[2024-01-16 12:16:57,360][train][INFO] - Preparing dataset...
[2024-01-16 12:16:57,584][train][INFO] - Prepared dataset.
[2024-01-16 12:16:57,585][train][INFO] - Preparing model...
[2024-01-16 12:17:00,886][train][INFO] - Prepared model.
[2024-01-16 12:17:00,886][train][INFO] - Optimizing...
[2024-01-16 12:17:00,906][train][INFO] - epoch: 0 lr: 0.0001
[2024-01-16 12:19:16,620][train][INFO] - training loss: 0.018672020604404118 + 0.2971480878499838 + 0.029619377851486207 + 0.3357035613976992 = 0.6811430481763986, data num: 1030
[2024-01-16 12:19:16,635][train][INFO] - Validating training...
[2024-01-16 12:20:32,484][train][INFO] - mean_translation_distance_error = [143.62354]
[2024-01-16 12:20:32,484][train][INFO] - mean_translation_along_error = [22.774446]
[2024-01-16 12:20:32,484][train][INFO] - mean_translation_perp_error = [140.99408]
[2024-01-16 12:20:32,484][train][INFO] - mean_translation_plane_error = [98.6371]
[2024-01-16 12:20:32,484][train][INFO] - mean_translation_line_error = [97.39055]
[2024-01-16 12:20:32,485][train][INFO] - mean_rotation_error = [90.]
[2024-01-16 12:20:32,485][train][INFO] - mean_affordance_error = [120.9522]
[2024-01-16 12:20:32,485][train][INFO] - median_translation_distance_error = [144.52283]
[2024-01-16 12:20:32,485][train][INFO] - median_translation_along_error = [22.125439]
[2024-01-16 12:20:32,486][train][INFO] - median_translation_perp_error = [143.4551]
[2024-01-16 12:20:32,486][train][INFO] - median_translation_plane_error = [96.009964]
[2024-01-16 12:20:32,486][train][INFO] - median_translation_line_error = [99.35387]
[2024-01-16 12:20:32,486][train][INFO] - median_rotation_error = [90.]
[2024-01-16 12:20:32,486][train][INFO] - median_affordance_error = [117.73712]
[2024-01-16 12:20:32,486][train][INFO] - max_translation_distance_error = [221.33319]
[2024-01-16 12:20:32,486][train][INFO] - max_translation_along_error = [53.60204]
[2024-01-16 12:20:32,486][train][INFO] - max_translation_perp_error = [220.96872]
[2024-01-16 12:20:32,487][train][INFO] - max_translation_plane_error = [185.54097]
[2024-01-16 12:20:32,487][train][INFO] - max_translation_line_error = [155.21535]
[2024-01-16 12:20:32,487][train][INFO] - max_rotation_error = [90.]
[2024-01-16 12:20:32,487][train][INFO] - max_affordance_error = [235.16663]
[2024-01-16 12:20:32,487][train][INFO] - min_translation_distance_error = [88.24211]
[2024-01-16 12:20:32,487][train][INFO] - min_translation_along_error = [0.3096521]
[2024-01-16 12:20:32,487][train][INFO] - min_translation_perp_error = [82.57679]
[2024-01-16 12:20:32,487][train][INFO] - min_translation_plane_error = [47.424706]
[2024-01-16 12:20:32,487][train][INFO] - min_translation_line_error = [41.529408]
[2024-01-16 12:20:32,488][train][INFO] - min_rotation_error = [90.]
[2024-01-16 12:20:32,488][train][INFO] - min_affordance_error = [65.643654]
[2024-01-16 12:20:32,488][train][INFO] - std_translation_distance_error = [30.069263]
[2024-01-16 12:20:32,488][train][INFO] - std_translation_along_error = [13.2006235]
[2024-01-16 12:20:32,488][train][INFO] - std_translation_perp_error = [30.977709]
[2024-01-16 12:20:32,488][train][INFO] - std_translation_plane_error = [30.383635]
[2024-01-16 12:20:32,489][train][INFO] - std_translation_line_error = [29.294544]
[2024-01-16 12:20:32,489][train][INFO] - std_rotation_error = [0.]
[2024-01-16 12:20:32,489][train][INFO] - std_affordance_error = [32.36459]
[2024-01-16 12:20:32,489][train][INFO] - translation_outliers_num = 64
[2024-01-16 12:20:32,489][train][INFO] - rotation_outliers_num = 64
[2024-01-16 12:20:32,489][train][INFO] - affordance_outliers_num = 64
[2024-01-16 12:20:32,489][train][INFO] - translation_outliers_ratio = 1.0
[2024-01-16 12:20:32,489][train][INFO] - rotation_outliers_ratio = 1.0
[2024-01-16 12:20:32,489][train][INFO] - affordance_outliers_ratio = 1.0
[2024-01-16 12:20:32,489][train][INFO] - data_num = 64, joint_num = 1
[2024-01-16 12:20:32,518][train][INFO] - Validated training.
[2024-01-16 12:20:32,518][train][INFO] - Validating training time: 75.88286519050598
[2024-01-16 12:20:32,518][train][INFO] - Validating testing...
[2024-01-16 12:21:37,894][train][INFO] - mean_translation_distance_error = [142.66835]
[2024-01-16 12:21:37,895][train][INFO] - mean_translation_along_error = [22.33046]
[2024-01-16 12:21:37,895][train][INFO] - mean_translation_perp_error = [139.93484]
[2024-01-16 12:21:37,895][train][INFO] - mean_translation_plane_error = [94.57343]
[2024-01-16 12:21:37,896][train][INFO] - mean_translation_line_error = [95.72636]
[2024-01-16 12:21:37,896][train][INFO] - mean_rotation_error = [90.]
[2024-01-16 12:21:37,896][train][INFO] - mean_affordance_error = [117.21791]
[2024-01-16 12:21:37,897][train][INFO] - median_translation_distance_error = [138.6051]
[2024-01-16 12:21:37,897][train][INFO] - median_translation_along_error = [19.552399]
[2024-01-16 12:21:37,897][train][INFO] - median_translation_perp_error = [137.26852]
[2024-01-16 12:21:37,897][train][INFO] - median_translation_plane_error = [93.62033]
[2024-01-16 12:21:37,898][train][INFO] - median_translation_line_error = [97.598465]
[2024-01-16 12:21:37,898][train][INFO] - median_rotation_error = [90.]
[2024-01-16 12:21:37,898][train][INFO] - median_affordance_error = [115.92682]
[2024-01-16 12:21:37,898][train][INFO] - max_translation_distance_error = [198.3381]
[2024-01-16 12:21:37,898][train][INFO] - max_translation_along_error = [57.468212]
[2024-01-16 12:21:37,899][train][INFO] - max_translation_perp_error = [198.12296]
[2024-01-16 12:21:37,899][train][INFO] - max_translation_plane_error = [150.57808]
[2024-01-16 12:21:37,899][train][INFO] - max_translation_line_error = [156.98682]
[2024-01-16 12:21:37,899][train][INFO] - max_rotation_error = [90.]
[2024-01-16 12:21:37,899][train][INFO] - max_affordance_error = [170.63539]
[2024-01-16 12:21:37,899][train][INFO] - min_translation_distance_error = [98.42435]
[2024-01-16 12:21:37,900][train][INFO] - min_translation_along_error = [0.8776903]
[2024-01-16 12:21:37,900][train][INFO] - min_translation_perp_error = [93.40315]
[2024-01-16 12:21:37,900][train][INFO] - min_translation_plane_error = [38.855164]
[2024-01-16 12:21:37,900][train][INFO] - min_translation_line_error = [16.193115]
[2024-01-16 12:21:37,900][train][INFO] - min_rotation_error = [90.]
[2024-01-16 12:21:37,900][train][INFO] - min_affordance_error = [70.03734]
[2024-01-16 12:21:37,901][train][INFO] - std_translation_distance_error = [22.323046]
[2024-01-16 12:21:37,901][train][INFO] - std_translation_along_error = [14.227857]
[2024-01-16 12:21:37,901][train][INFO] - std_translation_perp_error = [23.869164]
[2024-01-16 12:21:37,902][train][INFO] - std_translation_plane_error = [29.04241]
[2024-01-16 12:21:37,902][train][INFO] - std_translation_line_error = [29.147875]
[2024-01-16 12:21:37,902][train][INFO] - std_rotation_error = [0.]
[2024-01-16 12:21:37,902][train][INFO] - std_affordance_error = [22.712872]
[2024-01-16 12:21:37,902][train][INFO] - translation_outliers_num = 64
[2024-01-16 12:21:37,902][train][INFO] - rotation_outliers_num = 64
[2024-01-16 12:21:37,902][train][INFO] - affordance_outliers_num = 64
[2024-01-16 12:21:37,902][train][INFO] - translation_outliers_ratio = 1.0
[2024-01-16 12:21:37,902][train][INFO] - rotation_outliers_ratio = 1.0
[2024-01-16 12:21:37,902][train][INFO] - affordance_outliers_ratio = 1.0
[2024-01-16 12:21:37,902][train][INFO] - data_num = 64, joint_num = 1
[2024-01-16 12:21:37,930][train][INFO] - Validated testing.
[2024-01-16 12:21:37,930][train][INFO] - Validating testing time: 65.41130805015564
[2024-01-16 12:21:37,930][train][INFO] - epoch: 1 lr: 0.0002
[2024-01-16 12:23:55,785][train][INFO] - training loss: 0.011276795614797335 + 0.2612553876179915 + 0.0171069752281675 + 0.3168714835093572 = 0.606510642858652, data num: 1030
[2024-01-16 12:23:55,789][train][INFO] - epoch: 2 lr: 0.0003
[2024-01-16 12:26:13,609][train][INFO] - training loss: 0.01139574761574085 + 0.254729746396725 + 0.015965745110924426 + 0.2849422308114859 = 0.5670334678429824, data num: 1030
[2024-01-16 12:26:13,610][train][INFO] - epoch: 3 lr: 0.0004
[2024-01-16 12:28:30,237][train][INFO] - training loss: 0.009826835989952088 + 0.23912432285455557 + 0.014614736904891637 + 0.24744023726536676 = 0.5110061319974752, data num: 1030
[2024-01-16 12:28:30,238][train][INFO] - epoch: 4 lr: 0.0005
[2024-01-16 12:30:44,795][train][INFO] - training loss: 0.00901479204543508 + 0.19544323155513177 + 0.013066482801850025 + 0.2194140021617596 = 0.43693850682331964, data num: 1030
[2024-01-16 12:30:44,796][train][INFO] - epoch: 5 lr: 0.0006
[2024-01-16 12:33:01,816][train][INFO] - training loss: 0.008427643202818358 + 0.1809759279856315 + 0.012154193573559706 + 0.20280454594355363 = 0.4043623112715208, data num: 1030
[2024-01-16 12:33:01,817][train][INFO] - epoch: 6 lr: 0.0007
[2024-01-16 12:35:22,973][train][INFO] - training loss: 0.007956217293842481 + 0.1726169709975903 + 0.011396671602359186 + 0.18929405831373655 = 0.38126391860154957, data num: 1030
[2024-01-16 12:35:22,974][train][INFO] - epoch: 7 lr: 0.0008
[2024-01-16 12:37:41,893][train][INFO] - training loss: 0.007907258081608094 + 0.16193393583481128 + 0.011511982776797734 + 0.18346893237187312 = 0.36482211030446565, data num: 1030
[2024-01-16 12:37:41,894][train][INFO] - epoch: 8 lr: 0.0009000000000000001
[2024-01-16 12:39:55,541][train][INFO] - training loss: 0.007936680703782117 + 0.15376182897732807 + 0.011006475390436558 + 0.1744891045185236 = 0.3471940870468433, data num: 1030
[2024-01-16 12:39:55,543][train][INFO] - epoch: 9 lr: 0.001
[2024-01-16 12:42:09,305][train][INFO] - training loss: 0.007779961351591807 + 0.15188337908341334 + 0.011797606199979781 + 0.16623598703971276 = 0.33769693466333245, data num: 1030
[2024-01-16 12:42:09,306][train][INFO] - epoch: 10 lr: 0.001
[2024-01-16 12:44:30,096][train][INFO] - training loss: 0.006984434427263645 + 0.14568162262439727 + 0.009737062368255394 + 0.15637092292308807 = 0.31877404405520515, data num: 1030
[2024-01-16 12:44:30,097][train][INFO] - epoch: 11 lr: 0.000999938933078422
[2024-01-16 12:46:54,838][train][INFO] - training loss: 0.006772165910269206 + 0.1420087795991164 + 0.009617610225597253 + 0.14772565284600625 = 0.3061242098991688, data num: 1030
[2024-01-16 12:46:54,839][train][INFO] - epoch: 12 lr: 0.000999755747381037
[2024-01-16 12:49:15,820][train][INFO] - training loss: 0.00654650701639744 + 0.13876159168206728 + 0.00877100107474969 + 0.13822706570992102 = 0.2923061659702888, data num: 1030
[2024-01-16 12:49:15,821][train][INFO] - epoch: 13 lr: 0.000999450488106175
[2024-01-16 12:51:39,348][train][INFO] - training loss: 0.006327116016585093 + 0.13749429010427916 + 0.00882423513640578 + 0.13982881960960536 = 0.29247446472828204, data num: 1030
[2024-01-16 12:51:39,349][train][INFO] - epoch: 14 lr: 0.0009990232305719944
[2024-01-16 12:53:55,276][train][INFO] - training loss: 0.006393077632842156 + 0.13337519203241055 + 0.008721466197703894 + 0.13591616337115947 = 0.2844058972138625, data num: 1030
[2024-01-16 12:53:55,279][train][INFO] - epoch: 15 lr: 0.0009984740801978983
[2024-01-16 12:56:15,516][train][INFO] - training loss: 0.006233118410007312 + 0.13039547033034837 + 0.008169212708106407 + 0.12448989290457506 = 0.2692876944175133, data num: 1030
[2024-01-16 12:56:15,517][train][INFO] - epoch: 16 lr: 0.0009978031724785245
[2024-01-16 12:58:41,571][train][INFO] - training loss: 0.005992639014640679 + 0.13020943781504266 + 0.007961053157655093 + 0.12293505955200928 = 0.2670981886295172, data num: 1030
[2024-01-16 12:58:41,572][train][INFO] - epoch: 17 lr: 0.000997010672950314
[2024-01-16 13:00:58,702][train][INFO] - training loss: 0.005647103459789203 + 0.12518272147728846 + 0.007496901744833359 + 0.11515522140723009 = 0.2534819483757019, data num: 1030
[2024-01-16 13:00:58,703][train][INFO] - epoch: 18 lr: 0.0009960967771506664
[2024-01-16 13:03:17,386][train][INFO] - training loss: 0.005673141000219263 + 0.12496330520281425 + 0.007153396186633752 + 0.10682397301380452 = 0.2446138166464292, data num: 1030
[2024-01-16 13:03:17,387][train][INFO] - epoch: 19 lr: 0.0009950617105696957
[2024-01-16 13:05:38,625][train][INFO] - training loss: 0.005498903957553781 + 0.12130549790767522 + 0.007014942333961909 + 0.10587195261166646 = 0.23969129828306346, data num: 1030
[2024-01-16 13:05:38,626][train][INFO] - epoch: 20 lr: 0.0009939057285945929
[2024-01-16 13:07:55,676][train][INFO] - training loss: 0.005611177175663984 + 0.12236251498644168 + 0.007188178713505085 + 0.10569568941226372 = 0.24085755898402286, data num: 1030
[2024-01-16 13:07:55,690][train][INFO] - Validating training...
[2024-01-16 13:08:57,443][train][INFO] - mean_translation_distance_error = [8.396297]
[2024-01-16 13:08:57,444][train][INFO] - mean_translation_along_error = [2.7539678]
[2024-01-16 13:08:57,445][train][INFO] - mean_translation_perp_error = [7.61468]
[2024-01-16 13:08:57,445][train][INFO] - mean_translation_plane_error = [7.442559]
[2024-01-16 13:08:57,445][train][INFO] - mean_translation_line_error = [4.5231957]
[2024-01-16 13:08:57,445][train][INFO] - mean_rotation_error = [6.9149694]
[2024-01-16 13:08:57,445][train][INFO] - mean_affordance_error = [10.600334]
[2024-01-16 13:08:57,446][train][INFO] - median_translation_distance_error = [7.684079]
[2024-01-16 13:08:57,447][train][INFO] - median_translation_along_error = [2.5862708]
[2024-01-16 13:08:57,447][train][INFO] - median_translation_perp_error = [7.28152]
[2024-01-16 13:08:57,447][train][INFO] - median_translation_plane_error = [6.8494906]
[2024-01-16 13:08:57,447][train][INFO] - median_translation_line_error = [3.0731692]
[2024-01-16 13:08:57,447][train][INFO] - median_rotation_error = [5.9069366]
[2024-01-16 13:08:57,447][train][INFO] - median_affordance_error = [10.119331]
[2024-01-16 13:08:57,448][train][INFO] - max_translation_distance_error = [23.495916]
[2024-01-16 13:08:57,448][train][INFO] - max_translation_along_error = [8.143975]
[2024-01-16 13:08:57,448][train][INFO] - max_translation_perp_error = [23.179766]
[2024-01-16 13:08:57,448][train][INFO] - max_translation_plane_error = [23.17891]
[2024-01-16 13:08:57,448][train][INFO] - max_translation_line_error = [23.177416]
[2024-01-16 13:08:57,448][train][INFO] - max_rotation_error = [25.132227]
[2024-01-16 13:08:57,449][train][INFO] - max_affordance_error = [25.229246]
[2024-01-16 13:08:57,449][train][INFO] - min_translation_distance_error = [2.269611]
[2024-01-16 13:08:57,449][train][INFO] - min_translation_along_error = [0.0353829]
[2024-01-16 13:08:57,449][train][INFO] - min_translation_perp_error = [0.6019888]
[2024-01-16 13:08:57,449][train][INFO] - min_translation_plane_error = [0.7273322]
[2024-01-16 13:08:57,449][train][INFO] - min_translation_line_error = [0.06532654]
[2024-01-16 13:08:57,450][train][INFO] - min_rotation_error = [0.12820426]
[2024-01-16 13:08:57,450][train][INFO] - min_affordance_error = [1.684015]
[2024-01-16 13:08:57,450][train][INFO] - std_translation_distance_error = [4.054458]
[2024-01-16 13:08:57,451][train][INFO] - std_translation_along_error = [1.8838676]
[2024-01-16 13:08:57,451][train][INFO] - std_translation_perp_error = [4.22135]
[2024-01-16 13:08:57,451][train][INFO] - std_translation_plane_error = [4.2283387]
[2024-01-16 13:08:57,451][train][INFO] - std_translation_line_error = [4.093384]
[2024-01-16 13:08:57,451][train][INFO] - std_rotation_error = [4.9167786]
[2024-01-16 13:08:57,451][train][INFO] - std_affordance_error = [5.254413]
[2024-01-16 13:08:57,451][train][INFO] - translation_outliers_num = 47
[2024-01-16 13:08:57,452][train][INFO] - rotation_outliers_num = 36
[2024-01-16 13:08:57,452][train][INFO] - affordance_outliers_num = 57
[2024-01-16 13:08:57,452][train][INFO] - translation_outliers_ratio = 0.734375
[2024-01-16 13:08:57,452][train][INFO] - rotation_outliers_ratio = 0.5625
[2024-01-16 13:08:57,452][train][INFO] - affordance_outliers_ratio = 0.890625
[2024-01-16 13:08:57,452][train][INFO] - data_num = 64, joint_num = 1
[2024-01-16 13:08:57,453][train][INFO] - Validated training.
[2024-01-16 13:08:57,453][train][INFO] - Validating training time: 61.7631721496582
[2024-01-16 13:08:57,454][train][INFO] - Validating testing...
