRAME 85
0.05381446899991715
Frame 285
tensor(0.0125)
Frame 286
tensor(0.0244)
Frame 287
tensor(0.0350)
Frame 288
tensor(0.0497)
Frame 289
tensor(0.0606)
Frame 290
tensor(0.0761)
Frame 291
tensor(0.0885)
Frame 292
tensor(0.1001)
 # KEYFRAME 86
0.054063098003098276
Frame 293
tensor(0.0100)
Frame 294
tensor(0.0218)
Frame 295
tensor(0.0325)
Frame 296
tensor(0.0424)
Frame 297
tensor(0.0546)
Frame 298
tensor(0.0679)
Frame 299
tensor(0.0774)
Backending... 87 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27604, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1590 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 235/556] vkitti/Scene18/clone/Camera_0 frames=300 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=1590 time=48.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0683)
Frame 2
tensor(0.1349)
 # KEYFRAME 1
Frame 3
tensor(0.0514)
Frame 4
tensor(0.1216)
 # KEYFRAME 2
0.051042009006778244
Frame 5
tensor(0.0750)
Frame 6
tensor(0.1607)
 # KEYFRAME 3
0.05240831400442403
Frame 7
tensor(0.0972)
Frame 8
tensor(0.6022)
 # KEYFRAME 4
0.05354760000045644
Frame 9
tensor(0.0532)
Frame 10
tensor(0.0843)
Frame 11
tensor(0.1060)
 # KEYFRAME 5
0.05455447700660443
Frame 12
tensor(0.0840)
Frame 13
tensor(0.4601)
 # KEYFRAME 6
0.05602329100656789
Frame 14
tensor(0.0461)
Frame 15
tensor(0.1336)
 # KEYFRAME 7
0.056590200001664925
Frame 16
tensor(0.0577)
Frame 17
tensor(0.1142)
 # KEYFRAME 8
0.05702377799752867
Frame 18
tensor(0.0476)
Frame 19
tensor(0.0909)
Frame 20
tensor(0.1251)
 # KEYFRAME 9
0.0574616160010919
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.1064)
 # KEYFRAME 10
0.0518091759950039
Frame 22
tensor(0.0869)
Frame 23
tensor(0.1729)
 # KEYFRAME 11
0.05342857100185938
Frame 24
tensor(0.0547)
Frame 25
tensor(0.0768)
Frame 26
tensor(0.1078)
 # KEYFRAME 12
0.055044425003870856
Frame 27
tensor(0.0926)
Frame 28
tensor(0.1708)
 # KEYFRAME 13
0.05722168699867325
Frame 29
tensor(0.0265)
Frame 30
tensor(0.0547)
Frame 31
tensor(0.0740)
Frame 32
tensor(0.2188)
 # KEYFRAME 14
0.05775674500182504
Frame 33
tensor(0.0320)
Frame 34
tensor(0.0344)
Frame 35
tensor(0.0408)
Frame 36
tensor(0.0649)
Frame 37
tensor(0.0947)
Frame 38
tensor(0.1577)
 # KEYFRAME 15
0.058554862000164576
Frame 39
tensor(0.0534)
Frame 40
tensor(0.0761)
Frame 41
tensor(0.1232)
 # KEYFRAME 16
0.059457908995682374
Frame 42
tensor(0.0208)
Frame 43
tensor(0.0428)
Frame 44
tensor(0.1203)
 # KEYFRAME 17
0.06066026500047883
Frame 45
tensor(0.1063)
 # KEYFRAME 18
0.060861333993670996
Frame 46
tensor(0.1185)
 # KEYFRAME 19
0.06302605700329877
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 47
tensor(0.0538)
Frame 48
tensor(0.1382)
 # KEYFRAME 20
0.05883852099941578
Frame 49
tensor(0.2972)
 # KEYFRAME 21
0.06043204600427998
Frame 50
tensor(0.0403)
Frame 51
tensor(0.0876)
Frame 52
tensor(0.1295)
 # KEYFRAME 22
0.0609581739990972
Frame 53
tensor(0.0243)
Frame 54
tensor(0.0397)
Frame 55
tensor(0.0568)
Frame 56
tensor(0.1074)
 # KEYFRAME 23
0.06182741100201383
Frame 57
tensor(0.0775)
Frame 58
tensor(0.1061)
 # KEYFRAME 24
0.062415708001935855
Frame 59
tensor(0.0265)
Frame 60
tensor(0.0509)
Frame 61
tensor(0.0845)
Frame 62
tensor(0.2034)
 # KEYFRAME 25
0.06350771500001429
Frame 63
tensor(0.4590)
 # KEYFRAME 26
0.06502446900412906
Frame 64
tensor(0.0374)
Frame 65
tensor(0.0585)
Frame 66
tensor(0.0732)
Frame 67
tensor(0.0976)
Frame 68
tensor(0.1766)
 # KEYFRAME 27
0.06657260299834888
Frame 69
tensor(0.1005)
 # KEYFRAME 28
0.0669441329955589
Frame 70
tensor(0.0828)
Frame 71
tensor(0.1816)
 # KEYFRAME 29
0.06862475600064499
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 72
tensor(0.1611)
 # KEYFRAME 30
0.06570164599543205
Frame 73
tensor(0.1323)
 # KEYFRAME 31
0.0677798199976678
Frame 74
tensor(0.0788)
Frame 75
tensor(0.1756)
 # KEYFRAME 32
0.06792169900290901
Frame 76
tensor(0.0464)
Frame 77
tensor(0.0641)
Frame 78
tensor(0.1079)
 # KEYFRAME 33
0.0685508469978231
Frame 79
tensor(0.0118)
Frame 80
tensor(0.0295)
Frame 81
tensor(0.6322)
 # KEYFRAME 34
0.06983488199330168
Frame 82
tensor(0.0419)
Frame 83
tensor(0.0951)
Frame 84
tensor(0.1493)
 # KEYFRAME 35
0.07098073799716076
Frame 85
tensor(0.0962)
Frame 86
tensor(0.1814)
 # KEYFRAME 36
0.0719718649997958
Frame 87
tensor(0.0252)
Frame 88
tensor(0.0345)
Frame 89
tensor(0.0411)
Frame 90
tensor(0.0623)
Frame 91
tensor(0.0745)
Frame 92
tensor(0.1790)
 # KEYFRAME 37
0.07285298200440593
Frame 93
tensor(0.0442)
Frame 94
tensor(0.0985)
Frame 95
tensor(0.1158)
 # KEYFRAME 38
0.07327811000141082
Frame 96
tensor(0.0470)
Frame 97
tensor(0.0755)
Frame 98
tensor(0.0690)
Frame 99
tensor(0.2035)
 # KEYFRAME 39
0.0744758759974502
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1591 loss_distill=0.1733 tta_take=0.009s
Frame 100
tensor(0.0421)
Frame 101
tensor(0.0889)
Frame 102
tensor(0.1290)
 # KEYFRAME 40
0.0725413030013442
Frame 103
tensor(0.0234)
Frame 104
tensor(0.0309)
Frame 105
tensor(0.0434)
Frame 106
tensor(0.1280)
 # KEYFRAME 41
0.07485937500314321
Frame 107
tensor(0.0953)
Frame 108
tensor(0.1874)
 # KEYFRAME 42
0.07493254399742
Frame 109
tensor(0.0577)
Frame 110
tensor(0.0857)
Frame 111
tensor(0.0437)
Frame 112
tensor(0.0858)
Frame 113
tensor(0.1774)
 # KEYFRAME 43
0.07592168099654373
Frame 114
tensor(0.0956)
Frame 115
tensor(0.1352)
 # KEYFRAME 44
0.0766800979981781
Frame 116
tensor(0.0413)
Frame 117
tensor(0.1401)
 # KEYFRAME 45
0.0767491379956482
Frame 118
tensor(0.1215)
 # KEYFRAME 46
0.07782207299896982
Frame 119
tensor(0.0411)
Frame 120
tensor(0.0592)
Frame 121
tensor(0.0552)
Frame 122
tensor(0.0403)
Frame 123
tensor(0.0334)
Backending... 47 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 48927, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1592 loss_distill=0.2747 tta_take=0.007s
[epoch 0 scene 236/556] scannetpp/324d07a5b3/frame frames=124 tta_steps_this_scene=2 mean_loss=0.2240 total_steps=1592 time=21.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0463)
Frame 2
tensor(0.0927)
Frame 3
tensor(0.1366)
 # KEYFRAME 1
Frame 4
tensor(0.0489)
Frame 5
tensor(0.0908)
Frame 6
tensor(0.1389)
 # KEYFRAME 2
0.05213093500060495
Frame 7
tensor(0.0463)
Frame 8
tensor(0.0943)
Frame 9
tensor(0.1433)
 # KEYFRAME 3
0.05184442599420436
Frame 10
tensor(0.0439)
Frame 11
tensor(0.0921)
Frame 12
tensor(0.1382)
 # KEYFRAME 4
0.052074344996071886
Frame 13
tensor(0.0412)
Frame 14
tensor(0.0861)
Frame 15
tensor(0.1345)
 # KEYFRAME 5
0.05194373500125948
Frame 16
tensor(0.0497)
Frame 17
tensor(0.0970)
Frame 18
tensor(0.1507)
 # KEYFRAME 6
0.052342554001370445
Frame 19
tensor(0.0415)
Frame 20
tensor(0.0860)
Frame 21
tensor(0.1261)
 # KEYFRAME 7
0.05191708499478409
Frame 22
tensor(0.0410)
Frame 23
tensor(0.0822)
Frame 24
tensor(0.1308)
 # KEYFRAME 8
0.05188119599915808
Frame 25
tensor(0.0469)
Frame 26
tensor(0.0940)
Frame 27
tensor(0.1449)
 # KEYFRAME 9
0.05264305300079286
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 28
tensor(0.0441)
Frame 29
tensor(0.0883)
Frame 30
tensor(0.1419)
 # KEYFRAME 10
0.05203692500072066
Frame 31
tensor(0.0500)
Frame 32
tensor(0.0972)
Frame 33
tensor(0.1429)
 # KEYFRAME 11
0.05226929399941582
Frame 34
tensor(0.0444)
Frame 35
tensor(0.0974)
Frame 36
tensor(0.1476)
 # KEYFRAME 12
0.05236360400158446
Frame 37
tensor(0.0457)
Frame 38
tensor(0.0965)
Frame 39
tensor(0.1366)
 # KEYFRAME 13
0.05219967500306666
Frame 40
tensor(0.0426)
Frame 41
tensor(0.0941)
Frame 42
tensor(0.1333)
 # KEYFRAME 14
0.05214030500064837
Frame 43
tensor(0.0411)
Frame 44
tensor(0.0920)
Frame 45
tensor(0.1272)
 # KEYFRAME 15
0.05223765499977162
Frame 46
tensor(0.0475)
Frame 47
tensor(0.0967)
Frame 48
tensor(0.1291)
 # KEYFRAME 16
0.05240863399376394
Frame 49
tensor(0.0367)
Frame 50
tensor(0.0789)
Frame 51
tensor(0.1256)
 # KEYFRAME 17
0.05316080099873943
Frame 52
tensor(0.0428)
Frame 53
tensor(0.0961)
Frame 54
tensor(0.1492)
 # KEYFRAME 18
0.052574772998923436
Frame 55
tensor(0.0538)
Frame 56
tensor(0.1119)
 # KEYFRAME 19
0.05371845899935579
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 57
tensor(0.0545)
Frame 58
tensor(0.1193)
 # KEYFRAME 20
0.05224846499913838
Frame 59
tensor(0.0645)
Frame 60
tensor(0.1198)
 # KEYFRAME 21
0.052244874997995794
Frame 61
tensor(0.0556)
Frame 62
tensor(0.1208)
 # KEYFRAME 22
0.052190944996254984
Frame 63
tensor(0.0486)
Frame 64
tensor(0.1015)
 # KEYFRAME 23
0.05285020199517021
Frame 65
tensor(0.0564)
Frame 66
tensor(0.1102)
 # KEYFRAME 24
0.05371833899698686
Frame 67
tensor(0.0464)
Frame 68
tensor(0.0942)
Frame 69
tensor(0.1431)
 # KEYFRAME 25
0.05294166199746542
Frame 70
tensor(0.0459)
Frame 71
tensor(0.0958)
Frame 72
tensor(0.1459)
 # KEYFRAME 26
0.053244391005137004
Frame 73
tensor(0.0517)
Frame 74
tensor(0.1079)
 # KEYFRAME 27
0.05570439199800603
Frame 75
tensor(0.0525)
Frame 76
tensor(0.1131)
 # KEYFRAME 28
0.05301292199874297
Frame 77
tensor(0.0576)
Frame 78
tensor(0.1139)
 # KEYFRAME 29
0.05602901100064628
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 79
tensor(0.0628)
Frame 80
tensor(0.1200)
 # KEYFRAME 30
0.05234998499508947
Frame 81
tensor(0.0548)
Frame 82
tensor(0.1148)
 # KEYFRAME 31
0.052400243999727536
Frame 83
tensor(0.0499)
Frame 84
tensor(0.0975)
Frame 85
tensor(0.1478)
 # KEYFRAME 32
0.05226267399848439
Frame 86
tensor(0.0482)
Frame 87
tensor(0.0988)
Frame 88
tensor(0.1532)
 # KEYFRAME 33
0.05248502400354482
Frame 89
tensor(0.0468)
Frame 90
tensor(0.0957)
Frame 91
tensor(0.1394)
 # KEYFRAME 34
0.052275554997322615
Frame 92
tensor(0.0408)
Frame 93
tensor(0.0892)
Frame 94
tensor(0.1340)
 # KEYFRAME 35
0.05252712299989071
Frame 95
tensor(0.0360)
Frame 96
tensor(0.0812)
Frame 97
tensor(0.1221)
 # KEYFRAME 36
0.052306274003058206
Frame 98
tensor(0.0410)
Frame 99
tensor(0.0888)
Frame 100
tensor(0.1368)
 # KEYFRAME 37
0.05307177199574653
Frame 101
tensor(0.0451)
Frame 102
tensor(0.0913)
Frame 103
tensor(0.1333)
 # KEYFRAME 38
0.05315631099801976
Frame 104
tensor(0.0459)
Frame 105
tensor(0.0967)
Frame 106
tensor(0.1462)
 # KEYFRAME 39
0.05364792900218163
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1593 loss_distill=0.1733 tta_take=0.005s
Frame 107
tensor(0.0433)
Frame 108
tensor(0.0926)
Frame 109
tensor(0.1420)
 # KEYFRAME 40
0.052317424000648316
Frame 110
tensor(0.0399)
Frame 111
tensor(0.0865)
Frame 112
tensor(0.1291)
 # KEYFRAME 41
0.052341613998578396
Frame 113
tensor(0.0392)
Frame 114
tensor(0.0864)
Frame 115
tensor(0.1207)
 # KEYFRAME 42
0.0525861940041068
Frame 116
tensor(0.0415)
Frame 117
tensor(0.0824)
Frame 118
tensor(0.1223)
 # KEYFRAME 43
0.05205957499856595
Frame 119
tensor(0.0421)
Frame 120
tensor(0.0853)
Frame 121
tensor(0.1226)
 # KEYFRAME 44
0.05300222199730342
Frame 122
tensor(0.0428)
Frame 123
tensor(0.0892)
Frame 124
tensor(0.1375)
 # KEYFRAME 45
0.05209770500368904
Frame 125
tensor(0.0503)
Frame 126
tensor(0.0926)
Frame 127
tensor(0.1321)
 # KEYFRAME 46
0.05214355499629164
Frame 128
tensor(0.0405)
Frame 129
tensor(0.0757)
Frame 130
tensor(0.1161)
 # KEYFRAME 47
0.05279902199981734
Frame 131
tensor(0.0368)
Frame 132
tensor(0.0752)
Frame 133
tensor(0.1191)
 # KEYFRAME 48
0.053136640999582596
Frame 134
tensor(0.0430)
Frame 135
tensor(0.0876)
Frame 136
tensor(0.1305)
 # KEYFRAME 49
0.05430115699709859
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1594 loss_distill=0.2747 tta_take=0.005s
Frame 137
tensor(0.0423)
Frame 138
tensor(0.0881)
Frame 139
tensor(0.1281)
 # KEYFRAME 50
0.05212999400100671
Frame 140
tensor(0.0414)
Frame 141
tensor(0.0831)
Frame 142
tensor(0.1278)
 # KEYFRAME 51
0.05216629400092643
Frame 143
tensor(0.0338)
Frame 144
tensor(0.0731)
Frame 145
tensor(0.1139)
 # KEYFRAME 52
0.05394083899591351
Frame 146
tensor(0.0342)
Frame 147
tensor(0.0751)
Frame 148
tensor(0.1166)
 # KEYFRAME 53
0.05212344499886967
Frame 149
tensor(0.0358)
Frame 150
tensor(0.0730)
Frame 151
tensor(0.1103)
 # KEYFRAME 54
0.053602079999109264
Frame 152
tensor(0.0330)
Frame 153
tensor(0.0711)
Frame 154
tensor(0.1066)
 # KEYFRAME 55
0.05213221500162035
Frame 155
tensor(0.0321)
Frame 156
tensor(0.0684)
Frame 157
tensor(0.0945)
Frame 158
tensor(0.1248)
 # KEYFRAME 56
0.05260241299401969
Frame 159
tensor(0.0291)
Frame 160
tensor(0.0557)
Frame 161
tensor(0.0859)
Frame 162
tensor(0.1075)
 # KEYFRAME 57
0.053925148997223005
Frame 163
tensor(0.0251)
Frame 164
tensor(0.0508)
Frame 165
tensor(0.0750)
Frame 166
tensor(0.0961)
Frame 167
tensor(0.1167)
 # KEYFRAME 58
0.05291638200287707
Frame 168
tensor(0.0216)
Frame 169
tensor(0.0445)
Frame 170
tensor(0.0667)
Frame 171
tensor(0.0878)
Frame 172
tensor(0.1068)
 # KEYFRAME 59
0.05414373800158501
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1595 loss_distill=0.3466 tta_take=0.005s
Frame 173
tensor(0.0171)
Frame 174
tensor(0.0372)
Frame 175
tensor(0.0587)
Frame 176
tensor(0.0787)
Frame 177
tensor(0.0947)
Frame 178
tensor(0.1052)
 # KEYFRAME 60
0.0520265550003387
Frame 179
tensor(0.0118)
Frame 180
tensor(0.0264)
Frame 181
tensor(0.0425)
Frame 182
tensor(0.0585)
Frame 183
tensor(0.0684)
Frame 184
tensor(0.0832)
Frame 185
tensor(0.0915)
Frame 186
tensor(0.0979)
Frame 187
tensor(0.1074)
 # KEYFRAME 61
0.05314062099932926
Frame 188
tensor(0.0072)
Frame 189
tensor(0.0153)
Frame 190
tensor(0.0232)
Frame 191
tensor(0.0299)
Frame 192
tensor(0.0368)
Frame 193
tensor(0.0421)
Frame 194
tensor(0.0530)
Frame 195
tensor(0.0612)
Frame 196
tensor(0.0719)
Frame 197
tensor(0.0787)
Frame 198
tensor(0.0835)
Frame 199
tensor(0.0946)
Frame 200
tensor(0.1001)
 # KEYFRAME 62
0.05478801600111183
Frame 201
tensor(0.0098)
Frame 202
tensor(0.0177)
Frame 203
tensor(0.0297)
Frame 204
tensor(0.0416)
Frame 205
tensor(0.0574)
Frame 206
tensor(0.0737)
Frame 207
tensor(0.0889)
Frame 208
tensor(0.1052)
 # KEYFRAME 63
0.0521337950049201
Frame 209
tensor(0.0195)
Frame 210
tensor(0.0377)
Frame 211
tensor(0.0570)
Frame 212
tensor(0.0808)
Frame 213
tensor(0.1027)
 # KEYFRAME 64
0.05447469700447982
Frame 214
tensor(0.0268)
Frame 215
tensor(0.0467)
Frame 216
tensor(0.0724)
Frame 217
tensor(0.0988)
Frame 218
tensor(0.1218)
 # KEYFRAME 65
0.05264518299372867
Frame 219
tensor(0.0229)
Frame 220
tensor(0.0495)
Frame 221
tensor(0.0732)
Frame 222
tensor(0.0936)
Frame 223
tensor(0.1196)
 # KEYFRAME 66
0.052864561999740545
Frame 224
tensor(0.0238)
Frame 225
tensor(0.0495)
Frame 226
tensor(0.0773)
Frame 227
tensor(0.1025)
 # KEYFRAME 67
0.05458348600222962
Frame 228
tensor(0.0273)
Frame 229
tensor(0.0588)
Frame 230
tensor(0.0858)
Frame 231
tensor(0.1142)
 # KEYFRAME 68
0.0530797920000623
Frame 232
tensor(0.0302)
Frame 233
tensor(0.0535)
Frame 234
tensor(0.0842)
Frame 235
tensor(0.1127)
 # KEYFRAME 69
0.05587857199861901
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1596 loss_distill=0.4024 tta_take=0.005s
Frame 236
tensor(0.0268)
Frame 237
tensor(0.0536)
Frame 238
tensor(0.0827)
Frame 239
tensor(0.1104)
 # KEYFRAME 70
0.053296650999982376
Frame 240
tensor(0.0315)
Frame 241
tensor(0.0579)
Frame 242
tensor(0.0889)
Frame 243
tensor(0.1195)
 # KEYFRAME 71
0.05412579800031381
Frame 244
tensor(0.0316)
Frame 245
tensor(0.0625)
Frame 246
tensor(0.0860)
Frame 247
tensor(0.1210)
 # KEYFRAME 72
0.05529859400121495
Frame 248
tensor(0.0272)
Frame 249
tensor(0.0583)
Frame 250
tensor(0.0957)
Frame 251
tensor(0.1351)
 # KEYFRAME 73
0.05325643100513844
Frame 252
tensor(0.0235)
Frame 253
tensor(0.0703)
Frame 254
tensor(0.1013)
 # KEYFRAME 74
0.05523262399947271
Frame 255
tensor(0.0305)
Frame 256
tensor(0.0670)
Frame 257
tensor(0.1026)
 # KEYFRAME 75
0.053464840006199665
Frame 258
tensor(0.0300)
Frame 259
tensor(0.0659)
Frame 260
tensor(0.1045)
 # KEYFRAME 76
0.053605950000928715
Frame 261
tensor(0.0333)
Frame 262
tensor(0.0760)
Frame 263
tensor(0.1123)
 # KEYFRAME 77
0.055213503997947555
Frame 264
tensor(0.0383)
Frame 265
tensor(0.0781)
Frame 266
tensor(0.1105)
 # KEYFRAME 78
0.05448174599587219
Frame 267
tensor(0.0323)
Frame 268
tensor(0.0715)
Frame 269
tensor(0.1095)
 # KEYFRAME 79
0.05577675200038357
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1597 loss_distill=0.4024 tta_take=0.005s
Frame 270
tensor(0.0421)
Frame 271
tensor(0.0817)
Frame 272
tensor(0.1174)
 # KEYFRAME 80
0.05349461000150768
Frame 273
tensor(0.0396)
Frame 274
tensor(0.0784)
Frame 275
tensor(0.1133)
 # KEYFRAME 81
0.0538527089956915
Frame 276
tensor(0.0384)
Frame 277
tensor(0.0723)
Frame 278
tensor(0.1114)
 # KEYFRAME 82
0.054135988000780344
Frame 279
tensor(0.0369)
Frame 280
tensor(0.0715)
Frame 281
tensor(0.1039)
 # KEYFRAME 83
0.053725598998425994
Frame 282
tensor(0.0386)
Frame 283
tensor(0.0768)
Frame 284
tensor(0.1139)
 # KEYFRAME 84
0.0544780170021113
Frame 285
tensor(0.0369)
Frame 286
tensor(0.0703)
Frame 287
tensor(0.1027)
 # KEYFRAME 85
0.054118667998409364
Frame 288
tensor(0.0326)
Frame 289
tensor(0.0671)
Frame 290
tensor(0.1060)
 # KEYFRAME 86
0.05358071999944514
Frame 291
tensor(0.0358)
Frame 292
tensor(0.0747)
Frame 293
tensor(0.1158)
 # KEYFRAME 87
0.05502410500048427
Frame 294
tensor(0.0366)
Frame 295
tensor(0.0815)
Frame 296
tensor(0.1242)
 # KEYFRAME 88
0.053868818999035284
Frame 297
tensor(0.0358)
Frame 298
tensor(0.0832)
Frame 299
tensor(0.1215)
 # KEYFRAME 89
0.05481935499847168
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1598 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 237/556] vkitti/Scene01/fog/Camera_1 frames=300 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=1598 time=48.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0153)
Frame 2
tensor(0.0301)
Frame 3
tensor(0.1216)
 # KEYFRAME 1
Frame 4
tensor(0.1656)
 # KEYFRAME 2
0.05078031899756752
Frame 5
tensor(0.1608)
 # KEYFRAME 3
0.05307950200221967
Frame 6
tensor(0.1223)
 # KEYFRAME 4
0.05407260799984215
Frame 7
tensor(0.1142)
 # KEYFRAME 5
0.05483608599752188
Frame 8
tensor(0.2374)
 # KEYFRAME 6
0.05609873100183904
Frame 9
tensor(0.1264)
 # KEYFRAME 7
0.05726354700163938
Frame 10
tensor(0.2516)
 # KEYFRAME 8
0.058028274004755076
Frame 11
tensor(0.1626)
 # KEYFRAME 9
0.057749215004150756
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.1661)
 # KEYFRAME 10
0.05184213599568466
Frame 13
tensor(0.0761)
Frame 14
tensor(0.1387)
 # KEYFRAME 11
0.05332786099461373
Frame 15
tensor(0.1243)
 # KEYFRAME 12
0.05484906500350917
Frame 16
tensor(0.0764)
Frame 17
tensor(0.1870)
 # KEYFRAME 13
0.05723857699922519
Frame 18
tensor(0.1512)
 # KEYFRAME 14
0.05783115499798441
Frame 19
tensor(0.1462)
 # KEYFRAME 15
0.058343702999991365
Frame 20
tensor(0.1934)
 # KEYFRAME 16
0.05957560899696546
Frame 21
tensor(0.4058)
 # KEYFRAME 17
0.06043131499609444
Frame 22
tensor(0.4310)
 # KEYFRAME 18
0.061032623998471536
Frame 23
tensor(0.2388)
 # KEYFRAME 19
0.06255598799907602
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 24
tensor(0.1281)
 # KEYFRAME 20
0.0586834319983609
Frame 25
tensor(0.3153)
 # KEYFRAME 21
0.06054127500101458
Frame 26
tensor(0.1434)
 # KEYFRAME 22
0.06133029200282181
Frame 27
tensor(0.1754)
 # KEYFRAME 23
0.06164754100609571
Frame 28
tensor(0.2707)
 # KEYFRAME 24
0.06224186899635242
Frame 29
tensor(0.3467)
 # KEYFRAME 25
0.06354704400291666
Frame 30
tensor(0.2693)
 # KEYFRAME 26
0.06516804899729323
Frame 31
tensor(0.1382)
 # KEYFRAME 27
0.06591917600599118
Frame 32
tensor(0.2309)
 # KEYFRAME 28
0.06692114299949026
Frame 33
tensor(0.2509)
 # KEYFRAME 29
0.06784031900315313
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 34
tensor(0.1943)
 # KEYFRAME 30
0.06558089700411074
Frame 35
tensor(0.0899)
Frame 36
tensor(0.0942)
Frame 37
tensor(0.1009)
 # KEYFRAME 31
0.0676374000031501
Frame 38
tensor(0.0628)
Frame 39
tensor(0.0684)
Frame 40
tensor(0.1168)
 # KEYFRAME 32
0.06815517799986992
Frame 41
tensor(0.0106)
Frame 42
tensor(0.0182)
Frame 43
tensor(0.0235)
Frame 44
tensor(0.1207)
 # KEYFRAME 33
0.06899644499935675
Frame 45
tensor(0.1950)
 # KEYFRAME 34
0.07036963000427932
Frame 46
tensor(0.2241)
 # KEYFRAME 35
0.07082786899991333
Frame 47
tensor(0.1425)
 # KEYFRAME 36
0.07173093600431457
Frame 48
tensor(0.2682)
 # KEYFRAME 37
0.07281575199885992
Frame 49
tensor(0.2172)
 # KEYFRAME 38
0.07354268899507588
Frame 50
tensor(0.1856)
 # KEYFRAME 39
0.07428113599598873
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1599 loss_distill=0.1733 tta_take=0.009s
Frame 51
tensor(0.0992)
Frame 52
tensor(0.2198)
 # KEYFRAME 40
0.0722100130005856
Frame 53
tensor(0.2206)
 # KEYFRAME 41
0.07462540499545867
Frame 54
tensor(0.1807)
 # KEYFRAME 42
0.07454360499832546
Frame 55
tensor(0.3284)
 # KEYFRAME 43
0.07553304199973354
Frame 56
tensor(0.1191)
 # KEYFRAME 44
0.07580075100122485
Frame 57
tensor(0.0566)
Frame 58
tensor(0.1018)
 # KEYFRAME 45
0.07662166799855186
Frame 59
tensor(0.0884)
Frame 60
tensor(0.1811)
 # KEYFRAME 46
0.07739808499900391
Frame 61
tensor(0.2252)
 # KEYFRAME 47
0.07769633399584563
Frame 62
tensor(0.1943)
 # KEYFRAME 48
0.07865386099729221
Frame 63
tensor(0.1166)
 # KEYFRAME 49
0.07921660900319694
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1600 loss_distill=0.2747 tta_take=0.009s
Frame 64
tensor(0.1413)
 # KEYFRAME 50
0.07934954900701996
Frame 65
tensor(0.1524)
 # KEYFRAME 51
0.08154230099898996
Frame 66
tensor(0.1212)
 # KEYFRAME 52
0.08153210000455147
Frame 67
tensor(0.1479)
 # KEYFRAME 53
0.0825235970041831
Frame 68
tensor(0.1830)
 # KEYFRAME 54
0.08341836399631575
Frame 69
tensor(0.1508)
 # KEYFRAME 55
0.08429315100511303
Frame 70
tensor(0.1938)
 # KEYFRAME 56
0.08527441800106317
Frame 71
tensor(0.1297)
 # KEYFRAME 57
0.08586586500314297
Frame 72
tensor(0.0883)
Frame 73
tensor(0.2877)
 # KEYFRAME 58
0.08600065499922493
Frame 74
tensor(0.1797)
 # KEYFRAME 59
0.08681098200031556
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1601 loss_distill=0.3466 tta_take=0.009s
Frame 75
tensor(0.1940)
 # KEYFRAME 60
0.0861149039992597
Frame 76
tensor(0.1385)
 # KEYFRAME 61
0.08875125600025058
Frame 77
tensor(0.1672)
 # KEYFRAME 62
0.08807770699786488
Frame 78
tensor(0.1216)
 # KEYFRAME 63
0.08872126499773003
Frame 79
tensor(0.1452)
 # KEYFRAME 64
0.0896722219986259
Frame 80
tensor(0.1031)
 # KEYFRAME 65
0.09041860900470056
Frame 81
tensor(0.1583)
 # KEYFRAME 66
0.09080161799647612
Frame 82
tensor(0.0903)
Frame 83
tensor(0.1404)
 # KEYFRAME 67
0.09152318500127876
Frame 84
tensor(0.0941)
Frame 85
tensor(0.0939)
Frame 86
tensor(0.0887)
Frame 87
tensor(0.0857)
Frame 88
tensor(0.0861)
Frame 89
tensor(0.0759)
Frame 90
tensor(0.0863)
Frame 91
tensor(0.0782)
Frame 92
tensor(0.1401)
 # KEYFRAME 68
0.09296374000405194
Frame 93
tensor(0.1846)
 # KEYFRAME 69
0.0941650960012339
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1602 loss_distill=0.4024 tta_take=0.009s
Frame 94
tensor(0.2386)
 # KEYFRAME 70
0.09379235699452693
Frame 95
tensor(0.1899)
 # KEYFRAME 71
0.09392112700152211
Frame 96
tensor(0.1249)
 # KEYFRAME 72
0.09436802499840269
Frame 97
tensor(0.2353)
 # KEYFRAME 73
0.09504343300068285
Frame 98
tensor(0.0429)
Frame 99
tensor(0.1695)
 # KEYFRAME 74
0.09606167899619322
Frame 100
tensor(0.1338)
 # KEYFRAME 75
0.09705560600559693
Frame 101
tensor(0.2353)
 # KEYFRAME 76
0.0978025529984734
Frame 102
tensor(0.1747)
 # KEYFRAME 77
0.09837493099621497
Frame 103
tensor(0.1723)
 # KEYFRAME 78
0.09925854799803346
Frame 104
tensor(0.0735)
Frame 105
tensor(0.1054)
 # KEYFRAME 79
0.09992964600678533
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1603 loss_distill=0.4024 tta_take=0.009s
Frame 106
tensor(0.1615)
 # KEYFRAME 80
0.09353979799925582
Frame 107
tensor(0.1222)
 # KEYFRAME 81
0.0960904789972119
Frame 108
tensor(0.1377)
 # KEYFRAME 82
0.09591922000254272
Frame 109
tensor(0.1638)
 # KEYFRAME 83
0.09697044600034133
Frame 110
tensor(0.1218)
 # KEYFRAME 84
0.09823582100216299
Frame 111
tensor(0.1376)
 # KEYFRAME 85
0.09932288799609523
Frame 112
tensor(0.2562)
 # KEYFRAME 86
0.10066924300190294
Frame 113
tensor(0.1467)
 # KEYFRAME 87
0.1016400500011514
Frame 114
tensor(0.1760)
 # KEYFRAME 88
0.10212475799926324
Frame 115
tensor(0.2620)
 # KEYFRAME 89
0.10389725099958014
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1604 loss_distill=0.4024 tta_take=0.009s
Frame 116
tensor(0.2176)
 # KEYFRAME 90
0.09331627899518935
Frame 117
tensor(0.0817)
Frame 118
tensor(0.2344)
 # KEYFRAME 91
0.09588980999978958
Frame 119
tensor(0.1007)
 # KEYFRAME 92
0.09571574100118596
Frame 120
tensor(0.0771)
Frame 121
tensor(0.0645)
Frame 122
tensor(0.1156)
 # KEYFRAME 93
0.09674377699411707
Frame 123
tensor(0.1979)
 # KEYFRAME 94
0.09843869000178529
Frame 124
tensor(0.1487)
 # KEYFRAME 95
0.09894049899594393
Frame 125
tensor(0.2513)
 # KEYFRAME 96
0.1003547240034095
Frame 126
tensor(0.0918)
Frame 127
tensor(0.0836)
Frame 128
tensor(0.1958)
 # KEYFRAME 97
0.10185816900047939
Frame 129
tensor(0.0890)
Frame 130
tensor(0.0835)
Frame 131
tensor(0.2276)
 # KEYFRAME 98
0.10219008699641563
Frame 132
tensor(0.0937)
Frame 133
tensor(0.1033)
 # KEYFRAME 99
0.1026532660034718
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1605 loss_distill=0.4024 tta_take=0.009s
Frame 134
tensor(0.1637)
 # KEYFRAME 100
0.09325683899805881
Frame 135
tensor(0.3612)
 # KEYFRAME 101
0.09598067899787566
Backending... 102 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 64542, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1606 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 238/556] scannetpp/40b56bf310/frame frames=136 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=1606 time=46.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0994)
Frame 2
tensor(0.2016)
 # KEYFRAME 1
Frame 3
tensor(0.1049)
 # KEYFRAME 2
0.0514127880014712
Frame 4
tensor(0.0973)
Frame 5
tensor(0.2051)
 # KEYFRAME 3
0.052301133997389115
Frame 6
tensor(0.0644)
Frame 7
tensor(0.1638)
 # KEYFRAME 4
0.05361558999720728
Frame 8
tensor(0.0950)
Frame 9
tensor(0.1484)
 # KEYFRAME 5
0.05407619800098473
Frame 10
tensor(0.0177)
Frame 11
tensor(0.1063)
 # KEYFRAME 6
0.05663814899889985
Frame 12
tensor(0.0838)
Frame 13
tensor(0.1512)
 # KEYFRAME 7
0.057157606999680866
Frame 14
tensor(0.0704)
Frame 15
tensor(0.0614)
Frame 16
tensor(0.0577)
Frame 17
tensor(0.0939)
Frame 18
tensor(0.0996)
Frame 19
tensor(0.1625)
 # KEYFRAME 8
0.057576835999498144
Frame 20
tensor(0.0556)
Frame 21
tensor(0.0737)
Frame 22
tensor(0.1610)
 # KEYFRAME 9
0.0585669619977125
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 23
tensor(0.0678)
Frame 24
tensor(0.1113)
 # KEYFRAME 10
0.0516378070024075
Frame 25
tensor(0.1108)
 # KEYFRAME 11
0.051578206999693066
Frame 26
tensor(0.0826)
Frame 27
tensor(0.1611)
 # KEYFRAME 12
0.051535537000745535
Frame 28
tensor(0.0500)
Frame 29
tensor(0.0773)
Frame 30
tensor(0.1827)
 # KEYFRAME 13
0.05378407900570892
Frame 31
tensor(0.0857)
Frame 32
tensor(0.0993)
Frame 33
tensor(0.1781)
 # KEYFRAME 14
0.05417732799833175
Frame 34
tensor(0.1098)
 # KEYFRAME 15
0.05413298799976474
Frame 35
tensor(0.1107)
 # KEYFRAME 16
0.05456468700140249
Frame 36
tensor(0.1073)
 # KEYFRAME 17
0.05534632399940165
Frame 37
tensor(0.0668)
Frame 38
tensor(0.1309)
 # KEYFRAME 18
0.056549859000369906
Frame 39
tensor(0.0878)
Frame 40
tensor(0.1563)
 # KEYFRAME 19
0.05755302599573042
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 41
tensor(0.0270)
Frame 42
tensor(0.1342)
 # KEYFRAME 20
0.053920058999210596
Frame 43
tensor(0.0957)
Frame 44
tensor(0.1597)
 # KEYFRAME 21
0.055296954000368714
Frame 45
tensor(0.1089)
 # KEYFRAME 22
0.05596461199456826
Frame 46
tensor(0.0665)
Frame 47
tensor(0.1310)
 # KEYFRAME 23
0.05698362800467294
Frame 48
tensor(0.0810)
Frame 49
tensor(0.1471)
 # KEYFRAME 24
0.05803883400221821
Frame 50
tensor(0.0682)
Frame 51
tensor(0.1327)
 # KEYFRAME 25
0.05920167000294896
Frame 52
tensor(0.0655)
Frame 53
tensor(0.0398)
Frame 54
tensor(0.0852)
Frame 55
tensor(0.1630)
 # KEYFRAME 26
0.059738868003478274
Frame 56
tensor(0.0551)
Frame 57
tensor(0.1044)
 # KEYFRAME 27
0.06093222300114576
Frame 58
tensor(0.0791)
Frame 59
tensor(0.1277)
 # KEYFRAME 28
0.0609241740021389
Frame 60
tensor(0.0247)
Frame 61
tensor(0.0904)
Frame 62
tensor(0.1402)
 # KEYFRAME 29
0.061816371002350934
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 63
tensor(0.0680)
Frame 64
tensor(0.1252)
 # KEYFRAME 30
0.05841552299534669
Frame 65
tensor(0.0421)
Frame 66
tensor(0.1063)
 # KEYFRAME 31
0.0599568069956149
Frame 67
tensor(0.0542)
Frame 68
tensor(0.1298)
 # KEYFRAME 32
0.060288405999017414
Frame 69
tensor(0.0971)
Frame 70
tensor(0.1268)
 # KEYFRAME 33
0.06188444000144955
Frame 71
tensor(0.0573)
Frame 72
tensor(0.4460)
 # KEYFRAME 34
0.06313239600422094
Frame 73
tensor(0.0522)
Frame 74
tensor(0.0974)
Frame 75
tensor(0.1109)
 # KEYFRAME 35
0.06413131300359964
Frame 76
tensor(0.0666)
Frame 77
tensor(0.0509)
Frame 78
tensor(0.0810)
Frame 79
tensor(0.1583)
 # KEYFRAME 36
0.06510223900113488
Frame 80
tensor(0.0345)
Frame 81
tensor(0.0950)
Frame 82
tensor(0.1303)
 # KEYFRAME 37
0.06586962599976687
Frame 83
tensor(0.0345)
Frame 84
tensor(0.0617)
Frame 85
tensor(0.0814)
Frame 86
tensor(0.0903)
Frame 87
tensor(0.1267)
 # KEYFRAME 38
0.06658947299729334
Frame 88
tensor(0.0370)
Frame 89
tensor(0.1070)
 # KEYFRAME 39
0.0669382330015651
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1607 loss_distill=0.1733 tta_take=0.009s
Frame 90
tensor(0.0622)
Frame 91
tensor(0.1192)
 # KEYFRAME 40
0.06301918599638157
Frame 92
tensor(0.0632)
Frame 93
tensor(0.1460)
 # KEYFRAME 41
0.06408917299995665
Frame 94
tensor(0.1145)
 # KEYFRAME 42
0.06417115299700527
Frame 95
tensor(0.0265)
Frame 96
tensor(0.2281)
 # KEYFRAME 43
0.0643908010024461
Frame 97
tensor(0.0739)
Frame 98
tensor(0.1028)
 # KEYFRAME 44
0.06470971100497991
Frame 99
tensor(0.1007)
 # KEYFRAME 45
0.06548186700092629
Frame 100
tensor(0.0977)
Frame 101
tensor(0.2011)
 # KEYFRAME 46
0.06557075700402493
Frame 102
tensor(0.0874)
Frame 103
tensor(0.1559)
 # KEYFRAME 47
0.06608937500277534
Frame 104
tensor(0.0225)
Frame 105
tensor(0.1258)
 # KEYFRAME 48
0.06649828400259139
Frame 106
tensor(0.0780)
Frame 107
tensor(0.1287)
 # KEYFRAME 49
0.06704640200041467
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531069278717
TTA-STEP: step=1608 loss_distill=0.2747 tta_take=0.009s
Frame 108
tensor(0.0610)
Frame 109
tensor(0.0233)
Frame 110
tensor(0.1139)
 # KEYFRAME 50
0.06724797099741409
Frame 111
tensor(0.0734)
Frame 112
tensor(0.1695)
 # KEYFRAME 51
0.06870646600145847
Frame 113
tensor(0.1160)
 # KEYFRAME 52
0.06835217700427165
Frame 114
tensor(0.0778)
Frame 115
tensor(0.1825)
 # KEYFRAME 53
0.0698057020053966
Frame 116
tensor(0.0654)
Frame 117
tensor(0.1036)
 # KEYFRAME 54
0.06879648600443034
Frame 118
tensor(0.0362)
Frame 119
tensor(0.0732)
Frame 120
tensor(0.0804)
Frame 121
tensor(0.1227)
 # KEYFRAME 55
0.07069465899985516
Frame 122
tensor(0.0659)
Frame 123
tensor(0.1116)
 # KEYFRAME 56
0.0712720379960956
Frame 124
tensor(0.0534)
Frame 125
tensor(0.1135)
 # KEYFRAME 57
0.07186227499914821
Frame 126
tensor(0.0772)
Frame 127
tensor(0.0984)
Frame 128
tensor(0.6261)
 # KEYFRAME 58
0.07213125399721321
Frame 129
tensor(0.0214)
Frame 130
tensor(0.0731)
Frame 131
tensor(0.1406)
 # KEYFRAME 59
0.07311347100039711
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1609 loss_distill=0.3466 tta_take=0.009s
Frame 132
tensor(0.0710)
Frame 133
tensor(0.1783)
 # KEYFRAME 60
0.07146016599290306
Frame 134
tensor(0.0798)
Frame 135
tensor(0.1665)
 # KEYFRAME 61
0.07331184000213398
Frame 136
tensor(0.0895)
Frame 137
tensor(0.1602)
 # KEYFRAME 62
0.07365376900270348
Frame 138
tensor(0.1043)
 # KEYFRAME 63
0.0745513360016048
Frame 139
tensor(0.0980)
Frame 140
tensor(0.1602)
 # KEYFRAME 64
0.07519202299590688
Frame 141
tensor(0.1320)
 # KEYFRAME 65
0.0744374659989262
Frame 142
tensor(0.1132)
 # KEYFRAME 66
0.07686777799972333
Frame 143
tensor(0.1032)
 # KEYFRAME 67
0.07772797399957199
Frame 144
tensor(0.0711)
Frame 145
tensor(0.1194)
 # KEYFRAME 68
0.07910971900128061
Frame 146
tensor(0.0905)
Frame 147
tensor(0.1431)
 # KEYFRAME 69
0.0796752070018556
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1610 loss_distill=0.4024 tta_take=0.009s
Frame 148
tensor(0.0821)
Frame 149
tensor(0.1371)
 # KEYFRAME 70
0.07578609100164613
Backending... 71 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 56730, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=1611 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 239/556] scannetpp/c8f2218ee2/DSC frames=150 tta_steps_this_scene=5 mean_loss=0.3198 total_steps=1611 time=31.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1759)
 # KEYFRAME 1
Frame 2
tensor(0.2052)
 # KEYFRAME 2
0.05126028799713822
Frame 3
tensor(0.2920)
 # KEYFRAME 3
0.05286724200414028
Frame 4
tensor(0.1814)
 # KEYFRAME 4
0.05346305999410106
Frame 5
tensor(0.3102)
 # KEYFRAME 5
0.05456146600045031
Frame 6
tensor(0.3625)
 # KEYFRAME 6
0.05579201199725503
Frame 7
tensor(0.4790)
 # KEYFRAME 7
0.05679858799703652
Frame 8
tensor(0.2680)
 # KEYFRAME 8
0.056855697999708354
Frame 9
tensor(0.3043)
 # KEYFRAME 9
0.05722547700133873
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.1745)
 # KEYFRAME 10
0.05213740500039421
Frame 11
tensor(0.4781)
 # KEYFRAME 11
0.053416089998790994
Frame 12
tensor(0.2932)
 # KEYFRAME 12
0.05441043699829606
Frame 13
tensor(0.1694)
 # KEYFRAME 13
0.056012990993622225
Frame 14
tensor(0.2081)
 # KEYFRAME 14
0.057020767002541106
Frame 15
tensor(0.2537)
 # KEYFRAME 15
0.057800945003691595
Frame 16
tensor(0.1666)
 # KEYFRAME 16
0.058762232001754455
Frame 17
tensor(0.1640)
 # KEYFRAME 17
0.05986513799871318
Frame 18
tensor(0.1583)
 # KEYFRAME 18
0.06119920300261583
Frame 19
tensor(0.2643)
 # KEYFRAME 19
0.0628283569967607
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 20
tensor(0.0953)
Frame 21
tensor(0.3357)
 # KEYFRAME 20
0.059123061000718735
Frame 22
tensor(0.1052)
 # KEYFRAME 21
0.0606348950022948
Frame 23
tensor(0.0994)
Frame 24
tensor(0.1945)
 # KEYFRAME 22
0.06091775400273036
Frame 25
tensor(0.2418)
 # KEYFRAME 23
0.06178357099997811
Frame 26
tensor(0.1826)
 # KEYFRAME 24
0.06225508900388377
Frame 27
tensor(0.3150)
 # KEYFRAME 25
0.06306515600590501
Frame 28
tensor(0.2053)
 # KEYFRAME 26
0.06469685100455536
Frame 29
tensor(0.3474)
 # KEYFRAME 27
0.06577195700083394
Frame 30
tensor(0.2834)
 # KEYFRAME 28
0.06664213400654262
Frame 31
tensor(0.2782)
 # KEYFRAME 29
0.0685270070025581
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.2033)
 # KEYFRAME 30
0.06554868800594704
Frame 33
tensor(0.1845)
 # KEYFRAME 31
0.0678390299945022
Frame 34
tensor(0.2701)
 # KEYFRAME 32
0.06813574800617062
Frame 35
tensor(0.4886)
 # KEYFRAME 33
0.06932274399878224
Frame 36
tensor(0.3502)
 # KEYFRAME 34
0.0699367519991938
Frame 37
tensor(0.0456)
Frame 38
tensor(0.1128)
 # KEYFRAME 35
0.07042581000132486
Frame 39
tensor(0.0084)
Frame 40
tensor(0.0100)
Frame 41
tensor(0.0119)
Frame 42
tensor(0.0089)
Frame 43
tensor(0.0877)
Frame 44
tensor(0.3103)
 # KEYFRAME 36
0.07146327600639779
Frame 45
tensor(0.2018)
 # KEYFRAME 37
0.07281357100146124
Frame 46
tensor(0.1501)
 # KEYFRAME 38
0.07356563899520552
Frame 47
tensor(0.1869)
 # KEYFRAME 39
0.07439218599756714
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1612 loss_distill=0.1733 tta_take=0.009s
Frame 48
tensor(0.2696)
 # KEYFRAME 40
0.07270394200168084
Frame 49
tensor(0.2745)
 # KEYFRAME 41
0.07444863599812379
Frame 50
tensor(0.3001)
 # KEYFRAME 42
0.07487640400358941
Frame 51
tensor(0.2047)
 # KEYFRAME 43
0.07559682199644158
Frame 52
tensor(0.2734)
 # KEYFRAME 44
0.0766275579953799
Frame 53
tensor(0.4444)
 # KEYFRAME 45
0.07739011500234483
Frame 54
tensor(0.1788)
 # KEYFRAME 46
0.07793435299390694
Frame 55
tensor(0.2434)
 # KEYFRAME 47
0.07870632100093644
Frame 56
tensor(0.2280)
 # KEYFRAME 48
0.0786560010019457
Frame 57
tensor(0.3902)
 # KEYFRAME 49
0.08034988500003237
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1613 loss_distill=0.2747 tta_take=0.009s
Frame 58
tensor(0.2116)
 # KEYFRAME 50
0.07937248899543192
Frame 59
tensor(0.1389)
 # KEYFRAME 51
0.08206189899647143
Frame 60
tensor(0.3039)
 # KEYFRAME 52
0.08244739800284151
Frame 61
tensor(0.1750)
 # KEYFRAME 53
0.08359536300122272
Frame 62
tensor(0.2679)
 # KEYFRAME 54
0.08480346899887081
Frame 63
tensor(0.1915)
 # KEYFRAME 55
0.08437498100101948
Frame 64
tensor(0.1540)
 # KEYFRAME 56
0.08554212699527852
Frame 65
tensor(0.1579)
 # KEYFRAME 57
0.08651964299497195
Frame 66
tensor(0.1311)
 # KEYFRAME 58
0.08693455100001302
Frame 67
tensor(0.1798)
 # KEYFRAME 59
0.0873494110055617
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1614 loss_distill=0.3466 tta_take=0.009s
Frame 68
tensor(0.0814)
Frame 69
tensor(0.1706)
 # KEYFRAME 60
0.08663608299684711
Frame 70
tensor(0.1659)
 # KEYFRAME 61
0.08917190399370156
Frame 71
tensor(0.1095)
 # KEYFRAME 62
0.08840808700188063
Frame 72
tensor(0.0862)
Frame 73
tensor(0.1964)
 # KEYFRAME 63
0.09005438000167487
Frame 74
tensor(0.0160)
Frame 75
tensor(0.1465)
 # KEYFRAME 64
0.09162151499913307
Frame 76
tensor(0.3323)
 # KEYFRAME 65
0.09255725199909648
Frame 77
tensor(0.2527)
 # KEYFRAME 66
0.09365397800138453
Frame 78
tensor(0.3292)
 # KEYFRAME 67
0.09493935300270095
Frame 79
tensor(0.2371)
 # KEYFRAME 68
0.0956479699962074
Frame 80
tensor(0.1581)
 # KEYFRAME 69
0.09556687100121053
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1615 loss_distill=0.4024 tta_take=0.009s
Frame 81
tensor(0.0860)
Frame 82
tensor(0.0241)
Frame 83
tensor(0.0820)
Frame 84
tensor(0.2247)
 # KEYFRAME 70
0.09315099899686174
Frame 85
tensor(0.1260)
 # KEYFRAME 71
0.09587676000228385
Frame 86
tensor(0.2332)
 # KEYFRAME 72
0.09479129400278907
Frame 87
tensor(0.3003)
 # KEYFRAME 73
0.0961355090039433
Frame 88
tensor(0.2438)
 # KEYFRAME 74
0.09685032699781004
Frame 89
tensor(0.2319)
 # KEYFRAME 75
0.09753398400061997
Frame 90
tensor(0.3521)
 # KEYFRAME 76
0.09850034099508775
Frame 91
tensor(0.1987)
 # KEYFRAME 77
0.09897132900368888
Frame 92
tensor(0.3106)
 # KEYFRAME 78
0.09997962600027677
Frame 93
tensor(0.3063)
 # KEYFRAME 79
0.1002026839996688
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1616 loss_distill=0.4024 tta_take=0.009s
Frame 94
tensor(0.2960)
 # KEYFRAME 80
0.09395123699505348
Frame 95
tensor(0.3120)
 # KEYFRAME 81
0.09467097399465274
Frame 96
tensor(0.2434)
 # KEYFRAME 82
0.09544646099675447
Frame 97
tensor(0.2242)
 # KEYFRAME 83
0.0955844199997955
Frame 98
tensor(0.2345)
 # KEYFRAME 84
0.09674102699500509
Frame 99
tensor(0.2508)
 # KEYFRAME 85
0.09774233299685875
Frame 100
tensor(0.2614)
 # KEYFRAME 86
0.0976404429966351
Frame 101
tensor(0.1095)
 # KEYFRAME 87
0.09869632000481943
Frame 102
tensor(0.1777)
 # KEYFRAME 88
0.099756306000927
Frame 103
tensor(0.2947)
 # KEYFRAME 89
0.1003122140027699
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595452308655
TTA-STEP: step=1617 loss_distill=0.4024 tta_take=0.009s
Frame 104
tensor(0.1876)
 # KEYFRAME 90
0.09347047900519101
Frame 105
tensor(0.0848)
Frame 106
tensor(0.1861)
 # KEYFRAME 91
0.09593653999763774
Frame 107
tensor(0.1999)
 # KEYFRAME 92
0.0954507919959724
Frame 108
tensor(0.2290)
 # KEYFRAME 93
0.09542917100043269
Frame 109
tensor(0.0746)
Frame 110
tensor(0.1329)
 # KEYFRAME 94
0.09727916499832645
Frame 111
tensor(0.1106)
 # KEYFRAME 95
0.0976122040010523
Frame 112
tensor(0.9044)
 # KEYFRAME 96
0.09826860199973453
Frame 113
tensor(0.2991)
 # KEYFRAME 97
0.09921994800242828
Frame 114
tensor(0.3218)
 # KEYFRAME 98
0.10000872499949764
Frame 115
tensor(0.3911)
 # KEYFRAME 99
0.10044980399834458
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1618 loss_distill=0.4024 tta_take=0.009s
Frame 116
tensor(0.3442)
 # KEYFRAME 100
0.0924119819974294
Frame 117
tensor(0.6211)
 # KEYFRAME 101
0.09542040099768201
Frame 118
tensor(0.3292)
 # KEYFRAME 102
0.09548915099730948
Frame 119
tensor(0.1928)
 # KEYFRAME 103
0.09614102899649879
Frame 120
tensor(0.2947)
 # KEYFRAME 104
0.09747077499923762
Frame 121
tensor(0.2620)
 # KEYFRAME 105
0.09820505200332263
Frame 122
tensor(0.3249)
 # KEYFRAME 106
0.0989184989957721
Frame 123
tensor(0.2592)
 # KEYFRAME 107
0.09896571900026174
Frame 124
tensor(0.2265)
 # KEYFRAME 108
0.09927797799900873
Frame 125
tensor(0.2848)
 # KEYFRAME 109
0.10073931199440267
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1619 loss_distill=0.4024 tta_take=0.009s
Frame 126
tensor(0.2237)
 # KEYFRAME 110
0.0934512289968552
Frame 127
tensor(0.1918)
 # KEYFRAME 111
0.09393206700042356
Frame 128
tensor(0.2642)
 # KEYFRAME 112
0.09571428100025514
Frame 129
tensor(0.2888)
 # KEYFRAME 113
0.09594002000085311
Frame 130
tensor(0.1963)
 # KEYFRAME 114
0.09668284699728247
Frame 131
tensor(0.3031)
 # KEYFRAME 115
0.0976571729988791
Frame 132
tensor(0.2638)
 # KEYFRAME 116
0.09806850199674955
Frame 133
tensor(0.2527)
 # KEYFRAME 117
0.09946299700095551
Frame 134
tensor(0.0924)
Frame 135
tensor(0.2305)
 # KEYFRAME 118
0.09975949599902378
Frame 136
tensor(0.2005)
 # KEYFRAME 119
0.10008112499781419
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1620 loss_distill=0.4024 tta_take=0.009s
Frame 137
tensor(0.2329)
 # KEYFRAME 120
0.09283075099665439
Frame 138
tensor(0.2056)
 # KEYFRAME 121
0.09549692099972162
Frame 139
tensor(0.0913)
Frame 140
tensor(0.2395)
 # KEYFRAME 122
0.09599998899648199
Frame 141
tensor(0.1683)
 # KEYFRAME 123
0.0967415670020273
Frame 142
tensor(0.2954)
 # KEYFRAME 124
0.09869127999991179
Frame 143
tensor(0.1768)
 # KEYFRAME 125
0.09960782699636184
Frame 144
tensor(0.1154)
 # KEYFRAME 126
0.10038085400447017
Frame 145
tensor(0.2152)
 # KEYFRAME 127
0.10171331999299582
Frame 146
tensor(0.3093)
 # KEYFRAME 128
0.1028874750045361
Frame 147
tensor(0.1576)
 # KEYFRAME 129
0.10415239099529572
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1621 loss_distill=0.4024 tta_take=0.009s
Frame 148
tensor(0.0686)
[epoch 0 scene 240/556] scannetpp/e898c76c1f/frame frames=149 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=1621 time=54.6s
[ckpt] /scratch-shared/wwei2/scorer_pretrain/scorer_v1/checkpoint-last.pth (epoch=0 scene=240)
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1301)
 # KEYFRAME 1
Frame 2
tensor(0.2136)
 # KEYFRAME 2
0.051866956004232634
Frame 3
tensor(0.0912)
Frame 4
tensor(0.2638)
 # KEYFRAME 3
0.053349640998931136
Frame 5
tensor(0.2807)
 # KEYFRAME 4
0.05366022999805864
Frame 6
tensor(0.2052)
 # KEYFRAME 5
0.054874656001629774
Frame 7
tensor(0.1725)
 # KEYFRAME 6
0.055983692000154406
Frame 8
tensor(0.1997)
 # KEYFRAME 7
0.0567835580004612
Frame 9
tensor(0.0573)
Frame 10
tensor(0.3127)
 # KEYFRAME 8
0.057460056006675586
Frame 11
tensor(0.0904)
Frame 12
tensor(0.0886)
Frame 13
tensor(0.4058)
 # KEYFRAME 9
0.05854742199881002
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 14
tensor(0.2533)
 # KEYFRAME 10
0.05157777700514998
Frame 15
tensor(0.3767)
 # KEYFRAME 11
0.05259137399843894
Frame 16
tensor(0.3689)
 # KEYFRAME 12
0.05363190899515757
Frame 17
tensor(0.3176)
 # KEYFRAME 13
0.05481235600018408
Frame 18
tensor(0.2863)
 # KEYFRAME 14
0.05468403599661542
Frame 19
tensor(0.3993)
 # KEYFRAME 15
0.054879376002645586
Frame 20
tensor(0.1465)
 # KEYFRAME 16
0.05553169299673755
Frame 21
tensor(0.3512)
 # KEYFRAME 17
0.05638889999681851
Frame 22
tensor(0.2564)
 # KEYFRAME 18
0.057015988000785
Frame 23
tensor(0.1895)
 # KEYFRAME 19
0.05745265600126004
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 24
tensor(0.4419)
 # KEYFRAME 20
0.05413304799731122
Frame 25
tensor(0.2443)
 # KEYFRAME 21
0.055152464999991935
Frame 26
tensor(0.0974)
Frame 27
tensor(0.0523)
Frame 28
tensor(0.2208)
 # KEYFRAME 22
0.055427963998226915
Frame 29
tensor(0.1218)
 # KEYFRAME 23
0.05581788199924631
Frame 30
tensor(0.3107)
 # KEYFRAME 24
0.05628335000074003
Frame 31
tensor(0.1362)
 # KEYFRAME 25
0.05697245699411724
Frame 32
tensor(0.2177)
 # KEYFRAME 26
0.05804739399900427
Frame 33
tensor(0.0898)
Frame 34
tensor(0.1303)
 # KEYFRAME 27
0.0590167010013829
Frame 35
tensor(0.0367)
Frame 36
tensor(0.0489)
Frame 37
tensor(0.1871)
 # KEYFRAME 28
0.06009468599950196
Frame 38
tensor(0.1826)
 # KEYFRAME 29
0.0604584149987204
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 39
tensor(0.2546)
 # KEYFRAME 30
0.05860240200127009
Frame 40
tensor(0.0726)
Frame 41
tensor(0.3225)
 # KEYFRAME 31
0.05942396900354652
Frame 42
tensor(0.1027)
 # KEYFRAME 32
0.05914363999909256
Frame 43
tensor(0.3495)
 # KEYFRAME 33
0.060213716998987366
Frame 44
tensor(0.1521)
 # KEYFRAME 34
0.060824215004686266
Frame 45
tensor(0.1717)
 # KEYFRAME 35
0.061589270997501444
Frame 46
tensor(0.0319)
Frame 47
tensor(0.1711)
 # KEYFRAME 36
0.062384388998907525
Frame 48
tensor(0.2438)
 # KEYFRAME 37
0.06271593699784717
Frame 49
tensor(0.2046)
 # KEYFRAME 38
0.06327770600182703
Frame 50
tensor(0.2862)
 # KEYFRAME 39
0.06424056200194173
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1622 loss_distill=0.1733 tta_take=0.009s
Frame 51
tensor(0.3748)
 # KEYFRAME 40
0.06304890700266697
Frame 52
tensor(0.2387)
 # KEYFRAME 41
0.06464608099486213
Frame 53
tensor(0.1833)
 # KEYFRAME 42
0.06465657999797259
Frame 54
tensor(0.2716)
 # KEYFRAME 43
0.0648860599976615
Frame 55
tensor(0.1958)
 # KEYFRAME 44
0.06663932400260819
Frame 56
tensor(0.2953)
 # KEYFRAME 45
0.06728983100038022
Frame 57
tensor(0.2647)
 # KEYFRAME 46
0.06866258700028993
Frame 58
tensor(0.0632)
Frame 59
tensor(0.1291)
 # KEYFRAME 47
0.06883359500352526
Frame 60
tensor(0.1777)
 # KEYFRAME 48
0.06938403400272364
Frame 61
tensor(0.3670)
 # KEYFRAME 49
0.06925526399572846
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1623 loss_distill=0.2747 tta_take=0.009s
Frame 62
tensor(0.1995)
 # KEYFRAME 50
0.06692660300177522
Frame 63
tensor(0.1116)
 # KEYFRAME 51
0.06896464600140462
Frame 64
tensor(0.0560)
Frame 65
tensor(0.2171)
 # KEYFRAME 52
0.06889874599437462
Frame 66
tensor(0.3328)
 # KEYFRAME 53
0.07011114099441329
Frame 67
tensor(0.1759)
 # KEYFRAME 54
0.06914267499814741
Frame 68
tensor(0.2017)
 # KEYFRAME 55
0.07151508599781664
Frame 69
tensor(0.1155)
 # KEYFRAME 56
0.07277966200490482
Frame 70
tensor(0.2364)
 # KEYFRAME 57
0.07340918899717508
Frame 71
tensor(0.4734)
 # KEYFRAME 58
0.1444357479995233
Frame 72
tensor(0.1048)
 # KEYFRAME 59
0.20917481899959967
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1624 loss_distill=0.3466 tta_take=0.008s
Frame 73
tensor(0.5129)
 # KEYFRAME 60
0.07155548599985195
Frame 74
tensor(0.1506)
 # KEYFRAME 61
0.07315137000114191
Frame 75
tensor(0.0485)
Frame 76
tensor(0.1917)
 # KEYFRAME 62
0.07302776200231165
Frame 77
tensor(0.0525)
Frame 78
tensor(0.2134)
 # KEYFRAME 63
0.0744582659972366
Frame 79
tensor(0.5669)
 # KEYFRAME 64
0.07495629399636528
Frame 80
tensor(0.0558)
Frame 81
tensor(0.1107)
 # KEYFRAME 65
0.07393985700036865
Frame 82
tensor(0.4685)
 # KEYFRAME 66
0.07657126899721334
Frame 83
tensor(0.3663)
 # KEYFRAME 67
0.07795063300000038
Frame 84
tensor(0.2903)
 # KEYFRAME 68
0.07849250199797098
Frame 85
tensor(0.3787)
 # KEYFRAME 69
0.07953752799949143
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1625 loss_distill=0.4024 tta_take=0.009s
Frame 86
tensor(0.1365)
 # KEYFRAME 70
0.07584940100059612
Frame 87
tensor(0.1738)
 # KEYFRAME 71
0.07589613100572024
Frame 88
tensor(0.0645)
Frame 89
tensor(0.1070)
 # KEYFRAME 72
0.07654988799913554
Frame 90
tensor(0.1469)
 # KEYFRAME 73
0.0769927369983634
Frame 91
tensor(0.2017)
 # KEYFRAME 74
0.07742298600351205
Frame 92
tensor(0.0430)
Frame 93
tensor(0.1627)
 # KEYFRAME 75
0.07849940199957928
Frame 94
tensor(0.1025)
 # KEYFRAME 76
0.07793252400006168
Frame 95
tensor(0.1384)
 # KEYFRAME 77
0.07923389899951871
Frame 96
tensor(0.1374)
 # KEYFRAME 78
0.07904548999795225
Frame 97
tensor(0.0460)
Frame 98
tensor(0.3655)
 # KEYFRAME 79
0.08008911599608837
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1626 loss_distill=0.4024 tta_take=0.008s
Frame 99
tensor(0.2423)
 # KEYFRAME 80
0.0756949920032639
Frame 100
tensor(0.7683)
 # KEYFRAME 81
0.07655930799955968
Frame 101
tensor(0.2146)
 # KEYFRAME 82
0.07763448400510242
Frame 102
tensor(0.1318)
 # KEYFRAME 83
0.07708838699909393
Frame 103
tensor(0.0227)
Frame 104
tensor(0.2665)
 # KEYFRAME 84
0.07772258399927523
Frame 105
tensor(0.2632)
 # KEYFRAME 85
0.07846364099532366
Frame 106
tensor(0.2525)
 # KEYFRAME 86
0.0779145630003768
Frame 107
tensor(0.2284)
 # KEYFRAME 87
0.07895627999823773
Frame 108
tensor(0.0898)
Frame 109
tensor(0.2320)
 # KEYFRAME 88
0.07981956699950388
Frame 110
tensor(0.2282)
 # KEYFRAME 89
0.08045735400082776
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1627 loss_distill=0.4024 tta_take=0.009s
Frame 111
tensor(0.1065)
 # KEYFRAME 90
0.07588097100233426
Frame 112
tensor(0.0369)
Frame 113
tensor(0.0791)
Frame 114
tensor(0.0526)
Frame 115
tensor(0.1423)
 # KEYFRAME 91
0.07682012799341464
Frame 116
tensor(0.0745)
Frame 117
tensor(0.1346)
 # KEYFRAME 92
0.07731612600036897
Frame 118
tensor(0.2795)
 # KEYFRAME 93
0.0770247170003131
Frame 119
tensor(0.1804)
 # KEYFRAME 94
0.07873866000591079
Frame 120
tensor(0.2792)
 # KEYFRAME 95
0.07750222500180826
Frame 121
tensor(0.2143)
 # KEYFRAME 96
0.07841091199952643
Frame 122
tensor(0.2802)
 # KEYFRAME 97
0.07912708000367275
Frame 123
tensor(0.1255)
 # KEYFRAME 98
0.07963733799988404
Frame 124
tensor(0.1204)
 # KEYFRAME 99
0.08016214599774685
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1628 loss_distill=0.4024 tta_take=0.009s
Frame 125
tensor(0.0959)
Frame 126
tensor(0.1514)
 # KEYFRAME 100
0.07540073200652841
Frame 127
tensor(0.1000)
Frame 128
tensor(0.4943)
 # KEYFRAME 101
0.07771283500187565
Frame 129
tensor(0.1158)
 # KEYFRAME 102
0.07687060700118309
Frame 130
tensor(0.0638)
Frame 131
tensor(0.2283)
 # KEYFRAME 103
0.07766945400362602
Frame 132
tensor(0.5017)
 # KEYFRAME 104
0.07786120300443145
Frame 133
tensor(0.1503)
 # KEYFRAME 105
0.0784185320007964
Frame 134
tensor(0.2231)
 # KEYFRAME 106
0.07869470099831233
Frame 135
tensor(0.1464)
 # KEYFRAME 107
0.07892500000161817
Frame 136
tensor(0.0656)
Frame 137
tensor(0.1980)
 # KEYFRAME 108
0.07976413700089324
Frame 138
tensor(0.0803)
Frame 139
tensor(0.1727)
 # KEYFRAME 109
0.08031640500121284
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1629 loss_distill=0.4024 tta_take=0.009s
Frame 140
tensor(0.1213)
 # KEYFRAME 110
0.07594095099921105
Frame 141
tensor(0.0883)
Frame 142
tensor(0.3599)
 # KEYFRAME 111
0.0761772400001064
Frame 143
tensor(0.0167)
Frame 144
tensor(0.1277)
 # KEYFRAME 112
0.07691643699945416
Frame 145
tensor(0.2404)
 # KEYFRAME 113
0.0772458959982032
Frame 146
tensor(0.0467)
Frame 147
tensor(0.0677)
Frame 148
tensor(0.0928)
Frame 149
tensor(0.1902)
 # KEYFRAME 114
0.07750744499935536
Backending... 115 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 60450, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1630 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 241/556] scannetpp/712dc47104/DSC frames=150 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=1630 time=44.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0006)
Frame 2
tensor(0.0017)
Frame 3
tensor(0.0021)
Frame 4
tensor(0.0025)
Frame 5
tensor(0.0016)
Frame 6
tensor(0.0022)
Frame 7
tensor(0.0017)
Frame 8
tensor(0.0009)
Frame 9
tensor(0.0012)
Frame 10
tensor(0.0010)
Frame 11
tensor(0.0017)
Frame 12
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Frame 13
tensor(0.0008)
Frame 14
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Frame 15
tensor(0.0009)
Frame 16
tensor(0.0014)
Frame 17
tensor(0.0011)
Frame 18
tensor(0.0007)
Frame 19
tensor(0.0009)
Frame 20
tensor(0.0009)
Frame 21
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Frame 23
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Frame 26
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Frame 28
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Frame 81
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Frame 90
tensor(0.0029)
Frame 91
tensor(0.0043)
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Frame 95
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Frame 98
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Frame 100
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Frame 105
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Frame 107
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Frame 108
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Frame 109
tensor(0.0011)
Frame 110
tensor(0.0011)
Frame 111
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Frame 112
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Frame 113
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Frame 114
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Frame 115
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Frame 116
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Frame 117
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Frame 118
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Frame 119
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Frame 120
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Frame 121
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Frame 122
tensor(0.0007)
Frame 123
tensor(0.0015)
Frame 124
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Frame 125
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Frame 126
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Frame 127
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Frame 128
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Frame 129
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Frame 130
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Frame 131
tensor(0.0014)
Frame 132
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Frame 133
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Frame 134
tensor(0.0005)
Frame 135
tensor(0.0005)
Frame 136
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Frame 137
tensor(0.0009)
Frame 138
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Frame 139
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Frame 140
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Frame 141
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Frame 142
tensor(0.0006)
Frame 143
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Frame 144
tensor(0.0008)
Frame 145
tensor(0.0007)
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Frame 147
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Frame 148
tensor(0.0009)
Frame 149
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Frame 150
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Frame 151
tensor(0.0011)
Frame 152
tensor(0.0010)
Frame 153
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Frame 154
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Frame 155
tensor(0.0010)
Frame 156
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Frame 157
tensor(0.0007)
Frame 158
tensor(0.0011)
Frame 159
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Frame 160
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Frame 161
tensor(0.0011)
Frame 162
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Frame 163
tensor(0.0014)
Frame 164
tensor(0.0005)
Frame 165
tensor(0.0009)
Frame 166
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Frame 167
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Frame 168
tensor(0.0007)
Frame 169
tensor(0.0005)
Frame 170
tensor(0.0007)
Frame 171
tensor(0.0002)
Frame 172
tensor(0.0007)
Frame 173
tensor(0.0020)
Frame 174
tensor(0.0002)
Frame 175
tensor(0.0011)
Frame 176
tensor(0.0007)
Frame 177
tensor(0.0011)
Frame 178
tensor(0.0007)
Frame 179
tensor(0.0011)
Frame 180
tensor(0.0016)
Frame 181
tensor(0.0029)
Frame 182
tensor(0.0038)
Frame 183
tensor(0.0042)
Frame 184
tensor(0.0063)
Frame 185
tensor(0.0061)
Frame 186
tensor(0.0096)
Frame 187
tensor(0.0120)
Frame 188
tensor(0.0149)
Frame 189
tensor(0.0199)
Frame 190
tensor(0.0230)
Frame 191
tensor(0.0286)
Frame 192
tensor(0.0345)
Frame 193
tensor(0.0428)
Frame 194
tensor(0.0503)
Frame 195
tensor(0.0618)
Frame 196
tensor(0.0717)
Frame 197
tensor(0.0826)
Frame 198
tensor(0.0926)
Frame 199
tensor(0.1036)
 # KEYFRAME 1
Frame 200
tensor(0.0126)
Frame 201
tensor(0.0289)
Frame 202
tensor(0.0448)
Frame 203
tensor(0.0646)
Frame 204
tensor(0.0844)
Frame 205
tensor(0.1014)
 # KEYFRAME 2
0.05214551500102971
Frame 206
tensor(0.0174)
Frame 207
tensor(0.0367)
Frame 208
tensor(0.0553)
Frame 209
tensor(0.0721)
Frame 210
tensor(0.0823)
Frame 211
tensor(0.1067)
 # KEYFRAME 3
0.05233934500574833
Frame 212
tensor(0.0168)
Frame 213
tensor(0.0349)
Frame 214
tensor(0.0561)
Frame 215
tensor(0.0748)
Frame 216
tensor(0.0912)
Frame 217
tensor(0.1124)
 # KEYFRAME 4
0.05287844199483516
Frame 218
tensor(0.0205)
Frame 219
tensor(0.0422)
Frame 220
tensor(0.0605)
Frame 221
tensor(0.0867)
Frame 222
tensor(0.1129)
 # KEYFRAME 5
0.05237138499796856
Frame 223
tensor(0.0251)
Frame 224
tensor(0.0484)
Frame 225
tensor(0.0771)
Frame 226
tensor(0.1039)
 # KEYFRAME 6
0.05309071200463222
Frame 227
tensor(0.0252)
Frame 228
tensor(0.0537)
Frame 229
tensor(0.0827)
Frame 230
tensor(0.1107)
 # KEYFRAME 7
0.05271744300262071
Frame 231
tensor(0.0245)
Frame 232
tensor(0.0491)
Frame 233
tensor(0.0765)
Frame 234
tensor(0.1056)
 # KEYFRAME 8
0.0538330790004693
Frame 235
tensor(0.0241)
Frame 236
tensor(0.0479)
Frame 237
tensor(0.0776)
Frame 238
tensor(0.1039)
 # KEYFRAME 9
0.05247348400007468
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 239
tensor(0.0233)
Frame 240
tensor(0.0523)
Frame 241
tensor(0.0787)
Frame 242
tensor(0.1099)
 # KEYFRAME 10
0.05181726600130787
Frame 243
tensor(0.0306)
Frame 244
tensor(0.0599)
Frame 245
tensor(0.0852)
Frame 246
tensor(0.1172)
 # KEYFRAME 11
0.05280519299412845
Frame 247
tensor(0.0277)
Frame 248
tensor(0.0588)
Frame 249
tensor(0.0905)
Frame 250
tensor(0.1247)
 # KEYFRAME 12
0.053300380997825414
Frame 251
tensor(0.0314)
Frame 252
tensor(0.0603)
Frame 253
tensor(0.0908)
Frame 254
tensor(0.1147)
 # KEYFRAME 13
0.052644852999947034
Frame 255
tensor(0.0329)
Frame 256
tensor(0.0635)
Frame 257
tensor(0.0924)
Frame 258
tensor(0.1247)
 # KEYFRAME 14
0.055161014999612235
Frame 259
tensor(0.0328)
Frame 260
tensor(0.0586)
Frame 261
tensor(0.0883)
Frame 262
tensor(0.1276)
 # KEYFRAME 15
0.05253684299532324
Frame 263
tensor(0.0258)
Frame 264
tensor(0.0629)
Frame 265
tensor(0.0873)
Frame 266
tensor(0.1132)
 # KEYFRAME 16
0.052864002995193005
Frame 267
tensor(0.0273)
Frame 268
tensor(0.0569)
Frame 269
tensor(0.0882)
Backending... 17 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
[epoch 0 scene 242/556] vkitti/Scene06/fog/Camera_0 frames=270 tta_steps_this_scene=0 mean_loss=nan total_steps=1630 time=36.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0397)
Frame 2
tensor(0.0896)
Frame 3
tensor(0.1188)
 # KEYFRAME 1
Frame 4
tensor(0.0436)
Frame 5
tensor(0.0520)
Frame 6
tensor(0.0946)
Frame 7
tensor(0.1613)
 # KEYFRAME 2
0.05188154600182315
Frame 8
tensor(0.0566)
Frame 9
tensor(0.1327)
 # KEYFRAME 3
0.05324273099540733
Frame 10
tensor(0.0655)
Frame 11
tensor(0.0753)
Frame 12
tensor(0.1701)
 # KEYFRAME 4
0.053791418999026064
Frame 13
tensor(0.0268)
Frame 14
tensor(0.1341)
 # KEYFRAME 5
0.055103965001762845
Frame 15
tensor(0.1921)
 # KEYFRAME 6
0.05597730099543696
Frame 16
tensor(0.1296)
 # KEYFRAME 7
0.058406943004229106
Frame 17
tensor(0.0667)
Frame 18
tensor(0.1473)
 # KEYFRAME 8
0.057551685997168534
Frame 19
tensor(0.1068)
 # KEYFRAME 9
0.05826978300319752
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 20
tensor(0.0733)
Frame 21
tensor(0.1028)
 # KEYFRAME 10
0.05161516700172797
Frame 22
tensor(0.1227)
 # KEYFRAME 11
0.052557312999852
Frame 23
tensor(0.0539)
Frame 24
tensor(0.1756)
 # KEYFRAME 12
0.053908068999589887
Frame 25
tensor(0.1474)
 # KEYFRAME 13
0.054911305000132415
Frame 26
tensor(0.1898)
 # KEYFRAME 14
0.05475956500595203
Frame 27
tensor(0.1411)
 # KEYFRAME 15
0.0551065239997115
Frame 28
tensor(0.0997)
Frame 29
tensor(0.2164)
 # KEYFRAME 16
0.05580046199611388
Frame 30
tensor(0.0321)
Frame 31
tensor(0.0718)
Frame 32
tensor(0.0876)
Frame 33
tensor(0.2416)
 # KEYFRAME 17
0.056419350003125146
Frame 34
tensor(0.1337)
 # KEYFRAME 18
0.057105257998046
Frame 35
tensor(0.0268)
Frame 36
tensor(0.2171)
 # KEYFRAME 19
0.05738416600070195
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 37
tensor(0.1179)
 # KEYFRAME 20
0.05402702799619874
Frame 38
tensor(0.1182)
 # KEYFRAME 21
0.05467844600207172
Frame 39
tensor(0.0771)
Frame 40
tensor(0.1259)
 # KEYFRAME 22
0.05544461400131695
Frame 41
tensor(0.0745)
Frame 42
tensor(0.0791)
Frame 43
tensor(0.0984)
Frame 44
tensor(0.0611)
Frame 45
tensor(0.1150)
 # KEYFRAME 23
0.05596933199558407
Frame 46
tensor(0.0500)
Frame 47
tensor(0.0927)
Frame 48
tensor(0.1682)
 # KEYFRAME 24
0.05662585899699479
Frame 49
tensor(0.0843)
Frame 50
tensor(0.1004)
 # KEYFRAME 25
0.056995487997482996
Frame 51
tensor(0.1232)
 # KEYFRAME 26
0.05829587399784941
Frame 52
tensor(0.0865)
Frame 53
tensor(0.0906)
Frame 54
tensor(0.0736)
Frame 55
tensor(0.2771)
 # KEYFRAME 27
0.05931121000321582
Frame 56
tensor(0.1610)
 # KEYFRAME 28
0.060219347004021984
Frame 57
tensor(0.2231)
 # KEYFRAME 29
0.060752184996090364
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 58
tensor(0.2567)
 # KEYFRAME 30
0.05846715299412608
Frame 59
tensor(0.2230)
 # KEYFRAME 31
0.059355618999688886
Frame 60
tensor(0.1986)
 # KEYFRAME 32
0.059209368999290746
Frame 61
tensor(0.1141)
 # KEYFRAME 33
0.06013091699423967
Frame 62
tensor(0.0811)
Frame 63
tensor(0.4123)
 # KEYFRAME 34
0.06099585299671162
Frame 64
tensor(0.0576)
Frame 65
tensor(0.1041)
 # KEYFRAME 35
0.06175730100221699
Frame 66
tensor(0.0202)
Frame 67
tensor(0.0956)
Frame 68
tensor(0.0868)
Frame 69
tensor(0.3376)
 # KEYFRAME 36
0.0625176690009539
Frame 70
tensor(0.2289)
 # KEYFRAME 37
0.06305784599680919
Frame 71
tensor(0.2203)
 # KEYFRAME 38
0.06369654399895808
Frame 72
tensor(0.0940)
Frame 73
tensor(0.4415)
 # KEYFRAME 39
0.06400203299563145
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1631 loss_distill=0.1733 tta_take=0.009s
Frame 74
tensor(0.0815)
Frame 75
tensor(0.2806)
 # KEYFRAME 40
0.06282379700132878
Frame 76
tensor(0.0492)
Frame 77
tensor(0.1684)
 # KEYFRAME 41
0.06422701200062875
Frame 78
tensor(0.1631)
 # KEYFRAME 42
0.06457170100475196
Frame 79
tensor(0.0369)
Frame 80
tensor(0.3427)
 # KEYFRAME 43
0.06463418099883711
Frame 81
tensor(0.1081)
 # KEYFRAME 44
0.06653419399663107
Frame 82
tensor(0.1045)
 # KEYFRAME 45
0.0676273700009915
Frame 83
tensor(0.0411)
Frame 84
tensor(0.0951)
Frame 85
tensor(0.2305)
 # KEYFRAME 46
0.06813723799859872
Frame 86
tensor(0.1944)
 # KEYFRAME 47
0.06848817699938081
Frame 87
tensor(0.1611)
 # KEYFRAME 48
0.0691943940037163
Frame 88
tensor(0.0561)
Frame 89
tensor(0.0741)
Frame 90
tensor(0.1061)
 # KEYFRAME 49
0.06906673499906901
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=1632 loss_distill=0.2747 tta_take=0.009s
Frame 91
tensor(0.0667)
Frame 92
tensor(0.3726)
 # KEYFRAME 50
0.06716522200440522
Frame 93
tensor(0.0932)
Frame 94
tensor(0.0742)
Frame 95
tensor(0.2113)
 # KEYFRAME 51
0.06880129600176588
Frame 96
tensor(0.1466)
 # KEYFRAME 52
0.0688263550036936
Frame 97
tensor(0.0993)
Frame 98
tensor(0.1293)
 # KEYFRAME 53
0.06983623199630529
Frame 99
tensor(0.0113)
Frame 100
tensor(0.0970)
Frame 101
tensor(0.1568)
 # KEYFRAME 54
0.06938685399654787
Frame 102
tensor(0.1468)
 # KEYFRAME 55
0.07143271699897014
Frame 103
tensor(0.0499)
Frame 104
tensor(0.1357)
 # KEYFRAME 56
0.0725713919964619
Frame 105
tensor(0.1783)
 # KEYFRAME 57
0.07349141899612732
Frame 106
tensor(0.0965)
Frame 107
tensor(0.1277)
 # KEYFRAME 58
0.07456101500429213
Frame 108
tensor(0.1058)
 # KEYFRAME 59
0.07559593200130621
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1633 loss_distill=0.3466 tta_take=0.009s
Frame 109
tensor(0.0626)
Frame 110
tensor(0.1346)
 # KEYFRAME 60
0.07124623699928634
Frame 111
tensor(0.0826)
Frame 112
tensor(0.1161)
 # KEYFRAME 61
0.07288607099326327
Frame 113
tensor(0.2059)
 # KEYFRAME 62
0.07356798899854766
Frame 114
tensor(0.1123)
 # KEYFRAME 63
0.0739652779957396
Frame 115
tensor(0.1103)
 # KEYFRAME 64
0.07567740100057563
Frame 116
tensor(0.0859)
Frame 117
tensor(0.1232)
 # KEYFRAME 65
0.07396178699855227
Frame 118
tensor(0.1007)
 # KEYFRAME 66
0.0768109069977072
Frame 119
tensor(0.3696)
 # KEYFRAME 67
0.07746668499748921
Frame 120
tensor(0.2560)
 # KEYFRAME 68
0.07874608100246405
Frame 121
tensor(0.1628)
 # KEYFRAME 69
0.07893384999624686
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1634 loss_distill=0.4024 tta_take=0.009s
Frame 122
tensor(0.1186)
 # KEYFRAME 70
0.07592816000396851
Frame 123
tensor(0.2513)
 # KEYFRAME 71
0.07742890599911334
Frame 124
tensor(0.3920)
 # KEYFRAME 72
0.0765194980049273
Frame 125
tensor(0.0544)
Frame 126
tensor(0.3016)
 # KEYFRAME 73
0.07767470399994636
Frame 127
tensor(0.3312)
 # KEYFRAME 74
0.07751005500176689
Frame 128
tensor(0.3287)
 # KEYFRAME 75
0.07807059300102992
Frame 129
tensor(0.1630)
 # KEYFRAME 76
0.07813310199708212
Frame 130
tensor(0.2068)
 # KEYFRAME 77
0.07861771099851467
Frame 131
tensor(0.1819)
 # KEYFRAME 78
0.07977676700102165
Frame 132
tensor(0.2036)
 # KEYFRAME 79
0.07996584600186907
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1635 loss_distill=0.4024 tta_take=0.009s
Frame 133
tensor(0.0991)
Frame 134
tensor(0.1958)
 # KEYFRAME 80
0.07555045199842425
Frame 135
tensor(0.0912)
Frame 136
tensor(0.1881)
 # KEYFRAME 81
0.07727967599930707
Frame 137
tensor(0.1259)
 # KEYFRAME 82
0.07692109700292349
Frame 138
tensor(0.0886)
Frame 139
tensor(0.1865)
 # KEYFRAME 83
0.07722034600010375
Frame 140
tensor(0.0483)
Frame 141
tensor(0.0311)
Frame 142
tensor(0.2044)
 # KEYFRAME 84
0.07804772299277829
Frame 143
tensor(0.2010)
 # KEYFRAME 85
0.07844503199885366
Frame 144
tensor(0.1247)
 # KEYFRAME 86
0.07853060199704487
Frame 145
tensor(0.1864)
 # KEYFRAME 87
0.07883684000262292
Frame 146
tensor(0.3331)
 # KEYFRAME 88
0.07958202699956018
Frame 147
tensor(0.2136)
 # KEYFRAME 89
0.07948183800181141
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1636 loss_distill=0.4024 tta_take=0.009s
Frame 148
tensor(0.2299)
 # KEYFRAME 90
0.07558595199952833
Frame 149
tensor(0.1987)
 # KEYFRAME 91
0.07687806699686917
Backending... 92 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 57660, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1637 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 243/556] scannetpp/ccfd3ed9c7/DSC frames=150 tta_steps_this_scene=7 mean_loss=0.3434 total_steps=1637 time=35.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0219)
Frame 2
tensor(0.0550)
Frame 3
tensor(0.0908)
Frame 4
tensor(0.1095)
 # KEYFRAME 1
Frame 5
tensor(0.0583)
Frame 6
tensor(0.0994)
Frame 7
tensor(0.1775)
 # KEYFRAME 2
0.052021955998498015
Frame 8
tensor(0.1048)
 # KEYFRAME 3
0.05231315499986522
Frame 9
tensor(0.0345)
Frame 10
tensor(0.1072)
 # KEYFRAME 4
0.053781529000843875
Frame 11
tensor(0.0643)
Frame 12
tensor(0.2470)
 # KEYFRAME 5
0.05454427700169617
Frame 13
tensor(0.0698)
Frame 14
tensor(0.1176)
 # KEYFRAME 6
0.05558725300215883
Frame 15
tensor(0.0350)
Frame 16
tensor(0.1066)
 # KEYFRAME 7
0.05652988899964839
Frame 17
tensor(0.0780)
Frame 18
tensor(0.5025)
 # KEYFRAME 8
0.05733964699902572
Frame 19
tensor(0.0725)
Frame 20
tensor(0.1733)
 # KEYFRAME 9
0.05760050599928945
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.0883)
Frame 22
tensor(0.1901)
 # KEYFRAME 10
0.0516173770010937
Frame 23
tensor(0.1047)
 # KEYFRAME 11
0.051978855997731443
Frame 24
tensor(0.0856)
Frame 25
tensor(0.1878)
 # KEYFRAME 12
0.051717146998271346
Frame 26
tensor(0.1052)
 # KEYFRAME 13
0.0541509379982017
Frame 27
tensor(0.0540)
Frame 28
tensor(0.2823)
 # KEYFRAME 14
0.054275988004519604
Frame 29
tensor(0.1113)
 # KEYFRAME 15
0.054224557999987155
Frame 30
tensor(0.1637)
 # KEYFRAME 16
0.05497072500293143
Frame 31
tensor(0.0463)
Frame 32
tensor(0.3808)
 # KEYFRAME 17
0.05620642099529505
Frame 33
tensor(0.2060)
 # KEYFRAME 18
0.056851127999834716
Frame 34
tensor(0.1832)
 # KEYFRAME 19
0.05758296600106405
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 35
tensor(0.0144)
Frame 36
tensor(0.2699)
 # KEYFRAME 20
0.054070078003860544
Frame 37
tensor(0.0758)
Frame 38
tensor(0.1156)
 # KEYFRAME 21
0.05511914499948034
Frame 39
tensor(0.1613)
 # KEYFRAME 22
0.05527043400070397
Frame 40
tensor(0.0417)
Frame 41
tensor(0.0554)
Frame 42
tensor(0.1749)
 # KEYFRAME 23
0.055892301999847405
Frame 43
tensor(0.0564)
Frame 44
tensor(0.1149)
 # KEYFRAME 24
0.056466918998921756
Frame 45
tensor(0.0851)
Frame 46
tensor(0.1751)
 # KEYFRAME 25
0.056904208002379164
Frame 47
tensor(0.0737)
Frame 48
tensor(0.0946)
Frame 49
tensor(0.2495)
 # KEYFRAME 26
0.05819445400265977
Frame 50
tensor(0.1287)
 # KEYFRAME 27
0.05926625900610816
Frame 51
tensor(0.1105)
 # KEYFRAME 28
0.059536298002058174
Frame 52
tensor(0.0812)
Frame 53
tensor(0.2427)
 # KEYFRAME 29
0.06037225599720841
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 54
tensor(0.0505)
Frame 55
tensor(0.2116)
 # KEYFRAME 30
0.05867165199742885
Frame 56
tensor(0.0387)
Frame 57
tensor(0.0774)
Frame 58
tensor(0.1614)
 # KEYFRAME 31
0.05982401800429216
Frame 59
tensor(0.0347)
Frame 60
tensor(0.1799)
 # KEYFRAME 32
0.05967645799682941
Frame 61
tensor(0.1080)
 # KEYFRAME 33
0.0607717649982078
Frame 62
tensor(0.1130)
 # KEYFRAME 34
0.06107471400173381
Frame 63
tensor(0.1180)
 # KEYFRAME 35
0.06183251100446796
Frame 64
tensor(0.1250)
 # KEYFRAME 36
0.06266605699784122
Frame 65
tensor(0.1169)
 # KEYFRAME 37
0.06338124500325648
Frame 66
tensor(0.1165)
 # KEYFRAME 38
0.06393791300070006
Frame 67
tensor(0.0952)
Frame 68
tensor(0.2725)
 # KEYFRAME 39
0.06420494300255086
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1638 loss_distill=0.1733 tta_take=0.009s
Frame 69
tensor(0.1822)
 # KEYFRAME 40
0.06233477900241269
Frame 70
tensor(0.0720)
Frame 71
tensor(0.1782)
 # KEYFRAME 41
0.0642174220047309
Frame 72
tensor(0.3098)
 # KEYFRAME 42
0.06470984099723864
Frame 73
tensor(0.0930)
Frame 74
tensor(0.1451)
 # KEYFRAME 43
0.06441087100392906
Frame 75
tensor(0.2229)
 # KEYFRAME 44
0.065811416003271
Frame 76
tensor(0.1241)
 # KEYFRAME 45
0.06599957599974005
Frame 77
tensor(0.2081)
 # KEYFRAME 46
0.06627762500284007
Frame 78
tensor(0.0769)
Frame 79
tensor(0.1421)
 # KEYFRAME 47
0.06664860299497377
Frame 80
tensor(0.0207)
Frame 81
tensor(0.1561)
 # KEYFRAME 48
0.06755289000284392
Frame 82
tensor(0.0871)
Frame 83
tensor(0.1806)
 # KEYFRAME 49
0.06883839600050123
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1639 loss_distill=0.2747 tta_take=0.009s
Frame 84
tensor(0.0973)
Frame 85
tensor(0.1987)
 # KEYFRAME 50
0.06702343199867755
Frame 86
tensor(0.0649)
Frame 87
tensor(0.1815)
 # KEYFRAME 51
0.06856754700129386
Frame 88
tensor(0.1484)
 # KEYFRAME 52
0.06827646800229559
Frame 89
tensor(0.1680)
 # KEYFRAME 53
0.06890538500010734
Frame 90
tensor(0.1211)
 # KEYFRAME 54
0.06898744500358589
Frame 91
tensor(0.0777)
Frame 92
tensor(0.2511)
 # KEYFRAME 55
0.07018610099476064
Frame 93
tensor(0.2392)
 # KEYFRAME 56
0.07056921000184957
Frame 94
tensor(0.0541)
Frame 95
tensor(0.1204)
 # KEYFRAME 57
0.07093089800036978
Frame 96
tensor(0.0337)
Frame 97
tensor(0.1199)
 # KEYFRAME 58
0.0711205979969236
Frame 98
tensor(0.1721)
 # KEYFRAME 59
0.07210345399653306
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=1640 loss_distill=0.3466 tta_take=0.009s
Frame 99
tensor(0.0517)
Frame 100
tensor(0.0929)
Frame 101
tensor(0.1517)
 # KEYFRAME 60
0.07163648599816952
Frame 102
tensor(0.0372)
Frame 103
tensor(0.1092)
 # KEYFRAME 61
0.07315267100057099
Frame 104
tensor(0.0561)
Frame 105
tensor(0.0931)
Frame 106
tensor(0.1334)
 # KEYFRAME 62
0.07262422199710272
Frame 107
tensor(0.0639)
Frame 108
tensor(0.1584)
 # KEYFRAME 63
0.0728116019963636
Frame 109
tensor(0.0930)
Frame 110
tensor(0.1591)
 # KEYFRAME 64
0.07349861999682616
Frame 111
tensor(0.0362)
Frame 112
tensor(0.0560)
Frame 113
tensor(0.0780)
Frame 114
tensor(0.1195)
 # KEYFRAME 65
0.07388826699752826
Frame 115
tensor(0.4118)
 # KEYFRAME 66
0.07520448400464375
Frame 116
tensor(0.0954)
Frame 117
tensor(0.1481)
 # KEYFRAME 67
0.07575522200204432
Frame 118
tensor(0.1222)
 # KEYFRAME 68
0.07609468000009656
Frame 119
tensor(0.0845)
Frame 120
tensor(0.2206)
 # KEYFRAME 69
0.07681585799582535
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1641 loss_distill=0.4024 tta_take=0.009s
Frame 121
tensor(0.1767)
 # KEYFRAME 70
0.07625713900051778
Frame 122
tensor(0.1162)
 # KEYFRAME 71
0.07745563599746674
Frame 123
tensor(0.0951)
Frame 124
tensor(0.2695)
 # KEYFRAME 72
0.07645592900371412
Frame 125
tensor(0.0593)
Frame 126
tensor(0.1526)
 # KEYFRAME 73
0.07685917700291611
Frame 127
tensor(0.1515)
 # KEYFRAME 74
0.07748027599882334
Frame 128
tensor(0.5123)
 # KEYFRAME 75
0.07786235399544239
Frame 129
tensor(0.0497)
Frame 130
tensor(0.1094)
 # KEYFRAME 76
0.07861441100249067
Frame 131
tensor(0.0897)
Frame 132
tensor(0.1786)
 # KEYFRAME 77
0.07915879900247091
Frame 133
tensor(0.0740)
Frame 134
tensor(0.0277)
Frame 135
tensor(0.5309)
 # KEYFRAME 78
0.07949399800418178
Frame 136
tensor(0.1089)
 # KEYFRAME 79
0.07962940700235777
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1642 loss_distill=0.4024 tta_take=0.009s
Frame 137
tensor(0.2167)
 # KEYFRAME 80
0.07591570100339595
Frame 138
tensor(0.1012)
 # KEYFRAME 81
0.07791218299826141
Frame 139
tensor(0.3791)
 # KEYFRAME 82
0.07728742600011174
Frame 140
tensor(0.0793)
Frame 141
tensor(0.5565)
 # KEYFRAME 83
0.07864702100050636
Frame 142
tensor(0.0427)
Frame 143
tensor(0.1143)
 # KEYFRAME 84
0.07942703799926676
Frame 144
tensor(0.0320)
Frame 145
tensor(0.0963)
Frame 146
tensor(0.1554)
 # KEYFRAME 85
0.08064700399700087
Frame 147
tensor(0.1640)
 # KEYFRAME 86
0.07862979100173106
Frame 148
tensor(0.1261)
 # KEYFRAME 87
0.0813741210004082
Frame 149
tensor(0.0783)
Backending... 88 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 63240, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1643 loss_distill=0.4024 tta_take=0.007s
[epoch 0 scene 244/556] scannetpp/dfac5b38df/DSC frames=150 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=1643 time=38.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0712)
Frame 2
tensor(0.2301)
 # KEYFRAME 1
Frame 3
tensor(0.1328)
 # KEYFRAME 2
0.05104966900398722
Frame 4
tensor(0.0810)
Frame 5
tensor(0.1423)
 # KEYFRAME 3
0.05106784900272032
Frame 6
tensor(0.1682)
 # KEYFRAME 4
0.05102056900068419
Frame 7
tensor(0.2073)
 # KEYFRAME 5
0.055415144001017325
Frame 8
tensor(0.1306)
 # KEYFRAME 6
0.054445727000711486
Frame 9
tensor(0.1222)
 # KEYFRAME 7
0.05443459600064671
Frame 10
tensor(0.2217)
 # KEYFRAME 8
0.05560618299932685
Frame 11
tensor(0.0866)
Frame 12
tensor(0.2697)
 # KEYFRAME 9
0.05606607100344263
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 13
tensor(0.2375)
 # KEYFRAME 10
0.05213855499459896
Frame 14
tensor(0.1190)
 # KEYFRAME 11
0.052760673002921976
Frame 15
tensor(0.2868)
 # KEYFRAME 12
0.05414585799735505
Frame 16
tensor(0.2907)
 # KEYFRAME 13
0.05610080099722836
Frame 17
tensor(0.2066)
 # KEYFRAME 14
0.056888588005676866
Frame 18
tensor(0.1296)
 # KEYFRAME 15
0.05792420500074513
Frame 19
tensor(0.1714)
 # KEYFRAME 16
0.05939646900515072
Frame 20
tensor(0.1395)
 # KEYFRAME 17
0.06009478700434556
Frame 21
tensor(0.2059)
 # KEYFRAME 18
0.060934464003366884
Frame 22
tensor(0.1542)
 # KEYFRAME 19
0.0625246280033025
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 23
tensor(0.1607)
 # KEYFRAME 20
0.05907054999988759
Frame 24
tensor(0.1740)
 # KEYFRAME 21
0.06096874399372609
Frame 25
tensor(0.1442)
 # KEYFRAME 22
0.06246792800084222
Frame 26
tensor(0.0617)
Frame 27
tensor(0.2157)
 # KEYFRAME 23
0.06347617499704938
Frame 28
tensor(0.2207)
 # KEYFRAME 24
0.06510577900189674
Frame 29
tensor(0.0671)
Frame 30
tensor(0.1570)
 # KEYFRAME 25
0.06575753700599307
Frame 31
tensor(0.1072)
 # KEYFRAME 26
0.06730203099868959
Frame 32
tensor(0.1062)
 # KEYFRAME 27
0.0687485660018865
Frame 33
tensor(0.0440)
Frame 34
tensor(0.0848)
Frame 35
tensor(0.1118)
 # KEYFRAME 28
0.06869853600073839
Frame 36
tensor(0.0788)
Frame 37
tensor(0.2727)
 # KEYFRAME 29
0.07002488199941581
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 38
tensor(0.1858)
 # KEYFRAME 30
0.06597957600024529
Frame 39
tensor(0.1551)
 # KEYFRAME 31
0.06749477000266779
Frame 40
tensor(0.2269)
 # KEYFRAME 32
0.06792145899817115
Frame 41
tensor(0.2012)
 # KEYFRAME 33
0.06849968700407771
Frame 42
tensor(0.1483)
 # KEYFRAME 34
0.06957513299857965
Frame 43
tensor(0.2878)
 # KEYFRAME 35
0.07065740999678383
Frame 44
tensor(0.0840)
Frame 45
tensor(0.0863)
Frame 46
tensor(0.2085)
 # KEYFRAME 36
0.07140595699456753
Frame 47
tensor(0.1306)
 # KEYFRAME 37
0.0724902319998364
Frame 48
tensor(0.1994)
 # KEYFRAME 38
0.07335479999892414
Frame 49
tensor(0.2236)
 # KEYFRAME 39
0.07390203800605377
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1644 loss_distill=0.1733 tta_take=0.009s
Frame 50
tensor(0.1339)
 # KEYFRAME 40
0.07296800199401332
Frame 51
tensor(0.2823)
 # KEYFRAME 41
0.07517546400049469
Frame 52
tensor(0.2309)
 # KEYFRAME 42
0.07578785099758534
Frame 53
tensor(0.0725)
Frame 54
tensor(0.1446)
 # KEYFRAME 43
0.07655773899750784
Frame 55
tensor(0.0732)
Frame 56
tensor(0.1619)
 # KEYFRAME 44
0.07714126700011548
Frame 57
tensor(0.0587)
Frame 58
tensor(0.1239)
 # KEYFRAME 45
0.07745748500019545
Frame 59
tensor(0.0814)
Frame 60
tensor(0.0508)
Frame 61
tensor(0.0305)
Frame 62
tensor(0.1990)
 # KEYFRAME 46
0.07863138100219658
Frame 63
tensor(0.2117)
 # KEYFRAME 47
0.07912756899895612
Frame 64
tensor(0.2859)
 # KEYFRAME 48
0.07959356699575437
Frame 65
tensor(0.1550)
 # KEYFRAME 49
0.0816822500055423
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1645 loss_distill=0.2747 tta_take=0.009s
Frame 66
tensor(0.1921)
 # KEYFRAME 50
0.07961611700011417
Frame 67
tensor(0.1569)
 # KEYFRAME 51
0.08158946000185097
Frame 68
tensor(0.3358)
 # KEYFRAME 52
0.0816122410033131
Frame 69
tensor(0.2134)
 # KEYFRAME 53
0.08209183900180506
Frame 70
tensor(0.3631)
 # KEYFRAME 54
0.08337293400109047
Frame 71
tensor(0.2227)
 # KEYFRAME 55
0.08356178399844794
Frame 72
tensor(0.0825)
Frame 73
tensor(0.1719)
 # KEYFRAME 56
0.08471719999943161
Frame 74
tensor(0.0737)
Frame 75
tensor(0.0969)
Frame 76
tensor(0.2004)
 # KEYFRAME 57
0.08558296599949244
Frame 77
tensor(0.0625)
Frame 78
tensor(0.2212)
 # KEYFRAME 58
0.08587452599749668
Frame 79
tensor(0.2650)
 # KEYFRAME 59
0.08709815099427942
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=1646 loss_distill=0.3466 tta_take=0.009s
Frame 80
tensor(0.2936)
 # KEYFRAME 60
0.08621307400608202
Frame 81
tensor(0.2606)
 # KEYFRAME 61
0.08817032800288871
Frame 82
tensor(0.2767)
 # KEYFRAME 62
0.08855793600378092
Frame 83
tensor(0.1325)
 # KEYFRAME 63
0.08878778500366025
Frame 84
tensor(0.0992)
Frame 85
tensor(0.2376)
 # KEYFRAME 64
0.08993549099977827
Frame 86
tensor(0.1446)
 # KEYFRAME 65
0.0906849279999733
Frame 87
tensor(0.1382)
 # KEYFRAME 66
0.09201965400279732
Frame 88
tensor(0.2605)
 # KEYFRAME 67
0.09323426899936749
Frame 89
tensor(0.1786)
 # KEYFRAME 68
0.09396143699996173
Frame 90
tensor(0.1829)
 # KEYFRAME 69
0.09446095499879448
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1647 loss_distill=0.4024 tta_take=0.009s
Frame 91
tensor(0.1168)
 # KEYFRAME 70
0.0934688580018701
Frame 92
tensor(0.2228)
 # KEYFRAME 71
0.09524143200542312
Frame 93
tensor(0.1530)
 # KEYFRAME 72
0.09480835399881471
Frame 94
tensor(0.2773)
 # KEYFRAME 73
0.09573557999829063
Frame 95
tensor(0.1728)
 # KEYFRAME 74
0.09708670600230107
Frame 96
tensor(0.2155)
 # KEYFRAME 75
0.09794213299755938
Frame 97
tensor(0.0644)
Frame 98
tensor(0.1259)
 # KEYFRAME 76
0.0980010420025792
Frame 99
tensor(0.1550)
 # KEYFRAME 77
0.0996449969970854
Frame 100
tensor(0.2142)
 # KEYFRAME 78
0.09937979800452013
Frame 101
tensor(0.2379)
 # KEYFRAME 79
0.10115384100208757
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1648 loss_distill=0.4024 tta_take=0.009s
Frame 102
tensor(0.2108)
 # KEYFRAME 80
0.0936542580020614
Frame 103
tensor(0.4286)
 # KEYFRAME 81
0.09588839000207372
Frame 104
tensor(0.2585)
 # KEYFRAME 82
0.09547083100187592
Frame 105
tensor(0.1775)
 # KEYFRAME 83
0.09719061500072712
Backending... 84 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 66624, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1649 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 245/556] scannetpp/fb05e13ad1/frame frames=106 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=1649 time=30.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0541)
Frame 2
tensor(0.0940)
Frame 3
tensor(0.1467)
 # KEYFRAME 1
Frame 4
tensor(0.0450)
Frame 5
tensor(0.0937)
Frame 6
tensor(0.1411)
 # KEYFRAME 2
0.05197257600229932
Frame 7
tensor(0.0389)
Frame 8
tensor(0.0887)
Frame 9
tensor(0.1451)
 # KEYFRAME 3
0.052170745002513286
Frame 10
tensor(0.0416)
Frame 11
tensor(0.0961)
Frame 12
tensor(0.1434)
 # KEYFRAME 4
0.05302307199599454
Frame 13
tensor(0.0474)
Frame 14
tensor(0.0979)
Frame 15
tensor(0.1405)
 # KEYFRAME 5
0.052900402995874174
Frame 16
tensor(0.0497)
Frame 17
tensor(0.0931)
Frame 18
tensor(0.1455)
 # KEYFRAME 6
0.05287286200473318
Frame 19
tensor(0.0547)
Frame 20
tensor(0.0987)
Frame 21
tensor(0.1469)
 # KEYFRAME 7
0.052699622996442486
Frame 22
tensor(0.0557)
Frame 23
tensor(0.1128)
 # KEYFRAME 8
0.05357302999618696
Frame 24
tensor(0.0569)
Frame 25
tensor(0.1069)
 # KEYFRAME 9
0.0528848329995526
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 26
tensor(0.0499)
Frame 27
tensor(0.0969)
Frame 28
tensor(0.1398)
 # KEYFRAME 10
0.052222495003661606
Frame 29
tensor(0.0428)
Frame 30
tensor(0.0920)
Frame 31
tensor(0.1415)
 # KEYFRAME 11
0.05218454500572989
Frame 32
tensor(0.0497)
Frame 33
tensor(0.1044)
 # KEYFRAME 12
0.052949472003092524
Frame 34
tensor(0.0527)
Frame 35
tensor(0.1005)
 # KEYFRAME 13
0.052505883999401703
Frame 36
tensor(0.0452)
Frame 37
tensor(0.0942)
Frame 38
tensor(0.1392)
 # KEYFRAME 14
0.05451913700380828
Frame 39
tensor(0.0517)
Frame 40
tensor(0.0999)
Frame 41
tensor(0.1492)
 # KEYFRAME 15
0.053985257996828295
Frame 42
tensor(0.0477)
Frame 43
tensor(0.1032)
 # KEYFRAME 16
0.053242080997733865
Frame 44
tensor(0.0526)
Frame 45
tensor(0.1028)
 # KEYFRAME 17
0.05582260200026212
Frame 46
tensor(0.0501)
Frame 47
tensor(0.0985)
Frame 48
tensor(0.1588)
 # KEYFRAME 18
0.05371459000161849
Frame 49
tensor(0.0509)
Frame 50
tensor(0.0982)
Frame 51
tensor(0.1589)
 # KEYFRAME 19
0.057063897998887114
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 52
tensor(0.0480)
Frame 53
tensor(0.0989)
Frame 54
tensor(0.1504)
 # KEYFRAME 20
0.051894176001951564
Frame 55
tensor(0.0513)
Frame 56
tensor(0.1109)
 # KEYFRAME 21
0.05282170300051803
Frame 57
tensor(0.0452)
Frame 58
tensor(0.0907)
Frame 59
tensor(0.1453)
 # KEYFRAME 22
0.05420887800573837
Frame 60
tensor(0.0435)
Frame 61
tensor(0.0946)
Frame 62
tensor(0.1448)
 # KEYFRAME 23
0.05216527500306256
Frame 63
tensor(0.0468)
Frame 64
tensor(0.1006)
 # KEYFRAME 24
0.05398738900112221
Frame 65
tensor(0.0480)
Frame 66
tensor(0.0980)
Frame 67
tensor(0.1452)
 # KEYFRAME 25
0.0526793329991051
Frame 68
tensor(0.0452)
Frame 69
tensor(0.1051)
 # KEYFRAME 26
0.05258532299922081
Frame 70
tensor(0.0508)
Frame 71
tensor(0.0947)
Frame 72
tensor(0.1431)
 # KEYFRAME 27
0.055474722998042125
Frame 73
tensor(0.0423)
Frame 74
tensor(0.0849)
Frame 75
tensor(0.1347)
 # KEYFRAME 28
0.05301987200073199
Frame 76
tensor(0.0427)
Frame 77
tensor(0.0915)
Frame 78
tensor(0.1242)
 # KEYFRAME 29
0.05627528100012569
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 79
tensor(0.0375)
Frame 80
tensor(0.0814)
Frame 81
tensor(0.1334)
 # KEYFRAME 30
0.0525282629969297
Frame 82
tensor(0.0414)
Frame 83
tensor(0.0801)
Frame 84
tensor(0.1247)
 # KEYFRAME 31
0.05307189199811546
Frame 85
tensor(0.0416)
Frame 86
tensor(0.0865)
Frame 87
tensor(0.1237)
 # KEYFRAME 32
0.05360202999872854
Frame 88
tensor(0.0377)
Frame 89
tensor(0.0745)
Frame 90
tensor(0.1222)
 # KEYFRAME 33
0.05262161399878096
Frame 91
tensor(0.0340)
Frame 92
tensor(0.0652)
Frame 93
tensor(0.1088)
 # KEYFRAME 34
0.05391249900276307
Frame 94
tensor(0.0329)
Frame 95
tensor(0.0736)
Frame 96
tensor(0.1063)
 # KEYFRAME 35
0.05264285300654592
Frame 97
tensor(0.0348)
Frame 98
tensor(0.0713)
Frame 99
tensor(0.1077)
 # KEYFRAME 36
0.052619063993915915
Frame 100
tensor(0.0381)
Frame 101
tensor(0.0732)
Frame 102
tensor(0.1070)
 # KEYFRAME 37
0.053856938997341786
Frame 103
tensor(0.0416)
Frame 104
tensor(0.0792)
Frame 105
tensor(0.1149)
 # KEYFRAME 38
0.0528938229981577
Frame 106
tensor(0.0301)
Frame 107
tensor(0.0646)
Frame 108
tensor(0.1016)
 # KEYFRAME 39
0.05451202699623536
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1650 loss_distill=0.1733 tta_take=0.005s
Frame 109
tensor(0.0299)
Frame 110
tensor(0.0645)
Frame 111
tensor(0.1014)
 # KEYFRAME 40
0.0524247240027762
Frame 112
tensor(0.0297)
Frame 113
tensor(0.0648)
Frame 114
tensor(0.0964)
Frame 115
tensor(0.1300)
 # KEYFRAME 41
0.053203201001451816
Frame 116
tensor(0.0310)
Frame 117
tensor(0.0594)
Frame 118
tensor(0.0927)
Frame 119
tensor(0.1215)
 # KEYFRAME 42
0.053420030999404844
Frame 120
tensor(0.0277)
Frame 121
tensor(0.0510)
Frame 122
tensor(0.0751)
Frame 123
tensor(0.0982)
Frame 124
tensor(0.1214)
 # KEYFRAME 43
0.0523567650016048
Frame 125
tensor(0.0189)
Frame 126
tensor(0.0355)
Frame 127
tensor(0.0648)
Frame 128
tensor(0.0765)
Frame 129
tensor(0.1010)
 # KEYFRAME 44
0.05332332100078929
Frame 130
tensor(0.0182)
Frame 131
tensor(0.0386)
Frame 132
tensor(0.0591)
Frame 133
tensor(0.0800)
Frame 134
tensor(0.0935)
Frame 135
tensor(0.1142)
 # KEYFRAME 45
0.052479703997960314
Frame 136
tensor(0.0170)
Frame 137
tensor(0.0402)
Frame 138
tensor(0.0603)
Frame 139
tensor(0.0822)
Frame 140
tensor(0.1041)
 # KEYFRAME 46
0.05284133300301619
Frame 141
tensor(0.0173)
Frame 142
tensor(0.0412)
Frame 143
tensor(0.0612)
Frame 144
tensor(0.0794)
Frame 145
tensor(0.1011)
 # KEYFRAME 47
0.05386151900165714
Frame 146
tensor(0.0193)
Frame 147
tensor(0.0390)
Frame 148
tensor(0.0652)
Frame 149
tensor(0.0838)
Frame 150
tensor(0.1077)
 # KEYFRAME 48
0.053416280999954324
Frame 151
tensor(0.0181)
Frame 152
tensor(0.0396)
Frame 153
tensor(0.0529)
Frame 154
tensor(0.0852)
Frame 155
tensor(0.1088)
 # KEYFRAME 49
0.05416685700038215
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1651 loss_distill=0.2747 tta_take=0.005s
Frame 156
tensor(0.0160)
Frame 157
tensor(0.0383)
Frame 158
tensor(0.0611)
Frame 159
tensor(0.0827)
Frame 160
tensor(0.0993)
Frame 161
tensor(0.1158)
 # KEYFRAME 50
0.052364753995789215
Frame 162
tensor(0.0205)
Frame 163
tensor(0.0390)
Frame 164
tensor(0.0619)
Frame 165
tensor(0.0832)
Frame 166
tensor(0.1039)
 # KEYFRAME 51
0.05286214200168615
Frame 167
tensor(0.0197)
Frame 168
tensor(0.0397)
Frame 169
tensor(0.0637)
Frame 170
tensor(0.0865)
Frame 171
tensor(0.1026)
 # KEYFRAME 52
0.054634606000036
Frame 172
tensor(0.0199)
Frame 173
tensor(0.0378)
Frame 174
tensor(0.0592)
Frame 175
tensor(0.0785)
Frame 176
tensor(0.0966)
Frame 177
tensor(0.1174)
 # KEYFRAME 53
0.05258659300307045
Frame 178
tensor(0.0154)
Frame 179
tensor(0.0406)
Frame 180
tensor(0.0595)
Frame 181
tensor(0.0753)
Frame 182
tensor(0.0982)
Frame 183
tensor(0.1220)
 # KEYFRAME 54
0.05431080800190102
Frame 184
tensor(0.0151)
Frame 185
tensor(0.0358)
Frame 186
tensor(0.0603)
Frame 187
tensor(0.0770)
Frame 188
tensor(0.0942)
Frame 189
tensor(0.1087)
 # KEYFRAME 55
0.05339767999976175
Frame 190
tensor(0.0123)
Frame 191
tensor(0.0297)
Frame 192
tensor(0.0496)
Frame 193
tensor(0.0695)
Frame 194
tensor(0.0839)
Frame 195
tensor(0.0998)
Frame 196
tensor(0.1201)
 # KEYFRAME 56
0.053382409998448566
Frame 197
tensor(0.0103)
Frame 198
tensor(0.0266)
Frame 199
tensor(0.0392)
Frame 200
tensor(0.0507)
Frame 201
tensor(0.0729)
Frame 202
tensor(0.0856)
Frame 203
tensor(0.1007)
 # KEYFRAME 57
0.05476912599988282
Frame 204
tensor(0.0140)
Frame 205
tensor(0.0306)
Frame 206
tensor(0.0440)
Frame 207
tensor(0.0587)
Frame 208
tensor(0.0683)
Frame 209
tensor(0.0844)
Frame 210
tensor(0.1013)
 # KEYFRAME 58
0.05396457800088683
Frame 211
tensor(0.0123)
Frame 212
tensor(0.0249)
Frame 213
tensor(0.0399)
Frame 214
tensor(0.0539)
Frame 215
tensor(0.0723)
Frame 216
tensor(0.0897)
Frame 217
tensor(0.1054)
 # KEYFRAME 59
0.05575343200325733
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=1652 loss_distill=0.3466 tta_take=0.005s
Frame 218
tensor(0.0136)
Frame 219
tensor(0.0355)
Frame 220
tensor(0.0561)
Frame 221
tensor(0.0726)
Frame 222
tensor(0.0918)
Frame 223
tensor(0.1096)
 # KEYFRAME 60
0.052811763001955114
Frame 224
tensor(0.0166)
Frame 225
tensor(0.0362)
Frame 226
tensor(0.0606)
Frame 227
tensor(0.0796)
Frame 228
tensor(0.1034)
 # KEYFRAME 61
0.05314261100284057
Frame 229
tensor(0.0218)
Frame 230
tensor(0.0425)
Frame 231
tensor(0.0651)
Frame 232
tensor(0.0854)
Frame 233
tensor(0.1132)
 # KEYFRAME 62
0.05449722699995618
Frame 234
tensor(0.0187)
Frame 235
tensor(0.0471)
Frame 236
tensor(0.0676)
Frame 237
tensor(0.0925)
Frame 238
tensor(0.1155)
 # KEYFRAME 63
0.05288016200211132
Frame 239
tensor(0.0203)
Frame 240
tensor(0.0435)
Frame 241
tensor(0.0713)
Frame 242
tensor(0.1025)
 # KEYFRAME 64
0.054471256997203454
Frame 243
tensor(0.0249)
Frame 244
tensor(0.0489)
Frame 245
tensor(0.0765)
Frame 246
tensor(0.1014)
 # KEYFRAME 65
0.05352957000286551
Frame 247
tensor(0.0263)
Frame 248
tensor(0.0575)
Frame 249
tensor(0.0830)
Frame 250
tensor(0.1049)
 # KEYFRAME 66
0.05364923900197027
Frame 251
tensor(0.0309)
Frame 252
tensor(0.0596)
Frame 253
tensor(0.0914)
Frame 254
tensor(0.1201)
 # KEYFRAME 67
0.05532901299739024
Frame 255
tensor(0.0242)
Frame 256
tensor(0.0568)
Frame 257
tensor(0.0832)
Frame 258
tensor(0.1097)
 # KEYFRAME 68
0.05329834100120934
Frame 259
tensor(0.0211)
Frame 260
tensor(0.0462)
Frame 261
tensor(0.0835)
Frame 262
tensor(0.1073)
 # KEYFRAME 69
0.05489279500034172
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1653 loss_distill=0.4024 tta_take=0.005s
Frame 263
tensor(0.0243)
Frame 264
tensor(0.0524)
Frame 265
tensor(0.0803)
Frame 266
tensor(0.1056)
 # KEYFRAME 70
0.05368726000597235
Frame 267
tensor(0.0236)
Frame 268
tensor(0.0550)
Frame 269
tensor(0.0777)
Frame 270
tensor(0.1044)
 # KEYFRAME 71
0.054201098006160464
Frame 271
tensor(0.0246)
Frame 272
tensor(0.0507)
Frame 273
tensor(0.0682)
Frame 274
tensor(0.0916)
Frame 275
tensor(0.1191)
 # KEYFRAME 72
0.05552904299838701
Frame 276
tensor(0.0158)
Frame 277
tensor(0.0322)
Frame 278
tensor(0.0525)
Frame 279
tensor(0.0682)
Frame 280
tensor(0.0871)
Frame 281
tensor(0.0996)
Frame 282
tensor(0.1117)
 # KEYFRAME 73
0.05366049000440398
Frame 283
tensor(0.0150)
Frame 284
tensor(0.0272)
Frame 285
tensor(0.0391)
Frame 286
tensor(0.0489)
Frame 287
tensor(0.0608)
Frame 288
tensor(0.0747)
Frame 289
tensor(0.0836)
Frame 290
tensor(0.0962)
Frame 291
tensor(0.1084)
 # KEYFRAME 74
0.055667191998509225
Frame 292
tensor(0.0106)
Frame 293
tensor(0.0227)
Frame 294
tensor(0.0338)
Frame 295
tensor(0.0444)
Frame 296
tensor(0.0545)
Frame 297
tensor(0.0668)
Frame 298
tensor(0.0764)
Frame 299
tensor(0.0879)
Backending... 75 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 26780, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1654 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 246/556] vkitti/Scene18/overcast/Camera_0 frames=300 tta_steps_this_scene=5 mean_loss=0.3198 total_steps=1654 time=49.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0134)
Frame 2
tensor(0.0480)
Frame 3
tensor(0.0849)
Frame 4
tensor(0.1259)
 # KEYFRAME 1
Frame 5
tensor(0.1353)
 # KEYFRAME 2
0.0515969770058291
Frame 6
tensor(0.1042)
 # KEYFRAME 3
0.0523127049964387
Frame 7
tensor(0.1521)
 # KEYFRAME 4
0.05432653699972434
Frame 8
tensor(0.1487)
 # KEYFRAME 5
0.054490666996571235
Frame 9
tensor(0.0940)
Frame 10
tensor(0.1808)
 # KEYFRAME 6
0.05566848300077254
Frame 11
tensor(0.1479)
 # KEYFRAME 7
0.056441350003296975
Frame 12
tensor(0.0868)
Frame 13
tensor(0.1593)
 # KEYFRAME 8
0.057628484995802864
Frame 14
tensor(0.1000)
 # KEYFRAME 9
0.058898450995911844
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 15
tensor(0.0609)
Frame 16
tensor(0.1165)
 # KEYFRAME 10
0.05172544700326398
Frame 17
tensor(0.0781)
Frame 18
tensor(0.1511)
 # KEYFRAME 11
0.05242961399926571
Frame 19
tensor(0.1107)
 # KEYFRAME 12
0.05309527100325795
Frame 20
tensor(0.0672)
Frame 21
tensor(0.0708)
Frame 22
tensor(0.2718)
 # KEYFRAME 13
0.054463355998450425
Frame 23
tensor(0.1722)
 # KEYFRAME 14
0.05504853500315221
Frame 24
tensor(0.1328)
 # KEYFRAME 15
0.05480652600090252
Frame 25
tensor(0.1222)
 # KEYFRAME 16
0.055554013000801206
Frame 26
tensor(0.1737)
 # KEYFRAME 17
0.05639184000028763
Frame 27
tensor(0.1779)
 # KEYFRAME 18
0.05732298699876992
Frame 28
tensor(0.1447)
 # KEYFRAME 19
0.05788566499541048
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 29
tensor(0.1105)
 # KEYFRAME 20
0.05422464699950069
Frame 30
tensor(0.0404)
Frame 31
tensor(0.0990)
Frame 32
tensor(0.1456)
 # KEYFRAME 21
0.055564852998941205
Frame 33
tensor(0.0748)
Frame 34
tensor(0.0397)
Frame 35
tensor(0.0739)
Frame 36
tensor(0.1319)
 # KEYFRAME 22
0.055620272003579885
Frame 37
tensor(0.0472)
Frame 38
tensor(0.0119)
Frame 39
tensor(0.1202)
 # KEYFRAME 23
0.05609243100479944
Frame 40
tensor(0.1112)
 # KEYFRAME 24
0.05671952899865573
Frame 41
tensor(0.1232)
 # KEYFRAME 25
0.057413367001572624
Frame 42
tensor(0.0553)
Frame 43
tensor(0.1235)
 # KEYFRAME 26
0.0586808719963301
Frame 44
tensor(0.0315)
Frame 45
tensor(0.1038)
 # KEYFRAME 27
0.05928189000405837
Frame 46
tensor(0.0733)
Frame 47
tensor(0.0839)
Frame 48
tensor(0.1417)
 # KEYFRAME 28
0.05999755800439743
Frame 49
tensor(0.1273)
 # KEYFRAME 29
0.060929264000151306
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 50
tensor(0.0514)
Frame 51
tensor(0.0996)
Frame 52
tensor(0.1161)
 # KEYFRAME 30
0.05850494200421963
Frame 53
tensor(0.0720)
Frame 54
tensor(0.1425)
 # KEYFRAME 31
0.05997258800198324
Frame 55
tensor(0.0635)
Frame 56
tensor(0.2060)
 # KEYFRAME 32
0.06037088599987328
Frame 57
tensor(0.0592)
Frame 58
tensor(0.0812)
Frame 59
tensor(0.1617)
 # KEYFRAME 33
0.06169647099886788
Frame 60
tensor(0.1043)
 # KEYFRAME 34
0.06241065799986245
Frame 61
tensor(0.0595)
Frame 62
tensor(0.0777)
Frame 63
tensor(0.1148)
 # KEYFRAME 35
0.0636386349942768
Frame 64
tensor(0.1305)
 # KEYFRAME 36
0.06444369100063341
Frame 65
tensor(0.1452)
 # KEYFRAME 37
0.06567065700073726
Frame 66
tensor(0.2256)
 # KEYFRAME 38
0.06650990399793955
Frame 67
tensor(0.1483)
 # KEYFRAME 39
0.06643660400004592
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1655 loss_distill=0.1733 tta_take=0.009s
Frame 68
tensor(0.1062)
 # KEYFRAME 40
0.0627452769986121
Frame 69
tensor(0.1685)
 # KEYFRAME 41
0.06403357299859636
Frame 70
tensor(0.0679)
Frame 71
tensor(0.1313)
 # KEYFRAME 42
0.0640011229988886
Frame 72
tensor(0.1686)
 # KEYFRAME 43
0.06439972199586919
Frame 73
tensor(0.0794)
Frame 74
tensor(0.1233)
 # KEYFRAME 44
0.0652098980062874
Frame 75
tensor(0.0847)
Frame 76
tensor(0.1324)
 # KEYFRAME 45
0.06573462700180244
Frame 77
tensor(0.0455)
Frame 78
tensor(0.2698)
 # KEYFRAME 46
0.06582713699754095
Frame 79
tensor(0.1166)
 # KEYFRAME 47
0.06639582500065444
Frame 80
tensor(0.0880)
Frame 81
tensor(0.1394)
 # KEYFRAME 48
0.06663042400032282
Frame 82
tensor(0.1075)
 # KEYFRAME 49
0.06758627100498416
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1656 loss_distill=0.2747 tta_take=0.009s
Frame 83
tensor(0.1357)
 # KEYFRAME 50
0.06698892200074624
Frame 84
tensor(0.1613)
 # KEYFRAME 51
0.06857662700349465
Frame 85
tensor(0.0660)
Frame 86
tensor(0.1395)
 # KEYFRAME 52
0.0688929059979273
Frame 87
tensor(0.1566)
 # KEYFRAME 53
0.07230073400569381
Frame 88
tensor(0.1487)
 # KEYFRAME 54
0.06909023499611067
Frame 89
tensor(0.1388)
 # KEYFRAME 55
0.07037002099968959
Frame 90
tensor(0.1194)
 # KEYFRAME 56
0.0705086499947356
Frame 91
tensor(0.0705)
Frame 92
tensor(0.2071)
 # KEYFRAME 57
0.07065806899481686
Frame 93
tensor(0.4586)
 # KEYFRAME 58
0.07197639500373043
Frame 94
tensor(0.1029)
 # KEYFRAME 59
0.0720617039987701
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1657 loss_distill=0.3466 tta_take=0.009s
Frame 95
tensor(0.0602)
Frame 96
tensor(0.1027)
 # KEYFRAME 60
0.07154889599769376
Frame 97
tensor(1.0348)
 # KEYFRAME 61
0.07320964000246022
Frame 98
tensor(0.0458)
Frame 99
tensor(0.0638)
Frame 100
tensor(0.0880)
Frame 101
tensor(0.2423)
 # KEYFRAME 62
0.07242432399652898
Frame 102
tensor(0.0739)
Frame 103
tensor(0.1314)
 # KEYFRAME 63
0.0731411009983276
Frame 104
tensor(0.0533)
Frame 105
tensor(0.0924)
Frame 106
tensor(0.8660)
 # KEYFRAME 64
0.07403512799646705
Frame 107
tensor(0.1260)
 # KEYFRAME 65
0.07433766600297531
Frame 108
tensor(0.1204)
 # KEYFRAME 66
0.07500980400072876
Frame 109
tensor(0.1211)
 # KEYFRAME 67
0.075086803000886
Frame 110
tensor(0.2691)
 # KEYFRAME 68
0.0754755230009323
Frame 111
tensor(0.1203)
 # KEYFRAME 69
0.07597310999699403
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1658 loss_distill=0.4024 tta_take=0.009s
Frame 112
tensor(0.5445)
 # KEYFRAME 70
0.07594786999834469
Frame 113
tensor(0.0606)
Frame 114
tensor(0.1405)
 # KEYFRAME 71
0.07768815499730408
Frame 115
tensor(0.0837)
Frame 116
tensor(0.1933)
 # KEYFRAME 72
0.07696902700263308
Frame 117
tensor(0.0597)
Frame 118
tensor(0.3724)
 # KEYFRAME 73
0.07681156799662858
Frame 119
tensor(0.1396)
 # KEYFRAME 74
0.07717523699830053
Frame 120
tensor(0.0735)
Frame 121
tensor(0.0800)
Frame 122
tensor(0.1720)
 # KEYFRAME 75
0.07782760400004918
Frame 123
tensor(0.3839)
 # KEYFRAME 76
0.07878883100056555
Frame 124
tensor(0.0777)
Frame 125
tensor(0.1675)
 # KEYFRAME 77
0.07930869899428217
Frame 126
tensor(0.7686)
 # KEYFRAME 78
0.07950759799859952
Frame 127
tensor(0.0647)
Frame 128
tensor(0.2477)
 # KEYFRAME 79
0.08071516399650136
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1659 loss_distill=0.4024 tta_take=0.009s
Frame 129
tensor(0.1254)
 # KEYFRAME 80
0.07553473300504265
Frame 130
tensor(0.0873)
Frame 131
tensor(0.2018)
 # KEYFRAME 81
0.07780973400076618
Frame 132
tensor(0.2548)
 # KEYFRAME 82
0.07661198799905833
Frame 133
tensor(0.1455)
 # KEYFRAME 83
0.07759832400188316
Frame 134
tensor(0.1387)
 # KEYFRAME 84
0.0781119130042498
Frame 135
tensor(0.1296)
 # KEYFRAME 85
0.07852169199759373
Frame 136
tensor(0.1405)
 # KEYFRAME 86
0.07877475100394804
Frame 137
tensor(0.0898)
Frame 138
tensor(0.4101)
 # KEYFRAME 87
0.07903812999575166
Frame 139
tensor(0.1376)
 # KEYFRAME 88
0.07991074599704007
Frame 140
tensor(0.1517)
 # KEYFRAME 89
0.08111439200001769
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1660 loss_distill=0.4024 tta_take=0.009s
Frame 141
tensor(0.1829)
 # KEYFRAME 90
0.07605568000144558
Frame 142
tensor(0.2552)
 # KEYFRAME 91
0.07769837399973767
Frame 143
tensor(0.1653)
 # KEYFRAME 92
0.07781538400013233
Frame 144
tensor(0.1003)
 # KEYFRAME 93
0.07827407299919287
Frame 145
tensor(0.1421)
 # KEYFRAME 94
0.07905200000095647
Frame 146
tensor(0.1952)
 # KEYFRAME 95
0.08028084500256227
Frame 147
tensor(0.1580)
 # KEYFRAME 96
0.07895476999692619
Frame 148
tensor(0.1473)
 # KEYFRAME 97
0.08096648300124798
Frame 149
tensor(0.1003)
 # KEYFRAME 98
0.08238677799818106
Backending... 99 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 64170, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1661 loss_distill=0.4024 tta_take=0.008s
[epoch 0 scene 247/556] scannetpp/f25f5e6f63/DSC frames=150 tta_steps_this_scene=7 mean_loss=0.3434 total_steps=1661 time=37.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0452)
Frame 2
tensor(0.0946)
Frame 3
tensor(0.1456)
 # KEYFRAME 1
Frame 4
tensor(0.0477)
Frame 5
tensor(0.0965)
Frame 6
tensor(0.1581)
 # KEYFRAME 2
0.05224742500286084
Frame 7
tensor(0.0491)
Frame 8
tensor(0.0997)
Frame 9
tensor(0.1575)
 # KEYFRAME 3
0.0524931239997386
Frame 10
tensor(0.0505)
Frame 11
tensor(0.1090)
 # KEYFRAME 4
0.0529796820046613
Frame 12
tensor(0.0491)
Frame 13
tensor(0.0966)
Frame 14
tensor(0.1512)
 # KEYFRAME 5
0.05299415199988289
Frame 15
tensor(0.0486)
Frame 16
tensor(0.0998)
Frame 17
tensor(0.1467)
 # KEYFRAME 6
0.053073691997269634
Frame 18
tensor(0.0530)
Frame 19
tensor(0.1022)
 # KEYFRAME 7
0.05254781400435604
Frame 20
tensor(0.0516)
Frame 21
tensor(0.0998)
Frame 22
tensor(0.1515)
 # KEYFRAME 8
0.05352454000239959
Frame 23
tensor(0.0547)
Frame 24
tensor(0.1026)
 # KEYFRAME 9
0.05288298200321151
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.0452)
Frame 26
tensor(0.0958)
Frame 27
tensor(0.1450)
 # KEYFRAME 10
0.05216485499840928
Frame 28
tensor(0.0491)
Frame 29
tensor(0.1049)
 # KEYFRAME 11
0.05266086299525341
Frame 30
tensor(0.0514)
Frame 31
tensor(0.0989)
Frame 32
tensor(0.1596)
 # KEYFRAME 12
0.053046590997837484
Frame 33
tensor(0.0495)
Frame 34
tensor(0.1025)
 # KEYFRAME 13
0.052637444001447875
Frame 35
tensor(0.0519)
Frame 36
tensor(0.0968)
Frame 37
tensor(0.1472)
 # KEYFRAME 14
0.055360794001899194
Frame 38
tensor(0.0490)
Frame 39
tensor(0.0988)
Frame 40
tensor(0.1444)
 # KEYFRAME 15
0.052909202000591904
Frame 41
tensor(0.0398)
Frame 42
tensor(0.0815)
Frame 43
tensor(0.1275)
 # KEYFRAME 16
0.05297198200423736
Frame 44
tensor(0.0388)
Frame 45
tensor(0.0784)
Frame 46
tensor(0.1341)
 # KEYFRAME 17
0.05669208900508238
Frame 47
tensor(0.0383)
Frame 48
tensor(0.0747)
Frame 49
tensor(0.1261)
 # KEYFRAME 18
0.053022712003439665
Frame 50
tensor(0.0392)
Frame 51
tensor(0.0840)
Frame 52
tensor(0.1290)
 # KEYFRAME 19
0.05771753600129159
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 53
tensor(0.0383)
Frame 54
tensor(0.0849)
Frame 55
tensor(0.1352)
 # KEYFRAME 20
0.052235754999856
Frame 56
tensor(0.0361)
Frame 57
tensor(0.0861)
Frame 58
tensor(0.1353)
 # KEYFRAME 21
0.052040126000065356
Frame 59
tensor(0.0360)
Frame 60
tensor(0.0849)
Frame 61
tensor(0.1244)
 # KEYFRAME 22
0.053418479998072144
Frame 62
tensor(0.0379)
Frame 63
tensor(0.0877)
Frame 64
tensor(0.1224)
 # KEYFRAME 23
0.052574453002307564
Frame 65
tensor(0.0435)
Frame 66
tensor(0.0822)
Frame 67
tensor(0.1215)
 # KEYFRAME 24
0.053991719003533944
Frame 68
tensor(0.0360)
Frame 69
tensor(0.0751)
Frame 70
tensor(0.1083)
 # KEYFRAME 25
0.053441961004864424
Frame 71
tensor(0.0348)
Frame 72
tensor(0.0716)
Frame 73
tensor(0.1063)
 # KEYFRAME 26
0.05282722300034948
Frame 74
tensor(0.0299)
Frame 75
tensor(0.0611)
Frame 76
tensor(0.0934)
Frame 77
tensor(0.1242)
 # KEYFRAME 27
0.05607046100340085
Frame 78
tensor(0.0282)
Frame 79
tensor(0.0575)
Frame 80
tensor(0.0883)
Frame 81
tensor(0.1182)
 # KEYFRAME 28
0.05304628199519357
Frame 82
tensor(0.0283)
Frame 83
tensor(0.0571)
Frame 84
tensor(0.0879)
Frame 85
tensor(0.1142)
 # KEYFRAME 29
0.0564123899966944
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 86
tensor(0.0238)
Frame 87
tensor(0.0526)
Frame 88
tensor(0.0781)
Frame 89
tensor(0.1025)
 # KEYFRAME 30
0.05266258400661172
Frame 90
tensor(0.0210)
Frame 91
tensor(0.0442)
Frame 92
tensor(0.0693)
Frame 93
tensor(0.0888)
Frame 94
tensor(0.1083)
 # KEYFRAME 31
0.05275415300275199
Frame 95
tensor(0.0159)
Frame 96
tensor(0.0357)
Frame 97
tensor(0.0588)
Frame 98
tensor(0.0737)
Frame 99
tensor(0.0858)
Frame 100
tensor(0.1074)
 # KEYFRAME 32
0.0532649910019245
Frame 101
tensor(0.0135)
Frame 102
tensor(0.0298)
Frame 103
tensor(0.0462)
Frame 104
tensor(0.0643)
Frame 105
tensor(0.0809)
Frame 106
tensor(0.0931)
Frame 107
tensor(0.1078)
 # KEYFRAME 33
0.052330774000438396
Frame 108
tensor(0.0109)
Frame 109
tensor(0.0228)
Frame 110
tensor(0.0347)
Frame 111
tensor(0.0489)
Frame 112
tensor(0.0561)
Frame 113
tensor(0.0682)
Frame 114
tensor(0.0799)
Frame 115
tensor(0.0903)
Frame 116
tensor(0.1073)
 # KEYFRAME 34
0.05323744100314798
Frame 117
tensor(0.0052)
Frame 118
tensor(0.0120)
Frame 119
tensor(0.0221)
Frame 120
tensor(0.0276)
Frame 121
tensor(0.0345)
Frame 122
tensor(0.0425)
Frame 123
tensor(0.0483)
Frame 124
tensor(0.0520)
Frame 125
tensor(0.0588)
Frame 126
tensor(0.0639)
Frame 127
tensor(0.0677)
Frame 128
tensor(0.0694)
Frame 129
tensor(0.0736)
Frame 130
tensor(0.0781)
Frame 131
tensor(0.0804)
Frame 132
tensor(0.0826)
Frame 133
tensor(0.0865)
Frame 134
tensor(0.0915)
Frame 135
tensor(0.0938)
Frame 136
tensor(0.0964)
Frame 137
tensor(0.1008)
 # KEYFRAME 35
0.05234810399997514
Frame 138
tensor(0.0037)
Frame 139
tensor(0.0080)
Frame 140
tensor(0.0099)
Frame 141
tensor(0.0137)
Frame 142
tensor(0.0165)
Frame 143
tensor(0.0184)
Frame 144
tensor(0.0217)
Frame 145
tensor(0.0236)
Frame 146
tensor(0.0272)
Frame 147
tensor(0.0301)
Frame 148
tensor(0.0322)
Frame 149
tensor(0.0348)
Frame 150
tensor(0.0363)
Frame 151
tensor(0.0394)
Frame 152
tensor(0.0407)
Frame 153
tensor(0.0443)
Frame 154
tensor(0.0497)
Frame 155
tensor(0.0516)
Frame 156
tensor(0.0529)
Frame 157
tensor(0.0513)
Frame 158
tensor(0.0540)
Frame 159
tensor(0.0554)
Frame 160
tensor(0.0565)
Frame 161
tensor(0.0569)
Frame 162
tensor(0.0578)
Frame 163
tensor(0.0573)
Frame 164
tensor(0.0599)
Frame 165
tensor(0.0592)
Frame 166
tensor(0.0587)
Frame 167
tensor(0.0592)
Frame 168
tensor(0.0603)
Frame 169
tensor(0.0625)
Frame 170
tensor(0.0641)
Frame 171
tensor(0.0632)
Frame 172
tensor(0.0631)
Frame 173
tensor(0.0625)
Frame 174
tensor(0.0627)
Frame 175
tensor(0.0626)
Frame 176
tensor(0.0628)
Frame 177
tensor(0.0620)
Frame 178
tensor(0.0632)
Frame 179
tensor(0.0621)
Frame 180
tensor(0.0620)
Frame 181
tensor(0.0625)
Frame 182
tensor(0.0624)
Frame 183
tensor(0.0620)
Frame 184
tensor(0.0631)
Frame 185
tensor(0.0638)
Frame 186
tensor(0.0637)
Frame 187
tensor(0.0631)
Frame 188
tensor(0.0640)
Frame 189
tensor(0.0639)
Frame 190
tensor(0.0633)
Frame 191
tensor(0.0649)
Frame 192
tensor(0.0640)
Frame 193
tensor(0.0639)
Frame 194
tensor(0.0638)
Frame 195
tensor(0.0635)
Frame 196
tensor(0.0647)
Frame 197
tensor(0.0643)
Frame 198
tensor(0.0642)
Frame 199
tensor(0.0643)
Frame 200
tensor(0.0644)
Frame 201
tensor(0.0650)
Frame 202
tensor(0.0658)
Frame 203
tensor(0.0667)
Frame 204
tensor(0.0666)
Frame 205
tensor(0.0657)
Frame 206
tensor(0.0671)
Frame 207
tensor(0.0655)
Frame 208
tensor(0.0648)
Frame 209
tensor(0.0640)
Frame 210
tensor(0.0644)
Frame 211
tensor(0.0646)
Frame 212
tensor(0.0643)
Frame 213
tensor(0.0647)
Frame 214
tensor(0.0645)
Frame 215
tensor(0.0619)
Frame 216
tensor(0.0624)
Frame 217
tensor(0.0598)
Frame 218
tensor(0.0608)
Frame 219
tensor(0.0608)
Frame 220
tensor(0.0604)
Frame 221
tensor(0.0609)
Frame 222
tensor(0.0608)
Frame 223
tensor(0.0607)
Frame 224
tensor(0.0608)
Frame 225
tensor(0.0607)
Frame 226
tensor(0.0614)
Frame 227
tensor(0.0612)
Frame 228
tensor(0.0605)
Frame 229
tensor(0.0605)
Frame 230
tensor(0.0616)
Frame 231
tensor(0.0616)
Frame 232
tensor(0.0623)
Backending... 36 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 14832, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1662 loss_distill=0.1733 tta_take=0.004s
[epoch 0 scene 248/556] vkitti/Scene02/15-deg-left/Camera_1 frames=233 tta_steps_this_scene=1 mean_loss=0.1733 total_steps=1662 time=36.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0389)
Frame 2
tensor(0.0874)
Frame 3
tensor(0.1249)
 # KEYFRAME 1
Frame 4
tensor(0.0557)
Frame 5
tensor(0.0904)
Frame 6
tensor(0.1404)
 # KEYFRAME 2
0.05179890600265935
Frame 7
tensor(0.0571)
Frame 8
tensor(0.1042)
 # KEYFRAME 3
0.05330307100666687
Frame 9
tensor(0.0637)
Frame 10
tensor(0.0968)
Frame 11
tensor(0.1340)
 # KEYFRAME 4
0.05370751900045434
Frame 12
tensor(0.0539)
Frame 13
tensor(0.0923)
Frame 14
tensor(0.1325)
 # KEYFRAME 5
0.0552813940012129
Frame 15
tensor(0.0529)
Frame 16
tensor(0.0974)
Frame 17
tensor(0.1618)
 # KEYFRAME 6
0.056322700998862274
Frame 18
tensor(0.0594)
Frame 19
tensor(0.0856)
Frame 20
tensor(0.1125)
 # KEYFRAME 7
0.05692994799755979
Frame 21
tensor(0.0338)
Frame 22
tensor(0.1000)
Frame 23
tensor(0.1386)
 # KEYFRAME 8
0.057909313996788114
Frame 24
tensor(0.0465)
Frame 25
tensor(0.0727)
Frame 26
tensor(0.1042)
 # KEYFRAME 9
0.058847991000220645
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 27
tensor(0.0457)
Frame 28
tensor(0.0964)
Frame 29
tensor(0.1295)
 # KEYFRAME 10
0.05170956599613419
Frame 30
tensor(0.0450)
Frame 31
tensor(0.0751)
Frame 32
tensor(0.0869)
Frame 33
tensor(0.0957)
Frame 34
tensor(0.0567)
Frame 35
tensor(0.0410)
Frame 36
tensor(0.0765)
Frame 37
tensor(0.1299)
 # KEYFRAME 11
0.05299242200271692
Frame 38
tensor(0.0550)
Frame 39
tensor(0.1178)
 # KEYFRAME 12
0.054061958006059285
Frame 40
tensor(0.0187)
Frame 41
tensor(0.0770)
Frame 42
tensor(0.1311)
 # KEYFRAME 13
0.05528253399825189
Frame 43
tensor(0.0557)
Frame 44
tensor(0.0950)
Frame 45
tensor(0.1119)
 # KEYFRAME 14
0.05514479400153505
Frame 46
tensor(0.0301)
Frame 47
tensor(0.0956)
Frame 48
tensor(0.3132)
 # KEYFRAME 15
0.0552213449991541
Frame 49
tensor(0.0360)
Frame 50
tensor(0.0880)
Frame 51
tensor(0.0995)
Frame 52
tensor(0.0958)
Frame 53
tensor(0.0841)
Frame 54
tensor(0.0809)
Frame 55
tensor(0.0599)
Frame 56
tensor(0.0232)
Frame 57
tensor(0.0544)
Frame 58
tensor(0.1000)
Frame 59
tensor(0.1465)
 # KEYFRAME 16
0.05586829200183274
Frame 60
tensor(0.0447)
Frame 61
tensor(0.0920)
Frame 62
tensor(0.1611)
 # KEYFRAME 17
0.05666985899733845
Frame 63
tensor(0.0611)
Frame 64
tensor(0.1142)
 # KEYFRAME 18
0.05734571699576918
Frame 65
tensor(0.0507)
Frame 66
tensor(0.0923)
Frame 67
tensor(0.1216)
 # KEYFRAME 19
0.05751660700479988
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 68
tensor(0.0258)
Frame 69
tensor(0.0271)
Frame 70
tensor(0.0572)
Frame 71
tensor(0.0901)
Frame 72
tensor(0.0976)
Frame 73
tensor(0.0925)
Frame 74
tensor(0.1039)
 # KEYFRAME 20
0.054065167998487595
Frame 75
tensor(0.0406)
Frame 76
tensor(0.0795)
Frame 77
tensor(0.1160)
 # KEYFRAME 21
0.055049734000931494
Frame 78
tensor(0.0410)
Frame 79
tensor(0.0826)
Frame 80
tensor(0.1740)
 # KEYFRAME 22
0.05584216200077208
Frame 81
tensor(0.0314)
Frame 82
tensor(0.0657)
Frame 83
tensor(0.0956)
Frame 84
tensor(0.1277)
 # KEYFRAME 23
0.056114400998922065
Frame 85
tensor(0.0314)
Frame 86
tensor(0.0656)
Frame 87
tensor(0.0957)
Frame 88
tensor(0.1379)
 # KEYFRAME 24
0.056549948996689636
Frame 89
tensor(0.0387)
Frame 90
tensor(0.0570)
Frame 91
tensor(0.0889)
Frame 92
tensor(0.1321)
 # KEYFRAME 25
0.057185267003660556
Frame 93
tensor(0.0649)
Frame 94
tensor(0.0867)
Frame 95
tensor(0.1180)
 # KEYFRAME 26
0.05838131299969973
Frame 96
tensor(0.0595)
Frame 97
tensor(0.0745)
Frame 98
tensor(0.1198)
 # KEYFRAME 27
0.05912539999553701
Frame 99
tensor(0.0319)
Frame 100
tensor(0.0690)
Frame 101
tensor(0.0969)
Frame 102
tensor(0.1365)
 # KEYFRAME 28
0.06033211600151844
Frame 103
tensor(0.0303)
Frame 104
tensor(0.0722)
Frame 105
tensor(0.0859)
Frame 106
tensor(0.1106)
 # KEYFRAME 29
0.060799083999881987
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 107
tensor(0.0230)
Frame 108
tensor(0.0470)
Frame 109
tensor(0.0732)
Frame 110
tensor(0.0794)
Frame 111
tensor(0.1017)
 # KEYFRAME 30
0.05866130199865438
Frame 112
tensor(0.0174)
Frame 113
tensor(0.0436)
Frame 114
tensor(0.0633)
Frame 115
tensor(0.0876)
Frame 116
tensor(0.0981)
Frame 117
tensor(0.0953)
Frame 118
tensor(0.0727)
Frame 119
tensor(0.1072)
 # KEYFRAME 31
0.060106277000159025
Frame 120
tensor(0.0349)
Frame 121
tensor(0.0672)
Frame 122
tensor(0.0893)
Frame 123
tensor(0.4625)
 # KEYFRAME 32
0.059479638999619056
Frame 124
tensor(0.0246)
Frame 125
tensor(0.0728)
Frame 126
tensor(0.1044)
 # KEYFRAME 33
0.06045728499884717
Frame 127
tensor(0.0399)
Frame 128
tensor(0.0980)
Frame 129
tensor(0.1226)
 # KEYFRAME 34
0.06103646400151774
Frame 130
tensor(0.0264)
Frame 131
tensor(0.0529)
Frame 132
tensor(0.0826)
Frame 133
tensor(0.1204)
 # KEYFRAME 35
0.06197142999735661
Frame 134
tensor(0.9303)
 # KEYFRAME 36
0.06263603799743578
Frame 135
tensor(0.0249)
Frame 136
tensor(0.0666)
Frame 137
tensor(0.0831)
Frame 138
tensor(0.1950)
 # KEYFRAME 37
0.06296596699394286
Frame 139
tensor(0.0276)
Frame 140
tensor(0.0601)
Frame 141
tensor(0.2813)
 # KEYFRAME 38
0.06352497400075663
Frame 142
tensor(0.0371)
Frame 143
tensor(0.0852)
Frame 144
tensor(0.1161)
 # KEYFRAME 39
0.06415415199444396
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1663 loss_distill=0.1733 tta_take=0.009s
Frame 145
tensor(0.0309)
Frame 146
tensor(0.0596)
Frame 147
tensor(0.0809)
Frame 148
tensor(0.1057)
 # KEYFRAME 40
0.06308020599681186
Frame 149
tensor(0.0196)
Backending... 41 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 38130, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1664 loss_distill=0.2747 tta_take=0.003s
[epoch 0 scene 249/556] scannetpp/1c4b893630/DSC frames=150 tta_steps_this_scene=2 mean_loss=0.2240 total_steps=1664 time=25.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0066)
