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View Code? Open in Web Editor NEWDeep Head(face) Pose Estimation
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MobileNetv3-hopenet 2 caffe
Can MobileNetv3-hopenet transfer to caffe?
裁剪图像k的选取
嗨, @whoNamedCody .
请问, k 的选取有什么经验嘛？我在测试时发现, k=0 时 在测试集上的偏差会变大, 谢谢回答!
dataset.py 中图像 padding 的问题
嗨 @whoNamedCody , 我在你的 dataset.py 第 54 行发现如下操作:
h, w = img.shape[:2] max_=max(h,w)
new=np.zeros((max_,max_,3), dtype=np.uint8)
ex_h, ex_w = (max_-h)//2, (max_-w)//2
new[ex_h:(ex_h+h),ex_w:(ex_w+w),:]=img请问为什么要进行填充呢? 是在确保人脸一定在图像的中间吗? 谢谢您的帮助!
其他 loss 函数
你好，博主，请问您有试过 smooth loss and wing loss吗？
数据翻转(Flip)的问题
嗨, @whoNamedCody !
你在训练的时候，既然有了翻转的数据集，那为什么还要有一定的概率进行翻转呢？
谢谢您的解答！
README中Train表格
嗨 @whoNamedCody ，你的工作非常棒，感谢你提供的帮助！
我有一个问题，Train下表格是对于训练集的结果，还是针对测试集(AFLW 2000)的结果？
再一次感谢你的帮助！
mobilenetv2,mobilenetv3训练是否从头开始训
mobilenetv2,mobilenetv3训练是否从头开始训，未加载imagenet的预训练模型？
mobilenetv3
mobilenetv3网络是你自己编写的还是来自gluoncv?
the train dataset
hai，Thanks for your work.I want to know witch dataset is your in the pretrained model of you? 300W_LP or AFW2000?
关于mobilefacenet的网络结构和是否从头训练的问题
您好,非常感谢您的分享.请问您所使用的mobilefacenet网络是论文MobileFaceNets: Efficient CNNs for Accurate RealTime Face Verification on Mobile Devices给出的网络吗,还有训练mobilefacenet时有基于任何预训练模型吗?如果是从头开始训练的,lr这样的超参数如何选取呢?
还有一个问题就是,您对hopenet做了优化,把三个最终实现66类分类全连接层合并成了一个198分类的全连接层,请问您采取这种优化策略的原因是什么,是有什么论文依据吗?
期望得到您的解答,再次表示感谢!
你好，请问我要加载模型pretrained该怎么做，网上找了很久没找到，对mxnet不熟
share
为感谢你出色的工作，分享一个v3-small超参,效果逼近v3-large
Namespace(alpha=1.0, anno_txt='./data/300W_LP_pose.txt', bs=256, dataset='/data/face_pose/300W_LP', epochs=150, gpu=3, log_interval=50, lr=0.005, lr_decay_epoch='30, 60, 90,120', lr_type='cos', momentum=0.9, net='v3', num_workers=6, prefix='test2', save='./weight_me', use_fc=1, version='small', wd=4e-05, weights='', width_mult=1.0)
Epoch[000] Batch[049/478] Speed: 422.57 samples/sec, Loss:(pitch, yaw, roll)/(95.866, 472.081, 74.560)
Epoch[000] Batch[099/478] Speed: 540.14 samples/sec, Loss:(pitch, yaw, roll)/(89.140, 283.709, 73.288)
Epoch[000] Batch[149/478] Speed: 541.13 samples/sec, Loss:(pitch, yaw, roll)/(85.433, 214.075, 72.234)
Epoch[000] Batch[199/478] Speed: 585.62 samples/sec, Loss:(pitch, yaw, roll)/(80.667, 173.104, 69.389)
Epoch[000] Batch[249/478] Speed: 544.64 samples/sec, Loss:(pitch, yaw, roll)/(77.715, 149.053, 67.780)
Epoch[000] Batch[299/478] Speed: 541.26 samples/sec, Loss:(pitch, yaw, roll)/(73.326, 130.213, 64.760)
Epoch[000] Batch[349/478] Speed: 544.82 samples/sec, Loss:(pitch, yaw, roll)/(69.619, 115.134, 60.832)
Epoch[000] Batch[399/478] Speed: 546.35 samples/sec, Loss:(pitch, yaw, roll)/(66.364, 104.429, 57.734)
Epoch[000] Batch[449/478] Speed: 538.02 samples/sec, Loss:(pitch, yaw, roll)/(63.598, 96.043, 54.918)
[18:54:36] src/operator/nn/./cudnn/./cudnn_algoreg-inl.h:97: Running performance tests to find the best convolution algorithm, this can take a while... (set the environment variable MXNET_CUDNN_AUTOTUNE_DEFAULT to 0 to disable)
Epoch[000] train: MAE:(pitch, yaw, roll, mean)/(7.594, 8.100, 6.784, 7.493), Cost=237 sec, lr=0.004999
Epoch[000] val : MAE:(pitch, yaw, roll, mean)/(9.586, 13.625, 9.327, 10.846), Loss:(pitch, yaw, roll)/(122.666, 194.530, 137.508)
Min val mean MAE! save model!
Epoch[001] Batch[049/478] Speed: 520.28 samples/sec, Loss:(pitch, yaw, roll)/(35.773, 23.482, 29.158)
Epoch[001] Batch[099/478] Speed: 540.08 samples/sec, Loss:(pitch, yaw, roll)/(34.152, 23.451, 28.114)
Epoch[001] Batch[149/478] Speed: 548.25 samples/sec, Loss:(pitch, yaw, roll)/(33.071, 22.338, 27.540)
Epoch[001] Batch[199/478] Speed: 540.69 samples/sec, Loss:(pitch, yaw, roll)/(32.949, 21.146, 27.908)
Epoch[001] Batch[249/478] Speed: 537.82 samples/sec, Loss:(pitch, yaw, roll)/(32.275, 19.868, 27.375)
Epoch[001] Batch[299/478] Speed: 584.19 samples/sec, Loss:(pitch, yaw, roll)/(31.672, 19.068, 26.561)
Epoch[001] Batch[349/478] Speed: 545.82 samples/sec, Loss:(pitch, yaw, roll)/(31.346, 18.441, 26.166)
Epoch[001] Batch[399/478] Speed: 540.41 samples/sec, Loss:(pitch, yaw, roll)/(32.171, 19.912, 26.619)
Epoch[001] Batch[449/478] Speed: 545.42 samples/sec, Loss:(pitch, yaw, roll)/(32.433, 20.482, 26.724)
Epoch[001] train: MAE:(pitch, yaw, roll, mean)/(5.059, 4.477, 4.120, 4.552), Cost=226 sec, lr=0.004998
Epoch[001] val : MAE:(pitch, yaw, roll, mean)/(8.123, 10.053, 6.643, 8.273), Loss:(pitch, yaw, roll)/(95.837, 126.019, 100.397)
Min val mean MAE! save model!
Epoch[002] Batch[049/478] Speed: 528.25 samples/sec, Loss:(pitch, yaw, roll)/(27.850, 17.453, 21.950)
Epoch[002] Batch[099/478] Speed: 541.76 samples/sec, Loss:(pitch, yaw, roll)/(29.492, 15.490, 23.676)
Epoch[002] Batch[149/478] Speed: 546.37 samples/sec, Loss:(pitch, yaw, roll)/(28.859, 14.310, 23.136)
Epoch[002] Batch[199/478] Speed: 545.32 samples/sec, Loss:(pitch, yaw, roll)/(28.441, 14.445, 23.158)
Epoch[002] Batch[249/478] Speed: 541.37 samples/sec, Loss:(pitch, yaw, roll)/(27.979, 14.378, 23.061)
Epoch[002] Batch[299/478] Speed: 539.59 samples/sec, Loss:(pitch, yaw, roll)/(28.618, 14.442, 23.652)
Epoch[002] Batch[349/478] Speed: 538.95 samples/sec, Loss:(pitch, yaw, roll)/(28.445, 14.092, 23.502)
Epoch[002] Batch[399/478] Speed: 569.90 samples/sec, Loss:(pitch, yaw, roll)/(27.950, 13.706, 23.132)
Epoch[002] Batch[449/478] Speed: 538.71 samples/sec, Loss:(pitch, yaw, roll)/(27.801, 13.699, 23.095)
Epoch[002] train: MAE:(pitch, yaw, roll, mean)/(4.544, 3.625, 3.650, 3.939), Cost=227 sec, lr=0.004995
Epoch[002] val : MAE:(pitch, yaw, roll, mean)/(8.302, 9.612, 5.990, 7.968), Loss:(pitch, yaw, roll)/(96.252, 128.837, 86.736)
Min val mean MAE! save model!
Epoch[003] Batch[049/478] Speed: 512.34 samples/sec, Loss:(pitch, yaw, roll)/(24.343, 11.230, 20.370)
Epoch[003] Batch[099/478] Speed: 533.16 samples/sec, Loss:(pitch, yaw, roll)/(26.006, 11.963, 21.419)
Epoch[003] Batch[149/478] Speed: 537.76 samples/sec, Loss:(pitch, yaw, roll)/(26.405, 11.312, 22.117)
Epoch[003] Batch[199/478] Speed: 531.95 samples/sec, Loss:(pitch, yaw, roll)/(25.724, 11.645, 21.758)
Epoch[003] Batch[249/478] Speed: 537.49 samples/sec, Loss:(pitch, yaw, roll)/(25.526, 11.440, 21.482)
Epoch[003] Batch[299/478] Speed: 536.88 samples/sec, Loss:(pitch, yaw, roll)/(25.333, 11.581, 21.181)
Epoch[003] Batch[349/478] Speed: 539.79 samples/sec, Loss:(pitch, yaw, roll)/(25.262, 11.309, 21.138)
Epoch[003] Batch[399/478] Speed: 532.15 samples/sec, Loss:(pitch, yaw, roll)/(25.127, 11.168, 21.085)
Epoch[003] Batch[449/478] Speed: 530.52 samples/sec, Loss:(pitch, yaw, roll)/(24.925, 11.051, 21.027)
Epoch[003] train: MAE:(pitch, yaw, roll, mean)/(4.199, 3.294, 3.401, 3.631), Cost=229 sec, lr=0.004991
Epoch[003] val : MAE:(pitch, yaw, roll, mean)/(9.228, 8.525, 5.922, 7.891), Loss:(pitch, yaw, roll)/(101.849, 92.347, 91.116)
Min val mean MAE! save model!
Epoch[004] Batch[049/478] Speed: 525.93 samples/sec, Loss:(pitch, yaw, roll)/(25.597, 14.554, 21.739)
Epoch[004] Batch[099/478] Speed: 539.47 samples/sec, Loss:(pitch, yaw, roll)/(26.113, 12.845, 21.984)
Epoch[004] Batch[149/478] Speed: 547.12 samples/sec, Loss:(pitch, yaw, roll)/(25.080, 11.818, 20.965)
Epoch[004] Batch[199/478] Speed: 540.10 samples/sec, Loss:(pitch, yaw, roll)/(24.623, 11.635, 20.553)
Epoch[004] Batch[249/478] Speed: 536.60 samples/sec, Loss:(pitch, yaw, roll)/(24.792, 11.323, 20.637)
Epoch[004] Batch[299/478] Speed: 540.39 samples/sec, Loss:(pitch, yaw, roll)/(24.502, 11.083, 20.466)
Epoch[004] Batch[349/478] Speed: 538.67 samples/sec, Loss:(pitch, yaw, roll)/(24.369, 10.736, 20.480)
Epoch[004] Batch[399/478] Speed: 541.26 samples/sec, Loss:(pitch, yaw, roll)/(24.151, 10.487, 20.285)
Epoch[004] Batch[449/478] Speed: 535.47 samples/sec, Loss:(pitch, yaw, roll)/(23.891, 10.266, 20.091)
Epoch[004] train: MAE:(pitch, yaw, roll, mean)/(4.085, 3.130, 3.257, 3.491), Cost=230 sec, lr=0.004986
Epoch[004] val : MAE:(pitch, yaw, roll, mean)/(7.106, 8.794, 5.766, 7.222), Loss:(pitch, yaw, roll)/(79.010, 100.893, 88.424)
Min val mean MAE! save model!
Epoch[005] Batch[049/478] Speed: 513.57 samples/sec, Loss:(pitch, yaw, roll)/(23.465, 8.400, 19.909)
Epoch[005] Batch[099/478] Speed: 575.20 samples/sec, Loss:(pitch, yaw, roll)/(22.433, 8.397, 19.148)
Epoch[005] Batch[149/478] Speed: 529.09 samples/sec, Loss:(pitch, yaw, roll)/(22.473, 8.741, 19.440)
Epoch[005] Batch[199/478] Speed: 535.77 samples/sec, Loss:(pitch, yaw, roll)/(22.253, 8.849, 19.190)
Epoch[005] Batch[249/478] Speed: 526.31 samples/sec, Loss:(pitch, yaw, roll)/(21.974, 8.628, 18.814)
Epoch[005] Batch[299/478] Speed: 534.49 samples/sec, Loss:(pitch, yaw, roll)/(22.114, 8.602, 18.955)
Epoch[005] Batch[349/478] Speed: 530.42 samples/sec, Loss:(pitch, yaw, roll)/(22.244, 8.618, 19.001)
Epoch[005] Batch[399/478] Speed: 532.75 samples/sec, Loss:(pitch, yaw, roll)/(22.256, 8.663, 19.069)
Epoch[005] Batch[449/478] Speed: 528.30 samples/sec, Loss:(pitch, yaw, roll)/(22.300, 8.741, 19.148)
Epoch[005] train: MAE:(pitch, yaw, roll, mean)/(3.864, 2.868, 3.154, 3.295), Cost=231 sec, lr=0.004979
Epoch[005] val : MAE:(pitch, yaw, roll, mean)/(6.877, 8.527, 5.476, 6.960), Loss:(pitch, yaw, roll)/(73.814, 95.787, 80.338)
Min val mean MAE! save model!
Epoch[006] Batch[049/478] Speed: 509.96 samples/sec, Loss:(pitch, yaw, roll)/(23.233, 7.826, 19.791)
Epoch[006] Batch[099/478] Speed: 528.89 samples/sec, Loss:(pitch, yaw, roll)/(21.521, 7.872, 17.905)
Epoch[006] Batch[149/478] Speed: 575.05 samples/sec, Loss:(pitch, yaw, roll)/(21.810, 7.923, 18.122)
Epoch[006] Batch[199/478] Speed: 542.62 samples/sec, Loss:(pitch, yaw, roll)/(21.715, 7.950, 18.161)
Epoch[006] Batch[249/478] Speed: 540.36 samples/sec, Loss:(pitch, yaw, roll)/(21.590, 7.923, 18.135)
Epoch[006] Batch[299/478] Speed: 545.21 samples/sec, Loss:(pitch, yaw, roll)/(21.979, 7.992, 18.441)
Epoch[006] Batch[349/478] Speed: 541.00 samples/sec, Loss:(pitch, yaw, roll)/(21.733, 7.963, 18.270)
Epoch[006] Batch[399/478] Speed: 538.09 samples/sec, Loss:(pitch, yaw, roll)/(21.938, 7.822, 18.507)
Epoch[006] Batch[449/478] Speed: 536.05 samples/sec, Loss:(pitch, yaw, roll)/(22.013, 7.789, 18.733)
Epoch[006] train: MAE:(pitch, yaw, roll, mean)/(3.863, 2.680, 3.138, 3.227), Cost=229 sec, lr=0.004972
Epoch[006] val : MAE:(pitch, yaw, roll, mean)/(7.043, 8.470, 6.170, 7.228), Loss:(pitch, yaw, roll)/(78.252, 100.792, 87.346)
Epoch[007] Batch[049/478] Speed: 519.49 samples/sec, Loss:(pitch, yaw, roll)/(22.741, 8.159, 19.975)
Epoch[007] Batch[099/478] Speed: 542.37 samples/sec, Loss:(pitch, yaw, roll)/(22.340, 8.468, 19.377)
Epoch[007] Batch[149/478] Speed: 537.06 samples/sec, Loss:(pitch, yaw, roll)/(21.882, 8.462, 18.910)
Epoch[007] Batch[199/478] Speed: 533.04 samples/sec, Loss:(pitch, yaw, roll)/(21.831, 8.177, 18.733)
Epoch[007] Batch[249/478] Speed: 579.68 samples/sec, Loss:(pitch, yaw, roll)/(21.699, 8.207, 18.472)
Epoch[007] Batch[299/478] Speed: 546.21 samples/sec, Loss:(pitch, yaw, roll)/(21.600, 8.124, 18.539)
Epoch[007] Batch[349/478] Speed: 546.21 samples/sec, Loss:(pitch, yaw, roll)/(21.523, 8.021, 18.511)
Epoch[007] Batch[399/478] Speed: 540.77 samples/sec, Loss:(pitch, yaw, roll)/(21.525, 7.972, 18.592)
Epoch[007] Batch[449/478] Speed: 540.62 samples/sec, Loss:(pitch, yaw, roll)/(21.458, 7.938, 18.432)
Epoch[007] train: MAE:(pitch, yaw, roll, mean)/(3.761, 2.733, 3.064, 3.186), Cost=227 sec, lr=0.004964
Epoch[007] val : MAE:(pitch, yaw, roll, mean)/(7.248, 8.033, 5.623, 6.968), Loss:(pitch, yaw, roll)/(79.569, 94.791, 81.663)
Epoch[008] Batch[049/478] Speed: 522.86 samples/sec, Loss:(pitch, yaw, roll)/(20.632, 7.227, 17.773)
Epoch[008] Batch[099/478] Speed: 542.76 samples/sec, Loss:(pitch, yaw, roll)/(22.076, 7.570, 18.570)
Epoch[008] Batch[149/478] Speed: 535.98 samples/sec, Loss:(pitch, yaw, roll)/(22.535, 7.335, 19.185)
Epoch[008] Batch[199/478] Speed: 543.53 samples/sec, Loss:(pitch, yaw, roll)/(22.235, 7.489, 19.351)
Epoch[008] Batch[249/478] Speed: 541.39 samples/sec, Loss:(pitch, yaw, roll)/(21.971, 7.521, 18.948)
Epoch[008] Batch[299/478] Speed: 529.26 samples/sec, Loss:(pitch, yaw, roll)/(22.001, 7.415, 18.952)
Epoch[008] Batch[349/478] Speed: 591.46 samples/sec, Loss:(pitch, yaw, roll)/(22.100, 7.765, 19.089)
Epoch[008] Batch[399/478] Speed: 544.09 samples/sec, Loss:(pitch, yaw, roll)/(21.979, 7.745, 18.995)
Epoch[008] Batch[449/478] Speed: 538.69 samples/sec, Loss:(pitch, yaw, roll)/(21.747, 7.663, 18.781)
Epoch[008] train: MAE:(pitch, yaw, roll, mean)/(3.864, 2.731, 3.161, 3.252), Cost=227 sec, lr=0.004954
Epoch[008] val : MAE:(pitch, yaw, roll, mean)/(11.303, 13.720, 8.812, 11.278), Loss:(pitch, yaw, roll)/(143.801, 206.598, 134.687)
Epoch[009] Batch[049/478] Speed: 520.97 samples/sec, Loss:(pitch, yaw, roll)/(40.217, 39.819, 32.831)
Epoch[009] Batch[099/478] Speed: 540.20 samples/sec, Loss:(pitch, yaw, roll)/(37.094, 30.248, 29.461)
Epoch[009] Batch[149/478] Speed: 542.20 samples/sec, Loss:(pitch, yaw, roll)/(36.202, 26.271, 28.263)
Epoch[009] Batch[199/478] Speed: 537.58 samples/sec, Loss:(pitch, yaw, roll)/(34.546, 22.938, 27.273)
Epoch[009] Batch[249/478] Speed: 539.23 samples/sec, Loss:(pitch, yaw, roll)/(33.700, 21.371, 26.960)
Epoch[009] Batch[299/478] Speed: 542.11 samples/sec, Loss:(pitch, yaw, roll)/(32.123, 19.361, 25.737)
Epoch[009] Batch[349/478] Speed: 547.72 samples/sec, Loss:(pitch, yaw, roll)/(30.714, 17.879, 24.666)
Epoch[009] Batch[399/478] Speed: 539.58 samples/sec, Loss:(pitch, yaw, roll)/(29.741, 16.670, 23.984)
Epoch[009] Batch[449/478] Speed: 586.58 samples/sec, Loss:(pitch, yaw, roll)/(28.800, 15.665, 23.310)
Epoch[009] train: MAE:(pitch, yaw, roll, mean)/(4.618, 3.477, 3.656, 3.917), Cost=228 sec, lr=0.004943
Epoch[009] val : MAE:(pitch, yaw, roll, mean)/(6.981, 8.138, 5.895, 7.005), Loss:(pitch, yaw, roll)/(79.957, 94.794, 85.827)
Epoch[010] Batch[049/478] Speed: 523.32 samples/sec, Loss:(pitch, yaw, roll)/(23.014, 7.601, 18.209)
Epoch[010] Batch[099/478] Speed: 547.02 samples/sec, Loss:(pitch, yaw, roll)/(23.464, 7.887, 19.223)
Epoch[010] Batch[149/478] Speed: 544.14 samples/sec, Loss:(pitch, yaw, roll)/(22.898, 7.732, 18.822)
Epoch[010] Batch[199/478] Speed: 541.74 samples/sec, Loss:(pitch, yaw, roll)/(22.714, 7.735, 18.985)
Epoch[010] Batch[249/478] Speed: 544.44 samples/sec, Loss:(pitch, yaw, roll)/(22.675, 7.820, 19.027)
Epoch[010] Batch[299/478] Speed: 544.66 samples/sec, Loss:(pitch, yaw, roll)/(22.406, 7.779, 18.948)
Epoch[010] Batch[349/478] Speed: 538.81 samples/sec, Loss:(pitch, yaw, roll)/(22.281, 7.745, 18.725)
Epoch[010] Batch[399/478] Speed: 541.68 samples/sec, Loss:(pitch, yaw, roll)/(22.228, 7.664, 18.672)
Epoch[010] Batch[449/478] Speed: 548.67 samples/sec, Loss:(pitch, yaw, roll)/(22.161, 7.648, 18.716)
Epoch[010] train: MAE:(pitch, yaw, roll, mean)/(3.870, 2.659, 3.108, 3.212), Cost=228 sec, lr=0.004931
Epoch[010] val : MAE:(pitch, yaw, roll, mean)/(7.155, 8.274, 5.750, 7.060), Loss:(pitch, yaw, roll)/(78.416, 94.317, 87.666)
Epoch[011] Batch[049/478] Speed: 554.01 samples/sec, Loss:(pitch, yaw, roll)/(20.567, 7.245, 17.859)
Epoch[011] Batch[099/478] Speed: 535.88 samples/sec, Loss:(pitch, yaw, roll)/(21.282, 6.971, 18.836)
Epoch[011] Batch[149/478] Speed: 537.39 samples/sec, Loss:(pitch, yaw, roll)/(21.801, 6.877, 19.278)
Epoch[011] Batch[199/478] Speed: 532.44 samples/sec, Loss:(pitch, yaw, roll)/(21.808, 7.003, 19.213)
Epoch[011] Batch[249/478] Speed: 538.82 samples/sec, Loss:(pitch, yaw, roll)/(21.290, 6.937, 18.710)
Epoch[011] Batch[299/478] Speed: 537.66 samples/sec, Loss:(pitch, yaw, roll)/(20.981, 7.098, 18.382)
Epoch[011] Batch[349/478] Speed: 540.58 samples/sec, Loss:(pitch, yaw, roll)/(21.147, 7.053, 18.444)
Epoch[011] Batch[399/478] Speed: 534.18 samples/sec, Loss:(pitch, yaw, roll)/(20.865, 7.009, 18.186)
Epoch[011] Batch[449/478] Speed: 539.41 samples/sec, Loss:(pitch, yaw, roll)/(20.791, 6.889, 18.074)
Epoch[011] train: MAE:(pitch, yaw, roll, mean)/(3.693, 2.521, 3.021, 3.078), Cost=229 sec, lr=0.004918
Epoch[011] val : MAE:(pitch, yaw, roll, mean)/(7.149, 8.258, 5.481, 6.962), Loss:(pitch, yaw, roll)/(80.435, 92.510, 81.646)
Epoch[012] Batch[049/478] Speed: 515.81 samples/sec, Loss:(pitch, yaw, roll)/(21.937, 7.009, 19.186)
Epoch[012] Batch[099/478] Speed: 531.85 samples/sec, Loss:(pitch, yaw, roll)/(21.487, 6.515, 18.976)
Epoch[012] Batch[149/478] Speed: 582.67 samples/sec, Loss:(pitch, yaw, roll)/(21.529, 6.553, 18.838)
Epoch[012] Batch[199/478] Speed: 544.71 samples/sec, Loss:(pitch, yaw, roll)/(21.177, 6.818, 18.145)
Epoch[012] Batch[249/478] Speed: 536.31 samples/sec, Loss:(pitch, yaw, roll)/(21.070, 6.854, 18.224)
Epoch[012] Batch[299/478] Speed: 538.52 samples/sec, Loss:(pitch, yaw, roll)/(20.697, 6.860, 17.809)
Epoch[012] Batch[349/478] Speed: 541.08 samples/sec, Loss:(pitch, yaw, roll)/(20.530, 6.723, 17.627)
Epoch[012] Batch[399/478] Speed: 539.29 samples/sec, Loss:(pitch, yaw, roll)/(20.595, 6.699, 17.749)
Epoch[012] Batch[449/478] Speed: 537.74 samples/sec, Loss:(pitch, yaw, roll)/(20.484, 6.670, 17.673)
Epoch[012] train: MAE:(pitch, yaw, roll, mean)/(3.666, 2.486, 2.964, 3.038), Cost=228 sec, lr=0.004904
Epoch[012] val : MAE:(pitch, yaw, roll, mean)/(8.416, 10.901, 7.689, 9.002), Loss:(pitch, yaw, roll)/(101.810, 166.004, 115.685)
Epoch[013] Batch[049/478] Speed: 513.03 samples/sec, Loss:(pitch, yaw, roll)/(31.027, 20.795, 24.596)
Epoch[013] Batch[099/478] Speed: 533.48 samples/sec, Loss:(pitch, yaw, roll)/(29.666, 16.622, 24.214)
Epoch[013] Batch[149/478] Speed: 536.01 samples/sec, Loss:(pitch, yaw, roll)/(27.695, 14.003, 22.825)
Epoch[013] Batch[199/478] Speed: 538.28 samples/sec, Loss:(pitch, yaw, roll)/(26.027, 12.410, 21.419)
Epoch[013] Batch[249/478] Speed: 576.73 samples/sec, Loss:(pitch, yaw, roll)/(24.793, 11.236, 20.422)
Epoch[013] Batch[299/478] Speed: 540.23 samples/sec, Loss:(pitch, yaw, roll)/(24.182, 10.469, 19.989)
Epoch[013] Batch[349/478] Speed: 535.08 samples/sec, Loss:(pitch, yaw, roll)/(23.901, 9.911, 19.809)
Epoch[013] Batch[399/478] Speed: 540.09 samples/sec, Loss:(pitch, yaw, roll)/(23.738, 10.394, 19.704)
Epoch[013] Batch[449/478] Speed: 530.22 samples/sec, Loss:(pitch, yaw, roll)/(24.202, 10.560, 19.934)
Epoch[013] train: MAE:(pitch, yaw, roll, mean)/(4.136, 2.961, 3.280, 3.459), Cost=229 sec, lr=0.004889
Epoch[013] val : MAE:(pitch, yaw, roll, mean)/(7.369, 8.617, 6.251, 7.412), Loss:(pitch, yaw, roll)/(82.751, 104.240, 95.127)
Epoch[014] Batch[049/478] Speed: 519.73 samples/sec, Loss:(pitch, yaw, roll)/(25.886, 12.659, 21.282)
Epoch[014] Batch[099/478] Speed: 536.57 samples/sec, Loss:(pitch, yaw, roll)/(26.430, 12.578, 21.268)
Epoch[014] Batch[149/478] Speed: 539.61 samples/sec, Loss:(pitch, yaw, roll)/(25.087, 11.667, 20.276)
Epoch[014] Batch[199/478] Speed: 535.59 samples/sec, Loss:(pitch, yaw, roll)/(24.461, 10.685, 20.104)
Epoch[014] Batch[249/478] Speed: 535.07 samples/sec, Loss:(pitch, yaw, roll)/(23.996, 10.089, 20.072)
Epoch[014] Batch[299/478] Speed: 548.93 samples/sec, Loss:(pitch, yaw, roll)/(23.640, 9.668, 19.945)
Epoch[014] Batch[349/478] Speed: 563.71 samples/sec, Loss:(pitch, yaw, roll)/(23.487, 9.377, 19.859)
Epoch[014] Batch[399/478] Speed: 540.89 samples/sec, Loss:(pitch, yaw, roll)/(23.340, 9.053, 19.691)
Epoch[014] Batch[449/478] Speed: 531.51 samples/sec, Loss:(pitch, yaw, roll)/(22.850, 8.815, 19.225)
Epoch[014] train: MAE:(pitch, yaw, roll, mean)/(3.946, 2.766, 3.166, 3.293), Cost=229 sec, lr=0.004873
Epoch[014] val : MAE:(pitch, yaw, roll, mean)/(6.918, 8.029, 5.661, 6.870), Loss:(pitch, yaw, roll)/(75.863, 88.162, 86.690)
Min val mean MAE! save model!
Epoch[015] Batch[049/478] Speed: 515.43 samples/sec, Loss:(pitch, yaw, roll)/(21.532, 6.495, 19.123)
Epoch[015] Batch[099/478] Speed: 540.50 samples/sec, Loss:(pitch, yaw, roll)/(20.315, 6.561, 17.638)
Epoch[015] Batch[149/478] Speed: 534.73 samples/sec, Loss:(pitch, yaw, roll)/(20.481, 6.370, 17.900)
Epoch[015] Batch[199/478] Speed: 540.55 samples/sec, Loss:(pitch, yaw, roll)/(20.726, 6.284, 17.917)
Epoch[015] Batch[249/478] Speed: 535.42 samples/sec, Loss:(pitch, yaw, roll)/(20.269, 6.336, 17.442)
Epoch[015] Batch[299/478] Speed: 534.96 samples/sec, Loss:(pitch, yaw, roll)/(20.170, 6.358, 17.522)
Epoch[015] Batch[349/478] Speed: 537.61 samples/sec, Loss:(pitch, yaw, roll)/(19.961, 6.314, 17.326)
Epoch[015] Batch[399/478] Speed: 559.14 samples/sec, Loss:(pitch, yaw, roll)/(20.065, 6.262, 17.317)
Epoch[015] Batch[449/478] Speed: 552.90 samples/sec, Loss:(pitch, yaw, roll)/(20.087, 6.222, 17.275)
Epoch[015] train: MAE:(pitch, yaw, roll, mean)/(3.610, 2.411, 2.904, 2.975), Cost=229 sec, lr=0.004855
Epoch[015] val : MAE:(pitch, yaw, roll, mean)/(6.836, 7.967, 5.612, 6.805), Loss:(pitch, yaw, roll)/(74.083, 96.228, 89.377)
Min val mean MAE! save model!