[2024-01-16 13:09:56,914][train][INFO] - mean_translation_distance_error = [9.882121]
[2024-01-16 13:09:56,915][train][INFO] - mean_translation_along_error = [3.462528]
[2024-01-16 13:09:56,915][train][INFO] - mean_translation_perp_error = [8.880695]
[2024-01-16 13:09:56,915][train][INFO] - mean_translation_plane_error = [8.870398]
[2024-01-16 13:09:56,916][train][INFO] - mean_translation_line_error = [5.646183]
[2024-01-16 13:09:56,916][train][INFO] - mean_rotation_error = [6.625651]
[2024-01-16 13:09:56,917][train][INFO] - mean_affordance_error = [12.196791]
[2024-01-16 13:09:56,917][train][INFO] - median_translation_distance_error = [9.560312]
[2024-01-16 13:09:56,918][train][INFO] - median_translation_along_error = [2.8870592]
[2024-01-16 13:09:56,918][train][INFO] - median_translation_perp_error = [9.021048]
[2024-01-16 13:09:56,918][train][INFO] - median_translation_plane_error = [8.946972]
[2024-01-16 13:09:56,918][train][INFO] - median_translation_line_error = [5.603134]
[2024-01-16 13:09:56,918][train][INFO] - median_rotation_error = [5.841381]
[2024-01-16 13:09:56,918][train][INFO] - median_affordance_error = [11.8448305]
[2024-01-16 13:09:56,919][train][INFO] - max_translation_distance_error = [23.343853]
[2024-01-16 13:09:56,919][train][INFO] - max_translation_along_error = [11.561344]
[2024-01-16 13:09:56,919][train][INFO] - max_translation_perp_error = [22.61559]
[2024-01-16 13:09:56,919][train][INFO] - max_translation_plane_error = [22.660671]
[2024-01-16 13:09:56,919][train][INFO] - max_translation_line_error = [21.3091]
[2024-01-16 13:09:56,920][train][INFO] - max_rotation_error = [23.814281]
[2024-01-16 13:09:56,920][train][INFO] - max_affordance_error = [32.483536]
[2024-01-16 13:09:56,920][train][INFO] - min_translation_distance_error = [1.343936]
[2024-01-16 13:09:56,920][train][INFO] - min_translation_along_error = [0.11491142]
[2024-01-16 13:09:56,920][train][INFO] - min_translation_perp_error = [0.98274773]
[2024-01-16 13:09:56,920][train][INFO] - min_translation_plane_error = [0.8495571]
[2024-01-16 13:09:56,921][train][INFO] - min_translation_line_error = [0.03189203]
[2024-01-16 13:09:56,921][train][INFO] - min_rotation_error = [0.20558421]
[2024-01-16 13:09:56,921][train][INFO] - min_affordance_error = [2.2084646]
[2024-01-16 13:09:56,921][train][INFO] - std_translation_distance_error = [4.1117606]
[2024-01-16 13:09:56,922][train][INFO] - std_translation_along_error = [2.2634249]
[2024-01-16 13:09:56,922][train][INFO] - std_translation_perp_error = [4.3109097]
[2024-01-16 13:09:56,922][train][INFO] - std_translation_plane_error = [4.192539]
[2024-01-16 13:09:56,922][train][INFO] - std_translation_line_error = [4.357408]
[2024-01-16 13:09:56,922][train][INFO] - std_rotation_error = [4.787077]
[2024-01-16 13:09:56,922][train][INFO] - std_affordance_error = [5.9755497]
[2024-01-16 13:09:56,923][train][INFO] - translation_outliers_num = 52
[2024-01-16 13:09:56,923][train][INFO] - rotation_outliers_num = 38
[2024-01-16 13:09:56,923][train][INFO] - affordance_outliers_num = 58
[2024-01-16 13:09:56,923][train][INFO] - translation_outliers_ratio = 0.8125
[2024-01-16 13:09:56,923][train][INFO] - rotation_outliers_ratio = 0.59375
[2024-01-16 13:09:56,923][train][INFO] - affordance_outliers_ratio = 0.90625
[2024-01-16 13:09:56,923][train][INFO] - data_num = 64, joint_num = 1
[2024-01-16 13:09:56,924][train][INFO] - Validated testing.
[2024-01-16 13:09:56,924][train][INFO] - Validating testing time: 59.47029757499695
[2024-01-16 13:09:56,925][train][INFO] - epoch: 21 lr: 0.0009926291164466126
[2024-01-16 13:12:11,338][train][INFO] - training loss: 0.005428441040790998 + 0.11663275326673801 + 0.006890547289871252 + 0.09525266736745834 = 0.22420441049795883, data num: 1030
[2024-01-16 13:12:11,341][train][INFO] - epoch: 22 lr: 0.0009912321891107005
[2024-01-16 13:14:31,034][train][INFO] - training loss: 0.005372850210047685 + 0.11602438997763853 + 0.006737587278565535 + 0.09564111324457023 = 0.22377594090425051, data num: 1030
[2024-01-16 13:14:31,036][train][INFO] - epoch: 23 lr: 0.0009897152912577737
[2024-01-16 13:16:51,000][train][INFO] - training loss: 0.005287955468520522 + 0.11506366718273897 + 0.006750488044837346 + 0.09661322213136232 = 0.22371533329670246, data num: 1030
[2024-01-16 13:16:51,002][train][INFO] - epoch: 24 lr: 0.0009880787971596797
[2024-01-16 13:19:17,015][train][INFO] - training loss: 0.0050691853349025436 + 0.11421651553649169 + 0.006549504521087959 + 0.09079594898682375 = 0.21663115391364465, data num: 1030
[2024-01-16 13:19:17,016][train][INFO] - epoch: 25 lr: 0.0009863231105968495
[2024-01-16 13:21:40,984][train][INFO] - training loss: 0.004861406673892186 + 0.11007014226454954 + 0.006099135944476495 + 0.08839134768797802 = 0.20942203333744636, data num: 1030
[2024-01-16 13:21:40,985][train][INFO] - epoch: 26 lr: 0.000984448664758672
[2024-01-16 13:23:55,041][train][INFO] - training loss: 0.005104398730999002 + 0.10953251891411268 + 0.006328502712914577 + 0.08836743350212391 = 0.20933285355567932, data num: 1030
[2024-01-16 13:23:55,043][train][INFO] - epoch: 27 lr: 0.0009824559221366096
[2024-01-16 13:26:15,369][train][INFO] - training loss: 0.0048521218212464684 + 0.10843638227536129 + 0.0059724818700208114 + 0.08212483685750227 = 0.20138582128744859, data num: 1030
[2024-01-16 13:26:15,370][train][INFO] - epoch: 28 lr: 0.0009803453744100864
[2024-01-16 13:28:24,987][train][INFO] - training loss: 0.004720060319568102 + 0.1074174070587525 + 0.005969773841878543 + 0.08143677138365232 = 0.1995440123172907, data num: 1030
[2024-01-16 13:28:24,988][train][INFO] - epoch: 29 lr: 0.0009781175423251728
[2024-01-16 13:30:41,711][train][INFO] - training loss: 0.004965197413156812 + 0.10864939231138963 + 0.006156089830283935 + 0.08339021280407906 = 0.2031608916245974, data num: 1030
[2024-01-16 13:30:41,712][train][INFO] - epoch: 30 lr: 0.0009757729755661004
[2024-01-16 13:32:55,860][train][INFO] - training loss: 0.004692203257806026 + 0.10436298572100126 + 0.005848634859117178 + 0.07483598876457948 = 0.18973981348367838, data num: 1030
[2024-01-16 13:32:55,861][train][INFO] - epoch: 31 lr: 0.0009733122526196342
[2024-01-16 13:35:17,880][train][INFO] - training loss: 0.00479155620918251 + 0.10384924514935567 + 0.005672074037675674 + 0.075408414292794 = 0.1897212892770767, data num: 1030
[2024-01-16 13:35:17,882][train][INFO] - epoch: 32 lr: 0.000970735980632341
[2024-01-16 13:37:28,025][train][INFO] - training loss: 0.00446348601164153 + 0.1016984577362354 + 0.005580211831973149 + 0.07273801719913116 = 0.1844801726249548, data num: 1030
[2024-01-16 13:37:28,026][train][INFO] - epoch: 33 lr: 0.0009680447952607838
[2024-01-16 13:39:39,624][train][INFO] - training loss: 0.004425108482917914 + 0.1033646693596473 + 0.005504917313989538 + 0.07138504947607334 = 0.18467974410607266, data num: 1030
[2024-01-16 13:39:39,625][train][INFO] - epoch: 34 lr: 0.0009652393605146839
[2024-01-16 13:41:54,787][train][INFO] - training loss: 0.00440150611460782 + 0.10156935980686775 + 0.00546947901065533 + 0.06792659169206253 = 0.17936693521646352, data num: 1030
[2024-01-16 13:41:54,788][train][INFO] - epoch: 35 lr: 0.0009623203685930864
[2024-01-16 13:44:11,682][train][INFO] - training loss: 0.004632610218742719 + 0.10008449130333387 + 0.005443372061619392 + 0.06610257499493086 = 0.17626304832788614, data num: 1030
[2024-01-16 13:44:11,683][train][INFO] - epoch: 36 lr: 0.00095928853971357
[2024-01-16 13:46:23,916][train][INFO] - training loss: 0.004303875210909889 + 0.09941929762180035 + 0.005491374870045827 + 0.06525188369246629 = 0.17446643091165104, data num: 1030
[2024-01-16 13:46:23,917][train][INFO] - epoch: 37 lr: 0.0009561446219345448
[2024-01-16 13:48:39,453][train][INFO] - training loss: 0.004199351864651992 + 0.09702384242644677 + 0.005249743829839505 + 0.06441370936540457 = 0.17088664724276617, data num: 1030
[2024-01-16 13:48:39,455][train][INFO] - epoch: 38 lr: 0.0009528893909706791
[2024-01-16 13:50:49,029][train][INFO] - training loss: 0.0044079356934302125 + 0.0952506531889622 + 0.005238443842301002 + 0.06481551814537782 = 0.16971255105275374, data num: 1030
[2024-01-16 13:50:49,031][train][INFO] - epoch: 39 lr: 0.0009495236500015041
[2024-01-16 13:53:06,541][train][INFO] - training loss: 0.0041163614306312345 + 0.09408999589773324 + 0.005079940434258717 + 0.05970993460370944 = 0.16299623342660757, data num: 1030
[2024-01-16 13:53:06,542][train][INFO] - epoch: 40 lr: 0.0009460482294732414
[2024-01-16 13:55:21,064][train][INFO] - training loss: 0.0042134897317737344 + 0.09328132455165569 + 0.005026294025950707 + 0.06107854229899553 = 0.1635996509056825, data num: 1030
[2024-01-16 13:55:21,078][train][INFO] - Validating training...
[2024-01-16 13:56:19,607][train][INFO] - mean_translation_distance_error = [6.8576217]
[2024-01-16 13:56:19,608][train][INFO] - mean_translation_along_error = [1.4587276]
[2024-01-16 13:56:19,608][train][INFO] - mean_translation_perp_error = [6.5367756]
[2024-01-16 13:56:19,609][train][INFO] - mean_translation_plane_error = [6.5281076]
[2024-01-16 13:56:19,609][train][INFO] - mean_translation_line_error = [4.030634]
[2024-01-16 13:56:19,609][train][INFO] - mean_rotation_error = [4.565583]
[2024-01-16 13:56:19,609][train][INFO] - mean_affordance_error = [7.1947694]
[2024-01-16 13:56:19,610][train][INFO] - median_translation_distance_error = [6.0448875]
[2024-01-16 13:56:19,610][train][INFO] - median_translation_along_error = [1.0989091]
[2024-01-16 13:56:19,610][train][INFO] - median_translation_perp_error = [5.5924516]
[2024-01-16 13:56:19,611][train][INFO] - median_translation_plane_error = [5.626998]
[2024-01-16 13:56:19,611][train][INFO] - median_translation_line_error = [3.4330251]
[2024-01-16 13:56:19,611][train][INFO] - median_rotation_error = [3.8087707]
[2024-01-16 13:56:19,611][train][INFO] - median_affordance_error = [6.4745464]
[2024-01-16 13:56:19,611][train][INFO] - max_translation_distance_error = [16.958632]
[2024-01-16 13:56:19,612][train][INFO] - max_translation_along_error = [5.1197143]
[2024-01-16 13:56:19,612][train][INFO] - max_translation_perp_error = [16.95848]
[2024-01-16 13:56:19,612][train][INFO] - max_translation_plane_error = [16.958431]
[2024-01-16 13:56:19,612][train][INFO] - max_translation_line_error = [15.979921]
[2024-01-16 13:56:19,612][train][INFO] - max_rotation_error = [13.938971]
[2024-01-16 13:56:19,612][train][INFO] - max_affordance_error = [17.781013]
[2024-01-16 13:56:19,613][train][INFO] - min_translation_distance_error = [1.3195807]
[2024-01-16 13:56:19,613][train][INFO] - min_translation_along_error = [0.0186677]
[2024-01-16 13:56:19,613][train][INFO] - min_translation_perp_error = [1.2559856]
[2024-01-16 13:56:19,613][train][INFO] - min_translation_plane_error = [1.2932215]
[2024-01-16 13:56:19,613][train][INFO] - min_translation_line_error = [0.05121125]
[2024-01-16 13:56:19,613][train][INFO] - min_rotation_error = [0.11869407]
[2024-01-16 13:56:19,614][train][INFO] - min_affordance_error = [2.0382042]
[2024-01-16 13:56:19,614][train][INFO] - std_translation_distance_error = [3.6197863]
[2024-01-16 13:56:19,614][train][INFO] - std_translation_along_error = [1.2852043]
[2024-01-16 13:56:19,615][train][INFO] - std_translation_perp_error = [3.6906304]
[2024-01-16 13:56:19,615][train][INFO] - std_translation_plane_error = [3.6934168]
[2024-01-16 13:56:19,615][train][INFO] - std_translation_line_error = [3.1300237]
[2024-01-16 13:56:19,615][train][INFO] - std_rotation_error = [3.0405412]
[2024-01-16 13:56:19,615][train][INFO] - std_affordance_error = [3.626658]
[2024-01-16 13:56:19,615][train][INFO] - translation_outliers_num = 37
[2024-01-16 13:56:19,615][train][INFO] - rotation_outliers_num = 25
[2024-01-16 13:56:19,615][train][INFO] - affordance_outliers_num = 45
[2024-01-16 13:56:19,615][train][INFO] - translation_outliers_ratio = 0.578125
[2024-01-16 13:56:19,615][train][INFO] - rotation_outliers_ratio = 0.390625
[2024-01-16 13:56:19,616][train][INFO] - affordance_outliers_ratio = 0.703125
[2024-01-16 13:56:19,616][train][INFO] - data_num = 64, joint_num = 1
[2024-01-16 13:56:19,617][train][INFO] - Validated training.
[2024-01-16 13:56:19,617][train][INFO] - Validating training time: 58.539387226104736
[2024-01-16 13:56:19,618][train][INFO] - Validating testing...
[2024-01-16 13:57:17,688][train][INFO] - mean_translation_distance_error = [6.789546]
[2024-01-16 13:57:17,689][train][INFO] - mean_translation_along_error = [1.732629]
[2024-01-16 13:57:17,690][train][INFO] - mean_translation_perp_error = [6.3705516]
[2024-01-16 13:57:17,690][train][INFO] - mean_translation_plane_error = [6.280384]
[2024-01-16 13:57:17,690][train][INFO] - mean_translation_line_error = [3.854217]
[2024-01-16 13:57:17,691][train][INFO] - mean_rotation_error = [6.514065]
[2024-01-16 13:57:17,691][train][INFO] - mean_affordance_error = [7.8448167]
[2024-01-16 13:57:17,693][train][INFO] - median_translation_distance_error = [6.875663]
[2024-01-16 13:57:17,693][train][INFO] - median_translation_along_error = [1.372749]
[2024-01-16 13:57:17,693][train][INFO] - median_translation_perp_error = [6.2751064]
[2024-01-16 13:57:17,693][train][INFO] - median_translation_plane_error = [6.337843]
[2024-01-16 13:57:17,694][train][INFO] - median_translation_line_error = [3.2247965]
[2024-01-16 13:57:17,694][train][INFO] - median_rotation_error = [5.6646266]
[2024-01-16 13:57:17,694][train][INFO] - median_affordance_error = [6.820554]
[2024-01-16 13:57:17,694][train][INFO] - max_translation_distance_error = [18.807186]
[2024-01-16 13:57:17,694][train][INFO] - max_translation_along_error = [5.015874]
[2024-01-16 13:57:17,694][train][INFO] - max_translation_perp_error = [18.520638]
[2024-01-16 13:57:17,695][train][INFO] - max_translation_plane_error = [18.158089]
[2024-01-16 13:57:17,695][train][INFO] - max_translation_line_error = [15.87988]
[2024-01-16 13:57:17,695][train][INFO] - max_rotation_error = [25.81413]
[2024-01-16 13:57:17,695][train][INFO] - max_affordance_error = [23.83431]
[2024-01-16 13:57:17,695][train][INFO] - min_translation_distance_error = [0.48112026]
[2024-01-16 13:57:17,695][train][INFO] - min_translation_along_error = [0.00953153]
[2024-01-16 13:57:17,696][train][INFO] - min_translation_perp_error = [0.35431308]
[2024-01-16 13:57:17,696][train][INFO] - min_translation_plane_error = [0.35349426]
[2024-01-16 13:57:17,696][train][INFO] - min_translation_line_error = [0.32765266]
[2024-01-16 13:57:17,696][train][INFO] - min_rotation_error = [0.8873521]
[2024-01-16 13:57:17,696][train][INFO] - min_affordance_error = [1.229203]
[2024-01-16 13:57:17,697][train][INFO] - std_translation_distance_error = [3.1612966]
[2024-01-16 13:57:17,697][train][INFO] - std_translation_along_error = [1.4427899]
[2024-01-16 13:57:17,697][train][INFO] - std_translation_perp_error = [3.2286458]
[2024-01-16 13:57:17,697][train][INFO] - std_translation_plane_error = [3.1724513]
[2024-01-16 13:57:17,697][train][INFO] - std_translation_line_error = [2.7697012]
[2024-01-16 13:57:17,698][train][INFO] - std_rotation_error = [4.169308]
[2024-01-16 13:57:17,698][train][INFO] - std_affordance_error = [4.6401787]
[2024-01-16 13:57:17,698][train][INFO] - translation_outliers_num = 41
[2024-01-16 13:57:17,698][train][INFO] - rotation_outliers_num = 36
[2024-01-16 13:57:17,698][train][INFO] - affordance_outliers_num = 42
[2024-01-16 13:57:17,698][train][INFO] - translation_outliers_ratio = 0.640625
[2024-01-16 13:57:17,698][train][INFO] - rotation_outliers_ratio = 0.5625
[2024-01-16 13:57:17,698][train][INFO] - affordance_outliers_ratio = 0.65625
[2024-01-16 13:57:17,698][train][INFO] - data_num = 64, joint_num = 1
[2024-01-16 13:57:17,700][train][INFO] - Validated testing.
