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model_without_pretrain.log
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2023-11-10 15:36:16,718 INFO **********************Start logging**********************
2023-11-10 15:36:16,719 INFO CUDA_VISIBLE_DEVICES=0,1,2,3,4,5,6,7
2023-11-10 15:36:16,721 INFO cfg_file configs/multi.yaml
2023-11-10 15:36:16,721 INFO tokenizer_path data/models/Vicuna-7B
2023-11-10 15:36:16,721 INFO off_batch_task False
2023-11-10 15:36:16,722 INFO debug False
2023-11-10 15:36:16,722 INFO seed 0
2023-11-10 15:36:16,723 INFO num_epochs 30
2023-11-10 15:36:16,723 INFO resume_from_checkpoint None
2023-11-10 15:36:16,724 INFO batch_size 1
2023-11-10 15:36:16,724 INFO val_batch_size 2
2023-11-10 15:36:16,725 INFO lr 3e-05
2023-11-10 15:36:16,725 INFO feat_dropout 0.4
2023-11-10 15:36:16,726 INFO num_warmup_steps 0
2023-11-10 15:36:16,726 INFO num_steps_per_epoch 2000
2023-11-10 15:36:16,727 INFO gradient_accumulation_step 8
2023-11-10 15:36:16,727 INFO precision amp_bf16
2023-11-10 15:36:16,727 INFO workers 0
2023-11-10 15:36:16,728 INFO world_size 8
2023-11-10 15:36:16,728 INFO local_rank 0
2023-11-10 15:36:16,729 INFO dist_url env://
2023-11-10 15:36:16,729 INFO dist_backend nccl
2023-11-10 15:36:16,730 INFO horovod False
2023-11-10 15:36:16,730 INFO no_set_device_rank False
2023-11-10 15:36:16,730 INFO output_dir output/model_without_pretrain
2023-11-10 15:36:16,731 INFO max_saved_checkpoints 1
2023-11-10 15:36:16,732 INFO save_ckpt_per_epochs 10
2023-11-10 15:36:16,732 INFO save_latest_states False
2023-11-10 15:36:16,732 INFO save_pred_results False
2023-11-10 15:36:16,733 INFO mode train
2023-11-10 15:36:16,733 INFO stage multi
2023-11-10 15:36:16,734 INFO ignoreid -100
2023-11-10 15:36:16,734 INFO enable_og True
2023-11-10 15:36:16,735 INFO enable_summarize True
2023-11-10 15:36:16,736 INFO enable_fgr2r True
2023-11-10 15:36:16,736 INFO gen_loss_coef 1.0
2023-11-10 15:36:16,737 INFO obj_loss_coef 1.0
2023-11-10 15:36:16,738 INFO teacher_forcing_coef 1.0
2023-11-10 15:36:16,738 INFO fuse_obj False
2023-11-10 15:36:16,739 INFO multi_endpoints True
2023-11-10 15:36:16,740 INFO path_type trusted_path
2023-11-10 15:36:16,740 INFO test_datasets ['CVDN', 'SOON', 'R2R', 'REVERIE', 'ScanQA']
2023-11-10 15:36:16,741 INFO validation_split val_unseen
2023-11-10 15:36:16,742 INFO do_sample False
2023-11-10 15:36:16,743 INFO temperature 1.0
2023-11-10 15:36:16,743 INFO max_datapoints None
2023-11-10 15:36:16,744 INFO rank 0
2023-11-10 15:36:16,745 INFO distributed True
2023-11-10 15:36:16,746 INFO device cuda:0
2023-11-10 15:36:16,746 INFO image_feat_size 1024
2023-11-10 15:36:16,747 INFO obj_feat_size 768
2023-11-10 15:36:16,748 INFO angle_feat_size 4
2023-11-10 15:36:16,749 INFO enc_full_graph True
2023-11-10 15:36:16,749 INFO expert_policy spl
2023-11-10 15:36:16,750 INFO num_pano_layers 2
2023-11-10 15:36:16,751 INFO ----------- Feature -----------
2023-11-10 15:36:16,752 INFO cfg.Feature.object_feature_type:
2023-11-10 15:36:16,753 INFO cfg.Feature.angle_feat_size: 4
2023-11-10 15:36:16,753 INFO cfg.Feature.max_objects: 70
2023-11-10 15:36:16,754 INFO cfg.Feature.image_feat_size: 1024
2023-11-10 15:36:16,755 INFO ----------- feature_database -----------
2023-11-10 15:36:16,756 INFO cfg.Feature.feature_database.mp3d: data/eva_features/mp3d_EVA02-CLIP-L-14-336.hdf5
2023-11-10 15:36:16,757 INFO cfg.Feature.feature_database.scan_qa: data/eva_features/scanqa_EVA02-CLIP-L-14-336.hdf5
2023-11-10 15:36:16,757 INFO cfg.Feature.feature_database.coco: data/eva_features/coco_EVA02-CLIP-L-14-336.hdf5
2023-11-10 15:36:16,758 INFO cfg.Feature.obj_feat_size: 768
2023-11-10 15:36:16,759 INFO ----------- object_database -----------
2023-11-10 15:36:16,759 INFO cfg.Feature.object_database.reverie: data/REVERIE/features/obj_gtmax_timm_imagenet_vitb16/
2023-11-10 15:36:16,760 INFO cfg.Feature.object_database.soon: data/SOON/features/obj2d_ade20k_timm_vitb16/
2023-11-10 15:36:16,760 INFO ----------- Dataset -----------
2023-11-10 15:36:16,761 INFO ----------- R2R -----------
2023-11-10 15:36:16,761 INFO cfg.Dataset.R2R.DIR: R2R
2023-11-10 15:36:16,761 INFO ----------- SPLIT -----------
2023-11-10 15:36:16,762 INFO cfg.Dataset.R2R.SPLIT.train: FGR2R_train.json
2023-11-10 15:36:16,762 INFO cfg.Dataset.R2R.SPLIT.val_seen: R2R_val_seen_enc.json
2023-11-10 15:36:16,763 INFO cfg.Dataset.R2R.SPLIT.val_unseen: R2R_val_unseen_enc.json
2023-11-10 15:36:16,763 INFO cfg.Dataset.R2R.SPLIT.test: R2R_test_enc.json
2023-11-10 15:36:16,764 INFO ----------- REVERIE -----------
2023-11-10 15:36:16,764 INFO cfg.Dataset.REVERIE.DIR: REVERIE
2023-11-10 15:36:16,764 INFO cfg.Dataset.REVERIE.bbox_file: data/REVERIEB/Boxes.json
2023-11-10 15:36:16,765 INFO ----------- SPLIT -----------
2023-11-10 15:36:16,765 INFO cfg.Dataset.REVERIE.SPLIT.train: REVERIE_train_enc.json
2023-11-10 15:36:16,766 INFO cfg.Dataset.REVERIE.SPLIT.val_seen: REVERIE_val_seen_enc.json
2023-11-10 15:36:16,766 INFO cfg.Dataset.REVERIE.SPLIT.val_unseen: REVERIE_val_unseen_enc.json
2023-11-10 15:36:16,767 INFO cfg.Dataset.REVERIE.SPLIT.test: REVERIE_test_enc.json
2023-11-10 15:36:16,767 INFO ----------- CVDN -----------
2023-11-10 15:36:16,768 INFO cfg.Dataset.CVDN.DIR: CVDN
2023-11-10 15:36:16,768 INFO ----------- SPLIT -----------
2023-11-10 15:36:16,768 INFO cfg.Dataset.CVDN.SPLIT.train: train.json
2023-11-10 15:36:16,769 INFO cfg.Dataset.CVDN.SPLIT.val_seen: val_seen.json
2023-11-10 15:36:16,769 INFO cfg.Dataset.CVDN.SPLIT.val_unseen: val_unseen.json
2023-11-10 15:36:16,770 INFO cfg.Dataset.CVDN.SPLIT.test: test_cleaned.json
2023-11-10 15:36:16,770 INFO ----------- SOON -----------
2023-11-10 15:36:16,770 INFO cfg.Dataset.SOON.DIR: SOON
2023-11-10 15:36:16,771 INFO ----------- SPLIT -----------
2023-11-10 15:36:16,771 INFO cfg.Dataset.SOON.SPLIT.train: train_enc_pseudo_obj_ade30k_label.jsonl
2023-11-10 15:36:16,772 INFO cfg.Dataset.SOON.SPLIT.val_seen: val_unseen_instrs_enc_pseudo_obj_ade30k_label.jsonl
2023-11-10 15:36:16,772 INFO cfg.Dataset.SOON.SPLIT.val_unseen: val_unseen_house_enc_pseudo_obj_ade30k_label.jsonl
2023-11-10 15:36:16,773 INFO cfg.Dataset.SOON.SPLIT.test: test_v2_enc.jsonl
2023-11-10 15:36:16,773 INFO ----------- ScanQA -----------
2023-11-10 15:36:16,773 INFO cfg.Dataset.ScanQA.DIR: ScanQA
2023-11-10 15:36:16,774 INFO ----------- SPLIT -----------
2023-11-10 15:36:16,774 INFO cfg.Dataset.ScanQA.SPLIT.train: ScanQA_v1.0_train_reformat.json
2023-11-10 15:36:16,775 INFO cfg.Dataset.ScanQA.SPLIT.val_unseen: ScanQA_v1.0_val_reformat.json