Epoch[016] Batch[049/478] Speed: 516.83 samples/sec, Loss:(pitch, yaw, roll)/(17.576, 6.401, 14.928)
Epoch[016] Batch[099/478] Speed: 531.79 samples/sec, Loss:(pitch, yaw, roll)/(19.206, 6.675, 16.687)
Epoch[016] Batch[149/478] Speed: 535.97 samples/sec, Loss:(pitch, yaw, roll)/(19.690, 6.447, 17.227)
Epoch[016] Batch[199/478] Speed: 538.98 samples/sec, Loss:(pitch, yaw, roll)/(19.528, 6.208, 17.105)
Epoch[016] Batch[249/478] Speed: 536.88 samples/sec, Loss:(pitch, yaw, roll)/(19.624, 6.210, 17.122)
Epoch[016] Batch[299/478] Speed: 533.51 samples/sec, Loss:(pitch, yaw, roll)/(19.504, 6.150, 17.014)
Epoch[016] Batch[349/478] Speed: 537.23 samples/sec, Loss:(pitch, yaw, roll)/(19.817, 6.208, 17.395)
Epoch[016] Batch[399/478] Speed: 532.79 samples/sec, Loss:(pitch, yaw, roll)/(19.412, 6.153, 16.976)
Epoch[016] Batch[449/478] Speed: 536.33 samples/sec, Loss:(pitch, yaw, roll)/(19.370, 6.080, 16.960)
Epoch[016] train: MAE:(pitch, yaw, roll, mean)/(3.488, 2.338, 2.868, 2.898), Cost=231 sec, lr=0.004837
Epoch[016] val : MAE:(pitch, yaw, roll, mean)/(7.399, 7.620, 5.703, 6.907), Loss:(pitch, yaw, roll)/(84.196, 90.212, 88.316)
Epoch[017] Batch[049/478] Speed: 548.19 samples/sec, Loss:(pitch, yaw, roll)/(20.840, 6.041, 17.673)
Epoch[017] Batch[099/478] Speed: 539.90 samples/sec, Loss:(pitch, yaw, roll)/(20.961, 6.420, 18.121)
Epoch[017] Batch[149/478] Speed: 543.38 samples/sec, Loss:(pitch, yaw, roll)/(19.786, 6.253, 17.134)
Epoch[017] Batch[199/478] Speed: 540.44 samples/sec, Loss:(pitch, yaw, roll)/(19.887, 6.122, 17.225)
Epoch[017] Batch[249/478] Speed: 542.44 samples/sec, Loss:(pitch, yaw, roll)/(19.680, 6.076, 16.998)
Epoch[017] Batch[299/478] Speed: 540.15 samples/sec, Loss:(pitch, yaw, roll)/(19.727, 6.068, 17.163)
Epoch[017] Batch[349/478] Speed: 541.27 samples/sec, Loss:(pitch, yaw, roll)/(19.561, 6.034, 17.042)
Epoch[017] Batch[399/478] Speed: 542.98 samples/sec, Loss:(pitch, yaw, roll)/(19.587, 6.027, 17.090)
Epoch[017] Batch[449/478] Speed: 537.39 samples/sec, Loss:(pitch, yaw, roll)/(19.435, 6.011, 16.929)
Epoch[017] train: MAE:(pitch, yaw, roll, mean)/(3.504, 2.327, 2.860, 2.897), Cost=228 sec, lr=0.004817
Epoch[017] val : MAE:(pitch, yaw, roll, mean)/(6.765, 8.340, 5.494, 6.866), Loss:(pitch, yaw, roll)/(74.614, 90.542, 85.017)
Epoch[018] Batch[049/478] Speed: 521.78 samples/sec, Loss:(pitch, yaw, roll)/(18.359, 6.901, 16.929)
Epoch[018] Batch[099/478] Speed: 537.31 samples/sec, Loss:(pitch, yaw, roll)/(18.200, 6.411, 16.498)
Epoch[018] Batch[149/478] Speed: 570.57 samples/sec, Loss:(pitch, yaw, roll)/(18.553, 6.177, 16.652)
Epoch[018] Batch[199/478] Speed: 532.50 samples/sec, Loss:(pitch, yaw, roll)/(18.524, 6.055, 16.401)
Epoch[018] Batch[249/478] Speed: 535.64 samples/sec, Loss:(pitch, yaw, roll)/(18.338, 5.992, 16.228)
Epoch[018] Batch[299/478] Speed: 532.32 samples/sec, Loss:(pitch, yaw, roll)/(18.705, 5.953, 16.466)
Epoch[018] Batch[349/478] Speed: 534.56 samples/sec, Loss:(pitch, yaw, roll)/(18.584, 5.921, 16.394)
Epoch[018] Batch[399/478] Speed: 531.66 samples/sec, Loss:(pitch, yaw, roll)/(18.542, 5.853, 16.321)
Epoch[018] Batch[449/478] Speed: 532.32 samples/sec, Loss:(pitch, yaw, roll)/(18.759, 5.837, 16.513)
Epoch[018] train: MAE:(pitch, yaw, roll, mean)/(3.422, 2.290, 2.819, 2.844), Cost=230 sec, lr=0.004797
Epoch[018] val : MAE:(pitch, yaw, roll, mean)/(6.738, 7.948, 5.514, 6.733), Loss:(pitch, yaw, roll)/(73.970, 90.115, 87.123)
Min val mean MAE! save model!
Epoch[019] Batch[049/478] Speed: 511.95 samples/sec, Loss:(pitch, yaw, roll)/(19.164, 5.350, 16.418)
Epoch[019] Batch[099/478] Speed: 535.70 samples/sec, Loss:(pitch, yaw, roll)/(19.636, 5.533, 17.026)
Epoch[019] Batch[149/478] Speed: 527.28 samples/sec, Loss:(pitch, yaw, roll)/(19.938, 5.514, 17.267)
Epoch[019] Batch[199/478] Speed: 576.60 samples/sec, Loss:(pitch, yaw, roll)/(19.669, 5.553, 17.062)
Epoch[019] Batch[249/478] Speed: 541.52 samples/sec, Loss:(pitch, yaw, roll)/(19.360, 5.629, 16.724)
Epoch[019] Batch[299/478] Speed: 542.55 samples/sec, Loss:(pitch, yaw, roll)/(19.201, 5.654, 16.614)
Epoch[019] Batch[349/478] Speed: 544.18 samples/sec, Loss:(pitch, yaw, roll)/(18.835, 5.621, 16.309)
Epoch[019] Batch[399/478] Speed: 536.12 samples/sec, Loss:(pitch, yaw, roll)/(18.876, 5.724, 16.336)
Epoch[019] Batch[449/478] Speed: 542.57 samples/sec, Loss:(pitch, yaw, roll)/(18.756, 5.663, 16.291)
Epoch[019] train: MAE:(pitch, yaw, roll, mean)/(3.416, 2.246, 2.808, 2.824), Cost=229 sec, lr=0.004775
Epoch[019] val : MAE:(pitch, yaw, roll, mean)/(6.844, 8.033, 5.692, 6.856), Loss:(pitch, yaw, roll)/(76.101, 94.327, 86.932)
Epoch[020] Batch[049/478] Speed: 523.50 samples/sec, Loss:(pitch, yaw, roll)/(17.726, 5.875, 15.646)
Epoch[020] Batch[099/478] Speed: 541.41 samples/sec, Loss:(pitch, yaw, roll)/(19.032, 5.715, 16.750)
Epoch[020] Batch[149/478] Speed: 535.52 samples/sec, Loss:(pitch, yaw, roll)/(18.459, 5.763, 16.317)
Epoch[020] Batch[199/478] Speed: 543.84 samples/sec, Loss:(pitch, yaw, roll)/(18.678, 5.792, 16.417)
Epoch[020] Batch[249/478] Speed: 542.69 samples/sec, Loss:(pitch, yaw, roll)/(18.917, 5.753, 16.642)
Epoch[020] Batch[299/478] Speed: 567.90 samples/sec, Loss:(pitch, yaw, roll)/(18.860, 5.750, 16.527)
Epoch[020] Batch[349/478] Speed: 546.26 samples/sec, Loss:(pitch, yaw, roll)/(18.791, 5.697, 16.404)
Epoch[020] Batch[399/478] Speed: 544.38 samples/sec, Loss:(pitch, yaw, roll)/(18.763, 5.646, 16.415)
Epoch[020] Batch[449/478] Speed: 546.09 samples/sec, Loss:(pitch, yaw, roll)/(18.653, 5.638, 16.306)
Epoch[020] train: MAE:(pitch, yaw, roll, mean)/(3.405, 2.237, 2.811, 2.818), Cost=227 sec, lr=0.004752
Epoch[020] val : MAE:(pitch, yaw, roll, mean)/(6.767, 8.038, 5.868, 6.891), Loss:(pitch, yaw, roll)/(73.416, 94.037, 87.576)
Epoch[021] Batch[049/478] Speed: 528.08 samples/sec, Loss:(pitch, yaw, roll)/(18.606, 5.230, 16.167)
Epoch[021] Batch[099/478] Speed: 542.19 samples/sec, Loss:(pitch, yaw, roll)/(17.997, 5.523, 15.542)
Epoch[021] Batch[149/478] Speed: 543.64 samples/sec, Loss:(pitch, yaw, roll)/(18.188, 5.490, 15.831)
Epoch[021] Batch[199/478] Speed: 542.91 samples/sec, Loss:(pitch, yaw, roll)/(18.548, 5.444, 15.992)
Epoch[021] Batch[249/478] Speed: 539.71 samples/sec, Loss:(pitch, yaw, roll)/(18.644, 5.451, 16.107)
Epoch[021] Batch[299/478] Speed: 540.52 samples/sec, Loss:(pitch, yaw, roll)/(18.706, 5.473, 16.296)
Epoch[021] Batch[349/478] Speed: 541.59 samples/sec, Loss:(pitch, yaw, roll)/(18.933, 5.515, 16.607)
Epoch[021] Batch[399/478] Speed: 539.80 samples/sec, Loss:(pitch, yaw, roll)/(18.984, 5.529, 16.622)
Epoch[021] Batch[449/478] Speed: 580.52 samples/sec, Loss:(pitch, yaw, roll)/(18.630, 5.469, 16.296)
Epoch[021] train: MAE:(pitch, yaw, roll, mean)/(3.388, 2.208, 2.778, 2.791), Cost=227 sec, lr=0.004729
Epoch[021] val : MAE:(pitch, yaw, roll, mean)/(6.940, 7.741, 5.718, 6.800), Loss:(pitch, yaw, roll)/(78.710, 88.868, 89.472)
Epoch[022] Batch[049/478] Speed: 522.73 samples/sec, Loss:(pitch, yaw, roll)/(18.517, 5.681, 16.319)
Epoch[022] Batch[099/478] Speed: 538.02 samples/sec, Loss:(pitch, yaw, roll)/(17.266, 5.481, 15.241)
Epoch[022] Batch[149/478] Speed: 543.34 samples/sec, Loss:(pitch, yaw, roll)/(17.561, 5.507, 15.469)
Epoch[022] Batch[199/478] Speed: 542.44 samples/sec, Loss:(pitch, yaw, roll)/(18.380, 5.635, 16.330)
Epoch[022] Batch[249/478] Speed: 536.10 samples/sec, Loss:(pitch, yaw, roll)/(18.329, 5.631, 16.242)
Epoch[022] Batch[299/478] Speed: 541.53 samples/sec, Loss:(pitch, yaw, roll)/(18.415, 5.629, 16.289)
Epoch[022] Batch[349/478] Speed: 540.89 samples/sec, Loss:(pitch, yaw, roll)/(18.442, 5.620, 16.338)
Epoch[022] Batch[399/478] Speed: 545.94 samples/sec, Loss:(pitch, yaw, roll)/(18.231, 5.592, 16.188)
Epoch[022] Batch[449/478] Speed: 544.70 samples/sec, Loss:(pitch, yaw, roll)/(18.302, 5.593, 16.219)
Epoch[022] train: MAE:(pitch, yaw, roll, mean)/(3.335, 2.257, 2.768, 2.786), Cost=228 sec, lr=0.004704
Epoch[022] val : MAE:(pitch, yaw, roll, mean)/(7.186, 8.030, 5.847, 7.021), Loss:(pitch, yaw, roll)/(81.121, 93.468, 86.761)
Epoch[023] Batch[049/478] Speed: 563.14 samples/sec, Loss:(pitch, yaw, roll)/(17.280, 5.618, 14.868)
Epoch[023] Batch[099/478] Speed: 543.58 samples/sec, Loss:(pitch, yaw, roll)/(17.987, 5.536, 15.539)
Epoch[023] Batch[149/478] Speed: 539.09 samples/sec, Loss:(pitch, yaw, roll)/(17.807, 5.567, 15.440)
Epoch[023] Batch[199/478] Speed: 536.26 samples/sec, Loss:(pitch, yaw, roll)/(17.510, 5.489, 15.315)
Epoch[023] Batch[249/478] Speed: 538.87 samples/sec, Loss:(pitch, yaw, roll)/(17.824, 5.400, 15.525)
Epoch[023] Batch[299/478] Speed: 536.98 samples/sec, Loss:(pitch, yaw, roll)/(17.975, 5.348, 15.678)
Epoch[023] Batch[349/478] Speed: 537.53 samples/sec, Loss:(pitch, yaw, roll)/(17.934, 5.302, 15.688)
Epoch[023] Batch[399/478] Speed: 537.54 samples/sec, Loss:(pitch, yaw, roll)/(17.920, 5.333, 15.726)
Epoch[023] Batch[449/478] Speed: 533.26 samples/sec, Loss:(pitch, yaw, roll)/(17.869, 5.336, 15.676)
Epoch[023] train: MAE:(pitch, yaw, roll, mean)/(3.321, 2.172, 2.731, 2.741), Cost=228 sec, lr=0.004678
Epoch[023] val : MAE:(pitch, yaw, roll, mean)/(6.676, 8.051, 5.452, 6.726), Loss:(pitch, yaw, roll)/(71.945, 92.226, 81.284)
Min val mean MAE! save model!
Epoch[024] Batch[049/478] Speed: 517.86 samples/sec, Loss:(pitch, yaw, roll)/(17.468, 6.551, 15.130)
Epoch[024] Batch[099/478] Speed: 541.19 samples/sec, Loss:(pitch, yaw, roll)/(18.055, 6.267, 15.923)
Epoch[024] Batch[149/478] Speed: 573.81 samples/sec, Loss:(pitch, yaw, roll)/(17.407, 6.004, 15.344)
Epoch[024] Batch[199/478] Speed: 543.55 samples/sec, Loss:(pitch, yaw, roll)/(17.557, 5.820, 15.551)
Epoch[024] Batch[249/478] Speed: 540.89 samples/sec, Loss:(pitch, yaw, roll)/(17.740, 5.764, 15.687)
Epoch[024] Batch[299/478] Speed: 540.07 samples/sec, Loss:(pitch, yaw, roll)/(17.951, 5.695, 15.774)
Epoch[024] Batch[349/478] Speed: 539.56 samples/sec, Loss:(pitch, yaw, roll)/(17.908, 5.703, 15.735)
Epoch[024] Batch[399/478] Speed: 534.04 samples/sec, Loss:(pitch, yaw, roll)/(17.830, 5.653, 15.640)
Epoch[024] Batch[449/478] Speed: 538.24 samples/sec, Loss:(pitch, yaw, roll)/(17.820, 5.634, 15.585)
Epoch[024] train: MAE:(pitch, yaw, roll, mean)/(3.333, 2.244, 2.754, 2.777), Cost=229 sec, lr=0.004651
Epoch[024] val : MAE:(pitch, yaw, roll, mean)/(7.084, 8.000, 5.509, 6.864), Loss:(pitch, yaw, roll)/(80.591, 97.969, 80.387)
Epoch[025] Batch[049/478] Speed: 517.40 samples/sec, Loss:(pitch, yaw, roll)/(15.949, 5.029, 13.895)
Epoch[025] Batch[099/478] Speed: 539.24 samples/sec, Loss:(pitch, yaw, roll)/(16.390, 5.248, 13.993)
Epoch[025] Batch[149/478] Speed: 538.22 samples/sec, Loss:(pitch, yaw, roll)/(17.226, 5.216, 14.850)
Epoch[025] Batch[199/478] Speed: 538.60 samples/sec, Loss:(pitch, yaw, roll)/(17.509, 5.285, 15.250)
Epoch[025] Batch[249/478] Speed: 580.25 samples/sec, Loss:(pitch, yaw, roll)/(17.818, 5.311, 15.576)
Epoch[025] Batch[299/478] Speed: 543.15 samples/sec, Loss:(pitch, yaw, roll)/(17.990, 5.297, 15.748)
Epoch[025] Batch[349/478] Speed: 543.07 samples/sec, Loss:(pitch, yaw, roll)/(17.746, 5.367, 15.466)
Epoch[025] Batch[399/478] Speed: 538.79 samples/sec, Loss:(pitch, yaw, roll)/(17.770, 5.448, 15.555)
Epoch[025] Batch[449/478] Speed: 540.61 samples/sec, Loss:(pitch, yaw, roll)/(17.927, 5.468, 15.768)
Epoch[025] train: MAE:(pitch, yaw, roll, mean)/(3.328, 2.213, 2.744, 2.761), Cost=227 sec, lr=0.004624
Epoch[025] val : MAE:(pitch, yaw, roll, mean)/(6.963, 7.699, 5.738, 6.800), Loss:(pitch, yaw, roll)/(78.672, 83.901, 90.037)
Epoch[026] Batch[049/478] Speed: 523.29 samples/sec, Loss:(pitch, yaw, roll)/(15.604, 5.130, 13.719)
Epoch[026] Batch[099/478] Speed: 541.59 samples/sec, Loss:(pitch, yaw, roll)/(16.784, 5.195, 14.733)
Epoch[026] Batch[149/478] Speed: 540.82 samples/sec, Loss:(pitch, yaw, roll)/(16.603, 5.263, 14.742)
Epoch[026] Batch[199/478] Speed: 537.36 samples/sec, Loss:(pitch, yaw, roll)/(16.996, 5.231, 15.072)
Epoch[026] Batch[249/478] Speed: 544.54 samples/sec, Loss:(pitch, yaw, roll)/(17.237, 5.283, 15.242)
Epoch[026] Batch[299/478] Speed: 539.61 samples/sec, Loss:(pitch, yaw, roll)/(17.346, 5.305, 15.311)
Epoch[026] Batch[349/478] Speed: 582.07 samples/sec, Loss:(pitch, yaw, roll)/(17.621, 5.329, 15.555)
Epoch[026] Batch[399/478] Speed: 545.60 samples/sec, Loss:(pitch, yaw, roll)/(17.667, 5.313, 15.606)
Epoch[026] Batch[449/478] Speed: 543.31 samples/sec, Loss:(pitch, yaw, roll)/(17.464, 5.257, 15.412)
Epoch[026] train: MAE:(pitch, yaw, roll, mean)/(3.270, 2.150, 2.700, 2.707), Cost=227 sec, lr=0.004595
Epoch[026] val : MAE:(pitch, yaw, roll, mean)/(6.889, 7.283, 5.318, 6.497), Loss:(pitch, yaw, roll)/(74.646, 77.028, 76.303)
Min val mean MAE! save model!
Epoch[027] Batch[049/478] Speed: 524.93 samples/sec, Loss:(pitch, yaw, roll)/(16.466, 5.126, 14.463)
Epoch[027] Batch[099/478] Speed: 542.06 samples/sec, Loss:(pitch, yaw, roll)/(16.909, 5.092, 14.609)
Epoch[027] Batch[149/478] Speed: 541.80 samples/sec, Loss:(pitch, yaw, roll)/(16.971, 5.333, 14.662)
Epoch[027] Batch[199/478] Speed: 538.20 samples/sec, Loss:(pitch, yaw, roll)/(17.080, 5.381, 15.043)
Epoch[027] Batch[249/478] Speed: 540.36 samples/sec, Loss:(pitch, yaw, roll)/(17.113, 5.373, 15.004)
Epoch[027] Batch[299/478] Speed: 541.32 samples/sec, Loss:(pitch, yaw, roll)/(17.212, 5.326, 15.126)
Epoch[027] Batch[349/478] Speed: 541.15 samples/sec, Loss:(pitch, yaw, roll)/(17.249, 5.273, 15.227)
Epoch[027] Batch[399/478] Speed: 544.52 samples/sec, Loss:(pitch, yaw, roll)/(17.256, 5.211, 15.186)
Epoch[027] Batch[449/478] Speed: 545.43 samples/sec, Loss:(pitch, yaw, roll)/(17.408, 5.145, 15.315)
Epoch[027] train: MAE:(pitch, yaw, roll, mean)/(3.242, 2.145, 2.673, 2.687), Cost=227 sec, lr=0.004565
Epoch[027] val : MAE:(pitch, yaw, roll, mean)/(6.862, 7.460, 5.345, 6.556), Loss:(pitch, yaw, roll)/(74.419, 86.843, 83.831)
Epoch[028] Batch[049/478] Speed: 517.81 samples/sec, Loss:(pitch, yaw, roll)/(16.418, 4.824, 14.841)
Epoch[028] Batch[099/478] Speed: 543.19 samples/sec, Loss:(pitch, yaw, roll)/(16.476, 4.920, 14.998)
Epoch[028] Batch[149/478] Speed: 536.51 samples/sec, Loss:(pitch, yaw, roll)/(17.006, 5.001, 15.407)
Epoch[028] Batch[199/478] Speed: 540.97 samples/sec, Loss:(pitch, yaw, roll)/(16.868, 4.998, 14.974)
Epoch[028] Batch[249/478] Speed: 536.41 samples/sec, Loss:(pitch, yaw, roll)/(16.900, 4.968, 14.976)
Epoch[028] Batch[299/478] Speed: 528.86 samples/sec, Loss:(pitch, yaw, roll)/(17.079, 5.001, 15.239)
Epoch[028] Batch[349/478] Speed: 531.99 samples/sec, Loss:(pitch, yaw, roll)/(17.059, 4.993, 15.187)
Epoch[028] Batch[399/478] Speed: 526.25 samples/sec, Loss:(pitch, yaw, roll)/(16.890, 5.003, 14.984)
Epoch[028] Batch[449/478] Speed: 539.14 samples/sec, Loss:(pitch, yaw, roll)/(17.130, 5.021, 15.145)
Epoch[028] train: MAE:(pitch, yaw, roll, mean)/(3.206, 2.111, 2.667, 2.661), Cost=231 sec, lr=0.004535
Epoch[028] val : MAE:(pitch, yaw, roll, mean)/(6.797, 7.759, 5.397, 6.651), Loss:(pitch, yaw, roll)/(74.911, 88.262, 82.944)
Epoch[029] Batch[049/478] Speed: 532.87 samples/sec, Loss:(pitch, yaw, roll)/(18.153, 4.777, 16.307)
Epoch[029] Batch[099/478] Speed: 554.55 samples/sec, Loss:(pitch, yaw, roll)/(17.603, 4.965, 15.903)
Epoch[029] Batch[149/478] Speed: 534.12 samples/sec, Loss:(pitch, yaw, roll)/(17.365, 5.023, 15.701)
Epoch[029] Batch[199/478] Speed: 535.42 samples/sec, Loss:(pitch, yaw, roll)/(16.959, 5.059, 15.146)
Epoch[029] Batch[249/478] Speed: 534.91 samples/sec, Loss:(pitch, yaw, roll)/(17.069, 4.988, 15.196)
Epoch[029] Batch[299/478] Speed: 535.55 samples/sec, Loss:(pitch, yaw, roll)/(17.097, 5.022, 15.136)
Epoch[029] Batch[349/478] Speed: 539.08 samples/sec, Loss:(pitch, yaw, roll)/(16.971, 5.032, 15.091)
Epoch[029] Batch[399/478] Speed: 536.00 samples/sec, Loss:(pitch, yaw, roll)/(16.995, 5.017, 15.138)
Epoch[029] Batch[449/478] Speed: 531.54 samples/sec, Loss:(pitch, yaw, roll)/(17.022, 5.035, 15.144)
Epoch[029] train: MAE:(pitch, yaw, roll, mean)/(3.218, 2.106, 2.686, 2.670), Cost=230 sec, lr=0.004503
Epoch[029] val : MAE:(pitch, yaw, roll, mean)/(6.705, 7.413, 5.495, 6.537), Loss:(pitch, yaw, roll)/(73.247, 85.189, 82.940)
Epoch[030] Batch[049/478] Speed: 514.48 samples/sec, Loss:(pitch, yaw, roll)/(17.532, 5.105, 15.124)
Epoch[030] Batch[099/478] Speed: 533.99 samples/sec, Loss:(pitch, yaw, roll)/(17.019, 5.027, 14.804)
Epoch[030] Batch[149/478] Speed: 563.97 samples/sec, Loss:(pitch, yaw, roll)/(17.171, 5.107, 15.131)
Epoch[030] Batch[199/478] Speed: 540.06 samples/sec, Loss:(pitch, yaw, roll)/(16.911, 5.688, 14.806)
Epoch[030] Batch[249/478] Speed: 541.60 samples/sec, Loss:(pitch, yaw, roll)/(18.361, 6.807, 15.999)
Epoch[030] Batch[299/478] Speed: 537.61 samples/sec, Loss:(pitch, yaw, roll)/(18.593, 6.824, 16.138)
Epoch[030] Batch[349/478] Speed: 534.84 samples/sec, Loss:(pitch, yaw, roll)/(18.503, 6.726, 16.006)
Epoch[030] Batch[399/478] Speed: 536.82 samples/sec, Loss:(pitch, yaw, roll)/(18.550, 6.549, 15.981)
Epoch[030] Batch[449/478] Speed: 539.28 samples/sec, Loss:(pitch, yaw, roll)/(18.645, 6.394, 16.141)
Epoch[030] train: MAE:(pitch, yaw, roll, mean)/(3.418, 2.330, 2.806, 2.851), Cost=229 sec, lr=0.004471
Epoch[030] val : MAE:(pitch, yaw, roll, mean)/(6.830, 7.616, 5.529, 6.658), Loss:(pitch, yaw, roll)/(79.125, 80.045, 87.779)
Epoch[031] Batch[049/478] Speed: 519.09 samples/sec, Loss:(pitch, yaw, roll)/(18.362, 4.896, 16.021)
Epoch[031] Batch[099/478] Speed: 535.00 samples/sec, Loss:(pitch, yaw, roll)/(17.978, 5.255, 15.758)
Epoch[031] Batch[149/478] Speed: 526.76 samples/sec, Loss:(pitch, yaw, roll)/(17.527, 5.305, 15.063)
Epoch[031] Batch[199/478] Speed: 534.77 samples/sec, Loss:(pitch, yaw, roll)/(17.636, 5.197, 15.252)
Epoch[031] Batch[249/478] Speed: 571.29 samples/sec, Loss:(pitch, yaw, roll)/(17.560, 5.155, 15.136)
Epoch[031] Batch[299/478] Speed: 533.98 samples/sec, Loss:(pitch, yaw, roll)/(17.506, 5.212, 15.211)
Epoch[031] Batch[349/478] Speed: 538.77 samples/sec, Loss:(pitch, yaw, roll)/(17.248, 5.129, 15.036)
Epoch[031] Batch[399/478] Speed: 536.00 samples/sec, Loss:(pitch, yaw, roll)/(17.142, 5.109, 14.973)
Epoch[031] Batch[449/478] Speed: 533.48 samples/sec, Loss:(pitch, yaw, roll)/(17.211, 5.083, 15.024)
Epoch[031] train: MAE:(pitch, yaw, roll, mean)/(3.231, 2.115, 2.651, 2.666), Cost=230 sec, lr=0.004438
Epoch[031] val : MAE:(pitch, yaw, roll, mean)/(7.089, 7.670, 5.363, 6.707), Loss:(pitch, yaw, roll)/(77.352, 84.401, 80.792)
Epoch[032] Batch[049/478] Speed: 516.63 samples/sec, Loss:(pitch, yaw, roll)/(16.496, 4.796, 14.268)
Epoch[032] Batch[099/478] Speed: 532.80 samples/sec, Loss:(pitch, yaw, roll)/(16.093, 4.930, 13.909)
Epoch[032] Batch[149/478] Speed: 534.05 samples/sec, Loss:(pitch, yaw, roll)/(16.265, 4.867, 14.208)
Epoch[032] Batch[199/478] Speed: 533.00 samples/sec, Loss:(pitch, yaw, roll)/(16.323, 4.810, 14.321)
Epoch[032] Batch[249/478] Speed: 535.33 samples/sec, Loss:(pitch, yaw, roll)/(16.815, 4.815, 14.813)
Epoch[032] Batch[299/478] Speed: 524.21 samples/sec, Loss:(pitch, yaw, roll)/(16.794, 4.810, 14.780)
Epoch[032] Batch[349/478] Speed: 579.50 samples/sec, Loss:(pitch, yaw, roll)/(16.701, 4.770, 14.764)
Epoch[032] Batch[399/478] Speed: 539.16 samples/sec, Loss:(pitch, yaw, roll)/(16.584, 4.802, 14.593)
Epoch[032] Batch[449/478] Speed: 533.33 samples/sec, Loss:(pitch, yaw, roll)/(16.537, 4.852, 14.515)
Epoch[032] train: MAE:(pitch, yaw, roll, mean)/(3.152, 2.062, 2.598, 2.604), Cost=230 sec, lr=0.004403
Epoch[032] val : MAE:(pitch, yaw, roll, mean)/(6.927, 7.518, 5.815, 6.753), Loss:(pitch, yaw, roll)/(78.042, 87.084, 91.385)
Epoch[033] Batch[049/478] Speed: 518.06 samples/sec, Loss:(pitch, yaw, roll)/(18.110, 4.740, 15.773)
Epoch[033] Batch[099/478] Speed: 535.18 samples/sec, Loss:(pitch, yaw, roll)/(17.215, 4.781, 15.353)
Epoch[033] Batch[149/478] Speed: 537.30 samples/sec, Loss:(pitch, yaw, roll)/(16.932, 4.833, 15.175)
Epoch[033] Batch[199/478] Speed: 537.67 samples/sec, Loss:(pitch, yaw, roll)/(16.216, 4.827, 14.533)
Epoch[033] Batch[249/478] Speed: 530.24 samples/sec, Loss:(pitch, yaw, roll)/(16.205, 4.856, 14.627)
Epoch[033] Batch[299/478] Speed: 533.24 samples/sec, Loss:(pitch, yaw, roll)/(16.189, 4.808, 14.585)
Epoch[033] Batch[349/478] Speed: 537.80 samples/sec, Loss:(pitch, yaw, roll)/(16.270, 4.790, 14.602)
Epoch[033] Batch[399/478] Speed: 533.99 samples/sec, Loss:(pitch, yaw, roll)/(16.275, 4.802, 14.567)
Epoch[033] Batch[449/478] Speed: 575.26 samples/sec, Loss:(pitch, yaw, roll)/(16.349, 4.767, 14.588)
Epoch[033] train: MAE:(pitch, yaw, roll, mean)/(3.126, 2.033, 2.606, 2.588), Cost=229 sec, lr=0.004368
Epoch[033] val : MAE:(pitch, yaw, roll, mean)/(6.944, 7.744, 5.620, 6.769), Loss:(pitch, yaw, roll)/(79.997, 84.672, 86.685)
Epoch[034] Batch[049/478] Speed: 520.26 samples/sec, Loss:(pitch, yaw, roll)/(16.611, 4.815, 14.924)
Epoch[034] Batch[099/478] Speed: 537.03 samples/sec, Loss:(pitch, yaw, roll)/(16.083, 4.830, 14.034)
Epoch[034] Batch[149/478] Speed: 539.32 samples/sec, Loss:(pitch, yaw, roll)/(16.072, 4.775, 14.079)
Epoch[034] Batch[199/478] Speed: 539.32 samples/sec, Loss:(pitch, yaw, roll)/(15.772, 4.684, 13.843)
Epoch[034] Batch[249/478] Speed: 535.75 samples/sec, Loss:(pitch, yaw, roll)/(16.343, 4.741, 14.365)
Epoch[034] Batch[299/478] Speed: 535.69 samples/sec, Loss:(pitch, yaw, roll)/(16.137, 4.772, 14.141)
Epoch[034] Batch[349/478] Speed: 534.55 samples/sec, Loss:(pitch, yaw, roll)/(16.095, 4.808, 14.088)
Epoch[034] Batch[399/478] Speed: 539.33 samples/sec, Loss:(pitch, yaw, roll)/(16.172, 4.800, 14.234)
Epoch[034] Batch[449/478] Speed: 536.77 samples/sec, Loss:(pitch, yaw, roll)/(16.224, 4.777, 14.262)
Epoch[034] train: MAE:(pitch, yaw, roll, mean)/(3.120, 2.038, 2.575, 2.577), Cost=231 sec, lr=0.004332
Epoch[034] val : MAE:(pitch, yaw, roll, mean)/(6.936, 7.446, 5.521, 6.634), Loss:(pitch, yaw, roll)/(76.721, 86.554, 85.606)
Epoch[035] Batch[049/478] Speed: 559.61 samples/sec, Loss:(pitch, yaw, roll)/(14.145, 4.855, 12.344)
Epoch[035] Batch[099/478] Speed: 536.17 samples/sec, Loss:(pitch, yaw, roll)/(15.196, 4.942, 13.643)
Epoch[035] Batch[149/478] Speed: 541.75 samples/sec, Loss:(pitch, yaw, roll)/(15.339, 4.879, 13.596)
Epoch[035] Batch[199/478] Speed: 530.41 samples/sec, Loss:(pitch, yaw, roll)/(15.479, 4.765, 13.578)
Epoch[035] Batch[249/478] Speed: 533.16 samples/sec, Loss:(pitch, yaw, roll)/(15.542, 4.739, 13.624)
Epoch[035] Batch[299/478] Speed: 543.25 samples/sec, Loss:(pitch, yaw, roll)/(15.561, 4.711, 13.649)
Epoch[035] Batch[349/478] Speed: 531.87 samples/sec, Loss:(pitch, yaw, roll)/(15.772, 4.726, 13.925)
Epoch[035] Batch[399/478] Speed: 545.84 samples/sec, Loss:(pitch, yaw, roll)/(16.024, 4.700, 14.175)
Epoch[035] Batch[449/478] Speed: 556.04 samples/sec, Loss:(pitch, yaw, roll)/(16.073, 4.701, 14.222)
Epoch[035] train: MAE:(pitch, yaw, roll, mean)/(3.095, 2.020, 2.576, 2.564), Cost=228 sec, lr=0.004295
Epoch[035] val : MAE:(pitch, yaw, roll, mean)/(6.735, 7.633, 5.632, 6.667), Loss:(pitch, yaw, roll)/(75.539, 87.899, 89.345)
Epoch[036] Batch[049/478] Speed: 529.30 samples/sec, Loss:(pitch, yaw, roll)/(14.193, 4.229, 12.304)
Epoch[036] Batch[099/478] Speed: 545.88 samples/sec, Loss:(pitch, yaw, roll)/(15.370, 4.368, 13.755)
Epoch[036] Batch[149/478] Speed: 536.42 samples/sec, Loss:(pitch, yaw, roll)/(15.279, 4.457, 13.662)
Epoch[036] Batch[199/478] Speed: 543.12 samples/sec, Loss:(pitch, yaw, roll)/(15.386, 4.495, 13.728)
Epoch[036] Batch[249/478] Speed: 563.27 samples/sec, Loss:(pitch, yaw, roll)/(15.364, 4.511, 13.646)
Epoch[036] Batch[299/478] Speed: 526.46 samples/sec, Loss:(pitch, yaw, roll)/(15.605, 4.568, 13.764)
Epoch[036] Batch[349/478] Speed: 525.20 samples/sec, Loss:(pitch, yaw, roll)/(15.503, 4.596, 13.711)
Epoch[036] Batch[399/478] Speed: 520.91 samples/sec, Loss:(pitch, yaw, roll)/(15.889, 4.602, 14.071)
Epoch[036] Batch[449/478] Speed: 523.61 samples/sec, Loss:(pitch, yaw, roll)/(16.072, 4.632, 14.134)
Epoch[036] train: MAE:(pitch, yaw, roll, mean)/(3.108, 2.011, 2.575, 2.565), Cost=231 sec, lr=0.004258
Epoch[036] val : MAE:(pitch, yaw, roll, mean)/(7.276, 7.820, 5.508, 6.868), Loss:(pitch, yaw, roll)/(81.409, 94.955, 86.269)
Epoch[037] Batch[049/478] Speed: 511.91 samples/sec, Loss:(pitch, yaw, roll)/(15.507, 4.573, 14.080)
Epoch[037] Batch[099/478] Speed: 526.51 samples/sec, Loss:(pitch, yaw, roll)/(15.334, 4.506, 13.761)
Epoch[037] Batch[149/478] Speed: 520.20 samples/sec, Loss:(pitch, yaw, roll)/(15.982, 4.584, 14.242)
Epoch[037] Batch[199/478] Speed: 518.95 samples/sec, Loss:(pitch, yaw, roll)/(15.823, 4.546, 14.025)
Epoch[037] Batch[249/478] Speed: 529.49 samples/sec, Loss:(pitch, yaw, roll)/(15.531, 4.597, 13.769)
Epoch[037] Batch[299/478] Speed: 534.38 samples/sec, Loss:(pitch, yaw, roll)/(15.527, 4.604, 13.733)
Epoch[037] Batch[349/478] Speed: 573.29 samples/sec, Loss:(pitch, yaw, roll)/(15.668, 4.609, 13.791)
Epoch[037] Batch[399/478] Speed: 532.25 samples/sec, Loss:(pitch, yaw, roll)/(15.805, 4.585, 13.906)
Epoch[037] Batch[449/478] Speed: 531.35 samples/sec, Loss:(pitch, yaw, roll)/(15.805, 4.637, 13.883)
Epoch[037] train: MAE:(pitch, yaw, roll, mean)/(3.060, 2.005, 2.530, 2.532), Cost=233 sec, lr=0.004220
Epoch[037] val : MAE:(pitch, yaw, roll, mean)/(6.819, 7.721, 5.485, 6.675), Loss:(pitch, yaw, roll)/(75.312, 84.229, 88.888)
Epoch[038] Batch[049/478] Speed: 505.37 samples/sec, Loss:(pitch, yaw, roll)/(15.763, 4.608, 14.168)
Epoch[038] Batch[099/478] Speed: 525.35 samples/sec, Loss:(pitch, yaw, roll)/(16.223, 4.554, 14.769)
Epoch[038] Batch[149/478] Speed: 525.53 samples/sec, Loss:(pitch, yaw, roll)/(15.963, 4.527, 14.596)
Epoch[038] Batch[199/478] Speed: 526.99 samples/sec, Loss:(pitch, yaw, roll)/(15.648, 4.524, 14.234)
Epoch[038] Batch[249/478] Speed: 533.21 samples/sec, Loss:(pitch, yaw, roll)/(15.843, 4.581, 14.343)
Epoch[038] Batch[299/478] Speed: 528.62 samples/sec, Loss:(pitch, yaw, roll)/(15.615, 4.667, 14.051)
Epoch[038] Batch[349/478] Speed: 525.43 samples/sec, Loss:(pitch, yaw, roll)/(15.779, 4.646, 14.138)
Epoch[038] Batch[399/478] Speed: 528.71 samples/sec, Loss:(pitch, yaw, roll)/(15.737, 4.618, 14.114)
Epoch[038] Batch[449/478] Speed: 556.83 samples/sec, Loss:(pitch, yaw, roll)/(15.688, 4.607, 13.998)
Epoch[038] train: MAE:(pitch, yaw, roll, mean)/(3.045, 2.002, 2.554, 2.533), Cost=233 sec, lr=0.004180
Epoch[038] val : MAE:(pitch, yaw, roll, mean)/(6.642, 7.547, 5.283, 6.490), Loss:(pitch, yaw, roll)/(72.644, 89.970, 81.518)
Min val mean MAE! save model!
