Thanks for your wonderful work!
For BEVFormer-base, I can correctly reproduce the results, but when I ran your newly-updated BEVFormer-tiny and -small, the NDS and mAP on val set are quite low, nearly 0.0. The losses of -tiny are also converge much slower than your provided log, as shown bellow (epoch-1). I carefully check my config file and yours in the log, which is the same, so I wonder what causes the training collapse. I'll be highly appreciated if you can help me with this. Thanks in advance!
2022-06-19 13:38:05,211 - mmdet - INFO - workflow: [('train', 1)], max: 24 epochs
2022-06-19 13:38:05,212 - mmdet - INFO - Checkpoints will be saved to /data2/renrui/BEVFormer/work_dirs/bevformer_tiny by HardDiskBackend.
2022-06-19 13:40:00,011 - mmdet - INFO - Epoch [1][50/3517] lr: 7.973e-05, eta: 2 days, 5:46:49, time: 2.295, data_time: 1.499, memory: 8310, loss_cls: 1.4230, loss_bbox: 1.7745, d0.loss_cls: 1.5225, d0.loss_bbox: 1.7623, d1.loss_cls: 1.4561, d1.loss_bbox: 1.7451, d2.loss_cls: 1.4174, d2.loss_bbox: 1.7405, d3.loss_cls: 1.4219, d3.loss_bbox: 1.7527, d4.loss_cls: 1.4089, d4.loss_bbox: 1.7604, loss: 19.1854, grad_norm: 15.3972
2022-06-19 13:41:43,502 - mmdet - INFO - Epoch [1][100/3517] lr: 9.307e-05, eta: 2 days, 3:06:37, time: 2.070, data_time: 0.293, memory: 8310, loss_cls: 1.2347, loss_bbox: 1.6543, d0.loss_cls: 1.2324, d0.loss_bbox: 1.6314, d1.loss_cls: 1.2355, d1.loss_bbox: 1.6281, d2.loss_cls: 1.2333, d2.loss_bbox: 1.6461, d3.loss_cls: 1.2335, d3.loss_bbox: 1.6427, d4.loss_cls: 1.2315, d4.loss_bbox: 1.6508, loss: 17.2543, grad_norm: 14.0373
2022-06-19 13:43:30,490 - mmdet - INFO - Epoch [1][150/3517] lr: 1.064e-04, eta: 2 days, 2:44:49, time: 2.140, data_time: 0.057, memory: 8310, loss_cls: 1.2398, loss_bbox: 1.6987, d0.loss_cls: 1.2304, d0.loss_bbox: 1.6259, d1.loss_cls: 1.2353, d1.loss_bbox: 1.6227, d2.loss_cls: 1.2368, d2.loss_bbox: 1.6444, d3.loss_cls: 1.2382, d3.loss_bbox: 1.6612, d4.loss_cls: 1.2385, d4.loss_bbox: 1.6872, loss: 17.3591, grad_norm: 13.9613
2022-06-19 13:45:15,930 - mmdet - INFO - Epoch [1][200/3517] lr: 1.197e-04, eta: 2 days, 2:22:09, time: 2.109, data_time: 0.053, memory: 8310, loss_cls: 1.2173, loss_bbox: 1.6676, d0.loss_cls: 1.2033, d0.loss_bbox: 1.5747, d1.loss_cls: 1.2141, d1.loss_bbox: 1.5884, d2.loss_cls: 1.2155, d2.loss_bbox: 1.6084, d3.loss_cls: 1.2166, d3.loss_bbox: 1.6097, d4.loss_cls: 1.2149, d4.loss_bbox: 1.6229, loss: 16.9535, grad_norm: 13.8414
2022-06-19 13:46:56,368 - mmdet - INFO - Epoch [1][250/3517] lr: 1.331e-04, eta: 2 days, 1:39:47, time: 2.009, data_time: 0.053, memory: 8310, loss_cls: 1.2310, loss_bbox: 1.6154, d0.loss_cls: 1.2150, d0.loss_bbox: 1.5539, d1.loss_cls: 1.2295, d1.loss_bbox: 1.5583, d2.loss_cls: 1.2294, d2.loss_bbox: 1.5683, d3.loss_cls: 1.2316, d3.loss_bbox: 1.5917, d4.loss_cls: 1.2320, d4.loss_bbox: 1.5929, loss: 16.8490, grad_norm: 14.8824
2022-06-19 13:48:38,073 - mmdet - INFO - Epoch [1][300/3517] lr: 1.464e-04, eta: 2 days, 1:16:55, time: 2.034, data_time: 0.052, memory: 8310, loss_cls: 1.1999, loss_bbox: 1.6191, d0.loss_cls: 1.1781, d0.loss_bbox: 1.5335, d1.loss_cls: 1.1964, d1.loss_bbox: 1.5360, d2.loss_cls: 1.1969, d2.loss_bbox: 1.5506, d3.loss_cls: 1.2002, d3.loss_bbox: 1.5823, d4.loss_cls: 1.2045, d4.loss_bbox: 1.6101, loss: 16.6075, grad_norm: 14.2893
2022-06-19 13:50:17,373 - mmdet - INFO - Epoch [1][350/3517] lr: 1.597e-04, eta: 2 days, 0:50:27, time: 1.986, data_time: 0.519, memory: 8310, loss_cls: 1.1868, loss_bbox: 1.5881, d0.loss_cls: 1.1619, d0.loss_bbox: 1.5300, d1.loss_cls: 1.1862, d1.loss_bbox: 1.5380, d2.loss_cls: 1.1806, d2.loss_bbox: 1.5478, d3.loss_cls: 1.1843, d3.loss_bbox: 1.5531, d4.loss_cls: 1.1842, d4.loss_bbox: 1.5619, loss: 16.4029, grad_norm: 13.2489
