Divyanshudiv commited on
Commit
b85b8e0
·
verified ·
1 Parent(s): 86d7813

Upload folder using huggingface_hub

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. .gitattributes +4 -0
  2. B300/checkpoints/adapt/finetune/config.json +260 -0
  3. B300/checkpoints/adapt/finetune/model_0001.pth +3 -0
  4. B300/checkpoints/adapt/finetune/optimizer_0001.pth +3 -0
  5. B300/checkpoints/adapt/finetune/scaler_0001.pth +3 -0
  6. B300/checkpoints/adapt/finetune/scheduler_0001.pth +3 -0
  7. B300/checkpoints/adapt/posttrain/config.json +260 -0
  8. B300/checkpoints/adapt/posttrain/model_0019.pth +3 -0
  9. B300/checkpoints/adapt/pretrain/config.json +237 -0
  10. B300/checkpoints/adapt/pretrain/model_0030.pth +3 -0
  11. B300/local_evaluation/23687/23687_debug.mp4 +3 -0
  12. B300/local_evaluation/23687/23687_demo.mp4 +3 -0
  13. B300/local_evaluation/23687/23687_input.mp4 +3 -0
  14. B300/local_evaluation/23687/checkpoint_endpoint.json +152 -0
  15. B300/local_evaluation/23687/debug_images/00001.png +3 -0
  16. B300/local_evaluation/23687/debug_images/00002.png +3 -0
  17. B300/local_evaluation/23687/debug_images/00003.png +3 -0
  18. B300/local_evaluation/23687/debug_images/00004.png +3 -0
  19. B300/local_evaluation/23687/debug_images/00005.png +3 -0
  20. B300/local_evaluation/23687/debug_images/00006.png +3 -0
  21. B300/local_evaluation/23687/debug_images/00007.png +3 -0
  22. B300/local_evaluation/23687/debug_images/00008.png +3 -0
  23. B300/local_evaluation/23687/debug_images/00009.png +3 -0
  24. B300/local_evaluation/23687/debug_images/00010.png +3 -0
  25. B300/local_evaluation/23687/debug_images/00011.png +3 -0
  26. B300/local_evaluation/23687/debug_images/00012.png +3 -0
  27. B300/local_evaluation/23687/debug_images/00013.png +3 -0
  28. B300/local_evaluation/23687/debug_images/00014.png +3 -0
  29. B300/local_evaluation/23687/debug_images/00015.png +3 -0
  30. B300/local_evaluation/23687/debug_images/00016.png +3 -0
  31. B300/local_evaluation/23687/debug_images/00017.png +3 -0
  32. B300/local_evaluation/23687/debug_images/00018.png +3 -0
  33. B300/local_evaluation/23687/debug_images/00019.png +3 -0
  34. B300/local_evaluation/23687/debug_images/00020.png +3 -0
  35. B300/local_evaluation/23687/debug_images/00021.png +3 -0
  36. B300/local_evaluation/23687/debug_images/00022.png +3 -0
  37. B300/local_evaluation/23687/debug_images/00023.png +3 -0
  38. B300/local_evaluation/23687/debug_images/00024.png +3 -0
  39. B300/local_evaluation/23687/debug_images/00025.png +3 -0
  40. B300/local_evaluation/23687/debug_images/00026.png +3 -0
  41. B300/local_evaluation/23687/debug_images/00027.png +3 -0
  42. B300/local_evaluation/23687/debug_images/00028.png +3 -0
  43. B300/local_evaluation/23687/debug_images/00029.png +3 -0
  44. B300/local_evaluation/23687/debug_images/00030.png +3 -0
  45. B300/local_evaluation/23687/debug_images/00031.png +3 -0
  46. B300/local_evaluation/23687/debug_images/00032.png +3 -0
  47. B300/local_evaluation/23687/debug_images/00033.png +3 -0
  48. B300/local_evaluation/23687/debug_images/00034.png +3 -0