Epoch[039] Batch[049/478] Speed: 522.06 samples/sec, Loss:(pitch, yaw, roll)/(15.229, 4.582, 13.642)
Epoch[039] Batch[099/478] Speed: 524.24 samples/sec, Loss:(pitch, yaw, roll)/(15.048, 4.571, 13.366)
Epoch[039] Batch[149/478] Speed: 528.12 samples/sec, Loss:(pitch, yaw, roll)/(14.844, 4.614, 13.148)
Epoch[039] Batch[199/478] Speed: 534.70 samples/sec, Loss:(pitch, yaw, roll)/(14.633, 4.616, 12.889)
Epoch[039] Batch[249/478] Speed: 520.63 samples/sec, Loss:(pitch, yaw, roll)/(15.053, 4.591, 13.379)
Epoch[039] Batch[299/478] Speed: 523.67 samples/sec, Loss:(pitch, yaw, roll)/(15.249, 4.612, 13.569)
Epoch[039] Batch[349/478] Speed: 519.71 samples/sec, Loss:(pitch, yaw, roll)/(15.352, 4.648, 13.635)
Epoch[039] Batch[399/478] Speed: 518.62 samples/sec, Loss:(pitch, yaw, roll)/(15.454, 4.690, 13.697)
Epoch[039] Batch[449/478] Speed: 533.01 samples/sec, Loss:(pitch, yaw, roll)/(15.542, 4.737, 13.757)
Epoch[039] train: MAE:(pitch, yaw, roll, mean)/(3.046, 2.050, 2.523, 2.540), Cost=235 sec, lr=0.004140
Epoch[039] val : MAE:(pitch, yaw, roll, mean)/(6.785, 7.350, 5.638, 6.591), Loss:(pitch, yaw, roll)/(77.513, 83.150, 88.972)
Epoch[040] Batch[049/478] Speed: 509.93 samples/sec, Loss:(pitch, yaw, roll)/(14.294, 4.328, 11.875)
Epoch[040] Batch[099/478] Speed: 519.69 samples/sec, Loss:(pitch, yaw, roll)/(15.505, 4.573, 13.398)
Epoch[040] Batch[149/478] Speed: 560.77 samples/sec, Loss:(pitch, yaw, roll)/(15.215, 4.582, 13.321)
Epoch[040] Batch[199/478] Speed: 525.29 samples/sec, Loss:(pitch, yaw, roll)/(15.340, 4.577, 13.480)
Epoch[040] Batch[249/478] Speed: 521.40 samples/sec, Loss:(pitch, yaw, roll)/(15.305, 4.527, 13.532)
Epoch[040] Batch[299/478] Speed: 526.04 samples/sec, Loss:(pitch, yaw, roll)/(15.338, 4.498, 13.526)
Epoch[040] Batch[349/478] Speed: 534.36 samples/sec, Loss:(pitch, yaw, roll)/(15.527, 4.523, 13.756)
Epoch[040] Batch[399/478] Speed: 538.01 samples/sec, Loss:(pitch, yaw, roll)/(15.503, 4.529, 13.759)
Epoch[040] Batch[449/478] Speed: 535.23 samples/sec, Loss:(pitch, yaw, roll)/(15.489, 4.511, 13.687)
Epoch[040] train: MAE:(pitch, yaw, roll, mean)/(3.053, 1.978, 2.522, 2.518), Cost=233 sec, lr=0.004100
Epoch[040] val : MAE:(pitch, yaw, roll, mean)/(6.830, 7.369, 5.623, 6.607), Loss:(pitch, yaw, roll)/(78.112, 86.958, 92.105)
Epoch[041] Batch[049/478] Speed: 505.33 samples/sec, Loss:(pitch, yaw, roll)/(14.428, 4.428, 12.536)
Epoch[041] Batch[099/478] Speed: 534.44 samples/sec, Loss:(pitch, yaw, roll)/(15.074, 4.515, 13.279)
Epoch[041] Batch[149/478] Speed: 531.78 samples/sec, Loss:(pitch, yaw, roll)/(15.295, 4.566, 13.601)
Epoch[041] Batch[199/478] Speed: 538.80 samples/sec, Loss:(pitch, yaw, roll)/(15.378, 4.535, 13.677)
Epoch[041] Batch[249/478] Speed: 528.26 samples/sec, Loss:(pitch, yaw, roll)/(15.511, 4.566, 13.774)
Epoch[041] Batch[299/478] Speed: 581.04 samples/sec, Loss:(pitch, yaw, roll)/(15.420, 4.559, 13.624)
Epoch[041] Batch[349/478] Speed: 536.46 samples/sec, Loss:(pitch, yaw, roll)/(15.352, 4.573, 13.564)
Epoch[041] Batch[399/478] Speed: 534.94 samples/sec, Loss:(pitch, yaw, roll)/(15.321, 4.595, 13.551)
Epoch[041] Batch[449/478] Speed: 529.57 samples/sec, Loss:(pitch, yaw, roll)/(15.453, 4.583, 13.702)
Epoch[041] train: MAE:(pitch, yaw, roll, mean)/(3.032, 1.989, 2.512, 2.511), Cost=231 sec, lr=0.004058
Epoch[041] val : MAE:(pitch, yaw, roll, mean)/(6.862, 7.381, 5.408, 6.550), Loss:(pitch, yaw, roll)/(75.227, 86.633, 84.109)
Epoch[042] Batch[049/478] Speed: 519.53 samples/sec, Loss:(pitch, yaw, roll)/(15.506, 4.762, 14.115)
Epoch[042] Batch[099/478] Speed: 538.24 samples/sec, Loss:(pitch, yaw, roll)/(15.328, 4.813, 14.006)
Epoch[042] Batch[149/478] Speed: 540.24 samples/sec, Loss:(pitch, yaw, roll)/(15.001, 4.684, 13.607)
Epoch[042] Batch[199/478] Speed: 535.60 samples/sec, Loss:(pitch, yaw, roll)/(14.808, 4.575, 13.333)
Epoch[042] Batch[249/478] Speed: 534.20 samples/sec, Loss:(pitch, yaw, roll)/(14.959, 4.587, 13.416)
Epoch[042] Batch[299/478] Speed: 538.73 samples/sec, Loss:(pitch, yaw, roll)/(14.769, 4.585, 13.158)
Epoch[042] Batch[349/478] Speed: 536.70 samples/sec, Loss:(pitch, yaw, roll)/(14.644, 4.558, 13.014)
Epoch[042] Batch[399/478] Speed: 533.62 samples/sec, Loss:(pitch, yaw, roll)/(14.776, 4.564, 13.083)
Epoch[042] Batch[449/478] Speed: 568.85 samples/sec, Loss:(pitch, yaw, roll)/(14.795, 4.552, 13.060)
Epoch[042] train: MAE:(pitch, yaw, roll, mean)/(2.997, 1.986, 2.499, 2.494), Cost=230 sec, lr=0.004016
Epoch[042] val : MAE:(pitch, yaw, roll, mean)/(7.453, 7.525, 5.477, 6.818), Loss:(pitch, yaw, roll)/(82.814, 94.376, 85.046)
Epoch[043] Batch[049/478] Speed: 504.66 samples/sec, Loss:(pitch, yaw, roll)/(14.437, 4.455, 12.836)
Epoch[043] Batch[099/478] Speed: 524.95 samples/sec, Loss:(pitch, yaw, roll)/(14.764, 4.474, 13.011)
Epoch[043] Batch[149/478] Speed: 527.94 samples/sec, Loss:(pitch, yaw, roll)/(14.445, 4.600, 12.684)
Epoch[043] Batch[199/478] Speed: 529.46 samples/sec, Loss:(pitch, yaw, roll)/(14.408, 4.631, 12.594)
Epoch[043] Batch[249/478] Speed: 537.16 samples/sec, Loss:(pitch, yaw, roll)/(14.491, 4.614, 12.673)
Epoch[043] Batch[299/478] Speed: 524.40 samples/sec, Loss:(pitch, yaw, roll)/(14.455, 4.589, 12.599)
Epoch[043] Batch[349/478] Speed: 523.09 samples/sec, Loss:(pitch, yaw, roll)/(14.441, 4.594, 12.592)
Epoch[043] Batch[399/478] Speed: 528.07 samples/sec, Loss:(pitch, yaw, roll)/(14.700, 4.583, 12.842)
Epoch[043] Batch[449/478] Speed: 524.24 samples/sec, Loss:(pitch, yaw, roll)/(14.623, 4.620, 12.794)
Epoch[043] train: MAE:(pitch, yaw, roll, mean)/(2.990, 2.013, 2.482, 2.495), Cost=235 sec, lr=0.003973
Epoch[043] val : MAE:(pitch, yaw, roll, mean)/(7.861, 8.543, 6.404, 7.603), Loss:(pitch, yaw, roll)/(92.059, 112.186, 104.715)
Epoch[044] Batch[049/478] Speed: 507.10 samples/sec, Loss:(pitch, yaw, roll)/(16.642, 6.927, 14.077)
Epoch[044] Batch[099/478] Speed: 569.11 samples/sec, Loss:(pitch, yaw, roll)/(16.326, 6.087, 13.830)
Epoch[044] Batch[149/478] Speed: 523.96 samples/sec, Loss:(pitch, yaw, roll)/(15.977, 5.654, 13.675)
Epoch[044] Batch[199/478] Speed: 527.40 samples/sec, Loss:(pitch, yaw, roll)/(15.976, 5.371, 13.791)
Epoch[044] Batch[249/478] Speed: 528.65 samples/sec, Loss:(pitch, yaw, roll)/(15.840, 5.251, 13.733)
Epoch[044] Batch[299/478] Speed: 529.31 samples/sec, Loss:(pitch, yaw, roll)/(15.463, 5.111, 13.441)
Epoch[044] Batch[349/478] Speed: 526.53 samples/sec, Loss:(pitch, yaw, roll)/(15.098, 5.067, 13.131)
Epoch[044] Batch[399/478] Speed: 527.63 samples/sec, Loss:(pitch, yaw, roll)/(14.987, 5.009, 13.029)
Epoch[044] Batch[449/478] Speed: 533.25 samples/sec, Loss:(pitch, yaw, roll)/(15.063, 4.955, 13.106)
Epoch[044] train: MAE:(pitch, yaw, roll, mean)/(3.071, 2.050, 2.520, 2.547), Cost=234 sec, lr=0.003930
Epoch[044] val : MAE:(pitch, yaw, roll, mean)/(6.928, 7.694, 5.822, 6.815), Loss:(pitch, yaw, roll)/(76.649, 91.999, 94.459)
Epoch[045] Batch[049/478] Speed: 503.68 samples/sec, Loss:(pitch, yaw, roll)/(13.085, 4.459, 10.961)
Epoch[045] Batch[099/478] Speed: 527.55 samples/sec, Loss:(pitch, yaw, roll)/(12.919, 4.370, 10.971)
Epoch[045] Batch[149/478] Speed: 528.90 samples/sec, Loss:(pitch, yaw, roll)/(13.398, 4.438, 11.570)
Epoch[045] Batch[199/478] Speed: 564.57 samples/sec, Loss:(pitch, yaw, roll)/(13.908, 4.371, 11.996)
Epoch[045] Batch[249/478] Speed: 549.93 samples/sec, Loss:(pitch, yaw, roll)/(13.901, 4.429, 12.021)
Epoch[045] Batch[299/478] Speed: 551.34 samples/sec, Loss:(pitch, yaw, roll)/(14.035, 4.487, 12.150)
Epoch[045] Batch[349/478] Speed: 544.94 samples/sec, Loss:(pitch, yaw, roll)/(14.028, 4.468, 12.199)
Epoch[045] Batch[399/478] Speed: 548.75 samples/sec, Loss:(pitch, yaw, roll)/(13.964, 4.459, 12.170)
Epoch[045] Batch[449/478] Speed: 536.39 samples/sec, Loss:(pitch, yaw, roll)/(14.095, 4.467, 12.299)
Epoch[045] train: MAE:(pitch, yaw, roll, mean)/(2.941, 1.967, 2.426, 2.445), Cost=230 sec, lr=0.003886
Epoch[045] val : MAE:(pitch, yaw, roll, mean)/(6.921, 7.740, 5.449, 6.703), Loss:(pitch, yaw, roll)/(78.760, 98.149, 85.899)
Epoch[046] Batch[049/478] Speed: 501.15 samples/sec, Loss:(pitch, yaw, roll)/(12.026, 4.528, 10.673)
Epoch[046] Batch[099/478] Speed: 522.78 samples/sec, Loss:(pitch, yaw, roll)/(13.865, 4.336, 12.313)
Epoch[046] Batch[149/478] Speed: 529.89 samples/sec, Loss:(pitch, yaw, roll)/(13.664, 4.348, 12.104)
Epoch[046] Batch[199/478] Speed: 520.98 samples/sec, Loss:(pitch, yaw, roll)/(13.462, 4.357, 11.778)
Epoch[046] Batch[249/478] Speed: 515.66 samples/sec, Loss:(pitch, yaw, roll)/(13.767, 4.345, 12.044)
Epoch[046] Batch[299/478] Speed: 529.19 samples/sec, Loss:(pitch, yaw, roll)/(13.594, 4.404, 11.960)
Epoch[046] Batch[349/478] Speed: 544.17 samples/sec, Loss:(pitch, yaw, roll)/(13.708, 4.377, 12.078)
Epoch[046] Batch[399/478] Speed: 547.11 samples/sec, Loss:(pitch, yaw, roll)/(13.859, 4.391, 12.188)
Epoch[046] Batch[449/478] Speed: 526.85 samples/sec, Loss:(pitch, yaw, roll)/(13.741, 4.410, 12.051)
Epoch[046] train: MAE:(pitch, yaw, roll, mean)/(2.918, 1.948, 2.424, 2.430), Cost=234 sec, lr=0.003841
Epoch[046] val : MAE:(pitch, yaw, roll, mean)/(7.025, 7.436, 5.451, 6.637), Loss:(pitch, yaw, roll)/(77.917, 87.270, 87.578)
Epoch[047] Batch[049/478] Speed: 508.71 samples/sec, Loss:(pitch, yaw, roll)/(13.053, 4.477, 11.310)
Epoch[047] Batch[099/478] Speed: 528.78 samples/sec, Loss:(pitch, yaw, roll)/(12.743, 4.538, 11.035)
Epoch[047] Batch[149/478] Speed: 521.63 samples/sec, Loss:(pitch, yaw, roll)/(13.358, 4.498, 11.717)
Epoch[047] Batch[199/478] Speed: 525.09 samples/sec, Loss:(pitch, yaw, roll)/(13.663, 4.506, 12.055)
Epoch[047] Batch[249/478] Speed: 529.13 samples/sec, Loss:(pitch, yaw, roll)/(13.655, 4.445, 11.902)
Epoch[047] Batch[299/478] Speed: 524.03 samples/sec, Loss:(pitch, yaw, roll)/(13.553, 4.416, 11.769)
Epoch[047] Batch[349/478] Speed: 530.28 samples/sec, Loss:(pitch, yaw, roll)/(13.577, 4.412, 11.831)
Epoch[047] Batch[399/478] Speed: 522.26 samples/sec, Loss:(pitch, yaw, roll)/(13.560, 4.397, 11.868)
Epoch[047] Batch[449/478] Speed: 519.35 samples/sec, Loss:(pitch, yaw, roll)/(13.537, 4.424, 11.826)
Epoch[047] train: MAE:(pitch, yaw, roll, mean)/(2.912, 1.948, 2.395, 2.418), Cost=234 sec, lr=0.003795
Epoch[047] val : MAE:(pitch, yaw, roll, mean)/(6.892, 7.286, 5.443, 6.541), Loss:(pitch, yaw, roll)/(77.328, 82.540, 83.985)
Epoch[048] Batch[049/478] Speed: 504.06 samples/sec, Loss:(pitch, yaw, roll)/(13.124, 4.211, 11.278)
Epoch[048] Batch[099/478] Speed: 529.64 samples/sec, Loss:(pitch, yaw, roll)/(12.596, 4.221, 10.963)
Epoch[048] Batch[149/478] Speed: 532.68 samples/sec, Loss:(pitch, yaw, roll)/(12.693, 4.223, 10.981)
Epoch[048] Batch[199/478] Speed: 529.40 samples/sec, Loss:(pitch, yaw, roll)/(12.773, 4.245, 11.137)
Epoch[048] Batch[249/478] Speed: 527.86 samples/sec, Loss:(pitch, yaw, roll)/(13.192, 4.281, 11.438)
Epoch[048] Batch[299/478] Speed: 528.33 samples/sec, Loss:(pitch, yaw, roll)/(13.413, 4.359, 11.579)
Epoch[048] Batch[349/478] Speed: 526.08 samples/sec, Loss:(pitch, yaw, roll)/(13.269, 4.367, 11.421)
Epoch[048] Batch[399/478] Speed: 525.85 samples/sec, Loss:(pitch, yaw, roll)/(13.309, 4.381, 11.444)
Epoch[048] Batch[449/478] Speed: 527.47 samples/sec, Loss:(pitch, yaw, roll)/(13.326, 4.398, 11.452)
Epoch[048] train: MAE:(pitch, yaw, roll, mean)/(2.901, 1.950, 2.371, 2.407), Cost=234 sec, lr=0.003749
Epoch[048] val : MAE:(pitch, yaw, roll, mean)/(6.778, 7.477, 5.516, 6.590), Loss:(pitch, yaw, roll)/(77.185, 83.201, 84.696)
Epoch[049] Batch[049/478] Speed: 512.98 samples/sec, Loss:(pitch, yaw, roll)/(11.796, 4.190, 9.951)
Epoch[049] Batch[099/478] Speed: 559.56 samples/sec, Loss:(pitch, yaw, roll)/(12.296, 4.247, 10.507)
Epoch[049] Batch[149/478] Speed: 541.78 samples/sec, Loss:(pitch, yaw, roll)/(12.337, 4.258, 10.662)
Epoch[049] Batch[199/478] Speed: 529.85 samples/sec, Loss:(pitch, yaw, roll)/(12.581, 4.258, 10.947)
Epoch[049] Batch[249/478] Speed: 531.76 samples/sec, Loss:(pitch, yaw, roll)/(12.773, 4.283, 11.264)
Epoch[049] Batch[299/478] Speed: 532.75 samples/sec, Loss:(pitch, yaw, roll)/(12.774, 4.319, 11.155)
Epoch[049] Batch[349/478] Speed: 532.67 samples/sec, Loss:(pitch, yaw, roll)/(12.673, 4.308, 11.043)
Epoch[049] Batch[399/478] Speed: 524.92 samples/sec, Loss:(pitch, yaw, roll)/(12.871, 4.286, 11.257)
Epoch[049] Batch[449/478] Speed: 525.43 samples/sec, Loss:(pitch, yaw, roll)/(12.929, 4.306, 11.269)
Epoch[049] train: MAE:(pitch, yaw, roll, mean)/(2.852, 1.921, 2.368, 2.380), Cost=232 sec, lr=0.003703
Epoch[049] val : MAE:(pitch, yaw, roll, mean)/(7.123, 7.533, 5.885, 6.847), Loss:(pitch, yaw, roll)/(81.774, 82.874, 90.157)
Epoch[050] Batch[049/478] Speed: 500.24 samples/sec, Loss:(pitch, yaw, roll)/(12.255, 4.230, 10.339)
Epoch[050] Batch[099/478] Speed: 527.74 samples/sec, Loss:(pitch, yaw, roll)/(13.289, 4.282, 11.671)
Epoch[050] Batch[149/478] Speed: 531.29 samples/sec, Loss:(pitch, yaw, roll)/(13.048, 4.373, 11.427)
Epoch[050] Batch[199/478] Speed: 525.23 samples/sec, Loss:(pitch, yaw, roll)/(13.183, 4.444, 11.564)
Epoch[050] Batch[249/478] Speed: 580.05 samples/sec, Loss:(pitch, yaw, roll)/(13.269, 4.447, 11.543)
Epoch[050] Batch[299/478] Speed: 529.26 samples/sec, Loss:(pitch, yaw, roll)/(13.297, 4.412, 11.654)
Epoch[050] Batch[349/478] Speed: 529.03 samples/sec, Loss:(pitch, yaw, roll)/(13.127, 4.366, 11.491)
Epoch[050] Batch[399/478] Speed: 529.62 samples/sec, Loss:(pitch, yaw, roll)/(13.078, 4.359, 11.405)
Epoch[050] Batch[449/478] Speed: 527.55 samples/sec, Loss:(pitch, yaw, roll)/(13.006, 4.361, 11.355)
Epoch[050] train: MAE:(pitch, yaw, roll, mean)/(2.860, 1.941, 2.373, 2.391), Cost=233 sec, lr=0.003656
Epoch[050] val : MAE:(pitch, yaw, roll, mean)/(7.075, 7.316, 5.485, 6.626), Loss:(pitch, yaw, roll)/(80.217, 80.935, 84.294)
Epoch[051] Batch[049/478] Speed: 510.64 samples/sec, Loss:(pitch, yaw, roll)/(11.621, 4.246, 10.299)
Epoch[051] Batch[099/478] Speed: 531.71 samples/sec, Loss:(pitch, yaw, roll)/(12.103, 4.187, 10.552)
Epoch[051] Batch[149/478] Speed: 526.55 samples/sec, Loss:(pitch, yaw, roll)/(11.983, 4.199, 10.423)
Epoch[051] Batch[199/478] Speed: 530.46 samples/sec, Loss:(pitch, yaw, roll)/(12.367, 4.287, 10.792)
Epoch[051] Batch[249/478] Speed: 523.28 samples/sec, Loss:(pitch, yaw, roll)/(12.227, 4.265, 10.610)
Epoch[051] Batch[299/478] Speed: 523.65 samples/sec, Loss:(pitch, yaw, roll)/(12.315, 4.272, 10.629)
Epoch[051] Batch[349/478] Speed: 572.70 samples/sec, Loss:(pitch, yaw, roll)/(12.269, 4.258, 10.605)
Epoch[051] Batch[399/478] Speed: 525.56 samples/sec, Loss:(pitch, yaw, roll)/(12.479, 4.268, 10.860)
Epoch[051] Batch[449/478] Speed: 530.06 samples/sec, Loss:(pitch, yaw, roll)/(12.595, 4.253, 10.916)
Epoch[051] train: MAE:(pitch, yaw, roll, mean)/(2.809, 1.915, 2.318, 2.347), Cost=233 sec, lr=0.003608
Epoch[051] val : MAE:(pitch, yaw, roll, mean)/(7.205, 7.485, 5.533, 6.741), Loss:(pitch, yaw, roll)/(78.890, 82.214, 87.766)
Epoch[052] Batch[049/478] Speed: 531.41 samples/sec, Loss:(pitch, yaw, roll)/(12.547, 4.350, 10.884)
Epoch[052] Batch[099/478] Speed: 548.87 samples/sec, Loss:(pitch, yaw, roll)/(12.737, 4.301, 11.127)
Epoch[052] Batch[149/478] Speed: 544.44 samples/sec, Loss:(pitch, yaw, roll)/(12.819, 4.314, 11.212)
Epoch[052] Batch[199/478] Speed: 548.63 samples/sec, Loss:(pitch, yaw, roll)/(12.574, 4.326, 10.915)
Epoch[052] Batch[249/478] Speed: 557.68 samples/sec, Loss:(pitch, yaw, roll)/(12.294, 4.328, 10.644)
Epoch[052] Batch[299/478] Speed: 536.99 samples/sec, Loss:(pitch, yaw, roll)/(12.256, 4.286, 10.623)
Epoch[052] Batch[349/478] Speed: 564.44 samples/sec, Loss:(pitch, yaw, roll)/(12.449, 4.257, 10.809)
Epoch[052] Batch[399/478] Speed: 535.12 samples/sec, Loss:(pitch, yaw, roll)/(12.425, 4.260, 10.788)
Epoch[052] Batch[449/478] Speed: 537.70 samples/sec, Loss:(pitch, yaw, roll)/(12.411, 4.246, 10.788)
Epoch[052] train: MAE:(pitch, yaw, roll, mean)/(2.808, 1.905, 2.317, 2.343), Cost=227 sec, lr=0.003560
Epoch[052] val : MAE:(pitch, yaw, roll, mean)/(6.721, 7.388, 5.409, 6.506), Loss:(pitch, yaw, roll)/(75.484, 82.331, 84.197)
Epoch[053] Batch[049/478] Speed: 526.68 samples/sec, Loss:(pitch, yaw, roll)/(11.525, 4.113, 9.589)
Epoch[053] Batch[099/478] Speed: 570.26 samples/sec, Loss:(pitch, yaw, roll)/(11.761, 4.101, 10.017)
Epoch[053] Batch[149/478] Speed: 545.83 samples/sec, Loss:(pitch, yaw, roll)/(11.830, 4.090, 10.148)
Epoch[053] Batch[199/478] Speed: 525.67 samples/sec, Loss:(pitch, yaw, roll)/(12.011, 4.075, 10.291)
Epoch[053] Batch[249/478] Speed: 527.59 samples/sec, Loss:(pitch, yaw, roll)/(12.177, 4.173, 10.518)
Epoch[053] Batch[299/478] Speed: 530.67 samples/sec, Loss:(pitch, yaw, roll)/(12.227, 4.174, 10.496)
Epoch[053] Batch[349/478] Speed: 526.01 samples/sec, Loss:(pitch, yaw, roll)/(12.077, 4.168, 10.388)
Epoch[053] Batch[399/478] Speed: 530.11 samples/sec, Loss:(pitch, yaw, roll)/(11.975, 4.157, 10.330)
Epoch[053] Batch[449/478] Speed: 526.51 samples/sec, Loss:(pitch, yaw, roll)/(11.940, 4.141, 10.373)
Epoch[053] train: MAE:(pitch, yaw, roll, mean)/(2.766, 1.882, 2.282, 2.310), Cost=231 sec, lr=0.003511
Epoch[053] val : MAE:(pitch, yaw, roll, mean)/(6.694, 7.285, 5.389, 6.456), Loss:(pitch, yaw, roll)/(73.953, 83.603, 84.928)
Min val mean MAE! save model!
