| model: TwinLiteNet8 params: 0.437M | |
| input: 640x360 batch: 16 epochs: 60 LR: 0.0005 | |
| classes: ['tree', 'ground', 'person', 'sky', 'road', 'mountain', 'building', 'background'] | |
| weights: {'tree': 1.5, 'ground': 0.5, 'person': 1.5, 'sky': 1.0, 'road': 1.0, 'mountain': 1.0, 'building': 1.0, 'background': 0.0} | |
| train: 5457 old_val: 155 new_val: 31 | |
| epoch 01/60 loss=1.3311 mIoU(7)=0.375 tree_old=0.818 ground_old=0.877 tree_new_recall=0.872 (94s) | |
| per-class IoU: tree=0.818, ground=0.877, person=0.044, sky=0.779, road=0.001, mountain=0.090, building=0.012, background=nan | |
| saved best (tree_old 0.818) | |
| epoch 02/60 loss=0.7963 mIoU(7)=0.426 tree_old=0.812 ground_old=0.859 tree_new_recall=0.865 (65s) | |
| per-class IoU: tree=0.812, ground=0.859, person=0.066, sky=0.800, road=0.020, mountain=0.396, building=0.033, background=nan | |
| epoch 03/60 loss=0.5680 mIoU(7)=0.558 tree_old=0.850 ground_old=0.884 tree_new_recall=0.939 (65s) | |
| per-class IoU: tree=0.850, ground=0.884, person=0.293, sky=0.819, road=0.645, mountain=0.393, building=0.023, background=nan | |
| saved best (tree_old 0.850) | |
| epoch 04/60 loss=0.4366 mIoU(7)=0.596 tree_old=0.853 ground_old=0.892 tree_new_recall=0.967 (65s) | |
| per-class IoU: tree=0.853, ground=0.892, person=0.372, sky=0.826, road=0.584, mountain=0.475, building=0.169, background=nan | |
| saved best (tree_old 0.853) | |
| epoch 05/60 loss=0.3549 mIoU(7)=0.622 tree_old=0.836 ground_old=0.885 tree_new_recall=0.963 (66s) | |
| per-class IoU: tree=0.836, ground=0.885, person=0.396, sky=0.824, road=0.618, mountain=0.485, building=0.310, background=nan | |
| epoch 06/60 loss=0.2965 mIoU(7)=0.620 tree_old=0.831 ground_old=0.889 tree_new_recall=0.967 (65s) | |
| per-class IoU: tree=0.831, ground=0.889, person=0.346, sky=0.820, road=0.710, mountain=0.495, building=0.245, background=nan | |
| epoch 07/60 loss=0.2606 mIoU(7)=0.661 tree_old=0.860 ground_old=0.904 tree_new_recall=0.981 (66s) | |
| per-class IoU: tree=0.860, ground=0.904, person=0.396, sky=0.830, road=0.643, mountain=0.552, building=0.439, background=nan | |
| saved best (tree_old 0.860) | |
| epoch 08/60 loss=0.2286 mIoU(7)=0.644 tree_old=0.854 ground_old=0.902 tree_new_recall=0.991 (66s) | |
| per-class IoU: tree=0.854, ground=0.902, person=0.412, sky=0.816, road=0.649, mountain=0.531, building=0.347, background=nan | |
| epoch 09/60 loss=0.2093 mIoU(7)=0.432 tree_old=0.770 ground_old=0.855 tree_new_recall=0.887 (65s) | |
| per-class IoU: tree=0.770, ground=0.855, person=0.360, sky=0.435, road=0.118, mountain=0.349, building=0.136, background=nan | |
| epoch 10/60 loss=0.1984 mIoU(7)=0.661 tree_old=0.834 ground_old=0.883 tree_new_recall=0.990 (66s) | |
| per-class IoU: tree=0.834, ground=0.883, person=0.404, sky=0.824, road=0.715, mountain=0.523, building=0.442, background=nan | |
| epoch 11/60 loss=0.1792 mIoU(7)=0.683 tree_old=0.855 ground_old=0.910 tree_new_recall=0.996 (65s) | |