2022-06-19 13:51:58,939 - mmdet - INFO - Epoch [1][400/3517] lr: 1.731e-04, eta: 2 days, 0:38:07, time: 2.031, data_time: 1.014, memory: 8310, loss_cls: 1.1719, loss_bbox: 1.5494, d0.loss_cls: 1.1455, d0.loss_bbox: 1.5124, d1.loss_cls: 1.1704, d1.loss_bbox: 1.5152, d2.loss_cls: 1.1729, d2.loss_bbox: 1.5152, d3.loss_cls: 1.1747, d3.loss_bbox: 1.5252, d4.loss_cls: 1.1700, d4.loss_bbox: 1.5356, loss: 16.1583, grad_norm: 12.9210
2022-06-19 13:53:38,008 - mmdet - INFO - Epoch [1][450/3517] lr: 1.864e-04, eta: 2 days, 0:20:25, time: 1.981, data_time: 0.985, memory: 8310, loss_cls: 1.1851, loss_bbox: 1.5371, d0.loss_cls: 1.1511, d0.loss_bbox: 1.5007, d1.loss_cls: 1.1808, d1.loss_bbox: 1.4966, d2.loss_cls: 1.1841, d2.loss_bbox: 1.5046, d3.loss_cls: 1.1818, d3.loss_bbox: 1.5162, d4.loss_cls: 1.1821, d4.loss_bbox: 1.5188, loss: 16.1391, grad_norm: 13.4826
2022-06-19 13:55:28,566 - mmdet - INFO - Epoch [1][500/3517] lr: 1.997e-04, eta: 2 days, 0:38:02, time: 2.211, data_time: 1.408, memory: 8310, loss_cls: 1.1820, loss_bbox: 1.5330, d0.loss_cls: 1.1463, d0.loss_bbox: 1.4974, d1.loss_cls: 1.1791, d1.loss_bbox: 1.5001, d2.loss_cls: 1.1808, d2.loss_bbox: 1.5112, d3.loss_cls: 1.1769, d3.loss_bbox: 1.5175, d4.loss_cls: 1.1783, d4.loss_bbox: 1.5421, loss: 16.1447, grad_norm: 13.4236
2022-06-19 13:57:22,188 - mmdet - INFO - Epoch [1][550/3517] lr: 2.000e-04, eta: 2 days, 0:59:52, time: 2.272, data_time: 1.513, memory: 8310, loss_cls: 1.1716, loss_bbox: 1.5005, d0.loss_cls: 1.1249, d0.loss_bbox: 1.4670, d1.loss_cls: 1.1627, d1.loss_bbox: 1.4679, d2.loss_cls: 1.1645, d2.loss_bbox: 1.4859, d3.loss_cls: 1.1652, d3.loss_bbox: 1.4860, d4.loss_cls: 1.1694, d4.loss_bbox: 1.5007, loss: 15.8663, grad_norm: 13.3508
2022-06-19 13:59:41,404 - mmdet - INFO - Epoch [1][600/3517] lr: 2.000e-04, eta: 2 days, 2:17:24, time: 2.785, data_time: 2.050, memory: 8310, loss_cls: 1.1812, loss_bbox: 1.5001, d0.loss_cls: 1.1188, d0.loss_bbox: 1.4543, d1.loss_cls: 1.1635, d1.loss_bbox: 1.4438, d2.loss_cls: 1.1676, d2.loss_bbox: 1.4504, d3.loss_cls: 1.1719, d3.loss_bbox: 1.4655, d4.loss_cls: 1.1724, d4.loss_bbox: 1.4807, loss: 15.7703, grad_norm: 12.9131
2022-06-19 14:01:46,532 - mmdet - INFO - Epoch [1][650/3517] lr: 2.000e-04, eta: 2 days, 2:52:19, time: 2.502, data_time: 1.847, memory: 8310, loss_cls: 1.1848, loss_bbox: 1.4480, d0.loss_cls: 1.1171, d0.loss_bbox: 1.4418, d1.loss_cls: 1.1536, d1.loss_bbox: 1.4413, d2.loss_cls: 1.1741, d2.loss_bbox: 1.4411, d3.loss_cls: 1.1831, d3.loss_bbox: 1.4391, d4.loss_cls: 1.1824, d4.loss_bbox: 1.4406, loss: 15.6469, grad_norm: 13.0838
2022-06-19 14:03:27,945 - mmdet - INFO - Epoch [1][700/3517] lr: 2.000e-04, eta: 2 days, 2:34:46, time: 2.029, data_time: 1.001, memory: 8310, loss_cls: 1.1616, loss_bbox: 1.4824, d0.loss_cls: 1.0830, d0.loss_bbox: 1.4695, d1.loss_cls: 1.1005, d1.loss_bbox: 1.4734, d2.loss_cls: 1.1306, d2.loss_bbox: 1.4631, d3.loss_cls: 1.1523, d3.loss_bbox: 1.4703, d4.loss_cls: 1.1605, d4.loss_bbox: 1.4697, loss: 15.6169, grad_norm: 12.2658
2022-06-19 14:05:13,775 - mmdet - INFO - Epoch [1][750/3517] lr: 2.000e-04, eta: 2 days, 2:27:30, time: 2.117, data_time: 0.058, memory: 8310, loss_cls: 1.1641, loss_bbox: 1.4767, d0.loss_cls: 1.0847, d0.loss_bbox: 1.4694, d1.loss_cls: 1.0999, d1.loss_bbox: 1.4646, d2.loss_cls: 1.1211, d2.loss_bbox: 1.4630, d3.loss_cls: 1.1414, d3.loss_bbox: 1.4614, d4.loss_cls: 1.1595, d4.loss_bbox: 1.4788, loss: 15.5847, grad_norm: 12.2048
2022-06-19 14:06:48,141 - mmdet - INFO - Epoch [1][800/3517] lr: 2.000e-04, eta: 2 days, 2:00:57, time: 1.887, data_time: 0.056, memory: 8310, loss_cls: 1.1438, loss_bbox: 1.4454, d0.loss_cls: 1.0647, d0.loss_bbox: 1.4276, d1.loss_cls: 1.0770, d1.loss_bbox: 1.4408, d2.loss_cls: 1.0852, d2.loss_bbox: 1.4431, d3.loss_cls: 1.0907, d3.loss_bbox: 1.4434, d4.loss_cls: 1.1135, d4.loss_bbox: 1.4418, loss: 15.2169, grad_norm: 12.2401
2022-06-19 14:08:35,720 - mmdet - INFO - Epoch [1][850/3517] lr: 2.000e-04, eta: 2 days, 1:58:59, time: 2.152, data_time: 0.091, memory: 8310, loss_cls: 1.1310, loss_bbox: 1.4912, d0.loss_cls: 1.0874, d0.loss_bbox: 1.4561, d1.loss_cls: 1.1042, d1.loss_bbox: 1.4623, d2.loss_cls: 1.1068, d2.loss_bbox: 1.4693, d3.loss_cls: 1.1150, d3.loss_bbox: 1.4926, d4.loss_cls: 1.1156, d4.loss_bbox: 1.4942, loss: 15.5257, grad_norm: 12.6945
