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6546 lines (6295 loc) · 235 KB
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2026-03-18 20:51:23,086 INFO ################### Training ##################
2026-03-18 20:51:23,092 INFO Batch Size: 16
2026-03-18 20:51:23,092 INFO Learning Rate: 0.000200
2026-03-18 20:55:00,005 INFO Test Epoch 1
2026-03-18 20:56:21,053 INFO ==> Saving ...
2026-03-18 20:56:25,781 INFO ==> Loading detections and GTs...
2026-03-18 20:56:32,296 INFO ==> Evaluating (official) ...
2026-03-18 20:56:42,502 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:1.1174, 1.3968, 1.4455
bev AP:0.0251, 0.0376, 0.0439
3d AP:0.0010, 0.0020, 0.0030
aos AP:0.92, 1.22, 1.25
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:0.7604, 0.7183, 0.6723
bev AP:0.0041, 0.0054, 0.0068
3d AP:0.0003, 0.0005, 0.0008
aos AP:0.55, 0.48, 0.45
Car AP@0.70, 0.50, 0.50:
bbox AP:1.1174, 1.3968, 1.4455
bev AP:0.8531, 0.9618, 0.9612
3d AP:0.3788, 0.3788, 0.3788
aos AP:0.92, 1.22, 1.25
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:0.7604, 0.7183, 0.6723
bev AP:0.5437, 0.4005, 0.3256
3d AP:0.0388, 0.0375, 0.0452
aos AP:0.55, 0.48, 0.45
2026-03-18 20:56:44,452 INFO Best Result:0.000541213400443795, epoch:1
2026-03-18 21:00:19,737 INFO Test Epoch 2
2026-03-18 21:01:40,386 INFO ==> Saving ...
2026-03-18 21:01:45,770 INFO ==> Loading detections and GTs...
2026-03-18 21:01:51,909 INFO ==> Evaluating (official) ...
2026-03-18 21:01:56,082 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:12.7510, 10.6167, 10.5060
bev AP:0.5028, 0.4329, 0.4329
3d AP:0.1109, 0.1109, 0.1109
aos AP:7.03, 6.05, 6.35
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:11.2518, 9.2935, 9.0788
bev AP:0.1242, 0.0991, 0.0693
3d AP:0.0206, 0.0107, 0.0114
aos AP:6.32, 5.52, 5.58
Car AP@0.70, 0.50, 0.50:
bbox AP:12.7510, 10.6167, 10.5060
bev AP:3.2485, 2.7618, 2.3653
3d AP:1.8945, 1.3666, 1.3231
aos AP:7.03, 6.05, 6.35
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:11.2518, 9.2935, 9.0788
bev AP:2.1893, 1.5336, 1.2823
3d AP:1.4454, 0.9728, 0.8570
aos AP:6.32, 5.52, 5.58
2026-03-18 21:01:58,185 INFO Best Result:0.01074534789644013, epoch:2
2026-03-18 21:05:32,762 INFO Test Epoch 3
2026-03-18 21:06:53,348 INFO ==> Saving ...
2026-03-18 21:06:57,905 INFO ==> Loading detections and GTs...
2026-03-18 21:07:03,378 INFO ==> Evaluating (official) ...
2026-03-18 21:07:07,367 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:30.0719, 25.6519, 23.5476
bev AP:1.0626, 1.1547, 1.1674
3d AP:0.4545, 1.0101, 1.0101
aos AP:23.83, 20.05, 18.59
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:25.8203, 21.4298, 19.0652
bev AP:0.4528, 0.3025, 0.2609
3d AP:0.1256, 0.0479, 0.0457
aos AP:17.90, 14.25, 12.57
Car AP@0.70, 0.50, 0.50:
bbox AP:30.0719, 25.6519, 23.5476
bev AP:14.2622, 12.3855, 11.7690
3d AP:12.1551, 11.0852, 10.4356
aos AP:23.83, 20.05, 18.59
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:25.8203, 21.4298, 19.0652
bev AP:7.2916, 5.3383, 4.3202
3d AP:5.0072, 3.4185, 2.6376
aos AP:17.90, 14.25, 12.57
2026-03-18 21:07:09,495 INFO Best Result:0.04794171838164776, epoch:3
2026-03-18 21:10:44,471 INFO Test Epoch 4
2026-03-18 21:12:05,230 INFO ==> Saving ...
2026-03-18 21:12:09,882 INFO ==> Loading detections and GTs...
2026-03-18 21:12:15,003 INFO ==> Evaluating (official) ...
2026-03-18 21:12:18,440 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:36.8143, 33.7970, 30.7957
bev AP:0.8271, 0.6981, 0.5212
3d AP:0.4377, 0.3359, 0.3063
aos AP:33.19, 30.11, 27.14
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:33.1043, 29.1838, 25.8658
bev AP:0.5613, 0.4091, 0.2948
3d AP:0.2416, 0.1663, 0.1154
aos AP:29.02, 25.12, 21.86
Car AP@0.70, 0.50, 0.50:
bbox AP:36.8143, 33.7970, 30.7957
bev AP:7.0145, 5.1110, 4.3695
3d AP:5.1541, 3.9866, 3.1591
aos AP:33.19, 30.11, 27.14
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:33.1043, 29.1838, 25.8658
bev AP:5.9895, 4.0049, 3.1840
3d AP:4.4934, 2.9850, 2.3000
aos AP:29.02, 25.12, 21.86
2026-03-18 21:12:20,403 INFO Best Result:0.1662694318225307, epoch:4
2026-03-18 21:15:55,280 INFO Test Epoch 5
2026-03-18 21:17:16,394 INFO ==> Saving ...
2026-03-18 21:17:20,807 INFO ==> Loading detections and GTs...
2026-03-18 21:17:25,611 INFO ==> Evaluating (official) ...