| per-class IoU: tree=0.855, ground=0.910, person=0.388, sky=0.825, road=0.764, mountain=0.538, building=0.503, background=nan | |
| epoch 12/60 loss=0.1724 mIoU(7)=0.669 tree_old=0.842 ground_old=0.882 tree_new_recall=0.995 (65s) | |
| per-class IoU: tree=0.842, ground=0.882, person=0.398, sky=0.823, road=0.720, mountain=0.550, building=0.467, background=nan | |
| epoch 13/60 loss=0.1639 mIoU(7)=0.683 tree_old=0.834 ground_old=0.883 tree_new_recall=0.994 (66s) | |
| per-class IoU: tree=0.834, ground=0.883, person=0.421, sky=0.827, road=0.740, mountain=0.560, building=0.513, background=nan | |
| epoch 14/60 loss=0.1574 mIoU(7)=0.674 tree_old=0.848 ground_old=0.895 tree_new_recall=0.999 (67s) | |
| per-class IoU: tree=0.848, ground=0.895, person=0.436, sky=0.809, road=0.727, mountain=0.547, building=0.458, background=nan | |
| epoch 15/60 loss=0.1535 mIoU(7)=0.664 tree_old=0.847 ground_old=0.897 tree_new_recall=0.998 (65s) | |
| per-class IoU: tree=0.847, ground=0.897, person=0.380, sky=0.794, road=0.686, mountain=0.559, building=0.483, background=nan | |
| epoch 16/60 loss=0.1486 mIoU(7)=0.685 tree_old=0.851 ground_old=0.893 tree_new_recall=0.997 (67s) | |
| per-class IoU: tree=0.851, ground=0.893, person=0.496, sky=0.803, road=0.692, mountain=0.567, building=0.492, background=nan | |
| epoch 17/60 loss=0.1457 mIoU(7)=0.698 tree_old=0.856 ground_old=0.901 tree_new_recall=0.997 (68s) | |
| per-class IoU: tree=0.856, ground=0.901, person=0.460, sky=0.826, road=0.720, mountain=0.570, building=0.550, background=nan | |
| epoch 18/60 loss=0.1392 mIoU(7)=0.672 tree_old=0.859 ground_old=0.908 tree_new_recall=0.998 (66s) | |
| per-class IoU: tree=0.859, ground=0.908, person=0.417, sky=0.830, road=0.739, mountain=0.579, building=0.368, background=nan | |
| epoch 19/60 loss=0.1354 mIoU(7)=0.687 tree_old=0.862 ground_old=0.903 tree_new_recall=0.999 (65s) | |
| per-class IoU: tree=0.862, ground=0.903, person=0.442, sky=0.821, road=0.694, mountain=0.581, building=0.505, background=nan | |
| saved best (tree_old 0.862) | |
| epoch 20/60 loss=0.1325 mIoU(7)=0.702 tree_old=0.863 ground_old=0.909 tree_new_recall=0.995 (67s) | |
| per-class IoU: tree=0.863, ground=0.909, person=0.411, sky=0.829, road=0.747, mountain=0.536, building=0.620, background=nan | |
| saved best (tree_old 0.863) | |
| epoch 21/60 loss=0.1303 mIoU(7)=0.676 tree_old=0.859 ground_old=0.899 tree_new_recall=0.996 (66s) | |
| per-class IoU: tree=0.859, ground=0.899, person=0.390, sky=0.825, road=0.689, mountain=0.595, building=0.473, background=nan | |
| epoch 22/60 loss=0.1275 mIoU(7)=0.713 tree_old=0.865 ground_old=0.907 tree_new_recall=0.998 (65s) | |
| per-class IoU: tree=0.865, ground=0.907, person=0.490, sky=0.820, road=0.724, mountain=0.576, building=0.606, background=nan | |
| saved best (tree_old 0.865) | |
| epoch 23/60 loss=0.1288 mIoU(7)=0.711 tree_old=0.864 ground_old=0.909 tree_new_recall=0.999 (67s) | |
| per-class IoU: tree=0.864, ground=0.909, person=0.458, sky=0.827, road=0.728, mountain=0.577, building=0.611, background=nan | |
