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8.58 kB
| { | |
| "target_dataset": 1, | |
| "num_available_cameras": 3, | |
| "used_cameras": [ | |
| true, | |
| true, | |
| true | |
| ], | |
| "num_used_cameras": 3, | |
| "pixels_per_meter": 4.0, | |
| "min_x_meter": -32, | |
| "max_x_meter": 64, | |
| "min_y_meter": -40, | |
| "max_y_meter": 40, | |
| "lidar_width_pixel": 384, | |
| "lidar_height_pixel": 320, | |
| "lidar_width_meter": 96, | |
| "lidar_height_meter": 80, | |
| "model_type": "adapt", | |
| "visualize_dataset": false, | |
| "visualize_failed_scenarios": false, | |
| "load_bev_3rd_person_images": false, | |
| "seed": 0, | |
| "wandb_id": null, | |
| "wandb_resume": "never", | |
| "wandb_project_name": "lead_posttrain", | |
| "description": "adapt_token_decoder_v2", | |
| "visualize_training": true, | |
| "id": "Experiment 1", | |
| "load_file": "outputs/local_training/adapt_radar_navcond_v1_retry1/model_0014.pth", | |
| "continue_failed_training": false, | |
| "strict_weight_load": true, | |
| "keep_all_epoch_checkpoints": true, | |
| "epoch_checkpoints_keep": [ | |
| 0, | |
| 1, | |
| 2, | |
| 3 | |
| ], | |
| "use_training_session_cache": true, | |
| "use_persistent_cache": true, | |
| "metadata_cache_max_entries": 128, | |
| "force_rebuild_data_cache": false, | |
| "carla_cache_path": [ | |
| "sensor-v2", | |
| "7c1953dfc56c1ba85584207a40c0a62d" | |
| ], | |
| "training_session_cache_path": "/localstorage/home/f20221129/scratch", | |
| "carla_root": "data/carla_leaderboard2", | |
| "carla_data": "data/carla_leaderboard2/data", | |
| "logdir": "outputs/local_training/adapt_token_decoder_v2", | |
| "training_png_compression_level": 6, | |
| "vehicle_min_num_lidar_points": 1, | |
| "vehicle_min_num_visible_pixels": 1, | |
| "pedestrian_min_num_lidar_points": 5, | |
| "pedestrian_min_num_visible_pixels": 15, | |
| "parking_vehicle_min_num_lidar_points": 3, | |
| "parking_vehicle_min_num_visible_pixels": 5, | |
| "grad_scaler_init_scale": 1024, | |
| "grad_scaler_growth_factor": 2, | |
| "grad_scaler_backoff_factor": 0.5, | |
| "grad_scaler_growth_interval": 256, | |
| "grad_scaler_max_grad_scale": 65536, | |
| "grad_clip_norm": 1.0, | |
| "sync_batchnorm": false, | |
| "epochs": 3, | |
| "batch_size": 128, | |
| "use_mixed_precision_training": true, | |
| "need_grad_scaler": false, | |
| "use_zero_redundancy": false, | |
| "save_model_checkpoint": true, | |
| "is_pretraining": false, | |
| "prefetch_factor": 4, | |
| "compile": true, | |
| "compile_scope": "backbone", | |
| "compile_backend": "inductor", | |
| "compile_mode": "default", | |
| "compile_fullgraph": false, | |
| "compile_dynamic": false, | |
| "cuda_prefetch": true, | |
| "gpu_color_augmentation": false, | |
| "upsample_perspective_logits": false, | |
| "upsample_mode": "bilinear", | |
| "channel_last": true, | |
| "lr": 0.0001, | |
| "skip_first": 8, | |
| "skip_last": 8, | |
| "radar_detection": true, | |
| "use_radar_detection": true, | |
| "num_radar_points_per_sensor": 75, | |