2026-03-18 21:17:30,531 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:45.3369, 37.4372, 33.1768
bev AP:13.9559, 11.9086, 11.3643
3d AP:10.6340, 9.8506, 9.6448
aos AP:43.69, 35.47, 31.16
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:43.5912, 34.7711, 30.0133
bev AP:6.4778, 4.3477, 3.4264
3d AP:2.4812, 1.5884, 1.1370
aos AP:41.69, 32.43, 27.62
Car AP@0.70, 0.50, 0.50:
bbox AP:45.3369, 37.4372, 33.1768
bev AP:34.6801, 24.8093, 21.3006
3d AP:31.5399, 22.6247, 19.5986
aos AP:43.69, 35.47, 31.16
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:43.5912, 34.7711, 30.0133
bev AP:31.3204, 20.5567, 16.5613
3d AP:27.6312, 17.5789, 13.9434
aos AP:41.69, 32.43, 27.62
2026-03-18 21:17:32,721 INFO Best Result:1.5884299657542629, epoch:5
2026-03-18 21:21:09,007 INFO Test Epoch 6
2026-03-18 21:22:32,213 INFO ==> Saving ...
2026-03-18 21:22:36,853 INFO ==> Loading detections and GTs...
2026-03-18 21:22:42,388 INFO ==> Evaluating (official) ...
2026-03-18 21:22:46,804 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:32.0181, 30.8745, 28.9831
bev AP:11.1697, 10.4759, 10.2476
3d AP:9.9998, 9.5079, 9.4473
aos AP:30.98, 29.49, 27.20
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:28.4121, 27.3049, 25.1668
bev AP:3.1045, 2.2715, 1.8003
3d AP:1.6004, 0.8752, 0.6825
aos AP:27.08, 25.56, 22.99
Car AP@0.70, 0.50, 0.50:
bbox AP:32.0181, 30.8745, 28.9831
bev AP:20.5175, 17.9172, 16.6248
3d AP:18.7119, 15.7598, 14.2944
aos AP:30.98, 29.49, 27.20
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:28.4121, 27.3049, 25.1668
bev AP:14.9563, 11.9171, 10.1282
3d AP:12.2126, 9.1868, 7.7523
aos AP:27.08, 25.56, 22.99
2026-03-18 21:22:46,827 INFO Best Result:1.5884299657542629, epoch:5
2026-03-18 21:26:26,027 INFO Test Epoch 7
2026-03-18 21:27:48,489 INFO ==> Saving ...
2026-03-18 21:27:53,197 INFO ==> Loading detections and GTs...
2026-03-18 21:27:59,087 INFO ==> Evaluating (official) ...
2026-03-18 21:28:03,129 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:41.0722, 40.2957, 34.9065
bev AP:10.5367, 9.3292, 7.8811
3d AP:4.9854, 4.3446, 3.1814
aos AP:40.53, 39.08, 33.64
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:39.1151, 36.7825, 32.2971
bev AP:8.0691, 6.7331, 5.3251
3d AP:4.0273, 2.9874, 2.2592
aos AP:38.50, 35.53, 30.84
Car AP@0.70, 0.50, 0.50:
bbox AP:41.0722, 40.2957, 34.9065
bev AP:27.8859, 24.0900, 20.9272
3d AP:24.6266, 20.5235, 17.3527
aos AP:40.53, 39.08, 33.64
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:39.1151, 36.7825, 32.2971
bev AP:26.4890, 21.2407, 18.1938
3d AP:23.0164, 18.1792, 15.2890
aos AP:38.50, 35.53, 30.84
2026-03-18 21:28:05,058 INFO Best Result:2.987443508691313, epoch:7
2026-03-18 21:31:44,311 INFO Test Epoch 8
2026-03-18 21:33:07,718 INFO ==> Saving ...
2026-03-18 21:33:12,290 INFO ==> Loading detections and GTs...
2026-03-18 21:33:18,158 INFO ==> Evaluating (official) ...
2026-03-18 21:33:21,669 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:50.2666, 50.4333, 45.6915
bev AP:14.5390, 13.3453, 12.1926
3d AP:7.6458, 6.6189, 5.7429
aos AP:49.83, 49.46, 44.34
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:49.3640, 48.4647, 43.2580
bev AP:6.6769, 5.5930, 4.4457
3d AP:4.0595, 2.9911, 2.3109
aos AP:48.84, 47.44, 41.85
Car AP@0.70, 0.50, 0.50:
bbox AP:50.2666, 50.4333, 45.6915
bev AP:31.5924, 28.1033, 24.7863
3d AP:28.4361, 24.6987, 21.7636
aos AP:49.83, 49.46, 44.34
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:49.3640, 48.4647, 43.2580
bev AP:26.8730, 23.0002, 19.3830
3d AP:22.7312, 19.3663, 16.4998
aos AP:48.84, 47.44, 41.85
2026-03-18 21:33:23,590 INFO Best Result:2.9910888859200493, epoch:8
2026-03-18 21:37:00,584 INFO Test Epoch 9
2026-03-18 21:38:24,022 INFO ==> Saving ...
2026-03-18 21:38:30,911 INFO ==> Loading detections and GTs...
2026-03-18 21:38:37,560 INFO ==> Evaluating (official) ...
2026-03-18 21:38:40,901 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:49.9124, 49.1646, 45.2521
bev AP:13.2647, 11.9723, 11.3967
3d AP:11.6014, 10.6478, 10.0144
aos AP:48.48, 47.25, 43.09
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:49.1680, 46.4254, 41.9997
bev AP:5.6819, 4.2266, 3.3637
3d AP:3.1751, 2.3161, 1.7287
aos AP:47.47, 44.37, 39.74
Car AP@0.70, 0.50, 0.50:
bbox AP:49.9124, 49.1646, 45.2521
bev AP:28.2799, 24.0284, 21.4300
3d AP:25.1358, 20.5938, 18.1201
aos AP:48.48, 47.25, 43.09
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:49.1680, 46.4254, 41.9997
bev AP:23.8071, 18.5722, 15.7610
3d AP:20.1359, 15.2717, 12.6824
aos AP:47.47, 44.37, 39.74
2026-03-18 21:38:40,919 INFO Best Result:2.9910888859200493, epoch:8
2026-03-18 21:42:20,894 INFO Test Epoch 10
2026-03-18 21:43:44,913 INFO ==> Saving ...
2026-03-18 21:43:50,147 INFO ==> Loading detections and GTs...
2026-03-18 21:43:56,621 INFO ==> Evaluating (official) ...