  49. B300/local_evaluation/23687/debug_images/00035.png +3 -0
  50. B300/local_evaluation/23687/debug_images/00036.png +3 -0
.gitattributes CHANGED
@@ -58,3 +58,7 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
58
  # Video files - compressed
59
  *.mp4 filter=lfs diff=lfs merge=lfs -text
60
  *.webm filter=lfs diff=lfs merge=lfs -text
 
 
 
 
 
58
  # Video files - compressed
59
  *.mp4 filter=lfs diff=lfs merge=lfs -text
60
  *.webm filter=lfs diff=lfs merge=lfs -text
61
+ B300/local_training/adapt_finetune_v2/wandb/offline-run-20260604_124735-233qqs2l/run-233qqs2l.wandb filter=lfs diff=lfs merge=lfs -text
62
+ B300/local_training/adapt_finetune_v2/wandb/offline-run-20260604_140830-w3bomiyf/run-w3bomiyf.wandb filter=lfs diff=lfs merge=lfs -text
63
+ B300/local_training/adapt_posttrain_full/wandb/offline-run-20260604_124743-me2o8wlz/run-me2o8wlz.wandb filter=lfs diff=lfs merge=lfs -text
64
+ B300/local_training/adapt_posttrain_full/wandb/offline-run-20260604_140830-zt39jl4l/run-zt39jl4l.wandb filter=lfs diff=lfs merge=lfs -text
B300/checkpoints/adapt/finetune/config.json ADDED
@@ -0,0 +1,260 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "target_dataset": 1,
3
+ "num_available_cameras": 3,
4
+ "used_cameras": [
5
+ true,
6
+ true,
7
+ true
8
+ ],
9
+ "num_used_cameras": 3,
10
+ "pixels_per_meter": 4.0,
11
+ "min_x_meter": -32,
12
+ "max_x_meter": 64,
13
+ "min_y_meter": -40,
14
+ "max_y_meter": 40,
15
+ "lidar_width_pixel": 384,
16
+ "lidar_height_pixel": 320,
17
+ "lidar_width_meter": 96,
18
+ "lidar_height_meter": 80,
19
+ "model_type": "adapt",
20
+ "visualize_dataset": false,
21
+ "visualize_failed_scenarios": false,
22
+ "load_bev_3rd_person_images": false,
23
+ "seed": 0,
24
+ "wandb_id": null,
25
+ "wandb_resume": "never",
26
+ "wandb_project_name": "lead_posttrain",
27
+ "description": "An example experiment description.",
28
+ "visualize_training": true,
29
+ "id": "Experiment 1",
30
+ "load_file": "/home/divyanshu/carla/lead-adapt/outputs/local_training/posttrain/model_0019.pth",
31
+ "continue_failed_training": false,
32
+ "epoch_checkpoints_keep": [],
33
+ "use_training_session_cache": true,
34
+ "use_persistent_cache": true,
35
+ "force_rebuild_data_cache": false,
36
+ "carla_cache_path": [
37
+ "1152",
38
+ "384",
39
+ "-32",
40
+ "64",
41
+ "-40",
42
+ "40",
43
+ "True",
44
+ "True",
45
+ "True",
46
+ "True",
47
+ "False",
48
+ "10"
49
+ ],
50
+ "training_session_cache_path": "/tmp/divyanshu",
51
+ "carla_root": "data/carla_leaderboard2",
52
+ "carla_data": "data/carla_leaderboard2/data",
53
+ "logdir": "outputs/local_training/adapt_finetune",
54
+ "training_png_compression_level": 6,
55
+ "vehicle_min_num_lidar_points": 1,
56
+ "vehicle_min_num_visible_pixels": 1,
57
+ "pedestrian_min_num_lidar_points": 5,
58
+ "pedestrian_min_num_visible_pixels": 15,
59
+ "parking_vehicle_min_num_lidar_points": 3,
60
+ "parking_vehicle_min_num_visible_pixels": 5,
61
+ "grad_scaler_init_scale": 1024,
62
+ "grad_scaler_growth_factor": 2,
63
+ "grad_scaler_backoff_factor": 0.5,
64
+ "grad_scaler_growth_interval": 256,
65
+ "grad_scaler_max_grad_scale": 65536,
66
