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adapt_token_decoder_v3/config.json

@@ -0,0 +1,275 @@
+{
+    "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_v3",
+    "visualize_training": true,
+    "id": "Experiment 1",
+    "load_file": "outputs/local_training/adapt_token_decoder_v2/model_0002.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_v3",
+    "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": 5e-05,
+    "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
+}