Epoch[054] Batch[049/478] Speed: 505.09 samples/sec, Loss:(pitch, yaw, roll)/(11.850, 4.159, 10.152)
Epoch[054] Batch[099/478] Speed: 535.18 samples/sec, Loss:(pitch, yaw, roll)/(11.412, 4.303, 9.714)
Epoch[054] Batch[149/478] Speed: 531.84 samples/sec, Loss:(pitch, yaw, roll)/(11.780, 4.252, 10.120)
Epoch[054] Batch[199/478] Speed: 526.56 samples/sec, Loss:(pitch, yaw, roll)/(11.658, 4.183, 9.986)
Epoch[054] Batch[249/478] Speed: 564.87 samples/sec, Loss:(pitch, yaw, roll)/(11.821, 4.167, 10.238)
Epoch[054] Batch[299/478] Speed: 536.58 samples/sec, Loss:(pitch, yaw, roll)/(11.926, 4.133, 10.305)
Epoch[054] Batch[349/478] Speed: 524.92 samples/sec, Loss:(pitch, yaw, roll)/(11.848, 4.167, 10.252)
Epoch[054] Batch[399/478] Speed: 518.64 samples/sec, Loss:(pitch, yaw, roll)/(11.887, 4.193, 10.262)
Epoch[054] Batch[449/478] Speed: 522.44 samples/sec, Loss:(pitch, yaw, roll)/(11.850, 4.176, 10.248)
Epoch[054] train: MAE:(pitch, yaw, roll, mean)/(2.749, 1.891, 2.268, 2.303), Cost=234 sec, lr=0.003462
Epoch[054] val : MAE:(pitch, yaw, roll, mean)/(6.881, 7.464, 5.581, 6.642), Loss:(pitch, yaw, roll)/(76.647, 81.611, 88.928)
Epoch[055] Batch[049/478] Speed: 503.39 samples/sec, Loss:(pitch, yaw, roll)/(11.233, 3.976, 9.869)
Epoch[055] Batch[099/478] Speed: 522.97 samples/sec, Loss:(pitch, yaw, roll)/(11.171, 4.003, 9.771)
Epoch[055] Batch[149/478] Speed: 535.25 samples/sec, Loss:(pitch, yaw, roll)/(11.369, 4.001, 9.804)
Epoch[055] Batch[199/478] Speed: 563.43 samples/sec, Loss:(pitch, yaw, roll)/(11.417, 4.046, 9.866)
Epoch[055] Batch[249/478] Speed: 539.73 samples/sec, Loss:(pitch, yaw, roll)/(11.544, 4.102, 9.938)
Epoch[055] Batch[299/478] Speed: 532.33 samples/sec, Loss:(pitch, yaw, roll)/(11.454, 4.098, 9.919)
Epoch[055] Batch[349/478] Speed: 541.13 samples/sec, Loss:(pitch, yaw, roll)/(11.520, 4.106, 9.925)
Epoch[055] Batch[399/478] Speed: 554.26 samples/sec, Loss:(pitch, yaw, roll)/(11.587, 4.107, 9.933)
Epoch[055] Batch[449/478] Speed: 563.42 samples/sec, Loss:(pitch, yaw, roll)/(11.811, 4.116, 10.134)
Epoch[055] train: MAE:(pitch, yaw, roll, mean)/(2.749, 1.870, 2.279, 2.299), Cost=229 sec, lr=0.003413
Epoch[055] val : MAE:(pitch, yaw, roll, mean)/(6.847, 7.162, 5.549, 6.519), Loss:(pitch, yaw, roll)/(76.636, 80.686, 83.845)
Epoch[056] Batch[049/478] Speed: 509.85 samples/sec, Loss:(pitch, yaw, roll)/(12.169, 4.243, 10.523)
Epoch[056] Batch[099/478] Speed: 522.15 samples/sec, Loss:(pitch, yaw, roll)/(12.075, 4.135, 10.566)
Epoch[056] Batch[149/478] Speed: 526.27 samples/sec, Loss:(pitch, yaw, roll)/(12.182, 4.097, 10.826)
Epoch[056] Batch[199/478] Speed: 527.56 samples/sec, Loss:(pitch, yaw, roll)/(12.166, 4.149, 10.813)
Epoch[056] Batch[249/478] Speed: 530.36 samples/sec, Loss:(pitch, yaw, roll)/(12.080, 4.177, 10.685)
Epoch[056] Batch[299/478] Speed: 526.30 samples/sec, Loss:(pitch, yaw, roll)/(12.057, 4.218, 10.599)
Epoch[056] Batch[349/478] Speed: 531.08 samples/sec, Loss:(pitch, yaw, roll)/(12.113, 4.221, 10.608)
Epoch[056] Batch[399/478] Speed: 530.32 samples/sec, Loss:(pitch, yaw, roll)/(12.114, 4.228, 10.591)
Epoch[056] Batch[449/478] Speed: 525.50 samples/sec, Loss:(pitch, yaw, roll)/(12.055, 4.234, 10.540)
Epoch[056] train: MAE:(pitch, yaw, roll, mean)/(2.771, 1.897, 2.318, 2.328), Cost=235 sec, lr=0.003363
Epoch[056] val : MAE:(pitch, yaw, roll, mean)/(6.605, 7.282, 5.284, 6.390), Loss:(pitch, yaw, roll)/(73.154, 80.367, 81.092)
Min val mean MAE! save model!
Epoch[057] Batch[049/478] Speed: 542.85 samples/sec, Loss:(pitch, yaw, roll)/(11.005, 3.920, 9.310)
Epoch[057] Batch[099/478] Speed: 524.43 samples/sec, Loss:(pitch, yaw, roll)/(11.116, 3.970, 9.508)
Epoch[057] Batch[149/478] Speed: 529.98 samples/sec, Loss:(pitch, yaw, roll)/(11.109, 4.014, 9.611)
Epoch[057] Batch[199/478] Speed: 531.41 samples/sec, Loss:(pitch, yaw, roll)/(10.962, 4.014, 9.457)
Epoch[057] Batch[249/478] Speed: 533.93 samples/sec, Loss:(pitch, yaw, roll)/(10.887, 4.028, 9.317)
Epoch[057] Batch[299/478] Speed: 534.73 samples/sec, Loss:(pitch, yaw, roll)/(11.089, 4.058, 9.496)
Epoch[057] Batch[349/478] Speed: 524.87 samples/sec, Loss:(pitch, yaw, roll)/(11.269, 4.065, 9.658)
Epoch[057] Batch[399/478] Speed: 530.75 samples/sec, Loss:(pitch, yaw, roll)/(11.370, 4.063, 9.793)
Epoch[057] Batch[449/478] Speed: 528.83 samples/sec, Loss:(pitch, yaw, roll)/(11.355, 4.049, 9.797)
Epoch[057] train: MAE:(pitch, yaw, roll, mean)/(2.690, 1.851, 2.226, 2.256), Cost=232 sec, lr=0.003312
Epoch[057] val : MAE:(pitch, yaw, roll, mean)/(6.974, 7.362, 5.480, 6.606), Loss:(pitch, yaw, roll)/(78.199, 79.219, 87.476)
Epoch[058] Batch[049/478] Speed: 510.32 samples/sec, Loss:(pitch, yaw, roll)/(10.459, 4.194, 8.693)
Epoch[058] Batch[099/478] Speed: 532.33 samples/sec, Loss:(pitch, yaw, roll)/(11.100, 4.221, 9.462)
Epoch[058] Batch[149/478] Speed: 529.66 samples/sec, Loss:(pitch, yaw, roll)/(11.248, 4.146, 9.479)
Epoch[058] Batch[199/478] Speed: 565.73 samples/sec, Loss:(pitch, yaw, roll)/(11.116, 4.106, 9.418)
Epoch[058] Batch[249/478] Speed: 547.93 samples/sec, Loss:(pitch, yaw, roll)/(11.209, 4.095, 9.643)
Epoch[058] Batch[299/478] Speed: 541.76 samples/sec, Loss:(pitch, yaw, roll)/(11.222, 4.071, 9.674)
Epoch[058] Batch[349/478] Speed: 543.08 samples/sec, Loss:(pitch, yaw, roll)/(11.380, 4.083, 9.792)
Epoch[058] Batch[399/478] Speed: 552.35 samples/sec, Loss:(pitch, yaw, roll)/(11.326, 4.073, 9.748)
Epoch[058] Batch[449/478] Speed: 535.24 samples/sec, Loss:(pitch, yaw, roll)/(11.380, 4.076, 9.790)
Epoch[058] train: MAE:(pitch, yaw, roll, mean)/(2.709, 1.863, 2.220, 2.264), Cost=229 sec, lr=0.003262
Epoch[058] val : MAE:(pitch, yaw, roll, mean)/(7.093, 7.393, 5.475, 6.654), Loss:(pitch, yaw, roll)/(78.572, 84.127, 86.842)
Epoch[059] Batch[049/478] Speed: 525.26 samples/sec, Loss:(pitch, yaw, roll)/(11.385, 4.012, 9.772)
Epoch[059] Batch[099/478] Speed: 527.33 samples/sec, Loss:(pitch, yaw, roll)/(11.055, 4.039, 9.224)
Epoch[059] Batch[149/478] Speed: 525.89 samples/sec, Loss:(pitch, yaw, roll)/(10.828, 3.980, 9.119)
Epoch[059] Batch[199/478] Speed: 535.39 samples/sec, Loss:(pitch, yaw, roll)/(11.117, 4.000, 9.417)
Epoch[059] Batch[249/478] Speed: 531.39 samples/sec, Loss:(pitch, yaw, roll)/(11.255, 4.009, 9.573)
Epoch[059] Batch[299/478] Speed: 525.85 samples/sec, Loss:(pitch, yaw, roll)/(11.121, 3.980, 9.480)
Epoch[059] Batch[349/478] Speed: 526.84 samples/sec, Loss:(pitch, yaw, roll)/(11.050, 3.987, 9.432)
Epoch[059] Batch[399/478] Speed: 562.73 samples/sec, Loss:(pitch, yaw, roll)/(11.111, 3.998, 9.520)
Epoch[059] Batch[449/478] Speed: 559.28 samples/sec, Loss:(pitch, yaw, roll)/(11.063, 4.023, 9.489)
Epoch[059] train: MAE:(pitch, yaw, roll, mean)/(2.682, 1.846, 2.204, 2.244), Cost=231 sec, lr=0.003210
Epoch[059] val : MAE:(pitch, yaw, roll, mean)/(6.925, 7.474, 5.388, 6.596), Loss:(pitch, yaw, roll)/(77.701, 88.907, 84.145)
Epoch[060] Batch[049/478] Speed: 535.32 samples/sec, Loss:(pitch, yaw, roll)/(11.260, 3.987, 9.728)
Epoch[060] Batch[099/478] Speed: 546.38 samples/sec, Loss:(pitch, yaw, roll)/(10.512, 4.056, 9.091)
Epoch[060] Batch[149/478] Speed: 551.11 samples/sec, Loss:(pitch, yaw, roll)/(10.330, 4.054, 8.752)
Epoch[060] Batch[199/478] Speed: 536.63 samples/sec, Loss:(pitch, yaw, roll)/(10.437, 4.031, 8.883)
Epoch[060] Batch[249/478] Speed: 538.36 samples/sec, Loss:(pitch, yaw, roll)/(10.442, 4.031, 8.902)
Epoch[060] Batch[299/478] Speed: 537.56 samples/sec, Loss:(pitch, yaw, roll)/(10.257, 4.011, 8.743)
Epoch[060] Batch[349/478] Speed: 532.94 samples/sec, Loss:(pitch, yaw, roll)/(10.467, 3.980, 8.958)
Epoch[060] Batch[399/478] Speed: 538.10 samples/sec, Loss:(pitch, yaw, roll)/(10.662, 4.010, 9.156)
Epoch[060] Batch[449/478] Speed: 520.88 samples/sec, Loss:(pitch, yaw, roll)/(10.833, 4.000, 9.323)
Epoch[060] train: MAE:(pitch, yaw, roll, mean)/(2.665, 1.846, 2.195, 2.235), Cost=230 sec, lr=0.003159
Epoch[060] val : MAE:(pitch, yaw, roll, mean)/(6.854, 7.643, 5.418, 6.638), Loss:(pitch, yaw, roll)/(79.230, 88.194, 89.058)
Epoch[061] Batch[049/478] Speed: 504.45 samples/sec, Loss:(pitch, yaw, roll)/(9.898, 4.015, 8.496)
Epoch[061] Batch[099/478] Speed: 561.06 samples/sec, Loss:(pitch, yaw, roll)/(10.228, 4.012, 8.564)
Epoch[061] Batch[149/478] Speed: 511.29 samples/sec, Loss:(pitch, yaw, roll)/(10.317, 4.126, 8.649)
Epoch[061] Batch[199/478] Speed: 515.66 samples/sec, Loss:(pitch, yaw, roll)/(10.667, 4.121, 8.991)
Epoch[061] Batch[249/478] Speed: 509.06 samples/sec, Loss:(pitch, yaw, roll)/(10.575, 4.047, 8.897)
Epoch[061] Batch[299/478] Speed: 519.52 samples/sec, Loss:(pitch, yaw, roll)/(10.657, 4.023, 8.958)
Epoch[061] Batch[349/478] Speed: 539.24 samples/sec, Loss:(pitch, yaw, roll)/(10.752, 4.007, 9.104)
Epoch[061] Batch[399/478] Speed: 540.07 samples/sec, Loss:(pitch, yaw, roll)/(10.730, 3.986, 9.097)
Epoch[061] Batch[449/478] Speed: 530.82 samples/sec, Loss:(pitch, yaw, roll)/(10.837, 3.974, 9.184)
Epoch[061] train: MAE:(pitch, yaw, roll, mean)/(2.650, 1.830, 2.163, 2.214), Cost=235 sec, lr=0.003107
Epoch[061] val : MAE:(pitch, yaw, roll, mean)/(7.050, 7.591, 5.630, 6.757), Loss:(pitch, yaw, roll)/(78.319, 90.036, 86.933)
Epoch[062] Batch[049/478] Speed: 508.75 samples/sec, Loss:(pitch, yaw, roll)/(10.030, 3.838, 8.349)
Epoch[062] Batch[099/478] Speed: 523.59 samples/sec, Loss:(pitch, yaw, roll)/(10.445, 3.810, 8.932)
Epoch[062] Batch[149/478] Speed: 525.45 samples/sec, Loss:(pitch, yaw, roll)/(10.285, 3.885, 8.753)
Epoch[062] Batch[199/478] Speed: 539.32 samples/sec, Loss:(pitch, yaw, roll)/(10.436, 3.881, 8.867)
Epoch[062] Batch[249/478] Speed: 563.53 samples/sec, Loss:(pitch, yaw, roll)/(10.252, 3.886, 8.797)
Epoch[062] Batch[299/478] Speed: 536.79 samples/sec, Loss:(pitch, yaw, roll)/(10.170, 3.866, 8.702)
Epoch[062] Batch[349/478] Speed: 536.59 samples/sec, Loss:(pitch, yaw, roll)/(10.163, 3.928, 8.721)
Epoch[062] Batch[399/478] Speed: 538.59 samples/sec, Loss:(pitch, yaw, roll)/(10.332, 3.961, 8.873)
Epoch[062] Batch[449/478] Speed: 534.56 samples/sec, Loss:(pitch, yaw, roll)/(10.466, 3.975, 8.979)
Epoch[062] train: MAE:(pitch, yaw, roll, mean)/(2.611, 1.832, 2.156, 2.200), Cost=231 sec, lr=0.003055
Epoch[062] val : MAE:(pitch, yaw, roll, mean)/(6.952, 7.418, 5.447, 6.606), Loss:(pitch, yaw, roll)/(77.758, 83.740, 87.804)
Epoch[063] Batch[049/478] Speed: 513.27 samples/sec, Loss:(pitch, yaw, roll)/(10.229, 3.847, 9.005)
Epoch[063] Batch[099/478] Speed: 538.68 samples/sec, Loss:(pitch, yaw, roll)/(10.654, 3.878, 9.223)
Epoch[063] Batch[149/478] Speed: 538.51 samples/sec, Loss:(pitch, yaw, roll)/(10.218, 3.893, 8.787)
Epoch[063] Batch[199/478] Speed: 537.38 samples/sec, Loss:(pitch, yaw, roll)/(10.182, 3.980, 8.682)
Epoch[063] Batch[249/478] Speed: 538.83 samples/sec, Loss:(pitch, yaw, roll)/(10.210, 3.951, 8.725)
Epoch[063] Batch[299/478] Speed: 538.43 samples/sec, Loss:(pitch, yaw, roll)/(10.341, 3.953, 8.883)
Epoch[063] Batch[349/478] Speed: 537.16 samples/sec, Loss:(pitch, yaw, roll)/(10.311, 3.946, 8.852)
Epoch[063] Batch[399/478] Speed: 579.36 samples/sec, Loss:(pitch, yaw, roll)/(10.298, 3.928, 8.862)
Epoch[063] Batch[449/478] Speed: 535.93 samples/sec, Loss:(pitch, yaw, roll)/(10.210, 3.889, 8.725)
Epoch[063] train: MAE:(pitch, yaw, roll, mean)/(2.595, 1.806, 2.127, 2.176), Cost=230 sec, lr=0.003003
Epoch[063] val : MAE:(pitch, yaw, roll, mean)/(6.559, 7.344, 5.354, 6.419), Loss:(pitch, yaw, roll)/(73.688, 79.887, 86.321)
Epoch[064] Batch[049/478] Speed: 509.47 samples/sec, Loss:(pitch, yaw, roll)/(9.600, 3.617, 8.081)
Epoch[064] Batch[099/478] Speed: 529.66 samples/sec, Loss:(pitch, yaw, roll)/(9.645, 3.635, 8.025)
Epoch[064] Batch[149/478] Speed: 537.09 samples/sec, Loss:(pitch, yaw, roll)/(9.881, 3.752, 8.223)
Epoch[064] Batch[199/478] Speed: 531.44 samples/sec, Loss:(pitch, yaw, roll)/(9.883, 3.778, 8.274)
Epoch[064] Batch[249/478] Speed: 532.66 samples/sec, Loss:(pitch, yaw, roll)/(9.916, 3.762, 8.299)
Epoch[064] Batch[299/478] Speed: 537.83 samples/sec, Loss:(pitch, yaw, roll)/(10.107, 3.772, 8.477)
Epoch[064] Batch[349/478] Speed: 537.12 samples/sec, Loss:(pitch, yaw, roll)/(10.102, 3.798, 8.500)
Epoch[064] Batch[399/478] Speed: 533.29 samples/sec, Loss:(pitch, yaw, roll)/(10.118, 3.809, 8.541)
Epoch[064] Batch[449/478] Speed: 535.02 samples/sec, Loss:(pitch, yaw, roll)/(10.141, 3.835, 8.552)
Epoch[064] train: MAE:(pitch, yaw, roll, mean)/(2.591, 1.801, 2.117, 2.170), Cost=232 sec, lr=0.002951
Epoch[064] val : MAE:(pitch, yaw, roll, mean)/(6.969, 7.608, 5.605, 6.727), Loss:(pitch, yaw, roll)/(81.398, 90.474, 91.069)
Epoch[065] Batch[049/478] Speed: 531.00 samples/sec, Loss:(pitch, yaw, roll)/(9.661, 3.798, 8.246)
Epoch[065] Batch[099/478] Speed: 524.20 samples/sec, Loss:(pitch, yaw, roll)/(10.241, 3.817, 8.640)
Epoch[065] Batch[149/478] Speed: 529.81 samples/sec, Loss:(pitch, yaw, roll)/(10.142, 3.858, 8.536)
Epoch[065] Batch[199/478] Speed: 528.38 samples/sec, Loss:(pitch, yaw, roll)/(9.733, 3.843, 8.233)
Epoch[065] Batch[249/478] Speed: 528.15 samples/sec, Loss:(pitch, yaw, roll)/(9.684, 3.811, 8.274)
Epoch[065] Batch[299/478] Speed: 528.70 samples/sec, Loss:(pitch, yaw, roll)/(9.695, 3.805, 8.288)
Epoch[065] Batch[349/478] Speed: 531.11 samples/sec, Loss:(pitch, yaw, roll)/(9.610, 3.805, 8.224)
Epoch[065] Batch[399/478] Speed: 527.32 samples/sec, Loss:(pitch, yaw, roll)/(9.593, 3.794, 8.212)
Epoch[065] Batch[449/478] Speed: 528.27 samples/sec, Loss:(pitch, yaw, roll)/(9.743, 3.819, 8.348)
Epoch[065] train: MAE:(pitch, yaw, roll, mean)/(2.538, 1.791, 2.096, 2.142), Cost=233 sec, lr=0.002898
Epoch[065] val : MAE:(pitch, yaw, roll, mean)/(6.789, 7.312, 5.309, 6.470), Loss:(pitch, yaw, roll)/(75.543, 76.704, 86.363)
Epoch[066] Batch[049/478] Speed: 532.97 samples/sec, Loss:(pitch, yaw, roll)/(8.794, 3.744, 7.463)
Epoch[066] Batch[099/478] Speed: 538.89 samples/sec, Loss:(pitch, yaw, roll)/(9.403, 3.741, 8.008)
Epoch[066] Batch[149/478] Speed: 539.13 samples/sec, Loss:(pitch, yaw, roll)/(9.512, 3.756, 8.056)
Epoch[066] Batch[199/478] Speed: 581.29 samples/sec, Loss:(pitch, yaw, roll)/(9.399, 3.765, 7.893)
Epoch[066] Batch[249/478] Speed: 535.70 samples/sec, Loss:(pitch, yaw, roll)/(9.738, 3.776, 8.205)
Epoch[066] Batch[299/478] Speed: 543.52 samples/sec, Loss:(pitch, yaw, roll)/(9.675, 3.769, 8.167)
Epoch[066] Batch[349/478] Speed: 545.67 samples/sec, Loss:(pitch, yaw, roll)/(9.771, 3.763, 8.355)
Epoch[066] Batch[399/478] Speed: 549.70 samples/sec, Loss:(pitch, yaw, roll)/(9.861, 3.758, 8.377)
Epoch[066] Batch[449/478] Speed: 537.31 samples/sec, Loss:(pitch, yaw, roll)/(9.856, 3.770, 8.343)
Epoch[066] train: MAE:(pitch, yaw, roll, mean)/(2.551, 1.779, 2.093, 2.141), Cost=227 sec, lr=0.002845
Epoch[066] val : MAE:(pitch, yaw, roll, mean)/(6.777, 7.331, 5.312, 6.473), Loss:(pitch, yaw, roll)/(71.454, 84.543, 83.120)
Epoch[067] Batch[049/478] Speed: 524.16 samples/sec, Loss:(pitch, yaw, roll)/(9.377, 3.764, 7.686)
Epoch[067] Batch[099/478] Speed: 539.71 samples/sec, Loss:(pitch, yaw, roll)/(9.355, 3.770, 7.704)
Epoch[067] Batch[149/478] Speed: 543.44 samples/sec, Loss:(pitch, yaw, roll)/(9.356, 3.748, 7.919)
Epoch[067] Batch[199/478] Speed: 556.94 samples/sec, Loss:(pitch, yaw, roll)/(9.407, 3.728, 7.929)
Epoch[067] Batch[249/478] Speed: 540.34 samples/sec, Loss:(pitch, yaw, roll)/(9.767, 3.758, 8.314)
Epoch[067] Batch[299/478] Speed: 532.32 samples/sec, Loss:(pitch, yaw, roll)/(9.799, 3.788, 8.321)
Epoch[067] Batch[349/478] Speed: 549.93 samples/sec, Loss:(pitch, yaw, roll)/(9.982, 3.794, 8.489)
Epoch[067] Batch[399/478] Speed: 552.17 samples/sec, Loss:(pitch, yaw, roll)/(9.923, 3.804, 8.402)
Epoch[067] Batch[449/478] Speed: 588.20 samples/sec, Loss:(pitch, yaw, roll)/(9.850, 3.784, 8.367)
Epoch[067] train: MAE:(pitch, yaw, roll, mean)/(2.549, 1.777, 2.097, 2.141), Cost=226 sec, lr=0.002792
Epoch[067] val : MAE:(pitch, yaw, roll, mean)/(6.695, 7.352, 5.406, 6.484), Loss:(pitch, yaw, roll)/(72.547, 78.001, 85.304)
Epoch[068] Batch[049/478] Speed: 517.44 samples/sec, Loss:(pitch, yaw, roll)/(10.174, 3.676, 8.892)
Epoch[068] Batch[099/478] Speed: 546.79 samples/sec, Loss:(pitch, yaw, roll)/(9.643, 3.655, 8.383)
Epoch[068] Batch[149/478] Speed: 560.22 samples/sec, Loss:(pitch, yaw, roll)/(9.464, 3.708, 8.217)
Epoch[068] Batch[199/478] Speed: 536.91 samples/sec, Loss:(pitch, yaw, roll)/(9.598, 3.723, 8.280)
Epoch[068] Batch[249/478] Speed: 549.23 samples/sec, Loss:(pitch, yaw, roll)/(9.522, 3.723, 8.150)
Epoch[068] Batch[299/478] Speed: 555.02 samples/sec, Loss:(pitch, yaw, roll)/(9.581, 3.723, 8.181)
Epoch[068] Batch[349/478] Speed: 545.51 samples/sec, Loss:(pitch, yaw, roll)/(9.531, 3.712, 8.122)
Epoch[068] Batch[399/478] Speed: 540.63 samples/sec, Loss:(pitch, yaw, roll)/(9.593, 3.706, 8.144)
Epoch[068] Batch[449/478] Speed: 542.76 samples/sec, Loss:(pitch, yaw, roll)/(9.477, 3.694, 8.019)
Epoch[068] train: MAE:(pitch, yaw, roll, mean)/(2.512, 1.753, 2.065, 2.110), Cost=228 sec, lr=0.002739
Epoch[068] val : MAE:(pitch, yaw, roll, mean)/(6.724, 7.376, 5.610, 6.570), Loss:(pitch, yaw, roll)/(76.871, 84.459, 92.919)
Epoch[069] Batch[049/478] Speed: 499.07 samples/sec, Loss:(pitch, yaw, roll)/(8.950, 3.809, 7.987)
Epoch[069] Batch[099/478] Speed: 518.98 samples/sec, Loss:(pitch, yaw, roll)/(8.888, 3.754, 7.599)
Epoch[069] Batch[149/478] Speed: 537.64 samples/sec, Loss:(pitch, yaw, roll)/(8.767, 3.763, 7.463)
Epoch[069] Batch[199/478] Speed: 560.42 samples/sec, Loss:(pitch, yaw, roll)/(8.926, 3.737, 7.578)
Epoch[069] Batch[249/478] Speed: 530.42 samples/sec, Loss:(pitch, yaw, roll)/(9.166, 3.748, 7.775)
Epoch[069] Batch[299/478] Speed: 528.32 samples/sec, Loss:(pitch, yaw, roll)/(9.259, 3.727, 7.864)
Epoch[069] Batch[349/478] Speed: 532.09 samples/sec, Loss:(pitch, yaw, roll)/(9.192, 3.718, 7.829)
Epoch[069] Batch[399/478] Speed: 534.65 samples/sec, Loss:(pitch, yaw, roll)/(9.096, 3.699, 7.734)
Epoch[069] Batch[449/478] Speed: 529.59 samples/sec, Loss:(pitch, yaw, roll)/(9.171, 3.677, 7.785)
Epoch[069] train: MAE:(pitch, yaw, roll, mean)/(2.480, 1.752, 2.029, 2.087), Cost=233 sec, lr=0.002686
Epoch[069] val : MAE:(pitch, yaw, roll, mean)/(6.659, 7.380, 5.354, 6.464), Loss:(pitch, yaw, roll)/(72.297, 77.629, 86.794)
Epoch[070] Batch[049/478] Speed: 509.42 samples/sec, Loss:(pitch, yaw, roll)/(9.008, 3.619, 7.725)
Epoch[070] Batch[099/478] Speed: 537.35 samples/sec, Loss:(pitch, yaw, roll)/(9.007, 3.616, 7.458)
Epoch[070] Batch[149/478] Speed: 540.33 samples/sec, Loss:(pitch, yaw, roll)/(8.958, 3.632, 7.467)
Epoch[070] Batch[199/478] Speed: 549.17 samples/sec, Loss:(pitch, yaw, roll)/(8.871, 3.599, 7.388)
Epoch[070] Batch[249/478] Speed: 526.97 samples/sec, Loss:(pitch, yaw, roll)/(9.034, 3.600, 7.580)
Epoch[070] Batch[299/478] Speed: 529.05 samples/sec, Loss:(pitch, yaw, roll)/(8.926, 3.597, 7.566)
Epoch[070] Batch[349/478] Speed: 577.91 samples/sec, Loss:(pitch, yaw, roll)/(8.936, 3.615, 7.578)
Epoch[070] Batch[399/478] Speed: 537.52 samples/sec, Loss:(pitch, yaw, roll)/(8.893, 3.619, 7.532)
Epoch[070] Batch[449/478] Speed: 538.92 samples/sec, Loss:(pitch, yaw, roll)/(8.985, 3.626, 7.608)
Epoch[070] train: MAE:(pitch, yaw, roll, mean)/(2.469, 1.735, 2.022, 2.075), Cost=229 sec, lr=0.002632
Epoch[070] val : MAE:(pitch, yaw, roll, mean)/(6.727, 7.592, 5.314, 6.544), Loss:(pitch, yaw, roll)/(75.487, 87.581, 82.592)
Epoch[071] Batch[049/478] Speed: 512.23 samples/sec, Loss:(pitch, yaw, roll)/(7.805, 3.593, 6.347)
Epoch[071] Batch[099/478] Speed: 535.48 samples/sec, Loss:(pitch, yaw, roll)/(8.389, 3.593, 6.972)
Epoch[071] Batch[149/478] Speed: 530.16 samples/sec, Loss:(pitch, yaw, roll)/(8.512, 3.560, 7.124)
Epoch[071] Batch[199/478] Speed: 530.90 samples/sec, Loss:(pitch, yaw, roll)/(8.750, 3.538, 7.323)
Epoch[071] Batch[249/478] Speed: 530.16 samples/sec, Loss:(pitch, yaw, roll)/(8.846, 3.552, 7.475)
Epoch[071] Batch[299/478] Speed: 538.19 samples/sec, Loss:(pitch, yaw, roll)/(8.871, 3.538, 7.527)
Epoch[071] Batch[349/478] Speed: 540.55 samples/sec, Loss:(pitch, yaw, roll)/(8.925, 3.543, 7.536)
Epoch[071] Batch[399/478] Speed: 535.72 samples/sec, Loss:(pitch, yaw, roll)/(9.038, 3.560, 7.635)
Epoch[071] Batch[449/478] Speed: 527.09 samples/sec, Loss:(pitch, yaw, roll)/(9.030, 3.563, 7.639)
Epoch[071] train: MAE:(pitch, yaw, roll, mean)/(2.450, 1.722, 2.017, 2.063), Cost=231 sec, lr=0.002579
Epoch[071] val : MAE:(pitch, yaw, roll, mean)/(6.472, 7.300, 5.317, 6.363), Loss:(pitch, yaw, roll)/(69.167, 78.140, 83.705)
Min val mean MAE! save model!
