remove unwanted files

config.json

@@ -1,260 +0,0 @@
-{
-    "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": "An example experiment description.",
-    "visualize_training": true,
-    "id": "Experiment 1",
-    "load_file": "outputs/local_training/pretrain/model_0030.pth",
-    "continue_failed_training": false,
-    "epoch_checkpoints_keep": [],
-    "use_training_session_cache": true,
-    "use_persistent_cache": true,
-    "force_rebuild_data_cache": false,
-    "carla_cache_path": [
-        "1152",
-        "384",
-        "-32",
-        "64",
-        "-40",
-        "40",
-        "True",
-        "True",
-        "True",
-        "True",
-        "False",
-        "10"
-    ],
-    "training_session_cache_path": "/tmp/divyanshu",
-    "carla_root": "data/carla_leaderboard2",
-    "carla_data": "data/carla_leaderboard2/data",
-    "logdir": "outputs/local_training/pretrain",
-    "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,
-    "sync_batchnorm": false,
-    "epochs": 20,
-    "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": 16,
-    "compile": true,
-    "channel_last": true,
-    "lr": 0.0003,
-    "skip_first": 8,
-    "skip_last": 8,
-    "radar_detection": false,
-    "use_radar_detection": false,
-    "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_color_aug": true,
-    "use_color_aug_prob": 0.2,
-    "weight_decay": 0.01,
-    "use_cosine_annealing_with_restarts": true,
-    "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,
-    "kdisks_vocab_path": "lead/adapt/codebooks/kdisks_carla.pkl",
-    "use_kdisks": true,
-    "kdisks_heading_weight": 1.0,
-    "normalize_kinematics": false,
-    "use_soft_ce": false,
-    "soft_ce_sigma": 0.1,
-    "soft_ce_min_prob": 1e-06,
-    "kinematic_vocab_size": 4096,
-    "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
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-    "target_speeds": [
-        0.0,
-        4.0,
-        8.0,
-        10.0,
-        13.88888888,
-        16.0,
-        17.77777777,
-        20.0
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-    "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": 2,
-    "local_rank": 0,
-    "assigned_cpu_cores": 8,
-    "workers_per_cpu_cores": 1,
-    "debug_mode": true,
-    "use_radars": false
-}

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run_training.log

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-[2026-01-20 12:53:04,838][__main__][INFO] - Global Seed set to 0
-[2026-01-20 12:53:04,840][__main__][INFO] - Path where all results are stored: /home/shlok/navsim_workspace/exp/transfuser_training/2026.01.20.12.52.56
-[2026-01-20 12:53:04,840][__main__][INFO] - Building Agent
-[2026-01-20 12:53:05,951][timm.models._builder][INFO] - Loading pretrained weights from Hugging Face hub (timm/resnet34.a1_in1k)
-[2026-01-20 12:53:06,274][httpx][INFO] - HTTP Request: HEAD https://huggingface.co/timm/resnet34.a1_in1k/resolve/main/model.safetensors "HTTP/1.1 302 Found"
-[2026-01-20 12:53:06,276][timm.models._hub][INFO] - [timm/resnet34.a1_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors.
-[2026-01-20 12:53:06,305][timm.models._builder][INFO] - Missing keys (fc.weight, fc.bias) discovered while loading pretrained weights. This is expected if model is being adapted.
-[2026-01-20 12:53:06,698][__main__][INFO] - Building Lightning Module
-[2026-01-20 12:53:06,698][__main__][INFO] - Building SceneLoader
-[2026-01-20 12:54:32,648][__main__][INFO] - Building Datasets
-[2026-01-20 12:54:32,660][__main__][INFO] - Num training samples: 85109
-[2026-01-20 12:54:32,662][__main__][INFO] - Num validation samples: 18179
-[2026-01-20 12:54:32,662][__main__][INFO] - Building Trainer
-[2026-01-20 12:54:32,713][__main__][INFO] - Starting Training

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