Frame 2
tensor(0.0217)
Frame 3
tensor(0.0385)
Frame 4
tensor(0.0635)
Frame 5
tensor(0.0895)
Frame 6
tensor(0.1130)
 # KEYFRAME 1
Frame 7
tensor(0.0324)
Frame 8
tensor(0.0594)
Frame 9
tensor(0.0928)
Frame 10
tensor(0.1306)
 # KEYFRAME 2
0.05168787699949462
Frame 11
tensor(0.0359)
Frame 12
tensor(0.0705)
Frame 13
tensor(0.1137)
 # KEYFRAME 3
0.053148100996622816
Frame 14
tensor(0.1319)
 # KEYFRAME 4
0.05468726599792717
Frame 15
tensor(0.0125)
Frame 16
tensor(0.0315)
Frame 17
tensor(0.0583)
Frame 18
tensor(0.0837)
Frame 19
tensor(0.1071)
 # KEYFRAME 5
0.05503373400279088
Frame 20
tensor(0.0271)
Frame 21
tensor(0.0696)
Frame 22
tensor(0.1035)
 # KEYFRAME 6
0.056148411000322085
Frame 23
tensor(0.0336)
Frame 24
tensor(0.0666)
Frame 25
tensor(0.1039)
 # KEYFRAME 7
0.056853308000427205
Frame 26
tensor(0.2501)
 # KEYFRAME 8
0.05765504499868257
Frame 27
tensor(0.0136)
Frame 28
tensor(0.0318)
Frame 29
tensor(0.0591)
Frame 30
tensor(0.0947)
Frame 31
tensor(0.2797)
 # KEYFRAME 9
0.058531652997771744
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.0132)
Frame 33
tensor(0.1161)
 # KEYFRAME 10
0.05162886699690716
Frame 34
tensor(0.0216)
Frame 35
tensor(0.0428)
Frame 36
tensor(0.0625)
Frame 37
tensor(0.0872)
Frame 38
tensor(0.2434)
 # KEYFRAME 11
0.052860252995742485
Frame 39
tensor(0.0193)
Frame 40
tensor(0.0369)
Frame 41
tensor(0.0476)
Frame 42
tensor(0.0631)
Frame 43
tensor(0.1485)
 # KEYFRAME 12
0.054005498001060914
Frame 44
tensor(0.0802)
Frame 45
tensor(0.1029)
 # KEYFRAME 13
0.05499983399931807
Frame 46
tensor(0.0179)
Frame 47
tensor(0.0436)
Frame 48
tensor(0.0744)
Frame 49
tensor(0.0935)
Frame 50
tensor(0.5968)
 # KEYFRAME 14
0.05497302499861689
Frame 51
tensor(0.0111)
Frame 52
tensor(0.0286)
Frame 53
tensor(0.1446)
 # KEYFRAME 15
0.05498300500039477
Frame 54
tensor(0.0053)
Frame 55
tensor(0.0143)
Frame 56
tensor(0.0362)
Frame 57
tensor(0.0498)
Frame 58
tensor(0.0597)
Frame 59
tensor(0.0625)
Frame 60
tensor(0.1947)
 # KEYFRAME 16
0.05583687200123677
Frame 61
tensor(0.0092)
Frame 62
tensor(0.0258)
Frame 63
tensor(0.0445)
Frame 64
tensor(0.0658)
Frame 65
tensor(0.1066)
 # KEYFRAME 17
0.05634479100262979
Frame 66
tensor(0.0292)
Frame 67
tensor(0.0496)
Frame 68
tensor(0.0687)
Frame 69
tensor(0.0853)
Frame 70
tensor(0.0946)
Frame 71
tensor(0.0969)
Frame 72
tensor(0.1162)
 # KEYFRAME 18
0.057212776999222115
Frame 73
tensor(0.0235)
Frame 74
tensor(0.0436)
Frame 75
tensor(0.0687)
Frame 76
tensor(0.0892)
Frame 77
tensor(0.1075)
 # KEYFRAME 19
0.05755333599518053
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 78
tensor(0.0784)
Frame 79
tensor(0.0848)
Frame 80
tensor(0.0967)
Frame 81
tensor(0.1115)
 # KEYFRAME 20
0.05408557800546987
Frame 82
tensor(0.0207)
Frame 83
tensor(0.2071)
 # KEYFRAME 21
0.055173443994135596
Frame 84
tensor(0.0142)
Frame 85
tensor(0.0316)
Frame 86
tensor(0.0434)
Frame 87
tensor(0.0657)
Frame 88
tensor(0.0889)
Frame 89
tensor(0.1270)
 # KEYFRAME 22
0.055727991995809134
Frame 90
tensor(0.0311)
Frame 91
tensor(0.0545)
Frame 92
tensor(0.0685)
Frame 93
tensor(0.0719)
Frame 94
tensor(0.0665)
Frame 95
tensor(0.1802)
 # KEYFRAME 23
0.05589551199955167
Frame 96
tensor(0.0240)
Frame 97
tensor(0.0637)
Frame 98
tensor(0.1620)
 # KEYFRAME 24
0.05652997900324408
Frame 99
tensor(0.0148)
Frame 100
tensor(0.0455)
Frame 101
tensor(0.2103)
 # KEYFRAME 25
0.05714180700306315
Frame 102
tensor(0.0113)
Frame 103
tensor(0.0486)
Frame 104
tensor(0.2565)
 # KEYFRAME 26
0.05838724299974274
Backending... 27 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 25110, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
[epoch 0 scene 250/556] scannetpp/709ab5bffe/DSC frames=105 tta_steps_this_scene=0 mean_loss=nan total_steps=1664 time=14.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0052)
Frame 2
tensor(0.1084)
 # KEYFRAME 1
Frame 3
tensor(0.2729)
 # KEYFRAME 2
0.052197004995832685
Frame 4
tensor(0.2029)
 # KEYFRAME 3
0.05432259699591668
Frame 5
tensor(0.3086)
 # KEYFRAME 4
0.054354267005692236
Frame 6
tensor(0.3923)
 # KEYFRAME 5
0.055066834000172094
Frame 7
tensor(0.4463)
 # KEYFRAME 6
0.056318790004297625
Frame 8
tensor(0.3456)
 # KEYFRAME 7
0.057052247000683565
Frame 9
tensor(0.2908)
 # KEYFRAME 8
0.0587214019979001
Frame 10
tensor(0.3380)
 # KEYFRAME 9
0.05888820099789882
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.3463)
 # KEYFRAME 10
0.05275780300144106
Frame 12
tensor(0.5100)
 # KEYFRAME 11
0.05358055000397144
Frame 13
tensor(0.4189)
 # KEYFRAME 12
0.05451798599824542
Frame 14
tensor(0.1530)
 # KEYFRAME 13
0.05667155900300713
Frame 15
tensor(0.1535)
 # KEYFRAME 14
0.05724756699783029
Frame 16
tensor(0.1805)
 # KEYFRAME 15
0.05817396299971733
Frame 17
tensor(0.5505)
 # KEYFRAME 16
0.05899399099871516
Frame 18
tensor(0.3374)
 # KEYFRAME 17
0.060204445995623246
Frame 19
tensor(0.1982)
 # KEYFRAME 18
0.06124583200289635
Frame 20
tensor(0.3589)
 # KEYFRAME 19
0.0626714570025797
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.3188)
 # KEYFRAME 20
0.05912003000412369
Frame 22
tensor(0.2563)
 # KEYFRAME 21
0.060603354999329895
Frame 23
tensor(0.2763)
 # KEYFRAME 22
0.06124219200137304
Frame 24
tensor(0.0972)
Frame 25
tensor(0.2363)
 # KEYFRAME 23
0.06223466900701169
Frame 26
tensor(0.1218)
 # KEYFRAME 24
0.06266591799794696
Frame 27
tensor(0.4038)
 # KEYFRAME 25
0.0636863239997183
Frame 28
tensor(0.1745)
 # KEYFRAME 26
0.06515823900554096
Frame 29
tensor(0.5393)
 # KEYFRAME 27
0.06627015500271227
Frame 30
tensor(0.2720)
 # KEYFRAME 28
0.06708937200164655
Frame 31
tensor(0.3008)
 # KEYFRAME 29
0.06855677600105992
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.4230)
 # KEYFRAME 30
0.06594454599689925
Frame 33
tensor(0.2981)
 # KEYFRAME 31
0.0679262400008156
Frame 34
tensor(0.7294)
 # KEYFRAME 32
0.06812475900369463
Frame 35
tensor(0.1846)
 # KEYFRAME 33
0.06902925499889534
Frame 36
tensor(0.3107)
 # KEYFRAME 34
0.06968228299956536
Frame 37
tensor(0.2420)
 # KEYFRAME 35
0.07097129899921129
Frame 38
tensor(0.0236)
Frame 39
tensor(0.2675)
 # KEYFRAME 36
0.07191379500000039
Frame 40
tensor(0.2724)
 # KEYFRAME 37
0.07254732299770694
Frame 41
tensor(0.4441)
 # KEYFRAME 38
0.0733629199967254
Frame 42
tensor(0.3634)
 # KEYFRAME 39
0.07442728599562543
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1665 loss_distill=0.1733 tta_take=0.009s
Frame 43
tensor(0.0987)
Frame 44
tensor(0.2535)
 # KEYFRAME 40
0.07278100199619075
Frame 45
tensor(0.2347)
 # KEYFRAME 41
0.07514339300541906
Frame 46
tensor(0.3217)
 # KEYFRAME 42
0.07501101399975596
Frame 47
tensor(0.4516)
 # KEYFRAME 43
0.07554736200108891
Frame 48
tensor(0.2432)
 # KEYFRAME 44
0.07611426900257356
Frame 49
tensor(0.1571)
 # KEYFRAME 45
0.07661878799990518
Frame 50
tensor(0.3334)
 # KEYFRAME 46
0.07827175299462397
Frame 51
tensor(0.1871)
 # KEYFRAME 47
0.07855066099727992
Frame 52
tensor(0.2711)
 # KEYFRAME 48
0.07896179999806918
Frame 53
tensor(0.4441)
 # KEYFRAME 49
0.08052253400092013
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1666 loss_distill=0.2747 tta_take=0.009s
Frame 54
tensor(0.5304)
 # KEYFRAME 50
0.0793468190022395
Frame 55
tensor(0.3436)
 # KEYFRAME 51
0.08190607000142336
Frame 56
tensor(0.3311)
 # KEYFRAME 52
0.08171636000042781
Frame 57
tensor(0.1807)
 # KEYFRAME 53
0.08258295700215967
Frame 58
tensor(0.4537)
 # KEYFRAME 54
0.08427817099436652
Frame 59
tensor(0.0795)
Frame 60
tensor(0.1807)
 # KEYFRAME 55
0.08516977799445158
Frame 61
tensor(0.1252)
 # KEYFRAME 56
0.08541116699780105
Frame 62
tensor(0.2660)
 # KEYFRAME 57
0.08635159400000703
Frame 63
tensor(0.5188)
 # KEYFRAME 58
0.08805329800088657
Frame 64
tensor(0.4966)
 # KEYFRAME 59
0.08881783499964513
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=1667 loss_distill=0.3466 tta_take=0.009s
Frame 65
tensor(0.5345)
 # KEYFRAME 60
0.08609855500253616
Frame 66
tensor(0.1393)
 # KEYFRAME 61
0.08922893300041324
Frame 67
tensor(0.1880)
 # KEYFRAME 62
0.08919897300074808
Frame 68
tensor(0.1570)
 # KEYFRAME 63
0.09041371999774128
Frame 69
tensor(0.0807)
Frame 70
tensor(0.1632)
 # KEYFRAME 64
0.09114953699463513
Frame 71
tensor(0.4176)
 # KEYFRAME 65
0.0933792289943085
Frame 72
tensor(0.1432)
 # KEYFRAME 66
0.09458016399730695
Frame 73
tensor(0.1920)
 # KEYFRAME 67
0.09526502200606046
Frame 74
tensor(0.4140)
 # KEYFRAME 68
0.0956458209984703
Frame 75
tensor(0.3265)
 # KEYFRAME 69
0.09724738499789964
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1668 loss_distill=0.4024 tta_take=0.009s
Frame 76
tensor(0.4461)
 # KEYFRAME 70
0.09285886999714421
Frame 77
tensor(0.3110)
 # KEYFRAME 71
0.09594694000406889
Frame 78
tensor(0.2136)
 # KEYFRAME 72
0.09603359900211217
Frame 79
tensor(0.1927)
 # KEYFRAME 73
0.09710280600120313
Frame 80
tensor(0.2727)
 # KEYFRAME 74
0.0983335810014978
Frame 81
tensor(0.2132)
 # KEYFRAME 75
0.09947030799958156
Frame 82
tensor(0.2295)
 # KEYFRAME 76
0.09966207700199448
Frame 83
tensor(0.4050)
 # KEYFRAME 77
0.10109666200150969
Frame 84
tensor(0.0796)
Frame 85
tensor(0.2890)
 # KEYFRAME 78
0.10257630600244738
Frame 86
tensor(0.1450)
 # KEYFRAME 79
0.10297046499908902
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1669 loss_distill=0.4024 tta_take=0.009s
Frame 87
tensor(0.6343)
 # KEYFRAME 80
0.09386400699440856
Frame 88
tensor(0.3150)
 # KEYFRAME 81
0.09405669700208819
Frame 89
tensor(0.6827)
 # KEYFRAME 82
0.09514090199809289
Frame 90
tensor(0.4201)
 # KEYFRAME 83
0.09620665800321149
Frame 91
tensor(0.4779)
 # KEYFRAME 84
0.09626761799881933
Frame 92
tensor(0.1905)
 # KEYFRAME 85
0.09756835400185082
Frame 93
tensor(0.1391)
 # KEYFRAME 86
0.09755589399719611
Frame 94
tensor(0.1851)
 # KEYFRAME 87
0.09878535999450833
Frame 95
tensor(0.1138)
 # KEYFRAME 88
0.09918847899825778
Frame 96
tensor(0.2428)
 # KEYFRAME 89
0.09963119700114476
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1670 loss_distill=0.4024 tta_take=0.009s
Frame 97
tensor(0.1211)
 # KEYFRAME 90
0.09370089699950768
Frame 98
tensor(0.3102)
 # KEYFRAME 91
0.09376168699964182
Frame 99
tensor(0.1987)
 # KEYFRAME 92
0.09543341099924874
Frame 100
tensor(0.5723)
 # KEYFRAME 93
0.09624216799420537
Frame 101
tensor(0.2533)
 # KEYFRAME 94
0.09680467699945439
Frame 102
tensor(0.2885)
 # KEYFRAME 95
0.09778207299677888
Frame 103
tensor(0.1436)
 # KEYFRAME 96
0.09729012499883538
Frame 104
tensor(0.2139)
 # KEYFRAME 97
0.09870026000135113
Frame 105
tensor(0.1202)
 # KEYFRAME 98
0.09919786799582653
Frame 106
tensor(0.1866)
 # KEYFRAME 99
0.09937956799694803
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1671 loss_distill=0.4024 tta_take=0.009s
Frame 107
tensor(0.1712)
 # KEYFRAME 100
0.09336224899743684
Frame 108
tensor(0.2396)
 # KEYFRAME 101
0.0958032499984256
Frame 109
tensor(0.1824)
 # KEYFRAME 102
0.09516710200114176
Frame 110
tensor(0.1241)
 # KEYFRAME 103
0.09562815000390401
Frame 111
tensor(0.1284)
 # KEYFRAME 104
0.09671979700215161
Frame 112
tensor(0.5026)
 # KEYFRAME 105
0.09712380600103643
Frame 113
tensor(0.0924)
Frame 114
tensor(0.2617)
 # KEYFRAME 106
0.09792723300051875
Frame 115
tensor(0.0984)
Frame 116
tensor(0.3437)
 # KEYFRAME 107
0.09865623000223422
Frame 117
tensor(0.6082)
 # KEYFRAME 108
0.09939621800003806
Frame 118
tensor(0.5276)
 # KEYFRAME 109
0.09987597500003176
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1672 loss_distill=0.4024 tta_take=0.009s
Frame 119
tensor(0.3003)
 # KEYFRAME 110
0.09391182699619094
Frame 120
tensor(0.2324)
 # KEYFRAME 111
0.09413949600275373
Frame 121
tensor(0.3961)
 # KEYFRAME 112
0.09512166300555691
Frame 122
tensor(0.3233)
 # KEYFRAME 113
0.09633880799810868
Frame 123
tensor(0.1613)
 # KEYFRAME 114
0.09640329800458858
Backending... 115 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 67665, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1673 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 251/556] scannetpp/a08dda47a8/frame frames=124 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=1673 time=43.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0592)
Frame 2
tensor(0.1099)
 # KEYFRAME 1
Frame 3
tensor(0.0780)
Frame 4
tensor(0.1283)
 # KEYFRAME 2
0.05177954700047849
Frame 5
tensor(0.1543)
 # KEYFRAME 3
0.052650284000264946
Frame 6
tensor(0.2095)
 # KEYFRAME 4
0.05359233000490349
Frame 7
tensor(0.1483)
 # KEYFRAME 5
0.05515826500050025
Frame 8
tensor(0.2398)
 # KEYFRAME 6
0.05566844299755758
Frame 9
tensor(0.1149)
 # KEYFRAME 7
0.05673169899819186
Frame 10
tensor(0.0959)
Frame 11
tensor(0.2152)
 # KEYFRAME 8
0.05806803399900673
Frame 12
tensor(0.0583)
Frame 13
tensor(0.1932)
 # KEYFRAME 9
0.05856845199741656
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 14
tensor(0.0606)
Frame 15
tensor(0.2267)
 # KEYFRAME 10
0.05193013600364793
Frame 16
tensor(0.0532)
Frame 17
tensor(0.2376)
 # KEYFRAME 11
0.05211116499413038
Frame 18
tensor(0.3460)
 # KEYFRAME 12
0.0520872449997114
Frame 19
tensor(0.4085)
 # KEYFRAME 13
0.05409799799963366
Frame 20
tensor(0.1511)
 # KEYFRAME 14
0.05407574799755821
Frame 21
tensor(0.1060)
 # KEYFRAME 15
0.05389882899908116
Frame 22
tensor(0.1265)
 # KEYFRAME 16
0.05478743599815061
Frame 23
tensor(0.1431)
 # KEYFRAME 17
0.05513867400441086
Frame 24
tensor(0.0784)
Frame 25
tensor(0.1407)
 # KEYFRAME 18
0.05603978099679807
Frame 26
tensor(0.1870)
 # KEYFRAME 19
0.05703371799609158
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 27
tensor(0.1747)
 # KEYFRAME 20
0.054272467001283076
Frame 28
tensor(0.0873)
Frame 29
tensor(0.3522)
 # KEYFRAME 21
0.05471585600025719
Frame 30
tensor(0.3840)
 # KEYFRAME 22
0.0552793040042161
Frame 31
tensor(0.2086)
 # KEYFRAME 23
0.056071111001074314
Frame 32
tensor(0.5230)
 # KEYFRAME 24
0.056639648995769676
Frame 33
tensor(0.0366)
Frame 34
tensor(0.0978)
Frame 35
tensor(0.1290)
 # KEYFRAME 25
0.05716304700035835
Frame 36
tensor(0.1151)
 # KEYFRAME 26
0.05806785399909131
Frame 37
tensor(0.1796)
 # KEYFRAME 27
0.059253569997963496
Frame 38
tensor(0.1705)
 # KEYFRAME 28
0.059690058005799074
Frame 39
tensor(0.1118)
 # KEYFRAME 29
0.06048208499851171
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 40
tensor(0.0963)
Frame 41
tensor(0.1795)
 # KEYFRAME 30
0.058391272999870125
Frame 42
tensor(0.1045)
 # KEYFRAME 31
0.05921813999884762
Frame 43
tensor(0.2583)
 # KEYFRAME 32
0.05978839800081914
Frame 44
tensor(0.1503)
 # KEYFRAME 33
0.06022922600095626
Frame 45
tensor(0.1546)
 # KEYFRAME 34
0.06117932299821405
Frame 46
tensor(0.3105)
 # KEYFRAME 35
0.061814070999389514
Frame 47
tensor(0.1283)
 # KEYFRAME 36
0.06247780800185865
Frame 48
tensor(0.1400)
 # KEYFRAME 37
0.06258122799772536
Frame 49
tensor(0.1861)
 # KEYFRAME 38
0.06313744600629434
Frame 50
tensor(0.1211)
 # KEYFRAME 39
0.0642947020023712
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1674 loss_distill=0.1733 tta_take=0.009s
Frame 51
tensor(0.0589)
Frame 52
tensor(0.0292)
Frame 53
tensor(0.2709)
 # KEYFRAME 40
0.06306850600230973
Frame 54
tensor(0.0182)
Frame 55
tensor(0.2250)
 # KEYFRAME 41
0.06389322299946798
Frame 56
tensor(0.0852)
Frame 57
tensor(0.1737)
 # KEYFRAME 42
0.06382448300428223
Frame 58
tensor(0.1542)
 # KEYFRAME 43
0.06390144400211284
Frame 59
tensor(0.5831)
 # KEYFRAME 44
0.0648691599999438
Frame 60
tensor(0.0796)
Frame 61
tensor(0.0886)
Frame 62
tensor(0.1824)
 # KEYFRAME 45
0.06535823799640639
Frame 63
tensor(0.1000)
Frame 64
tensor(0.5099)
 # KEYFRAME 46
0.06587494599807542
Frame 65
tensor(0.1083)
 # KEYFRAME 47
0.06604893500480102
Frame 66
tensor(0.1008)
 # KEYFRAME 48
0.06672847300069407
Frame 67
tensor(0.2095)
 # KEYFRAME 49
0.06748359099583467
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=1675 loss_distill=0.2747 tta_take=0.009s
Frame 68
tensor(0.1631)
 # KEYFRAME 50
0.06715999199514044
Frame 69
tensor(0.4453)
 # KEYFRAME 51
0.06886162499722559
Frame 70
tensor(0.1618)
 # KEYFRAME 52
0.06885589400189929
Frame 71
tensor(0.0389)
Frame 72
tensor(0.2802)
 # KEYFRAME 53
0.06955282299895771
Frame 73
tensor(0.1356)
 # KEYFRAME 54
0.06906272400374291
Frame 74
tensor(0.0396)
Frame 75
tensor(0.3099)
 # KEYFRAME 55
0.07047192900063237
Frame 76
tensor(0.2254)
 # KEYFRAME 56
0.0712874759992701
Frame 77
tensor(0.0597)
Frame 78
tensor(0.1035)
 # KEYFRAME 57
0.07205116400291445
Frame 79
tensor(0.2063)
 # KEYFRAME 58
0.07254414199996972
Frame 80
tensor(0.0988)
Frame 81
tensor(0.3153)
 # KEYFRAME 59
0.0730732000010903
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1676 loss_distill=0.3466 tta_take=0.009s
Frame 82
tensor(0.6475)
 # KEYFRAME 60
0.07166658499772893
Frame 83
tensor(0.0667)
Frame 84
tensor(0.2200)
 # KEYFRAME 61
0.07341812799859326
Frame 85
tensor(0.0866)
Frame 86
tensor(0.1856)
 # KEYFRAME 62
0.07357309800136136
Frame 87
tensor(0.1070)
 # KEYFRAME 63
0.07455955500336131
Frame 88
tensor(0.0873)
Frame 89
tensor(0.1573)
 # KEYFRAME 64
0.07522708200121997
Frame 90
tensor(0.0909)
Frame 91
tensor(0.0958)
Frame 92
tensor(0.3491)
 # KEYFRAME 65
0.07481060399732087
Frame 93
tensor(0.0581)
Frame 94
tensor(0.1441)
 # KEYFRAME 66
0.07740018399636028
Frame 95
tensor(0.0738)
Frame 96
tensor(0.1676)
 # KEYFRAME 67
0.07794904299953487
Frame 97
tensor(0.7300)
 # KEYFRAME 68
0.07856906999950297
Frame 98
tensor(0.2275)
 # KEYFRAME 69
0.07923294799547875
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1677 loss_distill=0.4024 tta_take=0.008s
Frame 99
tensor(0.1208)
 # KEYFRAME 70
0.07567798099626089
Frame 100
tensor(0.1838)
 # KEYFRAME 71
0.0764675280006486
Frame 101
tensor(0.3344)
 # KEYFRAME 72
0.07698709599935682
Frame 102
tensor(0.1227)
 # KEYFRAME 73
0.07678508699609665
Frame 103
tensor(0.1421)
 # KEYFRAME 74
0.07765861399821006
Frame 104
tensor(0.1272)
 # KEYFRAME 75
0.07867505000467645
Frame 105
tensor(0.0531)
Frame 106
tensor(0.0919)
Frame 107
tensor(0.1676)
 # KEYFRAME 76
0.07864170999528142
Frame 108
tensor(0.3154)
 # KEYFRAME 77
0.07875975000206381
Frame 109
tensor(0.2293)
 # KEYFRAME 78
0.07954068599792663
Frame 110
tensor(0.2482)
 # KEYFRAME 79
0.07974507600010838
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1678 loss_distill=0.4024 tta_take=0.009s
Frame 111
tensor(0.3138)
 # KEYFRAME 80
0.07549731200560927
Frame 112
tensor(0.1529)
 # KEYFRAME 81
0.07754574400314596
Frame 113
tensor(0.1542)
 # KEYFRAME 82
0.07736884499900043
Frame 114
tensor(0.1575)
 # KEYFRAME 83
0.07825542200589553
Frame 115
tensor(0.2138)
 # KEYFRAME 84
0.0791747490002308
Frame 116
tensor(0.1976)
 # KEYFRAME 85
0.08062778300518403
Frame 117
tensor(0.0816)
Frame 118
tensor(0.3139)
 # KEYFRAME 86
0.07892826999886893
Frame 119
tensor(0.0816)
Frame 120
tensor(0.1801)
 # KEYFRAME 87
0.08173878000525292
Frame 121
tensor(0.1865)
 # KEYFRAME 88
0.08275788500031922
Frame 122
tensor(0.0433)
Frame 123
tensor(0.1009)
 # KEYFRAME 89
0.08358876300189877
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1679 loss_distill=0.4024 tta_take=0.009s
Frame 124
tensor(0.0345)
Frame 125
tensor(0.0404)
Frame 126
tensor(0.5243)
 # KEYFRAME 90
0.07568181099486537
Frame 127
tensor(0.1381)
 # KEYFRAME 91
0.07631316799961496
Frame 128
tensor(0.2126)
 # KEYFRAME 92
0.07765846399706788
Frame 129
tensor(0.1199)
 # KEYFRAME 93
0.07857206100015901
Frame 130
tensor(0.1490)
 # KEYFRAME 94
0.07909705900237896
Frame 131
tensor(0.0220)
Frame 132
tensor(0.2630)
 # KEYFRAME 95
0.07961481699749129
Frame 133
tensor(0.1037)
 # KEYFRAME 96
0.0782844909990672
Frame 134
tensor(0.4079)
 # KEYFRAME 97
0.08186375899822451
Frame 135
tensor(0.3711)
 # KEYFRAME 98
0.081971428997349
Frame 136
tensor(0.1067)
 # KEYFRAME 99
0.08197935800126288
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1680 loss_distill=0.4024 tta_take=0.009s
Frame 137
tensor(0.6000)
 # KEYFRAME 100
0.07595598999614595
Frame 138
tensor(0.0504)
Frame 139
tensor(0.1214)
 # KEYFRAME 101
0.07755166399874724
Frame 140
tensor(0.1100)
 # KEYFRAME 102
0.07709542600059649
Frame 141
tensor(0.0444)
Frame 142
tensor(0.1955)
 # KEYFRAME 103
0.07826405100058764
Frame 143
tensor(0.0413)
Frame 144
tensor(0.0466)
Frame 145
tensor(0.0691)
Frame 146
tensor(0.0105)
Frame 147
tensor(0.1737)
 # KEYFRAME 104
0.07833302200015169
Frame 148
tensor(0.0775)
Frame 149
tensor(0.1471)
 # KEYFRAME 105
0.0789602590011782
Backending... 106 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 61380, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1681 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 252/556] scannetpp/c06a983e63/DSC frames=150 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=1681 time=38.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1875)
 # KEYFRAME 1
Frame 2
tensor(0.2344)
 # KEYFRAME 2
0.052024095006345306
Frame 3
tensor(0.2058)
 # KEYFRAME 3
0.053286209993530065
Frame 4
tensor(0.3828)
 # KEYFRAME 4
0.053765958997246344
Frame 5
tensor(0.3520)
 # KEYFRAME 5
0.0551982129982207
Frame 6
tensor(0.1981)
 # KEYFRAME 6
0.056305499994778074
Frame 7
tensor(0.1807)
 # KEYFRAME 7
0.05678016800084151
Frame 8
tensor(0.1881)
 # KEYFRAME 8
0.057566554998629726
Frame 9
tensor(0.2410)
 # KEYFRAME 9
0.05839125199418049
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.1826)
 # KEYFRAME 10
0.05165612600103486
Frame 11
tensor(0.1171)
 # KEYFRAME 11
0.052628692996222526
Frame 12
tensor(0.1755)
 # KEYFRAME 12
0.05380808899644762
Frame 13
tensor(0.1918)
 # KEYFRAME 13
0.05502149400126655
Frame 14
tensor(0.0892)
Frame 15
tensor(0.1728)
 # KEYFRAME 14
0.054671904996212106
Frame 16
tensor(0.0897)
Frame 17
tensor(0.2414)
 # KEYFRAME 15
0.0552066339951125
Frame 18
tensor(0.2802)
 # KEYFRAME 16
0.055769441001757514
Frame 19
tensor(0.2858)
 # KEYFRAME 17
0.056877096998505294
Frame 20
tensor(0.2115)
 # KEYFRAME 18
0.05704980700102169
Frame 21
tensor(0.2065)
 # KEYFRAME 19
0.05757177600025898
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 22
tensor(0.1083)
 # KEYFRAME 20
0.05415630700008478
Frame 23
tensor(0.1483)
 # KEYFRAME 21
0.054871534994163085
Frame 24
tensor(0.0809)
Frame 25
tensor(0.1442)
 # KEYFRAME 22
0.055650071997661144
Frame 26
tensor(0.2441)
 # KEYFRAME 23
0.05579712100006873
Frame 27
tensor(0.1840)
 # KEYFRAME 24
0.05651387899706606
Frame 28
tensor(0.0642)
Frame 29
tensor(0.9433)
 # KEYFRAME 25
0.05696312700456474
Frame 30
tensor(0.1629)
 # KEYFRAME 26
0.058307541999965906
Frame 31
tensor(0.2282)
 # KEYFRAME 27
0.0590270699976827
Frame 32
tensor(0.3246)
 # KEYFRAME 28
0.06018829599634046
Frame 33
tensor(1.1261)
 # KEYFRAME 29
0.06058175500220386
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 34
tensor(0.2226)
 # KEYFRAME 30
0.05836533199908445
Frame 35
tensor(0.3808)
 # KEYFRAME 31
0.059520228001929354
Frame 36
tensor(0.2747)
 # KEYFRAME 32
0.05954896799812559
Frame 37
tensor(0.0558)
Frame 38
tensor(0.3029)
 # KEYFRAME 33
0.06041265500243753
Frame 39
tensor(0.2441)
 # KEYFRAME 34
0.06098373299755622
Frame 40
tensor(0.0864)
Frame 41
tensor(0.1571)
 # KEYFRAME 35
0.061614041005668696
Frame 42
tensor(0.2313)
 # KEYFRAME 36
0.06231062800361542
Frame 43
tensor(0.2173)
 # KEYFRAME 37
0.06306896599562606
Frame 44
tensor(0.3520)
 # KEYFRAME 38
0.06338538399722893
Frame 45
tensor(0.2333)
 # KEYFRAME 39
0.06456939000054263
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1682 loss_distill=0.1733 tta_take=0.009s
Frame 46
tensor(0.1249)
 # KEYFRAME 40
0.06282830599957379
Frame 47
tensor(0.5170)
 # KEYFRAME 41
0.06437176100007491
Frame 48
tensor(0.1444)
 # KEYFRAME 42
0.06493111899908399
Frame 49
tensor(0.3936)
 # KEYFRAME 43
0.06457481099641882
Frame 50
tensor(0.2911)
 # KEYFRAME 44
0.0666796229997999
Frame 51
tensor(0.5003)
 # KEYFRAME 45
0.06751179000275442
Frame 52
tensor(0.2504)
 # KEYFRAME 46
0.06870981600513915
Frame 53
tensor(0.2431)
 # KEYFRAME 47
0.06875902500178199
Frame 54
tensor(0.4130)
 # KEYFRAME 48
0.06972108100308105
Frame 55
tensor(0.2387)
 # KEYFRAME 49
0.06924062399775721
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531069278717
TTA-STEP: step=1683 loss_distill=0.2747 tta_take=0.009s
Frame 56
tensor(0.3238)
 # KEYFRAME 50
0.06735700999706751
Frame 57
tensor(0.1529)
 # KEYFRAME 51
0.06852612600050634
Frame 58
tensor(0.7591)
 # KEYFRAME 52
0.06914864400459919
Frame 59
tensor(0.1333)
 # KEYFRAME 53
0.06979592100105947
Frame 60
tensor(0.1353)
 # KEYFRAME 54
0.069185413995001
Frame 61
tensor(0.5983)
 # KEYFRAME 55
0.0718656640019617
Frame 62
tensor(0.1494)
 # KEYFRAME 56
0.07280994100437965
Frame 63
tensor(0.7534)
 # KEYFRAME 57
0.07377709799766308
Frame 64
tensor(0.2776)
 # KEYFRAME 58
0.07430917600140674
Frame 65
tensor(0.1399)
 # KEYFRAME 59
0.07508315299492097
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=1684 loss_distill=0.3466 tta_take=0.009s
Frame 66
tensor(0.0961)
Frame 67
tensor(0.6277)
 # KEYFRAME 60
0.07138583599589765
Frame 68
tensor(0.2602)
 # KEYFRAME 61
0.07294418999663321
Frame 69
tensor(0.5120)
 # KEYFRAME 62
0.07325507000496145
Frame 70
tensor(0.1276)
 # KEYFRAME 63
0.074413234993699
Frame 71
tensor(0.1746)
 # KEYFRAME 64
0.07501540299563203
Frame 72
tensor(0.1270)
 # KEYFRAME 65
0.0741380460021901
Frame 73
tensor(0.0716)
Frame 74
tensor(0.9300)
 # KEYFRAME 66
0.07705575599538861
Frame 75
tensor(0.4214)
 # KEYFRAME 67
0.07784018300299067
Frame 76
tensor(0.4609)
 # KEYFRAME 68
0.07855577999725938
Frame 77
tensor(0.1873)
 # KEYFRAME 69
0.07949528699828079
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1685 loss_distill=0.4024 tta_take=0.009s
Frame 78
tensor(0.6026)
 # KEYFRAME 70
0.07568146999983583
Frame 79
tensor(0.1609)
 # KEYFRAME 71
0.07760716399934608
Frame 80
tensor(0.1404)
 # KEYFRAME 72
0.07733105499937665
Frame 81
tensor(0.1411)
 # KEYFRAME 73
0.07718101499631302
Frame 82
tensor(0.0527)
Frame 83
tensor(0.1428)
 # KEYFRAME 74
0.07803606199740898
Frame 84
tensor(0.0903)
Frame 85
tensor(0.0732)
Frame 86
tensor(0.5147)
 # KEYFRAME 75
0.07851708000089275
Frame 87
tensor(0.2520)
 # KEYFRAME 76
0.07834374100639252
Frame 88
tensor(0.0744)
Frame 89
tensor(0.0520)
Frame 90
tensor(0.1021)
 # KEYFRAME 77
0.0791209179951693
Frame 91
tensor(0.1147)
 # KEYFRAME 78
0.07986115499807056
Frame 92
tensor(0.1159)
 # KEYFRAME 79
0.08018231499590911
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1686 loss_distill=0.4024 tta_take=0.009s
Frame 93
tensor(0.2089)
 # KEYFRAME 80
0.07554904100106796
Frame 94
tensor(0.3533)
 # KEYFRAME 81
0.07650864800234558
Frame 95
tensor(0.1347)
 # KEYFRAME 82
0.07771736400172813
Frame 96
tensor(0.3150)
 # KEYFRAME 83
0.07799229199736146
Frame 97
tensor(0.1647)
 # KEYFRAME 84
0.0777539330010768
Frame 98
tensor(0.2127)
 # KEYFRAME 85
0.0782788009964861
Frame 99
tensor(0.2466)
 # KEYFRAME 86
0.07869593900250038
Frame 100
tensor(0.1437)
 # KEYFRAME 87
0.07979236599931028
Frame 101
tensor(0.1511)
 # KEYFRAME 88
0.07983470600447617
Frame 102
tensor(0.1576)
 # KEYFRAME 89
0.08017625399952522
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1687 loss_distill=0.4024 tta_take=0.009s
Frame 103
tensor(0.2865)
 # KEYFRAME 90
0.07569231099478202
Frame 104
tensor(0.4193)
 # KEYFRAME 91
0.0769501559989294
Frame 105
tensor(0.3523)
 # KEYFRAME 92
0.07686939700215589
Frame 106
tensor(0.9778)
 # KEYFRAME 93
0.07737442499637837
Frame 107
tensor(0.1874)
 # KEYFRAME 94
0.07743566400313284
Frame 108
tensor(0.3339)
 # KEYFRAME 95
0.07815798199590063
Frame 109
tensor(0.1286)
 # KEYFRAME 96
0.07840215099713532
Frame 110
tensor(0.0769)
Frame 111
tensor(0.1532)
 # KEYFRAME 97
0.07887104900146369
Frame 112
tensor(0.1875)
 # KEYFRAME 98
0.0791218580052373
Frame 113
tensor(0.1110)
 # KEYFRAME 99
0.07953205700323451
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1688 loss_distill=0.4024 tta_take=0.009s
Frame 114
tensor(0.2592)
 # KEYFRAME 100
0.07601240900112316
Frame 115
tensor(0.1713)
 # KEYFRAME 101
0.07734710500517394
Frame 116
tensor(0.1019)
 # KEYFRAME 102
0.07747101499990094
Frame 117
tensor(0.1126)
 # KEYFRAME 103
0.0777747729953262
Frame 118
tensor(0.1250)
 # KEYFRAME 104
0.07821492200309876
Frame 119
tensor(0.1210)
 # KEYFRAME 105
0.07838213100330904
Frame 120
tensor(0.0812)
Frame 121
tensor(0.1509)
 # KEYFRAME 106
0.07858095000119647
Frame 122
tensor(0.2262)
 # KEYFRAME 107
0.07913754799665185
Frame 123
tensor(0.1410)
 # KEYFRAME 108
0.0797972260043025
Frame 124
tensor(0.1541)
 # KEYFRAME 109
0.0801972150002257
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1689 loss_distill=0.4024 tta_take=0.008s
Frame 125
tensor(0.2095)
 # KEYFRAME 110
0.07595397000113735
Frame 126
tensor(0.1239)
 # KEYFRAME 111
0.07617828900401946
Frame 127
tensor(0.1138)
 # KEYFRAME 112
0.07663121699442854
Frame 128
tensor(0.2447)
 # KEYFRAME 113
0.07747273400309496
Frame 129
tensor(0.3072)
 # KEYFRAME 114
0.07757152399426559
Frame 130
tensor(0.4399)
 # KEYFRAME 115
0.07817155199882109
Frame 131
tensor(0.0341)
Frame 132
tensor(0.2775)
 # KEYFRAME 116
0.07807286200113595
Frame 133
tensor(0.1557)
 # KEYFRAME 117
0.07909403800294967
Frame 134
tensor(0.1235)
 # KEYFRAME 118
0.0796283269955893
Frame 135
tensor(0.0909)
Frame 136
tensor(0.2809)
 # KEYFRAME 119
0.08012611499725608
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1690 loss_distill=0.4024 tta_take=0.008s
Frame 137
tensor(0.1538)
 # KEYFRAME 120
0.07570815100189066
Frame 138
tensor(0.1399)
 # KEYFRAME 121
0.07692746599786915
Frame 139
tensor(0.1975)
 # KEYFRAME 122
0.0767084069957491
Frame 140
tensor(0.1136)
 # KEYFRAME 123
0.07732058499823324
Frame 141
tensor(0.0386)
Frame 142
tensor(0.4446)
 # KEYFRAME 124
0.07750328399561113
Frame 143
tensor(0.5149)
 # KEYFRAME 125
0.07859016099973815
Frame 144
tensor(0.2615)
 # KEYFRAME 126
0.07854801999928895
Frame 145
tensor(0.1409)
 # KEYFRAME 127
0.0790495289984392
Frame 146
tensor(0.2912)
 # KEYFRAME 128
0.08002330500312382
Frame 147
tensor(0.6326)
 # KEYFRAME 129
0.0800241350007127
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1691 loss_distill=0.4024 tta_take=0.009s
Frame 148
tensor(0.1370)
 # KEYFRAME 130
0.07541836200107355
Frame 149
tensor(0.1268)
 # KEYFRAME 131
0.07648360700113699
Backending... 132 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 57660, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1692 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 253/556] scannetpp/036bce3393/DSC frames=150 tta_steps_this_scene=11 mean_loss=0.3649 total_steps=1692 time=49.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0726)
Frame 2
tensor(0.1382)
 # KEYFRAME 1
Frame 3
tensor(0.0651)
Frame 4
tensor(0.1372)
 # KEYFRAME 2
0.05184516500594327
Frame 5
tensor(0.0689)
Frame 6
tensor(0.1419)
 # KEYFRAME 3
0.05188226500467863
Frame 7
tensor(0.0648)
Frame 8
tensor(0.1362)
 # KEYFRAME 4
0.05189962599979481
Frame 9
tensor(0.0740)
Frame 10
tensor(0.1428)
 # KEYFRAME 5
0.051846854999894276
Frame 11
tensor(0.0677)
Frame 12
tensor(0.1391)
 # KEYFRAME 6
0.05214272499870276
Frame 13
tensor(0.0633)
Frame 14
tensor(0.1281)
 # KEYFRAME 7
0.05245650299912086
Frame 15
tensor(0.0605)
Frame 16
tensor(0.1267)
 # KEYFRAME 8
0.05344026999955531
Frame 17
tensor(0.0680)
Frame 18
tensor(0.1397)
 # KEYFRAME 9
0.05292414199357154
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 19
tensor(0.0735)
Frame 20
tensor(0.1375)
 # KEYFRAME 10
0.05175884599884739
Frame 21
tensor(0.0687)
Frame 22
tensor(0.1446)
 # KEYFRAME 11
0.05199847499898169
Frame 23
tensor(0.0693)
Frame 24
tensor(0.1318)
 # KEYFRAME 12
0.05192187600187026
Frame 25
tensor(0.0723)
Frame 26
tensor(0.1398)
 # KEYFRAME 13
0.051964835001854226
Frame 27
tensor(0.0720)
Frame 28
tensor(0.1303)
 # KEYFRAME 14
0.05196739500388503
Frame 29
tensor(0.0665)
Frame 30
tensor(0.1293)
 # KEYFRAME 15
0.05315349099691957
Frame 31
tensor(0.0629)
Frame 32
tensor(0.1206)
 # KEYFRAME 16
0.05315023099683458
Frame 33
tensor(0.0638)
Frame 34
tensor(0.1231)
 # KEYFRAME 17
0.05475960500189103
Frame 35
tensor(0.0750)
Frame 36
tensor(0.1406)
 # KEYFRAME 18
0.05248220299836248
Frame 37
tensor(0.0530)
Frame 38
tensor(0.1131)
 # KEYFRAME 19
0.05572551100340206
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 39
tensor(0.0558)
Frame 40
tensor(0.1159)
 # KEYFRAME 20
0.052039505004358944
Frame 41
tensor(0.0516)
Frame 42
tensor(0.1133)
 # KEYFRAME 21
0.05214065499603748
Frame 43
tensor(0.0625)
Frame 44
tensor(0.1234)
 # KEYFRAME 22
0.05227628399734385
Frame 45
tensor(0.0625)
Frame 46
tensor(0.1308)
 # KEYFRAME 23
0.052974931997596286
Frame 47
tensor(0.0696)
Frame 48
tensor(0.1301)
 # KEYFRAME 24
0.05348458999651484
Frame 49
tensor(0.0650)
Frame 50
tensor(0.1270)
 # KEYFRAME 25
0.05216995399678126
Frame 51
tensor(0.0722)
Frame 52
tensor(0.1355)
 # KEYFRAME 26
0.05242458399879979
Frame 53
tensor(0.0632)
Frame 54
tensor(0.1289)
 # KEYFRAME 27
0.05528011300339131
Frame 55
tensor(0.0599)
Frame 56
tensor(0.1296)
 # KEYFRAME 28
0.0531390010000905
Frame 57
tensor(0.0554)
Frame 58
tensor(0.1192)
 # KEYFRAME 29
0.0559601909990306
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 59
tensor(0.0693)
Frame 60
tensor(0.1309)
 # KEYFRAME 30
0.05218942399369553
Frame 61
tensor(0.0602)
Frame 62
tensor(0.1260)
 # KEYFRAME 31
0.052264423997257836
Frame 63
tensor(0.0625)
Frame 64
tensor(0.1298)
 # KEYFRAME 32
0.05248525399656501
Frame 65
tensor(0.0637)
Frame 66
tensor(0.1258)
 # KEYFRAME 33
0.05278982199524762
Frame 67
tensor(0.0697)
Frame 68
tensor(0.1311)
 # KEYFRAME 34
0.05282183199597057
Frame 69
tensor(0.0674)
Frame 70
tensor(0.1322)
 # KEYFRAME 35
0.052163524997013155
Frame 71
tensor(0.0626)
Frame 72
tensor(0.1273)
 # KEYFRAME 36
0.0525912020020769
Frame 73
tensor(0.0552)
Frame 74
tensor(0.1135)
 # KEYFRAME 37
0.053166359997703694
Frame 75
tensor(0.0562)
Frame 76
tensor(0.1128)
 # KEYFRAME 38
0.052378444001078606
Frame 77
tensor(0.0555)
Frame 78
tensor(0.1049)
 # KEYFRAME 39
0.05335216999810655
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1693 loss_distill=0.1733 tta_take=0.005s
Frame 79
tensor(0.0475)
Frame 80
tensor(0.1005)
 # KEYFRAME 40
0.052462323001236655
Frame 81
tensor(0.0430)
Frame 82
tensor(0.0927)
Frame 83
tensor(0.1352)
 # KEYFRAME 41
0.05284094200032996
Frame 84
tensor(0.0426)
Frame 85
tensor(0.0941)
Frame 86
tensor(0.1372)
 # KEYFRAME 42
0.052871451996907126
Frame 87
tensor(0.0370)
Frame 88
tensor(0.0905)
Frame 89
tensor(0.1361)
 # KEYFRAME 43
0.05240305300685577
Frame 90
tensor(0.0494)
Frame 91
tensor(0.0936)
Frame 92
tensor(0.1379)
 # KEYFRAME 44
0.052866252000967506
Frame 93
tensor(0.0480)
Frame 94
tensor(0.0904)
Frame 95
tensor(0.1382)
 # KEYFRAME 45
0.05236365400196519
Frame 96
tensor(0.0424)
Frame 97
tensor(0.0803)
Frame 98
tensor(0.1394)
 # KEYFRAME 46
0.052733142001670785
Frame 99
tensor(0.0363)
Frame 100
tensor(0.0788)
Frame 101
tensor(0.1183)
 # KEYFRAME 47
0.05341829900135053
Frame 102
tensor(0.0378)
Frame 103
tensor(0.0854)
Frame 104
tensor(0.1176)
 # KEYFRAME 48
0.053614188997016754
Frame 105
tensor(0.0423)
Frame 106
tensor(0.0833)
Frame 107
tensor(0.1180)
 # KEYFRAME 49
0.0547563549989718
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1694 loss_distill=0.2747 tta_take=0.005s
Frame 108
tensor(0.0395)
Frame 109
tensor(0.0743)
Frame 110
tensor(0.1148)
 # KEYFRAME 50
0.05263836299855029
Frame 111
tensor(0.0395)
Frame 112
tensor(0.0735)
Frame 113
tensor(0.1131)
 # KEYFRAME 51
0.05323293100082083
Frame 114
tensor(0.0332)
Frame 115
tensor(0.0713)
Frame 116
tensor(0.1056)
 # KEYFRAME 52
0.05464854599995306
Frame 117
tensor(0.0286)
Frame 118
tensor(0.0638)
Frame 119
tensor(0.0954)
Frame 120
tensor(0.1256)
 # KEYFRAME 53
0.052519283002766315
Frame 121
tensor(0.0251)
Frame 122
tensor(0.0568)
Frame 123
tensor(0.0840)
Frame 124
tensor(0.1105)
 # KEYFRAME 54
0.05445248600153718
Frame 125
tensor(0.0261)
Frame 126
tensor(0.0501)
Frame 127
tensor(0.0771)
Frame 128
tensor(0.1000)
Frame 129
tensor(0.1196)
 # KEYFRAME 55
0.05270209200534737
Frame 130
tensor(0.0245)
Frame 131
tensor(0.0468)
Frame 132
tensor(0.0729)
Frame 133
tensor(0.0945)
Frame 134
tensor(0.1147)
 # KEYFRAME 56
0.05355625900119776
Frame 135
tensor(0.0215)
Frame 136
tensor(0.0414)
Frame 137
tensor(0.0704)
Frame 138
tensor(0.0858)
Frame 139
tensor(0.1038)
 # KEYFRAME 57
0.05458965599973453
Frame 140
tensor(0.0184)
Frame 141
tensor(0.0375)
Frame 142
tensor(0.0585)
Frame 143
tensor(0.0814)
Frame 144
tensor(0.1021)
 # KEYFRAME 58
0.05301469099504175
Frame 145
tensor(0.0210)
Frame 146
tensor(0.0419)
Frame 147
tensor(0.0665)
Frame 148
tensor(0.0852)
Frame 149
tensor(0.1038)
 # KEYFRAME 59
0.054936433996772394
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1695 loss_distill=0.3466 tta_take=0.005s
Frame 150
tensor(0.0158)
Frame 151
tensor(0.0389)
Frame 152
tensor(0.0575)
Frame 153
tensor(0.0776)
Frame 154
tensor(0.0958)
Frame 155
tensor(0.1190)
 # KEYFRAME 60
0.052731443000084255
Frame 156
tensor(0.0157)
Frame 157
tensor(0.0371)
Frame 158
tensor(0.0565)
Frame 159
tensor(0.0788)
Frame 160
tensor(0.0999)
Frame 161
tensor(0.1204)
 # KEYFRAME 61
0.05301141100062523
Frame 162
tensor(0.0184)
Frame 163
tensor(0.0403)
Frame 164
tensor(0.0642)
Frame 165
tensor(0.0862)
Frame 166
tensor(0.1095)
 # KEYFRAME 62
0.0546152160022757
Frame 167
tensor(0.0251)
Frame 168
tensor(0.0468)
Frame 169
tensor(0.0683)
Frame 170
tensor(0.0899)
Frame 171
tensor(0.1059)
 # KEYFRAME 63
0.05266581199975917
Frame 172
tensor(0.0202)
Frame 173
tensor(0.0427)
Frame 174
tensor(0.0594)
Frame 175
tensor(0.0840)
Frame 176
tensor(0.1029)
 # KEYFRAME 64
0.05420648799918126
Frame 177
tensor(0.0175)
Frame 178
tensor(0.0387)
Frame 179
tensor(0.0587)
Frame 180
tensor(0.0805)
Frame 181
tensor(0.1000)
 # KEYFRAME 65
0.05318447099853074
Frame 182
tensor(0.0203)
Frame 183
tensor(0.0376)
Frame 184
tensor(0.0567)
Frame 185
tensor(0.0776)
Frame 186
tensor(0.0924)
Frame 187
tensor(0.1107)
 # KEYFRAME 66
0.053475659995456226
Frame 188
tensor(0.0153)
Frame 189
tensor(0.0363)
Frame 190
tensor(0.0550)
Frame 191
tensor(0.0732)
Frame 192
tensor(0.0953)
Frame 193
tensor(0.1095)
 # KEYFRAME 67
0.05510020400106441
Frame 194
tensor(0.0174)
Frame 195
tensor(0.0337)
Frame 196
tensor(0.0512)
Frame 197
tensor(0.0665)
Frame 198
tensor(0.0775)
Frame 199
tensor(0.0934)
Frame 200
tensor(0.1120)
 # KEYFRAME 68
0.05316758100525476
Frame 201
tensor(0.0162)
Frame 202
tensor(0.0278)
Frame 203
tensor(0.0459)
Frame 204
tensor(0.0610)
Frame 205
tensor(0.0748)
Frame 206
tensor(0.0852)
Frame 207
tensor(0.1020)
 # KEYFRAME 69
0.05604994100576732
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1696 loss_distill=0.4024 tta_take=0.005s
Frame 208
tensor(0.0103)
Frame 209
tensor(0.0255)
Frame 210
tensor(0.0408)
Frame 211
tensor(0.0547)
Frame 212
tensor(0.0693)
Frame 213
tensor(0.0848)
Frame 214
tensor(0.0991)
Frame 215
tensor(0.1073)
 # KEYFRAME 70
0.05349157900491264
Frame 216
tensor(0.0172)
Frame 217
tensor(0.0320)
Frame 218
tensor(0.0507)
Frame 219
tensor(0.0693)
Frame 220
tensor(0.0832)
Frame 221
tensor(0.1037)
 # KEYFRAME 71
0.05410463699809043
Frame 222
tensor(0.0127)
Frame 223
tensor(0.0354)
Frame 224
tensor(0.0572)
Frame 225
tensor(0.0779)
Frame 226
tensor(0.0919)
Frame 227
tensor(0.1185)
 # KEYFRAME 72
0.055467133002821356
Frame 228
tensor(0.0210)
Frame 229
tensor(0.0400)
Frame 230
tensor(0.0599)
Frame 231
tensor(0.0814)
Frame 232
tensor(0.1009)
 # KEYFRAME 73
0.053645388994482346
Frame 233
tensor(0.0215)
Frame 234
tensor(0.0460)
Frame 235
tensor(0.0698)
Frame 236
tensor(0.0953)
Frame 237
tensor(0.1273)
 # KEYFRAME 74
0.05563075199461309
Frame 238
tensor(0.0183)
Frame 239
tensor(0.0451)
Frame 240
tensor(0.0676)
Frame 241
tensor(0.1012)
 # KEYFRAME 75
0.05418728700169595
Frame 242
tensor(0.0240)
Frame 243
tensor(0.0524)
Frame 244
tensor(0.0799)
Frame 245
tensor(0.1067)
 # KEYFRAME 76
0.054443427005026024
Frame 246
tensor(0.0257)
Frame 247
tensor(0.0580)
Frame 248
tensor(0.0908)
Frame 249
tensor(0.1149)
 # KEYFRAME 77
0.05640405900339829
Frame 250
tensor(0.0281)
Frame 251
tensor(0.0582)
Frame 252
tensor(0.0888)
Frame 253
tensor(0.1233)
 # KEYFRAME 78
0.0548176849988522
Frame 254
tensor(0.0294)
Frame 255
tensor(0.0559)
Frame 256
tensor(0.0922)
Frame 257
tensor(0.1146)
 # KEYFRAME 79
0.05730644600407686
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1697 loss_distill=0.4024 tta_take=0.005s
Frame 258
tensor(0.0287)
Frame 259
tensor(0.0582)
Frame 260
tensor(0.0856)
Frame 261
tensor(0.1251)
 # KEYFRAME 80
0.05373131800297415
Frame 262
tensor(0.0210)
Frame 263
tensor(0.0525)
Frame 264
tensor(0.0761)
Frame 265
tensor(0.1043)
 # KEYFRAME 81
0.05375927899876842
Frame 266
tensor(0.0260)
Frame 267
tensor(0.0513)
Frame 268
tensor(0.0795)
Frame 269
tensor(0.1029)
 # KEYFRAME 82
0.0545020859935903
Frame 270
tensor(0.0272)
Frame 271
tensor(0.0481)
Frame 272
tensor(0.0739)
Frame 273
tensor(0.0989)
Frame 274
tensor(0.1203)
 # KEYFRAME 83
0.05365981900104089
Frame 275
tensor(0.0180)
Frame 276
tensor(0.0381)
Frame 277
tensor(0.0557)
Frame 278
tensor(0.0796)
Frame 279
tensor(0.0972)
Frame 280
tensor(0.1126)
 # KEYFRAME 84
0.05473559500387637
Frame 281
tensor(0.0136)
Frame 282
tensor(0.0255)
Frame 283
tensor(0.0416)
Frame 284
tensor(0.0546)
Frame 285
tensor(0.0694)
Frame 286
tensor(0.0820)
Frame 287
tensor(0.0941)
Frame 288
tensor(0.1071)
 # KEYFRAME 85
0.05411675700452179
Frame 289
tensor(0.0103)
Frame 290
tensor(0.0218)
Frame 291
tensor(0.0334)
Frame 292
tensor(0.0438)
Frame 293
tensor(0.0561)
Frame 294
tensor(0.0721)
Frame 295
tensor(0.0864)
Frame 296
tensor(0.0940)
Frame 297
tensor(0.0994)
Frame 298
tensor(0.1119)
 # KEYFRAME 86
0.054714225996576715
Frame 299
tensor(0.0075)
Backending... 87 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27604, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1698 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 254/556] vkitti/Scene18/15-deg-left/Camera_0 frames=300 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=1698 time=46.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0520)
Frame 2
tensor(0.1649)
 # KEYFRAME 1
Frame 3
tensor(0.2019)
 # KEYFRAME 2
0.051010098002734594
Frame 4
tensor(0.1574)
 # KEYFRAME 3
0.05301426199730486
Frame 5
tensor(0.1847)
 # KEYFRAME 4
0.05382548799389042
Frame 6
tensor(0.1688)
 # KEYFRAME 5
0.05495830500149168
Frame 7
tensor(0.2383)
 # KEYFRAME 6
0.05627608000213513
Frame 8
tensor(0.0963)
Frame 9
tensor(0.3254)
 # KEYFRAME 7
0.05684813799598487
Frame 10
tensor(0.0760)
Frame 11
tensor(0.2703)
 # KEYFRAME 8
0.05778829399787355
Frame 12
tensor(0.1214)
 # KEYFRAME 9
0.05771158399875276
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 13
tensor(0.3200)
 # KEYFRAME 10
0.052056414999242406
Frame 14
tensor(0.3800)
 # KEYFRAME 11
0.0538318389953929
Frame 15
tensor(0.1867)
 # KEYFRAME 12
0.055115764000220224
Frame 16
tensor(0.0978)
Frame 17
tensor(0.2845)
 # KEYFRAME 13
0.05764274499961175
Frame 18
tensor(0.2894)
 # KEYFRAME 14
0.057979334000265226
Frame 19
tensor(0.2209)
 # KEYFRAME 15
0.058717311003420036
Frame 20
tensor(0.2309)
 # KEYFRAME 16
0.05987446699873544
Frame 21
tensor(0.0581)
Frame 22
tensor(0.0391)
Frame 23
tensor(0.1965)
 # KEYFRAME 17
0.06101254300301662
Frame 24
tensor(0.0474)
Frame 25
tensor(0.1492)
 # KEYFRAME 18
0.061291981997783296
Frame 26
tensor(0.0407)
Frame 27
tensor(0.2666)
 # KEYFRAME 19
0.06331957499787677
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 28
tensor(0.0358)
Frame 29
tensor(0.1354)
 # KEYFRAME 20
0.059298549000232015
Frame 30
tensor(0.1622)
 # KEYFRAME 21
0.0604325649983366
Frame 31
tensor(0.1472)
 # KEYFRAME 22
0.061180031996627804
Frame 32
tensor(0.1927)
 # KEYFRAME 23
0.062211127995396964
Frame 33
tensor(0.1715)
 # KEYFRAME 24
0.06288823599606985
Frame 34
tensor(0.2127)
 # KEYFRAME 25
0.0636533739962033
Frame 35
tensor(0.0790)
Frame 36
tensor(0.1484)
 # KEYFRAME 26
0.065397557002143
Frame 37
tensor(0.0376)
Frame 38
tensor(0.3281)
 # KEYFRAME 27
0.0664968740020413
Frame 39
tensor(0.1742)
 # KEYFRAME 28
0.0673407100039185
Frame 40
tensor(0.1320)
 # KEYFRAME 29
0.06871808599680662
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 41
tensor(0.0931)
Frame 42
tensor(0.1132)
 # KEYFRAME 30
0.06556398599786917
Frame 43
tensor(0.0742)
Frame 44
tensor(0.2457)
 # KEYFRAME 31
0.0682650669987197
Frame 45
tensor(0.0781)
Frame 46
tensor(0.3945)
 # KEYFRAME 32
0.06817112799762981
Frame 47
tensor(0.2159)
 # KEYFRAME 33
0.06904344500071602
Frame 48
tensor(0.2585)
 # KEYFRAME 34
0.06955534200096736
Frame 49
tensor(0.2094)
 # KEYFRAME 35
0.07103638799890177
Frame 50
tensor(0.1169)
 # KEYFRAME 36
0.07205118300043978
Frame 51
tensor(0.3050)
 # KEYFRAME 37
0.07272610100335442
Frame 52
tensor(0.3223)
 # KEYFRAME 38
0.07298314000217943
Frame 53
tensor(0.0297)
Frame 54
tensor(0.1216)
 # KEYFRAME 39
0.07431307499791728
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1699 loss_distill=0.1733 tta_take=0.009s
Frame 55
tensor(0.0835)
Frame 56
tensor(0.1283)
 # KEYFRAME 40
0.07262828200327931
Frame 57
tensor(0.1566)
 # KEYFRAME 41
0.07502189300430473
Frame 58
tensor(0.0787)
Frame 59
tensor(0.2109)
 # KEYFRAME 42
0.07517337199533358
Frame 60
tensor(0.2189)
 # KEYFRAME 43
0.0760923490015557
Frame 61
tensor(0.2911)
 # KEYFRAME 44
0.07605672899808269
Frame 62
tensor(0.1522)
 # KEYFRAME 45
0.07732434499484953
Frame 63
tensor(0.1082)
 # KEYFRAME 46
0.07813323200389277
Frame 64
tensor(0.0263)
Frame 65
tensor(0.3244)
 # KEYFRAME 47
0.0780207919960958
Frame 66
tensor(0.0920)
Frame 67
tensor(0.0520)
Frame 68
tensor(0.3506)
 # KEYFRAME 48
0.07960119700146606
Frame 69
tensor(0.2107)
 # KEYFRAME 49
0.07978816599643324
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531069278717
TTA-STEP: step=1700 loss_distill=0.2747 tta_take=0.009s
Frame 70
tensor(0.0857)
Frame 71
tensor(0.2955)
 # KEYFRAME 50
0.0795263270047144
Frame 72
tensor(0.1191)
 # KEYFRAME 51
0.08203833799780114
Frame 73
tensor(0.1753)
 # KEYFRAME 52
0.08214877799764508
Frame 74
tensor(0.1092)
 # KEYFRAME 53
0.08367964200442657
Frame 75
tensor(0.3302)
 # KEYFRAME 54
0.08431923999887658
Frame 76
tensor(0.1407)
 # KEYFRAME 55
0.08443852900381899
Frame 77
tensor(0.2567)
 # KEYFRAME 56
0.08592296399729094
Frame 78
tensor(0.2020)
 # KEYFRAME 57
0.08590111400553724
Frame 79
tensor(0.7039)
 # KEYFRAME 58
0.08742603900464019
Frame 80
tensor(0.2015)
 # KEYFRAME 59
0.0870013210005709
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1701 loss_distill=0.3466 tta_take=0.009s
Frame 81
tensor(0.0726)
Frame 82
tensor(0.1763)
 # KEYFRAME 60
0.08689459100423846
Frame 83
tensor(0.1163)
 # KEYFRAME 61
0.08849846499651903
Frame 84
tensor(0.3516)
 # KEYFRAME 62
0.08848009500070475
Frame 85
tensor(0.1504)
 # KEYFRAME 63
0.08923592299834127
Frame 86
tensor(0.0659)
Frame 87
tensor(0.1196)
 # KEYFRAME 64
0.0896627200054354
Frame 88
tensor(0.1211)
 # KEYFRAME 65
0.09156705399800558
Frame 89
tensor(0.0557)
Frame 90
tensor(0.3531)
 # KEYFRAME 66
0.09159806400566595
Frame 91
tensor(0.1247)
 # KEYFRAME 67
0.09230041199771222
Frame 92
tensor(0.2235)
 # KEYFRAME 68
0.09313246799865738
Frame 93
tensor(0.1243)
 # KEYFRAME 69
0.09435233400290599
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1702 loss_distill=0.4024 tta_take=0.009s
Frame 94
tensor(0.1623)
 # KEYFRAME 70
0.09369915599381784
Frame 95
tensor(0.0481)
Frame 96
tensor(0.1161)
 # KEYFRAME 71
0.09596057900489541
Frame 97
tensor(0.1096)
 # KEYFRAME 72
0.09547467000083998
Frame 98
tensor(0.1991)
 # KEYFRAME 73
0.09626949799712747
Frame 99
tensor(0.0795)
Frame 100
tensor(0.1233)
 # KEYFRAME 74
0.09705855400534347
Frame 101
tensor(0.0795)
Frame 102
tensor(0.1548)
 # KEYFRAME 75
0.0980740209997748
Frame 103
tensor(0.1409)
 # KEYFRAME 76
0.09897637799440417
Frame 104
tensor(0.1355)
 # KEYFRAME 77
0.09974687499925494
Frame 105
tensor(0.0744)
Frame 106
tensor(0.1424)
 # KEYFRAME 78
0.09987531499791658
Frame 107
tensor(0.1573)
 # KEYFRAME 79
0.09999122400040505
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1703 loss_distill=0.4024 tta_take=0.009s
Frame 108
tensor(0.2185)
 # KEYFRAME 80
0.09344920700095827
Frame 109
tensor(0.0414)
Frame 110
tensor(0.3133)
 # KEYFRAME 81
0.09639404699555598
Frame 111
tensor(0.1866)
 # KEYFRAME 82
0.09496263199980604
Frame 112
tensor(0.1466)
 # KEYFRAME 83
0.09553718999814009
Frame 113
tensor(0.0500)
Frame 114
tensor(0.1670)
 # KEYFRAME 84
0.09689997500390746
Frame 115
tensor(0.0619)
Frame 116
tensor(0.1492)
 # KEYFRAME 85
0.09692534500209149
Frame 117
tensor(0.1550)
 # KEYFRAME 86
0.09846272000140743
Frame 118
tensor(0.1925)
 # KEYFRAME 87
0.09939994599699276
Frame 119
tensor(0.1773)
 # KEYFRAME 88
0.0993814570028917
Frame 120
tensor(0.2204)
 # KEYFRAME 89
0.10106636100681499
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1704 loss_distill=0.4024 tta_take=0.010s
Frame 121
tensor(0.9164)
 # KEYFRAME 90
0.09322280799824512
Frame 122
tensor(0.0827)
Frame 123
tensor(0.1607)
 # KEYFRAME 91
0.09662831600144273
Frame 124
tensor(0.1609)
 # KEYFRAME 92
0.09593927899550181
Frame 125
tensor(0.1538)
 # KEYFRAME 93
0.09681089500372764
Frame 126
tensor(0.1176)
 # KEYFRAME 94
0.09695179499976803
Frame 127
tensor(0.0735)
Frame 128
tensor(0.1251)
 # KEYFRAME 95
0.09780873199633788
Frame 129
tensor(0.1449)
 # KEYFRAME 96
0.09900409699912416
Frame 130
tensor(0.1536)
 # KEYFRAME 97
0.0984850790046039
Frame 131
tensor(0.0448)
Frame 132
tensor(0.1063)
 # KEYFRAME 98
0.10028509299445432
Frame 133
tensor(0.0710)
Frame 134
tensor(0.2512)
 # KEYFRAME 99
0.10123429999657674
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1705 loss_distill=0.4024 tta_take=0.009s
Frame 135
tensor(0.0892)
Frame 136
tensor(0.5528)
 # KEYFRAME 100
0.0932437379960902
Frame 137
tensor(0.3190)
 # KEYFRAME 101
0.09675225600221893
Frame 138
tensor(0.2069)
 # KEYFRAME 102
0.09538608999719145
Frame 139
tensor(0.1232)
 # KEYFRAME 103
0.09640906699496554
Frame 140
tensor(0.1853)
 # KEYFRAME 104
0.09715472399693681
Frame 141
tensor(0.1297)
 # KEYFRAME 105
0.09774984199611936
Frame 142
tensor(0.2978)
 # KEYFRAME 106
0.09851040899957297
Frame 143
tensor(0.1595)
 # KEYFRAME 107
0.09893721800472122
Frame 144
tensor(0.3984)
 # KEYFRAME 108
0.10058366199518787
Frame 145
tensor(0.0467)
Frame 146
tensor(0.0692)
Frame 147
tensor(0.0684)
Frame 148
tensor(0.0821)
Backending... 109 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 71829, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1706 loss_distill=0.4024 tta_take=0.009s
[epoch 0 scene 255/556] scannetpp/1831b3823a/frame frames=149 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=1706 time=45.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0476)
Frame 2
tensor(0.0909)
Frame 3
tensor(0.1206)
 # KEYFRAME 1
Frame 4
tensor(0.0292)
Frame 5
tensor(0.0869)
Frame 6
tensor(0.1270)
 # KEYFRAME 2
0.05157154699554667
Frame 7
tensor(0.0871)
Frame 8
tensor(0.1484)
 # KEYFRAME 3
0.052514583003357984
Frame 9
tensor(0.0846)
Frame 10
tensor(0.1803)
 # KEYFRAME 4
0.05389621799986344
Frame 11
tensor(0.0912)
Frame 12
tensor(0.0824)
Frame 13
tensor(0.0870)
Frame 14
tensor(0.2431)
 # KEYFRAME 5
0.05470708500070032
Frame 15
tensor(0.0791)
Frame 16
tensor(0.1728)
 # KEYFRAME 6
0.05512676299986197
Frame 17
tensor(0.1577)
 # KEYFRAME 7
0.056256899995787535
Frame 18
tensor(0.0994)
Frame 19
tensor(0.1417)
 # KEYFRAME 8
0.05723244699765928
Frame 20
tensor(0.0567)
Frame 21
tensor(0.1506)
 # KEYFRAME 9
0.0578338640043512
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 22
tensor(0.0984)
Frame 23
tensor(0.1660)
 # KEYFRAME 10
0.05178336500102887
Frame 24
tensor(0.0522)
Frame 25
tensor(0.0833)
Frame 26
tensor(0.1586)
 # KEYFRAME 11
0.05276519199833274
Frame 27
tensor(0.0722)
Frame 28
tensor(0.2927)
 # KEYFRAME 12
0.05387737799901515
Frame 29
tensor(0.0720)
Frame 30
tensor(0.1173)
 # KEYFRAME 13
0.05511958400165895
Frame 31
tensor(0.0690)
Frame 32
tensor(0.1611)
 # KEYFRAME 14
0.05521290400065482
Frame 33
tensor(0.1802)
 # KEYFRAME 15
0.0552122130029602
Frame 34
tensor(0.1710)
 # KEYFRAME 16
0.05604206099815201
Frame 35
tensor(0.0804)
Frame 36
tensor(0.2030)
 # KEYFRAME 17
0.05669624800066231
Frame 37
tensor(0.1448)
 # KEYFRAME 18
0.057004246998985764
Frame 38
tensor(0.0627)
Frame 39
tensor(0.1754)
 # KEYFRAME 19
0.05797709400212625
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 40
tensor(0.1346)
 # KEYFRAME 20
0.05397110799822258
Frame 41
tensor(0.1163)
 # KEYFRAME 21
0.054612245003227144
Frame 42
tensor(0.0326)
Frame 43
tensor(0.0842)
Frame 44
tensor(0.0955)
Frame 45
tensor(0.1692)
 # KEYFRAME 22
0.055100044002756476
Frame 46
tensor(0.2122)
 # KEYFRAME 23
0.055649851994530763
Frame 47
tensor(0.1175)
 # KEYFRAME 24
0.05624745999375591
Frame 48
tensor(0.2023)
 # KEYFRAME 25
0.05665294799837284
Frame 49
tensor(0.1807)
 # KEYFRAME 26
0.05791248400055338
Frame 50
tensor(0.0950)
Frame 51
tensor(0.1252)
 # KEYFRAME 27
0.05919224900571862
Frame 52
tensor(0.1405)
 # KEYFRAME 28
0.05981425700156251
Frame 53
tensor(0.0399)
Frame 54
tensor(0.0815)
Frame 55
tensor(0.1063)
 # KEYFRAME 29
0.0606061549988226
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 56
tensor(0.0499)
Frame 57
tensor(0.0549)
Frame 58
tensor(0.0833)
Frame 59
tensor(0.1441)
 # KEYFRAME 30
0.05844791200070176
Frame 60
tensor(0.1221)
 # KEYFRAME 31
0.05916341899865074
Frame 61
tensor(0.1453)
 # KEYFRAME 32
0.06011024600593373
Frame 62
tensor(0.1186)
 # KEYFRAME 33
0.06058507499983534
Frame 63
tensor(0.5206)
 # KEYFRAME 34
0.060867713000334334
Frame 64
tensor(0.0648)
Frame 65
tensor(0.2741)
 # KEYFRAME 35
0.06148762100201566
Frame 66
tensor(0.0773)
Frame 67
tensor(0.1304)
 # KEYFRAME 36
0.062317527997947764
Frame 68
tensor(0.0934)
Frame 69
tensor(0.1445)
 # KEYFRAME 37
0.06289839599776315
Frame 70
tensor(0.0725)
Frame 71
tensor(0.1201)
 # KEYFRAME 38
0.06372448299953248
Frame 72
tensor(0.1082)
 # KEYFRAME 39
0.0640573319979012
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1707 loss_distill=0.1733 tta_take=0.009s
Frame 73
tensor(0.0364)
Frame 74
tensor(0.0698)
Frame 75
tensor(0.2041)
 # KEYFRAME 40
0.0628687760035973
Frame 76
tensor(0.0609)
Frame 77
tensor(0.1455)
 # KEYFRAME 41
0.06442028099991148
Frame 78
tensor(0.0455)
Frame 79
tensor(0.1857)
 # KEYFRAME 42
0.06492784900183324
Frame 80
tensor(0.1104)
 # KEYFRAME 43
0.06456538000202272
Frame 81
tensor(0.1746)
 # KEYFRAME 44
0.06578654600161826
Frame 82
tensor(0.2339)
 # KEYFRAME 45
0.0661429350002436
Frame 83
tensor(0.2248)
 # KEYFRAME 46
0.06614404400170315
Frame 84
tensor(0.1392)
 # KEYFRAME 47
0.06737089999660384
Frame 85
tensor(0.1257)
 # KEYFRAME 48
0.06798003800213337
Frame 86
tensor(0.5396)
 # KEYFRAME 49
0.06905192400154192
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1708 loss_distill=0.2747 tta_take=0.008s
Frame 87
tensor(0.1203)
 # KEYFRAME 50
0.06726676000107545
Frame 88
tensor(0.0459)
Frame 89
tensor(0.0591)
Frame 90
tensor(0.1462)
 # KEYFRAME 51
0.06882142500398913
Frame 91
tensor(0.1919)
 # KEYFRAME 52
0.06907839399354998
Frame 92
tensor(0.1348)
 # KEYFRAME 53
0.07052047899924219
Frame 93
tensor(0.0558)
Frame 94
tensor(0.2689)
 # KEYFRAME 54
0.06999994099896867
Frame 95
tensor(0.1893)
 # KEYFRAME 55
0.07245242300268728
Frame 96
tensor(0.2827)
 # KEYFRAME 56
0.07322943000326632
Frame 97
tensor(0.2231)
 # KEYFRAME 57
0.07392914700176334
Frame 98
tensor(0.2304)
 # KEYFRAME 58
0.07420331599860219
Frame 99
tensor(0.0363)
Frame 100
tensor(0.1077)
 # KEYFRAME 59
0.07571319999988191
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=1709 loss_distill=0.3466 tta_take=0.008s
Frame 101
tensor(0.2025)
 # KEYFRAME 60
0.07146448599814903
Frame 102
tensor(0.1612)
 # KEYFRAME 61
0.0731465790013317
Frame 103
tensor(0.2599)
 # KEYFRAME 62
0.07344998900225619
Frame 104
tensor(0.5765)
 # KEYFRAME 63
0.07400974699703511
Frame 105
tensor(0.0657)
Frame 106
tensor(0.3984)
 # KEYFRAME 64
0.07500827300100354
Frame 107
tensor(0.4428)
 # KEYFRAME 65
0.07457179400080349
Frame 108
tensor(0.2296)
 # KEYFRAME 66
0.07657105699763633
Frame 109
tensor(0.1337)
 # KEYFRAME 67
0.07798250299674692
Frame 110
tensor(0.1384)
 # KEYFRAME 68
0.07898540900350781
Frame 111
tensor(0.0935)
Frame 112
tensor(0.2977)
 # KEYFRAME 69
0.07945976799965138
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1710 loss_distill=0.4024 tta_take=0.009s
Frame 113
tensor(0.1295)
 # KEYFRAME 70
0.07571198100049514
Frame 114
tensor(0.1092)
 # KEYFRAME 71
0.07711223600199446
Frame 115
tensor(0.0663)
Frame 116
tensor(0.1865)
 # KEYFRAME 72
0.07717959499859717
Frame 117
tensor(0.0816)
Frame 118
tensor(0.1619)
 # KEYFRAME 73
0.07719515499775298
Frame 119
tensor(0.0904)
Frame 120
tensor(0.1638)
 # KEYFRAME 74
0.07757507399946917
Frame 121
tensor(0.1357)
 # KEYFRAME 75
0.07880752000346547
Frame 122
tensor(0.1396)
 # KEYFRAME 76
0.07868643999972846
Frame 123
tensor(0.1036)
 # KEYFRAME 77
0.07949123700382188
Frame 124
tensor(0.5383)
 # KEYFRAME 78
0.08011418500245782
Frame 125
tensor(0.2002)
 # KEYFRAME 79
0.08027873399987584
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=1711 loss_distill=0.4024 tta_take=0.009s
Frame 126
tensor(0.1266)
 # KEYFRAME 80
0.07587811000121292
Frame 127
tensor(0.2628)
 # KEYFRAME 81
0.07747947500320151
Frame 128
tensor(0.3015)
 # KEYFRAME 82
0.07790420300443657
Frame 129
tensor(0.5279)
 # KEYFRAME 83
0.07736201499938034
Frame 130
tensor(0.1877)
 # KEYFRAME 84
0.07818133199907606
Frame 131
tensor(0.2831)
 # KEYFRAME 85
0.07868550000421237
Frame 132
tensor(0.2101)
 # KEYFRAME 86
0.07819707200542325
Frame 133
tensor(0.2676)
 # KEYFRAME 87
0.07947729699662887
Frame 134
tensor(0.0863)
Frame 135
tensor(0.2272)
 # KEYFRAME 88
0.07985373599512968
Frame 136
tensor(0.3847)
 # KEYFRAME 89
0.08119648100546328
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1712 loss_distill=0.4024 tta_take=0.009s
Frame 137
tensor(0.0561)
Frame 138
tensor(0.1268)
 # KEYFRAME 90
0.07597392000025138
Frame 139
tensor(0.0511)
Frame 140
tensor(0.2265)
 # KEYFRAME 91
0.07822768199548591
Frame 141
tensor(0.2056)
 # KEYFRAME 92
0.0777357530023437
Frame 142
tensor(0.3892)
 # KEYFRAME 93
0.07765137300157221
Frame 143
tensor(0.1973)
 # KEYFRAME 94
0.07828792100190185
Frame 144
tensor(0.1960)
 # KEYFRAME 95
0.07941873800155008
Frame 145
tensor(0.3837)
 # KEYFRAME 96
0.07837056100106565
Frame 146
tensor(0.2069)
 # KEYFRAME 97
0.07948569699510699
Frame 147
tensor(0.2384)
 # KEYFRAME 98
0.07987632599542849
Frame 148
tensor(0.2797)
 # KEYFRAME 99
0.08122619100322481
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=1713 loss_distill=0.4024 tta_take=0.009s
Frame 149
tensor(0.1822)
 # KEYFRAME 100
0.0760080289983307
Backending... 101 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 56730, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1714 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 256/556] scannetpp/8e00ac7f59/DSC frames=150 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=1714 time=38.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0088)
Frame 2
tensor(0.0189)
Frame 3
tensor(0.0284)
Frame 4
tensor(0.0355)
Frame 5
tensor(0.0498)
Frame 6
tensor(0.0639)
Frame 7
tensor(0.0760)
Frame 8
tensor(0.0857)
Frame 9
tensor(0.1011)
 # KEYFRAME 1
Frame 10
tensor(0.0105)
Frame 11
tensor(0.0172)
Frame 12
tensor(0.0271)
Frame 13
tensor(0.0388)
Frame 14
tensor(0.0481)
Frame 15
tensor(0.0607)
Frame 16
tensor(0.0724)
Frame 17
tensor(0.0802)
Frame 18
tensor(0.0922)
Frame 19
tensor(0.1014)
 # KEYFRAME 2
0.05202441500296118
Frame 20
tensor(0.0098)
Frame 21
tensor(0.0219)
Frame 22
tensor(0.0313)
Frame 23
tensor(0.0404)
Frame 24
tensor(0.0503)
Frame 25
tensor(0.0597)
Frame 26
tensor(0.0695)
Frame 27
tensor(0.0804)
Frame 28
tensor(0.0863)
Frame 29
tensor(0.0934)
Frame 30
tensor(0.1041)
 # KEYFRAME 3
0.05191542600368848
Frame 31
tensor(0.0103)
Frame 32
tensor(0.0173)
Frame 33
tensor(0.0248)
Frame 34
tensor(0.0323)
Frame 35
tensor(0.0402)
Frame 36
tensor(0.0507)
Frame 37
tensor(0.0602)
Frame 38
tensor(0.0690)
Frame 39
tensor(0.0779)
Frame 40
tensor(0.0865)
Frame 41
tensor(0.0931)
Frame 42
tensor(0.1056)
 # KEYFRAME 4
0.052588443002605345
Frame 43
tensor(0.0102)
Frame 44
tensor(0.0202)
Frame 45
tensor(0.0319)
Frame 46
tensor(0.0401)
Frame 47
tensor(0.0521)
Frame 48
tensor(0.0702)
Frame 49
tensor(0.0797)
Frame 50
tensor(0.0937)
Frame 51
tensor(0.1060)
 # KEYFRAME 5
0.05278776199702406
Frame 52
tensor(0.0123)
Frame 53
tensor(0.0269)
Frame 54
tensor(0.0417)
Frame 55
tensor(0.0591)
Frame 56
tensor(0.0768)
Frame 57
tensor(0.0939)
Frame 58
tensor(0.1112)
 # KEYFRAME 6
0.05274755199934589
Frame 59
tensor(0.0172)
Frame 60
tensor(0.0328)
Frame 61
tensor(0.0508)
Frame 62
tensor(0.0708)
Frame 63
tensor(0.0890)
Frame 64
tensor(0.1053)
 # KEYFRAME 7
0.05275105200416874
Frame 65
tensor(0.0147)
Frame 66
tensor(0.0314)
Frame 67
tensor(0.0542)
Frame 68
tensor(0.0750)
Frame 69
tensor(0.0962)
Frame 70
tensor(0.1181)
 # KEYFRAME 8
0.053395219998492394
Frame 71
tensor(0.0174)
Frame 72
tensor(0.0355)
Frame 73
tensor(0.0557)
Frame 74
tensor(0.0766)
Frame 75
tensor(0.1025)
 # KEYFRAME 9
0.05270998299965868
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 76
tensor(0.0157)
Frame 77
tensor(0.0333)
Frame 78
tensor(0.0567)
Frame 79
tensor(0.0754)
Frame 80
tensor(0.0929)
Frame 81
tensor(0.1101)
 # KEYFRAME 10
0.05187597600161098
Frame 82
tensor(0.0143)
Frame 83
tensor(0.0342)
Frame 84
tensor(0.0527)
Frame 85
tensor(0.0737)
Frame 86
tensor(0.0923)
Frame 87
tensor(0.1085)
 # KEYFRAME 11
0.05206251399795292
Frame 88
tensor(0.0164)
Frame 89
tensor(0.0374)
Frame 90
tensor(0.0546)
Frame 91
tensor(0.0725)
Frame 92
tensor(0.0926)
Frame 93
tensor(0.1130)
 # KEYFRAME 12
0.05275280199566623
Frame 94
tensor(0.0194)
Frame 95
tensor(0.0362)
Frame 96
tensor(0.0564)
Frame 97
tensor(0.0748)
Frame 98
tensor(0.0897)
Frame 99
tensor(0.1099)
 # KEYFRAME 13
0.05274182200082578
Frame 100
tensor(0.0177)
Frame 101
tensor(0.0340)
Frame 102
tensor(0.0532)
Frame 103
tensor(0.0728)
Frame 104
tensor(0.0884)
Frame 105
tensor(0.1050)
 # KEYFRAME 14
0.05502354400232434
Frame 106
tensor(0.0176)
Frame 107
tensor(0.0331)
Frame 108
tensor(0.0524)
Frame 109
tensor(0.0710)
Frame 110
tensor(0.0901)
Frame 111
tensor(0.1063)
 # KEYFRAME 15
0.05297333100315882
Frame 112
tensor(0.0141)
Frame 113
tensor(0.0299)
Frame 114
tensor(0.0457)
Frame 115
tensor(0.0667)
Frame 116
tensor(0.0894)
Frame 117
tensor(0.1039)
 # KEYFRAME 16
0.0531813109992072
Frame 118
tensor(0.0154)
Frame 119
tensor(0.0335)
Frame 120
tensor(0.0489)
Frame 121
tensor(0.0647)
Frame 122
tensor(0.0824)
Frame 123
tensor(0.1003)
 # KEYFRAME 17
0.05708472700644052
Frame 124
tensor(0.0159)
Frame 125
tensor(0.0315)
Frame 126
tensor(0.0494)
Frame 127
tensor(0.0638)
Frame 128
tensor(0.0793)
Frame 129
tensor(0.0965)
Frame 130
tensor(0.1085)
 # KEYFRAME 18
0.05295420099719195
Frame 131
tensor(0.0117)
Frame 132
tensor(0.0251)
Frame 133
tensor(0.0381)
Frame 134
tensor(0.0535)
Frame 135
tensor(0.0674)
Frame 136
tensor(0.0804)
Frame 137
tensor(0.0932)
Frame 138
tensor(0.1065)
 # KEYFRAME 19
0.05777475400100229
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 139
tensor(0.0105)
Frame 140
tensor(0.0214)
Frame 141
tensor(0.0358)
Frame 142
tensor(0.0501)
Frame 143
tensor(0.0605)
Frame 144
tensor(0.0736)
Frame 145
tensor(0.0872)
Frame 146
tensor(0.0998)
Frame 147
tensor(0.1103)
 # KEYFRAME 20
0.05191687499609543
Frame 148
tensor(0.0110)
Frame 149
tensor(0.0225)
Frame 150
tensor(0.0329)
Frame 151
tensor(0.0460)
Frame 152
tensor(0.0617)
Frame 153
tensor(0.0710)
Frame 154
tensor(0.0845)
Frame 155
tensor(0.0952)
Frame 156
tensor(0.1064)
 # KEYFRAME 21
0.05219820400088793
Frame 157
tensor(0.0111)
Frame 158
tensor(0.0244)
Frame 159
tensor(0.0375)
Frame 160
tensor(0.0512)
Frame 161
tensor(0.0592)
Frame 162
tensor(0.0769)
Frame 163
tensor(0.0861)
Frame 164
tensor(0.1025)
 # KEYFRAME 22
0.05277513199689565
Frame 165
tensor(0.0159)
Frame 166
tensor(0.0292)
Frame 167
tensor(0.0411)
Frame 168
tensor(0.0573)
Frame 169
tensor(0.0740)
Frame 170
tensor(0.0941)
Frame 171
tensor(0.1151)
 # KEYFRAME 23
0.05263291300070705
Frame 172
tensor(0.0158)
Frame 173
tensor(0.0329)
Frame 174
tensor(0.0466)
Frame 175
tensor(0.0667)
Frame 176
tensor(0.0867)
Frame 177
tensor(0.1019)
 # KEYFRAME 24
0.05369632899964927
Frame 178
tensor(0.0156)
Frame 179
tensor(0.0383)
Frame 180
tensor(0.0543)
Frame 181
tensor(0.0762)
Frame 182
tensor(0.1009)
 # KEYFRAME 25
0.05257965300552314
Frame 183
tensor(0.0198)
Frame 184
tensor(0.0403)
Frame 185
tensor(0.0605)
Frame 186
tensor(0.0771)
Frame 187
tensor(0.1003)
 # KEYFRAME 26
0.05248546300572343
Frame 188
tensor(0.0207)
Frame 189
tensor(0.0408)
Frame 190
tensor(0.0690)
Frame 191
tensor(0.0956)
Frame 192
tensor(0.1169)
 # KEYFRAME 27
0.05515371399815194
Frame 193
tensor(0.0248)
Frame 194
tensor(0.0516)
Frame 195
tensor(0.0810)
Frame 196
tensor(0.1006)
 # KEYFRAME 28
0.05314064100093674
Frame 197
tensor(0.0220)
Frame 198
tensor(0.0514)
Frame 199
tensor(0.0750)
Frame 200
tensor(0.0980)
Frame 201
tensor(0.1280)
 # KEYFRAME 29
0.05596799100021599
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 202
tensor(0.0212)
Frame 203
tensor(0.0504)
Frame 204
tensor(0.0768)
Frame 205
tensor(0.1067)
 # KEYFRAME 30
0.05219689400109928
Frame 206
tensor(0.0253)
Frame 207
tensor(0.0497)
Frame 208
tensor(0.0734)
Frame 209
tensor(0.1011)
 # KEYFRAME 31
0.05320436100009829
Frame 210
tensor(0.0236)
Frame 211
tensor(0.0467)
Frame 212
tensor(0.0724)
Frame 213
tensor(0.0931)
Frame 214
tensor(0.1208)
 # KEYFRAME 32
0.05401015800453024
Frame 215
tensor(0.0268)
Frame 216
tensor(0.0507)
Frame 217
tensor(0.0810)
Frame 218
tensor(0.1039)
 # KEYFRAME 33
0.05314005100080976
Frame 219
tensor(0.0244)
Frame 220
tensor(0.0504)
Frame 221
tensor(0.0724)
Frame 222
tensor(0.0944)
Frame 223
tensor(0.1197)
 # KEYFRAME 34
0.055218934001459274
Frame 224
tensor(0.0220)
Frame 225
tensor(0.0516)
Frame 226
tensor(0.0756)
Frame 227
tensor(0.1017)
 # KEYFRAME 35
0.052993712000898086
Frame 228
tensor(0.0295)
Frame 229
tensor(0.0522)
Frame 230
tensor(0.0791)
Frame 231
tensor(0.1038)
 # KEYFRAME 36
0.05303696099872468
Frame 232
tensor(0.0246)
Frame 233
tensor(0.0545)
Frame 234
tensor(0.0794)
Frame 235
tensor(0.1047)
 # KEYFRAME 37
0.05757869499939261
Frame 236
tensor(0.0281)
Frame 237
tensor(0.0569)
Frame 238
tensor(0.0806)
Frame 239
tensor(0.1085)
 # KEYFRAME 38
0.05318251100106863
Frame 240
tensor(0.0251)
Frame 241
tensor(0.0496)
Frame 242
tensor(0.0831)
Frame 243
tensor(0.1122)
 # KEYFRAME 39
0.05940269900020212
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1715 loss_distill=0.1733 tta_take=0.005s
Frame 244
tensor(0.0298)
Frame 245
tensor(0.0571)
Frame 246
tensor(0.0886)
Frame 247
tensor(0.1212)
 # KEYFRAME 40
0.05276173199672485
Frame 248
tensor(0.0305)
Frame 249
tensor(0.0573)
Frame 250
tensor(0.0947)
Frame 251
tensor(0.1227)
 # KEYFRAME 41
0.053171270999882836
Frame 252
tensor(0.0317)
Frame 253
tensor(0.0602)
Frame 254
tensor(0.0885)
Frame 255
tensor(0.1266)
 # KEYFRAME 42
0.05330903000140097
Frame 256
tensor(0.0303)
Frame 257
tensor(0.0588)
Frame 258
tensor(0.0951)
Frame 259
tensor(0.1222)
 # KEYFRAME 43
0.05269881300046109
Frame 260
tensor(0.0326)
Frame 261
tensor(0.0594)
Frame 262
tensor(0.0811)
Frame 263
tensor(0.1214)
 # KEYFRAME 44
0.05355132999829948
Frame 264
tensor(0.0305)
Frame 265
tensor(0.0554)
Frame 266
tensor(0.0897)
Frame 267
tensor(0.1206)
 # KEYFRAME 45
0.05244370299624279
Frame 268
tensor(0.0276)
Frame 269
tensor(0.0572)
Frame 270
tensor(0.0858)
Frame 271
tensor(0.1125)
 # KEYFRAME 46
0.052545783000823576
Frame 272
tensor(0.0315)
Frame 273
tensor(0.0577)
Frame 274
tensor(0.0824)
Frame 275
tensor(0.1111)
 # KEYFRAME 47
0.053456260000530165
Frame 276
tensor(0.0265)
Frame 277
tensor(0.0580)
Frame 278
tensor(0.0888)
Frame 279
tensor(0.1124)
 # KEYFRAME 48
0.052681592998851556
Frame 280
tensor(0.0321)
Frame 281
tensor(0.0621)
Frame 282
tensor(0.0904)
Frame 283
tensor(0.1219)
 # KEYFRAME 49
0.0538847479983815
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1716 loss_distill=0.2747 tta_take=0.005s
Frame 284
tensor(0.0265)
Frame 285
tensor(0.0628)
Frame 286
tensor(0.0951)
Frame 287
tensor(0.1282)
 # KEYFRAME 50
0.052438653001445346
Frame 288
tensor(0.0317)
Frame 289
tensor(0.0613)
Frame 290
tensor(0.0914)
Frame 291
tensor(0.1208)
 # KEYFRAME 51
0.05280964199482696
Frame 292
tensor(0.0251)
Frame 293
tensor(0.0551)
Frame 294
tensor(0.0841)
Frame 295
tensor(0.1100)
 # KEYFRAME 52
0.05370365900307661
Frame 296
tensor(0.0330)
Frame 297
tensor(0.0573)
Frame 298
tensor(0.0876)
Frame 299
tensor(0.1209)
 # KEYFRAME 53
0.053179301001364365
Backending... 54 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 22248, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=1717 loss_distill=0.3466 tta_take=0.003s
[epoch 0 scene 257/556] vkitti/Scene20/30-deg-right/Camera_0 frames=300 tta_steps_this_scene=3 mean_loss=0.2648 total_steps=1717 time=43.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0247)
Frame 2
tensor(0.1326)
 # KEYFRAME 1
Frame 3
tensor(0.1989)
 # KEYFRAME 2
0.051698495997698046
Frame 4
tensor(0.1130)
 # KEYFRAME 3
0.05418316700524883
Frame 5
tensor(0.1595)
 # KEYFRAME 4
0.05397647800418781
Frame 6
tensor(0.1791)
 # KEYFRAME 5
0.054770984999777284
Frame 7
tensor(0.2046)
 # KEYFRAME 6
0.0555931220005732
Frame 8
tensor(0.1073)
 # KEYFRAME 7
0.05686871799844084
Frame 9
tensor(0.1643)
 # KEYFRAME 8
0.058602860997780226
Frame 10
tensor(0.1316)
 # KEYFRAME 9
0.058716250998259056
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.0916)
Frame 12
tensor(0.1419)
 # KEYFRAME 10
0.05262191200017696
Frame 13
tensor(0.2182)
 # KEYFRAME 11
0.053577790000417735
Frame 14
tensor(0.1007)
 # KEYFRAME 12
0.05455791600252269
Frame 15
tensor(0.1743)
 # KEYFRAME 13
0.05660494900075719
Frame 16
tensor(0.2483)
 # KEYFRAME 14
0.057490506005706266
Frame 17
tensor(0.1607)
 # KEYFRAME 15
0.05824277300416725
Frame 18
tensor(0.2251)
 # KEYFRAME 16
0.05927260900352849
Frame 19
tensor(0.2645)
 # KEYFRAME 17
0.06040084499545628
Frame 20
tensor(0.1494)
 # KEYFRAME 18
0.06230567799502751
Frame 21
tensor(0.1467)
 # KEYFRAME 19
0.06324312500510132
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 22
tensor(0.2193)
 # KEYFRAME 20
0.05917256000248017
Frame 23
tensor(0.1744)
 # KEYFRAME 21
0.06077808400004869
Frame 24
tensor(0.1454)
 # KEYFRAME 22
0.06139595199783798
Frame 25
tensor(0.1291)
 # KEYFRAME 23
0.06189519000326982
Frame 26
tensor(0.0332)
Frame 27
tensor(0.1281)
 # KEYFRAME 24
0.06258914699719753
Frame 28
tensor(0.0941)
Frame 29
tensor(0.2091)
 # KEYFRAME 25
0.0638569130023825
Frame 30
tensor(0.1623)
 # KEYFRAME 26
0.06565436599339591
Frame 31
tensor(0.0861)
Frame 32
tensor(0.1628)
 # KEYFRAME 27
0.06640390399843454
Frame 33
tensor(0.1779)
 # KEYFRAME 28
0.06736383100360399
Frame 34
tensor(0.1098)
 # KEYFRAME 29
0.06814765699527925
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 35
tensor(0.0831)
Frame 36
tensor(0.1122)
 # KEYFRAME 30
0.06602250500145601
Frame 37
tensor(0.1146)
 # KEYFRAME 31
0.06808210800227243
Frame 38
tensor(0.1419)
 # KEYFRAME 32
0.06830302700109314
Frame 39
tensor(0.1181)
 # KEYFRAME 33
0.06909337399702054
Frame 40
tensor(0.1143)
 # KEYFRAME 34
0.06931175399950007
Frame 41
tensor(0.1722)
 # KEYFRAME 35
0.07033782999496907
Frame 42
tensor(0.1372)
 # KEYFRAME 36
0.07130933600274147
Frame 43
tensor(0.1183)
 # KEYFRAME 37
0.07242686200333992
Frame 44
tensor(0.1089)
 # KEYFRAME 38
0.0728358609994757
Frame 45
tensor(0.0589)
Frame 46
tensor(0.1871)
 # KEYFRAME 39
0.0743075059945113
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1718 loss_distill=0.1733 tta_take=0.009s
Frame 47
tensor(0.1550)
 # KEYFRAME 40
0.07245612199767493
Frame 48
tensor(0.1370)
 # KEYFRAME 41
0.07493451299524168
Frame 49
tensor(0.0870)
Frame 50
tensor(0.1296)
 # KEYFRAME 42
0.0752266029958264
Frame 51
tensor(0.0975)
Frame 52
tensor(0.1327)
 # KEYFRAME 43
0.07719565500156023
Frame 53
tensor(0.0790)
Frame 54
tensor(0.1357)
 # KEYFRAME 44
0.07795962200179929
Frame 55
tensor(0.1409)
 # KEYFRAME 45
0.07871385999897029
Frame 56
tensor(0.0991)
Frame 57
tensor(0.0849)
Frame 58
tensor(0.1630)
 # KEYFRAME 46
0.08018153400189476
Frame 59
tensor(0.1193)
 # KEYFRAME 47
0.08073501200124156
Frame 60
tensor(0.0914)
Frame 61
tensor(0.3126)
 # KEYFRAME 48
0.0812619709977298
Frame 62
tensor(0.0899)
Frame 63
tensor(0.1639)
 # KEYFRAME 49
0.08168636999471346
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531069278717
TTA-STEP: step=1719 loss_distill=0.2747 tta_take=0.009s
Frame 64
tensor(0.1150)
 # KEYFRAME 50
0.07924864800588693
Frame 65
tensor(0.0476)
Frame 66
tensor(0.0753)
Frame 67
tensor(0.0612)
Frame 68
tensor(0.0939)
Frame 69
tensor(0.1503)
 # KEYFRAME 51
0.08195232800062513
Frame 70
tensor(0.1629)
 # KEYFRAME 52
0.08263353599613765
Frame 71
tensor(0.1059)
 # KEYFRAME 53
0.08321165399684105
Frame 72
tensor(0.2087)
 # KEYFRAME 54
0.08472530900326092
Frame 73
tensor(0.1640)
 # KEYFRAME 55
0.0859490349976113
Frame 74
tensor(0.1211)
 # KEYFRAME 56
0.0867386119934963
Frame 75
tensor(0.0502)
Frame 76
tensor(0.1002)
 # KEYFRAME 57
0.08839193499443354
Frame 77
tensor(0.1571)
 # KEYFRAME 58
0.10077013100089971
Frame 78
tensor(0.1298)
 # KEYFRAME 59
0.09016845899895998
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1720 loss_distill=0.3466 tta_take=0.009s
Frame 79
tensor(0.0958)
Frame 80
tensor(0.2157)
 # KEYFRAME 60
0.08675935099745402
Frame 81
tensor(0.1389)
 # KEYFRAME 61
0.08882705399446422
Frame 82
tensor(0.1113)
 # KEYFRAME 62
0.08787552699504886
Frame 83
tensor(0.1445)
 # KEYFRAME 63
0.08971711099729873
Frame 84
tensor(0.3589)
 # KEYFRAME 64
0.0902252989981207
Frame 85
tensor(0.0933)
Frame 86
tensor(0.1305)
 # KEYFRAME 65
0.09126685500086751
Frame 87
tensor(0.0634)
Frame 88
tensor(0.2024)
 # KEYFRAME 66
0.09195950299908873
Frame 89
tensor(0.1052)
 # KEYFRAME 67
0.09300957900268259
Frame 90
tensor(0.0772)
Frame 91
tensor(0.0799)
Frame 92
tensor(0.1849)
 # KEYFRAME 68
0.09269923999818275
Frame 93
tensor(0.0621)
Frame 94
tensor(0.0994)
Frame 95
tensor(0.2019)
 # KEYFRAME 69
0.09344689799763728
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1721 loss_distill=0.4024 tta_take=0.009s
Frame 96
tensor(0.1311)
 # KEYFRAME 70
0.09391265500016743
Frame 97
tensor(0.1273)
 # KEYFRAME 71
0.09468227300385479
Frame 98
tensor(0.0406)
Frame 99
tensor(0.2384)
 # KEYFRAME 72
0.09583350899629295
Frame 100
tensor(0.1047)
 # KEYFRAME 73
0.09719594500347739
Frame 101
tensor(0.1970)
 # KEYFRAME 74
0.0982521510013612
Frame 102
tensor(0.1780)
 # KEYFRAME 75
0.09864640900195809
Frame 103
tensor(0.1408)
 # KEYFRAME 76
0.09990311400179053
Frame 104
tensor(0.0819)
Frame 105
tensor(0.1756)
 # KEYFRAME 77
0.10078638100094395
Frame 106
tensor(0.1956)
 # KEYFRAME 78
0.10233061599865323
Frame 107
tensor(0.1544)
 # KEYFRAME 79
0.10336920199915767
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1722 loss_distill=0.4024 tta_take=0.009s
Frame 108
tensor(0.1441)
 # KEYFRAME 80
0.09372559700568672
Frame 109
tensor(0.0674)
Frame 110
tensor(0.2432)
 # KEYFRAME 81
0.09622962799767265
Frame 111
tensor(0.0686)
Frame 112
tensor(0.1396)
 # KEYFRAME 82
0.09573013000044739
Backending... 83 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65583, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1723 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 258/556] scannetpp/f5401524e5/frame frames=113 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=1723 time=33.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0103)
Frame 2
tensor(0.0130)
Frame 3
tensor(0.0701)
Frame 4
tensor(0.1241)
 # KEYFRAME 1
Frame 5
tensor(0.0602)
Frame 6
tensor(0.1610)
 # KEYFRAME 2
0.052059435001865495
Frame 7
tensor(0.0924)
Frame 8
tensor(0.1593)
 # KEYFRAME 3
0.05427836700255284
Frame 9
tensor(0.1476)
 # KEYFRAME 4
0.05429107700183522
Frame 10
tensor(0.1367)
 # KEYFRAME 5
0.05469883600017056
Frame 11
tensor(0.1343)
 # KEYFRAME 6
0.0557209319958929
Frame 12
tensor(0.0356)
Frame 13
tensor(0.0821)
Frame 14
tensor(0.1066)
 # KEYFRAME 7
0.056989126998814754
Frame 15
tensor(0.1522)
 # KEYFRAME 8
0.0587697310038493
Frame 16
tensor(0.1168)
 # KEYFRAME 9
0.05870024099567672
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 17
tensor(0.1165)
 # KEYFRAME 10
0.052830272004939616
Frame 18
tensor(0.0776)
Frame 19
tensor(0.1331)
 # KEYFRAME 11
0.05377011899690842
Frame 20
tensor(0.1053)
 # KEYFRAME 12
0.05453995599964401
Frame 21
tensor(0.0822)
Frame 22
tensor(0.1592)
 # KEYFRAME 13
0.05687990800652187
Frame 23
tensor(0.0837)
Frame 24
tensor(0.1575)
 # KEYFRAME 14
0.05797378400166053
Frame 25
tensor(0.0923)
Frame 26
tensor(0.1513)
 # KEYFRAME 15
0.0583076719995006
Frame 27
tensor(0.0768)
Frame 28
tensor(0.1896)
 # KEYFRAME 16
0.05942514899652451
Frame 29
tensor(0.1349)
 # KEYFRAME 17
0.06050675500591751
Frame 30
tensor(0.1150)
 # KEYFRAME 18
0.06126455199409975
Frame 31
tensor(0.1039)
 # KEYFRAME 19
0.06304383499809774
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.1524)
 # KEYFRAME 20
0.05982026699348353
Frame 33
tensor(0.1816)
 # KEYFRAME 21
0.06026247599947965
Frame 34
tensor(0.1560)
 # KEYFRAME 22
0.06126104199938709
Frame 35
tensor(0.0976)
Frame 36
tensor(0.1573)
 # KEYFRAME 23
0.061986709995835554
Frame 37
tensor(0.1682)
 # KEYFRAME 24
0.06260902700159932
Frame 38
tensor(0.1507)
 # KEYFRAME 25
0.06383731200185139
Frame 39
tensor(0.1196)
 # KEYFRAME 26
0.06568600599712227
Frame 40
tensor(0.1629)
 # KEYFRAME 27
0.06638298300094903
Frame 41
tensor(0.1252)
 # KEYFRAME 28
0.0677236690025893
Frame 42
tensor(0.1273)
 # KEYFRAME 29
0.06822179699520348
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 43
tensor(0.1034)
 # KEYFRAME 30
0.06605100500019034
Frame 44
tensor(0.0270)
Frame 45
tensor(0.1771)
 # KEYFRAME 31
0.06743921000452247
Frame 46
tensor(0.0769)
Frame 47
tensor(0.0785)
Frame 48
tensor(0.1805)
 # KEYFRAME 32
0.06849517600494437
Frame 49
tensor(0.2967)
 # KEYFRAME 33
0.06913443400117103
Frame 50
tensor(0.1174)
 # KEYFRAME 34
0.06981286100199213
Frame 51
tensor(0.1609)
 # KEYFRAME 35
0.07071132900455268
Frame 52
tensor(0.1380)
 # KEYFRAME 36
0.07115413699648343
Frame 53
tensor(0.1209)
 # KEYFRAME 37
0.07241293200058863
Frame 54
tensor(0.1202)
 # KEYFRAME 38
0.07325939900329104
Frame 55
tensor(0.1171)
 # KEYFRAME 39
0.07446153499768116
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1724 loss_distill=0.1733 tta_take=0.009s
Frame 56
tensor(0.2713)
 # KEYFRAME 40
0.07249978199979523
Frame 57
tensor(0.2965)
 # KEYFRAME 41
0.07502149300125893
Frame 58
tensor(0.1798)
 # KEYFRAME 42
0.07626812800299376
Frame 59
tensor(0.0811)
Frame 60
tensor(0.1170)
 # KEYFRAME 43
0.07697554599872092
Frame 61
tensor(0.2052)
 # KEYFRAME 44
0.07789218299876666
Frame 62
tensor(0.1159)
 # KEYFRAME 45
0.07909065899730194
Frame 63
tensor(0.0851)
Frame 64
tensor(0.2288)
 # KEYFRAME 46
0.08009897499869112
Frame 65
tensor(0.1585)
 # KEYFRAME 47
0.08089826200011885
Frame 66
tensor(0.1663)
 # KEYFRAME 48
0.0808642330011935
Frame 67
tensor(0.0980)
Frame 68
tensor(0.1906)
 # KEYFRAME 49
0.08223954700224567
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1725 loss_distill=0.2747 tta_take=0.009s
Frame 69
tensor(0.1114)
 # KEYFRAME 50
0.07959063699672697
Frame 70
tensor(0.1404)
 # KEYFRAME 51
0.08223023699974874
Frame 71
tensor(0.0946)
Frame 72
tensor(0.1636)
 # KEYFRAME 52
0.08226893699611537
Frame 73
tensor(0.1207)
 # KEYFRAME 53
0.08362432300054934
Frame 74
tensor(0.1411)
 # KEYFRAME 54
0.08498278800107073
Frame 75
tensor(0.1544)
 # KEYFRAME 55
0.08616506300313631
Frame 76
tensor(0.1280)
 # KEYFRAME 56
0.08749858899682295
Frame 77
tensor(0.1037)
 # KEYFRAME 57
0.08864151500165462
Frame 78
tensor(0.2000)
 # KEYFRAME 58
0.08967580099852057
Frame 79
tensor(0.1319)
 # KEYFRAME 59
0.0904268879967276
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=1726 loss_distill=0.3466 tta_take=0.009s
Frame 80
tensor(0.0885)
Frame 81
tensor(0.1925)
 # KEYFRAME 60
0.0863705520023359
Frame 82
tensor(0.1223)
 # KEYFRAME 61
0.08914618299604626
Frame 83
tensor(0.0490)
Frame 84
tensor(0.1269)
 # KEYFRAME 62
0.08851213500020094
Frame 85
tensor(0.0591)
Frame 86
tensor(0.1443)
 # KEYFRAME 63
0.08991484000580385
Frame 87
tensor(0.0901)
Frame 88
tensor(0.1672)
 # KEYFRAME 64
0.08974830100487452
Frame 89
tensor(0.0549)
Frame 90
tensor(0.1014)
 # KEYFRAME 65
0.09051807800278766
Frame 91
tensor(0.0896)
Frame 92
tensor(0.1443)
 # KEYFRAME 66
0.09191481299785664
Frame 93
tensor(0.1273)
 # KEYFRAME 67
0.09224244199867826
Frame 94
tensor(0.1387)
 # KEYFRAME 68
0.09315909799624933
Frame 95
tensor(0.1208)
 # KEYFRAME 69
0.09370938699430553
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1727 loss_distill=0.4024 tta_take=0.009s
Frame 96
tensor(0.1483)
 # KEYFRAME 70
0.09278215999802342
Frame 97
tensor(0.1343)
 # KEYFRAME 71
0.09443448399542831
Frame 98
tensor(0.0566)
Frame 99
tensor(0.1398)
 # KEYFRAME 72
0.09584789899963653
Frame 100
tensor(0.0753)
Frame 101
tensor(0.1547)
 # KEYFRAME 73
0.09744650300126523
Frame 102
tensor(0.0689)
Frame 103
tensor(0.1405)
 # KEYFRAME 74
0.09760864300187677
Frame 104
tensor(0.0319)
Frame 105
tensor(0.0961)
Frame 106
tensor(0.2360)
 # KEYFRAME 75
0.0992606869986048
Frame 107
tensor(0.0802)
Frame 108
tensor(0.1871)
 # KEYFRAME 76
0.10023412299779011
Frame 109
tensor(0.0869)
Frame 110
tensor(0.1469)
 # KEYFRAME 77
0.10068754199892282
Frame 111
tensor(0.1203)
 # KEYFRAME 78
0.1022523360006744
Frame 112
tensor(0.1372)
 # KEYFRAME 79
0.10307346400077222
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1728 loss_distill=0.4024 tta_take=0.009s
Frame 113
tensor(0.1049)
 # KEYFRAME 80
0.09413699500146322
Frame 114
tensor(0.0306)
Frame 115
tensor(0.0966)
Frame 116
tensor(0.1761)
 # KEYFRAME 81
0.09431349499936914
Frame 117
tensor(0.1003)
 # KEYFRAME 82
0.09573443900444545
Frame 118
tensor(0.1683)
 # KEYFRAME 83
0.0963635269945371
Frame 119
tensor(0.1647)
 # KEYFRAME 84
0.09730927400232758
Frame 120
tensor(0.1922)
 # KEYFRAME 85
0.09764323299896205
Frame 121
tensor(0.0873)
Frame 122
tensor(0.1117)
 # KEYFRAME 86
0.0988755080034025
Frame 123
tensor(0.0592)
Frame 124
tensor(0.1426)
 # KEYFRAME 87
0.09889715800090926
Frame 125
tensor(0.1111)
 # KEYFRAME 88
0.09919961699779378
Frame 126
tensor(0.2484)
 # KEYFRAME 89
0.10074154099856969
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1729 loss_distill=0.4024 tta_take=0.009s
Frame 127
tensor(0.1853)
 # KEYFRAME 90
0.0928159399991273
Frame 128
tensor(0.1846)
 # KEYFRAME 91
0.09613504700246267
Frame 129
tensor(0.1717)
 # KEYFRAME 92
0.09628928700112738
Frame 130
tensor(0.1475)
 # KEYFRAME 93
0.0969488150003599
Frame 131
tensor(0.2034)
 # KEYFRAME 94
0.09906268800114049
Frame 132
tensor(0.1473)
 # KEYFRAME 95
0.0998569139992469
Frame 133
tensor(0.1451)
 # KEYFRAME 96
0.10118571999919368
Frame 134
tensor(0.2274)
 # KEYFRAME 97
0.10238816500350367
Frame 135
tensor(0.2971)
 # KEYFRAME 98
0.10340221200021915
Frame 136
tensor(0.1250)
 # KEYFRAME 99
0.1040490290033631
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1730 loss_distill=0.4024 tta_take=0.009s
Frame 137
tensor(0.1316)
 # KEYFRAME 100
0.09275338000588818
Frame 138
tensor(0.1119)
 # KEYFRAME 101
0.09553227000287734
Frame 139
tensor(0.1767)
 # KEYFRAME 102
0.09641634699801216
Frame 140
tensor(0.1473)
 # KEYFRAME 103
0.09749263300182065
Frame 141
tensor(0.1768)
 # KEYFRAME 104
0.09863282900187187
Frame 142
tensor(0.1560)
 # KEYFRAME 105
0.10009228300623363
Frame 143
tensor(0.1235)
 # KEYFRAME 106
0.1011755300060031
Backending... 107 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 69747, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1731 loss_distill=0.4024 tta_take=0.007s
[epoch 0 scene 259/556] scannetpp/5654092cc2/frame frames=144 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=1731 time=43.6s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0246)
Frame 2
tensor(0.0941)
Frame 3
tensor(0.1748)
 # KEYFRAME 1
Frame 4
tensor(0.0871)
Frame 5
tensor(0.0899)
Frame 6
tensor(0.1728)
 # KEYFRAME 2
0.05186907600000268
Frame 7
tensor(0.0693)
Frame 8
tensor(0.0939)
Frame 9
tensor(0.1990)
 # KEYFRAME 3
0.05271879300562432
Frame 10
tensor(0.0702)
Frame 11
tensor(0.1402)
 # KEYFRAME 4
0.05433394700230565
Frame 12
tensor(0.0805)
Frame 13
tensor(0.2034)
 # KEYFRAME 5
0.05477920499833999
Frame 14
tensor(0.0919)
Frame 15
tensor(0.1329)
 # KEYFRAME 6
0.05575520200363826
Frame 16
tensor(0.1211)
 # KEYFRAME 7
0.05645971899502911
Frame 17
tensor(0.0653)
Frame 18
tensor(0.1646)
 # KEYFRAME 8
0.0575942049981677
Frame 19
tensor(0.1391)
 # KEYFRAME 9
0.05804762300249422
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 20
tensor(0.0809)
Frame 21
tensor(0.1576)
 # KEYFRAME 10
0.0520693049984402
Frame 22
tensor(0.0738)
Frame 23
tensor(0.1402)
 # KEYFRAME 11
0.05272450300253695
Frame 24
tensor(0.1291)
 # KEYFRAME 12
0.053965248000167776
Frame 25
tensor(0.1440)
 # KEYFRAME 13
0.055752211999788415
Frame 26
tensor(0.1709)
 # KEYFRAME 14
0.05524559300101828
Frame 27
tensor(0.1193)
 # KEYFRAME 15
0.05504470400046557
Frame 28
tensor(0.0434)
Frame 29
tensor(0.1790)
 # KEYFRAME 16
0.05637608899996849
Frame 30
tensor(0.1087)
 # KEYFRAME 17
0.056894007000664715
Frame 31
tensor(0.1012)
 # KEYFRAME 18
0.057547775002603885
Frame 32
tensor(0.1178)
 # KEYFRAME 19
0.057905143999960274
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 33
tensor(0.1044)
 # KEYFRAME 20
0.05408107800030848
Frame 34
tensor(0.1257)
 # KEYFRAME 21
0.05458473599719582
Frame 35
tensor(0.1507)
 # KEYFRAME 22
0.056033050997939426
Frame 36
tensor(0.0475)
Frame 37
tensor(0.1188)
 # KEYFRAME 23
0.05617039000208024
Frame 38
tensor(0.1671)
 # KEYFRAME 24
0.05689243799861288
Frame 39
tensor(0.0504)
Frame 40
tensor(0.1049)
 # KEYFRAME 25
0.0575340560026234
Frame 41
tensor(0.0300)
Frame 42
tensor(0.0915)
Frame 43
tensor(0.1661)
 # KEYFRAME 26
0.058443861998966895
Frame 44
tensor(0.0524)
Frame 45
tensor(0.0800)
Frame 46
tensor(0.0366)
Frame 47
tensor(0.0386)
Frame 48
tensor(0.0661)
Frame 49
tensor(0.1136)
 # KEYFRAME 27
0.059567088006588165
Frame 50
tensor(0.0876)
Frame 51
tensor(0.1461)
 # KEYFRAME 28
0.05987496700254269
Frame 52
tensor(0.0846)
Frame 53
tensor(0.1470)
 # KEYFRAME 29
0.0599708070003544
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 54
tensor(0.1312)
 # KEYFRAME 30
0.05852936200244585
Frame 55
tensor(0.1137)
 # KEYFRAME 31
0.059228979000181425
Frame 56
tensor(0.0678)
Frame 57
tensor(0.1177)
 # KEYFRAME 32
0.05956012899696361
Frame 58
tensor(0.0625)
Frame 59
tensor(0.0582)
Frame 60
tensor(0.0431)
Frame 61
tensor(0.0907)
Frame 62
tensor(0.0737)
Frame 63
tensor(0.1149)
 # KEYFRAME 33
0.060704144001647364
Frame 64
tensor(0.0359)
Frame 65
tensor(0.1390)
 # KEYFRAME 34
0.061320360997342505
Frame 66
tensor(0.0901)
Frame 67
tensor(0.1346)
 # KEYFRAME 35
0.06192451999959303
Frame 68
tensor(0.0738)
Frame 69
tensor(0.1218)
 # KEYFRAME 36
0.06287427600182127
Frame 70
tensor(0.0878)
Frame 71
tensor(0.1740)
 # KEYFRAME 37
0.06298830499872565
Frame 72
tensor(0.1119)
 # KEYFRAME 38
0.06321514500450576
Frame 73
tensor(0.1571)
 # KEYFRAME 39
0.0641254919974017
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1732 loss_distill=0.1733 tta_take=0.009s
Frame 74
tensor(0.0883)
Frame 75
tensor(0.1465)
 # KEYFRAME 40
0.06305158500617836
Frame 76
tensor(0.1351)
 # KEYFRAME 41
0.06401818299491424
Frame 77
tensor(0.0869)
Frame 78
tensor(0.2445)
 # KEYFRAME 42
0.06466601000283845
Frame 79
tensor(0.1116)
 # KEYFRAME 43
0.06456400000024587
Frame 80
tensor(0.0828)
Frame 81
tensor(0.2012)
 # KEYFRAME 44
0.06533261799631873
Frame 82
tensor(0.0740)
Frame 83
tensor(0.1414)
 # KEYFRAME 45
0.06609833499533124
Frame 84
tensor(0.0415)
Frame 85
tensor(0.1085)
 # KEYFRAME 46
0.06636946399521548
Frame 86
tensor(0.0799)
Frame 87
tensor(0.1178)
 # KEYFRAME 47
0.06651103299373062
Frame 88
tensor(0.0908)
Frame 89
tensor(0.1058)
 # KEYFRAME 48
0.06742071000189753
Frame 90
tensor(0.0559)
Frame 91
tensor(0.0751)
Frame 92
tensor(0.0710)
Frame 93
tensor(0.0717)
Frame 94
tensor(0.1230)
 # KEYFRAME 49
0.06855825599632226
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1733 loss_distill=0.2747 tta_take=0.009s
Frame 95
tensor(0.0443)
Frame 96
tensor(0.0585)
Frame 97
tensor(0.0732)
Frame 98
tensor(0.1730)
 # KEYFRAME 50
0.06736990000354126
Frame 99
tensor(0.0404)
Frame 100
tensor(0.1379)
 # KEYFRAME 51
0.06883151499641826
Frame 101
tensor(0.0857)
Frame 102
tensor(0.0887)
Frame 103
tensor(0.1567)
 # KEYFRAME 52
0.06934477300092112
Frame 104
tensor(0.1207)
 # KEYFRAME 53
0.07075022799836006
Frame 105
tensor(0.0565)
Frame 106
tensor(0.1018)
 # KEYFRAME 54
0.0695931720038061
Frame 107
tensor(0.0686)
Frame 108
tensor(0.0657)
Frame 109
tensor(0.0540)
Frame 110
tensor(0.1117)
 # KEYFRAME 55
0.0724421019986039
Frame 111
tensor(0.1063)
 # KEYFRAME 56
0.07336772899725474
Frame 112
tensor(0.0521)
Frame 113
tensor(0.0702)
Frame 114
tensor(0.1069)
 # KEYFRAME 57
0.0738640569979907
Frame 115
tensor(0.0458)
Frame 116
tensor(0.0266)
Frame 117
tensor(0.0194)
Frame 118
tensor(0.0589)
Frame 119
tensor(0.0436)
Frame 120
tensor(0.1864)
 # KEYFRAME 58
0.07428759599861223
Frame 121
tensor(0.1406)
 # KEYFRAME 59
0.07500509300007252
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1734 loss_distill=0.3466 tta_take=0.009s
Frame 122
tensor(0.1510)
 # KEYFRAME 60
0.07185422399925301
Frame 123
tensor(0.0382)
Frame 124
tensor(0.3066)
 # KEYFRAME 61
0.07305546999850776
Frame 125
tensor(0.1445)
 # KEYFRAME 62
0.07269555100356229
Frame 126
tensor(0.1140)
 # KEYFRAME 63
0.07371166799566709
Frame 127
tensor(0.1311)
 # KEYFRAME 64
0.07369084699894302
Frame 128
tensor(0.1276)
 # KEYFRAME 65
0.07360801900358638
Frame 129
tensor(0.0729)
Frame 130
tensor(0.1345)
 # KEYFRAME 66
0.07492454300518148
Frame 131
tensor(0.0462)
Frame 132
tensor(0.1054)
 # KEYFRAME 67
0.07551995100220665
Frame 133
tensor(0.1094)
 # KEYFRAME 68
0.07562042099743849
Frame 134
tensor(0.1065)
 # KEYFRAME 69
0.07608496000466403
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595452308655
TTA-STEP: step=1735 loss_distill=0.4024 tta_take=0.009s
Frame 135
tensor(0.1499)
 # KEYFRAME 70
0.07604997900489252
Frame 136
tensor(0.1222)
 # KEYFRAME 71
0.07763895399693865
Frame 137
tensor(0.0935)
Frame 138
tensor(0.1933)
 # KEYFRAME 72
0.07699709600274218
Frame 139
tensor(0.1155)
 # KEYFRAME 73
0.07695410599990282
Frame 140
tensor(0.1057)
 # KEYFRAME 74
0.07757412399951136
Frame 141
tensor(0.1247)
 # KEYFRAME 75
0.07860831000289181
Frame 142
tensor(0.1010)
 # KEYFRAME 76
0.07827703099610517
Frame 143
tensor(0.1342)
 # KEYFRAME 77
0.07960973699664464
Frame 144
tensor(0.1418)
 # KEYFRAME 78
0.08000701499986462
Frame 145
tensor(0.0997)
Frame 146
tensor(0.1443)
 # KEYFRAME 79
0.08174553899880266
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1736 loss_distill=0.4024 tta_take=0.009s
Frame 147
tensor(0.0870)
Frame 148
tensor(0.1524)
 # KEYFRAME 80
0.07568171100137988
Frame 149
tensor(0.0991)
Backending... 81 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 56730, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1737 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 260/556] scannetpp/89214f3ca0/DSC frames=150 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=1737 time=33.2s
[ckpt] /scratch-shared/wwei2/scorer_pretrain/scorer_v1/checkpoint-last.pth (epoch=0 scene=260)
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.3599)
 # KEYFRAME 1
Frame 2
tensor(0.3098)
 # KEYFRAME 2
0.05184530599944992
Frame 3
tensor(0.3235)
 # KEYFRAME 3
0.054157186998054385
Frame 4
tensor(0.3507)
 # KEYFRAME 4
0.05422523699962767
Frame 5
tensor(0.3534)
 # KEYFRAME 5
0.05484586399688851
Frame 6
tensor(0.3684)
 # KEYFRAME 6
0.055710492000798695
Frame 7
tensor(0.3968)
 # KEYFRAME 7
0.057852273996104486
Frame 8
tensor(0.3632)
 # KEYFRAME 8
0.058633530999941286
Frame 9
tensor(0.3513)
 # KEYFRAME 9
0.05891425099980552
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.4013)
 # KEYFRAME 10
0.05286906199762598
Frame 11
tensor(0.3517)
 # KEYFRAME 11
0.05374130899872398
Frame 12
tensor(0.3568)
 # KEYFRAME 12
0.05469166499824496
Frame 13
tensor(0.2673)
 # KEYFRAME 13
0.05665818900160957
Frame 14
tensor(0.3005)
 # KEYFRAME 14
0.05764211500354577
Frame 15
tensor(0.2821)
 # KEYFRAME 15
0.058264332998078316
Frame 16
tensor(0.3133)
 # KEYFRAME 16
0.059296279003319796
Frame 17
tensor(0.2521)
 # KEYFRAME 17
0.06039094500010833
Frame 18
tensor(0.2033)
 # KEYFRAME 18
0.06137082200439181
Frame 19
tensor(0.2819)
 # KEYFRAME 19
0.06304867500148248
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 20
tensor(0.1380)
 # KEYFRAME 20
0.05921056900115218
Frame 21
tensor(0.1994)
 # KEYFRAME 21
0.060599844000535086
Frame 22
tensor(0.1932)
 # KEYFRAME 22
0.06118246299593011
Frame 23
tensor(0.1211)
 # KEYFRAME 23
0.061819230002583936
Frame 24
tensor(0.1321)
 # KEYFRAME 24
0.06228041899885284
Frame 25
tensor(0.0616)
Frame 26
tensor(0.1721)
 # KEYFRAME 25
0.06357446400215849
Frame 27
tensor(0.1952)
 # KEYFRAME 26
0.06540621699969051
Frame 28
tensor(0.1422)
 # KEYFRAME 27
0.06671968300361186
Frame 29
tensor(0.2828)
 # KEYFRAME 28
0.06744634000642691
Frame 30
tensor(0.3458)
 # KEYFRAME 29
0.06812527799775125
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 31
tensor(0.3194)
 # KEYFRAME 30
0.06610524500138126
Frame 32
tensor(0.1745)
 # KEYFRAME 31
0.06793837800069014
Frame 33
tensor(0.2784)
 # KEYFRAME 32
0.06820526700175833
Frame 34
tensor(0.3208)
 # KEYFRAME 33
0.0689860040001804
Frame 35
tensor(0.2202)
 # KEYFRAME 34
0.06949827200151049
Frame 36
tensor(0.4588)
 # KEYFRAME 35
0.07014027999684913
Frame 37
tensor(0.5650)
 # KEYFRAME 36
0.07139869600359816
Frame 38
tensor(0.3574)
 # KEYFRAME 37
0.07251489199552452
Frame 39
tensor(0.2453)
 # KEYFRAME 38
0.07328232999861939
Frame 40
tensor(0.3311)
 # KEYFRAME 39
0.07446693500241963
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1738 loss_distill=0.1733 tta_take=0.009s
Frame 41
tensor(0.3949)
 # KEYFRAME 40
0.07274051100102952
Frame 42
tensor(0.3654)
 # KEYFRAME 41
0.07503565299703041
Frame 43
tensor(0.3877)
 # KEYFRAME 42
0.07548644200142007
Frame 44
tensor(0.4691)
 # KEYFRAME 43
0.07706186600262299
Frame 45
tensor(0.3613)
 # KEYFRAME 44
0.07787092299986398
Frame 46
tensor(0.3144)
 # KEYFRAME 45
0.0792845079995459
Frame 47
tensor(0.2953)
 # KEYFRAME 46
0.07998999499977799
Frame 48
tensor(0.2093)
 # KEYFRAME 47
0.08047765399533091
Frame 49
tensor(0.2854)
 # KEYFRAME 48
0.08150925999507308
Frame 50
tensor(0.3843)
 # KEYFRAME 49
0.08230593799817143
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1739 loss_distill=0.2747 tta_take=0.009s
Frame 51
tensor(0.1918)
 # KEYFRAME 50
0.0793301869998686
Frame 52
tensor(0.2281)
 # KEYFRAME 51
0.08164559000579175
Frame 53
tensor(0.2184)
 # KEYFRAME 52
0.08218460799980676
Frame 54
tensor(0.2219)
 # KEYFRAME 53
0.08317249399988214
Frame 55
tensor(0.1676)
 # KEYFRAME 54
0.08421302000351716
Frame 56
tensor(0.1823)
 # KEYFRAME 55
0.08534677600255236
Frame 57
tensor(0.1116)
 # KEYFRAME 56
0.08717129999422468
Frame 58
tensor(0.2059)
 # KEYFRAME 57
0.08789808699657442
Frame 59
tensor(0.1557)
 # KEYFRAME 58
0.08955049200449139
Frame 60
tensor(0.2556)
 # KEYFRAME 59
0.09016212899587117
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1740 loss_distill=0.3466 tta_take=0.009s
Frame 61
tensor(0.3114)
 # KEYFRAME 60
0.08667502100433921
Frame 62
tensor(0.3155)
 # KEYFRAME 61
0.08845528500387445
Frame 63
tensor(0.3835)
 # KEYFRAME 62
0.08857022500160383
Frame 64
tensor(0.2008)
 # KEYFRAME 63
0.08944887099642074
Frame 65
tensor(0.1841)
 # KEYFRAME 64
0.09005677900131559
Frame 66
tensor(0.2238)
 # KEYFRAME 65
0.09021395899617346
Frame 67
tensor(0.2913)
 # KEYFRAME 66
0.09182749300089199
Frame 68
tensor(0.0711)
Frame 69
tensor(0.3439)
 # KEYFRAME 67
0.09262015000422252
Frame 70
tensor(0.1698)
 # KEYFRAME 68
0.09344173800491262
Frame 71
tensor(0.3145)
 # KEYFRAME 69
0.09311013799742796
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1741 loss_distill=0.4024 tta_take=0.009s
Frame 72
tensor(0.4064)
 # KEYFRAME 70
0.0929071699938504
Frame 73
tensor(0.2311)
 # KEYFRAME 71
0.0961141680018045
Frame 74
tensor(0.3355)
 # KEYFRAME 72
0.09623445699980948
Frame 75
tensor(0.0828)
Frame 76
tensor(0.3803)
 # KEYFRAME 73
0.09762134300399339
Frame 77
tensor(0.2161)
 # KEYFRAME 74
0.0986774190023425
Frame 78
tensor(0.1858)
 # KEYFRAME 75
0.09911564700450981
Frame 79
tensor(0.1300)
 # KEYFRAME 76
0.10088358099892503
Frame 80
tensor(0.3013)
 # KEYFRAME 77
0.10198878800292732
Frame 81
tensor(0.1953)
 # KEYFRAME 78
0.10283495399926323
Frame 82
tensor(0.1551)
 # KEYFRAME 79
0.1044630180040258
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1742 loss_distill=0.4024 tta_take=0.009s
Frame 83
tensor(0.2414)
 # KEYFRAME 80
0.09355080700333929
Frame 84
tensor(0.1857)
 # KEYFRAME 81
0.09456496400525793
Frame 85
tensor(0.3337)
 # KEYFRAME 82
0.09543839000252774
Frame 86
tensor(0.0629)
Frame 87
tensor(0.2903)
 # KEYFRAME 83
0.09625448800215963
Frame 88
tensor(0.5006)
 # KEYFRAME 84
0.09751544299797388
Frame 89
tensor(0.2509)
 # KEYFRAME 85
0.09755270300229313
Frame 90
tensor(0.2994)
 # KEYFRAME 86
0.0989841280024848
Frame 91
tensor(0.2483)
 # KEYFRAME 87
0.09902493700064952
Frame 92
tensor(0.2762)
 # KEYFRAME 88
0.09937319599703187
Frame 93
tensor(0.2716)
 # KEYFRAME 89
0.1012048499978846
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1743 loss_distill=0.4024 tta_take=0.009s
Frame 94
tensor(0.3305)
 # KEYFRAME 90
0.0942629439960001
Frame 95
tensor(0.3339)
 # KEYFRAME 91
0.09597057900100481
Frame 96
tensor(0.4234)
 # KEYFRAME 92
0.09625203700124985
Frame 97
tensor(0.4172)
 # KEYFRAME 93
0.09700689400051488
Frame 98
tensor(0.3116)
 # KEYFRAME 94
0.09888010800204938
Frame 99
tensor(0.6379)
 # KEYFRAME 95
0.09989561400288949
Frame 100
tensor(0.4340)
 # KEYFRAME 96
0.10050082299858332
Frame 101
tensor(0.4221)
 # KEYFRAME 97
0.10376517999975476
Frame 102
tensor(0.2585)
 # KEYFRAME 98
0.10287538400007179
Frame 103
tensor(0.2614)
 # KEYFRAME 99
0.10393180999381002
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1744 loss_distill=0.4024 tta_take=0.009s
Frame 104
tensor(0.2649)
 # KEYFRAME 100
0.09332372800417943
Frame 105
tensor(0.1783)
 # KEYFRAME 101
0.09621617799712112
Frame 106
tensor(0.2388)
 # KEYFRAME 102
0.09572515900072176
Frame 107
tensor(0.0449)
Frame 108
tensor(0.1864)
 # KEYFRAME 103
0.09778166200703708
Frame 109
tensor(0.4220)
 # KEYFRAME 104
0.09877978900476592
Frame 110
tensor(0.2223)
 # KEYFRAME 105
0.100321903002623
Frame 111
tensor(0.2954)
 # KEYFRAME 106
0.1007513820004533
Frame 112
tensor(0.3264)
 # KEYFRAME 107
0.10190289699676214
Frame 113
tensor(0.3949)
 # KEYFRAME 108
0.10240978500223719
Frame 114
tensor(0.2437)
 # KEYFRAME 109
0.10350377199938521
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1745 loss_distill=0.4024 tta_take=0.009s
Frame 115
tensor(0.1586)
 # KEYFRAME 110
0.09332801799610024
Frame 116
tensor(0.3596)
 # KEYFRAME 111
0.09498992199951317
Frame 117
tensor(0.2004)
 # KEYFRAME 112
0.09617336800147314
Frame 118
tensor(0.6090)
 # KEYFRAME 113
0.09705540400318569
Frame 119
tensor(0.4126)
 # KEYFRAME 114
0.0982271100001526
Frame 120
tensor(0.4395)
 # KEYFRAME 115
0.09944987600465538
Frame 121
tensor(0.3844)
 # KEYFRAME 116
0.10045933299988974
Frame 122
tensor(0.3735)
 # KEYFRAME 117
0.10154140800295863
Frame 123
tensor(0.2725)
 # KEYFRAME 118
0.10251531500398414
Frame 124
tensor(0.3405)
 # KEYFRAME 119
0.10301883299689507
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1746 loss_distill=0.4024 tta_take=0.009s
Frame 125
tensor(0.1763)
 # KEYFRAME 120
0.09330095799668925
Backending... 121 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 63501, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1747 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 261/556] scannetpp/67d702f2e8/frame frames=126 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=1747 time=45.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0804)
Frame 2
tensor(0.2890)
 # KEYFRAME 1
Frame 3
tensor(0.1001)
 # KEYFRAME 2
0.05193635499745142
Frame 4
tensor(0.0832)
Frame 5
tensor(0.1679)
 # KEYFRAME 3
0.05255228400346823
Frame 6
tensor(0.2193)
 # KEYFRAME 4
0.05415516700304579
Frame 7
tensor(0.3324)
 # KEYFRAME 5
0.0547323549981229
Frame 8
tensor(0.0863)
Frame 9
tensor(0.1580)
 # KEYFRAME 6
0.05587547100003576
Frame 10
tensor(0.3095)
 # KEYFRAME 7
0.056449158997565974
Frame 11
tensor(0.0870)
Frame 12
tensor(0.2963)
 # KEYFRAME 8
0.057414325994614046
Frame 13
tensor(0.0790)
Frame 14
tensor(0.1291)
 # KEYFRAME 9
0.05794861399772344
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 15
tensor(0.0945)
Frame 16
tensor(0.0965)
Frame 17
tensor(0.1747)
 # KEYFRAME 10
0.05158198599383468
Frame 18
tensor(0.1415)
 # KEYFRAME 11
0.05261989199789241
Frame 19
tensor(0.0482)
Frame 20
tensor(0.2419)
 # KEYFRAME 12
0.05380474800040247
Frame 21
tensor(0.0442)
Frame 22
tensor(0.1971)
 # KEYFRAME 13
0.055479192997154314
Frame 23
tensor(0.1680)
 # KEYFRAME 14
0.0552623030016548
Frame 24
tensor(0.0908)
Frame 25
tensor(0.1913)
 # KEYFRAME 15
0.05523200400057249
Frame 26
tensor(0.0848)
Frame 27
tensor(0.1922)
 # KEYFRAME 16
0.056384209005045705
Frame 28
tensor(0.1619)
 # KEYFRAME 17
0.05699892700067721
Frame 29
tensor(0.0896)
Frame 30
tensor(0.1504)
 # KEYFRAME 18
0.05733036600577179
Frame 31
tensor(0.1825)
 # KEYFRAME 19
0.057982843994977884
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.0724)
Frame 33
tensor(0.1463)
 # KEYFRAME 20
0.05411867699876893
Frame 34
tensor(0.0882)
Frame 35
tensor(0.5049)
 # KEYFRAME 21
0.05495697400328936
Frame 36
tensor(0.0581)
Frame 37
tensor(0.0830)
Frame 38
tensor(0.1497)
 # KEYFRAME 22
0.05564004199550254
Frame 39
tensor(0.2055)
 # KEYFRAME 23
0.05592128100397531
Frame 40
tensor(0.0728)
Frame 41
tensor(0.2628)
 # KEYFRAME 24
0.05659164799726568
Frame 42
tensor(0.2572)
 # KEYFRAME 25
0.05724667599861277
Frame 43
tensor(0.1028)
 # KEYFRAME 26
0.05855463099578628
Frame 44
tensor(0.1070)
 # KEYFRAME 27
0.05937853900104528
Frame 45
tensor(0.4699)
 # KEYFRAME 28
0.059795727000164334
Frame 46
tensor(0.1301)
 # KEYFRAME 29
0.060019736003596336
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 47
tensor(0.1860)
 # KEYFRAME 30
0.05841677200078266
Frame 48
tensor(0.0317)
Frame 49
tensor(0.0704)
Frame 50
tensor(0.0726)
Frame 51
tensor(0.1483)
 # KEYFRAME 31
0.05973068700404838
Frame 52
tensor(0.0667)
Frame 53
tensor(0.2083)
 # KEYFRAME 32
0.05967030699684983
Frame 54
tensor(0.1020)
 # KEYFRAME 33
0.060663773998385295
Frame 55
tensor(0.3331)
 # KEYFRAME 34
0.06133551200036891
Frame 56
tensor(0.0792)
Frame 57
tensor(0.2069)
 # KEYFRAME 35
0.062021368998102844
Frame 58
tensor(0.1083)
 # KEYFRAME 36
0.06260984699474648
Frame 59
tensor(0.0909)
Frame 60
tensor(0.2453)
 # KEYFRAME 37
0.06311236600595294
Frame 61
tensor(0.1138)
 # KEYFRAME 38
0.06342874400434084
Frame 62
tensor(0.1068)
 # KEYFRAME 39
0.06429023099917686
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1748 loss_distill=0.1733 tta_take=0.009s
Frame 63
tensor(0.6168)
 # KEYFRAME 40
0.06284830599906854
Frame 64
tensor(0.1960)
 # KEYFRAME 41
0.06419082199863624
Frame 65
tensor(0.1098)
 # KEYFRAME 42
0.06427726100082509
Frame 66
tensor(0.1255)
 # KEYFRAME 43
0.06442967100156238
Frame 67
tensor(0.1156)
 # KEYFRAME 44
0.06502996900235303
Frame 68
tensor(0.5173)
 # KEYFRAME 45
0.0657706860001781
Frame 69
tensor(0.0473)
Frame 70
tensor(0.0927)
Frame 71
tensor(0.1617)
 # KEYFRAME 46
0.06590153599972837
Frame 72
tensor(0.1242)
 # KEYFRAME 47
0.06645849299820838
Frame 73
tensor(0.1537)
 # KEYFRAME 48
0.06771000900334911
Frame 74
tensor(0.0420)
Frame 75
tensor(0.1203)
 # KEYFRAME 49
0.06804261700017378
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1749 loss_distill=0.2747 tta_take=0.009s
Frame 76
tensor(0.3287)
 # KEYFRAME 50
0.06711795100272866
Frame 77
tensor(0.0750)
Frame 78
tensor(0.1706)
 # KEYFRAME 51
0.06855591600469779
Frame 79
tensor(0.0674)
Frame 80
tensor(0.1822)
 # KEYFRAME 52
0.06919908399868291
Frame 81
tensor(0.0965)
Frame 82
tensor(0.2611)
 # KEYFRAME 53
0.07068378800613573
Frame 83
tensor(0.1334)
 # KEYFRAME 54
0.06976943200425012
Frame 84
tensor(0.1137)
 # KEYFRAME 55
0.07229526199807879
Frame 85
tensor(0.1962)
 # KEYFRAME 56
0.07376797700271709
Frame 86
tensor(0.1632)
 # KEYFRAME 57
0.07360885800153483
Frame 87
tensor(0.0976)
Frame 88
tensor(0.1305)
 # KEYFRAME 58
0.07413248700322583
Frame 89
tensor(0.1322)
 # KEYFRAME 59
0.07516541299992241
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1750 loss_distill=0.3466 tta_take=0.009s
Frame 90
tensor(0.2803)
 # KEYFRAME 60
0.07206921400211286
Frame 91
tensor(0.1348)
 # KEYFRAME 61
0.07308257000113372
Frame 92
tensor(0.1619)
 # KEYFRAME 62
0.0728639299995848
Frame 93
tensor(0.2691)
 # KEYFRAME 63
0.07346784900437342
Frame 94
tensor(0.1800)
 # KEYFRAME 64
0.07377252699370729
Frame 95
tensor(0.3624)
 # KEYFRAME 65
0.07431061500392389
Frame 96
tensor(0.0819)
Frame 97
tensor(0.2136)
 # KEYFRAME 66
0.07488909400126431
Frame 98
tensor(0.1576)
 # KEYFRAME 67
0.07532629199704388
Frame 99
tensor(0.0920)
Frame 100
tensor(0.6618)
 # KEYFRAME 68
0.07573656999738887
Frame 101
tensor(0.0899)
Frame 102
tensor(0.3557)
 # KEYFRAME 69
0.07608731000073021
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1751 loss_distill=0.4024 tta_take=0.009s
Frame 103
tensor(0.1009)
 # KEYFRAME 70
0.07631396899523679
Frame 104
tensor(0.7449)
 # KEYFRAME 71
0.07765875400218647
Frame 105
tensor(0.0643)
Frame 106
tensor(0.1263)
 # KEYFRAME 72
0.07688375699945027
Frame 107
tensor(0.0808)
Frame 108
tensor(0.1957)
 # KEYFRAME 73
0.07756197400158271
Frame 109
tensor(0.3520)
 # KEYFRAME 74
0.0779829930033884
Frame 110
tensor(0.1120)
 # KEYFRAME 75
0.07842939100373769
Frame 111
tensor(0.1733)
 # KEYFRAME 76
0.07879217000299832
Frame 112
tensor(0.1481)
 # KEYFRAME 77
0.07967452700540889
Frame 113
tensor(0.2010)
 # KEYFRAME 78
0.08022636500390945
Frame 114
tensor(0.0986)
Frame 115
tensor(0.1369)
 # KEYFRAME 79
0.08085085199854802
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1752 loss_distill=0.4024 tta_take=0.009s
Frame 116
tensor(0.0301)
Frame 117
tensor(0.3098)
 # KEYFRAME 80
0.07571289099723799
Frame 118
tensor(0.1355)
 # KEYFRAME 81
0.07759675299894297
Frame 119
tensor(0.3657)
 # KEYFRAME 82
0.07718592500168597
Frame 120
tensor(0.1223)
 # KEYFRAME 83
0.07737650500348536
Frame 121
tensor(0.3472)
 # KEYFRAME 84
0.07849400099803461
Frame 122
tensor(0.0858)
Frame 123
tensor(0.2142)
 # KEYFRAME 85
0.07897243900515605
Frame 124
tensor(0.2494)
 # KEYFRAME 86
0.07891663999907905
Frame 125
tensor(0.1232)
 # KEYFRAME 87
0.0804020439973101
Frame 126
tensor(0.0860)
Frame 127
tensor(0.6824)
 # KEYFRAME 88
0.08041026400314877
Frame 128
tensor(0.1231)
 # KEYFRAME 89
0.08093807199475123
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1753 loss_distill=0.4024 tta_take=0.008s
Frame 129
tensor(0.1188)
 # KEYFRAME 90
0.07570652000140399
Frame 130
tensor(0.2833)
 # KEYFRAME 91
0.07795882200298365
Frame 131
tensor(0.0860)
Frame 132
tensor(0.2359)
 # KEYFRAME 92
0.07733168500271859
Frame 133
tensor(0.2419)
 # KEYFRAME 93
0.0779420629987726
Frame 134
tensor(0.0812)
Frame 135
tensor(0.1392)
 # KEYFRAME 94
0.07778709300328046
Frame 136
tensor(0.1473)
 # KEYFRAME 95
0.07907994799461449
Frame 137
tensor(0.0727)
Frame 138
tensor(0.0942)
Frame 139
tensor(0.5301)
 # KEYFRAME 96
0.07901170900004217
Frame 140
tensor(0.2815)
 # KEYFRAME 97
0.07974725600070087
Frame 141
tensor(0.0811)
Frame 142
tensor(0.3593)
 # KEYFRAME 98
0.08092877200397197
Frame 143
tensor(0.1460)
 # KEYFRAME 99
0.08090589200583054
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=1754 loss_distill=0.4024 tta_take=0.009s
Frame 144
tensor(0.0792)
Frame 145
tensor(0.1006)
 # KEYFRAME 100
0.07560184099565959
Frame 146
tensor(1.1439)
 # KEYFRAME 101
0.07818490199861117
Frame 147
tensor(0.1176)
 # KEYFRAME 102
0.0773257350010681
Frame 148
tensor(0.0629)
Backending... 103 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 58590, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1755 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 262/556] scannetpp/6f1848d1e3/DSC frames=149 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=1755 time=37.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.2568)
 # KEYFRAME 1
Frame 2
tensor(0.3098)
 # KEYFRAME 2
0.05173651600489393
Frame 3
tensor(0.2269)
 # KEYFRAME 3
0.05261285299638985
Frame 4
tensor(0.2733)
 # KEYFRAME 4
0.05390071799774887
Frame 5
tensor(0.2871)
 # KEYFRAME 5
0.054594195004028734
Frame 6
tensor(0.2661)
 # KEYFRAME 6
0.05564201200468233
Frame 7
tensor(0.3432)
 # KEYFRAME 7
0.056466078996891156
Frame 8
tensor(0.2576)
 # KEYFRAME 8
0.05716035700606881
Frame 9
tensor(0.1020)
 # KEYFRAME 9
0.05824270300217904
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.0595)
Frame 11
tensor(0.1646)
 # KEYFRAME 10
0.051639535995491315
Frame 12
tensor(0.2134)
 # KEYFRAME 11
0.052556013004505076
Frame 13
tensor(0.3918)
 # KEYFRAME 12
0.05357485899730818
Frame 14
tensor(0.2371)
 # KEYFRAME 13
0.05543688299803762
Frame 15
tensor(0.3427)
 # KEYFRAME 14
0.05521033300465206
Frame 16
tensor(0.2713)
 # KEYFRAME 15
0.05500400500022806
Frame 17
tensor(0.2927)
 # KEYFRAME 16
0.05623027999536134
Frame 18
tensor(0.5135)
 # KEYFRAME 17
0.0569522669975413
Frame 19
tensor(0.1843)
 # KEYFRAME 18
0.057147397004882805
Frame 20
tensor(0.3921)
 # KEYFRAME 19
0.058112463004363235
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.2683)
 # KEYFRAME 20
0.05404283800453413
Frame 22
tensor(0.1613)
 # KEYFRAME 21
0.05443795600149315
Frame 23
tensor(0.3231)
 # KEYFRAME 22
0.05544973199721426
Frame 24
tensor(0.2613)
 # KEYFRAME 23
0.05617334000271512
Frame 25
tensor(0.2931)
 # KEYFRAME 24
0.05707795600028476
Frame 26
tensor(0.3122)
 # KEYFRAME 25
0.057483814998704474
Frame 27
tensor(0.2785)
 # KEYFRAME 26
0.0584572619991377
Frame 28
tensor(0.2873)
 # KEYFRAME 27
0.0591328299997258
Frame 29
tensor(0.1530)
 # KEYFRAME 28
0.05965268800355261
Frame 30
tensor(0.2233)
 # KEYFRAME 29
0.059961497005133424
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 31
tensor(0.2041)
 # KEYFRAME 30
0.05827463300374802
Frame 32
tensor(0.3442)
 # KEYFRAME 31
0.059135490002518054
Frame 33
tensor(0.1826)
 # KEYFRAME 32
0.059625688001688104
Frame 34
tensor(0.0963)
Frame 35
tensor(0.2933)
 # KEYFRAME 33
0.060585234001337085
Frame 36
tensor(0.2456)
 # KEYFRAME 34
0.06113183200068306
Frame 37
tensor(0.5489)
 # KEYFRAME 35
0.06188351000309922
Frame 38
tensor(0.2018)
 # KEYFRAME 36
0.06246140799339628
Frame 39
tensor(0.4144)
 # KEYFRAME 37
0.06268291699961992
Frame 40
tensor(0.2742)
 # KEYFRAME 38
0.063251425002818
Frame 41
tensor(0.3200)
 # KEYFRAME 39
0.0643043009986286
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1756 loss_distill=0.1733 tta_take=0.009s
Frame 42
tensor(0.3174)
 # KEYFRAME 40
0.06280446700111497
Frame 43
tensor(0.2768)
 # KEYFRAME 41
0.06402054199861595
Frame 44
tensor(0.2244)
 # KEYFRAME 42
0.06405172199447406
Frame 45
tensor(0.1765)
 # KEYFRAME 43
0.0641472320057801
Frame 46
tensor(0.1151)
 # KEYFRAME 44
0.06513578799786046
Frame 47
tensor(0.4449)
 # KEYFRAME 45
0.06602009500056738
Frame 48
tensor(0.2892)
 # KEYFRAME 46
0.06587552499695448
Frame 49
tensor(0.2163)
 # KEYFRAME 47
0.06639880400325637
Frame 50
tensor(0.3678)
 # KEYFRAME 48
0.06711439200444147
Frame 51
tensor(0.3561)
 # KEYFRAME 49
0.06799058800243074
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1757 loss_distill=0.2747 tta_take=0.009s
Frame 52
tensor(0.2637)
 # KEYFRAME 50
0.06723533100011991
Frame 53
tensor(0.2621)
 # KEYFRAME 51
0.06872511500114342
Frame 54
tensor(0.3758)
 # KEYFRAME 52
0.06930136400478659
Frame 55
tensor(0.1947)
 # KEYFRAME 53
0.07030176000262145
Frame 56
tensor(0.0286)
Frame 57
tensor(0.3919)
 # KEYFRAME 54
0.06952911199914524
Frame 58
tensor(0.4959)
 # KEYFRAME 55
0.07232665299670771
Frame 59
tensor(0.3645)
 # KEYFRAME 56
0.07339180899725761
Frame 60
tensor(0.0783)
Frame 61
tensor(0.3430)
 # KEYFRAME 57
0.07346022899582749
Frame 62
tensor(0.0921)
Frame 63
tensor(0.2443)
 # KEYFRAME 58
0.07462721400224837
Frame 64
tensor(0.1311)
 # KEYFRAME 59
0.07482391400117194
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1758 loss_distill=0.3466 tta_take=0.009s
Frame 65
tensor(0.3753)
 # KEYFRAME 60
0.07203061399923172
Frame 66
tensor(0.2885)
 # KEYFRAME 61
0.0733516789987334
Frame 67
tensor(0.1621)
 # KEYFRAME 62
0.07241728200460784
Frame 68
tensor(0.4040)
 # KEYFRAME 63
0.07343920900166268
Frame 69
tensor(0.4178)
 # KEYFRAME 64
0.07389365699782502
Frame 70
tensor(0.3269)
 # KEYFRAME 65
0.07407338700431865
Frame 71
tensor(0.1881)
 # KEYFRAME 66
0.07542084199667443
Frame 72
tensor(0.0990)
Frame 73
tensor(0.2938)
 # KEYFRAME 67
0.07509588300308678
Frame 74