2022-06-19 14:10:13,225 - mmdet - INFO - Epoch [1][900/3517] lr: 2.000e-04, eta: 2 days, 1:41:28, time: 1.950, data_time: 0.840, memory: 8310, loss_cls: 1.0950, loss_bbox: 1.4788, d0.loss_cls: 1.0653, d0.loss_bbox: 1.4261, d1.loss_cls: 1.0787, d1.loss_bbox: 1.4383, d2.loss_cls: 1.0797, d2.loss_bbox: 1.4491, d3.loss_cls: 1.0851, d3.loss_bbox: 1.4598, d4.loss_cls: 1.0939, d4.loss_bbox: 1.4673, loss: 15.2171, grad_norm: 12.4145
2022-06-19 14:11:51,079 - mmdet - INFO - Epoch [1][950/3517] lr: 2.000e-04, eta: 2 days, 1:26:08, time: 1.957, data_time: 1.216, memory: 8310, loss_cls: 1.1024, loss_bbox: 1.4917, d0.loss_cls: 1.0769, d0.loss_bbox: 1.4127, d1.loss_cls: 1.0907, d1.loss_bbox: 1.4298, d2.loss_cls: 1.0902, d2.loss_bbox: 1.4403, d3.loss_cls: 1.0959, d3.loss_bbox: 1.4649, d4.loss_cls: 1.0963, d4.loss_bbox: 1.4749, loss: 15.2668, grad_norm: 13.8252
2022-06-19 14:13:33,357 - mmdet - INFO - Exp name: bevformer_tiny.py
2022-06-19 14:13:33,357 - mmdet - INFO - Epoch [1][1000/3517] lr: 2.000e-04, eta: 2 days, 1:18:19, time: 2.046, data_time: 1.422, memory: 8310, loss_cls: 1.1023, loss_bbox: 1.4921, d0.loss_cls: 1.0668, d0.loss_bbox: 1.3972, d1.loss_cls: 1.0799, d1.loss_bbox: 1.4024, d2.loss_cls: 1.0790, d2.loss_bbox: 1.4339, d3.loss_cls: 1.0845, d3.loss_bbox: 1.4307, d4.loss_cls: 1.0771, d4.loss_bbox: 1.4376, loss: 15.0836, grad_norm: 21.4151
2022-06-19 14:15:11,365 - mmdet - INFO - Epoch [1][1050/3517] lr: 2.000e-04, eta: 2 days, 1:05:26, time: 1.960, data_time: 1.335, memory: 8310, loss_cls: 1.0963, loss_bbox: 1.4981, d0.loss_cls: 1.0647, d0.loss_bbox: 1.4209, d1.loss_cls: 1.0724, d1.loss_bbox: 1.4372, d2.loss_cls: 1.0790, d2.loss_bbox: 1.4585, d3.loss_cls: 1.0842, d3.loss_bbox: 1.4556, d4.loss_cls: 1.0784, d4.loss_bbox: 1.4559, loss: 15.2012, grad_norm: 20.1478
2022-06-19 14:16:54,996 - mmdet - INFO - Epoch [1][1100/3517] lr: 2.000e-04, eta: 2 days, 1:00:40, time: 2.073, data_time: 1.447, memory: 8310, loss_cls: 1.0856, loss_bbox: 1.4316, d0.loss_cls: 1.0518, d0.loss_bbox: 1.3981, d1.loss_cls: 1.0685, d1.loss_bbox: 1.4015, d2.loss_cls: 1.0755, d2.loss_bbox: 1.3973, d3.loss_cls: 1.0783, d3.loss_bbox: 1.3915, d4.loss_cls: 1.0706, d4.loss_bbox: 1.4170, loss: 14.8674, grad_norm: 22.9469
2022-06-19 14:18:31,712 - mmdet - INFO - Epoch [1][1150/3517] lr: 2.000e-04, eta: 2 days, 0:47:49, time: 1.934, data_time: 1.305, memory: 8310, loss_cls: 1.0848, loss_bbox: 1.4048, d0.loss_cls: 1.0560, d0.loss_bbox: 1.4015, d1.loss_cls: 1.0714, d1.loss_bbox: 1.3927, d2.loss_cls: 1.0811, d2.loss_bbox: 1.4003, d3.loss_cls: 1.0777, d3.loss_bbox: 1.4026, d4.loss_cls: 1.0751, d4.loss_bbox: 1.4173, loss: 14.8652, grad_norm: 16.7234
2022-06-19 14:20:19,457 - mmdet - INFO - Epoch [1][1200/3517] lr: 2.000e-04, eta: 2 days, 0:48:40, time: 2.155, data_time: 1.534, memory: 8310, loss_cls: 1.0794, loss_bbox: 1.4052, d0.loss_cls: 1.0595, d0.loss_bbox: 1.3996, d1.loss_cls: 1.0774, d1.loss_bbox: 1.4051, d2.loss_cls: 1.0769, d2.loss_bbox: 1.4055, d3.loss_cls: 1.0742, d3.loss_bbox: 1.4029, d4.loss_cls: 1.0757, d4.loss_bbox: 1.4081, loss: 14.8693, grad_norm: 19.3724
2022-06-19 14:22:03,734 - mmdet - INFO - Epoch [1][1250/3517] lr: 2.000e-04, eta: 2 days, 0:45:27, time: 2.086, data_time: 1.476, memory: 8310, loss_cls: 1.0754, loss_bbox: 1.4114, d0.loss_cls: 1.0548, d0.loss_bbox: 1.3911, d1.loss_cls: 1.0670, d1.loss_bbox: 1.3868, d2.loss_cls: 1.0684, d2.loss_bbox: 1.3918, d3.loss_cls: 1.0729, d3.loss_bbox: 1.3905, d4.loss_cls: 1.0707, d4.loss_bbox: 1.4191, loss: 14.7999, grad_norm: 19.2040
