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code/hydra/hydra.yaml

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+hydra:
+  run:
+    dir: ${output_dir}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - pkg://navsim.planning.script.config.common
+  callbacks: {}
+  output_subdir: ${output_dir}/code/hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - train_test_split=navtrain
+    - experiment_name=transfuser_training
+  job:
+    name: run_training
+    chdir: false
+    override_dirname: experiment_name=transfuser_training,train_test_split=navtrain
+    id: ???
+    num: ???
+    config_name: default_training
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.2.0
+    version_base: '1.2'
+    cwd: /home/shlok/navsim_workspace/navsim
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /home/shlok/navsim_workspace/navsim/navsim/planning/script/config/training
+      schema: file
+      provider: main
+    - path: navsim.planning.script.config.common
+      schema: pkg
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /home/shlok/navsim_workspace/exp/transfuser_training/2026.01.20.12.52.56
+    choices:
+      agent: transfuser_agent
+      worker: ray_distributed_no_torch
+      train_test_split: navtrain
+      train_test_split/scene_filter: navtrain
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

code/hydra/overrides.yaml

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+- train_test_split=navtrain
+- experiment_name=transfuser_training

lightning_logs/version_0/checkpoints/epoch=19-step=6660.ckpt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b2e9b6e74d4bbcd38109f449c92468ffac98de46eb109d391fb17616ba6f4a85
+size 667810300

lightning_logs/version_0/events.out.tfevents.1768913673.crgh100.3495397.0

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+version https://git-lfs.github.com/spec/v1
+oid sha256:2889bf09cfde6ab07db74675ffdb35f8a7e14f5d9eb80f9eba45dc5ba8b0c3e6
+size 65393563

lightning_logs/version_0/hparams.yaml

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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