tensor(0.1362)
 # KEYFRAME 68
0.07585694000590593
Frame 75
tensor(0.3115)
 # KEYFRAME 69
0.0760116300007212
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1759 loss_distill=0.4024 tta_take=0.009s
Frame 76
tensor(0.2530)
 # KEYFRAME 70
0.07563102099811658
Frame 77
tensor(0.3967)
 # KEYFRAME 71
0.07742380400304683
Frame 78
tensor(0.3753)
 # KEYFRAME 72
0.07704062599805184
Frame 79
tensor(0.3103)
 # KEYFRAME 73
0.0775997339951573
Frame 80
tensor(0.4192)
 # KEYFRAME 74
0.07781527299812296
Frame 81
tensor(0.2995)
 # KEYFRAME 75
0.07873370999732288
Frame 82
tensor(0.1941)
 # KEYFRAME 76
0.07846630099811591
Frame 83
tensor(0.2019)
 # KEYFRAME 77
0.07979301599698374
Frame 84
tensor(0.0577)
Frame 85
tensor(0.2638)
 # KEYFRAME 78
0.080013834995043
Frame 86
tensor(0.2201)
 # KEYFRAME 79
0.08050907299912069
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1760 loss_distill=0.4024 tta_take=0.009s
Frame 87
tensor(0.3016)
 # KEYFRAME 80
0.07574955000018235
Frame 88
tensor(0.2606)
 # KEYFRAME 81
0.07779866299824789
Frame 89
tensor(0.3760)
 # KEYFRAME 82
0.07657764800387667
Frame 90
tensor(0.4158)
 # KEYFRAME 83
0.07728610399499303
Frame 91
tensor(0.3394)
 # KEYFRAME 84
0.07860783999785781
Frame 92
tensor(0.2013)
 # KEYFRAME 85
0.07843185100500705
Frame 93
tensor(0.4231)
 # KEYFRAME 86
0.07878137899388094
Frame 94
tensor(0.3552)
 # KEYFRAME 87
0.07985315599944443
Frame 95
tensor(0.5279)
 # KEYFRAME 88
0.08048006399621954
Frame 96
tensor(0.2726)
 # KEYFRAME 89
0.08089817200379912
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1761 loss_distill=0.4024 tta_take=0.009s
Frame 97
tensor(0.2904)
 # KEYFRAME 90
0.07623845899797743
Frame 98
tensor(0.3129)
 # KEYFRAME 91
0.07755687399912858
Frame 99
tensor(0.3124)
 # KEYFRAME 92
0.07749256500392221
Frame 100
tensor(0.3856)
 # KEYFRAME 93
0.07800387300085276
Frame 101
tensor(0.1255)
 # KEYFRAME 94
0.07795736200205283
Frame 102
tensor(0.2454)
 # KEYFRAME 95
0.07870520000142278
Frame 103
tensor(0.3900)
 # KEYFRAME 96
0.07836956100072712
Frame 104
tensor(0.5253)
 # KEYFRAME 97
0.07985865600494435
Frame 105
tensor(0.3752)
 # KEYFRAME 98
0.0804435040045064
Frame 106
tensor(0.1462)
 # KEYFRAME 99
0.08141117099876283
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1762 loss_distill=0.4024 tta_take=0.009s
Frame 107
tensor(0.1069)
 # KEYFRAME 100
0.07583688000158872
Frame 108
tensor(0.0810)
Frame 109
tensor(0.2981)
 # KEYFRAME 101
0.07802869300212478
Frame 110
tensor(0.1743)
 # KEYFRAME 102
0.07746127399877878
Frame 111
tensor(0.3234)
 # KEYFRAME 103
0.07746997399954125
Frame 112
tensor(0.3868)
 # KEYFRAME 104
0.07826684099563863
Frame 113
tensor(0.1818)
 # KEYFRAME 105
0.07911848900403129
Frame 114
tensor(0.2193)
 # KEYFRAME 106
0.07842665100179147
Frame 115
tensor(0.2531)
 # KEYFRAME 107
0.07981051500246394
Frame 116
tensor(0.2872)
 # KEYFRAME 108
0.08056941300310427
Frame 117
tensor(0.3784)
 # KEYFRAME 109
0.0812930710017099
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1763 loss_distill=0.4024 tta_take=0.009s
Frame 118
tensor(0.2015)
 # KEYFRAME 110
0.07543992100545438
Frame 119
tensor(0.2055)
 # KEYFRAME 111
0.0763978179966216
Frame 120
tensor(0.1677)
 # KEYFRAME 112
0.07728871500148671
Frame 121
tensor(0.0841)
Frame 122
tensor(0.3196)
 # KEYFRAME 113
0.07744675499998266
Frame 123
tensor(0.1321)
 # KEYFRAME 114
0.07804818200384034
Frame 124
tensor(0.1457)
 # KEYFRAME 115
0.07840620099887019
Frame 125
tensor(0.2766)
 # KEYFRAME 116
0.07782024299376644
Frame 126
tensor(0.3078)
 # KEYFRAME 117
0.08004472500033444
Frame 127
tensor(0.1014)
 # KEYFRAME 118
0.08042576399748214
Frame 128
tensor(0.1452)
 # KEYFRAME 119
0.08039242399536306
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1764 loss_distill=0.4024 tta_take=0.009s
Frame 129
tensor(0.3637)
 # KEYFRAME 120
0.07552542200573953
Frame 130
tensor(0.1781)
 # KEYFRAME 121
0.07798251199710649
Frame 131
tensor(0.0663)
Frame 132
tensor(0.9076)
 # KEYFRAME 122
0.07784474300569855
Frame 133
tensor(0.1216)
 # KEYFRAME 123
0.07904157899611164
Frame 134
tensor(0.2476)
 # KEYFRAME 124
0.0801725740020629
Frame 135
tensor(0.3247)
 # KEYFRAME 125
0.08112371099559823
Frame 136
tensor(0.3146)
 # KEYFRAME 126
0.0785768600035226
Frame 137
tensor(0.4125)
 # KEYFRAME 127
0.08086445200024173
Frame 138
tensor(0.2437)
 # KEYFRAME 128
0.08237246700446121
Frame 139
tensor(0.3746)
 # KEYFRAME 129
0.08229128699895227
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1765 loss_distill=0.4024 tta_take=0.009s
Frame 140
tensor(0.1663)
 # KEYFRAME 130
0.0758497599963448
Frame 141
tensor(0.1628)
 # KEYFRAME 131
0.07640686800004914
Frame 142
tensor(0.1483)
 # KEYFRAME 132
0.07780586300214054
Frame 143
tensor(0.2361)
 # KEYFRAME 133
0.07798465299856616
Frame 144
tensor(0.2029)
 # KEYFRAME 134
0.07873742900119396
Frame 145
tensor(0.1624)
 # KEYFRAME 135
0.07944064700132003
Frame 146
tensor(0.0540)
Frame 147
tensor(0.1506)
 # KEYFRAME 136
0.07834579100017436
Frame 148
tensor(0.0526)
Frame 149
tensor(0.0881)
Backending... 137 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62310, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1766 loss_distill=0.4024 tta_take=0.007s
[epoch 0 scene 263/556] scannetpp/80ffca8a48/DSC frames=150 tta_steps_this_scene=11 mean_loss=0.3649 total_steps=1766 time=49.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0471)
Frame 2
tensor(0.0938)
Frame 3
tensor(0.1412)
 # KEYFRAME 1
Frame 4
tensor(0.0458)
Frame 5
tensor(0.0965)
Frame 6
tensor(0.1509)
 # KEYFRAME 2
0.052260064003348816
Frame 7
tensor(0.0494)
Frame 8
tensor(0.0969)
Frame 9
tensor(0.1581)
 # KEYFRAME 3
0.05274445300165098
Frame 10
tensor(0.0532)
Frame 11
tensor(0.1067)
 # KEYFRAME 4
0.052965650997066405
Frame 12
tensor(0.0484)
Frame 13
tensor(0.1025)
 # KEYFRAME 5
0.05247748299734667
Frame 14
tensor(0.0599)
Frame 15
tensor(0.1096)
 # KEYFRAME 6
0.05283146200235933
Frame 16
tensor(0.0482)
Frame 17
tensor(0.1069)
 # KEYFRAME 7
0.05263145299977623
Frame 18
tensor(0.0510)
Frame 19
tensor(0.0935)
Frame 20
tensor(0.1570)
 # KEYFRAME 8
0.05381098799989559
Frame 21
tensor(0.0461)
Frame 22
tensor(0.0955)
Frame 23
tensor(0.1480)
 # KEYFRAME 9
0.05263302299863426
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 24
tensor(0.0459)
Frame 25
tensor(0.0925)
Frame 26
tensor(0.1499)
 # KEYFRAME 10
0.05183383500116179
Frame 27
tensor(0.0490)
Frame 28
tensor(0.0982)
Frame 29
tensor(0.1495)
 # KEYFRAME 11
0.05210458399960771
Frame 30
tensor(0.0491)
Frame 31
tensor(0.0995)
Frame 32
tensor(0.1503)
 # KEYFRAME 12
0.05250045299908379
Frame 33
tensor(0.0475)
Frame 34
tensor(0.0932)
Frame 35
tensor(0.1465)
 # KEYFRAME 13
0.05270254200149793
Frame 36
tensor(0.0453)
Frame 37
tensor(0.0952)
Frame 38
tensor(0.1351)
 # KEYFRAME 14
0.05506920399784576
Frame 39
tensor(0.0457)
Frame 40
tensor(0.0867)
Frame 41
tensor(0.1314)
 # KEYFRAME 15
0.05208757500076899
Frame 42
tensor(0.0401)
Frame 43
tensor(0.0842)
Frame 44
tensor(0.1272)
 # KEYFRAME 16
0.05263655300223036
Frame 45
tensor(0.0376)
Frame 46
tensor(0.0788)
Frame 47
tensor(0.1282)
 # KEYFRAME 17
0.05593883100664243
Frame 48
tensor(0.0364)
Frame 49
tensor(0.0838)
Frame 50
tensor(0.1249)
 # KEYFRAME 18
0.053010090996394865
Frame 51
tensor(0.0393)
Frame 52
tensor(0.0834)
Frame 53
tensor(0.1275)
 # KEYFRAME 19
0.056665978001547046
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 54
tensor(0.0372)
Frame 55
tensor(0.0890)
Frame 56
tensor(0.1324)
 # KEYFRAME 20
0.05201505500008352
Frame 57
tensor(0.0401)
Frame 58
tensor(0.0906)
Frame 59
tensor(0.1285)
 # KEYFRAME 21
0.052712392003741115
Frame 60
tensor(0.0441)
Frame 61
tensor(0.0904)
Frame 62
tensor(0.1308)
 # KEYFRAME 22
0.05351400899962755
Frame 63
tensor(0.0442)
Frame 64
tensor(0.0853)
Frame 65
tensor(0.1276)
 # KEYFRAME 23
0.052112953999312595
Frame 66
tensor(0.0366)
Frame 67
tensor(0.0760)
Frame 68
tensor(0.1166)
 # KEYFRAME 24
0.05367030900379177
Frame 69
tensor(0.0400)
Frame 70
tensor(0.0749)
Frame 71
tensor(0.1101)
 # KEYFRAME 25
0.05273587199917529
Frame 72
tensor(0.0351)
Frame 73
tensor(0.0689)
Frame 74
tensor(0.1019)
 # KEYFRAME 26
0.052587282996682916
Frame 75
tensor(0.0281)
Frame 76
tensor(0.0637)
Frame 77
tensor(0.0935)
Frame 78
tensor(0.1222)
 # KEYFRAME 27
0.05531383400375489
Frame 79
tensor(0.0257)
Frame 80
tensor(0.0561)
Frame 81
tensor(0.0849)
Frame 82
tensor(0.1132)
 # KEYFRAME 28
0.05281745200045407
Frame 83
tensor(0.0303)
Frame 84
tensor(0.0585)
Frame 85
tensor(0.0854)
Frame 86
tensor(0.1082)
 # KEYFRAME 29
0.05593898100050865
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 87
tensor(0.0239)
Frame 88
tensor(0.0496)
Frame 89
tensor(0.0727)
Frame 90
tensor(0.0959)
Frame 91
tensor(0.1228)
 # KEYFRAME 30
0.05240304300241405
Frame 92
tensor(0.0222)
Frame 93
tensor(0.0424)
Frame 94
tensor(0.0662)
Frame 95
tensor(0.0843)
Frame 96
tensor(0.1050)
 # KEYFRAME 31
0.0530299010060844
Frame 97
tensor(0.0185)
Frame 98
tensor(0.0354)
Frame 99
tensor(0.0524)
Frame 100
tensor(0.0729)
Frame 101
tensor(0.0872)
Frame 102
tensor(0.1035)
 # KEYFRAME 32
0.05334918099833885
Frame 103
tensor(0.0140)
Frame 104
tensor(0.0301)
Frame 105
tensor(0.0492)
Frame 106
tensor(0.0610)
Frame 107
tensor(0.0771)
Frame 108
tensor(0.0909)
Frame 109
tensor(0.1008)
 # KEYFRAME 33
0.05266618300083792
Frame 110
tensor(0.0114)
Frame 111
tensor(0.0228)
Frame 112
tensor(0.0322)
Frame 113
tensor(0.0429)
Frame 114
tensor(0.0538)
Frame 115
tensor(0.0641)
Frame 116
tensor(0.0753)
Frame 117
tensor(0.0812)
Frame 118
tensor(0.0908)
Frame 119
tensor(0.1023)
 # KEYFRAME 34
0.0531788209991646
Frame 120
tensor(0.0062)
Frame 121
tensor(0.0114)
Frame 122
tensor(0.0178)
Frame 123
tensor(0.0239)
Frame 124
tensor(0.0279)
Frame 125
tensor(0.0331)
Frame 126
tensor(0.0395)
Frame 127
tensor(0.0447)
Frame 128
tensor(0.0465)
Frame 129
tensor(0.0502)
Frame 130
tensor(0.0530)
Frame 131
tensor(0.0552)
Frame 132
tensor(0.0589)
Frame 133
tensor(0.0604)
Frame 134
tensor(0.0671)
Frame 135
tensor(0.0676)
Frame 136
tensor(0.0731)
Frame 137
tensor(0.0791)
Frame 138
tensor(0.0851)
Frame 139
tensor(0.0843)
Frame 140
tensor(0.0899)
Frame 141
tensor(0.0904)
Frame 142
tensor(0.0920)
Frame 143
tensor(0.0986)
Frame 144
tensor(0.1040)
 # KEYFRAME 35
0.05258859199966537
Frame 145
tensor(0.0037)
Frame 146
tensor(0.0059)
Frame 147
tensor(0.0080)
Frame 148
tensor(0.0105)
Frame 149
tensor(0.0107)
Frame 150
tensor(0.0133)
Frame 151
tensor(0.0154)
Frame 152
tensor(0.0158)
Frame 153
tensor(0.0205)
Frame 154
tensor(0.0213)
Frame 155
tensor(0.0246)
Frame 156
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tensor(0.0366)
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tensor(0.0399)
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tensor(0.0405)
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tensor(0.0405)
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tensor(0.0393)
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tensor(0.0401)
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tensor(0.0399)
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tensor(0.0402)
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tensor(0.0396)
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tensor(0.0397)
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tensor(0.0393)
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tensor(0.0397)
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tensor(0.0407)
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tensor(0.0406)
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tensor(0.0419)
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tensor(0.0438)
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tensor(0.0431)
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tensor(0.0422)
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tensor(0.0407)
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tensor(0.0406)
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tensor(0.0403)
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tensor(0.0401)
Frame 210
tensor(0.0380)
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tensor(0.0393)
Frame 212
tensor(0.0379)
Frame 213
tensor(0.0385)
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tensor(0.0395)
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tensor(0.0381)
Frame 216
tensor(0.0386)
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tensor(0.0403)
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tensor(0.0399)
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tensor(0.0401)
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tensor(0.0399)
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tensor(0.0402)
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tensor(0.0398)
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tensor(0.0406)
Frame 224
tensor(0.0397)
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tensor(0.0394)
Frame 226
tensor(0.0395)
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tensor(0.0405)
Frame 228
tensor(0.0406)
Frame 229
tensor(0.0402)
Frame 230
tensor(0.0401)
Frame 231
tensor(0.0399)
Frame 232
tensor(0.0411)
Backending... 36 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 14832, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1767 loss_distill=0.1733 tta_take=0.004s
[epoch 0 scene 264/556] vkitti/Scene02/15-deg-left/Camera_0 frames=233 tta_steps_this_scene=1 mean_loss=0.1733 total_steps=1767 time=34.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0155)
Frame 2
tensor(0.1215)
 # KEYFRAME 1
Frame 3
tensor(0.1110)
 # KEYFRAME 2
0.051751105005678255
Frame 4
tensor(0.1155)
 # KEYFRAME 3
0.054277996001474094
Frame 5
tensor(0.1181)
 # KEYFRAME 4
0.05437286500091432
Frame 6
tensor(0.1507)
 # KEYFRAME 5
0.05501863400422735
Frame 7
tensor(0.0865)
Frame 8
tensor(0.0952)
Frame 9
tensor(0.1872)
 # KEYFRAME 6
0.0559327199953259
Frame 10
tensor(0.0997)
Frame 11
tensor(0.0989)
Frame 12
tensor(0.2499)
 # KEYFRAME 7
0.05687018600292504
Frame 13
tensor(0.0566)
Frame 14
tensor(0.1228)
 # KEYFRAME 8
0.058609861000149976
Frame 15
tensor(0.1831)
 # KEYFRAME 9
0.0588949090015376
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 16
tensor(0.1784)
 # KEYFRAME 10
0.052829330998065416
Frame 17
tensor(0.1135)
 # KEYFRAME 11
0.05377949799731141
Frame 18
tensor(0.1585)
 # KEYFRAME 12
0.05439518499770202
Frame 19
tensor(0.0924)
Frame 20
tensor(0.1170)
 # KEYFRAME 13
0.05680729699815856
Frame 21
tensor(0.0773)
Frame 22
tensor(0.1423)
 # KEYFRAME 14
0.05870942999899853
Frame 23
tensor(0.0619)
Frame 24
tensor(0.0816)
Frame 25
tensor(0.1791)
 # KEYFRAME 15
0.05825083200033987
Frame 26
tensor(0.2119)
 # KEYFRAME 16
0.059371907998865936
Frame 27
tensor(0.1620)
 # KEYFRAME 17
0.06056151300435886
Frame 28
tensor(0.0764)
Frame 29
tensor(0.2617)
 # KEYFRAME 18
0.061383470994769596
Frame 30
tensor(0.0944)
Frame 31
tensor(0.1315)
 # KEYFRAME 19
0.06323484399763402
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.2046)
 # KEYFRAME 20
0.05907296899385983
Frame 33
tensor(0.2032)
 # KEYFRAME 21
0.060396644003049005
Frame 34
tensor(0.1357)
 # KEYFRAME 22
0.06144676999974763
Frame 35
tensor(0.1154)
 # KEYFRAME 23
0.06238942700292682
Frame 36
tensor(0.2378)
 # KEYFRAME 24
0.06249724699591752
Frame 37
tensor(0.1280)
 # KEYFRAME 25
0.06381685200176435
Frame 38
tensor(0.0908)
Frame 39
tensor(0.1430)
 # KEYFRAME 26
0.06540520599810407
Frame 40
tensor(0.1492)
 # KEYFRAME 27
0.06655870199756464
Frame 41
tensor(0.3072)
 # KEYFRAME 28
0.06785074799699942
Frame 42
tensor(0.3079)
 # KEYFRAME 29
0.06804144699708559
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 43
tensor(0.2495)
 # KEYFRAME 30
0.06596333399647847
Frame 44
tensor(0.1791)
 # KEYFRAME 31
0.06741251899802592
Frame 45
tensor(0.0927)
Frame 46
tensor(0.1566)
 # KEYFRAME 32
0.06802551700093318
Frame 47
tensor(0.0344)
Frame 48
tensor(0.2387)
 # KEYFRAME 33
0.06891890399856493
Frame 49
tensor(0.1243)
 # KEYFRAME 34
0.06978296000306727
Frame 50
tensor(0.1635)
 # KEYFRAME 35
0.07047913800488459
Frame 51
tensor(0.1377)
 # KEYFRAME 36
0.07115430599515093
Frame 52
tensor(0.1635)
 # KEYFRAME 37
0.07235161200514995
Frame 53
tensor(0.0218)
Backending... 38 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 39558, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1768 loss_distill=0.1733 tta_take=0.008s
[epoch 0 scene 265/556] scannetpp/9859de300f/frame frames=54 tta_steps_this_scene=1 mean_loss=0.1733 total_steps=1768 time=11.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0373)
Frame 2
tensor(0.1237)
 # KEYFRAME 1
Frame 3
tensor(0.2826)
 # KEYFRAME 2
0.0510574270010693
Frame 4
tensor(0.1938)
 # KEYFRAME 3
0.05271421200450277
Frame 5
tensor(0.2010)
 # KEYFRAME 4
0.05474513400258729
Frame 6
tensor(0.1756)
 # KEYFRAME 5
0.055528150995087344
Frame 7
tensor(0.2433)
 # KEYFRAME 6
0.05651586799649522
Frame 8
tensor(0.2683)
 # KEYFRAME 7
0.057386514999961946
Frame 9
tensor(0.2648)
 # KEYFRAME 8
0.058339581002655905
Frame 10
tensor(0.3823)
 # KEYFRAME 9
0.05869613999675494
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.3234)
 # KEYFRAME 10
0.05220407400338445
Frame 12
tensor(0.1971)
 # KEYFRAME 11
0.05344421899644658
Frame 13
tensor(0.1220)
 # KEYFRAME 12
0.054433575001894496
Frame 14
tensor(0.2147)
 # KEYFRAME 13
0.056341227995289955
Frame 15
tensor(0.5213)
 # KEYFRAME 14
0.05739696499949787
Frame 16
tensor(0.0970)
Frame 17
tensor(0.3448)
 # KEYFRAME 15
0.05788961300277151
Frame 18
tensor(0.2422)
 # KEYFRAME 16
0.05907091900007799
Frame 19
tensor(0.1582)
 # KEYFRAME 17
0.059856266001588665
Frame 20
tensor(0.1310)
 # KEYFRAME 18
0.06103155199525645
Frame 21
tensor(0.3351)
 # KEYFRAME 19
0.06284107499959646
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 22
tensor(0.3738)
 # KEYFRAME 20
0.05903915900125867
Frame 23
tensor(0.1703)
 # KEYFRAME 21
0.060680653994495515
Frame 24
tensor(0.2859)
 # KEYFRAME 22
0.061974247997568455
Frame 25
tensor(0.1473)
 # KEYFRAME 23
0.06327032400440658
Frame 26
tensor(0.2557)
 # KEYFRAME 24
0.06453969999711262
Frame 27
tensor(0.2374)
 # KEYFRAME 25
0.06531784600520041
Frame 28
tensor(0.2275)
 # KEYFRAME 26
0.06734480900195194
Frame 29
tensor(0.2437)
 # KEYFRAME 27
0.06739885000570212
Frame 30
tensor(0.2175)
 # KEYFRAME 28
0.06864089499867987
Frame 31
tensor(0.2369)
 # KEYFRAME 29
0.06971674100350356
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.3149)
 # KEYFRAME 30
0.06606043400097406
Frame 33
tensor(0.0939)
Frame 34
tensor(0.1306)
 # KEYFRAME 31
0.06748718800372444
Frame 35
tensor(0.0580)
Frame 36
tensor(0.0819)
Frame 37
tensor(0.1633)
 # KEYFRAME 32
0.06806506699649617
Frame 38
tensor(0.1480)
 # KEYFRAME 33
0.0687059740012046
Frame 39
tensor(0.0605)
Frame 40
tensor(0.1329)
 # KEYFRAME 34
0.06983921999926679
Frame 41
tensor(0.2424)
 # KEYFRAME 35
0.07055354800104396
Frame 42
tensor(0.2658)
 # KEYFRAME 36
0.0710527959963656
Frame 43
tensor(0.1653)
 # KEYFRAME 37
0.07213339199370239
Frame 44
tensor(0.1583)
 # KEYFRAME 38
0.07293368899991037
Frame 45
tensor(0.1183)
 # KEYFRAME 39
0.07432671500282595
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1769 loss_distill=0.1733 tta_take=0.009s
Frame 46
tensor(0.3010)
 # KEYFRAME 40
0.07308002899662824
Frame 47
tensor(0.3833)
 # KEYFRAME 41
0.07519873099954566
Frame 48
tensor(0.2178)
 # KEYFRAME 42
0.07581404899974586
Frame 49
tensor(0.2237)
 # KEYFRAME 43
0.07652556699758861
Frame 50
tensor(0.2301)
 # KEYFRAME 44
0.07739977399614872
Frame 51
tensor(0.2341)
 # KEYFRAME 45
0.07772675200249068
Frame 52
tensor(0.2018)
 # KEYFRAME 46
0.07833291000133613
Frame 53
tensor(0.2542)
 # KEYFRAME 47
0.0789694769991911
Frame 54
tensor(0.2235)
 # KEYFRAME 48
0.07976611499907449
Frame 55
tensor(0.1794)
 # KEYFRAME 49
0.08125129000109155
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1770 loss_distill=0.2747 tta_take=0.009s
Frame 56
tensor(0.2779)
 # KEYFRAME 50
0.07988891399872955
Frame 57
tensor(0.3311)
 # KEYFRAME 51
0.08184978699864587
Frame 58
tensor(0.1843)
 # KEYFRAME 52
0.08296079399588052
Frame 59
tensor(0.2323)
 # KEYFRAME 53
0.0844242379971547
Frame 60
tensor(0.3639)
 # KEYFRAME 54
0.08586509300221223
Frame 61
tensor(0.1942)
 # KEYFRAME 55
0.08587259300111327
Frame 62
tensor(0.2761)
 # KEYFRAME 56
0.0880230449984083
Frame 63
tensor(0.1169)
 # KEYFRAME 57
0.08826365400454961
Frame 64
tensor(0.1289)
 # KEYFRAME 58
0.08946853999805171
Frame 65
tensor(0.2464)
 # KEYFRAME 59
0.09055178600101499
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1771 loss_distill=0.3466 tta_take=0.009s
Frame 66
tensor(0.3233)
 # KEYFRAME 60
0.08681408000120427
Frame 67
tensor(0.2308)
 # KEYFRAME 61
0.08907890100090299
Frame 68
tensor(0.3037)
 # KEYFRAME 62
0.08912024099845439
Frame 69
tensor(0.1144)
 # KEYFRAME 63
0.0897950389990001
Frame 70
tensor(0.2300)
 # KEYFRAME 64
0.09106992399756564
Frame 71
tensor(0.2512)
 # KEYFRAME 65
0.09279706799861742
Frame 72
tensor(0.1930)
 # KEYFRAME 66
0.09387657399929594
Frame 73
tensor(0.1947)
 # KEYFRAME 67
0.09495706100278767
Frame 74
tensor(0.2379)
 # KEYFRAME 68
0.0960655559974839
Frame 75
tensor(0.1545)
 # KEYFRAME 69
0.09733950199733954
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1772 loss_distill=0.4024 tta_take=0.009s
Frame 76
tensor(0.1901)
 # KEYFRAME 70
0.09297707799851196
Frame 77
tensor(0.1712)
 # KEYFRAME 71
0.09427229200082365
Frame 78
tensor(0.2292)
 # KEYFRAME 72
0.09491399100079434
Frame 79
tensor(0.2139)
 # KEYFRAME 73
0.09558574800030328
Frame 80
tensor(0.2060)
 # KEYFRAME 74
0.0960988869992434
Frame 81
tensor(0.1380)
 # KEYFRAME 75
0.09736048200284131
Frame 82
tensor(0.1109)
 # KEYFRAME 76
0.09740769200288923
Frame 83
tensor(0.1412)
 # KEYFRAME 77
0.09907484599534655
Frame 84
tensor(0.1147)
 # KEYFRAME 78
0.09975571299582953
Frame 85
tensor(0.1438)
 # KEYFRAME 79
0.09991700300452067
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1773 loss_distill=0.4024 tta_take=0.009s
Frame 86
tensor(0.1969)
 # KEYFRAME 80
0.09347460500430316
Frame 87
tensor(0.1752)
 # KEYFRAME 81
0.09384211499855155
Frame 88
tensor(0.1794)
 # KEYFRAME 82
0.09506391100148903
Frame 89
tensor(0.1739)
 # KEYFRAME 83
0.09599620700464584
Frame 90
tensor(0.1932)
 # KEYFRAME 84
0.0963805860010325
Frame 91
tensor(0.1580)
 # KEYFRAME 85
0.0967898939998122
Frame 92
tensor(0.1858)
 # KEYFRAME 86
0.0977880699938396
Frame 93
tensor(0.1617)
 # KEYFRAME 87
0.09838932799902977
Frame 94
tensor(0.1052)
 # KEYFRAME 88
0.09920899500139058
Frame 95
tensor(0.1724)
 # KEYFRAME 89
0.09951697399810655
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1774 loss_distill=0.4024 tta_take=0.009s
Frame 96
tensor(0.1749)
 # KEYFRAME 90
0.09330706599575933
Frame 97
tensor(0.2145)
 # KEYFRAME 91
0.09557500800292473
Frame 98
tensor(0.1845)
 # KEYFRAME 92
0.0954556990036508
Frame 99
tensor(0.1353)
 # KEYFRAME 93
0.09587660800025333
Frame 100
tensor(0.2455)
 # KEYFRAME 94
0.0976313110004412
Frame 101
tensor(0.0893)
Frame 102
tensor(0.3394)
 # KEYFRAME 95
0.09817702900181757
Frame 103
tensor(0.1670)
 # KEYFRAME 96
0.0992264160013292
Frame 104
tensor(0.2077)
 # KEYFRAME 97
0.10025604099791963
Frame 105
tensor(0.3728)
 # KEYFRAME 98
0.10208449499623384
Frame 106
tensor(0.2437)
 # KEYFRAME 99
0.10217751399613917
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1775 loss_distill=0.4024 tta_take=0.009s
Frame 107
tensor(0.1307)
 # KEYFRAME 100
0.09316958700219402
Frame 108
tensor(0.1529)
 # KEYFRAME 101
0.09542435899493285
Frame 109
tensor(0.3312)
 # KEYFRAME 102
0.09510010999656515
Frame 110
tensor(0.3256)
 # KEYFRAME 103
0.09641678500338458
Frame 111
tensor(0.1887)
 # KEYFRAME 104
0.09691056400333764
Frame 112
tensor(0.0224)
Frame 113
tensor(0.1509)
 # KEYFRAME 105
0.09712194299936527
Frame 114
tensor(0.1142)
 # KEYFRAME 106
0.0984365379990777
Frame 115
tensor(0.1361)
 # KEYFRAME 107
0.09924161600065418
Frame 116
tensor(0.2388)
 # KEYFRAME 108
0.09975914299866417
Frame 117
tensor(0.2282)
 # KEYFRAME 109
0.10040296099759871
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1776 loss_distill=0.4024 tta_take=0.009s
Frame 118
tensor(0.2034)
 # KEYFRAME 110
0.09328281699708896
Frame 119
tensor(0.2231)
 # KEYFRAME 111
0.09620587599783903
Frame 120
tensor(0.2109)
 # KEYFRAME 112
0.09538229900499573
Frame 121
tensor(0.1349)
 # KEYFRAME 113
0.09711621300084516
Frame 122
tensor(0.2655)
 # KEYFRAME 114
0.09817358900181716
Frame 123
tensor(0.3770)
 # KEYFRAME 115
0.09985036299622152
Frame 124
tensor(0.3146)
 # KEYFRAME 116
0.10045360099320533
Frame 125
tensor(0.1816)
 # KEYFRAME 117
0.1016300869960105
Frame 126
tensor(0.1332)
 # KEYFRAME 118
0.10345765999954892
Frame 127
tensor(0.1389)
 # KEYFRAME 119
0.10369403900403995
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1777 loss_distill=0.4024 tta_take=0.009s
Frame 128
tensor(0.1333)
 # KEYFRAME 120
0.09388883400242776
Frame 129
tensor(0.0811)
Frame 130
tensor(0.2027)
 # KEYFRAME 121
0.09414940400165506
Frame 131
tensor(0.1688)
 # KEYFRAME 122
0.09578610700555146
Frame 132
tensor(0.2915)
 # KEYFRAME 123
0.09619208599906415
Frame 133
tensor(0.1642)
 # KEYFRAME 124
0.0975265919987578
Frame 134
tensor(0.1288)
 # KEYFRAME 125
0.098567818000447
Frame 135
tensor(0.2177)
 # KEYFRAME 126
0.09946737399877748
Frame 136
tensor(0.1461)
 # KEYFRAME 127
0.09899619600037113
Frame 137
tensor(0.1334)
 # KEYFRAME 128
0.10067431000061333
Frame 138
tensor(0.2413)
 # KEYFRAME 129
0.10011220200249227
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1778 loss_distill=0.4024 tta_take=0.009s
Frame 139
tensor(0.1522)
 # KEYFRAME 130
0.0935077949980041
Frame 140
tensor(0.2152)
 # KEYFRAME 131
0.09548981899570208
Backending... 132 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 64542, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1779 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 266/556] scannetpp/712dc47104/frame frames=141 tta_steps_this_scene=11 mean_loss=0.3649 total_steps=1779 time=53.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0250)
Frame 2
tensor(0.0950)
Frame 3
tensor(0.1928)
 # KEYFRAME 1
Frame 4
tensor(0.3066)
 # KEYFRAME 2
0.052024194003024604
Frame 5
tensor(0.1395)
 # KEYFRAME 3
0.05423195600451436
Frame 6
tensor(0.2223)
 # KEYFRAME 4
0.054326636003679596
Frame 7
tensor(0.2113)
 # KEYFRAME 5
0.05489356300677173
Frame 8
tensor(0.2198)
 # KEYFRAME 6
0.05574450999847613
Frame 9
tensor(0.2817)
 # KEYFRAME 7
0.056836636998923495
Frame 10
tensor(0.1931)
 # KEYFRAME 8
0.05865635000373004
Frame 11
tensor(0.1540)
 # KEYFRAME 9
0.058976098996936344
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.2896)
 # KEYFRAME 10
0.052696311999170575
Frame 13
tensor(0.1629)
 # KEYFRAME 11
0.05370296799810603
Frame 14
tensor(0.2107)
 # KEYFRAME 12
0.054462225001771
Frame 15
tensor(0.2105)
 # KEYFRAME 13
0.05677699700027006
Frame 16
tensor(0.2326)
 # KEYFRAME 14
0.05756801400275435
Frame 17
tensor(0.2435)
 # KEYFRAME 15
0.05833270199946128
Frame 18
tensor(0.2567)
 # KEYFRAME 16
0.059262987997499295
Frame 19
tensor(0.1403)
 # KEYFRAME 17
0.060626234000665136
Frame 20
tensor(0.0227)
Frame 21
tensor(0.0133)
Frame 22
tensor(0.0193)
Frame 23
tensor(0.0457)
Frame 24
tensor(0.1545)
 # KEYFRAME 18
0.06160405000264291
Frame 25
tensor(0.2677)
 # KEYFRAME 19
0.06310620500153163
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 26
tensor(0.1536)
 # KEYFRAME 20
0.05905658900155686
Frame 27
tensor(0.0370)
Frame 28
tensor(0.0324)
Frame 29
tensor(0.0326)
Frame 30
tensor(0.1320)
 # KEYFRAME 21
0.06060427299962612
Frame 31
tensor(0.1643)
 # KEYFRAME 22
0.06151765999675263
Frame 32
tensor(0.1931)
 # KEYFRAME 23
0.06210243800160242
Frame 33
tensor(0.2401)
 # KEYFRAME 24
0.06272270599583862
Frame 34
tensor(0.2115)
 # KEYFRAME 25
0.06389772200054722
Frame 35
tensor(0.1889)
 # KEYFRAME 26
0.06523932699928991
Frame 36
tensor(0.4460)
 # KEYFRAME 27
0.06656081200344488
Frame 37
tensor(0.2852)
 # KEYFRAME 28
0.06763640799908899
Frame 38
tensor(0.2151)
 # KEYFRAME 29
0.06825211599789327
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 39
tensor(0.1889)
 # KEYFRAME 30
0.06574020500556799
Frame 40
tensor(0.1825)
 # KEYFRAME 31
0.0681625970028108
Frame 41
tensor(0.1340)
 # KEYFRAME 32
0.0682741860000533
Frame 42
tensor(0.1632)
 # KEYFRAME 33
0.06899569400411565
Frame 43
tensor(0.2844)
 # KEYFRAME 34
0.06969905099686002
Frame 44
tensor(0.2093)
 # KEYFRAME 35
0.0702896389993839
Frame 45
tensor(0.2935)
 # KEYFRAME 36
0.07149110399768688
Frame 46
tensor(0.2172)
 # KEYFRAME 37
0.0722854709965759
Frame 47
tensor(0.1197)
 # KEYFRAME 38
0.07320212800550507
Frame 48
tensor(0.0863)
Frame 49
tensor(0.1281)
 # KEYFRAME 39
0.07453466400329489
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1780 loss_distill=0.1733 tta_take=0.009s
Frame 50
tensor(0.0917)
Frame 51
tensor(0.2332)
 # KEYFRAME 40
0.07268873000430176
Frame 52
tensor(0.1745)
 # KEYFRAME 41
0.07503152100252919
Frame 53
tensor(0.1425)
 # KEYFRAME 42
0.07574905900401063
Frame 54
tensor(0.0942)
Frame 55
tensor(0.1512)
 # KEYFRAME 43
0.07706416500150226
Frame 56
tensor(0.1440)
 # KEYFRAME 44
0.07805894099874422
Frame 57
tensor(0.1661)
 # KEYFRAME 45
0.07922961599979317
Frame 58
tensor(0.1925)
 # KEYFRAME 46
0.08006862299953355
Frame 59
tensor(0.1027)
 # KEYFRAME 47
0.08038294200378004
Frame 60
tensor(0.1583)
 # KEYFRAME 48
0.08140501900197705
Frame 61
tensor(0.1809)
 # KEYFRAME 49
0.08206488699943293
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1781 loss_distill=0.2747 tta_take=0.009s
Frame 62
tensor(0.3434)
 # KEYFRAME 50
0.07956332599860616
Frame 63
tensor(0.3384)
 # KEYFRAME 51
0.08233326500339899
Frame 64
tensor(0.4104)
 # KEYFRAME 52
0.08271247400261927
Frame 65
tensor(0.1940)
 # KEYFRAME 53
0.08359255100367591
Frame 66
tensor(0.1325)
 # KEYFRAME 54
0.08442315800493816
Frame 67
tensor(0.2009)
 # KEYFRAME 55
0.08614134199888213
Frame 68
tensor(0.2018)
 # KEYFRAME 56
0.0874871769992751
Frame 69
tensor(0.2407)
 # KEYFRAME 57
0.08869308300199918
Frame 70
tensor(0.1151)
 # KEYFRAME 58
0.08905123200383969
Frame 71
tensor(0.3040)
 # KEYFRAME 59
0.09059289600554621
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1782 loss_distill=0.3466 tta_take=0.010s
Frame 72
tensor(0.4263)
 # KEYFRAME 60
0.0867943000048399
Frame 73
tensor(0.2193)
 # KEYFRAME 61
0.08945318100450095
Frame 74
tensor(0.2334)
 # KEYFRAME 62
0.0884949039973435
Frame 75
tensor(0.2576)
 # KEYFRAME 63
0.08936862999689765
Frame 76
tensor(0.0910)
Frame 77
tensor(0.4368)
 # KEYFRAME 64
0.08981854900048347
Frame 78
tensor(0.2433)
 # KEYFRAME 65
0.09092484499706188
Frame 79
tensor(0.1524)
 # KEYFRAME 66
0.09121196399792098
Frame 80
tensor(0.1791)
 # KEYFRAME 67
0.09259931899578078
Frame 81
tensor(0.3084)
 # KEYFRAME 68
0.09266350899997633
Frame 82
tensor(0.1908)
 # KEYFRAME 69
0.09362991499801865
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1783 loss_distill=0.4024 tta_take=0.009s
Frame 83
tensor(0.2900)
 # KEYFRAME 70
0.09334015600325074
Frame 84
tensor(0.2043)
 # KEYFRAME 71
0.09528226999827893
Frame 85
tensor(0.2680)
 # KEYFRAME 72
0.09562841799925081
Frame 86
tensor(0.2264)
 # KEYFRAME 73
0.0974343920024694
Frame 87
tensor(0.3395)
 # KEYFRAME 74
0.09865958700538613
Frame 88
tensor(0.2559)
 # KEYFRAME 75
0.0991383959990344
Frame 89
tensor(0.3994)
 # KEYFRAME 76
0.10030680099589517
Frame 90
tensor(0.3512)
 # KEYFRAME 77
0.10212543499801541
Frame 91
tensor(0.1444)
 # KEYFRAME 78
0.10349195000162581
Frame 92
tensor(0.1977)
 # KEYFRAME 79
0.1044918260013219
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1784 loss_distill=0.4024 tta_take=0.009s
Frame 93
tensor(0.0755)
Frame 94
tensor(0.3075)
 # KEYFRAME 80
0.09297159800189547
Frame 95
tensor(0.1168)
 # KEYFRAME 81
0.09623112600093009
Frame 96
tensor(0.0666)
Frame 97
tensor(0.1829)
 # KEYFRAME 82
0.09575655800290406
Frame 98
tensor(0.1777)
 # KEYFRAME 83
0.09606429700215813
Frame 99
tensor(0.1844)
 # KEYFRAME 84
0.09731855199788697
Frame 100
tensor(0.1575)
 # KEYFRAME 85
0.09760156200354686
Frame 101
tensor(0.1605)
 # KEYFRAME 86
0.09926598500169348
Frame 102
tensor(0.2205)
 # KEYFRAME 87
0.09966960400197422
Frame 103
tensor(0.1944)
 # KEYFRAME 88
0.09956378400238464
Frame 104
tensor(0.1067)
 # KEYFRAME 89
0.10126626800047234
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1785 loss_distill=0.4024 tta_take=0.009s
Frame 105
tensor(0.1456)
 # KEYFRAME 90
0.09355362600035733
Frame 106
tensor(0.1644)
 # KEYFRAME 91
0.09655851499701384
Frame 107
tensor(0.2325)
 # KEYFRAME 92
0.0965448849965469
Frame 108
tensor(0.2136)
 # KEYFRAME 93
0.09799644900340354
Frame 109
tensor(0.1355)
 # KEYFRAME 94
0.09900071599986404
Frame 110
tensor(0.1419)
 # KEYFRAME 95
0.09985081299964804
Frame 111
tensor(0.1559)
 # KEYFRAME 96
0.10186377500212984
Frame 112
tensor(0.3184)
 # KEYFRAME 97
0.1027288619952742
Frame 113
tensor(0.1052)
 # KEYFRAME 98
0.11869991599814966
Frame 114
tensor(0.1587)
 # KEYFRAME 99
0.10342576999391895
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1786 loss_distill=0.4024 tta_take=0.009s
Frame 115
tensor(0.1867)
 # KEYFRAME 100
0.09267335899494356
Frame 116
tensor(0.2007)
 # KEYFRAME 101
0.09610413599875756
Frame 117
tensor(0.0835)
Frame 118
tensor(0.0625)
Frame 119
tensor(0.2277)
 # KEYFRAME 102
0.09593601700180443
Frame 120
tensor(0.1280)
 # KEYFRAME 103
0.09691603399551241
Frame 121
tensor(0.4548)
 # KEYFRAME 104
0.09824808900157223
Frame 122
tensor(0.2852)
 # KEYFRAME 105
0.09933176499907859
Frame 123
tensor(0.5942)
 # KEYFRAME 106
0.10105095899780281
Frame 124
tensor(0.2059)
 # KEYFRAME 107
0.10233235399937257
Frame 125
tensor(0.1396)
 # KEYFRAME 108
0.10316017099830788
Frame 126
tensor(0.1907)
 # KEYFRAME 109
0.1044965070032049
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1787 loss_distill=0.4024 tta_take=0.009s
Frame 127
tensor(0.2229)
 # KEYFRAME 110
0.09351175600022543
Frame 128
tensor(0.2423)
 # KEYFRAME 111
0.0948646499964525
Frame 129
tensor(0.2256)
 # KEYFRAME 112
0.09579780700005358
Frame 130
tensor(0.2307)
 # KEYFRAME 113
0.09743460200115805
Frame 131
tensor(0.1543)
 # KEYFRAME 114
0.09763206099887611
Frame 132
tensor(0.4227)
 # KEYFRAME 115
0.09947245399962412
Frame 133
tensor(0.2511)
 # KEYFRAME 116
0.10081746999640018
Frame 134
tensor(0.1727)
 # KEYFRAME 117
0.10137150799710071
Frame 135
tensor(0.1624)
 # KEYFRAME 118
0.10183212500123773
Frame 136
tensor(0.1977)
 # KEYFRAME 119
0.10301931200228864
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1788 loss_distill=0.4024 tta_take=0.009s
Frame 137
tensor(0.1442)
 # KEYFRAME 120
0.09337081699777627
Frame 138
tensor(0.1779)
 # KEYFRAME 121
0.09367506599664921
Frame 139
tensor(0.3222)
 # KEYFRAME 122
0.09610646699729841
Frame 140
tensor(0.3118)
 # KEYFRAME 123
0.09527160000288859
Frame 141
tensor(0.2160)
 # KEYFRAME 124
0.09577894700487377
Frame 142
tensor(0.1568)
 # KEYFRAME 125
0.0971631329957745
Frame 143
tensor(0.0939)
Frame 144
tensor(0.0759)
Frame 145
tensor(0.1889)
 # KEYFRAME 126
0.09817087899864418
Frame 146
tensor(0.1700)
 # KEYFRAME 127
0.0984999880020041
Frame 147
tensor(0.0938)
Backending... 128 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 70788, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1789 loss_distill=0.4024 tta_take=0.008s
[epoch 0 scene 267/556] scannetpp/689fec23d7/frame frames=148 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=1789 time=49.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1543)
 # KEYFRAME 1
Frame 2
tensor(0.1837)
 # KEYFRAME 2
0.05186295400199015
Frame 3
tensor(0.4377)
 # KEYFRAME 3
0.05264027100201929
Frame 4
tensor(0.1993)
 # KEYFRAME 4
0.05392640699574258
Frame 5
tensor(0.2877)
 # KEYFRAME 5
0.05458422499941662
Frame 6
tensor(0.1895)
 # KEYFRAME 6
0.05574482100200839
Frame 7
tensor(0.2299)
 # KEYFRAME 7
0.056516807999287266
Frame 8
tensor(0.7361)
 # KEYFRAME 8
0.057237326000176836
Frame 9
tensor(0.1547)
 # KEYFRAME 9
0.05817209200176876
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.0626)
Frame 11
tensor(0.1699)
 # KEYFRAME 10
0.05184111499693245
Frame 12
tensor(0.2135)
 # KEYFRAME 11
0.052467972003796604
Frame 13
tensor(0.3326)
 # KEYFRAME 12
0.053749628001241945
Frame 14
tensor(0.4506)
 # KEYFRAME 13
0.0556718509978964
Frame 15
tensor(0.3839)
 # KEYFRAME 14
0.05528922200028319
Frame 16
tensor(0.2950)
 # KEYFRAME 15
0.05530445200565737
Frame 17
tensor(0.1076)
 # KEYFRAME 16
0.05631585900118807
Frame 18
tensor(0.1404)
 # KEYFRAME 17
0.05703544599964516
Frame 19
tensor(0.0759)
Frame 20
tensor(0.1888)
 # KEYFRAME 18
0.05716256499727024
Frame 21
tensor(0.3962)
 # KEYFRAME 19
0.05788991300505586
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 22
tensor(0.2716)
 # KEYFRAME 20
0.054318055998010095
Frame 23
tensor(0.1729)
 # KEYFRAME 21
0.05469005399936577
Frame 24
tensor(0.3316)
 # KEYFRAME 22
0.05552176099445205
Frame 25
tensor(0.2265)
 # KEYFRAME 23
0.05593451100139646
Frame 26
tensor(0.0781)
Frame 27
tensor(0.0646)
Frame 28
tensor(0.4571)
 # KEYFRAME 24
0.05681972700404003
Frame 29
tensor(0.6487)
 # KEYFRAME 25
0.05743993500072975
Frame 30
tensor(0.0472)
Frame 31
tensor(0.2170)
 # KEYFRAME 26
0.058434270998986904
Frame 32
tensor(0.4789)
 # KEYFRAME 27
0.059470287000294775
Frame 33
tensor(0.2715)
 # KEYFRAME 28
0.05971954599954188
Frame 34
tensor(0.1119)
 # KEYFRAME 29
0.059762806005892344
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 35
tensor(0.1993)
 # KEYFRAME 30
0.05837554100435227
Frame 36
tensor(0.3243)
 # KEYFRAME 31
0.05921466900326777
Frame 37
tensor(0.4941)
 # KEYFRAME 32
0.059696657001040876
Frame 38
tensor(0.3437)
 # KEYFRAME 33
0.06061869400582509
Frame 39
tensor(0.0416)
Frame 40
tensor(0.2252)
 # KEYFRAME 34
0.06136596099531744
Frame 41
tensor(0.4759)
 # KEYFRAME 35
0.06185518900019815
Frame 42
tensor(0.4440)
 # KEYFRAME 36
0.06282577599631622
Frame 43
tensor(0.1799)
 # KEYFRAME 37
0.06293931500113104
Frame 44
tensor(0.3835)
 # KEYFRAME 38
0.06355165299464716
Frame 45
tensor(0.4634)
 # KEYFRAME 39
0.06441051900037564
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1790 loss_distill=0.1733 tta_take=0.009s
Frame 46
tensor(0.1497)
 # KEYFRAME 40
0.06307169500360033
Frame 47
tensor(0.2229)
 # KEYFRAME 41
0.0641726510002627
Frame 48
tensor(0.4149)
 # KEYFRAME 42
0.06432491099985782
Frame 49
tensor(0.2291)
 # KEYFRAME 43
0.06456590999732725
Frame 50
tensor(0.2479)
 # KEYFRAME 44
0.06512724699859973
Frame 51
tensor(0.1884)
 # KEYFRAME 45
0.06613769300020067
Frame 52
tensor(0.1885)
 # KEYFRAME 46
0.06595450500026345
Frame 53
tensor(0.2871)
 # KEYFRAME 47
0.06674167200253578
Frame 54
tensor(0.1551)
 # KEYFRAME 48
0.06758252900181105
Frame 55
tensor(0.3856)
 # KEYFRAME 49
0.06820437600254081
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531367301941
TTA-STEP: step=1791 loss_distill=0.2747 tta_take=0.009s
Frame 56
tensor(0.0435)
Frame 57
tensor(0.1911)
 # KEYFRAME 50
0.06746312900213525
Frame 58
tensor(0.3545)
 # KEYFRAME 51
0.06907624399900669
Frame 59
tensor(0.3993)
 # KEYFRAME 52
0.06957090200012317
Frame 60
tensor(0.4119)
 # KEYFRAME 53
0.07052502799342619
Frame 61
tensor(0.4055)
 # KEYFRAME 54
0.06988237999757985
Frame 62
tensor(0.3312)
 # KEYFRAME 55
0.07237082199571887
Frame 63
tensor(0.3430)
 # KEYFRAME 56
0.07341611800075043
Frame 64
tensor(0.4618)
 # KEYFRAME 57
0.07328484799654689
Frame 65
tensor(0.1580)
 # KEYFRAME 58
0.07425140399573138
Frame 66
tensor(0.5236)
 # KEYFRAME 59
0.07460755299689481
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1792 loss_distill=0.3466 tta_take=0.009s
Frame 67
tensor(0.3007)
 # KEYFRAME 60
0.07161982399702538
Frame 68
tensor(0.1804)
 # KEYFRAME 61
0.07320204799907515
Frame 69
tensor(0.0868)
Frame 70
tensor(0.4821)
 # KEYFRAME 62
0.07256356000289088
Frame 71
tensor(0.3873)
 # KEYFRAME 63
0.07341455700225197
Frame 72
tensor(0.0950)
Frame 73
tensor(0.1818)
 # KEYFRAME 64
0.07386782600224251
Frame 74
tensor(0.2834)
 # KEYFRAME 65
0.07373592599469703
Frame 75
tensor(0.2009)
 # KEYFRAME 66
0.0748350220019347
Frame 76
tensor(0.2072)
 # KEYFRAME 67
0.07544894099555677
Frame 77
tensor(0.5924)
 # KEYFRAME 68
0.07594208900263766
Frame 78
tensor(0.7291)
 # KEYFRAME 69
0.07635002699680626
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1793 loss_distill=0.4024 tta_take=0.008s
Frame 79
tensor(0.3986)
 # KEYFRAME 70
0.07582706899847835
Frame 80
tensor(0.1249)
 # KEYFRAME 71
0.07712731399806216
Frame 81
tensor(0.0742)
Frame 82
tensor(0.4069)
 # KEYFRAME 72
0.07718710500193993
Frame 83
tensor(0.4303)
 # KEYFRAME 73
0.07697750499937683
Frame 84
tensor(0.5399)
 # KEYFRAME 74
0.07827238999743713
Frame 85
tensor(0.1435)
 # KEYFRAME 75
0.07819173100142507
Frame 86
tensor(0.1136)
 # KEYFRAME 76
0.07840330900216941
Frame 87
tensor(0.0396)
Frame 88
tensor(0.2006)
 # KEYFRAME 77
0.07899121799709974
Frame 89
tensor(0.4345)
 # KEYFRAME 78
0.07981259399821283
Frame 90
tensor(0.2270)
 # KEYFRAME 79
0.08022379400063073
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1794 loss_distill=0.4024 tta_take=0.009s
Frame 91
tensor(0.5932)
 # KEYFRAME 80
0.0760865880001802
Frame 92
tensor(0.5515)
 # KEYFRAME 81
0.07832277000125032
Frame 93
tensor(0.2892)
 # KEYFRAME 82
0.07739927300281124
Frame 94
tensor(0.1656)
 # KEYFRAME 83
0.07753600300202379
Frame 95
tensor(0.3788)
 # KEYFRAME 84
0.07871458799490938
Frame 96
tensor(0.1796)
 # KEYFRAME 85
0.07874881799943978
Frame 97
tensor(0.5966)
 # KEYFRAME 86
0.07910895699751563
Frame 98
tensor(0.6263)
 # KEYFRAME 87
0.07988279400160536
Frame 99
tensor(0.3304)
 # KEYFRAME 88
0.0808747310002218
Frame 100
tensor(0.2237)
 # KEYFRAME 89
0.08067443199979607
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1795 loss_distill=0.4024 tta_take=0.009s
Frame 101
tensor(0.1170)
 # KEYFRAME 90
0.07564909999928204
Frame 102
tensor(0.3049)
 # KEYFRAME 91
0.07756554300431162
Frame 103
tensor(0.1645)
 # KEYFRAME 92
0.07723913399968296
Frame 104
tensor(0.2329)
 # KEYFRAME 93
0.07753419300570386
Frame 105
tensor(0.2873)
 # KEYFRAME 94
0.07770699200045783
Frame 106
tensor(0.0924)
Frame 107
tensor(0.1758)
 # KEYFRAME 95
0.07834410999930697
Frame 108
tensor(0.1592)
 # KEYFRAME 96
0.07902235799701884
Frame 109
tensor(0.1764)
 # KEYFRAME 97
0.07980370499717537
Frame 110
tensor(0.1275)
 # KEYFRAME 98
0.08035850300075253
Frame 111
tensor(0.2435)
 # KEYFRAME 99
0.08078491200285498
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1796 loss_distill=0.4024 tta_take=0.008s
Frame 112
tensor(0.2262)
 # KEYFRAME 100
0.07583114899898646
Frame 113
tensor(0.1648)
 # KEYFRAME 101
0.0779242919961689
Frame 114
tensor(0.0783)
Frame 115
tensor(0.6262)
 # KEYFRAME 102
0.07714488499914296
Frame 116
tensor(0.4365)
 # KEYFRAME 103
0.07737919400096871
Frame 117
tensor(0.1455)
 # KEYFRAME 104
0.07847482999932254
Frame 118
tensor(0.4125)
 # KEYFRAME 105
0.07893460799823515
Frame 119
tensor(0.4304)
 # KEYFRAME 106
0.07871022800100036
Frame 120
tensor(0.1464)
 # KEYFRAME 107
0.07955057600338478
Frame 121
tensor(0.2323)
 # KEYFRAME 108
0.080398771999171
Frame 122
tensor(0.2324)
 # KEYFRAME 109
0.08087072099442594
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1797 loss_distill=0.4024 tta_take=0.009s
Frame 123
tensor(0.2326)
 # KEYFRAME 110
0.07579346899728989
Frame 124
tensor(0.4590)
 # KEYFRAME 111
0.07672826499765506
Frame 125
tensor(0.3100)
 # KEYFRAME 112
0.07742409300408326
Frame 126
tensor(0.2043)
 # KEYFRAME 113
0.07754316300270148
Frame 127
tensor(0.1252)
 # KEYFRAME 114
0.07841112899768632
Frame 128
tensor(0.2958)
 # KEYFRAME 115
0.07917296699451981
Frame 129
tensor(0.2192)
 # KEYFRAME 116
0.07824796999921091
Frame 130
tensor(0.2001)
 # KEYFRAME 117
0.07986382400122238
Frame 131
tensor(0.1169)
 # KEYFRAME 118
0.08031324300100096
Frame 132
tensor(0.2273)
 # KEYFRAME 119
0.08059926099667791
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1798 loss_distill=0.4024 tta_take=0.009s
Frame 133
tensor(0.0830)
Frame 134
tensor(0.4690)
 # KEYFRAME 120
0.07544046100520063
Frame 135
tensor(0.5448)
 # KEYFRAME 121
0.07814175100065768
Frame 136
tensor(0.8102)
 # KEYFRAME 122
0.07825194999895757
Frame 137
tensor(0.3504)
 # KEYFRAME 123
0.0788866680013598
Frame 138
tensor(0.3687)
 # KEYFRAME 124
0.08049315200332785
Frame 139
tensor(0.4593)
 # KEYFRAME 125
0.08087347100081388
Frame 140
tensor(0.0945)
Frame 141
tensor(0.4060)
 # KEYFRAME 126
0.07908860799943795
Frame 142
tensor(0.5906)
 # KEYFRAME 127
0.08156588800193276
Frame 143
tensor(0.4248)
 # KEYFRAME 128
0.08190706800087355
Frame 144
tensor(0.1459)
 # KEYFRAME 129
0.08206460699875606
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1799 loss_distill=0.4024 tta_take=0.009s
Frame 145
tensor(0.1952)
 # KEYFRAME 130
0.07596106799610425
Frame 146
tensor(0.1095)
 # KEYFRAME 131
0.07668080599978566
Frame 147
tensor(0.2470)
 # KEYFRAME 132
0.07747588300117059
Frame 148
tensor(0.2085)
 # KEYFRAME 133
0.07784601200546604
Frame 149
tensor(0.2578)
 # KEYFRAME 134
0.07915679699362954
Backending... 135 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 60450, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1800 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 268/556] scannetpp/08bbbdcc3d/DSC frames=150 tta_steps_this_scene=11 mean_loss=0.3649 total_steps=1800 time=47.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0977)
Frame 2
tensor(0.1555)
 # KEYFRAME 1
Frame 3
tensor(0.0685)
Frame 4
tensor(0.1089)
 # KEYFRAME 2
0.05151109599682968
Frame 5
tensor(0.3141)
 # KEYFRAME 3
0.05216944299900206
Frame 6
tensor(0.0572)
Frame 7
tensor(0.1678)
 # KEYFRAME 4
0.05342912900232477
Frame 8
tensor(0.1668)
 # KEYFRAME 5
0.05443175600521499
Frame 9
tensor(0.0553)
Frame 10
tensor(0.1572)
 # KEYFRAME 6
0.0550633029997698
Frame 11
tensor(0.0619)
Frame 12
tensor(0.1280)
 # KEYFRAME 7
0.05565735099662561
Frame 13
tensor(0.0378)
Frame 14
tensor(0.0966)
Frame 15
tensor(0.1679)
 # KEYFRAME 8
0.0575282240024535
Frame 16
tensor(0.0597)
Frame 17
tensor(0.1107)
 # KEYFRAME 9
0.05849889099772554
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 18
tensor(0.1983)
 # KEYFRAME 10
0.05226221300108591
Frame 19
tensor(0.1325)
 # KEYFRAME 11
0.0528141409959062
Frame 20
tensor(0.0690)
Frame 21
tensor(0.2032)
 # KEYFRAME 12
0.05351236800197512
Frame 22
tensor(0.0330)
Frame 23
tensor(0.1026)
 # KEYFRAME 13
0.05533937300060643
Frame 24
tensor(0.2242)
 # KEYFRAME 14
0.0550739030004479
Frame 25
tensor(0.0504)
Frame 26
tensor(0.4091)
 # KEYFRAME 15
0.055247953001526184
Frame 27
tensor(0.0448)
Frame 28
tensor(0.0747)
Frame 29
tensor(0.5909)
 # KEYFRAME 16
0.05593966000014916
Frame 30
tensor(0.0302)
Frame 31
tensor(0.0772)
Frame 32
tensor(0.1295)
 # KEYFRAME 17
0.05707765599800041
Frame 33
tensor(0.0395)
Frame 34
tensor(0.0643)
Frame 35
tensor(0.0762)
Frame 36
tensor(0.0818)
Frame 37
tensor(0.1176)
 # KEYFRAME 18
0.05754260500543751
Frame 38
tensor(0.3515)
 # KEYFRAME 19
0.05821944199851714
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 39
tensor(0.0530)
Frame 40
tensor(0.0934)
Frame 41
tensor(0.1439)
 # KEYFRAME 20
0.05396058699989226
Frame 42
tensor(0.0268)
Frame 43
tensor(0.0912)
Frame 44
tensor(0.2692)
 # KEYFRAME 21
0.05487986400112277
Frame 45
tensor(0.2475)
 # KEYFRAME 22
0.05532604199834168
Frame 46
tensor(0.1842)
 # KEYFRAME 23
0.05576221999945119
Frame 47
tensor(0.0798)
Frame 48
tensor(0.2073)
 # KEYFRAME 24
0.05657349799730582
Frame 49
tensor(0.1610)
 # KEYFRAME 25
0.056952635997731704
Frame 50
tensor(0.0578)
Frame 51
tensor(0.2065)
 # KEYFRAME 26
0.058460580999962986
Frame 52
tensor(0.1874)
 # KEYFRAME 27
0.05913747800514102
Frame 53
tensor(0.0504)
Frame 54
tensor(0.2476)
 # KEYFRAME 28
0.05997710600058781
Frame 55
tensor(0.2228)
 # KEYFRAME 29
0.06064202400011709
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 56
tensor(0.3075)
 # KEYFRAME 30
0.05831784100155346
Frame 57
tensor(0.1425)
 # KEYFRAME 31
0.060082616000727285
Frame 58
tensor(0.0198)
Frame 59
tensor(0.1398)
 # KEYFRAME 32
0.060301504003291484
Frame 60
tensor(0.1042)
 # KEYFRAME 33
0.06217511800059583
Frame 61
tensor(0.3007)
 # KEYFRAME 34
0.06266351599333575
Frame 62
tensor(0.0400)
Frame 63
tensor(0.1176)
 # KEYFRAME 35
0.06391547100065509
Frame 64
tensor(0.1613)
 # KEYFRAME 36
0.0649063080054475
Frame 65
tensor(0.0802)
Frame 66
tensor(0.1073)
 # KEYFRAME 37
0.0660709340008907
Frame 67
tensor(0.0352)
Frame 68
tensor(0.0668)
Frame 69
tensor(0.2563)
 # KEYFRAME 38
0.06627076300355839
Frame 70
tensor(0.0197)
Frame 71
tensor(0.1703)
 # KEYFRAME 39
0.06646643300337018
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1801 loss_distill=0.1733 tta_take=0.009s
Frame 72
tensor(0.1539)
 # KEYFRAME 40
0.06308275499759475
Frame 73
tensor(0.1177)
 # KEYFRAME 41
0.0641258210016531
Frame 74
tensor(0.2672)
 # KEYFRAME 42
0.06419485000515124
Frame 75
tensor(0.1760)
 # KEYFRAME 43
0.06431939000322018
Frame 76
tensor(0.0746)
Frame 77
tensor(0.1265)
 # KEYFRAME 44
0.06485448800231097
Frame 78
tensor(0.0238)
Frame 79
tensor(0.1106)
 # KEYFRAME 45
0.06543612600216875
Frame 80
tensor(0.0589)
Frame 81
tensor(0.1006)
 # KEYFRAME 46
0.06583398499788018
Frame 82
tensor(0.0332)
Frame 83
tensor(0.0798)
Frame 84
tensor(0.0970)
Frame 85
tensor(0.0856)
Frame 86
tensor(0.0799)
Frame 87
tensor(0.0855)
Frame 88
tensor(0.1020)
 # KEYFRAME 47
0.06667589100106852
Frame 89
tensor(0.0130)
Frame 90
tensor(0.1111)
 # KEYFRAME 48
0.06700597099552397
Frame 91
tensor(0.0696)
Frame 92
tensor(0.5360)
 # KEYFRAME 49
0.06717286999628413
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1802 loss_distill=0.2747 tta_take=0.009s
Frame 93
tensor(0.0325)
Frame 94
tensor(0.0723)
Frame 95
tensor(0.1195)
 # KEYFRAME 50
0.06722140000056243
Frame 96
tensor(0.0528)
Frame 97
tensor(0.0883)
Frame 98
tensor(0.1227)
 # KEYFRAME 51
0.0692095030026394
Frame 99
tensor(0.0466)
Frame 100
tensor(0.1224)
 # KEYFRAME 52
0.06920788300340064
Frame 101
tensor(0.0904)
Frame 102
tensor(0.1893)
 # KEYFRAME 53
0.06985658000485273
Frame 103
tensor(0.0301)
Frame 104
tensor(0.2239)
 # KEYFRAME 54
0.06981909000023734
Frame 105
tensor(0.0592)
Frame 106
tensor(0.1114)
 # KEYFRAME 55
0.0707686969981296
Frame 107
tensor(0.4181)
 # KEYFRAME 56
0.07163500400201883
Frame 108
tensor(0.0378)
Frame 109
tensor(0.3213)
 # KEYFRAME 57
0.07214167199708754
Frame 110
tensor(0.3457)
 # KEYFRAME 58
0.07261059000302339
Frame 111
tensor(0.0979)
Frame 112
tensor(0.1962)
 # KEYFRAME 59
0.0729275499979849
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1803 loss_distill=0.3466 tta_take=0.008s
Frame 113
tensor(0.3717)
 # KEYFRAME 60
0.07188455299910856
Frame 114
tensor(0.1698)
 # KEYFRAME 61
0.07302942900423659
Frame 115
tensor(0.1272)
 # KEYFRAME 62
0.07256109000445576
Frame 116
tensor(0.0109)
Frame 117
tensor(0.0289)
Frame 118
tensor(0.0588)
Frame 119
tensor(0.0926)
Frame 120
tensor(0.1367)
 # KEYFRAME 63
0.0736829560046317
Frame 121
tensor(0.0819)
Frame 122
tensor(0.0981)
Backending... 64 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 59520, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1804 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 269/556] scannetpp/ab046f8faf/DSC frames=123 tta_steps_this_scene=4 mean_loss=0.2992 total_steps=1804 time=23.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0440)
Frame 2
tensor(0.0891)
Frame 3
tensor(0.1376)
 # KEYFRAME 1
Frame 4
tensor(0.0469)
Frame 5
tensor(0.0872)
Frame 6
tensor(0.1422)
 # KEYFRAME 2
0.05204707400116604
Frame 7
tensor(0.0496)
Frame 8
tensor(0.1007)
 # KEYFRAME 3
0.052578652001102455
Frame 9
tensor(0.0548)
Frame 10
tensor(0.1039)
 # KEYFRAME 4
0.05297322099795565
Frame 11
tensor(0.0502)
Frame 12
tensor(0.0997)
Frame 13
tensor(0.1455)
 # KEYFRAME 5
0.052689451003971044
Frame 14
tensor(0.0556)
Frame 15
tensor(0.1011)
 # KEYFRAME 6
0.05296293100400362
Frame 16
tensor(0.0463)
Frame 17
tensor(0.0910)
Frame 18
tensor(0.1440)
 # KEYFRAME 7
0.05281061099958606
Frame 19
tensor(0.0455)
Frame 20
tensor(0.0991)
Frame 21
tensor(0.1455)
 # KEYFRAME 8
0.053925186999549624
Frame 22
tensor(0.0461)
Frame 23
tensor(0.0910)
Frame 24
tensor(0.1444)
 # KEYFRAME 9
0.05270898200251395
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.0427)
Frame 26
tensor(0.0948)
Frame 27
tensor(0.1453)
 # KEYFRAME 10
0.051778745000774506
Frame 28
tensor(0.0463)
Frame 29
tensor(0.0973)
Frame 30
tensor(0.1390)
 # KEYFRAME 11
0.0521330539995688
Frame 31
tensor(0.0476)
Frame 32
tensor(0.0947)
Frame 33
tensor(0.1346)
 # KEYFRAME 12
0.05273778099945048
Frame 34
tensor(0.0440)
Frame 35
tensor(0.0873)
Frame 36
tensor(0.1292)
 # KEYFRAME 13
0.052315642999019474
Frame 37
tensor(0.0413)
Frame 38
tensor(0.0841)
Frame 39
tensor(0.1240)
 # KEYFRAME 14
0.05453524500626372
Frame 40
tensor(0.0384)
Frame 41
tensor(0.0751)
Frame 42
tensor(0.1145)
 # KEYFRAME 15
0.05265414200403029
Frame 43
tensor(0.0418)
Frame 44
tensor(0.0837)
Frame 45
tensor(0.1217)
 # KEYFRAME 16
0.05297854999662377
Frame 46
tensor(0.0404)
Frame 47
tensor(0.0798)
Frame 48
tensor(0.1174)
 # KEYFRAME 17
0.05581011000322178
Frame 49
tensor(0.0467)
Frame 50
tensor(0.0860)
Frame 51
tensor(0.1261)
 # KEYFRAME 18
0.0530233399986173
Frame 52
tensor(0.0429)
Frame 53
tensor(0.0818)
Frame 54
tensor(0.1240)
 # KEYFRAME 19
0.0568053669994697
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 55
tensor(0.0439)
Frame 56
tensor(0.0836)
Frame 57
tensor(0.1229)
 # KEYFRAME 20
0.052052453997021075
Frame 58
tensor(0.0437)
Frame 59
tensor(0.0830)
Frame 60
tensor(0.1271)
 # KEYFRAME 21
0.05220103299507173
Frame 61
tensor(0.0381)
Frame 62
tensor(0.0793)
Frame 63
tensor(0.1225)
 # KEYFRAME 22
0.05326442899968242
Frame 64
tensor(0.0381)
Frame 65
tensor(0.0814)
Frame 66
tensor(0.1212)
 # KEYFRAME 23
0.05238213299890049
Frame 67
tensor(0.0405)
Frame 68
tensor(0.0779)
Frame 69
tensor(0.1187)
 # KEYFRAME 24
0.05367105800542049
Frame 70
tensor(0.0367)
Frame 71
tensor(0.0731)
Frame 72
tensor(0.1074)
 # KEYFRAME 25
0.05303476100380067
Frame 73
tensor(0.0369)
Frame 74
tensor(0.0698)
Frame 75
tensor(0.1048)
 # KEYFRAME 26
0.05263507200288586
Frame 76
tensor(0.0349)
Frame 77
tensor(0.0662)
Frame 78
tensor(0.0950)
Frame 79
tensor(0.1260)
 # KEYFRAME 27
0.055826411000452936
Frame 80
tensor(0.0294)
Frame 81
tensor(0.0623)
Frame 82
tensor(0.0921)
Frame 83
tensor(0.1195)
 # KEYFRAME 28
0.05309929000213742
Frame 84
tensor(0.0257)
Frame 85
tensor(0.0557)
Frame 86
tensor(0.0828)
Frame 87
tensor(0.1109)
 # KEYFRAME 29
0.05610952900315169
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 88
tensor(0.0264)
Frame 89
tensor(0.0503)
Frame 90
tensor(0.0748)
Frame 91
tensor(0.1011)
 # KEYFRAME 30
0.052439061997574754
Frame 92
tensor(0.0217)
Frame 93
tensor(0.0424)
Frame 94
tensor(0.0640)
Frame 95
tensor(0.0833)
Frame 96
tensor(0.1022)
 # KEYFRAME 31
0.052757581004698295
Frame 97
tensor(0.0202)
Frame 98
tensor(0.0373)
Frame 99
tensor(0.0544)
Frame 100
tensor(0.0702)
Frame 101
tensor(0.0873)
Frame 102
tensor(0.1029)
 # KEYFRAME 32
0.05318760999944061
Frame 103
tensor(0.0156)
Frame 104
tensor(0.0328)
Frame 105
tensor(0.0422)
Frame 106
tensor(0.0572)
Frame 107
tensor(0.0696)
Frame 108
tensor(0.0834)
Frame 109
tensor(0.0968)
Frame 110
tensor(0.1068)
 # KEYFRAME 33
0.052289774001110345
Frame 111
tensor(0.0101)
Frame 112
tensor(0.0207)
Frame 113
tensor(0.0307)
Frame 114
tensor(0.0403)
Frame 115
tensor(0.0482)
Frame 116
tensor(0.0588)
Frame 117
tensor(0.0694)
Frame 118
tensor(0.0760)
Frame 119
tensor(0.0873)
Frame 120
tensor(0.0901)
Frame 121
tensor(0.0965)
Frame 122
tensor(0.1014)
 # KEYFRAME 34
0.053277480001270305
Frame 123
tensor(0.0042)
Frame 124
tensor(0.0083)
Frame 125
tensor(0.0145)
Frame 126
tensor(0.0174)
Frame 127
tensor(0.0204)
Frame 128
tensor(0.0245)
Frame 129
tensor(0.0272)
Frame 130
tensor(0.0309)
Frame 131
tensor(0.0336)
Frame 132
tensor(0.0377)
Frame 133
tensor(0.0410)
Frame 134
tensor(0.0454)
Frame 135
tensor(0.0479)
Frame 136
tensor(0.0501)
Frame 137
tensor(0.0515)
Frame 138
tensor(0.0573)
Frame 139
tensor(0.0595)
Frame 140
tensor(0.0618)
Frame 141
tensor(0.0684)
Frame 142
tensor(0.0709)
Frame 143
tensor(0.0729)
Frame 144
tensor(0.0775)
Frame 145
tensor(0.0811)
Frame 146
tensor(0.0855)
Frame 147
tensor(0.0865)
Frame 148
tensor(0.0876)
Frame 149
tensor(0.0897)
Frame 150
tensor(0.0896)
Frame 151
tensor(0.0913)
Frame 152
tensor(0.0959)
Frame 153
tensor(0.0990)
Frame 154
tensor(0.1022)
 # KEYFRAME 35
0.05271305100177415
Frame 155
tensor(0.0012)
Frame 156
tensor(0.0038)
Frame 157
tensor(0.0037)
Frame 158
tensor(0.0063)
Frame 159
tensor(0.0086)
Frame 160
tensor(0.0100)
Frame 161
tensor(0.0125)
Frame 162
tensor(0.0124)
Frame 163
tensor(0.0125)
Frame 164
tensor(0.0130)
Frame 165
tensor(0.0133)
Frame 166
tensor(0.0136)
Frame 167
tensor(0.0144)
Frame 168
tensor(0.0157)
Frame 169
tensor(0.0158)
Frame 170
tensor(0.0146)
Frame 171
tensor(0.0132)
Frame 172
tensor(0.0137)
Frame 173
tensor(0.0133)
Frame 174
tensor(0.0133)
Frame 175
tensor(0.0128)
Frame 176
tensor(0.0128)
Frame 177
tensor(0.0133)
Frame 178
tensor(0.0139)
Frame 179
tensor(0.0131)
Frame 180
tensor(0.0129)
Frame 181
tensor(0.0135)
Frame 182
tensor(0.0128)
Frame 183
tensor(0.0139)
Frame 184
tensor(0.0140)
Frame 185
tensor(0.0148)
Frame 186
tensor(0.0157)
Frame 187
tensor(0.0165)
Frame 188
tensor(0.0165)
Frame 189
tensor(0.0170)
Frame 190
tensor(0.0171)
Frame 191
tensor(0.0168)
Frame 192
tensor(0.0172)
Frame 193
tensor(0.0175)
Frame 194
tensor(0.0171)
Frame 195
tensor(0.0171)
Frame 196
tensor(0.0173)
Frame 197
tensor(0.0167)
Frame 198
tensor(0.0168)
Frame 199
tensor(0.0171)
Frame 200
tensor(0.0175)
Frame 201
tensor(0.0177)
Frame 202
tensor(0.0168)
Frame 203
tensor(0.0170)
Frame 204
tensor(0.0172)
Frame 205
tensor(0.0180)
Frame 206
tensor(0.0186)
Frame 207
tensor(0.0180)
Frame 208
tensor(0.0187)
Frame 209
tensor(0.0190)
Frame 210
tensor(0.0186)
Frame 211
tensor(0.0176)
Frame 212
tensor(0.0184)
Frame 213
tensor(0.0183)
Frame 214
tensor(0.0166)
Frame 215
tensor(0.0164)
Frame 216
tensor(0.0159)
Frame 217
tensor(0.0145)
Frame 218
tensor(0.0140)
Frame 219
tensor(0.0138)
Frame 220
tensor(0.0146)
Frame 221
tensor(0.0142)
Frame 222
tensor(0.0143)
Frame 223
tensor(0.0145)
Frame 224
tensor(0.0146)
Frame 225
tensor(0.0135)
Frame 226
tensor(0.0147)
Frame 227
tensor(0.0143)
Frame 228
tensor(0.0142)
Frame 229
tensor(0.0151)
Frame 230
tensor(0.0147)
Frame 231
tensor(0.0154)
Frame 232
tensor(0.0148)
Backending... 36 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 14832, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1805 loss_distill=0.1733 tta_take=0.004s
[epoch 0 scene 270/556] vkitti/Scene02/30-deg-left/Camera_0 frames=233 tta_steps_this_scene=1 mean_loss=0.1733 total_steps=1805 time=31.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0184)
Frame 2
tensor(0.0326)
Frame 3
tensor(0.0930)
Frame 4
tensor(0.1654)
 # KEYFRAME 1
Frame 5
tensor(0.0891)
Frame 6
tensor(0.1898)
 # KEYFRAME 2
0.05179776399745606
Frame 7
tensor(0.1387)
 # KEYFRAME 3
0.05435433600359829
Frame 8
tensor(0.2824)
 # KEYFRAME 4
0.05425713699514745
Frame 9
tensor(0.1851)
 # KEYFRAME 5
0.0551463430019794
Frame 10
tensor(0.2038)
 # KEYFRAME 6
0.05579428000055486
Frame 11
tensor(0.2547)
 # KEYFRAME 7
0.05689280600199709
Frame 12
tensor(0.1726)
 # KEYFRAME 8
0.05869305999658536
Frame 13
tensor(0.2056)
 # KEYFRAME 9
0.05904033900151262
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 14
tensor(0.1415)
 # KEYFRAME 10
0.05262700199818937
Frame 15
tensor(0.1534)
 # KEYFRAME 11
0.05375103799451608
Frame 16
tensor(0.1858)
 # KEYFRAME 12
0.05436665500019444
Frame 17
tensor(0.2051)
 # KEYFRAME 13
0.05653821799933212
Frame 18
tensor(0.1938)
 # KEYFRAME 14
0.057931791998271365
Frame 19
tensor(0.2325)
 # KEYFRAME 15
0.0584190510053304
Frame 20
tensor(0.2019)
 # KEYFRAME 16
0.0590924990028725
Frame 21
tensor(0.2497)
 # KEYFRAME 17
0.060227205001865514
Frame 22
tensor(0.2418)
 # KEYFRAME 18
0.06131402099708794
Frame 23
tensor(0.1991)
 # KEYFRAME 19
0.0631335139987641
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 24
tensor(0.2233)
 # KEYFRAME 20
0.05919988800451392
Frame 25
tensor(0.0772)
Frame 26
tensor(0.2023)
 # KEYFRAME 21
0.06070474300213391
Frame 27
tensor(0.1735)
 # KEYFRAME 22
0.0613876809948124
Frame 28
tensor(0.1930)
 # KEYFRAME 23
0.06222562800394371
Frame 29
tensor(0.1063)
 # KEYFRAME 24
0.06275300600100309
Frame 30
tensor(0.1929)
 # KEYFRAME 25
0.06434322999848519
Frame 31
tensor(0.1268)
 # KEYFRAME 26
0.06534703700162936
Frame 32
tensor(0.1131)
 # KEYFRAME 27
0.06644376199983526
Frame 33
tensor(0.1479)
 # KEYFRAME 28
0.06769648800400319
Frame 34
tensor(0.1682)
 # KEYFRAME 29
0.06827103599789552
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 35
tensor(0.0341)
Frame 36
tensor(0.2752)
 # KEYFRAME 30
0.06575567500112811
Frame 37
tensor(0.2190)
 # KEYFRAME 31
0.0679639669979224
Frame 38
tensor(0.2619)
 # KEYFRAME 32
0.06835598500038031
Frame 39
tensor(0.3235)
 # KEYFRAME 33
0.06863723500282504
Frame 40
tensor(0.2189)
 # KEYFRAME 34
0.06942134199925931
Frame 41
tensor(0.1614)
 # KEYFRAME 35
0.07045218799612485
Frame 42
tensor(0.4444)
 # KEYFRAME 36
0.07121601599646965
Frame 43
tensor(0.3880)
 # KEYFRAME 37
0.07191641299868934
Frame 44
tensor(0.1526)
 # KEYFRAME 38
0.07296681900334079
Frame 45
tensor(0.1293)
 # KEYFRAME 39
0.07441452400234994
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1806 loss_distill=0.1733 tta_take=0.009s
Frame 46
tensor(0.0764)
Frame 47
tensor(0.1654)
 # KEYFRAME 40
0.07276354000350693
Frame 48
tensor(0.2091)
 # KEYFRAME 41
0.07531610099977115
Frame 49
tensor(0.3590)
 # KEYFRAME 42
0.07594060900009936
Frame 50
tensor(0.2488)
 # KEYFRAME 43
0.07724360400607111
Frame 51
tensor(0.1364)
 # KEYFRAME 44
0.07833833999757189
Frame 52
tensor(0.2708)
 # KEYFRAME 45
0.07939191599871265
Frame 53
tensor(0.1974)
 # KEYFRAME 46
0.08042578300228342
Frame 54
tensor(0.2066)
 # KEYFRAME 47
0.08034881299681729
Frame 55
tensor(0.2309)
 # KEYFRAME 48
0.08105560999683803
Frame 56
tensor(0.2226)
 # KEYFRAME 49
0.08166222900035791
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1807 loss_distill=0.2747 tta_take=0.009s
Frame 57
tensor(0.4399)
 # KEYFRAME 50
0.07929430600052001
Frame 58
tensor(0.2014)
 # KEYFRAME 51
0.08173730700218584
Frame 59
tensor(0.0491)
Frame 60
tensor(0.1573)
 # KEYFRAME 52
0.08261688500351738
Frame 61
tensor(0.1357)
 # KEYFRAME 53
0.08370858100533951
Frame 62
tensor(0.1747)
 # KEYFRAME 54
0.08482349699625047
Frame 63
tensor(0.1334)
 # KEYFRAME 55
0.08565889300371055
Frame 64
tensor(0.1854)
 # KEYFRAME 56
0.08725306799897226
Frame 65
tensor(0.0951)
Frame 66
tensor(0.1848)
 # KEYFRAME 57
0.08851854399836157
Frame 67
tensor(0.1770)
 # KEYFRAME 58
0.09042027700343169
Frame 68
tensor(0.1970)
 # KEYFRAME 59
0.09012099800020223
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1808 loss_distill=0.3466 tta_take=0.009s
Frame 69
tensor(0.1145)
 # KEYFRAME 60
0.0863344719982706
Frame 70
tensor(0.2145)
 # KEYFRAME 61
0.08926119100215146
Frame 71
tensor(0.2007)
 # KEYFRAME 62
0.08837013399897842
Frame 72
tensor(0.3715)
 # KEYFRAME 63
0.08957815000030678
Frame 73
tensor(0.3115)
 # KEYFRAME 64
0.08935272000235273
Frame 74
tensor(0.1136)
 # KEYFRAME 65
0.0904714869975578
Frame 75
tensor(0.1120)
 # KEYFRAME 66
0.09268435899866745
Frame 76
tensor(0.2315)
 # KEYFRAME 67
0.09224285100208363
Frame 77
tensor(0.1895)
 # KEYFRAME 68
0.09345660600229166
Frame 78
tensor(0.2276)
 # KEYFRAME 69
0.0939963440032443
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1809 loss_distill=0.4024 tta_take=0.009s
Frame 79
tensor(0.1783)
 # KEYFRAME 70
0.09330951700394507
Frame 80
tensor(0.1269)
 # KEYFRAME 71
0.09525220999785233
Frame 81
tensor(0.3682)
 # KEYFRAME 72
0.09669528499944136
Frame 82
tensor(0.2993)
 # KEYFRAME 73
0.09721572200214723
Frame 83
tensor(0.1861)
 # KEYFRAME 74
0.09864300699700834
Frame 84
tensor(0.1057)
 # KEYFRAME 75
0.09916019599768333
Frame 85
tensor(0.1279)
 # KEYFRAME 76
0.10072352000133833
Frame 86
tensor(0.1498)
 # KEYFRAME 77
0.10160914700099966
Frame 87
tensor(0.1894)
 # KEYFRAME 78
0.10263812300399877
Frame 88
tensor(0.0777)
Frame 89
tensor(0.1306)
 # KEYFRAME 79
0.10391758799960371
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1810 loss_distill=0.4024 tta_take=0.009s
Frame 90
tensor(0.3846)
 # KEYFRAME 80
0.09331947600003332
Frame 91
tensor(0.3545)
 # KEYFRAME 81
0.09616896599618485
Frame 92
tensor(0.4910)
 # KEYFRAME 82
0.09492605000559706
Frame 93
tensor(0.2811)
 # KEYFRAME 83
0.09637516599468654
Frame 94
tensor(0.0489)
Frame 95
tensor(0.0729)
Frame 96
tensor(0.0637)
Frame 97
tensor(0.3585)
 # KEYFRAME 84
0.09777464000217151
Frame 98
tensor(0.1793)
 # KEYFRAME 85
0.09833658900606679
Frame 99
tensor(0.1846)
 # KEYFRAME 86
0.09986256300180685
Frame 100
tensor(0.2979)
 # KEYFRAME 87
0.09971453300386202
Frame 101
tensor(0.2800)
 # KEYFRAME 88
0.10028439199959394
Frame 102
tensor(0.1633)
 # KEYFRAME 89
0.10521931399853202
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1811 loss_distill=0.4024 tta_take=0.009s
Frame 103
tensor(0.3877)
 # KEYFRAME 90
0.09343082599662011
Frame 104
tensor(0.2056)
 # KEYFRAME 91
0.0964089650005917
Frame 105
tensor(0.1707)
 # KEYFRAME 92
0.09674602400627919
Frame 106
tensor(0.3557)
 # KEYFRAME 93
0.09706432300299639
Frame 107
tensor(0.1887)
 # KEYFRAME 94
0.09930169500148622
Frame 108
tensor(0.1350)
 # KEYFRAME 95
0.09998277200065786
Frame 109
tensor(0.3018)
 # KEYFRAME 96
0.10114372799580451
Frame 110
tensor(0.1981)
 # KEYFRAME 97
0.10282545299560297
Frame 111
tensor(0.0987)
Frame 112
tensor(0.2213)
 # KEYFRAME 98
0.10370086899638409
Frame 113
tensor(0.1415)
 # KEYFRAME 99
0.10359148900170112
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1812 loss_distill=0.4024 tta_take=0.009s
Frame 114
tensor(0.1879)
 # KEYFRAME 100
0.09287787799985381
Frame 115
tensor(0.0438)
Frame 116
tensor(0.2073)
 # KEYFRAME 101
0.09579471799952444
Frame 117
tensor(0.2301)
 # KEYFRAME 102
0.09634796599857509
Frame 118
tensor(0.3646)
 # KEYFRAME 103
0.09773345100256847
Frame 119
tensor(0.1478)
 # KEYFRAME 104
0.09864648799702991
Frame 120
tensor(0.1961)
 # KEYFRAME 105
0.09940571500192164
Frame 121
tensor(0.2067)
 # KEYFRAME 106
0.10006847199838376
Frame 122
tensor(0.1920)
 # KEYFRAME 107
0.10261654300120426
Frame 123
tensor(0.1266)
 # KEYFRAME 108
0.10262635300023248
Frame 124
tensor(0.1668)
 # KEYFRAME 109
0.10400379799830262
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1813 loss_distill=0.4024 tta_take=0.009s
Frame 125
tensor(0.3133)
 # KEYFRAME 110
0.09328727600222919
Frame 126
tensor(0.2089)
 # KEYFRAME 111
0.09474843100178987
Frame 127
tensor(0.2233)
 # KEYFRAME 112
0.0959925170027418
Frame 128
tensor(0.2485)
 # KEYFRAME 113
0.09734390200173948
Frame 129
tensor(0.0213)
Frame 130
tensor(0.2098)
 # KEYFRAME 114
0.09808031899592606
Frame 131
tensor(0.2097)
 # KEYFRAME 115
0.0996571040013805
Frame 132
tensor(0.2094)
 # KEYFRAME 116
0.10032808100368129
Frame 133
tensor(0.1698)
 # KEYFRAME 117
0.10239272399485344
Frame 134
tensor(0.1986)
 # KEYFRAME 118
0.10196707599970978
Frame 135
tensor(0.2640)
 # KEYFRAME 119
0.10323416100436589
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=1814 loss_distill=0.4024 tta_take=0.009s
Frame 136
tensor(0.2462)
 # KEYFRAME 120
0.09284995799680473
Frame 137
tensor(0.1632)
 # KEYFRAME 121
0.09365081600117264
Frame 138
tensor(0.0729)
Frame 139
tensor(0.2202)
 # KEYFRAME 122
0.09627485500095645
Frame 140
tensor(0.2487)
 # KEYFRAME 123
0.09537305899721105
Frame 141
tensor(0.1447)
 # KEYFRAME 124
0.0960764960036613
Frame 142
tensor(0.1408)
 # KEYFRAME 125
0.09720592200028477
Frame 143
tensor(0.2041)
 # KEYFRAME 126
0.09788212000421481
Frame 144
tensor(0.1921)
 # KEYFRAME 127
0.09841439800220542
Frame 145
tensor(0.2295)
 # KEYFRAME 128
0.09978443299769424
Frame 146
tensor(0.2072)
 # KEYFRAME 129
0.1003327009966597
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1815 loss_distill=0.4024 tta_take=0.009s
Frame 147
tensor(0.1647)
 # KEYFRAME 130
0.09278512799937744
Backending... 131 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 63501, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1816 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 271/556] scannetpp/9f139a318d/frame frames=148 tta_steps_this_scene=11 mean_loss=0.3649 total_steps=1816 time=54.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0451)
Frame 2
tensor(0.0925)
Frame 3
tensor(0.1417)
 # KEYFRAME 1
Frame 4
tensor(0.0484)
Frame 5
tensor(0.0924)
Frame 6
tensor(0.1446)
 # KEYFRAME 2
0.051689234998775646
Frame 7
tensor(0.0434)
Frame 8
tensor(0.0951)
Frame 9
tensor(0.1428)
 # KEYFRAME 3
0.05220138300501276
Frame 10
tensor(0.0403)
Frame 11
tensor(0.0906)
Frame 12
tensor(0.1407)
 # KEYFRAME 4
0.05269721199874766
Frame 13
tensor(0.0472)
Frame 14
tensor(0.0983)
Frame 15
tensor(0.1461)
 # KEYFRAME 5
0.05243370300013339
Frame 16
tensor(0.0429)
Frame 17
tensor(0.0905)
Frame 18
tensor(0.1378)
 # KEYFRAME 6
0.05277209100313485
Frame 19
tensor(0.0543)
Frame 20
tensor(0.1053)
 # KEYFRAME 7
0.052847471000859514
Frame 21
tensor(0.0496)
Frame 22
tensor(0.1036)
 # KEYFRAME 8
0.05360082799597876
Frame 23
tensor(0.0511)
Frame 24
tensor(0.0959)
Frame 25
tensor(0.1473)
 # KEYFRAME 9
0.05240135300118709
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 26
tensor(0.0431)
Frame 27
tensor(0.0952)
Frame 28
tensor(0.1347)
 # KEYFRAME 10
0.05197981400124263
Frame 29
tensor(0.0368)
Frame 30
tensor(0.0914)
Frame 31
tensor(0.1322)
 # KEYFRAME 11
0.05191997499787249
Frame 32
tensor(0.0436)
Frame 33
tensor(0.0902)
Frame 34
tensor(0.1321)
 # KEYFRAME 12
0.05274861100042472
Frame 35
tensor(0.0470)
Frame 36
tensor(0.0898)
Frame 37
tensor(0.1277)
 # KEYFRAME 13
0.05216357400058769
Frame 38
tensor(0.0452)
Frame 39
tensor(0.0894)
Frame 40
tensor(0.1445)
 # KEYFRAME 14
0.05437277500459459
Frame 41
tensor(0.0460)
Frame 42
tensor(0.0882)
Frame 43
tensor(0.1399)
 # KEYFRAME 15
0.052493121998850256
Frame 44
tensor(0.0468)
Frame 45
tensor(0.0910)
Frame 46
tensor(0.1381)
 # KEYFRAME 16
0.05300130100658862
Frame 47
tensor(0.0441)
Frame 48
tensor(0.0956)
Frame 49
tensor(0.1477)
 # KEYFRAME 17
0.05611780899926089
Frame 50
tensor(0.0485)
Frame 51
tensor(0.1003)
 # KEYFRAME 18
0.052316173001599964
Frame 52
tensor(0.0463)
Frame 53
tensor(0.0980)
Frame 54
tensor(0.1477)
 # KEYFRAME 19
0.05672121699899435
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 55
tensor(0.0486)
Frame 56
tensor(0.1024)
 # KEYFRAME 20
0.05154822600161424
Frame 57
tensor(0.0398)
Frame 58
tensor(0.0888)
Frame 59
tensor(0.1341)
 # KEYFRAME 21
0.05182004499511095
Frame 60
tensor(0.0421)
Frame 61
tensor(0.0855)
Frame 62
tensor(0.1398)
 # KEYFRAME 22
0.05286036100005731
Frame 63
tensor(0.0412)
Frame 64
tensor(0.0967)
Frame 65
tensor(0.1402)
 # KEYFRAME 23
0.05194703499728348
Frame 66
tensor(0.0450)
Frame 67
tensor(0.0922)
Frame 68
tensor(0.1398)
 # KEYFRAME 24
0.0533639490022324
Frame 69
tensor(0.0500)
Frame 70
tensor(0.0997)
Frame 71
tensor(0.1456)
 # KEYFRAME 25
0.05291024100006325
Frame 72
tensor(0.0484)
Frame 73
tensor(0.0935)
Frame 74
tensor(0.1301)
 # KEYFRAME 26
0.05243737200362375
Frame 75
tensor(0.0458)
Frame 76
tensor(0.0880)
Frame 77
tensor(0.1270)
 # KEYFRAME 27
0.05542189200059511
Frame 78
tensor(0.0434)
Frame 79
tensor(0.0839)
Frame 80
tensor(0.1318)
 # KEYFRAME 28
0.052570302003005054
Frame 81
tensor(0.0446)
Frame 82
tensor(0.0833)
Frame 83
tensor(0.1232)
 # KEYFRAME 29
0.05566031100170221
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 84
tensor(0.0428)
Frame 85
tensor(0.0849)
Frame 86
tensor(0.1273)
 # KEYFRAME 30
0.052256522998504806
Frame 87
tensor(0.0388)
Frame 88
tensor(0.0885)
Frame 89
tensor(0.1221)
 # KEYFRAME 31
0.05285274099878734
Frame 90
tensor(0.0358)
Frame 91
tensor(0.0725)
Frame 92
tensor(0.1026)
 # KEYFRAME 32
0.052949760996853
Frame 93
tensor(0.0384)
Frame 94
tensor(0.0663)
Frame 95
tensor(0.1055)
 # KEYFRAME 33
0.05208839399710996
Frame 96
tensor(0.0337)
Frame 97
tensor(0.0684)
Frame 98
tensor(0.1075)
 # KEYFRAME 34
0.05295185100112576
Frame 99
tensor(0.0328)
Frame 100
tensor(0.0702)
Frame 101
tensor(0.1009)
 # KEYFRAME 35
0.052176783996401355
Frame 102
tensor(0.0303)
Frame 103
tensor(0.0698)
Frame 104
tensor(0.0950)
Frame 105
tensor(0.1316)
 # KEYFRAME 36
0.05216182299773209
Frame 106
tensor(0.0255)
Frame 107
tensor(0.0591)
Frame 108
tensor(0.0953)
Frame 109
tensor(0.1261)
 # KEYFRAME 37
0.053264649999618996
Frame 110
tensor(0.0317)
Frame 111
tensor(0.0599)
Frame 112
tensor(0.0854)
Frame 113
tensor(0.1142)
 # KEYFRAME 38
0.05214903299929574
Frame 114
tensor(0.0255)
Frame 115
tensor(0.0612)
Frame 116
tensor(0.0849)
Frame 117
tensor(0.1183)
 # KEYFRAME 39
0.053818977998162154
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1817 loss_distill=0.1733 tta_take=0.005s
Frame 118
tensor(0.0271)
Frame 119
tensor(0.0497)
Frame 120
tensor(0.0760)
Frame 121
tensor(0.0987)
Frame 122
tensor(0.1210)
 # KEYFRAME 40
0.05254895200050669
Frame 123
tensor(0.0220)
Frame 124
tensor(0.0427)
Frame 125
tensor(0.0652)
Frame 126
tensor(0.0862)
Frame 127
tensor(0.1102)
 # KEYFRAME 41
0.053276869002729654
Frame 128
tensor(0.0175)
Frame 129
tensor(0.0337)
Frame 130
tensor(0.0559)
Frame 131
tensor(0.0731)
Frame 132
tensor(0.0930)
Frame 133
tensor(0.1056)
 # KEYFRAME 42
0.05388464700081386
Frame 134
tensor(0.0176)
Frame 135
tensor(0.0346)
Frame 136
tensor(0.0503)
Frame 137
tensor(0.0743)
Frame 138
tensor(0.0900)
Frame 139
tensor(0.1010)
 # KEYFRAME 43
0.05280379099713173
Frame 140
tensor(0.0150)
Frame 141
tensor(0.0339)
Frame 142
tensor(0.0517)
Frame 143
tensor(0.0665)
Frame 144
tensor(0.0840)
Frame 145
tensor(0.1072)
 # KEYFRAME 44
0.054943663999438286
Frame 146
tensor(0.0115)
Frame 147
tensor(0.0256)
Frame 148
tensor(0.0388)
Frame 149
tensor(0.0549)
Frame 150
tensor(0.0709)
Frame 151
tensor(0.0859)
Frame 152
tensor(0.1003)
 # KEYFRAME 45
0.052411743003176525
Frame 153
tensor(0.0103)
Frame 154
tensor(0.0275)
Frame 155
tensor(0.0452)
Frame 156
tensor(0.0553)
Frame 157
tensor(0.0681)
Frame 158
tensor(0.0871)
Frame 159
tensor(0.1094)
 # KEYFRAME 46
0.052586571997380815
Frame 160
tensor(0.0166)
Frame 161
tensor(0.0277)
Frame 162
tensor(0.0563)
Frame 163
tensor(0.0692)
Frame 164
tensor(0.0828)
Frame 165
tensor(0.1020)
 # KEYFRAME 47
0.05446317599853501
Frame 166
tensor(0.0149)
Frame 167
tensor(0.0286)
Frame 168
tensor(0.0488)
Frame 169
tensor(0.0698)
Frame 170
tensor(0.0903)
Frame 171
tensor(0.1059)
 # KEYFRAME 48
0.053248260002874304
Frame 172
tensor(0.0184)
Frame 173
tensor(0.0326)
Frame 174
tensor(0.0570)
Frame 175
tensor(0.0742)
Frame 176
tensor(0.0828)
Frame 177
tensor(0.1002)
 # KEYFRAME 49
0.05528871300339233
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1818 loss_distill=0.2747 tta_take=0.005s
Frame 178
tensor(0.0153)
Frame 179
tensor(0.0386)
Frame 180
tensor(0.0533)
Frame 181
tensor(0.0755)
Frame 182
tensor(0.0972)
Frame 183
tensor(0.1140)
 # KEYFRAME 50
0.052800031000515446
Frame 184
tensor(0.0132)
Frame 185
tensor(0.0349)
Frame 186
tensor(0.0549)
Frame 187
tensor(0.0767)
Frame 188
tensor(0.0940)
Frame 189
tensor(0.1084)
 # KEYFRAME 51
0.05330812899774173
Frame 190
tensor(0.0103)
Frame 191
tensor(0.0235)
Frame 192
tensor(0.0471)
Frame 193
tensor(0.0586)
Frame 194
tensor(0.0781)
Frame 195
tensor(0.0880)
Frame 196
tensor(0.1093)
 # KEYFRAME 52
0.054490074995555915
Frame 197
tensor(0.0137)
Frame 198
tensor(0.0234)
Frame 199
tensor(0.0386)
Frame 200
tensor(0.0480)
Frame 201
tensor(0.0627)
Frame 202
tensor(0.0775)
Frame 203
tensor(0.0901)
Frame 204
tensor(0.1035)
 # KEYFRAME 53
0.05254534200503258
Frame 205
tensor(0.0109)
Frame 206
tensor(0.0260)
Frame 207
tensor(0.0353)
Frame 208
tensor(0.0494)
Frame 209
tensor(0.0595)
Frame 210
tensor(0.0727)
Frame 211
tensor(0.0858)
Frame 212
tensor(0.0935)
Frame 213
tensor(0.1074)
 # KEYFRAME 54
0.05429373600054532
Frame 214
tensor(0.0134)
Frame 215
tensor(0.0244)
Frame 216
tensor(0.0406)
Frame 217
tensor(0.0567)
Frame 218
tensor(0.0716)
Frame 219
tensor(0.0962)
Frame 220
tensor(0.1202)
 # KEYFRAME 55
0.053261929999280255
Frame 221
tensor(0.0164)
Frame 222
tensor(0.0366)
Frame 223
tensor(0.0512)
Frame 224
tensor(0.0748)
Frame 225
tensor(0.0882)
Frame 226
tensor(0.1042)
 # KEYFRAME 56
0.053105680002772715
Frame 227
tensor(0.0115)
Frame 228
tensor(0.0281)
Frame 229
tensor(0.0483)
Frame 230
tensor(0.0645)
Frame 231
tensor(0.0903)
Frame 232
tensor(0.1094)
 # KEYFRAME 57
0.0548284539981978
Frame 233
tensor(0.0169)
Frame 234
tensor(0.0367)
Frame 235
tensor(0.0610)
Frame 236
tensor(0.0841)
Frame 237
tensor(0.0961)
Frame 238
tensor(0.1134)
 # KEYFRAME 58
0.05269859200052451
Frame 239
tensor(0.0149)
Frame 240
tensor(0.0381)
Frame 241
tensor(0.0667)
Frame 242
tensor(0.0862)
Frame 243
tensor(0.1096)
 # KEYFRAME 59
0.05538704199716449
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1819 loss_distill=0.3466 tta_take=0.005s
Frame 244
tensor(0.0207)
Frame 245
tensor(0.0461)
Frame 246
tensor(0.0650)
Frame 247
tensor(0.0915)
Frame 248
tensor(0.1128)
 # KEYFRAME 60
0.05280958100047428
Frame 249
tensor(0.0198)
Frame 250
tensor(0.0440)
Frame 251
tensor(0.0703)
Frame 252
tensor(0.0927)
Frame 253
tensor(0.1133)
 # KEYFRAME 61
0.05316786999901524
Frame 254
tensor(0.0214)
Frame 255
tensor(0.0447)
Frame 256
tensor(0.0738)
Frame 257
tensor(0.0982)
Frame 258
tensor(0.1237)
 # KEYFRAME 62
0.05497276399546536
Frame 259
tensor(0.0234)
Frame 260
tensor(0.0444)
Frame 261
tensor(0.0765)
Frame 262
tensor(0.0942)
Frame 263
tensor(0.1093)
 # KEYFRAME 63
0.05287809100263985
Frame 264
tensor(0.0206)
Frame 265
tensor(0.0382)
Frame 266
tensor(0.0625)
Frame 267
tensor(0.0851)
Frame 268
tensor(0.1064)
 # KEYFRAME 64
0.05449841500376351
Frame 269
tensor(0.0222)
Frame 270
tensor(0.0472)
Frame 271
tensor(0.0664)
Frame 272
tensor(0.0869)
Frame 273
tensor(0.1027)
 # KEYFRAME 65
0.053378579003037885
Frame 274
tensor(0.0188)
Frame 275
tensor(0.0337)
Frame 276
tensor(0.0474)
Frame 277
tensor(0.0655)
Frame 278
tensor(0.0793)
Frame 279
tensor(0.0959)
Frame 280
tensor(0.1099)
 # KEYFRAME 66
0.053624368003511336
Frame 281
tensor(0.0104)
Frame 282
tensor(0.0216)
Frame 283
tensor(0.0356)
Frame 284
tensor(0.0459)
Frame 285
tensor(0.0586)
Frame 286
tensor(0.0703)
Frame 287
tensor(0.0779)
Frame 288
tensor(0.0848)
Frame 289
tensor(0.0931)
Frame 290
tensor(0.1051)
 # KEYFRAME 67
0.05535863200202584
Frame 291
tensor(0.0091)
Frame 292
tensor(0.0204)
Frame 293
tensor(0.0325)
Frame 294
tensor(0.0389)
Frame 295
tensor(0.0504)
Frame 296
tensor(0.0600)
Frame 297
tensor(0.0706)
Frame 298
tensor(0.0789)
Frame 299
tensor(0.0910)
Backending... 68 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28016, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1820 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 272/556] vkitti/Scene18/fog/Camera_1 frames=300 tta_steps_this_scene=4 mean_loss=0.2992 total_steps=1820 time=43.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0114)
Frame 2
tensor(0.0705)
Frame 3
tensor(0.4692)
 # KEYFRAME 1
Frame 4
tensor(0.5614)
 # KEYFRAME 2
0.05140388599829748
Frame 5
tensor(0.4365)
 # KEYFRAME 3
0.05373952699301299
Frame 6
tensor(0.4881)
 # KEYFRAME 4
0.05424709599901689
Frame 7
tensor(0.5114)
 # KEYFRAME 5
0.0553350420013885
Frame 8
tensor(0.2697)
 # KEYFRAME 6
0.05752555500657763
Frame 9
tensor(0.2897)
 # KEYFRAME 7
0.057193094995454885
Frame 10
tensor(0.2097)
 # KEYFRAME 8
0.05827319100353634
Frame 11
tensor(0.2993)
 # KEYFRAME 9
0.05838044099800754
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.4224)
 # KEYFRAME 10
0.05255667200253811
Frame 13
tensor(0.1702)
 # KEYFRAME 11
0.05378951800230425
Frame 14
tensor(0.3371)
 # KEYFRAME 12
0.05456765499548055
Frame 15
tensor(0.3207)
 # KEYFRAME 13
0.05680865600152174
Frame 16
tensor(0.3928)
 # KEYFRAME 14
0.05746032499882858
Frame 17
tensor(0.4773)
 # KEYFRAME 15
0.058579299999109935
Frame 18
tensor(0.4818)
 # KEYFRAME 16
0.06009260500286473
Frame 19
tensor(0.2118)
 # KEYFRAME 17
0.060463713998615276
Frame 20
tensor(0.0138)
Frame 21
tensor(0.0107)
Frame 22
tensor(0.2266)
 # KEYFRAME 18
0.06151667000085581
Frame 23
tensor(0.0793)
Frame 24
tensor(0.2325)
 # KEYFRAME 19
0.06263866699737264
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.0867)
Frame 26
tensor(0.0652)
Frame 27
tensor(0.1604)
 # KEYFRAME 20
0.05903232900163857
Frame 28
tensor(0.2541)
 # KEYFRAME 21
0.06100707199948374
Frame 29
tensor(0.2649)
 # KEYFRAME 22
0.0618082989967661
Frame 30
tensor(0.2815)
 # KEYFRAME 23
0.06285759499587584
Frame 31
tensor(0.4425)
 # KEYFRAME 24
0.06411457100330153
Frame 32
tensor(0.1641)
 # KEYFRAME 25
0.06537877599475905
Frame 33
tensor(0.1641)
 # KEYFRAME 26
0.06684827100252733
Frame 34
tensor(0.2048)
 # KEYFRAME 27
0.06763317799777724
Frame 35
tensor(0.1770)
 # KEYFRAME 28
0.06895174399687676
Frame 36
tensor(0.3281)
 # KEYFRAME 29
0.06990481999673648
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 37
tensor(0.2258)
 # KEYFRAME 30
0.06552991599892266
Frame 38
tensor(0.3249)
 # KEYFRAME 31
0.0677731780015165
Frame 39
tensor(0.2973)
 # KEYFRAME 32
0.0687322049998329
Frame 40
tensor(0.2597)
 # KEYFRAME 33
0.07052418700186536
Frame 41
tensor(0.2166)
 # KEYFRAME 34
0.0714211049998994
Frame 42
tensor(0.2593)
 # KEYFRAME 35
0.07260216100257821
Frame 43
tensor(0.3773)
 # KEYFRAME 36
0.07415086499531753
Frame 44
tensor(0.2678)
 # KEYFRAME 37
0.07557824999821605
Frame 45
tensor(0.3575)
 # KEYFRAME 38
0.07704707400262123
Frame 46
tensor(0.2428)
 # KEYFRAME 39
0.07756708200031426
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1821 loss_distill=0.1733 tta_take=0.009s
Frame 47
tensor(0.4190)
 # KEYFRAME 40
0.07284145900484873
Frame 48
tensor(0.1137)
 # KEYFRAME 41
0.0747492919981596
Frame 49
tensor(0.2215)
 # KEYFRAME 42
0.07483905300614424
Frame 50
tensor(0.2278)
 # KEYFRAME 43
0.07560141000431031
Frame 51
tensor(0.1699)
 # KEYFRAME 44
0.07627036799385678
Frame 52
tensor(0.1072)
 # KEYFRAME 45
0.07697723399905954
Frame 53
tensor(0.1976)
 # KEYFRAME 46
0.07801686099992367
Frame 54
tensor(0.1892)
 # KEYFRAME 47
0.07835784999770112
Frame 55
tensor(0.0814)
Frame 56
tensor(0.2104)
 # KEYFRAME 48
0.0793636769958539
Frame 57
tensor(0.2799)
 # KEYFRAME 49
0.07998054399649845
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1822 loss_distill=0.2747 tta_take=0.009s
Frame 58
tensor(0.3463)
 # KEYFRAME 50
0.07927715699770488
Frame 59
tensor(0.4132)
 # KEYFRAME 51
0.0816503680034657
Frame 60
tensor(0.2571)
 # KEYFRAME 52
0.08195624699874315
Frame 61
tensor(0.2318)
 # KEYFRAME 53
0.08320535300299525
Frame 62
tensor(0.2623)
 # KEYFRAME 54
0.08440053799859015
Frame 63
tensor(0.3292)
 # KEYFRAME 55
0.08459038799628615
Frame 64
tensor(0.3652)
 # KEYFRAME 56
0.0852980550043867
Frame 65
tensor(0.2715)
 # KEYFRAME 57
0.0859394630024326
Frame 66
tensor(0.1655)
 # KEYFRAME 58
0.08677899000031175
Frame 67
tensor(0.2450)
 # KEYFRAME 59
0.08808602500357665
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1823 loss_distill=0.3466 tta_take=0.009s
Frame 68
tensor(0.2440)
 # KEYFRAME 60
0.08726511799613945
Frame 69
tensor(0.4049)
 # KEYFRAME 61
0.08891563200450037
Frame 70
tensor(0.5750)
 # KEYFRAME 62
0.08919303099537501
Frame 71
tensor(0.3037)
 # KEYFRAME 63
0.09033451700088335
Frame 72
tensor(0.1568)
 # KEYFRAME 64
0.09210171000449918
Frame 73
tensor(0.4844)
 # KEYFRAME 65
0.09270880799886072
Frame 74
tensor(0.3422)
 # KEYFRAME 66
0.09429878299852135
Frame 75
tensor(0.2808)
 # KEYFRAME 67
0.09549799899832578
Frame 76
tensor(0.2658)
 # KEYFRAME 68
0.0959621869988041
Frame 77
tensor(0.2675)
 # KEYFRAME 69
0.09688138400088064
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1824 loss_distill=0.4024 tta_take=0.009s
Frame 78
tensor(0.2524)
 # KEYFRAME 70
0.0929839370000991
Frame 79
tensor(0.1904)
 # KEYFRAME 71
0.09580647700204281
Frame 80
tensor(0.1939)
 # KEYFRAME 72
0.10858023200125899
Frame 81
tensor(0.1646)
 # KEYFRAME 73
0.09694551300344756
Frame 82
tensor(0.3924)
 # KEYFRAME 74
0.09771920099592535
Frame 83
tensor(0.1708)
 # KEYFRAME 75
0.09954603400547057
Frame 84
tensor(0.4484)
 # KEYFRAME 76
0.10102113799803192
Frame 85
tensor(0.2416)
 # KEYFRAME 77
0.10191495600156486
Frame 86
tensor(0.4403)
 # KEYFRAME 78
0.10308813199662836
Frame 87
tensor(0.4789)
 # KEYFRAME 79
0.10381356899597449
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1825 loss_distill=0.4024 tta_take=0.009s
Frame 88
tensor(0.2121)
 # KEYFRAME 80
0.09340693600097438
Frame 89
tensor(0.2166)
 # KEYFRAME 81
0.09597558700625086
Frame 90
tensor(0.5884)
 # KEYFRAME 82
0.09562373800144996
Frame 91
tensor(0.4252)
 # KEYFRAME 83
0.09625803599919891
Frame 92
tensor(0.2692)
 # KEYFRAME 84
0.09739524100587005
Frame 93
tensor(0.2617)
 # KEYFRAME 85
0.09724362300039502
Frame 94
tensor(0.2893)
 # KEYFRAME 86
0.09861535800155252
Frame 95
tensor(0.3732)
 # KEYFRAME 87
0.09960600399790565
Frame 96
tensor(0.3570)
 # KEYFRAME 88
0.10032333100389224
Frame 97
tensor(0.2988)
 # KEYFRAME 89
0.10106937799719162
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1826 loss_distill=0.4024 tta_take=0.009s
Frame 98
tensor(0.4977)
 # KEYFRAME 90
0.09395481400133576
Frame 99
tensor(0.3017)
 # KEYFRAME 91
0.09571254700131249
Frame 100
tensor(0.2806)
 # KEYFRAME 92
0.09492722100549145
Frame 101
tensor(0.5942)
 # KEYFRAME 93
0.09628609599894844
Frame 102
tensor(0.2374)
 # KEYFRAME 94
0.09682428400265053
Frame 103
tensor(0.4650)
 # KEYFRAME 95
0.09748429200408282
Frame 104
tensor(0.2985)
 # KEYFRAME 96
0.09852569799841149
Frame 105
tensor(0.3635)
 # KEYFRAME 97
0.099204745994939
Frame 106
tensor(0.4533)
 # KEYFRAME 98
0.09972761399694718
Frame 107
tensor(0.2250)
 # KEYFRAME 99
0.1004159410003922
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1827 loss_distill=0.4024 tta_take=0.009s
Frame 108
tensor(0.2834)
 # KEYFRAME 100
0.09275322900066385
Frame 109
tensor(0.1307)
 # KEYFRAME 101
0.09526462000212632
Frame 110
tensor(0.2055)
 # KEYFRAME 102
0.09488127099757548
Frame 111
tensor(0.1664)
 # KEYFRAME 103
0.09605970599659486
Frame 112
tensor(0.1998)
 # KEYFRAME 104
0.09668783400411485
Frame 113
tensor(0.2743)
 # KEYFRAME 105
0.09733234199666185
Frame 114
tensor(0.2949)
 # KEYFRAME 106
0.09828748799918685
Frame 115
tensor(0.1691)
 # KEYFRAME 107
0.09942031499667792
Frame 116
tensor(0.1898)
 # KEYFRAME 108
0.09948537500167731
Frame 117
tensor(0.1577)
 # KEYFRAME 109
0.10036005100118928
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1828 loss_distill=0.4024 tta_take=0.009s
Frame 118
tensor(0.1517)
 # KEYFRAME 110
0.09428503300296143
Frame 119
tensor(0.3024)
 # KEYFRAME 111
0.09459403200162342
Frame 120
tensor(0.2283)
 # KEYFRAME 112
0.09466069200425409
Frame 121
tensor(0.3061)
 # KEYFRAME 113
0.09612934600590961
Frame 122
tensor(0.5575)
 # KEYFRAME 114
0.09685429300589021
Frame 123
tensor(0.1227)
 # KEYFRAME 115
0.09713880200433778
Frame 124
tensor(0.5440)
 # KEYFRAME 116
0.09881309699994745
Frame 125
tensor(0.3107)
 # KEYFRAME 117
0.0993678250015364
Frame 126
tensor(0.2896)
 # KEYFRAME 118
0.09993018199747894
Frame 127
tensor(0.1214)
 # KEYFRAME 119
0.09984669300320093
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1829 loss_distill=0.4024 tta_take=0.009s
Frame 128
tensor(0.1675)
 # KEYFRAME 120
0.09336964599788189
Frame 129
tensor(0.3195)
 # KEYFRAME 121
0.09533287899830611
Frame 130
tensor(0.2150)
 # KEYFRAME 122
0.09550307899917243
Frame 131
tensor(0.3312)
 # KEYFRAME 123
0.0961864670025534
Frame 132
tensor(0.2203)
 # KEYFRAME 124
0.09728044200164732
Frame 133
tensor(0.2039)
 # KEYFRAME 125
0.0977005509994342
Frame 134
tensor(0.3598)
 # KEYFRAME 126
0.09807305999856908
Frame 135
tensor(0.2222)
 # KEYFRAME 127
0.09933504500077106
Frame 136
tensor(0.2251)
 # KEYFRAME 128
0.10063604099559598
Frame 137
tensor(0.2413)
 # KEYFRAME 129
0.10067982100008521
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1830 loss_distill=0.4024 tta_take=0.009s
Frame 138
tensor(0.1905)
 # KEYFRAME 130
0.09389554499648511
Frame 139
tensor(0.1833)
 # KEYFRAME 131
0.09457268200640101
Frame 140
tensor(0.1291)
 # KEYFRAME 132
0.09583448700141162
Frame 141
tensor(0.1494)
 # KEYFRAME 133
0.09656987500056857
Backending... 134 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 66624, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1831 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 273/556] scannetpp/3928249b53/frame frames=142 tta_steps_this_scene=11 mean_loss=0.3649 total_steps=1831 time=53.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0489)
Frame 2
tensor(0.1630)
 # KEYFRAME 1
Frame 3
tensor(0.1081)
 # KEYFRAME 2
0.05156164599611657
Frame 4
tensor(0.1009)
 # KEYFRAME 3
0.053460779003216885
Frame 5
tensor(0.1601)
 # KEYFRAME 4
0.05358955799601972
Frame 6
tensor(0.0527)
Frame 7
tensor(0.1533)
 # KEYFRAME 5
0.05552486099622911
Frame 8
tensor(0.1346)
 # KEYFRAME 6
0.05624865900608711
Frame 9
tensor(0.0806)
Frame 10
tensor(0.0880)
Frame 11
tensor(0.0784)
Frame 12
tensor(0.1482)
 # KEYFRAME 7
0.057310365002194885
Frame 13
tensor(0.1025)
 # KEYFRAME 8
0.057227324999985285
Frame 14
tensor(0.2039)
 # KEYFRAME 9
0.057626633999461774
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 15
tensor(0.1161)
 # KEYFRAME 10
0.052547352002875414
Frame 16
tensor(0.1810)
 # KEYFRAME 11
0.05311183999583591
Frame 17
tensor(0.2034)
 # KEYFRAME 12
0.05401984699710738
Frame 18
tensor(0.1058)
 # KEYFRAME 13
0.05620242900477024
Frame 19
tensor(0.1116)
 # KEYFRAME 14
0.057020135995117016
Frame 20
tensor(0.0929)
Frame 21
tensor(0.2019)
 # KEYFRAME 15
0.05781906400079606
Frame 22
tensor(0.1208)
 # KEYFRAME 16
0.05839382099657087
Frame 23
tensor(0.1168)
 # KEYFRAME 17
0.05957724699692335
Frame 24
tensor(0.1335)
 # KEYFRAME 18
0.06130634099827148
Frame 25
tensor(0.1251)
 # KEYFRAME 19
0.06251084699761122
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 26
tensor(0.2268)
 # KEYFRAME 20
0.05960980700183427
Frame 27
tensor(0.0871)
Frame 28
tensor(0.1526)
 # KEYFRAME 21
0.060776153004553635
Frame 29
tensor(0.1508)
 # KEYFRAME 22
0.061676508994423784
Frame 30
tensor(0.1111)
 # KEYFRAME 23
0.06222108800284332
Frame 31
tensor(0.1340)
 # KEYFRAME 24
0.06311357399681583
Frame 32
tensor(0.1875)
 # KEYFRAME 25
0.06414785100059817
Frame 33
tensor(0.1609)
 # KEYFRAME 26
0.06566494599974249
Frame 34
tensor(0.1387)
 # KEYFRAME 27
0.06626852299814345
Frame 35
tensor(0.1220)
 # KEYFRAME 28
0.0672334699993371
Frame 36
tensor(0.1663)
 # KEYFRAME 29
0.06819815699418541
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 37
tensor(0.1260)
 # KEYFRAME 30
0.0665528120007366
Frame 38
tensor(0.0884)
Frame 39
tensor(0.2278)
 # KEYFRAME 31
0.06789490800292697
Frame 40
tensor(0.1467)
 # KEYFRAME 32
0.07096030699904077
Frame 41
tensor(0.0526)
Frame 42
tensor(0.1167)
 # KEYFRAME 33
0.070670818000508
Frame 43
tensor(0.1297)
 # KEYFRAME 34
0.07187065299513051
Frame 44
tensor(0.0377)
Frame 45
tensor(0.1709)
 # KEYFRAME 35
0.07323495799937518
Frame 46
tensor(0.1501)
 # KEYFRAME 36
0.07473297300020931
Frame 47
tensor(0.1260)
 # KEYFRAME 37
0.0746895729971584
Frame 48
tensor(0.1512)
 # KEYFRAME 38
0.07630787700327346
Frame 49
tensor(0.1255)
 # KEYFRAME 39
0.07617769699572818
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1832 loss_distill=0.1733 tta_take=0.009s
Frame 50
tensor(0.0545)
Frame 51
tensor(0.1271)
 # KEYFRAME 40
0.07264773999486351
Frame 52
tensor(0.1015)
 # KEYFRAME 41
0.07444593299442204
Frame 53
tensor(0.0676)
Frame 54
tensor(0.1436)
 # KEYFRAME 42
0.07467140300286701
Frame 55
tensor(0.0412)
Frame 56
tensor(0.1494)
 # KEYFRAME 43
0.07556702999863774
Frame 57
tensor(0.0995)
Frame 58
tensor(0.1759)
 # KEYFRAME 44
0.07616200800111983
Frame 59
tensor(0.1318)
 # KEYFRAME 45
0.07719081399409333
Frame 60
tensor(0.1888)
 # KEYFRAME 46
0.07810953100124607
Frame 61
tensor(0.1606)
 # KEYFRAME 47
0.07864893900114112
Frame 62
tensor(0.1190)
 # KEYFRAME 48
0.07938672699674498
Frame 63
tensor(0.1267)
 # KEYFRAME 49
0.07964777600136586
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465301752090454
TTA-STEP: step=1833 loss_distill=0.2747 tta_take=0.009s
Frame 64
tensor(0.1356)
 # KEYFRAME 50
0.079533326003002
Frame 65
tensor(0.1324)
 # KEYFRAME 51
0.08205340599670308
Frame 66
tensor(0.1839)
 # KEYFRAME 52
0.08200760599720525
Frame 67
tensor(0.1377)
 # KEYFRAME 53
0.08296829400205752
Frame 68
tensor(0.1586)
 # KEYFRAME 54
0.08419777000381146
Frame 69
tensor(0.1393)
 # KEYFRAME 55
0.0847410470014438
Frame 70
tensor(0.0639)
Frame 71
tensor(0.1035)
 # KEYFRAME 56
0.08529704499960644
Frame 72
tensor(0.0323)
Frame 73
tensor(0.0903)
Frame 74
tensor(0.1883)
 # KEYFRAME 57
0.08670076000271365
Frame 75
tensor(0.1026)
 # KEYFRAME 58
0.0876327170044533
Frame 76
tensor(0.1495)
 # KEYFRAME 59
0.0879979050005204
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=1834 loss_distill=0.3466 tta_take=0.009s
Frame 77
tensor(0.0882)
Frame 78
tensor(0.1985)
 # KEYFRAME 60
0.08616614000493428
Frame 79
tensor(0.1273)
 # KEYFRAME 61
0.0891092000019853
Frame 80
tensor(0.1013)
 # KEYFRAME 62
0.08914567999454448
Frame 81
tensor(0.0713)
Frame 82
tensor(0.1155)
 # KEYFRAME 63
0.090483795000182
Frame 83
tensor(0.1155)
 # KEYFRAME 64
0.09210195999912685
Frame 84
tensor(0.1715)
 # KEYFRAME 65
0.09292755600472447
Frame 85
tensor(0.1212)
 # KEYFRAME 66
0.09428731099615106
Frame 86
tensor(0.0843)
Frame 87
tensor(0.1201)
 # KEYFRAME 67
0.09497428000031505
Frame 88
tensor(0.1363)
 # KEYFRAME 68
0.09509562900348101
Frame 89
tensor(0.1320)
 # KEYFRAME 69
0.09642762400471838
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1835 loss_distill=0.4024 tta_take=0.009s
Frame 90
tensor(0.1035)
 # KEYFRAME 70
0.09402285199757898
Frame 91
tensor(0.1390)
 # KEYFRAME 71
0.09435836199554615
Frame 92
tensor(0.0681)
Frame 93
tensor(0.1601)
 # KEYFRAME 72
0.095872206002241
Frame 94
tensor(0.1011)
 # KEYFRAME 73
0.09633996399497846
Frame 95
tensor(0.1332)
 # KEYFRAME 74
0.09788505899632582
Frame 96
tensor(0.1211)
 # KEYFRAME 75
0.09796883899980457
Frame 97
tensor(0.1132)
 # KEYFRAME 76
0.09763721899798838
Frame 98
tensor(0.1735)
 # KEYFRAME 77
0.09887157499906607
Frame 99
tensor(0.1435)
 # KEYFRAME 78
0.09996512199722929
Frame 100
tensor(0.1229)
 # KEYFRAME 79
0.10026634999667294
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595452308655
TTA-STEP: step=1836 loss_distill=0.4024 tta_take=0.009s
Frame 101
tensor(0.2517)
 # KEYFRAME 80
0.0928476769986446
Frame 102
tensor(0.1031)
 # KEYFRAME 81
0.0962127840030007
Frame 103
tensor(0.0630)
Frame 104
tensor(0.1083)
 # KEYFRAME 82
0.09548476700001629
Frame 105
tensor(0.1016)
 # KEYFRAME 83
0.09632436399988364
Frame 106
tensor(0.0553)
Frame 107
tensor(0.0889)
Frame 108
tensor(0.1980)
 # KEYFRAME 84
0.09737658100493718
Frame 109
tensor(0.1303)
 # KEYFRAME 85
0.09758691000024555
Frame 110
tensor(0.0847)
Frame 111
tensor(0.1919)
 # KEYFRAME 86
0.09887516500020865
Frame 112
tensor(0.1009)
 # KEYFRAME 87
0.09844526700180722
Frame 113
tensor(0.1035)
 # KEYFRAME 88
0.10014623000461143
Frame 114
tensor(0.1285)
 # KEYFRAME 89
0.10042339000210632
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1837 loss_distill=0.4024 tta_take=0.009s
Frame 115
tensor(0.0302)
Frame 116
tensor(0.0696)
Frame 117
tensor(0.2266)
 # KEYFRAME 90
0.09342871500120964
Frame 118
tensor(0.1086)
 # KEYFRAME 91
0.09627848400123185
Frame 119
tensor(0.0923)
Frame 120
tensor(0.1639)
 # KEYFRAME 92
0.0962698749935953
Frame 121
tensor(0.1095)
 # KEYFRAME 93
0.09666604299854953
Frame 122
tensor(0.0943)
Frame 123
tensor(0.1807)
 # KEYFRAME 94
0.09721984100178815
Frame 124
tensor(0.1335)
 # KEYFRAME 95
0.09813074800331378
Frame 125
tensor(0.2227)
 # KEYFRAME 96
0.09948477199941408
Frame 126
tensor(0.0976)
Frame 127
tensor(0.1515)
 # KEYFRAME 97
0.10030892000213498
Frame 128
tensor(0.0623)
Frame 129
tensor(0.0906)
Frame 130
tensor(0.0985)
Frame 131
tensor(0.1240)
 # KEYFRAME 98
0.09996067100291839
Frame 132
tensor(0.0508)
Frame 133
tensor(0.0370)
Frame 134
tensor(0.0910)
Frame 135
tensor(0.1140)
 # KEYFRAME 99
0.10112574700178811
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1838 loss_distill=0.4024 tta_take=0.009s
Frame 136
tensor(0.0517)
Frame 137
tensor(0.0646)
Frame 138
tensor(0.1118)
 # KEYFRAME 100
0.09276962700096192
Frame 139
tensor(0.0350)
Frame 140
tensor(0.1214)
 # KEYFRAME 101
0.09598230499977944
Frame 141
tensor(0.0666)
Frame 142
tensor(0.1288)
 # KEYFRAME 102
0.09482771899638465
Frame 143
tensor(0.0813)
Backending... 103 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65583, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1839 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 274/556] scannetpp/faec2f0468/frame frames=144 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=1839 time=45.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0088)
Frame 2
tensor(0.0194)
Frame 3
tensor(0.0283)
Frame 4
tensor(0.0374)
Frame 5
tensor(0.0468)
Frame 6
tensor(0.0530)
Frame 7
tensor(0.0710)
Frame 8
tensor(0.0797)
Frame 9
tensor(0.1066)
 # KEYFRAME 1
Frame 10
tensor(0.0036)
Frame 11
tensor(0.0105)
Frame 12
tensor(0.0196)
Frame 13
tensor(0.0291)
Frame 14
tensor(0.0368)
Frame 15
tensor(0.0476)
Frame 16
tensor(0.0601)
Frame 17
tensor(0.0730)
Frame 18
tensor(0.0784)
Frame 19
tensor(0.0946)
Frame 20
tensor(0.1124)
 # KEYFRAME 2
0.052352411999891046
Frame 21
tensor(0.0050)
Frame 22
tensor(0.0126)
Frame 23
tensor(0.0194)
Frame 24
tensor(0.0251)
Frame 25
tensor(0.0282)
Frame 26
tensor(0.0347)
Frame 27
tensor(0.0462)
Frame 28
tensor(0.0491)
Frame 29
tensor(0.0639)
Frame 30
tensor(0.0730)
Frame 31
tensor(0.0844)
Frame 32
tensor(0.1090)
 # KEYFRAME 3
0.052153691998682916
Frame 33
tensor(0.0090)
Frame 34
tensor(0.0146)
Frame 35
tensor(0.0234)
Frame 36
tensor(0.0304)
Frame 37
tensor(0.0364)
Frame 38
tensor(0.0473)
Frame 39
tensor(0.0529)
Frame 40
tensor(0.0626)
Frame 41
tensor(0.0703)
Frame 42
tensor(0.0811)
Frame 43
tensor(0.0912)
Frame 44
tensor(0.1022)
 # KEYFRAME 4
0.0528214109945111
Frame 45
tensor(0.0080)
Frame 46
tensor(0.0171)
Frame 47
tensor(0.0307)
Frame 48
tensor(0.0405)
Frame 49
tensor(0.0527)
Frame 50
tensor(0.0648)
Frame 51
tensor(0.0796)
Frame 52
tensor(0.0913)
Frame 53
tensor(0.1100)
 # KEYFRAME 5
0.05256497099617263
Frame 54
tensor(0.0086)
Frame 55
tensor(0.0218)
Frame 56
tensor(0.0382)
Frame 57
tensor(0.0535)
Frame 58
tensor(0.0719)
Frame 59
tensor(0.0876)
Frame 60
tensor(0.1184)
 # KEYFRAME 6
0.05336082800204167
Frame 61
tensor(0.0124)
Frame 62
tensor(0.0223)
Frame 63
tensor(0.0385)
Frame 64
tensor(0.0575)
Frame 65
tensor(0.0767)
Frame 66
tensor(0.0952)
Frame 67
tensor(0.1170)
 # KEYFRAME 7
0.052584090997697785
Frame 68
tensor(0.0122)
Frame 69
tensor(0.0261)
Frame 70
tensor(0.0442)
Frame 71
tensor(0.0562)
Frame 72
tensor(0.0767)
Frame 73
tensor(0.0995)
Frame 74
tensor(0.1178)
 # KEYFRAME 8
0.053825896997295786
Frame 75
tensor(0.0141)
Frame 76
tensor(0.0304)
Frame 77
tensor(0.0498)
Frame 78
tensor(0.0657)
Frame 79
tensor(0.0835)
Frame 80
tensor(0.1032)
 # KEYFRAME 9
0.05252499199559679
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 81
tensor(0.0159)
Frame 82
tensor(0.0271)
Frame 83
tensor(0.0413)
Frame 84
tensor(0.0557)
Frame 85
tensor(0.0736)
Frame 86
tensor(0.1012)
 # KEYFRAME 10
0.052055822998227086
Frame 87
tensor(0.0127)
Frame 88
tensor(0.0280)
Frame 89
tensor(0.0472)
Frame 90
tensor(0.0619)
Frame 91
tensor(0.0793)
Frame 92
tensor(0.0950)
Frame 93
tensor(0.1128)
 # KEYFRAME 11
0.0531162389961537
Frame 94
tensor(0.0136)
Frame 95
tensor(0.0251)
Frame 96
tensor(0.0371)
Frame 97
tensor(0.0501)
Frame 98
tensor(0.0649)
Frame 99
tensor(0.0817)
Frame 100
tensor(0.0983)
Frame 101
tensor(0.1141)
 # KEYFRAME 12
0.05435462499735877
Frame 102
tensor(0.0117)
Frame 103
tensor(0.0235)
Frame 104
tensor(0.0368)
Frame 105
tensor(0.0510)
Frame 106
tensor(0.0687)
Frame 107
tensor(0.0826)
Frame 108
tensor(0.0994)
Frame 109
tensor(0.1124)
 # KEYFRAME 13
0.0530704299962963
Frame 110
tensor(0.0100)
Frame 111
tensor(0.0209)
Frame 112
tensor(0.0306)
Frame 113
tensor(0.0437)
Frame 114
tensor(0.0593)
Frame 115
tensor(0.0779)
Frame 116
tensor(0.0966)
Frame 117
tensor(0.1097)
 # KEYFRAME 14
0.05572276000020793
Frame 118
tensor(0.0092)
Frame 119
tensor(0.0233)
Frame 120
tensor(0.0346)
Frame 121
tensor(0.0466)
Frame 122
tensor(0.0622)
Frame 123
tensor(0.0732)
Frame 124
tensor(0.0867)
Frame 125
tensor(0.1009)
 # KEYFRAME 15
0.053197909001028165
Frame 126
tensor(0.0100)
Frame 127
tensor(0.0208)
Frame 128
tensor(0.0286)
Frame 129
tensor(0.0376)
Frame 130
tensor(0.0506)
Frame 131
tensor(0.0566)
Frame 132
tensor(0.0765)
Frame 133
tensor(0.0888)
Frame 134
tensor(0.1014)
 # KEYFRAME 16
0.05351167699700454
Frame 135
tensor(0.0041)
Frame 136
tensor(0.0190)
Frame 137
tensor(0.0312)
Frame 138
tensor(0.0427)
Frame 139
tensor(0.0541)
Frame 140
tensor(0.0630)
Frame 141
tensor(0.0735)
Frame 142
tensor(0.0850)
Frame 143
tensor(0.0935)
Frame 144
tensor(0.0991)
Frame 145
tensor(0.1093)
 # KEYFRAME 17
0.05779348299984122
Frame 146
tensor(0.0085)
Frame 147
tensor(0.0134)
Frame 148
tensor(0.0273)
Frame 149
tensor(0.0410)
Frame 150
tensor(0.0489)
Frame 151
tensor(0.0611)
Frame 152
tensor(0.0716)
Frame 153
tensor(0.0842)
Frame 154
tensor(0.1245)
 # KEYFRAME 18
0.052809130000241566
Frame 155
tensor(0.0072)
Frame 156
tensor(0.0225)
Frame 157
tensor(0.0456)
Frame 158
tensor(0.0548)
Frame 159
tensor(0.0686)
Frame 160
tensor(0.0734)
Frame 161
tensor(0.0985)
Frame 162
tensor(0.1210)
 # KEYFRAME 19
0.0579734519997146
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 163
tensor(0.0088)
Frame 164
tensor(0.0251)
Frame 165
tensor(0.0397)
Frame 166
tensor(0.0578)
Frame 167
tensor(0.0818)
Frame 168
tensor(0.1039)
 # KEYFRAME 20
0.05214684300153749
Frame 169
tensor(0.0143)
Frame 170
tensor(0.0275)
Frame 171
tensor(0.0468)
Frame 172
tensor(0.0645)
Frame 173
tensor(0.0897)
Frame 174
tensor(0.1110)
 # KEYFRAME 21
0.05370160700113047
Frame 175
tensor(0.0117)
Frame 176
tensor(0.0253)
Frame 177
tensor(0.0445)
Frame 178
tensor(0.0735)
Frame 179
tensor(0.0947)
Frame 180
tensor(0.1262)
 # KEYFRAME 22
0.05474405399581883
Frame 181
tensor(0.0120)
Frame 182
tensor(0.0300)
Frame 183
tensor(0.0569)
Frame 184
tensor(0.0788)
Frame 185
tensor(0.0980)
Frame 186
tensor(0.1238)
 # KEYFRAME 23
0.052271341999585275
Frame 187
tensor(0.0173)
Frame 188
tensor(0.0330)
Frame 189
tensor(0.0595)
Frame 190
tensor(0.0821)
Frame 191
tensor(0.1001)
 # KEYFRAME 24
0.055469740997068584
Frame 192
tensor(0.0212)
Frame 193
tensor(0.0421)
Frame 194
tensor(0.0683)
Frame 195
tensor(0.0835)
Frame 196
tensor(0.1064)
 # KEYFRAME 25
0.05287325000244891
Frame 197
tensor(0.0197)
Frame 198
tensor(0.0421)
Frame 199
tensor(0.0607)
Frame 200
tensor(0.0773)
Frame 201
tensor(0.0969)
Frame 202
tensor(0.1162)
 # KEYFRAME 26
0.05332298899884336
Frame 203
tensor(0.0157)
Frame 204
tensor(0.0368)
Frame 205
tensor(0.0483)
Frame 206
tensor(0.0671)
Frame 207
tensor(0.0842)
Frame 208
tensor(0.1104)
 # KEYFRAME 27
0.05688750599802006
Frame 209
tensor(0.0115)
Frame 210
tensor(0.0291)
Frame 211
tensor(0.0447)
Frame 212
tensor(0.0691)
Frame 213
tensor(0.0892)
Frame 214
tensor(0.1018)
 # KEYFRAME 28
0.05262400100036757
Frame 215
tensor(0.0155)
Frame 216
tensor(0.0315)
Frame 217
tensor(0.0503)
Frame 218
tensor(0.0655)
Frame 219
tensor(0.0852)
Frame 220
tensor(0.1033)
 # KEYFRAME 29
0.057016195001779124
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 221
tensor(0.0174)
Frame 222
tensor(0.0426)
Frame 223
tensor(0.0639)
Frame 224
tensor(0.0835)
Frame 225
tensor(0.1108)
 # KEYFRAME 30
0.05258047099778196
Frame 226
tensor(0.0192)
Frame 227
tensor(0.0341)
Frame 228
tensor(0.0606)
Frame 229
tensor(0.0851)
Frame 230
tensor(0.0933)
Frame 231
tensor(0.1154)
 # KEYFRAME 31
0.05296796000038739
Frame 232
tensor(0.0094)
Frame 233
tensor(0.0256)
Frame 234
tensor(0.0456)
Frame 235
tensor(0.0702)
Frame 236
tensor(0.0908)
Frame 237
tensor(0.1115)
 # KEYFRAME 32
0.05310699900292093
Frame 238
tensor(0.0169)
Frame 239
tensor(0.0369)
Frame 240
tensor(0.0628)
Frame 241
tensor(0.0822)
Frame 242
tensor(0.1035)
 # KEYFRAME 33
0.05235757199989166
Frame 243
tensor(0.0256)
Frame 244
tensor(0.0457)
Frame 245
tensor(0.0660)
Frame 246
tensor(0.0892)
Frame 247
tensor(0.1186)
 # KEYFRAME 34
0.05326516900095157
Frame 248
tensor(0.0161)
Frame 249
tensor(0.0374)
Frame 250
tensor(0.0686)
Frame 251
tensor(0.0942)
Frame 252
tensor(0.1240)
 # KEYFRAME 35
0.0530795489976299
Frame 253
tensor(0.0174)
Frame 254
tensor(0.0411)
Frame 255
tensor(0.0691)
Frame 256
tensor(0.0948)
Frame 257
tensor(0.1099)
 # KEYFRAME 36
0.052617560999351554
Frame 258
tensor(0.0224)
Frame 259
tensor(0.0475)
Frame 260
tensor(0.0640)
Frame 261
tensor(0.0912)
Frame 262
tensor(0.1168)
 # KEYFRAME 37
0.053661177000321914
Frame 263
tensor(0.0250)
Frame 264
tensor(0.0414)
Frame 265
tensor(0.0757)
Frame 266
tensor(0.0995)
Frame 267
tensor(0.1221)
 # KEYFRAME 38
0.053050852999149356
Frame 268
tensor(0.0177)
Frame 269
tensor(0.0447)
Frame 270
tensor(0.0741)
Frame 271
tensor(0.0964)
Frame 272
tensor(0.1129)
 # KEYFRAME 39
0.05377310100448085
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1840 loss_distill=0.1733 tta_take=0.005s
Frame 273
tensor(0.0188)
Frame 274
tensor(0.0423)
Frame 275
tensor(0.0641)
Frame 276
tensor(0.0914)
Frame 277
tensor(0.1215)
 # KEYFRAME 40
0.05251052600215189
Frame 278
tensor(0.0181)
Frame 279
tensor(0.0381)
Frame 280
tensor(0.0683)
Frame 281
tensor(0.0929)
Frame 282
tensor(0.1038)
 # KEYFRAME 41
0.05322475299908547
Frame 283
tensor(0.0298)
Frame 284
tensor(0.0535)
Frame 285
tensor(0.0728)
Frame 286
tensor(0.0977)
Frame 287
tensor(0.1127)
 # KEYFRAME 42
0.05286722400342114
Frame 288
tensor(0.0221)
Frame 289
tensor(0.0376)
Frame 290
tensor(0.0664)
Frame 291
tensor(0.0873)
Frame 292
tensor(0.1090)
 # KEYFRAME 43
0.052421676002268214
Frame 293
tensor(0.0220)
Frame 294
tensor(0.0442)
Frame 295
tensor(0.0706)
Frame 296
tensor(0.0950)
Frame 297
tensor(0.1142)
 # KEYFRAME 44
0.05304370299563743
Frame 298
tensor(0.0164)
Frame 299
tensor(0.0450)
Backending... 45 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 18540, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1841 loss_distill=0.2747 tta_take=0.003s
[epoch 0 scene 275/556] vkitti/Scene20/fog/Camera_1 frames=300 tta_steps_this_scene=2 mean_loss=0.2240 total_steps=1841 time=45.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0588)
Frame 2
tensor(0.1093)
 # KEYFRAME 1
Frame 3
tensor(0.0535)
Frame 4
tensor(0.1157)
 # KEYFRAME 2
0.051961226999992505
Frame 5
tensor(0.0568)
Frame 6
tensor(0.1108)
 # KEYFRAME 3
0.05188576799992006
Frame 7
tensor(0.0492)
Frame 8
tensor(0.0956)
Frame 9
tensor(0.1491)
 # KEYFRAME 4
0.05199108800297836
Frame 10
tensor(0.0478)
Frame 11
tensor(0.0976)
Frame 12
tensor(0.1480)
 # KEYFRAME 5
0.05262943499838002
Frame 13
tensor(0.0436)
Frame 14
tensor(0.0958)
Frame 15
tensor(0.1385)
 # KEYFRAME 6
0.05299956400267547
Frame 16
tensor(0.0446)
Frame 17
tensor(0.0963)
Frame 18
tensor(0.1382)
 # KEYFRAME 7
0.053012774005765095
Frame 19
tensor(0.0527)
Frame 20
tensor(0.0980)
Frame 21
tensor(0.1427)
 # KEYFRAME 8
0.053009513998404145
Frame 22
tensor(0.0494)
Frame 23
tensor(0.0947)
Frame 24
tensor(0.1608)
 # KEYFRAME 9
0.053188322999631055
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.0488)
Frame 26
tensor(0.0969)
Frame 27
tensor(0.1445)
 # KEYFRAME 10
0.0520289470005082
Frame 28
tensor(0.0426)
Frame 29
tensor(0.0953)
Frame 30
tensor(0.1478)
 # KEYFRAME 11
0.05219136699452065
Frame 31
tensor(0.0468)
Frame 32
tensor(0.0961)
Frame 33
tensor(0.1481)
 # KEYFRAME 12
0.05212587599817198
Frame 34
tensor(0.0414)
Frame 35
tensor(0.0943)
Frame 36
tensor(0.1409)
 # KEYFRAME 13
0.05234589599422179
Frame 37
tensor(0.0416)
Frame 38
tensor(0.0978)
Frame 39
tensor(0.1452)
 # KEYFRAME 14
0.05371502100024372
Frame 40
tensor(0.0502)
Frame 41
tensor(0.0991)
Frame 42
tensor(0.1448)
 # KEYFRAME 15
0.05327581199526321
Frame 43
tensor(0.0524)
Frame 44
tensor(0.1019)
 # KEYFRAME 16
0.0535786519976682
Frame 45
tensor(0.0475)
Frame 46
tensor(0.0939)
Frame 47
tensor(0.1423)
 # KEYFRAME 17
0.05507163600123022
Frame 48
tensor(0.0468)
Frame 49
tensor(0.0982)
Frame 50
tensor(0.1412)
 # KEYFRAME 18
0.05269015499652596
Frame 51
tensor(0.0505)
Frame 52
tensor(0.0891)
Frame 53
tensor(0.1409)
 # KEYFRAME 19
0.0557597139995778
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 54
tensor(0.0551)
Frame 55
tensor(0.0971)
Frame 56
tensor(0.1359)
 # KEYFRAME 20
0.05205559699970763
Frame 57
tensor(0.0391)
Frame 58
tensor(0.0828)
Frame 59
tensor(0.1327)
 # KEYFRAME 21
0.05197730800136924
Frame 60
tensor(0.0387)
Frame 61
tensor(0.0854)
Frame 62
tensor(0.1329)
 # KEYFRAME 22
0.054186279005079996
Frame 63
tensor(0.0412)
Frame 64
tensor(0.0844)
Frame 65
tensor(0.1342)
 # KEYFRAME 23
0.05300714400073048
Frame 66
tensor(0.0441)
Frame 67
tensor(0.0954)
Frame 68
tensor(0.1441)
 # KEYFRAME 24
0.05512367600022117
Frame 69
tensor(0.0486)
Frame 70
tensor(0.0955)
Frame 71
tensor(0.1396)
 # KEYFRAME 25
0.05287907399906544
Frame 72
tensor(0.0460)
Frame 73
tensor(0.0838)
Frame 74
tensor(0.1220)
 # KEYFRAME 26
0.05322470299870474
Frame 75
tensor(0.0429)
Frame 76
tensor(0.0790)
Frame 77
tensor(0.1229)
 # KEYFRAME 27
0.057212767998862546
Frame 78
tensor(0.0388)
Frame 79
tensor(0.0775)
Frame 80
tensor(0.1302)
 # KEYFRAME 28
0.05271682499733288
Frame 81
tensor(0.0400)
Frame 82
tensor(0.0812)
Frame 83
tensor(0.1183)
 # KEYFRAME 29
0.05667879999964498
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 84
tensor(0.0365)
Frame 85
tensor(0.0766)
Frame 86
tensor(0.1142)
 # KEYFRAME 30
0.05235247600649018
Frame 87
tensor(0.0366)
Frame 88
tensor(0.0832)
Frame 89
tensor(0.1163)
 # KEYFRAME 31
0.05288743400160456
Frame 90
tensor(0.0363)
Frame 91
tensor(0.0731)
Frame 92
tensor(0.1060)
 # KEYFRAME 32
0.05360006100090686
Frame 93
tensor(0.0341)
Frame 94
tensor(0.0700)
Frame 95
tensor(0.1119)
 # KEYFRAME 33
0.05316065300576156
Frame 96
tensor(0.0290)
Frame 97
tensor(0.0624)
Frame 98
tensor(0.1051)
 # KEYFRAME 34
0.05442336800479097
Frame 99
tensor(0.0289)
Frame 100
tensor(0.0638)
Frame 101
tensor(0.0995)
Frame 102
tensor(0.1389)
 # KEYFRAME 35
0.05339303200162249
Frame 103
tensor(0.0406)
Frame 104
tensor(0.0707)
Frame 105
tensor(0.1092)
 # KEYFRAME 36
0.05322877199796494
Frame 106
tensor(0.0285)
Frame 107
tensor(0.0596)
Frame 108
tensor(0.0962)
Frame 109
tensor(0.1263)
 # KEYFRAME 37
0.05671094900026219
Frame 110
tensor(0.0362)
Frame 111
tensor(0.0697)
Frame 112
tensor(0.0935)
Frame 113
tensor(0.1276)
 # KEYFRAME 38
0.0535187620043871
Frame 114
tensor(0.0316)
Frame 115
tensor(0.0634)
Frame 116
tensor(0.0906)
Frame 117
tensor(0.1207)
 # KEYFRAME 39
0.05869675199937774
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1842 loss_distill=0.1733 tta_take=0.005s
Frame 118
tensor(0.0295)
Frame 119
tensor(0.0596)
Frame 120
tensor(0.0861)
Frame 121
tensor(0.1086)
 # KEYFRAME 40
0.05271177399845328
Frame 122
tensor(0.0224)
Frame 123
tensor(0.0443)
Frame 124
tensor(0.0691)
Frame 125
tensor(0.0939)
Frame 126
tensor(0.1157)
 # KEYFRAME 41
0.05307708300097147
Frame 127
tensor(0.0235)
Frame 128
tensor(0.0432)
Frame 129
tensor(0.0639)
Frame 130
tensor(0.0878)
Frame 131
tensor(0.1095)
 # KEYFRAME 42
0.05328050300158793
Frame 132
tensor(0.0230)
Frame 133
tensor(0.0401)
Frame 134
tensor(0.0602)
Frame 135
tensor(0.0824)
Frame 136
tensor(0.0992)
Frame 137
tensor(0.1232)
 # KEYFRAME 43
0.05244030599715188
Frame 138
tensor(0.0189)
Frame 139
tensor(0.0382)
Frame 140
tensor(0.0603)
Frame 141
tensor(0.0767)
Frame 142
tensor(0.0999)
Frame 143
tensor(0.1211)
 # KEYFRAME 44
0.05339170200022636
Frame 144
tensor(0.0189)
Frame 145
tensor(0.0412)
Frame 146
tensor(0.0620)
Frame 147
tensor(0.0802)
Frame 148
tensor(0.0969)
Frame 149
tensor(0.1135)
 # KEYFRAME 45
0.0523635360004846
Frame 150
tensor(0.0181)
Frame 151
tensor(0.0358)
Frame 152
tensor(0.0507)
Frame 153
tensor(0.0679)
Frame 154
tensor(0.0882)
Frame 155
tensor(0.1014)
 # KEYFRAME 46
0.052730144998349715
Frame 156
tensor(0.0115)
Frame 157
tensor(0.0349)
Frame 158
tensor(0.0578)
Frame 159
tensor(0.0805)
Frame 160
tensor(0.0968)
Frame 161
tensor(0.1125)
 # KEYFRAME 47
0.05340178199548973
Frame 162
tensor(0.0213)
Frame 163
tensor(0.0403)
Frame 164
tensor(0.0591)
Frame 165
tensor(0.0804)
Frame 166
tensor(0.0996)
Frame 167
tensor(0.1160)
 # KEYFRAME 48
0.05274242500308901
Frame 168
tensor(0.0176)
Frame 169
tensor(0.0426)
Frame 170
tensor(0.0617)
Frame 171
tensor(0.0791)
Frame 172
tensor(0.0975)
Frame 173
tensor(0.1146)
 # KEYFRAME 49
0.05407902899605688
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1843 loss_distill=0.2747 tta_take=0.005s
Frame 174
tensor(0.0246)
Frame 175
tensor(0.0429)