2022-06-19 14:23:47,580 - mmdet - INFO - Epoch [1][1300/3517] lr: 2.000e-04, eta: 2 days, 0:41:53, time: 2.077, data_time: 1.448, memory: 8310, loss_cls: 1.0452, loss_bbox: 1.3716, d0.loss_cls: 1.0239, d0.loss_bbox: 1.3544, d1.loss_cls: 1.0383, d1.loss_bbox: 1.3520, d2.loss_cls: 1.0392, d2.loss_bbox: 1.3491, d3.loss_cls: 1.0415, d3.loss_bbox: 1.3562, d4.loss_cls: 1.0398, d4.loss_bbox: 1.3583, loss: 14.3696, grad_norm: 12.8295
2022-06-19 14:25:26,672 - mmdet - INFO - Epoch [1][1350/3517] lr: 2.000e-04, eta: 2 days, 0:33:35, time: 1.982, data_time: 1.358, memory: 8310, loss_cls: 1.0446, loss_bbox: 1.3737, d0.loss_cls: 1.0285, d0.loss_bbox: 1.3569, d1.loss_cls: 1.0363, d1.loss_bbox: 1.3572, d2.loss_cls: 1.0360, d2.loss_bbox: 1.3592, d3.loss_cls: 1.0397, d3.loss_bbox: 1.3565, d4.loss_cls: 1.0384, d4.loss_bbox: 1.3681, loss: 14.3950, grad_norm: 16.9966
2022-06-19 14:27:06,266 - mmdet - INFO - Epoch [1][1400/3517] lr: 2.000e-04, eta: 2 days, 0:26:15, time: 1.992, data_time: 1.358, memory: 8310, loss_cls: 1.0587, loss_bbox: 1.3815, d0.loss_cls: 1.0459, d0.loss_bbox: 1.3628, d1.loss_cls: 1.0530, d1.loss_bbox: 1.3772, d2.loss_cls: 1.0525, d2.loss_bbox: 1.3765, d3.loss_cls: 1.0539, d3.loss_bbox: 1.3808, d4.loss_cls: 1.0562, d4.loss_bbox: 1.3783, loss: 14.5772, grad_norm: 16.5173
2022-06-19 14:28:48,379 - mmdet - INFO - Epoch [1][1450/3517] lr: 2.000e-04, eta: 2 days, 0:21:42, time: 2.042, data_time: 0.907, memory: 8310, loss_cls: 1.0380, loss_bbox: 1.3651, d0.loss_cls: 1.0309, d0.loss_bbox: 1.3462, d1.loss_cls: 1.0323, d1.loss_bbox: 1.3492, d2.loss_cls: 1.0336, d2.loss_bbox: 1.3465, d3.loss_cls: 1.0343, d3.loss_bbox: 1.3531, d4.loss_cls: 1.0347, d4.loss_bbox: 1.3676, loss: 14.3316, grad_norm: 13.8195
2022-06-19 14:30:30,500 - mmdet - INFO - Epoch [1][1500/3517] lr: 2.000e-04, eta: 2 days, 0:17:22, time: 2.043, data_time: 0.409, memory: 8310, loss_cls: 1.0068, loss_bbox: 1.3606, d0.loss_cls: 0.9975, d0.loss_bbox: 1.3361, d1.loss_cls: 0.9998, d1.loss_bbox: 1.3410, d2.loss_cls: 1.0024, d2.loss_bbox: 1.3396, d3.loss_cls: 1.0025, d3.loss_bbox: 1.3388, d4.loss_cls: 1.0027, d4.loss_bbox: 1.3455, loss: 14.0735, grad_norm: 13.8750
2022-06-19 14:32:16,979 - mmdet - INFO - Epoch [1][1550/3517] lr: 2.000e-04, eta: 2 days, 0:17:05, time: 2.130, data_time: 0.058, memory: 8310, loss_cls: 1.0300, loss_bbox: 1.3558, d0.loss_cls: 1.0192, d0.loss_bbox: 1.3435, d1.loss_cls: 1.0206, d1.loss_bbox: 1.3413, d2.loss_cls: 1.0246, d2.loss_bbox: 1.3443, d3.loss_cls: 1.0254, d3.loss_bbox: 1.3476, d4.loss_cls: 1.0241, d4.loss_bbox: 1.3511, loss: 14.2276, grad_norm: 12.5753
2022-06-19 14:33:57,933 - mmdet - INFO - Epoch [1][1600/3517] lr: 2.000e-04, eta: 2 days, 0:11:56, time: 2.019, data_time: 0.863, memory: 8310, loss_cls: 1.0251, loss_bbox: 1.3649, d0.loss_cls: 1.0151, d0.loss_bbox: 1.3422, d1.loss_cls: 1.0160, d1.loss_bbox: 1.3483, d2.loss_cls: 1.0194, d2.loss_bbox: 1.3518, d3.loss_cls: 1.0217, d3.loss_bbox: 1.3564, d4.loss_cls: 1.0201, d4.loss_bbox: 1.3634, loss: 14.2443, grad_norm: 17.3118
2022-06-19 14:35:46,271 - mmdet - INFO - Epoch [1][1650/3517] lr: 2.000e-04, eta: 2 days, 0:13:10, time: 2.167, data_time: 1.269, memory: 8310, loss_cls: 1.0202, loss_bbox: 1.3679, d0.loss_cls: 1.0110, d0.loss_bbox: 1.3397, d1.loss_cls: 1.0151, d1.loss_bbox: 1.3649, d2.loss_cls: 1.0162, d2.loss_bbox: 1.3613, d3.loss_cls: 1.0183, d3.loss_bbox: 1.3645, d4.loss_cls: 1.0178, d4.loss_bbox: 1.3685, loss: 14.2654, grad_norm: 12.8501
2022-06-19 14:37:25,865 - mmdet - INFO - Epoch [1][1700/3517] lr: 2.000e-04, eta: 2 days, 0:07:08, time: 1.992, data_time: 0.865, memory: 8310, loss_cls: 1.0283, loss_bbox: 1.3505, d0.loss_cls: 1.0150, d0.loss_bbox: 1.3479, d1.loss_cls: 1.0157, d1.loss_bbox: 1.3489, d2.loss_cls: 1.0197, d2.loss_bbox: 1.3496, d3.loss_cls: 1.0215, d3.loss_bbox: 1.3468, d4.loss_cls: 1.0239, d4.loss_bbox: 1.3501, loss: 14.2179, grad_norm: 12.0612
2022-06-19 14:39:11,900 - mmdet - INFO - Epoch [1][1750/3517] lr: 2.000e-04, eta: 2 days, 0:06:25, time: 2.121, data_time: 1.390, memory: 8310, loss_cls: 1.0116, loss_bbox: 1.3436, d0.loss_cls: 1.0005, d0.loss_bbox: 1.3282, d1.loss_cls: 1.0022, d1.loss_bbox: 1.3255, d2.loss_cls: 1.0072, d2.loss_bbox: 1.3262, d3.loss_cls: 1.0084, d3.loss_bbox: 1.3348, d4.loss_cls: 1.0074, d4.loss_bbox: 1.3410, loss: 14.0368, grad_norm: 14.5245