| epoch 24/60 loss=0.1230 mIoU(7)=0.696 tree_old=0.863 ground_old=0.912 tree_new_recall=0.999 (66s) | |
| per-class IoU: tree=0.863, ground=0.912, person=0.431, sky=0.820, road=0.757, mountain=0.584, building=0.506, background=nan | |
| epoch 25/60 loss=0.1228 mIoU(7)=0.700 tree_old=0.857 ground_old=0.912 tree_new_recall=1.000 (65s) | |
| per-class IoU: tree=0.857, ground=0.912, person=0.444, sky=0.824, road=0.802, mountain=0.571, building=0.494, background=nan | |
| epoch 26/60 loss=0.1200 mIoU(7)=0.695 tree_old=0.866 ground_old=0.913 tree_new_recall=0.999 (67s) | |
| per-class IoU: tree=0.866, ground=0.913, person=0.422, sky=0.837, road=0.716, mountain=0.563, building=0.549, background=nan | |
| saved best (tree_old 0.866) | |
| epoch 27/60 loss=0.1185 mIoU(7)=0.695 tree_old=0.862 ground_old=0.908 tree_new_recall=0.999 (66s) | |
| per-class IoU: tree=0.862, ground=0.908, person=0.407, sky=0.828, road=0.732, mountain=0.578, building=0.550, background=nan | |
| epoch 28/60 loss=0.1161 mIoU(7)=0.714 tree_old=0.860 ground_old=0.910 tree_new_recall=0.998 (64s) | |
| per-class IoU: tree=0.860, ground=0.910, person=0.458, sky=0.826, road=0.768, mountain=0.577, building=0.596, background=nan | |
| epoch 29/60 loss=0.1151 mIoU(7)=0.708 tree_old=0.872 ground_old=0.916 tree_new_recall=0.999 (66s) | |
| per-class IoU: tree=0.872, ground=0.916, person=0.441, sky=0.835, road=0.745, mountain=0.592, building=0.555, background=nan | |
| saved best (tree_old 0.872) | |
| epoch 30/60 loss=0.1131 mIoU(7)=0.698 tree_old=0.865 ground_old=0.910 tree_new_recall=0.999 (66s) | |
| per-class IoU: tree=0.865, ground=0.910, person=0.467, sky=0.834, road=0.755, mountain=0.592, building=0.467, background=nan | |
| epoch 31/60 loss=0.1110 mIoU(7)=0.694 tree_old=0.855 ground_old=0.905 tree_new_recall=0.999 (65s) | |
| per-class IoU: tree=0.855, ground=0.905, person=0.433, sky=0.812, road=0.772, mountain=0.586, building=0.498, background=nan | |
| epoch 32/60 loss=0.1115 mIoU(7)=0.719 tree_old=0.865 ground_old=0.916 tree_new_recall=0.998 (67s) | |
| per-class IoU: tree=0.865, ground=0.916, person=0.466, sky=0.833, road=0.803, mountain=0.578, building=0.570, background=nan | |
| epoch 33/60 loss=0.1088 mIoU(7)=0.711 tree_old=0.869 ground_old=0.916 tree_new_recall=0.999 (69s) | |
| per-class IoU: tree=0.869, ground=0.916, person=0.494, sky=0.838, road=0.761, mountain=0.595, building=0.502, background=nan | |
| epoch 34/60 loss=0.1071 mIoU(7)=0.702 tree_old=0.865 ground_old=0.910 tree_new_recall=0.999 (70s) | |
| per-class IoU: tree=0.865, ground=0.910, person=0.455, sky=0.827, road=0.753, mountain=0.562, building=0.541, background=nan | |
| epoch 35/60 loss=0.1064 mIoU(7)=0.696 tree_old=0.861 ground_old=0.908 tree_new_recall=1.000 (65s) | |
| per-class IoU: tree=0.861, ground=0.908, person=0.476, sky=0.816, road=0.754, mountain=0.578, building=0.478, background=nan | |
| epoch 36/60 loss=0.1052 mIoU(7)=0.704 tree_old=0.860 ground_old=0.910 tree_new_recall=0.999 (66s) | |