Frame 176
tensor(0.0559)
Frame 177
tensor(0.0778)
Frame 178
tensor(0.0967)
Frame 179
tensor(0.1211)
 # KEYFRAME 50
0.05234213599760551
Frame 180
tensor(0.0112)
Frame 181
tensor(0.0357)
Frame 182
tensor(0.0546)
Frame 183
tensor(0.0712)
Frame 184
tensor(0.0890)
Frame 185
tensor(0.1065)
 # KEYFRAME 51
0.053596921999996994
Frame 186
tensor(0.0108)
Frame 187
tensor(0.0316)
Frame 188
tensor(0.0495)
Frame 189
tensor(0.0685)
Frame 190
tensor(0.0827)
Frame 191
tensor(0.0956)
Frame 192
tensor(0.1213)
 # KEYFRAME 52
0.054839066993736196
Frame 193
tensor(0.0153)
Frame 194
tensor(0.0316)
Frame 195
tensor(0.0444)
Frame 196
tensor(0.0596)
Frame 197
tensor(0.0734)
Frame 198
tensor(0.0866)
Frame 199
tensor(0.1039)
 # KEYFRAME 53
0.05350865200307453
Frame 200
tensor(0.0126)
Frame 201
tensor(0.0243)
Frame 202
tensor(0.0353)
Frame 203
tensor(0.0498)
Frame 204
tensor(0.0658)
Frame 205
tensor(0.0765)
Frame 206
tensor(0.0875)
Frame 207
tensor(0.1032)
 # KEYFRAME 54
0.055732254004396964
Frame 208
tensor(0.0083)
Frame 209
tensor(0.0204)
Frame 210
tensor(0.0320)
Frame 211
tensor(0.0455)
Frame 212
tensor(0.0566)
Frame 213
tensor(0.0709)
Frame 214
tensor(0.0856)
Frame 215
tensor(0.0985)
Frame 216
tensor(0.1130)
 # KEYFRAME 55
0.05287713400321081
Frame 217
tensor(0.0143)
Frame 218
tensor(0.0293)
Frame 219
tensor(0.0426)
Frame 220
tensor(0.0673)
Frame 221
tensor(0.0839)
Frame 222
tensor(0.0968)
Frame 223
tensor(0.1074)
 # KEYFRAME 56
0.052997434002463706
Frame 224
tensor(0.0153)
Frame 225
tensor(0.0283)
Frame 226
tensor(0.0505)
Frame 227
tensor(0.0711)
Frame 228
tensor(0.0889)
Frame 229
tensor(0.1092)
 # KEYFRAME 57
0.05597906200273428
Frame 230
tensor(0.0154)
Frame 231
tensor(0.0361)
Frame 232
tensor(0.0566)
Frame 233
tensor(0.0802)
Frame 234
tensor(0.0958)
Frame 235
tensor(0.1221)
 # KEYFRAME 58
0.053360051999334246
Frame 236
tensor(0.0216)
Frame 237
tensor(0.0417)
Frame 238
tensor(0.0639)
Frame 239
tensor(0.0841)
Frame 240
tensor(0.1087)
 # KEYFRAME 59
0.05673206999927061
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1844 loss_distill=0.3466 tta_take=0.005s
Frame 241
tensor(0.0216)
Frame 242
tensor(0.0464)
Frame 243
tensor(0.0752)
Frame 244
tensor(0.1036)
 # KEYFRAME 60
0.05322221200185595
Frame 245
tensor(0.0244)
Frame 246
tensor(0.0513)
Frame 247
tensor(0.0724)
Frame 248
tensor(0.1015)
 # KEYFRAME 61
0.053707920997112524
Frame 249
tensor(0.0200)
Frame 250
tensor(0.0412)
Frame 251
tensor(0.0739)
Frame 252
tensor(0.0951)
Frame 253
tensor(0.1157)
 # KEYFRAME 62
0.05460449800011702
Frame 254
tensor(0.0219)
Frame 255
tensor(0.0399)
Frame 256
tensor(0.0639)
Frame 257
tensor(0.0851)
Frame 258
tensor(0.1089)
 # KEYFRAME 63
0.05337032199895475
Frame 259
tensor(0.0217)
Frame 260
tensor(0.0426)
Frame 261
tensor(0.0751)
Frame 262
tensor(0.0888)
Frame 263
tensor(0.1150)
 # KEYFRAME 64
0.05613999200431863
Frame 264
tensor(0.0187)
Frame 265
tensor(0.0365)
Frame 266
tensor(0.0630)
Frame 267
tensor(0.0832)
Frame 268
tensor(0.1107)
 # KEYFRAME 65
0.05365013100526994
Frame 269
tensor(0.0235)
Frame 270
tensor(0.0482)
Frame 271
tensor(0.0700)
Frame 272
tensor(0.0876)
Frame 273
tensor(0.1019)
 # KEYFRAME 66
0.053590882002026774
Frame 274
tensor(0.0154)
Frame 275
tensor(0.0335)
Frame 276
tensor(0.0437)
Frame 277
tensor(0.0611)
Frame 278
tensor(0.0784)
Frame 279
tensor(0.0894)
Frame 280
tensor(0.1074)
 # KEYFRAME 67
0.0585214230013662
Frame 281
tensor(0.0101)
Frame 282
tensor(0.0196)
Frame 283
tensor(0.0334)
Frame 284
tensor(0.0431)
Frame 285
tensor(0.0552)
Frame 286
tensor(0.0635)
Frame 287
tensor(0.0701)
Frame 288
tensor(0.0783)
Frame 289
tensor(0.0877)
Frame 290
tensor(0.1027)
 # KEYFRAME 68
0.053707630999269895
Frame 291
tensor(0.0105)
Frame 292
tensor(0.0229)
Frame 293
tensor(0.0339)
Frame 294
tensor(0.0417)
Frame 295
tensor(0.0506)
Frame 296
tensor(0.0611)
Frame 297
tensor(0.0712)
Frame 298
tensor(0.0780)
Frame 299
tensor(0.0859)
Backending... 69 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28428, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595452308655
TTA-STEP: step=1845 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 276/556] vkitti/Scene18/sunset/Camera_1 frames=300 tta_steps_this_scene=4 mean_loss=0.2992 total_steps=1845 time=45.6s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0863)
Frame 2
tensor(0.1976)
 # KEYFRAME 1
Frame 3
tensor(0.3542)
 # KEYFRAME 2
0.05164893899927847
Frame 4
tensor(0.2233)
 # KEYFRAME 3
0.05359290200431133
Frame 5
tensor(0.3543)
 # KEYFRAME 4
0.054660987996612675
Frame 6
tensor(0.3397)
 # KEYFRAME 5
0.05518579600175144
Frame 7
tensor(0.3139)
 # KEYFRAME 6
0.05587511300109327
Frame 8
tensor(0.3777)
 # KEYFRAME 7
0.056573310001112986
Frame 9
tensor(0.2946)
 # KEYFRAME 8
0.05769265699927928
Frame 10
tensor(0.2792)
 # KEYFRAME 9
0.05841746399528347
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.2313)
 # KEYFRAME 10
0.052608384998166
Frame 12
tensor(0.2509)
 # KEYFRAME 11
0.05371896099677542
Frame 13
tensor(0.1450)
 # KEYFRAME 12
0.054435678001027554
Frame 14
tensor(0.1919)
 # KEYFRAME 13
0.05652630099939415
Frame 15
tensor(0.2694)
 # KEYFRAME 14
0.057489627004542854
Frame 16
tensor(0.1512)
 # KEYFRAME 15
0.0581043049969594
Frame 17
tensor(0.1992)
 # KEYFRAME 16
0.05879099199955817
Frame 18
tensor(0.1958)
 # KEYFRAME 17
0.060779345003538765
Frame 19
tensor(0.2631)
 # KEYFRAME 18
0.0614483730023494
Frame 20
tensor(0.3071)
 # KEYFRAME 19
0.0626488479974796
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.2865)
 # KEYFRAME 20
0.05926456099405186
Frame 22
tensor(0.2861)
 # KEYFRAME 21
0.06080627499613911
Frame 23
tensor(0.2961)
 # KEYFRAME 22
0.0617277209967142
Frame 24
tensor(0.2332)
 # KEYFRAME 23
0.06318946599640185
Frame 25
tensor(0.1671)
 # KEYFRAME 24
0.06459679100225912
Frame 26
tensor(0.2360)
 # KEYFRAME 25
0.06565843700082041
Frame 27
tensor(0.1850)
 # KEYFRAME 26
0.06695087200205307
Frame 28
tensor(0.2720)
 # KEYFRAME 27
0.06791902899567503
Frame 29
tensor(0.1231)
 # KEYFRAME 28
0.0683173769939458
Frame 30
tensor(0.2570)
 # KEYFRAME 29
0.06949895199795719
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 31
tensor(0.2162)
 # KEYFRAME 30
0.06604073500056984
Frame 32
tensor(0.1686)
 # KEYFRAME 31
0.06810481799766421
Frame 33
tensor(0.1374)
 # KEYFRAME 32
0.06821273700188613
Frame 34
tensor(0.2140)
 # KEYFRAME 33
0.06937497299804818
Frame 35
tensor(0.1544)
 # KEYFRAME 34
0.06988011100474978
Frame 36
tensor(0.2659)
 # KEYFRAME 35
0.07077122700138716
Frame 37
tensor(0.1407)
 # KEYFRAME 36
0.07129766599973664
Frame 38
tensor(0.1336)
 # KEYFRAME 37
0.07268009099789197
Frame 39
tensor(0.2590)
 # KEYFRAME 38
0.07281422000232851
Frame 40
tensor(0.2429)
 # KEYFRAME 39
0.07419666499481536
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1846 loss_distill=0.1733 tta_take=0.009s
Frame 41
tensor(0.1037)
 # KEYFRAME 40
0.0728491199988639
Frame 42
tensor(0.1270)
 # KEYFRAME 41
0.07529785099904984
Frame 43
tensor(0.3024)
 # KEYFRAME 42
0.0752623120060889
Frame 44
tensor(0.2681)
 # KEYFRAME 43
0.07660609600134194
Frame 45
tensor(0.2622)
 # KEYFRAME 44
0.0768844749982236
Frame 46
tensor(0.1656)
 # KEYFRAME 45
0.07794918099534698
Frame 47
tensor(0.2719)
 # KEYFRAME 46
0.07804379099979997
Frame 48
tensor(0.3022)
 # KEYFRAME 47
0.07873700900381664
Frame 49
tensor(0.3665)
 # KEYFRAME 48
0.07978787500178441
Frame 50
tensor(0.3396)
 # KEYFRAME 49
0.08089649999601534
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=1847 loss_distill=0.2747 tta_take=0.009s
Frame 51
tensor(0.1783)
 # KEYFRAME 50
0.07994859100290341
Frame 52
tensor(0.2877)
 # KEYFRAME 51
0.08164748499984853
Frame 53
tensor(1.0131)
 # KEYFRAME 52
0.08199499399779597
Frame 54
tensor(0.7723)
 # KEYFRAME 53
0.08286457000212977
Frame 55
tensor(0.2543)
 # KEYFRAME 54
0.08344110800680937
Frame 56
tensor(0.1218)
 # KEYFRAME 55
0.084228076004365
Frame 57
tensor(0.1225)
 # KEYFRAME 56
0.08520230199792422
Frame 58
tensor(0.4959)
 # KEYFRAME 57
0.08543310200184351
Frame 59
tensor(0.3821)
 # KEYFRAME 58
0.08596821899845963
Frame 60
tensor(0.2649)
 # KEYFRAME 59
0.0874214130017208
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1848 loss_distill=0.3466 tta_take=0.009s
Frame 61
tensor(0.3148)
 # KEYFRAME 60
0.08638371699635172
Frame 62
tensor(0.2285)
 # KEYFRAME 61
0.08837780999601819
Frame 63
tensor(0.1723)
 # KEYFRAME 62
0.08876334900560323
Frame 64
tensor(0.3080)
 # KEYFRAME 63
0.08899662800104124
Frame 65
tensor(0.2824)
 # KEYFRAME 64
0.08979681599885225
Frame 66
tensor(0.3898)
 # KEYFRAME 65
0.09066396200068993
Frame 67
tensor(0.1135)
 # KEYFRAME 66
0.09122801000194158
Frame 68
tensor(0.1947)
 # KEYFRAME 67
0.09329142200294882
Frame 69
tensor(0.1610)
 # KEYFRAME 68
0.09332189300039317
Frame 70
tensor(0.3210)
 # KEYFRAME 69
0.09374157100683078
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1849 loss_distill=0.4024 tta_take=0.009s
Frame 71
tensor(0.4174)
 # KEYFRAME 70
0.09298624400253175
Frame 72
tensor(0.3233)
 # KEYFRAME 71
0.09601546300109476
Frame 73
tensor(0.4176)
 # KEYFRAME 72
0.09543077499984065
Frame 74
tensor(0.1745)
 # KEYFRAME 73
0.09646063200489152
Frame 75
tensor(0.1290)
 # KEYFRAME 74
0.09694995899917558
Frame 76
tensor(0.3084)
 # KEYFRAME 75
0.09728880799957551
Frame 77
tensor(0.1484)
 # KEYFRAME 76
0.09811815500142984
Frame 78
tensor(0.3433)
 # KEYFRAME 77
0.09862470300140558
Frame 79
tensor(0.1678)
 # KEYFRAME 78
0.09927226099534892
Frame 80
tensor(0.2576)
 # KEYFRAME 79
0.10051547700277297
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1850 loss_distill=0.4024 tta_take=0.009s
Frame 81
tensor(0.2605)
 # KEYFRAME 80
0.09295523299806518
Frame 82
tensor(0.1349)
 # KEYFRAME 81
0.09684026000468293
Frame 83
tensor(0.4388)
 # KEYFRAME 82
0.09569193400238873
Frame 84
tensor(0.3571)
 # KEYFRAME 83
0.09621323199826293
Frame 85
tensor(0.5923)
 # KEYFRAME 84
0.09658006099925842
Frame 86
tensor(0.3023)
 # KEYFRAME 85
0.09715924900228856
Frame 87
tensor(0.5329)
 # KEYFRAME 86
0.0991818719994626
Frame 88
tensor(0.1769)
 # KEYFRAME 87
0.09843596399878152
Frame 89
tensor(0.2052)
 # KEYFRAME 88
0.10014608700294048
Frame 90
tensor(0.2511)
 # KEYFRAME 89
0.10086418599530589
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1851 loss_distill=0.4024 tta_take=0.009s
Frame 91
tensor(0.1475)
 # KEYFRAME 90
0.09314790300413733
Frame 92
tensor(0.2890)
 # KEYFRAME 91
0.09426490899932105
Frame 93
tensor(0.2395)
 # KEYFRAME 92
0.09526026599633042
Frame 94
tensor(0.1685)
 # KEYFRAME 93
0.09655582100094762
Frame 95
tensor(0.1874)
 # KEYFRAME 94
0.09745355699851643
Frame 96
tensor(0.2327)
 # KEYFRAME 95
0.097505376994377
Frame 97
tensor(0.2701)
 # KEYFRAME 96
0.09923608100507408
Frame 98
tensor(0.0991)
Frame 99
tensor(0.3603)
 # KEYFRAME 97
0.09984004899888532
Frame 100
tensor(0.1751)
 # KEYFRAME 98
0.10045882700069342
Frame 101
tensor(0.2722)
 # KEYFRAME 99
0.10095995500159916
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1852 loss_distill=0.4024 tta_take=0.009s
Frame 102
tensor(0.1058)
 # KEYFRAME 100
0.09277593399747275
Frame 103
tensor(0.1510)
 # KEYFRAME 101
0.095722204001504
Frame 104
tensor(0.1305)
 # KEYFRAME 102
0.09641792100592284
Frame 105
tensor(0.1755)
 # KEYFRAME 103
0.09773108600347769
Frame 106
tensor(0.2961)
 # KEYFRAME 104
0.09877689299901249
Frame 107
tensor(0.1776)
 # KEYFRAME 105
0.0999149689960177
Frame 108
tensor(0.2093)
 # KEYFRAME 106
0.102181219997874
Frame 109
tensor(0.2012)
 # KEYFRAME 107
0.10142189299949678
Frame 110
tensor(0.0932)
Frame 111
tensor(0.3269)
 # KEYFRAME 108
0.10293647700018482
Frame 112
tensor(0.2151)
 # KEYFRAME 109
0.1035960060034995
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1853 loss_distill=0.4024 tta_take=0.009s
Frame 113
tensor(0.1215)
 # KEYFRAME 110
0.09291466399736237
Frame 114
tensor(0.1681)
 # KEYFRAME 111
0.09612596199440304
Frame 115
tensor(0.1432)
 # KEYFRAME 112
0.09540644499793416
Frame 116
tensor(0.3451)
 # KEYFRAME 113
0.09658696000406053
Frame 117
tensor(0.4455)
 # KEYFRAME 114
0.09725586899730843
Frame 118
tensor(0.2446)
 # KEYFRAME 115
0.09779957600403577
Frame 119
tensor(0.4040)
 # KEYFRAME 116
0.09867910300090443
Frame 120
tensor(0.1010)
 # KEYFRAME 117
0.09928545099683106
Frame 121
tensor(0.1902)
 # KEYFRAME 118
0.09955423000064911
Frame 122
tensor(0.1693)
 # KEYFRAME 119
0.10090325500641484
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1854 loss_distill=0.4024 tta_take=0.009s
Frame 123
tensor(0.1523)
 # KEYFRAME 120
0.09372548100509448
Frame 124
tensor(0.2487)
 # KEYFRAME 121
0.0941264300054172
Frame 125
tensor(0.2166)
 # KEYFRAME 122
0.09602109299885342
Frame 126
tensor(0.1479)
 # KEYFRAME 123
0.09647594099806156
Frame 127
tensor(0.1729)
 # KEYFRAME 124
0.09726246799982619
Frame 128
tensor(0.1292)
 # KEYFRAME 125
0.09748840799875325
Frame 129
tensor(0.5409)
 # KEYFRAME 126
0.09867415299959248
Frame 130
tensor(0.2899)
 # KEYFRAME 127
0.09914194200246129
Frame 131
tensor(0.3057)
 # KEYFRAME 128
0.09966446900216397
Frame 132
tensor(0.3544)
 # KEYFRAME 129
0.10070034599630162
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1855 loss_distill=0.4024 tta_take=0.009s
Frame 133
tensor(0.3944)
 # KEYFRAME 130
0.09246354599599726
Frame 134
tensor(0.3262)
 # KEYFRAME 131
0.09599994300515391
Frame 135
tensor(0.2675)
 # KEYFRAME 132
0.09671094000077574
Frame 136
tensor(0.1233)
 # KEYFRAME 133
0.09786353600065922
Frame 137
tensor(0.2205)
 # KEYFRAME 134
0.09868781300610863
Frame 138
tensor(0.2963)
 # KEYFRAME 135
0.09930973099835683
Frame 139
tensor(0.4839)
 # KEYFRAME 136
0.10107236499607097
Frame 140
tensor(0.5512)
 # KEYFRAME 137
0.10147498299920699
Frame 141
tensor(0.4065)
 # KEYFRAME 138
0.1024920390045736
Frame 142
tensor(0.4486)
 # KEYFRAME 139
0.10337189600249985
Backending... 140 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1856 loss_distill=0.4024 tta_take=0.009s
Frame 143
tensor(0.4126)
 # KEYFRAME 140
0.09323333300562808
Frame 144
tensor(0.0766)
Frame 145
tensor(0.1508)
 # KEYFRAME 141
0.09497978699801024
Backending... 142 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11, 12] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0), (12, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 64542, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=14, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=14 fetch_ids=[1, 0, 2, 4, 3] dts=[13, 14, 12, 10, 11]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1857 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 277/556] scannetpp/49a82360aa/frame frames=146 tta_steps_this_scene=12 mean_loss=0.3680 total_steps=1857 time=54.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0385)
Frame 2
tensor(0.0675)
Frame 3
tensor(0.1147)
 # KEYFRAME 1
Frame 4
tensor(0.0378)
Frame 5
tensor(0.0786)
Frame 6
tensor(0.0948)
Frame 7
tensor(0.1514)
 # KEYFRAME 2
0.0517761419978342
Frame 8
tensor(0.0671)
Frame 9
tensor(0.1231)
 # KEYFRAME 3
0.05224850100057665
Frame 10
tensor(0.0313)
Frame 11
tensor(0.3016)
 # KEYFRAME 4
0.05452933299966389
Frame 12
tensor(0.0657)
Frame 13
tensor(0.0999)
Frame 14
tensor(0.2027)
 # KEYFRAME 5
0.054721622000215575
Frame 15
tensor(0.0472)
Frame 16
tensor(0.2106)
 # KEYFRAME 6
0.05585259899817174
Frame 17
tensor(0.0369)
Frame 18
tensor(0.2507)
 # KEYFRAME 7
0.05698590399697423
Frame 19
tensor(0.0520)
Frame 20
tensor(0.0580)
Frame 21
tensor(0.0493)
Frame 22
tensor(0.2094)
 # KEYFRAME 8
0.05815094900026452
Frame 23
tensor(0.0539)
Frame 24
tensor(0.0857)
Frame 25
tensor(0.1265)
 # KEYFRAME 9
0.05911717599519761
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 26
tensor(0.0604)
Frame 27
tensor(0.0826)
Frame 28
tensor(0.0909)
Frame 29
tensor(0.1239)
 # KEYFRAME 10
0.05193928300286643
Frame 30
tensor(0.0488)
Frame 31
tensor(0.0664)
Frame 32
tensor(0.0742)
Frame 33
tensor(0.1073)
 # KEYFRAME 11
0.05256964000000153
Frame 34
tensor(0.0534)
Frame 35
tensor(0.0726)
Frame 36
tensor(0.1075)
 # KEYFRAME 12
0.052809738997893874
Frame 37
tensor(0.1061)
 # KEYFRAME 13
0.05457688299793517
Frame 38
tensor(0.0420)
Frame 39
tensor(0.0905)
Frame 40
tensor(0.1381)
 # KEYFRAME 14
0.05483153100067284
Frame 41
tensor(0.0610)
Frame 42
tensor(0.1079)
 # KEYFRAME 15
0.055010381001920905
Frame 43
tensor(0.0628)
Frame 44
tensor(0.0654)
Frame 45
tensor(0.1027)
 # KEYFRAME 16
0.055359519996272866
Frame 46
tensor(0.0345)
Frame 47
tensor(0.0871)
Frame 48
tensor(0.1180)
 # KEYFRAME 17
0.05656466600339627
Frame 49
tensor(0.1488)
 # KEYFRAME 18
0.05733323300228221
Frame 50
tensor(0.0101)
Frame 51
tensor(0.0296)
Frame 52
tensor(0.0526)
Frame 53
tensor(0.0842)
Frame 54
tensor(0.1038)
 # KEYFRAME 19
0.058096779997868
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 55
tensor(0.0244)
Frame 56
tensor(0.0472)
Frame 57
tensor(0.0577)
Frame 58
tensor(0.0864)
Frame 59
tensor(0.1190)
 # KEYFRAME 20
0.053918985002383124
Frame 60
tensor(0.0189)
Frame 61
tensor(0.0866)
Frame 62
tensor(0.1149)
 # KEYFRAME 21
0.05493748099979712
Frame 63
tensor(0.0351)
Frame 64
tensor(0.0269)
Frame 65
tensor(0.0387)
Frame 66
tensor(0.0726)
Frame 67
tensor(0.1330)
 # KEYFRAME 22
0.055232459999388084
Frame 68
tensor(0.0071)
Frame 69
tensor(0.0556)
Frame 70
tensor(0.1105)
 # KEYFRAME 23
0.05594316800124943
Frame 71
tensor(0.0133)
Frame 72
tensor(0.0689)
Frame 73
tensor(0.2295)
 # KEYFRAME 24
0.056698654996580444
Frame 74
tensor(0.0616)
Frame 75
tensor(0.0862)
Frame 76
tensor(0.1385)
 # KEYFRAME 25
0.05709010399732506
Frame 77
tensor(0.0347)
Frame 78
tensor(0.1062)
 # KEYFRAME 26
0.0583000889964751
Frame 79
tensor(0.0505)
Frame 80
tensor(0.1581)
 # KEYFRAME 27
0.05901057599839987
Frame 81
tensor(0.0596)
Frame 82
tensor(0.0881)
Frame 83
tensor(0.1332)
 # KEYFRAME 28
0.059552834994974546
Frame 84
tensor(0.0396)
Frame 85
tensor(0.0645)
Frame 86
tensor(0.0738)
Frame 87
tensor(0.1048)
 # KEYFRAME 29
0.06064018100005342
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 88
tensor(0.0505)
Frame 89
tensor(0.0903)
Frame 90
tensor(0.1181)
 # KEYFRAME 30
0.05848628899548203
Frame 91
tensor(0.0840)
Frame 92
tensor(0.1268)
 # KEYFRAME 31
0.059756603004643694
Frame 93
tensor(0.0129)
Frame 94
tensor(0.0320)
Frame 95
tensor(0.0621)
Frame 96
tensor(0.0841)
Frame 97
tensor(0.0961)
Frame 98
tensor(0.1066)
 # KEYFRAME 32
0.06015755300177261
Frame 99
tensor(0.1776)
 # KEYFRAME 33
0.0617470270008198
Frame 100
tensor(0.0479)
Frame 101
tensor(0.0904)
Frame 102
tensor(0.1295)
 # KEYFRAME 34
0.06260346400085837
Frame 103
tensor(0.0805)
Frame 104
tensor(0.1768)
 # KEYFRAME 35
0.06367555999895558
Frame 105
tensor(0.2453)
 # KEYFRAME 36
0.06475776599836536
Frame 106
tensor(0.0893)
Frame 107
tensor(0.1481)
 # KEYFRAME 37
0.06596650199935539
Frame 108
tensor(0.0417)
Frame 109
tensor(0.1445)
 # KEYFRAME 38
0.06655697999667609
Frame 110
tensor(0.1999)
 # KEYFRAME 39
0.06696520800323924
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1858 loss_distill=0.1733 tta_take=0.009s
Frame 111
tensor(0.0217)
Frame 112
tensor(0.0838)
Frame 113
tensor(0.1475)
 # KEYFRAME 40
0.06287986200186424
Frame 114
tensor(0.0592)
Frame 115
tensor(0.0793)
Frame 116
tensor(0.1179)
 # KEYFRAME 41
0.06459442699997453
Frame 117
tensor(0.1378)
 # KEYFRAME 42
0.06472280599700753
Frame 118
tensor(0.0841)
Frame 119
tensor(0.1098)
 # KEYFRAME 43
0.06494067500170786
Frame 120
tensor(0.2000)
 # KEYFRAME 44
0.06698225799482316
Frame 121
tensor(0.0504)
Frame 122
tensor(0.0803)
Frame 123
tensor(0.1339)
 # KEYFRAME 45
0.06742160699650412
Frame 124
tensor(0.0445)
Frame 125
tensor(0.0999)
Frame 126
tensor(0.1216)
 # KEYFRAME 46
0.0686457510018954
Frame 127
tensor(0.1276)
 # KEYFRAME 47
0.0694591589999618
Frame 128
tensor(0.1288)
 # KEYFRAME 48
0.07014045600226382
Frame 129
tensor(0.0485)
Frame 130
tensor(0.0735)
Frame 131
tensor(0.1217)
 # KEYFRAME 49
0.07115103300020564
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1859 loss_distill=0.2747 tta_take=0.009s
Frame 132
tensor(0.0355)
Frame 133
tensor(0.0327)
Frame 134
tensor(0.1863)
 # KEYFRAME 50
0.06745599599526031
Frame 135
tensor(0.0411)
Frame 136
tensor(0.0567)
Frame 137
tensor(0.0632)
Frame 138
tensor(0.1303)
 # KEYFRAME 51
0.06856141999742249
Frame 139
tensor(0.0641)
Frame 140
tensor(0.0891)
Frame 141
tensor(0.1323)
 # KEYFRAME 52
0.0687503890003427
Frame 142
tensor(0.2071)
 # KEYFRAME 53
0.06904678800492547
Frame 143
tensor(0.1165)
 # KEYFRAME 54
0.06925336800486548
Frame 144
tensor(0.0349)
Frame 145
tensor(0.0772)
Frame 146
tensor(0.1454)
 # KEYFRAME 55
0.07000044400047045
Frame 147
tensor(0.1225)
 # KEYFRAME 56
0.07022208400303498
Frame 148
tensor(0.1124)
 # KEYFRAME 57
0.07054630300262943
Frame 149
tensor(0.0694)
Backending... 58 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 53940, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1860 loss_distill=0.3466 tta_take=0.007s
[epoch 0 scene 278/556] scannetpp/bd9305480d/DSC frames=150 tta_steps_this_scene=3 mean_loss=0.2648 total_steps=1860 time=25.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1030)
 # KEYFRAME 1
Frame 2
tensor(0.0720)
Frame 3
tensor(0.1366)
 # KEYFRAME 2
0.05169829200167442
Frame 4
tensor(0.1100)
 # KEYFRAME 3
0.05229918900295161
Frame 5
tensor(0.0856)
Frame 6
tensor(0.1279)
 # KEYFRAME 4
0.05453853200015146
Frame 7
tensor(0.0533)
Frame 8
tensor(0.1085)
 # KEYFRAME 5
0.0548692000011215
Frame 9
tensor(0.0599)
Frame 10
tensor(0.1231)
 # KEYFRAME 6
0.05580692699732026
Frame 11
tensor(0.0792)
Frame 12
tensor(0.1779)
 # KEYFRAME 7
0.05689392299973406
Frame 13
tensor(0.0750)
Frame 14
tensor(0.1213)
 # KEYFRAME 8
0.05806523800129071
Frame 15
tensor(0.0787)
Frame 16
tensor(0.1517)
 # KEYFRAME 9
0.05895383499591844
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 17
tensor(0.0546)
Frame 18
tensor(0.2381)
 # KEYFRAME 10
0.051608872003271244
Frame 19
tensor(0.0807)
Frame 20
tensor(0.1384)
 # KEYFRAME 11
0.05253392799932044
Frame 21
tensor(0.0898)
Frame 22
tensor(0.1457)
 # KEYFRAME 12
0.05264522800280247
Frame 23
tensor(0.0773)
Frame 24
tensor(0.1177)
 # KEYFRAME 13
0.05444752200128278
Frame 25
tensor(0.0886)
Frame 26
tensor(0.1271)
 # KEYFRAME 14
0.05486011000175495
Frame 27
tensor(0.0945)
Frame 28
tensor(0.1733)
 # KEYFRAME 15
0.0548443900042912
Frame 29
tensor(0.0475)
Frame 30
tensor(0.0699)
Frame 31
tensor(0.1176)
 # KEYFRAME 16
0.055421937999199145
Frame 32
tensor(0.0602)
Frame 33
tensor(0.1171)
 # KEYFRAME 17
0.05657308400259353
Frame 34
tensor(0.1848)
 # KEYFRAME 18
0.05739166100102011
Frame 35
tensor(0.0550)
Frame 36
tensor(0.2145)
 # KEYFRAME 19
0.05812928800150985
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 37
tensor(0.0818)
Frame 38
tensor(0.1726)
 # KEYFRAME 20
0.054087393000372685
Frame 39
tensor(0.0792)
Frame 40
tensor(0.3277)
 # KEYFRAME 21
0.05520484800217673
Frame 41
tensor(0.0909)
Frame 42
tensor(0.2172)
 # KEYFRAME 22
0.055703607002214994
Frame 43
tensor(0.0795)
Frame 44
tensor(0.1842)
 # KEYFRAME 23
0.05613367600017227
Frame 45
tensor(0.0729)
Frame 46
tensor(0.1533)
 # KEYFRAME 24
0.05661180300376145
Frame 47
tensor(0.1447)
 # KEYFRAME 25
0.0571597610032768
Frame 48
tensor(0.0635)
Frame 49
tensor(0.1167)
 # KEYFRAME 26
0.05832302800263278
Frame 50
tensor(0.0836)
Frame 51
tensor(0.1624)
 # KEYFRAME 27
0.05903602400212549
Frame 52
tensor(0.0554)
Frame 53
tensor(0.0482)
Frame 54
tensor(0.0929)
Frame 55
tensor(0.1714)
 # KEYFRAME 28
0.05974968200462172
Frame 56
tensor(0.0509)
Frame 57
tensor(0.1896)
 # KEYFRAME 29
0.06103510699904291
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 58
tensor(0.0906)
Frame 59
tensor(0.2012)
 # KEYFRAME 30
0.05822383800114039
Frame 60
tensor(0.0759)
Frame 61
tensor(0.1670)
 # KEYFRAME 31
0.05997855200257618
Frame 62
tensor(0.1274)
 # KEYFRAME 32
0.060202590000699274
Frame 63
tensor(0.2656)
 # KEYFRAME 33
0.061651365998841356
Frame 64
tensor(0.0542)
Frame 65
tensor(0.1162)
 # KEYFRAME 34
0.06266901199705899
Frame 66
tensor(0.0966)
Frame 67
tensor(0.1871)
 # KEYFRAME 35
0.06350975899840705
Frame 68
tensor(0.1216)
 # KEYFRAME 36
0.06512372200086247
Frame 69
tensor(0.0383)
Frame 70
tensor(0.0984)
Frame 71
tensor(0.1402)
 # KEYFRAME 37
0.06589861999964342
Frame 72
tensor(0.0841)
Frame 73
tensor(0.2923)
 # KEYFRAME 38
0.06675495699892053
Frame 74
tensor(0.0992)
Frame 75
tensor(0.2127)
 # KEYFRAME 39
0.0673696439989726
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1861 loss_distill=0.1733 tta_take=0.009s
Frame 76
tensor(0.0514)
Frame 77
tensor(0.1331)
 # KEYFRAME 40
0.06278583100356627
Frame 78
tensor(0.1345)
 # KEYFRAME 41
0.06434923600318143
Frame 79
tensor(0.0695)
Frame 80
tensor(0.1499)
 # KEYFRAME 42
0.06470085400360404
Frame 81
tensor(0.3865)
 # KEYFRAME 43
0.065011582999432
Frame 82
tensor(0.0537)
Frame 83
tensor(0.1191)
 # KEYFRAME 44
0.06719660499948077
Frame 84
tensor(0.1342)
 # KEYFRAME 45
0.06807646200468298
Frame 85
tensor(0.0602)
Frame 86
tensor(0.0855)
Frame 87
tensor(0.3399)
 # KEYFRAME 46
0.06862646999798017
Frame 88
tensor(0.0832)
Frame 89
tensor(0.1940)
 # KEYFRAME 47
0.06923309700505342
Frame 90
tensor(0.0880)
Frame 91
tensor(0.1868)
 # KEYFRAME 48
0.07010415400145575
Frame 92
tensor(0.0564)
Frame 93
tensor(0.3009)
 # KEYFRAME 49
0.07233311599702574
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1862 loss_distill=0.2747 tta_take=0.009s
Frame 94
tensor(0.0543)
Frame 95
tensor(0.2021)
 # KEYFRAME 50
0.06719023500045296
Frame 96
tensor(0.0494)
Frame 97
tensor(0.0938)
Frame 98
tensor(0.2283)
 # KEYFRAME 51
0.06832821100397268
Frame 99
tensor(0.5006)
 # KEYFRAME 52
0.06883293899591081
Frame 100
tensor(0.0950)
Frame 101
tensor(0.1380)
 # KEYFRAME 53
0.06876157900114777
Frame 102
tensor(0.0595)
Frame 103
tensor(0.1312)
 # KEYFRAME 54
0.0688966489979066
Frame 104
tensor(0.1108)
 # KEYFRAME 55
0.06988503500178922
Frame 105
tensor(0.1900)
 # KEYFRAME 56
0.07043553299445193
Frame 106
tensor(0.0664)
Frame 107
tensor(0.2092)
 # KEYFRAME 57
0.07056685200223001
Frame 108
tensor(0.3931)
 # KEYFRAME 58
0.07135912000376265
Frame 109
tensor(0.0980)
Frame 110
tensor(0.1761)
 # KEYFRAME 59
0.07175047900091158
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1863 loss_distill=0.3466 tta_take=0.008s
Frame 111
tensor(0.1192)
 # KEYFRAME 60
0.07180606800102396
Frame 112
tensor(0.3183)
 # KEYFRAME 61
0.07314213299832772
Frame 113
tensor(0.1225)
 # KEYFRAME 62
0.07306840400269721
Frame 114
tensor(0.0881)
Frame 115
tensor(0.0914)
Frame 116
tensor(0.1319)
 # KEYFRAME 63
0.07337864299915964
Frame 117
tensor(0.2746)
 # KEYFRAME 64
0.07372695099911653
Frame 118
tensor(0.0459)
Frame 119
tensor(0.0786)
Frame 120
tensor(0.1205)
 # KEYFRAME 65
0.07385656100086635
Frame 121
tensor(0.1488)
 # KEYFRAME 66
0.07493422699917573
Frame 122
tensor(0.3711)
 # KEYFRAME 67
0.07531452500552405
Frame 123
tensor(0.4022)
 # KEYFRAME 68
0.07613415199739393
Frame 124
tensor(0.0510)
Frame 125
tensor(0.0930)
Frame 126
tensor(0.2992)
 # KEYFRAME 69
0.07655535099911503
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1864 loss_distill=0.4024 tta_take=0.009s
Frame 127
tensor(0.2285)
 # KEYFRAME 70
0.07628086200566031
Frame 128
tensor(0.0414)
Frame 129
tensor(0.0784)
Frame 130
tensor(0.1718)
 # KEYFRAME 71
0.07816418500442524
Frame 131
tensor(0.0579)
Frame 132
tensor(0.1454)
 # KEYFRAME 72
0.07837591399584198
Frame 133
tensor(0.1084)
 # KEYFRAME 73
0.0786861439992208
Frame 134
tensor(0.0756)
Frame 135
tensor(0.2493)
 # KEYFRAME 74
0.07943725999939488
Frame 136
tensor(0.1905)
 # KEYFRAME 75
0.08106969400250819
Frame 137
tensor(0.0788)
Frame 138
tensor(0.1314)
 # KEYFRAME 76
0.07950071000232128
Frame 139
tensor(0.8188)
 # KEYFRAME 77
0.08234561000426766
Frame 140
tensor(0.0970)
Frame 141
tensor(0.1413)
 # KEYFRAME 78
0.08273313799872994
Frame 142
tensor(0.1074)
 # KEYFRAME 79
0.08388551399548305
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1865 loss_distill=0.4024 tta_take=0.009s
Frame 143
tensor(0.0305)
Frame 144
tensor(0.0443)
Frame 145
tensor(0.4493)
 # KEYFRAME 80
0.07618550199549645
Frame 146
tensor(0.0929)
Frame 147
tensor(0.0717)
Frame 148
tensor(0.1288)
 # KEYFRAME 81
0.07661927099979948
Frame 149
tensor(0.0771)
Backending... 82 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 57660, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1866 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 279/556] scannetpp/b08a908f0f/DSC frames=150 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=1866 time=34.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0905)
Frame 2
tensor(0.1565)
 # KEYFRAME 1
Frame 3
tensor(0.0716)
Frame 4
tensor(0.1214)
 # KEYFRAME 2
0.05427795199648244
Frame 5
tensor(0.0863)
Frame 6
tensor(0.1384)
 # KEYFRAME 3
0.05154437199962558
Frame 7
tensor(0.0396)
Frame 8
tensor(0.0767)
Frame 9
tensor(0.1557)
 # KEYFRAME 4
0.051666631996340584
Frame 10
tensor(0.0212)
Frame 11
tensor(0.0344)
Frame 12
tensor(0.0420)
Frame 13
tensor(0.0449)
Frame 14
tensor(0.0746)
Frame 15
tensor(0.1038)
 # KEYFRAME 5
0.05190110099647427
Frame 16
tensor(0.0141)
Frame 17
tensor(0.0455)
Frame 18
tensor(0.1107)
 # KEYFRAME 6
0.05252902799838921
Frame 19
tensor(0.0687)
Frame 20
tensor(0.0952)
Frame 21
tensor(0.1042)
 # KEYFRAME 7
0.05331202600063989
Frame 22
tensor(0.0554)
Frame 23
tensor(0.0999)
Frame 24
tensor(0.1288)
 # KEYFRAME 8
0.05449137100367807
Frame 25
tensor(0.0348)
Frame 26
tensor(0.0865)
Frame 27
tensor(0.0962)
Frame 28
tensor(0.1185)
 # KEYFRAME 9
0.0551882379950257
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 29
tensor(0.0626)
Frame 30
tensor(0.0965)
Frame 31
tensor(0.1499)
 # KEYFRAME 10
0.05151238199323416
Frame 32
tensor(0.0716)
Frame 33
tensor(0.1308)
 # KEYFRAME 11
0.05171631199482363
Frame 34
tensor(0.0502)
Frame 35
tensor(0.1263)
 # KEYFRAME 12
0.05246171900216723
Frame 36
tensor(0.0785)
Frame 37
tensor(0.1088)
 # KEYFRAME 13
0.05395280300581362
Frame 38
tensor(0.0810)
Frame 39
tensor(0.1632)
 # KEYFRAME 14
0.054711631004465744
Frame 40
tensor(0.1261)
 # KEYFRAME 15
0.05477262000204064
Frame 41
tensor(0.0919)
Frame 42
tensor(0.1826)
 # KEYFRAME 16
0.05638321500009624
Frame 43
tensor(0.0974)
Frame 44
tensor(0.1384)
 # KEYFRAME 17
0.05638622400147142
Frame 45
tensor(0.0218)
Frame 46
tensor(0.0502)
Frame 47
tensor(0.0744)
Frame 48
tensor(0.1022)
 # KEYFRAME 18
0.05722507100290386
Frame 49
tensor(0.0515)
Frame 50
tensor(0.1158)
 # KEYFRAME 19
0.05807409899716731
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 51
tensor(0.0313)
Frame 52
tensor(0.0666)
Frame 53
tensor(0.1207)
 # KEYFRAME 20
0.05395437300467165
Frame 54
tensor(0.0573)
Frame 55
tensor(0.0517)
Frame 56
tensor(0.1657)
 # KEYFRAME 21
0.05476991999603342
Frame 57
tensor(0.0929)
Frame 58
tensor(0.1040)
 # KEYFRAME 22
0.05519575899961637
Frame 59
tensor(0.0492)
Frame 60
tensor(0.1440)
 # KEYFRAME 23
0.05566527700284496
Frame 61
tensor(0.1130)
 # KEYFRAME 24
0.05572904700238723
Frame 62
tensor(0.0167)
Frame 63
tensor(0.0531)
Frame 64
tensor(0.0307)
Frame 65
tensor(0.0540)
Frame 66
tensor(0.0874)
Frame 67
tensor(0.0848)
Frame 68
tensor(0.0729)
Frame 69
tensor(0.1159)
 # KEYFRAME 25
0.05649819400423439
Frame 70
tensor(0.0540)
Frame 71
tensor(0.1082)
 # KEYFRAME 26
0.057843789996695705
Frame 72
tensor(0.0714)
Frame 73
tensor(0.1429)
 # KEYFRAME 27
0.05908967399591347
Frame 74
tensor(0.0769)
Frame 75
tensor(0.1407)
 # KEYFRAME 28
0.059444812999572605
Frame 76
tensor(0.0559)
Frame 77
tensor(0.1598)
 # KEYFRAME 29
0.060210000003280584
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 78
tensor(0.0798)
Frame 79
tensor(0.1463)
 # KEYFRAME 30
0.05866204600170022
Frame 80
tensor(0.1087)
 # KEYFRAME 31
0.059511283005122095
Frame 81
tensor(0.0883)
Frame 82
tensor(0.2087)
 # KEYFRAME 32
0.05953736299852608
Frame 83
tensor(0.1308)
 # KEYFRAME 33
0.060405600001104176
Frame 84
tensor(0.1132)
 # KEYFRAME 34
0.06084377800289076
Frame 85
tensor(0.0904)
Frame 86
tensor(0.1952)
 # KEYFRAME 35
0.0617884250023053
Frame 87
tensor(0.0941)
Frame 88
tensor(0.1842)
 # KEYFRAME 36
0.0623058229975868
Frame 89
tensor(0.0783)
Frame 90
tensor(0.1716)
 # KEYFRAME 37
0.06274572099937359
Frame 91
tensor(0.0384)
Frame 92
tensor(0.1829)
 # KEYFRAME 38
0.06326661999628413
Frame 93
tensor(0.1010)
 # KEYFRAME 39
0.06412558600277407
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1867 loss_distill=0.1733 tta_take=0.009s
Frame 94
tensor(0.0622)
Frame 95
tensor(0.1321)
 # KEYFRAME 40
0.06297740999434609
Frame 96
tensor(0.0543)
Frame 97
tensor(0.1306)
 # KEYFRAME 41
0.06419136600015918
Frame 98
tensor(0.0746)
Frame 99
tensor(0.0641)
Frame 100
tensor(0.1353)
 # KEYFRAME 42
0.0645109249962843
Frame 101
tensor(0.0970)
Frame 102
tensor(0.1085)
 # KEYFRAME 43
0.06431125599920051
Frame 103
tensor(0.1017)
 # KEYFRAME 44
0.06555476100038504
Frame 104
tensor(0.0951)
Frame 105
tensor(0.2010)
 # KEYFRAME 45
0.06615569900168339
Frame 106
tensor(0.0772)
Frame 107
tensor(0.0408)
Frame 108
tensor(0.1253)
 # KEYFRAME 46
0.06701581599918427
Frame 109
tensor(0.1395)
 # KEYFRAME 47
0.0677961229957873
Frame 110
tensor(0.0845)
Frame 111
tensor(0.1636)
 # KEYFRAME 48
0.06788686200161465
Frame 112
tensor(0.0780)
Frame 113
tensor(0.1808)
 # KEYFRAME 49
0.06898990899935598
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1868 loss_distill=0.2747 tta_take=0.009s
Frame 114
tensor(0.1194)
 # KEYFRAME 50
0.06758529400394764
Frame 115
tensor(0.0787)
Frame 116
tensor(0.1667)
 # KEYFRAME 51
0.06874071899801493
Frame 117
tensor(0.1547)
 # KEYFRAME 52
0.06924815799720818
Frame 118
tensor(0.0674)
Frame 119
tensor(0.1592)
 # KEYFRAME 53
0.07076198200229555
Frame 120
tensor(0.0957)
Frame 121
tensor(0.1721)
 # KEYFRAME 54
0.06975548600166803
Frame 122
tensor(0.0883)
Frame 123
tensor(0.1078)
 # KEYFRAME 55
0.07212399700074457
Frame 124
tensor(0.0841)
Frame 125
tensor(0.1704)
 # KEYFRAME 56
0.07353992199932691
Frame 126
tensor(0.0543)
Frame 127
tensor(0.0823)
Frame 128
tensor(0.1802)
 # KEYFRAME 57
0.0735345619978034
Frame 129
tensor(0.0613)
Frame 130
tensor(0.1592)
 # KEYFRAME 58
0.07409655999799725
Frame 131
tensor(0.1090)
 # KEYFRAME 59
0.07446607899328228
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1869 loss_distill=0.3466 tta_take=0.009s
Frame 132
tensor(0.0956)
Frame 133
tensor(0.1652)
 # KEYFRAME 60
0.07160328900499735
Frame 134
tensor(0.2136)
 # KEYFRAME 61
0.07336395300080767
Frame 135
tensor(0.0515)
Frame 136
tensor(0.1085)
 # KEYFRAME 62
0.07377630099654198
Frame 137
tensor(0.1250)
 # KEYFRAME 63
0.07453870899917092
Frame 138
tensor(0.1150)
 # KEYFRAME 64
0.07550665399321588
Frame 139
tensor(0.0887)
Frame 140
tensor(0.2042)
 # KEYFRAME 65
0.07489744600025006
Frame 141
tensor(0.1120)
 # KEYFRAME 66
0.07671054000093136
Frame 142
tensor(0.1153)
 # KEYFRAME 67
0.07828712499758694
Frame 143
tensor(0.0971)
Frame 144
tensor(0.2266)
 # KEYFRAME 68
0.07838473400624935
Frame 145
tensor(0.1177)
 # KEYFRAME 69
0.07894409299478866
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1870 loss_distill=0.4024 tta_take=0.009s
Frame 146
tensor(1.4178)
 # KEYFRAME 70
0.07559879699692829
Frame 147
tensor(0.0603)
Frame 148
tensor(0.0885)
Frame 149
tensor(0.0559)
Backending... 71 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 56730, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1871 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 280/556] scannetpp/faec2f0468/DSC frames=150 tta_steps_this_scene=5 mean_loss=0.3198 total_steps=1871 time=30.5s
[ckpt] /scratch-shared/wwei2/scorer_pretrain/scorer_v1/checkpoint-last.pth (epoch=0 scene=280)
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0442)
Frame 2
tensor(0.0949)
Frame 3
tensor(0.1401)
 # KEYFRAME 1
Frame 4
tensor(0.0473)
Frame 5
tensor(0.0993)
Frame 6
tensor(0.1503)
 # KEYFRAME 2
0.05174576299759792
Frame 7
tensor(0.0508)
Frame 8
tensor(0.1057)
 # KEYFRAME 3
0.051720153001951985
Frame 9
tensor(0.0569)
Frame 10
tensor(0.1051)
 # KEYFRAME 4
0.05241476099763531
Frame 11
tensor(0.0527)
Frame 12
tensor(0.1012)
 # KEYFRAME 5
0.052616749999288004
Frame 13
tensor(0.0481)
Frame 14
tensor(0.1040)
 # KEYFRAME 6
0.05281626999931177
Frame 15
tensor(0.0509)
Frame 16
tensor(0.1008)
 # KEYFRAME 7
0.0527820490024169
Frame 17
tensor(0.0479)
Frame 18
tensor(0.1032)
 # KEYFRAME 8
0.0534427769962349
Frame 19
tensor(0.0463)
Frame 20
tensor(0.1057)
 # KEYFRAME 9
0.05236340100236703
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.0516)
Frame 22
tensor(0.1082)
 # KEYFRAME 10
0.05180809299781686
Frame 23
tensor(0.0504)
Frame 24
tensor(0.1069)
 # KEYFRAME 11
0.05181585300306324
Frame 25
tensor(0.0499)
Frame 26
tensor(0.1077)
 # KEYFRAME 12
0.05196303199772956
Frame 27
tensor(0.0474)
Frame 28
tensor(0.1003)
 # KEYFRAME 13
0.05173337300220737
Frame 29
tensor(0.0569)
Frame 30
tensor(0.1115)
 # KEYFRAME 14
0.05281914999795845
Frame 31
tensor(0.0495)
Frame 32
tensor(0.1090)
 # KEYFRAME 15
0.052919169000233524
Frame 33
tensor(0.0542)
Frame 34
tensor(0.1031)
 # KEYFRAME 16
0.053082457998243626
Frame 35
tensor(0.0537)
Frame 36
tensor(0.1029)
 # KEYFRAME 17
0.054697931998816784
Frame 37
tensor(0.0446)
Frame 38
tensor(0.0968)
Frame 39
tensor(0.1400)
 # KEYFRAME 18
0.0543811640018248
Frame 40
tensor(0.0478)
Frame 41
tensor(0.0915)
Frame 42
tensor(0.1388)
 # KEYFRAME 19
0.05596992799837608
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 43
tensor(0.0442)
Frame 44
tensor(0.0868)
Frame 45
tensor(0.1336)
 # KEYFRAME 20
0.051827792995027266
Frame 46
tensor(0.0442)
Frame 47
tensor(0.0776)
Frame 48
tensor(0.1291)
 # KEYFRAME 21
0.05196916200657142
Frame 49
tensor(0.0405)
Frame 50
tensor(0.0823)
Frame 51
tensor(0.1224)
 # KEYFRAME 22
0.052388490003068
Frame 52
tensor(0.0397)
Frame 53
tensor(0.0806)
Frame 54
tensor(0.1185)
 # KEYFRAME 23
0.05271137900126632
Frame 55
tensor(0.0435)
Frame 56
tensor(0.0894)
Frame 57
tensor(0.1219)
 # KEYFRAME 24
0.05274145899602445
Frame 58
tensor(0.0410)
Frame 59
tensor(0.0868)
Frame 60
tensor(0.1264)
 # KEYFRAME 25
0.05284281999774976
Frame 61
tensor(0.0371)
Frame 62
tensor(0.0750)
Frame 63
tensor(0.1240)
 # KEYFRAME 26
0.052159332000883296
Frame 64
tensor(0.0379)
Frame 65
tensor(0.0780)
Frame 66
tensor(0.1178)
 # KEYFRAME 27
0.054835931994603015
Frame 67
tensor(0.0345)
Frame 68
tensor(0.0730)
Frame 69
tensor(0.1077)
 # KEYFRAME 28
0.052623870004026685
Frame 70
tensor(0.0328)
Frame 71
tensor(0.0627)
Frame 72
tensor(0.1028)
 # KEYFRAME 29
0.054749773000366986
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 73
tensor(0.0289)
Frame 74
tensor(0.0650)
Frame 75
tensor(0.0933)
Frame 76
tensor(0.1351)
 # KEYFRAME 30
0.05241424099949654
Frame 77
tensor(0.0315)
Frame 78
tensor(0.0651)
Frame 79
tensor(0.0968)
Frame 80
tensor(0.1298)
 # KEYFRAME 31
0.05248666000261437
Frame 81
tensor(0.0282)
Frame 82
tensor(0.0612)
Frame 83
tensor(0.0899)
Frame 84
tensor(0.1238)
 # KEYFRAME 32
0.0535310670020408
Frame 85
tensor(0.0301)
Frame 86
tensor(0.0601)
Frame 87
tensor(0.0880)
Frame 88
tensor(0.1153)
 # KEYFRAME 33
0.05312598800082924
Frame 89
tensor(0.0231)
Frame 90
tensor(0.0476)
Frame 91
tensor(0.0725)
Frame 92
tensor(0.0953)
Frame 93
tensor(0.1207)
 # KEYFRAME 34
0.05476676200487418
Frame 94
tensor(0.0228)
Frame 95
tensor(0.0435)
Frame 96
tensor(0.0650)
Frame 97
tensor(0.0858)
Frame 98
tensor(0.1038)
 # KEYFRAME 35
0.05311574900406413
Frame 99
tensor(0.0159)
Frame 100
tensor(0.0356)
Frame 101
tensor(0.0533)
Frame 102
tensor(0.0654)
Frame 103
tensor(0.0837)
Frame 104
tensor(0.1013)
 # KEYFRAME 36
0.053186548000667244
Frame 105
tensor(0.0144)
Frame 106
tensor(0.0245)
Frame 107
tensor(0.0381)
Frame 108
tensor(0.0505)
Frame 109
tensor(0.0602)
Frame 110
tensor(0.0784)
Frame 111
tensor(0.0924)
Frame 112
tensor(0.1020)
 # KEYFRAME 37
0.05697946400323417
Frame 113
tensor(0.0062)
Frame 114
tensor(0.0192)
Frame 115
tensor(0.0295)
Frame 116
tensor(0.0408)
Frame 117
tensor(0.0522)
Frame 118
tensor(0.0595)
Frame 119
tensor(0.0680)
Frame 120
tensor(0.0741)
Frame 121
tensor(0.0808)
Frame 122
tensor(0.0908)
Frame 123
tensor(0.0963)
Frame 124
tensor(0.1028)
 # KEYFRAME 38
0.05304502799845068
Frame 125
tensor(0.0057)
Frame 126
tensor(0.0098)
Frame 127
tensor(0.0126)
Frame 128
tensor(0.0171)
Frame 129
tensor(0.0210)
Frame 130
tensor(0.0245)
Frame 131
tensor(0.0286)
Frame 132
tensor(0.0320)
Frame 133
tensor(0.0374)
Frame 134
tensor(0.0418)
Frame 135
tensor(0.0380)
Frame 136
tensor(0.0439)
Frame 137
tensor(0.0496)
Frame 138
tensor(0.0543)
Frame 139
tensor(0.0563)
Frame 140
tensor(0.0595)
Frame 141
tensor(0.0619)
Frame 142
tensor(0.0679)
Frame 143
tensor(0.0696)
Frame 144
tensor(0.0736)
Frame 145
tensor(0.0760)
Frame 146
tensor(0.0813)
Frame 147
tensor(0.0824)
Frame 148
tensor(0.0843)
Frame 149
tensor(0.0856)
Frame 150
tensor(0.0901)
Frame 151
tensor(0.0935)
Frame 152
tensor(0.0957)
Frame 153
tensor(0.0973)
Frame 154
tensor(0.0983)
Frame 155
tensor(0.1007)
 # KEYFRAME 39
0.05808527099725325
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1872 loss_distill=0.1733 tta_take=0.005s
Frame 156
tensor(0.0014)
Frame 157
tensor(0.0050)
Frame 158
tensor(0.0059)
Frame 159
tensor(0.0078)
Frame 160
tensor(0.0080)
Frame 161
tensor(0.0087)
Frame 162
tensor(0.0090)
Frame 163
tensor(0.0094)
Frame 164
tensor(0.0098)
Frame 165
tensor(0.0112)
Frame 166
tensor(0.0101)
Frame 167
tensor(0.0107)
Frame 168
tensor(0.0117)
Frame 169
tensor(0.0111)
Frame 170
tensor(0.0101)
Frame 171
tensor(0.0112)
Frame 172
tensor(0.0106)
Frame 173
tensor(0.0113)
Frame 174
tensor(0.0109)
Frame 175
tensor(0.0111)
Frame 176
tensor(0.0106)
Frame 177
tensor(0.0108)
Frame 178
tensor(0.0116)
Frame 179
tensor(0.0109)
Frame 180
tensor(0.0114)
Frame 181
tensor(0.0104)
Frame 182
tensor(0.0109)
Frame 183
tensor(0.0113)
Frame 184
tensor(0.0111)
Frame 185
tensor(0.0113)
Frame 186
tensor(0.0120)
Frame 187
tensor(0.0123)
Frame 188
tensor(0.0122)
Frame 189
tensor(0.0121)
Frame 190
tensor(0.0127)
Frame 191
tensor(0.0122)
Frame 192
tensor(0.0133)
Frame 193
tensor(0.0141)
Frame 194
tensor(0.0140)
Frame 195
tensor(0.0148)
Frame 196
tensor(0.0143)
Frame 197
tensor(0.0150)
Frame 198
tensor(0.0150)
Frame 199
tensor(0.0159)
Frame 200
tensor(0.0162)
Frame 201
tensor(0.0157)
Frame 202
tensor(0.0155)
Frame 203
tensor(0.0152)
Frame 204
tensor(0.0156)
Frame 205
tensor(0.0149)
Frame 206
tensor(0.0140)
Frame 207
tensor(0.0153)
Frame 208
tensor(0.0142)
Frame 209
tensor(0.0139)
Frame 210
tensor(0.0135)
Frame 211
tensor(0.0131)
Frame 212
tensor(0.0137)
Frame 213
tensor(0.0134)
Frame 214
tensor(0.0141)
Frame 215
tensor(0.0133)
Frame 216
tensor(0.0125)
Frame 217
tensor(0.0125)
Frame 218
tensor(0.0114)
Frame 219
tensor(0.0118)
Frame 220
tensor(0.0122)
Frame 221
tensor(0.0122)
Frame 222
tensor(0.0119)
Frame 223
tensor(0.0123)
Frame 224
tensor(0.0129)
Frame 225
tensor(0.0126)
Frame 226
tensor(0.0116)
Frame 227
tensor(0.0121)
Frame 228
tensor(0.0129)
Frame 229
tensor(0.0129)
Frame 230
tensor(0.0128)
Frame 231
tensor(0.0130)
Frame 232
tensor(0.0132)
[epoch 0 scene 281/556] vkitti/Scene02/clone/Camera_0 frames=233 tta_steps_this_scene=1 mean_loss=0.1733 total_steps=1872 time=30.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0005)
Frame 2
tensor(0.0012)
Frame 3
tensor(0.0011)
Frame 4
tensor(0.0024)
Frame 5
tensor(0.0017)
Frame 6
tensor(0.0020)
Frame 7
tensor(0.0016)
Frame 8
tensor(0.0009)
Frame 9
tensor(0.0010)
Frame 10
tensor(0.0010)
Frame 11
tensor(0.0009)
Frame 12
tensor(0.0013)
Frame 13
tensor(0.0011)
Frame 14
tensor(0.0006)
Frame 15
tensor(0.0009)
Frame 16
tensor(0.0009)
Frame 17
tensor(0.0012)
Frame 18
tensor(0.0014)
Frame 19
tensor(0.0018)
Frame 20
tensor(0.0015)
Frame 21
tensor(0.0016)
Frame 22
tensor(0.0012)
Frame 23
tensor(0.0012)
Frame 24
tensor(0.0008)
Frame 25
tensor(0.0010)
Frame 26
tensor(0.0014)
Frame 27
tensor(0.0009)
Frame 28
tensor(0.0008)
Frame 29
tensor(0.0008)
Frame 30
tensor(0.0007)
Frame 31
tensor(0.0009)
Frame 32
tensor(0.0009)
Frame 33
tensor(0.0011)
Frame 34
tensor(0.0009)
Frame 35
tensor(0.0009)
Frame 36
tensor(0.0006)
Frame 37
tensor(0.0008)
Frame 38
tensor(0.0004)
Frame 39
tensor(0.0014)
Frame 40
tensor(0.0019)
Frame 41
tensor(0.0023)
Frame 42
tensor(0.0020)
Frame 43
tensor(0.0012)
Frame 44
tensor(0.0009)
Frame 45
tensor(0.0014)
Frame 46
tensor(0.0011)
Frame 47
tensor(0.0013)
Frame 48
tensor(0.0019)
Frame 49
tensor(0.0008)
Frame 50
tensor(0.0002)
Frame 51
tensor(0.0004)
Frame 52
tensor(4.1595e-05)
Frame 53
tensor(0.0007)
Frame 54
tensor(0.0004)
Frame 55
tensor(0.0005)
Frame 56
tensor(0.0010)
Frame 57
tensor(0.0014)
Frame 58
tensor(0.0015)
Frame 59
tensor(0.0022)
Frame 60
tensor(0.0019)
Frame 61
tensor(0.0024)
Frame 62
tensor(0.0019)
Frame 63
tensor(0.0015)
Frame 64
tensor(0.0015)
Frame 65
tensor(0.0015)
Frame 66
tensor(0.0011)
Frame 67
tensor(0.0008)
Frame 68
tensor(0.0008)
Frame 69
tensor(0.0018)
Frame 70
tensor(0.0023)
Frame 71
tensor(0.0031)
Frame 72
tensor(0.0024)
Frame 73
tensor(0.0028)
Frame 74
tensor(0.0028)
Frame 75
tensor(0.0031)
Frame 76
tensor(0.0036)
Frame 77
tensor(0.0032)
Frame 78
tensor(0.0026)
Frame 79
tensor(0.0025)
Frame 80
tensor(0.0020)
Frame 81
tensor(0.0018)
Frame 82
tensor(0.0008)
Frame 83
tensor(0.0009)
Frame 84
tensor(0.0009)
Frame 85
tensor(0.0009)
Frame 86
tensor(0.0005)
Frame 87
tensor(0.0011)
Frame 88
tensor(0.0014)
Frame 89
tensor(0.0019)
Frame 90
tensor(0.0024)
Frame 91
tensor(0.0024)
Frame 92
tensor(0.0019)
Frame 93
tensor(0.0020)
Frame 94
tensor(0.0025)
Frame 95
tensor(0.0006)
Frame 96
tensor(0.0003)
Frame 97
tensor(0.0004)
Frame 98
tensor(0.0015)
Frame 99
tensor(0.0020)
Frame 100
tensor(0.0014)
Frame 101
tensor(0.0017)
Frame 102
tensor(0.0019)
Frame 103
tensor(0.0019)
Frame 104
tensor(0.0018)
Frame 105
tensor(0.0025)
Frame 106
tensor(0.0015)
Frame 107
tensor(0.0013)
Frame 108
tensor(0.0009)
Frame 109
tensor(0.0007)
Frame 110
tensor(0.0009)
Frame 111
tensor(0.0007)
Frame 112
tensor(0.0011)
Frame 113
tensor(0.0016)
Frame 114
tensor(0.0009)
Frame 115
tensor(0.0013)
Frame 116
tensor(0.0010)
Frame 117
tensor(0.0007)
Frame 118
tensor(0.0008)
Frame 119
tensor(0.0009)
Frame 120
tensor(0.0018)
Frame 121
tensor(0.0017)
Frame 122
tensor(0.0012)
Frame 123
tensor(0.0016)
Frame 124
tensor(0.0015)
Frame 125
tensor(0.0009)
Frame 126
tensor(0.0017)
Frame 127
tensor(0.0013)
Frame 128
tensor(0.0013)
Frame 129
tensor(0.0010)
Frame 130
tensor(0.0006)
Frame 131
tensor(0.0003)
Frame 132
tensor(0.0009)
Frame 133
tensor(0.0007)
Frame 134
tensor(0.0002)
Frame 135
tensor(0.0007)
Frame 136
tensor(0.0004)
Frame 137
tensor(0.0010)
Frame 138
tensor(0.0017)
Frame 139
tensor(0.0008)
Frame 140
tensor(0.0005)
Frame 141
tensor(0.0008)
Frame 142
tensor(0.0011)
Frame 143
tensor(0.0009)
Frame 144
tensor(0.0010)
Frame 145
tensor(0.0012)
Frame 146
tensor(0.0014)
Frame 147
tensor(0.0015)
Frame 148
tensor(0.0009)
Frame 149
tensor(0.0012)
Frame 150
tensor(0.0009)
Frame 151
tensor(0.0012)
Frame 152
tensor(0.0015)
Frame 153
tensor(0.0014)
Frame 154
tensor(0.0009)
Frame 155
tensor(0.0009)
Frame 156
tensor(0.0008)
Frame 157
tensor(0.0010)
Frame 158
tensor(0.0010)
Frame 159
tensor(0.0012)
Frame 160
tensor(0.0011)
Frame 161
tensor(0.0010)
Frame 162
tensor(0.0010)
Frame 163
tensor(0.0010)
Frame 164
tensor(0.0011)
Frame 165
tensor(0.0008)
Frame 166
tensor(0.0014)
Frame 167
tensor(0.0009)
Frame 168
tensor(0.0008)
Frame 169
tensor(0.0009)
Frame 170
tensor(0.0006)
Frame 171
tensor(0.0007)
Frame 172
tensor(0.0009)
Frame 173
tensor(0.0009)
Frame 174
tensor(0.0008)
Frame 175
tensor(0.0008)
Frame 176
tensor(0.0010)
Frame 177
tensor(0.0007)
Frame 178
tensor(0.0005)
Frame 179
tensor(0.0005)
Frame 180
tensor(0.0015)
Frame 181
tensor(0.0014)
Frame 182
tensor(0.0036)
Frame 183
tensor(0.0040)
Frame 184
tensor(0.0057)
Frame 185
tensor(0.0067)
Frame 186
tensor(0.0105)
Frame 187
tensor(0.0111)
Frame 188
tensor(0.0149)
Frame 189
tensor(0.0182)
Frame 190
tensor(0.0239)
Frame 191
tensor(0.0287)
Frame 192
tensor(0.0360)
Frame 193
tensor(0.0440)
Frame 194
tensor(0.0528)
Frame 195
tensor(0.0624)
Frame 196
tensor(0.0732)
Frame 197
tensor(0.0847)
Frame 198
tensor(0.0976)
Frame 199
tensor(0.1097)
 # KEYFRAME 1
Frame 200
tensor(0.0132)
Frame 201
tensor(0.0307)
Frame 202
tensor(0.0496)
Frame 203
tensor(0.0724)
Frame 204
tensor(0.0932)
Frame 205
tensor(0.1146)
 # KEYFRAME 2
0.052127811999525875
Frame 206
tensor(0.0193)
Frame 207
tensor(0.0427)
Frame 208
tensor(0.0625)
Frame 209
tensor(0.0797)
Frame 210
tensor(0.1004)
 # KEYFRAME 3
0.05175388399948133
Frame 211
tensor(0.0162)
Frame 212
tensor(0.0375)
Frame 213
tensor(0.0580)
Frame 214
tensor(0.0771)
Frame 215
tensor(0.0968)
Frame 216
tensor(0.1202)
 # KEYFRAME 4
0.05261419100133935
Frame 217
tensor(0.0234)
Frame 218
tensor(0.0478)
Frame 219
tensor(0.0742)
Frame 220
tensor(0.0955)
Frame 221
tensor(0.1212)
 # KEYFRAME 5
0.052535481001541484
Frame 222
tensor(0.0223)
Frame 223
tensor(0.0525)
Frame 224
tensor(0.0764)
Frame 225
tensor(0.1043)
 # KEYFRAME 6
0.053049169000587426
Frame 226
tensor(0.0304)
Frame 227
tensor(0.0561)
Frame 228
tensor(0.0862)
Frame 229
tensor(0.1165)
 # KEYFRAME 7
0.05226527099875966
Frame 230
tensor(0.0282)
Frame 231
tensor(0.0570)
Frame 232
tensor(0.0870)
Frame 233
tensor(0.1172)
 # KEYFRAME 8
0.05336830799933523
Frame 234
tensor(0.0284)
Frame 235
tensor(0.0560)
Frame 236
tensor(0.0849)
Frame 237
tensor(0.1150)
 # KEYFRAME 9
0.052473941002972424
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 238
tensor(0.0293)
Frame 239
tensor(0.0572)
Frame 240
tensor(0.0882)
Frame 241
tensor(0.1161)
 # KEYFRAME 10
0.05201717199815903
Frame 242
tensor(0.0302)
Frame 243
tensor(0.0667)
Frame 244
tensor(0.0987)
Frame 245
tensor(0.1344)
 # KEYFRAME 11
0.052134502002445515
Frame 246
tensor(0.0326)
Frame 247
tensor(0.0665)
Frame 248
tensor(0.1041)
 # KEYFRAME 12
0.0527196510010981
Frame 249
tensor(0.0324)
Frame 250
tensor(0.0699)
Frame 251
tensor(0.1086)
 # KEYFRAME 13
0.05255682099959813
Frame 252
tensor(0.0334)
Frame 253
tensor(0.0688)
Frame 254
tensor(0.1024)
 # KEYFRAME 14
0.0552525310049532
Frame 255
tensor(0.0341)
Frame 256
tensor(0.0710)
Frame 257
tensor(0.1050)
 # KEYFRAME 15
0.05271332999836886
Frame 258
tensor(0.0287)
Frame 259
tensor(0.0677)
Frame 260
tensor(0.0987)
Frame 261
tensor(0.1314)
 # KEYFRAME 16
0.05373980700096581
Frame 262
tensor(0.0343)
Frame 263
tensor(0.0688)
Frame 264
tensor(0.1065)
 # KEYFRAME 17
0.05573331999767106
Frame 265
tensor(0.0300)
Frame 266
tensor(0.0605)
Frame 267
tensor(0.0928)
Frame 268
tensor(0.1219)
 # KEYFRAME 18
0.05310413899860578
Frame 269
tensor(0.0331)
Backending... 19 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
[epoch 0 scene 282/556] vkitti/Scene06/overcast/Camera_0 frames=270 tta_steps_this_scene=0 mean_loss=nan total_steps=1872 time=36.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0726)
Frame 2
tensor(0.1339)
 # KEYFRAME 1
Frame 3
tensor(0.0818)
Frame 4
tensor(0.1193)
 # KEYFRAME 2
0.05169597399799386
Frame 5
tensor(0.0461)
Frame 6
tensor(0.1194)
 # KEYFRAME 3
0.05208381199918222
Frame 7
tensor(0.0525)
Frame 8
tensor(0.1189)
 # KEYFRAME 4
0.05403491500328528
Frame 9
tensor(0.0503)
Frame 10
tensor(0.1835)
 # KEYFRAME 5
0.05470227300247643
Frame 11
tensor(0.0864)
Frame 12
tensor(0.1403)
 # KEYFRAME 6
0.055536550004035234
Frame 13
tensor(0.0596)
Frame 14
tensor(0.1210)
 # KEYFRAME 7
0.05584978900151327
Frame 15
tensor(0.0799)
Frame 16
tensor(0.1144)
 # KEYFRAME 8
0.057843151000270154
Frame 17
tensor(0.0577)
Frame 18
tensor(0.1186)
 # KEYFRAME 9
0.05863931899511954
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 19
tensor(0.1099)
 # KEYFRAME 10
0.05157218399835983
Frame 20
tensor(0.0428)
Frame 21
tensor(0.0943)
Frame 22
tensor(0.1558)
 # KEYFRAME 11
0.05178654399787774
Frame 23
tensor(0.0812)
Frame 24
tensor(0.1656)
 # KEYFRAME 12
0.05259702000330435
Frame 25
tensor(0.0717)
Frame 26
tensor(0.1924)
 # KEYFRAME 13
0.054291924003337044
Frame 27
tensor(0.1265)
 # KEYFRAME 14
0.05398850599885918
Frame 28
tensor(0.0887)
Frame 29
tensor(0.1477)
 # KEYFRAME 15
0.05484254299517488
Frame 30
tensor(0.0288)
Frame 31
tensor(0.1258)
 # KEYFRAME 16
0.05527104100474389
Frame 32
tensor(0.0981)
Frame 33
tensor(0.1549)
 # KEYFRAME 17
0.056157038001401816
Frame 34
tensor(0.0355)
Frame 35
tensor(0.1385)
 # KEYFRAME 18
0.05687636499351356
Frame 36
tensor(0.1339)
 # KEYFRAME 19
0.057295883998449426
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 37
tensor(0.0874)
Frame 38
tensor(0.2457)
 # KEYFRAME 20
0.05414916500012623
Frame 39
tensor(0.1507)
 # KEYFRAME 21
0.055038651000359096
Frame 40
tensor(0.2431)
 # KEYFRAME 22
0.05538633099786239
Frame 41
tensor(0.2372)
 # KEYFRAME 23
0.0562323269987246
Frame 42
tensor(0.1632)
 # KEYFRAME 24
0.056708894997427706
Frame 43
tensor(0.7170)
 # KEYFRAME 25
0.05704342399985762
Frame 44
tensor(0.0656)
Frame 45
tensor(0.1296)
 # KEYFRAME 26
0.05845969000074547
Frame 46
tensor(0.0394)
Frame 47
tensor(0.0935)
Frame 48
tensor(0.1388)
 # KEYFRAME 27
0.059310087002813816
Frame 49
tensor(0.5887)
 # KEYFRAME 28
0.059829083998920396
Frame 50
tensor(0.0484)
Frame 51
tensor(0.0864)
Frame 52
tensor(0.1202)
 # KEYFRAME 29
0.06074546099989675
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 53
tensor(0.1378)
 # KEYFRAME 30
0.05878516899974784
Frame 54
tensor(0.1245)
 # KEYFRAME 31
0.059736404997238424
Frame 55
tensor(0.0734)
Frame 56
tensor(0.1319)
 # KEYFRAME 32
0.05976445499982219
Frame 57
tensor(0.0605)
Frame 58
tensor(0.1772)
 # KEYFRAME 33
0.06066518100124085
Frame 59
tensor(0.1175)
 # KEYFRAME 34
0.06122257999959402
Frame 60
tensor(0.1191)
 # KEYFRAME 35
0.06166201800078852
Frame 61
tensor(0.0732)
Frame 62
tensor(0.1220)
 # KEYFRAME 36
0.062299246004840825
Frame 63
tensor(0.2681)
 # KEYFRAME 37
0.06281961400236469
Frame 64
tensor(0.1451)
 # KEYFRAME 38
0.06341088100452907
Frame 65
tensor(0.0779)
Frame 66
tensor(0.1730)
 # KEYFRAME 39
0.06409266900300281
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1873 loss_distill=0.1733 tta_take=0.008s
Frame 67
tensor(0.0792)
Frame 68
tensor(0.1490)
 # KEYFRAME 40
0.06274889400083339
Frame 69
tensor(0.1975)
 # KEYFRAME 41
0.06453047700051684
Frame 70
tensor(0.1810)
 # KEYFRAME 42
0.06480417599959765
Frame 71
tensor(0.0614)
Frame 72
tensor(0.1837)
 # KEYFRAME 43
0.06471920700278133
Frame 73
tensor(0.1349)
 # KEYFRAME 44
0.06661271999473684
Frame 74
tensor(0.0921)
Frame 75
tensor(0.1412)
 # KEYFRAME 45
0.06788711600529496
Frame 76
tensor(0.0723)
Frame 77
tensor(0.1249)
 # KEYFRAME 46
0.06838601400522748
Frame 78
tensor(0.1124)
 # KEYFRAME 47
0.06874736199824838
Frame 79
tensor(0.0735)
Frame 80
tensor(0.1702)
 # KEYFRAME 48
0.06948268999985885
Frame 81
tensor(0.1005)
 # KEYFRAME 49
0.06979191899881698
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1874 loss_distill=0.2747 tta_take=0.008s
Frame 82
tensor(0.0935)
Frame 83
tensor(0.1186)
 # KEYFRAME 50
0.06735430700064171
Frame 84
tensor(0.0344)
Frame 85
tensor(0.1089)
 # KEYFRAME 51
0.06884211199940182
Frame 86
tensor(0.1081)
 # KEYFRAME 52
0.06846412400045665
Frame 87
tensor(0.1049)
 # KEYFRAME 53
0.06932570999924792
Frame 88
tensor(0.0788)
Frame 89
tensor(0.1767)
 # KEYFRAME 54
0.06946038000023691
Frame 90
tensor(0.1139)
 # KEYFRAME 55
0.07005877800111193
Frame 91
tensor(0.1548)
 # KEYFRAME 56
0.07056194599863375
Frame 92
tensor(0.1372)
 # KEYFRAME 57
0.07087483400391648
Frame 93
tensor(0.1529)
 # KEYFRAME 58
0.07128382300288649
Frame 94
tensor(0.0879)
Frame 95
tensor(0.0659)
Frame 96
tensor(0.1686)
 # KEYFRAME 59
0.0720378299956792
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=1875 loss_distill=0.3466 tta_take=0.008s
Frame 97
tensor(0.0632)
Frame 98
tensor(0.1262)
 # KEYFRAME 60
0.07143994299985934
Frame 99
tensor(0.0433)
Frame 100
tensor(0.0725)
Frame 101
tensor(0.1188)
 # KEYFRAME 61
0.0732202859944664
Frame 102
tensor(0.0629)
Frame 103
tensor(0.1266)
 # KEYFRAME 62
0.07282013700023526
Frame 104
tensor(0.0855)
Frame 105
tensor(0.1647)
 # KEYFRAME 63
0.07333512599871028
Frame 106
tensor(0.0689)
Frame 107
tensor(0.1417)
 # KEYFRAME 64
0.07402111299597891
Frame 108
tensor(0.0620)
Frame 109
tensor(0.1223)
 # KEYFRAME 65
0.07416384299722267
Frame 110
tensor(0.0771)
Frame 111
tensor(0.1472)
 # KEYFRAME 66
0.07497283999691717
Frame 112
tensor(0.0750)
Frame 113
tensor(0.1393)
 # KEYFRAME 67
0.0753842890044325
Frame 114
tensor(0.0647)
Frame 115
tensor(0.1090)
 # KEYFRAME 68
0.0763414949979051
Frame 116
tensor(0.0805)
Frame 117
tensor(0.0892)
Frame 118
tensor(0.0941)
Frame 119
tensor(0.1624)
 # KEYFRAME 69
0.07664877400384285
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1876 loss_distill=0.4024 tta_take=0.008s
Frame 120
tensor(0.1255)
 # KEYFRAME 70
0.07611606599675724
Frame 121
tensor(0.0589)
Frame 122
tensor(0.1098)
 # KEYFRAME 71
0.07801573799952166
Frame 123
tensor(0.0832)
Frame 124
tensor(0.3383)
 # KEYFRAME 72
0.07746962099918164
Frame 125
tensor(0.1312)
 # KEYFRAME 73
0.07719422200170811
Frame 126
tensor(0.0831)
Frame 127
tensor(0.1379)
 # KEYFRAME 74
0.07819312799983891
Frame 128
tensor(0.0343)
Frame 129
tensor(0.4720)
 # KEYFRAME 75
0.07870578699657926
Frame 130
tensor(0.0242)
Frame 131
tensor(0.1255)
 # KEYFRAME 76
0.07846222700027283
Frame 132
tensor(0.0783)
Frame 133
tensor(0.1958)
 # KEYFRAME 77
0.07908683500136249
Frame 134
tensor(0.0706)
Frame 135
tensor(0.2758)
 # KEYFRAME 78
0.07928866399743129
Frame 136
tensor(0.1650)
 # KEYFRAME 79
0.07972443299513543
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1877 loss_distill=0.4024 tta_take=0.008s
Frame 137
tensor(0.0573)
Frame 138
tensor(0.1154)
 # KEYFRAME 80
0.07603197600110434
Frame 139
tensor(0.1036)
 # KEYFRAME 81
0.07781351900484879
Frame 140
tensor(0.1477)
 # KEYFRAME 82
0.07666897399758454
Frame 141
tensor(0.0751)
Frame 142
tensor(0.1417)
 # KEYFRAME 83
0.07789333000255283
Frame 143
tensor(0.0896)
Frame 144
tensor(0.7162)
 # KEYFRAME 84
0.07761428999947384
Frame 145
tensor(0.0991)
Frame 146
tensor(0.0912)
Frame 147
tensor(0.1167)
 # KEYFRAME 85
0.07854588700138265
Backending... 86 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 61380, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1878 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 283/556] scannetpp/e91722b5a3/DSC frames=148 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=1878 time=35.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0995)
Frame 2
tensor(0.1971)
 # KEYFRAME 1
Frame 3
tensor(0.0996)
Frame 4
tensor(0.2127)
 # KEYFRAME 2
0.05156026400072733
Frame 5
tensor(0.1775)
 # KEYFRAME 3
0.051899773003242444
Frame 6
tensor(0.2164)
 # KEYFRAME 4
0.053109948996279854
Frame 7
tensor(0.2486)
 # KEYFRAME 5
0.054405214003054425
Frame 8
tensor(0.0349)
Frame 9
tensor(0.0951)
Frame 10
tensor(0.1242)
 # KEYFRAME 6
0.05556380000052741
Frame 11
tensor(0.0451)
Frame 12
tensor(0.0753)
Frame 13
tensor(0.1435)
 # KEYFRAME 7
0.05654429700371111
Frame 14
tensor(0.1040)
 # KEYFRAME 8
0.05708479399618227
Frame 15
tensor(0.1097)
 # KEYFRAME 9
0.05724620399996638
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 16
tensor(0.1263)
 # KEYFRAME 10
0.051658143995155115
Frame 17
tensor(0.1287)
 # KEYFRAME 11
0.052291261999926064
Frame 18
tensor(0.1391)
 # KEYFRAME 12
0.05314633799571311
Frame 19
tensor(0.1095)
 # KEYFRAME 13
0.05488099200010765
Frame 20
tensor(0.1992)
 # KEYFRAME 14
0.054434793994005304
Frame 21
tensor(0.1421)
 # KEYFRAME 15
0.054514212999492884
Frame 22
tensor(0.1250)
 # KEYFRAME 16
0.055479171001934446
Frame 23
tensor(0.3272)
 # KEYFRAME 17
0.05618534799577901
Frame 24
tensor(0.0621)
Frame 25
tensor(0.1408)
 # KEYFRAME 18
0.056850854998629075
Frame 26
tensor(0.1659)
 # KEYFRAME 19
0.057117593998555094
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 27
tensor(0.1050)
 # KEYFRAME 20
0.05402589599543717
Frame 28
tensor(0.1234)
 # KEYFRAME 21
0.05514091099757934
Frame 29
tensor(0.1859)
 # KEYFRAME 22
0.05553733999840915
Frame 30
tensor(0.2645)
 # KEYFRAME 23
0.055854288999398705
Frame 31
tensor(0.1582)
 # KEYFRAME 24
0.056658416004211176
Frame 32
tensor(0.2791)
 # KEYFRAME 25
0.05727987399586709
Frame 33
tensor(0.1230)
 # KEYFRAME 26
0.058497029000136536
Frame 34
tensor(0.1673)
 # KEYFRAME 27
0.059337937003874686
Frame 35
tensor(0.1286)
 # KEYFRAME 28
0.059224616998108104
Frame 36
tensor(0.0994)
Frame 37
tensor(0.2216)
 # KEYFRAME 29
0.06011656299961032
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 38
tensor(0.1505)
 # KEYFRAME 30
0.0582860200011055
Frame 39
tensor(0.1919)
 # KEYFRAME 31
0.05987675400683656
Frame 40
tensor(0.2153)
 # KEYFRAME 32
0.059864014001504984
Frame 41
tensor(0.0726)
Frame 42
tensor(0.1652)
 # KEYFRAME 33
0.06217659600224579
Frame 43
tensor(0.6422)
 # KEYFRAME 34
0.063066823000554
Frame 44
tensor(0.1450)
 # KEYFRAME 35
0.06382090999977663
Frame 45
tensor(0.1998)
 # KEYFRAME 36
0.06525806499848841
Frame 46
tensor(0.1574)
 # KEYFRAME 37
0.06566348399792332
Frame 47
tensor(0.1451)
 # KEYFRAME 38
0.06608111199602718
Frame 48
tensor(0.0998)
Frame 49
tensor(0.1243)
 # KEYFRAME 39
0.0668776290040114
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1879 loss_distill=0.1733 tta_take=0.008s
Frame 50
tensor(0.1705)
 # KEYFRAME 40
0.06286833299964201
Frame 51
tensor(0.0631)
Frame 52
tensor(0.1494)
 # KEYFRAME 41
0.06414959899848327
Frame 53
tensor(0.1754)
 # KEYFRAME 42
0.06410045899974648
Frame 54
tensor(0.0562)
Frame 55
tensor(0.0930)
Frame 56
tensor(0.1320)
 # KEYFRAME 43
0.06413041899941163
Frame 57
tensor(0.0882)
Frame 58
tensor(0.1995)
 # KEYFRAME 44
0.0649258670018753
Frame 59
tensor(0.1246)
 # KEYFRAME 45
0.06553739400260383
Frame 60
tensor(0.1642)
 # KEYFRAME 46
0.06594105299882358
Frame 61
tensor(0.1303)
 # KEYFRAME 47
0.06633680100640049
Frame 62
tensor(0.1064)
 # KEYFRAME 48
0.06690995900135022
Frame 63
tensor(0.0601)
Frame 64
tensor(0.2637)
 # KEYFRAME 49
0.0674149269980262
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1880 loss_distill=0.2747 tta_take=0.008s
Frame 65
tensor(0.0334)
Frame 66
tensor(0.2770)
 # KEYFRAME 50
0.06727928799955407
Frame 67
tensor(0.0494)
Frame 68
tensor(0.1532)
 # KEYFRAME 51
0.06880978199478704
Frame 69
tensor(0.1440)
 # KEYFRAME 52
0.06858444300451083
Frame 70
tensor(0.1213)
 # KEYFRAME 53
0.0701366479988792
Frame 71
tensor(0.1510)
 # KEYFRAME 54
0.06917562099988572
Frame 72
tensor(0.1347)
 # KEYFRAME 55
0.07142461300099967
Frame 73
tensor(0.3692)
 # KEYFRAME 56
0.07167375199787784
Frame 74
tensor(0.0887)
Frame 75
tensor(0.1557)
 # KEYFRAME 57
0.07188629200391006
Frame 76
tensor(0.1542)
 # KEYFRAME 58
0.07269179900322342
Frame 77
tensor(0.1551)
 # KEYFRAME 59
0.07336491699970793
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1881 loss_distill=0.3466 tta_take=0.008s
Frame 78
tensor(0.0571)
Frame 79
tensor(0.1306)
 # KEYFRAME 60
0.07153483199363109
Frame 80
tensor(0.6028)
 # KEYFRAME 61
0.07306384700495983
Frame 81
tensor(0.0998)
Frame 82
tensor(0.1581)
 # KEYFRAME 62
0.07215775099757593
Frame 83
tensor(0.1499)
 # KEYFRAME 63
0.07277859800524311
Frame 84
tensor(0.0934)
Frame 85
tensor(0.1625)
 # KEYFRAME 64
0.07345910600270145
Frame 86
tensor(0.0733)
Frame 87
tensor(0.2574)
 # KEYFRAME 65
0.07392493500083219
Frame 88
tensor(0.1466)
 # KEYFRAME 66
0.07488260100217303
Frame 89
tensor(0.0482)
Frame 90
tensor(0.1071)
 # KEYFRAME 67
0.07500637100019958
Frame 91
tensor(0.1420)
 # KEYFRAME 68
0.07528103899676353
Frame 92
tensor(0.6020)
 # KEYFRAME 69
0.0758498770010192
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1882 loss_distill=0.4024 tta_take=0.009s
Frame 93
tensor(0.0692)
Frame 94
tensor(0.1117)
 # KEYFRAME 70
0.07600473699858412
Frame 95
tensor(0.0812)
Frame 96
tensor(0.1428)
 # KEYFRAME 71
0.07802590999926906
Frame 97
tensor(0.0983)
Frame 98
tensor(0.1605)
 # KEYFRAME 72
0.07685378400492482
Frame 99
tensor(0.1240)
 # KEYFRAME 73
0.07731924199470086
Frame 100
tensor(0.1859)
 # KEYFRAME 74
0.0783599479982513
Frame 101
tensor(0.1091)
 # KEYFRAME 75
0.07890941599907819
Frame 102
tensor(0.0925)
Frame 103
tensor(0.0972)
Frame 104
tensor(0.1967)
 # KEYFRAME 76
0.07880138699692907
Frame 105
tensor(0.1425)
 # KEYFRAME 77
0.0793375850043958
Frame 106
tensor(0.1496)
 # KEYFRAME 78
0.08032332099537598
Frame 107
tensor(0.1330)
 # KEYFRAME 79
0.08084213999973144
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1883 loss_distill=0.4024 tta_take=0.009s
Frame 108
tensor(0.3369)
 # KEYFRAME 80
0.07570987800136209
Frame 109
tensor(0.0538)
Frame 110
tensor(0.6745)
 # KEYFRAME 81
0.07779671000025701
Frame 111
tensor(0.0258)
Frame 112
tensor(0.0317)
Frame 113
tensor(0.7140)
 # KEYFRAME 82
0.07719522200204665
Frame 114
tensor(0.1887)
 # KEYFRAME 83
0.07785973000136437
Frame 115
tensor(0.2083)
 # KEYFRAME 84
0.07769371100584976
Frame 116
tensor(0.2224)
 # KEYFRAME 85
0.07857988699834095
Frame 117
tensor(0.1274)
 # KEYFRAME 86
0.07879314700403484
Frame 118
tensor(0.2023)
 # KEYFRAME 87
0.09168052099994384
Frame 119
tensor(1.0159)
 # KEYFRAME 88
0.08025437199830776
Frame 120
tensor(0.1287)
 # KEYFRAME 89
0.08139199700235622
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1884 loss_distill=0.4024 tta_take=0.008s
Frame 121
tensor(0.1074)
 # KEYFRAME 90
0.07569569799670717
Frame 122
tensor(0.1849)
 # KEYFRAME 91
0.07820697900024243
Frame 123
tensor(0.4394)
 # KEYFRAME 92
0.07702251299633645
Frame 124
tensor(0.2504)
 # KEYFRAME 93
0.07795767999778036
Frame 125
tensor(0.1027)
 # KEYFRAME 94
0.07832866900571389
Frame 126
tensor(1.4256)
 # KEYFRAME 95
0.079289154993603
Frame 127
tensor(0.2026)
 # KEYFRAME 96
0.07851362799556227
Frame 128
tensor(0.1144)
 # KEYFRAME 97
0.07991356300044572
Frame 129
tensor(0.1334)
 # KEYFRAME 98
0.08137633799924515
Frame 130
tensor(0.1054)
 # KEYFRAME 99
0.08090335900487844
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1885 loss_distill=0.4024 tta_take=0.008s
Frame 131
tensor(0.2522)
 # KEYFRAME 100
0.07578418800403597
Frame 132
tensor(0.1588)
 # KEYFRAME 101
0.07793793999735499
Frame 133
tensor(0.0779)
Frame 134
tensor(0.1481)
 # KEYFRAME 102
0.07707506199949421
Frame 135
tensor(0.2823)
 # KEYFRAME 103
0.07792578999942634
Frame 136
tensor(0.0777)
Frame 137
tensor(0.1448)
 # KEYFRAME 104
0.07891900699905818
Frame 138
tensor(0.0977)
Frame 139
tensor(0.1040)
 # KEYFRAME 105
0.07949729399842909
Frame 140
tensor(0.1225)
 # KEYFRAME 106
0.07885318699845811
Frame 141
tensor(0.4040)
 # KEYFRAME 107
0.08031060200300999
Frame 142
tensor(0.3313)
 # KEYFRAME 108
0.08096455899794819
Frame 143
tensor(0.0842)
Frame 144
tensor(0.0553)
Frame 145
tensor(0.1518)
 # KEYFRAME 109
0.08195125599741004
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1886 loss_distill=0.4024 tta_take=0.008s
Frame 146
tensor(0.1817)
 # KEYFRAME 110
0.0754853379985434
Frame 147
tensor(0.0970)
Frame 148
tensor(0.2025)
 # KEYFRAME 111
0.07604155599983642
Frame 149
tensor(0.1810)
 # KEYFRAME 112
0.07698551299836254
Backending... 113 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 58590, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1887 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 284/556] scannetpp/bd7375297e/DSC frames=150 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=1887 time=45.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0229)
Frame 2
tensor(0.0386)
Frame 3
tensor(0.1658)
 # KEYFRAME 1
Frame 4
tensor(0.1273)
 # KEYFRAME 2
0.051422404998447746
Frame 5
tensor(0.0979)
Frame 6
tensor(0.1442)
 # KEYFRAME 3
0.052669841003080364
Frame 7
tensor(0.1068)
 # KEYFRAME 4
0.055073282004741486
Frame 8
tensor(0.1092)
 # KEYFRAME 5
0.05541958100366173
Frame 9
tensor(0.0841)
Frame 10
tensor(0.1661)
 # KEYFRAME 6
0.056641467002918944
Frame 11
tensor(0.1359)
 # KEYFRAME 7
0.05705454499548068
Frame 12
tensor(0.1465)
 # KEYFRAME 8
0.05757453299884219
Frame 13
tensor(0.0519)
Frame 14
tensor(0.1615)
 # KEYFRAME 9
0.05839199000183726
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 15
tensor(0.1687)
 # KEYFRAME 10
0.05240879199845949
Frame 16
tensor(0.0741)
Frame 17
tensor(0.1781)
 # KEYFRAME 11
0.05365663699922152
Frame 18
tensor(0.0916)
Frame 19
tensor(0.1462)
 # KEYFRAME 12
0.05488271299691405
Frame 20
tensor(0.0634)
Frame 21
tensor(0.1774)
 # KEYFRAME 13
0.05729602400242584
Frame 22
tensor(0.0997)
Frame 23
tensor(0.1676)
 # KEYFRAME 14
0.05815029099903768
Frame 24
tensor(0.0392)
Frame 25
tensor(0.1552)
 # KEYFRAME 15
0.05896148800093215
Frame 26
tensor(0.0980)
Frame 27
tensor(0.1803)
 # KEYFRAME 16
0.060892582005180884
Frame 28
tensor(0.0494)
Frame 29
tensor(0.0971)
Frame 30
tensor(0.2247)
 # KEYFRAME 17
0.06068756199965719
Frame 31
tensor(0.0726)
Frame 32
tensor(0.1588)
 # KEYFRAME 18
0.06213782700069714
Frame 33
tensor(0.1716)
 # KEYFRAME 19
0.06284179399517598
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 34
tensor(0.1716)
 # KEYFRAME 20
0.059243406998575665
Frame 35
tensor(0.1146)
 # KEYFRAME 21
0.06032243300433038
Frame 36
tensor(0.0967)
Frame 37
tensor(0.1892)
 # KEYFRAME 22
0.061691979004535824
Frame 38
tensor(0.1097)
 # KEYFRAME 23
0.06306509400019422
Frame 39
tensor(0.2300)
 # KEYFRAME 24
0.06406878999405308
Frame 40
tensor(0.7203)
 # KEYFRAME 25
0.06570304399792803
Frame 41
tensor(0.2251)
 # KEYFRAME 26
0.06671041999652516
Frame 42
tensor(0.1858)
 # KEYFRAME 27
0.06797488599841017
Frame 43
tensor(0.0799)
Frame 44
tensor(0.1418)
 # KEYFRAME 28
0.06877410300512565
Frame 45
tensor(0.0385)
Frame 46
tensor(0.1120)
 # KEYFRAME 29
0.06988108900259249
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 47
tensor(0.1317)
 # KEYFRAME 30
0.06616124200081686
Frame 48
tensor(0.1997)
 # KEYFRAME 31
0.06731517799926223
Frame 49
tensor(0.1633)
 # KEYFRAME 32
0.06822927499888465
Frame 50
tensor(0.1102)
 # KEYFRAME 33
0.06892566300666658
Frame 51
tensor(0.4456)
 # KEYFRAME 34
0.0699224990021321
Frame 52
tensor(0.2264)
 # KEYFRAME 35
0.07062529699760489
Frame 53
tensor(0.3250)
 # KEYFRAME 36
0.07160133300203597
Frame 54
tensor(0.0396)
Frame 55
tensor(0.0611)
Frame 56
tensor(0.1004)
 # KEYFRAME 37
0.07245953999517951
Frame 57
tensor(0.0702)
Frame 58
tensor(0.1208)
 # KEYFRAME 38
0.07331881699792575
Frame 59
tensor(0.0967)
Frame 60
tensor(0.2057)
 # KEYFRAME 39
0.07402384399756556
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1888 loss_distill=0.1733 tta_take=0.009s
Frame 61
tensor(0.0846)
Frame 62
tensor(0.1652)
 # KEYFRAME 40
0.07212929100205656
Frame 63
tensor(0.0431)
Frame 64
tensor(0.0310)
Frame 65
tensor(0.0658)
Frame 66
tensor(0.1170)
 # KEYFRAME 41
0.07460752200131537
Frame 67
tensor(0.0949)
Frame 68
tensor(0.1086)
 # KEYFRAME 42
0.07563760799530428
Frame 69
tensor(0.0973)
Frame 70
tensor(0.1772)
 # KEYFRAME 43
0.07521024900051998
Frame 71
tensor(0.0825)
Frame 72
tensor(0.1323)
 # KEYFRAME 44
0.07585980700241635
Frame 73
tensor(0.0898)
Frame 74
tensor(0.1591)
 # KEYFRAME 45
0.07724930300173583
Frame 75
tensor(0.0510)
Frame 76
tensor(0.1949)
 # KEYFRAME 46
0.07783634999941569
Frame 77
tensor(0.1464)
 # KEYFRAME 47
0.07821260899800109
Frame 78
tensor(0.1693)
 # KEYFRAME 48
0.07914579600037541
Frame 79
tensor(0.1147)
 # KEYFRAME 49
0.0807037999984459
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=1889 loss_distill=0.2747 tta_take=0.009s
Frame 80
tensor(0.1267)
 # KEYFRAME 50
0.07892374600487528
Frame 81
tensor(0.0835)
Frame 82
tensor(0.1229)
 # KEYFRAME 51
0.0816210070042871
Frame 83
tensor(0.0623)
Frame 84
tensor(0.0906)
Frame 85
tensor(0.1563)
 # KEYFRAME 52
0.08148018700012472
Frame 86
tensor(0.0717)
Frame 87
tensor(0.1124)
 # KEYFRAME 53
0.08353621000424027
Frame 88
tensor(0.0958)
Frame 89
tensor(0.1897)
 # KEYFRAME 54
0.08385249899583869
Frame 90
tensor(0.0707)
Frame 91
tensor(0.1314)
 # KEYFRAME 55
0.08454512600292219
Frame 92
tensor(0.0581)
Frame 93
tensor(0.1436)
 # KEYFRAME 56
0.08485222500166856
Frame 94
tensor(0.0721)
Frame 95
tensor(0.1191)
 # KEYFRAME 57
0.08611635099805426
Frame 96
tensor(0.1942)
 # KEYFRAME 58
0.08653733900428051
Frame 97
tensor(0.0524)
Frame 98
tensor(0.1639)
 # KEYFRAME 59
0.08769281500281068
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1890 loss_distill=0.3466 tta_take=0.009s
Frame 99
tensor(0.0748)
Frame 100
tensor(0.1190)
 # KEYFRAME 60
0.08601321099558845
Frame 101
tensor(0.1111)
 # KEYFRAME 61
0.08846514200558886
Frame 102
tensor(0.1197)
 # KEYFRAME 62
0.08862770199630177
Frame 103
tensor(0.1102)
 # KEYFRAME 63
0.08961550799722318
Frame 104
tensor(0.0705)
Frame 105
tensor(0.1445)
 # KEYFRAME 64
0.08998162699572276
Frame 106
tensor(0.1869)
 # KEYFRAME 65
0.09098534299846506
Frame 107
tensor(0.0742)
Frame 108
tensor(0.1482)
 # KEYFRAME 66
0.09168332000263035
Frame 109
tensor(0.0966)
Frame 110
tensor(0.2011)
 # KEYFRAME 67
0.09246303800318856
Frame 111
tensor(0.0682)
Frame 112
tensor(0.1511)
 # KEYFRAME 68
0.09381250300066313
Frame 113
tensor(0.0586)
Frame 114
tensor(0.1470)
 # KEYFRAME 69
0.09419796199654229
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1891 loss_distill=0.4024 tta_take=0.009s
Frame 115
tensor(0.0968)
Frame 116
tensor(0.1461)
 # KEYFRAME 70
0.09274222599924542
Frame 117
tensor(0.0898)
Frame 118
tensor(0.1517)
 # KEYFRAME 71
0.09623603399813874
Frame 119
tensor(0.0875)
Frame 120
tensor(0.1658)
 # KEYFRAME 72
0.0954407769968384
Frame 121
tensor(0.0337)
Frame 122
tensor(0.1057)
 # KEYFRAME 73
0.0954961569950683
Frame 123
tensor(0.1048)
 # KEYFRAME 74
0.09697364200110314
Frame 124
tensor(0.0668)
Frame 125
tensor(0.0959)
Frame 126
tensor(0.1167)
 # KEYFRAME 75
0.09793200800049817
Frame 127
tensor(0.0590)
Frame 128
tensor(0.4487)
 # KEYFRAME 76
0.09821205700427527
Frame 129
tensor(0.1592)
 # KEYFRAME 77
0.09852307599794585
Frame 130
tensor(0.0617)
Frame 131
tensor(0.1891)
 # KEYFRAME 78
0.09983612100040773
Frame 132
tensor(0.3168)
 # KEYFRAME 79
0.09948728200106416
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1892 loss_distill=0.4024 tta_take=0.009s
Frame 133
tensor(0.2925)
 # KEYFRAME 80
0.0935145539988298
Frame 134
tensor(0.6352)
 # KEYFRAME 81
0.09600509500160115
Frame 135
tensor(0.3241)
 # KEYFRAME 82
0.09548454699688591
Frame 136
tensor(0.0869)
Frame 137
tensor(0.2368)
 # KEYFRAME 83
0.09698620199924335
Frame 138
tensor(0.1110)
 # KEYFRAME 84
0.0975213400015491
Frame 139
tensor(0.0585)
Backending... 85 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 67665, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1893 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 285/556] scannetpp/5d152fab1b/frame frames=140 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=1893 time=38.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0385)
Frame 2
tensor(0.0514)
Frame 3
tensor(0.0747)
Frame 4
tensor(0.0850)
Frame 5
tensor(0.1162)
 # KEYFRAME 1
Frame 6
tensor(0.0405)
Frame 7
tensor(0.0695)
Frame 8
tensor(0.1002)
 # KEYFRAME 2
0.051455435997922905
Frame 9
tensor(0.0228)
Frame 10
tensor(0.0651)
Frame 11
tensor(0.0931)
Frame 12
tensor(0.1421)
 # KEYFRAME 3
0.05192872400220949
Frame 13
tensor(0.0699)
Frame 14
tensor(0.0713)
Frame 15
tensor(0.0949)
Frame 16
tensor(0.1212)
 # KEYFRAME 4
0.053907246998278424
Frame 17
tensor(0.1699)
 # KEYFRAME 5
0.05430559499654919
Frame 18
tensor(0.0774)
Frame 19
tensor(0.0955)
Frame 20
tensor(0.1147)
 # KEYFRAME 6
0.055241711997950915
Frame 21
tensor(0.0119)
Frame 22
tensor(0.0330)
Frame 23
tensor(0.0412)
Frame 24
tensor(0.0524)
Frame 25
tensor(0.0600)
Frame 26
tensor(0.0653)
Frame 27
tensor(0.0740)
Frame 28
tensor(0.0736)
Frame 29
tensor(0.0892)
Frame 30
tensor(0.1916)
 # KEYFRAME 7
0.05608375900192186
Frame 31
tensor(0.0307)
Frame 32
tensor(0.0627)
Frame 33
tensor(0.0745)
Frame 34
tensor(0.0954)
Frame 35
tensor(0.0995)
Frame 36
tensor(0.1175)
 # KEYFRAME 8
0.057487924001179636
Frame 37
tensor(0.0182)
Frame 38
tensor(0.0331)
Frame 39
tensor(0.0451)
Frame 40
tensor(0.0498)
Frame 41
tensor(0.0760)
Frame 42
tensor(0.0886)
Frame 43
tensor(0.0938)
Frame 44
tensor(0.1974)
 # KEYFRAME 9
0.05772225300461287
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 45
tensor(0.0152)
Frame 46
tensor(0.0337)
Frame 47
tensor(0.0434)
Frame 48
tensor(0.0698)
Frame 49
tensor(0.1484)
 # KEYFRAME 10
0.05152245499630226
Frame 50
tensor(0.0153)
Frame 51
tensor(0.0286)
Frame 52
tensor(0.0546)
Frame 53
tensor(0.0753)
Frame 54
tensor(0.0953)
Frame 55
tensor(0.2462)
 # KEYFRAME 11
0.052746711000509094
Frame 56
tensor(0.0155)
Frame 57
tensor(0.0345)
Frame 58
tensor(0.0530)
Frame 59
tensor(0.0609)
Frame 60
tensor(0.3023)
 # KEYFRAME 12
0.053776217995618936
Frame 61
tensor(0.0414)
Frame 62
tensor(0.0804)
Frame 63
tensor(0.1039)
 # KEYFRAME 13
0.055760190000000875
Frame 64
tensor(0.0122)
Frame 65
tensor(0.4636)
 # KEYFRAME 14
0.055394041002728045
Frame 66
tensor(0.0421)
Frame 67
tensor(0.0665)
Frame 68
tensor(0.0947)
Frame 69
tensor(0.1678)
 # KEYFRAME 15
0.05538232099934248
Frame 70
tensor(0.0445)
Frame 71
tensor(0.0563)
Frame 72
tensor(0.0594)
Frame 73
tensor(0.0668)
Frame 74
tensor(0.0733)
Frame 75
tensor(0.0701)
Frame 76
tensor(0.0801)
Frame 77
tensor(0.0786)
Frame 78
tensor(0.3185)
 # KEYFRAME 16
0.0561876290012151
Frame 79
tensor(0.0258)
Frame 80
tensor(0.0862)
Frame 81
tensor(0.1011)
 # KEYFRAME 17
0.05694168600166449
Frame 82
tensor(0.0232)
Frame 83
tensor(0.0334)
Frame 84
tensor(0.0533)
Frame 85
tensor(0.3620)
 # KEYFRAME 18
0.057466222999210004
Frame 86
tensor(0.0258)
Frame 87
tensor(0.3087)
 # KEYFRAME 19
0.05833503999747336
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 88
tensor(0.0522)
Frame 89
tensor(0.1125)
 # KEYFRAME 20
0.054047265999543015
Frame 90
tensor(0.0744)
Frame 91
tensor(0.0858)
Frame 92
tensor(0.0949)
Frame 93
tensor(0.1082)
 # KEYFRAME 21
0.05511735199979739
Frame 94
tensor(0.0863)
Frame 95
tensor(0.1201)
 # KEYFRAME 22
0.055495930995675735
Frame 96
tensor(0.0888)
Frame 97
tensor(0.2500)
 # KEYFRAME 23
0.056066999000904616
Frame 98
tensor(0.0408)
Frame 99
tensor(0.0913)
Frame 100
tensor(0.1289)
 # KEYFRAME 24
0.0563098179991357
Frame 101
tensor(0.0400)
Frame 102
tensor(0.0844)
Frame 103
tensor(0.1316)
 # KEYFRAME 25
0.057197274996724445
Frame 104
tensor(0.0496)
Frame 105
tensor(0.0846)
Frame 106
tensor(0.3507)
 # KEYFRAME 26
0.05851906000316376
Frame 107
tensor(0.0163)
Frame 108
tensor(0.0508)
Frame 109
tensor(0.1113)
 # KEYFRAME 27
0.059511487001145724
Frame 110
tensor(0.0499)
Frame 111
tensor(0.0834)
Frame 112
tensor(0.1301)
 # KEYFRAME 28
0.06021091400180012
Frame 113
tensor(0.0958)
Frame 114
tensor(0.1414)
 # KEYFRAME 29
0.060883211001055315
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 115
tensor(0.0466)
Frame 116
tensor(0.1613)
 # KEYFRAME 30
0.05843740999989677
Frame 117
tensor(0.0612)
Frame 118
tensor(0.1130)
 # KEYFRAME 31
0.0601443539999309
Frame 119
tensor(0.0562)
Frame 120
tensor(0.1292)
 # KEYFRAME 32
0.05971632600267185
Frame 121
tensor(0.0473)
Frame 122
tensor(0.0742)
Frame 123
tensor(0.1262)
 # KEYFRAME 33
0.060805371998867486
Frame 124
tensor(0.0568)
Frame 125
tensor(0.8494)
 # KEYFRAME 34
0.06146441899909405
Frame 126
tensor(0.0618)
Frame 127
tensor(0.1206)
 # KEYFRAME 35
0.06160145899775671
Frame 128
tensor(0.0747)
Frame 129
tensor(0.6251)
 # KEYFRAME 36
0.061711508002190385
Frame 130
tensor(0.2130)
 # KEYFRAME 37
0.06287301399424905
Frame 131
tensor(0.0154)
Frame 132
tensor(0.0701)
Frame 133
tensor(0.3647)
 # KEYFRAME 38
0.06361483199725626
Frame 134
tensor(0.0554)
Frame 135
tensor(0.1357)
 # KEYFRAME 39
0.06405680999887409
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1894 loss_distill=0.1733 tta_take=0.008s
Frame 136
tensor(0.0268)
Frame 137
tensor(0.0722)
Frame 138
tensor(0.1236)
 # KEYFRAME 40
0.062599245000456
Frame 139
tensor(0.0222)
Frame 140
tensor(0.0654)
Frame 141
tensor(0.0933)
Frame 142
tensor(0.2581)
 # KEYFRAME 41
0.06455159799952526
Frame 143
tensor(0.4651)
 # KEYFRAME 42
0.06470483799785143
Frame 144
tensor(0.0230)
Frame 145
tensor(0.0433)
Frame 146
tensor(0.0528)
Frame 147
tensor(0.0742)
Frame 148
tensor(0.1201)
 # KEYFRAME 43
0.0641516399991815
Frame 149
tensor(0.0886)
Backending... 44 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 40920, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1895 loss_distill=0.2747 tta_take=0.004s
[epoch 0 scene 286/556] scannetpp/3c95c89d61/DSC frames=150 tta_steps_this_scene=2 mean_loss=0.2240 total_steps=1895 time=22.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0167)
Frame 2
tensor(0.0317)
Frame 3
tensor(0.0560)
Frame 4
tensor(0.0678)
Frame 5
tensor(0.0945)
Frame 6
tensor(0.1251)
 # KEYFRAME 1
Frame 7
tensor(0.0346)
Frame 8
tensor(0.0942)
Frame 9
tensor(0.1624)
 # KEYFRAME 2
0.05158579499402549
Frame 10
tensor(0.0449)
Frame 11
tensor(0.1584)
 # KEYFRAME 3
0.05269744100223761
Frame 12
tensor(0.0358)
Frame 13
tensor(0.0143)
Frame 14
tensor(0.0357)
Frame 15
tensor(0.1066)
 # KEYFRAME 4
0.05355383800633717
Frame 16
tensor(0.0515)
Frame 17
tensor(0.0791)
Frame 18
tensor(0.0743)
Frame 19
tensor(0.0646)
Frame 20
tensor(0.0753)
Frame 21
tensor(0.2640)
 # KEYFRAME 5
0.0546027239979594
Frame 22
tensor(0.1388)
 # KEYFRAME 6
0.055505960997834336
Frame 23
tensor(0.1566)
 # KEYFRAME 7
0.05619074899732368
Frame 24
tensor(0.1340)
 # KEYFRAME 8
0.05711838499701116
Frame 25
tensor(0.0822)
Frame 26
tensor(0.1584)
 # KEYFRAME 9
0.05798898200009717
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 27
tensor(0.0867)
Frame 28
tensor(0.1456)
 # KEYFRAME 10
0.05176096400100505
Frame 29
tensor(0.1675)
 # KEYFRAME 11
0.05306072999519529
Frame 30
tensor(0.1785)
 # KEYFRAME 12
0.05433857499883743
Frame 31
tensor(0.1362)
 # KEYFRAME 13
0.054850863001774997
Frame 32
tensor(0.1151)
 # KEYFRAME 14
0.05482118299551075
Frame 33
tensor(0.2107)
 # KEYFRAME 15
0.05455542499839794
Frame 34
tensor(0.0866)
Frame 35
tensor(0.1558)
 # KEYFRAME 16
0.055838519998360425
Frame 36
tensor(0.1306)
 # KEYFRAME 17
0.05630020799435442
Frame 37
tensor(0.0636)
Frame 38
tensor(0.5878)
 # KEYFRAME 18
0.05740714399871649
Frame 39
tensor(0.1520)
 # KEYFRAME 19
0.05797593199531548
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 40
tensor(0.0907)
Frame 41
tensor(0.1647)
 # KEYFRAME 20
0.05422154600091744
Frame 42
tensor(0.1332)
 # KEYFRAME 21
0.05501599299896043
Frame 43
tensor(0.0911)
Frame 44
tensor(0.1574)
 # KEYFRAME 22
0.05587304900109302
Frame 45
tensor(0.0541)
Frame 46
tensor(0.1137)
 # KEYFRAME 23
0.05645685699710157
Frame 47
tensor(0.0532)
Frame 48
tensor(0.0846)
Frame 49
tensor(0.1230)
 # KEYFRAME 24
0.05686957599391462
Frame 50
tensor(0.0338)
Frame 51
tensor(0.0665)
Frame 52
tensor(0.0819)
Frame 53
tensor(0.1080)
 # KEYFRAME 25
0.05756267299875617
Frame 54
tensor(0.4935)
 # KEYFRAME 26
0.05875825000111945
Frame 55
tensor(0.0559)
Frame 56
tensor(0.1223)
 # KEYFRAME 27
0.059665275999577716
Frame 57
tensor(0.0555)
Frame 58
tensor(0.1035)
 # KEYFRAME 28
0.06022161399596371
Frame 59
tensor(0.0342)
Frame 60
tensor(0.5760)
 # KEYFRAME 29
0.061356269994575996
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 61
tensor(0.0423)
Frame 62
tensor(0.3044)
 # KEYFRAME 30
0.0584311999991769
Frame 63
tensor(0.0395)
Frame 64
tensor(0.0742)
Frame 65
tensor(0.1346)
 # KEYFRAME 31
0.06007281399797648
Frame 66
tensor(0.0544)
Frame 67
tensor(0.1191)
 # KEYFRAME 32
0.0602561439955025
Frame 68
tensor(0.0632)
Frame 69
tensor(0.1094)
 # KEYFRAME 33
0.061640997999347746
Frame 70
tensor(0.0506)
Frame 71
tensor(0.0718)
Frame 72
tensor(0.0963)
Frame 73
tensor(0.0930)
Frame 74
tensor(0.0729)
Frame 75
tensor(0.0933)
Frame 76
tensor(0.1383)
 # KEYFRAME 34
0.0627397150019533
Frame 77
tensor(0.0338)
Frame 78
tensor(0.0897)
Frame 79
tensor(0.2264)
 # KEYFRAME 35
0.06387379100488033
Frame 80
tensor(0.0697)
Frame 81
tensor(0.3251)
 # KEYFRAME 36
0.06480072699923767
Frame 82
tensor(0.1215)
 # KEYFRAME 37
0.06596744399575982
Frame 83
tensor(0.0696)
Frame 84
tensor(0.1474)
 # KEYFRAME 38
0.06604011300078128
Frame 85
tensor(0.0339)
Frame 86
tensor(0.0322)
Frame 87
tensor(0.0491)
Frame 88
tensor(0.1258)
 # KEYFRAME 39
0.06640253200021107
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1896 loss_distill=0.1733 tta_take=0.008s
Frame 89
tensor(0.0573)
Frame 90
tensor(0.1024)
 # KEYFRAME 40
0.06288207400211832
Frame 91
tensor(0.0735)
Frame 92
tensor(0.2466)
 # KEYFRAME 41
0.06425590900471434
Frame 93
tensor(0.0385)
Frame 94
tensor(0.0867)
Frame 95
tensor(0.1088)
 # KEYFRAME 42
0.06460197800333844
Frame 96
tensor(0.0596)
Frame 97
tensor(0.1227)
 # KEYFRAME 43
0.06454846799897496
Frame 98
tensor(0.0610)
Frame 99
tensor(0.1440)
 # KEYFRAME 44
0.06630096300068544
Frame 100
tensor(0.0514)
Frame 101
tensor(0.1126)
 # KEYFRAME 45
0.0669922199958819
Frame 102
tensor(0.5895)
 # KEYFRAME 46
0.06797798600018723
Frame 103
tensor(0.0232)
Frame 104
tensor(0.0575)
Frame 105
tensor(0.0859)
Frame 106
tensor(0.1040)
 # KEYFRAME 47
0.06911379200028023
Frame 107
tensor(0.0290)
Frame 108
tensor(0.0639)
Frame 109
tensor(0.0921)
Frame 110
tensor(0.1016)
 # KEYFRAME 48
0.06998524899972836
Frame 111
tensor(0.0466)
Frame 112
tensor(0.0975)
Frame 113
tensor(0.1611)
 # KEYFRAME 49
0.07133534400054486
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=1897 loss_distill=0.2747 tta_take=0.008s
Frame 114
tensor(0.3618)
 # KEYFRAME 50
0.06671038000058616
Frame 115
tensor(0.0500)
Frame 116
tensor(0.0971)
Frame 117
tensor(0.1270)
 # KEYFRAME 51
0.06886966299498454
Frame 118
tensor(0.0319)
Frame 119
tensor(0.0688)
Frame 120
tensor(0.1750)
 # KEYFRAME 52
0.0693443810014287
Frame 121
tensor(0.1089)
 # KEYFRAME 53
0.07000373899791157
Frame 122
tensor(0.0598)
Frame 123
tensor(0.1180)
 # KEYFRAME 54
0.06961204999970505
Frame 124
tensor(0.0433)
Frame 125
tensor(0.2509)
 # KEYFRAME 55
0.07157615300093312
Frame 126
tensor(0.0936)
Frame 127
tensor(0.7325)
 # KEYFRAME 56
0.07269580000138376
Frame 128
tensor(0.0263)
Frame 129
tensor(0.0329)
Frame 130
tensor(0.8100)
 # KEYFRAME 57
0.07356770600017626
Frame 131
tensor(0.0502)
Frame 132
tensor(0.1415)
 # KEYFRAME 58
0.07442871300008846
Frame 133
tensor(0.0893)
Frame 134
tensor(0.1410)
 # KEYFRAME 59
0.07500744100252632
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1898 loss_distill=0.3466 tta_take=0.008s
Frame 135
tensor(0.1013)
 # KEYFRAME 60
0.07132878400443587
Frame 136
tensor(0.0496)
Frame 137
tensor(0.2700)
 # KEYFRAME 61
0.07267237999622012
Frame 138
tensor(0.0618)
Frame 139
tensor(0.1166)
 # KEYFRAME 62
0.07307976800075267
Frame 140
tensor(0.0948)
Frame 141
tensor(0.1554)
 # KEYFRAME 63
0.13893548100168118
Frame 142
tensor(0.5438)
 # KEYFRAME 64
0.11475390800478635
Frame 143
tensor(0.0211)
Frame 144
tensor(0.0442)
Frame 145
tensor(0.4042)
 # KEYFRAME 65
0.12808713100093883
Frame 146
tensor(0.0275)
Frame 147
tensor(0.0770)
Frame 148
tensor(0.0685)
Frame 149
tensor(0.0559)
Backending... 66 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 61380, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1899 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 287/556] scannetpp/c47168fab2/DSC frames=150 tta_steps_this_scene=4 mean_loss=0.2992 total_steps=1899 time=33.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0413)
Frame 2
tensor(0.0956)
Frame 3
tensor(0.1362)
 # KEYFRAME 1
Frame 4
tensor(0.0689)
Frame 5
tensor(0.1168)
 # KEYFRAME 2
0.05204948299797252
Frame 6
tensor(0.0698)
Frame 7
tensor(0.1305)
 # KEYFRAME 3
0.05339259899483295
Frame 8
tensor(0.0439)
Frame 9
tensor(0.1115)
 # KEYFRAME 4
0.05393175600329414
Frame 10
tensor(0.0726)
Frame 11
tensor(0.1290)
 # KEYFRAME 5
0.05482446400128538
Frame 12
tensor(0.0647)
Frame 13
tensor(0.1070)
 # KEYFRAME 6
0.05608513799961656
Frame 14
tensor(0.0748)
Frame 15
tensor(0.1091)
 # KEYFRAME 7
0.05656608699791832
Frame 16
tensor(0.0707)
Frame 17
tensor(0.1007)
 # KEYFRAME 8
0.05759815299825277
Frame 18
tensor(0.0517)
Frame 19
tensor(0.0927)
Frame 20
tensor(0.1229)
 # KEYFRAME 9
0.05823372099985136
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.1093)
 # KEYFRAME 10
0.05186676399898715
Frame 22
tensor(0.0326)
Frame 23
tensor(0.2371)
 # KEYFRAME 11
0.052721061001648195
Frame 24
tensor(0.0358)
Frame 25
tensor(0.0723)
Frame 26
tensor(0.1324)
 # KEYFRAME 12
0.05368490699765971
Frame 27
tensor(0.0485)
Frame 28
tensor(0.1304)
 # KEYFRAME 13
0.05506733299989719
Frame 29
tensor(0.0877)
Frame 30
tensor(0.0692)
Frame 31
tensor(0.1195)
 # KEYFRAME 14
0.054924903000937775
Frame 32
tensor(0.0476)
Frame 33
tensor(0.1193)
 # KEYFRAME 15
0.05495929299650015
Frame 34
tensor(0.2866)
 # KEYFRAME 16
0.05587907900189748
Frame 35
tensor(0.0813)
Frame 36
tensor(0.2353)
 # KEYFRAME 17
0.05677233599999454
Frame 37
tensor(0.1147)
 # KEYFRAME 18
0.05740661400341196
Frame 38
tensor(0.1221)
 # KEYFRAME 19
0.05845444000442512
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 39
tensor(0.0758)
Frame 40
tensor(0.1483)
 # KEYFRAME 20
0.054141375003382564
Frame 41
tensor(0.0443)
Frame 42
tensor(0.1310)
 # KEYFRAME 21
0.0548902829978033
Frame 43
tensor(0.0728)
Frame 44
tensor(0.2191)
 # KEYFRAME 22
0.05557685100211529
Frame 45
tensor(0.0399)
Frame 46
tensor(0.0746)
Frame 47
tensor(0.1357)
 # KEYFRAME 23
0.05598663900309475
Frame 48
tensor(0.0609)
Frame 49
tensor(0.1100)
 # KEYFRAME 24
0.05643113699625246
Frame 50
tensor(0.5800)
 # KEYFRAME 25
0.05683139600296272
Frame 51
tensor(0.0325)
Frame 52
tensor(0.0729)
Frame 53
tensor(0.1029)
 # KEYFRAME 26
0.05781123299675528
Frame 54
tensor(0.3496)
 # KEYFRAME 27
0.05893855799513403
Frame 55
tensor(0.0587)
Frame 56
tensor(0.0746)
Frame 57
tensor(0.1052)
 # KEYFRAME 28
0.05965686600393383
Frame 58
tensor(0.0550)
Frame 59
tensor(0.1352)
 # KEYFRAME 29
0.060338333998515736
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 60
tensor(0.0336)
Frame 61
tensor(0.2389)
 # KEYFRAME 30
0.058511100003670435
Frame 62
tensor(0.1148)
 # KEYFRAME 31
0.05982334599684691
Frame 63
tensor(0.1151)
 # KEYFRAME 32
0.05987074600125197
Frame 64
tensor(0.0777)
Frame 65
tensor(0.1392)
 # KEYFRAME 33
0.06076362300518667
Frame 66
tensor(0.1173)
 # KEYFRAME 34
0.06115615100134164
Frame 67
tensor(0.1132)
 # KEYFRAME 35
0.06165492999571143
Frame 68
tensor(0.1610)
 # KEYFRAME 36
0.06269411499670241
Frame 69
tensor(0.0888)
Frame 70
tensor(0.2129)
 # KEYFRAME 37
0.0635453819995746
Frame 71
tensor(0.0448)
Frame 72
tensor(0.0796)
Frame 73
tensor(0.1739)
 # KEYFRAME 38
0.06369168200035347
Frame 74
tensor(0.0336)
Frame 75
tensor(0.1304)
 # KEYFRAME 39
0.06433787899732124
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1900 loss_distill=0.1733 tta_take=0.008s
Frame 76
tensor(0.0474)
Frame 77
tensor(0.0811)
Frame 78
tensor(0.1308)
 # KEYFRAME 40
0.06263502599904314
Frame 79
tensor(0.4601)
 # KEYFRAME 41
0.06470164799975464
Frame 80
tensor(0.0324)
Frame 81
tensor(0.1024)
 # KEYFRAME 42
0.0645884589976049
Frame 82
tensor(0.0647)
Frame 83
tensor(0.1191)
 # KEYFRAME 43
0.06488139800057979
Frame 84
tensor(0.0639)
Frame 85
tensor(0.1010)
 # KEYFRAME 44
0.06678229099634336
Frame 86
tensor(0.0743)
Frame 87
tensor(0.1525)
 # KEYFRAME 45
0.06748456799687119
Frame 88
tensor(0.0823)
Frame 89
tensor(0.1206)
 # KEYFRAME 46
0.06852204500319203
Frame 90
tensor(0.5554)
 # KEYFRAME 47
0.06903160199726699
Frame 91
tensor(0.1022)
 # KEYFRAME 48
0.06901524199929554
Frame 92
tensor(0.0926)
Frame 93
tensor(0.1658)
 # KEYFRAME 49
0.06970487999933539
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1901 loss_distill=0.2747 tta_take=0.008s
Frame 94
tensor(0.0595)
Frame 95
tensor(0.1856)
 # KEYFRAME 50
0.06677183099964168
Frame 96
tensor(0.0800)
Frame 97
tensor(0.1459)
 # KEYFRAME 51
0.06852016500488389
Frame 98
tensor(0.1038)
 # KEYFRAME 52
0.06807817699882435
Frame 99
tensor(0.1032)
 # KEYFRAME 53
0.0686972639960004
Frame 100
tensor(0.0933)
Frame 101
tensor(0.1997)
 # KEYFRAME 54
0.06921089199749986
Frame 102
tensor(0.0589)
Frame 103
tensor(0.1620)
 # KEYFRAME 55
0.06941715200082399
Frame 104
tensor(0.0851)
Frame 105
tensor(0.1659)
 # KEYFRAME 56
0.07002461900265189
Frame 106
tensor(0.3089)
 # KEYFRAME 57
0.07088089700118871
Frame 107
tensor(0.2289)
 # KEYFRAME 58
0.07131903499976033
Frame 108
tensor(0.0975)
Frame 109
tensor(0.1471)
 # KEYFRAME 59
0.07162976400286425
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1902 loss_distill=0.3466 tta_take=0.008s
Frame 110
tensor(0.0787)
Frame 111
tensor(0.1317)
 # KEYFRAME 60
0.07120698499784339
Frame 112
tensor(0.7273)
 # KEYFRAME 61
0.07296038899949053
Frame 113
tensor(0.0711)
Frame 114
tensor(0.1175)
 # KEYFRAME 62
0.07308039799681865
Frame 115
tensor(0.1183)
 # KEYFRAME 63
0.07377200599876232
Frame 116
tensor(0.3988)
 # KEYFRAME 64
0.07390179500362137
Frame 117
tensor(0.0309)
Frame 118
tensor(0.0953)
Frame 119
tensor(0.4609)
 # KEYFRAME 65
0.07367079699906753
Frame 120
tensor(0.0949)
Frame 121
tensor(0.1690)
 # KEYFRAME 66
0.07558188999973936
Frame 122
tensor(0.0866)
Frame 123
tensor(0.1513)
 # KEYFRAME 67
0.07698975399398478
Frame 124
tensor(0.0472)
Frame 125
tensor(0.0887)
Frame 126
tensor(0.1440)
 # KEYFRAME 68
0.07704293500137283
Frame 127
tensor(0.0396)
Frame 128
tensor(0.0585)
Frame 129
tensor(0.1390)
 # KEYFRAME 69
0.07846613899891963
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1903 loss_distill=0.4024 tta_take=0.008s
Frame 130
tensor(0.0756)
Frame 131
tensor(0.1743)
 # KEYFRAME 70
0.07595358799881069
Frame 132
tensor(0.0991)
Frame 133
tensor(0.1771)
 # KEYFRAME 71
0.07837942000332987
Frame 134
tensor(0.0899)
Frame 135
tensor(0.0835)
Frame 136
tensor(0.1323)
 # KEYFRAME 72
0.07774540199898183
Frame 137
tensor(0.0620)
Frame 138
tensor(0.1390)
 # KEYFRAME 73
0.07877672799804714
Frame 139
tensor(0.6556)
 # KEYFRAME 74
0.0798889430006966
Frame 140
tensor(0.0464)
Frame 141
tensor(0.5058)
 # KEYFRAME 75
0.08028252200165298
Frame 142
tensor(0.0279)
Frame 143
tensor(0.1449)
 # KEYFRAME 76
0.07960641499812482
Frame 144
tensor(0.0873)
Frame 145
tensor(0.4285)
 # KEYFRAME 77
0.08160463699459797
Frame 146
tensor(0.0872)
Frame 147
tensor(0.1837)
 # KEYFRAME 78
0.08242847499786876
Frame 148
tensor(0.3799)
 # KEYFRAME 79
0.08245878500019899
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1904 loss_distill=0.4024 tta_take=0.008s
Frame 149
tensor(0.1224)
 # KEYFRAME 80
0.07578996799566085
Backending... 81 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 56730, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1905 loss_distill=0.4024 tta_take=0.002s
[epoch 0 scene 288/556] scannetpp/50809ea0d8/DSC frames=150 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=1905 time=33.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0459)
Frame 2
tensor(0.0918)
Frame 3
tensor(0.1468)
 # KEYFRAME 1
Frame 4
tensor(0.0534)
Frame 5
tensor(0.1067)
 # KEYFRAME 2
0.051969833999464754
Frame 6
tensor(0.0468)
Frame 7
tensor(0.0930)
Frame 8
tensor(0.1381)
 # KEYFRAME 3
0.05242460299632512
Frame 9
tensor(0.0484)
Frame 10
tensor(0.0954)
Frame 11
tensor(0.1380)
 # KEYFRAME 4
0.05255272200156469
Frame 12
tensor(0.0410)
Frame 13
tensor(0.0848)
Frame 14
tensor(0.1222)
 # KEYFRAME 5
0.05270720100088511
Frame 15
tensor(0.0399)
Frame 16
tensor(0.0817)
Frame 17
tensor(0.1225)
 # KEYFRAME 6
0.05310636999638518
Frame 18
tensor(0.0506)
Frame 19
tensor(0.0965)
Frame 20
tensor(0.1371)
 # KEYFRAME 7
0.052682681001897436
Frame 21
tensor(0.0441)
Frame 22
tensor(0.0878)
Frame 23
tensor(0.1291)
 # KEYFRAME 8
0.05361759800143773
Frame 24
tensor(0.0356)
Frame 25
tensor(0.0716)
Frame 26
tensor(0.1095)
 # KEYFRAME 9
0.052651040998171084
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 27
tensor(0.0373)
Frame 28
tensor(0.0716)
Frame 29
tensor(0.1157)
 # KEYFRAME 10
0.05186623400368262
Frame 30
tensor(0.0465)
Frame 31
tensor(0.0830)
Frame 32
tensor(0.1267)
 # KEYFRAME 11
0.05280989099992439
Frame 33
tensor(0.0381)
Frame 34
tensor(0.0840)
Frame 35
tensor(0.1239)
 # KEYFRAME 12
0.05322778900153935
Frame 36
tensor(0.0424)
Frame 37
tensor(0.0838)
Frame 38
tensor(0.1263)
 # KEYFRAME 13
0.052365643001394346
Frame 39
tensor(0.0398)
Frame 40
tensor(0.0754)
Frame 41
tensor(0.1165)
 # KEYFRAME 14
0.054902542993659154
Frame 42
tensor(0.0372)
Frame 43
tensor(0.0796)
Frame 44
tensor(0.1316)
 # KEYFRAME 15
0.05241983199812239
Frame 45
tensor(0.0414)
Frame 46
tensor(0.0831)
Frame 47
tensor(0.1262)
 # KEYFRAME 16
0.0525952120005968
Frame 48
tensor(0.0414)
Frame 49
tensor(0.0881)
Frame 50
tensor(0.1220)
 # KEYFRAME 17
0.05590424999536481
Frame 51
tensor(0.0347)
Frame 52
tensor(0.0678)
Frame 53
tensor(0.1108)
 # KEYFRAME 18
0.05290563999733422
Frame 54
tensor(0.0379)
Frame 55
tensor(0.0864)
Frame 56
tensor(0.1246)
 # KEYFRAME 19
0.056555627001216635
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 57
tensor(0.0431)
Frame 58
tensor(0.0903)
Frame 59
tensor(0.1389)
 # KEYFRAME 20
0.052088423995883204
Frame 60
tensor(0.0476)
Frame 61
tensor(0.0973)
Frame 62
tensor(0.1467)
 # KEYFRAME 21
0.052246403000026476
Frame 63
tensor(0.0447)
Frame 64
tensor(0.0979)
Frame 65
tensor(0.1571)
 # KEYFRAME 22
0.05319387999770697
Frame 66
tensor(0.0476)
Frame 67
tensor(0.0958)
Frame 68
tensor(0.1398)
 # KEYFRAME 23
0.05231362299673492
Frame 69
tensor(0.0392)
Frame 70
tensor(0.0831)
Frame 71
tensor(0.1373)
 # KEYFRAME 24
0.05392703699908452
Frame 72
tensor(0.0407)
Frame 73
tensor(0.0863)
Frame 74
tensor(0.1285)
 # KEYFRAME 25
0.05300568999518873
Frame 75
tensor(0.0415)
Frame 76
tensor(0.0937)
Frame 77
tensor(0.1301)
 # KEYFRAME 26
0.05292116999771679
Frame 78
tensor(0.0460)
Frame 79
tensor(0.0920)
Frame 80
tensor(0.1330)
 # KEYFRAME 27
0.05566026100132149
Frame 81
tensor(0.0454)
Frame 82
tensor(0.1073)
 # KEYFRAME 28
0.052810340996074956
Frame 83
tensor(0.0420)
Frame 84
tensor(0.0849)
Frame 85
tensor(0.1302)
 # KEYFRAME 29
0.056129348995455075
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 86
tensor(0.0430)
Frame 87
tensor(0.0914)
Frame 88
tensor(0.1364)
 # KEYFRAME 30
0.052813590998994187
Frame 89
tensor(0.0439)
Frame 90
tensor(0.0956)
Frame 91
tensor(0.1379)
 # KEYFRAME 31
0.05263398099486949
Frame 92
tensor(0.0368)
Frame 93
tensor(0.0832)
Frame 94
tensor(0.1223)
 # KEYFRAME 32
0.05361566800274886
Frame 95
tensor(0.0368)
Frame 96
tensor(0.0778)
Frame 97
tensor(0.1171)
 # KEYFRAME 33
0.05252329200448003
Frame 98
tensor(0.0352)
Frame 99
tensor(0.0831)
Frame 100
tensor(0.1329)
 # KEYFRAME 34
0.053812026999366935
Frame 101
tensor(0.0362)
Frame 102
tensor(0.0849)
Frame 103
tensor(0.1333)
 # KEYFRAME 35
0.05229301300278166
Frame 104
tensor(0.0412)
Frame 105
tensor(0.0900)
Frame 106
tensor(0.1312)
 # KEYFRAME 36
0.05277931100135902
Frame 107
tensor(0.0403)
Frame 108
tensor(0.0893)
Frame 109
tensor(0.1292)
 # KEYFRAME 37
0.05398409700137563
Frame 110
tensor(0.0416)
Frame 111
tensor(0.0906)
Frame 112
tensor(0.1288)
 # KEYFRAME 38
0.05290249999961816
Frame 113
tensor(0.0398)
Frame 114
tensor(0.0850)
Frame 115
tensor(0.1299)
 # KEYFRAME 39
0.05443320499762194
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1906 loss_distill=0.1733 tta_take=0.005s
Frame 116
tensor(0.0505)
Frame 117
tensor(0.0955)
Frame 118
tensor(0.1379)
 # KEYFRAME 40
0.052350223006214947
Frame 119
tensor(0.0482)
Frame 120
tensor(0.1015)
 # KEYFRAME 41
0.052925049996702
Frame 121
tensor(0.0452)
Frame 122
tensor(0.0929)
Frame 123
tensor(0.1277)
 # KEYFRAME 42
0.053412568995554466
Frame 124
tensor(0.0393)
Frame 125
tensor(0.0945)
Frame 126
tensor(0.1378)
 # KEYFRAME 43
0.052225822997570504
Frame 127
tensor(0.0417)
Frame 128
tensor(0.0885)
Frame 129
tensor(0.1350)
 # KEYFRAME 44
0.053468368998437654
Frame 130
tensor(0.0409)
Frame 131
tensor(0.0890)
Frame 132
tensor(0.1314)
 # KEYFRAME 45
0.05245038199791452
Frame 133
tensor(0.0390)
Frame 134
tensor(0.0846)
Frame 135
tensor(0.1286)
 # KEYFRAME 46
0.05268270200031111
Frame 136
tensor(0.0442)
Frame 137
tensor(0.0883)
Frame 138
tensor(0.1348)
 # KEYFRAME 47
0.05386694699700456
Frame 139
tensor(0.0487)
Frame 140
tensor(0.0938)
Frame 141
tensor(0.1362)
 # KEYFRAME 48
0.05324658899917267
Frame 142
tensor(0.0426)
Frame 143
tensor(0.0790)
Frame 144
tensor(0.1217)
 # KEYFRAME 49
0.05489795299945399
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1907 loss_distill=0.2747 tta_take=0.005s
Frame 145
tensor(0.0391)
Frame 146
tensor(0.0778)
Frame 147
tensor(0.1178)
 # KEYFRAME 50
0.05249074199673487
Frame 148
tensor(0.0407)
Frame 149
tensor(0.0808)
Frame 150
tensor(0.1230)
 # KEYFRAME 51
0.05276096099987626
Frame 151
tensor(0.0343)
Frame 152
tensor(0.0686)
Frame 153
tensor(0.1071)
 # KEYFRAME 52
0.054119756001455244
Frame 154
tensor(0.0289)
Frame 155
tensor(0.0619)
Frame 156
tensor(0.0984)
Frame 157
tensor(0.1338)
 # KEYFRAME 53
0.05247574200620875
Frame 158
tensor(0.0295)
Frame 159
tensor(0.0644)
Frame 160
tensor(0.0944)
Frame 161
tensor(0.1159)
 # KEYFRAME 54
0.05428642600600142
Frame 162
tensor(0.0296)
Frame 163
tensor(0.0557)
Frame 164
tensor(0.0839)
Frame 165
tensor(0.1123)
 # KEYFRAME 55
0.05314535900106421
Frame 166
tensor(0.0291)
Frame 167
tensor(0.0561)
Frame 168
tensor(0.0815)
Frame 169
tensor(0.1009)
 # KEYFRAME 56
0.0533023790048901
Frame 170
tensor(0.0222)
Frame 171
tensor(0.0402)
Frame 172
tensor(0.0608)
Frame 173
tensor(0.0831)
Frame 174
tensor(0.1004)
 # KEYFRAME 57
0.054811203001008835
Frame 175
tensor(0.0186)
Frame 176
tensor(0.0401)
Frame 177
tensor(0.0553)
Frame 178
tensor(0.0707)
Frame 179
tensor(0.0868)
Frame 180
tensor(0.0979)
Frame 181
tensor(0.1116)
 # KEYFRAME 58
0.05256359199847793
Frame 182
tensor(0.0138)
Frame 183
tensor(0.0228)
Frame 184
tensor(0.0350)
Frame 185
tensor(0.0460)
Frame 186
tensor(0.0539)
Frame 187
tensor(0.0645)
Frame 188
tensor(0.0739)
Frame 189
tensor(0.0834)
Frame 190
tensor(0.0906)
Frame 191
tensor(0.0990)
Frame 192
tensor(0.0988)
Frame 193
tensor(0.1069)
 # KEYFRAME 59
0.05527488200459629
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1908 loss_distill=0.3466 tta_take=0.005s
Frame 194
tensor(0.0047)
Frame 195
tensor(0.0103)
Frame 196
tensor(0.0161)
Frame 197
tensor(0.0227)
Frame 198
tensor(0.0316)
Frame 199
tensor(0.0407)
Frame 200
tensor(0.0461)
Frame 201
tensor(0.0586)
Frame 202
tensor(0.0673)
Frame 203
tensor(0.0778)
Frame 204
tensor(0.0946)
Frame 205
tensor(0.1097)
 # KEYFRAME 60
0.05251830199995311
Frame 206
tensor(0.0130)
Frame 207
tensor(0.0306)
Frame 208
tensor(0.0502)
Frame 209
tensor(0.0670)
Frame 210
tensor(0.0878)
Frame 211
tensor(0.1108)
 # KEYFRAME 61
0.05305012000462739
Frame 212
tensor(0.0194)
Frame 213
tensor(0.0405)
Frame 214
tensor(0.0653)
Frame 215
tensor(0.0891)
Frame 216
tensor(0.1126)
 # KEYFRAME 62
0.05452517500089016
Frame 217
tensor(0.0244)
Frame 218
tensor(0.0522)
Frame 219
tensor(0.0775)
Frame 220
tensor(0.1008)
 # KEYFRAME 63
0.052548271996784024
Frame 221
tensor(0.0241)
Frame 222
tensor(0.0484)
Frame 223
tensor(0.0736)
Frame 224
tensor(0.0995)
Frame 225
tensor(0.1229)
 # KEYFRAME 64
0.054218046003370546
Frame 226
tensor(0.0272)
Frame 227
tensor(0.0533)
Frame 228
tensor(0.0840)
Frame 229
tensor(0.1161)
 # KEYFRAME 65
0.05300319000525633
Frame 230
tensor(0.0306)
Frame 231
tensor(0.0632)
Frame 232
tensor(0.0906)
Frame 233
tensor(0.1160)
 # KEYFRAME 66
0.05346310900495155
Frame 234
tensor(0.0309)
Frame 235
tensor(0.0615)
Frame 236
tensor(0.0902)
Frame 237
tensor(0.1172)
 # KEYFRAME 67
0.05512980299681658
Frame 238
tensor(0.0275)
Frame 239
tensor(0.0534)
Frame 240
tensor(0.0879)
Frame 241
tensor(0.1162)
 # KEYFRAME 68
0.05307876999722794
Frame 242
tensor(0.0293)
Frame 243
tensor(0.0622)
Frame 244
tensor(0.0899)
Frame 245
tensor(0.1211)
 # KEYFRAME 69
0.05544748200190952
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1909 loss_distill=0.4024 tta_take=0.005s
Frame 246
tensor(0.0342)
Frame 247
tensor(0.0662)
Frame 248
tensor(0.0972)
Frame 249
tensor(0.1277)
 # KEYFRAME 70
0.05343507900397526
Frame 250
tensor(0.0279)
Frame 251
tensor(0.0685)
Frame 252
tensor(0.0941)
Frame 253
tensor(0.1298)
 # KEYFRAME 71
0.05426535600417992
Frame 254
tensor(0.0284)
Frame 255
tensor(0.0628)
Frame 256
tensor(0.0977)
Frame 257
tensor(0.1279)
 # KEYFRAME 72
0.05530372200155398
Frame 258
tensor(0.0273)
Frame 259
tensor(0.0640)
Frame 260
tensor(0.0964)
Frame 261
tensor(0.1349)
 # KEYFRAME 73
0.053580758001771756
Frame 262
tensor(0.0367)
Frame 263
tensor(0.0746)
Frame 264
tensor(0.1066)
 # KEYFRAME 74
0.05549462100316305
Frame 265
tensor(0.0360)
Frame 266
tensor(0.0695)
Frame 267
tensor(0.1057)
 # KEYFRAME 75
0.05431865499849664
Frame 268
tensor(0.0436)
Frame 269
tensor(0.0789)
Frame 270
tensor(0.1185)
 # KEYFRAME 76
0.054345535005268175
Frame 271
tensor(0.0366)
Frame 272
tensor(0.0734)
Frame 273
tensor(0.1177)
 # KEYFRAME 77
0.05607664000126533
Frame 274
tensor(0.0375)
Frame 275
tensor(0.0742)
Frame 276
tensor(0.1170)
 # KEYFRAME 78
0.05447482500312617
Frame 277
tensor(0.0413)
Frame 278
tensor(0.0834)
Frame 279
tensor(0.1373)
 # KEYFRAME 79
0.05712473499443149
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1910 loss_distill=0.4024 tta_take=0.005s
Frame 280
tensor(0.0384)
Frame 281
tensor(0.0825)
Frame 282
tensor(0.1230)
 # KEYFRAME 80
0.05433973500475986
Frame 283
tensor(0.0355)
Frame 284
tensor(0.0833)
Frame 285
tensor(0.1200)
 # KEYFRAME 81
0.05336184900079388
Frame 286
tensor(0.0322)
Frame 287
tensor(0.0729)
Frame 288
tensor(0.1074)
 # KEYFRAME 82
0.05380527800298296
Frame 289
tensor(0.0355)
Frame 290
tensor(0.0743)
Frame 291
tensor(0.1128)
 # KEYFRAME 83
0.05330728000262752
Frame 292
tensor(0.0393)
Frame 293
tensor(0.0801)
Frame 294
tensor(0.1201)
 # KEYFRAME 84
0.05454299499979243
Frame 295
tensor(0.0448)
Frame 296
tensor(0.0824)
Frame 297
tensor(0.1207)
 # KEYFRAME 85
0.05360367800312815
Frame 298
tensor(0.0428)
Frame 299
tensor(0.0807)
Backending... 86 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27192, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1911 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 289/556] vkitti/Scene01/30-deg-right/Camera_0 frames=300 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=1911 time=47.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1036)
 # KEYFRAME 1
Frame 2
tensor(0.1037)
 # KEYFRAME 2
0.05152235499554081
Frame 3
tensor(0.1562)
 # KEYFRAME 3
0.05154730500362348
Frame 4
tensor(0.0491)
Frame 5
tensor(0.1614)
 # KEYFRAME 4
0.053434179004398175
Frame 6
tensor(0.1575)
 # KEYFRAME 5
0.0541382759984117
Frame 7
tensor(0.0860)
Frame 8
tensor(0.2844)
 # KEYFRAME 6
0.05570844099565875
Frame 9
tensor(0.2538)
 # KEYFRAME 7
0.05643347799923504
Frame 10
tensor(0.1677)
 # KEYFRAME 8
0.05756571399979293
Frame 11
tensor(0.2816)
 # KEYFRAME 9
0.059016908999183215
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.1867)
 # KEYFRAME 10
0.05145009599800687
Frame 13
tensor(0.1591)
 # KEYFRAME 11
0.051953043999674264
Frame 14
tensor(0.2053)
 # KEYFRAME 12
0.052256132003094535
Frame 15
tensor(0.1109)
 # KEYFRAME 13
0.05466620399965905
Frame 16
tensor(0.3025)
 # KEYFRAME 14
0.0540211370025645
Frame 17
tensor(0.1029)
 # KEYFRAME 15
0.05435932600084925
Frame 18
tensor(0.1440)
 # KEYFRAME 16
0.054610974999377504
Frame 19
tensor(0.1483)
 # KEYFRAME 17
0.05568294999829959
Frame 20
tensor(0.0631)
Frame 21
tensor(0.1875)
 # KEYFRAME 18
0.05650432800030103
Frame 22
tensor(0.0923)
Frame 23
tensor(0.2460)
 # KEYFRAME 19
0.05781939300504746
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 24
tensor(0.1750)
 # KEYFRAME 20
0.0540380370002822
Frame 25
tensor(0.1007)
 # KEYFRAME 21
0.05492454399791313
Frame 26
tensor(0.2484)
 # KEYFRAME 22
0.05524961199989775
Frame 27
tensor(0.2574)
 # KEYFRAME 23
0.05572389099688735
Frame 28
tensor(0.1003)
 # KEYFRAME 24
0.05604550999851199
Frame 29
tensor(0.3338)
 # KEYFRAME 25
0.05657484699622728
Frame 30
tensor(0.2912)
 # KEYFRAME 26
0.05793653299770085
Frame 31
tensor(0.1286)
 # KEYFRAME 27
0.06009603499842342
Frame 32
tensor(0.0660)
Frame 33
tensor(0.2102)
 # KEYFRAME 28
0.05962364700098988
Frame 34
tensor(0.5169)
 # KEYFRAME 29
0.06032670399872586
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 35
tensor(0.2291)
 # KEYFRAME 30
0.05816244199377252
Frame 36
tensor(0.0459)
Frame 37
tensor(0.1744)
 # KEYFRAME 31
0.05960317599965492
Frame 38
tensor(0.0976)
Frame 39
tensor(0.2065)
 # KEYFRAME 32
0.05990930600091815
Frame 40
tensor(0.1185)
 # KEYFRAME 33
0.06067427300149575
Frame 41
tensor(0.0160)
Frame 42
tensor(0.0628)
Frame 43
tensor(0.2312)
 # KEYFRAME 34
0.060805492001236416
Frame 44
tensor(0.1991)
 # KEYFRAME 35
0.061351681004452985
Frame 45
tensor(0.3608)
 # KEYFRAME 36
0.06180447900260333
Frame 46
tensor(0.1309)
 # KEYFRAME 37
0.06233483699907083
Frame 47
tensor(0.1959)
 # KEYFRAME 38
0.0631874040045659
Frame 48
tensor(0.1473)
 # KEYFRAME 39
0.06355472200084478
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1912 loss_distill=0.1733 tta_take=0.008s
Frame 49
tensor(0.0623)
Frame 50
tensor(0.1312)
 # KEYFRAME 40
0.06273832500301069
Frame 51
tensor(0.1497)
 # KEYFRAME 41
0.06426237999403384
Frame 52
tensor(0.0491)
Frame 53
tensor(0.2120)
 # KEYFRAME 42
0.06489235800108872
Frame 54
tensor(0.0694)
Frame 55
tensor(0.1714)
 # KEYFRAME 43
0.06463759900361765
Frame 56
tensor(0.1419)
 # KEYFRAME 44
0.06697862099827034
Frame 57
tensor(0.0657)
Frame 58
tensor(0.1377)
 # KEYFRAME 45
0.06742889899760485
Frame 59
tensor(0.0493)
Frame 60
tensor(0.0966)
Frame 61
tensor(0.3284)
 # KEYFRAME 46
0.06839104599930579
Frame 62
tensor(0.1861)
 # KEYFRAME 47
0.06870787399384426
Frame 63
tensor(0.3159)
 # KEYFRAME 48
0.0692562319964054
Frame 64
tensor(0.2465)
 # KEYFRAME 49
0.06949416099814698
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1913 loss_distill=0.2747 tta_take=0.008s
Frame 65
tensor(0.1337)
 # KEYFRAME 50
0.0670626400024048
Frame 66
tensor(0.1826)
 # KEYFRAME 51
0.06836837499577086
Frame 67
tensor(0.0201)
Frame 68
tensor(0.2345)
 # KEYFRAME 52
0.06899716299813008
Frame 69
tensor(0.0908)
Frame 70
tensor(0.0394)
Frame 71
tensor(0.1862)
 # KEYFRAME 53
0.07016912799736019
Frame 72
tensor(0.1001)
 # KEYFRAME 54
0.06969753099838272
Frame 73
tensor(0.2956)
 # KEYFRAME 55
0.07189496300270548
Frame 74
tensor(0.1953)
 # KEYFRAME 56
0.07266732999414671
Frame 75
tensor(0.1025)
 # KEYFRAME 57
0.07362168600229779
Frame 76
tensor(0.2044)
 # KEYFRAME 58
0.07430633500189288
Frame 77
tensor(0.1619)
 # KEYFRAME 59
0.07569913900078973
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=1914 loss_distill=0.3466 tta_take=0.008s
Frame 78
tensor(0.1415)
 # KEYFRAME 60
0.07122380499640713
Frame 79
tensor(0.2707)
 # KEYFRAME 61
0.07225785199989332
Frame 80
tensor(0.1023)
 # KEYFRAME 62
0.07212664200051222
Frame 81
tensor(0.1108)
 # KEYFRAME 63
0.07263139999849955
Frame 82
tensor(0.1654)
 # KEYFRAME 64
0.07307320800464367
Frame 83
tensor(0.0689)
Frame 84
tensor(0.2725)
 # KEYFRAME 65
0.07385002500086557
Frame 85
tensor(0.0770)
Frame 86
tensor(0.0700)
Frame 87
tensor(0.2111)
 # KEYFRAME 66
0.0739177750001545
Frame 88
tensor(0.1595)
 # KEYFRAME 67
0.07447568399948068
Frame 89
tensor(0.3380)
 # KEYFRAME 68
0.07487568199576344
Frame 90
tensor(0.2777)
 # KEYFRAME 69
0.075423709997267
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1915 loss_distill=0.4024 tta_take=0.008s
Frame 91
tensor(0.1382)
 # KEYFRAME 70
0.07573771899478743
Frame 92
tensor(0.0364)
Frame 93
tensor(0.0988)
Frame 94
tensor(0.3433)
 # KEYFRAME 71
0.07762421200459357
Frame 95
tensor(0.1320)
 # KEYFRAME 72
0.07776974199805409
Frame 96
tensor(0.0639)
Frame 97
tensor(0.0482)
Frame 98
tensor(0.0902)
Frame 99
tensor(0.1476)
 # KEYFRAME 73
0.0778384110017214
Frame 100
tensor(0.1422)
 # KEYFRAME 74
0.07808551999914926
Frame 101
tensor(0.0429)
Frame 102
tensor(0.1320)
 # KEYFRAME 75
0.07912991700140992
Frame 103
tensor(0.1008)
 # KEYFRAME 76
0.07920480699976906
Frame 104
tensor(0.0389)
Frame 105
tensor(0.2122)
 # KEYFRAME 77
0.07971383499534568
Frame 106
tensor(0.1051)
 # KEYFRAME 78
0.08068220100540202
Frame 107
tensor(0.1365)
 # KEYFRAME 79
0.08070529100223212
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1916 loss_distill=0.4024 tta_take=0.008s
Frame 108
tensor(0.0345)
Frame 109
tensor(0.0318)
Frame 110
tensor(0.3442)
 # KEYFRAME 80
0.0754276799998479
Frame 111
tensor(0.2363)
 # KEYFRAME 81
0.07700154499616474
Frame 112
tensor(0.1102)
 # KEYFRAME 82
0.07670179599517724
Frame 113
tensor(0.1116)
 # KEYFRAME 83
0.07693585400556913
Frame 114
tensor(0.1077)
 # KEYFRAME 84
0.07761956199829001
Frame 115
tensor(0.1629)
 # KEYFRAME 85
0.07802286100195488
Frame 116
tensor(0.1835)
 # KEYFRAME 86
0.0787290079970262
Frame 117
tensor(0.1042)
 # KEYFRAME 87
0.0793964659969788
Frame 118
tensor(0.2120)
 # KEYFRAME 88
0.07951312500517815
Frame 119
tensor(0.1004)
 # KEYFRAME 89
0.08101699999679113
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1917 loss_distill=0.4024 tta_take=0.008s
Frame 120
tensor(0.1790)
 # KEYFRAME 90
0.07538788999954704
Frame 121
tensor(0.1878)
 # KEYFRAME 91
0.07567565900535556
Frame 122
tensor(0.0714)
Frame 123
tensor(0.1561)
 # KEYFRAME 92
0.07656765599676874
Frame 124
tensor(0.0969)
Frame 125
tensor(0.1151)
 # KEYFRAME 93
0.07694626499869628
Frame 126
tensor(0.4323)
 # KEYFRAME 94
0.07774418200278888
Frame 127
tensor(0.1581)