2023-11-10 15:36:16,775 INFO cfg.Dataset.ScanQA.SPLIT.test: ScanQA_v1.0_test_wo_obj_reformat.json
2023-11-10 15:36:16,776 INFO ----------- EQA -----------
2023-11-10 15:36:16,776 INFO cfg.Dataset.EQA.DIR: EQA_MP3D
2023-11-10 15:36:16,776 INFO ----------- SPLIT -----------
2023-11-10 15:36:16,777 INFO cfg.Dataset.EQA.SPLIT.val_unseen: eqa_val_enc.json
2023-11-10 15:36:16,777 INFO cfg.Dataset.EQA.ANSWER_VOCAB: data/EQA_MP3D/eqa_answer_vocab.json
2023-11-10 15:36:16,778 INFO ----------- R2R_AUG -----------
2023-11-10 15:36:16,778 INFO cfg.Dataset.R2R_AUG.DIR: R2R
2023-11-10 15:36:16,778 INFO ----------- SPLIT -----------
2023-11-10 15:36:16,779 INFO cfg.Dataset.R2R_AUG.SPLIT.train: R2R_prevalent_aug_train_enc.jsonl
2023-11-10 15:36:16,779 INFO ----------- REVERIE_AUG -----------
2023-11-10 15:36:16,780 INFO cfg.Dataset.REVERIE_AUG.DIR: REVERIE
2023-11-10 15:36:16,780 INFO cfg.Dataset.REVERIE_AUG.bbox_file: BBoxes.json
2023-11-10 15:36:16,780 INFO ----------- SPLIT -----------
2023-11-10 15:36:16,781 INFO cfg.Dataset.REVERIE_AUG.SPLIT.train: REVERIE_speaker_aug_enc.jsonl
2023-11-10 15:36:16,781 INFO ----------- LLaVA -----------
2023-11-10 15:36:16,782 INFO cfg.Dataset.LLaVA.DIR: LLaVA
2023-11-10 15:36:16,782 INFO ----------- SPLIT -----------
2023-11-10 15:36:16,782 INFO cfg.Dataset.LLaVA.SPLIT.train: detail_23k.json
2023-11-10 15:36:16,783 INFO ----------- Pretrain -----------
2023-11-10 15:36:16,783 INFO cfg.Pretrain.SOURCE: ['R2R_AUG', 'REVERIE_AUG', 'R2R', 'REVERIE', 'SOON', 'CVDN', 'ScanQA']
2023-11-10 15:36:16,784 INFO cfg.Pretrain.Ratio: [20, 2, 1, 1, 1, 1, 1]
2023-11-10 15:36:16,784 INFO ----------- LOSS_COEF -----------
2023-11-10 15:36:16,784 INFO cfg.Pretrain.LOSS_COEF.R2R_AUG: 1
2023-11-10 15:36:16,785 INFO cfg.Pretrain.LOSS_COEF.REVERIE_AUG: 1
2023-11-10 15:36:16,785 INFO ----------- Multi -----------
2023-11-10 15:36:16,786 INFO cfg.Multi.SOURCE: ['R2R', 'REVERIE', 'CVDN', 'SOON', 'ScanQA', 'LLaVA']
2023-11-10 15:36:16,786 INFO cfg.Multi.Ratio: [20, 5, 1, 5, 5, 5]
2023-11-10 15:36:16,787 INFO ----------- LOSS_COEF -----------
2023-11-10 15:36:16,787 INFO ----------- Model -----------
2023-11-10 15:36:16,788 INFO cfg.Model.num_l_layers: 9
2023-11-10 15:36:16,788 INFO cfg.Model.num_pano_layers: 2
2023-11-10 15:36:16,789 INFO cfg.Model.num_x_layers: 4
2023-11-10 15:36:16,789 INFO cfg.Model.graph_sprels: True
2023-11-10 15:36:16,789 INFO cfg.Model.fusion: dynamic
2023-11-10 15:36:16,790 INFO cfg.Model.enc_full_graph: True
2023-11-10 15:36:16,790 INFO cfg.Model.expert_policy: spl
2023-11-10 15:36:16,791 INFO ----------- Optim -----------
2023-11-10 15:36:16,791 INFO ----------- val_max_action_len -----------
2023-11-10 15:36:16,791 INFO cfg.Optim.val_max_action_len.R2R: 15
2023-11-10 15:36:16,792 INFO cfg.Optim.val_max_action_len.REVERIE: 15
2023-11-10 15:36:16,792 INFO cfg.Optim.val_max_action_len.CVDN: 30
2023-11-10 15:36:16,793 INFO cfg.Optim.val_max_action_len.SOON: 20
2023-11-10 15:36:16,793 INFO cfg.Optim.val_max_action_len.EQA: 15
2023-11-10 15:36:16,794 INFO ----------- train_max_action_len -----------
2023-11-10 15:36:16,794 INFO cfg.Optim.train_max_action_len.R2R: 15
2023-11-10 15:36:16,794 INFO cfg.Optim.train_max_action_len.REVERIE: 15
2023-11-10 15:36:16,795 INFO cfg.Optim.train_max_action_len.CVDN: 15
2023-11-10 15:36:16,795 INFO cfg.Optim.train_max_action_len.SOON: 15
2023-11-10 15:36:16,796 INFO cfg.Optim.train_max_action_len.EQA: 15
2023-11-10 15:36:16,796 INFO cfg.Optim.train_max_action_len.R2R_AUG: 15
2023-11-10 15:36:16,797 INFO cfg.Optim.train_max_action_len.REVERIE_AUG: 15
2023-11-10 15:36:27,335 INFO [INFO] R2RDataset loaded with 14039 instructions, using splits: train
2023-11-10 15:36:27,336 INFO
- Dataset: load 14039 R2R samples
- Dataset: load train split: 14039 samples in total
- Dataset: load train split: 61 scans in total
2023-11-10 15:36:27,337 INFO R2R: 14039 samples loaded
2023-11-10 15:36:34,019 INFO [INFO] REVERIEDataset loaded with 10466 instructions, using splits: train
2023-11-10 15:36:34,020 INFO
- Dataset: load 10466 REVERIE samples
- Dataset: load train split: 10466 samples in total
- Dataset: load train split: 60 scans in total
2023-11-10 15:36:34,020 INFO REVERIE: 10466 samples loaded
2023-11-10 15:36:40,398 INFO [INFO] CVDNDataset loaded with 4742 instructions, using splits: train
2023-11-10 15:36:40,398 INFO
- Dataset: load 4742 CVDN samples
- Dataset: load train split: 4742 samples in total
- Dataset: load train split: 57 scans in total
2023-11-10 15:36:40,416 INFO CVDN: 4742 samples loaded
2023-11-10 15:36:53,004 INFO [INFO] SOONDataset loaded with 27800 instructions, using splits: train
2023-11-10 15:36:53,004 INFO
- Dataset: load 27800 SOON samples
- Dataset: load train split: 27800 samples in total
- Dataset: load train split: 34 scans in total
2023-11-10 15:36:53,005 INFO SOON: 27800 samples loaded
2023-11-10 15:36:53,210 INFO There are totally 25563 datapoints loaded.
2023-11-10 15:36:53,215 INFO ScanQA: 25563 samples loaded
2023-11-10 15:36:53,352 INFO There are totally 23240 datapoints loaded.
2023-11-10 15:36:53,360 INFO LLaVA: 23240 samples loaded
2023-11-10 15:36:58,744 INFO [INFO] CVDNDataset loaded with 907 instructions, using splits: val_unseen
2023-11-10 15:36:58,745 INFO
- Dataset: load 907 CVDN samples
- Dataset: load val_unseen split: 907 samples in total
- Dataset: load val_unseen split: 10 scans in total
2023-11-10 15:36:58,748 INFO CVDN: 907 samples loaded
2023-11-10 15:36:59,802 INFO [INFO] SOONDataset loaded with 3390 instructions, using splits: val_unseen
2023-11-10 15:36:59,802 INFO
- Dataset: load 3390 SOON samples
- Dataset: load val_unseen split: 3390 samples in total
- Dataset: load val_unseen split: 5 scans in total
2023-11-10 15:36:59,803 INFO SOON: 3390 samples loaded
2023-11-10 15:37:00,308 INFO [INFO] R2RDataset loaded with 2349 instructions, using splits: val_unseen
2023-11-10 15:37:00,309 INFO
- Dataset: load 2349 R2R samples
- Dataset: load val_unseen split: 2349 samples in total
- Dataset: load val_unseen split: 11 scans in total
2023-11-10 15:37:00,309 INFO R2R: 2349 samples loaded
2023-11-10 15:37:02,556 INFO [INFO] REVERIEDataset loaded with 3521 instructions, using splits: val_unseen
2023-11-10 15:37:02,557 INFO
- Dataset: load 3521 REVERIE samples
- Dataset: load val_unseen split: 3521 samples in total
- Dataset: load val_unseen split: 10 scans in total
2023-11-10 15:37:02,558 INFO REVERIE: 3521 samples loaded
2023-11-10 15:37:02,595 INFO There are totally 4675 datapoints loaded.
