| { |
| "method": "flowmo", |
| "steps": 20000, |
| "batch_size": 256, |
| "train_samples": 5120000, |
| "final_train_loss": 0.003838971257209778, |
| "total_parameters": 663964, |
| "target_mode": "absolute_normalized", |
| "position_scale": 5.0, |
| "heading_weight": 2.0, |
| "current_pose_weight": 1.0, |
| "motion_weight": 0.5, |
| "precision": "bf16", |
| "checkpoint_name": "paper.pt", |
| "final_checkpoint": "paper.pt", |
| "intermediate_checkpoints": [ |
| "paper_step_002000.pt", |
| "paper_step_004000.pt", |
| "paper_step_006000.pt", |
| "paper_step_008000.pt", |
| "paper_step_010000.pt", |
| "paper_step_012000.pt", |
| "paper_step_014000.pt", |
| "paper_step_016000.pt", |
| "paper_step_018000.pt", |
| "paper_step_020000.pt" |
| ], |
| "checkpoint_interval": 2000, |
| "prediction": { |
| "pos1": 0.07454978911361347, |
| "heading1": 0.04916680386910836, |
| "pos3": 0.08039923206282158, |
| "heading3": 0.05139941743497426, |
| "pos6": 0.09065966509903471, |
| "heading6": 0.05502280278597027, |
| "pos8": 0.09813052571068208, |
| "heading8": 0.05761814404589435, |
| "pos10": 0.10625893513982494, |
| "heading10": 0.060202051497374974, |
| "pos20": 0.15069053896392384, |
| "heading20": 0.07164489043255647 |
| } |
| } |