 # KEYFRAME 95
0.07818050099740503
Frame 128
tensor(0.2609)
 # KEYFRAME 96
0.07818104999751085
Frame 129
tensor(0.2188)
 # KEYFRAME 97
0.07880846800253494
Frame 130
tensor(0.1425)
 # KEYFRAME 98
0.07895753800403327
Frame 131
tensor(0.3141)
 # KEYFRAME 99
0.07990619399788557
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1918 loss_distill=0.4024 tta_take=0.008s
Frame 132
tensor(0.2136)
 # KEYFRAME 100
0.0754085299995495
Frame 133
tensor(0.1043)
 # KEYFRAME 101
0.07695615499687847
Frame 134
tensor(0.1860)
 # KEYFRAME 102
0.07696094400307629
Frame 135
tensor(0.1796)
 # KEYFRAME 103
0.07725684299657587
Frame 136
tensor(0.2212)
 # KEYFRAME 104
0.07804586099518929
Frame 137
tensor(0.0319)
Frame 138
tensor(0.0792)
Frame 139
tensor(0.0764)
Frame 140
tensor(0.1867)
 # KEYFRAME 105
0.07866825899691321
Frame 141
tensor(0.3953)
 # KEYFRAME 106
0.07821879000402987
Frame 142
tensor(0.2128)
 # KEYFRAME 107
0.07908462699560914
Frame 143
tensor(0.0427)
Frame 144
tensor(0.0808)
Frame 145
tensor(0.7980)
 # KEYFRAME 108
0.08001126300223405
Frame 146
tensor(0.0885)
Frame 147
tensor(0.1436)
 # KEYFRAME 109
0.0799624639985268
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1919 loss_distill=0.4024 tta_take=0.008s
Frame 148
tensor(0.1164)
 # KEYFRAME 110
0.07596305799961556
Frame 149
tensor(0.2087)
 # KEYFRAME 111
0.07611554799950682
Backending... 112 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 57660, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1920 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 290/556] scannetpp/4ba22fa7e4/DSC frames=150 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=1920 time=42.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0142)
Frame 2
tensor(0.0309)
Frame 3
tensor(0.0549)
Frame 4
tensor(0.0892)
Frame 5
tensor(0.1786)
 # KEYFRAME 1
Frame 6
tensor(0.0294)
Frame 7
tensor(0.0597)
Frame 8
tensor(0.0703)
Frame 9
tensor(0.0676)
Frame 10
tensor(0.0558)
Frame 11
tensor(0.1917)
 # KEYFRAME 2
0.051899423997383565
Frame 12
tensor(0.1305)
 # KEYFRAME 3
0.05302549000043655
Frame 13
tensor(0.0449)
Frame 14
tensor(0.0707)
Frame 15
tensor(0.1633)
 # KEYFRAME 4
0.052895150998665486
Frame 16
tensor(0.2421)
 # KEYFRAME 5
0.05483398400247097
Frame 17
tensor(0.1612)
 # KEYFRAME 6
0.05484344399883412
Frame 18
tensor(0.0571)
Frame 19
tensor(0.1054)
 # KEYFRAME 7
0.05572014099743683
Frame 20
tensor(0.0794)
Frame 21
tensor(0.1471)
 # KEYFRAME 8
0.05642068800079869
Frame 22
tensor(0.0780)
Frame 23
tensor(0.2037)
 # KEYFRAME 9
0.058231921000697184
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 24
tensor(0.0322)
Frame 25
tensor(0.1901)
 # KEYFRAME 10
0.051778615001239814
Frame 26
tensor(0.0277)
Frame 27
tensor(0.2128)
 # KEYFRAME 11
0.051670785003807396
Frame 28
tensor(0.1072)
 # KEYFRAME 12
0.05262690100062173
Frame 29
tensor(0.0517)
Frame 30
tensor(0.0864)
Frame 31
tensor(0.3328)
 # KEYFRAME 13
0.05362771799991606
Frame 32
tensor(0.0717)
Frame 33
tensor(0.1963)
 # KEYFRAME 14
0.05433375499706017
Frame 34
tensor(0.0410)
Frame 35
tensor(0.1882)
 # KEYFRAME 15
0.05428635599673726
Frame 36
tensor(0.0473)
Frame 37
tensor(0.0816)
Frame 38
tensor(0.1337)
 # KEYFRAME 16
0.05467126400617417
Frame 39
tensor(0.0319)
Frame 40
tensor(0.0601)
Frame 41
tensor(0.0772)
Frame 42
tensor(0.0455)
Frame 43
tensor(0.1141)
 # KEYFRAME 17
0.055356561999360565
Frame 44
tensor(0.0286)
Frame 45
tensor(0.2902)
 # KEYFRAME 18
0.056200199003797024
Frame 46
tensor(0.2387)
 # KEYFRAME 19
0.057527773999026977
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 47
tensor(0.0623)
Frame 48
tensor(0.1362)
 # KEYFRAME 20
0.054176536003069486
Frame 49
tensor(0.3984)
 # KEYFRAME 21
0.0544651150048594
Frame 50
tensor(0.1633)
 # KEYFRAME 22
0.05533103199559264
Frame 51
tensor(0.0502)
Frame 52
tensor(0.4715)
 # KEYFRAME 23
0.05589994000183651
Frame 53
tensor(0.0799)
Frame 54
tensor(0.4385)
 # KEYFRAME 24
0.056212109004263766
Frame 55
tensor(0.0236)
Frame 56
tensor(0.0326)
Frame 57
tensor(0.0484)
Frame 58
tensor(0.1528)
 # KEYFRAME 25
0.05698773600306595
Frame 59
tensor(0.1551)
 # KEYFRAME 26
0.05825534200266702
Frame 60
tensor(0.0590)
Frame 61
tensor(0.1362)
 # KEYFRAME 27
0.0591259880020516
Frame 62
tensor(0.1631)
 # KEYFRAME 28
0.05954014700546395
Frame 63
tensor(0.0580)
Frame 64
tensor(0.0758)
Frame 65
tensor(0.0274)
Frame 66
tensor(0.1083)
 # KEYFRAME 29
0.06081599200115306
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 67
tensor(0.1500)
 # KEYFRAME 30
0.058249232002708595
Frame 68
tensor(0.0071)
Frame 69
tensor(0.0204)
Frame 70
tensor(0.0184)
Frame 71
tensor(0.0417)
Frame 72
tensor(0.0753)
Frame 73
tensor(0.4166)
 # KEYFRAME 31
0.05965195700264303
Frame 74
tensor(0.0097)
Frame 75
tensor(0.0216)
Frame 76
tensor(0.0880)
Frame 77
tensor(0.0636)
Frame 78
tensor(0.0740)
Frame 79
tensor(0.1100)
 # KEYFRAME 32
0.05947860699961893
Frame 80
tensor(0.0496)
Frame 81
tensor(0.2393)
 # KEYFRAME 33
0.060762472996430006
Frame 82
tensor(0.0385)
Frame 83
tensor(0.1640)
 # KEYFRAME 34
0.0614439599958132
Frame 84
tensor(0.0900)
Frame 85
tensor(0.1456)
 # KEYFRAME 35
0.06204389800404897
Frame 86
tensor(0.1139)
 # KEYFRAME 36
0.06298683500062907
Frame 87
tensor(0.0755)
Frame 88
tensor(0.0837)
Frame 89
tensor(0.0892)
Frame 90
tensor(0.0692)
Frame 91
tensor(0.0959)
Frame 92
tensor(0.1515)
 # KEYFRAME 37
0.06310271399706835
Frame 93
tensor(0.0605)
Frame 94
tensor(0.1010)
 # KEYFRAME 38
0.06349750299705192
Frame 95
tensor(0.0046)
Frame 96
tensor(0.0255)
Frame 97
tensor(0.0683)
Frame 98
tensor(0.1296)
 # KEYFRAME 39
0.064408509999339
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1921 loss_distill=0.1733 tta_take=0.008s
Frame 99
tensor(0.1249)
 # KEYFRAME 40
0.062935114998254
Frame 100
tensor(0.3438)
 # KEYFRAME 41
0.0641631899998174
Frame 101
tensor(0.0694)
Frame 102
tensor(0.1139)
 # KEYFRAME 42
0.06452585899387486
Frame 103
tensor(0.0362)
Frame 104
tensor(0.0346)
Frame 105
tensor(0.0922)
Frame 106
tensor(0.2200)
 # KEYFRAME 43
0.06448560900025768
Frame 107
tensor(0.0588)
Frame 108
tensor(0.1181)
 # KEYFRAME 44
0.06607204300235026
Frame 109
tensor(0.4005)
 # KEYFRAME 45
0.06729838899627794
Frame 110
tensor(0.2300)
 # KEYFRAME 46
0.06812871700094547
Frame 111
tensor(0.0512)
Frame 112
tensor(0.1299)
 # KEYFRAME 47
0.06909136300237151
Frame 113
tensor(0.0825)
Frame 114
tensor(0.2229)
 # KEYFRAME 48
0.06968724099715473
Frame 115
tensor(0.2387)
 # KEYFRAME 49
0.07042236800043611
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1922 loss_distill=0.2747 tta_take=0.008s
Frame 116
tensor(0.0378)
Frame 117
tensor(0.2944)
 # KEYFRAME 50
0.06710934900183929
Frame 118
tensor(0.1439)
 # KEYFRAME 51
0.06841482500021812
Frame 119
tensor(0.0444)
Frame 120
tensor(0.0898)
Frame 121
tensor(0.0846)
Frame 122
tensor(0.3211)
 # KEYFRAME 52
0.06844301599630853
Frame 123
tensor(0.4275)
 # KEYFRAME 53
0.06913537299988093
Frame 124
tensor(0.0379)
Frame 125
tensor(0.0597)
Frame 126
tensor(0.2003)
 # KEYFRAME 54
0.06926243199995952
Frame 127
tensor(0.0243)
Frame 128
tensor(0.2974)
 # KEYFRAME 55
0.07009414899948752
Frame 129
tensor(0.1846)
 # KEYFRAME 56
0.07049245799862547
Frame 130
tensor(0.0223)
Frame 131
tensor(0.1379)
 # KEYFRAME 57
0.07096202600223478
Frame 132
tensor(0.3235)
 # KEYFRAME 58
0.07116476499504643
Frame 133
tensor(0.0720)
Frame 134
tensor(0.1433)
 # KEYFRAME 59
0.0721609019965399
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1923 loss_distill=0.3466 tta_take=0.008s
Frame 135
tensor(0.0298)
Frame 136
tensor(0.0796)
Frame 137
tensor(0.4472)
 # KEYFRAME 60
0.0714912839976023
Frame 138
tensor(0.0278)
Frame 139
tensor(0.0435)
Frame 140
tensor(0.0564)
Frame 141
tensor(0.4124)
 # KEYFRAME 61
0.07305810799880419
Frame 142
tensor(0.6279)
 # KEYFRAME 62
0.07276904900209047
Frame 143
tensor(0.0434)
Frame 144
tensor(0.0848)
Frame 145
tensor(0.4076)
 # KEYFRAME 63
0.07318404899706366
Frame 146
tensor(0.7242)
 # KEYFRAME 64
0.07363575599447358
Frame 147
tensor(0.2685)
 # KEYFRAME 65
0.0742034139984753
Frame 148
tensor(0.0107)
Backending... 66 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 61380, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1924 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 291/556] scannetpp/ada5304e41/DSC frames=149 tta_steps_this_scene=4 mean_loss=0.2992 total_steps=1924 time=30.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0915)
Frame 2
tensor(0.0694)
Frame 3
tensor(0.1658)
 # KEYFRAME 1
Frame 4
tensor(0.0934)
Frame 5
tensor(0.2172)
 # KEYFRAME 2
0.051468116005708
Frame 6
tensor(0.1698)
 # KEYFRAME 3
0.052174313001160044
Frame 7
tensor(0.3732)
 # KEYFRAME 4
0.05503432300611166
Frame 8
tensor(0.1536)
 # KEYFRAME 5
0.05567500000324799
Frame 9
tensor(0.1501)
 # KEYFRAME 6
0.05697126599989133
Frame 10
tensor(0.3679)
 # KEYFRAME 7
0.05688768599793548
Frame 11
tensor(0.0981)
Frame 12
tensor(0.2680)
 # KEYFRAME 8
0.05794058299943572
Frame 13
tensor(0.2648)
 # KEYFRAME 9
0.05855693000194151
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 14
tensor(0.0331)
Frame 15
tensor(0.2760)
 # KEYFRAME 10
0.05256036199716618
Frame 16
tensor(0.1181)
 # KEYFRAME 11
0.05348742799833417
Frame 17
tensor(0.0783)
Frame 18
tensor(0.1157)
 # KEYFRAME 12
0.05420960600167746
Frame 19
tensor(0.1919)
 # KEYFRAME 13
0.05659212799946545
Frame 20
tensor(0.1771)
 # KEYFRAME 14
0.057391303998883814
Frame 21
tensor(0.0800)
Frame 22
tensor(0.2092)
 # KEYFRAME 15
0.057766312995227054
Frame 23
tensor(0.0830)
Frame 24
tensor(0.1205)
 # KEYFRAME 16
0.05878555899835192
Frame 25
tensor(0.0905)
Frame 26
tensor(0.0811)
Frame 27
tensor(0.1040)
 # KEYFRAME 17
0.06034338400058914
Frame 28
tensor(0.0210)
Frame 29
tensor(0.1305)
 # KEYFRAME 18
0.06157305999659002
Frame 30
tensor(0.0723)
Frame 31
tensor(0.2211)
 # KEYFRAME 19
0.06263457499881042
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.1406)
 # KEYFRAME 20
0.05898159799835412
Frame 33
tensor(0.0675)
Frame 34
tensor(0.1224)
 # KEYFRAME 21
0.06045280299440492
Frame 35
tensor(0.0916)
Frame 36
tensor(0.0710)
Frame 37
tensor(0.1776)
 # KEYFRAME 22
0.060971022001467645
Frame 38
tensor(0.2047)
 # KEYFRAME 23
0.06173729900183389
Frame 39
tensor(0.0506)
Frame 40
tensor(0.2246)
 # KEYFRAME 24
0.062341026998183224
Frame 41
tensor(0.0448)
Frame 42
tensor(0.1935)
 # KEYFRAME 25
0.06372686200484168
Frame 43
tensor(0.0374)
Frame 44
tensor(0.1602)
 # KEYFRAME 26
0.06521192700165557
Frame 45
tensor(0.1664)
 # KEYFRAME 27
0.06614679300400894
Frame 46
tensor(0.0637)
Frame 47
tensor(0.1344)
 # KEYFRAME 28
0.06715290000283858
Frame 48
tensor(0.0442)
Frame 49
tensor(0.1212)
 # KEYFRAME 29
0.0686230040009832
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 50
tensor(0.0649)
Frame 51
tensor(0.1571)
 # KEYFRAME 30
0.06606196399661712
Frame 52
tensor(0.1552)
 # KEYFRAME 31
0.0677458070058492
Frame 53
tensor(0.1136)
 # KEYFRAME 32
0.06790366700442974
Frame 54
tensor(0.2480)
 # KEYFRAME 33
0.06894655299402075
Frame 55
tensor(0.1845)
 # KEYFRAME 34
0.07021582900051726
Frame 56
tensor(0.1821)
 # KEYFRAME 35
0.07068960699689342
Frame 57
tensor(0.0944)
Frame 58
tensor(0.2083)
 # KEYFRAME 36
0.07207953200122574
Frame 59
tensor(0.1719)
 # KEYFRAME 37
0.07244213100057095
Frame 60
tensor(0.0890)
Frame 61
tensor(0.1415)
 # KEYFRAME 38
0.07315194800321478
Frame 62
tensor(0.1036)
 # KEYFRAME 39
0.07415335500263609
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1925 loss_distill=0.1733 tta_take=0.009s
Frame 63
tensor(0.1471)
 # KEYFRAME 40
0.07253263099846663
Frame 64
tensor(0.1454)
 # KEYFRAME 41
0.07502825099800248
Frame 65
tensor(0.0705)
Frame 66
tensor(0.1953)
 # KEYFRAME 42
0.07519524100644048
Frame 67
tensor(0.0242)
Frame 68
tensor(0.1424)
 # KEYFRAME 43
0.07669743499718606
Frame 69
tensor(0.0758)
Frame 70
tensor(0.1915)
 # KEYFRAME 44
0.077564342005644
Frame 71
tensor(0.0804)
Frame 72
tensor(0.1132)
 # KEYFRAME 45
0.0794460459947004
Frame 73
tensor(0.2006)
 # KEYFRAME 46
0.0801561730040703
Frame 74
tensor(0.0970)
Frame 75
tensor(0.2202)
 # KEYFRAME 47
0.08063990100345109
Frame 76
tensor(0.0820)
Frame 77
tensor(0.2266)
 # KEYFRAME 48
0.0817135170000256
Frame 78
tensor(0.1995)
 # KEYFRAME 49
0.0822774349944666
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1926 loss_distill=0.2747 tta_take=0.009s
Frame 79
tensor(0.1614)
 # KEYFRAME 50
0.07922412599873496
Frame 80
tensor(0.1438)
 # KEYFRAME 51
0.08206559599784669
Frame 81
tensor(0.1277)
 # KEYFRAME 52
0.08208351700159255
Frame 82
tensor(0.1326)
 # KEYFRAME 53
0.08353641099529341
Frame 83
tensor(0.0504)
Frame 84
tensor(0.5150)
 # KEYFRAME 54
0.08405422899522819
Frame 85
tensor(0.1798)
 # KEYFRAME 55
0.08605366200208664
Frame 86
tensor(0.2410)
 # KEYFRAME 56
0.08655008100322448
Frame 87
tensor(0.1050)
 # KEYFRAME 57
0.08808610500273062
Frame 88
tensor(0.2415)
 # KEYFRAME 58
0.08933114999672398
Frame 89
tensor(0.3669)
 # KEYFRAME 59
0.09107788400433492
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=1927 loss_distill=0.3466 tta_take=0.009s
Frame 90
tensor(0.1521)
 # KEYFRAME 60
0.08667215999594191
Frame 91
tensor(0.2333)
 # KEYFRAME 61
0.08835114399698796
Frame 92
tensor(0.0717)
Frame 93
tensor(0.4712)
 # KEYFRAME 62
0.08759011700021802
Frame 94
tensor(0.2517)
 # KEYFRAME 63
0.08923358100582846
Frame 95
tensor(0.1614)
 # KEYFRAME 64
0.08900699099467602
Frame 96
tensor(0.1737)
 # KEYFRAME 65
0.09047008599736728
Frame 97
tensor(0.3269)
 # KEYFRAME 66
0.09109461399930296
Frame 98
tensor(0.1654)
 # KEYFRAME 67
0.09171728199726203
Frame 99
tensor(0.2656)
 # KEYFRAME 68
0.09233997000410454
Frame 100
tensor(0.1215)
 # KEYFRAME 69
0.09344425600284012
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1928 loss_distill=0.4024 tta_take=0.009s
Frame 101
tensor(0.1469)
 # KEYFRAME 70
0.09357819500291953
Frame 102
tensor(0.1968)
 # KEYFRAME 71
0.09460051100177225
Frame 103
tensor(0.5307)
 # KEYFRAME 72
0.09554842799843755
Frame 104
tensor(0.0851)
Frame 105
tensor(0.3148)
 # KEYFRAME 73
0.09669715400377754
Frame 106
tensor(0.2850)
 # KEYFRAME 74
0.09700681299727876
Frame 107
tensor(0.1341)
 # KEYFRAME 75
0.09729484200215666
Frame 108
tensor(0.4206)
 # KEYFRAME 76
0.09832284900039667
Frame 109
tensor(0.2777)
 # KEYFRAME 77
0.09851315699779661
Frame 110
tensor(0.1006)
 # KEYFRAME 78
0.09944815400376683
Frame 111
tensor(0.0527)
Frame 112
tensor(0.1313)
 # KEYFRAME 79
0.10142125700076576
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1929 loss_distill=0.4024 tta_take=0.009s
Frame 113
tensor(0.0586)
Frame 114
tensor(0.2018)
 # KEYFRAME 80
0.09299890699912794
Frame 115
tensor(0.0806)
Frame 116
tensor(0.2144)
 # KEYFRAME 81
0.09621114499896066
Frame 117
tensor(0.1026)
 # KEYFRAME 82
0.09588002599775791
Frame 118
tensor(0.0582)
Frame 119
tensor(0.6148)
 # KEYFRAME 83
0.09634956499940017
Frame 120
tensor(0.1281)
 # KEYFRAME 84
0.0985136870003771
Frame 121
tensor(0.0198)
Frame 122
tensor(0.7353)
 # KEYFRAME 85
0.09941054399678251
Frame 123
tensor(0.4649)
 # KEYFRAME 86
0.10118139800033532
Frame 124
tensor(0.1304)
 # KEYFRAME 87
0.10150308700394817
Frame 125
tensor(0.1525)
 # KEYFRAME 88
0.10316099100600695
Frame 126
tensor(0.0513)
Frame 127
tensor(0.1803)
 # KEYFRAME 89
0.1033705709996866
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1930 loss_distill=0.4024 tta_take=0.009s
Frame 128
tensor(0.0814)
Frame 129
tensor(0.1179)
 # KEYFRAME 90
0.09393376400112174
Frame 130
tensor(0.1702)
 # KEYFRAME 91
0.09422492299927399
Frame 131
tensor(0.5900)
 # KEYFRAME 92
0.0952113890016335
Frame 132
tensor(0.0337)
Frame 133
tensor(0.0354)
Backending... 93 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65583, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1931 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 292/556] scannetpp/1d003b07bd/frame frames=134 tta_steps_this_scene=7 mean_loss=0.3434 total_steps=1931 time=38.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0289)
Frame 2
tensor(0.2362)
 # KEYFRAME 1
Frame 3
tensor(0.1043)
 # KEYFRAME 2
0.05174152499967022
Frame 4
tensor(0.2785)
 # KEYFRAME 3
0.052612851999583654
Frame 5
tensor(0.2666)
 # KEYFRAME 4
0.05505276300391415
Frame 6
tensor(0.2830)
 # KEYFRAME 5
0.055710040003759786
Frame 7
tensor(0.1743)
 # KEYFRAME 6
0.0580202420023852
Frame 8
tensor(0.1972)
 # KEYFRAME 7
0.05724158500379417
Frame 9
tensor(0.3863)
 # KEYFRAME 8
0.05808173299737973
Frame 10
tensor(0.2982)
 # KEYFRAME 9
0.05840952099970309
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.2559)
 # KEYFRAME 10
0.05276813099771971
Frame 12
tensor(0.2991)
 # KEYFRAME 11
0.053547998002613895
Frame 13
tensor(0.1577)
 # KEYFRAME 12
0.05440241500036791
Frame 14
tensor(0.5309)
 # KEYFRAME 13
0.0564813180026249
Frame 15
tensor(0.2517)
 # KEYFRAME 14
0.057489504004479386
Frame 16
tensor(0.3446)
 # KEYFRAME 15
0.057632094001746736
Frame 17
tensor(0.1353)
 # KEYFRAME 16
0.058878389005258214
Frame 18
tensor(0.3820)
 # KEYFRAME 17
0.06034911399910925
Frame 19
tensor(0.2253)
 # KEYFRAME 18
0.061790889005351346
Frame 20
tensor(0.1290)
 # KEYFRAME 19
0.06260701599967433
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.0790)
Frame 22
tensor(0.1168)
 # KEYFRAME 20
0.059554576997470576
Frame 23
tensor(0.3004)
 # KEYFRAME 21
0.060484052999527194
Frame 24
tensor(0.2886)
 # KEYFRAME 22
0.06124598099995637
Frame 25
tensor(0.0861)
Frame 26
tensor(0.0494)
Frame 27
tensor(0.1498)
 # KEYFRAME 23
0.062074697998468764
Frame 28
tensor(0.0980)
Frame 29
tensor(0.3906)
 # KEYFRAME 24
0.06281496500014327
Frame 30
tensor(0.3866)
 # KEYFRAME 25
0.0638955909962533
Frame 31
tensor(0.2969)
 # KEYFRAME 26
0.06551292599760927
Frame 32
tensor(0.1592)
 # KEYFRAME 27
0.06638249199750135
Frame 33
tensor(0.1872)
 # KEYFRAME 28
0.0670959999988554
Frame 34
tensor(0.3777)
 # KEYFRAME 29
0.06835928500368027
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 35
tensor(0.0891)
Frame 36
tensor(0.2521)
 # KEYFRAME 30
0.06665767099912046
Frame 37
tensor(0.1874)
 # KEYFRAME 31
0.06768439799634507
Frame 38
tensor(0.2647)
 # KEYFRAME 32
0.0685335349990055
Frame 39
tensor(0.2267)
 # KEYFRAME 33
0.06901165300223511
Frame 40
tensor(0.1582)
 # KEYFRAME 34
0.07025565799995093
Frame 41
tensor(0.2602)
 # KEYFRAME 35
0.07078698699478991
Frame 42
tensor(0.1013)
 # KEYFRAME 36
0.07209049199445872
Frame 43
tensor(0.0701)
Frame 44
tensor(0.2469)
 # KEYFRAME 37
0.07242634099384304
Frame 45
tensor(0.4964)
 # KEYFRAME 38
0.0733020170009695
Frame 46
tensor(0.1488)
 # KEYFRAME 39
0.07407286500529153
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1932 loss_distill=0.1733 tta_take=0.009s
Frame 47
tensor(0.0723)
Frame 48
tensor(0.3243)
 # KEYFRAME 40
0.07229431100131478
Frame 49
tensor(0.2250)
 # KEYFRAME 41
0.07528924999496667
Frame 50
tensor(0.2524)
 # KEYFRAME 42
0.0753343410033267
Frame 51
tensor(0.0376)
Frame 52
tensor(0.1391)
 # KEYFRAME 43
0.07684871600213228
Frame 53
tensor(0.1478)
 # KEYFRAME 44
0.07808393099548994
Frame 54
tensor(0.3026)
 # KEYFRAME 45
0.07899701799760805
Frame 55
tensor(0.0772)
Frame 56
tensor(0.3540)
 # KEYFRAME 46
0.08025969300069846
Frame 57
tensor(0.2334)
 # KEYFRAME 47
0.08099330999539234
Frame 58
tensor(0.2075)
 # KEYFRAME 48
0.08172311799717136
Frame 59
tensor(0.2006)
 # KEYFRAME 49
0.08168424900213722
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1933 loss_distill=0.2747 tta_take=0.009s
Frame 60
tensor(0.0268)
Frame 61
tensor(0.2662)
 # KEYFRAME 50
0.07953353600169066
Frame 62
tensor(0.2538)
 # KEYFRAME 51
0.08232653599407058
Frame 63
tensor(0.0934)
Frame 64
tensor(0.2238)
 # KEYFRAME 52
0.08267714500107104
Frame 65
tensor(0.2993)
 # KEYFRAME 53
0.08381921999534825
Frame 66
tensor(0.4263)
 # KEYFRAME 54
0.08489633600402158
Frame 67
tensor(0.2751)
 # KEYFRAME 55
0.08592567300365772
Frame 68
tensor(0.0929)
Frame 69
tensor(0.5753)
 # KEYFRAME 56
0.08633620200271253
Frame 70
tensor(0.3358)
 # KEYFRAME 57
0.08811459499702323
Frame 71
tensor(0.2148)
 # KEYFRAME 58
0.08886449199781055
Frame 72
tensor(0.1056)
 # KEYFRAME 59
0.08997795800678432
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1934 loss_distill=0.3466 tta_take=0.009s
Frame 73
tensor(0.2989)
 # KEYFRAME 60
0.08581116300047142
Frame 74
tensor(0.2574)
 # KEYFRAME 61
0.08812899499753257
Frame 75
tensor(0.2685)
 # KEYFRAME 62
0.08814034500392154
Frame 76
tensor(0.2805)
 # KEYFRAME 63
0.08926651100046001
Frame 77
tensor(0.3378)
 # KEYFRAME 64
0.08969785899535054
Frame 78
tensor(0.1398)
 # KEYFRAME 65
0.09033772700058762
Frame 79
tensor(0.1478)
 # KEYFRAME 66
0.09107770399714354
Frame 80
tensor(0.1996)
 # KEYFRAME 67
0.09186559199588373
Frame 81
tensor(0.1855)
 # KEYFRAME 68
0.09260252899548505
Frame 82
tensor(0.1695)
 # KEYFRAME 69
0.09332409600028768
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1935 loss_distill=0.4024 tta_take=0.009s
Frame 83
tensor(0.2720)
 # KEYFRAME 70
0.09287720800057286
Frame 84
tensor(0.2059)
 # KEYFRAME 71
0.09572619800019311
Frame 85
tensor(0.1699)
 # KEYFRAME 72
0.09580998800083762
Frame 86
tensor(0.1777)
 # KEYFRAME 73
0.09584947799885413
Frame 87
tensor(0.2031)
 # KEYFRAME 74
0.09682260399858933
Frame 88
tensor(0.2611)
 # KEYFRAME 75
0.09752947199740447
Frame 89
tensor(0.2984)
 # KEYFRAME 76
0.09747989199968288
Frame 90
tensor(0.1688)
 # KEYFRAME 77
0.09915356500277994
Frame 91
tensor(0.2009)
 # KEYFRAME 78
0.09939051399851451
Frame 92
tensor(0.3023)
 # KEYFRAME 79
0.10048684100183891
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1936 loss_distill=0.4024 tta_take=0.009s
Frame 93
tensor(0.1938)
 # KEYFRAME 80
0.09268320899718674
Frame 94
tensor(0.0998)
Frame 95
tensor(0.5632)
 # KEYFRAME 81
0.09587855700374348
Frame 96
tensor(0.2672)
 # KEYFRAME 82
0.09548587800236419
Frame 97
tensor(0.1317)
 # KEYFRAME 83
0.09648559500055853
Frame 98
tensor(0.1860)
 # KEYFRAME 84
0.09753833099966869
Frame 99
tensor(0.0925)
Frame 100
tensor(0.2547)
 # KEYFRAME 85
0.09922434500185773
Frame 101
tensor(0.2095)
 # KEYFRAME 86
0.10022834200208308
Frame 102
tensor(0.2646)
 # KEYFRAME 87
0.11541496800055029
Frame 103
tensor(0.3269)
 # KEYFRAME 88
0.10274158300308045
Frame 104
tensor(0.1136)
 # KEYFRAME 89
0.10327984100149479
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1937 loss_distill=0.4024 tta_take=0.009s
Frame 105
tensor(0.1495)
 # KEYFRAME 90
0.09345891600241885
Frame 106
tensor(0.1843)
 # KEYFRAME 91
0.09601515700342134
Frame 107
tensor(0.0810)
Frame 108
tensor(0.2027)
 # KEYFRAME 92
0.09540845800074749
Frame 109
tensor(0.3883)
 # KEYFRAME 93
0.0952437700034352
Frame 110
tensor(0.2420)
 # KEYFRAME 94
0.09665113400114933
Frame 111
tensor(0.2439)
 # KEYFRAME 95
0.09768461999919964
Frame 112
tensor(0.3065)
 # KEYFRAME 96
0.09919896600331413
Frame 113
tensor(0.1094)
 # KEYFRAME 97
0.0990777059996617
Frame 114
tensor(0.4763)
 # KEYFRAME 98
0.10081300999445375
Frame 115
tensor(0.1454)
 # KEYFRAME 99
0.10083776000101352
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1938 loss_distill=0.4024 tta_take=0.009s
Frame 116
tensor(0.0563)
Frame 117
tensor(0.1111)
 # KEYFRAME 100
0.09254730900283903
Frame 118
tensor(0.1775)
 # KEYFRAME 101
0.09557244799361797
Frame 119
tensor(0.3195)
 # KEYFRAME 102
0.09471133099577855
Frame 120
tensor(0.2542)
 # KEYFRAME 103
0.09599528699618531
Frame 121
tensor(0.1315)
 # KEYFRAME 104
0.09637235499394592
Frame 122
tensor(0.1398)
 # KEYFRAME 105
0.09803097899566637
Frame 123
tensor(0.1162)
 # KEYFRAME 106
0.09869054699811386
Frame 124
tensor(0.0961)
Frame 125
tensor(0.0803)
Frame 126
tensor(0.2129)
 # KEYFRAME 107
0.09976751299836906
Frame 127
tensor(0.0973)
Frame 128
tensor(0.0569)
Frame 129
tensor(0.2395)
 # KEYFRAME 108
0.09966592300042976
Frame 130
tensor(0.1706)
 # KEYFRAME 109
0.10091379900404718
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1939 loss_distill=0.4024 tta_take=0.009s
Frame 131
tensor(0.1354)
 # KEYFRAME 110
0.09400511399871903
Frame 132
tensor(0.1626)
 # KEYFRAME 111
0.0946470720009529
Frame 133
tensor(0.1968)
 # KEYFRAME 112
0.09531441899889614
Frame 134
tensor(0.1527)
 # KEYFRAME 113
0.09589585700450698
Backending... 114 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 66624, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1940 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 293/556] scannetpp/98fe276aa8/frame frames=135 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=1940 time=46.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0315)
Frame 2
tensor(0.0494)
Frame 3
tensor(0.0562)
Frame 4
tensor(0.0741)
Frame 5
tensor(0.1322)
 # KEYFRAME 1
Frame 6
tensor(0.0818)
Frame 7
tensor(0.1221)
 # KEYFRAME 2
0.051633955001307186
Frame 8
tensor(0.0948)
Frame 9
tensor(0.1262)
 # KEYFRAME 3
0.05240979300288018
Frame 10
tensor(0.0466)
Frame 11
tensor(0.1733)
 # KEYFRAME 4
0.05375700800505001
Frame 12
tensor(0.0297)
Frame 13
tensor(0.1010)
 # KEYFRAME 5
0.054301465999742504
Frame 14
tensor(0.0948)
Frame 15
tensor(0.0992)
Frame 16
tensor(0.1439)
 # KEYFRAME 6
0.05613283900311217
Frame 17
tensor(0.0761)
Frame 18
tensor(0.1205)
 # KEYFRAME 7
0.05813726199994562
Frame 19
tensor(0.1279)
 # KEYFRAME 8
0.05781373400532175
Frame 20
tensor(0.2491)
 # KEYFRAME 9
0.05829576199903386
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.0516)
Frame 22
tensor(0.1142)
 # KEYFRAME 10
0.05145965600240743
Frame 23
tensor(0.0323)
Frame 24
tensor(0.0999)
Frame 25
tensor(0.2952)
 # KEYFRAME 11
0.05239995299780276
Frame 26
tensor(0.0346)
Frame 27
tensor(0.1376)
 # KEYFRAME 12
0.052949730001273565
Frame 28
tensor(0.1193)
 # KEYFRAME 13
0.05428700600168668
Frame 29
tensor(0.5914)
 # KEYFRAME 14
0.05426872599491617
Frame 30
tensor(0.0291)
Frame 31
tensor(0.0476)
Frame 32
tensor(0.0776)
Frame 33
tensor(0.0934)
Frame 34
tensor(0.0896)
Frame 35
tensor(0.0962)
Frame 36
tensor(0.0905)
Frame 37
tensor(0.1041)
 # KEYFRAME 15
0.05421342600311618
Frame 38
tensor(0.0224)
Frame 39
tensor(0.0403)
Frame 40
tensor(0.0648)
Frame 41
tensor(0.1063)
 # KEYFRAME 16
0.05465752499731025
Frame 42
tensor(0.0320)
Frame 43
tensor(0.1250)
 # KEYFRAME 17
0.055649470996286254
Frame 44
tensor(0.0377)
Frame 45
tensor(0.1182)
 # KEYFRAME 18
0.05641725800524
Frame 46
tensor(0.1381)
 # KEYFRAME 19
0.05752113399648806
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 47
tensor(0.1048)
 # KEYFRAME 20
0.0540988969951286
Frame 48
tensor(0.1243)
 # KEYFRAME 21
0.05447127499792259
Frame 49
tensor(0.1513)
 # KEYFRAME 22
0.05505458299739985
Frame 50
tensor(0.1006)
 # KEYFRAME 23
0.05547941199620254
Frame 51
tensor(0.1924)
 # KEYFRAME 24
0.05585149000398815
Frame 52
tensor(0.1141)
 # KEYFRAME 25
0.05638024899963057
Frame 53
tensor(0.1870)
 # KEYFRAME 26
0.057795263004663866
Frame 54
tensor(0.1409)
 # KEYFRAME 27
0.0587821500012069
Frame 55
tensor(0.1435)
 # KEYFRAME 28
0.0596041070020874
Frame 56
tensor(0.2784)
 # KEYFRAME 29
0.060285855004622135
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 57
tensor(0.2083)
 # KEYFRAME 30
0.0585586110028089
Frame 58
tensor(0.5037)
 # KEYFRAME 31
0.059485507001227234
Frame 59
tensor(0.0299)
Frame 60
tensor(0.0719)
Frame 61
tensor(0.1076)
 # KEYFRAME 32
0.05933432700112462
Frame 62
tensor(0.1001)
 # KEYFRAME 33
0.06015437500172993
Frame 63
tensor(0.2139)
 # KEYFRAME 34
0.06062839399965014
Frame 64
tensor(0.3923)
 # KEYFRAME 35
0.06143234000046505
Frame 65
tensor(0.0333)
Frame 66
tensor(0.0489)
Frame 67
tensor(0.0605)
Frame 68
tensor(0.0584)
Frame 69
tensor(0.6059)
 # KEYFRAME 36
0.06233661699661752
Frame 70
tensor(0.0710)
Frame 71
tensor(0.1122)
 # KEYFRAME 37
0.06277254599990556
Frame 72
tensor(0.1396)
 # KEYFRAME 38
0.06349539299844764
Frame 73
tensor(0.1521)
 # KEYFRAME 39
0.06436673999996856
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1941 loss_distill=0.1733 tta_take=0.008s
Frame 74
tensor(0.0818)
Frame 75
tensor(0.2429)
 # KEYFRAME 40
0.06279114599601598
Frame 76
tensor(0.4892)
 # KEYFRAME 41
0.06443086999934167
Frame 77
tensor(0.0781)
Frame 78
tensor(0.1612)
 # KEYFRAME 42
0.06489781800337369
Frame 79
tensor(0.0346)
Frame 80
tensor(0.0947)
Frame 81
tensor(0.1466)
 # KEYFRAME 43
0.06484398799511837
Frame 82
tensor(0.0242)
Frame 83
tensor(0.0603)
Frame 84
tensor(0.0830)
Frame 85
tensor(0.1371)
 # KEYFRAME 44
0.06615574299939908
Frame 86
tensor(0.3263)
 # KEYFRAME 45
0.06731977900199126
Frame 87
tensor(0.0460)
Frame 88
tensor(0.1430)
 # KEYFRAME 46
0.06815371699485695
Frame 89
tensor(0.1003)
 # KEYFRAME 47
0.06879420400218805
Frame 90
tensor(0.0626)
Frame 91
tensor(0.2025)
 # KEYFRAME 48
0.06918039299489465
Frame 92
tensor(0.0292)
Frame 93
tensor(0.1340)
 # KEYFRAME 49
0.06962830100383144
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1942 loss_distill=0.2747 tta_take=0.008s
Frame 94
tensor(0.0778)
Frame 95
tensor(0.1442)
 # KEYFRAME 50
0.0673324590025004
Frame 96
tensor(0.0808)
Frame 97
tensor(0.1599)
 # KEYFRAME 51
0.06870801500190282
Frame 98
tensor(0.0223)
Frame 99
tensor(0.2748)
 # KEYFRAME 52
0.06851591500162613
Frame 100
tensor(0.0207)
Frame 101
tensor(0.0152)
Frame 102
tensor(0.1714)
 # KEYFRAME 53
0.06876004399964586
Frame 103
tensor(0.1027)
 # KEYFRAME 54
0.06929272300476441
Frame 104
tensor(0.2219)
 # KEYFRAME 55
0.06966095099778613
Frame 105
tensor(0.2043)
 # KEYFRAME 56
0.07006322000233922
Frame 106
tensor(0.0837)
Frame 107
tensor(0.2131)
 # KEYFRAME 57
0.07058888699975796
Frame 108
tensor(0.0763)
Frame 109
tensor(0.1581)
 # KEYFRAME 58
0.07124063600349473
Frame 110
tensor(0.0607)
Frame 111
tensor(0.1147)
 # KEYFRAME 59
0.07152072499593487
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.34657353162765503
TTA-STEP: step=1943 loss_distill=0.3466 tta_take=0.008s
Frame 112
tensor(0.1225)
 # KEYFRAME 60
0.07147314499889035
Frame 113
tensor(0.1141)
 # KEYFRAME 61
0.07291029900079593
Frame 114
tensor(0.0559)
Frame 115
tensor(0.1968)
 # KEYFRAME 62
0.07248271100252168
Frame 116
tensor(0.1090)
 # KEYFRAME 63
0.07326861799811013
Frame 117
tensor(0.4773)
 # KEYFRAME 64
0.07359159799671033
Frame 118
tensor(0.0853)
Frame 119
tensor(0.1222)
 # KEYFRAME 65
0.07376924699929077
Frame 120
tensor(0.3421)
 # KEYFRAME 66
0.0747484829989844
Frame 121
tensor(0.2127)
 # KEYFRAME 67
0.07482936199812684
Frame 122
tensor(0.0909)
Frame 123
tensor(0.2066)
 # KEYFRAME 68
0.07567055999970762
Frame 124
tensor(0.0989)
Frame 125
tensor(0.2533)
 # KEYFRAME 69
0.07667254599800799
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1944 loss_distill=0.4024 tta_take=0.009s
Frame 126
tensor(0.1127)
 # KEYFRAME 70
0.07590258900017943
Frame 127
tensor(0.0405)
Frame 128
tensor(0.1280)
 # KEYFRAME 71
0.07737099399673752
Frame 129
tensor(0.0875)
Frame 130
tensor(0.0644)
Frame 131
tensor(0.1815)
 # KEYFRAME 72
0.07691306500055362
Frame 132
tensor(0.0374)
Frame 133
tensor(1.0785)
 # KEYFRAME 73
0.07736549300170736
Frame 134
tensor(0.0936)
Frame 135
tensor(0.1347)
 # KEYFRAME 74
0.07781593200343195
Frame 136
tensor(0.5380)
 # KEYFRAME 75
0.07791352100321092
Frame 137
tensor(0.0632)
Frame 138
tensor(0.0963)
Frame 139
tensor(0.1771)
 # KEYFRAME 76
0.07880246899730992
Frame 140
tensor(0.0566)
Frame 141
tensor(0.1481)
 # KEYFRAME 77
0.07974482500139857
Frame 142
tensor(0.0403)
Frame 143
tensor(0.0714)
Frame 144
tensor(0.5420)
 # KEYFRAME 78
0.07915435700124362
Frame 145
tensor(0.0702)
Frame 146
tensor(0.1255)
 # KEYFRAME 79
0.08008023400179809
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1945 loss_distill=0.4024 tta_take=0.008s
Frame 147
tensor(0.1122)
 # KEYFRAME 80
0.07618121800624067
Frame 148
tensor(0.0521)
Frame 149
tensor(0.1295)
 # KEYFRAME 81
0.07805194100365043
Backending... 82 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 57660, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1946 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 294/556] scannetpp/5d152fab1b/DSC frames=150 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=1946 time=39.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0791)
Frame 2
tensor(0.2405)
 # KEYFRAME 1
Frame 3
tensor(0.1888)
 # KEYFRAME 2
0.05183014400245156
Frame 4
tensor(0.1412)
 # KEYFRAME 3
0.05214576400612714
Frame 5
tensor(0.2072)
 # KEYFRAME 4
0.054891394000151195
Frame 6
tensor(0.1575)
 # KEYFRAME 5
0.05546988199785119
Frame 7
tensor(0.1075)
 # KEYFRAME 6
0.05688945700239856
Frame 8
tensor(0.2365)
 # KEYFRAME 7
0.05692785699648084
Frame 9
tensor(0.2247)
 # KEYFRAME 8
0.05797783299931325
Frame 10
tensor(0.3457)
 # KEYFRAME 9
0.05852644100377802
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.1894)
 # KEYFRAME 10
0.052715451005497016
Frame 12
tensor(0.0551)
Frame 13
tensor(0.2366)
 # KEYFRAME 11
0.053567678995023016
Frame 14
tensor(0.2348)
 # KEYFRAME 12
0.05418057699716883
Frame 15
tensor(0.1008)
 # KEYFRAME 13
0.05654697799764108
Frame 16
tensor(0.2460)
 # KEYFRAME 14
0.05748109400155954
Frame 17
tensor(0.2105)
 # KEYFRAME 15
0.057634883996797726
Frame 18
tensor(0.1126)
 # KEYFRAME 16
0.058699480003269855
Frame 19
tensor(0.2618)
 # KEYFRAME 17
0.061226172001624946
Frame 20
tensor(0.2202)
 # KEYFRAME 18
0.06149162000656361
Frame 21
tensor(0.3190)
 # KEYFRAME 19
0.06293989499681629
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 22
tensor(0.2331)
 # KEYFRAME 20
0.05901622899546055
Frame 23
tensor(0.1233)
 # KEYFRAME 21
0.0605021039955318
Frame 24
tensor(0.2743)
 # KEYFRAME 22
0.06125557100313017
Frame 25
tensor(0.2207)
 # KEYFRAME 23
0.06181639900023583
Frame 26
tensor(0.1222)
 # KEYFRAME 24
0.0626500459984527
Frame 27
tensor(0.1047)
 # KEYFRAME 25
0.06357206300162943
Frame 28
tensor(0.1669)
 # KEYFRAME 26
0.06567353600257775
Frame 29
tensor(0.1132)
 # KEYFRAME 27
0.06617831400217256
Frame 30
tensor(0.0592)
Frame 31
tensor(0.1483)
 # KEYFRAME 28
0.0672227600007318
Frame 32
tensor(0.1342)
 # KEYFRAME 29
0.06816722600342473
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 33
tensor(0.1628)
 # KEYFRAME 30
0.06567088500014506
Frame 34
tensor(0.0673)
Frame 35
tensor(0.1409)
 # KEYFRAME 31
0.06749135900463443
Frame 36
tensor(0.2169)
 # KEYFRAME 32
0.06796479700278724
Frame 37
tensor(0.1628)
 # KEYFRAME 33
0.06883580399880884
Frame 38
tensor(0.1852)
 # KEYFRAME 34
0.0702852289978182
Frame 39
tensor(0.1185)
 # KEYFRAME 35
0.07082759699551389
Frame 40
tensor(0.1762)
 # KEYFRAME 36
0.07197224300034577
Frame 41
tensor(0.2554)
 # KEYFRAME 37
0.07200762299908092
Frame 42
tensor(0.1637)
 # KEYFRAME 38
0.07351076699706027
Frame 43
tensor(0.2575)
 # KEYFRAME 39
0.07367518699902575
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1947 loss_distill=0.1733 tta_take=0.009s
Frame 44
tensor(0.2606)
 # KEYFRAME 40
0.0727022200007923
Frame 45
tensor(0.1569)
 # KEYFRAME 41
0.0747853020002367
Frame 46
tensor(0.1460)
 # KEYFRAME 42
0.07505708200187655
Frame 47
tensor(0.1884)
 # KEYFRAME 43
0.07621901800303021
Frame 48
tensor(0.2459)
 # KEYFRAME 44
0.07740195299993502
Frame 49
tensor(0.2165)
 # KEYFRAME 45
0.07865711899648886
Frame 50
tensor(0.2362)
 # KEYFRAME 46
0.08027246299752733
Frame 51
tensor(0.2500)
 # KEYFRAME 47
0.08079871100198943
Frame 52
tensor(0.1704)
 # KEYFRAME 48
0.08101411100506084
Frame 53
tensor(0.1527)
 # KEYFRAME 49
0.0815638280037092
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1948 loss_distill=0.2747 tta_take=0.009s
Frame 54
tensor(0.1303)
 # KEYFRAME 50
0.07987633500306401
Frame 55
tensor(0.2669)
 # KEYFRAME 51
0.0821273360052146
Frame 56
tensor(0.2043)
 # KEYFRAME 52
0.08258137500524754
Frame 57
tensor(0.1490)
 # KEYFRAME 53
0.08385427100438392
Frame 58
tensor(0.1619)
 # KEYFRAME 54
0.08477764700364787
Frame 59
tensor(0.1806)
 # KEYFRAME 55
0.08597310299956007
Frame 60
tensor(0.1459)
 # KEYFRAME 56
0.08704508899973007
Frame 61
tensor(0.1443)
 # KEYFRAME 57
0.0879325650021201
Frame 62
tensor(0.1767)
 # KEYFRAME 58
0.08951139000419062
Frame 63
tensor(0.1942)
 # KEYFRAME 59
0.0903918070034706
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1949 loss_distill=0.3466 tta_take=0.009s
Frame 64
tensor(0.0540)
Frame 65
tensor(0.2119)
 # KEYFRAME 60
0.08614367299742298
Frame 66
tensor(0.1854)
 # KEYFRAME 61
0.08859738399769412
Frame 67
tensor(0.0911)
Frame 68
tensor(0.1812)
 # KEYFRAME 62
0.08760810599778779
Frame 69
tensor(0.1348)
 # KEYFRAME 63
0.08914376099710353
Frame 70
tensor(0.1089)
 # KEYFRAME 64
0.08959840999887092
Frame 71
tensor(0.0846)
Frame 72
tensor(0.2092)
 # KEYFRAME 65
0.09037109699420398
Frame 73
tensor(0.0943)
Frame 74
tensor(0.0943)
Frame 75
tensor(0.0696)
Frame 76
tensor(0.1838)
 # KEYFRAME 66
0.09069707600428956
Frame 77
tensor(0.0974)
Frame 78
tensor(0.1260)
 # KEYFRAME 67
0.0911219039990101
Frame 79
tensor(0.1155)
 # KEYFRAME 68
0.09268479800084606
Frame 80
tensor(0.3722)
 # KEYFRAME 69
0.09253731900389539
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1950 loss_distill=0.4024 tta_take=0.009s
Frame 81
tensor(0.2720)
 # KEYFRAME 70
0.09263223900052253
Frame 82
tensor(0.2432)
 # KEYFRAME 71
0.09591153800283791
Frame 83
tensor(0.0597)
Frame 84
tensor(0.1848)
 # KEYFRAME 72
0.09530109899787931
Frame 85
tensor(0.2573)
 # KEYFRAME 73
0.09615544600092107
Frame 86
tensor(0.2010)
 # KEYFRAME 74
0.09668197499559028
Frame 87
tensor(0.1173)
 # KEYFRAME 75
0.09749773200019263
Frame 88
tensor(0.2377)
 # KEYFRAME 76
0.09822754999913741
Frame 89
tensor(0.1456)
 # KEYFRAME 77
0.09896414700051537
Frame 90
tensor(0.0951)
Frame 91
tensor(0.1582)
 # KEYFRAME 78
0.1003800609978498
Frame 92
tensor(0.0742)
Frame 93
tensor(0.0766)
Frame 94
tensor(0.1319)
 # KEYFRAME 79
0.10146331699797884
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1951 loss_distill=0.4024 tta_take=0.009s
Frame 95
tensor(0.1466)
 # KEYFRAME 80
0.09373109500302235
Frame 96
tensor(0.0758)
Frame 97
tensor(0.2817)
 # KEYFRAME 81
0.09558726900286274
Frame 98
tensor(0.1624)
 # KEYFRAME 82
0.096761114000401
Frame 99
tensor(0.1409)
 # KEYFRAME 83
0.09667213500506477
Frame 100
tensor(0.3478)
 # KEYFRAME 84
0.0983817789965542
Frame 101
tensor(0.2682)
 # KEYFRAME 85
0.09928758499881951
Frame 102
tensor(0.1716)
 # KEYFRAME 86
0.10040025100170169
Frame 103
tensor(0.2222)
 # KEYFRAME 87
0.10180000699619995
Frame 104
tensor(0.2157)
 # KEYFRAME 88
0.10264685300353449
Frame 105
tensor(0.1786)
 # KEYFRAME 89
0.10258664399589179
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1952 loss_distill=0.4024 tta_take=0.009s
Frame 106
tensor(0.1580)
 # KEYFRAME 90
0.09328060699772323
Frame 107
tensor(0.3080)
 # KEYFRAME 91
0.09507493999990402
Frame 108
tensor(0.2404)
 # KEYFRAME 92
0.0954518890066538
Frame 109
tensor(0.2376)
 # KEYFRAME 93
0.09605456700228387
Frame 110
tensor(0.2026)
 # KEYFRAME 94
0.09678777399676619
Frame 111
tensor(0.2665)
 # KEYFRAME 95
0.09798694000346586
Frame 112
tensor(0.2508)
 # KEYFRAME 96
0.09851823800272541
Frame 113
tensor(0.2923)
 # KEYFRAME 97
0.09894970700406702
Frame 114
tensor(0.0719)
Frame 115
tensor(0.4020)
 # KEYFRAME 98
0.10062165999988792
Frame 116
tensor(0.1991)
 # KEYFRAME 99
0.10055365999869537
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1953 loss_distill=0.4024 tta_take=0.009s
Frame 117
tensor(0.3626)
 # KEYFRAME 100
0.09408475300006103
Frame 118
tensor(0.2562)
 # KEYFRAME 101
0.09395798399782507
Frame 119
tensor(0.1427)
 # KEYFRAME 102
0.09568021800077986
Frame 120
tensor(0.1181)
 # KEYFRAME 103
0.09613604599871906
Frame 121
tensor(0.2596)
 # KEYFRAME 104
0.09635516600246774
Frame 122
tensor(0.1469)
 # KEYFRAME 105
0.0984545080063981
Frame 123
tensor(0.2412)
 # KEYFRAME 106
0.09880553699622396
Frame 124
tensor(0.3259)
 # KEYFRAME 107
0.09951673400064465
Frame 125
tensor(0.1714)
 # KEYFRAME 108
0.09932045500318054
Frame 126
tensor(0.2183)
 # KEYFRAME 109
0.100231251999503
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1954 loss_distill=0.4024 tta_take=0.009s
Frame 127
tensor(0.2744)
 # KEYFRAME 110
0.0940395340003306
Frame 128
tensor(0.1722)
 # KEYFRAME 111
0.09424021299491869
Frame 129
tensor(0.2602)
 # KEYFRAME 112
0.09552211899426766
Frame 130
tensor(0.4140)
 # KEYFRAME 113
0.09674493400234496
Frame 131
tensor(0.2468)
 # KEYFRAME 114
0.0967730339980335
Frame 132
tensor(0.4143)
 # KEYFRAME 115
0.09818767899560044
Frame 133
tensor(0.2102)
 # KEYFRAME 116
0.09786290999909397
Frame 134
tensor(0.0702)
Frame 135
tensor(0.1351)
 # KEYFRAME 117
0.0996677040020586
Frame 136
tensor(0.1503)
 # KEYFRAME 118
0.09953795400360832
Frame 137
tensor(0.0942)
Frame 138
tensor(0.2358)
 # KEYFRAME 119
0.10032640200370224
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595452308655
TTA-STEP: step=1955 loss_distill=0.4024 tta_take=0.009s
Frame 139
tensor(0.0915)
Frame 140
tensor(0.3331)
 # KEYFRAME 120
0.09265166899422184
Frame 141
tensor(0.2195)
 # KEYFRAME 121
0.09516090000397526
Frame 142
tensor(0.1821)
 # KEYFRAME 122
0.09565098799794214
Frame 143
tensor(0.0354)
Frame 144
tensor(0.1950)
 # KEYFRAME 123
0.09636004600179149
Frame 145
tensor(0.4914)
 # KEYFRAME 124
0.09734709300391842
Frame 146
tensor(0.2416)
 # KEYFRAME 125
0.0975372309985687
Frame 147
tensor(0.2311)
 # KEYFRAME 126
0.09855305800010683
Frame 148
tensor(0.2610)
 # KEYFRAME 127
0.09929230499983532
Backending... 128 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 70788, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1956 loss_distill=0.4024 tta_take=0.007s
[epoch 0 scene 295/556] scannetpp/bf6e439e38/frame frames=149 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=1956 time=52.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0999)
Frame 2
tensor(0.2207)
 # KEYFRAME 1
Frame 3
tensor(0.1450)
 # KEYFRAME 2
0.05140066600142745
Frame 4
tensor(0.2432)
 # KEYFRAME 3
0.0532855199999176
Frame 5
tensor(0.1879)
 # KEYFRAME 4
0.05425895599910291
Frame 6
tensor(0.2474)
 # KEYFRAME 5
0.055000104002829175
Frame 7
tensor(0.2558)
 # KEYFRAME 6
0.056270078996021766
Frame 8
tensor(0.2273)
 # KEYFRAME 7
0.05706974599888781
Frame 9
tensor(0.3119)
 # KEYFRAME 8
0.05744331499590771
Frame 10
tensor(0.2518)
 # KEYFRAME 9
0.05810876200121129
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.1810)
 # KEYFRAME 10
0.0524433729951852
Frame 12
tensor(0.1177)
 # KEYFRAME 11
0.05353321899747243
Frame 13
tensor(0.2412)
 # KEYFRAME 12
0.05431762600346701
Frame 14
tensor(0.0867)
Frame 15
tensor(0.2276)
 # KEYFRAME 13
0.056557887997769285
Frame 16
tensor(0.1431)
 # KEYFRAME 14
0.05733512500592042
Frame 17
tensor(0.2553)
 # KEYFRAME 15
0.0573722449989873
Frame 18
tensor(0.1087)
 # KEYFRAME 16
0.058902258999296464
Frame 19
tensor(0.2484)
 # KEYFRAME 17
0.0602983540011337
Frame 20
tensor(0.1288)
 # KEYFRAME 18
0.060887272004038095
Frame 21
tensor(0.1790)
 # KEYFRAME 19
0.06230365700321272
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 22
tensor(0.2095)
 # KEYFRAME 20
0.05920736799453152
Frame 23
tensor(0.1003)
 # KEYFRAME 21
0.06020609500410501
Frame 24
tensor(0.1929)
 # KEYFRAME 22
0.060649794002529234
Frame 25
tensor(0.1233)
 # KEYFRAME 23
0.061994288000278175
Frame 26
tensor(0.1399)
 # KEYFRAME 24
0.06263694600056624
Frame 27
tensor(0.0641)
Frame 28
tensor(0.1341)
 # KEYFRAME 25
0.06366079200233798
Frame 29
tensor(0.0333)
Frame 30
tensor(0.1832)
 # KEYFRAME 26
0.06475326899817446
Frame 31
tensor(0.2141)
 # KEYFRAME 27
0.06650841199734714
Frame 32
tensor(0.1414)
 # KEYFRAME 28
0.06695987100101775
Frame 33
tensor(0.0868)
Frame 34
tensor(0.1443)
 # KEYFRAME 29
0.06881916400016053
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 35
tensor(0.1241)
 # KEYFRAME 30
0.0659647739958018
Frame 36
tensor(0.0670)
Frame 37
tensor(0.1721)
 # KEYFRAME 31
0.06748900799721014
Frame 38
tensor(0.1305)
 # KEYFRAME 32
0.0680207170007634
Frame 39
tensor(0.1096)
 # KEYFRAME 33
0.06944164100423222
Frame 40
tensor(0.2529)
 # KEYFRAME 34
0.07001927000237629
Frame 41
tensor(0.1265)
 # KEYFRAME 35
0.07073204800690291
Frame 42
tensor(0.1499)
 # KEYFRAME 36
0.07195933299954049
Frame 43
tensor(0.1024)
 # KEYFRAME 37
0.07240275100048166
Frame 44
tensor(0.0539)
Frame 45
tensor(0.0874)
Frame 46
tensor(0.4640)
 # KEYFRAME 38
0.07312608900247142
Frame 47
tensor(0.1617)
 # KEYFRAME 39
0.07411975499417167
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1957 loss_distill=0.1733 tta_take=0.009s
Frame 48
tensor(0.1906)
 # KEYFRAME 40
0.072959160002938
Frame 49
tensor(0.0680)
Frame 50
tensor(0.3029)
 # KEYFRAME 41
0.07415846500225598
Frame 51
tensor(0.2004)
 # KEYFRAME 42
0.07449792400439037
Frame 52
tensor(0.1169)
 # KEYFRAME 43
0.07501269199565286
Frame 53
tensor(0.1416)
 # KEYFRAME 44
0.07597780800278997
Frame 54
tensor(0.1307)
 # KEYFRAME 45
0.0766509759996552
Frame 55
tensor(0.2260)
 # KEYFRAME 46
0.07688233500084607
Frame 56
tensor(0.0380)
Frame 57
tensor(0.0819)
Frame 58
tensor(0.0955)
Frame 59
tensor(0.0663)
Frame 60
tensor(0.0637)
Frame 61
tensor(0.2745)
 # KEYFRAME 47
0.07760285199765349
Frame 62
tensor(0.4203)
 # KEYFRAME 48
0.07835139999951934
Frame 63
tensor(0.1607)
 # KEYFRAME 49
0.07971461499982979
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1958 loss_distill=0.2747 tta_take=0.009s
Frame 64
tensor(0.0363)
Frame 65
tensor(0.1057)
 # KEYFRAME 50
0.07962761499948101
Frame 66
tensor(0.1551)
 # KEYFRAME 51
0.08158356800413458
Frame 67
tensor(0.1927)
 # KEYFRAME 52
0.08189515700360062
Frame 68
tensor(0.1780)
 # KEYFRAME 53
0.0835976309972466
Frame 69
tensor(0.2474)
 # KEYFRAME 54
0.08484306700120214
Frame 70
tensor(0.1106)
 # KEYFRAME 55
0.0853510750021087
Frame 71
tensor(0.1683)
 # KEYFRAME 56
0.08665408100205241
Frame 72
tensor(0.2897)
 # KEYFRAME 57
0.08768023700395133
Frame 73
tensor(0.1465)
 # KEYFRAME 58
0.0887046729985741
Frame 74
tensor(0.2225)
 # KEYFRAME 59
0.08888229200238129
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1959 loss_distill=0.3466 tta_take=0.009s
Frame 75
tensor(0.2185)
 # KEYFRAME 60
0.08632556199881947
Frame 76
tensor(0.3085)
 # KEYFRAME 61
0.08895568199659465
Frame 77
tensor(0.3241)
 # KEYFRAME 62
0.08920560100523289
Frame 78
tensor(0.3583)
 # KEYFRAME 63
0.08980205900297733
Frame 79
tensor(0.2512)
 # KEYFRAME 64
0.09143522299564211
Frame 80
tensor(0.2701)
 # KEYFRAME 65
0.0926581690000603
Frame 81
tensor(0.2877)
 # KEYFRAME 66
0.09389373399608303
Frame 82
tensor(0.4105)
 # KEYFRAME 67
0.0946159320010338
Frame 83
tensor(0.3083)
 # KEYFRAME 68
0.09587825799826533
Frame 84
tensor(0.3100)
 # KEYFRAME 69
0.09722485199745279
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1960 loss_distill=0.4024 tta_take=0.009s
Frame 85
tensor(0.1801)
 # KEYFRAME 70
0.09260088900191477
Frame 86
tensor(0.0166)
Frame 87
tensor(0.3547)
 # KEYFRAME 71
0.09504340099374531
Frame 88
tensor(0.1453)
 # KEYFRAME 72
0.09551091899629682
Frame 89
tensor(0.3027)
 # KEYFRAME 73
0.0966519240027992
Frame 90
tensor(0.4111)
 # KEYFRAME 74
0.09805784899799619
Frame 91
tensor(0.1589)
 # KEYFRAME 75
0.09917346599831944
Frame 92
tensor(0.2273)
 # KEYFRAME 76
0.09986644300079206
Frame 93
tensor(0.1426)
 # KEYFRAME 77
0.10103527900355402
Frame 94
tensor(0.0466)
Frame 95
tensor(0.2211)
 # KEYFRAME 78
0.10292241299612215
Frame 96
tensor(0.2908)
 # KEYFRAME 79
0.10346722000394948
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1961 loss_distill=0.4024 tta_take=0.009s
Frame 97
tensor(0.2286)
 # KEYFRAME 80
0.09371609499794431
Frame 98
tensor(0.0901)
Frame 99
tensor(0.1515)
 # KEYFRAME 81
0.0957951980017242
Frame 100
tensor(0.2665)
 # KEYFRAME 82
0.09524781000072835
Frame 101
tensor(0.0793)
Frame 102
tensor(0.2078)
 # KEYFRAME 83
0.09602152699517319
Frame 103
tensor(0.0920)
Frame 104
tensor(0.6562)
 # KEYFRAME 84
0.09663753399945563
Frame 105
tensor(0.4485)
 # KEYFRAME 85
0.09761621200595982
Frame 106
tensor(0.2704)
 # KEYFRAME 86
0.09840772900497541
Frame 107
tensor(0.2086)
 # KEYFRAME 87
0.09898607699869899
Frame 108
tensor(0.1858)
 # KEYFRAME 88
0.09937111500039464
Frame 109
tensor(0.2547)
 # KEYFRAME 89
0.09975488399504684
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1962 loss_distill=0.4024 tta_take=0.009s
Frame 110
tensor(0.2845)
 # KEYFRAME 90
0.09355348599638091
Frame 111
tensor(0.1953)
 # KEYFRAME 91
0.09500637099699816
Frame 112
tensor(0.3105)
 # KEYFRAME 92
0.09529273000225658
Frame 113
tensor(0.3133)
 # KEYFRAME 93
0.09529498899792088
Frame 114
tensor(0.1329)
 # KEYFRAME 94
0.09669208499690285
Frame 115
tensor(0.1013)
 # KEYFRAME 95
0.0973551619972568
Frame 116
tensor(0.1624)
 # KEYFRAME 96
0.09818443899712292
Frame 117
tensor(0.0677)
Frame 118
tensor(0.1443)
 # KEYFRAME 97
0.09830231800151523
Frame 119
tensor(0.0930)
Frame 120
tensor(0.2680)
 # KEYFRAME 98
0.09926553499826696
Frame 121
tensor(0.1791)
 # KEYFRAME 99
0.09930589499708731
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1963 loss_distill=0.4024 tta_take=0.009s
Frame 122
tensor(0.1940)
 # KEYFRAME 100
0.09263288900547195
Frame 123
tensor(0.2667)
 # KEYFRAME 101
0.09628628599602962
Frame 124
tensor(0.1937)
 # KEYFRAME 102
0.09545073899789713
Frame 125
tensor(0.2464)
 # KEYFRAME 103
0.09532221900008153
Frame 126
tensor(0.2175)
 # KEYFRAME 104
0.09702640299656196
Frame 127
tensor(0.1693)
 # KEYFRAME 105
0.09663880500011146
Frame 128
tensor(0.0812)
Frame 129
tensor(0.2249)
 # KEYFRAME 106
0.09826160800002981
Frame 130
tensor(0.2349)
 # KEYFRAME 107
0.09801677899667993
Frame 131
tensor(0.3620)
 # KEYFRAME 108
0.09946989500167547
Frame 132
tensor(0.5014)
 # KEYFRAME 109
0.100045652994595
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1964 loss_distill=0.4024 tta_take=0.009s
Frame 133
tensor(0.3478)
 # KEYFRAME 110
0.09397636399808107
Frame 134
tensor(0.2029)
 # KEYFRAME 111
0.093936864999705
Frame 135
tensor(0.0446)
Frame 136
tensor(0.1206)
 # KEYFRAME 112
0.09550875800050562
Frame 137
tensor(0.3497)
 # KEYFRAME 113
0.09645821499725571
Frame 138
tensor(0.3607)
 # KEYFRAME 114
0.09644486600154778
Frame 139
tensor(0.3880)
 # KEYFRAME 115
0.09731412200198974
Frame 140
tensor(0.2220)
 # KEYFRAME 116
0.09769438100192929
Frame 141
tensor(0.2722)
 # KEYFRAME 117
0.09870835800393252
Frame 142
tensor(0.1397)
 # KEYFRAME 118
0.09966291399905458
Backending... 119 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 71829, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1965 loss_distill=0.4024 tta_take=0.008s
[epoch 0 scene 296/556] scannetpp/cbd4b3055e/frame frames=143 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=1965 time=47.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.2019)
 # KEYFRAME 1
Frame 2
tensor(0.1855)
 # KEYFRAME 2
0.051182457005779725
Frame 3
tensor(0.2811)
 # KEYFRAME 3
0.05206209399329964
Frame 4
tensor(0.1856)
 # KEYFRAME 4
0.05471832499461016
Frame 5
tensor(0.4098)
 # KEYFRAME 5
0.05535952199716121
Frame 6
tensor(0.1540)
 # KEYFRAME 6
0.05662639799993485
Frame 7
tensor(0.5072)
 # KEYFRAME 7
0.056755038000119384
Frame 8
tensor(0.5041)
 # KEYFRAME 8
0.05773697399854427
Frame 9
tensor(0.3172)
 # KEYFRAME 9
0.058239721998688765
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.3669)
 # KEYFRAME 10
0.05243553299806081
Frame 11
tensor(0.3267)
 # KEYFRAME 11
0.053302528998756316
Frame 12
tensor(0.2467)
 # KEYFRAME 12
0.0542425559979165
Frame 13
tensor(0.3283)
 # KEYFRAME 13
0.05647686799784424
Frame 14
tensor(0.1712)
 # KEYFRAME 14
0.05706463599926792
Frame 15
tensor(0.1374)
 # KEYFRAME 15
0.05759967400081223
Frame 16
tensor(0.2742)
 # KEYFRAME 16
0.05875358000048436
Frame 17
tensor(0.3074)
 # KEYFRAME 17
0.059964735999528784
Frame 18
tensor(0.2598)
 # KEYFRAME 18
0.06139790100132814
Frame 19
tensor(0.1964)
 # KEYFRAME 19
0.06219596799928695
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 20
tensor(0.4492)
 # KEYFRAME 20
0.058787189998838585
Frame 21
tensor(0.2750)
 # KEYFRAME 21
0.060272164999332745
Frame 22
tensor(0.4237)
 # KEYFRAME 22
0.060959621994697955
Frame 23
tensor(0.3895)
 # KEYFRAME 23
0.06159237999963807
Frame 24
tensor(0.2293)
 # KEYFRAME 24
0.06226857699948596
Frame 25
tensor(0.3579)
 # KEYFRAME 25
0.06350165299954824
Frame 26
tensor(0.4245)
 # KEYFRAME 26
0.06493990799936
Frame 27
tensor(0.2672)
 # KEYFRAME 27
0.06613339400064433
Frame 28
tensor(0.5143)
 # KEYFRAME 28
0.06701228999736486
Frame 29
tensor(0.3683)
 # KEYFRAME 29
0.06835539599705953
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 30
tensor(0.2201)
 # KEYFRAME 30
0.06564725499629276
Frame 31
tensor(0.3138)
 # KEYFRAME 31
0.06747986799746286
Frame 32
tensor(0.3191)
 # KEYFRAME 32
0.06781977799982997
Frame 33
tensor(0.2556)
 # KEYFRAME 33
0.06868499400297878
Frame 34
tensor(0.1190)
 # KEYFRAME 34
0.06950282100297045
Frame 35
tensor(0.3216)
 # KEYFRAME 35
0.07029691900243051
Frame 36
tensor(0.2454)
 # KEYFRAME 36
0.07142957400355954
Frame 37
tensor(0.3451)
 # KEYFRAME 37
0.0725411610037554
Frame 38
tensor(0.3323)
 # KEYFRAME 38
0.07264607999968575
Frame 39
tensor(0.2411)
 # KEYFRAME 39
0.07422372500150232
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1966 loss_distill=0.1733 tta_take=0.009s
Frame 40
tensor(0.2633)
 # KEYFRAME 40
0.07273909999639727
Frame 41
tensor(0.3180)
 # KEYFRAME 41
0.07485941299819387
Frame 42
tensor(0.0519)
Frame 43
tensor(0.6038)
 # KEYFRAME 42
0.07559189000312472
Frame 44
tensor(0.4702)
 # KEYFRAME 43
0.07677629600220826
Frame 45
tensor(0.3347)
 # KEYFRAME 44
0.07807126099942252
Frame 46
tensor(0.3425)
 # KEYFRAME 45
0.0794141359947389
Frame 47
tensor(0.3099)
 # KEYFRAME 46
0.08055524299561512
Frame 48
tensor(0.2781)
 # KEYFRAME 47
0.08115035999799147
Frame 49
tensor(0.2667)
 # KEYFRAME 48
0.08154512799956137
Frame 50
tensor(0.2633)
 # KEYFRAME 49
0.08236437600135105
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1967 loss_distill=0.2747 tta_take=0.009s
Frame 51
tensor(0.1976)
 # KEYFRAME 50
0.07981877400015946
Frame 52
tensor(0.0328)
Frame 53
tensor(0.2143)
 # KEYFRAME 51
0.08205561700015096
Frame 54
tensor(0.2153)
 # KEYFRAME 52
0.08240956499503227
Frame 55
tensor(0.0832)
Frame 56
tensor(0.3219)
 # KEYFRAME 53
0.08375707099912688
Frame 57
tensor(0.3804)
 # KEYFRAME 54
0.08410369000193896
Frame 58
tensor(0.6482)
 # KEYFRAME 55
0.08585260299878428
Frame 59
tensor(0.5055)
 # KEYFRAME 56
0.08715734900033567
Frame 60
tensor(0.2858)
 # KEYFRAME 57
0.08751388700329699
Frame 61
tensor(0.2567)
 # KEYFRAME 58
0.08935379100148566
Frame 62
tensor(0.6877)
 # KEYFRAME 59
0.09046411600138526
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=1968 loss_distill=0.3466 tta_take=0.009s
Frame 63
tensor(0.6073)
 # KEYFRAME 60
0.08641032099694712
Frame 64
tensor(0.2745)
 # KEYFRAME 61
0.0883580039953813
Frame 65
tensor(0.1851)
 # KEYFRAME 62
0.08806470499985153
Frame 66
tensor(0.2962)
 # KEYFRAME 63
0.08868008299759822
Frame 67
tensor(0.2931)
 # KEYFRAME 64
0.08906502200261457
Frame 68
tensor(0.2928)
 # KEYFRAME 65
0.09005878799507627
Frame 69
tensor(0.1562)
 # KEYFRAME 66
0.09033464699314209
Frame 70
tensor(0.3505)
 # KEYFRAME 67
0.09168659200076945
Frame 71
tensor(0.2674)
 # KEYFRAME 68
0.09243122000043513
Frame 72
tensor(0.3017)
 # KEYFRAME 69
0.09288581799773965
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1969 loss_distill=0.4024 tta_take=0.009s
Frame 73
tensor(0.4198)
 # KEYFRAME 70
0.09246726900164504
Frame 74
tensor(0.3721)
 # KEYFRAME 71
0.09578820799652021
Frame 75
tensor(0.4607)
 # KEYFRAME 72
0.09564662800403312
Frame 76
tensor(0.2671)
 # KEYFRAME 73
0.09569970799930161
Frame 77
tensor(0.3243)
 # KEYFRAME 74
0.09663562499918044
Frame 78
tensor(0.0775)
Frame 79
tensor(0.1471)
 # KEYFRAME 75
0.09731764200114412
Frame 80
tensor(0.3462)
 # KEYFRAME 76
0.09805786999640986
Frame 81
tensor(0.1710)
 # KEYFRAME 77
0.09846919799747411
Frame 82
tensor(0.2668)
 # KEYFRAME 78
0.10005135300161783
Frame 83
tensor(0.1358)
 # KEYFRAME 79
0.10043569099798333
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1970 loss_distill=0.4024 tta_take=0.009s
Frame 84
tensor(0.2835)
 # KEYFRAME 80
0.09279934900405351
Frame 85
tensor(0.2005)
 # KEYFRAME 81
0.0963092960009817
Frame 86
tensor(0.1292)
 # KEYFRAME 82
0.09534663900558371
Frame 87
tensor(0.1137)
 # KEYFRAME 83
0.0964280449989019
Frame 88
tensor(0.2526)
 # KEYFRAME 84
0.09798525999940466
Frame 89
tensor(0.0949)
Frame 90
tensor(0.3555)
 # KEYFRAME 85
0.09935641500487691
Frame 91
tensor(0.2798)
 # KEYFRAME 86
0.10087705900514266
Frame 92
tensor(0.3734)
 # KEYFRAME 87
0.10187408599449554
Frame 93
tensor(0.4069)
 # KEYFRAME 88
0.10213527500309283
Frame 94
tensor(0.3497)
 # KEYFRAME 89
0.10424566800065804
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1971 loss_distill=0.4024 tta_take=0.009s
Frame 95
tensor(0.2446)
 # KEYFRAME 90
0.09346927599835908
Frame 96
tensor(0.1841)
 # KEYFRAME 91
0.09438954199868022
Frame 97
tensor(0.2290)
 # KEYFRAME 92
0.09493468100117752
Frame 98
tensor(0.3916)
 # KEYFRAME 93
0.09590136699989671
Frame 99
tensor(0.3338)
 # KEYFRAME 94
0.09623475600528764
Frame 100
tensor(0.3567)
 # KEYFRAME 95
0.0977472000013222
Frame 101
tensor(0.4081)
 # KEYFRAME 96
0.09878781699808314
Frame 102
tensor(0.1304)
 # KEYFRAME 97
0.099788212995918
Frame 103
tensor(0.1474)
 # KEYFRAME 98
0.10041277099662693
Frame 104
tensor(0.2087)
 # KEYFRAME 99
0.10017267200601054
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1972 loss_distill=0.4024 tta_take=0.009s
Frame 105
tensor(0.1410)
 # KEYFRAME 100
0.092935367996688
Frame 106
tensor(0.1380)
 # KEYFRAME 101
0.0958034779978334
Frame 107
tensor(0.3129)
 # KEYFRAME 102
0.09523751999950036
Frame 108
tensor(0.3475)
 # KEYFRAME 103
0.09536174899403704
Frame 109
tensor(0.2989)
 # KEYFRAME 104
0.09647045499878004
Frame 110
tensor(0.2798)
 # KEYFRAME 105
0.09799393900175346
Frame 111
tensor(0.3673)
 # KEYFRAME 106
0.09893687599833356
Frame 112
tensor(0.2107)
 # KEYFRAME 107
0.09922172500228044
Frame 113
tensor(0.3897)
 # KEYFRAME 108
0.09991407200141111
Frame 114
tensor(0.4289)
 # KEYFRAME 109
0.10031106200040085
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1973 loss_distill=0.4024 tta_take=0.009s
Frame 115
tensor(0.2042)
 # KEYFRAME 110
0.09343414600152755
Frame 116
tensor(0.2636)
 # KEYFRAME 111
0.09423057299864013
Frame 117
tensor(0.2607)
 # KEYFRAME 112
0.09492721100104973
Frame 118
tensor(0.2999)
 # KEYFRAME 113
0.09625687600055244
Frame 119
tensor(0.3411)
 # KEYFRAME 114
0.0966077349949046
Backending... 115 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 67665, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1974 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 297/556] scannetpp/ab11145646/frame frames=120 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=1974 time=41.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0395)
Frame 2
tensor(0.0826)
Frame 3
tensor(0.1270)
 # KEYFRAME 1
Frame 4
tensor(0.0392)
Frame 5
tensor(0.0892)
Frame 6
tensor(0.1282)
 # KEYFRAME 2
0.052035254004294984
Frame 7
tensor(0.0374)
Frame 8
tensor(0.0812)
Frame 9
tensor(0.1322)
 # KEYFRAME 3
0.05174715499742888
Frame 10
tensor(0.0396)
Frame 11
tensor(0.0876)
Frame 12
tensor(0.1210)
 # KEYFRAME 4
0.05256745199585566
Frame 13
tensor(0.0388)
Frame 14
tensor(0.0811)
Frame 15
tensor(0.1200)
 # KEYFRAME 5
0.051987163999001496
Frame 16
tensor(0.0414)
Frame 17
tensor(0.0806)
Frame 18
tensor(0.1264)
 # KEYFRAME 6
0.05260291200102074
Frame 19
tensor(0.0400)
Frame 20
tensor(0.0911)
Frame 21
tensor(0.1318)
 # KEYFRAME 7
0.052717912003572565
Frame 22
tensor(0.0441)
Frame 23
tensor(0.0879)
Frame 24
tensor(0.1329)
 # KEYFRAME 8
0.05334137900354108
Frame 25
tensor(0.0413)
Frame 26
tensor(0.0865)
Frame 27
tensor(0.1370)
 # KEYFRAME 9
0.05269227200187743
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 28
tensor(0.0432)
Frame 29
tensor(0.0953)
Frame 30
tensor(0.1374)
 # KEYFRAME 10
0.051872284995624796
Frame 31
tensor(0.0444)
Frame 32
tensor(0.0949)
Frame 33
tensor(0.1381)
 # KEYFRAME 11
0.052257032999477815
Frame 34
tensor(0.0424)
Frame 35
tensor(0.0866)
Frame 36
tensor(0.1358)
 # KEYFRAME 12
0.05288477100111777
Frame 37
tensor(0.0423)
Frame 38
tensor(0.0939)
Frame 39
tensor(0.1299)
 # KEYFRAME 13
0.05288485100027174
Frame 40
tensor(0.0481)
Frame 41
tensor(0.0818)
Frame 42
tensor(0.1189)
 # KEYFRAME 14
0.05469584399543237
Frame 43
tensor(0.0458)
Frame 44
tensor(0.0825)
Frame 45
tensor(0.1279)
 # KEYFRAME 15
0.05273791099898517
Frame 46
tensor(0.0432)
Frame 47
tensor(0.0826)
Frame 48
tensor(0.1277)
 # KEYFRAME 16
0.05237966300046537
Frame 49
tensor(0.0441)
Frame 50
tensor(0.0861)
Frame 51
tensor(0.1281)
 # KEYFRAME 17
0.0561409799993271
Frame 52
tensor(0.0441)
Frame 53
tensor(0.0819)
Frame 54
tensor(0.1238)
 # KEYFRAME 18
0.05238174300029641
Frame 55
tensor(0.0396)
Frame 56
tensor(0.0815)
Frame 57
tensor(0.1224)
 # KEYFRAME 19
0.05556120099936379
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 58
tensor(0.0461)
Frame 59
tensor(0.0797)
Frame 60
tensor(0.1215)
 # KEYFRAME 20
0.05205292400205508
Frame 61
tensor(0.0358)
Frame 62
tensor(0.0755)
Frame 63
tensor(0.1161)
 # KEYFRAME 21
0.053060410005855374
Frame 64
tensor(0.0354)
Frame 65
tensor(0.0722)
Frame 66
tensor(0.1126)
 # KEYFRAME 22
0.054746064997743815
Frame 67
tensor(0.0350)
Frame 68
tensor(0.0754)
Frame 69
tensor(0.1251)
 # KEYFRAME 23
0.052267462997406255
Frame 70
tensor(0.0283)
Frame 71
tensor(0.0650)
Frame 72
tensor(0.0969)
Frame 73
tensor(0.1332)
 # KEYFRAME 24
0.05551433199434541
Frame 74
tensor(0.0309)
Frame 75
tensor(0.0598)
Frame 76
tensor(0.0914)
Frame 77
tensor(0.1238)
 # KEYFRAME 25
0.05370421900443034
Frame 78
tensor(0.0261)
Frame 79
tensor(0.0591)
Frame 80
tensor(0.0951)
Frame 81
tensor(0.1223)
 # KEYFRAME 26
0.053200720001768786
Frame 82
tensor(0.0295)
Frame 83
tensor(0.0685)
Frame 84
tensor(0.0934)
Frame 85
tensor(0.1241)
 # KEYFRAME 27
0.05767447399557568
Frame 86
tensor(0.0310)
Frame 87
tensor(0.0565)
Frame 88
tensor(0.0900)
Frame 89
tensor(0.1200)
 # KEYFRAME 28
0.0527801409989479
Frame 90
tensor(0.0276)
Frame 91
tensor(0.0564)
Frame 92
tensor(0.0792)
Frame 93
tensor(0.1093)
 # KEYFRAME 29
0.0581318620024831
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 94
tensor(0.0256)
Frame 95
tensor(0.0446)
Frame 96
tensor(0.0680)
Frame 97
tensor(0.0896)
Frame 98
tensor(0.1075)
 # KEYFRAME 30
0.05221997300395742
Frame 99
tensor(0.0173)
Frame 100
tensor(0.0377)
Frame 101
tensor(0.0559)
Frame 102
tensor(0.0718)
Frame 103
tensor(0.0889)
Frame 104
tensor(0.1024)
 # KEYFRAME 31
0.053019081002275925
Frame 105
tensor(0.0177)
Frame 106
tensor(0.0318)
Frame 107
tensor(0.0461)
Frame 108
tensor(0.0616)
Frame 109
tensor(0.0742)
Frame 110
tensor(0.0839)
Frame 111
tensor(0.1033)
 # KEYFRAME 32
0.054103686998132616
Frame 112
tensor(0.0102)
Frame 113
tensor(0.0225)
Frame 114
tensor(0.0332)
Frame 115
tensor(0.0430)
Frame 116
tensor(0.0527)
Frame 117
tensor(0.0611)
Frame 118
tensor(0.0697)
Frame 119
tensor(0.0805)
Frame 120
tensor(0.0894)
Frame 121
tensor(0.0956)
Frame 122
tensor(0.1028)
 # KEYFRAME 33
0.052928750999853946
Frame 123
tensor(0.0068)
Frame 124
tensor(0.0126)
Frame 125
tensor(0.0202)
Frame 126
tensor(0.0235)
Frame 127
tensor(0.0271)
Frame 128
tensor(0.0316)
Frame 129
tensor(0.0355)
Frame 130
tensor(0.0389)
Frame 131
tensor(0.0441)
Frame 132
tensor(0.0507)
Frame 133
tensor(0.0529)
Frame 134
tensor(0.0569)
Frame 135
tensor(0.0610)
Frame 136
tensor(0.0680)
Frame 137
tensor(0.0707)
Frame 138
tensor(0.0742)
Frame 139
tensor(0.0764)
Frame 140
tensor(0.0841)
Frame 141
tensor(0.0855)
Frame 142
tensor(0.0893)
Frame 143
tensor(0.0903)
Frame 144
tensor(0.0988)
Frame 145
tensor(0.1000)
 # KEYFRAME 34
0.05525356299767736
Frame 146
tensor(0.0039)
Frame 147
tensor(0.0067)
Frame 148
tensor(0.0094)
Frame 149
tensor(0.0115)
Frame 150
tensor(0.0127)
Frame 151
tensor(0.0125)
Frame 152
tensor(0.0165)
Frame 153
tensor(0.0189)
Frame 154
tensor(0.0216)
Frame 155
tensor(0.0263)
Frame 156
tensor(0.0285)
Frame 157
tensor(0.0295)
Frame 158
tensor(0.0339)
Frame 159
tensor(0.0370)
Frame 160
tensor(0.0376)
Frame 161
tensor(0.0379)
Frame 162
tensor(0.0390)
Frame 163
tensor(0.0389)
Frame 164
tensor(0.0390)
Frame 165
tensor(0.0390)
Frame 166
tensor(0.0415)
Frame 167
tensor(0.0415)
Frame 168
tensor(0.0388)
Frame 169
tensor(0.0391)
Frame 170
tensor(0.0364)
Frame 171
tensor(0.0380)
Frame 172
tensor(0.0412)
Frame 173
tensor(0.0396)
Frame 174
tensor(0.0385)
Frame 175
tensor(0.0388)
Frame 176
tensor(0.0402)
Frame 177
tensor(0.0400)
Frame 178
tensor(0.0388)
Frame 179
tensor(0.0402)
Frame 180
tensor(0.0399)
Frame 181
tensor(0.0395)
Frame 182
tensor(0.0406)
Frame 183
tensor(0.0414)
Frame 184
tensor(0.0419)
Frame 185
tensor(0.0433)
Frame 186
tensor(0.0420)
Frame 187
tensor(0.0412)
Frame 188
tensor(0.0408)
Frame 189
tensor(0.0423)
Frame 190
tensor(0.0419)
Frame 191
tensor(0.0423)
Frame 192
tensor(0.0422)
Frame 193
tensor(0.0400)
Frame 194
tensor(0.0423)
Frame 195
tensor(0.0410)
Frame 196
tensor(0.0417)
Frame 197
tensor(0.0412)
Frame 198
tensor(0.0418)
Frame 199
tensor(0.0411)
Frame 200
tensor(0.0431)
Frame 201
tensor(0.0429)
Frame 202
tensor(0.0440)
Frame 203
tensor(0.0422)
Frame 204
tensor(0.0423)
Frame 205
tensor(0.0415)
Frame 206
tensor(0.0379)
Frame 207
tensor(0.0389)
Frame 208
tensor(0.0399)
Frame 209
tensor(0.0382)
Frame 210
tensor(0.0405)
Frame 211
tensor(0.0381)
Frame 212
tensor(0.0375)
Frame 213
tensor(0.0379)
Frame 214
tensor(0.0371)
Frame 215
tensor(0.0366)
Frame 216
tensor(0.0372)
Frame 217
tensor(0.0359)
Frame 218
tensor(0.0378)
Frame 219
tensor(0.0379)
Frame 220
tensor(0.0390)
Frame 221
tensor(0.0383)
Frame 222
tensor(0.0385)
Frame 223
tensor(0.0383)
Frame 224
tensor(0.0392)
Frame 225
tensor(0.0391)
Frame 226
tensor(0.0393)
Frame 227
tensor(0.0381)
Frame 228
tensor(0.0369)
Frame 229
tensor(0.0375)
Frame 230
tensor(0.0399)
Frame 231
tensor(0.0382)
Frame 232
tensor(0.0400)
Backending... 35 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 14420, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1975 loss_distill=0.1733 tta_take=0.003s
[epoch 0 scene 298/556] vkitti/Scene02/rain/Camera_1 frames=233 tta_steps_this_scene=1 mean_loss=0.1733 total_steps=1975 time=31.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0247)
Frame 2
tensor(0.1203)
 # KEYFRAME 1
Frame 3
tensor(0.1835)
 # KEYFRAME 2
0.05120411700045224
Frame 4
tensor(0.2801)
 # KEYFRAME 3
0.05261527199763805
Frame 5
tensor(0.4302)
 # KEYFRAME 4
0.05497667300369358
Frame 6
tensor(0.2999)
 # KEYFRAME 5
0.05521913299890002
Frame 7
tensor(0.4840)
 # KEYFRAME 6
0.056160868996812496
Frame 8
tensor(0.4120)
 # KEYFRAME 7
0.05661521799629554
Frame 9
tensor(0.7772)
 # KEYFRAME 8
0.05781578399910359
Frame 10
tensor(0.5569)
 # KEYFRAME 9
0.05826126200554427
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.2111)
 # KEYFRAME 10
0.05200886399688898
Frame 12
tensor(0.1389)
 # KEYFRAME 11
0.05325209000147879
Frame 13
tensor(0.3652)
 # KEYFRAME 12
0.05383283799892524
Frame 14
tensor(0.2869)
 # KEYFRAME 13
0.05621452900231816
Frame 15
tensor(0.2880)
 # KEYFRAME 14
0.05748983499506721
Frame 16
tensor(0.5530)
 # KEYFRAME 15
0.05834888199751731
Frame 17
tensor(0.6050)
 # KEYFRAME 16
0.0584728109970456
Frame 18
tensor(0.3437)
 # KEYFRAME 17
0.05965893699612934
Frame 19
tensor(0.2491)
 # KEYFRAME 18
0.061302150003029965
Frame 20
tensor(0.2387)
 # KEYFRAME 19
0.06242774699785514
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.1395)
 # KEYFRAME 20
0.05911141800606856
Frame 22
tensor(0.3061)
 # KEYFRAME 21
0.06049933299800614
Frame 23
tensor(0.2572)
 # KEYFRAME 22
0.06116191100591095
Frame 24
tensor(0.1835)
 # KEYFRAME 23
0.06205474799935473
Frame 25
tensor(0.2469)
 # KEYFRAME 24
0.06282407500111731
Frame 26
tensor(0.3375)
 # KEYFRAME 25
0.06387235200236319
Frame 27
tensor(0.3785)
 # KEYFRAME 26
0.06549657599680359
Frame 28
tensor(0.3440)
 # KEYFRAME 27
0.06631006300449371
Frame 29
tensor(0.4702)
 # KEYFRAME 28
0.06723663999582641
Frame 30
tensor(0.1005)
 # KEYFRAME 29
0.06846612499793991
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 31
tensor(0.1160)
 # KEYFRAME 30
0.0660454140015645
Frame 32
tensor(0.1672)
 # KEYFRAME 31
0.06813464700098848
Frame 33
tensor(0.2658)
 # KEYFRAME 32
0.06823620599607239
Frame 34
tensor(0.2558)
 # KEYFRAME 33
0.06887740400270559
Frame 35
tensor(0.2470)
 # KEYFRAME 34
0.06978893100313144
Frame 36
tensor(0.2101)
 # KEYFRAME 35
0.07083601700287545
Frame 37
tensor(0.2428)
 # KEYFRAME 36
0.0711850760053494
Frame 38
tensor(0.2301)
 # KEYFRAME 37
0.0724147319997428
Frame 39
tensor(0.1187)
 # KEYFRAME 38
0.0731964990045526
Frame 40
tensor(0.0722)
Frame 41
tensor(0.2564)
 # KEYFRAME 39
0.0737250660022255
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1976 loss_distill=0.1733 tta_take=0.009s
Frame 42
tensor(0.2281)
 # KEYFRAME 40
0.07284753999556415
Frame 43
tensor(0.2745)
 # KEYFRAME 41
0.07465794299787376
Frame 44
tensor(0.1580)
 # KEYFRAME 42
0.07461030300328275
Frame 45
tensor(0.2646)
 # KEYFRAME 43
0.07567387000017334
Frame 46
tensor(0.1592)
 # KEYFRAME 44
0.0761888179986272
Frame 47
tensor(0.1938)
 # KEYFRAME 45
0.07700823500636034
Frame 48
tensor(0.0875)
Frame 49
tensor(0.2343)
 # KEYFRAME 46
0.07751036300032865
Frame 50
tensor(0.6025)
 # KEYFRAME 47
0.07806393100327114
Frame 51
tensor(0.4562)
 # KEYFRAME 48
0.07876437799859559
Frame 52
tensor(0.0881)
Frame 53
tensor(0.3351)
 # KEYFRAME 49
0.08051478199922713
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1977 loss_distill=0.2747 tta_take=0.009s
Frame 54
tensor(0.2065)
 # KEYFRAME 50
0.07948193600168452
Frame 55
tensor(0.3019)
 # KEYFRAME 51
0.08157886900153244
Frame 56
tensor(0.2059)
 # KEYFRAME 52
0.08200846699764952
Frame 57
tensor(0.1753)
 # KEYFRAME 53
0.08266990500123939
Frame 58
tensor(0.2031)
 # KEYFRAME 54
0.08426715899986448
Frame 59
tensor(0.1879)
 # KEYFRAME 55
0.08452270799898542
Frame 60
tensor(0.0322)
Frame 61
tensor(0.0859)
Frame 62
tensor(0.1458)
 # KEYFRAME 56
0.08527252599742496
Frame 63
tensor(0.2155)
 # KEYFRAME 57
0.08505225599947153
Frame 64
tensor(0.2622)
 # KEYFRAME 58
0.08604954200563952
Frame 65
tensor(0.1164)
 # KEYFRAME 59
0.08698378899862291
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1978 loss_distill=0.3466 tta_take=0.009s
Frame 66
tensor(0.2225)
 # KEYFRAME 60
0.08589458300411934
Frame 67
tensor(0.2244)
 # KEYFRAME 61
0.08844997299456736
Frame 68
tensor(0.0825)
Frame 69
tensor(0.3159)
 # KEYFRAME 62
0.08797460600180784
Frame 70
tensor(0.1406)
 # KEYFRAME 63
0.08877703199686948
Frame 71
tensor(0.1882)
 # KEYFRAME 64
0.09001627899851883
Frame 72
tensor(0.1228)
 # KEYFRAME 65
0.09115114399901358
Frame 73
tensor(0.1895)
 # KEYFRAME 66
0.09164700299879769
Frame 74
tensor(0.2000)
 # KEYFRAME 67
0.09184324099624064
Frame 75
tensor(0.0534)
Frame 76
tensor(0.2288)
 # KEYFRAME 68
0.0935173149991897
Frame 77
tensor(0.1292)
 # KEYFRAME 69
0.09399647399550304
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1979 loss_distill=0.4024 tta_take=0.009s
Frame 78
tensor(0.1895)
 # KEYFRAME 70
0.09389394499885384
Frame 79
tensor(0.2516)
 # KEYFRAME 71
0.09549659900221741
Frame 80
tensor(0.0585)
Frame 81
tensor(0.2644)
 # KEYFRAME 72
0.09512992999952985
Frame 82
tensor(0.2670)
 # KEYFRAME 73
0.0951931100062211
Frame 83
tensor(0.0575)
Frame 84
tensor(0.1640)
 # KEYFRAME 74
0.0964269950054586
Frame 85
tensor(0.0926)
Frame 86
tensor(0.3348)
 # KEYFRAME 75
0.09733019200211857
Frame 87
tensor(0.2743)
 # KEYFRAME 76
0.09794252999563469
Frame 88
tensor(0.3773)
 # KEYFRAME 77
0.09810357900278177
Frame 89
tensor(0.1745)
 # KEYFRAME 78
0.09977919299853966
Frame 90
tensor(0.0632)
Frame 91
tensor(0.1336)
 # KEYFRAME 79
0.1007784699977492
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1980 loss_distill=0.4024 tta_take=0.009s
Frame 92
tensor(0.6338)
 # KEYFRAME 80
0.09318525699927704
Frame 93
tensor(0.3632)
 # KEYFRAME 81
0.09619899599783821
Frame 94
tensor(0.0428)
Frame 95
tensor(0.2434)
 # KEYFRAME 82
0.0943630129986559
Frame 96
tensor(0.2827)
 # KEYFRAME 83
0.09597522699914407
Frame 97
tensor(0.2933)
 # KEYFRAME 84
0.09643705499911448
Frame 98
tensor(0.2653)
 # KEYFRAME 85
0.09751822199905291
Frame 99
tensor(0.1854)
 # KEYFRAME 86
0.09778699000162305
Frame 100
tensor(0.2778)
 # KEYFRAME 87
0.09902875599800609
Frame 101
tensor(0.0373)
Frame 102
tensor(0.1790)
 # KEYFRAME 88
0.09997471200040309
Frame 103
tensor(0.1724)
 # KEYFRAME 89
0.10119448800105602
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1981 loss_distill=0.4024 tta_take=0.009s
Frame 104
tensor(0.1560)
 # KEYFRAME 90
0.09341847599716857
Frame 105
tensor(0.2111)
 # KEYFRAME 91
0.09627753600216238
Frame 106
tensor(0.1406)
 # KEYFRAME 92
0.09564836799836485
Frame 107
tensor(0.1379)
 # KEYFRAME 93
0.09571388699987438
Frame 108
tensor(0.0579)
Frame 109
tensor(0.1358)
 # KEYFRAME 94
0.09763402100361418
Frame 110
tensor(0.2237)
 # KEYFRAME 95
0.09820647900050972
Frame 111
tensor(0.1212)
 # KEYFRAME 96
0.09892662700440269
Frame 112
tensor(0.1721)
 # KEYFRAME 97
0.09865637700568186
Frame 113
tensor(0.1577)
 # KEYFRAME 98
0.09931034500186797
Frame 114
tensor(0.0532)
Frame 115
tensor(0.1775)
 # KEYFRAME 99
0.101548926999385
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1982 loss_distill=0.4024 tta_take=0.009s
Frame 116
tensor(0.1047)
 # KEYFRAME 100
0.09345257600216428
Frame 117
tensor(0.0696)
Frame 118
tensor(0.3313)
 # KEYFRAME 101
0.09677826400002232
Frame 119
tensor(0.1919)
 # KEYFRAME 102
0.0962236959967413
Frame 120
tensor(0.3179)
 # KEYFRAME 103
0.09698532299807994
Frame 121
tensor(0.2070)
 # KEYFRAME 104
0.09869444699870655
Frame 122
tensor(0.2683)
 # KEYFRAME 105
0.09946574499917915
Frame 123
tensor(0.2462)
 # KEYFRAME 106
0.10033739099890226
Frame 124
tensor(0.2436)
 # KEYFRAME 107
0.09993802299868548
Frame 125
tensor(0.3360)
 # KEYFRAME 108
0.10213363499497063
Frame 126
tensor(0.3987)
 # KEYFRAME 109
0.10200873500434682
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1983 loss_distill=0.4024 tta_take=0.009s
Frame 127
tensor(0.4132)
 # KEYFRAME 110
0.09384521500032861
Frame 128
tensor(0.4369)
 # KEYFRAME 111
0.09445787300501252
Frame 129
tensor(0.4731)
 # KEYFRAME 112
0.0946738019993063
Frame 130
tensor(0.6170)
 # KEYFRAME 113
0.09541554899624316
Frame 131
tensor(0.0798)
Frame 132
tensor(0.0779)
Backending... 114 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 66624, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=1984 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 299/556] scannetpp/ef18cf0708/frame frames=133 tta_steps_this_scene=9 mean_loss=0.3565 total_steps=1984 time=44.2s
Frame 0
 # KEYFRAME 0
Frame 1
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Frame 2
tensor(0.0019)
Frame 3
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Frame 199
tensor(0.1075)
 # KEYFRAME 1
Frame 200
tensor(0.0137)
Frame 201
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Frame 202
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Frame 203
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Frame 204
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Frame 205
tensor(0.1114)
 # KEYFRAME 2
0.05224437300057616
Frame 206
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Frame 210
tensor(0.1013)
 # KEYFRAME 3
0.051926235006249044
Frame 211
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Frame 212
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Frame 213
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tensor(0.1033)
 # KEYFRAME 4
0.05334919899905799
Frame 216
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tensor(0.1225)
 # KEYFRAME 5
0.05275278099725256
Frame 221
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tensor(0.1182)
 # KEYFRAME 6
0.052806480998697225
Frame 225
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Frame 228
tensor(0.1208)
 # KEYFRAME 7
0.05269172100088326
Frame 229
tensor(0.0329)
Frame 230
tensor(0.0630)
Frame 231
tensor(0.0931)
Frame 232
tensor(0.1192)
 # KEYFRAME 8
0.053578129001834895
Frame 233
tensor(0.0269)
Frame 234
tensor(0.0571)
Frame 235
tensor(0.0871)
Frame 236
tensor(0.1233)
 # KEYFRAME 9
0.05266247199324425
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 237
tensor(0.0343)
Frame 238
tensor(0.0674)
Frame 239
tensor(0.1034)
 # KEYFRAME 10
0.05191951400047401
Frame 240
tensor(0.0343)
Frame 241
tensor(0.0669)
Frame 242
tensor(0.0993)
Frame 243
tensor(0.1380)
 # KEYFRAME 11
0.052072793994739186
Frame 244
tensor(0.0318)
Frame 245
tensor(0.0709)
Frame 246
tensor(0.1074)
 # KEYFRAME 12
0.05196122400229797
Frame 247
tensor(0.0345)
Frame 248
tensor(0.0729)
Frame 249
tensor(0.1113)
 # KEYFRAME 13
0.05195928399916738
Frame 250
tensor(0.0389)
Frame 251
tensor(0.0853)
Frame 252
tensor(0.1177)
 # KEYFRAME 14
0.05439814599958481
Frame 253
tensor(0.0369)
Frame 254
tensor(0.0758)
Frame 255
tensor(0.1170)
 # KEYFRAME 15
0.05288171099527972
Frame 256
tensor(0.0405)
Frame 257
tensor(0.0734)
Frame 258
tensor(0.1115)
 # KEYFRAME 16
0.053157419999479316
Frame 259
tensor(0.0416)
Frame 260
tensor(0.0788)
Frame 261
tensor(0.1177)
 # KEYFRAME 17
0.05592024999350542
Frame 262
tensor(0.0427)
Frame 263
tensor(0.0755)
Frame 264
tensor(0.1204)
 # KEYFRAME 18
0.05269970199879026
Frame 265
tensor(0.0347)
Frame 266
tensor(0.0720)
Frame 267
tensor(0.1069)
 # KEYFRAME 19
0.05622846899495926
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 268
tensor(0.0343)
Frame 269
tensor(0.0780)
[epoch 0 scene 300/556] vkitti/Scene06/clone/Camera_0 frames=270 tta_steps_this_scene=0 mean_loss=nan total_steps=1984 time=35.7s
[ckpt] /scratch-shared/wwei2/scorer_pretrain/scorer_v1/checkpoint-last.pth (epoch=0 scene=300)
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1115)
 # KEYFRAME 1
Frame 2
tensor(0.1213)
 # KEYFRAME 2
0.05148231599741848
Frame 3
tensor(0.0789)
Frame 4
tensor(0.1499)
 # KEYFRAME 3
0.05243170299945632
Frame 5
tensor(0.0454)
Frame 6
tensor(0.1564)
 # KEYFRAME 4
0.053744018005090766
Frame 7
tensor(0.0623)
Frame 8
tensor(0.1443)
 # KEYFRAME 5
0.0543840660029673
Frame 9
tensor(0.0836)
Frame 10
tensor(0.4633)
 # KEYFRAME 6
0.055611620999115985
Frame 11
tensor(0.1103)
 # KEYFRAME 7
0.05632947800040711
Frame 12
tensor(0.1115)
 # KEYFRAME 8
0.05709682599990629
Frame 13
tensor(0.1319)
 # KEYFRAME 9
0.05869535099918721
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 14
tensor(0.0510)
Frame 15
tensor(0.3087)
 # KEYFRAME 10
0.05160914600128308
Frame 16
tensor(0.1127)
 # KEYFRAME 11
0.05262105199653888
Frame 17
tensor(0.1050)
 # KEYFRAME 12
0.05345838899665978
Frame 18
tensor(0.0737)
Frame 19
tensor(0.1323)
 # KEYFRAME 13
0.05485172399494331
Frame 20
tensor(0.0639)
Frame 21
tensor(0.0913)
Frame 22
tensor(0.0688)
Frame 23
tensor(0.0784)
Frame 24
tensor(0.3050)
 # KEYFRAME 14
0.05526376199850347
Frame 25
tensor(0.0943)
Frame 26
tensor(0.1232)
 # KEYFRAME 15
0.05460298500111094
Frame 27
tensor(0.0676)
Frame 28
tensor(0.1300)
 # KEYFRAME 16
0.05530954199639382
Frame 29
tensor(0.0727)
Frame 30
tensor(0.1878)
 # KEYFRAME 17
0.056056950001220684
Frame 31
tensor(0.1417)
 # KEYFRAME 18
0.05687174600461731
Frame 32
tensor(0.1263)
 # KEYFRAME 19
0.05759895400115056
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 33
tensor(0.0750)
Frame 34
tensor(0.1402)
 # KEYFRAME 20
0.0541751960045076
Frame 35
tensor(0.1146)
 # KEYFRAME 21
0.05527538200112758
Frame 36
tensor(0.1672)
 # KEYFRAME 22
0.05637482900056057
Frame 37
tensor(0.1203)
 # KEYFRAME 23
0.05707550600345712
Frame 38
tensor(0.1895)
 # KEYFRAME 24
0.05829394100146601
Frame 39
tensor(0.1413)
 # KEYFRAME 25
0.0589927990004071
Frame 40
tensor(0.1757)
 # KEYFRAME 26
0.06025814500026172
Frame 41
tensor(0.1082)
 # KEYFRAME 27
0.0610518819958088
Frame 42
tensor(0.1415)
 # KEYFRAME 28
0.061293460996239446
Frame 43
tensor(0.1083)
 # KEYFRAME 29
0.062257166995550506
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 44
tensor(0.0510)
Frame 45
tensor(0.0930)
Frame 46
tensor(0.0887)
Frame 47
tensor(0.2020)
 # KEYFRAME 30
0.0586863899952732
Frame 48
tensor(0.0627)
Frame 49
tensor(0.1287)
 # KEYFRAME 31
0.05995634599821642
Frame 50
tensor(0.6244)
 # KEYFRAME 32
0.059901446002186276
Frame 51
tensor(0.0603)
Frame 52
tensor(0.1323)
 # KEYFRAME 33
0.06180866900103865
Frame 53
tensor(0.0387)
Frame 54
tensor(0.1460)
 # KEYFRAME 34
0.06282452499726787
Frame 55
tensor(0.2116)
 # KEYFRAME 35
0.0637605430019903
Frame 56
tensor(0.1575)
 # KEYFRAME 36
0.06494467899756273
Frame 57
tensor(0.1080)
 # KEYFRAME 37
0.06565757500356995
Frame 58
tensor(0.1256)
 # KEYFRAME 38
0.06674222199944779
Frame 59
tensor(0.0879)
Frame 60
tensor(0.1424)
 # KEYFRAME 39
0.06741716900432948
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1985 loss_distill=0.1733 tta_take=0.008s
Frame 61
tensor(0.0749)
Frame 62
tensor(0.2289)
 # KEYFRAME 40
0.06256787700112909
Frame 63
tensor(0.1027)
 # KEYFRAME 41
0.06408852100139484
Frame 64
tensor(0.1061)
 # KEYFRAME 42
0.06391462200554088
Frame 65
tensor(0.1436)
 # KEYFRAME 43
0.06438375000288943
Frame 66
tensor(0.6700)
 # KEYFRAME 44
0.06490255899552722
Frame 67
tensor(0.1723)
 # KEYFRAME 45
0.06536458600021433
Frame 68
tensor(0.2097)
 # KEYFRAME 46
0.06577605500206118
Frame 69
tensor(0.0581)
Frame 70
tensor(0.2102)
 # KEYFRAME 47
0.0663352030023816
Frame 71
tensor(0.1274)
 # KEYFRAME 48
0.06689398100570543
Frame 72
tensor(0.5830)
 # KEYFRAME 49
0.06746969900268596
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1986 loss_distill=0.2747 tta_take=0.008s
Frame 73
tensor(0.1833)
 # KEYFRAME 50
0.06760867800039705
Frame 74
tensor(0.1698)
 # KEYFRAME 51
0.06933756200305652
Frame 75
tensor(0.1018)
 # KEYFRAME 52
0.06990143000439275
Frame 76
tensor(0.1093)
 # KEYFRAME 53
0.07079945699661039
Frame 77
tensor(0.1349)
 # KEYFRAME 54
0.07012243999633938
Frame 78
tensor(0.3229)
 # KEYFRAME 55
0.07268761999876006
Frame 79
tensor(0.1630)
 # KEYFRAME 56
0.07287318999442505
Frame 80
tensor(0.1056)
 # KEYFRAME 57
0.0729349889952573
Frame 81
tensor(0.1109)
 # KEYFRAME 58
0.07411897500423947
Frame 82
tensor(0.1274)
 # KEYFRAME 59
0.07470242399722338
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=1987 loss_distill=0.3466 tta_take=0.008s
Frame 83
tensor(0.0648)
Frame 84
tensor(0.4108)
 # KEYFRAME 60
0.07160220399964601
Frame 85
tensor(0.1192)
 # KEYFRAME 61
0.07331151800462976
Frame 86
tensor(0.0933)
Frame 87
tensor(0.1831)
 # KEYFRAME 62
0.07359900699520949
Frame 88
tensor(0.1423)
 # KEYFRAME 63
0.07398955599637702
Frame 89
tensor(0.0573)
Frame 90
tensor(0.0889)
Frame 91
tensor(0.1545)
 # KEYFRAME 64
0.07546986999659566
Frame 92
tensor(0.1290)
 # KEYFRAME 65
0.07477283300249837
Frame 93
tensor(0.0298)
Frame 94
tensor(0.0543)
Frame 95
tensor(0.2662)
 # KEYFRAME 66
0.07728871399740456
Frame 96
tensor(0.1361)
 # KEYFRAME 67
0.07840386999305338
Frame 97
tensor(0.1246)
 # KEYFRAME 68
0.07872115800273605
Frame 98
tensor(0.1677)
 # KEYFRAME 69
0.0792097770026885
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1988 loss_distill=0.4024 tta_take=0.008s
Frame 99
tensor(0.0945)
Frame 100
tensor(0.0990)
Frame 101
tensor(0.1756)
 # KEYFRAME 70
0.07564535999699729
Frame 102
tensor(0.0862)
Frame 103
tensor(0.3304)
 # KEYFRAME 71
0.07806229099514894
Frame 104
tensor(0.1702)
 # KEYFRAME 72
0.07796776200120803
Frame 105
tensor(0.1348)
 # KEYFRAME 73
0.07816306099994108
Frame 106
tensor(0.1141)
 # KEYFRAME 74
0.07927160699910019
Frame 107
tensor(0.1559)
 # KEYFRAME 75
0.08021964299405226
Frame 108
tensor(0.2001)
 # KEYFRAME 76
0.07922875700023724
Frame 109
tensor(0.0805)
Frame 110
tensor(0.1130)
 # KEYFRAME 77
0.08137190999696031
Frame 111
tensor(0.0712)
Frame 112
tensor(0.1225)
 # KEYFRAME 78
0.08207518699782668
Frame 113
tensor(0.1326)
 # KEYFRAME 79
0.08339611199335195
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1989 loss_distill=0.4024 tta_take=0.008s
Frame 114
tensor(0.1021)
 # KEYFRAME 80
0.07540718000382185
Frame 115
tensor(0.0812)
Frame 116
tensor(0.1118)
 # KEYFRAME 81
0.0771816639971803
Frame 117
tensor(0.0657)
Frame 118
tensor(0.1682)
 # KEYFRAME 82
0.07710790400597034
Frame 119
tensor(0.0377)
Frame 120
tensor(0.0200)
Frame 121
tensor(0.1122)
 # KEYFRAME 83
0.07726967399503337
Frame 122
tensor(0.1961)
 # KEYFRAME 84
0.07819594100146787
Frame 123
tensor(0.1203)
 # KEYFRAME 85
0.07867963900207542
Frame 124
tensor(0.1925)
 # KEYFRAME 86
0.07825708099699114
Frame 125
tensor(0.0918)
Frame 126
tensor(0.1867)
 # KEYFRAME 87
0.07956991500395816
Frame 127
tensor(0.1785)
 # KEYFRAME 88
0.07986522399733076
Frame 128
tensor(0.0948)
Frame 129
tensor(0.2878)
 # KEYFRAME 89
0.07999523400212638
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1990 loss_distill=0.4024 tta_take=0.008s
Frame 130
tensor(0.1130)
 # KEYFRAME 90
0.07561723000253551
Frame 131
tensor(0.1230)
 # KEYFRAME 91
0.0771399939985713
Frame 132
tensor(0.0730)
Frame 133
tensor(0.2408)
 # KEYFRAME 92
0.07687029500084464
Frame 134
tensor(0.1271)
 # KEYFRAME 93
0.07762096299848054
Frame 135
tensor(0.1635)
 # KEYFRAME 94
0.07825601100194035
Frame 136
tensor(0.2187)
 # KEYFRAME 95
0.07818619099998614
Frame 137
tensor(0.1787)
 # KEYFRAME 96
0.07889352899655933
Frame 138
tensor(0.1901)
 # KEYFRAME 97
0.07930396700248821
Frame 139
tensor(0.2233)
 # KEYFRAME 98
0.08020718400075566
Frame 140
tensor(0.1660)
 # KEYFRAME 99
0.08042811300401809
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1991 loss_distill=0.4024 tta_take=0.009s
Frame 141
tensor(0.0843)
Frame 142
tensor(0.1260)
 # KEYFRAME 100
0.07580856900312938
Frame 143
tensor(0.0829)
Frame 144
tensor(0.2841)
 # KEYFRAME 101
0.07774168299511075
Frame 145
tensor(0.1850)
 # KEYFRAME 102
0.07679509599984158
Frame 146
tensor(0.3314)
 # KEYFRAME 103
0.07766708199778805
Frame 147
tensor(0.2336)
 # KEYFRAME 104
0.07786354100244353
Frame 148
tensor(0.2912)
 # KEYFRAME 105
0.07868776899704244
Frame 149
tensor(0.1356)
 # KEYFRAME 106
0.07859314999950584
Backending... 107 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62310, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=1992 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 301/556] scannetpp/c0c863b72d/DSC frames=150 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=1992 time=39.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0519)
Frame 2
tensor(0.0740)
Frame 3
tensor(0.1262)
 # KEYFRAME 1
Frame 4
tensor(0.0471)
Frame 5
tensor(0.0975)
Frame 6
tensor(0.1210)
 # KEYFRAME 2
0.05154668600152945
Frame 7
tensor(0.1088)
 # KEYFRAME 3
0.05186774500180036
Frame 8
tensor(0.1161)
 # KEYFRAME 4
0.05375539799570106
Frame 9
tensor(0.0455)
Frame 10
tensor(0.2013)
 # KEYFRAME 5
0.05447854600060964
Frame 11
tensor(0.0812)
Frame 12
tensor(0.1526)
 # KEYFRAME 6
0.05587299999751849
Frame 13
tensor(0.0384)
Frame 14
tensor(0.0908)
Frame 15
tensor(0.1375)
 # KEYFRAME 7
0.0565857679976034
Frame 16
tensor(0.0149)
Frame 17
tensor(0.3128)
 # KEYFRAME 8
0.057416364004893694
Frame 18
tensor(0.0711)
Frame 19
tensor(0.1262)
 # KEYFRAME 9
0.058132473001023754
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 20
tensor(0.0216)
Frame 21
tensor(0.0526)
Frame 22
tensor(0.3635)
 # KEYFRAME 10
0.05157807499927003
Frame 23
tensor(0.0198)
Frame 24
tensor(0.0333)
Frame 25
tensor(0.0575)
Frame 26
tensor(0.0815)
Frame 27
tensor(0.0942)
Frame 28
tensor(0.0947)
Frame 29
tensor(0.0656)
Frame 30
tensor(0.0898)
Frame 31
tensor(0.1093)
 # KEYFRAME 11
0.05198469400056638
Frame 32
tensor(0.0311)
Frame 33
tensor(0.0657)
Frame 34
tensor(0.0774)
Frame 35
tensor(0.1038)
 # KEYFRAME 12
0.05195873400225537
Frame 36
tensor(0.0253)
Frame 37
tensor(0.0504)
Frame 38
tensor(0.2889)
 # KEYFRAME 13
0.054001356998924166
Frame 39
tensor(0.0119)
Frame 40
tensor(0.0323)
Frame 41
tensor(0.0437)
Frame 42
tensor(0.0711)
Frame 43
tensor(0.0990)
Frame 44
tensor(0.1312)
 # KEYFRAME 14
0.05441223600064404
Frame 45
tensor(0.0157)
Frame 46
tensor(0.0461)
Frame 47
tensor(0.4739)
 # KEYFRAME 15
0.05444264499965357
Frame 48
tensor(0.0453)
Frame 49
tensor(0.0703)
Frame 50
tensor(0.0966)
Frame 51
tensor(0.1563)
 # KEYFRAME 16
0.05486660399765242
Frame 52
tensor(0.0339)
Frame 53
tensor(0.1000)
 # KEYFRAME 17
0.05631988900131546
Frame 54
tensor(0.0626)
Frame 55
tensor(0.0885)
Frame 56
tensor(0.1408)
 # KEYFRAME 18
0.05715915600012522
Frame 57
tensor(0.0507)
Frame 58
tensor(0.0945)
Frame 59
tensor(0.1120)
 # KEYFRAME 19
0.05723243599641137
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 60
tensor(0.0337)
Frame 61
tensor(0.3838)
 # KEYFRAME 20
0.05401546700159088
Frame 62
tensor(0.0591)
Frame 63
tensor(0.0994)
Frame 64
tensor(0.1782)
 # KEYFRAME 21
0.05517479300033301
Frame 65
tensor(0.0784)
Frame 66
tensor(0.1261)
 # KEYFRAME 22
0.05578333999437746
Frame 67
tensor(0.0772)
Frame 68
tensor(0.1552)
 # KEYFRAME 23
0.05632558800425613
Frame 69
tensor(0.0614)
Frame 70
tensor(0.0979)
Frame 71
tensor(0.1523)
 # KEYFRAME 24
0.05677530800312525
Frame 72
tensor(0.0669)
Frame 73
tensor(0.1113)
 # KEYFRAME 25
0.05709694599499926
Frame 74
tensor(0.1059)
 # KEYFRAME 26
0.05813431299611693
Frame 75
tensor(0.1012)
 # KEYFRAME 27
0.058895900001516566
Frame 76
tensor(0.0721)
Frame 77
tensor(0.1047)
 # KEYFRAME 28
0.06011271499301074
Frame 78
tensor(0.0592)
Frame 79
tensor(0.1133)
 # KEYFRAME 29
0.06072530299570644
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 80
tensor(0.0436)
Frame 81
tensor(0.1338)
 # KEYFRAME 30
0.0586393009944004
Frame 82
tensor(0.0965)
Frame 83
tensor(0.1611)
 # KEYFRAME 31
0.0594198469989351
Frame 84
tensor(0.0298)
Frame 85
tensor(0.0871)
Frame 86
tensor(0.3959)
 # KEYFRAME 32
0.059721676996559836
Frame 87
tensor(0.0258)
Frame 88
tensor(0.1021)
 # KEYFRAME 33
0.06081866200111108
Frame 89
tensor(0.0857)
Frame 90
tensor(0.1671)
 # KEYFRAME 34
0.06111793200398097
Frame 91
tensor(0.0439)
Frame 92
tensor(0.1171)
 # KEYFRAME 35
0.061837708999519236
Frame 93
tensor(0.0785)
Frame 94
tensor(0.1397)
 # KEYFRAME 36
0.06226566700206604
Frame 95
tensor(0.0314)
Frame 96
tensor(0.0984)
Frame 97
tensor(0.1624)
 # KEYFRAME 37
0.06235487700178055
Frame 98
tensor(0.0393)
Frame 99
tensor(0.0997)
Frame 100
tensor(0.2824)
 # KEYFRAME 38
0.0635864119976759
Frame 101
tensor(0.0397)
Frame 102
tensor(0.0687)
Frame 103
tensor(0.1087)
 # KEYFRAME 39
0.06462555899634026
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1993 loss_distill=0.1733 tta_take=0.008s
Frame 104
tensor(0.0291)
Frame 105
tensor(0.5163)
 # KEYFRAME 40
0.06280921599682188
Frame 106
tensor(0.0573)
Frame 107
tensor(0.7303)
 # KEYFRAME 41
0.06462320900027407
Frame 108
tensor(0.0216)
Frame 109
tensor(0.0296)
Frame 110
tensor(0.0439)
Frame 111
tensor(0.0579)
Frame 112
tensor(0.0622)
Frame 113
tensor(0.0789)
Frame 114
tensor(0.0712)
Frame 115
tensor(0.5122)
 # KEYFRAME 42
0.06472179800039157
Frame 116
tensor(0.0585)
Frame 117
tensor(0.1612)
 # KEYFRAME 43
0.06470520899893017
Frame 118
tensor(0.1154)
 # KEYFRAME 44
0.06659175199456513
Frame 119
tensor(0.0538)
Frame 120
tensor(0.1499)
 # KEYFRAME 45
0.06706762000249
Frame 121
tensor(0.1160)
 # KEYFRAME 46
0.06838568599778228
Frame 122
tensor(0.1153)
 # KEYFRAME 47
0.06825749600102426
Frame 123
tensor(0.0450)
Frame 124
tensor(0.1140)
 # KEYFRAME 48
0.06928922299994156
Frame 125
tensor(0.0792)
Frame 126
tensor(0.5030)
 # KEYFRAME 49
0.07005302999459673
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=1994 loss_distill=0.2747 tta_take=0.008s
Frame 127
tensor(0.0123)
Frame 128
tensor(0.0898)
Frame 129
tensor(0.1994)
 # KEYFRAME 50
0.06701102999795694
Frame 130
tensor(0.0490)
Frame 131
tensor(0.1338)
 # KEYFRAME 51
0.06848795500263805
Frame 132
tensor(0.0765)
Frame 133
tensor(0.1324)
 # KEYFRAME 52
0.0685561249993043
Frame 134
tensor(0.0281)
Frame 135
tensor(0.0772)
Frame 136
tensor(0.3828)
 # KEYFRAME 53
0.06902745300612878
Frame 137
tensor(0.0489)
Frame 138
tensor(0.1698)
 # KEYFRAME 54
0.0691532630007714
Frame 139
tensor(0.1166)
 # KEYFRAME 55
0.07006470000487752
Frame 140
tensor(0.1051)
 # KEYFRAME 56
0.07034058900171658
Frame 141
tensor(0.0417)
Frame 142
tensor(0.1318)
 # KEYFRAME 57
0.07041841899626888
Frame 143
tensor(0.0706)
Frame 144
tensor(0.1024)
 # KEYFRAME 58
0.07108576600148808
Frame 145
tensor(0.2865)
 # KEYFRAME 59
0.07140855499892496
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.34657353162765503
TTA-STEP: step=1995 loss_distill=0.3466 tta_take=0.008s
Frame 146
tensor(0.0693)
Frame 147
tensor(0.1174)
 # KEYFRAME 60
0.07160309400205733
Frame 148
tensor(0.0289)
Frame 149
tensor(0.0720)
Backending... 61 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 56730, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=1996 loss_distill=0.4024 tta_take=0.002s
[epoch 0 scene 302/556] scannetpp/1831b3823a/DSC frames=150 tta_steps_this_scene=4 mean_loss=0.2992 total_steps=1996 time=28.6s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0505)
Frame 2
tensor(0.1557)
 # KEYFRAME 1
Frame 3
tensor(0.1023)
 # KEYFRAME 2
0.05137521600408945
Frame 4
tensor(0.0482)
Frame 5
tensor(0.1249)
 # KEYFRAME 3
0.052271763001044746
Frame 6
tensor(0.0618)
Frame 7
tensor(0.4117)
 # KEYFRAME 4
0.053321610001148656
Frame 8
tensor(0.0722)
Frame 9
tensor(0.1398)
 # KEYFRAME 5
0.05436075600300683
Frame 10
tensor(0.0636)
Frame 11
tensor(0.1017)
 # KEYFRAME 6
0.0556652209997992
Frame 12
tensor(0.4281)
 # KEYFRAME 7
0.05586454000149388
Frame 13
tensor(0.0300)
Frame 14
tensor(0.0496)
Frame 15
tensor(0.0843)
Frame 16
tensor(0.1060)
 # KEYFRAME 8
0.056665227995836176
Frame 17
tensor(0.0203)
Frame 18
tensor(0.0501)
Frame 19
tensor(0.0774)
Frame 20
tensor(0.1410)
 # KEYFRAME 9
0.05773562299873447
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.0270)
Frame 22
tensor(0.0852)
Frame 23
tensor(0.1389)
 # KEYFRAME 10
0.05149588600033894
Frame 24
tensor(0.0296)
Frame 25
tensor(0.0990)
Frame 26
tensor(0.1585)
 # KEYFRAME 11
0.0528756709973095
Frame 27
tensor(0.0443)
Frame 28
tensor(0.1009)
 # KEYFRAME 12
0.0530144209988066
Frame 29
tensor(0.0376)
Frame 30
tensor(0.4763)
 # KEYFRAME 13
0.05405952699948102
Frame 31
tensor(0.0438)
Frame 32
tensor(0.0942)
Frame 33
tensor(0.1373)
 # KEYFRAME 14
0.05463307399622863
Frame 34
tensor(0.0339)
Frame 35
tensor(0.0727)
Frame 36
tensor(0.0954)
Frame 37
tensor(0.1243)
 # KEYFRAME 15
0.05482326399942394
Frame 38
tensor(0.0673)
Frame 39
tensor(0.1078)
 # KEYFRAME 16
0.05531872199935606
Frame 40
tensor(0.0217)
Frame 41
tensor(0.0655)
Frame 42
tensor(0.0918)
Frame 43
tensor(0.1200)
 # KEYFRAME 17
0.05605156999808969
Frame 44
tensor(0.0639)
Frame 45
tensor(0.1193)
 # KEYFRAME 18
0.05736215499928221
Frame 46
tensor(0.0445)
Frame 47
tensor(0.1018)
 # KEYFRAME 19
0.057530263999069575
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 48
tensor(0.0655)
Frame 49
tensor(0.1222)
 # KEYFRAME 20
0.05411152699525701
Frame 50
tensor(0.0350)
Frame 51
tensor(0.2287)
 # KEYFRAME 21
0.05539252200105693
Frame 52
tensor(0.0542)
Frame 53
tensor(0.0914)
Frame 54
tensor(0.1347)
 # KEYFRAME 22
0.056240538993733935
Frame 55
tensor(0.0519)
Frame 56
tensor(0.0937)
Frame 57
tensor(0.1663)
 # KEYFRAME 23
0.05705242599651683
Frame 58
tensor(0.0968)
Frame 59
tensor(0.1488)
 # KEYFRAME 24
0.05816425199736841
Frame 60
tensor(0.0783)
Frame 61
tensor(0.1445)
 # KEYFRAME 25
0.058955319997039624
Frame 62
tensor(0.5538)
 # KEYFRAME 26
0.06050976400001673
Frame 63
tensor(0.0458)
Frame 64
tensor(0.1210)
 # KEYFRAME 27
0.06142952100344701
Frame 65
tensor(0.0633)
Frame 66
tensor(0.0870)
Frame 67
tensor(0.1295)
 # KEYFRAME 28
0.061681430001044646
Frame 68
tensor(0.0444)
Frame 69
tensor(0.0814)
Frame 70
tensor(0.1204)
 # KEYFRAME 29
0.06250472700048704
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 71
tensor(0.0442)
Frame 72
tensor(0.0724)
Frame 73
tensor(0.1225)
 # KEYFRAME 30
0.05856183099967893
Frame 74
tensor(0.0323)
Frame 75
tensor(0.0636)
Frame 76
tensor(0.0842)
Frame 77
tensor(0.2850)
 # KEYFRAME 31
0.05969937700137962
Frame 78
tensor(0.0743)
Frame 79
tensor(0.1351)
 # KEYFRAME 32
0.05984392700338503
Frame 80
tensor(0.1098)
 # KEYFRAME 33
0.06133876999956556
Frame 81
tensor(0.1124)
 # KEYFRAME 34
0.06246961699798703
Frame 82
tensor(0.0600)
Frame 83
tensor(0.1298)
 # KEYFRAME 35
0.0636369019994163
Frame 84
tensor(0.0180)
Frame 85
tensor(0.0250)
Frame 86
tensor(0.3391)
 # KEYFRAME 36
0.06460786900424864
Frame 87
tensor(0.0178)
Frame 88
tensor(0.0437)
Frame 89
tensor(0.0714)
Frame 90
tensor(0.0949)
Frame 91
tensor(0.1380)
 # KEYFRAME 37
0.06517368700588122
Frame 92
tensor(0.0255)
Frame 93
tensor(0.0554)
Frame 94
tensor(0.1352)
 # KEYFRAME 38
0.06601652399695013
Frame 95
tensor(0.0337)
Frame 96
tensor(0.0734)
Frame 97
tensor(0.0878)
Frame 98
tensor(0.0997)
Frame 99
tensor(0.1175)
 # KEYFRAME 39
0.06735996000497835
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=1997 loss_distill=0.1733 tta_take=0.008s
Frame 100
tensor(0.0214)
Frame 101
tensor(0.0605)
Frame 102
tensor(0.0921)
Frame 103
tensor(0.1107)
 # KEYFRAME 40
0.06290244500269182
Frame 104
tensor(0.2586)
 # KEYFRAME 41
0.06407036099699326
Frame 105
tensor(0.0096)
Frame 106
tensor(0.0323)
Frame 107
tensor(0.0620)
Frame 108
tensor(0.1002)
 # KEYFRAME 42
0.06411760099581443
Frame 109
tensor(0.0696)
Frame 110
tensor(0.1257)
 # KEYFRAME 43
0.0640785709983902
Frame 111
tensor(0.0453)
Frame 112
tensor(0.1213)
 # KEYFRAME 44
0.06447712000226602
Frame 113
tensor(0.2155)
 # KEYFRAME 45
0.06516169699898455
Frame 114
tensor(0.0634)
Frame 115
tensor(0.1397)
 # KEYFRAME 46
0.06563058599567739
Frame 116
tensor(0.0981)
Frame 117
tensor(0.1865)
 # KEYFRAME 47
0.06599658400227781
Frame 118
tensor(0.1041)
 # KEYFRAME 48
0.06638219299929915
Frame 119
tensor(0.1584)
 # KEYFRAME 49
0.0672432999999728
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531069278717
TTA-STEP: step=1998 loss_distill=0.2747 tta_take=0.008s
Frame 120
tensor(0.1368)
 # KEYFRAME 50
0.06703027999901678
Frame 121
tensor(0.0525)
Frame 122
tensor(0.1419)
 # KEYFRAME 51
0.06843882599787321
Frame 123
tensor(0.0843)
Frame 124
tensor(0.6614)
 # KEYFRAME 52
0.06837965600425377
Frame 125
tensor(0.0785)
Frame 126
tensor(0.1186)
 # KEYFRAME 53
0.06982181000057608
Frame 127
tensor(0.2101)
 # KEYFRAME 54
0.06916650300263427
Frame 128
tensor(0.1317)
 # KEYFRAME 55
0.0715227950058761
Frame 129
tensor(0.0928)
Frame 130
tensor(0.7068)
 # KEYFRAME 56
0.07158713499666192
Frame 131
tensor(0.0134)
Frame 132
tensor(0.0499)
Frame 133
tensor(0.4610)
 # KEYFRAME 57
0.07234981100191362
Frame 134
tensor(0.0070)
Frame 135
tensor(0.0309)
Frame 136
tensor(0.3262)
 # KEYFRAME 58
0.07291047899343539
Frame 137
tensor(0.0116)
Frame 138
tensor(0.0412)
Frame 139
tensor(0.0887)
Frame 140
tensor(0.1335)
 # KEYFRAME 59
0.07379777599999215
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=1999 loss_distill=0.3466 tta_take=0.008s
Frame 141
tensor(0.0502)
Frame 142
tensor(0.1446)
 # KEYFRAME 60
0.07173586399585474
Frame 143
tensor(0.0817)
Frame 144
tensor(0.5124)
 # KEYFRAME 61
0.07273279999935767
Frame 145
tensor(0.1192)
 # KEYFRAME 62
0.07220178200077498
Frame 146
tensor(0.1024)
 # KEYFRAME 63
0.0730963289970532
Frame 147
tensor(0.0599)
Frame 148
tensor(0.1725)
 # KEYFRAME 64
0.07374478599376744
Backending... 65 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 60450, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2000 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 303/556] scannetpp/7cd2ac43b4/DSC frames=149 tta_steps_this_scene=4 mean_loss=0.2992 total_steps=2000 time=29.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0244)
Frame 2
tensor(0.2126)
 # KEYFRAME 1
Frame 3
tensor(0.3055)
 # KEYFRAME 2
0.05087961899698712
Frame 4
tensor(0.5603)
 # KEYFRAME 3
0.05217498400452314
Frame 5
tensor(0.2992)
 # KEYFRAME 4
0.05478415400284575
Frame 6
tensor(0.3900)
 # KEYFRAME 5
0.0553890320006758
Frame 7
tensor(0.4225)
 # KEYFRAME 6
0.0561142199949245
Frame 8
tensor(0.3434)
 # KEYFRAME 7
0.05712368599779438
Frame 9
tensor(0.7209)
 # KEYFRAME 8
0.05789108300086809
Frame 10
tensor(0.3178)
 # KEYFRAME 9
0.057711264002136886
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.3204)
 # KEYFRAME 10
0.05200807400251506
Frame 12
tensor(0.4542)
 # KEYFRAME 11
0.05351693899865495
Frame 13
tensor(0.1432)
 # KEYFRAME 12
0.0542899860010948
Frame 14
tensor(0.3920)
 # KEYFRAME 13
0.0563928580013453
Frame 15
tensor(0.3868)
 # KEYFRAME 14
0.057269375000032596
Frame 16
tensor(0.2960)
 # KEYFRAME 15
0.05771796400222229
Frame 17
tensor(0.1878)
 # KEYFRAME 16
0.0587952799978666
Frame 18
tensor(0.1149)
 # KEYFRAME 17
0.06025012399913976
Frame 19
tensor(0.0758)
Frame 20
tensor(0.0865)
Frame 21
tensor(0.3157)
 # KEYFRAME 18
0.06164559999888297
Frame 22
tensor(0.3886)
 # KEYFRAME 19
0.06262221599899931
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 23
tensor(0.4068)
 # KEYFRAME 20
0.05872269999963464
Frame 24
tensor(0.4397)
 # KEYFRAME 21
0.060358853996149264
Frame 25
tensor(0.2731)
 # KEYFRAME 22
0.06132192000222858
Frame 26
tensor(0.3499)
 # KEYFRAME 23
0.061857209002482705
Frame 27
tensor(0.2904)
 # KEYFRAME 24
0.06275277599343099
Frame 28
tensor(0.3756)
 # KEYFRAME 25
0.06358270299824653
Frame 29
tensor(0.1468)
 # KEYFRAME 26
0.06519762700190768
Frame 30
tensor(0.1491)
 # KEYFRAME 27
0.06610935399658047
Frame 31
tensor(0.1734)
 # KEYFRAME 28
0.0662408839998534
Frame 32
tensor(0.2694)
 # KEYFRAME 29
0.06803330600087065
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 33
tensor(0.2849)
 # KEYFRAME 30
0.06576128499727929
Frame 34
tensor(0.2811)
 # KEYFRAME 31
0.0679912669947953
Frame 35
tensor(0.2818)
 # KEYFRAME 32
0.06889086400042288
Frame 36
tensor(0.2283)
 # KEYFRAME 33
0.0708376969996607
Frame 37
tensor(0.1488)
 # KEYFRAME 34
0.0719959329944686
Frame 38
tensor(0.4070)
 # KEYFRAME 35
0.07343678799952613
Frame 39
tensor(0.2947)
 # KEYFRAME 36
0.07455581300018821
Frame 40
tensor(0.2341)
 # KEYFRAME 37
0.07564534000266576
Frame 41
tensor(0.2116)
 # KEYFRAME 38
0.07562680000410182
Frame 42
tensor(0.1909)
 # KEYFRAME 39
0.07643548699707026
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2001 loss_distill=0.1733 tta_take=0.009s
Frame 43
tensor(0.1557)
 # KEYFRAME 40
0.07271005999791669
Frame 44
tensor(0.2480)
 # KEYFRAME 41
0.0746904830011772
Frame 45
tensor(0.3568)
 # KEYFRAME 42
0.07464537299529184
Frame 46
tensor(0.1839)
 # KEYFRAME 43
0.07521873100631637
Frame 47
tensor(0.3073)
 # KEYFRAME 44
0.07609397800115403
Frame 48
tensor(0.3870)
 # KEYFRAME 45
0.07689712499995949
Frame 49
tensor(0.2820)
 # KEYFRAME 46
0.07737331300450023
Frame 50
tensor(0.1675)
 # KEYFRAME 47
0.07829760999447899
Frame 51
tensor(0.4255)
 # KEYFRAME 48
0.07885547800105996
Frame 52
tensor(0.3566)
 # KEYFRAME 49
0.07961310599785065
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=2002 loss_distill=0.2747 tta_take=0.009s
Frame 53
tensor(0.2581)
 # KEYFRAME 50
0.07950463599991053
Frame 54
tensor(0.2325)
 # KEYFRAME 51
0.08186934699915582
Frame 55
tensor(0.3504)
 # KEYFRAME 52
0.0818927979998989
Frame 56
tensor(0.0951)
Frame 57
tensor(0.1517)
 # KEYFRAME 53
0.08373197100445395
Frame 58
tensor(0.0577)
Frame 59
tensor(0.0572)
Frame 60
tensor(0.0583)
Frame 61
tensor(0.0818)
Frame 62
tensor(0.2011)
 # KEYFRAME 54
0.08477644700178644
Frame 63
tensor(0.1064)
 # KEYFRAME 55
0.08439744800125482
Frame 64
tensor(0.1695)
 # KEYFRAME 56
0.08561476400063839
Frame 65
tensor(0.3254)
 # KEYFRAME 57
0.08694210000248859
Frame 66
tensor(0.0860)
Frame 67
tensor(0.1635)
 # KEYFRAME 58
0.08722729800501838
Frame 68
tensor(0.1471)
 # KEYFRAME 59
0.08781784599705134
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=2003 loss_distill=0.3466 tta_take=0.009s
Frame 69
tensor(0.1771)
 # KEYFRAME 60
0.08656321099988418
Frame 70
tensor(0.1157)
 # KEYFRAME 61
0.08864357299898984
Frame 71
tensor(0.1091)
 # KEYFRAME 62
0.08770960599940736
Frame 72
tensor(0.2575)
 # KEYFRAME 63
0.08873952300200472
Frame 73
tensor(0.0958)
Frame 74
tensor(0.0640)
Frame 75
tensor(0.3274)
 # KEYFRAME 64
0.08970676900207764
Frame 76
tensor(0.0459)
Frame 77
tensor(0.1860)
 # KEYFRAME 65
0.09014338799897814
Frame 78
tensor(0.2139)
 # KEYFRAME 66
0.09160674300073879
Frame 79
tensor(0.1321)
 # KEYFRAME 67
0.09206690100108972
Frame 80
tensor(0.1502)
 # KEYFRAME 68
0.09240582999336766
Frame 81
tensor(0.0786)
Frame 82
tensor(0.2429)
 # KEYFRAME 69
0.09306767799716908
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2004 loss_distill=0.4024 tta_take=0.009s
Frame 83
tensor(0.3146)
 # KEYFRAME 70
0.09406748400215292
Frame 84
tensor(0.2901)
 # KEYFRAME 71
0.09387026399781462
Frame 85
tensor(0.3811)
 # KEYFRAME 72
0.09575854799913941
Frame 86
tensor(0.2976)
 # KEYFRAME 73
0.09659919400291983
Frame 87
tensor(0.1676)
 # KEYFRAME 74
0.09776132999832043
Frame 88
tensor(0.3610)
 # KEYFRAME 75
0.09802579000097467
Frame 89
tensor(0.1200)
 # KEYFRAME 76
0.09919636600534432
Frame 90
tensor(0.1953)
 # KEYFRAME 77
0.09996494300139602
Frame 91
tensor(0.0986)
Frame 92
tensor(0.1211)
 # KEYFRAME 78
0.10070362999977078
Frame 93
tensor(0.2420)
 # KEYFRAME 79
0.10100909799803048
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=2005 loss_distill=0.4024 tta_take=0.009s
Frame 94
tensor(0.0604)
Frame 95
tensor(0.2180)
 # KEYFRAME 80
0.09351038599561434
Frame 96
tensor(0.2193)
 # KEYFRAME 81
0.09568829800264211
Frame 97
tensor(0.3431)
 # KEYFRAME 82
0.09584900800109608
Frame 98
tensor(0.1871)
 # KEYFRAME 83
0.0971910320004099
Frame 99
tensor(0.1792)
 # KEYFRAME 84
0.09824766800011275
Frame 100
tensor(0.4220)
 # KEYFRAME 85
0.09925430500152288
Frame 101
tensor(0.3010)
 # KEYFRAME 86
0.10142838800675236
Frame 102
tensor(0.3308)
 # KEYFRAME 87
0.10202506500354502
Frame 103
tensor(0.2717)
 # KEYFRAME 88
0.10243030399578856
Frame 104
tensor(0.0747)
Frame 105
tensor(0.1693)
 # KEYFRAME 89
0.10273984300147276
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2006 loss_distill=0.4024 tta_take=0.009s
Frame 106
tensor(0.1700)
 # KEYFRAME 90
0.09418658399954438
Frame 107
tensor(0.3131)
 # KEYFRAME 91
0.09445914200478
Frame 108
tensor(0.2616)
 # KEYFRAME 92
0.0947393309979816
Frame 109
tensor(0.3123)
 # KEYFRAME 93
0.09649195500242058
Frame 110
tensor(0.1356)
 # KEYFRAME 94
0.09638538499712013
Frame 111
tensor(0.2981)
 # KEYFRAME 95
0.09730741199746262
Frame 112
tensor(0.1952)
 # KEYFRAME 96
0.09903792600380257
Frame 113
tensor(0.1218)
 # KEYFRAME 97
0.09871831700002076
Frame 114
tensor(0.1030)
 # KEYFRAME 98
0.10029226099868538
Frame 115
tensor(0.0616)
Frame 116
tensor(0.1429)
 # KEYFRAME 99
0.10046013099781703
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2007 loss_distill=0.4024 tta_take=0.009s
Frame 117
tensor(0.1031)
 # KEYFRAME 100
0.09373654500086559
Frame 118
tensor(0.0924)
Frame 119
tensor(0.3171)
 # KEYFRAME 101
0.09577530800015666
Frame 120
tensor(0.2844)
 # KEYFRAME 102
0.09589163700002246
Frame 121
tensor(0.0317)
Frame 122
tensor(0.3901)
 # KEYFRAME 103
0.09660824499587761
Frame 123
tensor(0.2515)
 # KEYFRAME 104
0.0983575380014372
Frame 124
tensor(0.0848)
Frame 125
tensor(0.2108)
 # KEYFRAME 105
0.11791850800364045
Frame 126
tensor(0.1414)
 # KEYFRAME 106
0.10034506100055296
Frame 127
tensor(0.1239)
 # KEYFRAME 107
0.1022761240019463
Frame 128
tensor(0.3110)
 # KEYFRAME 108
0.10205331500037573
Frame 129
tensor(0.0882)
Frame 130
tensor(0.0474)
Frame 131
tensor(0.1429)
 # KEYFRAME 109
0.1033793210008298
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=2008 loss_distill=0.4024 tta_take=0.009s
Frame 132
tensor(0.1384)
 # KEYFRAME 110
0.09320269700401695
Frame 133
tensor(0.0980)
Frame 134
tensor(0.1377)
 # KEYFRAME 111
0.09505596000235528
Frame 135
tensor(0.1362)
 # KEYFRAME 112
0.09592203699867241
Frame 136
tensor(0.1002)
 # KEYFRAME 113
0.09627834599814378
Frame 137
tensor(0.2405)
 # KEYFRAME 114
0.0981991989974631
Frame 138
tensor(0.2472)
 # KEYFRAME 115
0.09867704700445756
Frame 139
tensor(0.3615)
 # KEYFRAME 116
0.10093873900041217
Frame 140
tensor(0.1055)
 # KEYFRAME 117
0.10173510700406041
Frame 141
tensor(0.2301)
 # KEYFRAME 118
0.10198801499791443
Frame 142
tensor(0.1643)
 # KEYFRAME 119
0.10234100399975432
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2009 loss_distill=0.4024 tta_take=0.009s
Frame 143
tensor(0.0623)
Frame 144
tensor(0.1619)
 # KEYFRAME 120
0.09317984700464876
Frame 145
tensor(0.1129)
 # KEYFRAME 121
0.09583534800185589
Frame 146
tensor(0.0249)
Backending... 122 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 64542, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2010 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 304/556] scannetpp/daffc70503/frame frames=147 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=2010 time=48.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1383)
 # KEYFRAME 1
Frame 2
tensor(0.2453)
 # KEYFRAME 2
0.05213595399982296
Frame 3
tensor(0.1142)
 # KEYFRAME 3
0.054306265999912284
Frame 4
tensor(0.2989)
 # KEYFRAME 4
0.05469138499756809
Frame 5
tensor(0.3184)
 # KEYFRAME 5
0.0550726229994325
Frame 6
tensor(0.1899)
 # KEYFRAME 6
0.056131429999368265
Frame 7
tensor(0.1162)
 # KEYFRAME 7
0.056749106995994225
Frame 8
tensor(0.5747)
 # KEYFRAME 8
0.05836655200255336
Frame 9
tensor(0.2825)
 # KEYFRAME 9
0.05832700100290822
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.1841)
 # KEYFRAME 10
0.052521691999572795
Frame 11
tensor(0.1277)
 # KEYFRAME 11
0.05367206799564883
Frame 12
tensor(0.2825)
 # KEYFRAME 12
0.054592644002696034
Frame 13
tensor(0.0814)
Frame 14
tensor(0.0993)
Frame 15
tensor(0.0738)
Frame 16
tensor(0.4689)
 # KEYFRAME 13
0.05681313599779969
Frame 17
tensor(0.1714)
 # KEYFRAME 14
0.05743927400180837
Frame 18
tensor(0.3912)
 # KEYFRAME 15
0.05837258199608186
Frame 19
tensor(0.3325)
 # KEYFRAME 16
0.05901762900612084
Frame 20
tensor(0.2807)
 # KEYFRAME 17
0.06007672499981709
Frame 21
tensor(0.1042)
 # KEYFRAME 18
0.061340180996921845
Frame 22
tensor(0.1252)
 # KEYFRAME 19
0.06278491600096459
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 23
tensor(0.2573)
 # KEYFRAME 20
0.059580767003353685
Frame 24
tensor(0.2033)
 # KEYFRAME 21
0.06052174299838953
Frame 25
tensor(0.1518)
 # KEYFRAME 22
0.061560319998534396
Frame 26
tensor(0.0880)
Frame 27
tensor(0.9919)
 # KEYFRAME 23
0.06254419699689606
Frame 28
tensor(0.0324)
Frame 29
tensor(0.2120)
 # KEYFRAME 24
0.06311515400011558
Frame 30
tensor(0.1920)
 # KEYFRAME 25
0.06414704000053462
Frame 31
tensor(0.1219)
 # KEYFRAME 26
0.06520997699408326
Frame 32
tensor(0.0846)
Frame 33
tensor(0.1495)
 # KEYFRAME 27
0.0662937629967928
Frame 34
tensor(0.1981)
 # KEYFRAME 28
0.06699993999791332
Frame 35
tensor(0.1709)
 # KEYFRAME 29
0.06878779399994528
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 36
tensor(0.1389)
 # KEYFRAME 30
0.06694864099699771
Frame 37
tensor(0.1524)
 # KEYFRAME 31
0.06723495899495902
Frame 38
tensor(0.1447)
 # KEYFRAME 32
0.06816449600592023
Frame 39
tensor(0.6293)
 # KEYFRAME 33
0.06929649200174026
Frame 40
tensor(0.2015)
 # KEYFRAME 34
0.0700234200048726
Frame 41
tensor(0.1232)
 # KEYFRAME 35
0.07039905800047563
Frame 42
tensor(0.1012)
 # KEYFRAME 36
0.07197240300592966
Frame 43
tensor(0.1509)
 # KEYFRAME 37
0.07248400099342689
Frame 44
tensor(0.4110)
 # KEYFRAME 38
0.0731328090041643
Frame 45
tensor(0.1269)
 # KEYFRAME 39
0.0743018739958643
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2011 loss_distill=0.1733 tta_take=0.009s
Frame 46
tensor(0.2388)
 # KEYFRAME 40
0.07266398000501795
Frame 47
tensor(0.0893)
Frame 48
tensor(0.1646)
 # KEYFRAME 41
0.07461069300188683
Frame 49
tensor(0.1927)
 # KEYFRAME 42
0.07490387199504767
Frame 50
tensor(0.5384)
 # KEYFRAME 43
0.07518077099666698
Frame 51
tensor(0.2531)
 # KEYFRAME 44
0.07635513700370211
Frame 52
tensor(0.0539)
Frame 53
tensor(0.1014)
 # KEYFRAME 45
0.07712550400174223
Frame 54
tensor(0.1055)
 # KEYFRAME 46
0.07761805299378466
Frame 55
tensor(0.1556)
 # KEYFRAME 47
0.07828783999866573
Frame 56
tensor(0.0735)
Frame 57
tensor(0.1930)
 # KEYFRAME 48
0.07872960900567705
Frame 58
tensor(0.0598)
Frame 59
tensor(0.0837)
Frame 60
tensor(0.3104)
 # KEYFRAME 49
0.0807468919956591
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=2012 loss_distill=0.2747 tta_take=0.009s
Frame 61
tensor(0.2063)
 # KEYFRAME 50
0.07986509399779607
Frame 62
tensor(0.2767)
 # KEYFRAME 51
0.08190234700305155
Frame 63
tensor(0.5142)
 # KEYFRAME 52
0.0818307170047774
Frame 64
tensor(0.7104)
 # KEYFRAME 53
0.08372704999783309
Frame 65
tensor(0.2196)
 # KEYFRAME 54
0.08425389799958793
Frame 66
tensor(0.9132)
 # KEYFRAME 55
0.08506864600349218
Frame 67
tensor(0.1269)
 # KEYFRAME 56
0.08577392299775966
Frame 68
tensor(0.2128)
 # KEYFRAME 57
0.08625411099637859
Frame 69
tensor(0.2930)
 # KEYFRAME 58
0.08822575499652885
Frame 70
tensor(0.2319)
 # KEYFRAME 59
0.08889584199641831
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=2013 loss_distill=0.3466 tta_take=0.009s
Frame 71
tensor(0.4095)
 # KEYFRAME 60
0.0868869990008534
Frame 72
tensor(0.3089)
 # KEYFRAME 61
0.08908179100399138
Frame 73
tensor(0.3032)
 # KEYFRAME 62
0.08862607299670344
Frame 74
tensor(0.4342)
 # KEYFRAME 63
0.09050984700297704
Frame 75
tensor(0.2210)
 # KEYFRAME 64
0.09154889300407376
Frame 76
tensor(0.0508)
Frame 77