| "num_radar_queries": 20, | |
| "radar_hidden_dim_tokenizer": 1024, | |
| "radar_token_dim": 256, | |
| "radar_tf_dim_ff": 1024, | |
| "radar_dropout": 0.1, | |
| "radar_num_heads": 8, | |
| "radar_num_layers": 4, | |
| "radar_hidden_dim_decoder": 1024, | |
| "radar_classification_loss_weight": 1.0, | |
| "radar_regression_loss_weight": 5.0, | |
| "num_radar_sensors": 4, | |
| "force_rebuild_bucket": false, | |
| "randomize_route_order": false, | |
| "hold_out_town13_routes": false, | |
| "bucket_collection_path": "data/carla_leaderboard2/buckets", | |
| "use_sensor_perburtation": true, | |
| "use_sensor_perburtation_prob": 0.5, | |
| "use_scheduled_sampling": false, | |
| "scheduled_sampling_start_epoch": 3, | |
| "scheduled_sampling_max_prob": 1.0, | |
| "scheduled_sampling_warmup_epochs": 30, | |
| "scheduled_sampling_min_prob": 1.0, | |
| "use_color_aug": true, | |
| "use_color_aug_prob": 0.2, | |
| "weight_decay": 0.01, | |
| "use_cosine_annealing_with_restarts": false, | |
| "use_rgb": true, | |
| "use_depth": true, | |
| "use_lidar": true, | |
| "training_used_lidar_steps": 10, | |
| "min_z": -4, | |
| "max_z": 4, | |
| "hist_max_per_pixel": 5, | |
| "lidar_vert_anchors": 10, | |
| "lidar_horz_anchors": 12, | |
| "detect_boxes": true, | |
| "data_bb_static_types_white_list": [ | |
| "static.prop.constructioncone", | |
| "static.prop.trafficwarning" | |
| ], | |
| "bb_confidence_threshold": 0.3, | |
| "max_num_bbs": 90, | |
| "num_dir_bins": 12, | |
| "top_k_center_keypoints": 100, | |
| "center_net_max_pooling_kernel": 3, | |
| "bb_input_channel": 64, | |
| "car_open_door_extra_width": 1.2, | |
| "num_bb_classes": 8, | |
| "use_discrete_command": true, | |
| "discrete_command_dim": 6, | |
| "use_noisy_tp": false, | |
| "use_kalman_filter_for_gps": true, | |
| "use_velocity": true, | |
| "max_speed": 25.0, | |
| "use_acceleration": false, | |
| "max_acceleration": 10.0, | |
| "use_previous_tp": true, | |
| "use_next_tp": true, | |
| "use_tp": true, | |
| "target_points_normalization_constants": [ | |
| [ | |
| 200.0, | |
| 50.0 | |
| ] | |
| ], | |
| "tp_pop_distance": 3.25, | |
| "use_past_positions": false, | |
| "use_past_speeds": false, | |
| "num_past_samples_used": 0, | |
| "transfuser_num_bev_cross_attention_layers": 6, | |
| "transfuser_num_bev_cross_attention_heads": 8, | |
| "transfuser_token_dim": 256, | |
| "predict_target_speed": true, | |
| "predict_spatial_path": true, | |
| "predict_temporal_spatial_waypoints": true, | |
| "use_planning_decoder": false, | |
| "use_adapt_decoder": true, | |
| "adapt_navigation_conditioning": true, | |
| "adapt_train_token_decoder_only": true, | |
| "adapt_waypoints_from_tokens": true, | |
| "kdisks_vocab_path": "lead/adapt/codebooks/kdisks_carla_body.pkl", | |
| "use_kdisks": true, | |
| "kdisks_heading_weight": 2.6719030517676834, | |
| "normalize_kinematics": false, | |
| "use_soft_ce": false, | |
| "soft_ce_sigma": 0.1, | |
| "soft_ce_min_prob": 1e-06, | |
| "kinematic_vocab_size": 1234, | |
| "kinematic_embed_dim": 256, | |