[2024-01-16 13:57:17,700][train][INFO] - Validating testing time: 58.08167552947998
[2024-01-16 13:57:17,700][train][INFO] - epoch: 41 lr: 0.0009424639868939027
[2024-01-16 13:59:28,912][train][INFO] - training loss: 0.0042509368298432005 + 0.09508511252128161 + 0.005044790916144848 + 0.06327714977356104 = 0.16765798834654, data num: 1030
[2024-01-16 13:59:28,913][train][INFO] - epoch: 42 lr: 0.0009387718066217117
[2024-01-16 14:01:47,883][train][INFO] - training loss: 0.004058578245055217 + 0.09301544829056813 + 0.0048975197598338125 + 0.056111456281863724 = 0.15808300261314098, data num: 1030
[2024-01-16 14:01:47,884][train][INFO] - epoch: 43 lr: 0.000934972599646904
[2024-01-16 14:04:05,863][train][INFO] - training loss: 0.0040320414082648665 + 0.09056247105965247 + 0.004902292007150559 + 0.05910762439553554 = 0.15860442908910605, data num: 1030
[2024-01-16 14:04:05,864][train][INFO] - epoch: 44 lr: 0.0009310673033669515
[2024-01-16 14:06:21,932][train][INFO] - training loss: 0.004038879629940941 + 0.08975860831829217 + 0.0049221274586251145 + 0.055994698462577965 = 0.15471431406644676, data num: 1030
[2024-01-16 14:06:21,934][train][INFO] - epoch: 45 lr: 0.0009270568813552751
[2024-01-16 14:08:43,978][train][INFO] - training loss: 0.004031822508057723 + 0.08989258591945355 + 0.004791994478840094 + 0.05481414061326247 = 0.15353054381333864, data num: 1030
[2024-01-16 14:08:43,979][train][INFO] - epoch: 46 lr: 0.0009229423231234969
[2024-01-16 14:11:05,060][train][INFO] - training loss: 0.004002291290089488 + 0.08758536004103147 + 0.0048685398705017105 + 0.055308164197664995 = 0.1517643541097641, data num: 1030
[2024-01-16 14:11:05,061][train][INFO] - epoch: 47 lr: 0.0009187246438772933
[2024-01-16 14:13:22,935][train][INFO] - training loss: 0.003792714048177004 + 0.08630027507360165 + 0.004726315941661596 + 0.05271703193967159 = 0.14753633657327064, data num: 1030
[2024-01-16 14:13:22,936][train][INFO] - epoch: 48 lr: 0.0009144048842659075
[2024-01-16 14:15:37,805][train][INFO] - training loss: 0.0038764148162534606 + 0.0868599560398322 + 0.004685569783815971 + 0.05042754119405379 = 0.14584948248588123, data num: 1030
[2024-01-16 14:15:37,806][train][INFO] - epoch: 49 lr: 0.0009099841101253861
[2024-01-16 14:17:53,672][train][INFO] - training loss: 0.0038606947108816643 + 0.08633187894637769 + 0.004638887787810885 + 0.050227197603537485 = 0.1450586579166926, data num: 1030
[2024-01-16 14:17:53,673][train][INFO] - epoch: 50 lr: 0.0009054634122155986
[2024-01-16 14:20:11,447][train][INFO] - training loss: 0.0038764469074801756 + 0.08429785336439426 + 0.004644512256177572 + 0.05151175478330025 = 0.144330567580003, data num: 1030
[2024-01-16 14:20:11,448][train][INFO] - epoch: 51 lr: 0.0009008439059511095
[2024-01-16 14:22:32,311][train][INFO] - training loss: 0.0036762477149470496 + 0.08583253163557786 + 0.004701989161996887 + 0.04794159832482155 = 0.14215236627138578, data num: 1030
[2024-01-16 14:22:32,313][train][INFO] - epoch: 52 lr: 0.0008961267311259662
[2024-01-16 14:24:50,754][train][INFO] - training loss: 0.003768694372131274 + 0.08780004565532391 + 0.004696744648166574 + 0.05023471887868184 = 0.1465002043889119, data num: 1030
[2024-01-16 14:24:50,755][train][INFO] - epoch: 53 lr: 0.0008913130516324728
[2024-01-16 14:27:06,817][train][INFO] - training loss: 0.00364294104063167 + 0.08289304352723635 + 0.004330385741419517 + 0.044559551488894684 = 0.1354259219307166, data num: 1030
[2024-01-16 14:27:06,819][train][INFO] - epoch: 54 lr: 0.0008864040551740152
[2024-01-16 14:29:25,066][train][INFO] - training loss: 0.0036519044974388983 + 0.08282032643373195 + 0.004479773213657049 + 0.0461880031400002 = 0.13714000789018777, data num: 1030
[2024-01-16 14:29:25,068][train][INFO] - epoch: 55 lr: 0.000881400952972015
[2024-01-16 14:31:43,257][train][INFO] - training loss: 0.0035698065928255135 + 0.08337942808866501 + 0.004442117323812384 + 0.04539142852792373 = 0.13678278063352292, data num: 1030
[2024-01-16 14:31:43,258][train][INFO] - epoch: 56 lr: 0.0008763049794670771
[2024-01-16 14:33:59,076][train][INFO] - training loss: 0.003558406341247834 + 0.08012967040905586 + 0.004211741381396468 + 0.04307378324178549 = 0.13097360145587186, data num: 1030
[2024-01-16 14:33:59,078][train][INFO] - epoch: 57 lr: 0.0008711173920144113
[2024-01-16 14:36:19,429][train][INFO] - training loss: 0.0036396641069306778 + 0.08142261447814794 + 0.004392135730729653 + 0.04548580921613253 = 0.13494022419819465, data num: 1030
[2024-01-16 14:36:19,430][train][INFO] - epoch: 58 lr: 0.0008658394705735983
[2024-01-16 14:38:30,524][train][INFO] - training loss: 0.0035968382878658863 + 0.08105400594381186 + 0.0043001939363491075 + 0.044881112730273835 = 0.1338321511562054, data num: 1030
[2024-01-16 14:38:30,526][train][INFO] - epoch: 59 lr: 0.0008604725173927781
[2024-01-16 14:40:52,423][train][INFO] - training loss: 0.003586032563963762 + 0.0790436775638507 + 0.004297938878433063 + 0.041808467272382514 = 0.12873611599206924, data num: 1030
[2024-01-16 14:40:52,424][train][INFO] - epoch: 60 lr: 0.0008550178566873405
[2024-01-16 14:43:02,620][train][INFO] - training loss: 0.0035311778756574944 + 0.07970815151929855 + 0.004197148717223452 + 0.04315879092766688 = 0.1305952706016027, data num: 1030
[2024-01-16 14:43:02,632][train][INFO] - Validating training...
[2024-01-16 14:43:57,837][train][INFO] - mean_translation_distance_error = [6.547849]
[2024-01-16 14:43:57,837][train][INFO] - mean_translation_along_error = [3.1448255]
[2024-01-16 14:43:57,837][train][INFO] - mean_translation_perp_error = [5.257286]
[2024-01-16 14:43:57,837][train][INFO] - mean_translation_plane_error = [5.2743406]
[2024-01-16 14:43:57,838][train][INFO] - mean_translation_line_error = [2.8062885]
[2024-01-16 14:43:57,838][train][INFO] - mean_rotation_error = [4.590022]
[2024-01-16 14:43:57,838][train][INFO] - mean_affordance_error = [5.5202026]
[2024-01-16 14:43:57,839][train][INFO] - median_translation_distance_error = [6.080162]
[2024-01-16 14:43:57,839][train][INFO] - median_translation_along_error = [2.8725364]
[2024-01-16 14:43:57,839][train][INFO] - median_translation_perp_error = [4.457465]
[2024-01-16 14:43:57,839][train][INFO] - median_translation_plane_error = [4.5159855]
[2024-01-16 14:43:57,840][train][INFO] - median_translation_line_error = [2.1958272]
[2024-01-16 14:43:57,840][train][INFO] - median_rotation_error = [4.0152836]
[2024-01-16 14:43:57,840][train][INFO] - median_affordance_error = [4.8831477]
[2024-01-16 14:43:57,840][train][INFO] - max_translation_distance_error = [13.800573]
[2024-01-16 14:43:57,840][train][INFO] - max_translation_along_error = [8.648587]
[2024-01-16 14:43:57,841][train][INFO] - max_translation_perp_error = [13.510127]
[2024-01-16 14:43:57,841][train][INFO] - max_translation_plane_error = [13.326752]
[2024-01-16 14:43:57,841][train][INFO] - max_translation_line_error = [11.449083]
[2024-01-16 14:43:57,841][train][INFO] - max_rotation_error = [11.789935]
[2024-01-16 14:43:57,841][train][INFO] - max_affordance_error = [18.062489]
[2024-01-16 14:43:57,841][train][INFO] - min_translation_distance_error = [1.1118116]
[2024-01-16 14:43:57,842][train][INFO] - min_translation_along_error = [0.20796078]
[2024-01-16 14:43:57,842][train][INFO] - min_translation_perp_error = [0.63448125]
[2024-01-16 14:43:57,842][train][INFO] - min_translation_plane_error = [0.66817254]
[2024-01-16 14:43:57,842][train][INFO] - min_translation_line_error = [0.00628079]
[2024-01-16 14:43:57,842][train][INFO] - min_rotation_error = [0.57095516]
[2024-01-16 14:43:57,842][train][INFO] - min_affordance_error = [0.5007409]
[2024-01-16 14:43:57,843][train][INFO] - std_translation_distance_error = [2.9427311]
[2024-01-16 14:43:57,843][train][INFO] - std_translation_along_error = [1.753608]
[2024-01-16 14:43:57,843][train][INFO] - std_translation_perp_error = [3.306034]
[2024-01-16 14:43:57,843][train][INFO] - std_translation_plane_error = [3.2842057]
[2024-01-16 14:43:57,844][train][INFO] - std_translation_line_error = [2.4360454]
[2024-01-16 14:43:57,844][train][INFO] - std_rotation_error = [2.3516443]
[2024-01-16 14:43:57,844][train][INFO] - std_affordance_error = [3.5726323]
[2024-01-16 14:43:57,844][train][INFO] - translation_outliers_num = 33
[2024-01-16 14:43:57,844][train][INFO] - rotation_outliers_num = 21
[2024-01-16 14:43:57,844][train][INFO] - affordance_outliers_num = 30
[2024-01-16 14:43:57,844][train][INFO] - translation_outliers_ratio = 0.515625
[2024-01-16 14:43:57,844][train][INFO] - rotation_outliers_ratio = 0.328125
[2024-01-16 14:43:57,844][train][INFO] - affordance_outliers_ratio = 0.46875
[2024-01-16 14:43:57,844][train][INFO] - data_num = 64, joint_num = 1
[2024-01-16 14:43:57,846][train][INFO] - Validated training.
[2024-01-16 14:43:57,849][train][INFO] - Validating training time: 55.21366572380066
[2024-01-16 14:43:57,850][train][INFO] - Validating testing...
[2024-01-16 14:44:53,231][train][INFO] - mean_translation_distance_error = [7.099615]
[2024-01-16 14:44:53,232][train][INFO] - mean_translation_along_error = [3.5528517]
[2024-01-16 14:44:53,233][train][INFO] - mean_translation_perp_error = [5.746418]
[2024-01-16 14:44:53,233][train][INFO] - mean_translation_plane_error = [5.8752213]
[2024-01-16 14:44:53,233][train][INFO] - mean_translation_line_error = [3.4145184]
[2024-01-16 14:44:53,233][train][INFO] - mean_rotation_error = [5.5395913]
[2024-01-16 14:44:53,233][train][INFO] - mean_affordance_error = [7.4767857]
[2024-01-16 14:44:53,234][train][INFO] - median_translation_distance_error = [7.1475835]
[2024-01-16 14:44:53,234][train][INFO] - median_translation_along_error = [3.7635462]
[2024-01-16 14:44:53,235][train][INFO] - median_translation_perp_error = [5.845522]
[2024-01-16 14:44:53,235][train][INFO] - median_translation_plane_error = [5.840127]
[2024-01-16 14:44:53,235][train][INFO] - median_translation_line_error = [2.8481674]
[2024-01-16 14:44:53,235][train][INFO] - median_rotation_error = [4.839813]
[2024-01-16 14:44:53,235][train][INFO] - median_affordance_error = [6.85481]
[2024-01-16 14:44:53,236][train][INFO] - max_translation_distance_error = [13.571933]
[2024-01-16 14:44:53,236][train][INFO] - max_translation_along_error = [8.851436]
[2024-01-16 14:44:53,236][train][INFO] - max_translation_perp_error = [12.932598]
[2024-01-16 14:44:53,236][train][INFO] - max_translation_plane_error = [12.794149]
[2024-01-16 14:44:53,236][train][INFO] - max_translation_line_error = [10.605591]
[2024-01-16 14:44:53,236][train][INFO] - max_rotation_error = [13.812087]
[2024-01-16 14:44:53,237][train][INFO] - max_affordance_error = [16.237965]
[2024-01-16 14:44:53,237][train][INFO] - min_translation_distance_error = [1.5880651]
[2024-01-16 14:44:53,237][train][INFO] - min_translation_along_error = [0.01934208]
[2024-01-16 14:44:53,237][train][INFO] - min_translation_perp_error = [0.989203]
[2024-01-16 14:44:53,237][train][INFO] - min_translation_plane_error = [0.9736369]
[2024-01-16 14:44:53,237][train][INFO] - min_translation_line_error = [0.26089975]
[2024-01-16 14:44:53,238][train][INFO] - min_rotation_error = [0.11869407]
[2024-01-16 14:44:53,238][train][INFO] - min_affordance_error = [1.4197954]
[2024-01-16 14:44:53,238][train][INFO] - std_translation_distance_error = [2.2724445]
[2024-01-16 14:44:53,238][train][INFO] - std_translation_along_error = [2.0608375]
[2024-01-16 14:44:53,239][train][INFO] - std_translation_perp_error = [2.3827336]
[2024-01-16 14:44:53,239][train][INFO] - std_translation_plane_error = [2.3887596]
[2024-01-16 14:44:53,239][train][INFO] - std_translation_line_error = [2.3720047]
[2024-01-16 14:44:53,239][train][INFO] - std_rotation_error = [3.2929764]
[2024-01-16 14:44:53,239][train][INFO] - std_affordance_error = [3.7005928]
[2024-01-16 14:44:53,239][train][INFO] - translation_outliers_num = 50
[2024-01-16 14:44:53,239][train][INFO] - rotation_outliers_num = 29
[2024-01-16 14:44:53,239][train][INFO] - affordance_outliers_num = 48
[2024-01-16 14:44:53,240][train][INFO] - translation_outliers_ratio = 0.78125
[2024-01-16 14:44:53,240][train][INFO] - rotation_outliers_ratio = 0.453125
[2024-01-16 14:44:53,240][train][INFO] - affordance_outliers_ratio = 0.75
[2024-01-16 14:44:53,240][train][INFO] - data_num = 64, joint_num = 1
[2024-01-16 14:44:53,241][train][INFO] - Validated testing.
[2024-01-16 14:44:53,241][train][INFO] - Validating testing time: 55.39142394065857
[2024-01-16 14:44:53,242][train][INFO] - epoch: 61 lr: 0.0008494768343131951
[2024-01-16 14:47:04,526][train][INFO] - training loss: 0.0035508944258953517 + 0.07892152804594774 + 0.004237291589379311 + 0.04239647523141824 = 0.1291061886228048, data num: 1030
[2024-01-16 14:47:04,528][train][INFO] - epoch: 62 lr: 0.0008438508174347005
[2024-01-16 14:49:22,341][train][INFO] - training loss: 0.003527439643557255 + 0.07813707315004789 + 0.004339020932093263 + 0.04353307313643969 = 0.1295366074030216, data num: 1030
[2024-01-16 14:49:22,342][train][INFO] - epoch: 63 lr: 0.0008381411941873374
[2024-01-16 14:51:36,475][train][INFO] - training loss: 0.0034109410292540603 + 0.07684073379406563 + 0.004050459899008274 + 0.039180589295350586 = 0.12348272307560994, data num: 1030
[2024-01-16 14:51:36,476][train][INFO] - epoch: 64 lr: 0.0008323493733352073
[2024-01-16 14:53:46,253][train][INFO] - training loss: 0.0034303646677961716 + 0.07713804359619435 + 0.004144680184813647 + 0.03873220590444711 = 0.12344529353655302, data num: 1030
[2024-01-16 14:53:46,255][train][INFO] - epoch: 65 lr: 0.0008264767839234405
[2024-01-16 14:55:59,983][train][INFO] - training loss: 0.0034209700014728767 + 0.07759917240876418 + 0.0041401474127689235 + 0.040115128056361124 = 0.12527541701610273, data num: 1030
[2024-01-16 14:55:59,985][train][INFO] - epoch: 66 lr: 0.000820524874925601
[2024-01-16 14:58:21,501][train][INFO] - training loss: 0.003507091477513313 + 0.0756738628905553 + 0.004035705578728364 + 0.03664559979851429 = 0.11986225969516313, data num: 1030
[2024-01-16 14:58:21,502][train][INFO] - epoch: 67 lr: 0.0008144951148861737
[2024-01-16 15:00:43,558][train][INFO] - training loss: 0.003358442522585392 + 0.07650655003694387 + 0.003916967445268081 + 0.036195512029987116 = 0.11997747111778993, data num: 1030
[2024-01-16 15:00:43,559][train][INFO] - epoch: 68 lr: 0.0008083889915582231
[2024-01-16 15:02:58,713][train][INFO] - training loss: 0.003500351933046029 + 0.07727731649692242 + 0.003989279739415416 + 0.0387381573422597 = 0.12350510588059059, data num: 1030
[2024-01-16 15:02:58,715][train][INFO] - epoch: 69 lr: 0.0008022080115363123
[2024-01-16 15:05:17,217][train][INFO] - training loss: 0.0032770174053999095 + 0.07455828172656206 + 0.0041035935497627804 + 0.03965370847055545 = 0.12159260178987796, data num: 1030
[2024-01-16 15:05:17,218][train][INFO] - epoch: 70 lr: 0.0007959536998847739
[2024-01-16 15:07:42,032][train][INFO] - training loss: 0.0032520154383606638 + 0.07431369183155206 + 0.0038575811741443783 + 0.03617188403239617 = 0.11759517169915713, data num: 1030
[2024-01-16 15:07:42,033][train][INFO] - epoch: 71 lr: 0.0007896275997614226
[2024-01-16 15:09:56,672][train][INFO] - training loss: 0.0033593442470121844 + 0.07413225007744936 + 0.003965576286785877 + 0.035542845439452395 = 0.11700001599696966, data num: 1030
[2024-01-16 15:09:56,673][train][INFO] - epoch: 72 lr: 0.0007832312720368044
[2024-01-16 15:12:11,343][train][INFO] - training loss: 0.0034295314421447422 + 0.07393118767784192 + 0.004132735521460955 + 0.0357879772495765 = 0.11728143244981766, data num: 1030
[2024-01-16 15:12:11,344][train][INFO] - epoch: 73 lr: 0.0007767662949090749
[2024-01-16 15:14:24,980][train][INFO] - training loss: 0.003192843575603687 + 0.07355507274086659 + 0.003902266790660528 + 0.03527058523434859 = 0.11592076867818832, data num: 1030
[2024-01-16 15:14:24,981][train][INFO] - epoch: 74 lr: 0.000770234263514603
[2024-01-16 15:16:38,933][train][INFO] - training loss: 0.003110029430200274 + 0.07201545536518097 + 0.0038007199800071806 + 0.0331816878169775 = 0.11210789210521258, data num: 1030
[2024-01-16 15:16:38,935][train][INFO] - epoch: 75 lr: 0.0007636367895343944
[2024-01-16 15:18:52,324][train][INFO] - training loss: 0.003151696200410907 + 0.07099450626052344 + 0.003785932339871159 + 0.033959370880172805 = 0.11189150569530634, data num: 1030
[2024-01-16 15:18:52,326][train][INFO] - epoch: 76 lr: 0.0007569755007964335
[2024-01-16 15:21:08,155][train][INFO] - training loss: 0.0030980675015598535 + 0.07071478429895181 + 0.00376311272669297 + 0.032931805946505986 = 0.11050777148741942, data num: 1030
[2024-01-16 15:21:08,157][train][INFO] - epoch: 77 lr: 0.0007502520408740415
[2024-01-16 15:23:19,216][train][INFO] - training loss: 0.003150775437601484 + 0.07089127548612081 + 0.0038014743083085007 + 0.035441190778062896 = 0.11328471532234778, data num: 1030
[2024-01-16 15:23:19,217][train][INFO] - epoch: 78 lr: 0.0007434680686803488
[2024-01-16 15:25:42,473][train][INFO] - training loss: 0.00318564258945676 + 0.07133976926024144 + 0.0037920975699447666 + 0.03345102194983226 = 0.11176853111157051, data num: 1030
[2024-01-16 15:25:42,475][train][INFO] - epoch: 79 lr: 0.0007366252580589837
[2024-01-16 15:27:57,403][train][INFO] - training loss: 0.0031172134555303133 + 0.07034256188915326 + 0.0036508150542011626 + 0.031069131883291096 = 0.10817972123622895, data num: 1030
[2024-01-16 15:27:57,405][train][INFO] - epoch: 80 lr: 0.0007297252973710754
[2024-01-16 15:30:10,586][train][INFO] - training loss: 0.0030552019006930865 + 0.07040248782588886 + 0.0036674498580396174 + 0.03075291866866442 = 0.10787805880491551, data num: 1030
[2024-01-16 15:30:10,599][train][INFO] - Validating training...