Epoch[072] Batch[049/478] Speed: 510.61 samples/sec, Loss:(pitch, yaw, roll)/(9.603, 3.663, 7.937)
Epoch[072] Batch[099/478] Speed: 542.77 samples/sec, Loss:(pitch, yaw, roll)/(9.007, 3.570, 7.471)
Epoch[072] Batch[149/478] Speed: 546.43 samples/sec, Loss:(pitch, yaw, roll)/(9.124, 3.561, 7.614)
Epoch[072] Batch[199/478] Speed: 532.73 samples/sec, Loss:(pitch, yaw, roll)/(9.049, 3.583, 7.588)
Epoch[072] Batch[249/478] Speed: 554.32 samples/sec, Loss:(pitch, yaw, roll)/(9.275, 3.651, 7.790)
Epoch[072] Batch[299/478] Speed: 543.89 samples/sec, Loss:(pitch, yaw, roll)/(9.156, 3.642, 7.677)
Epoch[072] Batch[349/478] Speed: 536.29 samples/sec, Loss:(pitch, yaw, roll)/(9.042, 3.644, 7.574)
Epoch[072] Batch[399/478] Speed: 544.73 samples/sec, Loss:(pitch, yaw, roll)/(8.871, 3.621, 7.406)
Epoch[072] Batch[449/478] Speed: 536.62 samples/sec, Loss:(pitch, yaw, roll)/(8.827, 3.608, 7.450)
Epoch[072] train: MAE:(pitch, yaw, roll, mean)/(2.429, 1.732, 1.979, 2.047), Cost=229 sec, lr=0.002526
Epoch[072] val : MAE:(pitch, yaw, roll, mean)/(6.823, 7.385, 5.324, 6.511), Loss:(pitch, yaw, roll)/(73.497, 79.477, 82.929)
Epoch[073] Batch[049/478] Speed: 529.52 samples/sec, Loss:(pitch, yaw, roll)/(8.073, 3.680, 6.694)
Epoch[073] Batch[099/478] Speed: 558.70 samples/sec, Loss:(pitch, yaw, roll)/(8.337, 3.640, 7.196)
Epoch[073] Batch[149/478] Speed: 540.51 samples/sec, Loss:(pitch, yaw, roll)/(8.375, 3.622, 7.243)
Epoch[073] Batch[199/478] Speed: 548.09 samples/sec, Loss:(pitch, yaw, roll)/(8.607, 3.649, 7.388)
Epoch[073] Batch[249/478] Speed: 545.46 samples/sec, Loss:(pitch, yaw, roll)/(8.655, 3.641, 7.407)
Epoch[073] Batch[299/478] Speed: 584.61 samples/sec, Loss:(pitch, yaw, roll)/(8.812, 3.629, 7.572)
Epoch[073] Batch[349/478] Speed: 565.68 samples/sec, Loss:(pitch, yaw, roll)/(8.808, 3.628, 7.564)
Epoch[073] Batch[399/478] Speed: 549.51 samples/sec, Loss:(pitch, yaw, roll)/(8.721, 3.608, 7.454)
Epoch[073] Batch[449/478] Speed: 549.33 samples/sec, Loss:(pitch, yaw, roll)/(8.740, 3.592, 7.434)
Epoch[073] train: MAE:(pitch, yaw, roll, mean)/(2.433, 1.732, 2.009, 2.058), Cost=224 sec, lr=0.002472
Epoch[073] val : MAE:(pitch, yaw, roll, mean)/(6.756, 7.156, 5.308, 6.407), Loss:(pitch, yaw, roll)/(74.682, 80.578, 87.900)
Epoch[074] Batch[049/478] Speed: 519.89 samples/sec, Loss:(pitch, yaw, roll)/(8.386, 3.543, 6.822)
Epoch[074] Batch[099/478] Speed: 549.84 samples/sec, Loss:(pitch, yaw, roll)/(8.452, 3.671, 6.901)
Epoch[074] Batch[149/478] Speed: 542.79 samples/sec, Loss:(pitch, yaw, roll)/(8.296, 3.578, 6.873)
Epoch[074] Batch[199/478] Speed: 533.83 samples/sec, Loss:(pitch, yaw, roll)/(8.353, 3.553, 6.926)
Epoch[074] Batch[249/478] Speed: 528.05 samples/sec, Loss:(pitch, yaw, roll)/(8.300, 3.543, 6.833)
Epoch[074] Batch[299/478] Speed: 536.88 samples/sec, Loss:(pitch, yaw, roll)/(8.467, 3.540, 7.041)
Epoch[074] Batch[349/478] Speed: 532.26 samples/sec, Loss:(pitch, yaw, roll)/(8.571, 3.538, 7.150)
Epoch[074] Batch[399/478] Speed: 534.77 samples/sec, Loss:(pitch, yaw, roll)/(8.565, 3.531, 7.149)
Epoch[074] Batch[449/478] Speed: 548.22 samples/sec, Loss:(pitch, yaw, roll)/(8.599, 3.526, 7.155)
Epoch[074] train: MAE:(pitch, yaw, roll, mean)/(2.410, 1.702, 1.955, 2.022), Cost=230 sec, lr=0.002419
Epoch[074] val : MAE:(pitch, yaw, roll, mean)/(6.688, 7.303, 5.290, 6.427), Loss:(pitch, yaw, roll)/(73.324, 81.910, 84.922)
Epoch[075] Batch[049/478] Speed: 555.70 samples/sec, Loss:(pitch, yaw, roll)/(8.516, 3.481, 7.340)
Epoch[075] Batch[099/478] Speed: 537.44 samples/sec, Loss:(pitch, yaw, roll)/(8.335, 3.523, 7.068)
Epoch[075] Batch[149/478] Speed: 537.87 samples/sec, Loss:(pitch, yaw, roll)/(8.717, 3.496, 7.393)
Epoch[075] Batch[199/478] Speed: 530.47 samples/sec, Loss:(pitch, yaw, roll)/(8.610, 3.477, 7.240)
Epoch[075] Batch[249/478] Speed: 528.40 samples/sec, Loss:(pitch, yaw, roll)/(8.450, 3.487, 7.078)
Epoch[075] Batch[299/478] Speed: 533.40 samples/sec, Loss:(pitch, yaw, roll)/(8.545, 3.489, 7.150)
Epoch[075] Batch[349/478] Speed: 548.52 samples/sec, Loss:(pitch, yaw, roll)/(8.591, 3.490, 7.242)
Epoch[075] Batch[399/478] Speed: 541.63 samples/sec, Loss:(pitch, yaw, roll)/(8.611, 3.492, 7.267)
Epoch[075] Batch[449/478] Speed: 534.05 samples/sec, Loss:(pitch, yaw, roll)/(8.570, 3.507, 7.204)
Epoch[075] train: MAE:(pitch, yaw, roll, mean)/(2.404, 1.700, 1.960, 2.022), Cost=229 sec, lr=0.002365
Epoch[075] val : MAE:(pitch, yaw, roll, mean)/(6.708, 7.521, 5.361, 6.530), Loss:(pitch, yaw, roll)/(73.139, 90.340, 85.811)
Epoch[076] Batch[049/478] Speed: 536.50 samples/sec, Loss:(pitch, yaw, roll)/(8.690, 3.545, 7.439)
Epoch[076] Batch[099/478] Speed: 541.85 samples/sec, Loss:(pitch, yaw, roll)/(7.946, 3.451, 6.882)
Epoch[076] Batch[149/478] Speed: 534.17 samples/sec, Loss:(pitch, yaw, roll)/(8.131, 3.442, 6.919)
Epoch[076] Batch[199/478] Speed: 564.74 samples/sec, Loss:(pitch, yaw, roll)/(8.063, 3.504, 6.858)
Epoch[076] Batch[249/478] Speed: 557.93 samples/sec, Loss:(pitch, yaw, roll)/(8.195, 3.511, 6.982)
Epoch[076] Batch[299/478] Speed: 539.41 samples/sec, Loss:(pitch, yaw, roll)/(8.209, 3.501, 6.965)
Epoch[076] Batch[349/478] Speed: 534.09 samples/sec, Loss:(pitch, yaw, roll)/(8.275, 3.492, 7.032)
Epoch[076] Batch[399/478] Speed: 542.67 samples/sec, Loss:(pitch, yaw, roll)/(8.374, 3.500, 7.103)
Epoch[076] Batch[449/478] Speed: 539.17 samples/sec, Loss:(pitch, yaw, roll)/(8.351, 3.499, 7.065)
Epoch[076] train: MAE:(pitch, yaw, roll, mean)/(2.373, 1.703, 1.956, 2.011), Cost=227 sec, lr=0.002312
Epoch[076] val : MAE:(pitch, yaw, roll, mean)/(6.891, 7.454, 5.325, 6.557), Loss:(pitch, yaw, roll)/(77.323, 90.450, 85.343)
Epoch[077] Batch[049/478] Speed: 524.02 samples/sec, Loss:(pitch, yaw, roll)/(7.708, 3.462, 6.287)
Epoch[077] Batch[099/478] Speed: 542.96 samples/sec, Loss:(pitch, yaw, roll)/(7.740, 3.456, 6.351)
Epoch[077] Batch[149/478] Speed: 539.55 samples/sec, Loss:(pitch, yaw, roll)/(7.737, 3.426, 6.371)
Epoch[077] Batch[199/478] Speed: 539.70 samples/sec, Loss:(pitch, yaw, roll)/(7.811, 3.386, 6.426)
Epoch[077] Batch[249/478] Speed: 540.99 samples/sec, Loss:(pitch, yaw, roll)/(7.743, 3.387, 6.407)
Epoch[077] Batch[299/478] Speed: 544.28 samples/sec, Loss:(pitch, yaw, roll)/(7.871, 3.397, 6.570)
Epoch[077] Batch[349/478] Speed: 542.31 samples/sec, Loss:(pitch, yaw, roll)/(8.014, 3.403, 6.708)
Epoch[077] Batch[399/478] Speed: 585.77 samples/sec, Loss:(pitch, yaw, roll)/(7.993, 3.421, 6.716)
Epoch[077] Batch[449/478] Speed: 544.78 samples/sec, Loss:(pitch, yaw, roll)/(8.020, 3.426, 6.781)
Epoch[077] train: MAE:(pitch, yaw, roll, mean)/(2.334, 1.676, 1.929, 1.979), Cost=227 sec, lr=0.002259
Epoch[077] val : MAE:(pitch, yaw, roll, mean)/(6.609, 7.344, 5.437, 6.463), Loss:(pitch, yaw, roll)/(75.849, 81.608, 87.597)
Epoch[078] Batch[049/478] Speed: 534.89 samples/sec, Loss:(pitch, yaw, roll)/(8.016, 3.387, 6.527)
Epoch[078] Batch[099/478] Speed: 547.18 samples/sec, Loss:(pitch, yaw, roll)/(7.884, 3.379, 6.273)
Epoch[078] Batch[149/478] Speed: 559.79 samples/sec, Loss:(pitch, yaw, roll)/(7.774, 3.377, 6.287)
Epoch[078] Batch[199/478] Speed: 564.12 samples/sec, Loss:(pitch, yaw, roll)/(7.705, 3.377, 6.249)
Epoch[078] Batch[249/478] Speed: 550.36 samples/sec, Loss:(pitch, yaw, roll)/(7.944, 3.384, 6.491)
Epoch[078] Batch[299/478] Speed: 557.94 samples/sec, Loss:(pitch, yaw, roll)/(7.951, 3.397, 6.551)
Epoch[078] Batch[349/478] Speed: 552.26 samples/sec, Loss:(pitch, yaw, roll)/(7.965, 3.423, 6.623)
Epoch[078] Batch[399/478] Speed: 541.64 samples/sec, Loss:(pitch, yaw, roll)/(8.066, 3.421, 6.744)
Epoch[078] Batch[449/478] Speed: 550.47 samples/sec, Loss:(pitch, yaw, roll)/(7.974, 3.424, 6.648)
Epoch[078] train: MAE:(pitch, yaw, roll, mean)/(2.331, 1.674, 1.904, 1.969), Cost=224 sec, lr=0.002206
Epoch[078] val : MAE:(pitch, yaw, roll, mean)/(6.557, 7.229, 5.239, 6.342), Loss:(pitch, yaw, roll)/(72.858, 80.969, 81.162)
Min val mean MAE! save model!
Epoch[079] Batch[049/478] Speed: 525.38 samples/sec, Loss:(pitch, yaw, roll)/(7.340, 3.285, 6.231)
Epoch[079] Batch[099/478] Speed: 556.35 samples/sec, Loss:(pitch, yaw, roll)/(7.449, 3.288, 6.160)
Epoch[079] Batch[149/478] Speed: 539.10 samples/sec, Loss:(pitch, yaw, roll)/(7.407, 3.281, 6.037)
Epoch[079] Batch[199/478] Speed: 563.09 samples/sec, Loss:(pitch, yaw, roll)/(7.596, 3.286, 6.262)
Epoch[079] Batch[249/478] Speed: 568.14 samples/sec, Loss:(pitch, yaw, roll)/(7.688, 3.322, 6.366)
Epoch[079] Batch[299/478] Speed: 554.50 samples/sec, Loss:(pitch, yaw, roll)/(7.715, 3.313, 6.451)
Epoch[079] Batch[349/478] Speed: 537.45 samples/sec, Loss:(pitch, yaw, roll)/(7.811, 3.326, 6.547)
Epoch[079] Batch[399/478] Speed: 553.83 samples/sec, Loss:(pitch, yaw, roll)/(7.900, 3.346, 6.661)
Epoch[079] Batch[449/478] Speed: 543.22 samples/sec, Loss:(pitch, yaw, roll)/(7.890, 3.352, 6.645)
Epoch[079] train: MAE:(pitch, yaw, roll, mean)/(2.320, 1.655, 1.913, 1.962), Cost=225 sec, lr=0.002153
Epoch[079] val : MAE:(pitch, yaw, roll, mean)/(6.641, 7.398, 5.258, 6.432), Loss:(pitch, yaw, roll)/(74.622, 85.790, 82.255)
Epoch[080] Batch[049/478] Speed: 534.69 samples/sec, Loss:(pitch, yaw, roll)/(7.707, 3.335, 6.436)
Epoch[080] Batch[099/478] Speed: 545.68 samples/sec, Loss:(pitch, yaw, roll)/(7.496, 3.350, 6.230)
Epoch[080] Batch[149/478] Speed: 555.59 samples/sec, Loss:(pitch, yaw, roll)/(7.581, 3.336, 6.279)
Epoch[080] Batch[199/478] Speed: 542.92 samples/sec, Loss:(pitch, yaw, roll)/(7.605, 3.316, 6.370)
Epoch[080] Batch[249/478] Speed: 552.07 samples/sec, Loss:(pitch, yaw, roll)/(7.708, 3.306, 6.491)
Epoch[080] Batch[299/478] Speed: 539.11 samples/sec, Loss:(pitch, yaw, roll)/(7.652, 3.319, 6.435)
Epoch[080] Batch[349/478] Speed: 550.09 samples/sec, Loss:(pitch, yaw, roll)/(7.726, 3.324, 6.484)
Epoch[080] Batch[399/478] Speed: 542.35 samples/sec, Loss:(pitch, yaw, roll)/(7.771, 3.342, 6.504)
Epoch[080] Batch[449/478] Speed: 564.07 samples/sec, Loss:(pitch, yaw, roll)/(7.877, 3.342, 6.592)
Epoch[080] train: MAE:(pitch, yaw, roll, mean)/(2.314, 1.652, 1.890, 1.952), Cost=225 sec, lr=0.002100
Epoch[080] val : MAE:(pitch, yaw, roll, mean)/(6.640, 7.375, 5.224, 6.413), Loss:(pitch, yaw, roll)/(74.697, 85.491, 82.804)
Epoch[081] Batch[049/478] Speed: 517.01 samples/sec, Loss:(pitch, yaw, roll)/(7.513, 3.473, 6.349)
Epoch[081] Batch[099/478] Speed: 527.39 samples/sec, Loss:(pitch, yaw, roll)/(7.860, 3.394, 6.524)
Epoch[081] Batch[149/478] Speed: 525.47 samples/sec, Loss:(pitch, yaw, roll)/(7.640, 3.371, 6.394)
Epoch[081] Batch[199/478] Speed: 524.08 samples/sec, Loss:(pitch, yaw, roll)/(7.545, 3.375, 6.345)
Epoch[081] Batch[249/478] Speed: 530.52 samples/sec, Loss:(pitch, yaw, roll)/(7.611, 3.388, 6.398)
Epoch[081] Batch[299/478] Speed: 529.70 samples/sec, Loss:(pitch, yaw, roll)/(7.614, 3.371, 6.407)
Epoch[081] Batch[349/478] Speed: 531.97 samples/sec, Loss:(pitch, yaw, roll)/(7.589, 3.372, 6.419)
Epoch[081] Batch[399/478] Speed: 527.93 samples/sec, Loss:(pitch, yaw, roll)/(7.516, 3.383, 6.329)
Epoch[081] Batch[449/478] Speed: 527.97 samples/sec, Loss:(pitch, yaw, roll)/(7.579, 3.377, 6.398)
Epoch[081] train: MAE:(pitch, yaw, roll, mean)/(2.279, 1.663, 1.883, 1.942), Cost=234 sec, lr=0.002047
Epoch[081] val : MAE:(pitch, yaw, roll, mean)/(6.765, 7.113, 5.318, 6.398), Loss:(pitch, yaw, roll)/(75.473, 79.018, 85.429)
Epoch[082] Batch[049/478] Speed: 504.02 samples/sec, Loss:(pitch, yaw, roll)/(7.555, 3.347, 6.360)
Epoch[082] Batch[099/478] Speed: 567.88 samples/sec, Loss:(pitch, yaw, roll)/(7.367, 3.355, 6.081)
Epoch[082] Batch[149/478] Speed: 532.33 samples/sec, Loss:(pitch, yaw, roll)/(7.402, 3.328, 6.202)
Epoch[082] Batch[199/478] Speed: 523.77 samples/sec, Loss:(pitch, yaw, roll)/(7.389, 3.316, 6.165)
Epoch[082] Batch[249/478] Speed: 530.64 samples/sec, Loss:(pitch, yaw, roll)/(7.566, 3.345, 6.328)
Epoch[082] Batch[299/478] Speed: 530.05 samples/sec, Loss:(pitch, yaw, roll)/(7.559, 3.341, 6.304)
Epoch[082] Batch[349/478] Speed: 530.92 samples/sec, Loss:(pitch, yaw, roll)/(7.506, 3.350, 6.242)
Epoch[082] Batch[399/478] Speed: 527.20 samples/sec, Loss:(pitch, yaw, roll)/(7.414, 3.348, 6.188)
Epoch[082] Batch[449/478] Speed: 530.85 samples/sec, Loss:(pitch, yaw, roll)/(7.429, 3.341, 6.213)
Epoch[082] train: MAE:(pitch, yaw, roll, mean)/(2.258, 1.654, 1.860, 1.924), Cost=233 sec, lr=0.001995
Epoch[082] val : MAE:(pitch, yaw, roll, mean)/(6.619, 7.361, 5.187, 6.389), Loss:(pitch, yaw, roll)/(72.548, 81.394, 81.406)
Epoch[083] Batch[049/478] Speed: 507.73 samples/sec, Loss:(pitch, yaw, roll)/(7.068, 3.263, 5.708)
Epoch[083] Batch[099/478] Speed: 533.96 samples/sec, Loss:(pitch, yaw, roll)/(6.915, 3.328, 5.548)
Epoch[083] Batch[149/478] Speed: 533.35 samples/sec, Loss:(pitch, yaw, roll)/(7.002, 3.281, 5.653)
Epoch[083] Batch[199/478] Speed: 536.49 samples/sec, Loss:(pitch, yaw, roll)/(6.906, 3.257, 5.600)
Epoch[083] Batch[249/478] Speed: 582.08 samples/sec, Loss:(pitch, yaw, roll)/(7.061, 3.291, 5.828)
Epoch[083] Batch[299/478] Speed: 540.71 samples/sec, Loss:(pitch, yaw, roll)/(7.130, 3.288, 5.881)
Epoch[083] Batch[349/478] Speed: 557.82 samples/sec, Loss:(pitch, yaw, roll)/(7.239, 3.306, 6.001)
Epoch[083] Batch[399/478] Speed: 545.03 samples/sec, Loss:(pitch, yaw, roll)/(7.229, 3.305, 6.010)
Epoch[083] Batch[449/478] Speed: 543.32 samples/sec, Loss:(pitch, yaw, roll)/(7.345, 3.307, 6.137)
Epoch[083] train: MAE:(pitch, yaw, roll, mean)/(2.246, 1.647, 1.825, 1.906), Cost=228 sec, lr=0.001942
Epoch[083] val : MAE:(pitch, yaw, roll, mean)/(6.835, 7.305, 5.317, 6.485), Loss:(pitch, yaw, roll)/(77.289, 83.584, 86.903)
Epoch[084] Batch[049/478] Speed: 530.52 samples/sec, Loss:(pitch, yaw, roll)/(7.384, 3.234, 6.456)
Epoch[084] Batch[099/478] Speed: 535.15 samples/sec, Loss:(pitch, yaw, roll)/(7.177, 3.226, 6.101)
Epoch[084] Batch[149/478] Speed: 551.32 samples/sec, Loss:(pitch, yaw, roll)/(7.073, 3.231, 5.932)
Epoch[084] Batch[199/478] Speed: 544.75 samples/sec, Loss:(pitch, yaw, roll)/(7.080, 3.232, 6.003)
Epoch[084] Batch[249/478] Speed: 541.03 samples/sec, Loss:(pitch, yaw, roll)/(7.113, 3.234, 5.982)
Epoch[084] Batch[299/478] Speed: 562.11 samples/sec, Loss:(pitch, yaw, roll)/(7.056, 3.238, 5.914)
Epoch[084] Batch[349/478] Speed: 529.79 samples/sec, Loss:(pitch, yaw, roll)/(7.016, 3.226, 5.848)
Epoch[084] Batch[399/478] Speed: 534.03 samples/sec, Loss:(pitch, yaw, roll)/(7.019, 3.223, 5.821)
Epoch[084] Batch[449/478] Speed: 541.80 samples/sec, Loss:(pitch, yaw, roll)/(7.065, 3.231, 5.852)
Epoch[084] train: MAE:(pitch, yaw, roll, mean)/(2.221, 1.618, 1.821, 1.887), Cost=227 sec, lr=0.001891
Epoch[084] val : MAE:(pitch, yaw, roll, mean)/(6.704, 7.215, 5.318, 6.412), Loss:(pitch, yaw, roll)/(72.070, 78.107, 84.586)
Epoch[085] Batch[049/478] Speed: 518.06 samples/sec, Loss:(pitch, yaw, roll)/(7.161, 3.296, 6.153)
Epoch[085] Batch[099/478] Speed: 530.13 samples/sec, Loss:(pitch, yaw, roll)/(7.114, 3.200, 6.025)
Epoch[085] Batch[149/478] Speed: 542.97 samples/sec, Loss:(pitch, yaw, roll)/(7.029, 3.220, 5.899)
Epoch[085] Batch[199/478] Speed: 532.42 samples/sec, Loss:(pitch, yaw, roll)/(6.986, 3.245, 5.779)
Epoch[085] Batch[249/478] Speed: 533.90 samples/sec, Loss:(pitch, yaw, roll)/(7.089, 3.253, 5.875)
Epoch[085] Batch[299/478] Speed: 530.67 samples/sec, Loss:(pitch, yaw, roll)/(7.141, 3.265, 5.941)
Epoch[085] Batch[349/478] Speed: 531.14 samples/sec, Loss:(pitch, yaw, roll)/(7.148, 3.271, 5.932)
Epoch[085] Batch[399/478] Speed: 529.75 samples/sec, Loss:(pitch, yaw, roll)/(7.163, 3.271, 5.952)
Epoch[085] Batch[449/478] Speed: 527.07 samples/sec, Loss:(pitch, yaw, roll)/(7.134, 3.258, 5.923)
Epoch[085] train: MAE:(pitch, yaw, roll, mean)/(2.215, 1.631, 1.812, 1.886), Cost=232 sec, lr=0.001839
Epoch[085] val : MAE:(pitch, yaw, roll, mean)/(6.792, 7.266, 5.295, 6.451), Loss:(pitch, yaw, roll)/(75.815, 85.045, 86.372)
Epoch[086] Batch[049/478] Speed: 504.78 samples/sec, Loss:(pitch, yaw, roll)/(7.110, 3.156, 5.853)
Epoch[086] Batch[099/478] Speed: 520.07 samples/sec, Loss:(pitch, yaw, roll)/(6.979, 3.196, 5.819)
Epoch[086] Batch[149/478] Speed: 564.89 samples/sec, Loss:(pitch, yaw, roll)/(6.854, 3.157, 5.635)
Epoch[086] Batch[199/478] Speed: 534.81 samples/sec, Loss:(pitch, yaw, roll)/(6.969, 3.190, 5.788)
Epoch[086] Batch[249/478] Speed: 518.93 samples/sec, Loss:(pitch, yaw, roll)/(6.972, 3.224, 5.793)
Epoch[086] Batch[299/478] Speed: 529.54 samples/sec, Loss:(pitch, yaw, roll)/(6.925, 3.215, 5.719)
Epoch[086] Batch[349/478] Speed: 525.61 samples/sec, Loss:(pitch, yaw, roll)/(6.914, 3.219, 5.709)
Epoch[086] Batch[399/478] Speed: 526.58 samples/sec, Loss:(pitch, yaw, roll)/(6.996, 3.212, 5.782)
Epoch[086] Batch[449/478] Speed: 531.40 samples/sec, Loss:(pitch, yaw, roll)/(7.026, 3.213, 5.810)
Epoch[086] train: MAE:(pitch, yaw, roll, mean)/(2.205, 1.623, 1.800, 1.876), Cost=234 sec, lr=0.001788
Epoch[086] val : MAE:(pitch, yaw, roll, mean)/(6.800, 7.342, 5.274, 6.472), Loss:(pitch, yaw, roll)/(75.554, 83.803, 85.817)
Epoch[087] Batch[049/478] Speed: 511.85 samples/sec, Loss:(pitch, yaw, roll)/(6.575, 3.222, 5.553)
Epoch[087] Batch[099/478] Speed: 543.48 samples/sec, Loss:(pitch, yaw, roll)/(6.537, 3.174, 5.470)
Epoch[087] Batch[149/478] Speed: 552.16 samples/sec, Loss:(pitch, yaw, roll)/(6.347, 3.154, 5.301)
Epoch[087] Batch[199/478] Speed: 553.01 samples/sec, Loss:(pitch, yaw, roll)/(6.353, 3.144, 5.257)
Epoch[087] Batch[249/478] Speed: 538.62 samples/sec, Loss:(pitch, yaw, roll)/(6.493, 3.152, 5.387)
Epoch[087] Batch[299/478] Speed: 562.54 samples/sec, Loss:(pitch, yaw, roll)/(6.646, 3.167, 5.543)
Epoch[087] Batch[349/478] Speed: 550.71 samples/sec, Loss:(pitch, yaw, roll)/(6.749, 3.172, 5.652)
Epoch[087] Batch[399/478] Speed: 531.72 samples/sec, Loss:(pitch, yaw, roll)/(6.705, 3.164, 5.605)
Epoch[087] Batch[449/478] Speed: 526.21 samples/sec, Loss:(pitch, yaw, roll)/(6.754, 3.166, 5.652)
Epoch[087] train: MAE:(pitch, yaw, roll, mean)/(2.163, 1.600, 1.768, 1.844), Cost=229 sec, lr=0.001736
Epoch[087] val : MAE:(pitch, yaw, roll, mean)/(6.659, 7.295, 5.282, 6.412), Loss:(pitch, yaw, roll)/(72.834, 81.664, 85.080)
Epoch[088] Batch[049/478] Speed: 510.30 samples/sec, Loss:(pitch, yaw, roll)/(7.466, 3.112, 6.381)
Epoch[088] Batch[099/478] Speed: 530.14 samples/sec, Loss:(pitch, yaw, roll)/(7.253, 3.140, 6.147)
Epoch[088] Batch[149/478] Speed: 531.69 samples/sec, Loss:(pitch, yaw, roll)/(7.184, 3.166, 6.093)
Epoch[088] Batch[199/478] Speed: 526.58 samples/sec, Loss:(pitch, yaw, roll)/(7.149, 3.150, 6.020)
Epoch[088] Batch[249/478] Speed: 529.30 samples/sec, Loss:(pitch, yaw, roll)/(6.973, 3.161, 5.839)
Epoch[088] Batch[299/478] Speed: 529.52 samples/sec, Loss:(pitch, yaw, roll)/(6.942, 3.160, 5.809)
Epoch[088] Batch[349/478] Speed: 529.83 samples/sec, Loss:(pitch, yaw, roll)/(6.905, 3.153, 5.778)
Epoch[088] Batch[399/478] Speed: 527.35 samples/sec, Loss:(pitch, yaw, roll)/(6.852, 3.145, 5.706)
Epoch[088] Batch[449/478] Speed: 572.17 samples/sec, Loss:(pitch, yaw, roll)/(6.809, 3.139, 5.638)
Epoch[088] train: MAE:(pitch, yaw, roll, mean)/(2.169, 1.593, 1.774, 1.845), Cost=232 sec, lr=0.001686
Epoch[088] val : MAE:(pitch, yaw, roll, mean)/(6.703, 7.165, 5.320, 6.396), Loss:(pitch, yaw, roll)/(74.452, 78.383, 84.673)
Epoch[089] Batch[049/478] Speed: 512.99 samples/sec, Loss:(pitch, yaw, roll)/(6.829, 3.105, 5.865)
Epoch[089] Batch[099/478] Speed: 530.25 samples/sec, Loss:(pitch, yaw, roll)/(6.843, 3.126, 5.781)
Epoch[089] Batch[149/478] Speed: 528.42 samples/sec, Loss:(pitch, yaw, roll)/(6.726, 3.136, 5.732)
Epoch[089] Batch[199/478] Speed: 532.12 samples/sec, Loss:(pitch, yaw, roll)/(6.750, 3.124, 5.677)
Epoch[089] Batch[249/478] Speed: 529.40 samples/sec, Loss:(pitch, yaw, roll)/(6.821, 3.136, 5.684)
Epoch[089] Batch[299/478] Speed: 523.21 samples/sec, Loss:(pitch, yaw, roll)/(6.850, 3.109, 5.668)
Epoch[089] Batch[349/478] Speed: 524.49 samples/sec, Loss:(pitch, yaw, roll)/(6.795, 3.119, 5.601)
Epoch[089] Batch[399/478] Speed: 528.53 samples/sec, Loss:(pitch, yaw, roll)/(6.713, 3.113, 5.568)
Epoch[089] Batch[449/478] Speed: 526.91 samples/sec, Loss:(pitch, yaw, roll)/(6.670, 3.110, 5.511)
Epoch[089] train: MAE:(pitch, yaw, roll, mean)/(2.157, 1.582, 1.756, 1.832), Cost=235 sec, lr=0.001635
Epoch[089] val : MAE:(pitch, yaw, roll, mean)/(6.744, 7.056, 5.248, 6.349), Loss:(pitch, yaw, roll)/(73.586, 77.564, 82.948)
Epoch[090] Batch[049/478] Speed: 519.59 samples/sec, Loss:(pitch, yaw, roll)/(6.702, 3.067, 5.518)
Epoch[090] Batch[099/478] Speed: 568.85 samples/sec, Loss:(pitch, yaw, roll)/(6.666, 3.068, 5.546)
Epoch[090] Batch[149/478] Speed: 562.65 samples/sec, Loss:(pitch, yaw, roll)/(6.602, 3.053, 5.493)
Epoch[090] Batch[199/478] Speed: 533.21 samples/sec, Loss:(pitch, yaw, roll)/(6.578, 3.081, 5.448)
Epoch[090] Batch[249/478] Speed: 526.39 samples/sec, Loss:(pitch, yaw, roll)/(6.590, 3.078, 5.442)
Epoch[090] Batch[299/478] Speed: 528.85 samples/sec, Loss:(pitch, yaw, roll)/(6.546, 3.078, 5.417)
Epoch[090] Batch[349/478] Speed: 530.09 samples/sec, Loss:(pitch, yaw, roll)/(6.597, 3.064, 5.487)
Epoch[090] Batch[399/478] Speed: 531.02 samples/sec, Loss:(pitch, yaw, roll)/(6.610, 3.055, 5.514)
Epoch[090] Batch[449/478] Speed: 529.61 samples/sec, Loss:(pitch, yaw, roll)/(6.661, 3.067, 5.564)
Epoch[090] train: MAE:(pitch, yaw, roll, mean)/(2.125, 1.569, 1.749, 1.814), Cost=230 sec, lr=0.001585
Epoch[090] val : MAE:(pitch, yaw, roll, mean)/(6.502, 7.322, 5.185, 6.337), Loss:(pitch, yaw, roll)/(71.609, 83.586, 82.058)
Min val mean MAE! save model!
Epoch[091] Batch[049/478] Speed: 505.09 samples/sec, Loss:(pitch, yaw, roll)/(6.252, 3.052, 5.395)
Epoch[091] Batch[099/478] Speed: 530.97 samples/sec, Loss:(pitch, yaw, roll)/(5.950, 3.039, 4.983)
Epoch[091] Batch[149/478] Speed: 528.72 samples/sec, Loss:(pitch, yaw, roll)/(6.170, 3.037, 5.171)
Epoch[091] Batch[199/478] Speed: 526.22 samples/sec, Loss:(pitch, yaw, roll)/(6.240, 3.030, 5.218)
Epoch[091] Batch[249/478] Speed: 558.71 samples/sec, Loss:(pitch, yaw, roll)/(6.253, 3.034, 5.178)
Epoch[091] Batch[299/478] Speed: 546.81 samples/sec, Loss:(pitch, yaw, roll)/(6.317, 3.051, 5.232)
Epoch[091] Batch[349/478] Speed: 544.55 samples/sec, Loss:(pitch, yaw, roll)/(6.366, 3.060, 5.311)
Epoch[091] Batch[399/478] Speed: 541.21 samples/sec, Loss:(pitch, yaw, roll)/(6.323, 3.072, 5.277)
Epoch[091] Batch[449/478] Speed: 542.44 samples/sec, Loss:(pitch, yaw, roll)/(6.371, 3.073, 5.292)
Epoch[091] train: MAE:(pitch, yaw, roll, mean)/(2.097, 1.570, 1.729, 1.798), Cost=230 sec, lr=0.001536
Epoch[091] val : MAE:(pitch, yaw, roll, mean)/(6.562, 7.042, 5.271, 6.292), Loss:(pitch, yaw, roll)/(71.214, 78.334, 82.971)
Min val mean MAE! save model!