+ "sync_batchnorm": false,
67
+ "epochs": 5,
68
+ "batch_size": 128,
69
+ "use_mixed_precision_training": true,
70
+ "need_grad_scaler": false,
71
+ "use_zero_redundancy": false,
72
+ "save_model_checkpoint": true,
73
+ "is_pretraining": false,
74
+ "prefetch_factor": 16,
75
+ "compile": true,
76
+ "channel_last": true,
77
+ "lr": 1e-05,
78
+ "skip_first": 8,
79
+ "skip_last": 8,
80
+ "radar_detection": false,
81
+ "use_radar_detection": false,
82
+ "num_radar_points_per_sensor": 75,
83
+ "num_radar_queries": 20,
84
+ "radar_hidden_dim_tokenizer": 1024,
85
+ "radar_token_dim": 256,
86
+ "radar_tf_dim_ff": 1024,
87
+ "radar_dropout": 0.1,
88
+ "radar_num_heads": 8,
89
+ "radar_num_layers": 4,
90
+ "radar_hidden_dim_decoder": 1024,
91
+ "radar_classification_loss_weight": 1.0,
92
+ "radar_regression_loss_weight": 5.0,
93
+ "num_radar_sensors": 4,
94
+ "force_rebuild_bucket": false,
95
+ "randomize_route_order": false,
96
+ "hold_out_town13_routes": false,
97
+ "bucket_collection_path": "data/carla_leaderboard2/buckets",
98
+ "use_sensor_perburtation": true,
99
+ "use_sensor_perburtation_prob": 0.5,
100
+ "use_color_aug": true,
101
+ "use_color_aug_prob": 0.2,
102
+ "weight_decay": 0.01,
103
+ "use_cosine_annealing_with_restarts": true,
104
+ "use_rgb": true,
105
+ "use_depth": true,
106
+ "use_lidar": true,
107
+ "training_used_lidar_steps": 10,
108
+ "min_z": -4,
109
+ "max_z": 4,
110
+ "hist_max_per_pixel": 5,
111
+ "lidar_vert_anchors": 10,
112
+ "lidar_horz_anchors": 12,
113
+ "detect_boxes": true,
114
+ "data_bb_static_types_white_list": [
115
+ "static.prop.constructioncone",
116
+ "static.prop.trafficwarning"
117
+ ],
118
+ "bb_confidence_threshold": 0.3,
119
+ "max_num_bbs": 90,
120
+ "num_dir_bins": 12,
121
+ "top_k_center_keypoints": 100,
122
+ "center_net_max_pooling_kernel": 3,
123
+ "bb_input_channel": 64,
124
+ "car_open_door_extra_width": 1.2,
125
+ "num_bb_classes": 8,
126
+ "use_discrete_command": true,
127
+ "discrete_command_dim": 6,
128
+ "use_noisy_tp": false,
129
+ "use_kalman_filter_for_gps": true,
130
+ "use_velocity": true,
131
+ "max_speed": 25.0,
132
+ "use_acceleration": false,
133
+ "max_acceleration": 10.0,
134
+ "use_previous_tp": true,
135
+ "use_next_tp": true,
136
+ "use_tp": true,
137
+ "target_points_normalization_constants": [
138
+ [
139
+ 200.0,
140
+ 50.0
141
+ ]
142
+ ],
143
+ "tp_pop_distance": 3.25,
144
+ "use_past_positions": false,
145
+ "use_past_speeds": false,
146
+ "num_past_samples_used": 0,
147
+ "transfuser_num_bev_cross_attention_layers": 6,
148
+ "transfuser_num_bev_cross_attention_heads": 8,
149
+ "transfuser_token_dim": 256,
150
+ "predict_target_speed": true,
151
+ "predict_spatial_path": true,
152
+ "predict_temporal_spatial_waypoints": true,
153
+ "use_planning_decoder": false,
154
+ "use_adapt_decoder": true,
155
+ "kdisks_vocab_path": "lead/adapt/codebooks/kdisks_carla.pkl",
156
+ "use_kdisks": true,
157
+ "kdisks_heading_weight": 1.0,
158
+ "normalize_kinematics": false,
159
+ "use_soft_ce": false,
160
+ "soft_ce_sigma": 0.1,
161
+ "soft_ce_min_prob": 1e-06,
162
+ "kinematic_vocab_size": 4096,
163