2023-11-10 15:37:02,596 INFO ScanQA: 4675 samples loaded
2023-11-10 15:38:57,717 INFO model type: torch.bfloat16
2023-11-10 15:38:57,718 INFO *************** init model ***************
2023-11-10 15:39:02,734 INFO model initialized with 6773.48 M trainable parameters
2023-11-10 15:39:09,976 INFO Training in distributed mode : total_batch_size: 8
2023-11-10 15:39:09,977 INFO **************************** Train ****************************
2023-11-10 16:49:16,016 INFO ***** train [0] epoch *****wo
2023-11-10 16:49:16,017 INFO Loss: 17.99
Instr_pred: 1.87
R2R: 22.99
REVERIE: 21.23
CVDN: 24.23
SOON: 26.68
ScanQA: 1.88
LLaVA: 1.68
2023-11-10 16:49:16,022 INFO ***** validate val_unseen split on CVDN task *****
2023-11-10 16:52:04,193 INFO eval 912 predictions
2023-11-10 16:52:04,301 INFO ***** validate val_unseen split on SOON task *****
2023-11-10 16:58:21,751 INFO eval 3392 predictions
2023-11-10 16:58:21,854 INFO ***** validate val_unseen split on R2R task *****
2023-11-10 17:00:54,560 INFO eval 2352 predictions
2023-11-10 17:00:54,618 INFO ***** validate val_unseen split on REVERIE task *****
2023-11-10 17:05:02,616 INFO eval 3528 predictions
2023-11-10 17:05:02,738 INFO ***** validate val_unseen split on ScanQA task *****
2023-11-10 17:15:45,313 INFO
[Eval] val_unseen epoch 0
[Eval] dataset=[CVDN]
, lengths: 176.15, nav_error: 17.06, oracle_sr: 50.11
[Eval] ||| sr: 7.68, spl: 0.99, oracle path_success_rate: 89.47, dist_to_end_reduction: 2.39
[Eval] dataset=[SOON]
, action_steps: 18.08, steps: 40.88, lengths: 88.76, nav_error: 13.44, oracle_error: 7.47
[Eval] ||| sr: 5.72, oracle_sr: 19.60, spl: 1.52, det_sr: 0.15, det_spl: 0.05
[Eval] dataset=[R2R]
, action_steps: 11.27, steps: 23.20, lengths: 50.33, nav_error: 9.22, oracle_error: 3.87
[Eval] ||| sr: 15.52, oracle_sr: 47.32, spl: 6.65
[Eval] dataset=[REVERIE]
, action_steps: 11.98, steps: 24.71, lengths: 52.40, nav_error: 9.98, oracle_error: 4.01
[Eval] ||| sr: 4.00, oracle_sr: 24.80, spl: 1.37, rgs: 0.74, rgspl: 0.23
[Eval] dataset=[ScanQA]
, bleu-1: 31.27, bleu-2: 18.20, bleu-3: 11.88, bleu-4: 7.14, rouge: 31.40, cider: 56.66, meteor: 12.21, exact_match: 17.59
2023-11-10 17:15:45,319 INFO Current Score: 0.2054413479956647
2023-11-10 17:15:45,320 INFO Best Score: 0.2054413479956647
2023-11-10 18:27:15,328 INFO ***** train [1] epoch *****wo
2023-11-10 18:27:15,329 INFO Loss: 15.65
Instr_pred: 1.66
R2R: 19.86
REVERIE: 18.49
CVDN: 18.78
SOON: 21.58
ScanQA: 1.48
LLaVA: 1.47
2023-11-10 18:27:15,334 INFO ***** validate val_unseen split on CVDN task *****
2023-11-10 18:29:00,300 INFO eval 912 predictions
2023-11-10 18:29:00,347 INFO ***** validate val_unseen split on SOON task *****
2023-11-10 18:33:28,663 INFO eval 3392 predictions
2023-11-10 18:33:28,737 INFO ***** validate val_unseen split on R2R task *****
2023-11-10 18:34:54,908 INFO eval 2352 predictions
2023-11-10 18:34:54,953 INFO ***** validate val_unseen split on REVERIE task *****
2023-11-10 18:37:34,386 INFO eval 3528 predictions
2023-11-10 18:37:34,483 INFO ***** validate val_unseen split on ScanQA task *****
2023-11-10 18:48:09,305 INFO
[Eval] val_unseen epoch 1
[Eval] dataset=[CVDN]
, lengths: 40.72, nav_error: 17.86, oracle_sr: 43.31
[Eval] ||| sr: 6.36, spl: 3.06, oracle path_success_rate: 75.00, dist_to_end_reduction: 1.61
[Eval] dataset=[SOON]
, action_steps: 11.29, steps: 12.49, lengths: 22.92, nav_error: 13.54, oracle_error: 7.55
[Eval] ||| sr: 10.38, oracle_sr: 21.70, spl: 8.72, det_sr: 0.24, det_spl: 0.18
[Eval] dataset=[R2R]
, action_steps: 5.67, steps: 6.09, lengths: 11.65, nav_error: 9.01, oracle_error: 4.92
[Eval] ||| sr: 24.32, oracle_sr: 37.16, spl: 21.19
[Eval] dataset=[REVERIE]
, action_steps: 6.61, steps: 7.07, lengths: 13.65, nav_error: 11.19, oracle_error: 5.16
[Eval] ||| sr: 6.72, oracle_sr: 12.81, spl: 5.78, rgs: 1.53, rgspl: 1.39
[Eval] dataset=[ScanQA]
, bleu-1: 31.83, bleu-2: 19.40, bleu-3: 13.75, bleu-4: 9.05, rouge: 32.27, cider: 59.91, meteor: 12.90, exact_match: 18.18
2023-11-10 18:48:09,310 INFO Current Score: 0.8388645027227783
2023-11-10 18:48:09,310 INFO Best Score: 0.8388645027227783
2023-11-10 18:48:09,412 INFO Remove Checkpoint at Epoch 0...
2023-11-10 19:58:30,830 INFO ***** train [2] epoch *****wo
2023-11-10 19:58:30,830 INFO Loss: 13.69
Instr_pred: 1.56
R2R: 17.65
REVERIE: 17.35
CVDN: 15.55
SOON: 20.25
ScanQA: 1.38
LLaVA: 1.43
2023-11-10 19:58:30,835 INFO ***** validate val_unseen split on CVDN task *****
2023-11-10 20:00:12,757 INFO eval 912 predictions
2023-11-10 20:00:12,803 INFO ***** validate val_unseen split on SOON task *****
2023-11-10 20:04:45,223 INFO eval 3392 predictions
2023-11-10 20:04:45,302 INFO ***** validate val_unseen split on R2R task *****
2023-11-10 20:06:24,022 INFO eval 2352 predictions
2023-11-10 20:06:24,070 INFO ***** validate val_unseen split on REVERIE task *****
2023-11-10 20:09:04,998 INFO eval 3528 predictions
2023-11-10 20:09:05,094 INFO ***** validate val_unseen split on ScanQA task *****
2023-11-10 20:19:29,780 INFO
[Eval] val_unseen epoch 2
[Eval] dataset=[CVDN]
, lengths: 41.38, nav_error: 18.15, oracle_sr: 44.08
[Eval] ||| sr: 5.92, spl: 3.57, oracle path_success_rate: 74.56, dist_to_end_reduction: 1.37
[Eval] dataset=[SOON]
, action_steps: 11.59, steps: 13.88, lengths: 24.81, nav_error: 13.27, oracle_error: 7.30
[Eval] ||| sr: 11.85, oracle_sr: 24.88, spl: 10.42, det_sr: 0.24, det_spl: 0.21
[Eval] dataset=[R2R]
, action_steps: 6.60, steps: 7.91, lengths: 14.95, nav_error: 8.83, oracle_error: 4.33
[Eval] ||| sr: 27.51, oracle_sr: 46.34, spl: 24.09
[Eval] dataset=[REVERIE]
, action_steps: 6.62, steps: 7.86, lengths: 15.16, nav_error: 10.44, oracle_error: 4.99
[Eval] ||| sr: 6.77, oracle_sr: 15.05, spl: 6.08, rgs: 1.90, rgspl: 1.70
[Eval] dataset=[ScanQA]
, bleu-1: 32.91, bleu-2: 20.05, bleu-3: 13.36, bleu-4: 8.13, rouge: 34.24, cider: 64.47, meteor: 13.41, exact_match: 20.06
2023-11-10 20:19:29,784 INFO Current Score: 0.9596369784988444
2023-11-10 20:19:29,785 INFO Best Score: 0.9596369784988444
2023-11-10 20:19:30,121 INFO Remove Checkpoint at Epoch 1...
