Pilot-4B-v1.5 / perception /config.json
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Pilot-4B v1.5: weights, driver, inference example, model card
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{
"llm_dim": 2560,
"vit_dim": 1024,
"embed_dim": 256,
"det_pc_range": [
-51.2,
-51.2,
-5.0,
51.2,
51.2,
5.4
],
"det_voxel_size": [
0.512,
0.512,
10.4
],
"nuscenes_occ_pc_range": [
-40.0,
-40.0,
-1.0,
40.0,
40.0,
5.4
],
"nuscenes_occ_voxel_size": [
0.4,
0.4,
6.4
],
"nuplan_occ_pc_range": [
-50.0,
-50.0,
-4.0,
50.0,
50.0,
4.0
],
"nuplan_occ_voxel_size": [
0.5,
0.5,
0.5
],
"map_xbound": [
-30.0,
30.0,
0.15
],
"map_ybound": [
-15.0,
15.0,
0.15
],
"frustum_range": [
0,
0,
1.0,
896,
512,
60.0
],
"frustum_size": [
16.0,
16.0,
0.5
],
"bev_h": 200,
"bev_w": 200,
"occ_pillar_h": 16,
"occ_dim": 32,
"occ_num_classes": 10,
"det_num_classes": 7,
"map_num_classes": 6,
"num_query": 900,
"code_size": 10,
"num_encoder_layers": 6,
"num_decoder_layers": 6,
"image_size": [
896,
512
],
"transformers_version": "5.14.1",
"architectures": null,
"output_hidden_states": false,
"return_dict": true,
"dtype": null,
"chunk_size_feed_forward": 0,
"is_encoder_decoder": false,
"id2label": {
"0": "LABEL_0",
"1": "LABEL_1"
},
"label2id": {
"LABEL_0": 0,
"LABEL_1": 1
},
"problem_type": null,
"_name_or_path": "",
"model_type": "qwen_drive_perception",
"output_attentions": false
}