2026-03-18 21:44:00,654 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:49.1186, 46.5035, 42.6381
bev AP:18.9928, 15.9802, 14.8834
3d AP:14.6912, 12.8702, 12.1177
aos AP:48.05, 45.41, 41.17
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:46.9120, 44.0790, 39.8490
bev AP:12.9819, 9.6963, 8.0167
3d AP:7.9091, 5.9286, 4.7507
aos AP:45.55, 42.79, 38.16
Car AP@0.70, 0.50, 0.50:
bbox AP:49.1186, 46.5035, 42.6381
bev AP:37.5898, 30.9893, 27.5035
3d AP:35.0058, 27.8340, 24.0844
aos AP:48.05, 45.41, 41.17
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:46.9120, 44.0790, 39.8490
bev AP:35.0946, 26.8955, 23.0320
3d AP:31.6683, 24.1290, 20.0556
aos AP:45.55, 42.79, 38.16
2026-03-18 21:44:02,806 INFO Best Result:5.928577244877007, epoch:10
2026-03-18 21:47:41,553 INFO Test Epoch 11
2026-03-18 21:49:05,860 INFO ==> Saving ...
2026-03-18 21:49:11,504 INFO ==> Loading detections and GTs...
2026-03-18 21:49:17,786 INFO ==> Evaluating (official) ...
2026-03-18 21:49:21,320 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:56.4059, 52.7458, 48.0002
bev AP:17.1189, 15.1520, 13.4409
3d AP:13.5997, 12.4583, 11.4513
aos AP:56.01, 52.05, 46.88
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:55.1733, 51.7649, 46.5264
bev AP:10.4534, 8.6758, 6.7408
3d AP:6.2349, 5.3525, 4.0863
aos AP:54.72, 50.97, 45.27
Car AP@0.70, 0.50, 0.50:
bbox AP:56.4059, 52.7458, 48.0002
bev AP:34.4817, 27.5833, 23.8382
3d AP:31.0918, 25.2876, 22.1353
aos AP:56.01, 52.05, 46.88
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:55.1733, 51.7649, 46.5264
bev AP:30.5566, 23.7302, 20.0511
3d AP:26.9688, 20.7524, 17.2726
aos AP:54.72, 50.97, 45.27
2026-03-18 21:49:21,342 INFO Best Result:5.928577244877007, epoch:10
2026-03-18 21:53:00,223 INFO Test Epoch 12
2026-03-18 21:54:24,097 INFO ==> Saving ...
2026-03-18 21:54:29,135 INFO ==> Loading detections and GTs...
2026-03-18 21:54:35,528 INFO ==> Evaluating (official) ...
2026-03-18 21:54:38,940 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:61.9500, 58.3017, 52.4137
bev AP:11.6471, 9.7667, 8.2965
3d AP:6.6103, 5.5357, 4.1545
aos AP:61.70, 57.67, 51.46
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:62.6751, 57.2032, 50.8877
bev AP:10.3585, 8.3572, 6.9817
3d AP:5.4880, 4.1118, 3.1945
aos AP:62.41, 56.53, 49.87
Car AP@0.70, 0.50, 0.50:
bbox AP:61.9500, 58.3017, 52.4137
bev AP:39.5783, 30.8150, 28.1977
3d AP:33.9086, 26.9496, 23.3475
aos AP:61.70, 57.67, 51.46
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:62.6751, 57.2032, 50.8877
bev AP:39.0250, 29.7327, 25.5434
3d AP:32.7275, 25.0107, 21.2995
aos AP:62.41, 56.53, 49.87
2026-03-18 21:54:39,015 INFO Best Result:5.928577244877007, epoch:10
2026-03-18 21:58:19,202 INFO Test Epoch 13
2026-03-18 21:59:43,600 INFO ==> Saving ...
2026-03-18 21:59:48,227 INFO ==> Loading detections and GTs...
2026-03-18 21:59:54,639 INFO ==> Evaluating (official) ...
2026-03-18 21:59:58,628 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:58.8220, 53.2623, 48.8435
bev AP:12.6437, 10.6224, 9.7310
3d AP:7.1617, 6.1941, 5.4996
aos AP:58.44, 52.46, 47.36
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:57.7516, 52.1740, 47.4257
bev AP:11.6039, 8.9934, 7.5842
3d AP:6.2090, 4.7417, 3.8657
aos AP:57.30, 51.26, 45.76
Car AP@0.70, 0.50, 0.50:
bbox AP:58.8220, 53.2623, 48.8435
bev AP:40.6841, 32.9112, 29.5630
3d AP:35.9678, 28.6273, 26.7169
aos AP:58.44, 52.46, 47.36
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:57.7516, 52.1740, 47.4257
bev AP:37.5541, 28.9556, 25.2564
3d AP:32.2491, 24.4721, 21.6615
aos AP:57.30, 51.26, 45.76
2026-03-18 21:59:58,661 INFO Best Result:5.928577244877007, epoch:10
2026-03-18 22:03:38,577 INFO Test Epoch 14
2026-03-18 22:05:02,999 INFO ==> Saving ...
2026-03-18 22:05:07,467 INFO ==> Loading detections and GTs...
2026-03-18 22:05:13,112 INFO ==> Evaluating (official) ...
2026-03-18 22:05:16,681 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:61.2977, 54.1929, 48.7958
bev AP:19.1928, 15.7943, 13.9044
3d AP:11.3215, 8.6886, 7.3489
aos AP:60.68, 53.13, 47.45
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:60.7659, 53.4205, 47.5959
bev AP:13.7674, 9.9802, 8.0849
3d AP:9.1595, 6.3319, 4.8794
aos AP:60.09, 52.26, 46.10
Car AP@0.70, 0.50, 0.50:
bbox AP:61.2977, 54.1929, 48.7958
bev AP:41.7050, 30.9745, 28.1015
3d AP:37.2938, 28.4964, 24.9603
aos AP:60.68, 53.13, 47.45
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:60.7659, 53.4205, 47.5959
bev AP:39.1007, 28.1416, 24.0495
3d AP:34.8780, 24.6817, 21.2496
aos AP:60.09, 52.26, 46.10
2026-03-18 22:05:18,811 INFO Best Result:6.331941582597687, epoch:14
2026-03-18 22:08:56,480 INFO Test Epoch 15
2026-03-18 22:10:20,045 INFO ==> Saving ...
2026-03-18 22:10:25,871 INFO ==> Loading detections and GTs...
2026-03-18 22:10:34,012 INFO ==> Evaluating (official) ...