tensor(0.2738)
 # KEYFRAME 65
0.09224533000087831
Frame 78
tensor(0.2545)
 # KEYFRAME 66
0.09396555399871431
Frame 79
tensor(0.2770)
 # KEYFRAME 67
0.09471371200197609
Frame 80
tensor(0.2990)
 # KEYFRAME 68
0.09533202899910975
Frame 81
tensor(0.2290)
 # KEYFRAME 69
0.0958870870017563
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=2014 loss_distill=0.4024 tta_take=0.009s
Frame 82
tensor(0.6057)
 # KEYFRAME 70
0.09385083400411531
Frame 83
tensor(0.0906)
Frame 84
tensor(0.3039)
 # KEYFRAME 71
0.09416862299985951
Frame 85
tensor(0.1685)
 # KEYFRAME 72
0.0957475670002168
Frame 86
tensor(0.1468)
 # KEYFRAME 73
0.09663194500171812
Frame 87
tensor(0.1025)
 # KEYFRAME 74
0.09863300699362298
Frame 88
tensor(0.5733)
 # KEYFRAME 75
0.09874391699850094
Frame 89
tensor(0.4764)
 # KEYFRAME 76
0.10005094199732412
Frame 90
tensor(0.3077)
 # KEYFRAME 77
0.10162217600009171
Frame 91
tensor(0.1263)
 # KEYFRAME 78
0.10157105599500937
Frame 92
tensor(0.0695)
Frame 93
tensor(0.5123)
 # KEYFRAME 79
0.10350705000018934
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=2015 loss_distill=0.4024 tta_take=0.009s
Frame 94
tensor(0.1020)
 # KEYFRAME 80
0.09368952499789884
Frame 95
tensor(0.1945)
 # KEYFRAME 81
0.09542101799888769
Frame 96
tensor(0.3812)
 # KEYFRAME 82
0.09498433100088732
Frame 97
tensor(0.0961)
Frame 98
tensor(0.1221)
 # KEYFRAME 83
0.0955694680014858
Frame 99
tensor(0.2488)
 # KEYFRAME 84
0.09670791400276357
Frame 100
tensor(0.0586)
Frame 101
tensor(0.2276)
 # KEYFRAME 85
0.09774563999962993
Frame 102
tensor(0.0402)
Frame 103
tensor(0.0422)
Frame 104
tensor(0.0806)
Frame 105
tensor(0.0925)
Frame 106
tensor(0.0793)
Frame 107
tensor(0.2373)
 # KEYFRAME 86
0.09795461999601685
Frame 108
tensor(0.0899)
Frame 109
tensor(0.2594)
 # KEYFRAME 87
0.0988594459995511
Frame 110
tensor(0.1200)
 # KEYFRAME 88
0.09863439699984156
Frame 111
tensor(0.2245)
 # KEYFRAME 89
0.09982856299757259
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2016 loss_distill=0.4024 tta_take=0.009s
Frame 112
tensor(0.0819)
Frame 113
tensor(0.2092)
 # KEYFRAME 90
0.09376048499689205
Frame 114
tensor(0.1680)
 # KEYFRAME 91
0.09390387399616884
Frame 115
tensor(0.1406)
 # KEYFRAME 92
0.09550030799437081
Frame 116
tensor(0.1613)
 # KEYFRAME 93
0.09600997700181324
Frame 117
tensor(0.1223)
 # KEYFRAME 94
0.09647853499336634
Frame 118
tensor(0.2024)
 # KEYFRAME 95
0.09752073099662084
Frame 119
tensor(0.1271)
 # KEYFRAME 96
0.09784032999596093
Frame 120
tensor(0.0744)
Backending... 97 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 69747, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2017 loss_distill=0.4024 tta_take=0.007s
[epoch 0 scene 305/556] scannetpp/bd7375297e/frame frames=121 tta_steps_this_scene=7 mean_loss=0.3434 total_steps=2017 time=36.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0017)
Frame 2
tensor(0.0080)
Frame 3
tensor(0.0084)
Frame 4
tensor(0.0783)
Frame 5
tensor(0.1693)
 # KEYFRAME 1
Frame 6
tensor(0.3716)
 # KEYFRAME 2
0.051940144003310706
Frame 7
tensor(0.1527)
 # KEYFRAME 3
0.05413711599976523
Frame 8
tensor(0.1374)
 # KEYFRAME 4
0.05418132599879755
Frame 9
tensor(0.2042)
 # KEYFRAME 5
0.05487609400006477
Frame 10
tensor(0.0956)
Frame 11
tensor(0.3731)
 # KEYFRAME 6
0.055944510000699665
Frame 12
tensor(0.1147)
 # KEYFRAME 7
0.0567607369957841
Frame 13
tensor(0.0653)
Frame 14
tensor(0.1387)
 # KEYFRAME 8
0.05857842099794652
Frame 15
tensor(0.1382)
 # KEYFRAME 9
0.05842981099704048
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 16
tensor(0.2068)
 # KEYFRAME 10
0.0539822969949455
Frame 17
tensor(0.1600)
 # KEYFRAME 11
0.05378232800285332
Frame 18
tensor(0.1076)
 # KEYFRAME 12
0.054457675003504846
Frame 19
tensor(0.0966)
Frame 20
tensor(0.2109)
 # KEYFRAME 13
0.05671474699920509
Frame 21
tensor(0.1291)
 # KEYFRAME 14
0.05726322499685921
Frame 22
tensor(0.1668)
 # KEYFRAME 15
0.05798181200225372
Frame 23
tensor(0.5891)
 # KEYFRAME 16
0.059109658002853394
Frame 24
tensor(0.1272)
 # KEYFRAME 17
0.06008916500286432
Frame 25
tensor(0.1471)
 # KEYFRAME 18
0.060914572000910994
Frame 26
tensor(0.1115)
 # KEYFRAME 19
0.0626695059982012
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 27
tensor(0.0829)
Frame 28
tensor(0.3223)
 # KEYFRAME 20
0.059081778999825474
Frame 29
tensor(0.2124)
 # KEYFRAME 21
0.06051356300304178
Frame 30
tensor(0.4232)
 # KEYFRAME 22
0.06106811200152151
Frame 31
tensor(0.1155)
 # KEYFRAME 23
0.06189056799485115
Frame 32
tensor(0.3458)
 # KEYFRAME 24
0.06263740599388257
Frame 33
tensor(0.1352)
 # KEYFRAME 25
0.06400110099639278
Frame 34
tensor(0.1337)
 # KEYFRAME 26
0.06545846600056393
Frame 35
tensor(0.2204)
 # KEYFRAME 27
0.06618307399912737
Frame 36
tensor(0.0902)
Frame 37
tensor(0.0894)
Frame 38
tensor(0.1101)
 # KEYFRAME 28
0.06706986999779474
Frame 39
tensor(0.0919)
Frame 40
tensor(0.2793)
 # KEYFRAME 29
0.06894808400102193
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 41
tensor(0.0926)
Frame 42
tensor(0.2684)
 # KEYFRAME 30
0.06581304500286933
Frame 43
tensor(0.0974)
Frame 44
tensor(0.2929)
 # KEYFRAME 31
0.06804935600666795
Frame 45
tensor(0.0850)
Frame 46
tensor(0.1740)
 # KEYFRAME 32
0.0683834760056925
Frame 47
tensor(0.1333)
 # KEYFRAME 33
0.06925881300412584
Frame 48
tensor(0.0567)
Frame 49
tensor(0.2766)
 # KEYFRAME 34
0.07001444899651688
Frame 50
tensor(0.0789)
Frame 51
tensor(0.1424)
 # KEYFRAME 35
0.0708742560018436
Frame 52
tensor(0.0512)
Frame 53
tensor(0.0911)
Frame 54
tensor(0.1106)
 # KEYFRAME 36
0.07192556299560238
Frame 55
tensor(0.0927)
Frame 56
tensor(0.1944)
 # KEYFRAME 37
0.07241977100056829
Frame 57
tensor(0.0853)
Frame 58
tensor(0.2507)
 # KEYFRAME 38
0.07281335900188424
Frame 59
tensor(0.0795)
Frame 60
tensor(0.1424)
 # KEYFRAME 39
0.07446211399656022
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2018 loss_distill=0.1733 tta_take=0.009s
Frame 61
tensor(0.1152)
 # KEYFRAME 40
0.07262094999896362
Frame 62
tensor(0.0899)
Frame 63
tensor(0.2172)
 # KEYFRAME 41
0.07442697400256293
Frame 64
tensor(0.1074)
 # KEYFRAME 42
0.07449560399982147
Frame 65
tensor(0.3485)
 # KEYFRAME 43
0.07541904100071406
Frame 66
tensor(0.3072)
 # KEYFRAME 44
0.07619972800603136
Frame 67
tensor(0.0802)
Frame 68
tensor(0.2805)
 # KEYFRAME 45
0.07730123399960576
Frame 69
tensor(1.0166)
 # KEYFRAME 46
0.07763899199926527
Frame 70
tensor(0.1044)
 # KEYFRAME 47
0.07826362999912817
Frame 71
tensor(0.0918)
Frame 72
tensor(0.1702)
 # KEYFRAME 48
0.07938372599892318
Frame 73
tensor(0.3224)
 # KEYFRAME 49
0.08010298400040483
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531069278717
TTA-STEP: step=2019 loss_distill=0.2747 tta_take=0.009s
Frame 74
tensor(0.3190)
 # KEYFRAME 50
0.07956013599323342
Frame 75
tensor(0.2569)
 # KEYFRAME 51
0.0813990989990998
Frame 76
tensor(0.3890)
 # KEYFRAME 52
0.08187776699924143
Frame 77
tensor(0.1684)
 # KEYFRAME 53
0.08286241399764549
Frame 78
tensor(0.1397)
 # KEYFRAME 54
0.08432711899513379
Frame 79
tensor(0.2645)
 # KEYFRAME 55
0.08515745499607874
Frame 80
tensor(0.1217)
 # KEYFRAME 56
0.08594017300492851
Frame 81
tensor(0.1179)
 # KEYFRAME 57
0.08680440999887651
Frame 82
tensor(0.0622)
Frame 83
tensor(0.2248)
 # KEYFRAME 58
0.08755728600226576
Frame 84
tensor(0.1416)
 # KEYFRAME 59
0.08867031300178496
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=2020 loss_distill=0.3466 tta_take=0.009s
Frame 85
tensor(0.1068)
 # KEYFRAME 60
0.08608832200116012
Frame 86
tensor(0.1973)
 # KEYFRAME 61
0.08936978100246051
Frame 87
tensor(0.1117)
 # KEYFRAME 62
0.08911838100175373
Frame 88
tensor(0.1946)
 # KEYFRAME 63
0.09033302700117929
Frame 89
tensor(0.0547)
Frame 90
tensor(0.1212)
 # KEYFRAME 64
0.09126588400249602
Frame 91
tensor(0.2116)
 # KEYFRAME 65
0.0928876379985013
Frame 92
tensor(0.1065)
 # KEYFRAME 66
0.09403595299954759
Frame 93
tensor(0.1978)
 # KEYFRAME 67
0.09515448899765033
Frame 94
tensor(0.1331)
 # KEYFRAME 68
0.09549249800329562
Frame 95
tensor(0.1906)
 # KEYFRAME 69
0.09657873499963898
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2021 loss_distill=0.4024 tta_take=0.009s
Frame 96
tensor(0.0341)
Frame 97
tensor(0.0957)
Frame 98
tensor(0.3313)
 # KEYFRAME 70
0.09366959500039229
Frame 99
tensor(0.3070)
 # KEYFRAME 71
0.09573008799634408
Frame 100
tensor(0.2072)
 # KEYFRAME 72
0.09519681899837451
Frame 101
tensor(0.1074)
 # KEYFRAME 73
0.09607076700194739
Frame 102
tensor(0.2858)
 # KEYFRAME 74
0.09734162200038554
Frame 103
tensor(0.0785)
Frame 104
tensor(0.1535)
 # KEYFRAME 75
0.09933558500051731
Frame 105
tensor(0.1898)
 # KEYFRAME 76
0.09992300299927592
Frame 106
tensor(0.1088)
 # KEYFRAME 77
0.10208668500126805
Frame 107
tensor(0.2080)
 # KEYFRAME 78
0.10212060499907238
Frame 108
tensor(0.0836)
Frame 109
tensor(0.2190)
 # KEYFRAME 79
0.10337464999611257
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=2022 loss_distill=0.4024 tta_take=0.009s
Frame 110
tensor(0.0470)
Frame 111
tensor(0.0947)
Frame 112
tensor(0.1730)
 # KEYFRAME 80
0.09333331699599512
Frame 113
tensor(0.0454)
Frame 114
tensor(0.1345)
 # KEYFRAME 81
0.0945704920013668
Frame 115
tensor(0.0550)
Frame 116
tensor(0.0955)
Frame 117
tensor(0.0655)
Frame 118
tensor(0.1173)
 # KEYFRAME 82
0.09548516799986828
Frame 119
tensor(0.1563)
 # KEYFRAME 83
0.0959435359982308
Frame 120
tensor(0.0352)
Frame 121
tensor(0.1606)
 # KEYFRAME 84
0.09710244199959561
Frame 122
tensor(0.1019)
 # KEYFRAME 85
0.09764726999856066
Frame 123
tensor(0.0912)
Frame 124
tensor(0.2763)
 # KEYFRAME 86
0.0977677999981097
Frame 125
tensor(0.0369)
Frame 126
tensor(0.0882)
Frame 127
tensor(0.1588)
 # KEYFRAME 87
0.09880729600263294
Frame 128
tensor(0.2343)
 # KEYFRAME 88
0.09854931799782207
Frame 129
tensor(0.1105)
 # KEYFRAME 89
0.09895335599867394
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2023 loss_distill=0.4024 tta_take=0.009s
Frame 130
tensor(0.1915)
 # KEYFRAME 90
0.09338972599653061
Frame 131
tensor(0.2683)
 # KEYFRAME 91
0.09461131100397324
Frame 132
tensor(0.1266)
 # KEYFRAME 92
0.09471686100005172
Frame 133
tensor(0.9856)
 # KEYFRAME 93
0.09569977700448362
Frame 134
tensor(0.0571)
Frame 135
tensor(0.1559)
 # KEYFRAME 94
0.09620567599631613
Frame 136
tensor(0.0413)
Frame 137
tensor(0.0845)
Frame 138
tensor(0.1797)
 # KEYFRAME 95
0.09790932999749202
Frame 139
tensor(0.0445)
Frame 140
tensor(0.1228)
 # KEYFRAME 96
0.09767363100399962
Frame 141
tensor(0.0312)
Frame 142
tensor(0.0497)
Frame 143
tensor(0.0643)
Frame 144
tensor(0.4222)
 # KEYFRAME 97
0.09923688500566641
Frame 145
tensor(0.0855)
Frame 146
tensor(0.2475)
 # KEYFRAME 98
0.09943093500623945
Frame 147
tensor(0.0333)
Backending... 99 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 71829, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2024 loss_distill=0.4024 tta_take=0.009s
[epoch 0 scene 306/556] scannetpp/f07340dfea/frame frames=148 tta_steps_this_scene=7 mean_loss=0.3434 total_steps=2024 time=39.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1324)
 # KEYFRAME 1
Frame 2
tensor(0.2144)
 # KEYFRAME 2
0.051748674995906185
Frame 3
tensor(0.2284)
 # KEYFRAME 3
0.052772482005821075
Frame 4
tensor(0.1199)
 # KEYFRAME 4
0.05392918700090377
Frame 5
tensor(0.4352)
 # KEYFRAME 5
0.05506492299900856
Frame 6
tensor(0.1083)
 # KEYFRAME 6
0.05585614000301575
Frame 7
tensor(0.0177)
Frame 8
tensor(0.2329)
 # KEYFRAME 7
0.05686027699994156
Frame 9
tensor(0.1684)
 # KEYFRAME 8
0.05755865500395885
Frame 10
tensor(0.3059)
 # KEYFRAME 9
0.05842347099678591
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.0372)
Frame 12
tensor(0.1184)
 # KEYFRAME 10
0.05279059100575978
Frame 13
tensor(0.0437)
Frame 14
tensor(0.6943)
 # KEYFRAME 11
0.05247151200455846
Frame 15
tensor(1.1589)
 # KEYFRAME 12
0.05353582800307777
Frame 16
tensor(0.1953)
 # KEYFRAME 13
0.054915833003178705
Frame 17
tensor(0.6248)
 # KEYFRAME 14
0.05497481399652315
Frame 18
tensor(0.2659)
 # KEYFRAME 15
0.05504722300247522
Frame 19
tensor(0.0552)
Frame 20
tensor(0.4789)
 # KEYFRAME 16
0.055872739998449106
Frame 21
tensor(0.2918)
 # KEYFRAME 17
0.05640681799559388
Frame 22
tensor(0.1802)
 # KEYFRAME 18
0.057015566002519336
Frame 23
tensor(0.2586)
 # KEYFRAME 19
0.057890142998076044
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 24
tensor(0.2415)
 # KEYFRAME 20
0.0540925659952336
Frame 25
tensor(0.4323)
 # KEYFRAME 21
0.054927683995629195
Frame 26
tensor(0.1406)
 # KEYFRAME 22
0.05513171300117392
Frame 27
tensor(0.4142)
 # KEYFRAME 23
0.055715531001624186
Frame 28
tensor(0.1108)
 # KEYFRAME 24
0.05598434000421548
Frame 29
tensor(0.5438)
 # KEYFRAME 25
0.05658747800043784
Frame 30
tensor(0.1332)
 # KEYFRAME 26
0.057894732999557164
Frame 31
tensor(0.2357)
 # KEYFRAME 27
0.05900895900413161
Frame 32
tensor(0.3418)
 # KEYFRAME 28
0.059759465999377426
Frame 33
tensor(0.1363)
 # KEYFRAME 29
0.060456013001385145
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 34
tensor(0.1787)
 # KEYFRAME 30
0.058596740003849845
Frame 35
tensor(0.5189)
 # KEYFRAME 31
0.05965051599923754
Frame 36
tensor(0.1182)
 # KEYFRAME 32
0.059595687002001796
Frame 37
tensor(0.2217)
 # KEYFRAME 33
0.060302653997496236
Frame 38
tensor(0.2138)
 # KEYFRAME 34
0.060901352000655606
Frame 39
tensor(0.1419)
 # KEYFRAME 35
0.06136478100233944
Frame 40
tensor(0.1920)
 # KEYFRAME 36
0.06217822799953865
Frame 41
tensor(0.1401)
 # KEYFRAME 37
0.06302503500046441
Frame 42
tensor(0.4934)
 # KEYFRAME 38
0.06348601300123846
Frame 43
tensor(0.1340)
 # KEYFRAME 39
0.06406114099809201
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2025 loss_distill=0.1733 tta_take=0.009s
Frame 44
tensor(0.3158)
 # KEYFRAME 40
0.06305519399757031
Frame 45
tensor(0.6188)
 # KEYFRAME 41
0.06468554900493473
Frame 46
tensor(0.2138)
 # KEYFRAME 42
0.06487273800303228
Frame 47
tensor(0.1736)
 # KEYFRAME 43
0.06474991800496355
Frame 48
tensor(0.1407)
 # KEYFRAME 44
0.06626420300017344
Frame 49
tensor(0.3834)
 # KEYFRAME 45
0.06640627299930202
Frame 50
tensor(0.5765)
 # KEYFRAME 46
0.06636048299696995
Frame 51
tensor(0.2503)
 # KEYFRAME 47
0.06678873100463534
Frame 52
tensor(0.2622)
 # KEYFRAME 48
0.06777331700141076
Frame 53
tensor(0.3312)
 # KEYFRAME 49
0.06909120300406357
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=2026 loss_distill=0.2747 tta_take=0.009s
Frame 54
tensor(0.6033)
 # KEYFRAME 50
0.06739979900157778
Frame 55
tensor(0.0811)
Frame 56
tensor(0.0469)
Frame 57
tensor(0.0396)
Frame 58
tensor(0.2951)
 # KEYFRAME 51
0.06897295299859252
Frame 59
tensor(1.0705)
 # KEYFRAME 52
0.06880255400028545
Frame 60
tensor(0.5549)
 # KEYFRAME 53
0.06933178300096188
Frame 61
tensor(0.5522)
 # KEYFRAME 54
0.06948452100186842
Frame 62
tensor(0.5435)
 # KEYFRAME 55
0.07028862899460364
Frame 63
tensor(0.1911)
 # KEYFRAME 56
0.0708208360010758
Frame 64
tensor(0.0886)
Frame 65
tensor(0.4947)
 # KEYFRAME 57
0.07168086399906315
Frame 66
tensor(0.1571)
 # KEYFRAME 58
0.07184279299690388
Frame 67
tensor(0.6178)
 # KEYFRAME 59
0.0723137509994558
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=2027 loss_distill=0.3466 tta_take=0.009s
Frame 68
tensor(0.1130)
 # KEYFRAME 60
0.0716202039984637
Frame 69
tensor(0.2549)
 # KEYFRAME 61
0.0727982600001269
Frame 70
tensor(0.4413)
 # KEYFRAME 62
0.07277414999407483
Frame 71
tensor(0.2513)
 # KEYFRAME 63
0.07292697000229964
Frame 72
tensor(0.1812)
 # KEYFRAME 64
0.07385511600296013
Frame 73
tensor(0.3213)
 # KEYFRAME 65
0.07440517299983185
Frame 74
tensor(0.3423)
 # KEYFRAME 66
0.07473540300270543
Frame 75
tensor(0.0365)
Frame 76
tensor(0.0985)
Frame 77
tensor(0.0381)
Frame 78
tensor(0.0526)
Frame 79
tensor(0.1239)
 # KEYFRAME 67
0.07544999099627603
Frame 80
tensor(0.1754)
 # KEYFRAME 68
0.07608060799975647
Frame 81
tensor(0.4542)
 # KEYFRAME 69
0.07658893600455485
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2028 loss_distill=0.4024 tta_take=0.009s
Frame 82
tensor(0.7396)
 # KEYFRAME 70
0.07627751700056251
Frame 83
tensor(0.5263)
 # KEYFRAME 71
0.0777089520051959
Frame 84
tensor(0.2376)
 # KEYFRAME 72
0.07715730400377652
Frame 85
tensor(0.1156)
 # KEYFRAME 73
0.07748633300070651
Frame 86
tensor(0.3177)
 # KEYFRAME 74
0.07814203100133454
Frame 87
tensor(0.2631)
 # KEYFRAME 75
0.07855967900104588
Frame 88
tensor(0.2284)
 # KEYFRAME 76
0.078455009002937
Frame 89
tensor(0.1066)
 # KEYFRAME 77
0.07971077500405954
Frame 90
tensor(0.0697)
Frame 91
tensor(0.1649)
 # KEYFRAME 78
0.08033296299981885
Frame 92
tensor(0.1447)
 # KEYFRAME 79
0.08111121000547428
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2029 loss_distill=0.4024 tta_take=0.009s
Frame 93
tensor(0.1115)
 # KEYFRAME 80
0.07539566099876538
Frame 94
tensor(0.2711)
 # KEYFRAME 81
0.07799667200015392
Frame 95
tensor(0.5965)
 # KEYFRAME 82
0.07638825699541485
Frame 96
tensor(0.1300)
 # KEYFRAME 83
0.07793634099652991
Frame 97
tensor(0.0983)
Frame 98
tensor(0.2626)
 # KEYFRAME 84
0.07814783000503667
Frame 99
tensor(0.1559)
 # KEYFRAME 85
0.07908300800045254
Frame 100
tensor(0.3579)
 # KEYFRAME 86
0.07874793899827637
Frame 101
tensor(0.1265)
 # KEYFRAME 87
0.07927880599891068
Frame 102
tensor(0.7890)
 # KEYFRAME 88
0.07988175399805186
Frame 103
tensor(0.8447)
 # KEYFRAME 89
0.08117379999748664
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2030 loss_distill=0.4024 tta_take=0.009s
Frame 104
tensor(0.1075)
 # KEYFRAME 90
0.07561733000329696
Frame 105
tensor(0.1789)
 # KEYFRAME 91
0.07744645300408592
Frame 106
tensor(0.4844)
 # KEYFRAME 92
0.07741073299985146
Frame 107
tensor(0.0999)
Frame 108
tensor(0.1352)
 # KEYFRAME 93
0.07732397399377078
Frame 109
tensor(0.2510)
 # KEYFRAME 94
0.077985350995732
Frame 110
tensor(0.1239)
 # KEYFRAME 95
0.0786984489968745
Frame 111
tensor(0.2019)
 # KEYFRAME 96
0.07928464699944016
Frame 112
tensor(0.2325)
 # KEYFRAME 97
0.0803108530017198
Frame 113
tensor(0.2860)
 # KEYFRAME 98
0.08009837399731623
Frame 114
tensor(0.3219)
 # KEYFRAME 99
0.08085395100351889
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2031 loss_distill=0.4024 tta_take=0.008s
Frame 115
tensor(0.3285)
 # KEYFRAME 100
0.07552983999630669
Frame 116
tensor(0.3320)
 # KEYFRAME 101
0.07751421300054062
Frame 117
tensor(0.2415)
 # KEYFRAME 102
0.0768141549997381
Frame 118
tensor(0.3588)
 # KEYFRAME 103
0.07785671199962962
Frame 119
tensor(0.3039)
 # KEYFRAME 104
0.07866934900084743
Frame 120
tensor(0.6124)
 # KEYFRAME 105
0.0787551289977273
Frame 121
tensor(0.5342)
 # KEYFRAME 106
0.07822990100248717
Frame 122
tensor(0.0984)
Frame 123
tensor(0.1557)
 # KEYFRAME 107
0.07997686399903614
Frame 124
tensor(0.1727)
 # KEYFRAME 108
0.07987374499498401
Frame 125
tensor(0.0303)
Frame 126
tensor(0.3936)
 # KEYFRAME 109
0.0810265409963904
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2032 loss_distill=0.4024 tta_take=0.009s
Frame 127
tensor(0.2226)
 # KEYFRAME 110
0.07614747799379984
Frame 128
tensor(0.2216)
 # KEYFRAME 111
0.07618149799964158
Frame 129
tensor(0.1730)
 # KEYFRAME 112
0.0773952429954079
Frame 130
tensor(0.2064)
 # KEYFRAME 113
0.07753494300413877
Frame 131
tensor(0.6752)
 # KEYFRAME 114
0.07880485799978487
Frame 132
tensor(0.3232)
 # KEYFRAME 115
0.07860502899711719
Frame 133
tensor(0.1758)
 # KEYFRAME 116
0.07853776900446974
Frame 134
tensor(0.2506)
 # KEYFRAME 117
0.07946712600096362
Frame 135
tensor(0.3117)
 # KEYFRAME 118
0.080391702002089
Frame 136
tensor(0.2510)
 # KEYFRAME 119
0.0807839810004225
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2033 loss_distill=0.4024 tta_take=0.009s
Frame 137
tensor(0.2165)
 # KEYFRAME 120
0.07531166100670816
Frame 138
tensor(0.1434)
 # KEYFRAME 121
0.07757254299940541
Frame 139
tensor(0.5966)
 # KEYFRAME 122
0.07816885999636725
Frame 140
tensor(0.1367)
 # KEYFRAME 123
0.07894515699445037
Frame 141
tensor(0.7989)
 # KEYFRAME 124
0.08033513300324557
Frame 142
tensor(0.2620)
 # KEYFRAME 125
0.08044284199422691
Frame 143
tensor(0.3288)
 # KEYFRAME 126
0.07854657899588346
Frame 144
tensor(0.5185)
 # KEYFRAME 127
0.0807262520029326
Frame 145
tensor(0.2729)
 # KEYFRAME 128
0.08175936800398631
Frame 146
tensor(0.2046)
 # KEYFRAME 129
0.08229605600354262
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2034 loss_distill=0.4024 tta_take=0.009s
Frame 147
tensor(0.1558)
 # KEYFRAME 130
0.07542558000568533
Frame 148
tensor(0.1672)
 # KEYFRAME 131
0.07623261799744796
Frame 149
tensor(0.0891)
Backending... 132 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 57660, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=2035 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 307/556] scannetpp/280b83fcf3/DSC frames=150 tta_steps_this_scene=11 mean_loss=0.3649 total_steps=2035 time=46.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1618)
 # KEYFRAME 1
Frame 2
tensor(0.5412)
 # KEYFRAME 2
0.051447106001432985
Frame 3
tensor(0.1564)
 # KEYFRAME 3
0.05246479199558962
Frame 4
tensor(0.0712)
Frame 5
tensor(0.2990)
 # KEYFRAME 4
0.0530633599992143
Frame 6
tensor(0.0867)
Frame 7
tensor(0.4069)
 # KEYFRAME 5
0.054079897003248334
Frame 8
tensor(0.2242)
 # KEYFRAME 6
0.05548671100405045
Frame 9
tensor(0.1740)
 # KEYFRAME 7
0.055860319997009356
Frame 10
tensor(0.1683)
 # KEYFRAME 8
0.05654341799527174
Frame 11
tensor(0.3184)
 # KEYFRAME 9
0.0580732629969134
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.1322)
 # KEYFRAME 10
0.05148594600177603
Frame 13
tensor(0.0776)
Frame 14
tensor(0.1942)
 # KEYFRAME 11
0.05237033299636096
Frame 15
tensor(0.1348)
 # KEYFRAME 12
0.05327919899718836
Frame 16
tensor(0.4340)
 # KEYFRAME 13
0.05455082499975106
Frame 17
tensor(0.1135)
 # KEYFRAME 14
0.05501761399500538
Frame 18
tensor(0.1299)
 # KEYFRAME 15
0.05450531500537181
Frame 19
tensor(0.1232)
 # KEYFRAME 16
0.05503947300167056
Frame 20
tensor(0.1620)
 # KEYFRAME 17
0.05577597099909326
Frame 21
tensor(0.3830)
 # KEYFRAME 18
0.05660122799599776
Frame 22
tensor(0.1739)
 # KEYFRAME 19
0.05789359300251817
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 23
tensor(0.2299)
 # KEYFRAME 20
0.05399422699701972
Frame 24
tensor(0.1008)
 # KEYFRAME 21
0.05527476200222736
Frame 25
tensor(0.0834)
Frame 26
tensor(0.3439)
 # KEYFRAME 22
0.05588745099521475
Frame 27
tensor(0.1177)
 # KEYFRAME 23
0.056341239003813826
Frame 28
tensor(0.0942)
Frame 29
tensor(0.3974)
 # KEYFRAME 24
0.056815556999936234
Frame 30
tensor(0.2153)
 # KEYFRAME 25
0.05729231599980267
Frame 31
tensor(0.6363)
 # KEYFRAME 26
0.05837875100405654
Frame 32
tensor(0.2064)
 # KEYFRAME 27
0.05959029700170504
Frame 33
tensor(0.1708)
 # KEYFRAME 28
0.06025773500005016
Frame 34
tensor(0.4248)
 # KEYFRAME 29
0.06090554199909093
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 35
tensor(0.1493)
 # KEYFRAME 30
0.058504490996710956
Frame 36
tensor(0.1626)
 # KEYFRAME 31
0.059500536997802556
Frame 37
tensor(0.2540)
 # KEYFRAME 32
0.05978265599696897
Frame 38
tensor(0.1223)
 # KEYFRAME 33
0.060635422996710986
Frame 39
tensor(0.1865)
 # KEYFRAME 34
0.06126252099784324
Frame 40
tensor(0.6263)
 # KEYFRAME 35
0.06147631999920122
Frame 41
tensor(0.2016)
 # KEYFRAME 36
0.06207567799719982
Frame 42
tensor(0.2921)
 # KEYFRAME 37
0.06252719700569287
Frame 43
tensor(0.4050)
 # KEYFRAME 38
0.0634960429961211
Frame 44
tensor(0.3175)
 # KEYFRAME 39
0.06411384099919815
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2036 loss_distill=0.1733 tta_take=0.009s
Frame 45
tensor(0.2436)
 # KEYFRAME 40
0.06265732600149931
Frame 46
tensor(0.3825)
 # KEYFRAME 41
0.0643969599987031
Frame 47
tensor(0.2965)
 # KEYFRAME 42
0.06504849700286286
Frame 48
tensor(0.1039)
 # KEYFRAME 43
0.06412062999879709
Frame 49
tensor(0.1047)
 # KEYFRAME 44
0.06518342699564528
Frame 50
tensor(0.1716)
 # KEYFRAME 45
0.06607740400067996
Frame 51
tensor(0.1465)
 # KEYFRAME 46
0.06643732299562544
Frame 52
tensor(0.1014)
 # KEYFRAME 47
0.06690988100308459
Frame 53
tensor(0.7184)
 # KEYFRAME 48
0.06734330899780616
Frame 54
tensor(0.6215)
 # KEYFRAME 49
0.06891624399577267
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465301752090454
TTA-STEP: step=2037 loss_distill=0.2747 tta_take=0.009s
Frame 55
tensor(0.0820)
Frame 56
tensor(0.2991)
 # KEYFRAME 50
0.06736897899827454
Frame 57
tensor(0.1937)
 # KEYFRAME 51
0.06872421399748418
Frame 58
tensor(0.0706)
Frame 59
tensor(0.9066)
 # KEYFRAME 52
0.06863042499753647
Frame 60
tensor(0.1197)
 # KEYFRAME 53
0.06940160199883394
Frame 61
tensor(0.4723)
 # KEYFRAME 54
0.06902559399895836
Frame 62
tensor(0.1770)
 # KEYFRAME 55
0.07027013899642043
Frame 63
tensor(0.3836)
 # KEYFRAME 56
0.070515058003366
Frame 64
tensor(0.1919)
 # KEYFRAME 57
0.07082354599697283
Frame 65
tensor(0.2599)
 # KEYFRAME 58
0.07113163499889197
Frame 66
tensor(0.2105)
 # KEYFRAME 59
0.08509844600484939
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=2038 loss_distill=0.3466 tta_take=0.009s
Frame 67
tensor(0.2585)
 # KEYFRAME 60
0.07132913500390714
Frame 68
tensor(0.1824)
 # KEYFRAME 61
0.07264586100063752
Frame 69
tensor(0.3922)
 # KEYFRAME 62
0.07238808100373717
Frame 70
tensor(0.1980)
 # KEYFRAME 63
0.07258199000352761
Frame 71
tensor(0.3516)
 # KEYFRAME 64
0.0735050279981806
Frame 72
tensor(0.1476)
 # KEYFRAME 65
0.07425318500463618
Frame 73
tensor(0.1237)
 # KEYFRAME 66
0.07473739299894078
Frame 74
tensor(0.1557)
 # KEYFRAME 67
0.0750878519975231
Frame 75
tensor(0.1638)
 # KEYFRAME 68
0.07592755899531767
Frame 76
tensor(0.4930)
 # KEYFRAME 69
0.0762017779998132
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2039 loss_distill=0.4024 tta_take=0.009s
Frame 77
tensor(0.1979)
 # KEYFRAME 70
0.07627862699882826
Frame 78
tensor(0.2182)
 # KEYFRAME 71
0.0776409629979753
Frame 79
tensor(0.7027)
 # KEYFRAME 72
0.07687248499860289
Frame 80
tensor(0.2173)
 # KEYFRAME 73
0.07782765199954156
Frame 81
tensor(0.1525)
 # KEYFRAME 74
0.07823079099762253
Frame 82
tensor(0.3262)
 # KEYFRAME 75
0.07888213800470112
Frame 83
tensor(0.4282)
 # KEYFRAME 76
0.07823404100054177
Frame 84
tensor(0.5454)
 # KEYFRAME 77
0.07978552400163608
Frame 85
tensor(0.1806)
 # KEYFRAME 78
0.07964802600326948
Frame 86
tensor(1.0549)
 # KEYFRAME 79
0.08068815099977655
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2040 loss_distill=0.4024 tta_take=0.008s
Frame 87
tensor(0.2754)
 # KEYFRAME 80
0.07607906799967168
Frame 88
tensor(0.5005)
 # KEYFRAME 81
0.07597898800304392
Frame 89
tensor(0.0796)
Frame 90
tensor(0.4476)
 # KEYFRAME 82
0.07698393399914494
Frame 91
tensor(0.3443)
 # KEYFRAME 83
0.07745631300349487
Frame 92
tensor(0.4375)
 # KEYFRAME 84
0.0783453100011684
Frame 93
tensor(0.2325)
 # KEYFRAME 85
0.0798485539999092
Frame 94
tensor(0.2595)
 # KEYFRAME 86
0.0779730610011029
Frame 95
tensor(0.7199)
 # KEYFRAME 87
0.07953663599619176
Frame 96
tensor(0.3803)
 # KEYFRAME 88
0.08005868399777682
Frame 97
tensor(0.2975)
 # KEYFRAME 89
0.0804008530030842
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2041 loss_distill=0.4024 tta_take=0.009s
Frame 98
tensor(0.3971)
 # KEYFRAME 90
0.07612986699678004
Frame 99
tensor(0.7290)
 # KEYFRAME 91
0.07844747000490315
Frame 100
tensor(0.1608)
 # KEYFRAME 92
0.07806954099942232
Frame 101
tensor(0.1807)
 # KEYFRAME 93
0.07846565000363626
Frame 102
tensor(0.1472)
 # KEYFRAME 94
0.08010506299615372
Frame 103
tensor(0.6541)
 # KEYFRAME 95
0.08018561299832072
Frame 104
tensor(0.1867)
 # KEYFRAME 96
0.07875621799757937
Frame 105
tensor(0.2385)
 # KEYFRAME 97
0.08120317000430077
Frame 106
tensor(0.3993)
 # KEYFRAME 98
0.08130031899781898
Frame 107
tensor(0.1839)
 # KEYFRAME 99
0.08213539600546937
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2042 loss_distill=0.4024 tta_take=0.008s
Frame 108
tensor(0.1021)
 # KEYFRAME 100
0.07602562800457235
Frame 109
tensor(0.1059)
 # KEYFRAME 101
0.0774929230028647
Frame 110
tensor(0.1288)
 # KEYFRAME 102
0.07627409800625173
Frame 111
tensor(0.4539)
 # KEYFRAME 103
0.07666643599804956
Frame 112
tensor(0.2332)
 # KEYFRAME 104
0.07746849399700295
Frame 113
tensor(0.1652)
 # KEYFRAME 105
0.07887408800161211
Frame 114
tensor(0.1820)
 # KEYFRAME 106
0.07844966899574501
Frame 115
tensor(0.3566)
 # KEYFRAME 107
0.07962893499643542
Frame 116
tensor(0.0719)
Frame 117
tensor(0.5352)
 # KEYFRAME 108
0.08025158300006296
Frame 118
tensor(0.1956)
 # KEYFRAME 109
0.0806011419990682
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2043 loss_distill=0.4024 tta_take=0.009s
Frame 119
tensor(0.2694)
 # KEYFRAME 110
0.07558893999521388
Frame 120
tensor(0.3567)
 # KEYFRAME 111
0.07603108799958136
Frame 121
tensor(0.2030)
 # KEYFRAME 112
0.07701557499967748
Frame 122
tensor(0.7535)
 # KEYFRAME 113
0.07771804199728649
Frame 123
tensor(0.1971)
 # KEYFRAME 114
0.0780614510003943
Frame 124
tensor(0.1665)
 # KEYFRAME 115
0.07873898899561027
Frame 125
tensor(0.1959)
 # KEYFRAME 116
0.07865138800116256
Frame 126
tensor(0.6924)
 # KEYFRAME 117
0.07912232799571939
Frame 127
tensor(0.4249)
 # KEYFRAME 118
0.08016122299886774
Frame 128
tensor(0.2193)
 # KEYFRAME 119
0.08055500199407106
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2044 loss_distill=0.4024 tta_take=0.009s
Frame 129
tensor(0.2742)
 # KEYFRAME 120
0.07547660999989603
Frame 130
tensor(0.4133)
 # KEYFRAME 121
0.07791917199938325
Frame 131
tensor(0.4531)
 # KEYFRAME 122
0.07738105300086318
Frame 132
tensor(0.5390)
 # KEYFRAME 123
0.07790247199591249
Frame 133
tensor(0.2270)
 # KEYFRAME 124
0.07837739999376936
Frame 134
tensor(0.1344)
 # KEYFRAME 125
0.07899013799760723
Frame 135
tensor(0.7948)
 # KEYFRAME 126
0.07891083799768239
Frame 136
tensor(0.5569)
 # KEYFRAME 127
0.07940532600332517
Frame 137
tensor(0.2308)
 # KEYFRAME 128
0.08004552399506792
Frame 138
tensor(0.1886)
 # KEYFRAME 129
0.08135882900387514
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=2045 loss_distill=0.4024 tta_take=0.008s
Frame 139
tensor(0.3543)
 # KEYFRAME 130
0.07532426100078737
Frame 140
tensor(0.1876)
 # KEYFRAME 131
0.07622962800087407
Frame 141
tensor(0.3765)
 # KEYFRAME 132
0.07699352499912493
Frame 142
tensor(1.4801)
 # KEYFRAME 133
0.07749668299948098
Frame 143
tensor(0.4834)
 # KEYFRAME 134
0.07816933999856701
Frame 144
tensor(0.6787)
 # KEYFRAME 135
0.07822135099559091
Frame 145
tensor(0.3228)
 # KEYFRAME 136
0.078131801004929
Frame 146
tensor(0.1437)
 # KEYFRAME 137
0.07901971800311003
Frame 147
tensor(0.3041)
 # KEYFRAME 138
0.08008213400171371
Frame 148
tensor(0.2629)
 # KEYFRAME 139
0.08010613299848046
Backending... 140 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=2046 loss_distill=0.4024 tta_take=0.009s
Frame 149
tensor(0.1965)
 # KEYFRAME 140
0.07607095799903618
Backending... 141 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11, 12] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0), (12, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 56730, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=14, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=14 fetch_ids=[1, 0, 2, 4, 3] dts=[13, 14, 12, 10, 11]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2047 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 308/556] scannetpp/281ba69af1/DSC frames=150 tta_steps_this_scene=12 mean_loss=0.3680 total_steps=2047 time=49.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0424)
Frame 2
tensor(0.0905)
Frame 3
tensor(0.1394)
 # KEYFRAME 1
Frame 4
tensor(0.0451)
Frame 5
tensor(0.0914)
Frame 6
tensor(0.1455)
 # KEYFRAME 2
0.05196171399438754
Frame 7
tensor(0.0500)
Frame 8
tensor(0.0966)
Frame 9
tensor(0.1544)
 # KEYFRAME 3
0.05177271499997005
Frame 10
tensor(0.0457)
Frame 11
tensor(0.0961)
Frame 12
tensor(0.1519)
 # KEYFRAME 4
0.052664811999420635
Frame 13
tensor(0.0509)
Frame 14
tensor(0.0991)
Frame 15
tensor(0.1426)
 # KEYFRAME 5
0.05281265200028429
Frame 16
tensor(0.0434)
Frame 17
tensor(0.0814)
Frame 18
tensor(0.1379)
 # KEYFRAME 6
0.05241972200019518
Frame 19
tensor(0.0492)
Frame 20
tensor(0.0946)
Frame 21
tensor(0.1425)
 # KEYFRAME 7
0.05257526200148277
Frame 22
tensor(0.0429)
Frame 23
tensor(0.0948)
Frame 24
tensor(0.1426)
 # KEYFRAME 8
0.05330976899858797
Frame 25
tensor(0.0461)
Frame 26
tensor(0.0949)
Frame 27
tensor(0.1395)
 # KEYFRAME 9
0.05270280200056732
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 28
tensor(0.0506)
Frame 29
tensor(0.0976)
Frame 30
tensor(0.1352)
 # KEYFRAME 10
0.05176883499370888
Frame 31
tensor(0.0453)
Frame 32
tensor(0.0875)
Frame 33
tensor(0.1334)
 # KEYFRAME 11
0.052058093999221455
Frame 34
tensor(0.0440)
Frame 35
tensor(0.0883)
Frame 36
tensor(0.1291)
 # KEYFRAME 12
0.052772171002288815
Frame 37
tensor(0.0427)
Frame 38
tensor(0.0879)
Frame 39
tensor(0.1269)
 # KEYFRAME 13
0.0522911230000318
Frame 40
tensor(0.0398)
Frame 41
tensor(0.0767)
Frame 42
tensor(0.1151)
 # KEYFRAME 14
0.055531431004055776
Frame 43
tensor(0.0416)
Frame 44
tensor(0.0827)
Frame 45
tensor(0.1179)
 # KEYFRAME 15
0.05287300100462744
Frame 46
tensor(0.0414)
Frame 47
tensor(0.0798)
Frame 48
tensor(0.1263)
 # KEYFRAME 16
0.0524493220000295
Frame 49
tensor(0.0436)
Frame 50
tensor(0.0859)
Frame 51
tensor(0.1256)
 # KEYFRAME 17
0.055501572001958266
Frame 52
tensor(0.0437)
Frame 53
tensor(0.0839)
Frame 54
tensor(0.1225)
 # KEYFRAME 18
0.052249432999815326
Frame 55
tensor(0.0434)
Frame 56
tensor(0.0824)
Frame 57
tensor(0.1215)
 # KEYFRAME 19
0.056044978999125306
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 58
tensor(0.0442)
Frame 59
tensor(0.0858)
Frame 60
tensor(0.1325)
 # KEYFRAME 20
0.05187097499583615
Frame 61
tensor(0.0381)
Frame 62
tensor(0.0774)
Frame 63
tensor(0.1261)
 # KEYFRAME 21
0.05208051400404656
Frame 64
tensor(0.0389)
Frame 65
tensor(0.0833)
Frame 66
tensor(0.1239)
 # KEYFRAME 22
0.053651157999411225
Frame 67
tensor(0.0384)
Frame 68
tensor(0.0785)
Frame 69
tensor(0.1162)
 # KEYFRAME 23
0.05239673300093273
Frame 70
tensor(0.0366)
Frame 71
tensor(0.0733)
Frame 72
tensor(0.1053)
 # KEYFRAME 24
0.05338319899601629
Frame 73
tensor(0.0341)
Frame 74
tensor(0.0728)
Frame 75
tensor(0.1026)
 # KEYFRAME 25
0.05213725400244584
Frame 76
tensor(0.0335)
Frame 77
tensor(0.0648)
Frame 78
tensor(0.0955)
Frame 79
tensor(0.1252)
 # KEYFRAME 26
0.05285030100640142
Frame 80
tensor(0.0290)
Frame 81
tensor(0.0602)
Frame 82
tensor(0.0880)
Frame 83
tensor(0.1185)
 # KEYFRAME 27
0.0556587210012367
Frame 84
tensor(0.0265)
Frame 85
tensor(0.0581)
Frame 86
tensor(0.0813)
Frame 87
tensor(0.1079)
 # KEYFRAME 28
0.05250654200062854
Frame 88
tensor(0.0277)
Frame 89
tensor(0.0513)
Frame 90
tensor(0.0731)
Frame 91
tensor(0.1039)
 # KEYFRAME 29
0.05526067300525028
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 92
tensor(0.0189)
Frame 93
tensor(0.0386)
Frame 94
tensor(0.0606)
Frame 95
tensor(0.0793)
Frame 96
tensor(0.0985)
Frame 97
tensor(0.1192)
 # KEYFRAME 30
0.05224964299850399
Frame 98
tensor(0.0174)
Frame 99
tensor(0.0338)
Frame 100
tensor(0.0528)
Frame 101
tensor(0.0702)
Frame 102
tensor(0.0858)
Frame 103
tensor(0.0998)
Frame 104
tensor(0.1207)
 # KEYFRAME 31
0.05299044099956518
Frame 105
tensor(0.0139)
Frame 106
tensor(0.0264)
Frame 107
tensor(0.0395)
Frame 108
tensor(0.0536)
Frame 109
tensor(0.0673)
Frame 110
tensor(0.0794)
Frame 111
tensor(0.0917)
Frame 112
tensor(0.1009)
 # KEYFRAME 32
0.05330921999848215
Frame 113
tensor(0.0079)
Frame 114
tensor(0.0194)
Frame 115
tensor(0.0292)
Frame 116
tensor(0.0368)
Frame 117
tensor(0.0440)
Frame 118
tensor(0.0546)
Frame 119
tensor(0.0633)
Frame 120
tensor(0.0692)
Frame 121
tensor(0.0762)
Frame 122
tensor(0.0824)
Frame 123
tensor(0.0863)
Frame 124
tensor(0.0929)
Frame 125
tensor(0.0968)
Frame 126
tensor(0.1008)
 # KEYFRAME 33
0.05265130200132262
Frame 127
tensor(0.0027)
Frame 128
tensor(0.0055)
Frame 129
tensor(0.0096)
Frame 130
tensor(0.0136)
Frame 131
tensor(0.0159)
Frame 132
tensor(0.0187)
Frame 133
tensor(0.0214)
Frame 134
tensor(0.0250)
Frame 135
tensor(0.0275)
Frame 136
tensor(0.0293)
Frame 137
tensor(0.0318)
Frame 138
tensor(0.0376)
Frame 139
tensor(0.0414)
Frame 140
tensor(0.0457)
Frame 141
tensor(0.0486)
Frame 142
tensor(0.0519)
Frame 143
tensor(0.0542)
Frame 144
tensor(0.0591)
Frame 145
tensor(0.0635)
Frame 146
tensor(0.0679)
Frame 147
tensor(0.0685)
Frame 148
tensor(0.0711)
Frame 149
tensor(0.0715)
Frame 150
tensor(0.0746)
Frame 151
tensor(0.0758)
Frame 152
tensor(0.0770)
Frame 153
tensor(0.0795)
Frame 154
tensor(0.0793)
Frame 155
tensor(0.0840)
Frame 156
tensor(0.0852)
Frame 157
tensor(0.0887)
Frame 158
tensor(0.0932)
Frame 159
tensor(0.0969)
Frame 160
tensor(0.0986)
Frame 161
tensor(0.1005)
 # KEYFRAME 34
0.05359390800003894
Frame 162
tensor(0.0031)
Frame 163
tensor(0.0024)
Frame 164
tensor(0.0029)
Frame 165
tensor(0.0032)
Frame 166
tensor(0.0039)
Frame 167
tensor(0.0045)
Frame 168
tensor(0.0039)
Frame 169
tensor(0.0048)
Frame 170
tensor(0.0042)
Frame 171
tensor(0.0045)
Frame 172
tensor(0.0040)
Frame 173
tensor(0.0033)
Frame 174
tensor(0.0036)
Frame 175
tensor(0.0033)
Frame 176
tensor(0.0034)
Frame 177
tensor(0.0042)
Frame 178
tensor(0.0042)
Frame 179
tensor(0.0036)
Frame 180
tensor(0.0040)
Frame 181
tensor(0.0044)
Frame 182
tensor(0.0047)
Frame 183
tensor(0.0044)
Frame 184
tensor(0.0051)
Frame 185
tensor(0.0057)
Frame 186
tensor(0.0049)
Frame 187
tensor(0.0060)
Frame 188
tensor(0.0052)
Frame 189
tensor(0.0051)
Frame 190
tensor(0.0060)
Frame 191
tensor(0.0061)
Frame 192
tensor(0.0065)
Frame 193
tensor(0.0061)
Frame 194
tensor(0.0059)
Frame 195
tensor(0.0065)
Frame 196
tensor(0.0064)
Frame 197
tensor(0.0056)
Frame 198
tensor(0.0073)
Frame 199
tensor(0.0066)
Frame 200
tensor(0.0073)
Frame 201
tensor(0.0075)
Frame 202
tensor(0.0084)
Frame 203
tensor(0.0080)
Frame 204
tensor(0.0081)
Frame 205
tensor(0.0081)
Frame 206
tensor(0.0082)
Frame 207
tensor(0.0082)
Frame 208
tensor(0.0085)
Frame 209
tensor(0.0094)
Frame 210
tensor(0.0089)
Frame 211
tensor(0.0095)
Frame 212
tensor(0.0094)
Frame 213
tensor(0.0079)
Frame 214
tensor(0.0079)
Frame 215
tensor(0.0075)
Frame 216
tensor(0.0081)
Frame 217
tensor(0.0056)
Frame 218
tensor(0.0061)
Frame 219
tensor(0.0057)
Frame 220
tensor(0.0056)
Frame 221
tensor(0.0054)
Frame 222
tensor(0.0057)
Frame 223
tensor(0.0065)
Frame 224
tensor(0.0062)
Frame 225
tensor(0.0063)
Frame 226
tensor(0.0060)
Frame 227
tensor(0.0064)
Frame 228
tensor(0.0071)
Frame 229
tensor(0.0068)
Frame 230
tensor(0.0064)
Frame 231
tensor(0.0070)
Frame 232
tensor(0.0073)
Backending... 35 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 14420, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2048 loss_distill=0.1733 tta_take=0.004s
[epoch 0 scene 309/556] vkitti/Scene02/30-deg-left/Camera_1 frames=233 tta_steps_this_scene=1 mean_loss=0.1733 total_steps=2048 time=46.6s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0964)
Frame 2
tensor(0.2467)
 # KEYFRAME 1
Frame 3
tensor(0.1121)
 # KEYFRAME 2
0.0521662139944965
Frame 4
tensor(0.3169)
 # KEYFRAME 3
0.05200640400289558
Frame 5
tensor(0.2166)
 # KEYFRAME 4
0.05385346699767979
Frame 6
tensor(0.1499)
 # KEYFRAME 5
0.054520765006600413
Frame 7
tensor(0.2006)
 # KEYFRAME 6
0.05596143000002485
Frame 8
tensor(0.0311)
Frame 9
tensor(0.1783)
 # KEYFRAME 7
0.056583678000606596
Frame 10
tensor(0.1784)
 # KEYFRAME 8
0.0575689540055464
Frame 11
tensor(0.1599)
 # KEYFRAME 9
0.05810425199888414
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.2875)
 # KEYFRAME 10
0.05176909500005422
Frame 13
tensor(0.1270)
 # KEYFRAME 11
0.0523332329976256
Frame 14
tensor(0.1124)
 # KEYFRAME 12
0.05216082299739355
Frame 15
tensor(0.1981)
 # KEYFRAME 13
0.05415632599761011
Frame 16
tensor(0.2040)
 # KEYFRAME 14
0.05529095300153131
Frame 17
tensor(0.3455)
 # KEYFRAME 15
0.054386695999710355
Frame 18
tensor(0.1459)
 # KEYFRAME 16
0.054804395003884565
Frame 19
tensor(0.2014)
 # KEYFRAME 17
0.056016610004007816
Frame 20
tensor(0.1607)
 # KEYFRAME 18
0.056894146000558976
Frame 21
tensor(0.0948)
Frame 22
tensor(0.1584)
 # KEYFRAME 19
0.057064266002271324
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 23
tensor(0.2853)
 # KEYFRAME 20
0.05427124600100797
Frame 24
tensor(0.2772)
 # KEYFRAME 21
0.05547671100066509
Frame 25
tensor(0.1661)
 # KEYFRAME 22
0.05590896999638062
Frame 26
tensor(0.1343)
 # KEYFRAME 23
0.05623025899694767
Frame 27
tensor(0.1040)
 # KEYFRAME 24
0.05679374700412154
Frame 28
tensor(0.3170)
 # KEYFRAME 25
0.05741781499818899
Frame 29
tensor(0.2642)
 # KEYFRAME 26
0.05835485200077528
Frame 30
tensor(0.1930)
 # KEYFRAME 27
0.05915485900186468
Frame 31
tensor(0.3046)
 # KEYFRAME 28
0.0601327449985547
Frame 32
tensor(0.1384)
 # KEYFRAME 29
0.06059842399554327
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 33
tensor(0.0616)
Frame 34
tensor(0.1995)
 # KEYFRAME 30
0.05873476000124356
Frame 35
tensor(0.2520)
 # KEYFRAME 31
0.05983574700076133
Frame 36
tensor(0.2256)
 # KEYFRAME 32
0.05972781599848531
Frame 37
tensor(0.1646)
 # KEYFRAME 33
0.06070761299633887
Frame 38
tensor(0.2925)
 # KEYFRAME 34
0.06128639099915745
Frame 39
tensor(0.2914)
 # KEYFRAME 35
0.062103518001094926
Frame 40
tensor(0.3112)
 # KEYFRAME 36
0.06251885700476123
Frame 41
tensor(0.2113)
 # KEYFRAME 37
0.06269863600027747
Frame 42
tensor(0.2316)
 # KEYFRAME 38
0.06372701299551409
Frame 43
tensor(0.1422)
 # KEYFRAME 39
0.06441628999891691
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2049 loss_distill=0.1733 tta_take=0.009s
Frame 44
tensor(0.2618)
 # KEYFRAME 40
0.06277745600527851
Frame 45
tensor(0.1323)
 # KEYFRAME 41
0.06462039899633965
Frame 46
tensor(0.1624)
 # KEYFRAME 42
0.06449629899725551
Frame 47
tensor(0.2725)
 # KEYFRAME 43
0.06495020799775375
Frame 48
tensor(0.1711)
 # KEYFRAME 44
0.06663254200248048
Frame 49
tensor(0.0762)
Frame 50
tensor(0.1307)
 # KEYFRAME 45
0.06718135000119219
Frame 51
tensor(0.1340)
 # KEYFRAME 46
0.06870275500114076
Frame 52
tensor(0.1106)
 # KEYFRAME 47
0.0682107369939331
Frame 53
tensor(0.0929)
Frame 54
tensor(0.1493)
 # KEYFRAME 48
0.06953378100297414
Frame 55
tensor(0.0900)
Frame 56
tensor(0.2039)
 # KEYFRAME 49
0.06967997099854983
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=2050 loss_distill=0.2747 tta_take=0.009s
Frame 57
tensor(0.1000)
Frame 58
tensor(0.1730)
 # KEYFRAME 50
0.06726214000082109
Frame 59
tensor(0.1676)
 # KEYFRAME 51
0.0684289849959896
Frame 60
tensor(0.1947)
 # KEYFRAME 52
0.06857834500260651
Frame 61
tensor(0.1719)
 # KEYFRAME 53
0.06886212399695069
Frame 62
tensor(0.2626)
 # KEYFRAME 54
0.06941866200213553
Frame 63
tensor(0.1575)
 # KEYFRAME 55
0.0695404919970315
Frame 64
tensor(0.2488)
 # KEYFRAME 56
0.07066016799944919
Frame 65
tensor(0.1298)
 # KEYFRAME 57
0.07085867600108031
Frame 66
tensor(0.1925)
 # KEYFRAME 58
0.07162905400036834
Frame 67
tensor(0.0608)
Frame 68
tensor(0.1522)
 # KEYFRAME 59
0.07160765399748925
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=2051 loss_distill=0.3466 tta_take=0.009s
Frame 69
tensor(0.2688)
 # KEYFRAME 60
0.07144323499960592
Frame 70
tensor(0.4025)
 # KEYFRAME 61
0.07288737999624573
Frame 71
tensor(0.2339)
 # KEYFRAME 62
0.0732507579959929
Frame 72
tensor(0.2475)
 # KEYFRAME 63
0.07394918600039091
Frame 73
tensor(0.3422)
 # KEYFRAME 64
0.0748579119972419
Frame 74
tensor(0.2090)
 # KEYFRAME 65
0.0742258350001066
Frame 75
tensor(0.2733)
 # KEYFRAME 66
0.07712520399945788
Frame 76
tensor(0.1626)
 # KEYFRAME 67
0.07791596200695494
Frame 77
tensor(0.1792)
 # KEYFRAME 68
0.07889659899956314
Frame 78
tensor(0.1044)
 # KEYFRAME 69
0.07933008699910715
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2052 loss_distill=0.4024 tta_take=0.009s
Frame 79
tensor(0.2134)
 # KEYFRAME 70
0.07629445799830137
Frame 80
tensor(0.1553)
 # KEYFRAME 71
0.07773521200579125
Frame 81
tensor(0.2495)
 # KEYFRAME 72
0.07755478299804963
Frame 82
tensor(0.0593)
Frame 83
tensor(0.0934)
Frame 84
tensor(0.2088)
 # KEYFRAME 73
0.07863284899940481
Frame 85
tensor(0.1040)
 # KEYFRAME 74
0.07917290700424928
Frame 86
tensor(0.0973)
Frame 87
tensor(0.1786)
 # KEYFRAME 75
0.08014847400045255
Frame 88
tensor(0.1071)
 # KEYFRAME 76
0.0790966770000523
Frame 89
tensor(0.0857)
Frame 90
tensor(0.1825)
 # KEYFRAME 77
0.08139628900244134
Frame 91
tensor(0.1497)
 # KEYFRAME 78
0.08202749700285494
Frame 92
tensor(0.0964)
Frame 93
tensor(0.1176)
 # KEYFRAME 79
0.08447591799631482
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2053 loss_distill=0.4024 tta_take=0.009s
Frame 94
tensor(0.0952)
Frame 95
tensor(0.2270)
 # KEYFRAME 80
0.07534403099998599
Frame 96
tensor(0.2749)
 # KEYFRAME 81
0.07714062400191324
Frame 97
tensor(0.1709)
 # KEYFRAME 82
0.07685891599976458
Frame 98
tensor(0.1854)
 # KEYFRAME 83
0.0768907349993242
Frame 99
tensor(0.3674)
 # KEYFRAME 84
0.07736506299988832
Frame 100
tensor(0.1785)
 # KEYFRAME 85
0.07824306000111392
Frame 101
tensor(0.2271)
 # KEYFRAME 86
0.0779336819978198
Frame 102
tensor(0.1087)
 # KEYFRAME 87
0.07900826699915342
Frame 103
tensor(0.1416)
 # KEYFRAME 88
0.07935598599578952
Frame 104
tensor(0.1940)
 # KEYFRAME 89
0.08013283299806062
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2054 loss_distill=0.4024 tta_take=0.009s
Frame 105
tensor(0.2484)
 # KEYFRAME 90
0.07529635100218002
Frame 106
tensor(0.2894)
 # KEYFRAME 91
0.07709666500159074
Frame 107
tensor(0.1540)
 # KEYFRAME 92
0.07691725499898894
Frame 108
tensor(0.1999)
 # KEYFRAME 93
0.07850238899845863
Frame 109
tensor(0.2360)
 # KEYFRAME 94
0.07908666699950118
Frame 110
tensor(0.0731)
Frame 111
tensor(0.0985)
Frame 112
tensor(0.2050)
 # KEYFRAME 95
0.07998230499651982
Frame 113
tensor(0.0627)
Frame 114
tensor(0.1940)
 # KEYFRAME 96
0.07888405900303042
Frame 115
tensor(0.0720)
Frame 116
tensor(0.1306)
 # KEYFRAME 97
0.08134181900095427
Frame 117
tensor(0.1951)
 # KEYFRAME 98
0.08254842500173254
Frame 118
tensor(0.1206)
 # KEYFRAME 99
0.08308400399982929
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=2055 loss_distill=0.4024 tta_take=0.009s
Frame 119
tensor(0.0609)
Frame 120
tensor(0.1504)
 # KEYFRAME 100
0.07579274899762822
Frame 121
tensor(0.1468)
 # KEYFRAME 101
0.07694938499480486
Frame 122
tensor(0.1825)
 # KEYFRAME 102
0.076421947000199
Frame 123
tensor(0.0853)
Frame 124
tensor(0.1814)
 # KEYFRAME 103
0.07721489499817835
Frame 125
tensor(0.0940)
Frame 126
tensor(0.1835)
 # KEYFRAME 104
0.0776422429989907
Frame 127
tensor(0.0822)
Frame 128
tensor(0.1589)
 # KEYFRAME 105
0.07798789200023748
Frame 129
tensor(0.1211)
 # KEYFRAME 106
0.0783817999981693
Frame 130
tensor(0.2074)
 # KEYFRAME 107
0.07874210800218862
Frame 131
tensor(0.2189)
 # KEYFRAME 108
0.07928340600483352
Frame 132
tensor(0.1331)
 # KEYFRAME 109
0.07998385400424013
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2056 loss_distill=0.4024 tta_take=0.009s
Frame 133
tensor(0.1583)
 # KEYFRAME 110
0.0755802300045616
Frame 134
tensor(0.1888)
 # KEYFRAME 111
0.07597091800562339
Frame 135
tensor(0.2612)
 # KEYFRAME 112
0.07699198499904014
Frame 136
tensor(0.1603)
 # KEYFRAME 113
0.07664179599669296
Frame 137
tensor(0.2648)
 # KEYFRAME 114
0.07771409200358903
Frame 138
tensor(0.3289)
 # KEYFRAME 115
0.07776726200245321
Frame 139
tensor(0.1273)
 # KEYFRAME 116
0.07818499100540066
Frame 140
tensor(0.1743)
 # KEYFRAME 117
0.07867846799490508
Frame 141
tensor(0.1604)
 # KEYFRAME 118
0.07933858599426458
Frame 142
tensor(0.1306)
 # KEYFRAME 119
0.07976798500021687
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2057 loss_distill=0.4024 tta_take=0.009s
Frame 143
tensor(0.1840)
 # KEYFRAME 120
0.0753303009987576
Frame 144
tensor(0.1039)
 # KEYFRAME 121
0.07713957400119398
Frame 145
tensor(0.1462)
 # KEYFRAME 122
0.07637031700141961
Frame 146
tensor(0.1412)
 # KEYFRAME 123
0.07696513500559377
Frame 147
tensor(0.0728)
Frame 148
tensor(0.1948)
 # KEYFRAME 124
0.07768835299793864
Frame 149
tensor(0.0829)
Backending... 125 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 60450, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2058 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 310/556] scannetpp/f34d532901/DSC frames=150 tta_steps_this_scene=10 mean_loss=0.3611 total_steps=2058 time=47.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0011)
Frame 2
tensor(0.0018)
Frame 3
tensor(0.0015)
Frame 4
tensor(0.0017)
Frame 5
tensor(0.0020)
Frame 6
tensor(0.0012)
Frame 7
tensor(0.0020)
Frame 8
tensor(0.0010)
Frame 9
tensor(0.0017)
Frame 10
tensor(0.0031)
Frame 11
tensor(0.0015)
Frame 12
tensor(0.0014)
Frame 13
tensor(0.0019)
Frame 14
tensor(0.0024)
Frame 15
tensor(0.0022)
Frame 16
tensor(0.0013)
Frame 17
tensor(0.0015)
Frame 18
tensor(0.0017)
Frame 19
tensor(0.0021)
Frame 20
tensor(0.0017)
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tensor(0.0022)
Frame 22
tensor(0.0022)
Frame 23
tensor(0.0022)
Frame 24
tensor(0.0027)
Frame 25
tensor(0.0024)
Frame 26
tensor(0.0028)
Frame 27
tensor(0.0023)
Frame 28
tensor(0.0020)
Frame 29
tensor(0.0022)
Frame 30
tensor(0.0018)
Frame 31
tensor(0.0007)
Frame 32
tensor(0.0025)
Frame 33
tensor(0.0019)
Frame 34
tensor(0.0013)
Frame 35
tensor(0.0010)
Frame 36
tensor(0.0014)
Frame 37
tensor(0.0031)
Frame 38
tensor(0.0027)
Frame 39
tensor(0.0035)
Frame 40
tensor(0.0020)
Frame 41
tensor(0.0025)
Frame 42
tensor(0.0014)
Frame 43
tensor(0.0018)
Frame 44
tensor(0.0027)
Frame 45
tensor(0.0013)
Frame 46
tensor(0.0014)
Frame 47
tensor(0.0016)
Frame 48
tensor(0.0010)
Frame 49
tensor(0.0015)
Frame 50
tensor(0.0016)
Frame 51
tensor(0.0007)
Frame 52
tensor(0.0013)
Frame 53
tensor(0.0015)
Frame 54
tensor(0.0009)
Frame 55
tensor(0.0005)
Frame 56
tensor(0.0016)
Frame 57
tensor(0.0013)
Frame 58
tensor(0.0021)
Frame 59
tensor(0.0017)
Frame 60
tensor(0.0020)
Frame 61
tensor(0.0016)
Frame 62
tensor(0.0018)
Frame 63
tensor(0.0014)
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tensor(0.0021)
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tensor(0.0013)
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tensor(0.0013)
Frame 67
tensor(0.0013)
Frame 68
tensor(0.0010)
Frame 69
tensor(0.0015)
Frame 70
tensor(0.0018)
Frame 71
tensor(0.0018)
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tensor(0.0021)
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tensor(0.0025)
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tensor(0.0039)
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tensor(0.0039)
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tensor(0.0037)
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tensor(0.0029)
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tensor(0.0029)
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tensor(0.0022)
Frame 80
tensor(0.0021)
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tensor(0.0017)
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tensor(0.0009)
Frame 83
tensor(0.0019)
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tensor(0.0011)
Frame 85
tensor(0.0013)
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tensor(0.0018)
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tensor(0.0018)
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tensor(0.0023)
Frame 89
tensor(0.0022)
Frame 90
tensor(0.0036)
Frame 91
tensor(0.0036)
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tensor(0.0023)
Frame 93
tensor(0.0016)
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tensor(0.0019)
Frame 95
tensor(0.0013)
Frame 96
tensor(0.0006)
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tensor(0.0007)
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tensor(0.0013)
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tensor(0.0016)
Frame 100
tensor(0.0018)
Frame 101
tensor(0.0024)
Frame 102
tensor(0.0018)
Frame 103
tensor(0.0016)
Frame 104
tensor(0.0014)
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tensor(0.0012)
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tensor(0.0015)
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tensor(0.0007)
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tensor(0.0005)
Frame 109
tensor(0.0005)
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tensor(0.0008)
Frame 111
tensor(0.0014)
Frame 112
tensor(0.0007)
Frame 113
tensor(0.0008)
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tensor(0.0004)
Frame 115
tensor(0.0012)
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tensor(0.0003)
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tensor(0.0003)
Frame 118
tensor(0.0008)
Frame 119
tensor(0.0008)
Frame 120
tensor(0.0010)
Frame 121
tensor(0.0008)
Frame 122
tensor(0.0014)
Frame 123
tensor(0.0006)
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tensor(0.0010)
Frame 125
tensor(0.0012)
Frame 126
tensor(0.0015)
Frame 127
tensor(0.0014)
Frame 128
tensor(0.0021)
Frame 129
tensor(0.0009)
Frame 130
tensor(0.0019)
Frame 131
tensor(0.0010)
Frame 132
tensor(0.0016)
Frame 133
tensor(0.0013)
Frame 134
tensor(0.0007)
Frame 135
tensor(0.0009)
Frame 136
tensor(0.0010)
Frame 137
tensor(0.0016)
Frame 138
tensor(0.0011)
Frame 139
tensor(0.0017)
Frame 140
tensor(0.0019)
Frame 141
tensor(0.0008)
Frame 142
tensor(0.0018)
Frame 143
tensor(0.0012)
Frame 144
tensor(0.0012)
Frame 145
tensor(0.0004)
Frame 146
tensor(0.0014)
Frame 147
tensor(0.0021)
Frame 148
tensor(0.0011)
Frame 149
tensor(0.0009)
Frame 150
tensor(0.0013)
Frame 151
tensor(0.0009)
Frame 152
tensor(0.0009)
Frame 153
tensor(0.0012)
Frame 154
tensor(0.0015)
Frame 155
tensor(0.0016)
Frame 156
tensor(0.0022)
Frame 157
tensor(0.0013)
Frame 158
tensor(0.0013)
Frame 159
tensor(0.0016)
Frame 160
tensor(0.0020)
Frame 161
tensor(0.0011)
Frame 162
tensor(0.0016)
Frame 163
tensor(0.0010)
Frame 164
tensor(0.0017)
Frame 165
tensor(0.0012)
Frame 166
tensor(0.0021)
Frame 167
tensor(0.0015)
Frame 168
tensor(0.0021)
Frame 169
tensor(0.0013)
Frame 170
tensor(0.0010)
Frame 171
tensor(0.0018)
Frame 172
tensor(0.0008)
Frame 173
tensor(0.0030)
Frame 174
tensor(0.0011)
Frame 175
tensor(0.0016)
Frame 176
tensor(0.0020)
Frame 177
tensor(0.0018)
Frame 178
tensor(0.0020)
Frame 179
tensor(0.0009)
Frame 180
tensor(0.0005)
Frame 181
tensor(0.0008)
Frame 182
tensor(0.0015)
Frame 183
tensor(0.0010)
Frame 184
tensor(0.0031)
Frame 185
tensor(0.0055)
Frame 186
tensor(0.0072)
Frame 187
tensor(0.0088)
Frame 188
tensor(0.0120)
Frame 189
tensor(0.0148)
Frame 190
tensor(0.0184)
Frame 191
tensor(0.0257)
Frame 192
tensor(0.0324)
Frame 193
tensor(0.0391)
Frame 194
tensor(0.0465)
Frame 195
tensor(0.0571)
Frame 196
tensor(0.0673)
Frame 197
tensor(0.0766)
Frame 198
tensor(0.0922)
Frame 199
tensor(0.1027)
 # KEYFRAME 1
Frame 200
tensor(0.0135)
Frame 201
tensor(0.0289)
Frame 202
tensor(0.0442)
Frame 203
tensor(0.0647)
Frame 204
tensor(0.0827)
Frame 205
tensor(0.1043)
 # KEYFRAME 2
0.0516794050054159
Frame 206
tensor(0.0234)
Frame 207
tensor(0.0417)
Frame 208
tensor(0.0549)
Frame 209
tensor(0.0763)
Frame 210
tensor(0.0935)
Frame 211
tensor(0.1199)
 # KEYFRAME 3
0.051712246000533924
Frame 212
tensor(0.0189)
Frame 213
tensor(0.0394)
Frame 214
tensor(0.0623)
Frame 215
tensor(0.0948)
Frame 216
tensor(0.1111)
 # KEYFRAME 4
0.0525469720014371
Frame 217
tensor(0.0241)
Frame 218
tensor(0.0506)
Frame 219
tensor(0.0761)
Frame 220
tensor(0.0956)
Frame 221
tensor(0.1225)
 # KEYFRAME 5
0.05276721200061729
Frame 222
tensor(0.0263)
Frame 223
tensor(0.0541)
Frame 224
tensor(0.0842)
Frame 225
tensor(0.1127)
 # KEYFRAME 6
0.05266954200487817
Frame 226
tensor(0.0294)
Frame 227
tensor(0.0581)
Frame 228
tensor(0.0849)
Frame 229
tensor(0.1180)
 # KEYFRAME 7
0.05254093300027307
Frame 230
tensor(0.0276)
Frame 231
tensor(0.0580)
Frame 232
tensor(0.0873)
Frame 233
tensor(0.1174)
 # KEYFRAME 8
0.053392009998788126
Frame 234
tensor(0.0274)
Frame 235
tensor(0.0531)
Frame 236
tensor(0.0851)
Frame 237
tensor(0.1112)
 # KEYFRAME 9
0.052755901000637095
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 238
tensor(0.0256)
Frame 239
tensor(0.0521)
Frame 240
tensor(0.0794)
Frame 241
tensor(0.1080)
 # KEYFRAME 10
0.0520014040012029
Frame 242
tensor(0.0287)
Frame 243
tensor(0.0621)
Frame 244
tensor(0.0922)
Frame 245
tensor(0.1260)
 # KEYFRAME 11
0.051970884000184014
Frame 246
tensor(0.0320)
Frame 247
tensor(0.0626)
Frame 248
tensor(0.0978)
Frame 249
tensor(0.1398)
 # KEYFRAME 12
0.05293339100171579
Frame 250
tensor(0.0368)
Frame 251
tensor(0.0739)
Frame 252
tensor(0.1075)
 # KEYFRAME 13
0.05254273199534509
Frame 253
tensor(0.0367)
Frame 254
tensor(0.0677)
Frame 255
tensor(0.1024)
 # KEYFRAME 14
0.0545681549992878
Frame 256
tensor(0.0309)
Frame 257
tensor(0.0625)
Frame 258
tensor(0.0949)
Frame 259
tensor(0.1350)
 # KEYFRAME 15
0.0531003200012492
Frame 260
tensor(0.0295)
Frame 261
tensor(0.0648)
Frame 262
tensor(0.1017)
 # KEYFRAME 16
0.05273589200078277
Frame 263
tensor(0.0312)
Frame 264
tensor(0.0667)
Frame 265
tensor(0.0947)
Frame 266
tensor(0.1187)
 # KEYFRAME 17
0.05563223199715139
Frame 267
tensor(0.0294)
Frame 268
tensor(0.0650)
Frame 269
tensor(0.0906)
Backending... 18 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
[epoch 0 scene 311/556] vkitti/Scene06/rain/Camera_1 frames=270 tta_steps_this_scene=0 mean_loss=nan total_steps=2058 time=38.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0598)
Frame 2
tensor(0.2110)
 # KEYFRAME 1
Frame 3
tensor(0.1892)
 # KEYFRAME 2
0.0514633459970355
Frame 4
tensor(0.1610)
 # KEYFRAME 3
0.05277889099670574
Frame 5
tensor(0.1287)
 # KEYFRAME 4
0.054779024998424575
Frame 6
tensor(0.1016)
 # KEYFRAME 5
0.05533219200151507
Frame 7
tensor(0.1335)
 # KEYFRAME 6
0.05657313799747499
Frame 8
tensor(0.1881)
 # KEYFRAME 7
0.05664058699767338
Frame 9
tensor(0.1458)
 # KEYFRAME 8
0.057767243997659534
Frame 10
tensor(0.1287)
 # KEYFRAME 9
0.05847060199448606
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.2335)
 # KEYFRAME 10
0.052339202993607614
Frame 12
tensor(0.1509)
 # KEYFRAME 11
0.05362022799818078
Frame 13
tensor(0.2356)
 # KEYFRAME 12
0.05405419700400671
Frame 14
tensor(0.2746)
 # KEYFRAME 13
0.05635309799981769
Frame 15
tensor(0.1630)
 # KEYFRAME 14
0.05733032599528087
Frame 16
tensor(0.2448)
 # KEYFRAME 15
0.058489691000431776
Frame 17
tensor(0.2015)
 # KEYFRAME 16
0.058652860003348906
Frame 18
tensor(0.1859)
 # KEYFRAME 17
0.05991100599931087
Frame 19
tensor(0.2178)
 # KEYFRAME 18
0.06116080199717544
Frame 20
tensor(0.2476)
 # KEYFRAME 19
0.06263701600255445
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.2849)
 # KEYFRAME 20
0.05921381799998926
Frame 22
tensor(0.2552)
 # KEYFRAME 21
0.060603493999224156
Frame 23
tensor(0.1803)
 # KEYFRAME 22
0.06121329199959291
Frame 24
tensor(0.1591)
 # KEYFRAME 23
0.06190234899986535
Frame 25
tensor(0.2744)
 # KEYFRAME 24
0.06298055499792099
Frame 26
tensor(0.2506)
 # KEYFRAME 25
0.06404114099859726
Frame 27
tensor(0.2184)
 # KEYFRAME 26
0.06535478599835187
Frame 28
tensor(0.2029)
 # KEYFRAME 27
0.06664609200379346
Frame 29
tensor(0.2142)
 # KEYFRAME 28
0.06779586800257675
Frame 30
tensor(0.1954)
 # KEYFRAME 29
0.06809354700089898
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 31
tensor(0.1854)
 # KEYFRAME 30
0.06599173399445135
Frame 32
tensor(0.1565)
 # KEYFRAME 31
0.06780859800346661
Frame 33
tensor(0.1530)
 # KEYFRAME 32
0.0680021369989845
Frame 34
tensor(0.1252)
 # KEYFRAME 33
0.06889845399564365
Frame 35
tensor(0.1295)
 # KEYFRAME 34
0.06993702999898233
Frame 36
tensor(0.1596)
 # KEYFRAME 35
0.07074749700404936
Frame 37
tensor(0.1477)
 # KEYFRAME 36
0.07153805500274757
Frame 38
tensor(0.1249)
 # KEYFRAME 37
0.07242932100052712
Frame 39
tensor(0.1462)
 # KEYFRAME 38
0.07322550900425995
Frame 40
tensor(0.1656)
 # KEYFRAME 39
0.07412009500694694
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2059 loss_distill=0.1733 tta_take=0.009s
Frame 41
tensor(0.2604)
 # KEYFRAME 40
0.07237513199652312
Frame 42
tensor(0.1429)
 # KEYFRAME 41
0.07487180300086038
Frame 43
tensor(0.2192)
 # KEYFRAME 42
0.07460708399594296
Frame 44
tensor(0.1619)
 # KEYFRAME 43
0.07513247199676698
Frame 45
tensor(0.2111)
 # KEYFRAME 44
0.07583054900169373
Frame 46
tensor(0.2380)
 # KEYFRAME 45
0.07688515500194626
Frame 47
tensor(0.2748)
 # KEYFRAME 46
0.07739863300230354
Frame 48
tensor(0.3619)
 # KEYFRAME 47
0.07764126200345345
Frame 49
tensor(0.2034)
 # KEYFRAME 48
0.07945478599867783
Frame 50
tensor(0.2380)
 # KEYFRAME 49
0.08050898200599477
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=2060 loss_distill=0.2747 tta_take=0.009s
Frame 51
tensor(0.2473)
 # KEYFRAME 50
0.07956165599898668
Frame 52
tensor(0.2485)
 # KEYFRAME 51
0.08123393000278156
Frame 53
tensor(0.2689)
 # KEYFRAME 52
0.08162243900005706
Frame 54
tensor(0.3820)
 # KEYFRAME 53
0.08306955300213303
Frame 55
tensor(0.1968)
 # KEYFRAME 54
0.08390722100011772
Frame 56
tensor(0.3416)
 # KEYFRAME 55
0.08447637800418306
Frame 57
tensor(0.3082)
 # KEYFRAME 56
0.08478217700030655
Frame 58
tensor(0.2631)
 # KEYFRAME 57
0.08539640500384849
Frame 59
tensor(0.3177)
 # KEYFRAME 58
0.08670074999827193
Frame 60
tensor(0.1063)
 # KEYFRAME 59
0.08801842499815393
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=2061 loss_distill=0.3466 tta_take=0.009s
Frame 61
tensor(0.3342)
 # KEYFRAME 60
0.08677412999531953
Frame 62
tensor(0.2919)
 # KEYFRAME 61
0.08833685400168179
Frame 63
tensor(0.2830)
 # KEYFRAME 62
0.08848391399806133
Frame 64
tensor(0.2542)
 # KEYFRAME 63
0.08913337199919624
Frame 65
tensor(0.3716)
 # KEYFRAME 64
0.09059201600030065
Frame 66
tensor(0.3036)
 # KEYFRAME 65
0.09114814399799798
Frame 67
tensor(0.1182)
 # KEYFRAME 66
0.09186935199977597
Frame 68
tensor(0.1660)
 # KEYFRAME 67
0.09217965100106085
Frame 69
tensor(0.1410)
 # KEYFRAME 68
0.09357735499361297
Frame 70
tensor(0.1736)
 # KEYFRAME 69
0.09417826300341403
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2062 loss_distill=0.4024 tta_take=0.009s
Frame 71
tensor(0.1496)
 # KEYFRAME 70
0.09397997499763733
Frame 72
tensor(0.1748)
 # KEYFRAME 71
0.09459134200005792
Frame 73
tensor(0.1672)
 # KEYFRAME 72
0.09497742999519687
Frame 74
tensor(0.1907)
 # KEYFRAME 73
0.09591640700091375
Frame 75
tensor(0.1831)
 # KEYFRAME 74
0.09600461700028973
Frame 76
tensor(0.3304)
 # KEYFRAME 75
0.0976118209946435
Frame 77
tensor(0.0513)
Frame 78
tensor(0.1254)
 # KEYFRAME 76
0.09806282000499777
Frame 79
tensor(0.1209)
 # KEYFRAME 77
0.0990359659990645
Frame 80
tensor(0.1651)
 # KEYFRAME 78
0.10000081300677266
Frame 81
tensor(0.0960)
Frame 82
tensor(0.0472)
Frame 83
tensor(0.2003)
 # KEYFRAME 79
0.10071197099750862
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2063 loss_distill=0.4024 tta_take=0.009s
Frame 84
tensor(0.2178)
 # KEYFRAME 80
0.09379432500281837
Frame 85
tensor(0.1364)
 # KEYFRAME 81
0.09640576600213535
Frame 86
tensor(0.2130)
 # KEYFRAME 82
0.09442922299786005
Frame 87
tensor(0.2514)
 # KEYFRAME 83
0.09607095699902857
Frame 88
tensor(0.2244)
 # KEYFRAME 84
0.09695754400308942
Frame 89
tensor(0.0830)
Frame 90
tensor(0.2734)
 # KEYFRAME 85
0.09762183100247057
Frame 91
tensor(0.2846)
 # KEYFRAME 86
0.09766696199949365
Frame 92
tensor(0.2185)
 # KEYFRAME 87
0.09882909699808806
Frame 93
tensor(0.4385)
 # KEYFRAME 88
0.10011591199872782
Frame 94
tensor(0.3301)
 # KEYFRAME 89
0.10145007700339193
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2064 loss_distill=0.4024 tta_take=0.009s
Frame 95
tensor(0.3080)
 # KEYFRAME 90
0.09252880999702029
Frame 96
tensor(0.6110)
 # KEYFRAME 91
0.09550268900056835
Frame 97
tensor(0.3235)
 # KEYFRAME 92
0.09564212799887173
Frame 98
tensor(0.5091)
 # KEYFRAME 93
0.09646673499810277
Frame 99
tensor(0.2924)
 # KEYFRAME 94
0.09652831499988679
Frame 100
tensor(0.2468)
 # KEYFRAME 95
0.09764357100357302
Frame 101
tensor(0.2064)
 # KEYFRAME 96
0.09868522699980531
Frame 102
tensor(0.3834)
 # KEYFRAME 97
0.09929515599651495
Frame 103
tensor(0.3593)
 # KEYFRAME 98
0.09982383299939102
Frame 104
tensor(0.2554)
 # KEYFRAME 99
0.10041318099683849
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=2065 loss_distill=0.4024 tta_take=0.009s
Frame 105
tensor(0.4028)
 # KEYFRAME 100
0.09308505700028036
Frame 106
tensor(0.3451)
 # KEYFRAME 101
0.0956608890046482
Frame 107
tensor(0.3210)
 # KEYFRAME 102
0.09550477900484111
Frame 108
tensor(0.3754)
 # KEYFRAME 103
0.09623868600465357
Frame 109
tensor(0.3706)
 # KEYFRAME 104
0.09723989300255198
Frame 110
tensor(0.3748)
 # KEYFRAME 105
0.09694057299930137
Frame 111
tensor(0.3250)
 # KEYFRAME 106
0.09812931900523836
Frame 112
tensor(0.3777)
 # KEYFRAME 107
0.0992935049944208
Frame 113
tensor(0.3448)
 # KEYFRAME 108
0.1005955200016615
Frame 114
tensor(0.1910)
 # KEYFRAME 109
0.10129384800529806
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2066 loss_distill=0.4024 tta_take=0.009s
Frame 115
tensor(0.1762)
 # KEYFRAME 110
0.09384414500527782
Frame 116
tensor(0.2557)
 # KEYFRAME 111
0.09413882299850229
Frame 117
tensor(0.4210)
 # KEYFRAME 112
0.09573687800002517
Frame 118
tensor(0.1772)
 # KEYFRAME 113
0.09684070400544442
Frame 119
tensor(0.2675)
 # KEYFRAME 114
0.0974156820011558
Frame 120
tensor(0.2331)
 # KEYFRAME 115
0.09772984000301221
Frame 121
tensor(0.2841)
 # KEYFRAME 116
0.09866310699726455
Frame 122
tensor(0.4611)
 # KEYFRAME 117
0.09939658499934012
Frame 123
tensor(0.4142)
 # KEYFRAME 118
0.10022077200119384
Frame 124
tensor(0.2306)
 # KEYFRAME 119
0.10100578999845311
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=2067 loss_distill=0.4024 tta_take=0.009s
Frame 125
tensor(0.2017)
 # KEYFRAME 120
0.09367276600096375
Frame 126
tensor(0.1689)
 # KEYFRAME 121
0.0958425580029143
Frame 127
tensor(0.1465)
 # KEYFRAME 122
0.09520567000436131
Frame 128
tensor(0.2283)
 # KEYFRAME 123
0.09662200499587925
Frame 129
tensor(0.2191)
 # KEYFRAME 124
0.09672201400098857
Frame 130
tensor(0.2111)
 # KEYFRAME 125
0.0983710990039981
Frame 131
tensor(0.2417)
 # KEYFRAME 126
0.0980778899975121
Frame 132
tensor(0.2578)
 # KEYFRAME 127
0.09970184399571735
Frame 133
tensor(0.1374)
 # KEYFRAME 128
0.1001136119957664
Frame 134
tensor(0.2470)
 # KEYFRAME 129
0.10086970900010783
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2068 loss_distill=0.4024 tta_take=0.009s
Frame 135
tensor(0.2532)
 # KEYFRAME 130
0.0932749369967496
Frame 136
tensor(0.3776)
 # KEYFRAME 131
0.09455496199370828
Frame 137
tensor(0.0958)
Frame 138
tensor(0.0295)
Frame 139
tensor(0.1962)
 # KEYFRAME 132
0.09554148899769643
Frame 140
tensor(0.2220)
 # KEYFRAME 133
0.09629158600000665
Frame 141
tensor(0.1704)
 # KEYFRAME 134
0.0974221119977301
Frame 142
tensor(0.2869)
 # KEYFRAME 135
0.09819470899674343
Frame 143
tensor(0.3060)
 # KEYFRAME 136
0.09871020699938526
Frame 144
tensor(0.2730)
 # KEYFRAME 137
0.09946359500463586
Frame 145
tensor(0.4482)
 # KEYFRAME 138
0.10057551100180717
Frame 146
tensor(0.2926)
 # KEYFRAME 139
0.10062127000128385
Backending... 140 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2069 loss_distill=0.4024 tta_take=0.009s
Frame 147
tensor(0.2135)
 # KEYFRAME 140
0.0933853070018813
Backending... 141 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11, 12] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0), (12, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 63501, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=14, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=14 fetch_ids=[1, 0, 2, 4, 3] dts=[13, 14, 12, 10, 11]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2070 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 312/556] scannetpp/55b2bf8036/frame frames=148 tta_steps_this_scene=12 mean_loss=0.3680 total_steps=2070 time=55.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0114)
Frame 2
tensor(0.0321)
Frame 3
tensor(0.0655)
Frame 4
tensor(0.0844)
Frame 5
tensor(0.1291)
 # KEYFRAME 1
Frame 6
tensor(0.0749)
Frame 7
tensor(0.1257)
 # KEYFRAME 2
0.05159285499394173
Frame 8
tensor(0.0798)
Frame 9
tensor(0.1176)
 # KEYFRAME 3
0.05351800900098169
Frame 10
tensor(0.1099)
 # KEYFRAME 4
0.053933757000777405
Frame 11
tensor(0.0936)
Frame 12
tensor(0.1561)
 # KEYFRAME 5
0.054737944999942556
Frame 13
tensor(0.0460)
Frame 14
tensor(0.0526)
Frame 15
tensor(0.1059)
 # KEYFRAME 6
0.05606972000532551
Frame 16
tensor(0.1613)
 # KEYFRAME 7
0.056944085998111404
Frame 17
tensor(0.1123)
 # KEYFRAME 8
0.05758988399611553
Frame 18
tensor(0.0913)
Frame 19
tensor(0.1341)
 # KEYFRAME 9
0.05811042200366501
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 20
tensor(0.1612)
 # KEYFRAME 10
0.052165952998620924
Frame 21
tensor(0.0785)
Frame 22
tensor(0.1715)
 # KEYFRAME 11
0.053712508000899106
Frame 23
tensor(0.1976)
 # KEYFRAME 12
0.055047893001756165
Frame 24
tensor(0.1287)
 # KEYFRAME 13
0.057089695998001844
Frame 25
tensor(0.1150)
 # KEYFRAME 14
0.058405101000971626
Frame 26
tensor(0.1456)
 # KEYFRAME 15
0.058692450998933055
Frame 27
tensor(0.1106)
 # KEYFRAME 16
0.06008626600669231
Frame 28
tensor(0.0859)
Frame 29
tensor(0.1720)
 # KEYFRAME 17
0.060651712999970187
Frame 30
tensor(0.0847)
Frame 31
tensor(0.1243)
 # KEYFRAME 18
0.061544249998405576
Frame 32
tensor(0.1063)
 # KEYFRAME 19
0.06276228599745082
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 33
tensor(0.0864)
Frame 34
tensor(0.1517)
 # KEYFRAME 20
0.05925010899954941
Frame 35
tensor(0.0887)
Frame 36
tensor(0.1786)
 # KEYFRAME 21
0.060618504001467954
Frame 37
tensor(0.0597)
Frame 38
tensor(0.1389)
 # KEYFRAME 22
0.06114184200123418
Frame 39
tensor(0.0477)
Frame 40
tensor(0.1632)
 # KEYFRAME 23
0.06186883799819043
Frame 41
tensor(0.0860)
Frame 42
tensor(0.0330)
Frame 43
tensor(0.2064)
 # KEYFRAME 24
0.06281334600498667
Frame 44
tensor(0.1765)
 # KEYFRAME 25
0.06367517299804604
Frame 45
tensor(0.0893)
Frame 46
tensor(0.1583)
 # KEYFRAME 26
0.06537376699998276
Frame 47
tensor(0.0448)
Frame 48
tensor(0.0955)
Frame 49
tensor(0.1613)
 # KEYFRAME 27
0.06653004200052237
Frame 50
tensor(0.0862)
Frame 51
tensor(0.1996)
 # KEYFRAME 28
0.06716081999911694
Frame 52
tensor(0.0634)
Frame 53
tensor(0.1973)
 # KEYFRAME 29
0.06839242500427645
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 54
tensor(0.0948)
Frame 55
tensor(0.2081)
 # KEYFRAME 30
0.06577798500075005
Frame 56
tensor(0.1318)
 # KEYFRAME 31
0.06815367600211175
Frame 57
tensor(0.1415)
 # KEYFRAME 32
0.06914655299624428
Frame 58
tensor(0.1257)
 # KEYFRAME 33
0.07030738799949177
Frame 59
tensor(0.1092)
 # KEYFRAME 34
0.07163290400058031
Frame 60
tensor(0.1042)
 # KEYFRAME 35
0.07296573900384828
Frame 61
tensor(0.2060)
 # KEYFRAME 36
0.07452899299823912
Frame 62
tensor(0.1641)
 # KEYFRAME 37
0.07567027999903075
Frame 63
tensor(0.0503)
Frame 64
tensor(0.0516)
Frame 65
tensor(0.1296)
 # KEYFRAME 38
0.07672446499782382
Frame 66
tensor(0.1860)
 # KEYFRAME 39
0.07723390399769414
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2071 loss_distill=0.1733 tta_take=0.009s
Frame 67
tensor(0.1066)
 # KEYFRAME 40
0.07277501899807248
Frame 68
tensor(0.1839)
 # KEYFRAME 41
0.07447118399431929
Frame 69
tensor(0.0775)
Frame 70
tensor(0.0643)
Frame 71
tensor(0.0569)
Frame 72
tensor(0.1259)
 # KEYFRAME 42
0.07482427299692063
Frame 73
tensor(0.0955)
Frame 74
tensor(0.1677)
 # KEYFRAME 43
0.07521494100365089
Frame 75
tensor(0.0435)
Frame 76
tensor(0.0846)
Frame 77
tensor(0.1373)
 # KEYFRAME 44
0.07631643700005952
Frame 78
tensor(0.1079)
 # KEYFRAME 45
0.07738107399927685
Frame 79
tensor(0.1335)
 # KEYFRAME 46
0.07762330200057477
Frame 80
tensor(0.0961)
Frame 81
tensor(0.1921)
 # KEYFRAME 47
0.07817944000271382
Frame 82
tensor(0.1320)
 # KEYFRAME 48
0.07850264900480397
Frame 83
tensor(0.1184)
 # KEYFRAME 49
0.07984848500200314
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=2072 loss_distill=0.2747 tta_take=0.009s
Frame 84
tensor(0.1370)
 # KEYFRAME 50
0.07913877700048033
Frame 85
tensor(0.1216)
 # KEYFRAME 51
0.08247560600284487
Frame 86
tensor(0.1261)
 # KEYFRAME 52
0.08275347499875352
Frame 87
tensor(0.0882)
Frame 88
tensor(0.1873)
 # KEYFRAME 53
0.08375952099595452
Frame 89
tensor(0.1867)
 # KEYFRAME 54
0.08516280500043649
Frame 90
tensor(0.0776)
Frame 91
tensor(0.1343)
 # KEYFRAME 55
0.08559301399509422
Frame 92
tensor(0.0419)
Frame 93
tensor(0.1630)
 # KEYFRAME 56
0.08593544200266479
Frame 94
tensor(0.0784)
Frame 95
tensor(0.2292)
 # KEYFRAME 57
0.08705376899888506
Frame 96
tensor(0.1686)
 # KEYFRAME 58
0.08783449600014137
Frame 97
tensor(0.0368)
Frame 98
tensor(0.0152)
Frame 99
tensor(0.0582)
Frame 100
tensor(0.2475)
 # KEYFRAME 59
0.0885279240028467
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=2073 loss_distill=0.3466 tta_take=0.009s
Frame 101
tensor(0.2049)
 # KEYFRAME 60
0.08668226000008872
Frame 102
tensor(0.1156)
 # KEYFRAME 61
0.08862270299869124
Frame 103
tensor(0.0932)
Frame 104
tensor(0.1333)
 # KEYFRAME 62
0.08808906500053126
Frame 105
tensor(0.1187)
 # KEYFRAME 63
0.08942722099891398
Frame 106
tensor(0.1275)
 # KEYFRAME 64
0.08975449900026433
Frame 107
tensor(0.1928)
 # KEYFRAME 65
0.09067587600293336
Frame 108
tensor(0.1581)
 # KEYFRAME 66
0.09111804399435641
Frame 109
tensor(0.1004)
 # KEYFRAME 67
0.09192666099988855
Frame 110
tensor(0.0503)
Frame 111
tensor(0.2198)
 # KEYFRAME 68
0.09237787000165554
Frame 112
tensor(0.1907)
 # KEYFRAME 69
0.09313066699542105
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2074 loss_distill=0.4024 tta_take=0.009s
Frame 113
tensor(0.2482)
 # KEYFRAME 70
0.09305299699917668
Frame 114
tensor(0.1600)
 # KEYFRAME 71
0.09594579700205941
Frame 115
tensor(0.1556)
 # KEYFRAME 72
0.09504000999731943
Frame 116
tensor(0.1258)
 # KEYFRAME 73
0.09568973800196545
Frame 117
tensor(0.1193)
 # KEYFRAME 74
0.09658952500467421
Frame 118
tensor(0.1014)
 # KEYFRAME 75
0.09692870399885578
Frame 119
tensor(0.0707)
Frame 120
tensor(0.1913)
 # KEYFRAME 76
0.09747966100258054
Frame 121
tensor(0.2327)
 # KEYFRAME 77
0.09857328799989773
Frame 122
tensor(0.2825)
 # KEYFRAME 78
0.09947420399839757
Frame 123
tensor(0.1676)
 # KEYFRAME 79
0.10086632899765391
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2075 loss_distill=0.4024 tta_take=0.009s
Frame 124
tensor(0.1719)
 # KEYFRAME 80
0.09313580700109014
Frame 125
tensor(0.0611)
Frame 126
tensor(0.1187)
 # KEYFRAME 81
0.09481125100137433
Frame 127
tensor(0.0158)
Frame 128
tensor(0.0621)
Frame 129
tensor(0.2231)
 # KEYFRAME 82
0.09578526800032705
Frame 130
tensor(0.1273)
 # KEYFRAME 83
0.0953934589997516
Frame 131
tensor(0.1007)
 # KEYFRAME 84
0.0969254829979036
Frame 132
tensor(0.2408)
 # KEYFRAME 85
0.0970671230024891
Frame 133
tensor(0.2330)
 # KEYFRAME 86
0.09839509899757104
Frame 134
tensor(0.1828)
 # KEYFRAME 87
0.0999042429975816
Frame 135
tensor(0.0913)
Frame 136
tensor(0.2365)
 # KEYFRAME 88
0.1002238410001155
Frame 137
tensor(0.1078)
 # KEYFRAME 89
0.10179046699340688
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2076 loss_distill=0.4024 tta_take=0.009s
Frame 138
tensor(0.2629)
 # KEYFRAME 90
0.09320869699877221
Frame 139
tensor(0.3302)
 # KEYFRAME 91
0.09599713700299617
Frame 140
tensor(0.1849)
 # KEYFRAME 92
0.09536347900575493
Frame 141
tensor(0.0942)
Frame 142
tensor(0.0930)
Frame 143
tensor(0.2255)
 # KEYFRAME 93
0.0960243570007151
Frame 144
tensor(0.2137)
 # KEYFRAME 94
0.09697320299892453
Frame 145
tensor(0.2526)
 # KEYFRAME 95
0.09784687099454459
Frame 146
tensor(0.1657)
 # KEYFRAME 96
0.09842638800182613
Frame 147
tensor(0.0681)
Backending... 97 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 69747, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=2077 loss_distill=0.4024 tta_take=0.007s
[epoch 0 scene 313/556] scannetpp/dfac5b38df/frame frames=148 tta_steps_this_scene=7 mean_loss=0.3434 total_steps=2077 time=39.4s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0222)
Frame 2
tensor(0.0784)
Frame 3
tensor(0.1396)
 # KEYFRAME 1
Frame 4
tensor(0.0852)
Frame 5
tensor(0.1702)
 # KEYFRAME 2
0.05151422500057379
Frame 6
tensor(0.1216)
 # KEYFRAME 3
0.05247718299506232
Frame 7
tensor(0.1039)
 # KEYFRAME 4
0.05342262900376227
Frame 8
tensor(0.1884)
 # KEYFRAME 5
0.05489216400019359
Frame 9
tensor(0.2598)
 # KEYFRAME 6
0.055561781002325006
Frame 10
tensor(0.0364)
Frame 11
tensor(0.1100)
 # KEYFRAME 7
0.0562936290007201
Frame 12
tensor(0.1221)
 # KEYFRAME 8
0.05677973700221628
Frame 13
tensor(0.1981)
 # KEYFRAME 9
0.05723843499436043
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 14
tensor(0.1814)
 # KEYFRAME 10
0.052548931998899207
Frame 15
tensor(0.0929)
Frame 16
tensor(0.2678)
 # KEYFRAME 11
0.053684048005379736
Frame 17
tensor(0.4857)
 # KEYFRAME 12
0.054542954996577464
Frame 18
tensor(0.0838)
Frame 19
tensor(0.1817)
 # KEYFRAME 13
0.05638727900077356
Frame 20
tensor(0.1371)
 # KEYFRAME 14
0.05760665399429854
Frame 21
tensor(0.1858)
 # KEYFRAME 15
0.05801833200530382
Frame 22
tensor(0.3921)
 # KEYFRAME 16
0.05870786999730626
Frame 23
tensor(0.6793)
 # KEYFRAME 17
0.06033739499980584
Frame 24
tensor(0.1672)
 # KEYFRAME 18
0.061319210995861795
Frame 25
tensor(0.1476)
 # KEYFRAME 19
0.06225026700121816
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 26
tensor(0.0575)
Frame 27
tensor(0.0500)
Frame 28
tensor(0.1299)
 # KEYFRAME 20
0.05946588700317079
Frame 29
tensor(0.0479)
Frame 30
tensor(0.0647)
Frame 31
tensor(0.0584)
Frame 32
tensor(0.0583)
Frame 33
tensor(0.1023)
 # KEYFRAME 21
0.06053259399777744
Frame 34
tensor(0.0618)
Frame 35
tensor(0.0897)
Frame 36
tensor(0.0789)
Frame 37
tensor(0.1797)
 # KEYFRAME 22
0.06135039100627182
Frame 38
tensor(0.1016)
 # KEYFRAME 23
0.06181882899545599
Frame 39
tensor(0.1096)
 # KEYFRAME 24
0.06272816599812359
Frame 40
tensor(0.0174)
Frame 41
tensor(0.1058)
 # KEYFRAME 25
0.06399336100002984
Frame 42
tensor(0.0930)
Frame 43
tensor(0.0929)
Frame 44
tensor(0.0868)
Frame 45
tensor(0.0970)
Frame 46
tensor(0.1412)
 # KEYFRAME 26
0.06553738599905046
Frame 47
tensor(0.0905)
Frame 48
tensor(0.1143)
 # KEYFRAME 27
0.06663992199901259
Frame 49
tensor(0.0935)
Frame 50
tensor(0.1602)
 # KEYFRAME 28
0.06729297900164966
Frame 51
tensor(0.2430)
 # KEYFRAME 29
0.06822758600173984
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 52
tensor(0.6794)
 # KEYFRAME 30
0.0662414530015667
Frame 53
tensor(0.1777)
 # KEYFRAME 31
0.06745585900353035
Frame 54
tensor(0.1784)
 # KEYFRAME 32
0.0687758939966443
Frame 55
tensor(0.1942)
 # KEYFRAME 33
0.07015149899962125
Frame 56
tensor(0.1263)
 # KEYFRAME 34
0.07114324600115651
Frame 57
tensor(0.1719)
 # KEYFRAME 35
0.07238870099536143
Frame 58
tensor(0.1610)
 # KEYFRAME 36
0.07400223599688616
Frame 59
tensor(0.1621)
 # KEYFRAME 37
0.07502791099977912
Frame 60
tensor(0.1138)
 # KEYFRAME 38
0.07606484799907776
Frame 61
tensor(0.1138)
 # KEYFRAME 39
0.07660874599969247
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2078 loss_distill=0.1733 tta_take=0.009s
Frame 62
tensor(0.0561)
Frame 63
tensor(0.1402)
 # KEYFRAME 40
0.07286269000178436
Frame 64
tensor(0.0421)
Frame 65
tensor(0.1237)
 # KEYFRAME 41
0.07476484299695585
Frame 66
tensor(0.0411)
Frame 67
tensor(0.1585)
 # KEYFRAME 42
0.07449603299755836
Frame 68
tensor(0.0444)
Frame 69
tensor(0.1108)
 # KEYFRAME 43
0.07548479099932592
Frame 70
tensor(0.1821)
 # KEYFRAME 44
0.07648489699931815
Frame 71
tensor(0.2736)
 # KEYFRAME 45
0.07694995500060031
Frame 72
tensor(0.7478)
 # KEYFRAME 46
0.07735138299904065
Frame 73
tensor(0.0665)
Frame 74
tensor(0.0803)
Frame 75
tensor(0.1409)
 # KEYFRAME 47
0.07838002000062261
Frame 76
tensor(0.1198)
 # KEYFRAME 48
0.07931148599891458
Frame 77
tensor(0.0541)
Frame 78
tensor(0.0613)
Frame 79
tensor(0.1010)
 # KEYFRAME 49
0.08026831300230697
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=2079 loss_distill=0.2747 tta_take=0.009s
Frame 80
tensor(0.0292)
Frame 81
tensor(0.0571)
Frame 82
tensor(0.0820)
Frame 83
tensor(0.1342)
 # KEYFRAME 50
0.07980667399533559
Frame 84
tensor(0.0291)
Frame 85
tensor(0.0557)
Frame 86
tensor(0.1306)
 # KEYFRAME 51
0.0805130829976406
Frame 87
tensor(0.0418)
Frame 88
tensor(0.1125)
 # KEYFRAME 52
0.08175941800436703
Frame 89
tensor(0.0767)
Frame 90
tensor(0.1074)
 # KEYFRAME 53
0.08269833400117932
Frame 91
tensor(0.0602)
Frame 92
tensor(0.1233)
 # KEYFRAME 54
0.08421724900108529
Frame 93
tensor(0.1525)
 # KEYFRAME 55
0.08392594000179088
Frame 94
tensor(0.0864)
Frame 95
tensor(0.1244)
 # KEYFRAME 56
0.08604010199633194
Frame 96
tensor(0.0300)
Frame 97
tensor(0.0763)
Frame 98
tensor(0.1867)
 # KEYFRAME 57
0.08666585000173654
Frame 99
tensor(0.0908)
Frame 100
tensor(0.1358)
 # KEYFRAME 58
0.08662215100048343
Frame 101
tensor(0.0581)
Frame 102
tensor(0.1085)
 # KEYFRAME 59
0.08722782800032292
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=2080 loss_distill=0.3466 tta_take=0.009s
Frame 103
tensor(0.0299)
Frame 104
tensor(0.0682)
Frame 105
tensor(0.0985)
Frame 106
tensor(0.1316)
 # KEYFRAME 60
0.08651505099987844
Frame 107
tensor(0.0336)
Frame 108
tensor(0.0643)
Frame 109
tensor(0.0962)
Frame 110
tensor(0.1337)
 # KEYFRAME 61
0.08873892299743602
Frame 111
tensor(0.0845)
Frame 112
tensor(0.1531)
 # KEYFRAME 62
0.08846906399412546
Frame 113
tensor(0.0372)
Frame 114
tensor(0.0717)
Frame 115
tensor(0.0939)
Frame 116
tensor(0.1341)
 # KEYFRAME 63
0.08892046300024958
Frame 117
tensor(0.0201)
Frame 118
tensor(0.0886)
Frame 119
tensor(0.1600)
 # KEYFRAME 64
0.09015808800177183
Frame 120
tensor(0.2594)
 # KEYFRAME 65
0.09097809499508003
Frame 121
tensor(0.1139)
 # KEYFRAME 66
0.09196225200139452
Frame 122
tensor(0.0537)
Frame 123
tensor(0.2147)
 # KEYFRAME 67
0.09248864000255708
Frame 124
tensor(0.0962)
Frame 125
tensor(0.1791)
 # KEYFRAME 68
0.09316248700633878
Frame 126
tensor(0.0501)
Frame 127
tensor(0.1109)
 # KEYFRAME 69
0.09291838799981633
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2081 loss_distill=0.4024 tta_take=0.009s
Frame 128
tensor(0.1097)
 # KEYFRAME 70
0.09313779700460145
Frame 129
tensor(0.1234)
 # KEYFRAME 71
0.0943496120016789
Frame 130
tensor(0.0990)
Frame 131
tensor(0.0630)
Frame 132
tensor(0.1340)
 # KEYFRAME 72
0.09603763699851697
Frame 133
tensor(0.0533)
Frame 134
tensor(0.1028)
 # KEYFRAME 73
0.09613355600595241
Frame 135
tensor(0.0297)
Backending... 74 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 66624, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2082 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 314/556] scannetpp/1b75758486/frame frames=136 tta_steps_this_scene=5 mean_loss=0.3198 total_steps=2082 time=33.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0289)
Frame 2
tensor(0.0782)
Frame 3
tensor(0.1230)
 # KEYFRAME 1
Frame 4
tensor(0.0599)
Frame 5
tensor(0.1045)
 # KEYFRAME 2
0.051388596002652775
Frame 6
tensor(0.0526)
Frame 7
tensor(0.1165)
 # KEYFRAME 3
0.05151931599539239
Frame 8
tensor(0.0482)
Frame 9
tensor(0.1081)
 # KEYFRAME 4
0.05282837100094184
Frame 10
tensor(0.0244)
Frame 11
tensor(0.0937)
Frame 12
tensor(0.1486)
 # KEYFRAME 5
0.05402468700049212
Frame 13
tensor(0.0270)
Frame 14
tensor(0.0796)
Frame 15
tensor(0.1408)
 # KEYFRAME 6
0.054858034003700595
Frame 16
tensor(0.0816)
Frame 17
tensor(0.1623)
 # KEYFRAME 7
0.055832051002653316
Frame 18
tensor(0.0743)
Frame 19
tensor(0.1645)
 # KEYFRAME 8
0.055773120002413634
Frame 20
tensor(0.1143)
 # KEYFRAME 9
0.056608286999107804
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.0705)
Frame 22
tensor(0.1520)
 # KEYFRAME 10
0.05185870399873238
Frame 23
tensor(0.0462)
Frame 24
tensor(0.0770)
Frame 25
tensor(0.1357)
 # KEYFRAME 11
0.05187901499448344
Frame 26
tensor(0.0940)
Frame 27
tensor(0.1684)
 # KEYFRAME 12
0.053330048998759594
Frame 28
tensor(0.0881)
Frame 29
tensor(0.1430)
 # KEYFRAME 13
0.053769478006870486
Frame 30
tensor(0.0558)
Frame 31
tensor(0.1219)
 # KEYFRAME 14
0.0541778270053328
Frame 32
tensor(0.0842)
Frame 33
tensor(0.1660)
 # KEYFRAME 15
0.053844048001337796
Frame 34
tensor(0.0937)
Frame 35
tensor(0.1415)
 # KEYFRAME 16
0.054590965002716985
Frame 36
tensor(0.0934)
Frame 37
tensor(0.1672)
 # KEYFRAME 17
0.05583018100151094
Frame 38
tensor(0.0707)
Frame 39
tensor(0.0992)
Frame 40
tensor(0.2062)
 # KEYFRAME 18
0.05604899999889312
Frame 41
tensor(0.0888)
Frame 42
tensor(0.1507)
 # KEYFRAME 19
0.057077275996562093
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 43
tensor(0.0624)
Frame 44
tensor(0.2628)
 # KEYFRAME 20
0.05390527800045675
Frame 45
tensor(0.0404)
Frame 46
tensor(0.1352)
 # KEYFRAME 21
0.05498047300352482
Frame 47
tensor(0.0627)
Frame 48
tensor(0.0758)
Frame 49
tensor(0.1324)
 # KEYFRAME 22
0.055456692003645
Frame 50
tensor(0.0843)
Frame 51
tensor(0.1602)
 # KEYFRAME 23
0.05631190800340846
Frame 52
tensor(0.0779)
Frame 53
tensor(0.1391)
 # KEYFRAME 24
0.05639628800417995
Frame 54
tensor(0.1070)
 # KEYFRAME 25
0.05728902600094443
Frame 55
tensor(0.1295)
 # KEYFRAME 26
0.0583145720011089
Frame 56
tensor(0.0683)
Frame 57
tensor(0.0853)
Frame 58
tensor(0.1453)
 # KEYFRAME 27
0.05957621699781157
Frame 59
tensor(0.1120)
 # KEYFRAME 28
0.0600466459945892
Frame 60
tensor(0.1220)
 # KEYFRAME 29
0.05999957500171149
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 61
tensor(0.0698)
Frame 62
tensor(0.1372)
 # KEYFRAME 30
0.05857277999893995
Frame 63
tensor(0.1476)
 # KEYFRAME 31
0.05946055700042052
Frame 64
tensor(0.0650)
Frame 65
tensor(0.1095)
 # KEYFRAME 32
0.059763607001514174
Frame 66
tensor(0.0693)
Frame 67
tensor(0.1199)
 # KEYFRAME 33
0.06050077399413567
Frame 68
tensor(0.3288)
 # KEYFRAME 34
0.06080558299436234
Frame 69
tensor(0.0826)
Frame 70
tensor(0.1559)
 # KEYFRAME 35
0.06142261099739699
Frame 71
tensor(0.0846)
Frame 72
tensor(0.1428)
 # KEYFRAME 36
0.062290016998304054
Frame 73
tensor(0.2289)
 # KEYFRAME 37
0.0623687469997094
Frame 74
tensor(0.0615)
Frame 75
tensor(0.1121)
 # KEYFRAME 38
0.06326032400102122
Frame 76
tensor(0.0286)
Frame 77
tensor(0.1008)
 # KEYFRAME 39
0.06411220099835191
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2083 loss_distill=0.1733 tta_take=0.008s
Frame 78
tensor(0.0421)
Frame 79
tensor(0.0828)
Frame 80
tensor(0.1171)
 # KEYFRAME 40
0.06320562399923801
Frame 81
tensor(0.0605)
Frame 82
tensor(0.1308)
 # KEYFRAME 41
0.06415893100347603
Frame 83
tensor(0.0971)
Frame 84
tensor(0.1741)
 # KEYFRAME 42
0.06389057200431125
Frame 85
tensor(0.0802)
Frame 86
tensor(0.1479)
 # KEYFRAME 43
0.06429457999911392
Frame 87
tensor(0.3696)
 # KEYFRAME 44
0.06498753699997906
Frame 88
tensor(0.0197)
Frame 89
tensor(0.0451)
Frame 90
tensor(0.0790)
Frame 91
tensor(0.1373)
 # KEYFRAME 45
0.06551439600298181
Frame 92
tensor(0.0418)
Frame 93
tensor(0.0978)
Frame 94
tensor(0.1540)
 # KEYFRAME 46
0.06614076400001068
Frame 95
tensor(0.0736)
Frame 96
tensor(0.1510)
 # KEYFRAME 47
0.06618576300388668
Frame 97
tensor(0.1147)
 # KEYFRAME 48
0.0671789699990768
Frame 98
tensor(0.0725)
Frame 99
tensor(0.1343)
 # KEYFRAME 49
0.06840587600163417
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=2084 loss_distill=0.2747 tta_take=0.008s
Frame 100
tensor(0.1241)
 # KEYFRAME 50
0.06755170900578378
Frame 101
tensor(0.5711)
 # KEYFRAME 51
0.06928190299367998
Frame 102
tensor(0.0801)
Frame 103
tensor(0.1379)
 # KEYFRAME 52
0.06960334200266516
Frame 104
tensor(0.0566)
Frame 105
tensor(0.0858)
Frame 106
tensor(0.1268)
 # KEYFRAME 53
0.07091760599723784
Frame 107
tensor(0.0335)
Frame 108
tensor(0.0813)
Frame 109
tensor(0.1426)
 # KEYFRAME 54
0.06977603000268573
Frame 110
tensor(0.0750)
Frame 111
tensor(0.1140)
 # KEYFRAME 55
0.07249879099981626
Frame 112
tensor(0.0390)
Frame 113
tensor(0.0819)
Frame 114
tensor(0.9297)
 # KEYFRAME 56
0.07305533900216687
Frame 115
tensor(0.0804)
Frame 116
tensor(0.1398)
 # KEYFRAME 57
0.07372182599647203
Frame 117
tensor(0.1686)
 # KEYFRAME 58
0.07370771600108128
Frame 118
tensor(0.0743)
Frame 119
tensor(0.1425)
 # KEYFRAME 59
0.07551133000379195
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=2085 loss_distill=0.3466 tta_take=0.008s
Frame 120
tensor(0.0318)
Frame 121
tensor(0.1034)
 # KEYFRAME 60
0.07151728399912827
Frame 122
tensor(0.1409)
 # KEYFRAME 61
0.07294439899851568
Frame 123
tensor(0.1090)
 # KEYFRAME 62
0.07224689199938439
Frame 124
tensor(0.1359)
 # KEYFRAME 63
0.07307139899785398
Frame 125
tensor(0.4575)
 # KEYFRAME 64
0.07355709800322074
Frame 126
tensor(0.0539)
Frame 127
tensor(0.1006)
 # KEYFRAME 65
0.07347538799513131
Frame 128
tensor(0.0400)
Frame 129
tensor(0.5753)
 # KEYFRAME 66
0.07452434400329366
Frame 130
tensor(0.0591)
Frame 131
tensor(0.0455)
Frame 132
tensor(0.0981)
Frame 133
tensor(0.1595)
 # KEYFRAME 67
0.07476837299327599
Frame 134
tensor(0.0826)
Frame 135
tensor(0.1214)
 # KEYFRAME 68
0.07521585199719993
Frame 136
tensor(0.0814)
Frame 137
tensor(1.1569)
 # KEYFRAME 69
0.07537807100015925
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=2086 loss_distill=0.4024 tta_take=0.009s
Frame 138
tensor(0.0647)
Frame 139
tensor(0.1470)
 # KEYFRAME 70
0.07574593000026653
Frame 140
tensor(0.0994)
Frame 141
tensor(0.1795)
 # KEYFRAME 71
0.07821484099986264
Frame 142
tensor(0.0517)
Frame 143
tensor(0.1332)
 # KEYFRAME 72
0.07776385299803223
Frame 144
tensor(0.1195)
 # KEYFRAME 73
0.07775916199898347
Frame 145
tensor(0.0570)
Frame 146
tensor(0.0828)
Frame 147
tensor(0.1244)
 # KEYFRAME 74
0.07879476800007978
Frame 148
tensor(0.0720)
Frame 149
tensor(0.2163)
 # KEYFRAME 75
0.0787990480021108
Backending... 76 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 61380, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2087 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 315/556] scannetpp/75d29d69b8/DSC frames=150 tta_steps_this_scene=5 mean_loss=0.3198 total_steps=2087 time=31.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0368)
Frame 2
tensor(0.1877)
 # KEYFRAME 1
Frame 3
tensor(0.0673)
Frame 4
tensor(0.1898)
 # KEYFRAME 2
0.051342375998501666
Frame 5
tensor(0.0501)
Frame 6
tensor(0.1523)
 # KEYFRAME 3
0.0520268840045901
Frame 7
tensor(0.6430)
 # KEYFRAME 4
0.053124030004255474
Frame 8
tensor(0.1066)
 # KEYFRAME 5
0.054394966005929746
Frame 9
tensor(0.0728)
Frame 10
tensor(0.2885)
 # KEYFRAME 6
0.055122462996223476
Frame 11
tensor(0.0689)
Frame 12
tensor(0.1754)
 # KEYFRAME 7
0.05564531100390013
Frame 13
tensor(0.1086)
 # KEYFRAME 8
0.056338299000344705
Frame 14
tensor(0.0759)
Frame 15
tensor(0.3976)
 # KEYFRAME 9
0.057253475999459624
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 16
tensor(0.2928)
 # KEYFRAME 10
0.05156513600377366
Frame 17
tensor(0.1607)
 # KEYFRAME 11
0.05250963199796388
Frame 18
tensor(0.5973)
 # KEYFRAME 12
0.05315020000125514
Frame 19
tensor(0.1253)
 # KEYFRAME 13
0.054289355997752864
Frame 20
tensor(0.1687)
 # KEYFRAME 14
0.05455838499619858
Frame 21
tensor(0.0879)
Frame 22
tensor(0.1334)
 # KEYFRAME 15
0.05489100400154712
Frame 23
tensor(0.1499)
 # KEYFRAME 16
0.0556460009975126
Frame 24
tensor(0.2445)
 # KEYFRAME 17
0.05612486999598332
Frame 25
tensor(0.1332)
 # KEYFRAME 18
0.05714637599885464
Frame 26
tensor(0.0517)
Frame 27
tensor(0.1832)
 # KEYFRAME 19
0.05846028099767864
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 28
tensor(0.1677)
 # KEYFRAME 20
0.05401058700226713
Frame 29
tensor(0.0790)
Frame 30
tensor(0.1706)
 # KEYFRAME 21
0.055086593005398754
Frame 31
tensor(0.1079)
 # KEYFRAME 22
0.0559608309995383
Frame 32
tensor(0.0464)
Frame 33
tensor(0.1238)
 # KEYFRAME 23
0.05702434600243578
Frame 34
tensor(0.2025)
 # KEYFRAME 24
0.05826298100146232
Frame 35
tensor(0.2777)
 # KEYFRAME 25
0.059370968003349844
Frame 36
tensor(0.0818)
Frame 37
tensor(0.1489)
 # KEYFRAME 26
0.06075416300154757
Frame 38
tensor(0.2857)
 # KEYFRAME 27
0.0611465309993946
Frame 39
tensor(0.1240)
 # KEYFRAME 28
0.06108296199818142
Frame 40
tensor(0.0575)
Frame 41
tensor(0.1099)
 # KEYFRAME 29
0.06184160900011193
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 42
tensor(0.1744)
 # KEYFRAME 30
0.058374202002596576
Frame 43
tensor(0.0875)
Frame 44
tensor(0.2612)
 # KEYFRAME 31
0.05918060799740488
Frame 45
tensor(0.1288)
 # KEYFRAME 32
0.05932063799991738
Frame 46
tensor(0.1794)
 # KEYFRAME 33
0.06012458499753848
Frame 47
tensor(0.0777)
Frame 48
tensor(0.1482)
 # KEYFRAME 34
0.060847792999993544
Frame 49
tensor(0.1669)
 # KEYFRAME 35
0.061460169999918435
Frame 50
tensor(0.2138)
 # KEYFRAME 36
0.061767170001985505
Frame 51
tensor(0.1948)
 # KEYFRAME 37
0.06251533700560685
Frame 52
tensor(0.1094)
 # KEYFRAME 38
0.06324926399975084
Frame 53
tensor(0.1373)
 # KEYFRAME 39
0.06397130100231152
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2088 loss_distill=0.1733 tta_take=0.008s
Frame 54
tensor(0.2236)
 # KEYFRAME 40
0.06294448500557337
Frame 55
tensor(0.1146)
 # KEYFRAME 41
0.063971291994676
Frame 56
tensor(0.0474)
Frame 57
tensor(0.0715)
Frame 58
tensor(0.3289)
 # KEYFRAME 42
0.06382185200345702
Frame 59
tensor(0.3504)
 # KEYFRAME 43
0.06406509099906543
Frame 60
tensor(0.1112)
 # KEYFRAME 44
0.06482268899708288
Frame 61
tensor(0.1884)
 # KEYFRAME 45
0.06551898500038078
Frame 62
tensor(0.1552)
 # KEYFRAME 46
0.0655616460062447
Frame 63
tensor(0.0914)
Frame 64
tensor(0.2415)
 # KEYFRAME 47
0.06590970500110416
Frame 65
tensor(0.5806)
 # KEYFRAME 48
0.06665444200189086
Frame 66
tensor(0.5315)
 # KEYFRAME 49
0.0675995880010305
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=2089 loss_distill=0.2747 tta_take=0.008s
Frame 67
tensor(0.2236)
 # KEYFRAME 50
0.06690493100177264
Frame 68
tensor(0.0917)
Frame 69
tensor(0.1222)
 # KEYFRAME 51
0.06855743499909295
Frame 70
tensor(0.0941)
Frame 71
tensor(0.1734)
 # KEYFRAME 52
0.06933733300684253
Frame 72
tensor(0.1700)
 # KEYFRAME 53
0.06981560999702197
Frame 73
tensor(0.0480)
Frame 74
tensor(0.0861)
Frame 75
tensor(0.1253)
 # KEYFRAME 54
0.06929105300514493
Frame 76
tensor(0.0529)
Frame 77
tensor(0.0961)
Frame 78
tensor(0.4118)
 # KEYFRAME 55
0.07138980500167236
Frame 79
tensor(0.4456)
 # KEYFRAME 56
0.07116739599587163
Frame 80
tensor(0.1450)
 # KEYFRAME 57
0.07192420300270896
Frame 81
tensor(0.0737)
Frame 82
tensor(0.1047)
 # KEYFRAME 58
0.07274753999809036
Frame 83
tensor(0.1175)
 # KEYFRAME 59
0.07280598999932408
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=2090 loss_distill=0.3466 tta_take=0.008s
Frame 84
tensor(0.0755)
Frame 85
tensor(0.0771)
Frame 86
tensor(0.2068)
 # KEYFRAME 60
0.07103584599826718
Frame 87
tensor(0.0571)
Frame 88
tensor(0.1909)
 # KEYFRAME 61
0.07302490899746772
Frame 89
tensor(0.0363)
Frame 90
tensor(0.1416)
 # KEYFRAME 62
0.07270550000248477
Frame 91
tensor(0.0813)
Frame 92
tensor(0.1780)
 # KEYFRAME 63
0.07314397899608593
Frame 93
tensor(0.4791)
 # KEYFRAME 64
0.07385379500192357
Frame 94
tensor(0.1020)
 # KEYFRAME 65
0.07347093700082041
Frame 95
tensor(0.1019)
 # KEYFRAME 66
0.0749974319987814
Frame 96
tensor(0.1621)
 # KEYFRAME 67
0.07527395099896239
Frame 97
tensor(0.0444)
Frame 98
tensor(0.1004)
 # KEYFRAME 68
0.07562118000350893
Frame 99
tensor(0.0678)
Frame 100
tensor(0.1012)
 # KEYFRAME 69
0.07704458499938482
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2091 loss_distill=0.4024 tta_take=0.008s
Frame 101
tensor(0.1476)
 # KEYFRAME 70
0.0755667999983416
Frame 102
tensor(0.0828)
Frame 103
tensor(0.1320)
 # KEYFRAME 71
0.07781168200017419
Frame 104
tensor(0.1662)
 # KEYFRAME 72
0.07734850399720017
Frame 105
tensor(0.5203)
 # KEYFRAME 73
0.07854077899537515
Frame 106
tensor(0.2411)
 # KEYFRAME 74
0.07943705700017745
Frame 107
tensor(0.0696)
Frame 108
tensor(0.2542)
 # KEYFRAME 75
0.08010570400074357
Frame 109
tensor(0.3283)
 # KEYFRAME 76
0.07953047599585261
Frame 110
tensor(0.0738)
Frame 111
tensor(0.1512)
 # KEYFRAME 77
0.08145856899500359
Frame 112
tensor(0.7018)
 # KEYFRAME 78
0.08229931499954546
Frame 113
tensor(0.1975)
 # KEYFRAME 79
0.08350863099622075
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2092 loss_distill=0.4024 tta_take=0.008s
Frame 114
tensor(0.1573)
 # KEYFRAME 80
0.07549917999858735
Frame 115
tensor(0.1976)
 # KEYFRAME 81
0.0770447340037208
Frame 116
tensor(0.2046)
 # KEYFRAME 82
0.07642084699909901
Frame 117
tensor(0.6481)
 # KEYFRAME 83
0.07691390600666637
Frame 118
tensor(0.0697)
Frame 119
tensor(0.2558)
 # KEYFRAME 84
0.07725415399909252
Frame 120
tensor(0.1001)
 # KEYFRAME 85
0.0778554219941725
Frame 121
tensor(0.0491)
Frame 122
tensor(0.0823)
Frame 123
tensor(0.1005)
 # KEYFRAME 86
0.07855618900066474
Frame 124
tensor(0.0720)
Frame 125
tensor(0.2326)
 # KEYFRAME 87
0.07954814499680651
Frame 126
tensor(0.1272)
 # KEYFRAME 88
0.07942691599600948
Frame 127
tensor(0.1289)
 # KEYFRAME 89
0.08035000300151296
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2093 loss_distill=0.4024 tta_take=0.008s
Frame 128
tensor(0.1031)
 # KEYFRAME 90
0.07540076100121951
Frame 129
tensor(0.6140)
 # KEYFRAME 91
0.07760203199723037
Frame 130
tensor(0.2334)
 # KEYFRAME 92
0.07661210600053892
Frame 131
tensor(0.3882)
 # KEYFRAME 93
0.07778560199949425
Frame 132
tensor(0.0921)
Frame 133
tensor(0.4065)
 # KEYFRAME 94
0.07806006100145169
Frame 134
tensor(0.0503)
Frame 135
tensor(0.1567)
 # KEYFRAME 95
0.07888544799789088
Frame 136
tensor(0.2775)
 # KEYFRAME 96
0.07914894699933939
Frame 137
tensor(0.1339)
 # KEYFRAME 97
0.07973563500127057
Frame 138
tensor(1.0561)
 # KEYFRAME 98
0.0797972850050428
Frame 139
tensor(0.1178)
 # KEYFRAME 99
0.08083783099573338
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2094 loss_distill=0.4024 tta_take=0.008s
Frame 140
tensor(0.0616)
Frame 141
tensor(0.1148)
 # KEYFRAME 100
0.07545330999710131
Frame 142
tensor(0.0453)
Frame 143
tensor(0.7463)
 # KEYFRAME 101
0.07759640300355386
Frame 144
tensor(0.1472)
 # KEYFRAME 102
0.07707579500129214
Frame 145
tensor(0.1858)
 # KEYFRAME 103
0.07716310399700888
Frame 146
tensor(0.2260)
 # KEYFRAME 104
0.0780007309949724
Frame 147
tensor(0.0466)
Frame 148
tensor(0.1593)
 # KEYFRAME 105
0.07873119799478445
Frame 149
tensor(0.1975)
 # KEYFRAME 106
0.07860068899753969
Backending... 107 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62310, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2095 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 316/556] scannetpp/acd69a1746/DSC frames=150 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=2095 time=49.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0075)
Frame 2
tensor(0.0346)
Frame 3
tensor(0.1171)
 # KEYFRAME 1
Frame 4
tensor(0.1417)
 # KEYFRAME 2
0.05110658700141357
Frame 5
tensor(0.1671)
 # KEYFRAME 3
0.051202256996475626
Frame 6
tensor(0.0927)
Frame 7
tensor(0.2059)
 # KEYFRAME 4
0.05230133299482986
Frame 8
tensor(0.1684)
 # KEYFRAME 5
0.053859678002481814
Frame 9
tensor(0.1515)
 # KEYFRAME 6
0.0547356549941469
Frame 10
tensor(0.1329)
 # KEYFRAME 7
0.055630710994591936
Frame 11
tensor(0.1073)
 # KEYFRAME 8
0.055664201005129144
Frame 12
tensor(0.1586)
 # KEYFRAME 9
0.05602023000392364
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 13
tensor(0.0824)
Frame 14
tensor(0.1484)
 # KEYFRAME 10
0.052521371995680965
Frame 15
tensor(0.2292)
 # KEYFRAME 11
0.05308705000061309
Frame 16
tensor(0.1491)
 # KEYFRAME 12
0.0547533239951008
Frame 17
tensor(0.1936)
 # KEYFRAME 13
0.05610979899938684
Frame 18
tensor(0.1367)
 # KEYFRAME 14
0.057170364998455625
Frame 19
tensor(0.1253)
 # KEYFRAME 15
0.05842439099797048
Frame 20
tensor(0.1293)
 # KEYFRAME 16
0.05939363699872047
Frame 21
tensor(0.1622)
 # KEYFRAME 17
0.06106118200113997
Frame 22
tensor(0.1467)
 # KEYFRAME 18
0.06199652799841715
Frame 23
tensor(0.0748)
Frame 24
tensor(0.2267)
 # KEYFRAME 19
0.06342248299915809
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.0881)
Frame 26
tensor(0.1599)
 # KEYFRAME 20
0.059570757002802566
Frame 27
tensor(0.1677)
 # KEYFRAME 21
0.05994372600252973
Frame 28
tensor(0.1486)
 # KEYFRAME 22
0.06094240200036438
Frame 29
tensor(0.0943)
Frame 30
tensor(0.1608)
 # KEYFRAME 23
0.061922189001052175
Frame 31
tensor(0.1273)
 # KEYFRAME 24
0.06274803599808365
Frame 32
tensor(0.1233)
 # KEYFRAME 25
0.06331130400212714
Frame 33
tensor(0.1495)
 # KEYFRAME 26
0.06515766699885717
Frame 34
tensor(0.1742)
 # KEYFRAME 27
0.06612666299770353
Frame 35
tensor(0.1499)
 # KEYFRAME 28
0.06721169999946142
Frame 36
tensor(0.1913)
 # KEYFRAME 29
0.06745023900293745
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 37
tensor(0.2862)
 # KEYFRAME 30
0.066304633000982
Frame 38
tensor(0.0958)
Frame 39
tensor(0.1810)
 # KEYFRAME 31
0.06780921800236683
Frame 40
tensor(0.1598)
 # KEYFRAME 32
0.06855311500112293
Frame 41
tensor(0.1647)
 # KEYFRAME 33
0.06930329200258711
Frame 42
tensor(0.1534)
 # KEYFRAME 34
0.07015456999943126
Frame 43
tensor(0.2578)
 # KEYFRAME 35
0.07069102700188523
Frame 44
tensor(0.1182)
 # KEYFRAME 36
0.07173626399890054
Frame 45
tensor(0.1169)
 # KEYFRAME 37
0.07251839099626523
Frame 46
tensor(0.1033)
 # KEYFRAME 38
0.07305021899810527
Frame 47
tensor(0.1937)
 # KEYFRAME 39
0.07422264500200981
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2096 loss_distill=0.1733 tta_take=0.009s
Frame 48
tensor(0.2265)
 # KEYFRAME 40
0.07277336999686668
Frame 49
tensor(0.1507)
 # KEYFRAME 41
0.07469814299838617
Frame 50
tensor(0.1766)
 # KEYFRAME 42
0.07466565300273942
Frame 51
tensor(0.1899)
 # KEYFRAME 43
0.0759125979966484
Frame 52
tensor(0.2068)
 # KEYFRAME 44
0.07651439600158483
Frame 53
tensor(0.1284)
 # KEYFRAME 45
0.07644247700227425
Frame 54
tensor(0.0804)
Frame 55
tensor(0.2017)
 # KEYFRAME 46
0.07794591099809622
Frame 56
tensor(0.1013)
 # KEYFRAME 47
0.07871231900207931
Frame 57
tensor(0.0766)
Frame 58
tensor(0.1492)
 # KEYFRAME 48
0.08005705299729016
Frame 59
tensor(0.1090)
 # KEYFRAME 49
0.08081574099924183
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=2097 loss_distill=0.2747 tta_take=0.009s
Frame 60
tensor(0.0480)
Frame 61
tensor(0.3692)
 # KEYFRAME 50
0.07962470500206109
Frame 62
tensor(0.0998)
Frame 63
tensor(0.1536)
 # KEYFRAME 51
0.08155055799579713
Frame 64
tensor(0.0704)
Frame 65
tensor(0.1199)
 # KEYFRAME 52
0.08133360899955733
Frame 66
tensor(0.1270)
 # KEYFRAME 53
0.08312515299621737
Frame 67
tensor(0.1382)
 # KEYFRAME 54
0.08290721299999859
Frame 68
tensor(0.0583)
Frame 69
tensor(0.1047)
 # KEYFRAME 55
0.08460633699723985
Frame 70
tensor(0.0550)
Frame 71
tensor(0.1720)
 # KEYFRAME 56
0.08500642600120045
Frame 72
tensor(0.1725)
 # KEYFRAME 57
0.08578656399913598
Frame 73
tensor(0.3479)
 # KEYFRAME 58
0.08768824599974323
Frame 74
tensor(0.1034)
 # KEYFRAME 59
0.08818435399734881
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=2098 loss_distill=0.3466 tta_take=0.009s
Frame 75
tensor(0.0668)
Frame 76
tensor(0.1073)
 # KEYFRAME 60
0.0860796919951099
Frame 77
tensor(0.0671)
Frame 78
tensor(0.1283)
 # KEYFRAME 61
0.08921814100176562
Frame 79
tensor(0.1264)
 # KEYFRAME 62
0.08899101200222503
Frame 80
tensor(0.1189)
 # KEYFRAME 63
0.09038370700000087
Frame 81
tensor(0.1191)
 # KEYFRAME 64
0.09118332399521023
Frame 82
tensor(0.0541)
Frame 83
tensor(0.0900)
Frame 84
tensor(0.0584)
Frame 85
tensor(0.1419)
 # KEYFRAME 65
0.0928994479982066
Frame 86
tensor(0.1494)
 # KEYFRAME 66
0.09362845600116998
Frame 87
tensor(0.3730)
 # KEYFRAME 67
0.09466830200108234
Frame 88
tensor(0.1135)
 # KEYFRAME 68
0.09547545800160151
Frame 89
tensor(0.0769)
Frame 90
tensor(0.1109)
 # KEYFRAME 69
0.0963553760011564
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2099 loss_distill=0.4024 tta_take=0.009s
Frame 91
tensor(0.1478)
 # KEYFRAME 70
0.0927995380043285
Frame 92
tensor(0.3731)
 # KEYFRAME 71
0.0960406569938641
Frame 93
tensor(0.1908)
 # KEYFRAME 72
0.09590458699676674
Frame 94
tensor(0.1954)
 # KEYFRAME 73
0.09695609299524222
Frame 95
tensor(0.2202)
 # KEYFRAME 74
0.09820369900262449
Frame 96
tensor(0.1602)
 # KEYFRAME 75
0.09854640800040215
Frame 97
tensor(0.2553)
 # KEYFRAME 76
0.10031119199993555
Frame 98
tensor(0.2370)
 # KEYFRAME 77
0.10086509900429519
Frame 99
tensor(0.2860)
 # KEYFRAME 78
0.10180712600413244
Frame 100
tensor(0.1547)
 # KEYFRAME 79
0.10278741199726937
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2100 loss_distill=0.4024 tta_take=0.009s
Frame 101
tensor(0.1463)
 # KEYFRAME 80
0.09358600599807687
Frame 102
tensor(0.0562)
Frame 103
tensor(0.1918)
 # KEYFRAME 81
0.09574589800467947
Frame 104
tensor(0.1602)
 # KEYFRAME 82
0.09533886900317157
Frame 105
tensor(0.1889)
 # KEYFRAME 83
0.09529998000652995
Frame 106
tensor(0.1903)
 # KEYFRAME 84
0.09703364299639361
Frame 107
tensor(0.1337)
 # KEYFRAME 85
0.09720162200392224
Frame 108
tensor(0.1678)
 # KEYFRAME 86
0.09836839899799088
Frame 109
tensor(0.5132)
 # KEYFRAME 87
0.09937298499426106
Frame 110
tensor(0.1587)
 # KEYFRAME 88
0.09934376499586506
Frame 111
tensor(0.1724)
 # KEYFRAME 89
0.10086344999581343
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2101 loss_distill=0.4024 tta_take=0.009s
Frame 112
tensor(0.4981)
 # KEYFRAME 90
0.09360975500021596
Frame 113
tensor(0.0402)
Frame 114
tensor(0.4242)
 # KEYFRAME 91
0.09585629800130846
Frame 115
tensor(0.1940)
 # KEYFRAME 92
0.09526664899749449
Frame 116
tensor(0.1318)
 # KEYFRAME 93
0.0956985180018819
Frame 117
tensor(0.1099)
 # KEYFRAME 94
0.09740155199688161
Backending... 95 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 67665, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2102 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 317/556] scannetpp/0cf2e9402d/frame frames=118 tta_steps_this_scene=7 mean_loss=0.3434 total_steps=2102 time=35.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0446)
Frame 2
tensor(0.1297)
 # KEYFRAME 1
Frame 3
tensor(0.0479)
Frame 4
tensor(0.1251)
 # KEYFRAME 2
0.05154772599780699
Frame 5
tensor(0.0678)
Frame 6
tensor(0.1220)
 # KEYFRAME 3
0.05222873299499042
Frame 7
tensor(0.0771)
Frame 8
tensor(0.1204)
 # KEYFRAME 4
0.053212600003462285
Frame 9
tensor(0.1257)
 # KEYFRAME 5
0.054291346001264174
Frame 10
tensor(0.1114)
 # KEYFRAME 6
0.05576124099752633
Frame 11
tensor(0.0934)
Frame 12
tensor(0.2717)
 # KEYFRAME 7
0.05641285800084006
Frame 13
tensor(0.0325)
Frame 14
tensor(0.0930)
Frame 15
tensor(0.1643)
 # KEYFRAME 8
0.05740660500305239
Frame 16
tensor(0.0692)
Frame 17
tensor(0.1282)
 # KEYFRAME 9
0.057725443999515846
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 18
tensor(0.0361)
Frame 19
tensor(0.1075)
 # KEYFRAME 10
0.05174750500009395
Frame 20
tensor(0.0298)
Frame 21
tensor(0.0620)
Frame 22
tensor(0.1201)
 # KEYFRAME 11
0.052492392002022825
Frame 23
tensor(0.0373)
Frame 24
tensor(0.1312)
 # KEYFRAME 12
0.05350079799973173
Frame 25
tensor(0.0870)
Frame 26
tensor(0.1529)
 # KEYFRAME 13
0.05464306400244823
Frame 27
tensor(0.0510)
Frame 28
tensor(0.0718)
Frame 29
tensor(0.0868)
Frame 30
tensor(0.1159)
 # KEYFRAME 14
0.05465067399927648
Frame 31
tensor(0.1160)
 # KEYFRAME 15
0.0543726850009989
Frame 32
tensor(0.2751)
 # KEYFRAME 16
0.05515953299618559
Frame 33
tensor(0.0155)
Frame 34
tensor(0.5708)
 # KEYFRAME 17
0.05598880000616191
Frame 35
tensor(0.0479)
Frame 36
tensor(0.1364)
 # KEYFRAME 18
0.05708777599647874
Frame 37
tensor(0.0970)
Frame 38
tensor(0.1538)
 # KEYFRAME 19
0.057948352994571906
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 39
tensor(0.1530)
 # KEYFRAME 20
0.0541162669978803
Frame 40
tensor(0.1318)
 # KEYFRAME 21
0.054721264001273084
Frame 41
tensor(0.1177)
 # KEYFRAME 22
0.055342271996778436
Frame 42
tensor(0.0961)
Frame 43
tensor(0.1454)
 # KEYFRAME 23
0.05592373000399675
Frame 44
tensor(0.0871)
Frame 45
tensor(0.2009)
 # KEYFRAME 24
0.05646510799851967
Frame 46
tensor(0.2151)
 # KEYFRAME 25
0.056984696006111335
Frame 47
tensor(0.1174)
 # KEYFRAME 26
0.05808811199676711
Frame 48
tensor(0.6511)
 # KEYFRAME 27
0.05910302799748024
Frame 49
tensor(0.0278)
Frame 50
tensor(0.0904)
Frame 51
tensor(0.1720)
 # KEYFRAME 28
0.05987766700127395
Frame 52
tensor(0.0673)
Frame 53
tensor(0.1071)
 # KEYFRAME 29
0.06057715399947483
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 54
tensor(0.1573)
 # KEYFRAME 30
0.058359151997137815
Frame 55
tensor(0.0268)
Frame 56
tensor(0.0654)
Frame 57
tensor(0.0878)
Frame 58
tensor(0.0745)
Frame 59
tensor(0.1278)
 # KEYFRAME 31
0.05939728800149169
Frame 60
tensor(0.0234)
Frame 61
tensor(0.1775)
 # KEYFRAME 32
0.05963283700111788
Frame 62
tensor(0.0154)
Frame 63
tensor(0.0272)
Frame 64
tensor(0.0635)
Frame 65
tensor(0.3767)
 # KEYFRAME 33
0.06034035499760648
Frame 66
tensor(0.0658)
Frame 67
tensor(0.1132)
 # KEYFRAME 34
0.060921341995708644
Frame 68
tensor(0.0340)
Frame 69
tensor(0.0941)
Frame 70
tensor(0.1429)
 # KEYFRAME 35
0.061850218997278716
Frame 71
tensor(0.0381)
Frame 72
tensor(0.0827)
Frame 73
tensor(0.1122)
 # KEYFRAME 36
0.06247398700361373
Frame 74
tensor(0.2927)
 # KEYFRAME 37
0.0628470949959592
Frame 75
tensor(0.0046)
Frame 76
tensor(0.0522)
Frame 77
tensor(0.0840)
Frame 78
tensor(0.1342)
 # KEYFRAME 38
0.0634482330060564
Frame 79
tensor(0.6060)
 # KEYFRAME 39
0.06397878099960508
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2103 loss_distill=0.1733 tta_take=0.008s
Frame 80
tensor(0.0191)
Frame 81
tensor(0.0407)
Frame 82
tensor(0.0534)
Frame 83
tensor(0.1229)
 # KEYFRAME 40
0.06293211499723839
Frame 84
tensor(0.0903)
Frame 85
tensor(0.1388)
 # KEYFRAME 41
0.0642117999959737
Frame 86
tensor(0.0398)
Frame 87
tensor(0.0603)
Frame 88
tensor(0.1247)
 # KEYFRAME 42
0.06464744899858488
Frame 89
tensor(0.2288)
 # KEYFRAME 43
0.0648190279971459
Frame 90
tensor(0.0385)
Frame 91
tensor(0.1170)
 # KEYFRAME 44
0.06676576100289822
Frame 92
tensor(0.0541)
Frame 93
tensor(0.1349)
 # KEYFRAME 45
0.06719386000622762
Frame 94
tensor(0.0996)
Frame 95
tensor(0.1547)
 # KEYFRAME 46
0.06816962599987164
Frame 96
tensor(0.1730)
 # KEYFRAME 47
0.06880835400079377
Frame 97
tensor(0.0204)
Frame 98
tensor(0.0853)
Frame 99
tensor(0.5885)
 # KEYFRAME 48
0.06921377300022868
Frame 100
tensor(0.0333)
Frame 101
tensor(0.0438)
Frame 102
tensor(0.0449)
Frame 103
tensor(0.0805)
Frame 104
tensor(0.1465)
 # KEYFRAME 49
0.06946669099852443
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=2104 loss_distill=0.2747 tta_take=0.008s
Frame 105
tensor(0.0672)
Frame 106
tensor(0.1212)
 # KEYFRAME 50
0.06698696099920198
Frame 107
tensor(0.0622)
Frame 108
tensor(0.0884)
Frame 109
tensor(0.0995)
Frame 110
tensor(0.1988)
 # KEYFRAME 51
0.06862754499888979
Frame 111
tensor(0.0699)
Frame 112
tensor(0.1606)
 # KEYFRAME 52
0.06821247600601055
Frame 113
tensor(0.0912)
Frame 114
tensor(0.1740)
 # KEYFRAME 53
0.06886729399411706
Frame 115
tensor(0.0943)
Frame 116
tensor(0.2423)
 # KEYFRAME 54
0.06893447400216246
Frame 117
tensor(0.0538)
Frame 118
tensor(0.1753)
 # KEYFRAME 55
0.06988598000316415
Frame 119
tensor(0.1004)
 # KEYFRAME 56
0.07048741800099378
Frame 120
tensor(0.1570)
 # KEYFRAME 57
0.07059649800066836
Frame 121
tensor(0.0363)
Frame 122
tensor(0.1398)
 # KEYFRAME 58
0.07172657400224125
Frame 123
tensor(0.0401)
Frame 124
tensor(0.0641)
Frame 125
tensor(0.1020)
 # KEYFRAME 59
0.07177658400178188
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=2105 loss_distill=0.3466 tta_take=0.008s
Frame 126
tensor(0.7487)
 # KEYFRAME 60
0.07187644300574902
Frame 127
tensor(0.0204)
Frame 128
tensor(0.0582)
Frame 129
tensor(0.1838)
 # KEYFRAME 61
0.07322877799742855
Frame 130
tensor(0.1038)
 # KEYFRAME 62
0.0726492110043182
Frame 131
tensor(0.1161)
 # KEYFRAME 63
0.0733608880036627
Frame 132
tensor(0.0723)
Frame 133
tensor(0.2137)
 # KEYFRAME 64
0.07371634599985555
Frame 134
tensor(0.1681)
 # KEYFRAME 65
0.07373520699911751
Frame 135
tensor(0.5712)
 # KEYFRAME 66
0.07482234299823176
Frame 136
tensor(0.0411)
Frame 137
tensor(0.0666)
Frame 138
tensor(0.1144)
 # KEYFRAME 67
0.07510192100016866
Frame 139
tensor(0.0597)
Frame 140
tensor(0.1285)
 # KEYFRAME 68
0.0761355679933331
Frame 141
tensor(0.0598)
Frame 142
tensor(0.0905)
Frame 143
tensor(0.1499)
 # KEYFRAME 69
0.07604495799751021
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2106 loss_distill=0.4024 tta_take=0.008s
Frame 144
tensor(0.1277)
 # KEYFRAME 70
0.07559432000562083
Frame 145
tensor(0.0171)
Frame 146
tensor(0.4132)
 # KEYFRAME 71
0.07718244399438845
Frame 147
tensor(0.0083)
Frame 148
tensor(0.0323)
Frame 149
tensor(0.0563)
Backending... 72 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 57660, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2107 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 318/556] scannetpp/6cc2231b9c/DSC frames=150 tta_steps_this_scene=5 mean_loss=0.3198 total_steps=2107 time=34.6s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0814)
Frame 2
tensor(0.0670)
Frame 3
tensor(0.1058)
 # KEYFRAME 1
Frame 4
tensor(0.0938)
Frame 5
tensor(0.1392)
 # KEYFRAME 2
0.05357182899751933
Frame 6
tensor(0.0483)
Frame 7
tensor(0.1944)
 # KEYFRAME 3
0.051505016002920456
Frame 8
tensor(0.0874)
Frame 9
tensor(0.1872)
 # KEYFRAME 4
0.05154195600334788
Frame 10
tensor(0.0615)
Frame 11
tensor(0.0535)
Frame 12
tensor(0.1601)
 # KEYFRAME 5
0.051557865997892804
Frame 13
tensor(0.0820)
Frame 14
tensor(0.2174)
 # KEYFRAME 6
0.053595327997754794
Frame 15
tensor(0.1833)
 # KEYFRAME 7
0.05367403799755266
Frame 16
tensor(0.0861)
Frame 17
tensor(0.1006)
 # KEYFRAME 8
0.05446986600145465
Frame 18
tensor(0.4701)
 # KEYFRAME 9
0.05594685999676585
