{ "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": { "mean": [ [ [ 10, 0, 0, 0 ] ], [ [ 10, 0, 0, 0 ] ], [ [ 10, 0, 0, 0 ] ], [ [ 10, 0, 0, 0 ] ], [ [ 10, 0, 0, 0 ] ], [ [ 10, 0, 0, 0 ] ], [ [ 10, 0, 0, 0 ] ], [ [ 10, 0, 0, 0 ] ], [ [ 10, 0, 0, 0 ] ], [ [ 10, 0, 0, 0 ] ], [ [ 10, 0, 0, 0 ] ] ], "std": [ [ [ 20, 20, 1, 1 ] ], [ [ 20, 20, 1, 1 ] ], [ [ 20, 20, 1, 1 ] ], [ [ 20, 20, 1, 1 ] ], [ [ 20, 20, 1, 1 ] ], [ [ 20, 20, 1, 1 ] ], [ [ 20, 20, 1, 1 ] ], [ [ 20, 20, 1, 1 ] ], [ [ 20, 20, 1, 1 ] ], [ [ 20, 20, 1, 1 ] ], [ [ 20, 20, 1, 1 ] ] ] }, "observation_normalizer": { "ego_current_state": { "mean": [ 10.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "std": [ 20.0, 20.0, 1.0, 1.0, 20.0, 20.0, 20.0, 20.0, 1.0, 1.0 ] }, "neighbor_agents_past": { "mean": [ 10.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "std": [ 20.0, 20.0, 1.0, 1.0, 20.0, 20.0, 20.0, 20.0, 1.0, 1.0, 1.0 ] }, "static_objects": { "mean": [ 10.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "std": [ 20.0, 20.0, 1.0, 1.0, 20.0, 20.0, 1.0, 1.0, 1.0, 1.0 ] }, "lanes": { "mean": [ 10.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "std": [ 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 1.0, 1.0, 1.0, 1.0 ] }, "lanes_speed_limit": { "mean": [ 0.0 ], "std": [ 20.0 ] }, "route_lanes": { "mean": [ 10.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "std": [ 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 1.0, 1.0, 1.0, 1.0 ] }, "route_lanes_speed_limit": { "mean": [ 0.0 ], "std": [ 20.0 ] } } }