2023-11-10 21:29:25,356 INFO ***** train [3] epoch *****wo
2023-11-10 21:29:25,357 INFO Loss: 12.79
Instr_pred: 1.51
R2R: 16.53
REVERIE: 15.61
CVDN: 14.09
SOON: 18.78
ScanQA: 1.29
LLaVA: 1.42
2023-11-10 21:29:25,362 INFO ***** validate val_unseen split on CVDN task *****
2023-11-10 21:31:47,345 INFO eval 912 predictions
2023-11-10 21:31:47,398 INFO ***** validate val_unseen split on SOON task *****
2023-11-10 21:37:08,070 INFO eval 3392 predictions
2023-11-10 21:37:08,154 INFO ***** validate val_unseen split on R2R task *****
2023-11-10 21:38:45,663 INFO eval 2352 predictions
2023-11-10 21:38:45,709 INFO ***** validate val_unseen split on REVERIE task *****
2023-11-10 21:41:59,331 INFO eval 3528 predictions
2023-11-10 21:41:59,430 INFO ***** validate val_unseen split on ScanQA task *****
2023-11-10 21:52:21,913 INFO
[Eval] val_unseen epoch 3
[Eval] dataset=[CVDN]
, lengths: 53.45, nav_error: 17.68, oracle_sr: 51.32
[Eval] ||| sr: 7.13, spl: 3.22, oracle path_success_rate: 75.44, dist_to_end_reduction: 1.73
[Eval] dataset=[SOON]
, action_steps: 14.12, steps: 15.61, lengths: 29.33, nav_error: 13.12, oracle_error: 5.98
[Eval] ||| sr: 12.74, oracle_sr: 38.56, spl: 9.57, det_sr: 0.53, det_spl: 0.39
[Eval] dataset=[R2R]
, action_steps: 6.61, steps: 7.30, lengths: 14.07, nav_error: 7.70, oracle_error: 3.71
[Eval] ||| sr: 32.31, oracle_sr: 55.06, spl: 27.89
[Eval] dataset=[REVERIE]
, action_steps: 8.41, steps: 10.20, lengths: 19.83, nav_error: 10.42, oracle_error: 3.99
[Eval] ||| sr: 9.61, oracle_sr: 28.94, spl: 7.70, rgs: 1.98, rgspl: 1.56
[Eval] dataset=[ScanQA]
, bleu-1: 32.19, bleu-2: 21.02, bleu-3: 15.59, bleu-4: 10.52, rouge: 31.47, cider: 59.36, meteor: 12.34, exact_match: 17.24
2023-11-10 21:52:21,920 INFO Current Score: 1.0351860649742393
2023-11-10 21:52:21,920 INFO Best Score: 1.0351860649742393
2023-11-10 21:52:22,728 INFO Remove Checkpoint at Epoch 2...
2023-11-10 23:02:10,243 INFO ***** train [4] epoch *****wo
2023-11-10 23:02:10,244 INFO Loss: 11.45
Instr_pred: 1.52
R2R: 14.34
REVERIE: 14.81
CVDN: 13.82
SOON: 16.96
ScanQA: 1.35
LLaVA: 1.41
2023-11-10 23:02:10,248 INFO ***** validate val_unseen split on CVDN task *****
2023-11-10 23:03:56,398 INFO eval 912 predictions
2023-11-10 23:03:56,446 INFO ***** validate val_unseen split on SOON task *****
2023-11-10 23:08:32,701 INFO eval 3392 predictions
2023-11-10 23:08:32,796 INFO ***** validate val_unseen split on R2R task *****
2023-11-10 23:10:14,054 INFO eval 2352 predictions
2023-11-10 23:10:14,101 INFO ***** validate val_unseen split on REVERIE task *****
2023-11-10 23:13:07,377 INFO eval 3528 predictions
2023-11-10 23:13:07,475 INFO ***** validate val_unseen split on ScanQA task *****
2023-11-10 23:23:37,816 INFO
[Eval] val_unseen epoch 4
[Eval] dataset=[CVDN]
, lengths: 48.15, nav_error: 15.79, oracle_sr: 50.11
[Eval] ||| sr: 9.32, spl: 5.50, oracle path_success_rate: 82.46, dist_to_end_reduction: 3.75
[Eval] dataset=[SOON]
, action_steps: 11.76, steps: 14.55, lengths: 27.57, nav_error: 9.48, oracle_error: 5.68
[Eval] ||| sr: 22.49, oracle_sr: 38.74, spl: 18.11, det_sr: 1.09, det_spl: 0.87
[Eval] dataset=[R2R]
, action_steps: 6.81, steps: 7.78, lengths: 15.39, nav_error: 5.51, oracle_error: 2.49
[Eval] ||| sr: 50.17, oracle_sr: 70.96, spl: 43.05
[Eval] dataset=[REVERIE]
, action_steps: 7.25, steps: 8.60, lengths: 17.13, nav_error: 7.92, oracle_error: 3.51
[Eval] ||| sr: 22.82, oracle_sr: 39.77, spl: 18.31, rgs: 4.05, rgspl: 3.39
[Eval] dataset=[ScanQA]
, bleu-1: 34.46, bleu-2: 22.93, bleu-3: 17.27, bleu-4: 11.99, rouge: 34.18, cider: 67.53, meteor: 13.81, exact_match: 19.27
2023-11-10 23:23:37,820 INFO Current Score: 1.8987451960498372
2023-11-10 23:23:37,821 INFO Best Score: 1.8987451960498372
2023-11-10 23:23:38,780 INFO Remove Checkpoint at Epoch 3...
2023-11-11 00:33:08,213 INFO ***** train [5] epoch *****wo
2023-11-11 00:33:08,214 INFO Loss: 10.74
Instr_pred: 1.50
R2R: 13.24
REVERIE: 12.29
CVDN: 11.56
SOON: 17.51
ScanQA: 1.31
LLaVA: 1.40
2023-11-11 00:33:08,219 INFO ***** validate val_unseen split on CVDN task *****
2023-11-11 00:35:18,920 INFO eval 912 predictions
2023-11-11 00:35:18,975 INFO ***** validate val_unseen split on SOON task *****
2023-11-11 00:40:11,205 INFO eval 3392 predictions
2023-11-11 00:40:11,307 INFO ***** validate val_unseen split on R2R task *****
2023-11-11 00:42:03,758 INFO eval 2352 predictions
2023-11-11 00:42:03,806 INFO ***** validate val_unseen split on REVERIE task *****
2023-11-11 00:45:12,656 INFO eval 3528 predictions
2023-11-11 00:45:12,756 INFO ***** validate val_unseen split on ScanQA task *****
2023-11-11 00:55:33,990 INFO
[Eval] val_unseen epoch 5
[Eval] dataset=[CVDN]
, lengths: 58.12, nav_error: 15.19, oracle_sr: 59.87
[Eval] ||| sr: 9.65, spl: 6.23, oracle path_success_rate: 87.94, dist_to_end_reduction: 4.52
[Eval] dataset=[SOON]
, action_steps: 12.75, steps: 15.48, lengths: 28.57, nav_error: 9.05, oracle_error: 5.12
[Eval] ||| sr: 26.92, oracle_sr: 45.34, spl: 21.98, det_sr: 1.06, det_spl: 0.85
[Eval] dataset=[R2R]
, action_steps: 7.63, steps: 9.13, lengths: 17.99, nav_error: 5.57, oracle_error: 2.02
[Eval] ||| sr: 50.00, oracle_sr: 77.81, spl: 41.85
[Eval] dataset=[REVERIE]
, action_steps: 8.13, steps: 10.10, lengths: 19.98, nav_error: 7.01, oracle_error: 2.64
[Eval] ||| sr: 25.91, oracle_sr: 54.73, spl: 20.43, rgs: 4.08, rgspl: 3.35
[Eval] dataset=[ScanQA]
, bleu-1: 31.97, bleu-2: 20.38, bleu-3: 14.70, bleu-4: 10.32, rouge: 34.24, cider: 64.06, meteor: 13.17, exact_match: 20.21
2023-11-11 00:55:33,995 INFO Current Score: 2.0819621523188605
2023-11-11 00:55:33,996 INFO Best Score: 2.0819621523188605
2023-11-11 00:55:34,880 INFO Remove Checkpoint at Epoch 4...
2023-11-11 02:04:59,871 INFO ***** train [6] epoch *****wo
2023-11-11 02:04:59,872 INFO Loss: 9.56
Instr_pred: 1.43
R2R: 11.38
REVERIE: 12.08
CVDN: 13.17
SOON: 15.21
ScanQA: 1.26
LLaVA: 1.38
2023-11-11 02:04:59,877 INFO ***** validate val_unseen split on CVDN task *****
2023-11-11 02:07:00,947 INFO eval 912 predictions
2023-11-11 02:07:00,998 INFO ***** validate val_unseen split on SOON task *****
2023-11-11 02:11:34,506 INFO eval 3392 predictions
2023-11-11 02:11:34,606 INFO ***** validate val_unseen split on R2R task *****
2023-11-11 02:13:17,881 INFO eval 2352 predictions
2023-11-11 02:13:17,929 INFO ***** validate val_unseen split on REVERIE task *****
2023-11-11 02:16:17,414 INFO eval 3528 predictions
2023-11-11 02:16:17,512 INFO ***** validate val_unseen split on ScanQA task *****
2023-11-11 02:27:06,588 INFO
[Eval] val_unseen epoch 6
[Eval] dataset=[CVDN]
, lengths: 49.91, nav_error: 14.90, oracle_sr: 57.89
[Eval] ||| sr: 10.75, spl: 6.69, oracle path_success_rate: 86.73, dist_to_end_reduction: 4.72
[Eval] dataset=[SOON]
, action_steps: 11.73, steps: 14.71, lengths: 26.74, nav_error: 9.21, oracle_error: 5.54
[Eval] ||| sr: 26.12, oracle_sr: 38.65, spl: 22.11, det_sr: 1.42, det_spl: 1.18
[Eval] dataset=[R2R]
, action_steps: 6.80, steps: 8.91, lengths: 17.52, nav_error: 4.52, oracle_error: 2.05
[Eval] ||| sr: 57.27, oracle_sr: 75.55, spl: 48.86
[Eval] dataset=[REVERIE]
, action_steps: 7.63, steps: 10.31, lengths: 20.17, nav_error: 5.99, oracle_error: 2.53
[Eval] ||| sr: 32.48, oracle_sr: 51.08, spl: 26.51, rgs: 6.52, rgspl: 5.34
[Eval] dataset=[ScanQA]
, bleu-1: 33.26, bleu-2: 21.12, bleu-3: 14.61, bleu-4: 10.20, rouge: 35.18, cider: 66.15, meteor: 13.63, exact_match: 20.96
2023-11-11 02:27:06,594 INFO Current Score: 2.3698654691623577
2023-11-11 02:27:06,595 INFO Best Score: 2.3698654691623577
2023-11-11 02:27:07,310 INFO Remove Checkpoint at Epoch 5...