2026-03-18 22:10:37,344 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:62.6545, 58.3747, 53.6332
bev AP:22.9993, 18.4438, 16.9012
3d AP:17.7791, 14.3578, 13.4166
aos AP:62.29, 57.65, 52.31
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:61.7593, 57.9174, 52.7847
bev AP:17.1788, 12.5795, 10.6372
3d AP:11.0634, 8.0048, 6.4521
aos AP:61.37, 57.07, 51.29
Car AP@0.70, 0.50, 0.50:
bbox AP:62.6545, 58.3747, 53.6332
bev AP:46.1778, 37.3732, 33.4094
3d AP:42.7299, 33.3650, 30.8430
aos AP:62.29, 57.65, 52.31
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:61.7593, 57.9174, 52.7847
bev AP:44.6209, 33.8698, 30.1627
3d AP:40.0060, 30.6029, 26.5189
aos AP:61.37, 57.07, 51.29
2026-03-18 22:10:39,399 INFO Best Result:8.004825309748961, epoch:15
2026-03-18 22:14:17,473 INFO Test Epoch 16
2026-03-18 22:15:42,973 INFO ==> Saving ...
2026-03-18 22:15:47,626 INFO ==> Loading detections and GTs...
2026-03-18 22:15:53,446 INFO ==> Evaluating (official) ...
2026-03-18 22:15:57,056 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:66.1982, 59.5066, 53.9371
bev AP:21.8883, 18.0696, 15.8558
3d AP:17.0713, 14.6238, 13.5666
aos AP:65.83, 58.70, 52.72
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:66.0482, 58.4734, 52.3145
bev AP:16.4557, 12.2806, 10.4183
3d AP:10.8403, 8.2566, 7.0427
aos AP:65.66, 57.60, 50.99
Car AP@0.70, 0.50, 0.50:
bbox AP:66.1982, 59.5066, 53.9371
bev AP:46.1615, 34.1891, 31.6685
3d AP:41.6539, 31.9006, 28.3168
aos AP:65.83, 58.70, 52.72
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:66.0482, 58.4734, 52.3145
bev AP:44.3302, 31.2141, 27.7337
3d AP:39.9212, 28.1002, 24.6745
aos AP:65.66, 57.60, 50.99
2026-03-18 22:15:59,174 INFO Best Result:8.25658321586932, epoch:16
2026-03-18 22:19:38,440 INFO Test Epoch 17
2026-03-18 22:21:05,458 INFO ==> Saving ...
2026-03-18 22:21:12,627 INFO ==> Loading detections and GTs...
2026-03-18 22:21:20,927 INFO ==> Evaluating (official) ...
2026-03-18 22:21:24,464 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:63.1406, 57.6119, 52.7126
bev AP:25.8016, 20.0894, 18.0366
3d AP:19.3939, 16.1249, 14.3309
aos AP:62.64, 56.51, 51.25
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:64.1353, 57.2481, 51.9330
bev AP:21.2796, 15.3265, 12.6899
3d AP:14.0261, 9.9777, 8.0903
aos AP:63.56, 56.03, 50.26
Car AP@0.70, 0.50, 0.50:
bbox AP:63.1406, 57.6119, 52.7126
bev AP:48.7338, 38.2526, 33.6424
3d AP:45.3179, 34.4185, 31.0599
aos AP:62.64, 56.51, 51.25
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:64.1353, 57.2481, 51.9330
bev AP:47.7881, 35.4584, 30.6957
3d AP:42.8710, 31.6966, 27.1498
aos AP:63.56, 56.03, 50.26
2026-03-18 22:21:26,539 INFO Best Result:9.977655127360066, epoch:17
2026-03-18 22:25:05,603 INFO Test Epoch 18
2026-03-18 22:26:32,710 INFO ==> Saving ...
2026-03-18 22:26:40,056 INFO ==> Loading detections and GTs...
2026-03-18 22:26:49,029 INFO ==> Evaluating (official) ...
2026-03-18 22:26:52,340 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:67.4620, 62.0747, 56.5403
bev AP:20.2111, 15.7692, 14.3808
3d AP:13.7954, 10.8239, 9.6703
aos AP:67.00, 61.20, 55.00
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:67.0936, 62.1746, 56.2966
bev AP:18.1857, 13.3714, 11.1722
3d AP:11.8886, 8.7797, 7.0638
aos AP:66.62, 61.26, 54.61
Car AP@0.70, 0.50, 0.50:
bbox AP:67.4620, 62.0747, 56.5403
bev AP:48.6383, 36.5228, 33.5765
3d AP:45.3562, 33.9565, 29.4901
aos AP:67.00, 61.20, 55.00
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:67.0936, 62.1746, 56.2966
bev AP:46.9440, 34.2726, 30.4319
3d AP:42.9312, 31.1261, 26.8487
aos AP:66.62, 61.26, 54.61
2026-03-18 22:26:52,358 INFO Best Result:9.977655127360066, epoch:17
2026-03-18 22:30:30,642 INFO Test Epoch 19
2026-03-18 22:32:00,737 INFO ==> Saving ...
2026-03-18 22:32:07,512 INFO ==> Loading detections and GTs...
2026-03-18 22:32:14,967 INFO ==> Evaluating (official) ...
2026-03-18 22:32:18,633 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:66.3824, 62.9330, 57.6280
bev AP:10.3651, 9.3404, 8.5954
3d AP:5.8746, 5.7638, 5.3848
aos AP:65.98, 62.14, 56.14
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:67.5527, 62.8258, 58.1535
bev AP:8.9704, 7.6995, 7.0627
3d AP:4.8130, 4.2851, 3.8160
aos AP:67.11, 61.95, 56.45
Car AP@0.70, 0.50, 0.50:
bbox AP:66.3824, 62.9330, 57.6280
bev AP:41.7358, 33.1575, 31.1539
3d AP:33.6699, 27.7489, 24.8927
aos AP:65.98, 62.14, 56.14
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:67.5527, 62.8258, 58.1535
bev AP:39.1812, 30.3960, 27.4416
3d AP:32.2575, 25.3495, 22.9003
aos AP:67.11, 61.95, 56.45
2026-03-18 22:32:18,656 INFO Best Result:9.977655127360066, epoch:17
2026-03-18 22:35:57,728 INFO Test Epoch 20
2026-03-18 22:37:22,254 INFO ==> Saving ...