Epoch[092] Batch[049/478] Speed: 533.42 samples/sec, Loss:(pitch, yaw, roll)/(6.071, 3.028, 5.108)
Epoch[092] Batch[099/478] Speed: 536.62 samples/sec, Loss:(pitch, yaw, roll)/(6.074, 3.041, 5.086)
Epoch[092] Batch[149/478] Speed: 547.35 samples/sec, Loss:(pitch, yaw, roll)/(5.993, 3.019, 4.984)
Epoch[092] Batch[199/478] Speed: 538.45 samples/sec, Loss:(pitch, yaw, roll)/(5.991, 3.007, 4.912)
Epoch[092] Batch[249/478] Speed: 547.85 samples/sec, Loss:(pitch, yaw, roll)/(5.994, 3.002, 4.938)
Epoch[092] Batch[299/478] Speed: 545.99 samples/sec, Loss:(pitch, yaw, roll)/(6.131, 3.013, 5.072)
Epoch[092] Batch[349/478] Speed: 553.65 samples/sec, Loss:(pitch, yaw, roll)/(6.301, 3.034, 5.238)
Epoch[092] Batch[399/478] Speed: 534.86 samples/sec, Loss:(pitch, yaw, roll)/(6.341, 3.043, 5.255)
Epoch[092] Batch[449/478] Speed: 541.57 samples/sec, Loss:(pitch, yaw, roll)/(6.377, 3.039, 5.295)
Epoch[092] train: MAE:(pitch, yaw, roll, mean)/(2.103, 1.563, 1.730, 1.799), Cost=227 sec, lr=0.001487
Epoch[092] val : MAE:(pitch, yaw, roll, mean)/(6.633, 7.095, 5.312, 6.346), Loss:(pitch, yaw, roll)/(71.531, 80.055, 82.343)
Epoch[093] Batch[049/478] Speed: 519.04 samples/sec, Loss:(pitch, yaw, roll)/(5.975, 2.988, 4.882)
Epoch[093] Batch[099/478] Speed: 550.31 samples/sec, Loss:(pitch, yaw, roll)/(5.985, 3.006, 4.890)
Epoch[093] Batch[149/478] Speed: 541.42 samples/sec, Loss:(pitch, yaw, roll)/(6.091, 3.001, 5.010)
Epoch[093] Batch[199/478] Speed: 540.05 samples/sec, Loss:(pitch, yaw, roll)/(6.100, 3.011, 5.035)
Epoch[093] Batch[249/478] Speed: 557.60 samples/sec, Loss:(pitch, yaw, roll)/(6.105, 2.998, 5.044)
Epoch[093] Batch[299/478] Speed: 543.79 samples/sec, Loss:(pitch, yaw, roll)/(6.147, 2.991, 5.051)
Epoch[093] Batch[349/478] Speed: 546.83 samples/sec, Loss:(pitch, yaw, roll)/(6.230, 2.997, 5.125)
Epoch[093] Batch[399/478] Speed: 531.59 samples/sec, Loss:(pitch, yaw, roll)/(6.224, 2.997, 5.113)
Epoch[093] Batch[449/478] Speed: 554.82 samples/sec, Loss:(pitch, yaw, roll)/(6.275, 3.003, 5.134)
Epoch[093] train: MAE:(pitch, yaw, roll, mean)/(2.089, 1.548, 1.708, 1.782), Cost=228 sec, lr=0.001438
Epoch[093] val : MAE:(pitch, yaw, roll, mean)/(6.683, 7.115, 5.161, 6.320), Loss:(pitch, yaw, roll)/(75.078, 76.699, 81.996)
Epoch[094] Batch[049/478] Speed: 506.03 samples/sec, Loss:(pitch, yaw, roll)/(6.481, 3.053, 5.438)
Epoch[094] Batch[099/478] Speed: 545.78 samples/sec, Loss:(pitch, yaw, roll)/(6.344, 3.054, 5.218)
Epoch[094] Batch[149/478] Speed: 545.95 samples/sec, Loss:(pitch, yaw, roll)/(6.560, 3.064, 5.491)
Epoch[094] Batch[199/478] Speed: 564.23 samples/sec, Loss:(pitch, yaw, roll)/(6.599, 3.055, 5.562)
Epoch[094] Batch[249/478] Speed: 558.18 samples/sec, Loss:(pitch, yaw, roll)/(6.413, 3.049, 5.368)
Epoch[094] Batch[299/478] Speed: 543.85 samples/sec, Loss:(pitch, yaw, roll)/(6.293, 3.035, 5.253)
Epoch[094] Batch[349/478] Speed: 542.65 samples/sec, Loss:(pitch, yaw, roll)/(6.272, 3.026, 5.227)
Epoch[094] Batch[399/478] Speed: 553.24 samples/sec, Loss:(pitch, yaw, roll)/(6.328, 3.018, 5.284)
Epoch[094] Batch[449/478] Speed: 545.60 samples/sec, Loss:(pitch, yaw, roll)/(6.334, 3.025, 5.298)
Epoch[094] train: MAE:(pitch, yaw, roll, mean)/(2.075, 1.556, 1.708, 1.780), Cost=227 sec, lr=0.001390
Epoch[094] val : MAE:(pitch, yaw, roll, mean)/(6.616, 7.252, 5.240, 6.369), Loss:(pitch, yaw, roll)/(71.889, 83.537, 82.771)
Epoch[095] Batch[049/478] Speed: 526.35 samples/sec, Loss:(pitch, yaw, roll)/(5.937, 2.954, 4.862)
Epoch[095] Batch[099/478] Speed: 562.10 samples/sec, Loss:(pitch, yaw, roll)/(5.989, 2.958, 5.122)
Epoch[095] Batch[149/478] Speed: 552.73 samples/sec, Loss:(pitch, yaw, roll)/(5.900, 2.947, 4.991)
Epoch[095] Batch[199/478] Speed: 553.27 samples/sec, Loss:(pitch, yaw, roll)/(5.959, 2.961, 4.980)
Epoch[095] Batch[249/478] Speed: 547.93 samples/sec, Loss:(pitch, yaw, roll)/(5.875, 2.959, 4.918)
Epoch[095] Batch[299/478] Speed: 557.70 samples/sec, Loss:(pitch, yaw, roll)/(5.953, 2.966, 4.983)
Epoch[095] Batch[349/478] Speed: 548.79 samples/sec, Loss:(pitch, yaw, roll)/(5.941, 2.971, 4.945)
Epoch[095] Batch[399/478] Speed: 550.75 samples/sec, Loss:(pitch, yaw, roll)/(5.938, 2.977, 4.930)
Epoch[095] Batch[449/478] Speed: 554.25 samples/sec, Loss:(pitch, yaw, roll)/(5.939, 2.974, 4.913)
Epoch[095] train: MAE:(pitch, yaw, roll, mean)/(2.032, 1.541, 1.669, 1.747), Cost=224 sec, lr=0.001343
Epoch[095] val : MAE:(pitch, yaw, roll, mean)/(6.475, 7.139, 5.189, 6.268), Loss:(pitch, yaw, roll)/(72.344, 77.800, 82.994)
Min val mean MAE! save model!
Epoch[096] Batch[049/478] Speed: 552.51 samples/sec, Loss:(pitch, yaw, roll)/(5.773, 2.941, 4.783)
Epoch[096] Batch[099/478] Speed: 531.74 samples/sec, Loss:(pitch, yaw, roll)/(5.768, 2.905, 4.730)
Epoch[096] Batch[149/478] Speed: 534.23 samples/sec, Loss:(pitch, yaw, roll)/(5.785, 2.924, 4.748)
Epoch[096] Batch[199/478] Speed: 528.41 samples/sec, Loss:(pitch, yaw, roll)/(5.987, 2.928, 4.903)
Epoch[096] Batch[249/478] Speed: 532.53 samples/sec, Loss:(pitch, yaw, roll)/(5.970, 2.946, 4.987)
Epoch[096] Batch[299/478] Speed: 529.35 samples/sec, Loss:(pitch, yaw, roll)/(6.133, 2.947, 5.127)
Epoch[096] Batch[349/478] Speed: 527.34 samples/sec, Loss:(pitch, yaw, roll)/(6.123, 2.947, 5.126)
Epoch[096] Batch[399/478] Speed: 525.21 samples/sec, Loss:(pitch, yaw, roll)/(6.128, 2.947, 5.136)
Epoch[096] Batch[449/478] Speed: 525.05 samples/sec, Loss:(pitch, yaw, roll)/(6.117, 2.943, 5.126)
Epoch[096] train: MAE:(pitch, yaw, roll, mean)/(2.047, 1.525, 1.686, 1.753), Cost=232 sec, lr=0.001295
Epoch[096] val : MAE:(pitch, yaw, roll, mean)/(6.473, 6.998, 5.231, 6.234), Loss:(pitch, yaw, roll)/(73.511, 82.450, 84.648)
Min val mean MAE! save model!
Epoch[097] Batch[049/478] Speed: 498.13 samples/sec, Loss:(pitch, yaw, roll)/(5.516, 2.949, 4.636)
Epoch[097] Batch[099/478] Speed: 526.95 samples/sec, Loss:(pitch, yaw, roll)/(5.685, 2.926, 4.724)
Epoch[097] Batch[149/478] Speed: 629.86 samples/sec, Loss:(pitch, yaw, roll)/(5.694, 2.907, 4.692)
Epoch[097] Batch[199/478] Speed: 780.89 samples/sec, Loss:(pitch, yaw, roll)/(5.735, 2.904, 4.711)
Epoch[097] Batch[249/478] Speed: 786.09 samples/sec, Loss:(pitch, yaw, roll)/(5.741, 2.917, 4.719)
Epoch[097] Batch[299/478] Speed: 783.10 samples/sec, Loss:(pitch, yaw, roll)/(5.739, 2.921, 4.718)
Epoch[097] Batch[349/478] Speed: 784.95 samples/sec, Loss:(pitch, yaw, roll)/(5.699, 2.915, 4.661)
Epoch[097] Batch[399/478] Speed: 781.89 samples/sec, Loss:(pitch, yaw, roll)/(5.685, 2.917, 4.676)
Epoch[097] Batch[449/478] Speed: 780.31 samples/sec, Loss:(pitch, yaw, roll)/(5.733, 2.916, 4.730)
Epoch[097] train: MAE:(pitch, yaw, roll, mean)/(2.018, 1.523, 1.657, 1.733), Cost=179 sec, lr=0.001249
Epoch[097] val : MAE:(pitch, yaw, roll, mean)/(6.431, 7.156, 5.177, 6.255), Loss:(pitch, yaw, roll)/(70.745, 81.827, 82.123)
Epoch[098] Batch[049/478] Speed: 734.54 samples/sec, Loss:(pitch, yaw, roll)/(5.937, 3.058, 4.919)
Epoch[098] Batch[099/478] Speed: 789.15 samples/sec, Loss:(pitch, yaw, roll)/(5.840, 3.010, 4.795)
Epoch[098] Batch[149/478] Speed: 796.56 samples/sec, Loss:(pitch, yaw, roll)/(5.878, 2.966, 4.819)
Epoch[098] Batch[199/478] Speed: 800.00 samples/sec, Loss:(pitch, yaw, roll)/(5.870, 2.955, 4.804)
Epoch[098] Batch[249/478] Speed: 800.99 samples/sec, Loss:(pitch, yaw, roll)/(5.856, 2.950, 4.827)
Epoch[098] Batch[299/478] Speed: 794.69 samples/sec, Loss:(pitch, yaw, roll)/(5.814, 2.944, 4.798)
Epoch[098] Batch[349/478] Speed: 790.75 samples/sec, Loss:(pitch, yaw, roll)/(5.924, 2.939, 4.966)
Epoch[098] Batch[399/478] Speed: 798.16 samples/sec, Loss:(pitch, yaw, roll)/(5.898, 2.932, 4.940)
Epoch[098] Batch[449/478] Speed: 790.85 samples/sec, Loss:(pitch, yaw, roll)/(5.838, 2.931, 4.874)
Epoch[098] train: MAE:(pitch, yaw, roll, mean)/(2.024, 1.529, 1.656, 1.736), Cost=157 sec, lr=0.001203
Epoch[098] val : MAE:(pitch, yaw, roll, mean)/(6.649, 7.077, 5.174, 6.300), Loss:(pitch, yaw, roll)/(73.081, 78.442, 81.717)
Epoch[099] Batch[049/478] Speed: 748.79 samples/sec, Loss:(pitch, yaw, roll)/(5.871, 2.875, 4.814)
Epoch[099] Batch[099/478] Speed: 794.49 samples/sec, Loss:(pitch, yaw, roll)/(5.944, 2.853, 4.835)
Epoch[099] Batch[149/478] Speed: 799.50 samples/sec, Loss:(pitch, yaw, roll)/(5.959, 2.874, 4.887)
Epoch[099] Batch[199/478] Speed: 784.83 samples/sec, Loss:(pitch, yaw, roll)/(5.987, 2.912, 4.940)
Epoch[099] Batch[249/478] Speed: 788.04 samples/sec, Loss:(pitch, yaw, roll)/(5.934, 2.905, 4.861)
Epoch[099] Batch[299/478] Speed: 776.89 samples/sec, Loss:(pitch, yaw, roll)/(5.893, 2.907, 4.823)
Epoch[099] Batch[349/478] Speed: 789.88 samples/sec, Loss:(pitch, yaw, roll)/(5.817, 2.908, 4.769)
Epoch[099] Batch[399/478] Speed: 785.81 samples/sec, Loss:(pitch, yaw, roll)/(5.750, 2.902, 4.743)
Epoch[099] Batch[449/478] Speed: 781.30 samples/sec, Loss:(pitch, yaw, roll)/(5.718, 2.895, 4.711)
Epoch[099] train: MAE:(pitch, yaw, roll, mean)/(1.996, 1.515, 1.637, 1.716), Cost=158 sec, lr=0.001158
Epoch[099] val : MAE:(pitch, yaw, roll, mean)/(6.671, 7.089, 5.180, 6.313), Loss:(pitch, yaw, roll)/(72.754, 80.554, 81.729)
Epoch[100] Batch[049/478] Speed: 737.00 samples/sec, Loss:(pitch, yaw, roll)/(5.977, 2.798, 5.244)
Epoch[100] Batch[099/478] Speed: 792.66 samples/sec, Loss:(pitch, yaw, roll)/(5.806, 2.838, 4.948)
Epoch[100] Batch[149/478] Speed: 788.57 samples/sec, Loss:(pitch, yaw, roll)/(5.702, 2.828, 4.798)
Epoch[100] Batch[199/478] Speed: 788.86 samples/sec, Loss:(pitch, yaw, roll)/(5.670, 2.845, 4.735)
Epoch[100] Batch[249/478] Speed: 794.52 samples/sec, Loss:(pitch, yaw, roll)/(5.711, 2.852, 4.768)
Epoch[100] Batch[299/478] Speed: 787.52 samples/sec, Loss:(pitch, yaw, roll)/(5.645, 2.848, 4.693)
Epoch[100] Batch[349/478] Speed: 797.32 samples/sec, Loss:(pitch, yaw, roll)/(5.669, 2.858, 4.726)
Epoch[100] Batch[399/478] Speed: 795.63 samples/sec, Loss:(pitch, yaw, roll)/(5.599, 2.851, 4.666)
Epoch[100] Batch[449/478] Speed: 796.50 samples/sec, Loss:(pitch, yaw, roll)/(5.589, 2.862, 4.648)
Epoch[100] train: MAE:(pitch, yaw, roll, mean)/(1.983, 1.505, 1.638, 1.709), Cost=157 sec, lr=0.001113
Epoch[100] val : MAE:(pitch, yaw, roll, mean)/(6.656, 7.202, 5.208, 6.355), Loss:(pitch, yaw, roll)/(73.703, 83.858, 85.409)
Epoch[101] Batch[049/478] Speed: 748.42 samples/sec, Loss:(pitch, yaw, roll)/(5.287, 2.887, 4.758)
Epoch[101] Batch[099/478] Speed: 795.74 samples/sec, Loss:(pitch, yaw, roll)/(5.284, 2.866, 4.544)
Epoch[101] Batch[149/478] Speed: 797.10 samples/sec, Loss:(pitch, yaw, roll)/(5.200, 2.871, 4.367)
Epoch[101] Batch[199/478] Speed: 791.84 samples/sec, Loss:(pitch, yaw, roll)/(5.274, 2.866, 4.392)
Epoch[101] Batch[249/478] Speed: 787.49 samples/sec, Loss:(pitch, yaw, roll)/(5.295, 2.866, 4.375)
Epoch[101] Batch[299/478] Speed: 791.47 samples/sec, Loss:(pitch, yaw, roll)/(5.320, 2.858, 4.381)
Epoch[101] Batch[349/478] Speed: 789.55 samples/sec, Loss:(pitch, yaw, roll)/(5.300, 2.852, 4.357)
Epoch[101] Batch[399/478] Speed: 789.08 samples/sec, Loss:(pitch, yaw, roll)/(5.324, 2.845, 4.389)
Epoch[101] Batch[449/478] Speed: 791.87 samples/sec, Loss:(pitch, yaw, roll)/(5.372, 2.836, 4.436)
Epoch[101] train: MAE:(pitch, yaw, roll, mean)/(1.950, 1.493, 1.607, 1.683), Cost=157 sec, lr=0.001069
Epoch[101] val : MAE:(pitch, yaw, roll, mean)/(6.477, 6.994, 5.156, 6.209), Loss:(pitch, yaw, roll)/(70.548, 79.272, 80.758)
Min val mean MAE! save model!
Epoch[102] Batch[049/478] Speed: 738.12 samples/sec, Loss:(pitch, yaw, roll)/(5.056, 2.755, 3.981)
Epoch[102] Batch[099/478] Speed: 786.59 samples/sec, Loss:(pitch, yaw, roll)/(5.357, 2.785, 4.323)
Epoch[102] Batch[149/478] Speed: 791.64 samples/sec, Loss:(pitch, yaw, roll)/(5.431, 2.811, 4.452)
Epoch[102] Batch[199/478] Speed: 786.23 samples/sec, Loss:(pitch, yaw, roll)/(5.450, 2.826, 4.472)
Epoch[102] Batch[249/478] Speed: 782.65 samples/sec, Loss:(pitch, yaw, roll)/(5.476, 2.823, 4.525)
Epoch[102] Batch[299/478] Speed: 786.69 samples/sec, Loss:(pitch, yaw, roll)/(5.485, 2.821, 4.578)
Epoch[102] Batch[349/478] Speed: 784.07 samples/sec, Loss:(pitch, yaw, roll)/(5.545, 2.817, 4.624)
Epoch[102] Batch[399/478] Speed: 781.91 samples/sec, Loss:(pitch, yaw, roll)/(5.539, 2.808, 4.624)
Epoch[102] Batch[449/478] Speed: 784.34 samples/sec, Loss:(pitch, yaw, roll)/(5.503, 2.811, 4.588)
Epoch[102] train: MAE:(pitch, yaw, roll, mean)/(1.955, 1.484, 1.608, 1.683), Cost=158 sec, lr=0.001025
Epoch[102] val : MAE:(pitch, yaw, roll, mean)/(6.728, 7.050, 5.203, 6.327), Loss:(pitch, yaw, roll)/(74.913, 79.141, 85.455)
Epoch[103] Batch[049/478] Speed: 742.61 samples/sec, Loss:(pitch, yaw, roll)/(5.371, 2.773, 4.388)
Epoch[103] Batch[099/478] Speed: 790.54 samples/sec, Loss:(pitch, yaw, roll)/(5.291, 2.799, 4.259)
Epoch[103] Batch[149/478] Speed: 789.11 samples/sec, Loss:(pitch, yaw, roll)/(5.411, 2.800, 4.414)
Epoch[103] Batch[199/478] Speed: 787.47 samples/sec, Loss:(pitch, yaw, roll)/(5.422, 2.811, 4.423)
Epoch[103] Batch[249/478] Speed: 798.12 samples/sec, Loss:(pitch, yaw, roll)/(5.389, 2.818, 4.398)
Epoch[103] Batch[299/478] Speed: 788.76 samples/sec, Loss:(pitch, yaw, roll)/(5.388, 2.824, 4.426)
Epoch[103] Batch[349/478] Speed: 799.74 samples/sec, Loss:(pitch, yaw, roll)/(5.359, 2.821, 4.419)
Epoch[103] Batch[399/478] Speed: 798.88 samples/sec, Loss:(pitch, yaw, roll)/(5.393, 2.835, 4.433)
Epoch[103] Batch[449/478] Speed: 792.13 samples/sec, Loss:(pitch, yaw, roll)/(5.407, 2.832, 4.441)
Epoch[103] train: MAE:(pitch, yaw, roll, mean)/(1.937, 1.496, 1.589, 1.674), Cost=157 sec, lr=0.000982
Epoch[103] val : MAE:(pitch, yaw, roll, mean)/(6.537, 6.973, 5.175, 6.228), Loss:(pitch, yaw, roll)/(71.842, 75.417, 84.191)
Epoch[104] Batch[049/478] Speed: 758.48 samples/sec, Loss:(pitch, yaw, roll)/(5.207, 2.805, 4.186)
Epoch[104] Batch[099/478] Speed: 806.04 samples/sec, Loss:(pitch, yaw, roll)/(5.103, 2.797, 4.110)
Epoch[104] Batch[149/478] Speed: 801.21 samples/sec, Loss:(pitch, yaw, roll)/(5.082, 2.792, 4.107)
Epoch[104] Batch[199/478] Speed: 801.22 samples/sec, Loss:(pitch, yaw, roll)/(5.052, 2.782, 4.092)
Epoch[104] Batch[249/478] Speed: 794.39 samples/sec, Loss:(pitch, yaw, roll)/(5.082, 2.779, 4.136)
Epoch[104] Batch[299/478] Speed: 794.62 samples/sec, Loss:(pitch, yaw, roll)/(5.068, 2.772, 4.113)
Epoch[104] Batch[349/478] Speed: 790.88 samples/sec, Loss:(pitch, yaw, roll)/(5.109, 2.774, 4.130)
Epoch[104] Batch[399/478] Speed: 792.02 samples/sec, Loss:(pitch, yaw, roll)/(5.140, 2.781, 4.156)
Epoch[104] Batch[449/478] Speed: 789.63 samples/sec, Loss:(pitch, yaw, roll)/(5.159, 2.778, 4.187)
Epoch[104] train: MAE:(pitch, yaw, roll, mean)/(1.918, 1.476, 1.565, 1.653), Cost=156 sec, lr=0.000940
Epoch[104] val : MAE:(pitch, yaw, roll, mean)/(6.535, 7.023, 5.186, 6.248), Loss:(pitch, yaw, roll)/(73.638, 77.962, 85.814)
Epoch[105] Batch[049/478] Speed: 746.52 samples/sec, Loss:(pitch, yaw, roll)/(5.054, 2.772, 4.063)
Epoch[105] Batch[099/478] Speed: 787.81 samples/sec, Loss:(pitch, yaw, roll)/(4.850, 2.748, 3.886)
Epoch[105] Batch[149/478] Speed: 795.94 samples/sec, Loss:(pitch, yaw, roll)/(4.896, 2.762, 3.891)
Epoch[105] Batch[199/478] Speed: 793.42 samples/sec, Loss:(pitch, yaw, roll)/(4.918, 2.759, 3.962)
Epoch[105] Batch[249/478] Speed: 793.18 samples/sec, Loss:(pitch, yaw, roll)/(4.898, 2.757, 3.951)
Epoch[105] Batch[299/478] Speed: 789.70 samples/sec, Loss:(pitch, yaw, roll)/(4.955, 2.780, 4.080)
Epoch[105] Batch[349/478] Speed: 796.14 samples/sec, Loss:(pitch, yaw, roll)/(4.924, 2.779, 4.043)
Epoch[105] Batch[399/478] Speed: 788.07 samples/sec, Loss:(pitch, yaw, roll)/(4.952, 2.772, 4.062)
Epoch[105] Batch[449/478] Speed: 792.56 samples/sec, Loss:(pitch, yaw, roll)/(4.993, 2.768, 4.099)
Epoch[105] train: MAE:(pitch, yaw, roll, mean)/(1.896, 1.474, 1.552, 1.640), Cost=157 sec, lr=0.000899
Epoch[105] val : MAE:(pitch, yaw, roll, mean)/(6.609, 7.039, 5.247, 6.298), Loss:(pitch, yaw, roll)/(73.042, 75.950, 86.008)
Epoch[106] Batch[049/478] Speed: 739.80 samples/sec, Loss:(pitch, yaw, roll)/(5.159, 2.690, 4.247)
Epoch[106] Batch[099/478] Speed: 788.62 samples/sec, Loss:(pitch, yaw, roll)/(5.196, 2.706, 4.218)
Epoch[106] Batch[149/478] Speed: 786.08 samples/sec, Loss:(pitch, yaw, roll)/(5.175, 2.720, 4.219)
Epoch[106] Batch[199/478] Speed: 788.49 samples/sec, Loss:(pitch, yaw, roll)/(5.220, 2.718, 4.255)
Epoch[106] Batch[249/478] Speed: 790.42 samples/sec, Loss:(pitch, yaw, roll)/(5.163, 2.726, 4.246)
Epoch[106] Batch[299/478] Speed: 792.45 samples/sec, Loss:(pitch, yaw, roll)/(5.104, 2.731, 4.179)
Epoch[106] Batch[349/478] Speed: 798.90 samples/sec, Loss:(pitch, yaw, roll)/(5.130, 2.732, 4.193)
Epoch[106] Batch[399/478] Speed: 791.66 samples/sec, Loss:(pitch, yaw, roll)/(5.131, 2.734, 4.186)
Epoch[106] Batch[449/478] Speed: 795.72 samples/sec, Loss:(pitch, yaw, roll)/(5.162, 2.733, 4.228)
Epoch[106] train: MAE:(pitch, yaw, roll, mean)/(1.912, 1.457, 1.565, 1.645), Cost=157 sec, lr=0.000858
Epoch[106] val : MAE:(pitch, yaw, roll, mean)/(6.448, 7.145, 5.104, 6.232), Loss:(pitch, yaw, roll)/(68.581, 80.028, 78.525)
Epoch[107] Batch[049/478] Speed: 755.77 samples/sec, Loss:(pitch, yaw, roll)/(4.727, 2.681, 3.717)
Epoch[107] Batch[099/478] Speed: 800.46 samples/sec, Loss:(pitch, yaw, roll)/(4.804, 2.688, 3.805)
Epoch[107] Batch[149/478] Speed: 795.96 samples/sec, Loss:(pitch, yaw, roll)/(4.853, 2.692, 3.855)
Epoch[107] Batch[199/478] Speed: 801.10 samples/sec, Loss:(pitch, yaw, roll)/(4.917, 2.700, 3.921)
Epoch[107] Batch[249/478] Speed: 793.19 samples/sec, Loss:(pitch, yaw, roll)/(4.901, 2.700, 3.921)
Epoch[107] Batch[299/478] Speed: 783.10 samples/sec, Loss:(pitch, yaw, roll)/(4.915, 2.704, 4.003)
Epoch[107] Batch[349/478] Speed: 792.89 samples/sec, Loss:(pitch, yaw, roll)/(5.002, 2.708, 4.066)
Epoch[107] Batch[399/478] Speed: 785.65 samples/sec, Loss:(pitch, yaw, roll)/(5.005, 2.709, 4.080)
Epoch[107] Batch[449/478] Speed: 787.82 samples/sec, Loss:(pitch, yaw, roll)/(4.977, 2.712, 4.051)
Epoch[107] train: MAE:(pitch, yaw, roll, mean)/(1.885, 1.456, 1.531, 1.624), Cost=157 sec, lr=0.000818
Epoch[107] val : MAE:(pitch, yaw, roll, mean)/(6.484, 7.024, 5.096, 6.201), Loss:(pitch, yaw, roll)/(69.683, 75.650, 79.029)
Min val mean MAE! save model!