2022-06-19 14:40:50,018 - mmdet - INFO - Epoch [1][1800/3517] lr: 2.000e-04, eta: 1 day, 23:59:36, time: 1.962, data_time: 1.196, memory: 8310, loss_cls: 1.0294, loss_bbox: 1.3550, d0.loss_cls: 1.0205, d0.loss_bbox: 1.3301, d1.loss_cls: 1.0221, d1.loss_bbox: 1.3381, d2.loss_cls: 1.0256, d2.loss_bbox: 1.3352, d3.loss_cls: 1.0268, d3.loss_bbox: 1.3375, d4.loss_cls: 1.0258, d4.loss_bbox: 1.3454, loss: 14.1915, grad_norm: 12.3590
2022-06-19 14:42:33,277 - mmdet - INFO - Epoch [1][1850/3517] lr: 2.000e-04, eta: 1 day, 23:56:52, time: 2.065, data_time: 1.247, memory: 8310, loss_cls: 1.0069, loss_bbox: 1.3243, d0.loss_cls: 0.9958, d0.loss_bbox: 1.3053, d1.loss_cls: 0.9974, d1.loss_bbox: 1.3069, d2.loss_cls: 0.9973, d2.loss_bbox: 1.3138, d3.loss_cls: 0.9977, d3.loss_bbox: 1.3169, d4.loss_cls: 1.0018, d4.loss_bbox: 1.3248, loss: 13.8888, grad_norm: 12.2397
2022-06-19 14:44:10,961 - mmdet - INFO - Epoch [1][1900/3517] lr: 2.000e-04, eta: 1 day, 23:50:10, time: 1.954, data_time: 1.180, memory: 8310, loss_cls: 1.0325, loss_bbox: 1.3307, d0.loss_cls: 1.0254, d0.loss_bbox: 1.3146, d1.loss_cls: 1.0262, d1.loss_bbox: 1.3122, d2.loss_cls: 1.0268, d2.loss_bbox: 1.3148, d3.loss_cls: 1.0274, d3.loss_bbox: 1.3189, d4.loss_cls: 1.0305, d4.loss_bbox: 1.3252, loss: 14.0852, grad_norm: 13.0078
2022-06-19 14:45:57,403 - mmdet - INFO - Epoch [1][1950/3517] lr: 2.000e-04, eta: 1 day, 23:49:54, time: 2.129, data_time: 0.118, memory: 8310, loss_cls: 1.0186, loss_bbox: 1.3295, d0.loss_cls: 1.0118, d0.loss_bbox: 1.3014, d1.loss_cls: 1.0129, d1.loss_bbox: 1.3034, d2.loss_cls: 1.0151, d2.loss_bbox: 1.3055, d3.loss_cls: 1.0148, d3.loss_bbox: 1.3127, d4.loss_cls: 1.0157, d4.loss_bbox: 1.3147, loss: 13.9562, grad_norm: 15.7093
2022-06-19 14:47:36,333 - mmdet - INFO - Exp name: bevformer_tiny.py
2022-06-19 14:47:36,334 - mmdet - INFO - Epoch [1][2000/3517] lr: 2.000e-04, eta: 1 day, 23:44:23, time: 1.979, data_time: 0.060, memory: 8310, loss_cls: 1.0370, loss_bbox: 1.3332, d0.loss_cls: 1.0253, d0.loss_bbox: 1.3227, d1.loss_cls: 1.0275, d1.loss_bbox: 1.3295, d2.loss_cls: 1.0297, d2.loss_bbox: 1.3294, d3.loss_cls: 1.0319, d3.loss_bbox: 1.3286, d4.loss_cls: 1.0328, d4.loss_bbox: 1.3349, loss: 14.1625, grad_norm: 12.9693
2022-06-19 14:49:15,844 - mmdet - INFO - Epoch [1][2050/3517] lr: 2.000e-04, eta: 1 day, 23:39:28, time: 1.990, data_time: 0.059, memory: 8310, loss_cls: 1.0175, loss_bbox: 1.3304, d0.loss_cls: 1.0096, d0.loss_bbox: 1.3026, d1.loss_cls: 1.0118, d1.loss_bbox: 1.3081, d2.loss_cls: 1.0127, d2.loss_bbox: 1.3094, d3.loss_cls: 1.0126, d3.loss_bbox: 1.3223, d4.loss_cls: 1.0133, d4.loss_bbox: 1.3224, loss: 13.9727, grad_norm: 13.4800
2022-06-19 14:50:53,968 - mmdet - INFO - Epoch [1][2100/3517] lr: 2.000e-04, eta: 1 day, 23:33:47, time: 1.962, data_time: 0.062, memory: 8310, loss_cls: 0.9996, loss_bbox: 1.3232, d0.loss_cls: 0.9956, d0.loss_bbox: 1.3052, d1.loss_cls: 0.9943, d1.loss_bbox: 1.3008, d2.loss_cls: 0.9974, d2.loss_bbox: 1.3040, d3.loss_cls: 0.9977, d3.loss_bbox: 1.3143, d4.loss_cls: 0.9988, d4.loss_bbox: 1.3190, loss: 13.8500, grad_norm: 22.6644
2022-06-19 14:52:37,506 - mmdet - INFO - Epoch [1][2150/3517] lr: 2.000e-04, eta: 1 day, 23:31:44, time: 2.071, data_time: 0.077, memory: 8310, loss_cls: 1.0206, loss_bbox: 1.3067, d0.loss_cls: 1.0109, d0.loss_bbox: 1.2877, d1.loss_cls: 1.0123, d1.loss_bbox: 1.2885, d2.loss_cls: 1.0165, d2.loss_bbox: 1.2888, d3.loss_cls: 1.0162, d3.loss_bbox: 1.2893, d4.loss_cls: 1.0188, d4.loss_bbox: 1.2972, loss: 13.8536, grad_norm: 11.9265