2026-03-18 22:37:27,132 INFO ==> Loading detections and GTs...
2026-03-18 22:37:34,890 INFO ==> Evaluating (official) ...
2026-03-18 22:37:38,276 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:77.3829, 70.1861, 63.0994
bev AP:27.8250, 21.8150, 19.6206
3d AP:19.3229, 14.3093, 12.5697
aos AP:77.08, 69.47, 62.05
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:78.0734, 71.1442, 63.5354
bev AP:23.9464, 17.0965, 14.2764
3d AP:16.6515, 11.6752, 9.7043
aos AP:77.75, 70.35, 62.37
Car AP@0.70, 0.50, 0.50:
bbox AP:77.3829, 70.1861, 63.0994
bev AP:56.1894, 43.5023, 38.5445
3d AP:51.5079, 38.9948, 35.5910
aos AP:77.08, 69.47, 62.05
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:78.0734, 71.1442, 63.5354
bev AP:55.5117, 41.0094, 36.2550
3d AP:50.1853, 37.0977, 31.9941
aos AP:77.75, 70.35, 62.37
2026-03-18 22:37:40,376 INFO Best Result:11.675215369342677, epoch:20
2026-03-18 22:41:17,514 INFO Test Epoch 21
2026-03-18 22:42:42,483 INFO ==> Saving ...
2026-03-18 22:42:48,204 INFO ==> Loading detections and GTs...
2026-03-18 22:42:55,210 INFO ==> Evaluating (official) ...
2026-03-18 22:42:58,827 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:75.4010, 67.1836, 60.1308
bev AP:24.1065, 17.9769, 16.2369
3d AP:16.4119, 12.7664, 10.6924
aos AP:74.37, 65.80, 58.36
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:76.2829, 67.6794, 60.7779
bev AP:22.4884, 15.9321, 13.3585
3d AP:14.7966, 10.2920, 8.4112
aos AP:75.16, 66.11, 58.71
Car AP@0.70, 0.50, 0.50:
bbox AP:75.4010, 67.1836, 60.1308
bev AP:54.8586, 41.9131, 36.9259
3d AP:50.2182, 37.2487, 33.5370
aos AP:74.37, 65.80, 58.36
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:76.2829, 67.6794, 60.7779
bev AP:54.3034, 39.5874, 34.2220
3d AP:48.7062, 34.9720, 30.3929
aos AP:75.16, 66.11, 58.71
2026-03-18 22:42:58,846 INFO Best Result:11.675215369342677, epoch:20
2026-03-18 22:46:36,957 INFO Test Epoch 22
2026-03-18 22:48:00,392 INFO ==> Saving ...
2026-03-18 22:48:05,596 INFO ==> Loading detections and GTs...
2026-03-18 22:48:11,916 INFO ==> Evaluating (official) ...
2026-03-18 22:48:15,345 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:78.9405, 70.6645, 63.7513
bev AP:26.7364, 21.3646, 19.1826
3d AP:19.7070, 15.6179, 14.4278
aos AP:78.53, 69.94, 62.55
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:80.0691, 71.5156, 64.0036
bev AP:22.7495, 16.4324, 13.8504
3d AP:13.6171, 9.6986, 8.0686
aos AP:79.63, 70.72, 62.67
Car AP@0.70, 0.50, 0.50:
bbox AP:78.9405, 70.6645, 63.7513
bev AP:58.6682, 45.0194, 39.6744
3d AP:54.5521, 40.2864, 36.8564
aos AP:78.53, 69.94, 62.55
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:80.0691, 71.5156, 64.0036
bev AP:58.8026, 43.0380, 38.1252
3d AP:53.4162, 38.5171, 33.8706
aos AP:79.63, 70.72, 62.67
2026-03-18 22:48:15,365 INFO Best Result:11.675215369342677, epoch:20
2026-03-18 22:51:52,943 INFO Test Epoch 23
2026-03-18 22:53:17,314 INFO ==> Saving ...
2026-03-18 22:53:22,358 INFO ==> Loading detections and GTs...
2026-03-18 22:53:28,545 INFO ==> Evaluating (official) ...
2026-03-18 22:53:32,558 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:78.7356, 69.4815, 62.4745
bev AP:20.9092, 15.5909, 14.1219
3d AP:14.4260, 10.6958, 9.5889
aos AP:78.12, 68.63, 61.27
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:80.1414, 70.2692, 63.6480
bev AP:18.0396, 12.6791, 11.0269
3d AP:11.5947, 8.0888, 6.9248
aos AP:79.46, 69.31, 62.25
Car AP@0.70, 0.50, 0.50:
bbox AP:78.7356, 69.4815, 62.4745
bev AP:55.9875, 41.7535, 37.0364
3d AP:51.4462, 37.4656, 33.6865
aos AP:78.12, 68.63, 61.27
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:80.1414, 70.2692, 63.6480
bev AP:55.2678, 39.3347, 34.4497
3d AP:50.1506, 35.2695, 30.2314
aos AP:79.46, 69.31, 62.25
2026-03-18 22:53:32,587 INFO Best Result:11.675215369342677, epoch:20
2026-03-18 22:57:12,976 INFO Test Epoch 24
2026-03-18 22:58:36,214 INFO ==> Saving ...
2026-03-18 22:58:41,170 INFO ==> Loading detections and GTs...
2026-03-18 22:58:47,431 INFO ==> Evaluating (official) ...
2026-03-18 22:58:50,762 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:81.5198, 71.9743, 64.4608
bev AP:12.0098, 11.9668, 10.4434
3d AP:7.8409, 7.3680, 6.7580
aos AP:81.19, 71.34, 63.34
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:82.7528, 73.0799, 64.9930
bev AP:11.2386, 10.0131, 8.9418
3d AP:6.3441, 5.7316, 4.9401
aos AP:82.41, 72.38, 63.76
Car AP@0.70, 0.50, 0.50:
bbox AP:81.5198, 71.9743, 64.4608
bev AP:47.8936, 37.8288, 34.6744
3d AP:41.8284, 32.9398, 29.1107
aos AP:81.19, 71.34, 63.34
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:82.7528, 73.0799, 64.9930
bev AP:47.6642, 36.0500, 31.7421
3d AP:40.0381, 30.4696, 26.6547
aos AP:82.41, 72.38, 63.76
2026-03-18 22:58:50,780 INFO Best Result:11.675215369342677, epoch:20
2026-03-18 23:02:29,591 INFO Test Epoch 25
2026-03-18 23:03:53,075 INFO ==> Saving ...