[2024-01-16 15:31:07,582][train][INFO] - mean_translation_distance_error = [5.4354587]
[2024-01-16 15:31:07,583][train][INFO] - mean_translation_along_error = [1.5123644]
[2024-01-16 15:31:07,583][train][INFO] - mean_translation_perp_error = [5.025654]
[2024-01-16 15:31:07,583][train][INFO] - mean_translation_plane_error = [5.033765]
[2024-01-16 15:31:07,583][train][INFO] - mean_translation_line_error = [3.4303627]
[2024-01-16 15:31:07,584][train][INFO] - mean_rotation_error = [4.498666]
[2024-01-16 15:31:07,584][train][INFO] - mean_affordance_error = [5.6853323]
[2024-01-16 15:31:07,585][train][INFO] - median_translation_distance_error = [5.0406055]
[2024-01-16 15:31:07,585][train][INFO] - median_translation_along_error = [1.149245]
[2024-01-16 15:31:07,586][train][INFO] - median_translation_perp_error = [4.7025194]
[2024-01-16 15:31:07,586][train][INFO] - median_translation_plane_error = [4.7660017]
[2024-01-16 15:31:07,586][train][INFO] - median_translation_line_error = [2.6077971]
[2024-01-16 15:31:07,586][train][INFO] - median_rotation_error = [4.190658]
[2024-01-16 15:31:07,586][train][INFO] - median_affordance_error = [4.971236]
[2024-01-16 15:31:07,587][train][INFO] - max_translation_distance_error = [12.941853]
[2024-01-16 15:31:07,587][train][INFO] - max_translation_along_error = [5.2806897]
[2024-01-16 15:31:07,587][train][INFO] - max_translation_perp_error = [12.381844]
[2024-01-16 15:31:07,587][train][INFO] - max_translation_plane_error = [12.413186]
[2024-01-16 15:31:07,588][train][INFO] - max_translation_line_error = [12.344127]
[2024-01-16 15:31:07,588][train][INFO] - max_rotation_error = [17.039476]
[2024-01-16 15:31:07,588][train][INFO] - max_affordance_error = [18.019773]
[2024-01-16 15:31:07,588][train][INFO] - min_translation_distance_error = [0.6827581]
[2024-01-16 15:31:07,589][train][INFO] - min_translation_along_error = [0.01334529]
[2024-01-16 15:31:07,589][train][INFO] - min_translation_perp_error = [0.52420646]
[2024-01-16 15:31:07,589][train][INFO] - min_translation_plane_error = [0.51725125]
[2024-01-16 15:31:07,589][train][INFO] - min_translation_line_error = [0.041012]
[2024-01-16 15:31:07,589][train][INFO] - min_rotation_error = [0.12820426]
[2024-01-16 15:31:07,590][train][INFO] - min_affordance_error = [2.0258915]
[2024-01-16 15:31:07,590][train][INFO] - std_translation_distance_error = [2.7690156]
[2024-01-16 15:31:07,590][train][INFO] - std_translation_along_error = [1.2730423]
[2024-01-16 15:31:07,590][train][INFO] - std_translation_perp_error = [2.8366494]
[2024-01-16 15:31:07,591][train][INFO] - std_translation_plane_error = [2.8303838]
[2024-01-16 15:31:07,591][train][INFO] - std_translation_line_error = [2.9292686]
[2024-01-16 15:31:07,591][train][INFO] - std_rotation_error = [2.7672577]
[2024-01-16 15:31:07,591][train][INFO] - std_affordance_error = [2.9342632]
[2024-01-16 15:31:07,591][train][INFO] - translation_outliers_num = 29
[2024-01-16 15:31:07,591][train][INFO] - rotation_outliers_num = 18
[2024-01-16 15:31:07,591][train][INFO] - affordance_outliers_num = 31
[2024-01-16 15:31:07,591][train][INFO] - translation_outliers_ratio = 0.453125
[2024-01-16 15:31:07,591][train][INFO] - rotation_outliers_ratio = 0.28125
[2024-01-16 15:31:07,591][train][INFO] - affordance_outliers_ratio = 0.484375
[2024-01-16 15:31:07,591][train][INFO] - data_num = 64, joint_num = 1
[2024-01-16 15:31:07,593][train][INFO] - Validated training.
[2024-01-16 15:31:07,593][train][INFO] - Validating training time: 56.99411869049072
[2024-01-16 15:31:07,593][train][INFO] - Validating testing...
[2024-01-16 15:32:04,490][train][INFO] - mean_translation_distance_error = [5.2405005]
[2024-01-16 15:32:04,491][train][INFO] - mean_translation_along_error = [1.5197973]
[2024-01-16 15:32:04,491][train][INFO] - mean_translation_perp_error = [4.8014965]
[2024-01-16 15:32:04,491][train][INFO] - mean_translation_plane_error = [4.794341]
[2024-01-16 15:32:04,491][train][INFO] - mean_translation_line_error = [3.3525584]
[2024-01-16 15:32:04,491][train][INFO] - mean_rotation_error = [5.1622286]
[2024-01-16 15:32:04,491][train][INFO] - mean_affordance_error = [7.1097884]
[2024-01-16 15:32:04,492][train][INFO] - median_translation_distance_error = [5.055998]
[2024-01-16 15:32:04,492][train][INFO] - median_translation_along_error = [1.162231]
[2024-01-16 15:32:04,492][train][INFO] - median_translation_perp_error = [4.7546997]
[2024-01-16 15:32:04,492][train][INFO] - median_translation_plane_error = [4.7234783]
[2024-01-16 15:32:04,492][train][INFO] - median_translation_line_error = [2.9183059]
[2024-01-16 15:32:04,493][train][INFO] - median_rotation_error = [4.3227396]
[2024-01-16 15:32:04,493][train][INFO] - median_affordance_error = [6.571145]
[2024-01-16 15:32:04,493][train][INFO] - max_translation_distance_error = [13.433445]
[2024-01-16 15:32:04,493][train][INFO] - max_translation_along_error = [4.6357474]
[2024-01-16 15:32:04,493][train][INFO] - max_translation_perp_error = [13.156044]
[2024-01-16 15:32:04,493][train][INFO] - max_translation_plane_error = [13.170121]
[2024-01-16 15:32:04,493][train][INFO] - max_translation_line_error = [13.101541]
[2024-01-16 15:32:04,493][train][INFO] - max_rotation_error = [13.404672]
[2024-01-16 15:32:04,494][train][INFO] - max_affordance_error = [17.014572]
[2024-01-16 15:32:04,494][train][INFO] - min_translation_distance_error = [1.0026753]
[2024-01-16 15:32:04,494][train][INFO] - min_translation_along_error = [0.02634823]
[2024-01-16 15:32:04,494][train][INFO] - min_translation_perp_error = [0.82016104]
[2024-01-16 15:32:04,494][train][INFO] - min_translation_plane_error = [0.749292]
[2024-01-16 15:32:04,494][train][INFO] - min_translation_line_error = [0.03162665]
[2024-01-16 15:32:04,494][train][INFO] - min_rotation_error = [0.61229753]
[2024-01-16 15:32:04,494][train][INFO] - min_affordance_error = [0.85468197]
[2024-01-16 15:32:04,495][train][INFO] - std_translation_distance_error = [2.3703935]
[2024-01-16 15:32:04,495][train][INFO] - std_translation_along_error = [1.2505884]
[2024-01-16 15:32:04,495][train][INFO] - std_translation_perp_error = [2.4806218]
[2024-01-16 15:32:04,495][train][INFO] - std_translation_plane_error = [2.4658837]
[2024-01-16 15:32:04,495][train][INFO] - std_translation_line_error = [2.438613]
[2024-01-16 15:32:04,495][train][INFO] - std_rotation_error = [3.072643]
[2024-01-16 15:32:04,496][train][INFO] - std_affordance_error = [3.6013546]
[2024-01-16 15:32:04,496][train][INFO] - translation_outliers_num = 29
[2024-01-16 15:32:04,496][train][INFO] - rotation_outliers_num = 27
[2024-01-16 15:32:04,496][train][INFO] - affordance_outliers_num = 46
[2024-01-16 15:32:04,496][train][INFO] - translation_outliers_ratio = 0.453125
[2024-01-16 15:32:04,496][train][INFO] - rotation_outliers_ratio = 0.421875
[2024-01-16 15:32:04,496][train][INFO] - affordance_outliers_ratio = 0.71875
[2024-01-16 15:32:04,496][train][INFO] - data_num = 64, joint_num = 1
[2024-01-16 15:32:04,497][train][INFO] - Validated testing.
[2024-01-16 15:32:04,497][train][INFO] - Validating testing time: 56.9034857749939
[2024-01-16 15:32:04,498][train][INFO] - epoch: 81 lr: 0.0007227698890786777
[2024-01-16 15:34:19,024][train][INFO] - training loss: 0.003072808858437034 + 0.06996303361195784 + 0.0036526155586426075 + 0.03094950788296186 = 0.10763796671078756, data num: 1030
[2024-01-16 15:34:19,025][train][INFO] - epoch: 82 lr: 0.0007157607493247108
[2024-01-16 15:36:36,962][train][INFO] - training loss: 0.003069374724649466 + 0.07137270724544158 + 0.0036620266377352753 + 0.03228740313878426 = 0.1103915111376689, data num: 1030
[2024-01-16 15:36:36,964][train][INFO] - epoch: 83 lr: 0.0007086996075095287
[2024-01-16 15:38:50,945][train][INFO] - training loss: 0.0030197870953438373 + 0.07094763230818968 + 0.003596017577757056 + 0.030375219566317706 = 0.10793865678402094, data num: 1030
[2024-01-16 15:38:50,946][train][INFO] - epoch: 84 lr: 0.0007015882058642161
[2024-01-16 15:41:06,884][train][INFO] - training loss: 0.0029546479981106062 + 0.06884954153345181 + 0.0036312324639696343 + 0.029453021058669458 = 0.10488844307569357, data num: 1030
[2024-01-16 15:41:06,885][train][INFO] - epoch: 85 lr: 0.0006944282990207193
[2024-01-16 15:43:24,910][train][INFO] - training loss: 0.0029430619834993894 + 0.06701455987416781 + 0.0035031738655211834 + 0.028616343409969255 = 0.10207713876779263, data num: 1030
[2024-01-16 15:43:24,911][train][INFO] - epoch: 86 lr: 0.0006872216535789155
[2024-01-16 15:45:39,855][train][INFO] - training loss: 0.002949049216336929 + 0.06809223420344866 + 0.0035515355519377266 + 0.02861223922899136 = 0.10320505832250301, data num: 1030
[2024-01-16 15:45:39,856][train][INFO] - epoch: 87 lr: 0.0006799700476707321
[2024-01-16 15:47:56,643][train][INFO] - training loss: 0.002938892337708519 + 0.06703245662725889 + 0.0034996043532513656 + 0.02957080018061858 = 0.10304175305825014, data num: 1030
[2024-01-16 15:47:56,646][train][INFO] - epoch: 88 lr: 0.0006726752705214191
[2024-01-16 15:50:20,504][train][INFO] - training loss: 0.002939253905788064 + 0.0680319987810575 + 0.003606839789650761 + 0.02866368915599126 = 0.1032417818903923, data num: 1030
[2024-01-16 15:50:20,505][train][INFO] - epoch: 89 lr: 0.0006653391220080838
[2024-01-16 15:52:32,996][train][INFO] - training loss: 0.0029103994835168122 + 0.06736190811945841 + 0.0034675092866214424 + 0.028240125368420896 = 0.10197994250517625, data num: 1030
[2024-01-16 15:52:32,997][train][INFO] - epoch: 90 lr: 0.0006579634122155988
[2024-01-16 15:54:53,771][train][INFO] - training loss: 0.002839627145574643 + 0.06582764581992076 + 0.0034031957029723205 + 0.02712142258309401 = 0.09919189054232377, data num: 1030
[2024-01-16 15:54:53,772][train][INFO] - epoch: 91 lr: 0.0006505499609899903
[2024-01-16 15:57:18,816][train][INFO] - training loss: 0.002869437334056084 + 0.06604808907096203 + 0.003525454171288472 + 0.02759591186275849 = 0.10003889283308616, data num: 1030
[2024-01-16 15:57:18,817][train][INFO] - epoch: 92 lr: 0.0006431005974894184
[2024-01-16 15:59:43,388][train][INFO] - training loss: 0.0029524902204194894 + 0.06547224791004108 + 0.0034446491967313566 + 0.029576451560625664 = 0.101445839038262, data num: 1030
[2024-01-16 15:59:43,389][train][INFO] - epoch: 93 lr: 0.0006356171597328593
[2024-01-16 16:02:07,957][train][INFO] - training loss: 0.002820804940823179 + 0.06482693289334958 + 0.0033891620902487866 + 0.02618815185358891 = 0.09722505131593118, data num: 1030
[2024-01-16 16:02:07,958][train][INFO] - epoch: 94 lr: 0.0006281014941466028
[2024-01-16 16:04:26,696][train][INFO] - training loss: 0.0029104658438322637 + 0.06519654272840573 + 0.003433751153688018 + 0.026772989304019855 = 0.09831374952426324, data num: 1030
[2024-01-16 16:04:26,698][train][INFO] - epoch: 95 lr: 0.000620555455108673
[2024-01-16 16:06:51,399][train][INFO] - training loss: 0.002845474798232317 + 0.06577360756122148 + 0.0033846145459952262 + 0.02691713971300767 = 0.09892083681546725, data num: 1030
[2024-01-16 16:06:51,401][train][INFO] - epoch: 96 lr: 0.0006129809044912885
[2024-01-16 16:09:15,955][train][INFO] - training loss: 0.0027915685545079985 + 0.06382178692863538 + 0.003341350371304613 + 0.02480310986821468 = 0.09475781562236639, data num: 1030
[2024-01-16 16:09:15,956][train][INFO] - epoch: 97 lr: 0.0006053797112014735
[2024-01-16 16:11:42,765][train][INFO] - training loss: 0.0028924457227381376 + 0.06424115867568897 + 0.003405264997854829 + 0.025682245596097067 = 0.09622111458044785, data num: 1030
[2024-01-16 16:11:42,767][train][INFO] - epoch: 98 lr: 0.0005977537507199336
[2024-01-16 16:14:10,174][train][INFO] - training loss: 0.0028495006549816865 + 0.06459886683867527 + 0.00339941532136156 + 0.027341101003380924 = 0.09818888329542601, data num: 1030
[2024-01-16 16:14:10,175][train][INFO] - epoch: 99 lr: 0.0005901049046383074
[2024-01-16 16:16:29,010][train][INFO] - training loss: 0.002777686774229201 + 0.06479331054366552 + 0.003413165743964223 + 0.02496386274981957 = 0.09594802575615737, data num: 1030
[2024-01-16 16:16:29,012][train][INFO] - epoch: 100 lr: 0.0005824350601949141
[2024-01-16 16:18:57,931][train][INFO] - training loss: 0.0027865557895543486 + 0.06342730917609656 + 0.0033182345151614684 + 0.025126133701549126 = 0.09465823414234015, data num: 1030
[2024-01-16 16:18:57,944][train][INFO] - Validating training...
[2024-01-16 16:19:53,945][train][INFO] - mean_translation_distance_error = [3.7309506]
[2024-01-16 16:19:53,946][train][INFO] - mean_translation_along_error = [1.1907232]
[2024-01-16 16:19:53,947][train][INFO] - mean_translation_perp_error = [3.4151928]
[2024-01-16 16:19:53,947][train][INFO] - mean_translation_plane_error = [3.403132]
[2024-01-16 16:19:53,947][train][INFO] - mean_translation_line_error = [2.1104202]
[2024-01-16 16:19:53,948][train][INFO] - mean_rotation_error = [4.4546347]
[2024-01-16 16:19:53,948][train][INFO] - mean_affordance_error = [4.2810607]
[2024-01-16 16:19:53,949][train][INFO] - median_translation_distance_error = [3.2681167]
[2024-01-16 16:19:53,949][train][INFO] - median_translation_along_error = [0.9903861]
[2024-01-16 16:19:53,949][train][INFO] - median_translation_perp_error = [2.9529293]
[2024-01-16 16:19:53,949][train][INFO] - median_translation_plane_error = [2.9336452]
[2024-01-16 16:19:53,950][train][INFO] - median_translation_line_error = [1.5862541]
[2024-01-16 16:19:53,950][train][INFO] - median_rotation_error = [3.6854343]
[2024-01-16 16:19:53,950][train][INFO] - median_affordance_error = [3.4096649]
[2024-01-16 16:19:53,950][train][INFO] - max_translation_distance_error = [8.724664]
[2024-01-16 16:19:53,950][train][INFO] - max_translation_along_error = [5.549015]
[2024-01-16 16:19:53,950][train][INFO] - max_translation_perp_error = [7.41628]
[2024-01-16 16:19:53,950][train][INFO] - max_translation_plane_error = [7.568945]
[2024-01-16 16:19:53,950][train][INFO] - max_translation_line_error = [7.190629]
[2024-01-16 16:19:53,950][train][INFO] - max_rotation_error = [13.5647745]
[2024-01-16 16:19:53,951][train][INFO] - max_affordance_error = [11.658371]
[2024-01-16 16:19:53,951][train][INFO] - min_translation_distance_error = [1.0354533]
[2024-01-16 16:19:53,951][train][INFO] - min_translation_along_error = [0.00294]
[2024-01-16 16:19:53,951][train][INFO] - min_translation_perp_error = [0.27139238]
[2024-01-16 16:19:53,951][train][INFO] - min_translation_plane_error = [0.30746442]
[2024-01-16 16:19:53,951][train][INFO] - min_translation_line_error = [0.08966569]
[2024-01-16 16:19:53,951][train][INFO] - min_rotation_error = [0.25256422]
[2024-01-16 16:19:53,951][train][INFO] - min_affordance_error = [1.3598155]
[2024-01-16 16:19:53,952][train][INFO] - std_translation_distance_error = [1.7452179]
[2024-01-16 16:19:53,952][train][INFO] - std_translation_along_error = [0.9584352]
[2024-01-16 16:19:53,952][train][INFO] - std_translation_perp_error = [1.7221539]
[2024-01-16 16:19:53,952][train][INFO] - std_translation_plane_error = [1.7248251]
[2024-01-16 16:19:53,952][train][INFO] - std_translation_line_error = [1.5658102]
[2024-01-16 16:19:53,952][train][INFO] - std_rotation_error = [2.6287186]
[2024-01-16 16:19:53,952][train][INFO] - std_affordance_error = [2.2388408]
[2024-01-16 16:19:53,952][train][INFO] - translation_outliers_num = 11
[2024-01-16 16:19:53,952][train][INFO] - rotation_outliers_num = 18
[2024-01-16 16:19:53,952][train][INFO] - affordance_outliers_num = 21
[2024-01-16 16:19:53,953][train][INFO] - translation_outliers_ratio = 0.171875
[2024-01-16 16:19:53,953][train][INFO] - rotation_outliers_ratio = 0.28125
[2024-01-16 16:19:53,953][train][INFO] - affordance_outliers_ratio = 0.328125
[2024-01-16 16:19:53,953][train][INFO] - data_num = 64, joint_num = 1
[2024-01-16 16:19:53,954][train][INFO] - Validated training.
