feat: add diffusion_planner v4.0 artifacts (from awf.ml.dev.web.auto/planning/models/diffusion_planner/v4.0)

deploy_metadata.yaml

@@ -1 +1 @@
-version: v3.1
+version: v4.0

diffusion_planner.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a063d323af20d962048315dc0969e4d3cad46e81a20299f39d74a470d58b148b
-size 60114055
+oid sha256:6fd21662a655e7c262ffa465fc0d93b51d8a7fe1b56f95c6abd110f6cfa15ffd
+size 60280355

diffusion_planner.param.json

@@ -1,6 +1,7 @@
 {
     "future_len": 80,
     "time_len": 31,
+    "ego_prediction_horizon": 80,
     "agent_state_dim": 11,
     "agent_num": 32,
     "static_objects_state_dim": 10,
@@ -11,18 +12,18 @@
     "route_len": 20,
     "polygon_num": 10,
     "polygon_len": 40,
-    "line_string_num": 10,
+    "line_string_num": 60,
     "line_string_len": 20,
     "use_data_augment": true,
     "augment_prob": 0.5,
+    "normalization_file_path": "normalization.json",
     "num_workers": 4,
     "pin_mem": true,
     "seed": 3407,
-    "train_epochs": 200,
-    "early_stop_tolerance": 100,
+    "train_epochs": 70,
     "batch_size": 1024,
     "save_utd": 10,
-    "learning_rate": 2e-05,
+    "learning_rate": 0.0002,
     "warm_up_epoch": 5,
     "encoder_drop_path_rate": 0.1,
     "decoder_drop_path_rate": 0.1,
@@ -39,7 +40,17 @@
         1.0,
         1.0
     ],
+    "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,
     "device": "cuda",
     "use_ema": true,
     "encoder_mixer_depth": 6,
@@ -49,9 +60,11 @@
     "hidden_dim": 256,
     "diffusion_model_type": "x_start",
     "predicted_neighbor_num": 32,
+    "resume_model_path": null,
     "use_wandb": true,
     "notes": "",
     "ddp": true,
+    "port": "22323",
     "state_normalizer": {
         "mean": [
             [
@@ -836,21 +849,27 @@
         "polygons": {
             "mean": [
                 10.0,
+                0.0,
                 0.0
             ],
             "std": [
                 20.0,
-                20.0
+                20.0,
+                1.0
             ]
         },
         "line_strings": {
             "mean": [
                 10.0,
+                0.0,
+                0.0,
                 0.0
             ],
             "std": [
                 20.0,
-                20.0
+                20.0,
+                1.0,
+                1.0
             ]
         },
         "route_lanes_speed_limit": {
@@ -876,5 +895,6 @@
             ]
         }
     },
-    "major_version": 3
+    "major_version": 4,
+    "exp_name": "20260303-180133_baseline_epoch0060_sft0070"
 }