2022-06-19 14:54:17,472 - mmdet - INFO - Epoch [1][2200/3517] lr: 2.000e-04, eta: 1 day, 23:27:30, time: 1.999, data_time: 0.557, memory: 8310, loss_cls: 1.0134, loss_bbox: 1.3006, d0.loss_cls: 1.0019, d0.loss_bbox: 1.2849, d1.loss_cls: 1.0023, d1.loss_bbox: 1.2828, d2.loss_cls: 1.0069, d2.loss_bbox: 1.2791, d3.loss_cls: 1.0090, d3.loss_bbox: 1.2892, d4.loss_cls: 1.0089, d4.loss_bbox: 1.2925, loss: 13.7714, grad_norm: 13.6617
2022-06-19 14:56:02,126 - mmdet - INFO - Epoch [1][2250/3517] lr: 2.000e-04, eta: 1 day, 23:26:13, time: 2.093, data_time: 1.333, memory: 8310, loss_cls: 1.0234, loss_bbox: 1.2974, d0.loss_cls: 1.0086, d0.loss_bbox: 1.2714, d1.loss_cls: 1.0079, d1.loss_bbox: 1.2725, d2.loss_cls: 1.0132, d2.loss_bbox: 1.2707, d3.loss_cls: 1.0133, d3.loss_bbox: 1.2772, d4.loss_cls: 1.0149, d4.loss_bbox: 1.2770, loss: 13.7475, grad_norm: 12.4950
2022-06-19 14:57:46,736 - mmdet - INFO - Epoch [1][2300/3517] lr: 2.000e-04, eta: 1 day, 23:24:53, time: 2.092, data_time: 1.468, memory: 8310, loss_cls: 1.0197, loss_bbox: 1.3174, d0.loss_cls: 1.0086, d0.loss_bbox: 1.2988, d1.loss_cls: 1.0119, d1.loss_bbox: 1.2995, d2.loss_cls: 1.0132, d2.loss_bbox: 1.3003, d3.loss_cls: 1.0159, d3.loss_bbox: 1.3078, d4.loss_cls: 1.0158, d4.loss_bbox: 1.3148, loss: 13.9236, grad_norm: 11.8553
2022-06-19 14:59:25,087 - mmdet - INFO - Epoch [1][2350/3517] lr: 2.000e-04, eta: 1 day, 23:19:54, time: 1.967, data_time: 1.340, memory: 8310, loss_cls: 1.0158, loss_bbox: 1.2873, d0.loss_cls: 1.0048, d0.loss_bbox: 1.2689, d1.loss_cls: 1.0072, d1.loss_bbox: 1.2732, d2.loss_cls: 1.0097, d2.loss_bbox: 1.2817, d3.loss_cls: 1.0108, d3.loss_bbox: 1.2833, d4.loss_cls: 1.0137, d4.loss_bbox: 1.2863, loss: 13.7426, grad_norm: 11.8566
2022-06-19 15:01:06,957 - mmdet - INFO - Epoch [1][2400/3517] lr: 2.000e-04, eta: 1 day, 23:17:03, time: 2.037, data_time: 1.417, memory: 8310, loss_cls: 1.0027, loss_bbox: 1.2903, d0.loss_cls: 0.9913, d0.loss_bbox: 1.2685, d1.loss_cls: 0.9925, d1.loss_bbox: 1.2668, d2.loss_cls: 0.9973, d2.loss_bbox: 1.2704, d3.loss_cls: 0.9991, d3.loss_bbox: 1.2721, d4.loss_cls: 1.0002, d4.loss_bbox: 1.2798, loss: 13.6309, grad_norm: 11.3735
2022-06-19 15:02:43,564 - mmdet - INFO - Epoch [1][2450/3517] lr: 2.000e-04, eta: 1 day, 23:11:19, time: 1.932, data_time: 1.312, memory: 8310, loss_cls: 1.0221, loss_bbox: 1.2982, d0.loss_cls: 1.0130, d0.loss_bbox: 1.2779, d1.loss_cls: 1.0110, d1.loss_bbox: 1.2840, d2.loss_cls: 1.0142, d2.loss_bbox: 1.2853, d3.loss_cls: 1.0162, d3.loss_bbox: 1.2931, d4.loss_cls: 1.0183, d4.loss_bbox: 1.2983, loss: 13.8317, grad_norm: 11.7601
2022-06-19 15:04:35,786 - mmdet - INFO - Epoch [1][2500/3517] lr: 2.000e-04, eta: 1 day, 23:14:17, time: 2.244, data_time: 1.626, memory: 8310, loss_cls: 1.0181, loss_bbox: 1.2741, d0.loss_cls: 1.0094, d0.loss_bbox: 1.2538, d1.loss_cls: 1.0091, d1.loss_bbox: 1.2521, d2.loss_cls: 1.0119, d2.loss_bbox: 1.2553, d3.loss_cls: 1.0137, d3.loss_bbox: 1.2621, d4.loss_cls: 1.0146, d4.loss_bbox: 1.2659, loss: 13.6403, grad_norm: 12.7352
2022-06-19 15:06:16,745 - mmdet - INFO - Epoch [1][2550/3517] lr: 2.000e-04, eta: 1 day, 23:11:01, time: 2.019, data_time: 1.394, memory: 8310, loss_cls: 1.0285, loss_bbox: 1.2988, d0.loss_cls: 1.0227, d0.loss_bbox: 1.2843, d1.loss_cls: 1.0219, d1.loss_bbox: 1.2847, d2.loss_cls: 1.0247, d2.loss_bbox: 1.2827, d3.loss_cls: 1.0273, d3.loss_bbox: 1.2887, d4.loss_cls: 1.0291, d4.loss_bbox: 1.2947, loss: 13.8880, grad_norm: 11.8988
2022-06-19 15:08:01,627 - mmdet - INFO - Epoch [1][2600/3517] lr: 2.000e-04, eta: 1 day, 23:09:53, time: 2.098, data_time: 1.475, memory: 8310, loss_cls: 1.0148, loss_bbox: 1.2815, d0.loss_cls: 1.0081, d0.loss_bbox: 1.2652, d1.loss_cls: 1.0066, d1.loss_bbox: 1.2669, d2.loss_cls: 1.0089, d2.loss_bbox: 1.2699, d3.loss_cls: 1.0115, d3.loss_bbox: 1.2711, d4.loss_cls: 1.0133, d4.loss_bbox: 1.2709, loss: 13.6888, grad_norm: 11.6102
2022-06-19 15:09:41,557 - mmdet - INFO - Epoch [1][2650/3517] lr: 2.000e-04, eta: 1 day, 23:06:11, time: 1.999, data_time: 1.383, memory: 8310, loss_cls: 1.0148, loss_bbox: 1.2937, d0.loss_cls: 1.0104, d0.loss_bbox: 1.2727, d1.loss_cls: 1.0110, d1.loss_bbox: 1.2745, d2.loss_cls: 1.0108, d2.loss_bbox: 1.2772, d3.loss_cls: 1.0124, d3.loss_bbox: 1.2811, d4.loss_cls: 1.0123, d4.loss_bbox: 1.2902, loss: 13.7611, grad_norm: 13.3964