2023-11-11 03:36:24,107 INFO ***** train [7] epoch *****wo
2023-11-11 03:36:24,108 INFO Loss: 9.05
Instr_pred: 1.38
R2R: 10.58
REVERIE: 10.83
CVDN: 13.88
SOON: 15.33
ScanQA: 1.22
LLaVA: 1.39
2023-11-11 03:36:24,114 INFO ***** validate val_unseen split on CVDN task *****
2023-11-11 03:38:22,440 INFO eval 912 predictions
2023-11-11 03:38:22,490 INFO ***** validate val_unseen split on SOON task *****
2023-11-11 03:43:26,164 INFO eval 3392 predictions
2023-11-11 03:43:26,275 INFO ***** validate val_unseen split on R2R task *****
2023-11-11 03:45:00,731 INFO eval 2352 predictions
2023-11-11 03:45:00,778 INFO ***** validate val_unseen split on REVERIE task *****
2023-11-11 03:47:52,120 INFO eval 3528 predictions
2023-11-11 03:47:52,220 INFO ***** validate val_unseen split on ScanQA task *****
2023-11-11 03:59:08,114 INFO
[Eval] val_unseen epoch 7
[Eval] dataset=[CVDN]
, lengths: 50.61, nav_error: 15.03, oracle_sr: 56.14
[Eval] ||| sr: 9.87, spl: 6.06, oracle path_success_rate: 87.39, dist_to_end_reduction: 4.42
[Eval] dataset=[SOON]
, action_steps: 12.95, steps: 16.79, lengths: 32.49, nav_error: 8.18, oracle_error: 4.46
[Eval] ||| sr: 29.95, oracle_sr: 49.82, spl: 22.70, det_sr: 1.53, det_spl: 1.19
[Eval] dataset=[R2R]
, action_steps: 5.99, steps: 7.11, lengths: 13.95, nav_error: 4.07, oracle_error: 2.21
[Eval] ||| sr: 63.10, oracle_sr: 73.77, spl: 55.91
[Eval] dataset=[REVERIE]
, action_steps: 7.19, steps: 9.18, lengths: 17.79, nav_error: 5.73, oracle_error: 2.68
[Eval] ||| sr: 35.23, oracle_sr: 50.51, spl: 28.48, rgs: 6.97, rgspl: 5.54
[Eval] dataset=[ScanQA]
, bleu-1: 37.92, bleu-2: 24.18, bleu-3: 17.01, bleu-4: 10.81, rouge: 37.91, cider: 72.41, meteor: 14.78, exact_match: 21.62
2023-11-11 03:59:08,119 INFO Current Score: 2.563413089316161
2023-11-11 03:59:08,119 INFO Best Score: 2.563413089316161
2023-11-11 03:59:09,034 INFO Remove Checkpoint at Epoch 6...
2023-11-11 05:08:03,104 INFO ***** train [8] epoch *****wo
2023-11-11 05:08:03,107 INFO Loss: 8.49
Instr_pred: 1.42
R2R: 10.24
REVERIE: 10.29
CVDN: 10.97
SOON: 12.96
ScanQA: 1.25
LLaVA: 1.38
2023-11-11 05:08:03,112 INFO ***** validate val_unseen split on CVDN task *****
2023-11-11 05:09:39,566 INFO eval 912 predictions
2023-11-11 05:09:39,607 INFO ***** validate val_unseen split on SOON task *****
2023-11-11 05:14:07,761 INFO eval 3392 predictions
2023-11-11 05:14:07,870 INFO ***** validate val_unseen split on R2R task *****
2023-11-11 05:15:44,172 INFO eval 2352 predictions
2023-11-11 05:15:44,218 INFO ***** validate val_unseen split on REVERIE task *****
2023-11-11 05:18:29,736 INFO eval 3528 predictions
2023-11-11 05:18:29,835 INFO ***** validate val_unseen split on ScanQA task *****
2023-11-11 05:28:57,026 INFO
[Eval] val_unseen epoch 8
[Eval] dataset=[CVDN]
, lengths: 35.32, nav_error: 14.11, oracle_sr: 50.11
[Eval] ||| sr: 12.17, spl: 9.35, oracle path_success_rate: 82.46, dist_to_end_reduction: 5.40
[Eval] dataset=[SOON]
, action_steps: 11.46, steps: 13.26, lengths: 24.98, nav_error: 8.31, oracle_error: 5.15
[Eval] ||| sr: 32.02, oracle_sr: 43.93, spl: 26.32, det_sr: 1.92, det_spl: 1.68
[Eval] dataset=[R2R]
, action_steps: 6.38, steps: 7.30, lengths: 14.47, nav_error: 4.12, oracle_error: 1.97
[Eval] ||| sr: 63.56, oracle_sr: 77.25, spl: 55.07
[Eval] dataset=[REVERIE]
, action_steps: 6.94, steps: 8.13, lengths: 16.03, nav_error: 6.14, oracle_error: 2.94
[Eval] ||| sr: 37.41, oracle_sr: 51.02, spl: 30.56, rgs: 7.88, rgspl: 6.42
[Eval] dataset=[ScanQA]
, bleu-1: 36.55, bleu-2: 22.83, bleu-3: 16.07, bleu-4: 11.46, rouge: 37.97, cider: 72.45, meteor: 14.72, exact_match: 23.10
2023-11-11 05:28:57,031 INFO Current Score: 2.7423240251839434
2023-11-11 05:28:57,031 INFO Best Score: 2.7423240251839434
2023-11-11 05:28:57,947 INFO Remove Checkpoint at Epoch 7...
2023-11-11 06:37:22,706 INFO ***** train [9] epoch *****wo
2023-11-11 06:37:22,707 INFO Loss: 8.25
Instr_pred: 1.36
R2R: 9.94
REVERIE: 9.62
CVDN: 11.23
SOON: 12.53
ScanQA: 1.31
LLaVA: 1.36
2023-11-11 06:37:22,713 INFO ***** validate val_unseen split on CVDN task *****
2023-11-11 06:39:29,891 INFO eval 912 predictions
2023-11-11 06:39:29,941 INFO ***** validate val_unseen split on SOON task *****
2023-11-11 06:44:01,940 INFO eval 3392 predictions
2023-11-11 06:44:02,043 INFO ***** validate val_unseen split on R2R task *****
2023-11-11 06:45:38,164 INFO eval 2352 predictions
2023-11-11 06:45:38,210 INFO ***** validate val_unseen split on REVERIE task *****
2023-11-11 06:48:17,048 INFO eval 3528 predictions
2023-11-11 06:48:17,150 INFO ***** validate val_unseen split on ScanQA task *****
2023-11-11 06:58:39,731 INFO
[Eval] val_unseen epoch 9
[Eval] dataset=[CVDN]
, lengths: 50.59, nav_error: 14.39, oracle_sr: 60.42
[Eval] ||| sr: 12.72, spl: 8.69, oracle path_success_rate: 85.75, dist_to_end_reduction: 5.08
[Eval] dataset=[SOON]
, action_steps: 11.55, steps: 14.13, lengths: 26.00, nav_error: 8.75, oracle_error: 5.37
[Eval] ||| sr: 28.12, oracle_sr: 40.54, spl: 23.72, det_sr: 1.68, det_spl: 1.43
[Eval] dataset=[R2R]
, action_steps: 6.30, steps: 7.69, lengths: 15.07, nav_error: 4.07, oracle_error: 2.01
[Eval] ||| sr: 65.05, oracle_sr: 76.45, spl: 56.44
[Eval] dataset=[REVERIE]
, action_steps: 6.51, steps: 7.93, lengths: 15.51, nav_error: 5.37, oracle_error: 2.77
[Eval] ||| sr: 40.28, oracle_sr: 48.33, spl: 34.84, rgs: 12.36, rgspl: 10.58
[Eval] dataset=[ScanQA]
, bleu-1: 34.53, bleu-2: 22.18, bleu-3: 16.14, bleu-4: 11.15, rouge: 35.87, cider: 68.57, meteor: 13.78, exact_match: 21.86
2023-11-11 06:58:39,736 INFO Current Score: 2.7842633462069175
2023-11-11 06:58:39,736 INFO Best Score: 2.7842633462069175
2023-11-11 06:58:40,642 INFO Remove Checkpoint at Epoch 8...