[2024-01-16 16:19:53,954][train][INFO] - Validating training time: 56.01022291183472
[2024-01-16 16:19:53,959][train][INFO] - Validating testing...
[2024-01-16 16:20:52,312][train][INFO] - mean_translation_distance_error = [5.3376713]
[2024-01-16 16:20:52,313][train][INFO] - mean_translation_along_error = [2.0247445]
[2024-01-16 16:20:52,313][train][INFO] - mean_translation_perp_error = [4.63753]
[2024-01-16 16:20:52,313][train][INFO] - mean_translation_plane_error = [4.626668]
[2024-01-16 16:20:52,313][train][INFO] - mean_translation_line_error = [3.2192676]
[2024-01-16 16:20:52,313][train][INFO] - mean_rotation_error = [4.5285378]
[2024-01-16 16:20:52,314][train][INFO] - mean_affordance_error = [6.518472]
[2024-01-16 16:20:52,314][train][INFO] - median_translation_distance_error = [4.851116]
[2024-01-16 16:20:52,315][train][INFO] - median_translation_along_error = [1.5053002]
[2024-01-16 16:20:52,315][train][INFO] - median_translation_perp_error = [4.128795]
[2024-01-16 16:20:52,315][train][INFO] - median_translation_plane_error = [4.2244177]
[2024-01-16 16:20:52,315][train][INFO] - median_translation_line_error = [2.8271031]
[2024-01-16 16:20:52,315][train][INFO] - median_rotation_error = [3.7007427]
[2024-01-16 16:20:52,315][train][INFO] - median_affordance_error = [6.3072777]
[2024-01-16 16:20:52,316][train][INFO] - max_translation_distance_error = [13.257025]
[2024-01-16 16:20:52,316][train][INFO] - max_translation_along_error = [7.777186]
[2024-01-16 16:20:52,316][train][INFO] - max_translation_perp_error = [13.209923]
[2024-01-16 16:20:52,316][train][INFO] - max_translation_plane_error = [13.281213]
[2024-01-16 16:20:52,316][train][INFO] - max_translation_line_error = [11.807049]
[2024-01-16 16:20:52,316][train][INFO] - max_rotation_error = [12.7728]
[2024-01-16 16:20:52,317][train][INFO] - max_affordance_error = [19.726595]
[2024-01-16 16:20:52,317][train][INFO] - min_translation_distance_error = [1.1167967]
[2024-01-16 16:20:52,317][train][INFO] - min_translation_along_error = [0.03677607]
[2024-01-16 16:20:52,317][train][INFO] - min_translation_perp_error = [1.021093]
[2024-01-16 16:20:52,317][train][INFO] - min_translation_plane_error = [0.38334572]
[2024-01-16 16:20:52,318][train][INFO] - min_translation_line_error = [0.17190261]
[2024-01-16 16:20:52,318][train][INFO] - min_rotation_error = [0.26392958]
[2024-01-16 16:20:52,318][train][INFO] - min_affordance_error = [1.1678929]
[2024-01-16 16:20:52,318][train][INFO] - std_translation_distance_error = [2.4129744]
[2024-01-16 16:20:52,319][train][INFO] - std_translation_along_error = [1.6058725]
[2024-01-16 16:20:52,319][train][INFO] - std_translation_perp_error = [2.4754946]
[2024-01-16 16:20:52,319][train][INFO] - std_translation_plane_error = [2.5231178]
[2024-01-16 16:20:52,319][train][INFO] - std_translation_line_error = [2.3297114]
[2024-01-16 16:20:52,319][train][INFO] - std_rotation_error = [2.6275856]
[2024-01-16 16:20:52,319][train][INFO] - std_affordance_error = [3.8342297]
[2024-01-16 16:20:52,319][train][INFO] - translation_outliers_num = 25
[2024-01-16 16:20:52,319][train][INFO] - rotation_outliers_num = 23
[2024-01-16 16:20:52,320][train][INFO] - affordance_outliers_num = 38
[2024-01-16 16:20:52,320][train][INFO] - translation_outliers_ratio = 0.390625
[2024-01-16 16:20:52,320][train][INFO] - rotation_outliers_ratio = 0.359375
[2024-01-16 16:20:52,320][train][INFO] - affordance_outliers_ratio = 0.59375
[2024-01-16 16:20:52,320][train][INFO] - data_num = 64, joint_num = 1
[2024-01-16 16:20:52,321][train][INFO] - Validated testing.
[2024-01-16 16:20:52,321][train][INFO] - Validating testing time: 58.3619966506958
[2024-01-16 16:20:52,322][train][INFO] - epoch: 101 lr: 0.0005747461098091033
[2024-01-16 16:23:11,052][train][INFO] - training loss: 0.002800393541558431 + 0.06289132890792994 + 0.0033144010911480737 + 0.024106534140614363 = 0.09311265784960526, data num: 1030
[2024-01-16 16:23:11,053][train][INFO] - epoch: 102 lr: 0.0005670399506143305
[2024-01-16 16:25:27,520][train][INFO] - training loss: 0.0027792867702933458 + 0.06243099868297577 + 0.003298542100506333 + 0.02616492870908517 = 0.09467375519183965, data num: 1030
[2024-01-16 16:25:27,521][train][INFO] - epoch: 103 lr: 0.0005593184839900673
[2024-01-16 16:27:50,652][train][INFO] - training loss: 0.0027138407270495706 + 0.06272562604684095 + 0.003254023942953119 + 0.024662787983050712 = 0.0933562784240796, data num: 1030
[2024-01-16 16:27:50,654][train][INFO] - epoch: 104 lr: 0.0005515836150926644
[2024-01-16 16:30:13,098][train][INFO] - training loss: 0.002820775958781059 + 0.06248369979170652 + 0.0032706564937073452 + 0.022942759397511298 = 0.09151789190677496, data num: 1030
[2024-01-16 16:30:13,099][train][INFO] - epoch: 105 lr: 0.0005438372523852832
[2024-01-16 16:32:29,207][train][INFO] - training loss: 0.0027290412081548802 + 0.06170079914423136 + 0.0031643842669347158 + 0.023704941986271967 = 0.09129916681693151, data num: 1030
[2024-01-16 16:32:29,209][train][INFO] - epoch: 106 lr: 0.00053608130716701
[2024-01-16 16:34:52,454][train][INFO] - training loss: 0.002717287759654797 + 0.06219344832576238 + 0.003201170853124215 + 0.023326142590779524 = 0.09143804953648493, data num: 1030
[2024-01-16 16:34:52,455][train][INFO] - epoch: 107 lr: 0.0005283176931012729
[2024-01-16 16:37:19,191][train][INFO] - training loss: 0.002667819196358323 + 0.06110068748776729 + 0.0032128529229129735 + 0.023011545278131963 = 0.0899929037460914, data num: 1030
[2024-01-16 16:37:19,193][train][INFO] - epoch: 108 lr: 0.0005205483257436734
[2024-01-16 16:39:39,136][train][INFO] - training loss: 0.002717370020512205 + 0.06129321513267664 + 0.0032363901810290724 + 0.022877599413578326 = 0.09012457522062155, data num: 1030
[2024-01-16 16:39:39,137][train][INFO] - epoch: 109 lr: 0.0005127751220693511
[2024-01-16 16:41:55,249][train][INFO] - training loss: 0.002629835343060012 + 0.060591100098995064 + 0.003211698978422926 + 0.02235731890854927 = 0.08878995352066481, data num: 1030
[2024-01-16 16:41:55,251][train][INFO] - epoch: 110 lr: 0.0005049999999999998
[2024-01-16 16:44:16,312][train][INFO] - training loss: 0.00263126279012515 + 0.060127759323670316 + 0.0030965831238203324 + 0.021429380072424044 = 0.08728498541391813, data num: 1030
[2024-01-16 16:44:16,313][train][INFO] - epoch: 111 lr: 0.0004972248779306486
[2024-01-16 16:46:39,430][train][INFO] - training loss: 0.0025896739859420518 + 0.060662524574078044 + 0.003143354032475215 + 0.021909305883141664 = 0.08830485802430373, data num: 1030
[2024-01-16 16:46:39,431][train][INFO] - epoch: 112 lr: 0.0004894516742563262
[2024-01-16 16:49:01,299][train][INFO] - training loss: 0.0026048590536587512 + 0.05983530042263178 + 0.003080001322982403 + 0.02226420139464048 = 0.0877843609222999, data num: 1030
[2024-01-16 16:49:01,300][train][INFO] - epoch: 113 lr: 0.00048168230689872663
[2024-01-16 16:51:23,419][train][INFO] - training loss: 0.002621716346878272 + 0.06045417906000064 + 0.0031355394086299035 + 0.02206377086157982 = 0.08827520517202524, data num: 1030
[2024-01-16 16:51:23,419][train][INFO] - epoch: 114 lr: 0.0004739186928329896
[2024-01-16 16:53:39,471][train][INFO] - training loss: 0.002607348795908575 + 0.06148512730231652 + 0.003110373500161446 + 0.021683147435004893 = 0.08888599723577499, data num: 1030
[2024-01-16 16:53:39,472][train][INFO] - epoch: 115 lr: 0.00046616274761471655
[2024-01-16 16:55:53,803][train][INFO] - training loss: 0.0025983482366427777 + 0.05912781776143954 + 0.003104265546426177 + 0.021569040790200233 = 0.08639947313528795, data num: 1030
[2024-01-16 16:55:53,804][train][INFO] - epoch: 116 lr: 0.0004584163849073352
[2024-01-16 16:58:11,481][train][INFO] - training loss: 0.0025941312760831073 + 0.05966068145174246 + 0.0031099988899838467 + 0.021494250615628867 = 0.08685906231403351, data num: 1030
[2024-01-16 16:58:11,482][train][INFO] - epoch: 117 lr: 0.0004506815160099324
[2024-01-16 17:00:29,290][train][INFO] - training loss: 0.002614019657126986 + 0.058986262002816564 + 0.0030620562449957317 + 0.020237135930130115 = 0.08489947422192647, data num: 1030
[2024-01-16 17:00:29,292][train][INFO] - epoch: 118 lr: 0.0004429600493856693
[2024-01-16 17:02:51,436][train][INFO] - training loss: 0.002554705853645618 + 0.05916515903977247 + 0.0030581395428341167 + 0.02059787976054045 = 0.08537588463379786, data num: 1030
[2024-01-16 17:02:51,437][train][INFO] - epoch: 119 lr: 0.00043525389019089656
[2024-01-16 17:05:07,270][train][INFO] - training loss: 0.002578444814739319 + 0.05929749946181591 + 0.0031546940740484457 + 0.019997777274021737 = 0.08502841523060432, data num: 1030
[2024-01-16 17:05:07,272][train][INFO] - epoch: 120 lr: 0.0004275649398050856
[2024-01-16 17:07:21,345][train][INFO] - training loss: 0.002557905095342833 + 0.05891795038030698 + 0.0030762620986654206 + 0.02010683209563677 = 0.08465894953562664, data num: 1030
[2024-01-16 17:07:21,357][train][INFO] - Validating training...
[2024-01-16 17:08:20,417][train][INFO] - mean_translation_distance_error = [4.405342]
[2024-01-16 17:08:20,417][train][INFO] - mean_translation_along_error = [1.1963184]
[2024-01-16 17:08:20,417][train][INFO] - mean_translation_perp_error = [4.119411]
[2024-01-16 17:08:20,417][train][INFO] - mean_translation_plane_error = [4.097232]
[2024-01-16 17:08:20,418][train][INFO] - mean_translation_line_error = [2.4318957]
[2024-01-16 17:08:20,418][train][INFO] - mean_rotation_error = [4.2997384]
[2024-01-16 17:08:20,418][train][INFO] - mean_affordance_error = [3.9639757]
[2024-01-16 17:08:20,419][train][INFO] - median_translation_distance_error = [4.1113586]
[2024-01-16 17:08:20,419][train][INFO] - median_translation_along_error = [1.0110581]
[2024-01-16 17:08:20,419][train][INFO] - median_translation_perp_error = [3.9312806]
[2024-01-16 17:08:20,419][train][INFO] - median_translation_plane_error = [3.841004]
[2024-01-16 17:08:20,420][train][INFO] - median_translation_line_error = [2.1382546]
[2024-01-16 17:08:20,420][train][INFO] - median_rotation_error = [3.755922]
[2024-01-16 17:08:20,420][train][INFO] - median_affordance_error = [3.617763]
[2024-01-16 17:08:20,420][train][INFO] - max_translation_distance_error = [11.903439]
[2024-01-16 17:08:20,420][train][INFO] - max_translation_along_error = [3.0488632]
[2024-01-16 17:08:20,420][train][INFO] - max_translation_perp_error = [11.896526]
[2024-01-16 17:08:20,421][train][INFO] - max_translation_plane_error = [11.85935]
[2024-01-16 17:08:20,421][train][INFO] - max_translation_line_error = [9.295694]
[2024-01-16 17:08:20,421][train][INFO] - max_rotation_error = [12.824845]
[2024-01-16 17:08:20,421][train][INFO] - max_affordance_error = [10.118827]
[2024-01-16 17:08:20,421][train][INFO] - min_translation_distance_error = [0.87322307]
[2024-01-16 17:08:20,421][train][INFO] - min_translation_along_error = [0.02487842]
[2024-01-16 17:08:20,422][train][INFO] - min_translation_perp_error = [0.8726738]
[2024-01-16 17:08:20,422][train][INFO] - min_translation_plane_error = [0.87340605]
[2024-01-16 17:08:20,422][train][INFO] - min_translation_line_error = [0.04720964]
[2024-01-16 17:08:20,422][train][INFO] - min_rotation_error = [0.12666881]
[2024-01-16 17:08:20,422][train][INFO] - min_affordance_error = [0.53832436]
[2024-01-16 17:08:20,423][train][INFO] - std_translation_distance_error = [2.0375528]
[2024-01-16 17:08:20,423][train][INFO] - std_translation_along_error = [0.84387165]
[2024-01-16 17:08:20,423][train][INFO] - std_translation_perp_error = [2.1085098]
[2024-01-16 17:08:20,423][train][INFO] - std_translation_plane_error = [2.1098123]
[2024-01-16 17:08:20,424][train][INFO] - std_translation_line_error = [1.8849595]
[2024-01-16 17:08:20,424][train][INFO] - std_rotation_error = [2.6301417]
[2024-01-16 17:08:20,424][train][INFO] - std_affordance_error = [1.941332]
[2024-01-16 17:08:20,424][train][INFO] - translation_outliers_num = 17
[2024-01-16 17:08:20,424][train][INFO] - rotation_outliers_num = 19
[2024-01-16 17:08:20,424][train][INFO] - affordance_outliers_num = 14
[2024-01-16 17:08:20,424][train][INFO] - translation_outliers_ratio = 0.265625
[2024-01-16 17:08:20,424][train][INFO] - rotation_outliers_ratio = 0.296875
[2024-01-16 17:08:20,424][train][INFO] - affordance_outliers_ratio = 0.21875
[2024-01-16 17:08:20,424][train][INFO] - data_num = 64, joint_num = 1
[2024-01-16 17:08:20,426][train][INFO] - Validated training.
[2024-01-16 17:08:20,426][train][INFO] - Validating training time: 59.06819939613342
[2024-01-16 17:08:20,429][train][INFO] - Validating testing...
[2024-01-16 17:09:30,991][train][INFO] - mean_translation_distance_error = [4.348799]
[2024-01-16 17:09:30,992][train][INFO] - mean_translation_along_error = [1.425367]
[2024-01-16 17:09:30,992][train][INFO] - mean_translation_perp_error = [3.9170566]
[2024-01-16 17:09:30,992][train][INFO] - mean_translation_plane_error = [3.915494]
[2024-01-16 17:09:30,993][train][INFO] - mean_translation_line_error = [2.5161052]
[2024-01-16 17:09:30,993][train][INFO] - mean_rotation_error = [4.9643397]
[2024-01-16 17:09:30,993][train][INFO] - mean_affordance_error = [5.3118706]
[2024-01-16 17:09:30,994][train][INFO] - median_translation_distance_error = [4.1644173]
[2024-01-16 17:09:30,994][train][INFO] - median_translation_along_error = [1.2827685]
[2024-01-16 17:09:30,994][train][INFO] - median_translation_perp_error = [3.4892192]
[2024-01-16 17:09:30,994][train][INFO] - median_translation_plane_error = [3.4175227]
[2024-01-16 17:09:30,994][train][INFO] - median_translation_line_error = [2.1578722]
[2024-01-16 17:09:30,994][train][INFO] - median_rotation_error = [4.460784]
[2024-01-16 17:09:30,994][train][INFO] - median_affordance_error = [4.9248934]
[2024-01-16 17:09:30,994][train][INFO] - max_translation_distance_error = [11.0222025]
[2024-01-16 17:09:30,994][train][INFO] - max_translation_along_error = [4.130685]
[2024-01-16 17:09:30,995][train][INFO] - max_translation_perp_error = [10.819396]
[2024-01-16 17:09:30,995][train][INFO] - max_translation_plane_error = [11.185398]
[2024-01-16 17:09:30,995][train][INFO] - max_translation_line_error = [7.140033]
[2024-01-16 17:09:30,995][train][INFO] - max_rotation_error = [13.282281]
[2024-01-16 17:09:30,995][train][INFO] - max_affordance_error = [12.619777]
[2024-01-16 17:09:30,995][train][INFO] - min_translation_distance_error = [0.8572841]
[2024-01-16 17:09:30,995][train][INFO] - min_translation_along_error = [0.00184744]
[2024-01-16 17:09:30,995][train][INFO] - min_translation_perp_error = [0.79773784]
[2024-01-16 17:09:30,995][train][INFO] - min_translation_plane_error = [0.8070295]
[2024-01-16 17:09:30,996][train][INFO] - min_translation_line_error = [0.04165731]
[2024-01-16 17:09:30,996][train][INFO] - min_rotation_error = [1.0441772]
[2024-01-16 17:09:30,996][train][INFO] - min_affordance_error = [0.43092948]
[2024-01-16 17:09:30,996][train][INFO] - std_translation_distance_error = [1.9356627]
[2024-01-16 17:09:30,996][train][INFO] - std_translation_along_error = [1.0470632]
[2024-01-16 17:09:30,997][train][INFO] - std_translation_perp_error = [2.046339]
[2024-01-16 17:09:30,997][train][INFO] - std_translation_plane_error = [2.0741644]
[2024-01-16 17:09:30,997][train][INFO] - std_translation_line_error = [1.8582606]
[2024-01-16 17:09:30,997][train][INFO] - std_rotation_error = [2.8864539]
[2024-01-16 17:09:30,997][train][INFO] - std_affordance_error = [2.8933601]
[2024-01-16 17:09:30,997][train][INFO] - translation_outliers_num = 16
[2024-01-16 17:09:30,997][train][INFO] - rotation_outliers_num = 30
[2024-01-16 17:09:30,997][train][INFO] - affordance_outliers_num = 31
[2024-01-16 17:09:30,997][train][INFO] - translation_outliers_ratio = 0.25
[2024-01-16 17:09:30,997][train][INFO] - rotation_outliers_ratio = 0.46875
[2024-01-16 17:09:30,997][train][INFO] - affordance_outliers_ratio = 0.484375
[2024-01-16 17:09:30,997][train][INFO] - data_num = 64, joint_num = 1
[2024-01-16 17:09:30,999][train][INFO] - Validated testing.