2022-06-19 15:11:26,932 - mmdet - INFO - Epoch [1][2700/3517] lr: 2.000e-04, eta: 1 day, 23:05:17, time: 2.108, data_time: 1.490, memory: 8310, loss_cls: 0.9928, loss_bbox: 1.2706, d0.loss_cls: 0.9883, d0.loss_bbox: 1.2423, d1.loss_cls: 0.9885, d1.loss_bbox: 1.2423, d2.loss_cls: 0.9896, d2.loss_bbox: 1.2512, d3.loss_cls: 0.9904, d3.loss_bbox: 1.2560, d4.loss_cls: 0.9918, d4.loss_bbox: 1.2568, loss: 13.4605, grad_norm: 11.8606
2022-06-19 15:13:04,952 - mmdet - INFO - Epoch [1][2750/3517] lr: 2.000e-04, eta: 1 day, 23:00:44, time: 1.960, data_time: 1.341, memory: 8310, loss_cls: 1.0126, loss_bbox: 1.2792, d0.loss_cls: 1.0065, d0.loss_bbox: 1.2514, d1.loss_cls: 1.0064, d1.loss_bbox: 1.2622, d2.loss_cls: 1.0075, d2.loss_bbox: 1.2623, d3.loss_cls: 1.0103, d3.loss_bbox: 1.2652, d4.loss_cls: 1.0110, d4.loss_bbox: 1.2670, loss: 13.6416, grad_norm: 11.8591
2022-06-19 15:14:48,985 - mmdet - INFO - Epoch [1][2800/3517] lr: 2.000e-04, eta: 1 day, 22:59:12, time: 2.081, data_time: 1.460, memory: 8310, loss_cls: 1.0117, loss_bbox: 1.3044, d0.loss_cls: 1.0100, d0.loss_bbox: 1.2736, d1.loss_cls: 1.0078, d1.loss_bbox: 1.2788, d2.loss_cls: 1.0081, d2.loss_bbox: 1.2854, d3.loss_cls: 1.0118, d3.loss_bbox: 1.2968, d4.loss_cls: 1.0109, d4.loss_bbox: 1.2967, loss: 13.7957, grad_norm: 12.2295
2022-06-19 15:16:28,193 - mmdet - INFO - Epoch [1][2850/3517] lr: 2.000e-04, eta: 1 day, 22:55:22, time: 1.984, data_time: 1.368, memory: 8310, loss_cls: 1.0222, loss_bbox: 1.2781, d0.loss_cls: 1.0194, d0.loss_bbox: 1.2660, d1.loss_cls: 1.0165, d1.loss_bbox: 1.2674, d2.loss_cls: 1.0203, d2.loss_bbox: 1.2671, d3.loss_cls: 1.0231, d3.loss_bbox: 1.2779, d4.loss_cls: 1.0208, d4.loss_bbox: 1.2820, loss: 13.7608, grad_norm: 11.8544
2022-06-19 15:18:11,500 - mmdet - INFO - Epoch [1][2900/3517] lr: 2.000e-04, eta: 1 day, 22:53:31, time: 2.066, data_time: 1.447, memory: 8310, loss_cls: 1.0065, loss_bbox: 1.2756, d0.loss_cls: 1.0007, d0.loss_bbox: 1.2645, d1.loss_cls: 1.0003, d1.loss_bbox: 1.2653, d2.loss_cls: 1.0035, d2.loss_bbox: 1.2626, d3.loss_cls: 1.0069, d3.loss_bbox: 1.2737, d4.loss_cls: 1.0060, d4.loss_bbox: 1.2759, loss: 13.6414, grad_norm: 11.6093
2022-06-19 15:19:49,061 - mmdet - INFO - Epoch [1][2950/3517] lr: 2.000e-04, eta: 1 day, 22:49:02, time: 1.951, data_time: 1.331, memory: 8310, loss_cls: 1.0115, loss_bbox: 1.2634, d0.loss_cls: 1.0053, d0.loss_bbox: 1.2419, d1.loss_cls: 1.0042, d1.loss_bbox: 1.2413, d2.loss_cls: 1.0063, d2.loss_bbox: 1.2585, d3.loss_cls: 1.0101, d3.loss_bbox: 1.2536, d4.loss_cls: 1.0117, d4.loss_bbox: 1.2574, loss: 13.5651, grad_norm: 12.2377
2022-06-19 15:21:30,658 - mmdet - INFO - Exp name: bevformer_tiny.py
2022-06-19 15:21:30,658 - mmdet - INFO - Epoch [1][3000/3517] lr: 2.000e-04, eta: 1 day, 22:46:28, time: 2.032, data_time: 1.407, memory: 8310, loss_cls: 0.9942, loss_bbox: 1.2657, d0.loss_cls: 0.9846, d0.loss_bbox: 1.2573, d1.loss_cls: 0.9865, d1.loss_bbox: 1.2494, d2.loss_cls: 0.9876, d2.loss_bbox: 1.2545, d3.loss_cls: 0.9911, d3.loss_bbox: 1.2612, d4.loss_cls: 0.9924, d4.loss_bbox: 1.2661, loss: 13.4905, grad_norm: 11.0886
2022-06-19 15:23:13,142 - mmdet - INFO - Epoch [1][3050/3517] lr: 2.000e-04, eta: 1 day, 22:44:20, time: 2.050, data_time: 1.435, memory: 8310, loss_cls: 1.0017, loss_bbox: 1.2824, d0.loss_cls: 0.9990, d0.loss_bbox: 1.2610, d1.loss_cls: 1.0002, d1.loss_bbox: 1.2577, d2.loss_cls: 0.9988, d2.loss_bbox: 1.2663, d3.loss_cls: 1.0010, d3.loss_bbox: 1.2726, d4.loss_cls: 1.0015, d4.loss_bbox: 1.2770, loss: 13.6192, grad_norm: 11.0692
2022-06-19 15:24:57,821 - mmdet - INFO - Epoch [1][3100/3517] lr: 2.000e-04, eta: 1 day, 22:43:10, time: 2.094, data_time: 1.481, memory: 8310, loss_cls: 1.0149, loss_bbox: 1.2740, d0.loss_cls: 1.0108, d0.loss_bbox: 1.2555, d1.loss_cls: 1.0108, d1.loss_bbox: 1.2549, d2.loss_cls: 1.0092, d2.loss_bbox: 1.2604, d3.loss_cls: 1.0115, d3.loss_bbox: 1.2656, d4.loss_cls: 1.0129, d4.loss_bbox: 1.2648, loss: 13.6453, grad_norm: 11.6640