2023-11-11 08:05:08,586 INFO ***** train [10] epoch *****wo
2023-11-11 08:05:08,588 INFO Loss: 7.26
Instr_pred: 1.37
R2R: 8.62
REVERIE: 8.65
CVDN: 10.76
SOON: 12.28
ScanQA: 1.19
LLaVA: 1.37
2023-11-11 08:05:08,592 INFO ***** validate val_unseen split on CVDN task *****
2023-11-11 08:07:16,485 INFO eval 912 predictions
2023-11-11 08:07:16,540 INFO ***** validate val_unseen split on SOON task *****
2023-11-11 08:12:44,567 INFO eval 3392 predictions
2023-11-11 08:12:44,679 INFO ***** validate val_unseen split on R2R task *****
2023-11-11 08:14:33,969 INFO eval 2352 predictions
2023-11-11 08:14:34,017 INFO ***** validate val_unseen split on REVERIE task *****
2023-11-11 08:17:48,456 INFO eval 3528 predictions
2023-11-11 08:17:48,563 INFO ***** validate val_unseen split on ScanQA task *****
2023-11-11 08:28:33,734 INFO
[Eval] val_unseen epoch 10
[Eval] dataset=[CVDN]
, lengths: 53.11, nav_error: 14.59, oracle_sr: 58.44
[Eval] ||| sr: 13.38, spl: 8.38, oracle path_success_rate: 86.40, dist_to_end_reduction: 4.96
[Eval] dataset=[SOON]
, action_steps: 14.38, steps: 18.19, lengths: 34.25, nav_error: 8.87, oracle_error: 4.10
[Eval] ||| sr: 28.83, oracle_sr: 55.45, spl: 23.03, det_sr: 1.53, det_spl: 1.18
[Eval] dataset=[R2R]
, action_steps: 7.17, steps: 8.69, lengths: 17.03, nav_error: 4.51, oracle_error: 1.77
[Eval] ||| sr: 59.48, oracle_sr: 79.55, spl: 50.95
[Eval] dataset=[REVERIE]
, action_steps: 8.36, steps: 10.81, lengths: 21.43, nav_error: 6.48, oracle_error: 2.29
[Eval] ||| sr: 32.31, oracle_sr: 57.65, spl: 25.94, rgs: 12.70, rgspl: 10.26
[Eval] dataset=[ScanQA]
, bleu-1: 36.07, bleu-2: 23.59, bleu-3: 16.60, bleu-4: 11.63, rouge: 37.23, cider: 72.31, meteor: 14.51, exact_match: 22.54
2023-11-11 08:28:33,739 INFO Current Score: 2.423573091709828
2023-11-11 08:28:33,740 INFO Best Score: 2.7842633462069175
2023-11-11 09:35:31,579 INFO ***** train [11] epoch *****wo
2023-11-11 09:35:31,580 INFO Loss: 6.69
Instr_pred: 1.29
R2R: 7.94
REVERIE: 6.84
CVDN: 10.80
SOON: 10.73
ScanQA: 1.22
LLaVA: 1.36
2023-11-11 09:35:31,585 INFO ***** validate val_unseen split on CVDN task *****
2023-11-11 09:37:38,147 INFO eval 912 predictions
2023-11-11 09:37:38,199 INFO ***** validate val_unseen split on SOON task *****
2023-11-11 09:42:25,560 INFO eval 3392 predictions
2023-11-11 09:42:25,672 INFO ***** validate val_unseen split on R2R task *****
2023-11-11 09:44:06,133 INFO eval 2352 predictions
2023-11-11 09:44:06,180 INFO ***** validate val_unseen split on REVERIE task *****
2023-11-11 09:46:59,977 INFO eval 3528 predictions
2023-11-11 09:47:00,069 INFO ***** validate val_unseen split on ScanQA task *****
2023-11-11 09:58:15,505 INFO
[Eval] val_unseen epoch 11
[Eval] dataset=[CVDN]
, lengths: 53.34, nav_error: 14.69, oracle_sr: 59.10
[Eval] ||| sr: 12.83, spl: 9.08, oracle path_success_rate: 87.72, dist_to_end_reduction: 4.93
[Eval] dataset=[SOON]
, action_steps: 12.48, steps: 16.04, lengths: 29.72, nav_error: 8.38, oracle_error: 4.94
[Eval] ||| sr: 31.22, oracle_sr: 46.34, spl: 25.29, det_sr: 2.65, det_spl: 2.33
[Eval] dataset=[R2R]
, action_steps: 6.68, steps: 8.63, lengths: 16.80, nav_error: 4.05, oracle_error: 1.88
[Eval] ||| sr: 64.29, oracle_sr: 78.78, spl: 54.74
[Eval] dataset=[REVERIE]
, action_steps: 7.32, steps: 9.93, lengths: 19.15, nav_error: 5.73, oracle_error: 2.64
[Eval] ||| sr: 37.64, oracle_sr: 50.26, spl: 30.89, rgs: 15.36, rgspl: 12.46
[Eval] dataset=[ScanQA]
, bleu-1: 34.92, bleu-2: 22.80, bleu-3: 16.40, bleu-4: 11.60, rouge: 36.73, cider: 71.39, meteor: 14.36, exact_match: 22.82
2023-11-11 09:58:15,510 INFO Current Score: 2.7070905860610823
2023-11-11 09:58:15,510 INFO Best Score: 2.7842633462069175
2023-11-11 11:03:40,880 INFO ***** train [12] epoch *****wo
2023-11-11 11:03:40,881 INFO Loss: 6.49
Instr_pred: 1.26
R2R: 7.64
REVERIE: 7.94
CVDN: 11.58
SOON: 10.02
ScanQA: 1.34
LLaVA: 1.34
2023-11-11 11:03:40,886 INFO ***** validate val_unseen split on CVDN task *****
2023-11-11 11:05:29,568 INFO eval 912 predictions
2023-11-11 11:05:29,616 INFO ***** validate val_unseen split on SOON task *****
2023-11-11 11:10:43,306 INFO eval 3392 predictions
2023-11-11 11:10:43,421 INFO ***** validate val_unseen split on R2R task *****
2023-11-11 11:12:26,973 INFO eval 2352 predictions
2023-11-11 11:12:27,020 INFO ***** validate val_unseen split on REVERIE task *****
2023-11-11 11:15:23,657 INFO eval 3528 predictions
2023-11-11 11:15:23,761 INFO ***** validate val_unseen split on ScanQA task *****
2023-11-11 11:25:48,721 INFO
[Eval] val_unseen epoch 12
[Eval] dataset=[CVDN]
, lengths: 44.71, nav_error: 13.98, oracle_sr: 52.96
[Eval] ||| sr: 16.45, spl: 11.76, oracle path_success_rate: 84.43, dist_to_end_reduction: 5.54
[Eval] dataset=[SOON]
, action_steps: 13.72, steps: 17.51, lengths: 33.07, nav_error: 8.26, oracle_error: 4.32
[Eval] ||| sr: 33.14, oracle_sr: 54.39, spl: 25.13, det_sr: 2.71, det_spl: 2.16
[Eval] dataset=[R2R]
, action_steps: 6.91, steps: 8.49, lengths: 16.49, nav_error: 4.13, oracle_error: 1.70
[Eval] ||| sr: 62.97, oracle_sr: 80.36, spl: 53.39
[Eval] dataset=[REVERIE]
, action_steps: 7.40, steps: 9.11, lengths: 17.69, nav_error: 5.40, oracle_error: 2.39
[Eval] ||| sr: 40.90, oracle_sr: 57.00, spl: 33.68, rgs: 19.22, rgspl: 15.88
[Eval] dataset=[ScanQA]
, bleu-1: 37.80, bleu-2: 23.95, bleu-3: 16.58, bleu-4: 10.79, rouge: 38.38, cider: 73.67, meteor: 14.90, exact_match: 22.35
2023-11-11 11:25:48,725 INFO Current Score: 2.7546049548077773
2023-11-11 11:25:48,726 INFO Best Score: 2.7842633462069175
2023-11-11 12:30:47,251 INFO ***** train [13] epoch *****wo
2023-11-11 12:30:47,252 INFO Loss: 5.97
Instr_pred: 1.26
R2R: 6.87
REVERIE: 7.60
CVDN: 10.11
SOON: 9.64
ScanQA: 1.14
LLaVA: 1.33
2023-11-11 12:30:47,257 INFO ***** validate val_unseen split on CVDN task *****
2023-11-11 12:32:36,498 INFO eval 912 predictions
2023-11-11 12:32:36,544 INFO ***** validate val_unseen split on SOON task *****
2023-11-11 12:37:26,818 INFO eval 3392 predictions
2023-11-11 12:37:26,929 INFO ***** validate val_unseen split on R2R task *****
2023-11-11 12:39:04,231 INFO eval 2352 predictions
2023-11-11 12:39:04,276 INFO ***** validate val_unseen split on REVERIE task *****
2023-11-11 12:41:56,999 INFO eval 3528 predictions
2023-11-11 12:41:57,101 INFO ***** validate val_unseen split on ScanQA task *****
2023-11-11 12:52:32,705 INFO
[Eval] val_unseen epoch 13
[Eval] dataset=[CVDN]
, lengths: 42.82, nav_error: 14.19, oracle_sr: 54.93