| per-class IoU: tree=0.860, ground=0.910, person=0.477, sky=0.829, road=0.787, mountain=0.592, building=0.470, background=nan | |
| epoch 37/60 loss=0.1050 mIoU(7)=0.703 tree_old=0.860 ground_old=0.908 tree_new_recall=0.999 (64s) | |
| per-class IoU: tree=0.860, ground=0.908, person=0.479, sky=0.827, road=0.769, mountain=0.593, building=0.488, background=nan | |
| epoch 38/60 loss=0.1034 mIoU(7)=0.704 tree_old=0.863 ground_old=0.911 tree_new_recall=0.999 (63s) | |
| per-class IoU: tree=0.863, ground=0.911, person=0.441, sky=0.829, road=0.778, mountain=0.587, building=0.521, background=nan | |
| epoch 39/60 loss=0.1025 mIoU(7)=0.713 tree_old=0.865 ground_old=0.912 tree_new_recall=0.999 (64s) | |
| per-class IoU: tree=0.865, ground=0.912, person=0.449, sky=0.842, road=0.760, mountain=0.597, building=0.565, background=nan | |
| epoch 40/60 loss=0.1010 mIoU(7)=0.713 tree_old=0.858 ground_old=0.909 tree_new_recall=0.999 (65s) | |
| per-class IoU: tree=0.858, ground=0.909, person=0.477, sky=0.820, road=0.800, mountain=0.596, building=0.530, background=nan | |
| epoch 41/60 loss=0.0999 mIoU(7)=0.704 tree_old=0.862 ground_old=0.911 tree_new_recall=1.000 (66s) | |
| per-class IoU: tree=0.862, ground=0.911, person=0.455, sky=0.815, road=0.788, mountain=0.581, building=0.514, background=nan | |
| epoch 42/60 loss=0.0992 mIoU(7)=0.713 tree_old=0.866 ground_old=0.916 tree_new_recall=0.999 (66s) | |
| per-class IoU: tree=0.866, ground=0.916, person=0.453, sky=0.836, road=0.804, mountain=0.595, building=0.524, background=nan | |
| epoch 43/60 loss=0.0980 mIoU(7)=0.717 tree_old=0.860 ground_old=0.909 tree_new_recall=1.000 (65s) | |
| per-class IoU: tree=0.860, ground=0.909, person=0.460, sky=0.822, road=0.814, mountain=0.591, building=0.559, background=nan | |
| epoch 44/60 loss=0.0975 mIoU(7)=0.704 tree_old=0.860 ground_old=0.910 tree_new_recall=0.999 (65s) | |
| per-class IoU: tree=0.860, ground=0.910, person=0.444, sky=0.830, road=0.809, mountain=0.578, building=0.495, background=nan | |
| epoch 45/60 loss=0.0967 mIoU(7)=0.720 tree_old=0.861 ground_old=0.910 tree_new_recall=0.999 (66s) | |
| per-class IoU: tree=0.861, ground=0.910, person=0.462, sky=0.830, road=0.809, mountain=0.598, building=0.574, background=nan | |
| epoch 46/60 loss=0.0958 mIoU(7)=0.715 tree_old=0.859 ground_old=0.904 tree_new_recall=0.999 (64s) | |
| per-class IoU: tree=0.859, ground=0.904, person=0.457, sky=0.825, road=0.787, mountain=0.600, building=0.571, background=nan | |
| epoch 47/60 loss=0.0953 mIoU(7)=0.717 tree_old=0.863 ground_old=0.912 tree_new_recall=0.999 (65s) | |
| per-class IoU: tree=0.863, ground=0.912, person=0.466, sky=0.818, road=0.799, mountain=0.601, building=0.560, background=nan | |
| epoch 48/60 loss=0.0942 mIoU(7)=0.717 tree_old=0.865 ground_old=0.914 tree_new_recall=0.999 (65s) | |
| per-class IoU: tree=0.865, ground=0.914, person=0.468, sky=0.829, road=0.800, mountain=0.592, building=0.551, background=nan | |