| "decoder_ffn_dim": 1024, | |
| "decoder_num_heads": 8, | |
| "decoder_dropout": 0.1, | |
| "decoder_num_layers": 6, | |
| "max_sequence_length": 64, | |
| "frechet_gamma": 0.1, | |
| "num_history_poses": 5, | |
| "use_history_poses": true, | |
| "target_speed_classes": [ | |
| 0.0, | |
| 4.0, | |
| 8.0, | |
| 10.0, | |
| 13.88888888, | |
| 16.0, | |
| 17.77777777, | |
| 20.0 | |
| ], | |
| "target_speeds": [ | |
| 0.0, | |
| 4.0, | |
| 8.0, | |
| 10.0, | |
| 13.88888888, | |
| 16.0, | |
| 17.77777777, | |
| 20.0 | |
| ], | |
| "smooth_route": true, | |
| "num_route_points_smoothing": 20, | |
| "num_route_points_prediction": 10, | |
| "max_distance_future_waypoint": 10.0, | |
| "num_way_points_prediction": 8, | |
| "waypoints_spacing": 5, | |
| "horizontal_fov_reduction": 0, | |
| "crop_height": 0, | |
| "carla_crop_height_type": 3, | |
| "image_width_before_camera_subselection": 1152, | |
| "final_image_width": 1152, | |
| "final_image_height": 384, | |
| "img_vert_anchors": 12, | |
| "img_horz_anchors": 36, | |
| "freeze_backbone": false, | |
| "image_architecture": "resnet34", | |
| "lidar_architecture": "resnet34", | |
| "LTF": false, | |
| "block_exp": 4, | |
| "n_layer": 2, | |
| "n_head": 4, | |
| "embd_pdrop": 0.1, | |
| "resid_pdrop": 0.1, | |
| "attn_pdrop": 0.1, | |
| "gpt_linear_layer_init_mean": 0.0, | |
| "gpt_linear_layer_init_std": 0.02, | |
| "gpt_layer_norm_init_weight": 1.0, | |
| "use_semantic": true, | |
| "num_semantic_classes": 10, | |
| "perspective_downsample_factor": 1, | |
| "deconv_channel_num_0": 128, | |
| "deconv_channel_num_1": 64, | |
| "deconv_channel_num_2": 32, | |
| "deconv_scale_factor_0": 4, | |
| "deconv_scale_factor_1": 8, | |
| "use_bev_semantic": true, | |
| "num_bev_semantic_classes": 13, | |
| "scale_pedestrian_bev_semantic_size": 2.5, | |
| "pedestrian_bev_min_extent": 0.4, | |
| "bev_features_chanels": 64, | |
| "bev_down_sample_factor": 4, | |
| "bev_upsample_factor": 2, | |
| "use_carla_data": true, | |
| "carla_num_samples": -1, | |
| "use_navsim_data": false, | |
| "navsim_data_root": "data/navsim_training_cache/navtrain", | |
| "navsim_num_samples": -1, | |
| "schedule_carla_num_samples": false, | |
| "use_waymo_e2e_data": false, | |
| "waymo_e2e_num_training_samples": -1, | |
| "waymo_e2e_training_data_root": "data/waymo_open_dataset_end_to_end_camera_v_1_0_0_training", | |
| "waymo_e2e_val_data_root": "data/waymo_open_dataset_end_to_end_camera_v_1_0_0_val_rfm", | |
| "waymo_e2e_test_data_root": "data/waymo_open_dataset_end_to_end_camera_v_1_0_0_test_submission", | |
| "waymo_e2e_subsample_factor": 5, | |
| "navsim_num_bev_semantic_classes": 7, | |
| "navsim_num_bb_classes": 1, | |
| "mixed_data_training": false, | |
| "carla_leaderboard_mode": true, | |
| "log_scalars_frequency": 1, | |
| "log_images_frequency": 100, | |
| "log_wandb": true, | |
| "rank": 0, | |
| "world_size": 1, | |
| "local_rank": 0, | |
| "assigned_cpu_cores": 32, | |
| "workers_per_cpu_cores": 1, | |
| "use_radars": true | |
| } |