2022-06-19 15:26:33,298 - mmdet - INFO - Epoch [1][3150/3517] lr: 2.000e-04, eta: 1 day, 22:38:01, time: 1.909, data_time: 1.287, memory: 8310, loss_cls: 1.0198, loss_bbox: 1.2617, d0.loss_cls: 1.0159, d0.loss_bbox: 1.2424, d1.loss_cls: 1.0159, d1.loss_bbox: 1.2406, d2.loss_cls: 1.0141, d2.loss_bbox: 1.2515, d3.loss_cls: 1.0167, d3.loss_bbox: 1.2524, d4.loss_cls: 1.0181, d4.loss_bbox: 1.2519, loss: 13.6009, grad_norm: 13.3343
2022-06-19 15:28:14,777 - mmdet - INFO - Epoch [1][3200/3517] lr: 2.000e-04, eta: 1 day, 22:35:31, time: 2.030, data_time: 1.405, memory: 8310, loss_cls: 1.0100, loss_bbox: 1.2712, d0.loss_cls: 1.0053, d0.loss_bbox: 1.2570, d1.loss_cls: 1.0025, d1.loss_bbox: 1.2616, d2.loss_cls: 1.0031, d2.loss_bbox: 1.2619, d3.loss_cls: 1.0065, d3.loss_bbox: 1.2661, d4.loss_cls: 1.0080, d4.loss_bbox: 1.2698, loss: 13.6230, grad_norm: 11.6313
2022-06-19 15:29:57,034 - mmdet - INFO - Epoch [1][3250/3517] lr: 2.000e-04, eta: 1 day, 22:33:23, time: 2.045, data_time: 1.418, memory: 8310, loss_cls: 1.0147, loss_bbox: 1.2882, d0.loss_cls: 1.0131, d0.loss_bbox: 1.2560, d1.loss_cls: 1.0126, d1.loss_bbox: 1.2558, d2.loss_cls: 1.0108, d2.loss_bbox: 1.2586, d3.loss_cls: 1.0129, d3.loss_bbox: 1.2631, d4.loss_cls: 1.0134, d4.loss_bbox: 1.2640, loss: 13.6633, grad_norm: 12.2173
2022-06-19 15:31:34,791 - mmdet - INFO - Epoch [1][3300/3517] lr: 2.000e-04, eta: 1 day, 22:29:24, time: 1.955, data_time: 1.331, memory: 8310, loss_cls: 1.0279, loss_bbox: 1.2656, d0.loss_cls: 1.0241, d0.loss_bbox: 1.2463, d1.loss_cls: 1.0229, d1.loss_bbox: 1.2421, d2.loss_cls: 1.0219, d2.loss_bbox: 1.2501, d3.loss_cls: 1.0253, d3.loss_bbox: 1.2568, d4.loss_cls: 1.0264, d4.loss_bbox: 1.2636, loss: 13.6731, grad_norm: 12.3598
2022-06-19 15:33:15,742 - mmdet - INFO - Epoch [1][3350/3517] lr: 2.000e-04, eta: 1 day, 22:26:47, time: 2.019, data_time: 1.389, memory: 8310, loss_cls: 1.0004, loss_bbox: 1.2727, d0.loss_cls: 0.9953, d0.loss_bbox: 1.2480, d1.loss_cls: 0.9965, d1.loss_bbox: 1.2462, d2.loss_cls: 0.9961, d2.loss_bbox: 1.2494, d3.loss_cls: 0.9984, d3.loss_bbox: 1.2605, d4.loss_cls: 0.9991, d4.loss_bbox: 1.2656, loss: 13.5282, grad_norm: 11.8227
2022-06-19 15:34:53,290 - mmdet - INFO - Epoch [1][3400/3517] lr: 2.000e-04, eta: 1 day, 22:22:51, time: 1.951, data_time: 1.326, memory: 8310, loss_cls: 1.0186, loss_bbox: 1.2884, d0.loss_cls: 1.0169, d0.loss_bbox: 1.2603, d1.loss_cls: 1.0149, d1.loss_bbox: 1.2617, d2.loss_cls: 1.0143, d2.loss_bbox: 1.2620, d3.loss_cls: 1.0167, d3.loss_bbox: 1.2707, d4.loss_cls: 1.0187, d4.loss_bbox: 1.2738, loss: 13.7172, grad_norm: 12.4651
2022-06-19 15:36:36,010 - mmdet - INFO - Epoch [1][3450/3517] lr: 2.000e-04, eta: 1 day, 22:21:00, time: 2.054, data_time: 1.428, memory: 8310, loss_cls: 1.0122, loss_bbox: 1.2736, d0.loss_cls: 1.0079, d0.loss_bbox: 1.2588, d1.loss_cls: 1.0062, d1.loss_bbox: 1.2593, d2.loss_cls: 1.0068, d2.loss_bbox: 1.2673, d3.loss_cls: 1.0101, d3.loss_bbox: 1.2706, d4.loss_cls: 1.0117, d4.loss_bbox: 1.2715, loss: 13.6559, grad_norm: 11.6159
2022-06-19 15:38:15,900 - mmdet - INFO - Epoch [1][3500/3517] lr: 2.000e-04, eta: 1 day, 22:18:04, time: 1.998, data_time: 1.377, memory: 8310, loss_cls: 1.0109, loss_bbox: 1.2567, d0.loss_cls: 1.0057, d0.loss_bbox: 1.2514, d1.loss_cls: 1.0041, d1.loss_bbox: 1.2477, d2.loss_cls: 1.0050, d2.loss_bbox: 1.2505, d3.loss_cls: 1.0067, d3.loss_bbox: 1.2544, d4.loss_cls: 1.0083, d4.loss_bbox: 1.2577, loss: 13.5591, grad_norm: 11.9800
2022-06-19 15:38:47,159 - mmdet - INFO - Saving checkpoint at 1 epochs
2022-06-19 16:00:23,571 - mmdet - INFO - Exp name: bevformer_tiny.py
2022-06-19 16:00:23,572 - mmdet - INFO - Epoch(val) [1][3010] pts_bbox_NuScenes/NDS: 0.0330, pts_bbox_NuScenes/mAP: 0.0000