+ "kinematic_embed_dim": 256,
164
+ "decoder_ffn_dim": 1024,
165
+ "decoder_num_heads": 8,
166
+ "decoder_dropout": 0.1,
167
+ "decoder_num_layers": 6,
168
+ "max_sequence_length": 64,
169
+ "frechet_gamma": 0.1,
170
+ "num_history_poses": 5,
171
+ "use_history_poses": true,
172
+ "target_speed_classes": [
173
+ 0.0,
174
+ 4.0,
175
+ 8.0,
176
+ 10.0,
177
+ 13.88888888,
178
+ 16.0,
179
+ 17.77777777,
180
+ 20.0
181
+ ],
182
+ "target_speeds": [
183
+ 0.0,
184
+ 4.0,
185
+ 8.0,
186
+ 10.0,
187
+ 13.88888888,
188
+ 16.0,
189
+ 17.77777777,
190
+ 20.0
191
+ ],
192
+ "smooth_route": true,
193
+ "num_route_points_smoothing": 20,
194
+ "num_route_points_prediction": 10,
195
+ "max_distance_future_waypoint": 10.0,
196
+ "num_way_points_prediction": 8,
197
+ "waypoints_spacing": 5,
198
+ "horizontal_fov_reduction": 0,
199
+ "crop_height": 0,
200
+ "carla_crop_height_type": 3,
201
+ "image_width_before_camera_subselection": 1152,
202
+ "final_image_width": 1152,
203
+ "final_image_height": 384,
204
+ "img_vert_anchors": 12,
205
+ "img_horz_anchors": 36,
206
+ "freeze_backbone": false,
207
+ "image_architecture": "resnet34",
208
+ "lidar_architecture": "resnet34",
209
+ "LTF": false,
210
+ "block_exp": 4,
211
+ "n_layer": 2,
212
+ "n_head": 4,
213
+ "embd_pdrop": 0.1,
214
+ "resid_pdrop": 0.1,
215
+ "attn_pdrop": 0.1,
216
+ "gpt_linear_layer_init_mean": 0.0,
217
+ "gpt_linear_layer_init_std": 0.02,
218
+ "gpt_layer_norm_init_weight": 1.0,
219
+ "use_semantic": true,
220
+ "num_semantic_classes": 10,
221
+ "perspective_downsample_factor": 1,
222
+ "deconv_channel_num_0": 128,
223
+ "deconv_channel_num_1": 64,
224
+ "deconv_channel_num_2": 32,
225
+ "deconv_scale_factor_0": 4,
226
+ "deconv_scale_factor_1": 8,
227
+ "use_bev_semantic": true,
228
+ "num_bev_semantic_classes": 13,
229
+ "scale_pedestrian_bev_semantic_size": 2.5,
230
+ "pedestrian_bev_min_extent": 0.4,
231
+ "bev_features_chanels": 64,
232
+ "bev_down_sample_factor": 4,
233
+ "bev_upsample_factor": 2,
234
+ "use_carla_data": true,
235
+ "carla_num_samples": -1,
236
+ "use_navsim_data": false,
237
+ "navsim_data_root": "data/navsim_training_cache/navtrain",
238
+ "navsim_num_samples": -1,
239
+ "schedule_carla_num_samples": false,
240
+ "use_waymo_e2e_data": false,
241
+ "waymo_e2e_num_training_samples": -1,
242
+ "waymo_e2e_training_data_root": "data/waymo_open_dataset_end_to_end_camera_v_1_0_0_training",
243
+ "waymo_e2e_val_data_root": "data/waymo_open_dataset_end_to_end_camera_v_1_0_0_val_rfm",
244
+ "waymo_e2e_test_data_root": "data/waymo_open_dataset_end_to_end_camera_v_1_0_0_test_submission",
245
+ "waymo_e2e_subsample_factor": 5,
246
+ "navsim_num_bev_semantic_classes": 7,
247
+ "navsim_num_bb_classes": 1,
248
+ "mixed_data_training": false,
249
+ "carla_leaderboard_mode": true,
250
+ "log_scalars_frequency": 1,
251
+ "log_images_frequency": 100,
252
+ "log_wandb": true,
253
+ "rank": 0,
254
+ "world_size": 2,
255
+ "local_rank": 0,
256
+ "assigned_cpu_cores": 8,
257
+ "workers_per_cpu_cores": 1,
258
+ "debug_mode": true,
259
+ "use_radars": false
260
+ }