[Eval] ||| sr: 14.69, spl: 10.68, oracle path_success_rate: 86.62, dist_to_end_reduction: 5.33
[Eval] dataset=[SOON]
, action_steps: 12.46, steps: 14.66, lengths: 27.78, nav_error: 8.31, oracle_error: 4.59
[Eval] ||| sr: 31.81, oracle_sr: 50.91, spl: 25.52, det_sr: 2.54, det_spl: 2.14
[Eval] dataset=[R2R]
, action_steps: 6.50, steps: 7.36, lengths: 14.33, nav_error: 3.78, oracle_error: 1.69
[Eval] ||| sr: 66.11, oracle_sr: 80.10, spl: 56.82
[Eval] dataset=[REVERIE]
, action_steps: 7.30, steps: 8.92, lengths: 17.27, nav_error: 6.10, oracle_error: 2.75
[Eval] ||| sr: 35.43, oracle_sr: 53.49, spl: 28.74, rgs: 18.62, rgspl: 15.13
[Eval] dataset=[ScanQA]
, bleu-1: 35.41, bleu-2: 23.07, bleu-3: 16.42, bleu-4: 10.92, rouge: 37.25, cider: 72.48, meteor: 14.49, exact_match: 22.63
2023-11-11 12:52:32,710 INFO Current Score: 2.691768069068322
2023-11-11 12:52:32,710 INFO Best Score: 2.7842633462069175
2023-11-11 13:56:38,736 INFO ***** train [14] epoch *****wo
2023-11-11 13:56:38,737 INFO Loss: 5.50
Instr_pred: 1.18
R2R: 6.36
REVERIE: 6.43
CVDN: 9.51
SOON: 9.12
ScanQA: 1.12
LLaVA: 1.34
2023-11-11 13:56:38,742 INFO ***** validate val_unseen split on CVDN task *****
2023-11-11 13:58:29,656 INFO eval 912 predictions
2023-11-11 13:58:29,702 INFO ***** validate val_unseen split on SOON task *****
2023-11-11 14:03:25,979 INFO eval 3392 predictions
2023-11-11 14:03:26,094 INFO ***** validate val_unseen split on R2R task *****
2023-11-11 14:05:04,308 INFO eval 2352 predictions
2023-11-11 14:05:04,355 INFO ***** validate val_unseen split on REVERIE task *****
2023-11-11 14:07:52,323 INFO eval 3528 predictions
2023-11-11 14:07:52,426 INFO ***** validate val_unseen split on ScanQA task *****
2023-11-11 14:18:54,414 INFO
[Eval] val_unseen epoch 14
[Eval] dataset=[CVDN]
, lengths: 42.28, nav_error: 14.23, oracle_sr: 57.46
[Eval] ||| sr: 14.36, spl: 9.76, oracle path_success_rate: 85.86, dist_to_end_reduction: 5.21
[Eval] dataset=[SOON]
, action_steps: 12.76, steps: 16.51, lengths: 30.94, nav_error: 8.12, oracle_error: 4.43
[Eval] ||| sr: 34.55, oracle_sr: 53.48, spl: 27.14, det_sr: 2.80, det_spl: 2.31
[Eval] dataset=[R2R]
, action_steps: 6.57, steps: 7.86, lengths: 15.37, nav_error: 3.99, oracle_error: 1.81
[Eval] ||| sr: 65.14, oracle_sr: 78.91, spl: 55.58
[Eval] dataset=[REVERIE]
, action_steps: 7.10, steps: 9.09, lengths: 17.62, nav_error: 6.08, oracle_error: 2.75
[Eval] ||| sr: 37.22, oracle_sr: 50.82, spl: 30.43, rgs: 19.30, rgspl: 15.68
[Eval] dataset=[ScanQA]
, bleu-1: 37.22, bleu-2: 24.43, bleu-3: 17.56, bleu-4: 12.05, rouge: 38.02, cider: 74.14, meteor: 14.83, exact_match: 22.63
2023-11-11 14:18:54,418 INFO Current Score: 2.7782890171663777
2023-11-11 14:18:54,419 INFO Best Score: 2.7842633462069175
2023-11-11 15:22:34,736 INFO ***** train [15] epoch *****wo
2023-11-11 15:22:34,737 INFO Loss: 5.19
Instr_pred: 1.18
R2R: 5.98
REVERIE: 5.68
CVDN: 9.87
SOON: 8.65
ScanQA: 1.19
LLaVA: 1.33
2023-11-11 15:22:34,743 INFO ***** validate val_unseen split on CVDN task *****
2023-11-11 15:24:12,002 INFO eval 912 predictions
2023-11-11 15:24:12,043 INFO ***** validate val_unseen split on SOON task *****
2023-11-11 15:29:16,146 INFO eval 3392 predictions
2023-11-11 15:29:16,262 INFO ***** validate val_unseen split on R2R task *****
2023-11-11 15:30:56,190 INFO eval 2352 predictions
2023-11-11 15:30:56,236 INFO ***** validate val_unseen split on REVERIE task *****
2023-11-11 15:33:48,121 INFO eval 3528 predictions
2023-11-11 15:33:48,225 INFO ***** validate val_unseen split on ScanQA task *****
2023-11-11 15:43:43,135 INFO
[Eval] val_unseen epoch 15
[Eval] dataset=[CVDN]
, lengths: 35.72, nav_error: 14.41, oracle_sr: 51.54
[Eval] ||| sr: 15.35, spl: 11.94, oracle path_success_rate: 81.69, dist_to_end_reduction: 5.19
[Eval] dataset=[SOON]
, action_steps: 13.18, steps: 16.58, lengths: 31.81, nav_error: 8.24, oracle_error: 4.35
[Eval] ||| sr: 32.75, oracle_sr: 52.80, spl: 25.43, det_sr: 3.42, det_spl: 2.73
[Eval] dataset=[R2R]
, action_steps: 6.58, steps: 7.82, lengths: 15.38, nav_error: 4.02, oracle_error: 1.73
[Eval] ||| sr: 63.90, oracle_sr: 79.42, spl: 54.84
[Eval] dataset=[REVERIE]
, action_steps: 7.20, steps: 8.72, lengths: 17.05, nav_error: 5.72, oracle_error: 2.58
[Eval] ||| sr: 39.26, oracle_sr: 54.00, spl: 32.71, rgs: 21.60, rgspl: 17.88
[Eval] dataset=[ScanQA]
, bleu-1: 33.90, bleu-2: 22.57, bleu-3: 16.67, bleu-4: 11.18, rouge: 36.39, cider: 70.17, meteor: 14.15, exact_match: 22.54
2023-11-11 15:43:43,139 INFO Current Score: 2.7638790196584333
2023-11-11 15:43:43,140 INFO Best Score: 2.7842633462069175
2023-11-11 16:46:44,109 INFO ***** train [16] epoch *****wo
2023-11-11 16:46:44,110 INFO Loss: 4.96
Instr_pred: 1.12
R2R: 5.36
REVERIE: 6.16
CVDN: 9.55
SOON: 8.47
ScanQA: 1.08
LLaVA: 1.33
2023-11-11 16:46:44,115 INFO ***** validate val_unseen split on CVDN task *****
2023-11-11 16:48:24,589 INFO eval 912 predictions
2023-11-11 16:48:24,632 INFO ***** validate val_unseen split on SOON task *****
2023-11-11 16:53:10,021 INFO eval 3392 predictions
2023-11-11 16:53:10,133 INFO ***** validate val_unseen split on R2R task *****
2023-11-11 16:54:45,760 INFO eval 2352 predictions
2023-11-11 16:54:45,806 INFO ***** validate val_unseen split on REVERIE task *****
2023-11-11 16:57:28,254 INFO eval 3528 predictions
2023-11-11 16:57:28,357 INFO ***** validate val_unseen split on ScanQA task *****
2023-11-11 17:07:58,838 INFO
[Eval] val_unseen epoch 16
[Eval] dataset=[CVDN]
, lengths: 38.24, nav_error: 13.80, oracle_sr: 53.84
[Eval] ||| sr: 14.36, spl: 10.63, oracle path_success_rate: 83.88, dist_to_end_reduction: 5.69
[Eval] dataset=[SOON]
, action_steps: 12.30, steps: 14.93, lengths: 28.21, nav_error: 8.29, oracle_error: 4.68
[Eval] ||| sr: 34.26, oracle_sr: 49.06, spl: 27.18, det_sr: 2.56, det_spl: 2.01
[Eval] dataset=[R2R]
, action_steps: 6.40, steps: 7.92, lengths: 15.40, nav_error: 4.06, oracle_error: 1.89
[Eval] ||| sr: 64.07, oracle_sr: 78.36, spl: 54.84
[Eval] dataset=[REVERIE]
, action_steps: 6.80, steps: 8.84, lengths: 17.30, nav_error: 5.39, oracle_error: 2.62
[Eval] ||| sr: 40.56, oracle_sr: 51.30, spl: 33.56, rgs: 21.15, rgspl: 17.26
[Eval] dataset=[ScanQA]
, bleu-1: 35.83, bleu-2: 23.65, bleu-3: 17.32, bleu-4: 12.19, rouge: 37.69, cider: 74.26, meteor: 14.71, exact_match: 23.23
2023-11-11 17:07:58,843 INFO Current Score: 2.852713624801863
2023-11-11 17:07:58,843 INFO Best Score: 2.852713624801863
2023-11-11 17:07:59,152 INFO Remove Checkpoint at Epoch 9...