[2024-01-16 17:09:30,999][train][INFO] - Validating testing time: 70.56961154937744
[2024-01-16 17:09:30,999][train][INFO] - epoch: 121 lr: 0.0004198950953616921
[2024-01-16 17:11:51,985][train][INFO] - training loss: 0.0025095753801556734 + 0.05843953650731307 + 0.003003365618105118 + 0.019417175736564856 = 0.08336965258304889, data num: 1030
[2024-01-16 17:11:51,986][train][INFO] - epoch: 122 lr: 0.0004122462492800662
[2024-01-16 17:14:08,072][train][INFO] - training loss: 0.002523686203102653 + 0.05950621183101947 + 0.0030055824380654556 + 0.019536455978567784 = 0.08457193672657012, data num: 1030
[2024-01-16 17:14:08,074][train][INFO] - epoch: 123 lr: 0.0004046202887985263
[2024-01-16 17:16:28,093][train][INFO] - training loss: 0.0025327478642933644 + 0.05775849360686082 + 0.0029999209926105464 + 0.020131759173594988 = 0.0834229214833333, data num: 1030
[2024-01-16 17:16:28,095][train][INFO] - epoch: 124 lr: 0.0003970190955087115
[2024-01-16 17:18:41,960][train][INFO] - training loss: 0.002551291940303949 + 0.05694635355701813 + 0.0030623183120042086 + 0.019780829548835754 = 0.08234079365546887, data num: 1030
[2024-01-16 17:18:41,961][train][INFO] - epoch: 125 lr: 0.0003894445448913267
[2024-01-16 17:20:57,228][train][INFO] - training loss: 0.0025335050367105466 + 0.05718438699841499 + 0.0030036164770046105 + 0.01920120160167034 = 0.08192271062960992, data num: 1030
[2024-01-16 17:20:57,229][train][INFO] - epoch: 126 lr: 0.00038189850585339675
[2024-01-16 17:23:18,347][train][INFO] - training loss: 0.002513510126692171 + 0.057159501371475366 + 0.0029613168372844274 + 0.019193471738925348 = 0.08182780009049635, data num: 1030
[2024-01-16 17:23:18,349][train][INFO] - epoch: 127 lr: 0.0003743828402671403
[2024-01-16 17:25:41,671][train][INFO] - training loss: 0.0024567826471936244 + 0.0572841502726078 + 0.0029530857080736985 + 0.018984637438104704 = 0.08167865597284757, data num: 1030
[2024-01-16 17:25:41,672][train][INFO] - epoch: 128 lr: 0.0003668994025105814
[2024-01-16 17:27:56,826][train][INFO] - training loss: 0.0024872187901144992 + 0.056468909348432836 + 0.0029486876267653247 + 0.018415860158319655 = 0.08032067572841277, data num: 1030
[2024-01-16 17:27:56,828][train][INFO] - epoch: 129 lr: 0.00035945003901000945
[2024-01-16 17:30:21,184][train][INFO] - training loss: 0.002480773513133709 + 0.05649832676236446 + 0.002920054830610752 + 0.018659570942131373 = 0.08055872630614501, data num: 1030
[2024-01-16 17:30:21,185][train][INFO] - epoch: 130 lr: 0.00035203658778440103
[2024-01-16 17:32:42,554][train][INFO] - training loss: 0.0024388285604520486 + 0.05661720197934371 + 0.0028978210587341053 + 0.01822756454348564 = 0.08018141641066624, data num: 1030
[2024-01-16 17:32:42,556][train][INFO] - epoch: 131 lr: 0.0003446608779919159
[2024-01-16 17:35:02,680][train][INFO] - training loss: 0.0024498670935057675 + 0.056197147701795284 + 0.002914124827545423 + 0.017544888547406746 = 0.07910602791951253, data num: 1030
[2024-01-16 17:35:02,681][train][INFO] - epoch: 132 lr: 0.00033732472947858063
[2024-01-16 17:37:24,040][train][INFO] - training loss: 0.0024242186524833626 + 0.05612017151254874 + 0.0029148448939220264 + 0.018434401845129636 = 0.07989363658886689, data num: 1030
[2024-01-16 17:37:24,042][train][INFO] - epoch: 133 lr: 0.00033002995232926766
[2024-01-16 17:39:46,963][train][INFO] - training loss: 0.002437227536351062 + 0.05681819296800173 + 0.0029405449839452137 + 0.018234176489596184 = 0.08043014235221423, data num: 1030
[2024-01-16 17:39:46,964][train][INFO] - epoch: 134 lr: 0.0003227783464210844
[2024-01-16 17:42:03,850][train][INFO] - training loss: 0.0024380398932127996 + 0.05571544709113928 + 0.0028917593630747155 + 0.017912255098613408 = 0.07895750185618033, data num: 1030
[2024-01-16 17:42:03,851][train][INFO] - epoch: 135 lr: 0.00031557170097928054
[2024-01-16 17:44:25,051][train][INFO] - training loss: 0.0024282761956923283 + 0.056322292353098206 + 0.0028973872844989482 + 0.017252584604116588 = 0.0789005404481521, data num: 1030
[2024-01-16 17:44:25,052][train][INFO] - epoch: 136 lr: 0.0003084117941357834
[2024-01-16 17:46:36,920][train][INFO] - training loss: 0.0024170249969197007 + 0.05489766798340357 + 0.002893619156944064 + 0.017449732697927035 = 0.07765804517727631, data num: 1030
[2024-01-16 17:46:36,921][train][INFO] - epoch: 137 lr: 0.00030130039249047106
[2024-01-16 17:48:49,605][train][INFO] - training loss: 0.0023989524692296983 + 0.05517076844206223 + 0.002873532244792351 + 0.017340616896175422 = 0.07778387023852422, data num: 1030
[2024-01-16 17:48:49,606][train][INFO] - epoch: 138 lr: 0.00029423925067528897
[2024-01-16 17:51:08,410][train][INFO] - training loss: 0.00240809887361068 + 0.05475686748440449 + 0.002895592115461253 + 0.017377905218073954 = 0.07743846372916148, data num: 1030
[2024-01-16 17:51:08,412][train][INFO] - epoch: 139 lr: 0.0002872301109213219
[2024-01-16 17:53:25,343][train][INFO] - training loss: 0.0024144265997725037 + 0.0552298815204547 + 0.0028201396827800917 + 0.017057204174880797 = 0.07752165244175838, data num: 1030
[2024-01-16 17:53:25,344][train][INFO] - epoch: 140 lr: 0.0002802747026289243
[2024-01-16 17:55:40,295][train][INFO] - training loss: 0.0023805344495205923 + 0.054784136036267646 + 0.0028692375008876505 + 0.017656377573999075 = 0.077690285215011, data num: 1030
[2024-01-16 17:55:40,308][train][INFO] - Validating training...
[2024-01-16 17:56:36,834][train][INFO] - mean_translation_distance_error = [3.2914104]
[2024-01-16 17:56:36,835][train][INFO] - mean_translation_along_error = [1.1640522]
[2024-01-16 17:56:36,836][train][INFO] - mean_translation_perp_error = [2.9329367]
[2024-01-16 17:56:36,836][train][INFO] - mean_translation_plane_error = [2.924441]
[2024-01-16 17:56:36,836][train][INFO] - mean_translation_line_error = [1.7575886]
[2024-01-16 17:56:36,837][train][INFO] - mean_rotation_error = [4.7385483]
[2024-01-16 17:56:36,837][train][INFO] - mean_affordance_error = [3.9663966]
[2024-01-16 17:56:36,838][train][INFO] - median_translation_distance_error = [3.0144196]
[2024-01-16 17:56:36,838][train][INFO] - median_translation_along_error = [1.0725567]
[2024-01-16 17:56:36,838][train][INFO] - median_translation_perp_error = [2.7491014]
[2024-01-16 17:56:36,838][train][INFO] - median_translation_plane_error = [2.76016]
[2024-01-16 17:56:36,838][train][INFO] - median_translation_line_error = [1.0483193]
[2024-01-16 17:56:36,839][train][INFO] - median_rotation_error = [4.3923216]
[2024-01-16 17:56:36,839][train][INFO] - median_affordance_error = [3.448813]
[2024-01-16 17:56:36,839][train][INFO] - max_translation_distance_error = [9.099289]
[2024-01-16 17:56:36,839][train][INFO] - max_translation_along_error = [3.0747435]
[2024-01-16 17:56:36,839][train][INFO] - max_translation_perp_error = [8.968001]
[2024-01-16 17:56:36,840][train][INFO] - max_translation_plane_error = [8.984931]
[2024-01-16 17:56:36,840][train][INFO] - max_translation_line_error = [8.047878]
[2024-01-16 17:56:36,840][train][INFO] - max_rotation_error = [13.689318]
[2024-01-16 17:56:36,840][train][INFO] - max_affordance_error = [12.570967]
[2024-01-16 17:56:36,840][train][INFO] - min_translation_distance_error = [0.9192125]
[2024-01-16 17:56:36,840][train][INFO] - min_translation_along_error = [0.03161775]
[2024-01-16 17:56:36,841][train][INFO] - min_translation_perp_error = [0.29577473]
[2024-01-16 17:56:36,841][train][INFO] - min_translation_plane_error = [0.19862922]
[2024-01-16 17:56:36,841][train][INFO] - min_translation_line_error = [0.02512965]
[2024-01-16 17:56:36,841][train][INFO] - min_rotation_error = [0.36956525]
[2024-01-16 17:56:36,841][train][INFO] - min_affordance_error = [0.21478592]
[2024-01-16 17:56:36,842][train][INFO] - std_translation_distance_error = [1.7693185]
[2024-01-16 17:56:36,842][train][INFO] - std_translation_along_error = [0.7349346]
[2024-01-16 17:56:36,842][train][INFO] - std_translation_perp_error = [1.8618828]
[2024-01-16 17:56:36,842][train][INFO] - std_translation_plane_error = [1.8340831]
[2024-01-16 17:56:36,842][train][INFO] - std_translation_line_error = [1.7524937]
[2024-01-16 17:56:36,843][train][INFO] - std_rotation_error = [2.4544356]
[2024-01-16 17:56:36,843][train][INFO] - std_affordance_error = [2.4198253]
[2024-01-16 17:56:36,843][train][INFO] - translation_outliers_num = 8
[2024-01-16 17:56:36,843][train][INFO] - rotation_outliers_num = 21
[2024-01-16 17:56:36,843][train][INFO] - affordance_outliers_num = 15
[2024-01-16 17:56:36,843][train][INFO] - translation_outliers_ratio = 0.125
[2024-01-16 17:56:36,843][train][INFO] - rotation_outliers_ratio = 0.328125
[2024-01-16 17:56:36,843][train][INFO] - affordance_outliers_ratio = 0.234375
[2024-01-16 17:56:36,843][train][INFO] - data_num = 64, joint_num = 1
[2024-01-16 17:56:36,844][train][INFO] - Validated training.
[2024-01-16 17:56:36,851][train][INFO] - Validating training time: 56.5363028049469
[2024-01-16 17:56:36,852][train][INFO] - Validating testing...
[2024-01-16 17:57:34,064][train][INFO] - mean_translation_distance_error = [4.3807373]
[2024-01-16 17:57:34,065][train][INFO] - mean_translation_along_error = [1.5157797]
[2024-01-16 17:57:34,066][train][INFO] - mean_translation_perp_error = [3.8710012]
[2024-01-16 17:57:34,066][train][INFO] - mean_translation_plane_error = [3.8920064]
[2024-01-16 17:57:34,067][train][INFO] - mean_translation_line_error = [2.471452]
[2024-01-16 17:57:34,067][train][INFO] - mean_rotation_error = [4.821788]
[2024-01-16 17:57:34,067][train][INFO] - mean_affordance_error = [6.1114807]
[2024-01-16 17:57:34,069][train][INFO] - median_translation_distance_error = [4.2682815]
[2024-01-16 17:57:34,069][train][INFO] - median_translation_along_error = [1.283618]
[2024-01-16 17:57:34,069][train][INFO] - median_translation_perp_error = [3.7973921]
[2024-01-16 17:57:34,070][train][INFO] - median_translation_plane_error = [3.854876]
[2024-01-16 17:57:34,070][train][INFO] - median_translation_line_error = [1.9254057]
[2024-01-16 17:57:34,070][train][INFO] - median_rotation_error = [4.3506966]
[2024-01-16 17:57:34,070][train][INFO] - median_affordance_error = [5.2458286]
[2024-01-16 17:57:34,070][train][INFO] - max_translation_distance_error = [11.07637]
[2024-01-16 17:57:34,070][train][INFO] - max_translation_along_error = [5.59129]
[2024-01-16 17:57:34,071][train][INFO] - max_translation_perp_error = [10.308443]
[2024-01-16 17:57:34,071][train][INFO] - max_translation_plane_error = [10.177746]
[2024-01-16 17:57:34,071][train][INFO] - max_translation_line_error = [8.603697]
[2024-01-16 17:57:34,071][train][INFO] - max_rotation_error = [13.512417]
[2024-01-16 17:57:34,071][train][INFO] - max_affordance_error = [19.580103]
[2024-01-16 17:57:34,071][train][INFO] - min_translation_distance_error = [0.8042958]
[2024-01-16 17:57:34,072][train][INFO] - min_translation_along_error = [0.00320971]
[2024-01-16 17:57:34,072][train][INFO] - min_translation_perp_error = [0.18869258]
[2024-01-16 17:57:34,072][train][INFO] - min_translation_plane_error = [0.29670206]
[2024-01-16 17:57:34,072][train][INFO] - min_translation_line_error = [0.0785923]
[2024-01-16 17:57:34,072][train][INFO] - min_rotation_error = [0.17132017]
[2024-01-16 17:57:34,072][train][INFO] - min_affordance_error = [1.9640023]
[2024-01-16 17:57:34,073][train][INFO] - std_translation_distance_error = [2.1817555]
[2024-01-16 17:57:34,073][train][INFO] - std_translation_along_error = [1.3338351]
[2024-01-16 17:57:34,073][train][INFO] - std_translation_perp_error = [2.2112343]
[2024-01-16 17:57:34,074][train][INFO] - std_translation_plane_error = [2.2013438]
[2024-01-16 17:57:34,074][train][INFO] - std_translation_line_error = [2.0970147]
[2024-01-16 17:57:34,074][train][INFO] - std_rotation_error = [2.9540293]
[2024-01-16 17:57:34,074][train][INFO] - std_affordance_error = [3.1514983]
[2024-01-16 17:57:34,074][train][INFO] - translation_outliers_num = 20
[2024-01-16 17:57:34,074][train][INFO] - rotation_outliers_num = 26
[2024-01-16 17:57:34,074][train][INFO] - affordance_outliers_num = 35
[2024-01-16 17:57:34,074][train][INFO] - translation_outliers_ratio = 0.3125
[2024-01-16 17:57:34,074][train][INFO] - rotation_outliers_ratio = 0.40625
[2024-01-16 17:57:34,074][train][INFO] - affordance_outliers_ratio = 0.546875
[2024-01-16 17:57:34,074][train][INFO] - data_num = 64, joint_num = 1
[2024-01-16 17:57:34,076][train][INFO] - Validated testing.
[2024-01-16 17:57:34,076][train][INFO] - Validating testing time: 57.224159955978394
[2024-01-16 17:57:34,077][train][INFO] - epoch: 141 lr: 0.00027337474194101617
[2024-01-16 17:59:48,498][train][INFO] - training loss: 0.002405753917992115 + 0.054350592138675546 + 0.00285634074288492 + 0.01685316009590259 = 0.07646584728589424, data num: 1030
[2024-01-16 17:59:48,499][train][INFO] - epoch: 142 lr: 0.00026653193131965077
[2024-01-16 18:02:03,437][train][INFO] - training loss: 0.002405267826711329 + 0.054411799288713016 + 0.0028339135209814862 + 0.01607532320687404 = 0.07572630391671108, data num: 1030
[2024-01-16 18:02:03,438][train][INFO] - epoch: 143 lr: 0.00025974795912595813
[2024-01-16 18:04:22,576][train][INFO] - training loss: 0.002360103542629916 + 0.054068698791357186 + 0.0028014350288475937 + 0.016724921992191902 = 0.07595515996217728, data num: 1030
[2024-01-16 18:04:22,577][train][INFO] - epoch: 144 lr: 0.0002530244992035661
[2024-01-16 18:06:42,381][train][INFO] - training loss: 0.002382176881656051 + 0.05405656701097122 + 0.002794386324687646 + 0.01637639396179181 = 0.07560952386030784, data num: 1030
[2024-01-16 18:06:42,383][train][INFO] - epoch: 145 lr: 0.00024636321046560527
[2024-01-16 18:08:52,885][train][INFO] - training loss: 0.0023641971566785987 + 0.053483938253842865 + 0.002802188809101398 + 0.016166409448935437 = 0.07481673377064559, data num: 1030
[2024-01-16 18:08:52,886][train][INFO] - epoch: 146 lr: 0.00023976573648539645
[2024-01-16 18:11:04,099][train][INFO] - training loss: 0.0023977676872164013 + 0.05448861248218096 + 0.002812580653251364 + 0.016036656104887907 = 0.0757356169132086, data num: 1030
[2024-01-16 18:11:04,100][train][INFO] - epoch: 147 lr: 0.00023323370509092462
[2024-01-16 18:13:19,203][train][INFO] - training loss: 0.0023465519341138693 + 0.05354314331824963 + 0.002801623213319824 + 0.015663986638761482 = 0.07435530447042905, data num: 1030
[2024-01-16 18:13:19,205][train][INFO] - epoch: 148 lr: 0.00022676872796319523
[2024-01-16 18:15:37,514][train][INFO] - training loss: 0.0023833956623163363 + 0.053387096180365634 + 0.0027680342425950443 + 0.016422871586221913 = 0.07496139802611791, data num: 1030
[2024-01-16 18:15:37,517][train][INFO] - epoch: 149 lr: 0.00022037240023857702
[2024-01-16 18:17:49,863][train][INFO] - training loss: 0.0023802345779796058 + 0.05350850723110712 + 0.0027775629280278316 + 0.01574967808734912 = 0.07441598314505357, data num: 1030
[2024-01-16 18:17:49,865][train][INFO] - epoch: 150 lr: 0.00021404630011522577
[2024-01-16 18:20:04,190][train][INFO] - training loss: 0.0023399941300830014 + 0.05314684498768586 + 0.002776125711030685 + 0.015601947617072325 = 0.07386491287213105, data num: 1030
[2024-01-16 18:20:04,191][train][INFO] - epoch: 151 lr: 0.00020779198846368737
[2024-01-16 18:22:17,435][train][INFO] - training loss: 0.0023175837131790243 + 0.052706681822354974 + 0.002761309826746583 + 0.01533579439497911 = 0.0731213692862254, data num: 1030
[2024-01-16 18:22:17,436][train][INFO] - epoch: 152 lr: 0.0002016110084417765
[2024-01-16 18:24:32,809][train][INFO] - training loss: 0.002326635985921782 + 0.05282709506841806 + 0.002775631658732891 + 0.015322629548609256 = 0.07325199269331419, data num: 1030
[2024-01-16 18:24:32,811][train][INFO] - epoch: 153 lr: 0.00019550488511382584
[2024-01-16 18:26:46,309][train][INFO] - training loss: 0.0023279752546491532 + 0.0527651469867963 + 0.002763413924437303 + 0.015330235015314359 = 0.07318677122776325, data num: 1030
[2024-01-16 18:26:46,310][train][INFO] - epoch: 154 lr: 0.00018947512507439847
[2024-01-16 18:28:59,786][train][INFO] - training loss: 0.0023145442416604893 + 0.052688569690172486 + 0.002744568622885988 + 0.015156689400856311 = 0.07290437204333453, data num: 1030
[2024-01-16 18:28:59,787][train][INFO] - epoch: 155 lr: 0.00018352321607655904
[2024-01-16 18:31:10,939][train][INFO] - training loss: 0.0023281358594361406 + 0.0529096167248029 + 0.0027310282457619905 + 0.015104521395495304 = 0.07307330243862592, data num: 1030
[2024-01-16 18:31:10,941][train][INFO] - epoch: 156 lr: 0.0001776506266647923
[2024-01-16 18:33:25,093][train][INFO] - training loss: 0.0023286605755297035 + 0.051818851152291664 + 0.0027227241581735703 + 0.015090379083099273 = 0.07196061502282436, data num: 1030
[2024-01-16 18:33:25,094][train][INFO] - epoch: 157 lr: 0.00017185880581266206
[2024-01-16 18:35:39,306][train][INFO] - training loss: 0.0023256282071368053 + 0.052428239354720484 + 0.002747489669575141 + 0.014975945450938666 = 0.0724773027575933, data num: 1030
[2024-01-16 18:35:39,307][train][INFO] - epoch: 158 lr: 0.000166149182565299
[2024-01-16 18:37:52,477][train][INFO] - training loss: 0.0023131099135543292 + 0.05204291532819088 + 0.0027255052557358375 + 0.015003362527260413 = 0.07208489265579443, data num: 1030
[2024-01-16 18:37:52,478][train][INFO] - epoch: 159 lr: 0.00016052316568680435
[2024-01-16 18:40:06,058][train][INFO] - training loss: 0.0023003832419187975 + 0.05236456462970147 + 0.0027294340973290114 + 0.014698480857679478 = 0.07209286271379545, data num: 1030
[2024-01-16 18:40:06,060][train][INFO] - epoch: 160 lr: 0.00015498214331265893
[2024-01-16 18:42:15,774][train][INFO] - training loss: 0.0022913046682683322 + 0.05230046178285892 + 0.0026974032203165386 + 0.014417515308237993 = 0.07170668507997806, data num: 1030
[2024-01-16 18:42:15,786][train][INFO] - Validating training...