B300/checkpoints/adapt/finetune/model_0001.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e8d3d073d75ba4feb60550b77933e01314c796b99581da15e8bd331e7e241d4a
3
+ size 277030414
B300/checkpoints/adapt/finetune/optimizer_0001.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:498e08aeb30b9f84c1ab41fe5c6eabf13c8495fd61f1a93adadd1aa4b5d51ec8
3
+ size 830071798
B300/checkpoints/adapt/finetune/scaler_0001.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7986e58c9b93b9542bb2f2576b8bbe928176689027f6dd3eb2330d8ca49a33f9
3
+ size 880
B300/checkpoints/adapt/finetune/scheduler_0001.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c4dd2bf0f29a0c00e0c4116aaf74146fc5fcd6f51121183025a7b4155bb905e4
3
+ size 1084
B300/checkpoints/adapt/posttrain/config.json ADDED
@@ -0,0 +1,260 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "target_dataset": 1,
3
+ "num_available_cameras": 3,
4
+ "used_cameras": [
5
+ true,
6
+ true,
7
+ true
8
+ ],
9
+ "num_used_cameras": 3,
10
+ "pixels_per_meter": 4.0,
11
+ "min_x_meter": -32,
12
+ "max_x_meter": 64,
13
+ "min_y_meter": -40,
14
+ "max_y_meter": 40,
15
+ "lidar_width_pixel": 384,
16
+ "lidar_height_pixel": 320,
17
+ "lidar_width_meter": 96,
18
+ "lidar_height_meter": 80,
19
+ "model_type": "adapt",
20
+ "visualize_dataset": false,
21
+ "visualize_failed_scenarios": false,
22
+ "load_bev_3rd_person_images": false,
23
+ "seed": 0,
24
+ "wandb_id": null,
25
+ "wandb_resume": "never",
26
+ "wandb_project_name": "lead_posttrain",
27
+ "description": "An example experiment description.",
28
+ "visualize_training": true,
29
+ "id": "Experiment 1",
30
+ "load_file": "outputs/local_training/pretrain/model_0030.pth",
31
+ "continue_failed_training": false,
32
+ "epoch_checkpoints_keep": [],
33
+ "use_training_session_cache": true,
34
+ "use_persistent_cache": true,
35
+ "force_rebuild_data_cache": false,
36
+ "carla_cache_path": [
37
+ "1152",
38
+ "384",
39
+ "-32",
40
+ "64",
41
+ "-40",
42
+ "40",
43
+ "True",
44
+ "True",
45
+ "True",
46
+ "True",
47
+ "False",
48
+ "10"
49
+ ],
50
+ "training_session_cache_path": "/tmp/divyanshu",
51
+ "carla_root": "data/carla_leaderboard2",
52
+ "carla_data": "data/carla_leaderboard2/data",
53
+ "logdir": "outputs/local_training/pretrain",
54
+ "training_png_compression_level": 6,
55
+ "vehicle_min_num_lidar_points": 1,
56
+ "vehicle_min_num_visible_pixels": 1,
57
+ "pedestrian_min_num_lidar_points": 5,
58
+ "pedestrian_min_num_visible_pixels": 15,
59
+ "parking_vehicle_min_num_lidar_points": 3,
60
+ "parking_vehicle_min_num_visible_pixels": 5,
61
+ "grad_scaler_init_scale": 1024,
62
+ "grad_scaler_growth_factor": 2,
63
+ "grad_scaler_backoff_factor": 0.5,
64
+ "grad_scaler_growth_interval": 256,
65
+ "grad_scaler_max_grad_scale": 65536,
66
+ "sync_batchnorm": false,
67
+ "epochs": 20,
68
+ "batch_size": 128,
69
+ "use_mixed_precision_training": true,
70
+ "need_grad_scaler": false,
71
+ "use_zero_redundancy": false,
72
+ "save_model_checkpoint": true,
73
+ "is_pretraining": false,
74
+ "prefetch_factor": 16,
75
+ "compile": true,
76
+ "channel_last": true,
77
+ "lr": 0.0003,
78
+ "skip_first": 8,
79
+ "skip_last": 8,
80
+ "radar_detection": false,
81