2023-11-11 18:10:51,298 INFO ***** train [17] epoch *****wo
2023-11-11 18:10:51,299 INFO Loss: 4.61
Instr_pred: 1.14
R2R: 5.42
REVERIE: 4.52
CVDN: 8.74
SOON: 7.87
ScanQA: 1.07
LLaVA: 1.36
2023-11-11 18:10:51,303 INFO ***** validate val_unseen split on CVDN task *****
2023-11-11 18:12:27,838 INFO eval 912 predictions
2023-11-11 18:12:27,880 INFO ***** validate val_unseen split on SOON task *****
2023-11-11 18:17:22,491 INFO eval 3392 predictions
2023-11-11 18:17:22,608 INFO ***** validate val_unseen split on R2R task *****
2023-11-11 18:19:00,127 INFO eval 2352 predictions
2023-11-11 18:19:00,174 INFO ***** validate val_unseen split on REVERIE task *****
2023-11-11 18:21:54,263 INFO eval 3528 predictions
2023-11-11 18:21:54,366 INFO ***** validate val_unseen split on ScanQA task *****
2023-11-11 18:31:46,450 INFO
[Eval] val_unseen epoch 17
[Eval] dataset=[CVDN]
, lengths: 36.08, nav_error: 13.88, oracle_sr: 52.19
[Eval] ||| sr: 17.76, spl: 13.55, oracle path_success_rate: 82.89, dist_to_end_reduction: 5.56
[Eval] dataset=[SOON]
, action_steps: 12.69, steps: 16.19, lengths: 30.76, nav_error: 8.52, oracle_error: 4.76
[Eval] ||| sr: 32.08, oracle_sr: 48.82, spl: 25.14, det_sr: 3.30, det_spl: 2.65
[Eval] dataset=[R2R]
, action_steps: 6.23, steps: 7.82, lengths: 15.16, nav_error: 3.61, oracle_error: 1.79
[Eval] ||| sr: 67.35, oracle_sr: 79.29, spl: 58.14
[Eval] dataset=[REVERIE]
, action_steps: 7.22, steps: 10.08, lengths: 19.65, nav_error: 5.54, oracle_error: 2.49
[Eval] ||| sr: 41.98, oracle_sr: 55.56, spl: 34.64, rgs: 23.53, rgspl: 19.18
[Eval] dataset=[ScanQA]
, bleu-1: 34.57, bleu-2: 22.91, bleu-3: 16.56, bleu-4: 11.74, rouge: 37.03, cider: 72.64, meteor: 14.27, exact_match: 23.55
2023-11-11 18:31:46,456 INFO Current Score: 2.8607748980123517
2023-11-11 18:31:46,456 INFO Best Score: 2.8607748980123517
2023-11-11 18:31:46,671 INFO Remove Checkpoint at Epoch 16...
2023-11-11 19:34:36,997 INFO ***** train [18] epoch *****wo
2023-11-11 19:34:36,998 INFO Loss: 4.12
Instr_pred: 1.03
R2R: 4.33
REVERIE: 4.97
CVDN: 11.62
SOON: 6.66
ScanQA: 1.13
LLaVA: 1.34
2023-11-11 19:34:37,003 INFO ***** validate val_unseen split on CVDN task *****
2023-11-11 19:36:32,876 INFO eval 912 predictions
2023-11-11 19:36:32,925 INFO ***** validate val_unseen split on SOON task *****
2023-11-11 19:41:16,736 INFO eval 3392 predictions
2023-11-11 19:41:16,854 INFO ***** validate val_unseen split on R2R task *****
2023-11-11 19:42:54,073 INFO eval 2352 predictions
2023-11-11 19:42:54,119 INFO ***** validate val_unseen split on REVERIE task *****
2023-11-11 19:45:42,553 INFO eval 3528 predictions
2023-11-11 19:45:42,655 INFO ***** validate val_unseen split on ScanQA task *****
2023-11-11 19:55:52,096 INFO
[Eval] val_unseen epoch 18
[Eval] dataset=[CVDN]
, lengths: 46.73, nav_error: 13.42, oracle_sr: 58.88
[Eval] ||| sr: 16.34, spl: 10.73, oracle path_success_rate: 87.83, dist_to_end_reduction: 6.14
[Eval] dataset=[SOON]
, action_steps: 12.24, steps: 14.86, lengths: 27.96, nav_error: 8.15, oracle_error: 4.64
[Eval] ||| sr: 35.26, oracle_sr: 50.59, spl: 27.78, det_sr: 3.39, det_spl: 2.80
[Eval] dataset=[R2R]
, action_steps: 6.47, steps: 7.87, lengths: 15.39, nav_error: 3.81, oracle_error: 1.76
[Eval] ||| sr: 65.22, oracle_sr: 78.91, spl: 56.22
[Eval] dataset=[REVERIE]
, action_steps: 7.06, steps: 9.20, lengths: 17.81, nav_error: 5.49, oracle_error: 2.51
[Eval] ||| sr: 41.92, oracle_sr: 56.09, spl: 34.85, rgs: 23.75, rgspl: 19.73
[Eval] dataset=[ScanQA]
, bleu-1: 35.42, bleu-2: 22.88, bleu-3: 16.19, bleu-4: 10.86, rouge: 36.39, cider: 71.18, meteor: 14.21, exact_match: 21.73
2023-11-11 19:55:52,100 INFO Current Score: 2.933602881000173
2023-11-11 19:55:52,101 INFO Best Score: 2.933602881000173
2023-11-11 19:55:52,300 INFO Remove Checkpoint at Epoch 17...
2023-11-11 20:58:50,705 INFO ***** train [19] epoch *****wo
2023-11-11 20:58:50,706 INFO Loss: 4.13
Instr_pred: 1.05
R2R: 4.74
REVERIE: 4.34
CVDN: 10.16
SOON: 5.84
ScanQA: 1.11
LLaVA: 1.34
2023-11-11 20:58:50,710 INFO ***** validate val_unseen split on CVDN task *****
2023-11-11 21:00:13,210 INFO eval 912 predictions
2023-11-11 21:00:13,248 INFO ***** validate val_unseen split on SOON task *****
2023-11-11 21:05:09,049 INFO eval 3392 predictions
2023-11-11 21:05:09,168 INFO ***** validate val_unseen split on R2R task *****
2023-11-11 21:06:47,083 INFO eval 2352 predictions
2023-11-11 21:06:47,129 INFO ***** validate val_unseen split on REVERIE task *****
2023-11-11 21:09:25,026 INFO eval 3528 predictions
2023-11-11 21:09:25,126 INFO ***** validate val_unseen split on ScanQA task *****
2023-11-11 21:19:30,340 INFO
[Eval] val_unseen epoch 19
[Eval] dataset=[CVDN]
, lengths: 26.42, nav_error: 13.09, oracle_sr: 49.89
[Eval] ||| sr: 20.83, spl: 16.71, oracle path_success_rate: 80.70, dist_to_end_reduction: 6.38
[Eval] dataset=[SOON]
, action_steps: 12.63, steps: 15.08, lengths: 28.29, nav_error: 8.32, oracle_error: 4.54
[Eval] ||| sr: 33.61, oracle_sr: 51.30, spl: 25.88, det_sr: 3.24, det_spl: 2.58
[Eval] dataset=[R2R]
, action_steps: 6.60, steps: 7.98, lengths: 15.58, nav_error: 3.62, oracle_error: 1.66
[Eval] ||| sr: 66.58, oracle_sr: 81.16, spl: 55.87
[Eval] dataset=[REVERIE]
, action_steps: 6.54, steps: 7.81, lengths: 15.10, nav_error: 5.45, oracle_error: 2.77
[Eval] ||| sr: 40.05, oracle_sr: 50.34, spl: 33.32, rgs: 22.28, rgspl: 18.64
[Eval] dataset=[ScanQA]
, bleu-1: 31.79, bleu-2: 21.14, bleu-3: 15.15, bleu-4: 10.20, rouge: 33.87, cider: 65.96, meteor: 13.03, exact_match: 21.20
2023-11-11 21:19:30,344 INFO Current Score: 2.8145403759509566
2023-11-11 21:19:30,345 INFO Best Score: 2.933602881000173
2023-11-11 22:22:02,286 INFO ***** train [20] epoch *****wo
2023-11-11 22:22:02,287 INFO Loss: 3.99
Instr_pred: 1.00
R2R: 4.12
REVERIE: 4.59
CVDN: 9.62
SOON: 6.83
ScanQA: 1.13
LLaVA: 1.33
2023-11-11 22:22:02,292 INFO ***** validate val_unseen split on CVDN task *****
2023-11-11 22:23:38,994 INFO eval 912 predictions
2023-11-11 22:23:39,035 INFO ***** validate val_unseen split on SOON task *****
2023-11-11 22:28:30,969 INFO eval 3392 predictions