[2024-01-16 18:43:15,421][train][INFO] - mean_translation_distance_error = [3.852469]
[2024-01-16 18:43:15,422][train][INFO] - mean_translation_along_error = [0.9663969]
[2024-01-16 18:43:15,422][train][INFO] - mean_translation_perp_error = [3.6230652]
[2024-01-16 18:43:15,423][train][INFO] - mean_translation_plane_error = [3.5978906]
[2024-01-16 18:43:15,423][train][INFO] - mean_translation_line_error = [2.1513596]
[2024-01-16 18:43:15,423][train][INFO] - mean_rotation_error = [4.4985337]
[2024-01-16 18:43:15,423][train][INFO] - mean_affordance_error = [4.0145216]
[2024-01-16 18:43:15,424][train][INFO] - median_translation_distance_error = [3.4454036]
[2024-01-16 18:43:15,424][train][INFO] - median_translation_along_error = [0.8448723]
[2024-01-16 18:43:15,425][train][INFO] - median_translation_perp_error = [3.261488]
[2024-01-16 18:43:15,425][train][INFO] - median_translation_plane_error = [3.1487968]
[2024-01-16 18:43:15,425][train][INFO] - median_translation_line_error = [1.7262528]
[2024-01-16 18:43:15,425][train][INFO] - median_rotation_error = [3.801887]
[2024-01-16 18:43:15,425][train][INFO] - median_affordance_error = [3.5142982]
[2024-01-16 18:43:15,425][train][INFO] - max_translation_distance_error = [9.422683]
[2024-01-16 18:43:15,426][train][INFO] - max_translation_along_error = [2.50727]
[2024-01-16 18:43:15,426][train][INFO] - max_translation_perp_error = [9.39208]
[2024-01-16 18:43:15,426][train][INFO] - max_translation_plane_error = [9.402632]
[2024-01-16 18:43:15,426][train][INFO] - max_translation_line_error = [8.262322]
[2024-01-16 18:43:15,426][train][INFO] - max_rotation_error = [13.100771]
[2024-01-16 18:43:15,426][train][INFO] - max_affordance_error = [9.354581]
[2024-01-16 18:43:15,427][train][INFO] - min_translation_distance_error = [0.8339718]
[2024-01-16 18:43:15,427][train][INFO] - min_translation_along_error = [0.00987807]
[2024-01-16 18:43:15,427][train][INFO] - min_translation_perp_error = [0.2146546]
[2024-01-16 18:43:15,427][train][INFO] - min_translation_plane_error = [0.13059972]
[2024-01-16 18:43:15,427][train][INFO] - min_translation_line_error = [0.00115941]
[2024-01-16 18:43:15,427][train][INFO] - min_rotation_error = [0.11869407]
[2024-01-16 18:43:15,428][train][INFO] - min_affordance_error = [1.2739941]
[2024-01-16 18:43:15,428][train][INFO] - std_translation_distance_error = [2.1502128]
[2024-01-16 18:43:15,428][train][INFO] - std_translation_along_error = [0.6876143]
[2024-01-16 18:43:15,429][train][INFO] - std_translation_perp_error = [2.220719]
[2024-01-16 18:43:15,429][train][INFO] - std_translation_plane_error = [2.2037401]
[2024-01-16 18:43:15,429][train][INFO] - std_translation_line_error = [1.8852037]
[2024-01-16 18:43:15,429][train][INFO] - std_rotation_error = [3.1136296]
[2024-01-16 18:43:15,429][train][INFO] - std_affordance_error = [1.9476111]
[2024-01-16 18:43:15,429][train][INFO] - translation_outliers_num = 18
[2024-01-16 18:43:15,429][train][INFO] - rotation_outliers_num = 22
[2024-01-16 18:43:15,429][train][INFO] - affordance_outliers_num = 24
[2024-01-16 18:43:15,429][train][INFO] - translation_outliers_ratio = 0.28125
[2024-01-16 18:43:15,429][train][INFO] - rotation_outliers_ratio = 0.34375
[2024-01-16 18:43:15,430][train][INFO] - affordance_outliers_ratio = 0.375
[2024-01-16 18:43:15,430][train][INFO] - data_num = 64, joint_num = 1
[2024-01-16 18:43:15,431][train][INFO] - Validated training.
[2024-01-16 18:43:15,432][train][INFO] - Validating training time: 59.64561867713928
[2024-01-16 18:43:15,438][train][INFO] - Validating testing...
[2024-01-16 18:44:09,394][train][INFO] - mean_translation_distance_error = [3.933427]
[2024-01-16 18:44:09,395][train][INFO] - mean_translation_along_error = [1.4791472]
[2024-01-16 18:44:09,395][train][INFO] - mean_translation_perp_error = [3.3831758]
[2024-01-16 18:44:09,395][train][INFO] - mean_translation_plane_error = [3.4088001]
[2024-01-16 18:44:09,395][train][INFO] - mean_translation_line_error = [1.9748198]
[2024-01-16 18:44:09,396][train][INFO] - mean_rotation_error = [5.0866]
[2024-01-16 18:44:09,396][train][INFO] - mean_affordance_error = [5.1619616]
[2024-01-16 18:44:09,397][train][INFO] - median_translation_distance_error = [3.3734078]
[2024-01-16 18:44:09,397][train][INFO] - median_translation_along_error = [1.1469742]
[2024-01-16 18:44:09,397][train][INFO] - median_translation_perp_error = [3.0223489]
[2024-01-16 18:44:09,397][train][INFO] - median_translation_plane_error = [3.0038965]
[2024-01-16 18:44:09,397][train][INFO] - median_translation_line_error = [1.8148122]
[2024-01-16 18:44:09,397][train][INFO] - median_rotation_error = [4.4557195]
[2024-01-16 18:44:09,398][train][INFO] - median_affordance_error = [4.5786247]
[2024-01-16 18:44:09,398][train][INFO] - max_translation_distance_error = [11.651995]
[2024-01-16 18:44:09,398][train][INFO] - max_translation_along_error = [6.5323462]
[2024-01-16 18:44:09,398][train][INFO] - max_translation_perp_error = [11.637887]
[2024-01-16 18:44:09,398][train][INFO] - max_translation_plane_error = [11.667659]
[2024-01-16 18:44:09,399][train][INFO] - max_translation_line_error = [10.831908]
[2024-01-16 18:44:09,399][train][INFO] - max_rotation_error = [11.99853]
[2024-01-16 18:44:09,399][train][INFO] - max_affordance_error = [15.733072]
[2024-01-16 18:44:09,399][train][INFO] - min_translation_distance_error = [1.2626114]
[2024-01-16 18:44:09,399][train][INFO] - min_translation_along_error = [0.00401204]
[2024-01-16 18:44:09,399][train][INFO] - min_translation_perp_error = [0.44215423]
[2024-01-16 18:44:09,400][train][INFO] - min_translation_plane_error = [0.4017395]
[2024-01-16 18:44:09,400][train][INFO] - min_translation_line_error = [0.02839318]
[2024-01-16 18:44:09,400][train][INFO] - min_rotation_error = [0.2478722]
[2024-01-16 18:44:09,400][train][INFO] - min_affordance_error = [1.1911318]
[2024-01-16 18:44:09,401][train][INFO] - std_translation_distance_error = [2.029843]
[2024-01-16 18:44:09,401][train][INFO] - std_translation_along_error = [1.1928841]
[2024-01-16 18:44:09,401][train][INFO] - std_translation_perp_error = [2.129644]
[2024-01-16 18:44:09,401][train][INFO] - std_translation_plane_error = [2.1271896]
[2024-01-16 18:44:09,401][train][INFO] - std_translation_line_error = [1.8044769]
[2024-01-16 18:44:09,402][train][INFO] - std_rotation_error = [2.8570557]
[2024-01-16 18:44:09,402][train][INFO] - std_affordance_error = [2.8230624]
[2024-01-16 18:44:09,402][train][INFO] - translation_outliers_num = 10
[2024-01-16 18:44:09,402][train][INFO] - rotation_outliers_num = 28
[2024-01-16 18:44:09,402][train][INFO] - affordance_outliers_num = 29
[2024-01-16 18:44:09,402][train][INFO] - translation_outliers_ratio = 0.15625
[2024-01-16 18:44:09,402][train][INFO] - rotation_outliers_ratio = 0.4375
[2024-01-16 18:44:09,402][train][INFO] - affordance_outliers_ratio = 0.453125
[2024-01-16 18:44:09,402][train][INFO] - data_num = 64, joint_num = 1
[2024-01-16 18:44:09,413][train][INFO] - Validated testing.
[2024-01-16 18:44:09,417][train][INFO] - Validating testing time: 53.975141286849976
[2024-01-16 18:44:09,419][train][INFO] - epoch: 161 lr: 0.0001495274826072215
[2024-01-16 18:46:25,229][train][INFO] - training loss: 0.0022863190137566284 + 0.051549392480116626 + 0.0027057743774583707 + 0.014507007584548913 = 0.07104849339677738, data num: 1030
[2024-01-16 18:46:25,230][train][INFO] - epoch: 162 lr: 0.00014416052942640132
[2024-01-16 18:48:44,197][train][INFO] - training loss: 0.0022752716958236237 + 0.05157347166767487 + 0.0027014233386860446 + 0.01418494928914767 = 0.07073511555790901, data num: 1030
[2024-01-16 18:48:44,199][train][INFO] - epoch: 163 lr: 0.0001388826079855881
[2024-01-16 18:50:57,594][train][INFO] - training loss: 0.0022730160826960437 + 0.05210936115338252 + 0.0026945354882627727 + 0.013990024090386355 = 0.07106693679323563, data num: 1030
[2024-01-16 18:50:57,595][train][INFO] - epoch: 164 lr: 0.00013369502053292245
[2024-01-16 18:53:12,900][train][INFO] - training loss: 0.0022751353287066406 + 0.05140867204620288 + 0.002697630785405636 + 0.013993432731009448 = 0.07037487018566865, data num: 1030
[2024-01-16 18:53:12,901][train][INFO] - epoch: 165 lr: 0.00012859904702798464
[2024-01-16 18:55:27,206][train][INFO] - training loss: 0.002282482129521668 + 0.05205499197428043 + 0.002676698914729059 + 0.014256341784046247 = 0.07127051525391065, data num: 1030
[2024-01-16 18:55:27,208][train][INFO] - epoch: 166 lr: 0.00012359594482598432
[2024-01-16 18:57:40,744][train][INFO] - training loss: 0.0022561494887878117 + 0.051475140681633585 + 0.0026859138554965072 + 0.013717874726996973 = 0.0701350785791874, data num: 1030
[2024-01-16 18:57:40,745][train][INFO] - epoch: 167 lr: 0.00011868694836752681
[2024-01-16 18:59:59,093][train][INFO] - training loss: 0.0022761198960674495 + 0.05142757319487058 + 0.002685101581020997 + 0.013973333930166868 = 0.07036212877585338, data num: 1030
[2024-01-16 18:59:59,095][train][INFO] - epoch: 168 lr: 0.0001138732688740332
[2024-01-16 19:02:14,012][train][INFO] - training loss: 0.0022543087655391833 + 0.05132791388493318 + 0.002668863420303051 + 0.01379772315804775 = 0.07004880962463525, data num: 1030
[2024-01-16 19:02:14,014][train][INFO] - epoch: 169 lr: 0.00010915609404889012
[2024-01-16 19:04:25,671][train][INFO] - training loss: 0.0022707710078415963 + 0.05087350079646477 + 0.0026738901085291917 + 0.013711818809119555 = 0.0695299805356906, data num: 1030
[2024-01-16 19:04:25,672][train][INFO] - epoch: 170 lr: 0.00010453658778440103
[2024-01-16 19:06:38,893][train][INFO] - training loss: 0.0022543541334856016 + 0.05075458958745003 + 0.0026664118963078813 + 0.013646216181894908 = 0.06932157174899028, data num: 1030
[2024-01-16 19:06:38,894][train][INFO] - epoch: 171 lr: 0.00010001588987461343
[2024-01-16 19:08:57,415][train][INFO] - training loss: 0.002258282505835478 + 0.050921384474405876 + 0.00266394462937919 + 0.013560243072704627 = 0.06940385412711364, data num: 1030
[2024-01-16 19:08:57,415][train][INFO] - epoch: 172 lr: 9.559511573409192e-05
[2024-01-16 19:11:12,788][train][INFO] - training loss: 0.002262564220179159 + 0.050778874984154336 + 0.002662687266890246 + 0.013789081731094764 = 0.06949320853902743, data num: 1030
[2024-01-16 19:11:12,789][train][INFO] - epoch: 173 lr: 9.12753561227063e-05
[2024-01-16 19:13:34,167][train][INFO] - training loss: 0.0022499219657709964 + 0.051150734149492706 + 0.002657368481875612 + 0.013513854296448139 = 0.06957187939148683, data num: 1030
[2024-01-16 19:13:34,168][train][INFO] - epoch: 174 lr: 8.705767687650262e-05
[2024-01-16 19:15:46,022][train][INFO] - training loss: 0.002241122586509356 + 0.0504937296303419 + 0.0026450751904541483 + 0.01339516665499944 = 0.06877509407125987, data num: 1030
[2024-01-16 19:15:46,023][train][INFO] - epoch: 175 lr: 8.294311864472445e-05
[2024-01-16 19:18:02,746][train][INFO] - training loss: 0.0022413264494389297 + 0.050704492915135166 + 0.0026665266710691727 + 0.013597249074910696 = 0.06920959502458572, data num: 1030
[2024-01-16 19:18:02,748][train][INFO] - epoch: 176 lr: 7.89326966330478e-05
[2024-01-16 19:20:18,999][train][INFO] - training loss: 0.002234654968532805 + 0.05071198000357701 + 0.002655892905134421 + 0.013318835793492885 = 0.06892136404147516, data num: 1030
[2024-01-16 19:20:19,000][train][INFO] - epoch: 177 lr: 7.502740035309526e-05
[2024-01-16 19:22:35,985][train][INFO] - training loss: 0.002227576578465792 + 0.05018025802878233 + 0.002639929491740007 + 0.013299627745380769 = 0.06834739223122596, data num: 1030
[2024-01-16 19:22:35,987][train][INFO] - epoch: 178 lr: 7.12281933782875e-05
[2024-01-16 19:24:47,931][train][INFO] - training loss: 0.0022286448860540987 + 0.05044838310434268 + 0.0026358660883628406 + 0.013125847537930195 = 0.0684387420805601, data num: 1030
[2024-01-16 19:24:47,933][train][INFO] - epoch: 179 lr: 6.75360131060967e-05
[2024-01-16 19:27:09,333][train][INFO] - training loss: 0.002220199962791342 + 0.05026822720582669 + 0.0026396246215042015 + 0.01315637414988417 = 0.06828442617104603, data num: 1030
[2024-01-16 19:27:09,334][train][INFO] - epoch: 180 lr: 6.395177052675792e-05
[2024-01-16 19:29:30,252][train][INFO] - training loss: 0.002232782324202932 + 0.050232670054985926 + 0.002628667244257835 + 0.013385071877676707 = 0.06847919191305454, data num: 1030
[2024-01-16 19:29:30,266][train][INFO] - Validating training...
[2024-01-16 19:30:26,151][train][INFO] - mean_translation_distance_error = [3.367179]
[2024-01-16 19:30:26,151][train][INFO] - mean_translation_along_error = [0.9649825]
[2024-01-16 19:30:26,152][train][INFO] - mean_translation_perp_error = [3.089002]
[2024-01-16 19:30:26,152][train][INFO] - mean_translation_plane_error = [3.102985]
[2024-01-16 19:30:26,153][train][INFO] - mean_translation_line_error = [1.9949934]
[2024-01-16 19:30:26,153][train][INFO] - mean_rotation_error = [4.4750466]
[2024-01-16 19:30:26,153][train][INFO] - mean_affordance_error = [3.661368]
[2024-01-16 19:30:26,154][train][INFO] - median_translation_distance_error = [2.948372]
[2024-01-16 19:30:26,154][train][INFO] - median_translation_along_error = [0.91664535]
[2024-01-16 19:30:26,154][train][INFO] - median_translation_perp_error = [2.842754]
[2024-01-16 19:30:26,154][train][INFO] - median_translation_plane_error = [2.8239276]
[2024-01-16 19:30:26,154][train][INFO] - median_translation_line_error = [1.8702072]
[2024-01-16 19:30:26,155][train][INFO] - median_rotation_error = [3.736158]
[2024-01-16 19:30:26,155][train][INFO] - median_affordance_error = [2.9195848]
[2024-01-16 19:30:26,155][train][INFO] - max_translation_distance_error = [9.501315]
[2024-01-16 19:30:26,155][train][INFO] - max_translation_along_error = [2.7448118]
[2024-01-16 19:30:26,155][train][INFO] - max_translation_perp_error = [9.501065]
[2024-01-16 19:30:26,155][train][INFO] - max_translation_plane_error = [9.502577]
[2024-01-16 19:30:26,156][train][INFO] - max_translation_line_error = [8.968555]
[2024-01-16 19:30:26,156][train][INFO] - max_rotation_error = [13.512417]
[2024-01-16 19:30:26,156][train][INFO] - max_affordance_error = [14.535878]
[2024-01-16 19:30:26,156][train][INFO] - min_translation_distance_error = [0.8072908]
[2024-01-16 19:30:26,156][train][INFO] - min_translation_along_error = [0.0308122]
[2024-01-16 19:30:26,157][train][INFO] - min_translation_perp_error = [0.7305944]
[2024-01-16 19:30:26,157][train][INFO] - min_translation_plane_error = [0.80397874]
[2024-01-16 19:30:26,157][train][INFO] - min_translation_line_error = [0.01489267]
[2024-01-16 19:30:26,157][train][INFO] - min_rotation_error = [0.11869407]
[2024-01-16 19:30:26,157][train][INFO] - min_affordance_error = [0.8386868]
[2024-01-16 19:30:26,158][train][INFO] - std_translation_distance_error = [1.7139812]
[2024-01-16 19:30:26,158][train][INFO] - std_translation_along_error = [0.72654206]
[2024-01-16 19:30:26,158][train][INFO] - std_translation_perp_error = [1.8095962]
[2024-01-16 19:30:26,158][train][INFO] - std_translation_plane_error = [1.8076288]
[2024-01-16 19:30:26,158][train][INFO] - std_translation_line_error = [1.570942]
[2024-01-16 19:30:26,159][train][INFO] - std_rotation_error = [2.5242553]
[2024-01-16 19:30:26,159][train][INFO] - std_affordance_error = [2.7605627]
[2024-01-16 19:30:26,159][train][INFO] - translation_outliers_num = 8
[2024-01-16 19:30:26,159][train][INFO] - rotation_outliers_num = 23
[2024-01-16 19:30:26,159][train][INFO] - affordance_outliers_num = 10
[2024-01-16 19:30:26,159][train][INFO] - translation_outliers_ratio = 0.125
[2024-01-16 19:30:26,159][train][INFO] - rotation_outliers_ratio = 0.359375
[2024-01-16 19:30:26,159][train][INFO] - affordance_outliers_ratio = 0.15625
[2024-01-16 19:30:26,159][train][INFO] - data_num = 64, joint_num = 1
[2024-01-16 19:30:26,161][train][INFO] - Validated training.
