How to train my own dataset based on your pre-training model?

[ChenjieWang]

I have an indoor stereo image dataset with a total of 8,000 images. There is a salient mobile robot in the dataset scene that has been moving within the camera field. I have resized my dataset image to the size required by your code. I am training my model with the parameters in your open source code based on your pre-training model. I want to get a model that can perform good indoor monocular depth estimation and can segment the moving robot. But the model obtained is very poor and I can't see anything visually. Do you have any suggestions?