2026-03-18 23:03:57,881 INFO ==> Loading detections and GTs...
2026-03-18 23:04:04,220 INFO ==> Evaluating (official) ...
2026-03-18 23:04:07,638 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:85.7178, 81.1874, 72.7801
bev AP:23.5554, 18.4716, 16.4963
3d AP:17.2015, 13.1818, 11.8326
aos AP:85.23, 80.24, 71.46
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:89.5687, 83.0527, 73.9225
bev AP:20.4521, 15.9815, 13.5342
3d AP:14.5387, 10.9604, 9.3736
aos AP:89.02, 82.00, 72.44
Car AP@0.70, 0.50, 0.50:
bbox AP:85.7178, 81.1874, 72.7801
bev AP:58.9664, 46.1265, 41.0767
3d AP:53.1164, 41.1355, 37.4009
aos AP:85.23, 80.24, 71.46
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:89.5687, 83.0527, 73.9225
bev AP:57.9316, 43.9929, 38.2934
3d AP:51.7182, 38.8594, 34.3136
aos AP:89.02, 82.00, 72.44
2026-03-18 23:04:07,657 INFO Best Result:11.675215369342677, epoch:20
2026-03-18 23:07:45,504 INFO Test Epoch 26
2026-03-18 23:09:09,901 INFO ==> Saving ...
2026-03-18 23:09:14,728 INFO ==> Loading detections and GTs...
2026-03-18 23:09:21,289 INFO ==> Evaluating (official) ...
2026-03-18 23:09:25,074 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:80.9176, 72.7812, 66.0574
bev AP:21.8176, 18.5469, 16.9701
3d AP:14.9296, 13.4105, 11.7152
aos AP:80.04, 71.49, 64.34
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:81.7163, 73.9185, 67.7984
bev AP:20.8944, 16.2816, 14.5577
3d AP:13.2837, 11.1499, 9.5242
aos AP:80.81, 72.49, 65.82
Car AP@0.70, 0.50, 0.50:
bbox AP:80.9176, 72.7812, 66.0574
bev AP:58.1788, 45.2927, 40.3156
3d AP:53.5613, 40.2783, 37.1923
aos AP:80.04, 71.49, 64.34
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:81.7163, 73.9185, 67.7984
bev AP:58.6609, 43.7126, 38.4919
3d AP:52.8062, 39.2031, 34.9059
aos AP:80.81, 72.49, 65.82
2026-03-18 23:09:25,125 INFO Best Result:11.675215369342677, epoch:20
2026-03-18 23:13:05,012 INFO Test Epoch 27
2026-03-18 23:14:29,097 INFO ==> Saving ...
2026-03-18 23:14:33,499 INFO ==> Loading detections and GTs...
2026-03-18 23:14:39,589 INFO ==> Evaluating (official) ...
2026-03-18 23:14:42,854 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:85.3833, 79.9690, 71.8897
bev AP:16.8447, 13.1172, 12.0834
3d AP:11.6253, 9.8682, 8.7163
aos AP:84.56, 78.37, 70.14
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:89.0170, 81.8539, 74.4865
bev AP:14.8262, 10.9676, 9.4329
3d AP:9.8688, 7.2402, 5.9919
aos AP:88.09, 80.10, 72.42
Car AP@0.70, 0.50, 0.50:
bbox AP:85.3833, 79.9690, 71.8897
bev AP:55.9493, 40.7020, 36.8911
3d AP:48.5499, 36.3425, 31.9440
aos AP:84.56, 78.37, 70.14
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:89.0170, 81.8539, 74.4865
bev AP:55.1003, 38.7731, 34.0179
3d AP:48.2133, 33.8537, 29.4093
aos AP:88.09, 80.10, 72.42
2026-03-18 23:14:42,870 INFO Best Result:11.675215369342677, epoch:20
2026-03-18 23:18:19,758 INFO Test Epoch 28
2026-03-18 23:19:43,294 INFO ==> Saving ...
2026-03-18 23:19:47,856 INFO ==> Loading detections and GTs...
2026-03-18 23:19:54,807 INFO ==> Evaluating (official) ...
2026-03-18 23:19:58,166 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:83.4339, 77.2778, 69.6544
bev AP:11.5991, 9.9266, 9.1780
3d AP:5.9818, 5.4128, 4.7426
aos AP:82.15, 75.90, 67.94
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:86.9286, 78.7850, 71.8508
bev AP:10.8570, 8.4937, 7.4714
3d AP:5.2720, 4.1516, 3.6133
aos AP:85.55, 77.31, 69.94
Car AP@0.70, 0.50, 0.50:
bbox AP:83.4339, 77.2778, 69.6544
bev AP:52.3741, 39.6113, 36.0057
3d AP:44.9919, 34.3668, 30.7606
aos AP:82.15, 75.90, 67.94
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:86.9286, 78.7850, 71.8508
bev AP:50.9933, 37.0458, 32.7177
3d AP:42.5715, 31.0156, 27.2669
aos AP:85.55, 77.31, 69.94
2026-03-18 23:19:58,184 INFO Best Result:11.675215369342677, epoch:20
2026-03-18 23:23:36,114 INFO Test Epoch 29
2026-03-18 23:24:58,878 INFO ==> Saving ...
2026-03-18 23:25:03,538 INFO ==> Loading detections and GTs...
2026-03-18 23:25:10,044 INFO ==> Evaluating (official) ...
2026-03-18 23:25:13,489 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:86.1369, 76.1256, 68.7584
bev AP:29.7574, 23.1474, 21.3340
3d AP:22.4581, 18.4403, 16.5948
aos AP:85.48, 75.18, 67.46
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:88.1963, 77.7149, 70.8637
bev AP:25.2414, 18.6279, 16.0145
3d AP:16.7325, 12.3758, 10.9272
aos AP:87.48, 76.68, 69.34
Car AP@0.70, 0.50, 0.50:
bbox AP:86.1369, 76.1256, 68.7584
bev AP:61.8320, 47.3817, 41.9637
3d AP:57.5421, 44.2265, 39.3385
aos AP:85.48, 75.18, 67.46
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:88.1963, 77.7149, 70.8637
bev AP:62.4495, 45.5860, 40.8145
3d AP:56.6807, 41.5234, 37.0918
aos AP:87.48, 76.68, 69.34
2026-03-18 23:25:15,665 INFO Best Result:12.37583582605813, epoch:29
2026-03-18 23:28:54,377 INFO Test Epoch 30
2026-03-18 23:30:21,910 INFO ==> Saving ...