[2024-01-16 19:30:26,161][train][INFO] - Validating training time: 55.89481592178345
[2024-01-16 19:30:26,161][train][INFO] - Validating testing...
[2024-01-16 19:31:23,478][train][INFO] - mean_translation_distance_error = [4.326724]
[2024-01-16 19:31:23,479][train][INFO] - mean_translation_along_error = [1.3993217]
[2024-01-16 19:31:23,479][train][INFO] - mean_translation_perp_error = [3.8659637]
[2024-01-16 19:31:23,479][train][INFO] - mean_translation_plane_error = [3.8796556]
[2024-01-16 19:31:23,479][train][INFO] - mean_translation_line_error = [2.4194388]
[2024-01-16 19:31:23,479][train][INFO] - mean_rotation_error = [5.504703]
[2024-01-16 19:31:23,479][train][INFO] - mean_affordance_error = [5.211428]
[2024-01-16 19:31:23,480][train][INFO] - median_translation_distance_error = [4.210938]
[2024-01-16 19:31:23,480][train][INFO] - median_translation_along_error = [1.1548301]
[2024-01-16 19:31:23,480][train][INFO] - median_translation_perp_error = [3.6406364]
[2024-01-16 19:31:23,480][train][INFO] - median_translation_plane_error = [3.6496763]
[2024-01-16 19:31:23,480][train][INFO] - median_translation_line_error = [1.8326215]
[2024-01-16 19:31:23,480][train][INFO] - median_rotation_error = [5.0902166]
[2024-01-16 19:31:23,481][train][INFO] - median_affordance_error = [4.4009466]
[2024-01-16 19:31:23,481][train][INFO] - max_translation_distance_error = [11.981191]
[2024-01-16 19:31:23,481][train][INFO] - max_translation_along_error = [4.314605]
[2024-01-16 19:31:23,481][train][INFO] - max_translation_perp_error = [11.979863]
[2024-01-16 19:31:23,481][train][INFO] - max_translation_plane_error = [11.995946]
[2024-01-16 19:31:23,481][train][INFO] - max_translation_line_error = [8.755485]
[2024-01-16 19:31:23,481][train][INFO] - max_rotation_error = [12.832982]
[2024-01-16 19:31:23,481][train][INFO] - max_affordance_error = [15.673931]
[2024-01-16 19:31:23,481][train][INFO] - min_translation_distance_error = [0.17461151]
[2024-01-16 19:31:23,482][train][INFO] - min_translation_along_error = [0.04743548]
[2024-01-16 19:31:23,482][train][INFO] - min_translation_perp_error = [0.05875555]
[2024-01-16 19:31:23,482][train][INFO] - min_translation_plane_error = [0.04613519]
[2024-01-16 19:31:23,482][train][INFO] - min_translation_line_error = [0.02246836]
[2024-01-16 19:31:23,482][train][INFO] - min_rotation_error = [0.2478722]
[2024-01-16 19:31:23,482][train][INFO] - min_affordance_error = [0.43253022]
[2024-01-16 19:31:23,482][train][INFO] - std_translation_distance_error = [2.1612656]
[2024-01-16 19:31:23,483][train][INFO] - std_translation_along_error = [1.0085621]
[2024-01-16 19:31:23,483][train][INFO] - std_translation_perp_error = [2.3389394]
[2024-01-16 19:31:23,483][train][INFO] - std_translation_plane_error = [2.3577085]
[2024-01-16 19:31:23,483][train][INFO] - std_translation_line_error = [2.0216067]
[2024-01-16 19:31:23,483][train][INFO] - std_rotation_error = [3.2083557]
[2024-01-16 19:31:23,483][train][INFO] - std_affordance_error = [3.3148494]
[2024-01-16 19:31:23,483][train][INFO] - translation_outliers_num = 17
[2024-01-16 19:31:23,483][train][INFO] - rotation_outliers_num = 33
[2024-01-16 19:31:23,483][train][INFO] - affordance_outliers_num = 25
[2024-01-16 19:31:23,483][train][INFO] - translation_outliers_ratio = 0.265625
[2024-01-16 19:31:23,483][train][INFO] - rotation_outliers_ratio = 0.515625
[2024-01-16 19:31:23,483][train][INFO] - affordance_outliers_ratio = 0.390625
[2024-01-16 19:31:23,483][train][INFO] - data_num = 64, joint_num = 1
[2024-01-16 19:31:23,487][train][INFO] - Validated testing.
[2024-01-16 19:31:23,487][train][INFO] - Validating testing time: 57.325345039367676
[2024-01-16 19:31:23,487][train][INFO] - epoch: 181 lr: 6.047634999849528e-05
[2024-01-16 19:33:37,000][train][INFO] - training loss: 0.0022234229496321998 + 0.05005061156474627 + 0.0026288689096243337 + 0.012937802233948158 = 0.06784070518154364, data num: 1030
[2024-01-16 19:33:37,001][train][INFO] - epoch: 182 lr: 5.711060902932039e-05
[2024-01-16 19:36:01,470][train][INFO] - training loss: 0.002221678005746351 + 0.05005258648441388 + 0.0026332625187933446 + 0.013217504623417671 = 0.06812503194579711, data num: 1030
[2024-01-16 19:36:01,471][train][INFO] - epoch: 183 lr: 5.385537806545467e-05
[2024-01-16 19:38:24,733][train][INFO] - training loss: 0.0022250345173793346 + 0.04990473790810658 + 0.0026204464169075855 + 0.01294709646787781 = 0.06769731531922633, data num: 1030
[2024-01-16 19:38:24,734][train][INFO] - epoch: 184 lr: 5.0711460286429424e-05
[2024-01-16 19:40:48,152][train][INFO] - training loss: 0.0022134431190072345 + 0.04974695530075293 + 0.002615402083700666 + 0.0129117899072858 = 0.06748759053074396, data num: 1030
[2024-01-16 19:40:48,153][train][INFO] - epoch: 185 lr: 4.767963140691315e-05
[2024-01-16 19:43:13,000][train][INFO] - training loss: 0.002211621486080381 + 0.049967191425653604 + 0.002614242139344032 + 0.01290978375249184 = 0.06770283883580795, data num: 1030
[2024-01-16 19:43:13,000][train][INFO] - epoch: 186 lr: 4.4760639485315563e-05
[2024-01-16 19:45:37,343][train][INFO] - training loss: 0.002213392576847512 + 0.049753824048317394 + 0.00260702428372147 + 0.01275740356829304 = 0.06733164523656551, data num: 1030
[2024-01-16 19:45:37,344][train][INFO] - epoch: 187 lr: 4.195520473921563e-05
[2024-01-16 19:48:04,852][train][INFO] - training loss: 0.002206858627211589 + 0.049954140186309816 + 0.002637539585479177 + 0.012732589402450966 = 0.06753112736802835, data num: 1030
[2024-01-16 19:48:04,854][train][INFO] - epoch: 188 lr: 3.9264019367658385e-05
[2024-01-16 19:50:27,439][train][INFO] - training loss: 0.002225734956132678 + 0.04988354765451872 + 0.00262651895889296 + 0.012863937192238294 = 0.0675997389623752, data num: 1030
[2024-01-16 19:50:27,440][train][INFO] - epoch: 189 lr: 3.6687747380365064e-05
[2024-01-16 19:52:49,039][train][INFO] - training loss: 0.002222477884676594 + 0.04991920131903428 + 0.0026180665402744823 + 0.012852387860990487 = 0.06761213306051034, data num: 1030
[2024-01-16 19:52:49,040][train][INFO] - epoch: 190 lr: 3.422702443389899e-05
[2024-01-16 19:55:08,455][train][INFO] - training loss: 0.002213943301914976 + 0.04971432983875275 + 0.0026097981330866996 + 0.012681555103224057 = 0.06721962627310019, data num: 1030
[2024-01-16 19:55:08,457][train][INFO] - epoch: 191 lr: 3.188245767482658e-05
[2024-01-16 19:57:36,344][train][INFO] - training loss: 0.002209580044906873 + 0.049827513442589684 + 0.002604256541683124 + 0.012682910127421985 = 0.06732425981989273, data num: 1030
[2024-01-16 19:57:36,346][train][INFO] - epoch: 192 lr: 2.965462558991323e-05
[2024-01-16 20:00:01,397][train][INFO] - training loss: 0.00221300100764403 + 0.04959847846856484 + 0.002604722958774521 + 0.012560276515208758 = 0.06697647898243024, data num: 1030
[2024-01-16 20:00:01,399][train][INFO] - epoch: 193 lr: 2.7544077863390004e-05
[2024-01-16 20:02:23,972][train][INFO] - training loss: 0.002206539522068432 + 0.049584848032547875 + 0.0026020814234820697 + 0.012612904536609466 = 0.06700637380664165, data num: 1030
[2024-01-16 20:02:23,974][train][INFO] - epoch: 194 lr: 2.5551335241327672e-05
[2024-01-16 20:04:44,878][train][INFO] - training loss: 0.002200839537768983 + 0.049574570529736 + 0.002597018245321054 + 0.012476545128111655 = 0.066848973184824, data num: 1030
[2024-01-16 20:04:44,880][train][INFO] - epoch: 195 lr: 2.367688940315011e-05
[2024-01-16 20:07:09,182][train][INFO] - training loss: 0.002203452379371111 + 0.0496348920923013 + 0.0026032578701583237 + 0.01242498870079334 = 0.06686659128620075, data num: 1030
[2024-01-16 20:07:09,183][train][INFO] - epoch: 196 lr: 2.1921202840320077e-05
[2024-01-16 20:09:33,096][train][INFO] - training loss: 0.002200061509099144 + 0.04952242374420166 + 0.0026129483549784008 + 0.012465400614130956 = 0.0668008338373441, data num: 1030
[2024-01-16 20:09:33,097][train][INFO] - epoch: 197 lr: 2.0284708742225903e-05
[2024-01-16 20:11:50,555][train][INFO] - training loss: 0.0022014631083808267 + 0.049471835906688987 + 0.002598388589775333 + 0.012493348623124453 = 0.06676503626199869, data num: 1030
[2024-01-16 20:11:50,556][train][INFO] - epoch: 198 lr: 1.8767810889299086e-05
[2024-01-16 20:14:14,465][train][INFO] - training loss: 0.00220162662713287 + 0.0493818668791881 + 0.002591937121290427 + 0.012393766921013594 = 0.06656919757907208, data num: 1030
[2024-01-16 20:14:14,467][train][INFO] - epoch: 199 lr: 1.7370883553386936e-05
[2024-01-16 20:16:33,244][train][INFO] - training loss: 0.0021980556802680858 + 0.049582198319526816 + 0.002602693963294419 + 0.012669147866276594 = 0.06705209607115159, data num: 1030
[2024-01-16 20:16:33,245][train][INFO] - Optimized.
[2024-01-16 20:16:33,245][train][INFO] - Training time: 28772.3588681221
[2024-01-16 20:16:33,246][train][INFO] - Testing training...
[2024-01-16 20:23:50,678][train][INFO] - mean_translation_distance_error = [3.19322]
[2024-01-16 20:23:50,679][train][INFO] - mean_translation_along_error = [0.9575744]
[2024-01-16 20:23:50,680][train][INFO] - mean_translation_perp_error = [2.9115481]
[2024-01-16 20:23:50,681][train][INFO] - mean_translation_plane_error = [2.9117343]
[2024-01-16 20:23:50,681][train][INFO] - mean_translation_line_error = [1.8307527]
[2024-01-16 20:23:50,682][train][INFO] - mean_rotation_error = [4.3044796]
[2024-01-16 20:23:50,682][train][INFO] - mean_affordance_error = [3.3440278]
[2024-01-16 20:23:50,685][train][INFO] - median_translation_distance_error = [2.7528853]
[2024-01-16 20:23:50,686][train][INFO] - median_translation_along_error = [0.79504377]
[2024-01-16 20:23:50,686][train][INFO] - median_translation_perp_error = [2.4259715]
[2024-01-16 20:23:50,687][train][INFO] - median_translation_plane_error = [2.4248614]
[2024-01-16 20:23:50,688][train][INFO] - median_translation_line_error = [1.3658824]
[2024-01-16 20:23:50,688][train][INFO] - median_rotation_error = [3.804288]
[2024-01-16 20:23:50,689][train][INFO] - median_affordance_error = [2.8376348]
[2024-01-16 20:23:50,690][train][INFO] - max_translation_distance_error = [12.862319]
[2024-01-16 20:23:50,690][train][INFO] - max_translation_along_error = [4.863314]
[2024-01-16 20:23:50,691][train][INFO] - max_translation_perp_error = [12.859912]
[2024-01-16 20:23:50,691][train][INFO] - max_translation_plane_error = [12.859973]
[2024-01-16 20:23:50,692][train][INFO] - max_translation_line_error = [12.859888]
[2024-01-16 20:23:50,693][train][INFO] - max_rotation_error = [14.103886]
[2024-01-16 20:23:50,693][train][INFO] - max_affordance_error = [13.224985]
[2024-01-16 20:23:50,694][train][INFO] - min_translation_distance_error = [0.04843453]
[2024-01-16 20:23:50,695][train][INFO] - min_translation_along_error = [0.00031963]
[2024-01-16 20:23:50,695][train][INFO] - min_translation_perp_error = [0.03245909]
[2024-01-16 20:23:50,696][train][INFO] - min_translation_plane_error = [0.02919785]
[2024-01-16 20:23:50,696][train][INFO] - min_translation_line_error = [0.00027122]
[2024-01-16 20:23:50,697][train][INFO] - min_rotation_error = [0.11869407]
[2024-01-16 20:23:50,697][train][INFO] - min_affordance_error = [0.21383148]
[2024-01-16 20:23:50,699][train][INFO] - std_translation_distance_error = [1.8348285]
[2024-01-16 20:23:50,700][train][INFO] - std_translation_along_error = [0.76095253]
[2024-01-16 20:23:50,700][train][INFO] - std_translation_perp_error = [1.8947668]
[2024-01-16 20:23:50,701][train][INFO] - std_translation_plane_error = [1.8899318]
[2024-01-16 20:23:50,702][train][INFO] - std_translation_line_error = [1.623651]
[2024-01-16 20:23:50,702][train][INFO] - std_rotation_error = [2.3848896]
[2024-01-16 20:23:50,703][train][INFO] - std_affordance_error = [2.0478165]
[2024-01-16 20:23:50,703][train][INFO] - translation_outliers_num = 129
[2024-01-16 20:23:50,703][train][INFO] - rotation_outliers_num = 322
[2024-01-16 20:23:50,703][train][INFO] - affordance_outliers_num = 176
[2024-01-16 20:23:50,703][train][INFO] - translation_outliers_ratio = 0.12524271844660195
[2024-01-16 20:23:50,704][train][INFO] - rotation_outliers_ratio = 0.312621359223301
[2024-01-16 20:23:50,704][train][INFO] - affordance_outliers_ratio = 0.170873786407767
[2024-01-16 20:23:50,704][train][INFO] - data_num = 1030, joint_num = 1
[2024-01-16 20:23:50,706][train][INFO] - Tested training.
[2024-01-16 20:23:50,706][train][INFO] - Testing training time: 437.4604432582855
[2024-01-16 20:23:50,707][train][INFO] - Testing testing...
[2024-01-16 20:27:19,974][train][INFO] - mean_translation_distance_error = [4.20073]
[2024-01-16 20:27:19,975][train][INFO] - mean_translation_along_error = [1.4389546]
[2024-01-16 20:27:19,976][train][INFO] - mean_translation_perp_error = [3.7320921]
[2024-01-16 20:27:19,976][train][INFO] - mean_translation_plane_error = [3.740536]
[2024-01-16 20:27:19,976][train][INFO] - mean_translation_line_error = [2.3993518]
[2024-01-16 20:27:19,976][train][INFO] - mean_rotation_error = [4.925307]
[2024-01-16 20:27:19,977][train][INFO] - mean_affordance_error = [5.4103317]
[2024-01-16 20:27:19,978][train][INFO] - median_translation_distance_error = [3.8502314]
[2024-01-16 20:27:19,978][train][INFO] - median_translation_along_error = [1.1669216]
[2024-01-16 20:27:19,979][train][INFO] - median_translation_perp_error = [3.4338534]
[2024-01-16 20:27:19,979][train][INFO] - median_translation_plane_error = [3.4516664]
[2024-01-16 20:27:19,979][train][INFO] - median_translation_line_error = [2.002438]
[2024-01-16 20:27:19,980][train][INFO] - median_rotation_error = [4.194793]
[2024-01-16 20:27:19,980][train][INFO] - median_affordance_error = [4.535543]
[2024-01-16 20:27:19,980][train][INFO] - max_translation_distance_error = [11.174289]
[2024-01-16 20:27:19,981][train][INFO] - max_translation_along_error = [8.547924]
[2024-01-16 20:27:19,981][train][INFO] - max_translation_perp_error = [11.165984]
[2024-01-16 20:27:19,981][train][INFO] - max_translation_plane_error = [11.140326]
[2024-01-16 20:27:19,982][train][INFO] - max_translation_line_error = [8.872055]
[2024-01-16 20:27:19,982][train][INFO] - max_rotation_error = [14.137273]
[2024-01-16 20:27:19,982][train][INFO] - max_affordance_error = [31.302345]
[2024-01-16 20:27:19,982][train][INFO] - min_translation_distance_error = [0.3980259]
[2024-01-16 20:27:19,983][train][INFO] - min_translation_along_error = [0.01449451]
[2024-01-16 20:27:19,983][train][INFO] - min_translation_perp_error = [0.21968384]
[2024-01-16 20:27:19,983][train][INFO] - min_translation_plane_error = [0.19077408]
[2024-01-16 20:27:19,983][train][INFO] - min_translation_line_error = [0.00657497]
[2024-01-16 20:27:19,984][train][INFO] - min_rotation_error = [0.11869407]
[2024-01-16 20:27:19,984][train][INFO] - min_affordance_error = [0.54923946]
[2024-01-16 20:27:19,985][train][INFO] - std_translation_distance_error = [2.0480764]
[2024-01-16 20:27:19,985][train][INFO] - std_translation_along_error = [1.2091554]
[2024-01-16 20:27:19,986][train][INFO] - std_translation_perp_error = [2.092747]
[2024-01-16 20:27:19,986][train][INFO] - std_translation_plane_error = [2.0930176]
[2024-01-16 20:27:19,986][train][INFO] - std_translation_line_error = [1.8240399]
[2024-01-16 20:27:19,986][train][INFO] - std_rotation_error = [2.9317732]
[2024-01-16 20:27:19,987][train][INFO] - std_affordance_error = [3.5191622]
[2024-01-16 20:27:19,987][train][INFO] - translation_outliers_num = 106
[2024-01-16 20:27:19,987][train][INFO] - rotation_outliers_num = 173
[2024-01-16 20:27:19,987][train][INFO] - affordance_outliers_num = 190
[2024-01-16 20:27:19,987][train][INFO] - translation_outliers_ratio = 0.2459396751740139
[2024-01-16 20:27:19,987][train][INFO] - rotation_outliers_ratio = 0.4013921113689095
[2024-01-16 20:27:19,987][train][INFO] - affordance_outliers_ratio = 0.4408352668213457
[2024-01-16 20:27:19,987][train][INFO] - data_num = 431, joint_num = 1
[2024-01-16 20:27:19,989][train][INFO] - Tested testing.
[2024-01-16 20:27:19,989][train][INFO] - Testing testing time: 209.28126430511475