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 19
tensor(0.2211)
 # KEYFRAME 10
0.05179793499701191
Frame 20
tensor(0.1115)
 # KEYFRAME 11
0.05174313600582536
Frame 21
tensor(0.1244)
 # KEYFRAME 12
0.05239655300101731
Frame 22
tensor(0.1712)
 # KEYFRAME 13
0.05293045000144048
Frame 23
tensor(0.1104)
 # KEYFRAME 14
0.052981011001975276
Frame 24
tensor(0.0940)
Frame 25
tensor(0.1387)
 # KEYFRAME 15
0.05345643900363939
Frame 26
tensor(0.1490)
 # KEYFRAME 16
0.054536294999707025
Frame 27
tensor(0.1054)
 # KEYFRAME 17
0.054940854002779815
Frame 28
tensor(0.0671)
Frame 29
tensor(0.1532)
 # KEYFRAME 18
0.055829431003076024
Frame 30
tensor(0.0762)
Frame 31
tensor(0.1560)
 # KEYFRAME 19
0.05665055799909169
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.5212)
 # KEYFRAME 20
0.05394619699654868
Frame 33
tensor(0.0381)
Frame 34
tensor(0.0857)
Frame 35
tensor(0.1419)
 # KEYFRAME 21
0.054836953997437377
Frame 36
tensor(0.0887)
Frame 37
tensor(0.1947)
 # KEYFRAME 22
0.055309401999693364
Frame 38
tensor(0.0783)
Frame 39
tensor(0.1252)
 # KEYFRAME 23
0.0560258299956331
Frame 40
tensor(0.0505)
Frame 41
tensor(0.5941)
 # KEYFRAME 24
0.05651013799797511
Frame 42
tensor(0.0987)
Frame 43
tensor(0.1887)
 # KEYFRAME 25
0.0572531850048108
Frame 44
tensor(0.1746)
 # KEYFRAME 26
0.058223792002536356
Frame 45
tensor(0.1713)
 # KEYFRAME 27
0.05896900000516325
Frame 46
tensor(0.1128)
 # KEYFRAME 28
0.05935325800237479
Frame 47
tensor(0.1031)
 # KEYFRAME 29
0.06030724499578355
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 48
tensor(0.0493)
Frame 49
tensor(0.0819)
Frame 50
tensor(0.1435)
 # KEYFRAME 30
0.05848005100415321
Frame 51
tensor(0.0779)
Frame 52
tensor(0.1464)
 # KEYFRAME 31
0.059124448998773005
Frame 53
tensor(0.0512)
Frame 54
tensor(0.1064)
 # KEYFRAME 32
0.05987917599850334
Frame 55
tensor(0.1335)
 # KEYFRAME 33
0.061229610997543205
Frame 56
tensor(0.1472)
 # KEYFRAME 34
0.06243629699747544
Frame 57
tensor(0.3079)
 # KEYFRAME 35
0.06329648399696453
Frame 58
tensor(0.1702)
 # KEYFRAME 36
0.06450546899577603
Frame 59
tensor(0.1670)
 # KEYFRAME 37
0.06519059700076468
Frame 60
tensor(0.2196)
 # KEYFRAME 38
0.06609317300171824
Frame 61
tensor(0.1267)
 # KEYFRAME 39
0.06598515500081703
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2108 loss_distill=0.1733 tta_take=0.008s
Frame 62
tensor(0.1138)
 # KEYFRAME 40
0.06276769599935506
Frame 63
tensor(0.0244)
Frame 64
tensor(0.0808)
Frame 65
tensor(0.1218)
 # KEYFRAME 41
0.06421712099836441
Frame 66
tensor(0.0479)
Frame 67
tensor(0.1185)
 # KEYFRAME 42
0.06407496099564014
Frame 68
tensor(0.1040)
 # KEYFRAME 43
0.06436770000436809
Frame 69
tensor(0.2558)
 # KEYFRAME 44
0.06507201800559415
Frame 70
tensor(0.1413)
 # KEYFRAME 45
0.06504233700252371
Frame 71
tensor(0.1360)
 # KEYFRAME 46
0.06558533600036753
Frame 72
tensor(0.3206)
 # KEYFRAME 47
0.06601206400227966
Frame 73
tensor(0.1874)
 # KEYFRAME 48
0.06661888200324029
Frame 74
tensor(0.0614)
Frame 75
tensor(0.2378)
 # KEYFRAME 49
0.0667777409980772
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=2109 loss_distill=0.2747 tta_take=0.008s
Frame 76
tensor(0.1042)
 # KEYFRAME 50
0.06735574999765959
Frame 77
tensor(0.1367)
 # KEYFRAME 51
0.0690394240009482
Frame 78
tensor(0.0751)
Frame 79
tensor(0.1094)
 # KEYFRAME 52
0.06958933099667775
Frame 80
tensor(0.0968)
Frame 81
tensor(0.1952)
 # KEYFRAME 53
0.07034161799674621
Frame 82
tensor(0.1507)
 # KEYFRAME 54
0.06935641200107057
Frame 83
tensor(0.2508)
 # KEYFRAME 55
0.07153095400281018
Frame 84
tensor(0.1628)
 # KEYFRAME 56
0.07208136199915316
Frame 85
tensor(0.1584)
 # KEYFRAME 57
0.07254464099969482
Frame 86
tensor(0.1198)
 # KEYFRAME 58
0.07323844799975632
Frame 87
tensor(0.1143)
 # KEYFRAME 59
0.07357480700011365
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=2110 loss_distill=0.3466 tta_take=0.008s
Frame 88
tensor(0.2142)
 # KEYFRAME 60
0.07162570399668766
Frame 89
tensor(0.0892)
Frame 90
tensor(0.1263)
 # KEYFRAME 61
0.07337090699729742
Frame 91
tensor(0.0565)
Frame 92
tensor(0.1553)
 # KEYFRAME 62
0.07218252200254938
Frame 93
tensor(0.2685)
 # KEYFRAME 63
0.07359939700108953
Frame 94
tensor(0.2133)
 # KEYFRAME 64
0.07334912800433813
Frame 95
tensor(0.2147)
 # KEYFRAME 65
0.07404234500427265
Frame 96
tensor(0.1714)
 # KEYFRAME 66
0.07450954399973853
Frame 97
tensor(0.1234)
 # KEYFRAME 67
0.07451821400172776
Frame 98
tensor(0.1860)
 # KEYFRAME 68
0.07591223899362376
Frame 99
tensor(0.1113)
 # KEYFRAME 69
0.07641526700172108
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2111 loss_distill=0.4024 tta_take=0.008s
Frame 100
tensor(0.1963)
 # KEYFRAME 70
0.07634176799911074
Frame 101
tensor(0.1784)
 # KEYFRAME 71
0.07739417400443926
Frame 102
tensor(0.1292)
 # KEYFRAME 72
0.0772580439952435
Frame 103
tensor(0.3954)
 # KEYFRAME 73
0.0775192830042215
Frame 104
tensor(0.0173)
Frame 105
tensor(0.0352)
Frame 106
tensor(0.0901)
Frame 107
tensor(0.0882)
Frame 108
tensor(0.4585)
 # KEYFRAME 74
0.07848039999953471
Frame 109
tensor(0.1151)
 # KEYFRAME 75
0.07917343799636001
Frame 110
tensor(0.1645)
 # KEYFRAME 76
0.07878468799754046
Frame 111
tensor(0.1655)
 # KEYFRAME 77
0.07928734699817142
Frame 112
tensor(0.0837)
Frame 113
tensor(0.1601)
 # KEYFRAME 78
0.07988215499790385
Frame 114
tensor(0.1317)
 # KEYFRAME 79
0.08092806099739391
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2112 loss_distill=0.4024 tta_take=0.008s
Frame 115
tensor(0.1680)
 # KEYFRAME 80
0.07561468999483623
Frame 116
tensor(0.1164)
 # KEYFRAME 81
0.07794166199892061
Frame 117
tensor(0.1276)
 # KEYFRAME 82
0.077196685000672
Frame 118
tensor(0.1473)
 # KEYFRAME 83
0.07751288400322665
Frame 119
tensor(0.0692)
Frame 120
tensor(0.1506)
 # KEYFRAME 84
0.0788369289948605
Frame 121
tensor(0.0165)
Frame 122
tensor(0.0620)
Frame 123
tensor(0.0852)
Frame 124
tensor(0.2122)
 # KEYFRAME 85
0.07909670699882554
Frame 125
tensor(0.6212)
 # KEYFRAME 86
0.07818942099402193
Frame 126
tensor(0.1261)
 # KEYFRAME 87
0.07995086400478613
Frame 127
tensor(0.0531)
Frame 128
tensor(0.1525)
 # KEYFRAME 88
0.0807125220017042
Frame 129
tensor(0.6919)
 # KEYFRAME 89
0.08068688200000906
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2113 loss_distill=0.4024 tta_take=0.008s
Frame 130
tensor(0.1393)
 # KEYFRAME 90
0.0753395210049348
Frame 131
tensor(0.1951)
 # KEYFRAME 91
0.07751746300345985
Frame 132
tensor(0.3023)
 # KEYFRAME 92
0.07732849400053965
Frame 133
tensor(0.1786)
 # KEYFRAME 93
0.07768101300462149
Frame 134
tensor(0.1612)
 # KEYFRAME 94
0.07806629099650308
Frame 135
tensor(0.1449)
 # KEYFRAME 95
0.07868772900110343
Frame 136
tensor(0.2308)
 # KEYFRAME 96
0.07847533000312978
Frame 137
tensor(0.2102)
 # KEYFRAME 97
0.08009944500372512
Frame 138
tensor(0.2680)
 # KEYFRAME 98
0.07990274500480155
Frame 139
tensor(0.0759)
Frame 140
tensor(0.2356)
 # KEYFRAME 99
0.0805083429950173
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2114 loss_distill=0.4024 tta_take=0.008s
Frame 141
tensor(0.1859)
 # KEYFRAME 100
0.07575463900138857
Frame 142
tensor(0.0438)
Frame 143
tensor(0.0438)
Frame 144
tensor(0.0706)
Frame 145
tensor(0.1433)
 # KEYFRAME 101
0.07790150200162316
Frame 146
tensor(0.1289)
 # KEYFRAME 102
0.0776656029993319
Frame 147
tensor(0.1265)
 # KEYFRAME 103
0.07745094399433583
Frame 148
tensor(0.0841)
Frame 149
tensor(0.0899)
Backending... 104 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 59520, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=2115 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 319/556] scannetpp/07ff1c45bb/DSC frames=150 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=2115 time=45.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0096)
Frame 2
tensor(0.0237)
Frame 3
tensor(0.0348)
Frame 4
tensor(0.0459)
Frame 5
tensor(0.0575)
Frame 6
tensor(0.0654)
Frame 7
tensor(0.0761)
Frame 8
tensor(0.0915)
Frame 9
tensor(0.1058)
 # KEYFRAME 1
Frame 10
tensor(0.0079)
Frame 11
tensor(0.0193)
Frame 12
tensor(0.0323)
Frame 13
tensor(0.0409)
Frame 14
tensor(0.0495)
Frame 15
tensor(0.0595)
Frame 16
tensor(0.0698)
Frame 17
tensor(0.0815)
Frame 18
tensor(0.0842)
Frame 19
tensor(0.1065)
 # KEYFRAME 2
0.05195701499906136
Frame 20
tensor(0.0074)
Frame 21
tensor(0.0166)
Frame 22
tensor(0.0259)
Frame 23
tensor(0.0332)
Frame 24
tensor(0.0417)
Frame 25
tensor(0.0523)
Frame 26
tensor(0.0634)
Frame 27
tensor(0.0717)
Frame 28
tensor(0.0782)
Frame 29
tensor(0.0962)
Frame 30
tensor(0.1103)
 # KEYFRAME 3
0.05190041499736253
Frame 31
tensor(0.0088)
Frame 32
tensor(0.0149)
Frame 33
tensor(0.0212)
Frame 34
tensor(0.0298)
Frame 35
tensor(0.0384)
Frame 36
tensor(0.0474)
Frame 37
tensor(0.0587)
Frame 38
tensor(0.0656)
Frame 39
tensor(0.0732)
Frame 40
tensor(0.0869)
Frame 41
tensor(0.0899)
Frame 42
tensor(0.1030)
 # KEYFRAME 4
0.05265298199810786
Frame 43
tensor(0.0063)
Frame 44
tensor(0.0162)
Frame 45
tensor(0.0290)
Frame 46
tensor(0.0351)
Frame 47
tensor(0.0478)
Frame 48
tensor(0.0632)
Frame 49
tensor(0.0757)
Frame 50
tensor(0.0870)
Frame 51
tensor(0.1029)
 # KEYFRAME 5
0.052568293001968414
Frame 52
tensor(0.0121)
Frame 53
tensor(0.0258)
Frame 54
tensor(0.0391)
Frame 55
tensor(0.0563)
Frame 56
tensor(0.0741)
Frame 57
tensor(0.0946)
Frame 58
tensor(0.1147)
 # KEYFRAME 6
0.05254540200257907
Frame 59
tensor(0.0164)
Frame 60
tensor(0.0345)
Frame 61
tensor(0.0521)
Frame 62
tensor(0.0725)
Frame 63
tensor(0.0950)
Frame 64
tensor(0.1159)
 # KEYFRAME 7
0.052619082998717204
Frame 65
tensor(0.0154)
Frame 66
tensor(0.0313)
Frame 67
tensor(0.0515)
Frame 68
tensor(0.0705)
Frame 69
tensor(0.0930)
Frame 70
tensor(0.1101)
 # KEYFRAME 8
0.053255219994753134
Frame 71
tensor(0.0191)
Frame 72
tensor(0.0352)
Frame 73
tensor(0.0534)
Frame 74
tensor(0.0659)
Frame 75
tensor(0.0878)
Frame 76
tensor(0.1041)
 # KEYFRAME 9
0.052685982002003584
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 77
tensor(0.0161)
Frame 78
tensor(0.0305)
Frame 79
tensor(0.0494)
Frame 80
tensor(0.0685)
Frame 81
tensor(0.0875)
Frame 82
tensor(0.1128)
 # KEYFRAME 10
0.052040463997400366
Frame 83
tensor(0.0174)
Frame 84
tensor(0.0383)
Frame 85
tensor(0.0524)
Frame 86
tensor(0.0737)
Frame 87
tensor(0.0973)
Frame 88
tensor(0.1145)
 # KEYFRAME 11
0.05201560400018934
Frame 89
tensor(0.0158)
Frame 90
tensor(0.0341)
Frame 91
tensor(0.0522)
Frame 92
tensor(0.0727)
Frame 93
tensor(0.0915)
Frame 94
tensor(0.1128)
 # KEYFRAME 12
0.052045664997422136
Frame 95
tensor(0.0136)
Frame 96
tensor(0.0265)
Frame 97
tensor(0.0494)
Frame 98
tensor(0.0618)
Frame 99
tensor(0.0773)
Frame 100
tensor(0.0940)
Frame 101
tensor(0.1121)
 # KEYFRAME 13
0.05284316100005526
Frame 102
tensor(0.0161)
Frame 103
tensor(0.0324)
Frame 104
tensor(0.0476)
Frame 105
tensor(0.0722)
Frame 106
tensor(0.0905)
Frame 107
tensor(0.1085)
 # KEYFRAME 14
0.05481763400166528
Frame 108
tensor(0.0148)
Frame 109
tensor(0.0301)
Frame 110
tensor(0.0477)
Frame 111
tensor(0.0626)
Frame 112
tensor(0.0774)
Frame 113
tensor(0.0971)
Frame 114
tensor(0.1206)
 # KEYFRAME 15
0.053487679004319943
Frame 115
tensor(0.0144)
Frame 116
tensor(0.0318)
Frame 117
tensor(0.0455)
Frame 118
tensor(0.0619)
Frame 119
tensor(0.0806)
Frame 120
tensor(0.1007)
 # KEYFRAME 16
0.05291348100581672
Frame 121
tensor(0.0140)
Frame 122
tensor(0.0327)
Frame 123
tensor(0.0476)
Frame 124
tensor(0.0704)
Frame 125
tensor(0.0851)
Frame 126
tensor(0.1028)
 # KEYFRAME 17
0.05622732899792027
Frame 127
tensor(0.0159)
Frame 128
tensor(0.0284)
Frame 129
tensor(0.0415)
Frame 130
tensor(0.0587)
Frame 131
tensor(0.0702)
Frame 132
tensor(0.0859)
Frame 133
tensor(0.0969)
Frame 134
tensor(0.1095)
 # KEYFRAME 18
0.052585301993531175
Frame 135
tensor(0.0129)
Frame 136
tensor(0.0256)
Frame 137
tensor(0.0369)
Frame 138
tensor(0.0507)
Frame 139
tensor(0.0641)
Frame 140
tensor(0.0759)
Frame 141
tensor(0.0911)
Frame 142
tensor(0.1039)
 # KEYFRAME 19
0.05774354399909498
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 143
tensor(0.0128)
Frame 144
tensor(0.0225)
Frame 145
tensor(0.0305)
Frame 146
tensor(0.0447)
Frame 147
tensor(0.0533)
Frame 148
tensor(0.0658)
Frame 149
tensor(0.0808)
Frame 150
tensor(0.0955)
Frame 151
tensor(0.1054)
 # KEYFRAME 20
0.05205345399735961
Frame 152
tensor(0.0125)
Frame 153
tensor(0.0229)
Frame 154
tensor(0.0349)
Frame 155
tensor(0.0491)
Frame 156
tensor(0.0645)
Frame 157
tensor(0.0754)
Frame 158
tensor(0.0941)
Frame 159
tensor(0.1007)
 # KEYFRAME 21
0.05304240999976173
Frame 160
tensor(0.0113)
Frame 161
tensor(0.0195)
Frame 162
tensor(0.0300)
Frame 163
tensor(0.0401)
Frame 164
tensor(0.0538)
Frame 165
tensor(0.0767)
Frame 166
tensor(0.0983)
Frame 167
tensor(0.1138)
 # KEYFRAME 22
0.05405288699694211
Frame 168
tensor(0.0138)
Frame 169
tensor(0.0243)
Frame 170
tensor(0.0406)
Frame 171
tensor(0.0593)
Frame 172
tensor(0.0789)
Frame 173
tensor(0.0975)
Frame 174
tensor(0.1249)
 # KEYFRAME 23
0.05243192299531074
Frame 175
tensor(0.0159)
Frame 176
tensor(0.0356)
Frame 177
tensor(0.0501)
Frame 178
tensor(0.0709)
Frame 179
tensor(0.0935)
Frame 180
tensor(0.1227)
 # KEYFRAME 24
0.0548860440030694
Frame 181
tensor(0.0206)
Frame 182
tensor(0.0441)
Frame 183
tensor(0.0639)
Frame 184
tensor(0.0922)
Frame 185
tensor(0.1154)
 # KEYFRAME 25
0.053002271000877954
Frame 186
tensor(0.0218)
Frame 187
tensor(0.0440)
Frame 188
tensor(0.0676)
Frame 189
tensor(0.0936)
Frame 190
tensor(0.1172)
 # KEYFRAME 26
0.053071661001013126
Frame 191
tensor(0.0230)
Frame 192
tensor(0.0450)
Frame 193
tensor(0.0739)
Frame 194
tensor(0.0989)
Frame 195
tensor(0.1285)
 # KEYFRAME 27
0.05713400599779561
Frame 196
tensor(0.0248)
Frame 197
tensor(0.0455)
Frame 198
tensor(0.0790)
Frame 199
tensor(0.1069)
 # KEYFRAME 28
0.05305407999549061
Frame 200
tensor(0.0223)
Frame 201
tensor(0.0534)
Frame 202
tensor(0.0820)
Frame 203
tensor(0.1022)
 # KEYFRAME 29
0.057646854998893104
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 204
tensor(0.0270)
Frame 205
tensor(0.0507)
Frame 206
tensor(0.0812)
Frame 207
tensor(0.1018)
 # KEYFRAME 30
0.05224284300493309
Frame 208
tensor(0.0246)
Frame 209
tensor(0.0512)
Frame 210
tensor(0.0772)
Frame 211
tensor(0.1013)
 # KEYFRAME 31
0.053493519000767265
Frame 212
tensor(0.0283)
Frame 213
tensor(0.0512)
Frame 214
tensor(0.0753)
Frame 215
tensor(0.0990)
Frame 216
tensor(0.1226)
 # KEYFRAME 32
0.05345704899809789
Frame 217
tensor(0.0243)
Frame 218
tensor(0.0469)
Frame 219
tensor(0.0701)
Frame 220
tensor(0.0937)
Frame 221
tensor(0.1236)
 # KEYFRAME 33
0.052764861000468954
Frame 222
tensor(0.0224)
Frame 223
tensor(0.0454)
Frame 224
tensor(0.0695)
Frame 225
tensor(0.0981)
Frame 226
tensor(0.1295)
 # KEYFRAME 34
0.053372189999208786
Frame 227
tensor(0.0217)
Frame 228
tensor(0.0522)
Frame 229
tensor(0.0767)
Frame 230
tensor(0.1014)
 # KEYFRAME 35
0.05222899399814196
Frame 231
tensor(0.0275)
Frame 232
tensor(0.0540)
Frame 233
tensor(0.0802)
Frame 234
tensor(0.1073)
 # KEYFRAME 36
0.05342336900503142
Frame 235
tensor(0.0255)
Frame 236
tensor(0.0575)
Frame 237
tensor(0.0830)
Frame 238
tensor(0.1134)
 # KEYFRAME 37
0.05367471800127532
Frame 239
tensor(0.0279)
Frame 240
tensor(0.0574)
Frame 241
tensor(0.0825)
Frame 242
tensor(0.1146)
 # KEYFRAME 38
0.052538882999215275
Frame 243
tensor(0.0295)
Frame 244
tensor(0.0606)
Frame 245
tensor(0.0947)
Frame 246
tensor(0.1275)
 # KEYFRAME 39
0.05423758599499706
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2116 loss_distill=0.1733 tta_take=0.005s
Frame 247
tensor(0.0321)
Frame 248
tensor(0.0630)
Frame 249
tensor(0.0956)
Frame 250
tensor(0.1341)
 # KEYFRAME 40
0.05256023300171364
Frame 251
tensor(0.0300)
Frame 252
tensor(0.0673)
Frame 253
tensor(0.0986)
Frame 254
tensor(0.1341)
 # KEYFRAME 41
0.052856761001748964
Frame 255
tensor(0.0384)
Frame 256
tensor(0.0681)
Frame 257
tensor(0.0992)
Frame 258
tensor(0.1254)
 # KEYFRAME 42
0.05328962000203319
Frame 259
tensor(0.0281)
Frame 260
tensor(0.0537)
Frame 261
tensor(0.0876)
Frame 262
tensor(0.1146)
 # KEYFRAME 43
0.05222984300053213
Frame 263
tensor(0.0337)
Frame 264
tensor(0.0594)
Frame 265
tensor(0.0887)
Frame 266
tensor(0.1290)
 # KEYFRAME 44
0.05326830900594359
Frame 267
tensor(0.0249)
Frame 268
tensor(0.0516)
Frame 269
tensor(0.0842)
Frame 270
tensor(0.1176)
 # KEYFRAME 45
0.05252557300264016
Frame 271
tensor(0.0248)
Frame 272
tensor(0.0540)
Frame 273
tensor(0.0837)
Frame 274
tensor(0.1160)
 # KEYFRAME 46
0.05232275300659239
Frame 275
tensor(0.0272)
Frame 276
tensor(0.0575)
Frame 277
tensor(0.0850)
Frame 278
tensor(0.1158)
 # KEYFRAME 47
0.053673799004172906
Frame 279
tensor(0.0258)
Frame 280
tensor(0.0580)
Frame 281
tensor(0.0874)
Frame 282
tensor(0.1140)
 # KEYFRAME 48
0.053285828995285556
Frame 283
tensor(0.0295)
Frame 284
tensor(0.0530)
Frame 285
tensor(0.0875)
Frame 286
tensor(0.1187)
 # KEYFRAME 49
0.05505653399450239
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=2117 loss_distill=0.2747 tta_take=0.005s
Frame 287
tensor(0.0279)
Frame 288
tensor(0.0581)
Frame 289
tensor(0.0837)
Frame 290
tensor(0.1127)
 # KEYFRAME 50
0.05266391199984355
Frame 291
tensor(0.0270)
Frame 292
tensor(0.0540)
Frame 293
tensor(0.0793)
Frame 294
tensor(0.1160)
 # KEYFRAME 51
0.05325227000139421
Frame 295
tensor(0.0275)
Frame 296
tensor(0.0539)
Frame 297
tensor(0.0833)
Frame 298
tensor(0.1064)
 # KEYFRAME 52
0.054322986004990526
Frame 299
tensor(0.0265)
Backending... 53 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 21836, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=2118 loss_distill=0.3466 tta_take=0.003s
[epoch 0 scene 320/556] vkitti/Scene20/clone/Camera_1 frames=300 tta_steps_this_scene=3 mean_loss=0.2648 total_steps=2118 time=46.6s
[ckpt] /scratch-shared/wwei2/scorer_pretrain/scorer_v1/checkpoint-last.pth (epoch=0 scene=320)
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0191)
Frame 2
tensor(0.0809)
Frame 3
tensor(0.1490)
 # KEYFRAME 1
Frame 4
tensor(0.1989)
 # KEYFRAME 2
0.051547745999414474
Frame 5
tensor(0.2438)
 # KEYFRAME 3
0.05293266100488836
Frame 6
tensor(0.1238)
 # KEYFRAME 4
0.0535943579961895
Frame 7
tensor(0.1128)
 # KEYFRAME 5
0.05508363300032215
Frame 8
tensor(0.0715)
Frame 9
tensor(0.1568)
 # KEYFRAME 6
0.05617420999624301
Frame 10
tensor(0.0862)
Frame 11
tensor(0.1610)
 # KEYFRAME 7
0.057447414998023305
Frame 12
tensor(0.1387)
 # KEYFRAME 8
0.05753133499820251
Frame 13
tensor(0.1613)
 # KEYFRAME 9
0.057673263996548485
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 14
tensor(0.3896)
 # KEYFRAME 10
0.052105244001722895
Frame 15
tensor(0.1976)
 # KEYFRAME 11
0.053942186998028774
Frame 16
tensor(0.1644)
 # KEYFRAME 12
0.05459727499692235
Frame 17
tensor(0.2291)
 # KEYFRAME 13
0.056520548001572024
Frame 18
tensor(0.0767)
Frame 19
tensor(0.4825)
 # KEYFRAME 14
0.05762914499791805
Frame 20
tensor(0.1982)
 # KEYFRAME 15
0.05794465300277807
Frame 21
tensor(0.1937)
 # KEYFRAME 16
0.0592333390013664
Frame 22
tensor(0.2448)
 # KEYFRAME 17
0.059682355997210834
Frame 23
tensor(0.1308)
 # KEYFRAME 18
0.061140532001445536
Frame 24
tensor(0.1500)
 # KEYFRAME 19
0.06223038800089853
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.2641)
 # KEYFRAME 20
0.059019929001806304
Frame 26
tensor(0.2930)
 # KEYFRAME 21
0.061009593002381735
Frame 27
tensor(0.2635)
 # KEYFRAME 22
0.06200347900448833
Frame 28
tensor(0.2768)
 # KEYFRAME 23
0.06325592400389723
Frame 29
tensor(0.0782)
Frame 30
tensor(0.4637)
 # KEYFRAME 24
0.06453789900115225
Frame 31
tensor(0.1301)
 # KEYFRAME 25
0.06539723700552713
Frame 32
tensor(0.1304)
 # KEYFRAME 26
0.06663712199951988
Frame 33
tensor(0.1283)
 # KEYFRAME 27
0.06718112000089604
Frame 34
tensor(0.4477)
 # KEYFRAME 28
0.06812218700360972
Frame 35
tensor(0.1925)
 # KEYFRAME 29
0.0696511010028189
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 36
tensor(0.1314)
 # KEYFRAME 30
0.0660053350002272
Frame 37
tensor(0.1961)
 # KEYFRAME 31
0.06747433899727184
Frame 38
tensor(0.1207)
 # KEYFRAME 32
0.06835007500194479
Frame 39
tensor(0.0935)
Frame 40
tensor(0.2557)
 # KEYFRAME 33
0.06912013299734099
Frame 41
tensor(0.4278)
 # KEYFRAME 34
0.0693838719962514
Frame 42
tensor(0.0958)
Frame 43
tensor(0.1767)
 # KEYFRAME 35
0.07057733799592825
Frame 44
tensor(0.6528)
 # KEYFRAME 36
0.07175251399894478
Frame 45
tensor(0.1616)
 # KEYFRAME 37
0.0723978320020251
Frame 46
tensor(0.1510)
 # KEYFRAME 38
0.07324911899922881
Frame 47
tensor(0.0587)
Frame 48
tensor(0.0468)
Frame 49
tensor(0.2625)
 # KEYFRAME 39
0.07409267599723535
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2119 loss_distill=0.1733 tta_take=0.009s
Frame 50
tensor(0.1569)
 # KEYFRAME 40
0.07275883999682264
Frame 51
tensor(0.1815)
 # KEYFRAME 41
0.07520511200709734
Frame 52
tensor(0.7786)
 # KEYFRAME 42
0.07679842600191478
Frame 53
tensor(0.1924)
 # KEYFRAME 43
0.07642634800140513
Frame 54
tensor(0.2257)
 # KEYFRAME 44
0.07736232400202425
Frame 55
tensor(0.1460)
 # KEYFRAME 45
0.07802758199977688
Frame 56
tensor(0.0575)
Frame 57
tensor(0.3251)
 # KEYFRAME 46
0.0785787100030575
Frame 58
tensor(0.2294)
 # KEYFRAME 47
0.07860093899944331
Frame 59
tensor(0.1588)
 # KEYFRAME 48
0.08021440399897983
Frame 60
tensor(0.1878)
 # KEYFRAME 49
0.08144549900316633
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=2120 loss_distill=0.2747 tta_take=0.009s
Frame 61
tensor(0.2218)
 # KEYFRAME 50
0.07976467499975115
Frame 62
tensor(0.4454)
 # KEYFRAME 51
0.08144965899555245
Frame 63
tensor(0.1528)
 # KEYFRAME 52
0.08191058700322174
Frame 64
tensor(0.1827)
 # KEYFRAME 53
0.08288299499690766
Frame 65
tensor(0.1060)
 # KEYFRAME 54
0.08340412300458411
Frame 66
tensor(0.1292)
 # KEYFRAME 55
0.08375202100432944
Frame 67
tensor(0.2543)
 # KEYFRAME 56
0.08508273599727545
Frame 68
tensor(0.1953)
 # KEYFRAME 57
0.08572049399663229
Frame 69
tensor(0.1436)
 # KEYFRAME 58
0.0863711220008554
Frame 70
tensor(0.0961)
Frame 71
tensor(0.1146)
 # KEYFRAME 59
0.08733678799762856
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=2121 loss_distill=0.3466 tta_take=0.009s
Frame 72
tensor(0.0692)
Frame 73
tensor(0.1583)
 # KEYFRAME 60
0.08651629099767888
Frame 74
tensor(0.1479)
 # KEYFRAME 61
0.08914294200076256
Frame 75
tensor(0.1187)
 # KEYFRAME 62
0.08867669299797853
Frame 76
tensor(0.0870)
Frame 77
tensor(0.1610)
 # KEYFRAME 63
0.09029031700629275
Frame 78
tensor(0.0632)
Frame 79
tensor(0.1615)
 # KEYFRAME 64
0.0911018340048031
Frame 80
tensor(0.1956)
 # KEYFRAME 65
0.09107800399942789
Frame 81
tensor(0.1392)
 # KEYFRAME 66
0.09232211000198731
Frame 82
tensor(0.1118)
 # KEYFRAME 67
0.09290118799981428
Frame 83
tensor(0.0769)
Frame 84
tensor(0.1190)
 # KEYFRAME 68
0.09387524399789982
Frame 85
tensor(0.1636)
 # KEYFRAME 69
0.09536599900457077
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2122 loss_distill=0.4024 tta_take=0.009s
Frame 86
tensor(0.1320)
 # KEYFRAME 70
0.09397666400036542
Frame 87
tensor(0.1333)
 # KEYFRAME 71
0.09538041899941163
Frame 88
tensor(0.1150)
 # KEYFRAME 72
0.09562300800462253
Frame 89
tensor(0.1775)
 # KEYFRAME 73
0.0967422350004199
Frame 90
tensor(0.3157)
 # KEYFRAME 74
0.09809453900379594
Frame 91
tensor(0.1569)
 # KEYFRAME 75
0.0987416670031962
Frame 92
tensor(0.1662)
 # KEYFRAME 76
0.10093604999565287
Frame 93
tensor(0.1934)
 # KEYFRAME 77
0.10234519399818964
Frame 94
tensor(0.1775)
 # KEYFRAME 78
0.1029642520006746
Frame 95
tensor(0.1187)
 # KEYFRAME 79
0.10259911399771227
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595452308655
TTA-STEP: step=2123 loss_distill=0.4024 tta_take=0.009s
Frame 96
tensor(0.0903)
Frame 97
tensor(0.2444)
 # KEYFRAME 80
0.09324581699911505
Frame 98
tensor(0.2333)
 # KEYFRAME 81
0.09565777900570538
Frame 99
tensor(0.1974)
 # KEYFRAME 82
0.09438588299963158
Frame 100
tensor(0.1300)
 # KEYFRAME 83
0.09583568800007924
Frame 101
tensor(0.1685)
 # KEYFRAME 84
0.09680612399824895
Frame 102
tensor(0.1854)
 # KEYFRAME 85
0.09715229300491046
Frame 103
tensor(0.2131)
 # KEYFRAME 86
0.09846411799662746
Frame 104
tensor(0.2705)
 # KEYFRAME 87
0.0990442760012229
Frame 105
tensor(0.1977)
 # KEYFRAME 88
0.09949651500210166
Frame 106
tensor(0.2152)
 # KEYFRAME 89
0.10060580000572372
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2124 loss_distill=0.4024 tta_take=0.009s
Frame 107
tensor(0.1391)
 # KEYFRAME 90
0.09275760900345631
Frame 108
tensor(0.0853)
Frame 109
tensor(0.2035)
 # KEYFRAME 91
0.09607280699856346
Frame 110
tensor(0.2703)
 # KEYFRAME 92
0.09557503899850417
Frame 111
tensor(0.2202)
 # KEYFRAME 93
0.09646166599850403
Frame 112
tensor(0.1877)
 # KEYFRAME 94
0.09821722900232999
Frame 113
tensor(0.1785)
 # KEYFRAME 95
0.09929258599731838
Frame 114
tensor(0.1139)
 # KEYFRAME 96
0.10071084099763539
Frame 115
tensor(0.1759)
 # KEYFRAME 97
0.10200261600402882
Frame 116
tensor(0.1186)
 # KEYFRAME 98
0.10198596599366283
Backending... 99 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 71829, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2125 loss_distill=0.4024 tta_take=0.008s
[epoch 0 scene 321/556] scannetpp/e1b1d9de55/frame frames=117 tta_steps_this_scene=7 mean_loss=0.3434 total_steps=2125 time=39.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0666)
Frame 2
tensor(0.1247)
 # KEYFRAME 1
Frame 3
tensor(0.1817)
 # KEYFRAME 2
0.051443115997244604
Frame 4
tensor(0.1157)
 # KEYFRAME 3
0.052371872996445745
Frame 5
tensor(0.1461)
 # KEYFRAME 4
0.053281760003301315
Frame 6
tensor(0.1124)
 # KEYFRAME 5
0.05449409600259969
Frame 7
tensor(0.1020)
 # KEYFRAME 6
0.05591276100312825
Frame 8
tensor(0.2648)
 # KEYFRAME 7
0.05637361900153337
Frame 9
tensor(0.1284)
 # KEYFRAME 8
0.05731685500359163
Frame 10
tensor(0.1244)
 # KEYFRAME 9
0.05778670300060185
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.1114)
 # KEYFRAME 10
0.05165164500067476
Frame 12
tensor(0.1646)
 # KEYFRAME 11
0.05401955699926475
Frame 13
tensor(0.0454)
Frame 14
tensor(0.0939)
Frame 15
tensor(0.1058)
 # KEYFRAME 12
0.052719041996169835
Frame 16
tensor(0.0864)
Frame 17
tensor(0.1228)
 # KEYFRAME 13
0.05432332600321388
Frame 18
tensor(0.0513)
Frame 19
tensor(0.0747)
Frame 20
tensor(0.0983)
Frame 21
tensor(0.1151)
 # KEYFRAME 14
0.05468663499777904
Frame 22
tensor(0.0686)
Frame 23
tensor(0.1181)
 # KEYFRAME 15
0.05423763699945994
Frame 24
tensor(0.0969)
Frame 25
tensor(0.1371)
 # KEYFRAME 16
0.05511102299351478
Frame 26
tensor(0.0624)
Frame 27
tensor(0.1578)
 # KEYFRAME 17
0.055517521999718156
Frame 28
tensor(0.2031)
 # KEYFRAME 18
0.05635103899840033
Frame 29
tensor(0.1500)
 # KEYFRAME 19
0.05735024499881547
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 30
tensor(0.0871)
Frame 31
tensor(0.1846)
 # KEYFRAME 20
0.053959406999638304
Frame 32
tensor(0.0886)
Frame 33
tensor(0.1558)
 # KEYFRAME 21
0.05487980400357628
Frame 34
tensor(0.0711)
Frame 35
tensor(0.1121)
 # KEYFRAME 22
0.05526992299564881
Frame 36
tensor(0.0509)
Frame 37
tensor(0.1513)
 # KEYFRAME 23
0.05573832099616993
Frame 38
tensor(0.0406)
Frame 39
tensor(0.0524)
Frame 40
tensor(0.0502)
Frame 41
tensor(0.0710)
Frame 42
tensor(0.1058)
 # KEYFRAME 24
0.05622666900308104
Frame 43
tensor(0.0836)
Frame 44
tensor(0.0769)
Frame 45
tensor(0.1458)
 # KEYFRAME 25
0.05668262700055493
Frame 46
tensor(0.0628)
Frame 47
tensor(0.0855)
Frame 48
tensor(0.0708)
Frame 49
tensor(0.0306)
Frame 50
tensor(0.0921)
Frame 51
tensor(0.1449)
 # KEYFRAME 26
0.058217491998220794
Frame 52
tensor(0.0832)
Frame 53
tensor(0.2278)
 # KEYFRAME 27
0.05912071900092997
Frame 54
tensor(0.0698)
Frame 55
tensor(0.2052)
 # KEYFRAME 28
0.05965110700344667
Frame 56
tensor(0.1690)
 # KEYFRAME 29
0.0607069230027264
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 57
tensor(0.0527)
Frame 58
tensor(0.0466)
Frame 59
tensor(0.2377)
 # KEYFRAME 30
0.05862638099642936
Frame 60
tensor(0.1836)
 # KEYFRAME 31
0.05968351699993946
Frame 61
tensor(0.2506)
 # KEYFRAME 32
0.06015215599472867
Frame 62
tensor(0.0875)
Frame 63
tensor(0.1630)
 # KEYFRAME 33
0.06187643900193507
Frame 64
tensor(0.1141)
 # KEYFRAME 34
0.06291349499952048
Frame 65
tensor(0.1000)
 # KEYFRAME 35
0.06399008100561332
Frame 66
tensor(0.1372)
 # KEYFRAME 36
0.06509587800246663
Frame 67
tensor(0.1201)
 # KEYFRAME 37
0.06606616399949417
Frame 68
tensor(0.1652)
 # KEYFRAME 38
0.06624471300165169
Frame 69
tensor(0.0803)
Frame 70
tensor(0.1668)
 # KEYFRAME 39
0.0667663319982239
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2126 loss_distill=0.1733 tta_take=0.008s
Frame 71
tensor(0.1133)
 # KEYFRAME 40
0.06264054600615054
Frame 72
tensor(0.0788)
Frame 73
tensor(0.1759)
 # KEYFRAME 41
0.06384999200236052
Frame 74
tensor(0.0951)
Frame 75
tensor(0.1939)
 # KEYFRAME 42
0.0639606820041081
Frame 76
tensor(0.0722)
Frame 77
tensor(0.2010)
 # KEYFRAME 43
0.06413089100533398
Frame 78
tensor(0.1778)
 # KEYFRAME 44
0.06460248999792384
Frame 79
tensor(0.1683)
 # KEYFRAME 45
0.06506625800102483
Frame 80
tensor(0.2182)
 # KEYFRAME 46
0.06554571599554038
Frame 81
tensor(0.2574)
 # KEYFRAME 47
0.0658994650002569
Frame 82
tensor(0.2820)
 # KEYFRAME 48
0.06625837399769807
Frame 83
tensor(0.1832)
 # KEYFRAME 49
0.06702193999808514
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=2127 loss_distill=0.2747 tta_take=0.008s
Frame 84
tensor(0.1746)
 # KEYFRAME 50
0.06740800899569876
Frame 85
tensor(0.1712)
 # KEYFRAME 51
0.06845824600168271
Frame 86
tensor(0.1678)
 # KEYFRAME 52
0.06813282700022683
Frame 87
tensor(0.3779)
 # KEYFRAME 53
0.06929055300133768
Frame 88
tensor(0.1138)
 # KEYFRAME 54
0.06966205099888612
Frame 89
tensor(0.0702)
Frame 90
tensor(0.1174)
 # KEYFRAME 55
0.07098447700263932
Frame 91
tensor(0.1298)
 # KEYFRAME 56
0.07076086699817097
Frame 92
tensor(0.1127)
 # KEYFRAME 57
0.0717741739936173
Frame 93
tensor(0.1358)
 # KEYFRAME 58
0.07217565299652051
Frame 94
tensor(0.1080)
 # KEYFRAME 59
0.07232672100508353
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.34657353162765503
TTA-STEP: step=2128 loss_distill=0.3466 tta_take=0.008s
Frame 95
tensor(0.0485)
Frame 96
tensor(0.1368)
 # KEYFRAME 60
0.07144391500332858
Frame 97
tensor(0.0890)
Frame 98
tensor(0.1950)
 # KEYFRAME 61
0.0727197900050669
Frame 99
tensor(0.0556)
Frame 100
tensor(0.4024)
 # KEYFRAME 62
0.07314872900315095
Frame 101
tensor(0.2305)
 # KEYFRAME 63
0.07382426600088365
Frame 102
tensor(0.1024)
 # KEYFRAME 64
0.07508002199756447
Frame 103
tensor(0.1371)
 # KEYFRAME 65
0.07432549499935703
Frame 104
tensor(0.1213)
 # KEYFRAME 66
0.07667034599580802
Frame 105
tensor(0.1024)
 # KEYFRAME 67
0.07788264199916739
Frame 106
tensor(0.2528)
 # KEYFRAME 68
0.07759733300190419
Frame 107
tensor(0.0924)
Frame 108
tensor(0.0707)
Frame 109
tensor(0.0816)
Frame 110
tensor(0.1212)
 # KEYFRAME 69
0.07819668099546107
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2129 loss_distill=0.4024 tta_take=0.008s
Frame 111
tensor(0.1487)
 # KEYFRAME 70
0.07637354700273136
Frame 112
tensor(0.1375)
 # KEYFRAME 71
0.07822322099673329
Frame 113
tensor(0.1131)
 # KEYFRAME 72
0.07753935299842851
Frame 114
tensor(0.1026)
 # KEYFRAME 73
0.07869734899577452
Frame 115
tensor(0.1150)
 # KEYFRAME 74
0.07964698599971598
Frame 116
tensor(0.0531)
Frame 117
tensor(0.1383)
 # KEYFRAME 75
0.08032726300007198
Frame 118
tensor(0.5287)
 # KEYFRAME 76
0.07942474699666491
Frame 119
tensor(0.1152)
 # KEYFRAME 77
0.08141854900168255
Frame 120
tensor(0.1967)
 # KEYFRAME 78
0.08235421599965775
Frame 121
tensor(0.1043)
 # KEYFRAME 79
0.08305948400084162
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2130 loss_distill=0.4024 tta_take=0.008s
Frame 122
tensor(0.1127)
 # KEYFRAME 80
0.07579237999743782
Frame 123
tensor(0.1153)
 # KEYFRAME 81
0.07764398299332242
Frame 124
tensor(0.0939)
Frame 125
tensor(0.1740)
 # KEYFRAME 82
0.07756003300164593
Frame 126
tensor(0.1060)
 # KEYFRAME 83
0.07838946000265423
Frame 127
tensor(0.1122)
 # KEYFRAME 84
0.07961430599971209
Frame 128
tensor(0.1406)
 # KEYFRAME 85
0.08067466199281625
Frame 129
tensor(0.1106)
 # KEYFRAME 86
0.0793274969983031
Frame 130
tensor(0.1232)
 # KEYFRAME 87
0.08194632799859392
Frame 131
tensor(0.2285)
 # KEYFRAME 88
0.08320271300181048
Frame 132
tensor(0.1185)
 # KEYFRAME 89
0.08336592200066661
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2131 loss_distill=0.4024 tta_take=0.008s
Frame 133
tensor(0.0976)
Frame 134
tensor(0.2690)
 # KEYFRAME 90
0.07527947099879384
Frame 135
tensor(0.0207)
Frame 136
tensor(0.1532)
 # KEYFRAME 91
0.07711577499867417
Frame 137
tensor(0.2913)
 # KEYFRAME 92
0.07700092600134667
Frame 138
tensor(0.1514)
 # KEYFRAME 93
0.07739307400333928
Frame 139
tensor(0.1902)
 # KEYFRAME 94
0.07813477099989541
Frame 140
tensor(0.2014)
 # KEYFRAME 95
0.07928779700159794
Frame 141
tensor(0.3621)
 # KEYFRAME 96
0.07831966999947326
Backending... 97 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62310, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2132 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 322/556] scannetpp/b97261909e/DSC frames=142 tta_steps_this_scene=7 mean_loss=0.3434 total_steps=2132 time=35.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0443)
Frame 2
tensor(0.0883)
Frame 3
tensor(0.1352)
 # KEYFRAME 1
Frame 4
tensor(0.0506)
Frame 5
tensor(0.1026)
 # KEYFRAME 2
0.05172959599440219
Frame 6
tensor(0.0504)
Frame 7
tensor(0.1002)
 # KEYFRAME 3
0.05187673500040546
Frame 8
tensor(0.0456)
Frame 9
tensor(0.0968)
Frame 10
tensor(0.1476)
 # KEYFRAME 4
0.05186013499769615
Frame 11
tensor(0.0419)
Frame 12
tensor(0.0902)
Frame 13
tensor(0.1384)
 # KEYFRAME 5
0.052248183004849125
Frame 14
tensor(0.0408)
Frame 15
tensor(0.0880)
Frame 16
tensor(0.1349)
 # KEYFRAME 6
0.052769161004107445
Frame 17
tensor(0.0483)
Frame 18
tensor(0.0977)
Frame 19
tensor(0.1446)
 # KEYFRAME 7
0.05261626200081082
Frame 20
tensor(0.0446)
Frame 21
tensor(0.0931)
Frame 22
tensor(0.1426)
 # KEYFRAME 8
0.05297105099452892
Frame 23
tensor(0.0367)
Frame 24
tensor(0.0820)
Frame 25
tensor(0.1330)
 # KEYFRAME 9
0.052731581999978516
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 26
tensor(0.0412)
Frame 27
tensor(0.0882)
Frame 28
tensor(0.1274)
 # KEYFRAME 10
0.05204800399951637
Frame 29
tensor(0.0460)
Frame 30
tensor(0.0931)
Frame 31
tensor(0.1384)
 # KEYFRAME 11
0.05214292399614351
Frame 32
tensor(0.0481)
Frame 33
tensor(0.0949)
Frame 34
tensor(0.1397)
 # KEYFRAME 12
0.05212108400155557
Frame 35
tensor(0.0501)
Frame 36
tensor(0.0963)
Frame 37
tensor(0.1371)
 # KEYFRAME 13
0.05194812499394175
Frame 38
tensor(0.0490)
Frame 39
tensor(0.0880)
Frame 40
tensor(0.1282)
 # KEYFRAME 14
0.05326960000093095
Frame 41
tensor(0.0423)
Frame 42
tensor(0.0842)
Frame 43
tensor(0.1260)
 # KEYFRAME 15
0.052307223006209824
Frame 44
tensor(0.0454)
Frame 45
tensor(0.0894)
Frame 46
tensor(0.1261)
 # KEYFRAME 16
0.05288969100365648
Frame 47
tensor(0.0434)
Frame 48
tensor(0.0898)
Frame 49
tensor(0.1312)
 # KEYFRAME 17
0.05435462600144092
Frame 50
tensor(0.0533)
Frame 51
tensor(0.0923)
Frame 52
tensor(0.1421)
 # KEYFRAME 18
0.052689511998323724
Frame 53
tensor(0.0482)
Frame 54
tensor(0.0962)
Frame 55
tensor(0.1471)
 # KEYFRAME 19
0.05483874399942579
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 56
tensor(0.0459)
Frame 57
tensor(0.0948)
Frame 58
tensor(0.1405)
 # KEYFRAME 20
0.0519415239978116
Frame 59
tensor(0.0535)
Frame 60
tensor(0.1076)
 # KEYFRAME 21
0.05195854500198038
Frame 61
tensor(0.0562)
Frame 62
tensor(0.1124)
 # KEYFRAME 22
0.05368231900501996
Frame 63
tensor(0.0542)
Frame 64
tensor(0.1070)
 # KEYFRAME 23
0.052539201999024954
Frame 65
tensor(0.0587)
Frame 66
tensor(0.1148)
 # KEYFRAME 24
0.054996244005451445
Frame 67
tensor(0.0462)
Frame 68
tensor(0.0954)
Frame 69
tensor(0.1488)
 # KEYFRAME 25
0.05221617399365641
Frame 70
tensor(0.0468)
Frame 71
tensor(0.0950)
Frame 72
tensor(0.1462)
 # KEYFRAME 26
0.05263606199878268
Frame 73
tensor(0.0549)
Frame 74
tensor(0.1055)
 # KEYFRAME 27
0.055962439997529145
Frame 75
tensor(0.0509)
Frame 76
tensor(0.1069)
 # KEYFRAME 28
0.0531843700009631
Frame 77
tensor(0.0526)
Frame 78
tensor(0.1027)
 # KEYFRAME 29
0.05630183899484109
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 79
tensor(0.0540)
Frame 80
tensor(0.1002)
 # KEYFRAME 30
0.05237371299881488
Frame 81
tensor(0.0511)
Frame 82
tensor(0.1067)
 # KEYFRAME 31
0.053302620006434154
Frame 83
tensor(0.0484)
Frame 84
tensor(0.0906)
Frame 85
tensor(0.1440)
 # KEYFRAME 32
0.05464279500301927
Frame 86
tensor(0.0458)
Frame 87
tensor(0.0927)
Frame 88
tensor(0.1427)
 # KEYFRAME 33
0.05284140099684009
Frame 89
tensor(0.0444)
Frame 90
tensor(0.0991)
Frame 91
tensor(0.1430)
 # KEYFRAME 34
0.05521014300029492
Frame 92
tensor(0.0423)
Frame 93
tensor(0.0939)
Frame 94
tensor(0.1350)
 # KEYFRAME 35
0.05321299000206636
Frame 95
tensor(0.0384)
Frame 96
tensor(0.0866)
Frame 97
tensor(0.1268)
 # KEYFRAME 36
0.053395568997075316
Frame 98
tensor(0.0433)
Frame 99
tensor(0.0923)
Frame 100
tensor(0.1367)
 # KEYFRAME 37
0.05718669600173598
Frame 101
tensor(0.0388)
Frame 102
tensor(0.0935)
Frame 103
tensor(0.1387)
 # KEYFRAME 38
0.053102960002433974
Frame 104
tensor(0.0453)
Frame 105
tensor(0.0954)
Frame 106
tensor(0.1402)
 # KEYFRAME 39
0.058805400993151125
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2133 loss_distill=0.1733 tta_take=0.005s
Frame 107
tensor(0.0469)
Frame 108
tensor(0.0961)
Frame 109
tensor(0.1372)
 # KEYFRAME 40
0.05280099099763902
Frame 110
tensor(0.0408)
Frame 111
tensor(0.0926)
Frame 112
tensor(0.1351)
 # KEYFRAME 41
0.05367527899943525
Frame 113
tensor(0.0389)
Frame 114
tensor(0.0886)
Frame 115
tensor(0.1353)
 # KEYFRAME 42
0.05419542599702254
Frame 116
tensor(0.0484)
Frame 117
tensor(0.0938)
Frame 118
tensor(0.1374)
 # KEYFRAME 43
0.052440302999457344
Frame 119
tensor(0.0534)
Frame 120
tensor(0.1035)
 # KEYFRAME 44
0.054131237004185095
Frame 121
tensor(0.0441)
Frame 122
tensor(0.1031)
 # KEYFRAME 45
0.052823471996816806
Frame 123
tensor(0.0432)
Frame 124
tensor(0.0935)
Frame 125
tensor(0.1436)
 # KEYFRAME 46
0.052710711999679916
Frame 126
tensor(0.0445)
Frame 127
tensor(0.0865)
Frame 128
tensor(0.1341)
 # KEYFRAME 47
0.05400307800300652
Frame 129
tensor(0.0417)
Frame 130
tensor(0.0845)
Frame 131
tensor(0.1343)
 # KEYFRAME 48
0.05248072299582418
Frame 132
tensor(0.0408)
Frame 133
tensor(0.0833)
Frame 134
tensor(0.1303)
 # KEYFRAME 49
0.05338237900286913
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=2134 loss_distill=0.2747 tta_take=0.005s
Frame 135
tensor(0.0422)
Frame 136
tensor(0.0874)
Frame 137
tensor(0.1305)
 # KEYFRAME 50
0.05269446199963568
Frame 138
tensor(0.0403)
Frame 139
tensor(0.0858)
Frame 140
tensor(0.1282)
 # KEYFRAME 51
0.0525948730064556
Frame 141
tensor(0.0386)
Frame 142
tensor(0.0832)
Frame 143
tensor(0.1227)
 # KEYFRAME 52
0.05296350100252312
Frame 144
tensor(0.0358)
Frame 145
tensor(0.0766)
Frame 146
tensor(0.1163)
 # KEYFRAME 53
0.054401216002588626
Frame 147
tensor(0.0367)
Frame 148
tensor(0.0779)
Frame 149
tensor(0.1160)
 # KEYFRAME 54
0.05471431500336621
Frame 150
tensor(0.0393)
Frame 151
tensor(0.0703)
Frame 152
tensor(0.1054)
 # KEYFRAME 55
0.05333195999992313
Frame 153
tensor(0.0317)
Frame 154
tensor(0.0617)
Frame 155
tensor(0.0886)
Frame 156
tensor(0.1226)
 # KEYFRAME 56
0.052755251999769825
Frame 157
tensor(0.0275)
Frame 158
tensor(0.0586)
Frame 159
tensor(0.0844)
Frame 160
tensor(0.1098)
 # KEYFRAME 57
0.055359712001518346
Frame 161
tensor(0.0266)
Frame 162
tensor(0.0530)
Frame 163
tensor(0.0772)
Frame 164
tensor(0.0994)
Frame 165
tensor(0.1279)
 # KEYFRAME 58
0.05315495999820996
Frame 166
tensor(0.0225)
Frame 167
tensor(0.0487)
Frame 168
tensor(0.0629)
Frame 169
tensor(0.0848)
Frame 170
tensor(0.1090)
 # KEYFRAME 59
0.055551542005559895
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=2135 loss_distill=0.3466 tta_take=0.005s
Frame 171
tensor(0.0176)
Frame 172
tensor(0.0338)
Frame 173
tensor(0.0555)
Frame 174
tensor(0.0735)
Frame 175
tensor(0.0897)
Frame 176
tensor(0.1078)
 # KEYFRAME 60
0.052939901004720014
Frame 177
tensor(0.0104)
Frame 178
tensor(0.0238)
Frame 179
tensor(0.0351)
Frame 180
tensor(0.0569)
Frame 181
tensor(0.0712)
Frame 182
tensor(0.0859)
Frame 183
tensor(0.0908)
Frame 184
tensor(0.0947)
Frame 185
tensor(0.1099)
 # KEYFRAME 61
0.05273614200268639
Frame 186
tensor(0.0031)
Frame 187
tensor(0.0132)
Frame 188
tensor(0.0195)
Frame 189
tensor(0.0281)
Frame 190
tensor(0.0368)
Frame 191
tensor(0.0425)
Frame 192
tensor(0.0468)
Frame 193
tensor(0.0578)
Frame 194
tensor(0.0644)
Frame 195
tensor(0.0728)
Frame 196
tensor(0.0759)
Frame 197
tensor(0.0852)
Frame 198
tensor(0.0898)
Frame 199
tensor(0.0925)
Frame 200
tensor(0.1035)
 # KEYFRAME 62
0.05428891599876806
Frame 201
tensor(0.0081)
Frame 202
tensor(0.0171)
Frame 203
tensor(0.0253)
Frame 204
tensor(0.0382)
Frame 205
tensor(0.0472)
Frame 206
tensor(0.0598)
Frame 207
tensor(0.0750)
Frame 208
tensor(0.0931)
Frame 209
tensor(0.1101)
 # KEYFRAME 63
0.05287640100141289
Frame 210
tensor(0.0180)
Frame 211
tensor(0.0395)
Frame 212
tensor(0.0589)
Frame 213
tensor(0.0793)
Frame 214
tensor(0.1035)
 # KEYFRAME 64
0.05421035600011237
Frame 215
tensor(0.0197)
Frame 216
tensor(0.0437)
Frame 217
tensor(0.0673)
Frame 218
tensor(0.0906)
Frame 219
tensor(0.1102)
 # KEYFRAME 65
0.05312479999702191
Frame 220
tensor(0.0245)
Frame 221
tensor(0.0466)
Frame 222
tensor(0.0678)
Frame 223
tensor(0.0926)
Frame 224
tensor(0.1197)
 # KEYFRAME 66
0.05274989200552227
Frame 225
tensor(0.0259)
Frame 226
tensor(0.0549)
Frame 227
tensor(0.0822)
Frame 228
tensor(0.1122)
 # KEYFRAME 67
0.05433342600008473
Frame 229
tensor(0.0310)
Frame 230
tensor(0.0566)
Frame 231
tensor(0.0904)
Frame 232
tensor(0.1182)
 # KEYFRAME 68
0.05325954999716487
Frame 233
tensor(0.0306)
Frame 234
tensor(0.0598)
Frame 235
tensor(0.0855)
Frame 236
tensor(0.1186)
 # KEYFRAME 69
0.05424405600206228
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2136 loss_distill=0.4024 tta_take=0.005s
Frame 237
tensor(0.0249)
Frame 238
tensor(0.0533)
Frame 239
tensor(0.0816)
Frame 240
tensor(0.1101)
 # KEYFRAME 70
0.05357818899938138
Frame 241
tensor(0.0296)
Frame 242
tensor(0.0643)
Frame 243
tensor(0.0864)
Frame 244
tensor(0.1133)
 # KEYFRAME 71
0.05406297700392315
Frame 245
tensor(0.0345)
Frame 246
tensor(0.0668)
Frame 247
tensor(0.0963)
Frame 248
tensor(0.1328)
 # KEYFRAME 72
0.0543738359992858
Frame 249
tensor(0.0350)
Frame 250
tensor(0.0646)
Frame 251
tensor(0.0995)
Frame 252
tensor(0.1347)
 # KEYFRAME 73
0.05389199800265487
Frame 253
tensor(0.0316)
Frame 254
tensor(0.0657)
Frame 255
tensor(0.0902)
Frame 256
tensor(0.1246)
 # KEYFRAME 74
0.0548689440038288
Frame 257
tensor(0.0299)
Frame 258
tensor(0.0614)
Frame 259
tensor(0.0946)
Frame 260
tensor(0.1345)
 # KEYFRAME 75
0.053983826997864526
Frame 261
tensor(0.0353)
Frame 262
tensor(0.0688)
Frame 263
tensor(0.0994)
Frame 264
tensor(0.1341)
 # KEYFRAME 76
0.05438757600495592
Frame 265
tensor(0.0321)
Frame 266
tensor(0.0701)
Frame 267
tensor(0.1027)
 # KEYFRAME 77
0.054814914998132735
Frame 268
tensor(0.0379)
Frame 269
tensor(0.0713)
Frame 270
tensor(0.1078)
 # KEYFRAME 78
0.054766733999713324
Frame 271
tensor(0.0364)
Frame 272
tensor(0.0711)
Frame 273
tensor(0.1130)
 # KEYFRAME 79
0.055468832004407886
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2137 loss_distill=0.4024 tta_take=0.005s
Frame 274
tensor(0.0386)
Frame 275
tensor(0.0777)
Frame 276
tensor(0.1248)
 # KEYFRAME 80
0.05343245899712201
Frame 277
tensor(0.0420)
Frame 278
tensor(0.0828)
Frame 279
tensor(0.1250)
 # KEYFRAME 81
0.05402737700205762
Frame 280
tensor(0.0387)
Frame 281
tensor(0.0773)
Frame 282
tensor(0.1235)
 # KEYFRAME 82
0.05502196399902459
Frame 283
tensor(0.0337)
Frame 284
tensor(0.0764)
Frame 285
tensor(0.1164)
 # KEYFRAME 83
0.054334026004653424
Frame 286
tensor(0.0392)
Frame 287
tensor(0.0813)
Frame 288
tensor(0.1185)
 # KEYFRAME 84
0.05662369800120359
Frame 289
tensor(0.0342)
Frame 290
tensor(0.0770)
Frame 291
tensor(0.1169)
 # KEYFRAME 85
0.054728104994865134
Frame 292
tensor(0.0369)
Frame 293
tensor(0.0834)
Frame 294
tensor(0.1209)
 # KEYFRAME 86
0.05488017400057288
Frame 295
tensor(0.0413)
Frame 296
tensor(0.0884)
Frame 297
tensor(0.1277)
 # KEYFRAME 87
0.05879810999613255
Frame 298
tensor(0.0443)
Frame 299
tensor(0.0884)
Backending... 88 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28016, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2138 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 323/556] vkitti/Scene01/15-deg-right/Camera_1 frames=300 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=2138 time=46.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0228)
Frame 2
tensor(0.0583)
Frame 3
tensor(0.0845)
Frame 4
tensor(0.1089)
 # KEYFRAME 1
Frame 5
tensor(0.4322)
 # KEYFRAME 2
0.05196413500380004
Frame 6
tensor(0.0318)
Frame 7
tensor(0.0704)
Frame 8
tensor(0.1285)
 # KEYFRAME 3
0.053204329997242894
Frame 9
tensor(0.0259)
Frame 10
tensor(0.0610)
Frame 11
tensor(0.1124)
 # KEYFRAME 4
0.054924994001339655
Frame 12
tensor(0.0858)
Frame 13
tensor(0.1688)
 # KEYFRAME 5
0.055767881000065245
Frame 14
tensor(0.0481)
Frame 15
tensor(0.0620)
Frame 16
tensor(0.0177)
Frame 17
tensor(0.0771)
Frame 18
tensor(0.1094)
 # KEYFRAME 6
0.056652826999197714
Frame 19
tensor(0.0772)
Frame 20
tensor(0.1544)
 # KEYFRAME 7
0.057258465996710584
Frame 21
tensor(0.0831)
Frame 22
tensor(0.1008)
 # KEYFRAME 8
0.0587427709979238
Frame 23
tensor(0.0599)
Frame 24
tensor(0.1205)
 # KEYFRAME 9
0.05851281100331107
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 25
tensor(0.0841)
Frame 26
tensor(0.1445)
 # KEYFRAME 10
0.0520740139982081
Frame 27
tensor(0.0256)
Frame 28
tensor(0.0764)
Frame 29
tensor(0.1023)
 # KEYFRAME 11
0.05362240799877327
Frame 30
tensor(0.0695)
Frame 31
tensor(0.1181)
 # KEYFRAME 12
0.05435534600110259
Frame 32
tensor(0.0303)
Frame 33
tensor(0.0819)
Frame 34
tensor(0.1208)
 # KEYFRAME 13
0.05644800900336122
Frame 35
tensor(0.0384)
Frame 36
tensor(0.0585)
Frame 37
tensor(0.0829)
Frame 38
tensor(0.1173)
 # KEYFRAME 14
0.057412175003264565
Frame 39
tensor(0.0403)
Frame 40
tensor(0.0879)
Frame 41
tensor(0.1553)
 # KEYFRAME 15
0.05821913300314918
Frame 42
tensor(0.0725)
Frame 43
tensor(0.0938)
Frame 44
tensor(0.1539)
 # KEYFRAME 16
0.058997639003791846
Frame 45
tensor(0.0468)
Frame 46
tensor(0.0913)
Frame 47
tensor(0.1367)
 # KEYFRAME 17
0.06004252600541804
Frame 48
tensor(0.0653)
Frame 49
tensor(0.0943)
Frame 50
tensor(0.1307)
 # KEYFRAME 18
0.061699249999946915
Frame 51
tensor(0.0225)
Frame 52
tensor(0.0609)
Frame 53
tensor(0.1151)
 # KEYFRAME 19
0.06294836500455858
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 54
tensor(0.0589)
Frame 55
tensor(0.2087)
 # KEYFRAME 20
0.05934836799860932
Frame 56
tensor(0.4007)
 # KEYFRAME 21
0.06088290300249355
Frame 57
tensor(0.6105)
 # KEYFRAME 22
0.06132094100030372
Frame 58
tensor(0.1666)
 # KEYFRAME 23
0.06198539900651667
Frame 59
tensor(0.1011)
 # KEYFRAME 24
0.06281710600160295
Frame 60
tensor(0.0228)
Frame 61
tensor(0.0902)
Frame 62
tensor(0.1758)
 # KEYFRAME 25
0.06376375199761242
Frame 63
tensor(0.0592)
Frame 64
tensor(0.1225)
 # KEYFRAME 26
0.06541732700134162
Frame 65
tensor(0.1011)
 # KEYFRAME 27
0.06659734199638478
Frame 66
tensor(0.0434)
Frame 67
tensor(0.1002)
 # KEYFRAME 28
0.06771562799985986
Frame 68
tensor(0.0693)
Frame 69
tensor(0.1301)
 # KEYFRAME 29
0.06873914499738021
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 70
tensor(0.0539)
Frame 71
tensor(0.1116)
 # KEYFRAME 30
0.06602672400185838
Frame 72
tensor(0.0757)
Frame 73
tensor(0.0972)
Frame 74
tensor(0.1270)
 # KEYFRAME 31
0.06747781900048722
Frame 75
tensor(0.0376)
Frame 76
tensor(0.0751)
Frame 77
tensor(0.0944)
Frame 78
tensor(0.1185)
 # KEYFRAME 32
0.06795018699631328
Frame 79
tensor(0.0396)
Frame 80
tensor(0.0579)
Frame 81
tensor(0.1161)
 # KEYFRAME 33
0.06889828400016995
Frame 82
tensor(0.0256)
Frame 83
tensor(0.0438)
Frame 84
tensor(0.1038)
 # KEYFRAME 34
0.06933618299808586
Frame 85
tensor(0.0516)
Frame 86
tensor(0.1031)
 # KEYFRAME 35
0.0701270299978205
Frame 87
tensor(0.0453)
Frame 88
tensor(0.0749)
Frame 89
tensor(0.0980)
Frame 90
tensor(0.1082)
 # KEYFRAME 36
0.07113158599531744
Frame 91
tensor(0.0896)
Frame 92
tensor(0.1930)
 # KEYFRAME 37
0.07227484200120671
Frame 93
tensor(0.0481)
Frame 94
tensor(0.1049)
 # KEYFRAME 38
0.07266950099437963
Frame 95
tensor(0.0518)
Frame 96
tensor(0.1076)
 # KEYFRAME 39
0.07429203500214498
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2139 loss_distill=0.1733 tta_take=0.009s
Frame 97
tensor(0.0717)
Frame 98
tensor(0.1261)
 # KEYFRAME 40
0.07280057000025408
Frame 99
tensor(0.0580)
Frame 100
tensor(0.0920)
Frame 101
tensor(0.1493)
 # KEYFRAME 41
0.07497701299871551
Frame 102
tensor(0.0482)
Frame 103
tensor(0.0727)
Frame 104
tensor(0.1182)
 # KEYFRAME 42
0.07501698200212559
Frame 105
tensor(0.0631)
Frame 106
tensor(0.1303)
 # KEYFRAME 43
0.07585998000286054
Frame 107
tensor(0.0317)
Frame 108
tensor(0.0878)
Frame 109
tensor(0.1137)
 # KEYFRAME 44
0.07667462699464522
Frame 110
tensor(0.0313)
Frame 111
tensor(0.0776)
Frame 112
tensor(0.1308)
 # KEYFRAME 45
0.0774510840055882
Frame 113
tensor(0.0646)
Frame 114
tensor(0.0910)
Frame 115
tensor(0.1382)
 # KEYFRAME 46
0.07688209499610821
Frame 116
tensor(0.0505)
Frame 117
tensor(0.1197)
 # KEYFRAME 47
0.07859394999832148
Frame 118
tensor(0.0630)
Frame 119
tensor(0.2928)
 # KEYFRAME 48
0.07974827599537093
Frame 120
tensor(0.0626)
Frame 121
tensor(0.1171)
 # KEYFRAME 49
0.08054935200198088
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=2140 loss_distill=0.2747 tta_take=0.009s
Frame 122
tensor(0.0291)
Frame 123
tensor(0.0627)
Frame 124
tensor(0.1223)
 # KEYFRAME 50
0.07986041500407737
Frame 125
tensor(0.0652)
Frame 126
tensor(0.0955)
Frame 127
tensor(0.1235)
 # KEYFRAME 51
0.08141123899986269
Frame 128
tensor(0.0486)
Frame 129
tensor(0.1108)
 # KEYFRAME 52
0.08239579600194702
Backending... 53 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55173, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=2141 loss_distill=0.3466 tta_take=0.004s
[epoch 0 scene 324/556] scannetpp/b97261909e/frame frames=130 tta_steps_this_scene=3 mean_loss=0.2648 total_steps=2141 time=25.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0727)
Frame 2
tensor(0.1430)
 # KEYFRAME 1
Frame 3
tensor(0.1469)
 # KEYFRAME 2
0.05188674500095658
Frame 4
tensor(0.1054)
 # KEYFRAME 3
0.0533277989961789
Frame 5
tensor(0.0858)
Frame 6
tensor(0.1397)
 # KEYFRAME 4
0.053897366997262
Frame 7
tensor(0.2965)
 # KEYFRAME 5
0.05517405299906386
Frame 8
tensor(0.0769)
Frame 9
tensor(0.2776)
 # KEYFRAME 6
0.05632195900398074
Frame 10
tensor(0.2431)
 # KEYFRAME 7
0.05720443600148428
Frame 11
tensor(0.0582)
Frame 12
tensor(0.0766)
Frame 13
tensor(0.1136)
 # KEYFRAME 8
0.05817889200261561
Frame 14
tensor(0.2458)
 # KEYFRAME 9
0.058989058998122346
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 15
tensor(0.0797)
Frame 16
tensor(0.3050)
 # KEYFRAME 10
0.051630485999339726
Frame 17
tensor(0.3783)
 # KEYFRAME 11
0.052914241001417395
Frame 18
tensor(0.0811)
Frame 19
tensor(0.2525)
 # KEYFRAME 12
0.053190571001323406
Frame 20
tensor(0.0766)
Frame 21
tensor(0.1369)
 # KEYFRAME 13
0.05493620400375221
Frame 22
tensor(0.0978)
Frame 23
tensor(0.1136)
 # KEYFRAME 14
0.055147393002698664
Frame 24
tensor(0.1293)
 # KEYFRAME 15
0.054647085002216045
Frame 25
tensor(0.3916)
 # KEYFRAME 16
0.055215313004737254
Frame 26
tensor(0.1869)
 # KEYFRAME 17
0.056203090003691614
Frame 27
tensor(0.1012)
 # KEYFRAME 18
0.05720199600182241
Frame 28
tensor(0.2439)
 # KEYFRAME 19
0.05756627499795286
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 29
tensor(0.0987)
Frame 30
tensor(0.1614)
 # KEYFRAME 20
0.05417643699911423
Frame 31
tensor(0.1130)
 # KEYFRAME 21
0.05550245199992787
Frame 32
tensor(0.0769)
Frame 33
tensor(0.1350)
 # KEYFRAME 22
0.05543846199725522
Frame 34
tensor(0.0636)
Frame 35
tensor(0.4320)
 # KEYFRAME 23
0.05720764600118855
Frame 36
tensor(0.0845)
Frame 37
tensor(0.1308)
 # KEYFRAME 24
0.05658526800107211
Frame 38
tensor(0.0609)
Frame 39
tensor(0.1630)
 # KEYFRAME 25
0.05732177499885438
Frame 40
tensor(0.0241)
Frame 41
tensor(0.0737)
Frame 42
tensor(0.3224)
 # KEYFRAME 26
0.058453691002796404
Frame 43
tensor(0.0688)
Frame 44
tensor(0.1246)
 # KEYFRAME 27
0.05944362799345981
Frame 45
tensor(0.2499)
 # KEYFRAME 28
0.05975436700100545
Frame 46
tensor(0.1267)
 # KEYFRAME 29
0.06012510499567725
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 47
tensor(0.0515)
Frame 48
tensor(0.2371)
 # KEYFRAME 30
0.058820029997150414
Frame 49
tensor(0.0772)
Frame 50
tensor(0.1501)
 # KEYFRAME 31
0.06025175499962643
Frame 51
tensor(0.1361)
 # KEYFRAME 32
0.05994540599931497
Frame 52
tensor(0.0696)
Frame 53
tensor(0.3267)
 # KEYFRAME 33
0.061764880003465805
Frame 54
tensor(0.2093)
 # KEYFRAME 34
0.06312854499992682
Frame 55
tensor(0.0799)
Frame 56
tensor(0.2416)
 # KEYFRAME 35
0.06425860099989222
Frame 57
tensor(0.0219)
Frame 58
tensor(0.0045)
Frame 59
tensor(0.4980)
 # KEYFRAME 36
0.06535819700366119
Frame 60
tensor(0.0632)
Frame 61
tensor(0.1575)
 # KEYFRAME 37
0.06610494400229072
Frame 62
tensor(0.0378)
Frame 63
tensor(0.0809)
Frame 64
tensor(0.1824)
 # KEYFRAME 38
0.06683585199789377
Frame 65
tensor(0.2530)
 # KEYFRAME 39
0.06712949000211665
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2142 loss_distill=0.1733 tta_take=0.008s
Frame 66
tensor(0.0835)
Frame 67
tensor(0.1372)
 # KEYFRAME 40
0.06321270400076173
Frame 68
tensor(0.0513)
Frame 69
tensor(0.0360)
Frame 70
tensor(0.6314)
 # KEYFRAME 41
0.06457513900386402
Frame 71
tensor(0.1839)
 # KEYFRAME 42
0.0643654500017874
Frame 72
tensor(0.0648)
Frame 73
tensor(0.1900)
 # KEYFRAME 43
0.06419615099730436
Frame 74
tensor(0.0316)
Frame 75
tensor(0.2617)
 # KEYFRAME 44
0.06532866600173293
Frame 76
tensor(0.2790)
 # KEYFRAME 45
0.06582004499796312
Frame 77
tensor(0.1925)
 # KEYFRAME 46
0.06614122400060296
Frame 78
tensor(0.0684)
Frame 79
tensor(0.1124)
 # KEYFRAME 47
0.06676494199928129
Frame 80
tensor(0.0941)
Frame 81
tensor(0.3480)
 # KEYFRAME 48
0.06707751999783795
Frame 82
tensor(0.3756)
 # KEYFRAME 49
0.0673764899984235
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=2143 loss_distill=0.2747 tta_take=0.008s
Frame 83
tensor(0.2808)
 # KEYFRAME 50
0.06734696999774314
Frame 84
tensor(0.5114)
 # KEYFRAME 51
0.06918976300221402
Frame 85
tensor(0.5402)
 # KEYFRAME 52
0.0693329019995872
Frame 86
tensor(0.6078)
 # KEYFRAME 53
0.07030230900272727
Frame 87
tensor(0.3840)
 # KEYFRAME 54
0.0694354720035335
Frame 88
tensor(0.0735)
Frame 89
tensor(0.4988)
 # KEYFRAME 55
0.07162475399672985
Frame 90
tensor(0.5747)
 # KEYFRAME 56
0.07188739300181624
Frame 91
tensor(0.0463)
Frame 92
tensor(0.8265)
 # KEYFRAME 57
0.07174783400114393
Frame 93
tensor(0.0456)
Frame 94
tensor(0.3207)
 # KEYFRAME 58
0.07272832099988591
Frame 95
tensor(0.0589)
Frame 96
tensor(0.1711)
 # KEYFRAME 59
0.0731682190016727
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=2144 loss_distill=0.3466 tta_take=0.008s
Frame 97
tensor(0.4708)
 # KEYFRAME 60
0.07162878399685724
Frame 98
tensor(0.0463)
Frame 99
tensor(0.1849)
 # KEYFRAME 61
0.07345048799470533
Frame 100
tensor(0.1188)
 # KEYFRAME 62
0.07356782799615758
Frame 101
tensor(0.0430)
Frame 102
tensor(0.2324)
 # KEYFRAME 63
0.0746070739987772
Frame 103
tensor(0.1404)
 # KEYFRAME 64
0.07531008100340841
Frame 104
tensor(0.0194)
Frame 105
tensor(0.0766)
Frame 106
tensor(0.1369)
 # KEYFRAME 65
0.0748448130034376
Frame 107
tensor(0.0822)
Frame 108
tensor(0.2196)
 # KEYFRAME 66
0.07752168300066842
Frame 109
tensor(0.0587)
Frame 110
tensor(0.2648)
 # KEYFRAME 67
0.07845718000316992
Frame 111
tensor(0.3009)
 # KEYFRAME 68
0.07928564699977869
Frame 112
tensor(0.1095)
 # KEYFRAME 69
0.07953773599729175
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594260215759
TTA-STEP: step=2145 loss_distill=0.4024 tta_take=0.008s
Frame 113
tensor(0.0868)
Frame 114
tensor(0.2312)
 # KEYFRAME 70
0.0759770889999345
Frame 115
tensor(0.0771)
Frame 116
tensor(0.1585)
 # KEYFRAME 71
0.07790625200141221
Frame 117
tensor(0.0922)
Frame 118
tensor(0.1793)
 # KEYFRAME 72
0.07710713499545818
Frame 119
tensor(0.1795)
 # KEYFRAME 73
0.0778705920020002
Frame 120
tensor(0.1171)
 # KEYFRAME 74
0.07803244199749315
Frame 121
tensor(0.1359)
 # KEYFRAME 75
0.07863021999946795
Frame 122
tensor(0.0378)
Frame 123
tensor(0.2889)
 # KEYFRAME 76
0.078369989998464
Frame 124
tensor(0.0541)
Frame 125
tensor(0.1124)
 # KEYFRAME 77
0.07967566500155954
Frame 126
tensor(0.1870)
 # KEYFRAME 78
0.07978082499903394
Frame 127
tensor(0.0656)
Frame 128
tensor(0.0908)
Frame 129
tensor(0.1117)
 # KEYFRAME 79
0.0803432930042618
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=2146 loss_distill=0.4024 tta_take=0.008s
Frame 130
tensor(0.0451)
Frame 131
tensor(0.0792)
Frame 132
tensor(0.1872)
 # KEYFRAME 80
0.07610411800123984
Frame 133
tensor(0.0854)
Frame 134
tensor(0.2214)
 # KEYFRAME 81
0.07793520200357307
Frame 135
tensor(0.0679)
Frame 136
tensor(0.3509)
 # KEYFRAME 82
0.07759792300203117
Frame 137
tensor(0.3432)
 # KEYFRAME 83
0.0774028140003793
Frame 138
tensor(0.2227)
 # KEYFRAME 84
0.07790561200090451
Frame 139
tensor(0.3196)
 # KEYFRAME 85
0.07881690900103422
Frame 140
tensor(0.1753)
 # KEYFRAME 86
0.07915014799800701
Frame 141
tensor(0.0897)
Frame 142
tensor(0.1533)
 # KEYFRAME 87
0.08093433100293623
Frame 143
tensor(0.6104)
 # KEYFRAME 88
0.08058493200223893
Frame 144
tensor(0.0222)
Frame 145
tensor(0.0640)
Frame 146
tensor(0.1120)
 # KEYFRAME 89
0.08174273800250376
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2147 loss_distill=0.4024 tta_take=0.009s
Frame 147
tensor(0.0336)
Frame 148
tensor(0.0693)
Frame 149
tensor(0.1003)
 # KEYFRAME 90
0.07618926800205372
Backending... 91 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 56730, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=2148 loss_distill=0.4024 tta_take=0.002s
[epoch 0 scene 325/556] scannetpp/98fe276aa8/DSC frames=150 tta_steps_this_scene=7 mean_loss=0.3434 total_steps=2148 time=39.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0098)
Frame 2
tensor(0.1056)
 # KEYFRAME 1
Frame 3
tensor(0.0563)
Frame 4
tensor(0.2027)
 # KEYFRAME 2
0.051578845996118616
Frame 5
tensor(0.1082)
 # KEYFRAME 3
0.05268913199688541
Frame 6
tensor(0.1207)
 # KEYFRAME 4
0.05366257899731863
Frame 7
tensor(0.0996)
Frame 8
tensor(0.6168)
 # KEYFRAME 5
0.055051843002729584
Frame 9
tensor(0.0488)
Frame 10
tensor(0.1220)
 # KEYFRAME 6
0.057019915999262594
Frame 11
tensor(0.0453)
Frame 12
tensor(0.1386)
 # KEYFRAME 7
0.05712122700060718
Frame 13
tensor(0.2162)
 # KEYFRAME 8
0.05773064299864927
Frame 14
tensor(0.0837)
Frame 15
tensor(0.1912)
 # KEYFRAME 9
0.05936739800381474
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 16
tensor(0.0427)
Frame 17
tensor(0.0991)
Frame 18
tensor(0.1535)
 # KEYFRAME 10
0.05186274500010768
Frame 19
tensor(0.0952)
Frame 20
tensor(0.1530)
 # KEYFRAME 11
0.052883381002175156
Frame 21
tensor(0.0458)
Frame 22
tensor(0.1062)
 # KEYFRAME 12
0.05309286099509336
Frame 23
tensor(0.0702)
Frame 24
tensor(0.1667)
 # KEYFRAME 13
0.05489794400637038
Frame 25
tensor(0.0219)
Frame 26
tensor(0.0484)
Frame 27
tensor(0.1382)
 # KEYFRAME 14
0.05482758500147611
Frame 28
tensor(0.0563)
Frame 29
tensor(0.0831)
Frame 30
tensor(0.2106)
 # KEYFRAME 15
0.054458495003927965
Frame 31
tensor(0.0574)
Frame 32
tensor(0.1843)
 # KEYFRAME 16
0.055370961999869905
Frame 33
tensor(0.0252)
Frame 34
tensor(0.0528)
Frame 35
tensor(0.0574)
Frame 36
tensor(0.0918)
Frame 37
tensor(0.0450)
Frame 38
tensor(0.1544)
 # KEYFRAME 17
0.056061960000079125
Frame 39
tensor(0.3110)
 # KEYFRAME 18
0.0572283859946765
Frame 40
tensor(0.0814)
Frame 41
tensor(0.2746)
 # KEYFRAME 19
0.057382865001272876
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 42
tensor(0.0579)
Frame 43
tensor(0.4623)
 # KEYFRAME 20
0.05389153699798044
Frame 44
tensor(0.0450)
Frame 45
tensor(0.0389)
Frame 46
tensor(0.3775)
 # KEYFRAME 21
0.054886783997062594
Frame 47
tensor(0.0353)
Frame 48
tensor(0.1372)
 # KEYFRAME 22
0.05535392200545175
Frame 49
tensor(0.0639)
Frame 50
tensor(0.1756)
 # KEYFRAME 23
0.05591897999693174
Frame 51
tensor(0.0708)
Frame 52
tensor(0.1595)
 # KEYFRAME 24
0.05637267900601728
Frame 53
tensor(0.0347)
Frame 54
tensor(0.1061)
 # KEYFRAME 25
0.05717634599568555
Frame 55
tensor(0.0238)
Frame 56
tensor(0.1649)
 # KEYFRAME 26
0.05919671800074866
Frame 57
tensor(0.0458)
Frame 58
tensor(0.0727)
Frame 59
tensor(0.1113)
 # KEYFRAME 27
0.05910744999710005
Frame 60
tensor(0.0269)
Frame 61
tensor(0.0997)
Frame 62
tensor(0.1459)
 # KEYFRAME 28
0.05979186599870445
Frame 63
tensor(0.1049)
 # KEYFRAME 29
0.059998646000167355
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 64
tensor(0.0251)
Frame 65
tensor(0.0890)
Frame 66
tensor(0.1228)
 # KEYFRAME 30
0.058641790004912764
Frame 67
tensor(0.0277)
Frame 68
tensor(0.0342)
Frame 69
tensor(0.0526)
Frame 70
tensor(0.2035)
 # KEYFRAME 31
0.05996304599830182
Frame 71
tensor(0.0536)
Frame 72
tensor(0.0957)
Frame 73
tensor(0.3222)
 # KEYFRAME 32
0.060203944995009806
Frame 74
tensor(0.0906)
Frame 75
tensor(0.1364)
 # KEYFRAME 33
0.06187007900007302
Frame 76
tensor(0.0828)
Frame 77
tensor(0.1067)
 # KEYFRAME 34
0.06287026600330137
Frame 78
tensor(0.0793)
Frame 79
tensor(0.0874)
Frame 80
tensor(0.1043)
 # KEYFRAME 35
0.06402657100261422
Frame 81
tensor(0.0568)
Frame 82
tensor(0.1029)
 # KEYFRAME 36
0.06512188800115837
Frame 83
tensor(0.1411)
 # KEYFRAME 37
0.06612657400546595
Frame 84
tensor(0.0563)
Frame 85
tensor(0.1742)
 # KEYFRAME 38
0.0692549829982454
Frame 86
tensor(0.0867)
Frame 87
tensor(0.1926)
 # KEYFRAME 39
0.06712038000114262
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2149 loss_distill=0.1733 tta_take=0.008s
Frame 88
tensor(0.4372)
 # KEYFRAME 40
0.06283156599965878
Frame 89
tensor(0.1336)
 # KEYFRAME 41
0.06438909999997122
Frame 90
tensor(0.0954)
Frame 91
tensor(0.2603)
 # KEYFRAME 42
0.06428380100260256
Frame 92
tensor(0.0593)
Frame 93
tensor(0.1238)
 # KEYFRAME 43
0.06464717900234973
Frame 94
tensor(0.1828)
 # KEYFRAME 44
0.06496556799538666
Frame 95
tensor(0.0574)
Frame 96
tensor(0.2744)
 # KEYFRAME 45
0.0653325870007393
Frame 97
tensor(0.0497)
Frame 98
tensor(0.0715)
Frame 99
tensor(0.0913)
Frame 100
tensor(0.3050)
 # KEYFRAME 46
0.0659374749957351
Frame 101
tensor(0.0584)
Frame 102
tensor(0.0981)
Frame 103
tensor(0.1869)
 # KEYFRAME 47
0.06652551199658774
Frame 104
tensor(0.0706)
Frame 105
tensor(0.1810)
 # KEYFRAME 48
0.06674396200105548
Frame 106
tensor(0.0919)
Frame 107
tensor(0.2305)
 # KEYFRAME 49
0.0679528870023205
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=2150 loss_distill=0.2747 tta_take=0.008s
Frame 108
tensor(0.0332)
Frame 109
tensor(0.0604)
Frame 110
tensor(0.1088)
 # KEYFRAME 50
0.0670403910044115
Frame 111
tensor(0.1278)
 # KEYFRAME 51
0.06884997399902204
Frame 112
tensor(0.0559)
Frame 113
tensor(0.1866)
 # KEYFRAME 52
0.06890130400279304
Frame 114
tensor(0.2892)
 # KEYFRAME 53
0.06995681999978842
Frame 115
tensor(0.4054)
 # KEYFRAME 54
0.06922897299955366
Frame 116
tensor(0.0827)
Frame 117
tensor(0.1299)
 # KEYFRAME 55
0.07100631699722726
Frame 118
tensor(0.0541)
Frame 119
tensor(0.0890)
Frame 120
tensor(0.1456)
 # KEYFRAME 56
0.0719886930019129
Frame 121
tensor(0.0276)
Frame 122
tensor(0.1536)
 # KEYFRAME 57
0.07223295199946733
Frame 123
tensor(0.0261)
Frame 124
tensor(0.1425)
 # KEYFRAME 58
0.07278968099853955
Frame 125
tensor(0.0402)
Frame 126
tensor(0.0387)
Frame 127
tensor(0.1048)
 # KEYFRAME 59
0.07348628799809376
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=2151 loss_distill=0.3466 tta_take=0.008s
Frame 128
tensor(0.0362)
Frame 129
tensor(0.1694)
 # KEYFRAME 60
0.07155229500494897
Frame 130
tensor(0.0502)
Frame 131
tensor(0.1421)
 # KEYFRAME 61
0.0734117879983387
Frame 132
tensor(0.0202)
Frame 133
tensor(0.2384)
 # KEYFRAME 62
0.07341174800239969
Frame 134
tensor(0.0514)
Frame 135
tensor(0.1128)
 # KEYFRAME 63
0.07419807500264142
Frame 136
tensor(0.0752)
Frame 137
tensor(0.1299)
 # KEYFRAME 64
0.07569415000034496
Frame 138
tensor(0.2870)
 # KEYFRAME 65
0.07436577499902342
Frame 139
tensor(0.2050)
 # KEYFRAME 66
0.07754624399967724
Frame 140
tensor(0.1393)
 # KEYFRAME 67
0.07799282199994195
Frame 141
tensor(0.0695)
Frame 142
tensor(0.2091)
 # KEYFRAME 68
0.07904438799596392
Frame 143
tensor(0.0615)
Frame 144
tensor(0.2228)
 # KEYFRAME 69
0.07969864600454457
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2152 loss_distill=0.4024 tta_take=0.008s
Frame 145
tensor(0.0370)
Frame 146
tensor(0.0621)
Frame 147
tensor(0.0786)
[epoch 0 scene 326/556] scannetpp/88cf747085/DSC frames=148 tta_steps_this_scene=4 mean_loss=0.2992 total_steps=2152 time=36.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0319)
Frame 2
tensor(0.1782)
 # KEYFRAME 1
Frame 3
tensor(0.1172)
 # KEYFRAME 2
0.05177033499785466
Frame 4
tensor(0.0622)
Frame 5
tensor(0.1411)
 # KEYFRAME 3
0.05204968399630161
Frame 6
tensor(0.1981)
 # KEYFRAME 4
0.053598147998854984
Frame 7
tensor(0.1875)
 # KEYFRAME 5
0.054475265998917166
Frame 8
tensor(0.1559)
 # KEYFRAME 6
0.05524051300017163
Frame 9
tensor(0.1678)
 # KEYFRAME 7
0.055893299999297597
Frame 10
tensor(0.1891)
 # KEYFRAME 8
0.05699754600209417
Frame 11
tensor(0.1846)
 # KEYFRAME 9
0.05807047299458645
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.1928)
 # KEYFRAME 10
0.0518527250023908
Frame 13
tensor(0.1541)
 # KEYFRAME 11
0.05320089000451844
Frame 14
tensor(0.2279)
 # KEYFRAME 12
0.05365444900235161
Frame 15
tensor(0.2335)
 # KEYFRAME 13
0.05519679300050484
Frame 16
tensor(0.0310)
Frame 17
tensor(0.1303)
 # KEYFRAME 14
0.055169592997117434
Frame 18
tensor(0.1679)
 # KEYFRAME 15
0.05504457400093088
Frame 19
tensor(0.2051)
 # KEYFRAME 16
0.05564170199795626
Frame 20
tensor(0.1877)
 # KEYFRAME 17
0.056899337003414985
Frame 21
tensor(0.1174)
 # KEYFRAME 18
0.05726528500235872
Frame 22
tensor(0.1256)
 # KEYFRAME 19
0.05804499299847521
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 23
tensor(0.1262)
 # KEYFRAME 20
0.05417967599350959
Frame 24
tensor(0.1113)
 # KEYFRAME 21
0.05464455499895848
Frame 25
tensor(0.0992)
Frame 26
tensor(0.1465)
 # KEYFRAME 22
0.05534293299569981
Frame 27
tensor(0.1090)
 # KEYFRAME 23
0.055950431000383105
Frame 28
tensor(0.2023)
 # KEYFRAME 24
0.05624277899914887
Frame 29
tensor(0.2424)
 # KEYFRAME 25
0.05689543700282229
Frame 30
tensor(0.1153)
 # KEYFRAME 26
0.058026933002111036
Frame 31
tensor(0.0764)
Frame 32
tensor(0.2513)
 # KEYFRAME 27
0.059347078000428155
Frame 33
tensor(0.0887)
Frame 34
tensor(0.2745)
 # KEYFRAME 28
0.05973256700235652
Frame 35
tensor(0.2696)
 # KEYFRAME 29
0.06060033399990061
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 36
tensor(0.1824)
 # KEYFRAME 30
0.05858468099904712
Frame 37
tensor(0.1769)
 # KEYFRAME 31
0.0591988689993741
Frame 38
tensor(0.4805)
 # KEYFRAME 32
0.05931362899718806
Frame 39
tensor(0.4465)
 # KEYFRAME 33
0.06002655599877471
Frame 40
tensor(0.1607)
 # KEYFRAME 34
0.06109707200084813
Frame 41
tensor(0.1048)
 # KEYFRAME 35
0.06158315000357106
Frame 42
tensor(0.2035)
 # KEYFRAME 36
0.06238096699962625
Frame 43
tensor(0.1439)
 # KEYFRAME 37
0.06296967499656603
Frame 44
tensor(0.1591)
 # KEYFRAME 38
0.06375175200082595
Frame 45
tensor(0.1122)
 # KEYFRAME 39
0.06464196900196839
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2153 loss_distill=0.1733 tta_take=0.008s
Frame 46
tensor(0.2341)
 # KEYFRAME 40
0.06283129599614767
Frame 47
tensor(0.2045)
 # KEYFRAME 41
0.06418704099633032
Frame 48
tensor(0.1527)
 # KEYFRAME 42
0.06411226199998055
Frame 49
tensor(0.2551)
 # KEYFRAME 43
0.06434658099897206
Frame 50
tensor(0.1339)
 # KEYFRAME 44
0.06518302699987544
Frame 51
tensor(0.1279)
 # KEYFRAME 45
0.06551210600446211
Frame 52
tensor(0.0756)
Frame 53
tensor(0.0558)
Frame 54
tensor(0.1571)
 # KEYFRAME 46
0.06596293400070863
Frame 55
tensor(0.3053)
 # KEYFRAME 47
0.06584807500621537
Frame 56
tensor(0.2207)
 # KEYFRAME 48
0.06666113199753454
Frame 57
tensor(0.2867)
 # KEYFRAME 49
0.06738248900364852
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=2154 loss_distill=0.2747 tta_take=0.008s
Frame 58
tensor(0.1775)
 # KEYFRAME 50
0.06715964000613894
Frame 59
tensor(0.1568)
 # KEYFRAME 51
0.0685918050003238
Frame 60
tensor(0.0742)
Frame 61
tensor(0.1071)
 # KEYFRAME 52
0.06834247599908849
Frame 62
tensor(0.1091)
 # KEYFRAME 53
0.06970823099982226
Frame 63
tensor(0.2239)
 # KEYFRAME 54
0.06939002199942479
Frame 64
tensor(0.3674)
 # KEYFRAME 55
0.07109018600021955
Frame 65
tensor(0.3225)
 # KEYFRAME 56
0.07094780699844705
Frame 66
tensor(0.3269)
 # KEYFRAME 57
0.07198318299924722
Frame 67
tensor(0.2428)
 # KEYFRAME 58
0.07215536199510098
Frame 68
tensor(0.3006)
 # KEYFRAME 59
0.07288854999933392
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=2155 loss_distill=0.3466 tta_take=0.008s
Frame 69
tensor(0.1674)
 # KEYFRAME 60
0.07152937399951043
Frame 70
tensor(0.2353)
 # KEYFRAME 61
0.07281593000516295
Frame 71
tensor(0.2157)
 # KEYFRAME 62
0.07314345900522312
Frame 72
tensor(0.7648)
 # KEYFRAME 63
0.07315511900378624
Frame 73
tensor(0.0840)
Frame 74
tensor(0.1903)
 # KEYFRAME 64
0.07367088700266322
Frame 75
tensor(0.1229)
 # KEYFRAME 65
0.07374153700220631
Frame 76
tensor(0.0898)
Frame 77
tensor(0.0202)
Frame 78
tensor(0.1637)
 # KEYFRAME 66
0.07509535199642414
Frame 79
tensor(0.1139)
 # KEYFRAME 67
0.07541127099830192
Frame 80
tensor(0.1452)
 # KEYFRAME 68
0.0764420470004552
Frame 81
tensor(0.3079)
 # KEYFRAME 69
0.0767835959995864
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=2156 loss_distill=0.4024 tta_take=0.008s
Frame 82
tensor(0.3545)
 # KEYFRAME 70
0.07631554700492416
Frame 83
tensor(0.2777)
 # KEYFRAME 71
0.0761587979941396
Frame 84
tensor(0.2878)
 # KEYFRAME 72
0.07697789499798091
Frame 85
tensor(0.3099)
 # KEYFRAME 73
0.07734467399859568
Frame 86
tensor(0.1932)
 # KEYFRAME 74
0.07781646200601244
Frame 87
tensor(0.2692)
 # KEYFRAME 75
0.07869391999702202
Frame 88
tensor(0.2577)
 # KEYFRAME 76
0.07812843099964084
Frame 89
tensor(0.1576)
 # KEYFRAME 77
0.07965434600191657
Frame 90
tensor(0.3788)
 # KEYFRAME 78
0.08001557399984449
Frame 91
tensor(0.1236)
 # KEYFRAME 79
0.08060705199750373
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2157 loss_distill=0.4024 tta_take=0.008s
Frame 92
tensor(0.1083)
 # KEYFRAME 80
0.07604719899973134
Frame 93
tensor(0.1403)
 # KEYFRAME 81
0.07811998100078199
Frame 94
tensor(0.1067)
 # KEYFRAME 82
0.07684354599768994
Frame 95
tensor(0.1584)
 # KEYFRAME 83
0.07762031300080707
Frame 96
tensor(0.1109)
 # KEYFRAME 84
0.07826097000361187
Frame 97
tensor(0.1060)
 # KEYFRAME 85
0.07890341799793532
Frame 98
tensor(0.2767)
 # KEYFRAME 86
0.0785109900025418
Frame 99
tensor(0.1506)
 # KEYFRAME 87
0.0792769369945745
Frame 100
tensor(0.0973)
Frame 101
tensor(0.2835)
 # KEYFRAME 88
0.08009211400349159
Frame 102
tensor(0.2278)
 # KEYFRAME 89
0.08065167199674761
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2158 loss_distill=0.4024 tta_take=0.008s
Frame 103
tensor(0.2866)
 # KEYFRAME 90
0.0760900289969868
Frame 104
tensor(0.1820)
 # KEYFRAME 91
0.077619492993108
Frame 105
tensor(0.1617)
 # KEYFRAME 92
0.07726740400539711
Frame 106
tensor(0.1744)
 # KEYFRAME 93
0.07791714199993294
Frame 107
tensor(0.0828)
Frame 108
tensor(0.1845)
 # KEYFRAME 94
0.07927872700383887
Frame 109
tensor(0.2814)
 # KEYFRAME 95
0.07921887699922081
Frame 110
tensor(0.1233)
 # KEYFRAME 96
0.07889660799992271
Frame 111
tensor(0.2222)
 # KEYFRAME 97
0.08012428400252247
Frame 112
tensor(0.1520)
 # KEYFRAME 98
0.08059146199957468
Frame 113
tensor(0.1197)
 # KEYFRAME 99
0.08145953900384484
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2159 loss_distill=0.4024 tta_take=0.009s
Frame 114
tensor(0.1126)
 # KEYFRAME 100
0.07597313800215488
Frame 115
tensor(0.2023)
 # KEYFRAME 101
0.07797727200522786
Frame 116
tensor(0.2808)
 # KEYFRAME 102
0.07782129199767951
Frame 117
tensor(0.0890)
Frame 118
tensor(0.2083)
 # KEYFRAME 103
0.0783148509945022
Frame 119
tensor(0.2051)
 # KEYFRAME 104
0.07869171899801586
Frame 120
tensor(0.5343)
 # KEYFRAME 105
0.07931194700358901
Frame 121
tensor(0.2833)
 # KEYFRAME 106
0.07896838799933903
Frame 122
tensor(0.1766)
 # KEYFRAME 107
0.07971821600222029
Frame 123
tensor(0.1028)
 # KEYFRAME 108
0.08051456199609675
Frame 124
tensor(0.1517)
 # KEYFRAME 109
0.08073745099682128
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2160 loss_distill=0.4024 tta_take=0.009s
Frame 125
tensor(0.3903)
 # KEYFRAME 110
0.07585536900296574
Frame 126
tensor(0.2302)
 # KEYFRAME 111
0.07683921499847202
Frame 127
tensor(0.1443)
 # KEYFRAME 112
0.07777875200554263
Frame 128
tensor(0.1614)
 # KEYFRAME 113
0.07773957299650647
Frame 129
tensor(0.0733)
Frame 130
tensor(0.1734)
 # KEYFRAME 114
0.07873314900643891
Frame 131
tensor(0.2455)
 # KEYFRAME 115
0.07909002700034762
Frame 132
tensor(0.1555)
 # KEYFRAME 116
0.07838235000235727
Frame 133
tensor(0.0706)
Frame 134
tensor(0.3097)
 # KEYFRAME 117
0.08027547399979085
Frame 135
tensor(0.2309)
 # KEYFRAME 118
0.08027496399881784
Frame 136
tensor(1.1237)
 # KEYFRAME 119
0.08132628000021214
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2161 loss_distill=0.4024 tta_take=0.008s
Frame 137
tensor(0.2881)
 # KEYFRAME 120
0.07551570999930846
Frame 138
tensor(0.2858)
 # KEYFRAME 121
0.07783356200525304
Frame 139
tensor(0.1908)
 # KEYFRAME 122
0.07801923200167948
Frame 140
tensor(0.3412)
 # KEYFRAME 123
0.07830082099826541
Frame 141
tensor(0.4683)
 # KEYFRAME 124
0.07905952799774241
Frame 142
tensor(0.2268)
 # KEYFRAME 125
0.07867503900342854
Frame 143
tensor(0.4943)
 # KEYFRAME 126
0.07847988900175551
Frame 144
tensor(0.2393)
 # KEYFRAME 127
0.07937971600040328
Frame 145
tensor(0.3237)
 # KEYFRAME 128
0.0803752430001623
Frame 146
tensor(0.2308)
 # KEYFRAME 129
0.08053123300487641
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2162 loss_distill=0.4024 tta_take=0.008s
Frame 147
tensor(0.1844)
 # KEYFRAME 130
0.0761242879962083
Frame 148
tensor(0.1403)
 # KEYFRAME 131
0.07644883699686034
Frame 149
tensor(0.0751)
Backending... 132 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 57660, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2163 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 327/556] scannetpp/f248c2bcdc/DSC frames=150 tta_steps_this_scene=11 mean_loss=0.3649 total_steps=2163 time=51.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0071)
Frame 2
tensor(0.0214)
Frame 3
tensor(0.1073)
 # KEYFRAME 1
Frame 4
tensor(0.1306)
 # KEYFRAME 2
0.05096060799405677
Frame 5
tensor(0.1083)
 # KEYFRAME 3
0.05126123700028984
Frame 6
tensor(0.0831)
Frame 7
tensor(0.0310)
Frame 8
tensor(0.1454)
 # KEYFRAME 4
0.05113755699858302
Frame 9
tensor(0.0823)
Frame 10
tensor(0.0890)
Frame 11
tensor(0.0841)
Frame 12
tensor(0.1698)
 # KEYFRAME 5
0.051229696997324936
Frame 13
tensor(0.1023)
 # KEYFRAME 6
0.054845655002282
Frame 14
tensor(0.0956)
Frame 15
tensor(0.1339)
 # KEYFRAME 7
0.05353817899595015
Frame 16
tensor(0.1753)
 # KEYFRAME 8
0.05417756699898746
Frame 17
tensor(0.1155)
 # KEYFRAME 9
0.05484985400107689
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 18
tensor(0.0918)
Frame 19
tensor(0.2457)
 # KEYFRAME 10
0.05209862400079146
Frame 20
tensor(0.0973)
Frame 21
tensor(0.1847)
 # KEYFRAME 11
0.052803780999965966
Frame 22
tensor(0.0912)
Frame 23
tensor(0.0875)
Frame 24
tensor(0.1522)
 # KEYFRAME 12
0.05323625000164611
Frame 25
tensor(0.1760)
 # KEYFRAME 13
0.055206312994414475
Frame 26
tensor(0.1662)
 # KEYFRAME 14
0.056465018999006134
Frame 27
tensor(0.1624)
 # KEYFRAME 15
0.05721345599886263
Frame 28
tensor(0.1480)
 # KEYFRAME 16
0.058666500000981614
Frame 29
tensor(0.1910)
 # KEYFRAME 17
0.05940878800174687
Frame 30
tensor(0.1637)
 # KEYFRAME 18
0.06014441500155954
Frame 31
tensor(0.1971)
 # KEYFRAME 19
0.06175035900378134
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.1814)
 # KEYFRAME 20
0.05927255799906561
Frame 33
tensor(0.3127)
 # KEYFRAME 21
0.05974266699922737
Frame 34
tensor(0.2869)
 # KEYFRAME 22
0.06105080200359225
Frame 35
tensor(0.0822)
Frame 36
tensor(0.1794)
 # KEYFRAME 23
0.062436797001282685
Frame 37
tensor(0.1136)
 # KEYFRAME 24
0.06298846499703359
Frame 38
tensor(0.1807)
 # KEYFRAME 25
0.06426885099790525
Frame 39
tensor(0.2222)
 # KEYFRAME 26
0.06546591699589044
Frame 40
tensor(0.2992)
 # KEYFRAME 27
0.06632510300551075
Frame 41
tensor(0.1948)
 # KEYFRAME 28
0.06724509999912698
Frame 42
tensor(0.1701)
 # KEYFRAME 29
0.06831635600246955
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 43
tensor(0.1098)
 # KEYFRAME 30
0.06575137500476558
Frame 44
tensor(0.1971)
 # KEYFRAME 31
0.06667101199855097
Frame 45
tensor(0.2919)
 # KEYFRAME 32
0.0682623659959063
Frame 46
tensor(0.1374)
 # KEYFRAME 33
0.06865894499787828
Frame 47
tensor(0.1421)
 # KEYFRAME 34
0.06923897299566306
Frame 48
tensor(0.1453)
 # KEYFRAME 35
0.07001260999822989
Frame 49
tensor(0.1712)
 # KEYFRAME 36
0.07153989499784075
Frame 50
tensor(0.1392)
 # KEYFRAME 37
0.07186557300155982
Frame 51
tensor(0.1338)
 # KEYFRAME 38
0.07321492800110718
Frame 52
tensor(0.1332)
 # KEYFRAME 39
0.07427278500108514
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2164 loss_distill=0.1733 tta_take=0.009s
Frame 53
tensor(0.2206)
 # KEYFRAME 40
0.07275801099603996
Frame 54
tensor(0.2179)
 # KEYFRAME 41
0.07480687299539568
Frame 55
tensor(0.1070)
 # KEYFRAME 42
0.0753698609987623
Frame 56
tensor(0.3032)
 # KEYFRAME 43
0.07643398700020043
Frame 57
tensor(0.0548)
Frame 58
tensor(0.1510)
 # KEYFRAME 44
0.07684703599807108
Frame 59
tensor(0.0843)
Frame 60
tensor(0.1349)
 # KEYFRAME 45
0.07738687299570302
Frame 61
tensor(0.2378)
 # KEYFRAME 46
0.0782963009987725
Frame 62
tensor(0.2156)
 # KEYFRAME 47
0.0787755589990411
Frame 63
tensor(0.0320)
Frame 64
tensor(0.1704)
 # KEYFRAME 48
0.08041208300710423
Frame 65
tensor(0.2082)
 # KEYFRAME 49
0.08086745200125733
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=2165 loss_distill=0.2747 tta_take=0.009s
Frame 66
tensor(0.1360)
 # KEYFRAME 50
0.07967080600064946
Frame 67
tensor(0.0922)
Frame 68
tensor(0.0930)
Frame 69
tensor(0.1232)
 # KEYFRAME 51
0.08183229799760738
Frame 70
tensor(0.1258)
 # KEYFRAME 52
0.08179717799794162
Frame 71
tensor(0.1114)
 # KEYFRAME 53
0.08277317399915773
Frame 72
tensor(0.0579)
Frame 73
tensor(0.1085)
 # KEYFRAME 54
0.08342055200046161
Frame 74
tensor(0.0691)
Frame 75
tensor(0.1495)
 # KEYFRAME 55
0.08451825800148072
Frame 76
tensor(0.1398)
 # KEYFRAME 56
0.0845776579953963
Frame 77
tensor(0.1152)
 # KEYFRAME 57
0.08569876399997156
Frame 78
tensor(0.1617)
 # KEYFRAME 58
0.08652597100444837
Frame 79
tensor(0.1578)
 # KEYFRAME 59
0.08723458900203696
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=2166 loss_distill=0.3466 tta_take=0.009s
Frame 80
tensor(0.1356)
 # KEYFRAME 60
0.08694069999910425
Frame 81
tensor(0.1025)
 # KEYFRAME 61
0.08894109300308628
Frame 82
tensor(0.0997)
Frame 83
tensor(0.1609)
 # KEYFRAME 62
0.08868115299992496
Frame 84
tensor(0.0945)
Frame 85
tensor(0.0343)
Frame 86
tensor(0.0861)
Frame 87
tensor(0.1371)
 # KEYFRAME 63
0.08891256299830275
Frame 88
tensor(0.0946)
Frame 89
tensor(0.1328)
 # KEYFRAME 64
0.09006476800277596
Frame 90
tensor(0.1214)
 # KEYFRAME 65
0.09140924399980577
Frame 91
tensor(0.1208)
 # KEYFRAME 66
0.0917713519957033
Frame 92
tensor(0.0525)
Frame 93
tensor(0.1537)
 # KEYFRAME 67
0.09306652800296433
Frame 94
tensor(0.0572)
Frame 95
tensor(0.0921)
Frame 96
tensor(0.0733)
Frame 97
tensor(0.1083)
 # KEYFRAME 68
0.09412633399915649
Frame 98
tensor(0.1759)
 # KEYFRAME 69
0.094782790998579
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2167 loss_distill=0.4024 tta_take=0.009s
Frame 99
tensor(0.1307)
 # KEYFRAME 70
0.0936013360042125
Frame 100
tensor(0.1445)
 # KEYFRAME 71
0.09566391899716109
Frame 101
tensor(0.1787)
 # KEYFRAME 72
0.09547474900318775
Frame 102
tensor(0.1250)
 # KEYFRAME 73
0.09600175800005672
Frame 103
tensor(0.1947)
 # KEYFRAME 74
0.09628834600152913
Frame 104
tensor(0.2702)
 # KEYFRAME 75
0.09734806299820775
Frame 105
tensor(0.2074)
 # KEYFRAME 76
0.09864763700170442
Frame 106
tensor(0.2188)
 # KEYFRAME 77
0.09853659799409797
Frame 107
tensor(0.3131)
 # KEYFRAME 78
0.09967192399926716
Frame 108
tensor(0.1875)
 # KEYFRAME 79
0.10090293000394013
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2168 loss_distill=0.4024 tta_take=0.009s
Frame 109
tensor(0.1449)
 # KEYFRAME 80
0.09324814700084971
Frame 110
tensor(0.1470)
 # KEYFRAME 81
0.09455528300168226
Frame 111
tensor(0.0325)
Frame 112
tensor(0.0893)
Frame 113
tensor(0.1893)
 # KEYFRAME 82
0.09589269799471367
Frame 114
tensor(0.1362)
 # KEYFRAME 83
0.09571015800611349
Frame 115
tensor(0.1629)
 # KEYFRAME 84
0.09697431399399647
Frame 116
tensor(0.0873)
Frame 117
tensor(0.3008)
 # KEYFRAME 85
0.09799475000181701
Frame 118
tensor(0.2258)
 # KEYFRAME 86
0.09792177000053925
Frame 119
tensor(0.1723)
 # KEYFRAME 87
0.09930495599837741
Frame 120
tensor(0.0286)
Frame 121
tensor(0.2283)
 # KEYFRAME 88
0.09959001500101294
Frame 122
tensor(0.1046)
 # KEYFRAME 89
0.10078964999411255
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2169 loss_distill=0.4024 tta_take=0.009s
Frame 123
tensor(0.1109)
 # KEYFRAME 90
0.0932685070001753
Frame 124
tensor(0.1662)
 # KEYFRAME 91
0.0956103280041134
Frame 125
tensor(0.1956)
 # KEYFRAME 92
0.09616254599677632
Frame 126
tensor(0.1272)
 # KEYFRAME 93
0.09686990399495699
Frame 127
tensor(0.2702)
 # KEYFRAME 94
0.0971067829959793
Frame 128
tensor(0.2310)
 # KEYFRAME 95
0.09844544899533503
Frame 129
tensor(0.0751)
Frame 130
tensor(0.2887)
 # KEYFRAME 96
0.09897021699725883
Frame 131
tensor(0.2149)
 # KEYFRAME 97
0.09863547799614025
Frame 132
tensor(0.0577)
Backending... 98 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 70788, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2170 loss_distill=0.4024 tta_take=0.007s
[epoch 0 scene 328/556] scannetpp/251443268c/frame frames=133 tta_steps_this_scene=7 mean_loss=0.3434 total_steps=2170 time=42.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0196)
Frame 2
tensor(0.0509)
Frame 3
tensor(0.1291)
 # KEYFRAME 1
Frame 4
tensor(0.0684)
Frame 5
tensor(0.0888)
Frame 6
tensor(0.1472)
 # KEYFRAME 2
0.05181736499798717
Frame 7
tensor(0.0603)
Frame 8
tensor(0.1502)
 # KEYFRAME 3
0.05151778499566717
Frame 9
tensor(0.0914)
Frame 10
tensor(0.1899)
 # KEYFRAME 4
0.051490926001861226
Frame 11
tensor(0.1379)
 # KEYFRAME 5
0.05163757500122301
Frame 12
tensor(0.1224)
 # KEYFRAME 6
0.05151406500226585
Frame 13
tensor(0.1106)
 # KEYFRAME 7
0.051419356001133565
Frame 14
tensor(0.1812)
 # KEYFRAME 8
0.0528425509983208
Frame 15
tensor(0.0189)
Frame 16
tensor(0.1808)
 # KEYFRAME 9
0.05400764700607397
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 17
tensor(0.1529)
 # KEYFRAME 10
0.05267135100439191
Frame 18
tensor(0.1638)
 # KEYFRAME 11
0.05315332899772329
Frame 19
tensor(0.1739)
 # KEYFRAME 12
0.05382585699408082
Frame 20
tensor(0.0326)
Frame 21
tensor(0.1407)
 # KEYFRAME 13
0.054945663003309164
Frame 22
tensor(0.0727)
Frame 23
tensor(0.1639)
 # KEYFRAME 14
0.05654926799616078
Frame 24
tensor(0.2884)
 # KEYFRAME 15
0.05661898700054735
Frame 25
tensor(0.1554)
 # KEYFRAME 16
0.058148641997831874
Frame 26
tensor(0.1704)
 # KEYFRAME 17
0.05957297699933406
Frame 27
tensor(0.1643)
 # KEYFRAME 18
0.06039616400084924
Frame 28
tensor(0.2024)
 # KEYFRAME 19
0.06137854000553489
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 29
tensor(0.1321)
 # KEYFRAME 20
0.0592849379972904
Frame 30
tensor(0.1022)
 # KEYFRAME 21
0.06074457299837377
Frame 31
tensor(0.2118)
 # KEYFRAME 22
0.0619759580004029
Frame 32
tensor(0.2676)
 # KEYFRAME 23
0.06222531700041145
Frame 33
tensor(0.1155)
 # KEYFRAME 24
0.06334691400115844
Frame 34
tensor(0.1164)
 # KEYFRAME 25
0.06433829000161495
Frame 35
tensor(0.5396)
 # KEYFRAME 26
0.06578643399552675
Frame 36
tensor(0.1797)
 # KEYFRAME 27
0.06645028200000525
Frame 37
tensor(0.1304)
 # KEYFRAME 28
0.0668400710055721
Frame 38
tensor(0.1122)
 # KEYFRAME 29
0.06854479500179878
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 39
tensor(0.1133)
 # KEYFRAME 30
0.06653687200014247
Frame 40
tensor(0.1888)
 # KEYFRAME 31
0.06746953799301991
Frame 41
tensor(0.1101)
 # KEYFRAME 32
0.06907244300236925
Frame 42
tensor(0.1625)
 # KEYFRAME 33
0.07044428800145397
Frame 43
tensor(0.1337)
 # KEYFRAME 34
0.07158349300152622
Frame 44
tensor(0.2609)
 # KEYFRAME 35
0.07258603099762695
Frame 45
tensor(0.2336)
 # KEYFRAME 36
0.07372578600188717
Frame 46
tensor(0.1636)
 # KEYFRAME 37
0.07506804099830333
Frame 47
tensor(0.0865)
Frame 48
tensor(0.1953)
 # KEYFRAME 38
0.07605112800229108
Frame 49
tensor(0.1409)
 # KEYFRAME 39
0.07667781600321177
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2171 loss_distill=0.1733 tta_take=0.009s
Frame 50
tensor(0.0833)
Frame 51
tensor(0.4285)
 # KEYFRAME 40
0.0725950499981991
Frame 52
tensor(0.2088)
 # KEYFRAME 41
0.07491137200122466
Frame 53
tensor(0.1583)
 # KEYFRAME 42
0.0750764309996157
Frame 54
tensor(0.1785)
 # KEYFRAME 43
0.07726841400290141
Frame 55
tensor(0.2318)
 # KEYFRAME 44
0.07837725900026271
Frame 56
tensor(0.1786)
 # KEYFRAME 45
0.07946713599812938
Frame 57
tensor(0.1925)
 # KEYFRAME 46
0.08011711300059687
Frame 58
tensor(0.2074)
 # KEYFRAME 47
0.08119099999748869
Frame 59
tensor(0.2471)
 # KEYFRAME 48
0.08221762600442162
Frame 60
tensor(0.1479)
 # KEYFRAME 49
0.08297501299966825
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=2172 loss_distill=0.2747 tta_take=0.009s
Frame 61
tensor(0.0611)
Frame 62
tensor(0.1870)
 # KEYFRAME 50
0.07983606399648124
Frame 63
tensor(0.1491)
 # KEYFRAME 51
0.0814064989972394
Frame 64
tensor(0.0622)
Frame 65
tensor(0.2524)
 # KEYFRAME 52
0.08169230799830984
Frame 66
tensor(0.1569)
 # KEYFRAME 53
0.08171195699833333
Frame 67
tensor(0.1211)
 # KEYFRAME 54
0.08260510399850318
Frame 68
tensor(0.2255)
 # KEYFRAME 55
0.0829855129995849
Frame 69
tensor(0.1930)
 # KEYFRAME 56
0.08389014899876202
Frame 70
tensor(0.2304)
 # KEYFRAME 57
0.08537671399972169
Frame 71
tensor(0.1228)
 # KEYFRAME 58
0.08634440100286156
Frame 72
tensor(0.1567)
 # KEYFRAME 59
0.08709328800614458
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=2173 loss_distill=0.3466 tta_take=0.009s
Frame 73
tensor(0.1317)
 # KEYFRAME 60
0.08705851899867412
Frame 74
tensor(0.1887)
 # KEYFRAME 61
0.08847505299490876
Frame 75
tensor(0.0543)
Frame 76
tensor(0.2149)
 # KEYFRAME 62
0.08828684499894734
Frame 77
tensor(0.2452)
 # KEYFRAME 63
0.0885505730038858
Frame 78
tensor(0.3274)
 # KEYFRAME 64
0.08947506899858126
Frame 79
tensor(0.0583)
Frame 80
tensor(0.2083)
 # KEYFRAME 65
0.09112646399444202
Frame 81
tensor(0.1094)
 # KEYFRAME 66
0.0922772999983863
Frame 82
tensor(0.1573)
 # KEYFRAME 67
0.09307621700281743
Frame 83
tensor(0.0849)
Frame 84
tensor(0.2727)
 # KEYFRAME 68
0.09303209700010484
Frame 85
tensor(0.1609)
 # KEYFRAME 69
0.09403222300170455
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2174 loss_distill=0.4024 tta_take=0.009s
Frame 86
tensor(0.0560)
Frame 87
tensor(0.1364)
 # KEYFRAME 70
0.09324553699843818
Frame 88
tensor(0.1746)
 # KEYFRAME 71
0.09535514900198905
Frame 89
tensor(0.2843)
 # KEYFRAME 72
0.09544994800671702
Frame 90
tensor(0.0575)
Frame 91
tensor(0.1471)
 # KEYFRAME 73
0.09606948599684983
Frame 92
tensor(0.0824)
Frame 93
tensor(0.0993)
Frame 94
tensor(0.1240)
 # KEYFRAME 74
0.09672535400022753
Frame 95
tensor(0.2665)
 # KEYFRAME 75
0.09830134799994994
Frame 96
tensor(0.3467)
 # KEYFRAME 76
0.09873532699566567
Frame 97
tensor(0.1053)
 # KEYFRAME 77
0.09934068400616525
Frame 98
tensor(0.1076)
 # KEYFRAME 78
0.09940655399987008
Frame 99
tensor(0.1730)
 # KEYFRAME 79
0.10076478900009533
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2175 loss_distill=0.4024 tta_take=0.009s
Frame 100
tensor(0.2298)
 # KEYFRAME 80
0.0935290349952993
Frame 101
tensor(0.0856)
Frame 102
tensor(0.2987)
 # KEYFRAME 81
0.09540042799926596
Frame 103
tensor(0.2526)
 # KEYFRAME 82
0.09585182699811412
Frame 104
tensor(0.1382)
 # KEYFRAME 83
0.09727785200084327
Frame 105
tensor(0.0888)
Frame 106
tensor(0.0798)
Frame 107
tensor(0.0907)
Frame 108
tensor(0.1562)
 # KEYFRAME 84
0.09847381799772847
Frame 109
tensor(0.0873)
Frame 110
tensor(0.1464)
 # KEYFRAME 85
0.10030914100207156
Frame 111
tensor(0.1481)
 # KEYFRAME 86
0.10016383100446546
Frame 112
tensor(0.0592)
Frame 113
tensor(0.0899)
Frame 114
tensor(0.1507)
 # KEYFRAME 87
0.10101618900080211
Frame 115
tensor(0.1120)
 # KEYFRAME 88
0.10254403299768455
Frame 116
tensor(0.2223)
 # KEYFRAME 89
0.10276933200657368
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2176 loss_distill=0.4024 tta_take=0.009s
Frame 117
tensor(0.2260)
 # KEYFRAME 90
0.09276681800110964
Frame 118
tensor(0.1510)
 # KEYFRAME 91
0.09544328800257063
Frame 119
tensor(0.1638)
 # KEYFRAME 92
0.09501019999879645
Frame 120
tensor(0.2503)
 # KEYFRAME 93
0.09633999499783386
Frame 121
tensor(0.1528)
 # KEYFRAME 94
0.09705836300418014
Frame 122
tensor(0.0704)
Frame 123
tensor(0.1830)
 # KEYFRAME 95
0.0986483960004989
Frame 124
tensor(0.1467)
 # KEYFRAME 96
0.09810122899943963
Frame 125
tensor(0.1623)
 # KEYFRAME 97
0.09938422399864066
Frame 126
tensor(0.1479)
 # KEYFRAME 98
0.09982430299714906
Frame 127
tensor(0.0926)
Frame 128
tensor(0.3179)
 # KEYFRAME 99
0.10120682799606584
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=2177 loss_distill=0.4024 tta_take=0.009s
Frame 129
tensor(0.0524)
Frame 130
tensor(0.1721)
 # KEYFRAME 100
0.09338912599923788
Frame 131
tensor(0.1690)
 # KEYFRAME 101
0.09563965800043661
Frame 132
tensor(0.1900)
 # KEYFRAME 102
0.09561052700155415
Frame 133
tensor(0.0520)
Frame 134
tensor(0.1661)
 # KEYFRAME 103
0.09674465399439214
Frame 135
tensor(0.0838)
Frame 136
tensor(0.1048)
 # KEYFRAME 104
0.09731327099871123
Frame 137
tensor(0.0365)
Frame 138
tensor(0.1022)
 # KEYFRAME 105
0.09829417800210649
Frame 139
tensor(0.1455)
 # KEYFRAME 106
0.09900547599681886
Backending... 107 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 69747, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2178 loss_distill=0.4024 tta_take=0.007s
[epoch 0 scene 329/556] scannetpp/a05ee63164/frame frames=140 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=2178 time=43.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.2411)
 # KEYFRAME 1
Frame 2
tensor(0.2474)
 # KEYFRAME 2
0.051423295997665264
Frame 3
tensor(0.5080)
 # KEYFRAME 3
0.05157004600187065
Frame 4
tensor(0.2345)
 # KEYFRAME 4
0.052656362000561785
Frame 5
tensor(0.5115)
 # KEYFRAME 5
0.053880966996075585
Frame 6
tensor(0.6350)
 # KEYFRAME 6
0.05520881199481664
Frame 7
tensor(0.2217)
 # KEYFRAME 7
0.0560212499985937
Frame 8
tensor(0.2131)
 # KEYFRAME 8
0.05622923899500165
Frame 9
tensor(0.3164)
 # KEYFRAME 9
0.05724240499694133
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.8856)
 # KEYFRAME 10
0.05202443400048651
Frame 11
tensor(0.2035)
 # KEYFRAME 11
0.05191764500341378
Frame 12
tensor(0.1895)
 # KEYFRAME 12
0.05271883100067498
Frame 13
tensor(0.2642)
 # KEYFRAME 13
0.05480716400052188
Frame 14
tensor(0.2706)
 # KEYFRAME 14
0.05561670099996263
Frame 15
tensor(0.1417)
 # KEYFRAME 15
0.05468509499769425
Frame 16
tensor(0.3925)
 # KEYFRAME 16
0.05682195699773729
Frame 17
tensor(0.4513)
 # KEYFRAME 17
0.05653403799806256
Frame 18
tensor(0.2969)
 # KEYFRAME 18
0.05728885500138858
Frame 19
tensor(0.4175)
 # KEYFRAME 19
0.057951693001086824
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 20
tensor(0.3180)
 # KEYFRAME 20
0.053918296995107085
Frame 21
tensor(0.1240)
 # KEYFRAME 21
0.054449845003546216
Frame 22
tensor(0.5615)
 # KEYFRAME 22
0.055217942004674114
Frame 23
tensor(0.2525)
 # KEYFRAME 23
0.05565297100110911
Frame 24
tensor(0.1099)
 # KEYFRAME 24
0.05614829900150653
Frame 25
tensor(0.3856)
 # KEYFRAME 25
0.05692975599959027
Frame 26
tensor(0.5220)
 # KEYFRAME 26
0.05829401099617826
Frame 27
tensor(0.2194)
 # KEYFRAME 27
0.05909858800441725
Frame 28
tensor(0.3922)
 # KEYFRAME 28
0.059820155998750124
Frame 29
tensor(0.1809)
 # KEYFRAME 29
0.06073568200372392
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 30
tensor(0.2126)
 # KEYFRAME 30
0.05839772099716356
Frame 31
tensor(1.1058)
 # KEYFRAME 31
0.0593319280014839
Frame 32
tensor(0.9846)
 # KEYFRAME 32
0.059596826999040786
Frame 33
tensor(0.2585)
 # KEYFRAME 33
0.06032981399766868
Frame 34
tensor(0.3707)
 # KEYFRAME 34
0.060774281999329105
Frame 35
tensor(0.2664)
 # KEYFRAME 35
0.06136508099734783
Frame 36
tensor(0.2760)
 # KEYFRAME 36
0.062179036998713855
Frame 37
tensor(0.6515)
 # KEYFRAME 37
0.06281692499760538
Frame 38
tensor(0.3362)
 # KEYFRAME 38
0.06377473199972883
Frame 39
tensor(0.3905)
 # KEYFRAME 39
0.06416731000354048
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2179 loss_distill=0.1733 tta_take=0.008s
Frame 40
tensor(0.4442)
 # KEYFRAME 40
0.06298358400090365
Frame 41
tensor(0.4033)
 # KEYFRAME 41
0.06447868999384809
Frame 42
tensor(0.2739)
 # KEYFRAME 42
0.06487326799833681
Frame 43
tensor(0.7042)
 # KEYFRAME 43
0.06444959000509698
Frame 44
tensor(0.2036)
 # KEYFRAME 44
0.0657182449940592
Frame 45
tensor(0.4841)
 # KEYFRAME 45
0.06671456099866191
Frame 46
tensor(0.1447)
 # KEYFRAME 46
0.06673700099781854
Frame 47
tensor(0.2290)
 # KEYFRAME 47
0.06659349199617282
Frame 48
tensor(0.4135)
 # KEYFRAME 48
0.06803431699518114
Frame 49
tensor(0.2076)
 # KEYFRAME 49
0.06883509399631293
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=2180 loss_distill=0.2747 tta_take=0.008s
Frame 50
tensor(0.4319)
 # KEYFRAME 50
0.06721420000394573
Frame 51
tensor(0.4906)
 # KEYFRAME 51
0.0681724559981376
Frame 52
tensor(0.5090)
 # KEYFRAME 52
0.06844751500466373
Frame 53
tensor(0.2270)
 # KEYFRAME 53
0.06895588299812516
Frame 54
tensor(0.2339)
 # KEYFRAME 54
0.06927207200351404
Frame 55
tensor(0.2308)
 # KEYFRAME 55
0.06967027000064263
Frame 56
tensor(0.4063)
 # KEYFRAME 56
0.07006541900045704
Frame 57
tensor(0.2189)
 # KEYFRAME 57
0.07143924499541754
Frame 58
tensor(0.1321)
 # KEYFRAME 58
0.07124639500398189
Frame 59
tensor(0.3962)
 # KEYFRAME 59
0.07181497300189221
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=2181 loss_distill=0.3466 tta_take=0.008s
Frame 60
tensor(0.3583)
 # KEYFRAME 60
0.0712130750034703
Frame 61
tensor(0.7954)
 # KEYFRAME 61
0.07335043800412677
Frame 62
tensor(0.2241)
 # KEYFRAME 62
0.07370097599778092
Frame 63
tensor(0.2100)
 # KEYFRAME 63
0.07420242400257848
Frame 64
tensor(0.2682)
 # KEYFRAME 64
0.07525744099984877
Frame 65
tensor(0.3711)
 # KEYFRAME 65
0.07454795299418038
Frame 66
tensor(0.2259)
 # KEYFRAME 66
0.07693370500055607
Frame 67
tensor(0.1982)
 # KEYFRAME 67
0.07795268100016983
Frame 68
tensor(0.2412)
 # KEYFRAME 68
0.07890121699892916
Frame 69
tensor(0.3297)
 # KEYFRAME 69
0.0788873080018675
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2182 loss_distill=0.4024 tta_take=0.009s
Frame 70
tensor(0.1232)
 # KEYFRAME 70
0.07567199900222477
Frame 71
tensor(0.2245)
 # KEYFRAME 71
0.07778908200270962
Frame 72
tensor(0.8122)
 # KEYFRAME 72
0.07720814299682388
Frame 73
tensor(0.0680)
Frame 74
tensor(0.5296)
 # KEYFRAME 73
0.07752855199942132
Frame 75
tensor(0.2158)
 # KEYFRAME 74
0.07814957099617459
Frame 76
tensor(0.3238)
 # KEYFRAME 75
0.07839514000079362
Frame 77
tensor(0.3322)
 # KEYFRAME 76
0.07860549900215119
Frame 78
tensor(0.2429)
 # KEYFRAME 77
0.07920334599475609
Frame 79
tensor(0.2374)
 # KEYFRAME 78
0.08013801299966872
Frame 80
tensor(0.1252)
 # KEYFRAME 79
0.08012641400273424
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2183 loss_distill=0.4024 tta_take=0.008s
Frame 81
tensor(0.2048)
 # KEYFRAME 80
0.07637892599450424
Frame 82
tensor(0.3295)
 # KEYFRAME 81
0.07657221600675257
Frame 83
tensor(0.5671)
 # KEYFRAME 82
0.0778997410016018
Frame 84
tensor(0.2527)
 # KEYFRAME 83
0.0787230179994367
Frame 85
tensor(0.0448)
Frame 86
tensor(0.5990)
 # KEYFRAME 84
0.07959759499499341
Frame 87
tensor(0.1497)
 # KEYFRAME 85
0.07962361499812687
Frame 88
tensor(0.1981)
 # KEYFRAME 86
0.07899566799460445
Frame 89
tensor(0.4078)
 # KEYFRAME 87
0.08125662899692543
Frame 90
tensor(0.2748)
 # KEYFRAME 88
0.08227502500085393
Frame 91
tensor(0.2246)
 # KEYFRAME 89
0.08257530400442192
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=2184 loss_distill=0.4024 tta_take=0.008s
Frame 92
tensor(0.2541)
 # KEYFRAME 90
0.07604744799755281
Frame 93
tensor(0.2934)
 # KEYFRAME 91
0.07755530199938221
Frame 94
tensor(0.0657)
Frame 95
tensor(0.0918)
Frame 96
tensor(0.2222)
 # KEYFRAME 92
0.07820523999544093
Frame 97
tensor(0.3427)
 # KEYFRAME 93
0.07908553699962795
Frame 98
tensor(0.4127)
 # KEYFRAME 94
0.07969769500050461
Frame 99
tensor(0.5891)
 # KEYFRAME 95
0.08077229099581018
Frame 100
tensor(0.3112)
 # KEYFRAME 96
0.07956213500438025
Frame 101
tensor(0.4442)
 # KEYFRAME 97
0.08158708800328895
Frame 102
tensor(0.2129)
 # KEYFRAME 98
0.082461455000157
Frame 103
tensor(0.1835)
 # KEYFRAME 99
0.08325850200344576
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2185 loss_distill=0.4024 tta_take=0.008s
Frame 104
tensor(0.1805)
 # KEYFRAME 100
0.07565746000182116
Frame 105
tensor(0.0417)
Frame 106
tensor(0.1736)
 # KEYFRAME 101
0.07751686200208496
Frame 107
tensor(0.2655)
 # KEYFRAME 102
0.07745229300053325
Frame 108
tensor(0.2453)
 # KEYFRAME 103
0.07791741099936189
Frame 109
tensor(0.5646)
 # KEYFRAME 104
0.07858121799654327
Frame 110
tensor(0.1914)
 # KEYFRAME 105
0.0793087359998026
Frame 111
tensor(0.4708)
 # KEYFRAME 106
0.07804434099671198
Frame 112
tensor(0.7452)
 # KEYFRAME 107
0.07969921499898192
Frame 113
tensor(0.2966)
 # KEYFRAME 108
0.08009004300402012
Frame 114
tensor(0.5209)
 # KEYFRAME 109
0.08054193200223381
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2186 loss_distill=0.4024 tta_take=0.008s
Frame 115
tensor(0.3125)
 # KEYFRAME 110
0.07541131999460049
Frame 116
tensor(0.5105)
 # KEYFRAME 111
0.0758844579977449
Frame 117
tensor(0.0856)
Frame 118
tensor(0.5908)
 # KEYFRAME 112
0.07716353400610387
Frame 119
tensor(0.5087)
 # KEYFRAME 113
0.07727199399960227
Frame 120
tensor(0.3540)
 # KEYFRAME 114
0.07789709200005746
Frame 121
tensor(0.3956)
 # KEYFRAME 115
0.07850524900277378
Frame 122
tensor(0.2474)
 # KEYFRAME 116
0.0779807310027536
Frame 123
tensor(0.2965)
 # KEYFRAME 117
0.07898655699682422
Frame 124
tensor(0.3586)
 # KEYFRAME 118
0.07941548599774251
Frame 125
tensor(0.7172)
 # KEYFRAME 119
0.08008325399714522
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=2187 loss_distill=0.4024 tta_take=0.008s
Frame 126
tensor(0.2961)
 # KEYFRAME 120
0.07562282000435516
Frame 127
tensor(0.3769)
 # KEYFRAME 121
0.07809712999733165
Frame 128
tensor(0.2625)
 # KEYFRAME 122
0.07806454099772964
Frame 129
tensor(0.8504)
 # KEYFRAME 123
0.07873776800261112
Frame 130
tensor(1.1684)
 # KEYFRAME 124
0.0800712529962766
Frame 131
tensor(0.2801)
 # KEYFRAME 125
0.08023322200460825
Frame 132
tensor(0.7491)
 # KEYFRAME 126
0.07906622700102162
Frame 133
tensor(0.1379)
 # KEYFRAME 127
0.08155091799562797
Frame 134
tensor(0.1683)
 # KEYFRAME 128
0.08273182399716461
Frame 135
tensor(0.3632)
 # KEYFRAME 129
0.08337755199318053
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2188 loss_distill=0.4024 tta_take=0.008s
Frame 136
tensor(1.0097)
 # KEYFRAME 130
0.07594668800447835
Frame 137
tensor(0.2622)
 # KEYFRAME 131
0.0762405170025886
Frame 138
tensor(1.2697)
 # KEYFRAME 132
0.07735036299709463
Frame 139
tensor(0.8129)
 # KEYFRAME 133
0.07731829400290735
Frame 140
tensor(0.2179)
 # KEYFRAME 134
0.07848019900120562
Frame 141
tensor(0.5769)
 # KEYFRAME 135
0.07857454899931327
Frame 142
tensor(0.2897)
 # KEYFRAME 136
0.07824742999946466
Frame 143
tensor(0.4537)
 # KEYFRAME 137
0.07927024600212462
Frame 144
tensor(0.1795)
 # KEYFRAME 138
0.0797228039955371
Frame 145
tensor(0.3531)
 # KEYFRAME 139
0.07993594399886206
Backending... 140 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2189 loss_distill=0.4024 tta_take=0.008s
Frame 146
tensor(0.3656)
 # KEYFRAME 140
0.07608740799332736
Frame 147
tensor(0.4161)
 # KEYFRAME 141
0.07766507199994521
Frame 148
tensor(0.2029)
 # KEYFRAME 142
0.07706952399894362
Frame 149
tensor(0.5725)
 # KEYFRAME 143
0.07793964099982986
Backending... 144 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11, 12] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0), (12, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 59520, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=14, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=14 fetch_ids=[1, 0, 2, 4, 3] dts=[13, 14, 12, 10, 11]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2190 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 330/556] scannetpp/d918af9c5f/DSC frames=150 tta_steps_this_scene=12 mean_loss=0.3680 total_steps=2190 time=55.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0347)
Frame 2
tensor(0.2352)
 # KEYFRAME 1
Frame 3
tensor(0.2433)
 # KEYFRAME 2
0.051512534999346826
Frame 4
tensor(0.1371)
 # KEYFRAME 3
0.05294005099858623
Frame 5
tensor(0.2018)
 # KEYFRAME 4
0.05497095299506327
Frame 6
tensor(0.2114)
 # KEYFRAME 5
0.05548900100257015
Frame 7
tensor(0.2080)
 # KEYFRAME 6
0.056507096996938344
Frame 8
tensor(0.1366)
 # KEYFRAME 7
0.057859403001202736
Frame 9
tensor(0.0928)
Frame 10
tensor(0.1986)
 # KEYFRAME 8
0.058021391996589955
Frame 11
tensor(0.0436)
Frame 12
tensor(0.1600)
 # KEYFRAME 9
0.058649930004321504
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 13
tensor(0.2154)
 # KEYFRAME 10
0.05242504199850373
Frame 14
tensor(0.1212)
 # KEYFRAME 11
0.05332656899554422
Frame 15
tensor(0.0299)
Frame 16
tensor(0.0995)
Frame 17
tensor(0.2132)
 # KEYFRAME 12
0.054423045003204606
Frame 18
tensor(0.2050)
 # KEYFRAME 13
0.05640296800265787
Frame 19
tensor(0.2280)
 # KEYFRAME 14
0.057242855000367854
Frame 20
tensor(0.1667)
 # KEYFRAME 15
0.05827965099888388
Frame 21
tensor(0.7047)
 # KEYFRAME 16
0.05887843899836298
Frame 22
tensor(0.2367)
 # KEYFRAME 17
0.06026255400502123
Frame 23
tensor(0.1404)
 # KEYFRAME 18
0.06221610699867597
Frame 24
tensor(0.0602)
Frame 25
tensor(0.2292)
 # KEYFRAME 19
0.06255225600034464
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 26
tensor(0.1042)
 # KEYFRAME 20
0.05952571699890541
Frame 27
tensor(0.1457)
 # KEYFRAME 21
0.060358784001437016
Frame 28
tensor(0.1608)
 # KEYFRAME 22
0.06171861899929354
Frame 29
tensor(0.1461)
 # KEYFRAME 23
0.06200609799998347
Frame 30
tensor(0.2237)
 # KEYFRAME 24
0.06284318499820074
Frame 31
tensor(0.4344)
 # KEYFRAME 25
0.06412700999499066
Frame 32
tensor(0.2092)
 # KEYFRAME 26
0.06583040399709716
Frame 33
tensor(0.1440)
 # KEYFRAME 27
0.06685046100028558
Frame 34
tensor(0.2306)
 # KEYFRAME 28
0.0677057870052522
Frame 35
tensor(0.2037)
 # KEYFRAME 29
0.0686486840058933
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 36
tensor(0.1704)
 # KEYFRAME 30
0.0663762029944337
Frame 37
tensor(0.1282)
 # KEYFRAME 31
0.06779416700010188
Frame 38
tensor(0.1699)
 # KEYFRAME 32
0.06838433600205462
Frame 39
tensor(0.2273)
 # KEYFRAME 33
0.06888514399906853
Frame 40
tensor(0.0823)
Frame 41
tensor(0.2003)
 # KEYFRAME 34
0.07009892900532577
Frame 42
tensor(0.0167)
Frame 43
tensor(0.0492)
Frame 44
tensor(0.0364)
Frame 45
tensor(0.1339)
 # KEYFRAME 35
0.07087576599587919
Frame 46
tensor(0.1501)
 # KEYFRAME 36
0.07177213300019503
Frame 47
tensor(0.1005)
 # KEYFRAME 37
0.07256871999561554
Frame 48
tensor(0.1574)
 # KEYFRAME 38
0.0732436480029719
Frame 49
tensor(0.0560)
Frame 50
tensor(0.1986)
 # KEYFRAME 39
0.07456714299769374
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2191 loss_distill=0.1733 tta_take=0.009s
Frame 51
tensor(0.1580)
 # KEYFRAME 40
0.07301641799858771
Frame 52
tensor(0.1030)
 # KEYFRAME 41
0.07446274399990216
Frame 53
tensor(0.1823)
 # KEYFRAME 42
0.07441027399909217
Frame 54
tensor(0.2183)
 # KEYFRAME 43
0.07525036099832505
Frame 55
tensor(0.3206)
 # KEYFRAME 44
0.07577508900430985
Frame 56
tensor(0.2954)
 # KEYFRAME 45
0.07669700500264298
Frame 57
tensor(0.2239)
 # KEYFRAME 46
0.07760153200069908
Frame 58
tensor(0.2339)
 # KEYFRAME 47
0.07830559000285575
Frame 59
tensor(0.1478)
 # KEYFRAME 48
0.07956183499481995
Frame 60
tensor(0.2165)
 # KEYFRAME 49
0.08070731100451667
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=2192 loss_distill=0.2747 tta_take=0.009s
Frame 61
tensor(0.2041)
 # KEYFRAME 50
0.0794778560011764
Frame 62
tensor(0.0756)
Frame 63
tensor(0.1446)
 # KEYFRAME 51
0.08156376799888676
Frame 64
tensor(0.0873)
Frame 65
tensor(0.0906)
Frame 66
tensor(0.1051)
 # KEYFRAME 52
0.08208739700057777
Frame 67
tensor(0.1411)
 # KEYFRAME 53
0.08289502299885498
Frame 68
tensor(0.1228)
 # KEYFRAME 54
0.08416596899769502
Frame 69
tensor(0.3639)
 # KEYFRAME 55
0.08463885699893581
Frame 70
tensor(0.2043)
 # KEYFRAME 56
0.08512163500563474
Frame 71
tensor(0.1176)
 # KEYFRAME 57
0.08583339199685724
Frame 72
tensor(0.1843)
 # KEYFRAME 58
0.08674227899609832
Frame 73
tensor(0.1547)
 # KEYFRAME 59
0.08803291500225896
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=2193 loss_distill=0.3466 tta_take=0.009s
Frame 74
tensor(0.1912)
 # KEYFRAME 60
0.08646439100266434
Frame 75
tensor(0.1129)
 # KEYFRAME 61
0.08913639099773718
Frame 76
tensor(0.0604)
Frame 77
tensor(0.0995)
Frame 78
tensor(0.2108)
 # KEYFRAME 62
0.08867980200011516
Frame 79
tensor(0.1595)
 # KEYFRAME 63
0.08893470199836884
Frame 80
tensor(0.1239)
 # KEYFRAME 64
0.0899869380009477
Frame 81
tensor(0.0139)
Frame 82
tensor(0.1211)
 # KEYFRAME 65
0.0913333530043019
Frame 83
tensor(0.0795)
Frame 84
tensor(0.2456)
 # KEYFRAME 66
0.09217693000391591
Frame 85
tensor(0.0522)
Frame 86
tensor(0.0528)
Frame 87
tensor(0.0558)
Frame 88
tensor(0.0666)
Frame 89
tensor(0.0625)
Frame 90
tensor(0.0572)
Frame 91
tensor(0.1244)
 # KEYFRAME 67
0.09310090700455476
Frame 92
tensor(0.1112)
 # KEYFRAME 68
0.0938562740047928
Frame 93
tensor(0.1085)
 # KEYFRAME 69
0.09488853099901462
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2194 loss_distill=0.4024 tta_take=0.009s
Frame 94
tensor(0.2424)
 # KEYFRAME 70
0.09309558600216405
Frame 95
tensor(0.2415)
 # KEYFRAME 71
0.09607396600040374
Frame 96
tensor(0.1964)
 # KEYFRAME 72
0.09563437799806707
Frame 97
tensor(0.1622)
 # KEYFRAME 73
0.09642093499860493
Frame 98
tensor(0.2161)
 # KEYFRAME 74
0.09682819300360279
Frame 99
tensor(0.2076)
 # KEYFRAME 75
0.09745996100537013
Frame 100
tensor(0.2070)
 # KEYFRAME 76
0.09846493700024439
Frame 101
tensor(0.2015)
 # KEYFRAME 77
0.09927904500364093
Frame 102
tensor(0.3160)
 # KEYFRAME 78
0.10007011199923
Frame 103
tensor(0.0778)
Frame 104
tensor(0.1066)
 # KEYFRAME 79
0.10021856199455215
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2195 loss_distill=0.4024 tta_take=0.009s
Frame 105
tensor(0.0659)
Frame 106
tensor(0.1980)
 # KEYFRAME 80
0.09425016299792333
Frame 107
tensor(0.5885)
 # KEYFRAME 81
0.09420707300159847
Frame 108
tensor(0.0992)
Frame 109
tensor(0.2789)
 # KEYFRAME 82
0.09539986800518818
Frame 110
tensor(0.0714)
Frame 111
tensor(0.1556)
 # KEYFRAME 83
0.09639282499847468
Frame 112
tensor(0.1701)
 # KEYFRAME 84
0.09716606300207786
Frame 113
tensor(0.1286)
 # KEYFRAME 85
0.09695951299363514
Frame 114
tensor(0.0538)
Frame 115
tensor(0.0871)
Frame 116
tensor(0.1538)
 # KEYFRAME 86
0.09877033699740423
Frame 117
tensor(0.2292)
 # KEYFRAME 87
0.0989460560012958
Frame 118
tensor(0.1875)
 # KEYFRAME 88
0.10053722999873571
Frame 119
tensor(0.3976)
 # KEYFRAME 89
0.10131364800326992
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595452308655
TTA-STEP: step=2196 loss_distill=0.4024 tta_take=0.009s
Frame 120
tensor(0.1781)
 # KEYFRAME 90
0.09357253499911167
Frame 121
tensor(0.1289)
 # KEYFRAME 91
0.09491648000403075
Frame 122
tensor(0.0739)
Frame 123
tensor(0.1465)
 # KEYFRAME 92
0.0961894560023211
Frame 124
tensor(0.1961)
 # KEYFRAME 93
0.09664470399729908
Frame 125
tensor(0.1291)
 # KEYFRAME 94
0.09686467300343793
Frame 126
tensor(0.0524)
Frame 127
tensor(0.2712)
 # KEYFRAME 95
0.0980608889949508
Frame 128
tensor(0.1551)
 # KEYFRAME 96
0.09830977799720131
Frame 129
tensor(0.1458)
 # KEYFRAME 97
0.09934596499806503
Frame 130
tensor(0.1140)
 # KEYFRAME 98
0.10006741200049873
Frame 131
tensor(0.1370)
 # KEYFRAME 99
0.10124805699888384
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2197 loss_distill=0.4024 tta_take=0.009s
Frame 132
tensor(0.1510)
 # KEYFRAME 100
0.09342805600317661
Frame 133
tensor(0.2465)
 # KEYFRAME 101
0.09633687600580743
Frame 134
tensor(0.2565)
 # KEYFRAME 102
0.09526013899449026
Frame 135
tensor(0.2151)
 # KEYFRAME 103
0.09607771599985426
Frame 136
tensor(0.3014)
 # KEYFRAME 104
0.09693418299866607
Frame 137
tensor(0.2737)
 # KEYFRAME 105
0.09803219899913529
Frame 138
tensor(0.2310)
 # KEYFRAME 106
0.09906652599602239
Backending... 107 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 69747, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=2198 loss_distill=0.4024 tta_take=0.007s
[epoch 0 scene 331/556] scannetpp/aaa11940d3/frame frames=139 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=2198 time=41.8s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0669)
Frame 2
tensor(0.1685)
 # KEYFRAME 1
Frame 3
tensor(0.0935)
Frame 4
tensor(0.1374)
 # KEYFRAME 2
0.05183123500319198
Frame 5
tensor(0.1600)
 # KEYFRAME 3
0.05253136200190056
Frame 6
tensor(0.1129)
 # KEYFRAME 4
0.05410470700007863
Frame 7
tensor(0.1893)
 # KEYFRAME 5
0.05446677500003716
Frame 8
tensor(0.2000)
 # KEYFRAME 6
0.05563201100449078
Frame 9
tensor(0.1182)
 # KEYFRAME 7
0.056484168002498336
Frame 10
tensor(0.2094)
 # KEYFRAME 8
0.05740429399884306
Frame 11
tensor(0.4873)
 # KEYFRAME 9
0.058501051003986504
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 12
tensor(0.2533)
 # KEYFRAME 10
0.051766835000307765
Frame 13
tensor(0.2758)
 # KEYFRAME 11
0.05276963100186549
Frame 14
tensor(0.2884)
 # KEYFRAME 12
0.05337978900206508
Frame 15
tensor(0.3429)
 # KEYFRAME 13
0.05558123100490775
Frame 16
tensor(0.3705)
 # KEYFRAME 14
0.05458998399990378
Frame 17
tensor(0.1831)
 # KEYFRAME 15
0.05460304400185123
Frame 18
tensor(0.1730)
 # KEYFRAME 16
0.055377872005919926
Frame 19
tensor(0.1845)
 # KEYFRAME 17
0.05606180999893695
Frame 20
tensor(0.3881)
 # KEYFRAME 18
0.05684879599721171
Frame 21
tensor(0.2369)
 # KEYFRAME 19
0.05768747300317045
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 22
tensor(0.2836)
 # KEYFRAME 20
0.05417938600294292
Frame 23
tensor(0.4475)
 # KEYFRAME 21
0.05508821300463751
Frame 24
tensor(0.1262)
 # KEYFRAME 22
0.056283518999407534
Frame 25
tensor(0.1441)
 # KEYFRAME 23
0.05702006600040477
Frame 26
tensor(0.1443)
 # KEYFRAME 24
0.05809175200556638
Frame 27
tensor(0.0983)
Frame 28
tensor(0.1168)
 # KEYFRAME 25
0.05917468799452763
Frame 29
tensor(0.3030)
 # KEYFRAME 26
0.06027810399973532
Frame 30
tensor(0.1716)
 # KEYFRAME 27
0.06085923199862009
Frame 31
tensor(0.1043)
 # KEYFRAME 28
0.061392390001856256
Frame 32
tensor(0.3999)
 # KEYFRAME 29
0.06198980900080642
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 33
tensor(0.1714)
 # KEYFRAME 30
0.058799509999516886
Frame 34
tensor(0.2454)
 # KEYFRAME 31
0.059442447003675625
Frame 35
tensor(0.2298)
 # KEYFRAME 32
0.05987031500262674
Frame 36
tensor(0.1627)
 # KEYFRAME 33
0.06156788900261745
Frame 37
tensor(0.3233)
 # KEYFRAME 34
0.062477997002133634
Frame 38
tensor(0.1998)
 # KEYFRAME 35
0.06367790199874435
Frame 39
tensor(0.3250)
 # KEYFRAME 36
0.0650761870056158
Frame 40
tensor(0.1863)
 # KEYFRAME 37
0.06636816199898021
Frame 41
tensor(0.1633)
 # KEYFRAME 38
0.06659369200497167
Frame 42
tensor(0.2540)
 # KEYFRAME 39
0.0669250999999349
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2199 loss_distill=0.1733 tta_take=0.008s
Frame 43
tensor(0.1906)
 # KEYFRAME 40
0.06319525399885606
Frame 44
tensor(0.2227)
 # KEYFRAME 41
0.06423442000232171
Frame 45
tensor(0.3222)
 # KEYFRAME 42
0.0642843300011009
Frame 46
tensor(0.3188)
 # KEYFRAME 43
0.06442820899974322
Frame 47
tensor(0.6416)
 # KEYFRAME 44
0.06512046699936036
Frame 48
tensor(0.4092)
 # KEYFRAME 45
0.06568509500357322
Frame 49
tensor(0.0911)
Frame 50
tensor(0.0680)
Frame 51
tensor(0.1932)
 # KEYFRAME 46
0.06597140400117496
Frame 52
tensor(0.1467)
 # KEYFRAME 47
0.06660273199668154
Frame 53
tensor(0.1439)
 # KEYFRAME 48
0.0668842710001627
Frame 54
tensor(0.1552)
 # KEYFRAME 49
0.06740500900195912
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531069278717
TTA-STEP: step=2200 loss_distill=0.2747 tta_take=0.008s
Frame 55
tensor(0.1242)
 # KEYFRAME 50
0.06749669800046831