2026-03-18 23:30:28,816 INFO ==> Loading detections and GTs...
2026-03-18 23:30:36,616 INFO ==> Evaluating (official) ...
2026-03-18 23:30:40,599 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:80.9427, 74.2696, 70.4607
bev AP:22.4452, 18.3258, 17.0274
3d AP:14.7694, 12.6261, 11.4212
aos AP:80.45, 73.42, 68.86
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:83.7439, 75.4856, 70.3288
bev AP:21.1629, 16.4271, 14.4296
3d AP:13.3345, 10.5762, 9.1260
aos AP:83.19, 74.55, 68.66
Car AP@0.70, 0.50, 0.50:
bbox AP:80.9427, 74.2696, 70.4607
bev AP:62.3464, 47.5724, 43.8660
3d AP:56.6531, 43.2413, 38.9995
aos AP:80.45, 73.42, 68.86
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:83.7439, 75.4856, 70.3288
bev AP:62.6908, 46.2864, 41.5405
3d AP:56.1177, 41.4138, 37.0137
aos AP:83.19, 74.55, 68.66
2026-03-18 23:30:40,639 INFO Best Result:12.37583582605813, epoch:29
2026-03-18 23:34:18,103 INFO Test Epoch 31
2026-03-18 23:35:48,978 INFO ==> Saving ...
2026-03-18 23:35:54,650 INFO ==> Loading detections and GTs...
2026-03-18 23:36:05,088 INFO ==> Evaluating (official) ...
2026-03-18 23:36:08,797 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:86.0891, 81.5273, 72.9994
bev AP:32.1471, 26.1225, 23.2990
3d AP:25.4963, 20.9043, 18.2322
aos AP:85.63, 80.60, 71.77
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:90.1185, 83.3524, 75.5424
bev AP:28.1068, 21.2165, 18.3671
3d AP:20.2785, 15.2960, 12.9603
aos AP:89.58, 82.33, 74.09
Car AP@0.70, 0.50, 0.50:
bbox AP:86.0891, 81.5273, 72.9994
bev AP:63.5215, 50.3241, 44.0739
3d AP:60.4762, 46.6588, 41.4223
aos AP:85.63, 80.60, 71.77
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:90.1185, 83.3524, 75.5424
bev AP:64.5654, 49.1352, 43.0249
3d AP:59.6864, 44.5116, 39.3442
aos AP:89.58, 82.33, 74.09
2026-03-18 23:36:11,013 INFO Best Result:15.295989151172806, epoch:31
2026-03-18 23:39:48,247 INFO Test Epoch 32
2026-03-18 23:41:12,190 INFO ==> Saving ...
2026-03-18 23:41:16,572 INFO ==> Loading detections and GTs...
2026-03-18 23:41:22,296 INFO ==> Evaluating (official) ...
2026-03-18 23:41:25,945 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:81.4078, 76.9844, 69.7962
bev AP:27.6032, 21.1112, 18.5284
3d AP:18.7312, 15.2672, 13.1869
aos AP:80.38, 75.31, 67.61
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:84.8497, 78.4481, 71.9917
bev AP:25.2173, 18.1912, 15.6361
3d AP:16.5376, 12.3063, 10.2217
aos AP:83.65, 76.56, 69.42
Car AP@0.70, 0.50, 0.50:
bbox AP:81.4078, 76.9844, 69.7962
bev AP:61.0899, 46.1542, 41.4872
3d AP:57.5300, 42.0843, 38.0589
aos AP:80.38, 75.31, 67.61
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:84.8497, 78.4481, 71.9917
bev AP:61.7342, 44.2874, 39.4027
3d AP:56.3843, 40.5402, 35.1916
aos AP:83.65, 76.56, 69.42
2026-03-18 23:41:25,965 INFO Best Result:15.295989151172806, epoch:31
2026-03-18 23:45:03,835 INFO Test Epoch 33
2026-03-18 23:46:30,163 INFO ==> Saving ...
2026-03-18 23:46:40,186 INFO ==> Loading detections and GTs...
2026-03-18 23:46:47,173 INFO ==> Evaluating (official) ...
2026-03-18 23:46:50,606 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:80.5988, 76.1253, 69.2646
bev AP:21.6430, 16.1438, 15.3010
3d AP:12.9948, 10.4371, 9.6489
aos AP:80.27, 75.30, 68.06
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:83.7406, 77.5827, 71.5840
bev AP:19.1984, 13.6966, 12.2021
3d AP:11.3446, 8.2838, 7.2810
aos AP:83.35, 76.67, 70.14
Car AP@0.70, 0.50, 0.50:
bbox AP:80.5988, 76.1253, 69.2646
bev AP:54.7622, 40.6194, 37.7842
3d AP:47.5892, 36.7888, 32.3806
aos AP:80.27, 75.30, 68.06
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:83.7406, 77.5827, 71.5840
bev AP:53.9171, 39.2663, 35.3626
3d AP:47.5015, 34.4069, 30.6953
aos AP:83.35, 76.67, 70.14
2026-03-18 23:46:50,628 INFO Best Result:15.295989151172806, epoch:31
2026-03-18 23:50:27,454 INFO Test Epoch 34
2026-03-18 23:51:49,396 INFO ==> Saving ...
2026-03-18 23:51:54,116 INFO ==> Loading detections and GTs...
2026-03-18 23:51:59,940 INFO ==> Evaluating (official) ...