+ "use_radar_detection": false,
82
+ "num_radar_points_per_sensor": 75,
83
+ "num_radar_queries": 20,
84
+ "radar_hidden_dim_tokenizer": 1024,
85
+ "radar_token_dim": 256,
86
+ "radar_tf_dim_ff": 1024,
87
+ "radar_dropout": 0.1,
88
+ "radar_num_heads": 8,
89
+ "radar_num_layers": 4,
90
+ "radar_hidden_dim_decoder": 1024,
91
+ "radar_classification_loss_weight": 1.0,
92
+ "radar_regression_loss_weight": 5.0,
93
+ "num_radar_sensors": 4,
94
+ "force_rebuild_bucket": false,
95
+ "randomize_route_order": false,
96
+ "hold_out_town13_routes": false,
97
+ "bucket_collection_path": "data/carla_leaderboard2/buckets",
98
+ "use_sensor_perburtation": true,
99
+ "use_sensor_perburtation_prob": 0.5,
100
+ "use_color_aug": true,
101
+ "use_color_aug_prob": 0.2,
102
+ "weight_decay": 0.01,
103
+ "use_cosine_annealing_with_restarts": true,
104
+ "use_rgb": true,
105
+ "use_depth": true,
106
+ "use_lidar": true,
107
+ "training_used_lidar_steps": 10,
108
+ "min_z": -4,
109
+ "max_z": 4,
110
+ "hist_max_per_pixel": 5,
111
+ "lidar_vert_anchors": 10,
112
+ "lidar_horz_anchors": 12,
113
+ "detect_boxes": true,
114
+ "data_bb_static_types_white_list": [
115
+ "static.prop.constructioncone",
116
+ "static.prop.trafficwarning"
117
+ ],
118
+ "bb_confidence_threshold": 0.3,
119
+ "max_num_bbs": 90,
120
+ "num_dir_bins": 12,
121
+ "top_k_center_keypoints": 100,
122
+ "center_net_max_pooling_kernel": 3,
123
+ "bb_input_channel": 64,
124
+ "car_open_door_extra_width": 1.2,
125
+ "num_bb_classes": 8,
126
+ "use_discrete_command": true,
127
+ "discrete_command_dim": 6,
128
+ "use_noisy_tp": false,
129
+ "use_kalman_filter_for_gps": true,
130
+ "use_velocity": true,
131
+ "max_speed": 25.0,
132
+ "use_acceleration": false,
133
+ "max_acceleration": 10.0,
134
+ "use_previous_tp": true,
135
+ "use_next_tp": true,
136
+ "use_tp": true,
137
+ "target_points_normalization_constants": [
138
+ [
139
+ 200.0,
140
+ 50.0
141
+ ]
142
+ ],
143
+ "tp_pop_distance": 3.25,
144
+ "use_past_positions": false,
145
+ "use_past_speeds": false,
146
+ "num_past_samples_used": 0,
147
+ "transfuser_num_bev_cross_attention_layers": 6,
148
+ "transfuser_num_bev_cross_attention_heads": 8,
149
+ "transfuser_token_dim": 256,
150
+ "predict_target_speed": true,
151
+ "predict_spatial_path": true,
152
+ "predict_temporal_spatial_waypoints": true,
153
+ "use_planning_decoder": false,
154
+ "use_adapt_decoder": true,
155
+ "kdisks_vocab_path": "lead/adapt/codebooks/kdisks_carla.pkl",
156
+ "use_kdisks": true,
157
+ "kdisks_heading_weight": 1.0,
158
+ "normalize_kinematics": false,
159
+ "use_soft_ce": false,
160
+ "soft_ce_sigma": 0.1,
161
+ "soft_ce_min_prob": 1e-06,
162
+ "kinematic_vocab_size": 4096,
163
+ "kinematic_embed_dim": 256,
164
+ "decoder_ffn_dim": 1024,
165
+ "decoder_num_heads": 8,
166
+ "decoder_dropout": 0.1,
167
+ "decoder_num_layers": 6,
168
+ "max_sequence_length": 64,
169
+ "frechet_gamma": 0.1,
170
+ "num_history_poses": 5,
171
+ "use_history_poses": true,
172
+ "target_speed_classes": [
173
+ 0.0,
174
+ 4.0,
175
+ 8.0,
176
+ 10.0,
177
+ 13.88888888,
178
+ 16.0,
179
+ 17.77777777,
180
+ 20.0
181