| epoch 49/60 loss=0.0938 mIoU(7)=0.715 tree_old=0.863 ground_old=0.911 tree_new_recall=0.999 (66s) | |
| per-class IoU: tree=0.863, ground=0.911, person=0.479, sky=0.825, road=0.794, mountain=0.594, building=0.535, background=nan | |
| epoch 50/60 loss=0.0934 mIoU(7)=0.718 tree_old=0.862 ground_old=0.912 tree_new_recall=0.999 (65s) | |
| per-class IoU: tree=0.862, ground=0.912, person=0.469, sky=0.828, road=0.812, mountain=0.590, building=0.551, background=nan | |
| epoch 51/60 loss=0.0931 mIoU(7)=0.717 tree_old=0.861 ground_old=0.913 tree_new_recall=0.999 (64s) | |
| per-class IoU: tree=0.861, ground=0.913, person=0.460, sky=0.821, road=0.818, mountain=0.593, building=0.551, background=nan | |
| epoch 52/60 loss=0.0926 mIoU(7)=0.715 tree_old=0.860 ground_old=0.910 tree_new_recall=0.999 (65s) | |
| per-class IoU: tree=0.860, ground=0.910, person=0.460, sky=0.824, road=0.804, mountain=0.597, building=0.547, background=nan | |
| epoch 53/60 loss=0.0918 mIoU(7)=0.717 tree_old=0.860 ground_old=0.910 tree_new_recall=0.999 (64s) | |
| per-class IoU: tree=0.860, ground=0.910, person=0.466, sky=0.820, road=0.806, mountain=0.595, building=0.561, background=nan | |
| epoch 54/60 loss=0.0916 mIoU(7)=0.714 tree_old=0.861 ground_old=0.911 tree_new_recall=1.000 (67s) | |
| per-class IoU: tree=0.861, ground=0.911, person=0.471, sky=0.822, road=0.807, mountain=0.588, building=0.541, background=nan | |
| epoch 55/60 loss=0.0912 mIoU(7)=0.719 tree_old=0.863 ground_old=0.913 tree_new_recall=0.999 (69s) | |
| per-class IoU: tree=0.863, ground=0.913, person=0.476, sky=0.826, road=0.808, mountain=0.593, building=0.554, background=nan | |
| epoch 56/60 loss=0.0911 mIoU(7)=0.717 tree_old=0.862 ground_old=0.913 tree_new_recall=0.999 (70s) | |
| per-class IoU: tree=0.862, ground=0.913, person=0.475, sky=0.823, road=0.807, mountain=0.596, building=0.545, background=nan | |
| epoch 57/60 loss=0.0913 mIoU(7)=0.715 tree_old=0.860 ground_old=0.910 tree_new_recall=0.999 (68s) | |
| per-class IoU: tree=0.860, ground=0.910, person=0.465, sky=0.825, road=0.802, mountain=0.593, building=0.548, background=nan | |
| epoch 58/60 loss=0.0911 mIoU(7)=0.718 tree_old=0.863 ground_old=0.913 tree_new_recall=0.999 (65s) | |
| per-class IoU: tree=0.863, ground=0.913, person=0.470, sky=0.824, road=0.813, mountain=0.594, building=0.552, background=nan | |
| epoch 59/60 loss=0.0907 mIoU(7)=0.716 tree_old=0.862 ground_old=0.912 tree_new_recall=0.999 (64s) | |
| per-class IoU: tree=0.862, ground=0.912, person=0.467, sky=0.824, road=0.803, mountain=0.596, building=0.549, background=nan | |
| epoch 60/60 loss=0.0903 mIoU(7)=0.718 tree_old=0.862 ground_old=0.914 tree_new_recall=0.999 (67s) | |
| per-class IoU: tree=0.862, ground=0.914, person=0.466, sky=0.825, road=0.811, mountain=0.593, building=0.558, background=nan | |
| === DONE === best tree_old IoU: 0.872 | |
| === FPS BENCHMARK (RTX 3080, batch=1, 640x360) === | |
| TwinLiteNet8 @ 640x360 batch=1: 137.1 FPS | |
| Jetson Orin Nano estimate: ~34-46 FPS | |