2026-03-18 23:52:03,100 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:86.5177, 78.6896, 71.2813
bev AP:29.2722, 23.3203, 21.5115
3d AP:22.8712, 18.8744, 16.5239
aos AP:86.01, 77.76, 69.78
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:87.5895, 80.6096, 73.9835
bev AP:25.6944, 18.9895, 16.7954
3d AP:17.4938, 13.2652, 11.0999
aos AP:87.06, 79.59, 72.20
Car AP@0.70, 0.50, 0.50:
bbox AP:86.5177, 78.6896, 71.2813
bev AP:60.1367, 46.8143, 41.6466
3d AP:56.2575, 42.3047, 39.1185
aos AP:86.01, 77.76, 69.78
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:87.5895, 80.6096, 73.9835
bev AP:60.0661, 44.4130, 38.9791
3d AP:55.3880, 40.2980, 35.8927
aos AP:87.06, 79.59, 72.20
2026-03-18 23:52:03,121 INFO Best Result:15.295989151172806, epoch:31
2026-03-18 23:55:38,835 INFO Test Epoch 35
2026-03-18 23:57:01,660 INFO ==> Saving ...
2026-03-18 23:57:06,477 INFO ==> Loading detections and GTs...
2026-03-18 23:57:12,169 INFO ==> Evaluating (official) ...
2026-03-18 23:57:15,417 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:84.5698, 80.1768, 72.9798
bev AP:31.4721, 23.4678, 21.4909
3d AP:24.4458, 18.3053, 15.7081
aos AP:84.13, 79.19, 71.59
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:88.0673, 82.1718, 75.8013
bev AP:29.5196, 21.0876, 18.0789
3d AP:21.9295, 15.2957, 13.0807
aos AP:87.59, 81.07, 74.17
Car AP@0.70, 0.50, 0.50:
bbox AP:84.5698, 80.1768, 72.9798
bev AP:62.9086, 47.9840, 43.1978
3d AP:59.2371, 43.4956, 39.8988
aos AP:84.13, 79.19, 71.59
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:88.0673, 82.1718, 75.8013
bev AP:62.8179, 45.7578, 41.2962
3d AP:58.4471, 41.5377, 37.1463
aos AP:87.59, 81.07, 74.17
2026-03-18 23:57:15,437 INFO Best Result:15.295989151172806, epoch:31
2026-03-19 00:00:51,304 INFO Test Epoch 36
2026-03-19 00:02:13,182 INFO ==> Saving ...
2026-03-19 00:02:18,056 INFO ==> Loading detections and GTs...
2026-03-19 00:02:23,558 INFO ==> Evaluating (official) ...
2026-03-19 00:02:26,595 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:84.0117, 78.9664, 71.8369
bev AP:17.1021, 15.2444, 12.6152
3d AP:11.5354, 9.9785, 9.1239
aos AP:82.27, 76.98, 69.46
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:87.6783, 80.8859, 74.6823
bev AP:15.4639, 12.8043, 10.7326
3d AP:10.1783, 8.0166, 6.8513
aos AP:85.64, 78.65, 71.88
Car AP@0.70, 0.50, 0.50:
bbox AP:84.0117, 78.9664, 71.8369
bev AP:52.6142, 41.4148, 39.0228
3d AP:46.3076, 38.1888, 35.4476
aos AP:82.27, 76.98, 69.46
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:87.6783, 80.8859, 74.6823
bev AP:51.3739, 40.1724, 36.0222
3d AP:45.1184, 35.5088, 31.5849
aos AP:85.64, 78.65, 71.88
2026-03-19 00:02:26,621 INFO Best Result:15.295989151172806, epoch:31
2026-03-19 00:06:00,418 INFO Test Epoch 37
2026-03-19 00:07:22,645 INFO ==> Saving ...
2026-03-19 00:07:27,259 INFO ==> Loading detections and GTs...
2026-03-19 00:07:34,068 INFO ==> Evaluating (official) ...
2026-03-19 00:07:37,632 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:88.9521, 79.5205, 75.4518
bev AP:30.3381, 23.4446, 21.4881
3d AP:19.3821, 15.3751, 13.4347
aos AP:88.54, 78.81, 73.94
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:90.9134, 82.3197, 75.4451
bev AP:26.1997, 19.0208, 16.6255
3d AP:17.0759, 12.6525, 10.8184
aos AP:90.46, 81.51, 73.86
Car AP@0.70, 0.50, 0.50:
bbox AP:88.9521, 79.5205, 75.4518
bev AP:65.8875, 49.4710, 43.8667
3d AP:60.6083, 45.7900, 40.7842
aos AP:88.54, 78.81, 73.94
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:90.9134, 82.3197, 75.4451
bev AP:65.9424, 47.7577, 42.7295
3d AP:59.8478, 43.4410, 38.5980
aos AP:90.46, 81.51, 73.86
2026-03-19 00:07:37,647 INFO Best Result:15.295989151172806, epoch:31
2026-03-19 00:11:16,653 INFO Test Epoch 38
2026-03-19 00:12:41,058 INFO ==> Saving ...
2026-03-19 00:13:02,791 INFO ==> Loading detections and GTs...
2026-03-19 00:13:09,682 INFO ==> Evaluating (official) ...
2026-03-19 00:13:13,510 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:86.2400, 80.6437, 73.2982
bev AP:26.6780, 22.5987, 20.7992
3d AP:19.0232, 17.3415, 16.0514
aos AP:85.90, 79.79, 72.01
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:90.2160, 82.6886, 76.2650
bev AP:23.8645, 18.0532, 16.0025
3d AP:16.5290, 12.3321, 10.6623
aos AP:89.83, 81.76, 74.77
Car AP@0.70, 0.50, 0.50:
bbox AP:86.2400, 80.6437, 73.2982
bev AP:60.2091, 46.6725, 42.6017
3d AP:55.1591, 41.9667, 39.6586
aos AP:85.90, 79.79, 72.01
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:90.2160, 82.6886, 76.2650
bev AP:59.8378, 44.7008, 40.5745
3d AP:54.0666, 40.7130, 36.8990
aos AP:89.83, 81.76, 74.77
2026-03-19 00:13:13,545 INFO Best Result:15.295989151172806, epoch:31
2026-03-19 00:16:50,581 INFO Test Epoch 39
2026-03-19 00:18:12,911 INFO ==> Saving ...
2026-03-19 00:18:17,949 INFO ==> Loading detections and GTs...
2026-03-19 00:18:24,294 INFO ==> Evaluating (official) ...
2026-03-19 00:18:27,626 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:83.3290, 78.3139, 74.8937
bev AP:34.1427, 24.6557, 22.3849
3d AP:24.7387, 18.4132, 16.1147
aos AP:82.99, 77.38, 73.07