+ ],
182
+ "target_speeds": [
183
+ 0.0,
184
+ 4.0,
185
+ 8.0,
186
+ 10.0,
187
+ 13.88888888,
188
+ 16.0,
189
+ 17.77777777,
190
+ 20.0
191
+ ],
192
+ "smooth_route": true,
193
+ "num_route_points_smoothing": 20,
194
+ "num_route_points_prediction": 10,
195
+ "max_distance_future_waypoint": 10.0,
196
+ "num_way_points_prediction": 8,
197
+ "waypoints_spacing": 5,
198
+ "horizontal_fov_reduction": 0,
199
+ "crop_height": 0,
200
+ "carla_crop_height_type": 3,
201
+ "image_width_before_camera_subselection": 1152,
202
+ "final_image_width": 1152,
203
+ "final_image_height": 384,
204
+ "img_vert_anchors": 12,
205
+ "img_horz_anchors": 36,
206
+ "freeze_backbone": false,
207
+ "image_architecture": "resnet34",
208
+ "lidar_architecture": "resnet34",
209
+ "LTF": false,
210
+ "block_exp": 4,
211
+ "n_layer": 2,
212
+ "n_head": 4,
213
+ "embd_pdrop": 0.1,
214
+ "resid_pdrop": 0.1,
215
+ "attn_pdrop": 0.1,
216
+ "gpt_linear_layer_init_mean": 0.0,
217
+ "gpt_linear_layer_init_std": 0.02,
218
+ "gpt_layer_norm_init_weight": 1.0,
219
+ "use_semantic": true,
220
+ "num_semantic_classes": 10,
221
+ "perspective_downsample_factor": 1,
222
+ "deconv_channel_num_0": 128,
223
+ "deconv_channel_num_1": 64,
224
+ "deconv_channel_num_2": 32,
225
+ "deconv_scale_factor_0": 4,
226
+ "deconv_scale_factor_1": 8,
227
+ "use_bev_semantic": true,
228
+ "num_bev_semantic_classes": 13,
229
+ "scale_pedestrian_bev_semantic_size": 2.5,
230
+ "pedestrian_bev_min_extent": 0.4,
231
+ "bev_features_chanels": 64,
232
+ "bev_down_sample_factor": 4,
233
+ "bev_upsample_factor": 2,
234
+ "use_carla_data": true,
235
+ "carla_num_samples": -1,
236
+ "use_navsim_data": false,
237
+ "navsim_data_root": "data/navsim_training_cache/navtrain",
238
+ "navsim_num_samples": -1,
239
+ "schedule_carla_num_samples": false,
240
+ "use_waymo_e2e_data": false,
241
+ "waymo_e2e_num_training_samples": -1,
242
+ "waymo_e2e_training_data_root": "data/waymo_open_dataset_end_to_end_camera_v_1_0_0_training",
243
+ "waymo_e2e_val_data_root": "data/waymo_open_dataset_end_to_end_camera_v_1_0_0_val_rfm",
244
+ "waymo_e2e_test_data_root": "data/waymo_open_dataset_end_to_end_camera_v_1_0_0_test_submission",
245
+ "waymo_e2e_subsample_factor": 5,
246
+ "navsim_num_bev_semantic_classes": 7,
247
+ "navsim_num_bb_classes": 1,
248
+ "mixed_data_training": false,
249
+ "carla_leaderboard_mode": true,
250
+ "log_scalars_frequency": 1,
251
+ "log_images_frequency": 100,
252
+ "log_wandb": true,
253
+ "rank": 0,
254
+ "world_size": 2,
255
+ "local_rank": 0,
256
+ "assigned_cpu_cores": 8,
257
+ "workers_per_cpu_cores": 1,
258
+ "debug_mode": true,
259
+ "use_radars": false
260
+ }
B300/checkpoints/adapt/posttrain/model_0019.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:43afd64d138a0ad1a62f3345b9df8b246b8f8fb5e8870286ce0fef6d0eeef19d
3
+ size 260127110
B300/checkpoints/adapt/pretrain/config.json ADDED
@@ -0,0 +1,237 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "target_dataset": 1,
3
+ "num_available_cameras": 3,
4
+ "used_cameras": [
5
+ true,
6
+ true,
7
+ true
8
+ ],
9
+ "num_used_cameras": 3,
10
+ "pixels_per_meter": 4.0,
