Diffusion-Planner / args.json
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{
"future_len": 80,
"time_len": 21,
"agent_state_dim": 11,
"agent_num": 32,
"static_objects_state_dim": 10,
"static_objects_num": 5,
"lane_len": 20,
"lane_state_dim": 12,
"lane_num": 70,
"map_len": 10,
"map_state_dim": 4,
"map_num": 5,
"route_len": 20,
"route_state_dim": 12,
"route_num": 25,
"encoder_drop_path_rate": 0.1,
"decoder_drop_path_rate": 0.1,
"device": "cuda",
"encoder_depth": 3,
"decoder_depth": 3,
"num_heads": 6,
"hidden_dim": 192,
"diffusion_model_type": "x_start",
"predicted_neighbor_num": 10,
"state_normalizer": {
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