Epoch[108] Batch[049/478] Speed: 740.98 samples/sec, Loss:(pitch, yaw, roll)/(4.571, 2.748, 3.654)
Epoch[108] Batch[099/478] Speed: 790.80 samples/sec, Loss:(pitch, yaw, roll)/(4.895, 2.752, 3.966)
Epoch[108] Batch[149/478] Speed: 789.05 samples/sec, Loss:(pitch, yaw, roll)/(5.016, 2.735, 4.155)
Epoch[108] Batch[199/478] Speed: 789.50 samples/sec, Loss:(pitch, yaw, roll)/(5.001, 2.722, 4.153)
Epoch[108] Batch[249/478] Speed: 792.00 samples/sec, Loss:(pitch, yaw, roll)/(4.953, 2.709, 4.098)
Epoch[108] Batch[299/478] Speed: 786.70 samples/sec, Loss:(pitch, yaw, roll)/(4.929, 2.708, 4.088)
Epoch[108] Batch[349/478] Speed: 790.61 samples/sec, Loss:(pitch, yaw, roll)/(4.963, 2.704, 4.123)
Epoch[108] Batch[399/478] Speed: 793.28 samples/sec, Loss:(pitch, yaw, roll)/(5.003, 2.701, 4.168)
Epoch[108] Batch[449/478] Speed: 791.19 samples/sec, Loss:(pitch, yaw, roll)/(5.014, 2.704, 4.183)
Epoch[108] train: MAE:(pitch, yaw, roll, mean)/(1.861, 1.450, 1.544, 1.619), Cost=158 sec, lr=0.000779
Epoch[108] val : MAE:(pitch, yaw, roll, mean)/(6.523, 7.012, 5.133, 6.223), Loss:(pitch, yaw, roll)/(71.122, 77.151, 80.891)
Epoch[109] Batch[049/478] Speed: 747.54 samples/sec, Loss:(pitch, yaw, roll)/(4.487, 2.677, 3.560)
Epoch[109] Batch[099/478] Speed: 797.09 samples/sec, Loss:(pitch, yaw, roll)/(4.660, 2.682, 3.698)
Epoch[109] Batch[149/478] Speed: 798.08 samples/sec, Loss:(pitch, yaw, roll)/(4.785, 2.688, 3.901)
Epoch[109] Batch[199/478] Speed: 790.60 samples/sec, Loss:(pitch, yaw, roll)/(4.849, 2.684, 3.949)
Epoch[109] Batch[249/478] Speed: 792.20 samples/sec, Loss:(pitch, yaw, roll)/(4.792, 2.685, 3.922)
Epoch[109] Batch[299/478] Speed: 787.57 samples/sec, Loss:(pitch, yaw, roll)/(4.794, 2.688, 3.916)
Epoch[109] Batch[349/478] Speed: 776.34 samples/sec, Loss:(pitch, yaw, roll)/(4.783, 2.695, 3.930)
Epoch[109] Batch[399/478] Speed: 789.08 samples/sec, Loss:(pitch, yaw, roll)/(4.778, 2.687, 3.932)
Epoch[109] Batch[449/478] Speed: 786.65 samples/sec, Loss:(pitch, yaw, roll)/(4.831, 2.687, 3.990)
Epoch[109] train: MAE:(pitch, yaw, roll, mean)/(1.848, 1.447, 1.532, 1.609), Cost=157 sec, lr=0.000741
Epoch[109] val : MAE:(pitch, yaw, roll, mean)/(6.546, 7.012, 5.107, 6.222), Loss:(pitch, yaw, roll)/(70.807, 76.544, 77.719)
Epoch[110] Batch[049/478] Speed: 740.92 samples/sec, Loss:(pitch, yaw, roll)/(4.654, 2.671, 3.741)
Epoch[110] Batch[099/478] Speed: 781.52 samples/sec, Loss:(pitch, yaw, roll)/(4.856, 2.681, 3.966)
Epoch[110] Batch[149/478] Speed: 785.11 samples/sec, Loss:(pitch, yaw, roll)/(4.809, 2.655, 3.858)
Epoch[110] Batch[199/478] Speed: 785.41 samples/sec, Loss:(pitch, yaw, roll)/(4.794, 2.662, 3.879)
Epoch[110] Batch[249/478] Speed: 785.41 samples/sec, Loss:(pitch, yaw, roll)/(4.820, 2.667, 3.893)
Epoch[110] Batch[299/478] Speed: 787.81 samples/sec, Loss:(pitch, yaw, roll)/(4.770, 2.666, 3.867)
Epoch[110] Batch[349/478] Speed: 781.63 samples/sec, Loss:(pitch, yaw, roll)/(4.817, 2.669, 3.904)
Epoch[110] Batch[399/478] Speed: 793.71 samples/sec, Loss:(pitch, yaw, roll)/(4.843, 2.664, 3.917)
Epoch[110] Batch[449/478] Speed: 789.25 samples/sec, Loss:(pitch, yaw, roll)/(4.851, 2.667, 3.944)
Epoch[110] train: MAE:(pitch, yaw, roll, mean)/(1.852, 1.436, 1.522, 1.604), Cost=158 sec, lr=0.000703
Epoch[110] val : MAE:(pitch, yaw, roll, mean)/(6.518, 7.094, 5.149, 6.254), Loss:(pitch, yaw, roll)/(71.430, 81.049, 81.205)
Epoch[111] Batch[049/478] Speed: 751.01 samples/sec, Loss:(pitch, yaw, roll)/(4.713, 2.629, 3.990)
Epoch[111] Batch[099/478] Speed: 795.10 samples/sec, Loss:(pitch, yaw, roll)/(4.538, 2.646, 3.802)
Epoch[111] Batch[149/478] Speed: 793.11 samples/sec, Loss:(pitch, yaw, roll)/(4.559, 2.637, 3.764)
Epoch[111] Batch[199/478] Speed: 794.54 samples/sec, Loss:(pitch, yaw, roll)/(4.619, 2.640, 3.819)
Epoch[111] Batch[249/478] Speed: 791.59 samples/sec, Loss:(pitch, yaw, roll)/(4.652, 2.644, 3.850)
Epoch[111] Batch[299/478] Speed: 794.04 samples/sec, Loss:(pitch, yaw, roll)/(4.617, 2.640, 3.793)
Epoch[111] Batch[349/478] Speed: 796.31 samples/sec, Loss:(pitch, yaw, roll)/(4.586, 2.648, 3.756)
Epoch[111] Batch[399/478] Speed: 798.05 samples/sec, Loss:(pitch, yaw, roll)/(4.629, 2.655, 3.775)
Epoch[111] Batch[449/478] Speed: 798.35 samples/sec, Loss:(pitch, yaw, roll)/(4.634, 2.655, 3.788)
Epoch[111] train: MAE:(pitch, yaw, roll, mean)/(1.818, 1.431, 1.501, 1.583), Cost=156 sec, lr=0.000667
Epoch[111] val : MAE:(pitch, yaw, roll, mean)/(6.586, 6.958, 5.165, 6.236), Loss:(pitch, yaw, roll)/(71.874, 78.931, 80.879)
Epoch[112] Batch[049/478] Speed: 757.76 samples/sec, Loss:(pitch, yaw, roll)/(4.806, 2.631, 3.902)
Epoch[112] Batch[099/478] Speed: 803.88 samples/sec, Loss:(pitch, yaw, roll)/(4.778, 2.643, 3.873)
Epoch[112] Batch[149/478] Speed: 801.84 samples/sec, Loss:(pitch, yaw, roll)/(4.690, 2.651, 3.815)
Epoch[112] Batch[199/478] Speed: 798.98 samples/sec, Loss:(pitch, yaw, roll)/(4.725, 2.655, 3.828)
Epoch[112] Batch[249/478] Speed: 801.53 samples/sec, Loss:(pitch, yaw, roll)/(4.717, 2.671, 3.811)
Epoch[112] Batch[299/478] Speed: 794.77 samples/sec, Loss:(pitch, yaw, roll)/(4.735, 2.672, 3.860)
Epoch[112] Batch[349/478] Speed: 793.11 samples/sec, Loss:(pitch, yaw, roll)/(4.730, 2.664, 3.853)
Epoch[112] Batch[399/478] Speed: 790.24 samples/sec, Loss:(pitch, yaw, roll)/(4.702, 2.662, 3.829)
Epoch[112] Batch[449/478] Speed: 792.33 samples/sec, Loss:(pitch, yaw, roll)/(4.705, 2.657, 3.843)
Epoch[112] train: MAE:(pitch, yaw, roll, mean)/(1.831, 1.436, 1.499, 1.589), Cost=156 sec, lr=0.000631
Epoch[112] val : MAE:(pitch, yaw, roll, mean)/(6.618, 7.003, 5.236, 6.286), Loss:(pitch, yaw, roll)/(73.802, 75.516, 83.921)
Epoch[113] Batch[049/478] Speed: 746.37 samples/sec, Loss:(pitch, yaw, roll)/(4.503, 2.605, 3.708)
Epoch[113] Batch[099/478] Speed: 797.96 samples/sec, Loss:(pitch, yaw, roll)/(4.664, 2.601, 3.847)
Epoch[113] Batch[149/478] Speed: 789.47 samples/sec, Loss:(pitch, yaw, roll)/(4.678, 2.616, 3.856)
Epoch[113] Batch[199/478] Speed: 795.87 samples/sec, Loss:(pitch, yaw, roll)/(4.627, 2.622, 3.778)
Epoch[113] Batch[249/478] Speed: 788.90 samples/sec, Loss:(pitch, yaw, roll)/(4.610, 2.622, 3.766)
Epoch[113] Batch[299/478] Speed: 791.93 samples/sec, Loss:(pitch, yaw, roll)/(4.627, 2.638, 3.777)
Epoch[113] Batch[349/478] Speed: 789.22 samples/sec, Loss:(pitch, yaw, roll)/(4.600, 2.630, 3.767)
Epoch[113] Batch[399/478] Speed: 793.41 samples/sec, Loss:(pitch, yaw, roll)/(4.609, 2.623, 3.794)
Epoch[113] Batch[449/478] Speed: 790.05 samples/sec, Loss:(pitch, yaw, roll)/(4.609, 2.621, 3.776)
Epoch[113] train: MAE:(pitch, yaw, roll, mean)/(1.809, 1.424, 1.501, 1.578), Cost=157 sec, lr=0.000596
Epoch[113] val : MAE:(pitch, yaw, roll, mean)/(6.539, 6.972, 5.170, 6.227), Loss:(pitch, yaw, roll)/(72.038, 76.877, 84.024)
Epoch[114] Batch[049/478] Speed: 749.73 samples/sec, Loss:(pitch, yaw, roll)/(4.463, 2.584, 3.604)
Epoch[114] Batch[099/478] Speed: 795.29 samples/sec, Loss:(pitch, yaw, roll)/(4.454, 2.604, 3.580)
Epoch[114] Batch[149/478] Speed: 790.60 samples/sec, Loss:(pitch, yaw, roll)/(4.493, 2.604, 3.607)
Epoch[114] Batch[199/478] Speed: 788.50 samples/sec, Loss:(pitch, yaw, roll)/(4.491, 2.600, 3.640)
Epoch[114] Batch[249/478] Speed: 790.82 samples/sec, Loss:(pitch, yaw, roll)/(4.549, 2.603, 3.706)
Epoch[114] Batch[299/478] Speed: 794.85 samples/sec, Loss:(pitch, yaw, roll)/(4.588, 2.603, 3.762)
Epoch[114] Batch[349/478] Speed: 793.61 samples/sec, Loss:(pitch, yaw, roll)/(4.597, 2.602, 3.772)
Epoch[114] Batch[399/478] Speed: 794.24 samples/sec, Loss:(pitch, yaw, roll)/(4.606, 2.599, 3.766)
Epoch[114] Batch[449/478] Speed: 803.46 samples/sec, Loss:(pitch, yaw, roll)/(4.610, 2.603, 3.758)
Epoch[114] train: MAE:(pitch, yaw, roll, mean)/(1.811, 1.416, 1.489, 1.572), Cost=156 sec, lr=0.000561
Epoch[114] val : MAE:(pitch, yaw, roll, mean)/(6.549, 6.898, 5.178, 6.208), Loss:(pitch, yaw, roll)/(72.831, 75.805, 82.283)
Epoch[115] Batch[049/478] Speed: 757.54 samples/sec, Loss:(pitch, yaw, roll)/(4.421, 2.600, 3.585)
Epoch[115] Batch[099/478] Speed: 803.90 samples/sec, Loss:(pitch, yaw, roll)/(4.601, 2.612, 3.780)
Epoch[115] Batch[149/478] Speed: 796.60 samples/sec, Loss:(pitch, yaw, roll)/(4.662, 2.627, 3.805)
Epoch[115] Batch[199/478] Speed: 802.24 samples/sec, Loss:(pitch, yaw, roll)/(4.600, 2.632, 3.732)
Epoch[115] Batch[249/478] Speed: 801.64 samples/sec, Loss:(pitch, yaw, roll)/(4.580, 2.621, 3.710)
Epoch[115] Batch[299/478] Speed: 799.19 samples/sec, Loss:(pitch, yaw, roll)/(4.592, 2.618, 3.713)
Epoch[115] Batch[349/478] Speed: 800.50 samples/sec, Loss:(pitch, yaw, roll)/(4.560, 2.618, 3.707)
Epoch[115] Batch[399/478] Speed: 776.59 samples/sec, Loss:(pitch, yaw, roll)/(4.550, 2.610, 3.722)
Epoch[115] Batch[449/478] Speed: 788.12 samples/sec, Loss:(pitch, yaw, roll)/(4.570, 2.608, 3.731)
Epoch[115] train: MAE:(pitch, yaw, roll, mean)/(1.804, 1.420, 1.491, 1.572), Cost=156 sec, lr=0.000528
Epoch[115] val : MAE:(pitch, yaw, roll, mean)/(6.651, 7.049, 5.212, 6.304), Loss:(pitch, yaw, roll)/(74.448, 77.165, 83.768)
Epoch[116] Batch[049/478] Speed: 740.18 samples/sec, Loss:(pitch, yaw, roll)/(4.645, 2.591, 3.720)
Epoch[116] Batch[099/478] Speed: 793.91 samples/sec, Loss:(pitch, yaw, roll)/(4.519, 2.561, 3.625)
Epoch[116] Batch[149/478] Speed: 790.68 samples/sec, Loss:(pitch, yaw, roll)/(4.518, 2.559, 3.752)
Epoch[116] Batch[199/478] Speed: 788.54 samples/sec, Loss:(pitch, yaw, roll)/(4.431, 2.566, 3.651)
Epoch[116] Batch[249/478] Speed: 791.70 samples/sec, Loss:(pitch, yaw, roll)/(4.477, 2.566, 3.693)
Epoch[116] Batch[299/478] Speed: 790.69 samples/sec, Loss:(pitch, yaw, roll)/(4.466, 2.567, 3.690)
Epoch[116] Batch[349/478] Speed: 791.42 samples/sec, Loss:(pitch, yaw, roll)/(4.486, 2.568, 3.700)
Epoch[116] Batch[399/478] Speed: 782.60 samples/sec, Loss:(pitch, yaw, roll)/(4.519, 2.573, 3.718)
Epoch[116] Batch[449/478] Speed: 790.20 samples/sec, Loss:(pitch, yaw, roll)/(4.512, 2.570, 3.712)
Epoch[116] train: MAE:(pitch, yaw, roll, mean)/(1.788, 1.402, 1.478, 1.556), Cost=157 sec, lr=0.000496
Epoch[116] val : MAE:(pitch, yaw, roll, mean)/(6.500, 7.013, 5.140, 6.218), Loss:(pitch, yaw, roll)/(72.357, 79.334, 80.640)
Epoch[117] Batch[049/478] Speed: 738.50 samples/sec, Loss:(pitch, yaw, roll)/(4.452, 2.605, 3.552)
Epoch[117] Batch[099/478] Speed: 789.70 samples/sec, Loss:(pitch, yaw, roll)/(4.466, 2.565, 3.583)
Epoch[117] Batch[149/478] Speed: 788.35 samples/sec, Loss:(pitch, yaw, roll)/(4.453, 2.563, 3.594)
Epoch[117] Batch[199/478] Speed: 775.47 samples/sec, Loss:(pitch, yaw, roll)/(4.418, 2.562, 3.559)
Epoch[117] Batch[249/478] Speed: 787.96 samples/sec, Loss:(pitch, yaw, roll)/(4.375, 2.560, 3.530)
Epoch[117] Batch[299/478] Speed: 789.12 samples/sec, Loss:(pitch, yaw, roll)/(4.334, 2.553, 3.506)
Epoch[117] Batch[349/478] Speed: 783.17 samples/sec, Loss:(pitch, yaw, roll)/(4.349, 2.554, 3.502)
Epoch[117] Batch[399/478] Speed: 789.68 samples/sec, Loss:(pitch, yaw, roll)/(4.347, 2.554, 3.506)
Epoch[117] Batch[449/478] Speed: 791.03 samples/sec, Loss:(pitch, yaw, roll)/(4.383, 2.552, 3.530)
Epoch[117] train: MAE:(pitch, yaw, roll, mean)/(1.772, 1.397, 1.457, 1.542), Cost=158 sec, lr=0.000464
Epoch[117] val : MAE:(pitch, yaw, roll, mean)/(6.552, 6.979, 5.132, 6.221), Loss:(pitch, yaw, roll)/(70.870, 76.749, 81.303)
Epoch[118] Batch[049/478] Speed: 743.70 samples/sec, Loss:(pitch, yaw, roll)/(4.288, 2.551, 3.397)
Epoch[118] Batch[099/478] Speed: 793.15 samples/sec, Loss:(pitch, yaw, roll)/(4.278, 2.561, 3.367)
Epoch[118] Batch[149/478] Speed: 789.12 samples/sec, Loss:(pitch, yaw, roll)/(4.266, 2.546, 3.353)
Epoch[118] Batch[199/478] Speed: 789.32 samples/sec, Loss:(pitch, yaw, roll)/(4.252, 2.556, 3.371)
Epoch[118] Batch[249/478] Speed: 787.24 samples/sec, Loss:(pitch, yaw, roll)/(4.270, 2.553, 3.431)
Epoch[118] Batch[299/478] Speed: 788.39 samples/sec, Loss:(pitch, yaw, roll)/(4.308, 2.554, 3.469)
Epoch[118] Batch[349/478] Speed: 790.39 samples/sec, Loss:(pitch, yaw, roll)/(4.314, 2.550, 3.475)
Epoch[118] Batch[399/478] Speed: 789.79 samples/sec, Loss:(pitch, yaw, roll)/(4.339, 2.551, 3.524)
Epoch[118] Batch[449/478] Speed: 781.43 samples/sec, Loss:(pitch, yaw, roll)/(4.359, 2.549, 3.544)
Epoch[118] train: MAE:(pitch, yaw, roll, mean)/(1.766, 1.397, 1.447, 1.536), Cost=158 sec, lr=0.000434
Epoch[118] val : MAE:(pitch, yaw, roll, mean)/(6.556, 6.966, 5.153, 6.225), Loss:(pitch, yaw, roll)/(72.692, 77.317, 84.227)
Epoch[119] Batch[049/478] Speed: 744.67 samples/sec, Loss:(pitch, yaw, roll)/(4.251, 2.584, 3.413)
Epoch[119] Batch[099/478] Speed: 793.97 samples/sec, Loss:(pitch, yaw, roll)/(4.157, 2.568, 3.319)
Epoch[119] Batch[149/478] Speed: 790.59 samples/sec, Loss:(pitch, yaw, roll)/(4.258, 2.562, 3.413)
Epoch[119] Batch[199/478] Speed: 786.39 samples/sec, Loss:(pitch, yaw, roll)/(4.198, 2.555, 3.370)
Epoch[119] Batch[249/478] Speed: 790.81 samples/sec, Loss:(pitch, yaw, roll)/(4.207, 2.568, 3.391)
Epoch[119] Batch[299/478] Speed: 789.59 samples/sec, Loss:(pitch, yaw, roll)/(4.236, 2.563, 3.427)
Epoch[119] Batch[349/478] Speed: 786.86 samples/sec, Loss:(pitch, yaw, roll)/(4.269, 2.560, 3.443)
Epoch[119] Batch[399/478] Speed: 788.73 samples/sec, Loss:(pitch, yaw, roll)/(4.257, 2.553, 3.431)
Epoch[119] Batch[449/478] Speed: 787.50 samples/sec, Loss:(pitch, yaw, roll)/(4.259, 2.550, 3.435)
Epoch[119] train: MAE:(pitch, yaw, roll, mean)/(1.744, 1.395, 1.437, 1.526), Cost=157 sec, lr=0.000404
Epoch[119] val : MAE:(pitch, yaw, roll, mean)/(6.467, 6.953, 5.173, 6.197), Loss:(pitch, yaw, roll)/(71.133, 79.546, 82.972)
Min val mean MAE! save model!
Epoch[120] Batch[049/478] Speed: 743.32 samples/sec, Loss:(pitch, yaw, roll)/(4.194, 2.514, 3.426)
Epoch[120] Batch[099/478] Speed: 790.56 samples/sec, Loss:(pitch, yaw, roll)/(4.294, 2.508, 3.561)
Epoch[120] Batch[149/478] Speed: 787.48 samples/sec, Loss:(pitch, yaw, roll)/(4.276, 2.508, 3.520)
Epoch[120] Batch[199/478] Speed: 790.13 samples/sec, Loss:(pitch, yaw, roll)/(4.283, 2.505, 3.488)
Epoch[120] Batch[249/478] Speed: 787.46 samples/sec, Loss:(pitch, yaw, roll)/(4.298, 2.507, 3.486)
Epoch[120] Batch[299/478] Speed: 778.83 samples/sec, Loss:(pitch, yaw, roll)/(4.334, 2.501, 3.526)
Epoch[120] Batch[349/478] Speed: 787.09 samples/sec, Loss:(pitch, yaw, roll)/(4.335, 2.507, 3.529)
Epoch[120] Batch[399/478] Speed: 788.66 samples/sec, Loss:(pitch, yaw, roll)/(4.332, 2.509, 3.512)
Epoch[120] Batch[449/478] Speed: 788.56 samples/sec, Loss:(pitch, yaw, roll)/(4.370, 2.507, 3.559)
Epoch[120] train: MAE:(pitch, yaw, roll, mean)/(1.751, 1.381, 1.446, 1.526), Cost=158 sec, lr=0.000376
Epoch[120] val : MAE:(pitch, yaw, roll, mean)/(6.519, 7.084, 5.149, 6.251), Loss:(pitch, yaw, roll)/(71.531, 81.193, 82.430)
Epoch[121] Batch[049/478] Speed: 746.59 samples/sec, Loss:(pitch, yaw, roll)/(4.505, 2.513, 3.651)
Epoch[121] Batch[099/478] Speed: 783.27 samples/sec, Loss:(pitch, yaw, roll)/(4.387, 2.492, 3.523)
Epoch[121] Batch[149/478] Speed: 786.52 samples/sec, Loss:(pitch, yaw, roll)/(4.358, 2.488, 3.535)
Epoch[121] Batch[199/478] Speed: 788.32 samples/sec, Loss:(pitch, yaw, roll)/(4.351, 2.490, 3.486)
Epoch[121] Batch[249/478] Speed: 786.25 samples/sec, Loss:(pitch, yaw, roll)/(4.293, 2.506, 3.443)
Epoch[121] Batch[299/478] Speed: 784.87 samples/sec, Loss:(pitch, yaw, roll)/(4.299, 2.505, 3.443)
Epoch[121] Batch[349/478] Speed: 784.58 samples/sec, Loss:(pitch, yaw, roll)/(4.274, 2.503, 3.438)
Epoch[121] Batch[399/478] Speed: 785.25 samples/sec, Loss:(pitch, yaw, roll)/(4.283, 2.499, 3.436)
Epoch[121] Batch[449/478] Speed: 787.49 samples/sec, Loss:(pitch, yaw, roll)/(4.307, 2.495, 3.470)
Epoch[121] train: MAE:(pitch, yaw, roll, mean)/(1.740, 1.377, 1.434, 1.517), Cost=158 sec, lr=0.000348
Epoch[121] val : MAE:(pitch, yaw, roll, mean)/(6.581, 6.977, 5.177, 6.245), Loss:(pitch, yaw, roll)/(71.536, 79.168, 81.799)
Epoch[122] Batch[049/478] Speed: 748.27 samples/sec, Loss:(pitch, yaw, roll)/(4.115, 2.502, 3.345)
Epoch[122] Batch[099/478] Speed: 792.56 samples/sec, Loss:(pitch, yaw, roll)/(4.169, 2.481, 3.452)
Epoch[122] Batch[149/478] Speed: 781.81 samples/sec, Loss:(pitch, yaw, roll)/(4.227, 2.483, 3.498)
Epoch[122] Batch[199/478] Speed: 790.47 samples/sec, Loss:(pitch, yaw, roll)/(4.267, 2.488, 3.532)
Epoch[122] Batch[249/478] Speed: 785.58 samples/sec, Loss:(pitch, yaw, roll)/(4.246, 2.494, 3.499)
Epoch[122] Batch[299/478] Speed: 789.73 samples/sec, Loss:(pitch, yaw, roll)/(4.206, 2.492, 3.442)
Epoch[122] Batch[349/478] Speed: 789.00 samples/sec, Loss:(pitch, yaw, roll)/(4.241, 2.492, 3.470)
Epoch[122] Batch[399/478] Speed: 786.48 samples/sec, Loss:(pitch, yaw, roll)/(4.253, 2.486, 3.480)
Epoch[122] Batch[449/478] Speed: 785.73 samples/sec, Loss:(pitch, yaw, roll)/(4.250, 2.486, 3.482)
Epoch[122] train: MAE:(pitch, yaw, roll, mean)/(1.732, 1.375, 1.435, 1.514), Cost=158 sec, lr=0.000321
Epoch[122] val : MAE:(pitch, yaw, roll, mean)/(6.574, 7.003, 5.120, 6.232), Loss:(pitch, yaw, roll)/(71.339, 78.446, 80.670)
Epoch[123] Batch[049/478] Speed: 748.63 samples/sec, Loss:(pitch, yaw, roll)/(4.463, 2.509, 3.637)
Epoch[123] Batch[099/478] Speed: 792.46 samples/sec, Loss:(pitch, yaw, roll)/(4.390, 2.507, 3.560)
Epoch[123] Batch[149/478] Speed: 790.41 samples/sec, Loss:(pitch, yaw, roll)/(4.281, 2.512, 3.479)
Epoch[123] Batch[199/478] Speed: 791.75 samples/sec, Loss:(pitch, yaw, roll)/(4.277, 2.509, 3.484)
Epoch[123] Batch[249/478] Speed: 791.05 samples/sec, Loss:(pitch, yaw, roll)/(4.293, 2.499, 3.522)
Epoch[123] Batch[299/478] Speed: 788.67 samples/sec, Loss:(pitch, yaw, roll)/(4.266, 2.495, 3.517)
Epoch[123] Batch[349/478] Speed: 792.09 samples/sec, Loss:(pitch, yaw, roll)/(4.230, 2.495, 3.492)
Epoch[123] Batch[399/478] Speed: 787.77 samples/sec, Loss:(pitch, yaw, roll)/(4.234, 2.489, 3.487)
Epoch[123] Batch[449/478] Speed: 783.98 samples/sec, Loss:(pitch, yaw, roll)/(4.251, 2.487, 3.491)
Epoch[123] train: MAE:(pitch, yaw, roll, mean)/(1.732, 1.371, 1.433, 1.512), Cost=158 sec, lr=0.000296
Epoch[123] val : MAE:(pitch, yaw, roll, mean)/(6.581, 6.927, 5.167, 6.225), Loss:(pitch, yaw, roll)/(72.021, 75.823, 81.902)
Epoch[124] Batch[049/478] Speed: 750.76 samples/sec, Loss:(pitch, yaw, roll)/(4.488, 2.454, 3.775)
Epoch[124] Batch[099/478] Speed: 792.35 samples/sec, Loss:(pitch, yaw, roll)/(4.255, 2.448, 3.468)
Epoch[124] Batch[149/478] Speed: 789.72 samples/sec, Loss:(pitch, yaw, roll)/(4.190, 2.458, 3.399)
Epoch[124] Batch[199/478] Speed: 779.82 samples/sec, Loss:(pitch, yaw, roll)/(4.226, 2.452, 3.511)
Epoch[124] Batch[249/478] Speed: 786.12 samples/sec, Loss:(pitch, yaw, roll)/(4.240, 2.458, 3.492)
Epoch[124] Batch[299/478] Speed: 781.29 samples/sec, Loss:(pitch, yaw, roll)/(4.217, 2.463, 3.453)
Epoch[124] Batch[349/478] Speed: 783.27 samples/sec, Loss:(pitch, yaw, roll)/(4.196, 2.456, 3.415)
Epoch[124] Batch[399/478] Speed: 785.75 samples/sec, Loss:(pitch, yaw, roll)/(4.167, 2.462, 3.385)
Epoch[124] Batch[449/478] Speed: 784.76 samples/sec, Loss:(pitch, yaw, roll)/(4.187, 2.460, 3.405)
Epoch[124] train: MAE:(pitch, yaw, roll, mean)/(1.730, 1.365, 1.422, 1.506), Cost=158 sec, lr=0.000271
Epoch[124] val : MAE:(pitch, yaw, roll, mean)/(6.499, 6.956, 5.154, 6.203), Loss:(pitch, yaw, roll)/(70.884, 77.340, 81.065)
Epoch[125] Batch[049/478] Speed: 744.64 samples/sec, Loss:(pitch, yaw, roll)/(4.288, 2.484, 3.425)
Epoch[125] Batch[099/478] Speed: 791.53 samples/sec, Loss:(pitch, yaw, roll)/(4.267, 2.462, 3.411)
Epoch[125] Batch[149/478] Speed: 783.50 samples/sec, Loss:(pitch, yaw, roll)/(4.356, 2.454, 3.592)
Epoch[125] Batch[199/478] Speed: 787.77 samples/sec, Loss:(pitch, yaw, roll)/(4.359, 2.447, 3.569)
Epoch[125] Batch[249/478] Speed: 785.76 samples/sec, Loss:(pitch, yaw, roll)/(4.344, 2.453, 3.560)
Epoch[125] Batch[299/478] Speed: 791.03 samples/sec, Loss:(pitch, yaw, roll)/(4.302, 2.453, 3.523)
Epoch[125] Batch[349/478] Speed: 786.28 samples/sec, Loss:(pitch, yaw, roll)/(4.280, 2.450, 3.481)
Epoch[125] Batch[399/478] Speed: 789.92 samples/sec, Loss:(pitch, yaw, roll)/(4.259, 2.456, 3.467)
Epoch[125] Batch[449/478] Speed: 789.76 samples/sec, Loss:(pitch, yaw, roll)/(4.232, 2.460, 3.437)
Epoch[125] train: MAE:(pitch, yaw, roll, mean)/(1.721, 1.366, 1.418, 1.502), Cost=157 sec, lr=0.000247
Epoch[125] val : MAE:(pitch, yaw, roll, mean)/(6.554, 6.972, 5.214, 6.247), Loss:(pitch, yaw, roll)/(73.065, 79.422, 82.837)
Epoch[126] Batch[049/478] Speed: 748.12 samples/sec, Loss:(pitch, yaw, roll)/(4.039, 2.430, 3.315)
Epoch[126] Batch[099/478] Speed: 791.70 samples/sec, Loss:(pitch, yaw, roll)/(4.038, 2.462, 3.376)
Epoch[126] Batch[149/478] Speed: 783.14 samples/sec, Loss:(pitch, yaw, roll)/(4.061, 2.453, 3.352)
Epoch[126] Batch[199/478] Speed: 791.65 samples/sec, Loss:(pitch, yaw, roll)/(4.086, 2.441, 3.326)
Epoch[126] Batch[249/478] Speed: 788.12 samples/sec, Loss:(pitch, yaw, roll)/(4.100, 2.442, 3.382)
Epoch[126] Batch[299/478] Speed: 792.43 samples/sec, Loss:(pitch, yaw, roll)/(4.149, 2.441, 3.413)
Epoch[126] Batch[349/478] Speed: 788.49 samples/sec, Loss:(pitch, yaw, roll)/(4.128, 2.449, 3.375)
Epoch[126] Batch[399/478] Speed: 788.15 samples/sec, Loss:(pitch, yaw, roll)/(4.125, 2.449, 3.356)
Epoch[126] Batch[449/478] Speed: 791.25 samples/sec, Loss:(pitch, yaw, roll)/(4.104, 2.449, 3.334)
Epoch[126] train: MAE:(pitch, yaw, roll, mean)/(1.707, 1.362, 1.407, 1.492), Cost=157 sec, lr=0.000225
Epoch[126] val : MAE:(pitch, yaw, roll, mean)/(6.528, 6.957, 5.154, 6.213), Loss:(pitch, yaw, roll)/(72.685, 77.628, 82.284)
Epoch[127] Batch[049/478] Speed: 751.41 samples/sec, Loss:(pitch, yaw, roll)/(3.954, 2.410, 3.076)
Epoch[127] Batch[099/478] Speed: 793.07 samples/sec, Loss:(pitch, yaw, roll)/(4.107, 2.426, 3.288)
Epoch[127] Batch[149/478] Speed: 792.73 samples/sec, Loss:(pitch, yaw, roll)/(4.188, 2.439, 3.380)
Epoch[127] Batch[199/478] Speed: 791.80 samples/sec, Loss:(pitch, yaw, roll)/(4.127, 2.430, 3.318)
Epoch[127] Batch[249/478] Speed: 791.33 samples/sec, Loss:(pitch, yaw, roll)/(4.113, 2.435, 3.309)
Epoch[127] Batch[299/478] Speed: 786.19 samples/sec, Loss:(pitch, yaw, roll)/(4.115, 2.437, 3.332)
Epoch[127] Batch[349/478] Speed: 791.88 samples/sec, Loss:(pitch, yaw, roll)/(4.074, 2.440, 3.287)
Epoch[127] Batch[399/478] Speed: 785.83 samples/sec, Loss:(pitch, yaw, roll)/(4.065, 2.437, 3.274)
Epoch[127] Batch[449/478] Speed: 784.74 samples/sec, Loss:(pitch, yaw, roll)/(4.056, 2.435, 3.266)
Epoch[127] train: MAE:(pitch, yaw, roll, mean)/(1.702, 1.352, 1.397, 1.483), Cost=158 sec, lr=0.000203
Epoch[127] val : MAE:(pitch, yaw, roll, mean)/(6.511, 6.930, 5.123, 6.188), Loss:(pitch, yaw, roll)/(71.569, 75.490, 82.701)
Min val mean MAE! save model!