Frame 56
tensor(0.0607)
Frame 57
tensor(0.1130)
 # KEYFRAME 51
0.06938313200225821
Frame 58
tensor(0.3119)
 # KEYFRAME 52
0.06981302000349388
Frame 59
tensor(0.1387)
 # KEYFRAME 53
0.07090019599854713
Frame 60
tensor(0.4636)
 # KEYFRAME 54
0.07013143900258001
Frame 61
tensor(0.1611)
 # KEYFRAME 55
0.07274819000303978
Frame 62
tensor(0.1582)
 # KEYFRAME 56
0.07274460999906296
Frame 63
tensor(0.2215)
 # KEYFRAME 57
0.07344054800341837
Frame 64
tensor(0.1072)
 # KEYFRAME 58
0.07464253299986012
Frame 65
tensor(0.1238)
 # KEYFRAME 59
0.07470567300333641
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=2201 loss_distill=0.3466 tta_take=0.008s
Frame 66
tensor(0.4221)
 # KEYFRAME 60
0.07170663400029298
Frame 67
tensor(0.1450)
 # KEYFRAME 61
0.07323583799734479
Frame 68
tensor(0.0926)
Frame 69
tensor(0.4902)
 # KEYFRAME 62
0.07353696600330295
Frame 70
tensor(0.2633)
 # KEYFRAME 63
0.07460898299905239
Frame 71
tensor(0.1912)
 # KEYFRAME 64
0.07507657100359211
Frame 72
tensor(0.2708)
 # KEYFRAME 65
0.07437208400369855
Frame 73
tensor(0.2529)
 # KEYFRAME 66
0.07677102600428043
Frame 74
tensor(0.1646)
 # KEYFRAME 67
0.07816823999746703
Frame 75
tensor(0.1429)
 # KEYFRAME 68
0.07914914700086229
Frame 76
tensor(0.2058)
 # KEYFRAME 69
0.07922802599932766
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2202 loss_distill=0.4024 tta_take=0.008s
Frame 77
tensor(0.1435)
 # KEYFRAME 70
0.0761578070014366
Frame 78
tensor(0.1308)
 # KEYFRAME 71
0.07774659099959536
Frame 79
tensor(0.1731)
 # KEYFRAME 72
0.07807641099498142
Frame 80
tensor(0.0716)
Frame 81
tensor(0.4012)
 # KEYFRAME 73
0.0784947590000229
Frame 82
tensor(0.3518)
 # KEYFRAME 74
0.07910504699975718
Frame 83
tensor(0.3313)
 # KEYFRAME 75
0.07993887300108327
Frame 84
tensor(0.4466)
 # KEYFRAME 76
0.07986238499870524
Frame 85
tensor(0.2419)
 # KEYFRAME 77
0.08144982800149592
Frame 86
tensor(0.3780)
 # KEYFRAME 78
0.08244877499964787
Frame 87
tensor(0.3337)
 # KEYFRAME 79
0.08324454200192122
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=2203 loss_distill=0.4024 tta_take=0.008s
Frame 88
tensor(0.2537)
 # KEYFRAME 80
0.0761950070009334
Frame 89
tensor(0.2530)
 # KEYFRAME 81
0.07647067699872423
Frame 90
tensor(0.4203)
 # KEYFRAME 82
0.07666118600172922
Frame 91
tensor(0.8380)
 # KEYFRAME 83
0.07714205400407081
Frame 92
tensor(0.0575)
Frame 93
tensor(0.1103)
 # KEYFRAME 84
0.07797323999693617
Frame 94
tensor(0.1161)
 # KEYFRAME 85
0.07869116800429765
Frame 95
tensor(0.0738)
Frame 96
tensor(0.3049)
 # KEYFRAME 86
0.07805677100259345
Frame 97
tensor(0.2410)
 # KEYFRAME 87
0.07950199599872576
Frame 98
tensor(0.2446)
 # KEYFRAME 88
0.07978684500267264
Frame 99
tensor(0.2737)
 # KEYFRAME 89
0.08043064199591754
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2204 loss_distill=0.4024 tta_take=0.008s
Frame 100
tensor(0.0655)
Frame 101
tensor(0.3073)
 # KEYFRAME 90
0.07562552900344599
Frame 102
tensor(0.1185)
 # KEYFRAME 91
0.07627176700043492
Frame 103
tensor(0.1666)
 # KEYFRAME 92
0.07724072299606632
Frame 104
tensor(0.1225)
 # KEYFRAME 93
0.07777054200414568
Frame 105
tensor(0.2302)
 # KEYFRAME 94
0.07807971000147518
Frame 106
tensor(0.4804)
 # KEYFRAME 95
0.07856341799924849
Frame 107
tensor(0.1044)
 # KEYFRAME 96
0.07812373000342632
Frame 108
tensor(0.2237)
 # KEYFRAME 97
0.07977701399795478
Frame 109
tensor(0.0725)
Frame 110
tensor(0.4034)
 # KEYFRAME 98
0.07956044499587733
Frame 111
tensor(0.1686)
 # KEYFRAME 99
0.08011409400205594
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2205 loss_distill=0.4024 tta_take=0.008s
Frame 112
tensor(0.1486)
 # KEYFRAME 100
0.07616303800023161
Frame 113
tensor(0.3982)
 # KEYFRAME 101
0.07764531199791236
Frame 114
tensor(0.2515)
 # KEYFRAME 102
0.07745992299896898
Frame 115
tensor(0.2458)
 # KEYFRAME 103
0.07751946299686097
Frame 116
tensor(0.2941)
 # KEYFRAME 104
0.07809907099726843
Frame 117
tensor(0.2574)
 # KEYFRAME 105
0.07873402800032636
Frame 118
tensor(0.4450)
 # KEYFRAME 106
0.07848970899794949
Frame 119
tensor(0.1222)
 # KEYFRAME 107
0.07954724500450538
Frame 120
tensor(0.1722)
 # KEYFRAME 108
0.08037627200246789
Frame 121
tensor(0.2661)
 # KEYFRAME 109
0.0800734740041662
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2206 loss_distill=0.4024 tta_take=0.008s
Frame 122
tensor(0.2104)
 # KEYFRAME 110
0.16286829699674854
Frame 123
tensor(0.3582)
 # KEYFRAME 111
0.10158134599623736
Frame 124
tensor(0.2959)
 # KEYFRAME 112
0.07729209300305229
Frame 125
tensor(0.0640)
Frame 126
tensor(0.0716)
Frame 127
tensor(0.2715)
 # KEYFRAME 113
0.0776251420029439
Frame 128
tensor(0.2046)
 # KEYFRAME 114
0.07806435100064846
Frame 129
tensor(0.1603)
 # KEYFRAME 115
0.07818792000034591
Frame 130
tensor(0.2624)
 # KEYFRAME 116
0.07841446899692528
Frame 131
tensor(0.2017)
 # KEYFRAME 117
0.07917504700162681
Frame 132
tensor(0.1629)
 # KEYFRAME 118
0.0798374839941971
Frame 133
tensor(0.1593)
 # KEYFRAME 119
0.08031921299698297
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=2207 loss_distill=0.4024 tta_take=0.008s
Frame 134
tensor(0.1653)
 # KEYFRAME 120
0.07625440700212494
Frame 135
tensor(0.1901)
 # KEYFRAME 121
0.07763721200171858
Frame 136
tensor(0.3140)
 # KEYFRAME 122
0.0772440739965532
Frame 137
tensor(0.1026)
 # KEYFRAME 123
0.0779801309981849
Frame 138
tensor(0.1402)
 # KEYFRAME 124
0.07816447999357479
Frame 139
tensor(0.0719)
Frame 140
tensor(0.2170)
 # KEYFRAME 125
0.0788856580038555
Frame 141
tensor(0.0563)
Frame 142
tensor(0.1703)
 # KEYFRAME 126
0.07861357900401345
Frame 143
tensor(0.0429)
Frame 144
tensor(0.0277)
Frame 145
tensor(0.1905)
 # KEYFRAME 127
0.0796827040030621
Frame 146
tensor(0.1885)
 # KEYFRAME 128
0.08013363300415222
Frame 147
tensor(0.1612)
 # KEYFRAME 129
0.08063162200414808
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2208 loss_distill=0.4024 tta_take=0.009s
Frame 148
tensor(0.2440)
 # KEYFRAME 130
0.07564013999945018
Frame 149
tensor(0.1150)
 # KEYFRAME 131
0.07672467600059463
Backending... 132 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 57660, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2209 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 332/556] scannetpp/07f5b601ee/DSC frames=150 tta_steps_this_scene=11 mean_loss=0.3649 total_steps=2209 time=50.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0124)
Frame 2
tensor(0.0407)
Frame 3
tensor(0.0562)
Frame 4
tensor(0.1060)
 # KEYFRAME 1
Frame 5
tensor(0.2115)
 # KEYFRAME 2
0.051605464999738615
Frame 6
tensor(0.0585)
Frame 7
tensor(0.1089)
 # KEYFRAME 3
0.0514174260024447
Frame 8
tensor(0.0271)
Frame 9
tensor(0.0606)
Frame 10
tensor(0.0843)
Frame 11
tensor(0.1779)
 # KEYFRAME 4
0.051581256004283205
Frame 12
tensor(0.0930)
Frame 13
tensor(0.1520)
 # KEYFRAME 5
0.05219502299587475
Frame 14
tensor(0.0894)
Frame 15
tensor(0.5285)
 # KEYFRAME 6
0.05299264999484876
Frame 16
tensor(0.1170)
 # KEYFRAME 7
0.05420339600095758
Frame 17
tensor(0.0867)
Frame 18
tensor(0.1634)
 # KEYFRAME 8
0.05508121300226776
Frame 19
tensor(0.3534)
 # KEYFRAME 9
0.05571305099874735
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 20
tensor(0.0777)
Frame 21
tensor(0.8359)
 # KEYFRAME 10
0.05173341499903472
Frame 22
tensor(0.0061)
Frame 23
tensor(0.0547)
Frame 24
tensor(0.0760)
Frame 25
tensor(0.0338)
Frame 26
tensor(0.0369)
Frame 27
tensor(0.0398)
Frame 28
tensor(0.0520)
Frame 29
tensor(0.9375)
 # KEYFRAME 11
0.051716944995860104
Frame 30
tensor(0.0610)
Frame 31
tensor(0.1727)
 # KEYFRAME 12
0.05222978300298564
Frame 32
tensor(0.1166)
 # KEYFRAME 13
0.053192449995549396
Frame 33
tensor(0.0733)
Frame 34
tensor(0.1788)
 # KEYFRAME 14
0.05381640799896559
Frame 35
tensor(0.1904)
 # KEYFRAME 15
0.05417998600023566
Frame 36
tensor(0.0957)
Frame 37
tensor(0.1559)
 # KEYFRAME 16
0.054806573993118946
Frame 38
tensor(0.0679)
Frame 39
tensor(0.1354)
 # KEYFRAME 17
0.05536074100382393
Frame 40
tensor(0.1160)
 # KEYFRAME 18
0.055746650003129616
Frame 41
tensor(0.2509)
 # KEYFRAME 19
0.056453167999279685
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 42
tensor(0.1061)
 # KEYFRAME 20
0.054025757002818864
Frame 43
tensor(0.0918)
Frame 44
tensor(0.1735)
 # KEYFRAME 21
0.05481730400060769
Frame 45
tensor(0.0934)
Frame 46
tensor(0.1646)
 # KEYFRAME 22
0.055603581000468694
Frame 47
tensor(0.1305)
 # KEYFRAME 23
0.05585493999387836
Frame 48
tensor(0.0566)
Frame 49
tensor(0.1371)
 # KEYFRAME 24
0.05666498700156808
Frame 50
tensor(0.1101)
 # KEYFRAME 25
0.057234535001043696
Frame 51
tensor(0.1995)
 # KEYFRAME 26
0.05808377200446557
Frame 52
tensor(0.1406)
 # KEYFRAME 27
0.058691329999419395
Frame 53
tensor(0.0756)
Frame 54
tensor(0.1628)
 # KEYFRAME 28
0.05905298900324851
Frame 55
tensor(0.1217)
 # KEYFRAME 29
0.06020873500528978
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 56
tensor(0.0697)
Frame 57
tensor(0.0700)
Frame 58
tensor(0.1213)
 # KEYFRAME 30
0.05879354000353487
Frame 59
tensor(0.2612)
 # KEYFRAME 31
0.05974880600115284
Frame 60
tensor(0.0621)
Frame 61
tensor(0.0643)
Frame 62
tensor(0.0243)
Frame 63
tensor(0.0812)
Frame 64
tensor(0.1323)
 # KEYFRAME 32
0.06011911500536371
Frame 65
tensor(0.0599)
Frame 66
tensor(0.1096)
 # KEYFRAME 33
0.061850648002291564
Frame 67
tensor(0.2562)
 # KEYFRAME 34
0.06280088600033196
Frame 68
tensor(0.0647)
Frame 69
tensor(0.0819)
Frame 70
tensor(0.0945)
Frame 71
tensor(0.2278)
 # KEYFRAME 35
0.0636990419952781
Frame 72
tensor(0.0603)
Frame 73
tensor(0.1163)
 # KEYFRAME 36
0.0647463589994004
Frame 74
tensor(0.0720)
Frame 75
tensor(0.1516)
 # KEYFRAME 37
0.06563475599978119
Frame 76
tensor(0.0447)
Frame 77
tensor(0.1001)
 # KEYFRAME 38
0.06616871299775084
Frame 78
tensor(0.1225)
 # KEYFRAME 39
0.06653079199895728
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2210 loss_distill=0.1733 tta_take=0.008s
Frame 79
tensor(0.0550)
Frame 80
tensor(0.4116)
 # KEYFRAME 40
0.0628032649983652
Frame 81
tensor(0.0226)
Frame 82
tensor(0.0630)
Frame 83
tensor(0.1064)
 # KEYFRAME 41
0.06440818000555737
Frame 84
tensor(0.3979)
 # KEYFRAME 42
0.06422182000096655
Frame 85
tensor(0.0176)
Frame 86
tensor(0.0697)
Frame 87
tensor(0.0671)
Frame 88
tensor(0.0496)
Frame 89
tensor(0.0400)
Frame 90
tensor(0.5500)
 # KEYFRAME 43
0.0641297200054396
Frame 91
tensor(0.0406)
Frame 92
tensor(0.0637)
Frame 93
tensor(0.0862)
Frame 94
tensor(0.0961)
Frame 95
tensor(0.1115)
 # KEYFRAME 44
0.06518090699682944
Frame 96
tensor(0.0152)
Frame 97
tensor(0.0284)
Frame 98
tensor(0.3905)
 # KEYFRAME 45
0.06581307500164257
Frame 99
tensor(0.0681)
Frame 100
tensor(0.1111)
 # KEYFRAME 46
0.06612610400043195
Frame 101
tensor(0.1112)
 # KEYFRAME 47
0.06668523200642085
Frame 102
tensor(0.0927)
Frame 103
tensor(0.0946)
Frame 104
tensor(0.1290)
 # KEYFRAME 48
0.06725989000551635
Frame 105
tensor(0.0696)
Frame 106
tensor(0.1576)
 # KEYFRAME 49
0.06712384000275051
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746531069278717
TTA-STEP: step=2211 loss_distill=0.2747 tta_take=0.008s
Frame 107
tensor(0.0660)
Frame 108
tensor(0.1075)
 # KEYFRAME 50
0.06719214999611722
Frame 109
tensor(0.0453)
Frame 110
tensor(0.0921)
Frame 111
tensor(0.1480)
 # KEYFRAME 51
0.06904879299690947
Frame 112
tensor(0.0562)
Frame 113
tensor(0.1450)
 # KEYFRAME 52
0.06897938299516682
Frame 114
tensor(0.0354)
Frame 115
tensor(0.4377)
 # KEYFRAME 53
0.06951505100005306
Frame 116
tensor(0.0207)
Frame 117
tensor(0.0349)
Frame 118
tensor(0.3524)
 # KEYFRAME 54
0.06984145000024
Frame 119
tensor(0.0301)
Frame 120
tensor(0.0521)
Frame 121
tensor(0.0659)
Frame 122
tensor(0.5915)
 # KEYFRAME 55
0.07048899799701758
Frame 123
tensor(0.0254)
Frame 124
tensor(0.0641)
Frame 125
tensor(0.0903)
Frame 126
tensor(0.1484)
 # KEYFRAME 56
0.07077223699889146
Frame 127
tensor(0.0074)
Frame 128
tensor(0.0104)
Frame 129
tensor(0.4746)
 # KEYFRAME 57
0.07186289299716009
Frame 130
tensor(0.1042)
 # KEYFRAME 58
0.0726761699988856
Frame 131
tensor(0.0295)
Frame 132
tensor(0.1204)
 # KEYFRAME 59
0.07286089900298975
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=2212 loss_distill=0.3466 tta_take=0.008s
Frame 133
tensor(0.1302)
 # KEYFRAME 60
0.0714456449932186
Frame 134
tensor(0.2023)
 # KEYFRAME 61
0.07350711700564716
Frame 135
tensor(0.0929)
Frame 136
tensor(0.2137)
 # KEYFRAME 62
0.07262319999426836
Frame 137
tensor(0.4343)
 # KEYFRAME 63
0.0734097370004747
Frame 138
tensor(0.0920)
Frame 139
tensor(0.1716)
 # KEYFRAME 64
0.07400002500071423
Frame 140
tensor(0.0548)
Frame 141
tensor(0.1152)
 # KEYFRAME 65
0.0737826260010479
Frame 142
tensor(0.2890)
 # KEYFRAME 66
0.07475935199909145
Frame 143
tensor(0.6091)
 # KEYFRAME 67
0.07592021900200052
Frame 144
tensor(0.1463)
 # KEYFRAME 68
0.07673263500328176
Frame 145
tensor(0.1059)
 # KEYFRAME 69
0.07661828600248555
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2213 loss_distill=0.4024 tta_take=0.008s
Frame 146
tensor(0.1251)
 # KEYFRAME 70
0.07587765800417401
Frame 147
tensor(0.1400)
 # KEYFRAME 71
0.07617657800437883
Frame 148
tensor(0.1182)
 # KEYFRAME 72
0.07713895400229376
Frame 149
tensor(0.1642)
 # KEYFRAME 73
0.0776743530004751
Backending... 74 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 59520, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2214 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 333/556] scannetpp/a08d9a2476/DSC frames=150 tta_steps_this_scene=5 mean_loss=0.3198 total_steps=2214 time=34.1s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0382)
Frame 2
tensor(0.0864)
Frame 3
tensor(0.1344)
 # KEYFRAME 1
Frame 4
tensor(0.0438)
Frame 5
tensor(0.0892)
Frame 6
tensor(0.1357)
 # KEYFRAME 2
0.05202797400124837
Frame 7
tensor(0.0439)
Frame 8
tensor(0.0824)
Frame 9
tensor(0.1324)
 # KEYFRAME 3
0.05206636399816489
Frame 10
tensor(0.0397)
Frame 11
tensor(0.0884)
Frame 12
tensor(0.1299)
 # KEYFRAME 4
0.05200163400149904
Frame 13
tensor(0.0417)
Frame 14
tensor(0.0874)
Frame 15
tensor(0.1350)
 # KEYFRAME 5
0.051981434000481386
Frame 16
tensor(0.0395)
Frame 17
tensor(0.0807)
Frame 18
tensor(0.1288)
 # KEYFRAME 6
0.05189235499710776
Frame 19
tensor(0.0421)
Frame 20
tensor(0.0949)
Frame 21
tensor(0.1397)
 # KEYFRAME 7
0.05207426399283577
Frame 22
tensor(0.0498)
Frame 23
tensor(0.1001)
 # KEYFRAME 8
0.05202361400006339
Frame 24
tensor(0.0496)
Frame 25
tensor(0.0952)
Frame 26
tensor(0.1486)
 # KEYFRAME 9
0.052143764005450066
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 27
tensor(0.0475)
Frame 28
tensor(0.0916)
Frame 29
tensor(0.1442)
 # KEYFRAME 10
0.05259951100015314
Frame 30
tensor(0.0460)
Frame 31
tensor(0.0941)
Frame 32
tensor(0.1472)
 # KEYFRAME 11
0.052361762995133176
Frame 33
tensor(0.0494)
Frame 34
tensor(0.0913)
Frame 35
tensor(0.1442)
 # KEYFRAME 12
0.05241413200565148
Frame 36
tensor(0.0425)
Frame 37
tensor(0.0856)
Frame 38
tensor(0.1386)
 # KEYFRAME 13
0.05213020399969537
Frame 39
tensor(0.0473)
Frame 40
tensor(0.1049)
 # KEYFRAME 14
0.0520227140004863
Frame 41
tensor(0.0459)
Frame 42
tensor(0.0903)
Frame 43
tensor(0.1363)
 # KEYFRAME 15
0.052124362999165896
Frame 44
tensor(0.0406)
Frame 45
tensor(0.0830)
Frame 46
tensor(0.1374)
 # KEYFRAME 16
0.0520985430048313
Frame 47
tensor(0.0416)
Frame 48
tensor(0.0847)
Frame 49
tensor(0.1267)
 # KEYFRAME 17
0.0525493019958958
Frame 50
tensor(0.0414)
Frame 51
tensor(0.0838)
Frame 52
tensor(0.1314)
 # KEYFRAME 18
0.052291872998466715
Frame 53
tensor(0.0429)
Frame 54
tensor(0.0877)
Frame 55
tensor(0.1345)
 # KEYFRAME 19
0.052307722995465156
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 56
tensor(0.0407)
Frame 57
tensor(0.0898)
Frame 58
tensor(0.1299)
 # KEYFRAME 20
0.05224908300442621
Frame 59
tensor(0.0368)
Frame 60
tensor(0.0832)
Frame 61
tensor(0.1276)
 # KEYFRAME 21
0.05247053199855145
Frame 62
tensor(0.0366)
Frame 63
tensor(0.0850)
Frame 64
tensor(0.1187)
 # KEYFRAME 22
0.052541952005412895
Frame 65
tensor(0.0403)
Frame 66
tensor(0.0752)
Frame 67
tensor(0.1090)
 # KEYFRAME 23
0.05244662200129824
Frame 68
tensor(0.0342)
Frame 69
tensor(0.0727)
Frame 70
tensor(0.1068)
 # KEYFRAME 24
0.05235930300113978
Frame 71
tensor(0.0356)
Frame 72
tensor(0.0738)
Frame 73
tensor(0.1053)
 # KEYFRAME 25
0.05224813299719244
Frame 74
tensor(0.0317)
Frame 75
tensor(0.0662)
Frame 76
tensor(0.1043)
 # KEYFRAME 26
0.05245356299565174
Frame 77
tensor(0.0341)
Frame 78
tensor(0.0648)
Frame 79
tensor(0.0952)
Frame 80
tensor(0.1333)
 # KEYFRAME 27
0.05252164199919207
Frame 81
tensor(0.0314)
Frame 82
tensor(0.0608)
Frame 83
tensor(0.0921)
Frame 84
tensor(0.1255)
 # KEYFRAME 28
0.05280851099814754
Frame 85
tensor(0.0288)
Frame 86
tensor(0.0581)
Frame 87
tensor(0.0834)
Frame 88
tensor(0.1137)
 # KEYFRAME 29
0.060627072998613585
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 89
tensor(0.0247)
Frame 90
tensor(0.0512)
Frame 91
tensor(0.0777)
Frame 92
tensor(0.0993)
Frame 93
tensor(0.1259)
 # KEYFRAME 30
0.054846683000505436
Frame 94
tensor(0.0230)
Frame 95
tensor(0.0411)
Frame 96
tensor(0.0622)
Frame 97
tensor(0.0827)
Frame 98
tensor(0.1053)
 # KEYFRAME 31
0.05272987100033788
Frame 99
tensor(0.0174)
Frame 100
tensor(0.0369)
Frame 101
tensor(0.0528)
Frame 102
tensor(0.0684)
Frame 103
tensor(0.0866)
Frame 104
tensor(0.1014)
 # KEYFRAME 32
0.05246892199647846
Frame 105
tensor(0.0151)
Frame 106
tensor(0.0285)
Frame 107
tensor(0.0425)
Frame 108
tensor(0.0565)
Frame 109
tensor(0.0690)
Frame 110
tensor(0.0809)
Frame 111
tensor(0.0957)
Frame 112
tensor(0.1051)
 # KEYFRAME 33
0.052578041999368
Frame 113
tensor(0.0111)
Frame 114
tensor(0.0210)
Frame 115
tensor(0.0304)
Frame 116
tensor(0.0411)
Frame 117
tensor(0.0502)
Frame 118
tensor(0.0575)
Frame 119
tensor(0.0661)
Frame 120
tensor(0.0725)
Frame 121
tensor(0.0809)
Frame 122
tensor(0.0896)
Frame 123
tensor(0.0948)
Frame 124
tensor(0.1018)
 # KEYFRAME 34
0.05281581199960783
Frame 125
tensor(0.0060)
Frame 126
tensor(0.0116)
Frame 127
tensor(0.0152)
Frame 128
tensor(0.0188)
Frame 129
tensor(0.0220)
Frame 130
tensor(0.0262)
Frame 131
tensor(0.0297)
Frame 132
tensor(0.0349)
Frame 133
tensor(0.0382)
Frame 134
tensor(0.0425)
Frame 135
tensor(0.0463)
Frame 136
tensor(0.0518)
Frame 137
tensor(0.0560)
Frame 138
tensor(0.0587)
Frame 139
tensor(0.0632)
Frame 140
tensor(0.0663)
Frame 141
tensor(0.0679)
Frame 142
tensor(0.0726)
Frame 143
tensor(0.0755)
Frame 144
tensor(0.0771)
Frame 145
tensor(0.0807)
Frame 146
tensor(0.0802)
Frame 147
tensor(0.0846)
Frame 148
tensor(0.0897)
Frame 149
tensor(0.0914)
Frame 150
tensor(0.0954)
Frame 151
tensor(0.0957)
Frame 152
tensor(0.0963)
Frame 153
tensor(0.0997)
Frame 154
tensor(0.1010)
 # KEYFRAME 35
0.05339301899948623
Frame 155
tensor(0.0015)
Frame 156
tensor(0.0043)
Frame 157
tensor(0.0060)
Frame 158
tensor(0.0075)
Frame 159
tensor(0.0088)
Frame 160
tensor(0.0108)
Frame 161
tensor(0.0116)
Frame 162
tensor(0.0117)
Frame 163
tensor(0.0130)
Frame 164
tensor(0.0131)
Frame 165
tensor(0.0131)
Frame 166
tensor(0.0141)
Frame 167
tensor(0.0142)
Frame 168
tensor(0.0137)
Frame 169
tensor(0.0143)
Frame 170
tensor(0.0137)
Frame 171
tensor(0.0137)
Frame 172
tensor(0.0132)
Frame 173
tensor(0.0139)
Frame 174
tensor(0.0137)
Frame 175
tensor(0.0137)
Frame 176
tensor(0.0128)
Frame 177
tensor(0.0128)
Frame 178
tensor(0.0126)
Frame 179
tensor(0.0128)
Frame 180
tensor(0.0137)
Frame 181
tensor(0.0127)
Frame 182
tensor(0.0141)
Frame 183
tensor(0.0145)
Frame 184
tensor(0.0144)
Frame 185
tensor(0.0143)
Frame 186
tensor(0.0141)
Frame 187
tensor(0.0146)
Frame 188
tensor(0.0145)
Frame 189
tensor(0.0145)
Frame 190
tensor(0.0147)
Frame 191
tensor(0.0157)
Frame 192
tensor(0.0157)
Frame 193
tensor(0.0149)
Frame 194
tensor(0.0161)
Frame 195
tensor(0.0156)
Frame 196
tensor(0.0163)
Frame 197
tensor(0.0150)
Frame 198
tensor(0.0160)
Frame 199
tensor(0.0160)
Frame 200
tensor(0.0166)
Frame 201
tensor(0.0165)
Frame 202
tensor(0.0160)
Frame 203
tensor(0.0154)
Frame 204
tensor(0.0163)
Frame 205
tensor(0.0166)
Frame 206
tensor(0.0160)
Frame 207
tensor(0.0157)
Frame 208
tensor(0.0156)
Frame 209
tensor(0.0153)
Frame 210
tensor(0.0155)
Frame 211
tensor(0.0152)
Frame 212
tensor(0.0154)
Frame 213
tensor(0.0145)
Frame 214
tensor(0.0146)
Frame 215
tensor(0.0140)
Frame 216
tensor(0.0142)
Frame 217
tensor(0.0130)
Frame 218
tensor(0.0124)
Frame 219
tensor(0.0129)
Frame 220
tensor(0.0129)
Frame 221
tensor(0.0132)
Frame 222
tensor(0.0131)
Frame 223
tensor(0.0134)
Frame 224
tensor(0.0133)
Frame 225
tensor(0.0135)
Frame 226
tensor(0.0142)
Frame 227
tensor(0.0139)
Frame 228
tensor(0.0142)
Frame 229
tensor(0.0143)
Frame 230
tensor(0.0143)
Frame 231
tensor(0.0145)
Frame 232
tensor(0.0141)
Backending... 36 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 14832, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2215 loss_distill=0.1733 tta_take=0.004s
[epoch 0 scene 334/556] vkitti/Scene02/morning/Camera_1 frames=233 tta_steps_this_scene=1 mean_loss=0.1733 total_steps=2215 time=43.2s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0694)
Frame 2
tensor(0.1855)
 # KEYFRAME 1
Frame 3
tensor(0.1554)
 # KEYFRAME 2
0.051485174997651484
Frame 4
tensor(0.1451)
 # KEYFRAME 3
0.052946060997783206
Frame 5
tensor(0.1602)
 # KEYFRAME 4
0.05378931800078135
Frame 6
tensor(0.1174)
 # KEYFRAME 5
0.05488801399769727
Frame 7
tensor(0.2143)
 # KEYFRAME 6
0.05633490800391883
Frame 8
tensor(0.0944)
Frame 9
tensor(0.1172)
 # KEYFRAME 7
0.05728410500159953
Frame 10
tensor(0.0922)
Frame 11
tensor(0.1740)
 # KEYFRAME 8
0.0583952209999552
Frame 12
tensor(0.1340)
 # KEYFRAME 9
0.0584926310039009
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 13
tensor(0.1239)
 # KEYFRAME 10
0.05209404299966991
Frame 14
tensor(0.0477)
Frame 15
tensor(0.2826)
 # KEYFRAME 11
0.05367459799890639
Frame 16
tensor(0.1314)
 # KEYFRAME 12
0.054347694996977225
Frame 17
tensor(0.1933)
 # KEYFRAME 13
0.056469748000381514
Frame 18
tensor(0.0758)
Frame 19
tensor(0.1725)
 # KEYFRAME 14
0.05716945500171278
Frame 20
tensor(0.1842)
 # KEYFRAME 15
0.057907782997062895
Frame 21
tensor(0.1594)
 # KEYFRAME 16
0.058390591002535075
Frame 22
tensor(0.2203)
 # KEYFRAME 17
0.05992621600307757
Frame 23
tensor(0.0800)
Frame 24
tensor(0.1972)
 # KEYFRAME 18
0.06101445200329181
Frame 25
tensor(0.1108)
 # KEYFRAME 19
0.06249040600232547
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 26
tensor(0.0809)
Frame 27
tensor(0.1513)
 # KEYFRAME 20
0.058964649004337844
Frame 28
tensor(0.2467)
 # KEYFRAME 21
0.06019625499902759
Frame 29
tensor(0.2064)
 # KEYFRAME 22
0.06083246199705172
Frame 30
tensor(0.2066)
 # KEYFRAME 23
0.06145719000051031
Frame 31
tensor(0.1509)
 # KEYFRAME 24
0.0625259059961536
Frame 32
tensor(0.5786)
 # KEYFRAME 25
0.06362372299918206
Frame 33
tensor(0.2594)
 # KEYFRAME 26
0.06498925800406141
Frame 34
tensor(0.1182)
 # KEYFRAME 27
0.06614942400483415
Frame 35
tensor(0.1058)
 # KEYFRAME 28
0.06687485099973856
Frame 36
tensor(0.4356)
 # KEYFRAME 29
0.06806728599622147
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 37
tensor(0.2350)
 # KEYFRAME 30
0.06593288400472375
Frame 38
tensor(0.1905)
 # KEYFRAME 31
0.06766234799579252
Frame 39
tensor(0.1850)
 # KEYFRAME 32
0.0688587640033802
Frame 40
tensor(0.1374)
 # KEYFRAME 33
0.07062797799881082
Frame 41
tensor(0.1312)
 # KEYFRAME 34
0.0717366340031731
Frame 42
tensor(0.1454)
 # KEYFRAME 35
0.07285916899854783
Frame 43
tensor(0.1252)
 # KEYFRAME 36
0.07451721300458303
Frame 44
tensor(0.1781)
 # KEYFRAME 37
0.07541710099758347
Frame 45
tensor(0.0708)
Frame 46
tensor(0.2966)
 # KEYFRAME 38
0.07565731900103856
Frame 47
tensor(0.2019)
 # KEYFRAME 39
0.07708919399738079
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2216 loss_distill=0.1733 tta_take=0.009s
Frame 48
tensor(0.0842)
Frame 49
tensor(0.2501)
 # KEYFRAME 40
0.07243069099786226
Frame 50
tensor(0.1430)
 # KEYFRAME 41
0.0748091720015509
Frame 51
tensor(0.2458)
 # KEYFRAME 42
0.07454393300577067
Frame 52
tensor(0.0912)
Frame 53
tensor(0.2787)
 # KEYFRAME 43
0.07474695299606537
Frame 54
tensor(0.2198)
 # KEYFRAME 44
0.07594809799775248
Frame 55
tensor(0.3155)
 # KEYFRAME 45
0.07709758399869315
Frame 56
tensor(0.2272)
 # KEYFRAME 46
0.07689866500004428
Frame 57
tensor(0.3225)
 # KEYFRAME 47
0.0783783000006224
Frame 58
tensor(0.2648)
 # KEYFRAME 48
0.07932591599819716
Frame 59
tensor(0.3775)
 # KEYFRAME 49
0.07903396799520124
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=2217 loss_distill=0.2747 tta_take=0.009s
Frame 60
tensor(0.2785)
 # KEYFRAME 50
0.07906627700140234
Frame 61
tensor(0.1036)
 # KEYFRAME 51
0.08200227700581308
Frame 62
tensor(0.0979)
Frame 63
tensor(0.1408)
 # KEYFRAME 52
0.08164711800054647
Frame 64
tensor(0.1965)
 # KEYFRAME 53
0.08337666200532112
Frame 65
tensor(0.2268)
 # KEYFRAME 54
0.08462611799768638
Frame 66
tensor(0.1831)
 # KEYFRAME 55
0.08529807499871822
Frame 67
tensor(0.0955)
Frame 68
tensor(0.4273)
 # KEYFRAME 56
0.08559067400346976
Frame 69
tensor(0.2749)
 # KEYFRAME 57
0.08673790000466397
Frame 70
tensor(0.3599)
 # KEYFRAME 58
0.08669121000275481
Frame 71
tensor(0.3543)
 # KEYFRAME 59
0.08765507699718
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=2218 loss_distill=0.3466 tta_take=0.009s
Frame 72
tensor(0.5803)
 # KEYFRAME 60
0.08655787000316195
Frame 73
tensor(0.1720)
 # KEYFRAME 61
0.08899791199655738
Frame 74
tensor(0.2240)
 # KEYFRAME 62
0.08818496500316542
Frame 75
tensor(0.1460)
 # KEYFRAME 63
0.08945317000325304
Frame 76
tensor(0.3688)
 # KEYFRAME 64
0.09002460799820255
Frame 77
tensor(0.3558)
 # KEYFRAME 65
0.09042851599951973
Frame 78
tensor(0.4468)
 # KEYFRAME 66
0.0918072009953903
Frame 79
tensor(0.2813)
 # KEYFRAME 67
0.09200461099680979
Frame 80
tensor(0.1371)
 # KEYFRAME 68
0.09350936599366833
Frame 81
tensor(0.2788)
 # KEYFRAME 69
0.09325227700173855
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2219 loss_distill=0.4024 tta_take=0.009s
Frame 82
tensor(0.2451)
 # KEYFRAME 70
0.09303877700585872
Frame 83
tensor(0.3491)
 # KEYFRAME 71
0.09652662499865983
Frame 84
tensor(0.2117)
 # KEYFRAME 72
0.09523584999988088
Frame 85
tensor(0.3295)
 # KEYFRAME 73
0.09636568499990972
Frame 86
tensor(0.1748)
 # KEYFRAME 74
0.0975685710000107
Backending... 75 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 67665, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2220 loss_distill=0.4024 tta_take=0.005s
[epoch 0 scene 335/556] scannetpp/1f7cbbdde1/frame frames=87 tta_steps_this_scene=5 mean_loss=0.3198 total_steps=2220 time=30.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0178)
Frame 2
tensor(0.0438)
Frame 3
tensor(0.0802)
Frame 4
tensor(0.1219)
 # KEYFRAME 1
Frame 5
tensor(0.1252)
 # KEYFRAME 2
0.05165255499741761
Frame 6
tensor(0.1218)
 # KEYFRAME 3
0.052884480995999184
Frame 7
tensor(0.1223)
 # KEYFRAME 4
0.05380714700004319
Frame 8
tensor(0.1798)
 # KEYFRAME 5
0.05507372300053248
Frame 9
tensor(0.1808)
 # KEYFRAME 6
0.0564564779997454
Frame 10
tensor(0.1782)
 # KEYFRAME 7
0.05736528499983251
Frame 11
tensor(0.3049)
 # KEYFRAME 8
0.05828916099562775
Frame 12
tensor(0.2193)
 # KEYFRAME 9
0.058473380995565094
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 13
tensor(0.0975)
Frame 14
tensor(0.1713)
 # KEYFRAME 10
0.051968214000226
Frame 15
tensor(0.0839)
Frame 16
tensor(0.1955)
 # KEYFRAME 11
0.05334094899444608
Frame 17
tensor(0.1994)
 # KEYFRAME 12
0.054174215998500586
Frame 18
tensor(0.1662)
 # KEYFRAME 13
0.05641437799931737
Frame 19
tensor(0.0724)
Frame 20
tensor(0.1465)
 # KEYFRAME 14
0.057193225002265535
Frame 21
tensor(0.0824)
Frame 22
tensor(0.0349)
Frame 23
tensor(0.0736)
Frame 24
tensor(0.1958)
 # KEYFRAME 15
0.058325611003965605
Frame 25
tensor(0.2613)
 # KEYFRAME 16
0.05862857100146357
Frame 26
tensor(0.3463)
 # KEYFRAME 17
0.05998420499963686
Frame 27
tensor(0.2729)
 # KEYFRAME 18
0.06109529099921929
Frame 28
tensor(0.2902)
 # KEYFRAME 19
0.06288690500514349
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 29
tensor(0.1973)
 # KEYFRAME 20
0.05898765900201397
Frame 30
tensor(0.1310)
 # KEYFRAME 21
0.06037852400186239
Frame 31
tensor(0.2924)
 # KEYFRAME 22
0.06113197100057732
Frame 32
tensor(0.1491)
 # KEYFRAME 23
0.0616133700023056
Frame 33
tensor(0.4214)
 # KEYFRAME 24
0.06256186599784996
Frame 34
tensor(0.2042)
 # KEYFRAME 25
0.0631301440007519
Frame 35
tensor(0.0687)
Frame 36
tensor(0.1042)
 # KEYFRAME 26
0.06509429700236069
Frame 37
tensor(0.1199)
 # KEYFRAME 27
0.06639125299989246
Frame 38
tensor(0.0991)
Frame 39
tensor(0.1245)
 # KEYFRAME 28
0.06718992000241997
Frame 40
tensor(0.2480)
 # KEYFRAME 29
0.06836917599866865
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 41
tensor(0.0782)
Frame 42
tensor(0.2764)
 # KEYFRAME 30
0.06613325299986172
Frame 43
tensor(0.1419)
 # KEYFRAME 31
0.06812040599470492
Frame 44
tensor(0.0918)
Frame 45
tensor(0.1536)
 # KEYFRAME 32
0.06933013199886773
Frame 46
tensor(0.2078)
 # KEYFRAME 33
0.07059542799834162
Frame 47
tensor(0.1530)
 # KEYFRAME 34
0.07154153400188079
Frame 48
tensor(0.1385)
 # KEYFRAME 35
0.0729510390010546
Frame 49
tensor(0.2375)
 # KEYFRAME 36
0.07426106400089338
Frame 50
tensor(0.1939)
 # KEYFRAME 37
0.07526798100298038
Frame 51
tensor(0.2329)
 # KEYFRAME 38
0.07539152999379439
Frame 52
tensor(0.2745)
 # KEYFRAME 39
0.0766217560012592
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2221 loss_distill=0.1733 tta_take=0.009s
Frame 53
tensor(0.5367)
 # KEYFRAME 40
0.07245580100425286
Frame 54
tensor(0.2857)
 # KEYFRAME 41
0.07402739600365749
Frame 55
tensor(0.1847)
 # KEYFRAME 42
0.07397862600191729
Frame 56
tensor(0.1760)
 # KEYFRAME 43
0.07482581200019922
Frame 57
tensor(0.2670)
 # KEYFRAME 44
0.07572900900413515
Frame 58
tensor(0.3020)
 # KEYFRAME 45
0.0778389219995006
Frame 59
tensor(0.2042)
 # KEYFRAME 46
0.07712158399954205
Frame 60
tensor(0.2049)
 # KEYFRAME 47
0.07769139199808706
Frame 61
tensor(0.2453)
 # KEYFRAME 48
0.0792193759989459
Frame 62
tensor(0.2057)
 # KEYFRAME 49
0.07991942399530672
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=2222 loss_distill=0.2747 tta_take=0.009s
Frame 63
tensor(0.1513)
 # KEYFRAME 50
0.07905973699962487
Frame 64
tensor(0.1360)
 # KEYFRAME 51
0.08221312599926023
Frame 65
tensor(0.2092)
 # KEYFRAME 52
0.08162479799648281
Frame 66
tensor(0.1574)
 # KEYFRAME 53
0.0834103419983876
Frame 67
tensor(0.2587)
 # KEYFRAME 54
0.08442814799491316
Frame 68
tensor(0.1663)
 # KEYFRAME 55
0.08552063399838516
Frame 69
tensor(0.2322)
 # KEYFRAME 56
0.08507931599888252
Frame 70
tensor(0.2539)
 # KEYFRAME 57
0.08654038100212347
Frame 71
tensor(0.1768)
 # KEYFRAME 58
0.08757338699797401
Frame 72
tensor(0.0601)
Frame 73
tensor(0.2934)
 # KEYFRAME 59
0.08848683399992296
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=2223 loss_distill=0.3466 tta_take=0.009s
Frame 74
tensor(0.1746)
 # KEYFRAME 60
0.0864266900025541
Frame 75
tensor(0.1072)
 # KEYFRAME 61
0.08892598200327484
Frame 76
tensor(0.2762)
 # KEYFRAME 62
0.0878738359970157
Frame 77
tensor(0.1560)
 # KEYFRAME 63
0.08925938099855557
Frame 78
tensor(0.2541)
 # KEYFRAME 64
0.09004424800514244
Frame 79
tensor(0.1656)
 # KEYFRAME 65
0.09075910499814199
Frame 80
tensor(0.2144)
 # KEYFRAME 66
0.09130929399543675
Frame 81
tensor(0.0771)
Frame 82
tensor(0.1758)
 # KEYFRAME 67
0.09229617999517359
Frame 83
tensor(0.1113)
 # KEYFRAME 68
0.09268268899904797
Frame 84
tensor(0.1225)
 # KEYFRAME 69
0.09383180499571608
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=2224 loss_distill=0.4024 tta_take=0.009s
Frame 85
tensor(0.1014)
 # KEYFRAME 70
0.09296466800151393
Frame 86
tensor(0.1184)
 # KEYFRAME 71
0.0958457870001439
Frame 87
tensor(0.1080)
 # KEYFRAME 72
0.09528131899423897
Frame 88
tensor(0.4528)
 # KEYFRAME 73
0.09612413700233446
Frame 89
tensor(0.1124)
 # KEYFRAME 74
0.09688146400003461
Frame 90
tensor(0.0305)
Frame 91
tensor(0.0966)
Frame 92
tensor(0.1432)
 # KEYFRAME 75
0.0982472979958402
Frame 93
tensor(0.1021)
 # KEYFRAME 76
0.09954469399963273
Frame 94
tensor(0.1457)
 # KEYFRAME 77
0.10000803300499683
Frame 95
tensor(0.0587)
Frame 96
tensor(0.0875)
Frame 97
tensor(0.1684)
 # KEYFRAME 78
0.10118200800206978
Frame 98
tensor(0.0910)
Frame 99
tensor(0.1711)
 # KEYFRAME 79
0.10198994600068545
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2225 loss_distill=0.4024 tta_take=0.009s
Frame 100
tensor(0.0360)
Frame 101
tensor(0.1492)
 # KEYFRAME 80
0.09331513600045582
Frame 102
tensor(0.2184)
 # KEYFRAME 81
0.09601912700600224
Frame 103
tensor(0.0552)
Frame 104
tensor(0.1543)
 # KEYFRAME 82
0.09552952899684897
Frame 105
tensor(0.0961)
Frame 106
tensor(0.1709)
 # KEYFRAME 83
0.09537102899776073
Frame 107
tensor(0.0550)
Frame 108
tensor(0.1377)
 # KEYFRAME 84
0.09710708200145746
Frame 109
tensor(0.0772)
Frame 110
tensor(0.2607)
 # KEYFRAME 85
0.09798592000151984
Frame 111
tensor(0.2274)
 # KEYFRAME 86
0.09858917700330494
Frame 112
tensor(0.2632)
 # KEYFRAME 87
0.09902533600688912
Frame 113
tensor(0.6655)
 # KEYFRAME 88
0.09963530399545562
Frame 114
tensor(0.0575)
Frame 115
tensor(0.0898)
Frame 116
tensor(0.1349)
 # KEYFRAME 89
0.10163510699931066
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2226 loss_distill=0.4024 tta_take=0.009s
Frame 117
tensor(0.3566)
 # KEYFRAME 90
0.09281136799836531
Frame 118
tensor(0.2221)
 # KEYFRAME 91
0.09582491799665149
Frame 119
tensor(0.1420)
 # KEYFRAME 92
0.09515943999576848
Frame 120
tensor(0.1444)
 # KEYFRAME 93
0.0958762470036163
Frame 121
tensor(0.1871)
 # KEYFRAME 94
0.09725433199491818
Frame 122
tensor(0.1704)
 # KEYFRAME 95
0.09804301999974996
Frame 123
tensor(0.3247)
 # KEYFRAME 96
0.09939622499950929
Frame 124
tensor(0.2660)
 # KEYFRAME 97
0.09926527499919757
Frame 125
tensor(0.1981)
 # KEYFRAME 98
0.10060093000356574
Frame 126
tensor(0.1415)
 # KEYFRAME 99
0.10126401799789164
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2227 loss_distill=0.4024 tta_take=0.009s
Frame 127
tensor(0.1835)
 # KEYFRAME 100
0.09273680899786996
Frame 128
tensor(0.2648)
 # KEYFRAME 101
0.09584609699959401
Frame 129
tensor(0.1906)
 # KEYFRAME 102
0.0954850889975205
Frame 130
tensor(0.0300)
Backending... 103 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65583, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2228 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 336/556] scannetpp/a29cccc784/frame frames=131 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=2228 time=41.5s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0521)
Frame 2
tensor(0.1956)
 # KEYFRAME 1
Frame 3
tensor(0.0759)
Frame 4
tensor(0.1518)
 # KEYFRAME 2
0.05164290500397328
Frame 5
tensor(0.1162)
 # KEYFRAME 3
0.05216760400071507
Frame 6
tensor(0.0747)
Frame 7
tensor(0.1638)
 # KEYFRAME 4
0.05346073900000192
Frame 8
tensor(0.1821)
 # KEYFRAME 5
0.0545796349979355
Frame 9
tensor(0.1256)
 # KEYFRAME 6
0.055280203006986994
Frame 10
tensor(0.0864)
Frame 11
tensor(0.1840)
 # KEYFRAME 7
0.0562391689963988
Frame 12
tensor(0.2032)
 # KEYFRAME 8
0.05658769699948607
Frame 13
tensor(0.1564)
 # KEYFRAME 9
0.05752992500492837
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 14
tensor(0.1916)
 # KEYFRAME 10
0.051452336003421806
Frame 15
tensor(0.1309)
 # KEYFRAME 11
0.05157619600504404
Frame 16
tensor(0.0808)
Frame 17
tensor(0.1770)
 # KEYFRAME 12
0.05195460400136653
Frame 18
tensor(0.0750)
Frame 19
tensor(0.2973)
 # KEYFRAME 13
0.0535653680053656
Frame 20
tensor(0.2767)
 # KEYFRAME 14
0.05393596700014314
Frame 21
tensor(0.1645)
 # KEYFRAME 15
0.05447452500084182
Frame 22
tensor(0.1312)
 # KEYFRAME 16
0.054730464005842805
Frame 23
tensor(0.1334)
 # KEYFRAME 17
0.05522338199807564
Frame 24
tensor(0.0491)
Frame 25
tensor(0.1055)
 # KEYFRAME 18
0.055799180998292286
Frame 26
tensor(0.1702)
 # KEYFRAME 19
0.05756234399450477
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 27
tensor(0.0606)
Frame 28
tensor(0.0992)
Frame 29
tensor(0.2306)
 # KEYFRAME 20
0.053833277997910045
Frame 30
tensor(0.1449)
 # KEYFRAME 21
0.05478763399878517
Frame 31
tensor(0.1272)
 # KEYFRAME 22
0.055496032000519335
Frame 32
tensor(0.2013)
 # KEYFRAME 23
0.05609672999707982
Frame 33
tensor(0.1448)
 # KEYFRAME 24
0.05650180800148519
Frame 34
tensor(0.1190)
 # KEYFRAME 25
0.05726469499495579
Frame 35
tensor(0.0597)
Frame 36
tensor(0.1135)
 # KEYFRAME 26
0.05821105199720478
Frame 37
tensor(0.0796)
Frame 38
tensor(0.2253)
 # KEYFRAME 27
0.05925418799597537
Frame 39
tensor(0.0405)
Frame 40
tensor(0.1062)
 # KEYFRAME 28
0.0596413970051799
Frame 41
tensor(0.1595)
 # KEYFRAME 29
0.06007974500244018
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27900, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 42
tensor(0.0492)
Frame 43
tensor(0.0822)
Frame 44
tensor(0.1323)
 # KEYFRAME 30
0.05839116100105457
Frame 45
tensor(0.0620)
Frame 46
tensor(0.1129)
 # KEYFRAME 31
0.05925198800105136
Frame 47
tensor(0.1186)
 # KEYFRAME 32
0.059239968002657406
Frame 48
tensor(0.0696)
Frame 49
tensor(0.1321)
 # KEYFRAME 33
0.06003648500336567
Frame 50
tensor(0.4292)
 # KEYFRAME 34
0.060854822004330344
Frame 51
tensor(0.0656)
Frame 52
tensor(0.1107)
 # KEYFRAME 35
0.06106622100196546
Frame 53
tensor(0.1244)
 # KEYFRAME 36
0.06146681000245735
Frame 54
tensor(0.1192)
 # KEYFRAME 37
0.06224728700181004
Frame 55
tensor(0.1105)
 # KEYFRAME 38
0.06342582299839705
Frame 56
tensor(0.0562)
Frame 57
tensor(0.1422)
 # KEYFRAME 39
0.06424267999682343
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 37200, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2229 loss_distill=0.1733 tta_take=0.008s
Frame 58
tensor(0.0886)
Frame 59
tensor(0.2271)
 # KEYFRAME 40
0.06278343500162009
Frame 60
tensor(0.0245)
Frame 61
tensor(0.1848)
 # KEYFRAME 41
0.06408767100219848
Frame 62
tensor(0.2908)
 # KEYFRAME 42
0.06438632999925176
Frame 63
tensor(0.0200)
Frame 64
tensor(0.0928)
Frame 65
tensor(0.2833)
 # KEYFRAME 43
0.06448166899645003
Frame 66
tensor(0.0698)
Frame 67
tensor(0.0404)
Frame 68
tensor(0.3503)
 # KEYFRAME 44
0.0666895519971149
Frame 69
tensor(0.0933)
Frame 70
tensor(0.1631)
 # KEYFRAME 45
0.06747776900010649
Frame 71
tensor(0.2159)
 # KEYFRAME 46
0.06847172500420129
Frame 72
tensor(0.0886)
Frame 73
tensor(0.1536)
 # KEYFRAME 47
0.06843420500081265
Frame 74
tensor(0.1570)
 # KEYFRAME 48
0.06880705399817089
Frame 75
tensor(0.1172)
 # KEYFRAME 49
0.06935732200508937
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 46500, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.27465304732322693
TTA-STEP: step=2230 loss_distill=0.2747 tta_take=0.008s
Frame 76
tensor(0.0493)
Frame 77
tensor(0.1705)
 # KEYFRAME 50
0.06735437000315869
Frame 78
tensor(0.0564)
Frame 79
tensor(0.0760)
Frame 80
tensor(0.1549)
 # KEYFRAME 51
0.06861086499702651
Frame 81
tensor(0.1134)
 # KEYFRAME 52
0.06857835499977227
Frame 82
tensor(0.2304)
 # KEYFRAME 53
0.06927602300129365
Frame 83
tensor(0.0747)
Frame 84
tensor(0.0686)
Frame 85
tensor(0.1627)
 # KEYFRAME 54
0.0691476430001785
Frame 86
tensor(0.0708)
Frame 87
tensor(0.0427)
Frame 88
tensor(0.1266)
 # KEYFRAME 55
0.07010661900130799
Frame 89
tensor(0.0723)
Frame 90
tensor(0.0901)
Frame 91
tensor(0.2185)
 # KEYFRAME 56
0.07086947599600535
Frame 92
tensor(0.0959)
Frame 93
tensor(0.1238)
 # KEYFRAME 57
0.07080763699923409
Frame 94
tensor(0.1763)
 # KEYFRAME 58
0.0709378360043047
Frame 95
tensor(0.0892)
Frame 96
tensor(0.2026)
 # KEYFRAME 59
0.07159973400121089
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 55800, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=2231 loss_distill=0.3466 tta_take=0.008s
Frame 97
tensor(0.0836)
Frame 98
tensor(0.1118)
 # KEYFRAME 60
0.07142883400229039
Frame 99
tensor(0.0564)
Frame 100
tensor(0.2399)
 # KEYFRAME 61
0.0732357380038593
Frame 101
tensor(0.0756)
Frame 102
tensor(0.1386)
 # KEYFRAME 62
0.07233965100022033
Frame 103
tensor(0.3397)
 # KEYFRAME 63
0.07314614899951266
Frame 104
tensor(0.1592)
 # KEYFRAME 64
0.07399263600382255
Frame 105
tensor(0.0394)
Frame 106
tensor(0.1844)
 # KEYFRAME 65
0.07386601599864662
Frame 107
tensor(0.1170)
 # KEYFRAME 66
0.07501041200157488
Frame 108
tensor(0.0834)
Frame 109
tensor(0.2854)
 # KEYFRAME 67
0.07564779899985297
Frame 110
tensor(0.0365)
Frame 111
tensor(0.0484)
Frame 112
tensor(0.2153)
 # KEYFRAME 68
0.07673765599611215
Frame 113
tensor(0.0764)
Frame 114
tensor(0.1511)
 # KEYFRAME 69
0.07708011399518
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2232 loss_distill=0.4024 tta_take=0.008s
Frame 115
tensor(0.1304)
 # KEYFRAME 70
0.07629367700428702
Frame 116
tensor(0.0490)
Frame 117
tensor(0.1000)
Frame 118
tensor(0.1548)
 # KEYFRAME 71
0.07777844200609252
Frame 119
tensor(0.0278)
Frame 120
tensor(0.0828)
Frame 121
tensor(0.1799)
 # KEYFRAME 72
0.07704799500061199
Frame 122
tensor(0.0771)
Frame 123
tensor(0.1127)
 # KEYFRAME 73
0.07735813299950678
Frame 124
tensor(0.0956)
Frame 125
tensor(0.1571)
 # KEYFRAME 74
0.07825687999866204
Frame 126
tensor(0.0673)
Frame 127
tensor(0.1731)
 # KEYFRAME 75
0.07864289899589494
Frame 128
tensor(0.0462)
Frame 129
tensor(0.1054)
 # KEYFRAME 76
0.0788231180049479
Frame 130
tensor(0.1526)
 # KEYFRAME 77
0.07948260600096546
Frame 131
tensor(0.0894)
Frame 132
tensor(0.1650)
 # KEYFRAME 78
0.0804612720021396
Frame 133
tensor(0.1668)
 # KEYFRAME 79
0.08078820100490702
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 65100, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2233 loss_distill=0.4024 tta_take=0.009s
Frame 134
tensor(0.0698)
Frame 135
tensor(0.0825)
Frame 136
tensor(0.0471)
Frame 137
tensor(0.0858)
Frame 138
tensor(0.0993)
Frame 139
tensor(0.1331)
 # KEYFRAME 80
0.07574736899550771
Frame 140
tensor(0.0451)
Frame 141
tensor(0.0790)
Frame 142
tensor(0.0710)
Frame 143
tensor(0.1204)
 # KEYFRAME 81
0.076574596001592
Frame 144
tensor(0.0530)
Frame 145
tensor(0.1749)
 # KEYFRAME 82
0.0770774850025191
Frame 146
tensor(0.0402)
Frame 147
tensor(0.1025)
 # KEYFRAME 83
0.07838328900106717
Frame 148
tensor(0.2047)
 # KEYFRAME 84
0.07910147700022208
Frame 149
tensor(0.6170)
 # KEYFRAME 85
0.0798926140050753
Backending... 86 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 61380, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2234 loss_distill=0.4024 tta_take=0.006s
[epoch 0 scene 337/556] scannetpp/66c98f4a9b/DSC frames=150 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=2234 time=36.7s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0553)
Frame 2
tensor(0.0951)
Frame 3
tensor(0.1299)
 # KEYFRAME 1
Frame 4
tensor(0.0373)
Frame 5
tensor(0.0825)
Frame 6
tensor(0.1548)
 # KEYFRAME 2
0.05128951700316975
Frame 7
tensor(0.4914)
 # KEYFRAME 3
0.05269134099944495
Frame 8
tensor(0.0902)
Frame 9
tensor(0.2633)
 # KEYFRAME 4
0.05474631399556529
Frame 10
tensor(0.4065)
 # KEYFRAME 5
0.05527408300258685
Frame 11
tensor(0.0594)
Frame 12
tensor(0.1268)
 # KEYFRAME 6
0.05644694899820024
Frame 13
tensor(0.4484)
 # KEYFRAME 7
0.05692367599840509
Frame 14
tensor(0.0716)
Frame 15
tensor(0.2164)
 # KEYFRAME 8
0.05796943200402893
Frame 16
tensor(0.2141)
 # KEYFRAME 9
0.05844276100106072
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 17
tensor(0.2639)
 # KEYFRAME 10
0.05207474399503553
Frame 18
tensor(0.4181)
 # KEYFRAME 11
0.053497599001275375
Frame 19
tensor(0.1504)
 # KEYFRAME 12
0.05406255600246368
Frame 20
tensor(0.1437)
 # KEYFRAME 13
0.05640383799618576
Frame 21
tensor(0.0600)
Frame 22
tensor(0.0840)
Frame 23
tensor(0.0931)
Frame 24
tensor(0.2878)
 # KEYFRAME 14
0.05765556400001515
Frame 25
tensor(0.1164)
 # KEYFRAME 15
0.05851798099320149
Frame 26
tensor(0.1239)
 # KEYFRAME 16
0.058684449999418575
Frame 27
tensor(0.0348)
Frame 28
tensor(0.0977)
Frame 29
tensor(0.1534)
 # KEYFRAME 17
0.05991898600041168
Frame 30
tensor(0.1142)
 # KEYFRAME 18
0.061098482001398224
Frame 31
tensor(0.1165)
 # KEYFRAME 19
0.06236508699657861
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.0368)
Frame 33
tensor(0.1402)
 # KEYFRAME 20
0.059107498003868386
Frame 34
tensor(0.2210)
 # KEYFRAME 21
0.06054655399930198
Frame 35
tensor(0.1006)
 # KEYFRAME 22
0.061365551002381835
Frame 36
tensor(0.0215)
Frame 37
tensor(0.0541)
Frame 38
tensor(0.2196)
 # KEYFRAME 23
0.062140257003193256
Frame 39
tensor(0.0639)
Frame 40
tensor(0.1740)
 # KEYFRAME 24
0.0629545350020635
Frame 41
tensor(0.0511)
Frame 42
tensor(0.0741)
Frame 43
tensor(0.1433)
 # KEYFRAME 25
0.0636020319943782
Frame 44
tensor(0.0576)
Frame 45
tensor(0.0443)
Frame 46
tensor(0.1183)
 # KEYFRAME 26
0.0658366850038874
Frame 47
tensor(0.1057)
 # KEYFRAME 27
0.06662750199757284
Frame 48
tensor(0.1001)
 # KEYFRAME 28
0.06750807900243672
Frame 49
tensor(0.0677)
Frame 50
tensor(0.1857)
 # KEYFRAME 29
0.06827377599984175
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 51
tensor(0.0801)
Frame 52
tensor(0.2422)
 # KEYFRAME 30
0.06600727399927564
Frame 53
tensor(0.0673)
Frame 54
tensor(0.1041)
 # KEYFRAME 31
0.06826533599814866
Frame 55
tensor(0.0484)
Frame 56
tensor(0.1623)
 # KEYFRAME 32
0.06848976499895798
Frame 57
tensor(0.1704)
 # KEYFRAME 33
0.06921614299790235
Frame 58
tensor(0.0732)
Frame 59
tensor(0.3106)
 # KEYFRAME 34
0.06959420200291788
Frame 60
tensor(0.1290)
 # KEYFRAME 35
0.07077709700388368
Frame 61
tensor(0.0649)
Frame 62
tensor(0.1509)
 # KEYFRAME 36
0.07182938299956731
Frame 63
tensor(0.0539)
Frame 64
tensor(0.1673)
 # KEYFRAME 37
0.07239566100179218
Frame 65
tensor(0.1549)
 # KEYFRAME 38
0.07342427800176665
Frame 66
tensor(0.0544)
Frame 67
tensor(0.1419)
 # KEYFRAME 39
0.0740493850025814
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2235 loss_distill=0.1733 tta_take=0.009s
Frame 68
tensor(0.1062)
 # KEYFRAME 40
0.07247923100658227
Frame 69
tensor(0.0764)
Frame 70
tensor(0.1425)
 # KEYFRAME 41
0.07486401200003456
Frame 71
tensor(0.1343)
 # KEYFRAME 42
0.07490678199974354
Frame 72
tensor(0.3573)
 # KEYFRAME 43
0.07516667099844199
Frame 73
tensor(0.1893)
 # KEYFRAME 44
0.0764029970014235
Frame 74
tensor(0.2418)
 # KEYFRAME 45
0.07636961700336542
Frame 75
tensor(0.2724)
 # KEYFRAME 46
0.07741498300310923
Frame 76
tensor(0.0575)
Frame 77
tensor(0.1053)
 # KEYFRAME 47
0.07806436099781422
Frame 78
tensor(0.5486)
 # KEYFRAME 48
0.07938139600446448
Frame 79
tensor(0.0588)
Frame 80
tensor(0.0963)
Frame 81
tensor(0.3812)
 # KEYFRAME 49
0.08070329199836124
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=2236 loss_distill=0.2747 tta_take=0.009s
Frame 82
tensor(0.0783)
Frame 83
tensor(0.1247)
 # KEYFRAME 50
0.07962832499470096
Frame 84
tensor(0.0539)
Frame 85
tensor(0.2627)
 # KEYFRAME 51
0.08112220999464625
Frame 86
tensor(0.0785)
Frame 87
tensor(0.1173)
 # KEYFRAME 52
0.08196762599982321
Frame 88
tensor(0.1626)
 # KEYFRAME 53
0.08212907700362848
Frame 89
tensor(0.1819)
 # KEYFRAME 54
0.08409657899755985
Frame 90
tensor(0.1440)
 # KEYFRAME 55
0.08383640000101877
Frame 91
tensor(0.0792)
Frame 92
tensor(0.2023)
 # KEYFRAME 56
0.08514743499836186
Frame 93
tensor(0.0893)
Frame 94
tensor(0.1305)
 # KEYFRAME 57
0.08551316399825737
Frame 95
tensor(0.0769)
Backending... 58 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 60378, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=2237 loss_distill=0.3466 tta_take=0.007s
[epoch 0 scene 338/556] scannetpp/c8f2218ee2/frame frames=96 tta_steps_this_scene=3 mean_loss=0.2648 total_steps=2237 time=19.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1569)
 # KEYFRAME 1
Frame 2
tensor(0.2252)
 # KEYFRAME 2
0.051576245998148806
Frame 3
tensor(0.1874)
 # KEYFRAME 3
0.05274245199689176
Frame 4
tensor(0.3160)
 # KEYFRAME 4
0.05483204400661634
Frame 5
tensor(0.2923)
 # KEYFRAME 5
0.05539837200194597
Frame 6
tensor(0.3010)
 # KEYFRAME 6
0.05654010800208198
Frame 7
tensor(0.0825)
Frame 8
tensor(0.3130)
 # KEYFRAME 7
0.057001476001460105
Frame 9
tensor(0.1820)
 # KEYFRAME 8
0.057961913000326604
Frame 10
tensor(0.2572)
 # KEYFRAME 9
0.058424880997336004
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.1520)
 # KEYFRAME 10
0.05195254499994917
Frame 12
tensor(0.2726)
 # KEYFRAME 11
0.053245739996782504
Frame 13
tensor(0.1977)
 # KEYFRAME 12
0.054162105996510945
Frame 14
tensor(0.3088)
 # KEYFRAME 13
0.05642512800113764
Frame 15
tensor(0.3003)
 # KEYFRAME 14
0.05726306499855127
Frame 16
tensor(0.1262)
 # KEYFRAME 15
0.05800159299542429
Frame 17
tensor(0.1650)
 # KEYFRAME 16
0.05914413800201146
Frame 18
tensor(0.1445)
 # KEYFRAME 17
0.05976623699825723
Frame 19
tensor(0.1884)
 # KEYFRAME 18
0.06086869299906539
Frame 20
tensor(0.1244)
 # KEYFRAME 19
0.06336406400077976
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.2256)
 # KEYFRAME 20
0.05903229900286533
Frame 22
tensor(0.2712)
 # KEYFRAME 21
0.06055118299991591
Frame 23
tensor(0.3073)
 # KEYFRAME 22
0.06120748099783668
Frame 24
tensor(0.2388)
 # KEYFRAME 23
0.061939099003211595
Frame 25
tensor(0.1210)
 # KEYFRAME 24
0.06285115599894198
Frame 26
tensor(0.1777)
 # KEYFRAME 25
0.06385420200240333
Frame 27
tensor(0.2659)
 # KEYFRAME 26
0.06547539500024868
Frame 28
tensor(0.0824)
Frame 29
tensor(0.1247)
 # KEYFRAME 27
0.06616426400432829
Frame 30
tensor(0.2345)
 # KEYFRAME 28
0.06732450999697903
Frame 31
tensor(0.2685)
 # KEYFRAME 29
0.06874696399609093
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.2556)
 # KEYFRAME 30
0.0657945450002444
Frame 33
tensor(0.2622)
 # KEYFRAME 31
0.06809592700301437
Frame 34
tensor(0.2885)
 # KEYFRAME 32
0.06930421200377168
Frame 35
tensor(0.2789)
 # KEYFRAME 33
0.07052352799655637
Frame 36
tensor(0.2628)
 # KEYFRAME 34
0.07118995600467315
Frame 37
tensor(0.3257)
 # KEYFRAME 35
0.07289851899986388
Frame 38
tensor(0.2352)
 # KEYFRAME 36
0.07391517499490874
Frame 39
tensor(0.2835)
 # KEYFRAME 37
0.07541255999967689
Frame 40
tensor(0.2800)
 # KEYFRAME 38
0.07621444800315658
Frame 41
tensor(0.1796)
 # KEYFRAME 39
0.0768102549991454
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2238 loss_distill=0.1733 tta_take=0.009s
Frame 42
tensor(0.1096)
 # KEYFRAME 40
0.07270861000142759
Frame 43
tensor(0.1777)
 # KEYFRAME 41
0.07469833299546735
Frame 44
tensor(0.0815)
Frame 45
tensor(0.1476)
 # KEYFRAME 42
0.07455634299549274
Frame 46
tensor(0.1144)
 # KEYFRAME 43
0.07554199900187086
Frame 47
tensor(0.2244)
 # KEYFRAME 44
0.0758371990013984
Frame 48
tensor(0.0980)
Frame 49
tensor(0.3320)
 # KEYFRAME 45
0.07684281499678036
Frame 50
tensor(0.2884)
 # KEYFRAME 46
0.07754572299745632
Frame 51
tensor(0.2830)
 # KEYFRAME 47
0.07809970000380417
Frame 52
tensor(0.1992)
 # KEYFRAME 48
0.07914514699950814
Frame 53
tensor(0.2716)
 # KEYFRAME 49
0.08025569299934432
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=2239 loss_distill=0.2747 tta_take=0.009s
Frame 54
tensor(0.3141)
 # KEYFRAME 50
0.07919056700484361
Frame 55
tensor(0.1802)
 # KEYFRAME 51
0.08198308700229973
Frame 56
tensor(0.2146)
 # KEYFRAME 52
0.08228791599685792
Frame 57
tensor(0.1385)
 # KEYFRAME 53
0.08270765400084201
Frame 58
tensor(0.1176)
 # KEYFRAME 54
0.08369578100246144
Frame 59
tensor(0.0879)
Frame 60
tensor(0.1732)
 # KEYFRAME 55
0.0850561760016717
Frame 61
tensor(0.0642)
Frame 62
tensor(0.1873)
 # KEYFRAME 56
0.08561382399784634
Frame 63
tensor(0.1780)
 # KEYFRAME 57
0.08596853299968643
Frame 64
tensor(0.0946)
Frame 65
tensor(0.3376)
 # KEYFRAME 58
0.08741625800030306
Frame 66
tensor(0.4002)
 # KEYFRAME 59
0.08786476599925663
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=2240 loss_distill=0.3466 tta_take=0.009s
Frame 67
tensor(0.2954)
 # KEYFRAME 60
0.08593147200008389
Frame 68
tensor(0.2469)
 # KEYFRAME 61
0.08908445100678364
Frame 69
tensor(0.1134)
 # KEYFRAME 62
0.08928062100312673
Frame 70
tensor(0.3566)
 # KEYFRAME 63
0.08992908900108887
Frame 71
tensor(0.2270)
 # KEYFRAME 64
0.09126811400346924
Frame 72
tensor(0.5550)
 # KEYFRAME 65
0.09280336800293298
Frame 73
tensor(0.1008)
 # KEYFRAME 66
0.09410241300065536
Frame 74
tensor(0.6304)
 # KEYFRAME 67
0.09509316999901785
Frame 75
tensor(0.2690)
 # KEYFRAME 68
0.09636746499745641
Frame 76
tensor(0.1651)
 # KEYFRAME 69
0.0971692230014014
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2241 loss_distill=0.4024 tta_take=0.009s
Frame 77
tensor(0.1399)
 # KEYFRAME 70
0.09355991600023117
Frame 78
tensor(0.0978)
Frame 79
tensor(0.2571)
 # KEYFRAME 71
0.09544834800180979
Frame 80
tensor(0.1603)
 # KEYFRAME 72
0.09439341200049967
Frame 81
tensor(0.1407)
 # KEYFRAME 73
0.0957939770014491
Frame 82
tensor(0.0813)
Frame 83
tensor(0.2821)
 # KEYFRAME 74
0.09652000500500435
Frame 84
tensor(0.4390)
 # KEYFRAME 75
0.09702351300074952
Frame 85
tensor(0.0954)
Frame 86
tensor(0.0130)
Frame 87
tensor(0.0789)
Frame 88
tensor(0.1607)
 # KEYFRAME 76
0.09750643099687295
Frame 89
tensor(0.0723)
Frame 90
tensor(0.2258)
 # KEYFRAME 77
0.09858943799918052
Frame 91
tensor(0.1658)
 # KEYFRAME 78
0.09956417400098871
Frame 92
tensor(0.1962)
 # KEYFRAME 79
0.09990806200221414
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2242 loss_distill=0.4024 tta_take=0.009s
Frame 93
tensor(0.1031)
 # KEYFRAME 80
0.09380647500074701
Frame 94
tensor(0.1321)
 # KEYFRAME 81
0.09583916799601866
Frame 95
tensor(0.1734)
 # KEYFRAME 82
0.09516946000076132
Frame 96
tensor(0.2314)
 # KEYFRAME 83
0.09680697400472127
Frame 97
tensor(0.2738)
 # KEYFRAME 84
0.09871198700420791
Frame 98
tensor(0.2109)
 # KEYFRAME 85
0.09873358700133394
Frame 99
tensor(0.1447)
 # KEYFRAME 86
0.10032961100660032
Frame 100
tensor(0.1445)
 # KEYFRAME 87
0.10167139700206462
Frame 101
tensor(0.4418)
 # KEYFRAME 88
0.10253288300009444
Frame 102
tensor(0.3773)
 # KEYFRAME 89
0.10424872799922014
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2243 loss_distill=0.4024 tta_take=0.009s
Frame 103
tensor(0.2221)
 # KEYFRAME 90
0.0927191880036844
Frame 104
tensor(0.3155)
 # KEYFRAME 91
0.09554446899710456
Frame 105
tensor(0.3172)
 # KEYFRAME 92
0.09509141000307864
Frame 106
tensor(0.2907)
 # KEYFRAME 93
0.09547881800244795
Frame 107
tensor(0.2011)
 # KEYFRAME 94
0.0965302749973489
Frame 108
tensor(0.2615)
 # KEYFRAME 95
0.09742907199688489
Frame 109
tensor(0.1077)
 # KEYFRAME 96
0.09729851199517725
Frame 110
tensor(0.1329)
 # KEYFRAME 97
0.09865069700026652
Frame 111
tensor(0.2649)
 # KEYFRAME 98
0.09877246699761599
Frame 112
tensor(0.2326)
 # KEYFRAME 99
0.09992880299978424
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2244 loss_distill=0.4024 tta_take=0.009s
Frame 113
tensor(0.1789)
 # KEYFRAME 100
0.09282435800560052
Frame 114
tensor(0.3861)
 # KEYFRAME 101
0.09543471899814904
Frame 115
tensor(0.1396)
 # KEYFRAME 102
0.09509807999711484
Frame 116
tensor(0.2290)
 # KEYFRAME 103
0.096356955000374
Frame 117
tensor(0.2173)
 # KEYFRAME 104
0.09799552999902517
Frame 118
tensor(0.2245)
 # KEYFRAME 105
0.09859087700169766
Frame 119
tensor(0.2365)
 # KEYFRAME 106
0.10082921000139322
Frame 120
tensor(0.1959)
 # KEYFRAME 107
0.10188647599716205
Frame 121
tensor(0.1024)
 # KEYFRAME 108
0.10257392300263746
Backending... 109 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 71829, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2245 loss_distill=0.4024 tta_take=0.008s
[epoch 0 scene 339/556] scannetpp/e3ecd49e2b/frame frames=122 tta_steps_this_scene=8 mean_loss=0.3508 total_steps=2245 time=44.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0427)
Frame 2
tensor(0.0881)
Frame 3
tensor(0.1305)
 # KEYFRAME 1
Frame 4
tensor(0.0467)
Frame 5
tensor(0.0947)
Frame 6
tensor(0.1532)
 # KEYFRAME 2
0.051618885998323094
Frame 7
tensor(0.0405)
Frame 8
tensor(0.0959)
Frame 9
tensor(0.1542)
 # KEYFRAME 3
0.051712505002797116
Frame 10
tensor(0.0475)
Frame 11
tensor(0.1013)
 # KEYFRAME 4
0.051734904998738784
Frame 12
tensor(0.0542)
Frame 13
tensor(0.1011)
 # KEYFRAME 5
0.05251222199876793
Frame 14
tensor(0.0483)
Frame 15
tensor(0.0989)
Frame 16
tensor(0.1415)
 # KEYFRAME 6
0.05280268099886598
Frame 17
tensor(0.0405)
Frame 18
tensor(0.0884)
Frame 19
tensor(0.1345)
 # KEYFRAME 7
0.05258789199433522
Frame 20
tensor(0.0435)
Frame 21
tensor(0.0936)
Frame 22
tensor(0.1330)
 # KEYFRAME 8
0.05281375100457808
Frame 23
tensor(0.0406)
Frame 24
tensor(0.0887)
Frame 25
tensor(0.1303)
 # KEYFRAME 9
0.052330152997456025
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 26
tensor(0.0382)
Frame 27
tensor(0.0828)
Frame 28
tensor(0.1200)
 # KEYFRAME 10
0.051710425002966076
Frame 29
tensor(0.0371)
Frame 30
tensor(0.0828)
Frame 31
tensor(0.1232)
 # KEYFRAME 11
0.05183675500302343
Frame 32
tensor(0.0437)
Frame 33
tensor(0.0867)
Frame 34
tensor(0.1284)
 # KEYFRAME 12
0.05182666500331834
Frame 35
tensor(0.0490)
Frame 36
tensor(0.0923)
Frame 37
tensor(0.1375)
 # KEYFRAME 13
0.05195249400276225
Frame 38
tensor(0.0486)
Frame 39
tensor(0.0895)
Frame 40
tensor(0.1304)
 # KEYFRAME 14
0.053224898998450954
Frame 41
tensor(0.0478)
Frame 42
tensor(0.0923)
Frame 43
tensor(0.1373)
 # KEYFRAME 15
0.052755472002900206
Frame 44
tensor(0.0465)
Frame 45
tensor(0.0931)
Frame 46
tensor(0.1400)
 # KEYFRAME 16
0.05264090200216742
Frame 47
tensor(0.0461)
Frame 48
tensor(0.0966)
Frame 49
tensor(0.1358)
 # KEYFRAME 17
0.054144396002811845
Frame 50
tensor(0.0412)
Frame 51
tensor(0.0861)
Frame 52
tensor(0.1309)
 # KEYFRAME 18
0.05296696999721462
Frame 53
tensor(0.0492)
Frame 54
tensor(0.0949)
Frame 55
tensor(0.1476)
 # KEYFRAME 19
0.055066974004148506
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 56
tensor(0.0436)
Frame 57
tensor(0.0942)
Frame 58
tensor(0.1473)
 # KEYFRAME 20
0.05188418400211958
Frame 59
tensor(0.0508)
Frame 60
tensor(0.1035)
 # KEYFRAME 21
0.051804774993797764
Frame 61
tensor(0.0502)
Frame 62
tensor(0.1044)
 # KEYFRAME 22
0.0539134569989983
Frame 63
tensor(0.0488)
Frame 64
tensor(0.0969)
Frame 65
tensor(0.1458)
 # KEYFRAME 23
0.053205500000331085
Frame 66
tensor(0.0430)
Frame 67
tensor(0.0926)
Frame 68
tensor(0.1534)
 # KEYFRAME 24
0.05518469199887477
Frame 69
tensor(0.0477)
Frame 70
tensor(0.0931)
Frame 71
tensor(0.1385)
 # KEYFRAME 25
0.05299745099910069
Frame 72
tensor(0.0511)
Frame 73
tensor(0.1020)
 # KEYFRAME 26
0.052614751999499276
Frame 74
tensor(0.0502)
Frame 75
tensor(0.0990)
Frame 76
tensor(0.1541)
 # KEYFRAME 27
0.057142916004522704
Frame 77
tensor(0.0469)
Frame 78
tensor(0.0994)
Frame 79
tensor(0.1554)
 # KEYFRAME 28
0.05232742199586937
Frame 80
tensor(0.0485)
Frame 81
tensor(0.0904)
Frame 82
tensor(0.1452)
 # KEYFRAME 29
0.05731998499686597
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 83
tensor(0.0463)
Frame 84
tensor(0.0957)
Frame 85
tensor(0.1492)
 # KEYFRAME 30
0.05192489399632905
Frame 86
tensor(0.0503)
Frame 87
tensor(0.0985)
Frame 88
tensor(0.1504)
 # KEYFRAME 31
0.05291965100332163
Frame 89
tensor(0.0467)
Frame 90
tensor(0.1032)
 # KEYFRAME 32
0.05345171900262358
Frame 91
tensor(0.0488)
Frame 92
tensor(0.0977)
Frame 93
tensor(0.1451)
 # KEYFRAME 33
0.0523209430029965
Frame 94
tensor(0.0527)
Frame 95
tensor(0.1015)
 # KEYFRAME 34
0.053345879998232704
Frame 96
tensor(0.0564)
Frame 97
tensor(0.1016)
 # KEYFRAME 35
0.05221180399530567
Frame 98
tensor(0.0409)
Frame 99
tensor(0.0915)
Frame 100
tensor(0.1409)
 # KEYFRAME 36
0.05239224300021306
Frame 101
tensor(0.0459)
Frame 102
tensor(0.0988)
Frame 103
tensor(0.1441)
 # KEYFRAME 37
0.05381246799515793
Frame 104
tensor(0.0406)
Frame 105
tensor(0.0923)
Frame 106
tensor(0.1346)
 # KEYFRAME 38
0.052875420995405875
Frame 107
tensor(0.0458)
Frame 108
tensor(0.0909)
Frame 109
tensor(0.1355)
 # KEYFRAME 39
0.054145346002769656
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2246 loss_distill=0.1733 tta_take=0.005s
Frame 110
tensor(0.0438)
Frame 111
tensor(0.0881)
Frame 112
tensor(0.1314)
 # KEYFRAME 40
0.052620062000642065
Frame 113
tensor(0.0431)
Frame 114
tensor(0.0928)
Frame 115
tensor(0.1428)
 # KEYFRAME 41
0.05319023899937747
Frame 116
tensor(0.0507)
Frame 117
tensor(0.1011)
 # KEYFRAME 42
0.05336049899779027
Frame 118
tensor(0.0470)
Frame 119
tensor(0.1012)
 # KEYFRAME 43
0.05251464200409828
Frame 120
tensor(0.0469)
Frame 121
tensor(0.0911)
Frame 122
tensor(0.1432)
 # KEYFRAME 44
0.05332342899782816
Frame 123
tensor(0.0503)
Frame 124
tensor(0.1039)
 # KEYFRAME 45
0.05256398300116416
Frame 125
tensor(0.0558)
Frame 126
tensor(0.0995)
Frame 127
tensor(0.1498)
 # KEYFRAME 46
0.05279010199592449
Frame 128
tensor(0.0529)
Frame 129
tensor(0.1027)
 # KEYFRAME 47
0.05373688800318632
Frame 130
tensor(0.0471)
Frame 131
tensor(0.1032)
 # KEYFRAME 48
0.05332252899825107
Frame 132
tensor(0.0499)
Frame 133
tensor(0.0945)
Frame 134
tensor(0.1416)
 # KEYFRAME 49
0.054337166002369486
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=2247 loss_distill=0.2747 tta_take=0.005s
Frame 135
tensor(0.0415)
Frame 136
tensor(0.0962)
Frame 137
tensor(0.1404)
 # KEYFRAME 50
0.05247449200396659
Frame 138
tensor(0.0450)
Frame 139
tensor(0.0944)
Frame 140
tensor(0.1374)
 # KEYFRAME 51
0.053119870004593395
Frame 141
tensor(0.0395)
Frame 142
tensor(0.0818)
Frame 143
tensor(0.1247)
 # KEYFRAME 52
0.054632774998026434
Frame 144
tensor(0.0380)
Frame 145
tensor(0.0840)
Frame 146
tensor(0.1207)
 # KEYFRAME 53
0.052765070999157615
Frame 147
tensor(0.0344)
Frame 148
tensor(0.0734)
Frame 149
tensor(0.1139)
 # KEYFRAME 54
0.05471044399746461
Frame 150
tensor(0.0358)
Frame 151
tensor(0.0726)
Frame 152
tensor(0.1021)
 # KEYFRAME 55
0.053244930000801105
Frame 153
tensor(0.0388)
Frame 154
tensor(0.0683)
Frame 155
tensor(0.0989)
Frame 156
tensor(0.1360)
 # KEYFRAME 56
0.0534817989973817
Frame 157
tensor(0.0286)
Frame 158
tensor(0.0581)
Frame 159
tensor(0.0886)
Frame 160
tensor(0.1136)
 # KEYFRAME 57
0.05512937299499754
Frame 161
tensor(0.0251)
Frame 162
tensor(0.0518)
Frame 163
tensor(0.0792)
Frame 164
tensor(0.1037)
 # KEYFRAME 58
0.054046106997702736
Frame 165
tensor(0.0250)
Frame 166
tensor(0.0452)
Frame 167
tensor(0.0687)
Frame 168
tensor(0.0859)
Frame 169
tensor(0.1044)
 # KEYFRAME 59
0.056120708999515045
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=2248 loss_distill=0.3466 tta_take=0.005s
Frame 170
tensor(0.0171)
Frame 171
tensor(0.0341)
Frame 172
tensor(0.0513)
Frame 173
tensor(0.0705)
Frame 174
tensor(0.0825)
Frame 175
tensor(0.0968)
Frame 176
tensor(0.1117)
 # KEYFRAME 60
0.05268516100477427
Frame 177
tensor(0.0100)
Frame 178
tensor(0.0216)
Frame 179
tensor(0.0346)
Frame 180
tensor(0.0484)
Frame 181
tensor(0.0601)
Frame 182
tensor(0.0721)
Frame 183
tensor(0.0777)
Frame 184
tensor(0.0864)
Frame 185
tensor(0.0931)
Frame 186
tensor(0.0999)
Frame 187
tensor(0.1102)
 # KEYFRAME 61
0.05325790899951244
Frame 188
tensor(0.0033)
Frame 189
tensor(0.0090)
Frame 190
tensor(0.0152)
Frame 191
tensor(0.0182)
Frame 192
tensor(0.0215)
Frame 193
tensor(0.0268)
Frame 194
tensor(0.0289)
Frame 195
tensor(0.0377)
Frame 196
tensor(0.0431)
Frame 197
tensor(0.0464)
Frame 198
tensor(0.0538)
Frame 199
tensor(0.0583)
Frame 200
tensor(0.0628)
Frame 201
tensor(0.0683)
Frame 202
tensor(0.0767)
Frame 203
tensor(0.0810)
Frame 204
tensor(0.0899)
Frame 205
tensor(0.0938)
Frame 206
tensor(0.1047)
 # KEYFRAME 62
0.0545138949964894
Frame 207
tensor(0.0104)
Frame 208
tensor(0.0234)
Frame 209
tensor(0.0360)
Frame 210
tensor(0.0495)
Frame 211
tensor(0.0682)
Frame 212
tensor(0.0839)
Frame 213
tensor(0.1070)
 # KEYFRAME 63
0.05289554100454552
Frame 214
tensor(0.0155)
Frame 215
tensor(0.0376)
Frame 216
tensor(0.0530)
Frame 217
tensor(0.0757)
Frame 218
tensor(0.0945)
Frame 219
tensor(0.1107)
 # KEYFRAME 64
0.05421004600066226
Frame 220
tensor(0.0195)
Frame 221
tensor(0.0363)
Frame 222
tensor(0.0544)
Frame 223
tensor(0.0766)
Frame 224
tensor(0.0964)
Frame 225
tensor(0.1160)
 # KEYFRAME 65
0.05324261000350816
Frame 226
tensor(0.0186)
Frame 227
tensor(0.0343)
Frame 228
tensor(0.0564)
Frame 229
tensor(0.0789)
Frame 230
tensor(0.0939)
Frame 231
tensor(0.1107)
 # KEYFRAME 66
0.05387564799457323
Frame 232
tensor(0.0158)
Frame 233
tensor(0.0364)
Frame 234
tensor(0.0569)
Frame 235
tensor(0.0779)
Frame 236
tensor(0.0994)
Frame 237
tensor(0.1221)
 # KEYFRAME 67
0.0556376509994152
Frame 238
tensor(0.0202)
Frame 239
tensor(0.0457)
Frame 240
tensor(0.0735)
Frame 241
tensor(0.0994)
Frame 242
tensor(0.1291)
 # KEYFRAME 68
0.053444719000253826
Frame 243
tensor(0.0230)
Frame 244
tensor(0.0483)
Frame 245
tensor(0.0762)
Frame 246
tensor(0.1048)
 # KEYFRAME 69
0.05507932300679386
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2249 loss_distill=0.4024 tta_take=0.005s
Frame 247
tensor(0.0261)
Frame 248
tensor(0.0553)
Frame 249
tensor(0.0814)
Frame 250
tensor(0.1091)
 # KEYFRAME 70
0.05372658799751662
Frame 251
tensor(0.0280)
Frame 252
tensor(0.0597)
Frame 253
tensor(0.0904)
Frame 254
tensor(0.1147)
 # KEYFRAME 71
0.05438606499956222
Frame 255
tensor(0.0241)
Frame 256
tensor(0.0586)
Frame 257
tensor(0.0867)
Frame 258
tensor(0.1141)
 # KEYFRAME 72
0.055725441001413856
Frame 259
tensor(0.0295)
Frame 260
tensor(0.0573)
Frame 261
tensor(0.0863)
Frame 262
tensor(0.1143)
 # KEYFRAME 73
0.0536724189951201
Frame 263
tensor(0.0236)
Frame 264
tensor(0.0606)
Frame 265
tensor(0.0912)
Frame 266
tensor(0.1175)
 # KEYFRAME 74
0.05564234100165777
Frame 267
tensor(0.0247)
Frame 268
tensor(0.0614)
Frame 269
tensor(0.0995)
Frame 270
tensor(0.1380)
 # KEYFRAME 75
0.0542584760041791
Frame 271
tensor(0.0309)
Frame 272
tensor(0.0630)
Frame 273
tensor(0.1007)
 # KEYFRAME 76
0.05485987400606973
Frame 274
tensor(0.0342)
Frame 275
tensor(0.0721)
Frame 276
tensor(0.1097)
 # KEYFRAME 77
0.05699121599900536
Frame 277
tensor(0.0351)
Frame 278
tensor(0.0666)
Frame 279
tensor(0.1081)
 # KEYFRAME 78
0.054778723999334034
Frame 280
tensor(0.0372)
Frame 281
tensor(0.0704)
Frame 282
tensor(0.1100)
 # KEYFRAME 79
0.05704011600028025
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2250 loss_distill=0.4024 tta_take=0.005s
Frame 283
tensor(0.0326)
Frame 284
tensor(0.0724)
Frame 285
tensor(0.1104)
 # KEYFRAME 80
0.05375498800276546
Frame 286
tensor(0.0401)
Frame 287
tensor(0.0801)
Frame 288
tensor(0.1159)
 # KEYFRAME 81
0.05445827499352163
Frame 289
tensor(0.0304)
Frame 290
tensor(0.0687)
Frame 291
tensor(0.1064)
 # KEYFRAME 82
0.05534972200257471
Frame 292
tensor(0.0341)
Frame 293
tensor(0.0731)
Frame 294
tensor(0.1104)
 # KEYFRAME 83
0.05364734800241422
Frame 295
tensor(0.0415)
Frame 296
tensor(0.0818)
Frame 297
tensor(0.1109)
 # KEYFRAME 84
0.05605253899557283
Frame 298
tensor(0.0410)
Frame 299
tensor(0.0803)
Backending... 85 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 26780, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2251 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 340/556] vkitti/Scene01/30-deg-left/Camera_0 frames=300 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=2251 time=52.9s
[ckpt] /scratch-shared/wwei2/scorer_pretrain/scorer_v1/checkpoint-last.pth (epoch=0 scene=340)
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0444)
Frame 2
tensor(0.0877)
Frame 3
tensor(0.1352)
 # KEYFRAME 1
Frame 4
tensor(0.0515)
Frame 5
tensor(0.1028)
 # KEYFRAME 2
0.05236728300224058
Frame 6
tensor(0.0505)
Frame 7
tensor(0.0961)
Frame 8
tensor(0.1428)
 # KEYFRAME 3
0.05245281200041063
Frame 9
tensor(0.0452)
Frame 10
tensor(0.0890)
Frame 11
tensor(0.1339)
 # KEYFRAME 4
0.05322921899642097
Frame 12
tensor(0.0456)
Frame 13
tensor(0.0878)
Frame 14
tensor(0.1311)
 # KEYFRAME 5
0.05257748200529022
Frame 15
tensor(0.0457)
Frame 16
tensor(0.0908)
Frame 17
tensor(0.1334)
 # KEYFRAME 6
0.05319908000092255
Frame 18
tensor(0.0512)
Frame 19
tensor(0.1004)
 # KEYFRAME 7
0.0525555220010574
Frame 20
tensor(0.0392)
Frame 21
tensor(0.0925)
Frame 22
tensor(0.1329)
 # KEYFRAME 8
0.05375699800060829
Frame 23
tensor(0.0357)
Frame 24
tensor(0.0800)
Frame 25
tensor(0.1184)
 # KEYFRAME 9
0.052508943001157604
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 26
tensor(0.0363)
Frame 27
tensor(0.0816)
Frame 28
tensor(0.1211)
 # KEYFRAME 10
0.051890773997001816
Frame 29
tensor(0.0446)
Frame 30
tensor(0.0940)
Frame 31
tensor(0.1406)
 # KEYFRAME 11
0.05296101100248052
Frame 32
tensor(0.0451)
Frame 33
tensor(0.0920)
Frame 34
tensor(0.1334)
 # KEYFRAME 12
0.05339706899394514
Frame 35
tensor(0.0495)
Frame 36
tensor(0.0933)
Frame 37
tensor(0.1316)
 # KEYFRAME 13
0.05280267100170022
Frame 38
tensor(0.0480)
Frame 39
tensor(0.0919)
Frame 40
tensor(0.1364)
 # KEYFRAME 14
0.05521318200044334
Frame 41
tensor(0.0403)
Frame 42
tensor(0.0842)
Frame 43
tensor(0.1291)
 # KEYFRAME 15
0.05294506100472063
Frame 44
tensor(0.0417)
Frame 45
tensor(0.0898)
Frame 46
tensor(0.1341)
 # KEYFRAME 16
0.052832991001196206
Frame 47
tensor(0.0458)
Frame 48
tensor(0.0901)
Frame 49
tensor(0.1322)
 # KEYFRAME 17
0.0563489979977021
Frame 50
tensor(0.0462)
Frame 51
tensor(0.0916)
Frame 52
tensor(0.1335)
 # KEYFRAME 18
0.05275750100554433
Frame 53
tensor(0.0489)
Frame 54
tensor(0.0936)
Frame 55
tensor(0.1489)
 # KEYFRAME 19
0.05632729900389677
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 56
tensor(0.0449)
Frame 57
tensor(0.0912)
Frame 58
tensor(0.1530)
 # KEYFRAME 20
0.05220493399974657
Frame 59
tensor(0.0500)
Frame 60
tensor(0.1077)
 # KEYFRAME 21
0.05218240400427021
Frame 61
tensor(0.0549)
Frame 62
tensor(0.1165)
 # KEYFRAME 22
0.05410860700067133
Frame 63
tensor(0.0498)
Frame 64
tensor(0.1085)
 # KEYFRAME 23
0.05235725200327579
Frame 65
tensor(0.0525)
Frame 66
tensor(0.1024)
 # KEYFRAME 24
0.05423894600244239
Frame 67
tensor(0.0444)
Frame 68
tensor(0.1060)
 # KEYFRAME 25
0.05218407299980754
Frame 69
tensor(0.0455)
Frame 70
tensor(0.0890)
Frame 71
tensor(0.1413)
 # KEYFRAME 26
0.05271036100020865
Frame 72
tensor(0.0516)
Frame 73
tensor(0.1014)
 # KEYFRAME 27
0.056349479003984015
Frame 74
tensor(0.0484)
Frame 75
tensor(0.1045)
 # KEYFRAME 28
0.05298759099969175
Frame 76
tensor(0.0542)
Frame 77
tensor(0.1056)
 # KEYFRAME 29
0.05638100799842505
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 78
tensor(0.0511)
Frame 79
tensor(0.1060)
 # KEYFRAME 30
0.05273718100215774
Frame 80
tensor(0.0509)
Frame 81
tensor(0.0981)
Frame 82
tensor(0.1550)
 # KEYFRAME 31
0.05278480099514127
Frame 83
tensor(0.0459)
Frame 84
tensor(0.0905)
Frame 85
tensor(0.1457)
 # KEYFRAME 32
0.05348246899666265
Frame 86
tensor(0.0415)
Frame 87
tensor(0.0858)
Frame 88
tensor(0.1338)
 # KEYFRAME 33
0.052472743001999334
Frame 89
tensor(0.0486)
Frame 90
tensor(0.1007)
 # KEYFRAME 34
0.05365504899964435
Frame 91
tensor(0.0420)
Frame 92
tensor(0.0878)
Frame 93
tensor(0.1354)
 # KEYFRAME 35
0.05297784099821001
Frame 94
tensor(0.0388)
Frame 95
tensor(0.0823)
Frame 96
tensor(0.1322)
 # KEYFRAME 36
0.05293492099735886
Frame 97
tensor(0.0435)
Frame 98
tensor(0.0869)
Frame 99
tensor(0.1374)
 # KEYFRAME 37
0.053711778004071675
Frame 100
tensor(0.0450)
Frame 101
tensor(0.0870)
Frame 102
tensor(0.1382)
 # KEYFRAME 38
0.05276471099932678
Frame 103
tensor(0.0419)
Frame 104
tensor(0.0912)
Frame 105
tensor(0.1370)
 # KEYFRAME 39
0.05411793699749978
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2252 loss_distill=0.1733 tta_take=0.005s
Frame 106
tensor(0.0439)
Frame 107
tensor(0.0894)
Frame 108
tensor(0.1388)
 # KEYFRAME 40
0.05278005199943436
Frame 109
tensor(0.0430)
Frame 110
tensor(0.0871)
Frame 111
tensor(0.1390)
 # KEYFRAME 41
0.05319364999741083
Frame 112
tensor(0.0422)
Frame 113
tensor(0.0864)
Frame 114
tensor(0.1387)
 # KEYFRAME 42
0.05317738000303507
Frame 115
tensor(0.0458)
Frame 116
tensor(0.0984)
Frame 117
tensor(0.1449)
 # KEYFRAME 43
0.05257044300378766
Frame 118
tensor(0.0460)
Frame 119
tensor(0.1040)
 # KEYFRAME 44
0.05339236900181277
Frame 120
tensor(0.0503)
Frame 121
tensor(0.1011)
 # KEYFRAME 45
0.05299070000182837
Frame 122
tensor(0.0462)
Frame 123
tensor(0.0938)
Frame 124
tensor(0.1411)
 # KEYFRAME 46
0.05272706100367941
Frame 125
tensor(0.0477)
Frame 126
tensor(0.0943)
Frame 127
tensor(0.1352)
 # KEYFRAME 47
0.05430814600549638
Frame 128
tensor(0.0460)
Frame 129
tensor(0.0867)
Frame 130
tensor(0.1321)
 # KEYFRAME 48
0.05238894200010691
Frame 131
tensor(0.0471)
Frame 132
tensor(0.0884)
Frame 133
tensor(0.1255)
 # KEYFRAME 49
0.0543437050000648
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=2253 loss_distill=0.2747 tta_take=0.005s
Frame 134
tensor(0.0436)
Frame 135
tensor(0.0888)
Frame 136
tensor(0.1371)
 # KEYFRAME 50
0.05247562200383982
Frame 137
tensor(0.0419)
Frame 138
tensor(0.0911)
Frame 139
tensor(0.1384)
 # KEYFRAME 51
0.0524509129973012
Frame 140
tensor(0.0407)
Frame 141
tensor(0.0820)
Frame 142
tensor(0.1232)
 # KEYFRAME 52
0.05392032700183336
Frame 143
tensor(0.0366)
Frame 144
tensor(0.0744)
Frame 145
tensor(0.1099)
 # KEYFRAME 53
0.05342791899602162
Frame 146
tensor(0.0328)
Frame 147
tensor(0.0704)
Frame 148
tensor(0.1099)
 # KEYFRAME 54
0.05456411500199465
Frame 149
tensor(0.0360)
Frame 150
tensor(0.0754)
Frame 151
tensor(0.1108)
 # KEYFRAME 55
0.053019611004856415
Frame 152
tensor(0.0305)
Frame 153
tensor(0.0658)
Frame 154
tensor(0.0951)
Frame 155
tensor(0.1277)
 # KEYFRAME 56
0.05293108100158861
Frame 156
tensor(0.0332)
Frame 157
tensor(0.0621)
Frame 158
tensor(0.0928)
Frame 159
tensor(0.1209)
 # KEYFRAME 57
0.055488010999397375
Frame 160
tensor(0.0248)
Frame 161
tensor(0.0537)
Frame 162
tensor(0.0826)
Frame 163
tensor(0.0982)
Frame 164
tensor(0.1217)
 # KEYFRAME 58
0.05306373000348685
Frame 165
tensor(0.0249)
Frame 166
tensor(0.0496)
Frame 167
tensor(0.0698)
Frame 168
tensor(0.0911)
Frame 169
tensor(0.1105)
 # KEYFRAME 59
0.0556363709983998
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=2254 loss_distill=0.3466 tta_take=0.005s
Frame 170
tensor(0.0215)
Frame 171
tensor(0.0386)
Frame 172
tensor(0.0537)
Frame 173
tensor(0.0756)
Frame 174
tensor(0.0924)
Frame 175
tensor(0.1107)
 # KEYFRAME 60
0.05249579300289042
Frame 176
tensor(0.0145)
Frame 177
tensor(0.0293)
Frame 178
tensor(0.0475)
Frame 179
tensor(0.0606)
Frame 180
tensor(0.0762)
Frame 181
tensor(0.0924)
Frame 182
tensor(0.1008)
 # KEYFRAME 61
0.05331527999805985
Frame 183
tensor(0.0041)
Frame 184
tensor(0.0148)
Frame 185
tensor(0.0237)
Frame 186
tensor(0.0306)
Frame 187
tensor(0.0402)
Frame 188
tensor(0.0473)
Frame 189
tensor(0.0581)
Frame 190
tensor(0.0600)
Frame 191
tensor(0.0730)
Frame 192
tensor(0.0850)
Frame 193
tensor(0.0815)
Frame 194
tensor(0.0874)
Frame 195
tensor(0.1016)
 # KEYFRAME 62
0.05484096400323324
Frame 196
tensor(0.0060)
Frame 197
tensor(0.0121)
Frame 198
tensor(0.0199)
Frame 199
tensor(0.0268)
Frame 200
tensor(0.0331)
Frame 201
tensor(0.0408)
Frame 202
tensor(0.0523)
Frame 203
tensor(0.0662)
Frame 204
tensor(0.0719)
Frame 205
tensor(0.0822)
Frame 206
tensor(0.0974)
Frame 207
tensor(0.1118)
 # KEYFRAME 63
0.052578982002160046
Frame 208
tensor(0.0167)
Frame 209
tensor(0.0339)
Frame 210
tensor(0.0500)
Frame 211
tensor(0.0720)
Frame 212
tensor(0.0899)
Frame 213
tensor(0.1121)
 # KEYFRAME 64
0.054336936002073344
Frame 214
tensor(0.0242)
Frame 215
tensor(0.0458)
Frame 216
tensor(0.0687)
Frame 217
tensor(0.0912)
Frame 218
tensor(0.1139)
 # KEYFRAME 65
0.052651761994638946
Frame 219
tensor(0.0221)
Frame 220
tensor(0.0460)
Frame 221
tensor(0.0682)
Frame 222
tensor(0.0892)
Frame 223
tensor(0.1149)
 # KEYFRAME 66
0.05288823100272566
Frame 224
tensor(0.0237)
Frame 225
tensor(0.0509)
Frame 226
tensor(0.0783)
Frame 227
tensor(0.1038)
 # KEYFRAME 67
0.05412912600149866
Frame 228
tensor(0.0270)
Frame 229
tensor(0.0595)
Frame 230
tensor(0.0875)
Frame 231
tensor(0.1193)
 # KEYFRAME 68
0.05355412899371004
Frame 232
tensor(0.0260)
Frame 233
tensor(0.0503)
Frame 234
tensor(0.0809)
Frame 235
tensor(0.1121)
 # KEYFRAME 69
0.05487724400154548
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=2255 loss_distill=0.4024 tta_take=0.005s
Frame 236
tensor(0.0261)
Frame 237
tensor(0.0499)
Frame 238
tensor(0.0855)
Frame 239
tensor(0.1165)
 # KEYFRAME 70
0.053387229003419634
Frame 240
tensor(0.0289)
Frame 241
tensor(0.0550)
Frame 242
tensor(0.0904)
Frame 243
tensor(0.1161)
 # KEYFRAME 71
0.05433635599911213
Frame 244
tensor(0.0269)
Frame 245
tensor(0.0628)
Frame 246
tensor(0.0956)
Frame 247
tensor(0.1223)
 # KEYFRAME 72
0.05581340099888621
Frame 248
tensor(0.0384)
Frame 249
tensor(0.0703)
Frame 250
tensor(0.1005)
 # KEYFRAME 73
0.05377261799731059
Frame 251
tensor(0.0344)
Frame 252
tensor(0.0622)
Frame 253
tensor(0.1029)
 # KEYFRAME 74
0.055655341006058734
Frame 254
tensor(0.0298)
Frame 255
tensor(0.0612)
Frame 256
tensor(0.0910)
Frame 257
tensor(0.1235)
 # KEYFRAME 75
0.05436697500408627
Frame 258
tensor(0.0345)
Frame 259
tensor(0.0684)
Frame 260
tensor(0.1093)
 # KEYFRAME 76
0.05471182399924146
Frame 261
tensor(0.0317)
Frame 262
tensor(0.0646)
Frame 263
tensor(0.0972)
Frame 264
tensor(0.1324)
 # KEYFRAME 77
0.05627971899957629
Frame 265
tensor(0.0349)
Frame 266
tensor(0.0663)
Frame 267
tensor(0.0984)
Frame 268
tensor(0.1360)
 # KEYFRAME 78
0.05511000299884472
Frame 269
tensor(0.0361)
Frame 270
tensor(0.0710)
Frame 271
tensor(0.1075)
 # KEYFRAME 79
0.05718364600033965
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2256 loss_distill=0.4024 tta_take=0.005s
Frame 272
tensor(0.0353)
Frame 273
tensor(0.0759)
Frame 274
tensor(0.1148)
 # KEYFRAME 80
0.053691858003730886
Frame 275
tensor(0.0399)
Frame 276
tensor(0.0827)
Frame 277
tensor(0.1228)
 # KEYFRAME 81
0.05421146599837812
Frame 278
tensor(0.0416)
Frame 279
tensor(0.0848)
Frame 280
tensor(0.1235)
 # KEYFRAME 82
0.05467581499397056
Frame 281
tensor(0.0345)
Frame 282
tensor(0.0802)
Frame 283
tensor(0.1208)
 # KEYFRAME 83
0.053672448004363105
Frame 284
tensor(0.0433)
Frame 285
tensor(0.0815)
Frame 286
tensor(0.1234)
 # KEYFRAME 84
0.055196963003254496
Frame 287
tensor(0.0396)
Frame 288
tensor(0.0772)
Frame 289
tensor(0.1140)
 # KEYFRAME 85
0.05394039699604036
Frame 290
tensor(0.0392)
Frame 291
tensor(0.0775)
Frame 292
tensor(0.1124)
 # KEYFRAME 86
0.05418383699725382
Frame 293
tensor(0.0449)
Frame 294
tensor(0.0836)
Frame 295
tensor(0.1289)
 # KEYFRAME 87
0.05515587300033076
Frame 296
tensor(0.0350)
Frame 297
tensor(0.0740)
Frame 298
tensor(0.1157)
 # KEYFRAME 88
0.05456005500309402
Frame 299
tensor(0.0418)
Backending... 89 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28428, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2257 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 341/556] vkitti/Scene01/15-deg-right/Camera_0 frames=300 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=2257 time=46.9s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0748)
Frame 2
tensor(0.1410)
 # KEYFRAME 1
Frame 3
tensor(0.0638)
Frame 4
tensor(0.1345)
 # KEYFRAME 2
0.05241658200247912
Frame 5
tensor(0.0690)
Frame 6
tensor(0.1462)
 # KEYFRAME 3
0.05234995300270384
Frame 7
tensor(0.0682)
Frame 8
tensor(0.1342)
 # KEYFRAME 4
0.05294231099833269
Frame 9
tensor(0.0726)
Frame 10
tensor(0.1385)
 # KEYFRAME 5
0.052948960998037364
Frame 11
tensor(0.0631)
Frame 12
tensor(0.1345)
 # KEYFRAME 6
0.05340983899804996
Frame 13
tensor(0.0625)
Frame 14
tensor(0.1278)
 # KEYFRAME 7
0.05326324999623466
Frame 15
tensor(0.0635)
Frame 16
tensor(0.1295)
 # KEYFRAME 8
0.05406824700185098
Frame 17
tensor(0.0712)
Frame 18
tensor(0.1346)
 # KEYFRAME 9
0.05262386200047331
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 19
tensor(0.0781)
Frame 20
tensor(0.1462)
 # KEYFRAME 10
0.05222320300526917
Frame 21
tensor(0.0663)
Frame 22
tensor(0.1417)
 # KEYFRAME 11
0.052877540001645684
Frame 23
tensor(0.0681)
Frame 24
tensor(0.1306)
 # KEYFRAME 12
0.05429868599458132
Frame 25
tensor(0.0689)
Frame 26
tensor(0.1355)
 # KEYFRAME 13
0.05222377400059486
Frame 27
tensor(0.0691)
Frame 28
tensor(0.1332)
 # KEYFRAME 14
0.05473820400220575
Frame 29
tensor(0.0678)
Frame 30
tensor(0.1270)
 # KEYFRAME 15
0.05324323999957414
Frame 31
tensor(0.0571)
Frame 32
tensor(0.1163)
 # KEYFRAME 16
0.053453479005838744
Frame 33
tensor(0.0649)
Frame 34
tensor(0.1275)
 # KEYFRAME 17
0.05672571700415574
Frame 35
tensor(0.0684)
Frame 36
tensor(0.1280)
 # KEYFRAME 18
0.052703000998008065
Frame 37
tensor(0.0550)
Frame 38
tensor(0.1136)
 # KEYFRAME 19
0.05726898500142852
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 39
tensor(0.0563)
Frame 40
tensor(0.1130)
 # KEYFRAME 20
0.05214015299861785
Frame 41
tensor(0.0522)
Frame 42
tensor(0.1124)
 # KEYFRAME 21
0.0533620290007093
Frame 43
tensor(0.0604)
Frame 44
tensor(0.1194)
 # KEYFRAME 22
0.05473588499444304
Frame 45
tensor(0.0648)
Frame 46
tensor(0.1244)
 # KEYFRAME 23
0.05282606100081466
Frame 47
tensor(0.0637)
Frame 48
tensor(0.1308)
 # KEYFRAME 24
0.05563076100224862
Frame 49
tensor(0.0641)
Frame 50
tensor(0.1313)
 # KEYFRAME 25
0.05342963899602182
Frame 51
tensor(0.0686)
Frame 52
tensor(0.1329)
 # KEYFRAME 26
0.05331666900019627
Frame 53
tensor(0.0665)
Frame 54
tensor(0.1378)
 # KEYFRAME 27
0.05765050400077598
Frame 55
tensor(0.0616)
Frame 56
tensor(0.1248)
 # KEYFRAME 28
0.05273431199748302
Frame 57
tensor(0.0573)
Frame 58
tensor(0.1237)
 # KEYFRAME 29
0.05816789199889172
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 12360, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 59
tensor(0.0691)
Frame 60
tensor(0.1303)
 # KEYFRAME 30
0.052221992998966016
Frame 61
tensor(0.0618)
Frame 62
tensor(0.1277)
 # KEYFRAME 31
0.05330361000233097
Frame 63
tensor(0.0646)
Frame 64
tensor(0.1321)
 # KEYFRAME 32
0.054194976000871975
Frame 65
tensor(0.0622)
Frame 66
tensor(0.1261)
 # KEYFRAME 33
0.053261610002664384
Frame 67
tensor(0.0684)
Frame 68
tensor(0.1293)
 # KEYFRAME 34
0.055526582000311464
Frame 69
tensor(0.0709)
Frame 70
tensor(0.1352)
 # KEYFRAME 35
0.05299703100172337
Frame 71
tensor(0.0628)
Frame 72
tensor(0.1297)
 # KEYFRAME 36
0.05332483999518445
Frame 73
tensor(0.0560)
Frame 74
tensor(0.1150)
 # KEYFRAME 37
0.05740376400353853
Frame 75
tensor(0.0564)
Frame 76
tensor(0.1147)
 # KEYFRAME 38
0.05261879200406838
Frame 77
tensor(0.0549)
Frame 78
tensor(0.1099)
 # KEYFRAME 39
0.05840982099471148
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 16480, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2258 loss_distill=0.1733 tta_take=0.005s
Frame 79
tensor(0.0500)
Frame 80
tensor(0.0999)
Frame 81
tensor(0.1364)
 # KEYFRAME 40
0.0525661920037237
Frame 82
tensor(0.0457)
Frame 83
tensor(0.1036)
 # KEYFRAME 41
0.05278722199727781
Frame 84
tensor(0.0430)
Frame 85
tensor(0.0984)
Frame 86
tensor(0.1376)
 # KEYFRAME 42
0.05283905100077391
Frame 87
tensor(0.0409)
Frame 88
tensor(0.0964)
Frame 89
tensor(0.1408)
 # KEYFRAME 43
0.052372933001606725
Frame 90
tensor(0.0448)
Frame 91
tensor(0.0899)
Frame 92
tensor(0.1354)
 # KEYFRAME 44
0.05338684900198132
Frame 93
tensor(0.0475)
Frame 94
tensor(0.0926)
Frame 95
tensor(0.1345)
 # KEYFRAME 45
0.05229926299944054
Frame 96
tensor(0.0412)
Frame 97
tensor(0.0865)
Frame 98
tensor(0.1293)
 # KEYFRAME 46
0.05238526199536864
Frame 99
tensor(0.0369)
Frame 100
tensor(0.0817)
Frame 101
tensor(0.1162)
 # KEYFRAME 47
0.05315911000070628
Frame 102
tensor(0.0397)
Frame 103
tensor(0.0871)
Frame 104
tensor(0.1185)
 # KEYFRAME 48
0.05243557300127577
Frame 105
tensor(0.0404)
Frame 106
tensor(0.0798)
Frame 107
tensor(0.1138)
 # KEYFRAME 49
0.05360582799767144
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 20600, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=2259 loss_distill=0.2747 tta_take=0.005s
Frame 108
tensor(0.0397)
Frame 109
tensor(0.0810)
Frame 110
tensor(0.1228)
 # KEYFRAME 50
0.05239517299924046
Frame 111
tensor(0.0390)
Frame 112
tensor(0.0726)
Frame 113
tensor(0.1100)
 # KEYFRAME 51
0.05351417899510125
Frame 114
tensor(0.0303)
Frame 115
tensor(0.0647)
Frame 116
tensor(0.0984)
Frame 117
tensor(0.1285)
 # KEYFRAME 52
0.05450757500511827
Frame 118
tensor(0.0336)
Frame 119
tensor(0.0607)
Frame 120
tensor(0.0969)
Frame 121
tensor(0.1237)
 # KEYFRAME 53
0.053501328999118414
Frame 122
tensor(0.0262)
Frame 123
tensor(0.0576)
Frame 124
tensor(0.0759)
Frame 125
tensor(0.1064)
 # KEYFRAME 54
0.0553633820018149
Frame 126
tensor(0.0210)
Frame 127
tensor(0.0505)
Frame 128
tensor(0.0719)
Frame 129
tensor(0.0869)
Frame 130
tensor(0.1156)
 # KEYFRAME 55
0.05291959999885876
Frame 131
tensor(0.0237)
Frame 132
tensor(0.0476)
Frame 133
tensor(0.0729)
Frame 134
tensor(0.0922)
Frame 135
tensor(0.1236)
 # KEYFRAME 56
0.05309031000069808
Frame 136
tensor(0.0187)
Frame 137
tensor(0.0435)
Frame 138
tensor(0.0643)
Frame 139
tensor(0.0842)
Frame 140
tensor(0.1091)
 # KEYFRAME 57
0.05608185899473028
Frame 141
tensor(0.0142)
Frame 142
tensor(0.0370)
Frame 143
tensor(0.0638)
Frame 144
tensor(0.0863)
Frame 145
tensor(0.1113)
 # KEYFRAME 58
0.05332146900036605
Frame 146
tensor(0.0167)
Frame 147
tensor(0.0391)
Frame 148
tensor(0.0609)
Frame 149
tensor(0.0838)
Frame 150
tensor(0.1043)
 # KEYFRAME 59
0.05666894699970726
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 24720, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465736210346222
TTA-STEP: step=2260 loss_distill=0.3466 tta_take=0.005s
Frame 151
tensor(0.0183)
Frame 152
tensor(0.0397)
Frame 153
tensor(0.0571)
Frame 154
tensor(0.0761)
Frame 155
tensor(0.0858)
Frame 156
tensor(0.1094)
 # KEYFRAME 60
0.053125500002352055
Frame 157
tensor(0.0184)
Frame 158
tensor(0.0374)
Frame 159
tensor(0.0628)
Frame 160
tensor(0.0826)
Frame 161
tensor(0.1049)
 # KEYFRAME 61
0.05347937899932731
Frame 162
tensor(0.0179)
Frame 163
tensor(0.0406)
Frame 164
tensor(0.0632)
Frame 165
tensor(0.0835)
Frame 166
tensor(0.1082)
 # KEYFRAME 62
0.05477626399806468
Frame 167
tensor(0.0222)
Frame 168
tensor(0.0442)
Frame 169
tensor(0.0649)
Frame 170
tensor(0.0918)
Frame 171
tensor(0.1115)
 # KEYFRAME 63
0.05334788999607554
Frame 172
tensor(0.0229)
Frame 173
tensor(0.0479)
Frame 174
tensor(0.0726)
Frame 175
tensor(0.0924)
Frame 176
tensor(0.1029)
 # KEYFRAME 64
0.05572196100547444
Frame 177
tensor(0.0182)
Frame 178
tensor(0.0351)
Frame 179
tensor(0.0557)
Frame 180
tensor(0.0805)
Frame 181
tensor(0.0991)
Frame 182
tensor(0.1131)
 # KEYFRAME 65
0.05368468799861148
Frame 183
tensor(0.0164)
Frame 184
tensor(0.0369)
Frame 185
tensor(0.0560)
Frame 186
tensor(0.0721)
Frame 187
tensor(0.0905)
Frame 188
tensor(0.1134)
 # KEYFRAME 66
0.0534838889943785
Frame 189
tensor(0.0207)
Frame 190
tensor(0.0396)
Frame 191
tensor(0.0580)
Frame 192
tensor(0.0761)
Frame 193
tensor(0.0981)
Frame 194
tensor(0.1206)
 # KEYFRAME 67
0.059330178002710454
Frame 195
tensor(0.0150)
Frame 196
tensor(0.0352)
Frame 197
tensor(0.0498)
Frame 198
tensor(0.0634)
Frame 199
tensor(0.0824)
Frame 200
tensor(0.1010)
 # KEYFRAME 68
0.05368128800182603
Frame 201
tensor(0.0159)
Frame 202
tensor(0.0316)
Frame 203
tensor(0.0472)
Frame 204
tensor(0.0658)
Frame 205
tensor(0.0788)
Frame 206
tensor(0.0946)
Frame 207
tensor(0.1107)
 # KEYFRAME 69
0.05954286699852673
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2261 loss_distill=0.4024 tta_take=0.005s
Frame 208
tensor(0.0111)
Frame 209
tensor(0.0259)
Frame 210
tensor(0.0413)
Frame 211
tensor(0.0553)
Frame 212
tensor(0.0707)
Frame 213
tensor(0.0857)
Frame 214
tensor(0.0992)
Frame 215
tensor(0.1127)
 # KEYFRAME 70
0.053845087000809144
Frame 216
tensor(0.0165)
Frame 217
tensor(0.0334)
Frame 218
tensor(0.0492)
Frame 219
tensor(0.0727)
Frame 220
tensor(0.0872)
Frame 221
tensor(0.1060)
 # KEYFRAME 71
0.054479425998579245
Frame 222
tensor(0.0133)
Frame 223
tensor(0.0353)
Frame 224
tensor(0.0626)
Frame 225
tensor(0.0772)
Frame 226
tensor(0.0997)
Frame 227
tensor(0.1205)
 # KEYFRAME 72
0.055866130998765584
Frame 228
tensor(0.0196)
Frame 229
tensor(0.0424)
Frame 230
tensor(0.0642)
Frame 231
tensor(0.0853)
Frame 232
tensor(0.1058)
 # KEYFRAME 73
0.05373129800136667
Frame 233
tensor(0.0222)
Frame 234
tensor(0.0430)
Frame 235
tensor(0.0671)
Frame 236
tensor(0.0912)
Frame 237
tensor(0.1235)
 # KEYFRAME 74
0.055938439996680245
Frame 238
tensor(0.0220)
Frame 239
tensor(0.0499)
Frame 240
tensor(0.0779)
Frame 241
tensor(0.1090)
 # KEYFRAME 75
0.054006045997084584
Frame 242
tensor(0.0208)
Frame 243
tensor(0.0562)
Frame 244
tensor(0.0792)
Frame 245
tensor(0.1083)
 # KEYFRAME 76
0.05434922499989625
Frame 246
tensor(0.0270)
Frame 247
tensor(0.0571)
Frame 248
tensor(0.0873)
Frame 249
tensor(0.1178)
 # KEYFRAME 77
0.05624435799836647
Frame 250
tensor(0.0253)
Frame 251
tensor(0.0606)
Frame 252
tensor(0.0873)
Frame 253
tensor(0.1236)
 # KEYFRAME 78
0.054331504994479474
Frame 254
tensor(0.0231)
Frame 255
tensor(0.0535)
Frame 256
tensor(0.0833)
Frame 257
tensor(0.1142)
 # KEYFRAME 79
0.056435437996697146
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 28840, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2262 loss_distill=0.4024 tta_take=0.005s
Frame 258
tensor(0.0291)
Frame 259
tensor(0.0559)
Frame 260
tensor(0.0899)
Frame 261
tensor(0.1263)
 # KEYFRAME 80
0.05338548900181195
Frame 262
tensor(0.0221)
Frame 263
tensor(0.0497)
Frame 264
tensor(0.0780)
Frame 265
tensor(0.1121)
 # KEYFRAME 81
0.05444332500337623
Frame 266
tensor(0.0258)
Frame 267
tensor(0.0552)
Frame 268
tensor(0.0811)
Frame 269
tensor(0.1075)
 # KEYFRAME 82
0.054387764997954946
Frame 270
tensor(0.0258)
Frame 271
tensor(0.0537)
Frame 272
tensor(0.0771)
Frame 273
tensor(0.1033)
 # KEYFRAME 83
0.053633108000212815
Frame 274
tensor(0.0176)
Frame 275
tensor(0.0410)
Frame 276
tensor(0.0560)
Frame 277
tensor(0.0782)
Frame 278
tensor(0.0978)
Frame 279
tensor(0.1163)
 # KEYFRAME 84
0.05448421499750111
Frame 280
tensor(0.0149)
Frame 281
tensor(0.0286)
Frame 282
tensor(0.0435)
Frame 283
tensor(0.0608)
Frame 284
tensor(0.0751)
Frame 285
tensor(0.0894)
Frame 286
tensor(0.1001)
 # KEYFRAME 85
0.0541902460026904
Frame 287
tensor(0.0115)
Frame 288
tensor(0.0253)
Frame 289
tensor(0.0351)
Frame 290
tensor(0.0532)
Frame 291
tensor(0.0661)
Frame 292
tensor(0.0761)
Frame 293
tensor(0.0892)
Frame 294
tensor(0.1011)
 # KEYFRAME 86
0.05481355400115717
Frame 295
tensor(0.0109)
Frame 296
tensor(0.0205)
Frame 297
tensor(0.0326)
Frame 298
tensor(0.0445)
Frame 299
tensor(0.0556)
Backending... 87 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 27604, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2263 loss_distill=0.4024 tta_take=0.004s
[epoch 0 scene 342/556] vkitti/Scene18/15-deg-left/Camera_1 frames=300 tta_steps_this_scene=6 mean_loss=0.3336 total_steps=2263 time=47.3s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.0437)
Frame 2
tensor(0.2126)
 # KEYFRAME 1
Frame 3
tensor(0.2235)
 # KEYFRAME 2
0.050906296994071454
Frame 4
tensor(0.2359)
 # KEYFRAME 3
0.052869980994728394
Frame 5
tensor(0.4034)
 # KEYFRAME 4
0.053945437000948004
Frame 6
tensor(0.4146)
 # KEYFRAME 5
0.055381500998919364
Frame 7
tensor(0.3324)
 # KEYFRAME 6
0.056037239999568556
Frame 8
tensor(0.2966)
 # KEYFRAME 7
0.056347997997363564
Frame 9
tensor(0.5708)
 # KEYFRAME 8
0.05752156400558306
Frame 10
tensor(0.2322)
 # KEYFRAME 9
0.0578818619978847
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 11
tensor(0.2036)
 # KEYFRAME 10
0.0523789430008037
Frame 12
tensor(0.2117)
 # KEYFRAME 11
0.053332559000409674
Frame 13
tensor(0.2697)
 # KEYFRAME 12
0.054142616005265154
Frame 14
tensor(0.3618)
 # KEYFRAME 13
0.056367187993600965
Frame 15
tensor(0.3458)
 # KEYFRAME 14
0.05754426399653312
Frame 16
tensor(0.2502)
 # KEYFRAME 15
0.05788207199657336
Frame 17
tensor(0.1074)
 # KEYFRAME 16
0.05905279800208518
Frame 18
tensor(0.1597)
 # KEYFRAME 17
0.05994716499844799
Frame 19
tensor(0.5062)
 # KEYFRAME 18
0.06123770999693079
Frame 20
tensor(0.3193)
 # KEYFRAME 19
0.062239557002612855
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 21
tensor(0.5969)
 # KEYFRAME 20
0.059255068001220934
Frame 22
tensor(0.1750)
 # KEYFRAME 21
0.061117091005144175
Frame 23
tensor(0.2655)
 # KEYFRAME 22
0.06196588800230529
Frame 24
tensor(0.0903)
Frame 25
tensor(0.2083)
 # KEYFRAME 23
0.06333984299999429
Frame 26
tensor(0.1076)
 # KEYFRAME 24
0.06450858799507841
Frame 27
tensor(0.1046)
 # KEYFRAME 25
0.06595245400239946
Frame 28
tensor(0.1554)
 # KEYFRAME 26
0.0674619490018813
Frame 29
tensor(0.1018)
 # KEYFRAME 27
0.06821913600288099
Frame 30
tensor(0.1312)
 # KEYFRAME 28
0.06920612200337928
Frame 31
tensor(0.3009)
 # KEYFRAME 29
0.07050614699983271
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 32
tensor(0.3462)
 # KEYFRAME 30
0.06569040400063386
Frame 33
tensor(0.2876)
 # KEYFRAME 31
0.06742790899443207
Frame 34
tensor(0.5348)
 # KEYFRAME 32
0.06808886599901598
Frame 35
tensor(0.5928)
 # KEYFRAME 33
0.06868232299893862
Frame 36
tensor(0.0700)
Frame 37
tensor(0.2917)
 # KEYFRAME 34
0.06942656100000022
Frame 38
tensor(0.6771)
 # KEYFRAME 35
0.07016592799482169
Frame 39
tensor(0.3686)
 # KEYFRAME 36
0.07159168400539784
Frame 40
tensor(0.1579)
 # KEYFRAME 37
0.07209257100475952
Frame 41
tensor(0.1989)
 # KEYFRAME 38
0.07328978700388689
Frame 42
tensor(0.2703)
 # KEYFRAME 39
0.07449129300221102
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2264 loss_distill=0.1733 tta_take=0.009s
Frame 43
tensor(0.2455)
 # KEYFRAME 40
0.07288442899880465
Frame 44
tensor(0.3665)
 # KEYFRAME 41
0.07495802100311266
Frame 45
tensor(0.0341)
Frame 46
tensor(0.2221)
 # KEYFRAME 42
0.07571162800013553
Frame 47
tensor(0.2133)
 # KEYFRAME 43
0.076564965005673
Frame 48
tensor(0.1748)
 # KEYFRAME 44
0.07667690599919297
Frame 49
tensor(0.2443)
 # KEYFRAME 45
0.07756948199676117
Frame 50
tensor(0.2728)
 # KEYFRAME 46
0.07779387100163149
Frame 51
tensor(0.1230)
 # KEYFRAME 47
0.07855447900510626
Frame 52
tensor(0.1258)
 # KEYFRAME 48
0.08003359299618751
Frame 53
tensor(0.1408)
 # KEYFRAME 49
0.08090125000308035
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=2265 loss_distill=0.2747 tta_take=0.009s
Frame 54
tensor(0.0834)
Frame 55
tensor(0.0316)
Frame 56
tensor(0.2339)
 # KEYFRAME 50
0.07969574500020826
Frame 57
tensor(0.3303)
 # KEYFRAME 51
0.08191129600163549
Frame 58
tensor(0.3055)
 # KEYFRAME 52
0.08214236599451397
Frame 59
tensor(0.1780)
 # KEYFRAME 53
0.0832421710001654
Frame 60
tensor(0.4485)
 # KEYFRAME 54
0.08405920900258934
Frame 61
tensor(0.3030)
 # KEYFRAME 55
0.08430801799840992
Frame 62
tensor(0.3119)
 # KEYFRAME 56
0.08525186400220264
Frame 63
tensor(0.2015)
 # KEYFRAME 57
0.0857061930000782
Frame 64
tensor(0.1509)
 # KEYFRAME 58
0.08648877999803517
Frame 65
tensor(0.1481)
 # KEYFRAME 59
0.0872017270012293
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735614299774
TTA-STEP: step=2266 loss_distill=0.3466 tta_take=0.009s
Frame 66
tensor(0.1836)
 # KEYFRAME 60
0.0867935989954276
Frame 67
tensor(0.1344)
 # KEYFRAME 61
0.08851174300070852
Frame 68
tensor(0.2592)
 # KEYFRAME 62
0.08931411000230582
Frame 69
tensor(0.2114)
 # KEYFRAME 63
0.09046777600451605
Frame 70
tensor(0.1792)
 # KEYFRAME 64
0.09156963200075552
Frame 71
tensor(0.2595)
 # KEYFRAME 65
0.0925128879971453
Frame 72
tensor(0.2194)
 # KEYFRAME 66
0.09400028300296981
Frame 73
tensor(0.3231)
 # KEYFRAME 67
0.09513344900187803
Frame 74
tensor(0.2845)
 # KEYFRAME 68
0.09617961500043748
Frame 75
tensor(0.2740)
 # KEYFRAME 69
0.09739964099571807
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2267 loss_distill=0.4024 tta_take=0.009s
Frame 76
tensor(0.1620)
 # KEYFRAME 70
0.09271591699507553
Frame 77
tensor(0.3156)
 # KEYFRAME 71
0.09569681699940702
Frame 78
tensor(0.0952)
Frame 79
tensor(0.0932)
Frame 80
tensor(0.1998)
 # KEYFRAME 72
0.09530462899419945
Frame 81
tensor(0.1276)
 # KEYFRAME 73
0.09566777700092643
Frame 82
tensor(0.1695)
 # KEYFRAME 74
0.0959655160040711
Frame 83
tensor(0.2686)
 # KEYFRAME 75
0.09749474100681255
Frame 84
tensor(0.3207)
 # KEYFRAME 76
0.09736833100032527
Frame 85
tensor(0.1415)
 # KEYFRAME 77
0.09920299400255317
Frame 86
tensor(0.2706)
 # KEYFRAME 78
0.09934463399986271
Frame 87
tensor(0.0808)
Frame 88
tensor(0.1274)
 # KEYFRAME 79
0.09961830300017027
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2268 loss_distill=0.4024 tta_take=0.009s
Frame 89
tensor(0.1357)
 # KEYFRAME 80
0.09367682399897603
Frame 90
tensor(0.1257)
 # KEYFRAME 81
0.09528248800052097
Frame 91
tensor(0.1751)
 # KEYFRAME 82
0.09568341699923621
Frame 92
tensor(0.1323)
 # KEYFRAME 83
0.0964350439971895
Frame 93
tensor(0.0824)
Frame 94
tensor(0.1532)
 # KEYFRAME 84
0.09783067899843445
Frame 95
tensor(0.2692)
 # KEYFRAME 85
0.09925262400065549
Frame 96
tensor(0.1473)
 # KEYFRAME 86
0.09975354299967876
Frame 97
tensor(0.2500)
 # KEYFRAME 87
0.10150274600164266
Frame 98
tensor(0.3704)
 # KEYFRAME 88
0.10269038200203795
Frame 99
tensor(0.1455)
 # KEYFRAME 89
0.1036518290056847
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=2269 loss_distill=0.4024 tta_take=0.009s
Frame 100
tensor(0.2169)
 # KEYFRAME 90
0.09296331699442817
Frame 101
tensor(0.1623)
 # KEYFRAME 91
0.09603800599870738
Frame 102
tensor(0.2158)
 # KEYFRAME 92
0.0962657650015899
Frame 103
tensor(0.1276)
 # KEYFRAME 93
0.09709535200090613
Frame 104
tensor(0.0312)
Frame 105
tensor(0.1902)
 # KEYFRAME 94
0.0983392880007159
Frame 106
tensor(0.1324)
 # KEYFRAME 95
0.0989243149961112
Frame 107
tensor(0.2898)
 # KEYFRAME 96
0.10054969899647404
Frame 108
tensor(0.2718)
 # KEYFRAME 97
0.10134851699694991
Frame 109
tensor(0.1638)
 # KEYFRAME 98
0.10285994099831441
Frame 110
tensor(0.2799)
 # KEYFRAME 99
0.10314793099678354
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=2270 loss_distill=0.4024 tta_take=0.009s
Frame 111
tensor(0.1405)
 # KEYFRAME 100
0.09267031800118275
Frame 112
tensor(0.0998)
Frame 113
tensor(0.2153)
 # KEYFRAME 101
0.09596710600453662
Frame 114
tensor(0.1948)
 # KEYFRAME 102
0.09531928900105413
Frame 115
tensor(0.1741)
 # KEYFRAME 103
0.09562709699821426
Frame 116
tensor(0.3708)
 # KEYFRAME 104
0.09622146500623785
Frame 117
tensor(0.3853)
 # KEYFRAME 105
0.09753413099679165
Frame 118
tensor(0.2478)
 # KEYFRAME 106
0.09873917599907145
Frame 119
tensor(0.1057)
 # KEYFRAME 107
0.09929977400315693
Frame 120
tensor(0.5488)
 # KEYFRAME 108
0.09912708500633016
Frame 121
tensor(0.4808)
 # KEYFRAME 109
0.10789259400189621
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2271 loss_distill=0.4024 tta_take=0.009s
Frame 122
tensor(0.1313)
 # KEYFRAME 110
0.09452207099820953
Frame 123
tensor(0.0737)
Frame 124
tensor(0.1725)
 # KEYFRAME 111
0.09459941100067226
Frame 125
tensor(0.4450)
 # KEYFRAME 112
0.09517814900027588
Frame 126
tensor(0.5287)
 # KEYFRAME 113
0.0956262469990179
Frame 127
tensor(0.1861)
 # KEYFRAME 114
0.09680316300364211
Frame 128
tensor(0.1770)
 # KEYFRAME 115
0.09796609900513431
Frame 129
tensor(0.1493)
 # KEYFRAME 116
0.09767786000156775
Frame 130
tensor(0.1325)
 # KEYFRAME 117
0.09864661600295221
Frame 131
tensor(0.1144)
 # KEYFRAME 118
0.09999029100436019
Frame 132
tensor(0.1440)
 # KEYFRAME 119
0.10045127099874662
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=2272 loss_distill=0.4024 tta_take=0.009s
Frame 133
tensor(0.1393)
 # KEYFRAME 120
0.09346153500518994
Frame 134
tensor(0.1405)
 # KEYFRAME 121
0.09583143700001528
Frame 135
tensor(0.1061)
 # KEYFRAME 122
0.09555583700421266
Frame 136
tensor(0.3457)
 # KEYFRAME 123
0.09655763399496209
Frame 137
tensor(0.3151)
 # KEYFRAME 124
0.09688933299912605
Frame 138
tensor(0.1508)
 # KEYFRAME 125
0.09760995099350112
Frame 139
tensor(0.1265)
 # KEYFRAME 126
0.09766718999890145
Frame 140
tensor(0.3634)
 # KEYFRAME 127
0.09877383599814493
Frame 141
tensor(0.1825)
 # KEYFRAME 128
0.10004899100022158
Frame 142
tensor(0.1171)
 # KEYFRAME 129
0.10069923900300637
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2273 loss_distill=0.4024 tta_take=0.009s
Frame 143
tensor(0.3244)
 # KEYFRAME 130
0.09336062600050354
Frame 144
tensor(0.0654)
Backending... 131 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10, 11] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0), (11, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 63501, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=13, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=13 fetch_ids=[1, 0, 2, 4, 3] dts=[12, 13, 11, 9, 10]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2274 loss_distill=0.4024 tta_take=0.003s
[epoch 0 scene 343/556] scannetpp/09bced689e/frame frames=145 tta_steps_this_scene=11 mean_loss=0.3649 total_steps=2274 time=53.0s
Frame 0
 # KEYFRAME 0
Frame 1
tensor(0.1437)
 # KEYFRAME 1
Frame 2
tensor(0.3498)
 # KEYFRAME 2
0.05081405799865024
Frame 3
tensor(0.3334)
 # KEYFRAME 3
0.05288474800181575
Frame 4
tensor(0.3447)
 # KEYFRAME 4
0.05390499500208534
Frame 5
tensor(0.3916)
 # KEYFRAME 5
0.05533377999381628
Frame 6
tensor(0.3518)
 # KEYFRAME 6
0.05609499799902551
Frame 7
tensor(0.4373)
 # KEYFRAME 7
0.05651316600415157
Frame 8
tensor(0.5294)
 # KEYFRAME 8
0.05762179199518869
Frame 9
tensor(0.3592)
 # KEYFRAME 9
0.05778869100322481
Backending... 10 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=0, prev_tokens=0, retrieved_tokens=0
[RETRIEVE] sid=0 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 10
tensor(0.2835)
 # KEYFRAME 10
0.052126552000117954
Frame 11
tensor(0.2522)
 # KEYFRAME 11
0.05321996800194029
Frame 12
tensor(0.3288)
 # KEYFRAME 12
0.054175174998817965
Frame 13
tensor(0.2636)
 # KEYFRAME 13
0.05629695700190496
Frame 14
tensor(0.1743)
 # KEYFRAME 14
0.057288682997750584
Frame 15
tensor(0.2541)
 # KEYFRAME 15
0.05799905100138858
Frame 16
tensor(0.1869)
 # KEYFRAME 16
0.059277856002154294
Frame 17
tensor(0.2163)
 # KEYFRAME 17
0.06003349299862748
Frame 18
tensor(0.3234)
 # KEYFRAME 18
0.06142635799915297
Frame 19
tensor(0.3617)
 # KEYFRAME 19
0.06258404399704887
Backending... 20 KFs
[CAP-SET] w_ok=True live_ok=False set_ok=False attn_resolved=True
[DISTILL-GATE] closed at 'live_scores=None'
Submap backend: sid=1, prev_tokens=10, retrieved_tokens=0
[RETRIEVE] sid=1 fetch_ids=[] dts=[]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 20
tensor(0.1894)
 # KEYFRAME 20
0.059241466005914845
Frame 21
tensor(0.2192)
 # KEYFRAME 21
0.060963539996009786
Frame 22
tensor(0.3008)
 # KEYFRAME 22
0.061952616000780836
Frame 23
tensor(0.3388)
 # KEYFRAME 23
0.06365000999358017
Frame 24
tensor(0.4263)
 # KEYFRAME 24
0.06450444700021762
Frame 25
tensor(0.4090)
 # KEYFRAME 25
0.06581750199984526
Frame 26
tensor(0.5610)
 # KEYFRAME 26
0.06770585499907611
Frame 27
tensor(0.4731)
 # KEYFRAME 27
0.06831326300016372
Frame 28
tensor(0.4219)
 # KEYFRAME 28
0.06887985099456273
Frame 29
tensor(0.5225)
 # KEYFRAME 29
0.07031211600406095
Backending... 30 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 31230, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
[DISTILL-GATE] closed at 'len(candidate_ids)=1<2'
Submap backend: sid=2, prev_tokens=10, retrieved_tokens=10
[RETRIEVE] sid=2 fetch_ids=[0] dts=[2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=NoneType is_tensor=False rg=False fin=False val=None
Frame 30
tensor(0.4252)
 # KEYFRAME 30
0.06609528099943418
Frame 31
tensor(0.4103)
 # KEYFRAME 31
0.06746330599708017
Frame 32
tensor(0.4867)
 # KEYFRAME 32
0.06789957500586752
Frame 33
tensor(0.5784)
 # KEYFRAME 33
0.06856326299748616
Frame 34
tensor(0.3263)
 # KEYFRAME 34
0.06962067799759097
Frame 35
tensor(0.3197)
 # KEYFRAME 35
0.07034771599865053
Frame 36
tensor(0.3882)
 # KEYFRAME 36
0.07139855199784506
Frame 37
tensor(0.2970)
 # KEYFRAME 37
0.07238120799593162
Frame 38
tensor(0.3551)
 # KEYFRAME 38
0.07332313500228338
Frame 39
tensor(0.3329)
 # KEYFRAME 39
0.07456146000185981
Backending... 40 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 41640, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=3, prev_tokens=10, retrieved_tokens=20
[RETRIEVE] sid=3 fetch_ids=[0, 1] dts=[3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.1732867956161499
TTA-STEP: step=2275 loss_distill=0.1733 tta_take=0.009s
Frame 40
tensor(0.2144)
 # KEYFRAME 40
0.07254914799705148
Frame 41
tensor(0.2897)
 # KEYFRAME 41
0.07460740000533406
Frame 42
tensor(0.3935)
 # KEYFRAME 42
0.07592313500208547
Frame 43
tensor(0.4196)
 # KEYFRAME 43
0.07621412400476402
Frame 44
tensor(0.4218)
 # KEYFRAME 44
0.0775688900030218
Frame 45
tensor(0.4550)
 # KEYFRAME 45
0.07792325899936259
Frame 46
tensor(0.3830)
 # KEYFRAME 46
0.07829367699741852
Frame 47
tensor(0.4071)
 # KEYFRAME 47
0.07886894500552444
Frame 48
tensor(0.3450)
 # KEYFRAME 48
0.07992136100074276
Frame 49
tensor(0.4740)
 # KEYFRAME 49
0.08081827799469465
Backending... 50 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 52050, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=4, prev_tokens=10, retrieved_tokens=30
[RETRIEVE] sid=4 fetch_ids=[0, 1, 2] dts=[4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.2746530771255493
TTA-STEP: step=2276 loss_distill=0.2747 tta_take=0.009s
Frame 50
tensor(0.4373)
 # KEYFRAME 50
0.07974142199964263
Frame 51
tensor(0.5025)
 # KEYFRAME 51
0.0817867150035454
Frame 52
tensor(0.3855)
 # KEYFRAME 52
0.08190869400277734
Frame 53
tensor(0.3612)
 # KEYFRAME 53
0.08358040799794253
Frame 54
tensor(0.4255)
 # KEYFRAME 54
0.08482691400422482
Frame 55
tensor(0.4367)
 # KEYFRAME 55
0.08515066200197907
Frame 56
tensor(0.3987)
 # KEYFRAME 56
0.08482425299735041
Frame 57
tensor(0.3973)
 # KEYFRAME 57
0.08560888100328157
Frame 58
tensor(0.4026)
 # KEYFRAME 58
0.08596212900010869
Frame 59
tensor(0.3736)
 # KEYFRAME 59
0.08793635199981509
Backending... 60 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 62460, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=5, prev_tokens=10, retrieved_tokens=40
[RETRIEVE] sid=5 fetch_ids=[0, 1, 2, 3] dts=[5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.3465735912322998
TTA-STEP: step=2277 loss_distill=0.3466 tta_take=0.009s
Frame 60
tensor(0.4223)
 # KEYFRAME 60
0.08630631800042465
Frame 61
tensor(0.3710)
 # KEYFRAME 61
0.08896187799837207
Frame 62
tensor(0.3751)
 # KEYFRAME 62
0.0891582379990723
Frame 63
tensor(0.4397)
 # KEYFRAME 63
0.0900781439995626
Frame 64
tensor(0.3339)
 # KEYFRAME 64
0.09138671000255272
Frame 65
tensor(0.4136)
 # KEYFRAME 65
0.09276427399890963
Frame 66
tensor(0.2810)
 # KEYFRAME 66
0.0933366120007122
Frame 67
tensor(0.3343)
 # KEYFRAME 67
0.0953458150033839
Frame 68
tensor(0.3702)
 # KEYFRAME 68
0.0957824229990365
Frame 69
tensor(0.1152)
 # KEYFRAME 69
0.096458061998419
Backending... 70 KFs
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=6, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=6 fetch_ids=[0, 1, 2, 3, 4] dts=[6, 5, 4, 3, 2]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2278 loss_distill=0.4024 tta_take=0.009s
Frame 70
tensor(0.2877)
 # KEYFRAME 70
0.09272586500446778
Frame 71
tensor(0.3207)
 # KEYFRAME 71
0.0941048199965735
Frame 72
tensor(0.2881)
 # KEYFRAME 72
0.09481452700129012
Frame 73
tensor(0.3081)
 # KEYFRAME 73
0.09512014600477414
Frame 74
tensor(0.3762)
 # KEYFRAME 74
0.09625158199924044
Frame 75
tensor(0.6778)
 # KEYFRAME 75
0.0965887910060701
Frame 76
tensor(0.3898)
 # KEYFRAME 76
0.09798333599610487
Frame 77
tensor(0.5084)
 # KEYFRAME 77
0.0989993220064207
Frame 78
tensor(0.3727)
 # KEYFRAME 78
0.09946764099731809
Frame 79
tensor(0.7415)
 # KEYFRAME 79
0.09939523100183578
Backending... 80 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5] picked=[0, 1, 2, 3, 4] dropped=[5] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=7, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=7 fetch_ids=[1, 0, 2, 4, 3] dts=[6, 7, 5, 3, 4]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2279 loss_distill=0.4024 tta_take=0.009s
Frame 80
tensor(0.6551)
 # KEYFRAME 80
0.09339947200351162
Frame 81
tensor(0.4982)
 # KEYFRAME 81
0.09580551399994874
Frame 82
tensor(0.8355)
 # KEYFRAME 82
0.09586829299951205
Frame 83
tensor(0.6240)
 # KEYFRAME 83
0.09698732900142204
Frame 84
tensor(0.2562)
 # KEYFRAME 84
0.0980714760007686
Frame 85
tensor(0.6020)
 # KEYFRAME 85
0.09935276100441115
Frame 86
tensor(0.5984)
 # KEYFRAME 86
0.09983471900341101
Frame 87
tensor(0.2249)
 # KEYFRAME 87
0.10183588200015947
Frame 88
tensor(0.1735)
 # KEYFRAME 88
0.1019146010003169
Frame 89
tensor(0.6342)
 # KEYFRAME 89
0.10431562300072983
Backending... 90 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6] picked=[0, 1, 2, 3, 4] dropped=[5, 6] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=8, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=8 fetch_ids=[1, 0, 2, 4, 3] dts=[7, 8, 6, 4, 5]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594856262207
TTA-STEP: step=2280 loss_distill=0.4024 tta_take=0.009s
Frame 90
tensor(0.4572)
 # KEYFRAME 90
0.09381507100624731
Frame 91
tensor(0.2995)
 # KEYFRAME 91
0.09585932300251443
Frame 92
tensor(0.1928)
 # KEYFRAME 92
0.09618806200160179
Frame 93
tensor(0.2151)
 # KEYFRAME 93
0.09677834000467556
Frame 94
tensor(0.2719)
 # KEYFRAME 94
0.09773725699778879
Frame 95
tensor(0.2547)
 # KEYFRAME 95
0.09953834000043571
Frame 96
tensor(0.2586)
 # KEYFRAME 96
0.10061172599671409
Frame 97
tensor(0.1137)
 # KEYFRAME 97
0.10173887299606577
Frame 98
tensor(0.0824)
Frame 99
tensor(0.1823)
 # KEYFRAME 98
0.102861669001868
Frame 100
tensor(0.3844)
 # KEYFRAME 99
0.1039578240015544
Backending... 100 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=9, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=9 fetch_ids=[1, 0, 2, 4, 3] dts=[8, 9, 7, 5, 6]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2281 loss_distill=0.4024 tta_take=0.009s
Frame 101
tensor(0.0372)
Frame 102
tensor(0.4538)
 # KEYFRAME 100
0.0933661419985583
Frame 103
tensor(0.1302)
 # KEYFRAME 101
0.09496174700325355
Frame 104
tensor(0.3938)
 # KEYFRAME 102
0.09498944700317224
Frame 105
tensor(0.1998)
 # KEYFRAME 103
0.09538531499856617
Frame 106
tensor(0.4331)
 # KEYFRAME 104
0.09703732899652096
Frame 107
tensor(0.3857)
 # KEYFRAME 105
0.09771976699994411
Frame 108
tensor(0.2509)
 # KEYFRAME 106
0.09812518599937903
Frame 109
tensor(0.2489)
 # KEYFRAME 107
0.09899770299671218
Frame 110
tensor(0.2780)
 # KEYFRAME 108
0.09998064899991732
Frame 111
tensor(0.4393)
 # KEYFRAME 109
0.09979793000093196
Backending... 110 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=10, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=10 fetch_ids=[1, 0, 2, 4, 3] dts=[9, 10, 8, 6, 7]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023595154285431
TTA-STEP: step=2282 loss_distill=0.4024 tta_take=0.009s
Frame 112
tensor(0.3460)
 # KEYFRAME 110
0.09349523299897555
Frame 113
tensor(0.2067)
 # KEYFRAME 111
0.09461648799333489
Frame 114
tensor(0.1500)
 # KEYFRAME 112
0.0955292649960029
Frame 115
tensor(0.1135)
 # KEYFRAME 113
0.09643548200256191
Frame 116
tensor(0.2526)
 # KEYFRAME 114
0.09702801999810617
Frame 117
tensor(0.2341)
 # KEYFRAME 115
0.09702130999357905
Frame 118
tensor(0.2197)
 # KEYFRAME 116
0.09850120399642037
Frame 119
tensor(0.2651)
 # KEYFRAME 117
0.09936287099844776
Frame 120
tensor(0.2736)
 # KEYFRAME 118
0.09939688099984778
Frame 121
tensor(0.2368)
 # KEYFRAME 119
0.10086314500222215
Backending... 120 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=11, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=11 fetch_ids=[1, 0, 2, 4, 3] dts=[10, 11, 9, 7, 8]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2283 loss_distill=0.4024 tta_take=0.009s
Frame 122
tensor(0.4554)
 # KEYFRAME 120
0.09353119199658977
Frame 123
tensor(0.2642)
 # KEYFRAME 121
0.09586074300023029
Frame 124
tensor(0.1967)
 # KEYFRAME 122
0.09623601299972506
Frame 125
tensor(0.3064)
 # KEYFRAME 123
0.09613913299835986
Frame 126
tensor(0.3433)
 # KEYFRAME 124
0.09687480000138748
Frame 127
tensor(0.2027)
 # KEYFRAME 125
0.09802811600093264
Frame 128
tensor(0.4908)
 # KEYFRAME 126
0.09880849300679984
Frame 129
tensor(0.1513)
 # KEYFRAME 127
0.09868070400261786
Frame 130
tensor(0.3554)
 # KEYFRAME 128
0.10076142600155436
Frame 131
tensor(0.3381)
 # KEYFRAME 129
0.10144280300301034
Backending... 130 KFs
[SCORER PICKS] cand=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] picked=[0, 1, 2, 3, 4] dropped=[5, 6, 7, 8, 9, 10] scores=[(0, 10.0), (1, 10.0), (2, 10.0), (3, 10.0), (4, 10.0), (5, 10.0), (6, 10.0), (7, 10.0), (8, 10.0), (9, 10.0), (10, 10.0)]
[CAP-SET] w_ok=True live_ok=True set_ok=True attn_resolved=True
[ATTN-CAPTURE] fired; q.shape=(1, 16, 72870, 64) stored=True
[CAP-HARVEST] flag_after_fwd=True q_is_none=False v_is_none=False id=22588307551120
Submap backend: sid=12, prev_tokens=10, retrieved_tokens=50
[RETRIEVE] sid=12 fetch_ids=[1, 0, 2, 4, 3] dts=[11, 12, 10, 8, 9]
TTA-OUTER: tta_enabled=True tta_optimizer_is_None=False
TTA-GATE: meta_is_dict=True loss_distill_type=Tensor is_tensor=True rg=True fin=True val=0.4023594558238983
TTA-STEP: step=2284 loss_distill=0.4024 tta_take=0.009s
Frame 132
tensor(0.4494)
 # KEYFRAME 130
0.0929106440016767
Frame 133
tensor(0.4924)
 # KEYFRAME 131
0.09541647500009276
Frame 134
tensor(0.4735)
 # KEYFRAME 132
0.09488460700231371
Frame 135
tensor(0.2543)
 # KEYFRAME 133
0.09659362000093097
Frame 136
tensor(0.1148)
 # KEYFRAME 134
0.09718830900237663
Frame 137
tensor(0.4342)
 # KEYFRAME 135
0.09796206600003643
Frame 138
tensor(0.1665)
 # KEYFRAME 136
0.09826996499759844
Frame 139
tensor(0.2901)
 # KEYFRAME 137
0.09959697000158485
Frame 140
tensor(0.1672)
 # KEYFRAME 138
0.0993088010000065