diffusion_planner / diffusion_planner.param.json

feat: add diffusion_planner v5.0 artifacts (from awf.ml.dev.web.auto/planning/models/diffusion_planner/v5.0)

423efde verified 2 days ago

109 kB

	{
	"future_len": 80,
	"time_len": 31,
	"ego_prediction_horizon": 80,
	"agent_state_dim": 11,
	"agent_num": 320,
	"static_objects_state_dim": 10,
	"static_objects_num": 5,
	"lane_num": 140,
	"lane_len": 20,
	"route_num": 25,
	"route_len": 20,
	"polygon_num": 10,
	"polygon_len": 40,
	"line_string_num": 60,
	"line_string_len": 20,
	"use_data_augment": true,
	"augment_prob": 0.5,
	"augment_type": "quintic",
	"num_refine": 20,
	"ego_past_noise_std": 0.1,
	"use_smoothing_future_trajectory": true,
	"normalization_file_path": "normalization.json",
	"num_workers": 8,
	"pin_mem": true,
	"seed": 3407,
	"train_epochs": 80,
	"batch_size": 512,
	"save_utd": 10,
	"learning_rate": 0.0001,
	"warm_up_epoch": 5,
	"encoder_drop_path_rate": 0.1,
	"decoder_drop_path_rate": 0.1,
	"use_ego_history": true,
	"ego_history_dropout_rate": 0.4,
	"use_turn_indicators": true,
	"coeff_position_lat_loss": 1.0,
	"coeff_position_lon_loss": 1.0,
	"coeff_heading_l2_loss": 1.0,
	"coeff_velocity": 1.0,
	"coeff_timestep": [
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	"coeff_road_border_loss": 1.0,
	"road_border_margin": 0.25,
	"road_border_n_interp": 2,
	"coeff_neighbor_collision_loss": 0.0,
	"neighbor_collision_margin": 2.0,
	"alpha_planning_loss": 1.0,
	"alpha_neighbor_loss": 0.1,
	"use_velocity_representation": false,
	"hybrid_loss_omega": 0.1,
	"hybrid_loss_window": 10,
	"guidance_scale": 0.5,
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	"encoder_mixer_depth": 6,
	"encoder_fusion_depth": 6,
	"decoder_depth": 3,
	"num_heads": 8,
	"hidden_dim": 256,
	"diffusion_model_type": "x_start",
	"predicted_neighbor_num": 320,
	"resume_model_path": null,
	"use_wandb": true,
	"notes": "",
	"ddp": true,
	"port": "22323",
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