Epoch[128] Batch[049/478] Speed: 748.31 samples/sec, Loss:(pitch, yaw, roll)/(3.776, 2.428, 2.998)
Epoch[128] Batch[099/478] Speed: 793.27 samples/sec, Loss:(pitch, yaw, roll)/(3.963, 2.441, 3.212)
Epoch[128] Batch[149/478] Speed: 788.04 samples/sec, Loss:(pitch, yaw, roll)/(3.984, 2.433, 3.255)
Epoch[128] Batch[199/478] Speed: 786.95 samples/sec, Loss:(pitch, yaw, roll)/(4.013, 2.438, 3.250)
Epoch[128] Batch[249/478] Speed: 785.11 samples/sec, Loss:(pitch, yaw, roll)/(4.016, 2.438, 3.266)
Epoch[128] Batch[299/478] Speed: 780.27 samples/sec, Loss:(pitch, yaw, roll)/(4.016, 2.432, 3.264)
Epoch[128] Batch[349/478] Speed: 789.29 samples/sec, Loss:(pitch, yaw, roll)/(3.994, 2.434, 3.252)
Epoch[128] Batch[399/478] Speed: 781.27 samples/sec, Loss:(pitch, yaw, roll)/(4.007, 2.429, 3.249)
Epoch[128] Batch[449/478] Speed: 788.86 samples/sec, Loss:(pitch, yaw, roll)/(4.042, 2.428, 3.282)
Epoch[128] train: MAE:(pitch, yaw, roll, mean)/(1.694, 1.354, 1.409, 1.486), Cost=158 sec, lr=0.000183
Epoch[128] val : MAE:(pitch, yaw, roll, mean)/(6.523, 6.928, 5.208, 6.220), Loss:(pitch, yaw, roll)/(72.213, 75.537, 84.422)
Epoch[129] Batch[049/478] Speed: 748.52 samples/sec, Loss:(pitch, yaw, roll)/(3.978, 2.448, 3.179)
Epoch[129] Batch[099/478] Speed: 790.94 samples/sec, Loss:(pitch, yaw, roll)/(3.978, 2.393, 3.180)
Epoch[129] Batch[149/478] Speed: 782.78 samples/sec, Loss:(pitch, yaw, roll)/(4.042, 2.412, 3.247)
Epoch[129] Batch[199/478] Speed: 792.56 samples/sec, Loss:(pitch, yaw, roll)/(3.977, 2.405, 3.185)
Epoch[129] Batch[249/478] Speed: 785.58 samples/sec, Loss:(pitch, yaw, roll)/(3.967, 2.408, 3.156)
Epoch[129] Batch[299/478] Speed: 788.97 samples/sec, Loss:(pitch, yaw, roll)/(3.942, 2.412, 3.153)
Epoch[129] Batch[349/478] Speed: 782.59 samples/sec, Loss:(pitch, yaw, roll)/(3.941, 2.413, 3.164)
Epoch[129] Batch[399/478] Speed: 790.68 samples/sec, Loss:(pitch, yaw, roll)/(3.957, 2.414, 3.181)
Epoch[129] Batch[449/478] Speed: 787.24 samples/sec, Loss:(pitch, yaw, roll)/(3.945, 2.417, 3.165)
Epoch[129] train: MAE:(pitch, yaw, roll, mean)/(1.686, 1.349, 1.389, 1.475), Cost=158 sec, lr=0.000163
Epoch[129] val : MAE:(pitch, yaw, roll, mean)/(6.572, 6.974, 5.195, 6.247), Loss:(pitch, yaw, roll)/(73.680, 79.235, 85.378)
Epoch[130] Batch[049/478] Speed: 747.40 samples/sec, Loss:(pitch, yaw, roll)/(3.864, 2.386, 3.046)
Epoch[130] Batch[099/478] Speed: 794.41 samples/sec, Loss:(pitch, yaw, roll)/(3.912, 2.399, 3.089)
Epoch[130] Batch[149/478] Speed: 791.93 samples/sec, Loss:(pitch, yaw, roll)/(3.938, 2.403, 3.107)
Epoch[130] Batch[199/478] Speed: 790.58 samples/sec, Loss:(pitch, yaw, roll)/(3.968, 2.409, 3.153)
Epoch[130] Batch[249/478] Speed: 788.16 samples/sec, Loss:(pitch, yaw, roll)/(4.011, 2.405, 3.206)
Epoch[130] Batch[299/478] Speed: 786.70 samples/sec, Loss:(pitch, yaw, roll)/(3.966, 2.409, 3.146)
Epoch[130] Batch[349/478] Speed: 788.51 samples/sec, Loss:(pitch, yaw, roll)/(3.962, 2.407, 3.157)
Epoch[130] Batch[399/478] Speed: 785.51 samples/sec, Loss:(pitch, yaw, roll)/(3.957, 2.403, 3.164)
Epoch[130] Batch[449/478] Speed: 783.23 samples/sec, Loss:(pitch, yaw, roll)/(3.946, 2.402, 3.166)
Epoch[130] train: MAE:(pitch, yaw, roll, mean)/(1.684, 1.344, 1.388, 1.472), Cost=157 sec, lr=0.000145
Epoch[130] val : MAE:(pitch, yaw, roll, mean)/(6.515, 6.986, 5.106, 6.202), Loss:(pitch, yaw, roll)/(71.014, 78.593, 79.051)
Epoch[131] Batch[049/478] Speed: 748.23 samples/sec, Loss:(pitch, yaw, roll)/(3.858, 2.456, 3.119)
Epoch[131] Batch[099/478] Speed: 789.33 samples/sec, Loss:(pitch, yaw, roll)/(3.879, 2.434, 3.128)
Epoch[131] Batch[149/478] Speed: 789.63 samples/sec, Loss:(pitch, yaw, roll)/(3.921, 2.411, 3.195)
Epoch[131] Batch[199/478] Speed: 786.29 samples/sec, Loss:(pitch, yaw, roll)/(3.914, 2.409, 3.162)
Epoch[131] Batch[249/478] Speed: 788.55 samples/sec, Loss:(pitch, yaw, roll)/(3.932, 2.415, 3.184)
Epoch[131] Batch[299/478] Speed: 781.81 samples/sec, Loss:(pitch, yaw, roll)/(3.924, 2.412, 3.166)
Epoch[131] Batch[349/478] Speed: 784.59 samples/sec, Loss:(pitch, yaw, roll)/(3.923, 2.417, 3.170)
Epoch[131] Batch[399/478] Speed: 782.66 samples/sec, Loss:(pitch, yaw, roll)/(3.906, 2.410, 3.164)
Epoch[131] Batch[449/478] Speed: 791.80 samples/sec, Loss:(pitch, yaw, roll)/(3.903, 2.404, 3.165)
Epoch[131] train: MAE:(pitch, yaw, roll, mean)/(1.678, 1.344, 1.387, 1.470), Cost=158 sec, lr=0.000127
Epoch[131] val : MAE:(pitch, yaw, roll, mean)/(6.616, 6.913, 5.188, 6.239), Loss:(pitch, yaw, roll)/(73.722, 77.747, 82.719)
Epoch[132] Batch[049/478] Speed: 749.12 samples/sec, Loss:(pitch, yaw, roll)/(3.780, 2.424, 3.024)
Epoch[132] Batch[099/478] Speed: 786.90 samples/sec, Loss:(pitch, yaw, roll)/(3.875, 2.419, 3.132)
Epoch[132] Batch[149/478] Speed: 784.85 samples/sec, Loss:(pitch, yaw, roll)/(3.865, 2.413, 3.131)
Epoch[132] Batch[199/478] Speed: 783.24 samples/sec, Loss:(pitch, yaw, roll)/(3.803, 2.403, 3.063)
Epoch[132] Batch[249/478] Speed: 791.05 samples/sec, Loss:(pitch, yaw, roll)/(3.835, 2.393, 3.087)
Epoch[132] Batch[299/478] Speed: 786.05 samples/sec, Loss:(pitch, yaw, roll)/(3.865, 2.388, 3.118)
Epoch[132] Batch[349/478] Speed: 783.13 samples/sec, Loss:(pitch, yaw, roll)/(3.917, 2.386, 3.183)
Epoch[132] Batch[399/478] Speed: 783.11 samples/sec, Loss:(pitch, yaw, roll)/(3.898, 2.389, 3.161)
Epoch[132] Batch[449/478] Speed: 789.96 samples/sec, Loss:(pitch, yaw, roll)/(3.910, 2.390, 3.171)
Epoch[132] train: MAE:(pitch, yaw, roll, mean)/(1.671, 1.338, 1.388, 1.465), Cost=158 sec, lr=0.000111
Epoch[132] val : MAE:(pitch, yaw, roll, mean)/(6.551, 6.984, 5.111, 6.215), Loss:(pitch, yaw, roll)/(72.661, 78.491, 81.318)
Epoch[133] Batch[049/478] Speed: 749.00 samples/sec, Loss:(pitch, yaw, roll)/(4.053, 2.421, 3.345)
Epoch[133] Batch[099/478] Speed: 793.21 samples/sec, Loss:(pitch, yaw, roll)/(4.048, 2.410, 3.280)
Epoch[133] Batch[149/478] Speed: 793.68 samples/sec, Loss:(pitch, yaw, roll)/(4.025, 2.415, 3.239)
Epoch[133] Batch[199/478] Speed: 791.90 samples/sec, Loss:(pitch, yaw, roll)/(3.984, 2.402, 3.192)
Epoch[133] Batch[249/478] Speed: 789.34 samples/sec, Loss:(pitch, yaw, roll)/(3.946, 2.397, 3.150)
Epoch[133] Batch[299/478] Speed: 787.52 samples/sec, Loss:(pitch, yaw, roll)/(3.925, 2.391, 3.140)
Epoch[133] Batch[349/478] Speed: 785.66 samples/sec, Loss:(pitch, yaw, roll)/(3.929, 2.395, 3.138)
Epoch[133] Batch[399/478] Speed: 789.91 samples/sec, Loss:(pitch, yaw, roll)/(3.952, 2.393, 3.162)
Epoch[133] Batch[449/478] Speed: 789.32 samples/sec, Loss:(pitch, yaw, roll)/(3.943, 2.389, 3.158)
Epoch[133] train: MAE:(pitch, yaw, roll, mean)/(1.675, 1.335, 1.380, 1.463), Cost=157 sec, lr=0.000096
Epoch[133] val : MAE:(pitch, yaw, roll, mean)/(6.525, 6.959, 5.172, 6.219), Loss:(pitch, yaw, roll)/(70.542, 78.722, 82.165)
Epoch[134] Batch[049/478] Speed: 748.81 samples/sec, Loss:(pitch, yaw, roll)/(3.842, 2.416, 3.079)
Epoch[134] Batch[099/478] Speed: 793.87 samples/sec, Loss:(pitch, yaw, roll)/(3.893, 2.367, 3.089)
Epoch[134] Batch[149/478] Speed: 790.46 samples/sec, Loss:(pitch, yaw, roll)/(3.905, 2.373, 3.119)
Epoch[134] Batch[199/478] Speed: 790.42 samples/sec, Loss:(pitch, yaw, roll)/(3.851, 2.372, 3.089)
Epoch[134] Batch[249/478] Speed: 785.80 samples/sec, Loss:(pitch, yaw, roll)/(3.898, 2.367, 3.121)
Epoch[134] Batch[299/478] Speed: 789.19 samples/sec, Loss:(pitch, yaw, roll)/(3.877, 2.360, 3.105)
Epoch[134] Batch[349/478] Speed: 782.98 samples/sec, Loss:(pitch, yaw, roll)/(3.899, 2.365, 3.110)
Epoch[134] Batch[399/478] Speed: 791.34 samples/sec, Loss:(pitch, yaw, roll)/(3.897, 2.369, 3.112)
Epoch[134] Batch[449/478] Speed: 786.79 samples/sec, Loss:(pitch, yaw, roll)/(3.897, 2.372, 3.120)
Epoch[134] train: MAE:(pitch, yaw, roll, mean)/(1.668, 1.332, 1.374, 1.458), Cost=157 sec, lr=0.000082
Epoch[134] val : MAE:(pitch, yaw, roll, mean)/(6.478, 6.943, 5.164, 6.195), Loss:(pitch, yaw, roll)/(69.604, 76.869, 82.012)
Epoch[135] Batch[049/478] Speed: 741.06 samples/sec, Loss:(pitch, yaw, roll)/(3.815, 2.383, 3.143)
Epoch[135] Batch[099/478] Speed: 789.99 samples/sec, Loss:(pitch, yaw, roll)/(3.870, 2.378, 3.191)
Epoch[135] Batch[149/478] Speed: 788.05 samples/sec, Loss:(pitch, yaw, roll)/(3.912, 2.380, 3.193)
Epoch[135] Batch[199/478] Speed: 783.99 samples/sec, Loss:(pitch, yaw, roll)/(3.868, 2.377, 3.125)
Epoch[135] Batch[249/478] Speed: 785.06 samples/sec, Loss:(pitch, yaw, roll)/(3.860, 2.376, 3.104)
Epoch[135] Batch[299/478] Speed: 785.35 samples/sec, Loss:(pitch, yaw, roll)/(3.854, 2.377, 3.108)
Epoch[135] Batch[349/478] Speed: 786.78 samples/sec, Loss:(pitch, yaw, roll)/(3.870, 2.374, 3.109)
Epoch[135] Batch[399/478] Speed: 780.36 samples/sec, Loss:(pitch, yaw, roll)/(3.861, 2.376, 3.089)
Epoch[135] Batch[449/478] Speed: 787.16 samples/sec, Loss:(pitch, yaw, roll)/(3.863, 2.372, 3.085)
Epoch[135] train: MAE:(pitch, yaw, roll, mean)/(1.666, 1.333, 1.372, 1.457), Cost=158 sec, lr=0.000069
Epoch[135] val : MAE:(pitch, yaw, roll, mean)/(6.558, 6.878, 5.124, 6.187), Loss:(pitch, yaw, roll)/(72.826, 75.862, 81.075)
Min val mean MAE! save model!
Epoch[136] Batch[049/478] Speed: 749.21 samples/sec, Loss:(pitch, yaw, roll)/(3.716, 2.388, 3.053)
Epoch[136] Batch[099/478] Speed: 788.71 samples/sec, Loss:(pitch, yaw, roll)/(3.901, 2.389, 3.157)
Epoch[136] Batch[149/478] Speed: 790.77 samples/sec, Loss:(pitch, yaw, roll)/(3.866, 2.384, 3.079)
Epoch[136] Batch[199/478] Speed: 786.50 samples/sec, Loss:(pitch, yaw, roll)/(3.904, 2.388, 3.141)
Epoch[136] Batch[249/478] Speed: 780.75 samples/sec, Loss:(pitch, yaw, roll)/(3.867, 2.382, 3.092)
Epoch[136] Batch[299/478] Speed: 786.02 samples/sec, Loss:(pitch, yaw, roll)/(3.875, 2.374, 3.112)
Epoch[136] Batch[349/478] Speed: 788.16 samples/sec, Loss:(pitch, yaw, roll)/(3.866, 2.371, 3.106)
Epoch[136] Batch[399/478] Speed: 787.73 samples/sec, Loss:(pitch, yaw, roll)/(3.862, 2.378, 3.097)
Epoch[136] Batch[449/478] Speed: 788.39 samples/sec, Loss:(pitch, yaw, roll)/(3.853, 2.376, 3.094)
Epoch[136] train: MAE:(pitch, yaw, roll, mean)/(1.665, 1.332, 1.373, 1.457), Cost=158 sec, lr=0.000057
Epoch[136] val : MAE:(pitch, yaw, roll, mean)/(6.514, 6.944, 5.110, 6.189), Loss:(pitch, yaw, roll)/(71.633, 77.927, 80.366)
Epoch[137] Batch[049/478] Speed: 747.48 samples/sec, Loss:(pitch, yaw, roll)/(3.820, 2.357, 3.076)
Epoch[137] Batch[099/478] Speed: 793.46 samples/sec, Loss:(pitch, yaw, roll)/(3.865, 2.351, 3.097)
Epoch[137] Batch[149/478] Speed: 788.65 samples/sec, Loss:(pitch, yaw, roll)/(3.813, 2.356, 3.080)
Epoch[137] Batch[199/478] Speed: 791.08 samples/sec, Loss:(pitch, yaw, roll)/(3.817, 2.360, 3.069)
Epoch[137] Batch[249/478] Speed: 785.32 samples/sec, Loss:(pitch, yaw, roll)/(3.816, 2.369, 3.056)
Epoch[137] Batch[299/478] Speed: 792.01 samples/sec, Loss:(pitch, yaw, roll)/(3.776, 2.369, 3.032)
Epoch[137] Batch[349/478] Speed: 792.42 samples/sec, Loss:(pitch, yaw, roll)/(3.773, 2.366, 3.021)
Epoch[137] Batch[399/478] Speed: 789.71 samples/sec, Loss:(pitch, yaw, roll)/(3.782, 2.363, 3.025)
Epoch[137] Batch[449/478] Speed: 791.01 samples/sec, Loss:(pitch, yaw, roll)/(3.800, 2.362, 3.047)
Epoch[137] train: MAE:(pitch, yaw, roll, mean)/(1.659, 1.327, 1.367, 1.451), Cost=158 sec, lr=0.000046
Epoch[137] val : MAE:(pitch, yaw, roll, mean)/(6.557, 6.938, 5.118, 6.205), Loss:(pitch, yaw, roll)/(72.265, 79.411, 81.069)
Epoch[138] Batch[049/478] Speed: 748.32 samples/sec, Loss:(pitch, yaw, roll)/(3.955, 2.417, 3.223)
Epoch[138] Batch[099/478] Speed: 790.00 samples/sec, Loss:(pitch, yaw, roll)/(3.813, 2.405, 3.078)
Epoch[138] Batch[149/478] Speed: 792.22 samples/sec, Loss:(pitch, yaw, roll)/(3.787, 2.384, 3.068)
Epoch[138] Batch[199/478] Speed: 789.96 samples/sec, Loss:(pitch, yaw, roll)/(3.832, 2.385, 3.107)
Epoch[138] Batch[249/478] Speed: 790.36 samples/sec, Loss:(pitch, yaw, roll)/(3.818, 2.381, 3.080)
Epoch[138] Batch[299/478] Speed: 789.72 samples/sec, Loss:(pitch, yaw, roll)/(3.803, 2.375, 3.066)
Epoch[138] Batch[349/478] Speed: 786.13 samples/sec, Loss:(pitch, yaw, roll)/(3.792, 2.372, 3.045)
Epoch[138] Batch[399/478] Speed: 787.57 samples/sec, Loss:(pitch, yaw, roll)/(3.830, 2.373, 3.083)
Epoch[138] Batch[449/478] Speed: 784.48 samples/sec, Loss:(pitch, yaw, roll)/(3.836, 2.370, 3.094)
Epoch[138] train: MAE:(pitch, yaw, roll, mean)/(1.654, 1.331, 1.366, 1.450), Cost=157 sec, lr=0.000037
Epoch[138] val : MAE:(pitch, yaw, roll, mean)/(6.484, 7.003, 5.139, 6.209), Loss:(pitch, yaw, roll)/(70.510, 76.910, 80.583)
Epoch[139] Batch[049/478] Speed: 747.10 samples/sec, Loss:(pitch, yaw, roll)/(3.795, 2.340, 3.004)
Epoch[139] Batch[099/478] Speed: 784.64 samples/sec, Loss:(pitch, yaw, roll)/(3.853, 2.340, 3.054)
Epoch[139] Batch[149/478] Speed: 789.17 samples/sec, Loss:(pitch, yaw, roll)/(3.909, 2.356, 3.150)
Epoch[139] Batch[199/478] Speed: 783.51 samples/sec, Loss:(pitch, yaw, roll)/(3.876, 2.350, 3.124)
Epoch[139] Batch[249/478] Speed: 783.76 samples/sec, Loss:(pitch, yaw, roll)/(3.840, 2.339, 3.091)
Epoch[139] Batch[299/478] Speed: 783.96 samples/sec, Loss:(pitch, yaw, roll)/(3.827, 2.346, 3.085)
Epoch[139] Batch[349/478] Speed: 786.45 samples/sec, Loss:(pitch, yaw, roll)/(3.833, 2.352, 3.085)
Epoch[139] Batch[399/478] Speed: 788.33 samples/sec, Loss:(pitch, yaw, roll)/(3.825, 2.352, 3.078)
Epoch[139] Batch[449/478] Speed: 784.15 samples/sec, Loss:(pitch, yaw, roll)/(3.818, 2.359, 3.061)
Epoch[139] train: MAE:(pitch, yaw, roll, mean)/(1.657, 1.324, 1.359, 1.447), Cost=158 sec, lr=0.000028
Epoch[139] val : MAE:(pitch, yaw, roll, mean)/(6.544, 6.933, 5.241, 6.240), Loss:(pitch, yaw, roll)/(72.062, 76.626, 85.208)
Epoch[140] Batch[049/478] Speed: 749.45 samples/sec, Loss:(pitch, yaw, roll)/(3.842, 2.359, 3.018)
Epoch[140] Batch[099/478] Speed: 790.69 samples/sec, Loss:(pitch, yaw, roll)/(3.821, 2.368, 3.084)
Epoch[140] Batch[149/478] Speed: 794.29 samples/sec, Loss:(pitch, yaw, roll)/(3.752, 2.361, 3.016)
Epoch[140] Batch[199/478] Speed: 783.70 samples/sec, Loss:(pitch, yaw, roll)/(3.792, 2.355, 3.032)
Epoch[140] Batch[249/478] Speed: 790.72 samples/sec, Loss:(pitch, yaw, roll)/(3.769, 2.354, 2.998)
Epoch[140] Batch[299/478] Speed: 785.07 samples/sec, Loss:(pitch, yaw, roll)/(3.808, 2.360, 3.042)
Epoch[140] Batch[349/478] Speed: 788.94 samples/sec, Loss:(pitch, yaw, roll)/(3.792, 2.357, 3.037)
Epoch[140] Batch[399/478] Speed: 787.85 samples/sec, Loss:(pitch, yaw, roll)/(3.800, 2.353, 3.041)
Epoch[140] Batch[449/478] Speed: 789.82 samples/sec, Loss:(pitch, yaw, roll)/(3.796, 2.355, 3.048)
Epoch[140] train: MAE:(pitch, yaw, roll, mean)/(1.655, 1.326, 1.365, 1.448), Cost=157 sec, lr=0.000021
Epoch[140] val : MAE:(pitch, yaw, roll, mean)/(6.485, 6.970, 5.159, 6.205), Loss:(pitch, yaw, roll)/(70.486, 79.733, 81.913)
Epoch[141] Batch[049/478] Speed: 745.60 samples/sec, Loss:(pitch, yaw, roll)/(3.751, 2.341, 3.118)
Epoch[141] Batch[099/478] Speed: 795.21 samples/sec, Loss:(pitch, yaw, roll)/(3.668, 2.339, 2.988)
Epoch[141] Batch[149/478] Speed: 789.64 samples/sec, Loss:(pitch, yaw, roll)/(3.689, 2.339, 2.983)
Epoch[141] Batch[199/478] Speed: 785.93 samples/sec, Loss:(pitch, yaw, roll)/(3.701, 2.344, 3.023)
Epoch[141] Batch[249/478] Speed: 793.38 samples/sec, Loss:(pitch, yaw, roll)/(3.720, 2.343, 3.036)
Epoch[141] Batch[299/478] Speed: 788.69 samples/sec, Loss:(pitch, yaw, roll)/(3.761, 2.344, 3.060)
Epoch[141] Batch[349/478] Speed: 790.54 samples/sec, Loss:(pitch, yaw, roll)/(3.744, 2.345, 3.056)
Epoch[141] Batch[399/478] Speed: 791.76 samples/sec, Loss:(pitch, yaw, roll)/(3.763, 2.347, 3.053)
Epoch[141] Batch[449/478] Speed: 787.26 samples/sec, Loss:(pitch, yaw, roll)/(3.791, 2.345, 3.072)
Epoch[141] train: MAE:(pitch, yaw, roll, mean)/(1.648, 1.322, 1.368, 1.446), Cost=157 sec, lr=0.000015
Epoch[141] val : MAE:(pitch, yaw, roll, mean)/(6.512, 6.909, 5.157, 6.193), Loss:(pitch, yaw, roll)/(70.191, 76.501, 81.224)
Epoch[142] Batch[049/478] Speed: 747.89 samples/sec, Loss:(pitch, yaw, roll)/(3.817, 2.328, 3.039)
Epoch[142] Batch[099/478] Speed: 792.45 samples/sec, Loss:(pitch, yaw, roll)/(3.907, 2.338, 3.062)
Epoch[142] Batch[149/478] Speed: 791.55 samples/sec, Loss:(pitch, yaw, roll)/(3.856, 2.346, 3.044)
Epoch[142] Batch[199/478] Speed: 787.84 samples/sec, Loss:(pitch, yaw, roll)/(3.827, 2.351, 3.028)
Epoch[142] Batch[249/478] Speed: 790.13 samples/sec, Loss:(pitch, yaw, roll)/(3.848, 2.351, 3.072)
Epoch[142] Batch[299/478] Speed: 790.45 samples/sec, Loss:(pitch, yaw, roll)/(3.818, 2.351, 3.045)
Epoch[142] Batch[349/478] Speed: 781.48 samples/sec, Loss:(pitch, yaw, roll)/(3.844, 2.353, 3.095)
Epoch[142] Batch[399/478] Speed: 788.31 samples/sec, Loss:(pitch, yaw, roll)/(3.832, 2.348, 3.074)
Epoch[142] Batch[449/478] Speed: 782.09 samples/sec, Loss:(pitch, yaw, roll)/(3.827, 2.350, 3.060)
Epoch[142] train: MAE:(pitch, yaw, roll, mean)/(1.653, 1.321, 1.364, 1.446), Cost=158 sec, lr=0.000010
Epoch[142] val : MAE:(pitch, yaw, roll, mean)/(6.550, 6.938, 5.114, 6.201), Loss:(pitch, yaw, roll)/(71.659, 77.588, 82.490)
Epoch[143] Batch[049/478] Speed: 750.19 samples/sec, Loss:(pitch, yaw, roll)/(3.896, 2.355, 3.088)
Epoch[143] Batch[099/478] Speed: 781.64 samples/sec, Loss:(pitch, yaw, roll)/(3.845, 2.339, 3.078)
Epoch[143] Batch[149/478] Speed: 787.55 samples/sec, Loss:(pitch, yaw, roll)/(3.980, 2.341, 3.213)
Epoch[143] Batch[199/478] Speed: 778.50 samples/sec, Loss:(pitch, yaw, roll)/(3.953, 2.349, 3.189)
Epoch[143] Batch[249/478] Speed: 790.32 samples/sec, Loss:(pitch, yaw, roll)/(3.913, 2.357, 3.166)
Epoch[143] Batch[299/478] Speed: 786.12 samples/sec, Loss:(pitch, yaw, roll)/(3.887, 2.359, 3.140)
Epoch[143] Batch[349/478] Speed: 783.56 samples/sec, Loss:(pitch, yaw, roll)/(3.865, 2.356, 3.126)
Epoch[143] Batch[399/478] Speed: 781.34 samples/sec, Loss:(pitch, yaw, roll)/(3.869, 2.358, 3.128)
Epoch[143] Batch[449/478] Speed: 783.29 samples/sec, Loss:(pitch, yaw, roll)/(3.854, 2.355, 3.101)
Epoch[143] train: MAE:(pitch, yaw, roll, mean)/(1.650, 1.326, 1.362, 1.446), Cost=158 sec, lr=0.000006
Epoch[143] val : MAE:(pitch, yaw, roll, mean)/(6.521, 6.928, 5.120, 6.190), Loss:(pitch, yaw, roll)/(70.905, 77.593, 79.990)
Epoch[144] Batch[049/478] Speed: 746.54 samples/sec, Loss:(pitch, yaw, roll)/(3.780, 2.369, 3.066)
Epoch[144] Batch[099/478] Speed: 792.08 samples/sec, Loss:(pitch, yaw, roll)/(3.796, 2.366, 3.027)
Epoch[144] Batch[149/478] Speed: 790.58 samples/sec, Loss:(pitch, yaw, roll)/(3.798, 2.369, 3.103)
Epoch[144] Batch[199/478] Speed: 784.56 samples/sec, Loss:(pitch, yaw, roll)/(3.789, 2.364, 3.076)
Epoch[144] Batch[249/478] Speed: 786.82 samples/sec, Loss:(pitch, yaw, roll)/(3.780, 2.356, 3.074)
Epoch[144] Batch[299/478] Speed: 790.08 samples/sec, Loss:(pitch, yaw, roll)/(3.795, 2.353, 3.070)
Epoch[144] Batch[349/478] Speed: 791.51 samples/sec, Loss:(pitch, yaw, roll)/(3.817, 2.354, 3.074)
Epoch[144] Batch[399/478] Speed: 787.29 samples/sec, Loss:(pitch, yaw, roll)/(3.824, 2.354, 3.070)
Epoch[144] Batch[449/478] Speed: 788.14 samples/sec, Loss:(pitch, yaw, roll)/(3.800, 2.350, 3.046)
Epoch[144] train: MAE:(pitch, yaw, roll, mean)/(1.657, 1.324, 1.365, 1.448), Cost=157 sec, lr=0.000003
Epoch[144] val : MAE:(pitch, yaw, roll, mean)/(6.516, 6.876, 5.105, 6.165), Loss:(pitch, yaw, roll)/(70.847, 75.382, 79.393)
Min val mean MAE! save model!
Epoch[145] Batch[049/478] Speed: 747.66 samples/sec, Loss:(pitch, yaw, roll)/(4.335, 2.369, 3.518)
Epoch[145] Batch[099/478] Speed: 787.87 samples/sec, Loss:(pitch, yaw, roll)/(4.027, 2.357, 3.323)
Epoch[145] Batch[149/478] Speed: 793.26 samples/sec, Loss:(pitch, yaw, roll)/(3.945, 2.356, 3.219)
Epoch[145] Batch[199/478] Speed: 790.60 samples/sec, Loss:(pitch, yaw, roll)/(3.893, 2.359, 3.169)
Epoch[145] Batch[249/478] Speed: 787.14 samples/sec, Loss:(pitch, yaw, roll)/(3.843, 2.359, 3.122)
Epoch[145] Batch[299/478] Speed: 792.88 samples/sec, Loss:(pitch, yaw, roll)/(3.849, 2.355, 3.119)
Epoch[145] Batch[349/478] Speed: 789.50 samples/sec, Loss:(pitch, yaw, roll)/(3.841, 2.353, 3.112)
Epoch[145] Batch[399/478] Speed: 790.11 samples/sec, Loss:(pitch, yaw, roll)/(3.825, 2.353, 3.088)
Epoch[145] Batch[449/478] Speed: 790.19 samples/sec, Loss:(pitch, yaw, roll)/(3.810, 2.351, 3.063)
Epoch[145] train: MAE:(pitch, yaw, roll, mean)/(1.653, 1.323, 1.362, 1.446), Cost=157 sec, lr=0.000002
Epoch[145] val : MAE:(pitch, yaw, roll, mean)/(6.552, 6.941, 5.155, 6.216), Loss:(pitch, yaw, roll)/(72.646, 79.520, 81.034)
Epoch[146] Batch[049/478] Speed: 749.22 samples/sec, Loss:(pitch, yaw, roll)/(3.865, 2.334, 3.114)
Epoch[146] Batch[099/478] Speed: 791.25 samples/sec, Loss:(pitch, yaw, roll)/(3.799, 2.355, 3.079)
Epoch[146] Batch[149/478] Speed: 787.85 samples/sec, Loss:(pitch, yaw, roll)/(3.800, 2.360, 3.054)
Epoch[146] Batch[199/478] Speed: 781.35 samples/sec, Loss:(pitch, yaw, roll)/(3.826, 2.361, 3.060)
Epoch[146] Batch[249/478] Speed: 794.02 samples/sec, Loss:(pitch, yaw, roll)/(3.840, 2.354, 3.069)
Epoch[146] Batch[299/478] Speed: 784.81 samples/sec, Loss:(pitch, yaw, roll)/(3.829, 2.351, 3.063)
Epoch[146] Batch[349/478] Speed: 787.05 samples/sec, Loss:(pitch, yaw, roll)/(3.798, 2.348, 3.038)
Epoch[146] Batch[399/478] Speed: 778.17 samples/sec, Loss:(pitch, yaw, roll)/(3.795, 2.349, 3.050)
Epoch[146] Batch[449/478] Speed: 783.52 samples/sec, Loss:(pitch, yaw, roll)/(3.836, 2.348, 3.099)
Epoch[146] train: MAE:(pitch, yaw, roll, mean)/(1.656, 1.322, 1.369, 1.449), Cost=158 sec, lr=0.000001
Epoch[146] val : MAE:(pitch, yaw, roll, mean)/(6.487, 6.859, 5.111, 6.152), Loss:(pitch, yaw, roll)/(70.376, 74.415, 80.256)
Min val mean MAE! save model!
Epoch[147] Batch[049/478] Speed: 750.22 samples/sec, Loss:(pitch, yaw, roll)/(3.678, 2.359, 3.058)
Epoch[147] Batch[099/478] Speed: 783.31 samples/sec, Loss:(pitch, yaw, roll)/(3.714, 2.357, 3.060)
Epoch[147] Batch[149/478] Speed: 789.82 samples/sec, Loss:(pitch, yaw, roll)/(3.709, 2.354, 3.051)
Epoch[147] Batch[199/478] Speed: 785.83 samples/sec, Loss:(pitch, yaw, roll)/(3.716, 2.355, 3.003)
Epoch[147] Batch[249/478] Speed: 782.89 samples/sec, Loss:(pitch, yaw, roll)/(3.718, 2.354, 2.995)
Epoch[147] Batch[299/478] Speed: 786.08 samples/sec, Loss:(pitch, yaw, roll)/(3.763, 2.353, 3.020)
Epoch[147] Batch[349/478] Speed: 788.67 samples/sec, Loss:(pitch, yaw, roll)/(3.798, 2.354, 3.031)
Epoch[147] Batch[399/478] Speed: 783.71 samples/sec, Loss:(pitch, yaw, roll)/(3.826, 2.356, 3.069)
Epoch[147] Batch[449/478] Speed: 792.05 samples/sec, Loss:(pitch, yaw, roll)/(3.823, 2.351, 3.066)
Epoch[147] train: MAE:(pitch, yaw, roll, mean)/(1.649, 1.323, 1.357, 1.443), Cost=158 sec, lr=0.000001
Epoch[147] val : MAE:(pitch, yaw, roll, mean)/(6.504, 6.947, 5.081, 6.177), Loss:(pitch, yaw, roll)/(69.316, 76.225, 81.275)
Epoch[148] Batch[049/478] Speed: 745.19 samples/sec, Loss:(pitch, yaw, roll)/(3.736, 2.361, 3.049)
Epoch[148] Batch[099/478] Speed: 789.99 samples/sec, Loss:(pitch, yaw, roll)/(3.734, 2.355, 3.028)
Epoch[148] Batch[149/478] Speed: 788.30 samples/sec, Loss:(pitch, yaw, roll)/(3.722, 2.357, 2.958)
Epoch[148] Batch[199/478] Speed: 785.28 samples/sec, Loss:(pitch, yaw, roll)/(3.714, 2.355, 2.982)
Epoch[148] Batch[249/478] Speed: 789.43 samples/sec, Loss:(pitch, yaw, roll)/(3.755, 2.355, 3.021)
Epoch[148] Batch[299/478] Speed: 790.54 samples/sec, Loss:(pitch, yaw, roll)/(3.751, 2.348, 3.018)
Epoch[148] Batch[349/478] Speed: 786.36 samples/sec, Loss:(pitch, yaw, roll)/(3.760, 2.347, 3.014)
Epoch[148] Batch[399/478] Speed: 792.31 samples/sec, Loss:(pitch, yaw, roll)/(3.769, 2.342, 3.013)
Epoch[148] Batch[449/478] Speed: 788.62 samples/sec, Loss:(pitch, yaw, roll)/(3.787, 2.347, 3.040)
Epoch[148] train: MAE:(pitch, yaw, roll, mean)/(1.651, 1.321, 1.360, 1.444), Cost=157 sec, lr=0.000001
Epoch[148] val : MAE:(pitch, yaw, roll, mean)/(6.546, 6.944, 5.085, 6.192), Loss:(pitch, yaw, roll)/(72.565, 76.960, 80.428)
Epoch[149] Batch[049/478] Speed: 749.91 samples/sec, Loss:(pitch, yaw, roll)/(3.654, 2.312, 2.950)
Epoch[149] Batch[099/478] Speed: 792.54 samples/sec, Loss:(pitch, yaw, roll)/(3.735, 2.329, 2.967)
Epoch[149] Batch[149/478] Speed: 792.33 samples/sec, Loss:(pitch, yaw, roll)/(3.735, 2.349, 2.963)
Epoch[149] Batch[199/478] Speed: 784.35 samples/sec, Loss:(pitch, yaw, roll)/(3.749, 2.342, 2.984)
Epoch[149] Batch[249/478] Speed: 791.60 samples/sec, Loss:(pitch, yaw, roll)/(3.806, 2.357, 3.043)
Epoch[149] Batch[299/478] Speed: 785.48 samples/sec, Loss:(pitch, yaw, roll)/(3.787, 2.355, 3.018)
Epoch[149] Batch[349/478] Speed: 792.37 samples/sec, Loss:(pitch, yaw, roll)/(3.791, 2.357, 3.030)
Epoch[149] Batch[399/478] Speed: 786.47 samples/sec, Loss:(pitch, yaw, roll)/(3.800, 2.359, 3.053)
Epoch[149] Batch[449/478] Speed: 787.23 samples/sec, Loss:(pitch, yaw, roll)/(3.788, 2.359, 3.033)
Epoch[149] train: MAE:(pitch, yaw, roll, mean)/(1.651, 1.328, 1.361, 1.446), Cost=157 sec, lr=0.000001
Epoch[149] val : MAE:(pitch, yaw, roll, mean)/(6.479, 6.911, 5.151, 6.180), Loss:(pitch, yaw, roll)/(69.260, 75.592, 81.641)
Min mean MAE: 6.152, Epoch: 146.000
求出三个角度(Pitch Yaw Roll)之后，如何在二维图像上的画轴?
Hi @whoNamedCody
代码非常棒，我已经看了源码，希望得到一些算法上的出处，谢谢!
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