11
+ "min_x_meter": -32,
12
+ "max_x_meter": 64,
13
+ "min_y_meter": -40,
14
+ "max_y_meter": 40,
15
+ "lidar_width_pixel": 384,
16
+ "lidar_height_pixel": 320,
17
+ "lidar_width_meter": 96,
18
+ "lidar_height_meter": 80,
19
+ "visualize_dataset": false,
20
+ "visualize_failed_scenarios": false,
21
+ "load_bev_3rd_person_images": false,
22
+ "seed": 0,
23
+ "wandb_id": null,
24
+ "wandb_resume": "never",
25
+ "wandb_project_name": "lead_pretrain",
26
+ "description": "An example experiment description.",
27
+ "visualize_training": true,
28
+ "id": "Experiment 1",
29
+ "load_file": null,
30
+ "continue_failed_training": false,
31
+ "epoch_checkpoints_keep": [],
32
+ "use_training_session_cache": true,
33
+ "use_persistent_cache": true,
34
+ "force_rebuild_data_cache": false,
35
+ "carla_cache_path": [
36
+ "1152",
37
+ "384",
38
+ "-32",
39
+ "64",
40
+ "-40",
41
+ "40",
42
+ "True",
43
+ "True",
44
+ "True",
45
+ "True",
46
+ "False",
47
+ "10"
48
+ ],
49
+ "training_session_cache_path": "/tmp/divyanshu",
50
+ "carla_root": "data/carla_leaderboard2",
51
+ "carla_data": "data/carla_leaderboard2/data",
52
+ "logdir": "outputs/local_training/pretrain",
53
+ "training_png_compression_level": 6,
54
+ "vehicle_min_num_lidar_points": 1,
55
+ "vehicle_min_num_visible_pixels": 1,
56
+ "pedestrian_min_num_lidar_points": 5,
57
+ "pedestrian_min_num_visible_pixels": 15,
58
+ "parking_vehicle_min_num_lidar_points": 3,
59
+ "parking_vehicle_min_num_visible_pixels": 5,
60
+ "grad_scaler_init_scale": 1024,
61
+ "grad_scaler_growth_factor": 2,
62
+ "grad_scaler_backoff_factor": 0.5,
63
+ "grad_scaler_growth_interval": 256,
64
+ "grad_scaler_max_grad_scale": 65536,
65
+ "sync_batchnorm": false,
66
+ "epochs": 31,
67
+ "batch_size": 128,
68
+ "use_mixed_precision_training": true,
69
+ "need_grad_scaler": false,
70
+ "use_zero_redundancy": false,
71
+ "save_model_checkpoint": true,
72
+ "is_pretraining": true,
73
+ "prefetch_factor": 16,
74
+ "compile": true,
75
+ "channel_last": true,
76
+ "lr": 0.0003,
77
+ "skip_first": 1,
78
+ "skip_last": 1,
79
+ "radar_detection": true,
80
+ "use_radar_detection": true,
81
+ "num_radar_points_per_sensor": 75,
82
+ "num_radar_queries": 20,
83
+ "radar_hidden_dim_tokenizer": 1024,
84
+ "radar_token_dim": 256,
85
+ "radar_tf_dim_ff": 1024,
86
+ "radar_dropout": 0.1,
87
+ "radar_num_heads": 8,
88
+ "radar_num_layers": 4,
89
+ "radar_hidden_dim_decoder": 1024,
90
+ "radar_classification_loss_weight": 1.0,
91
+ "radar_regression_loss_weight": 5.0,
92
+ "num_radar_sensors": 4,
93
+ "force_rebuild_bucket": false,
94
+ "randomize_route_order": false,
95
+ "hold_out_town13_routes": false,
96
+ "bucket_collection_path": "data/carla_leaderboard2/buckets",
97
+ "use_sensor_perburtation": true,
98
+ "use_sensor_perburtation_prob": 0.5,
99
+ "use_color_aug": true,
100
+ "use_color_aug_prob": 0.2,
101
+ "weight_decay": 0.01,
102
+ "use_cosine_annealing_with_restarts": true,
103
+ "use_depth": true,
104
+ "training_used_lidar_steps": 10,
105
+ "min_z": -4,
106
+ "max_z": 4,
107
+ "hist_max_per_pixel": 5,
108
+ "lidar_vert_anchors": 10,
109
+ "lidar_horz_anchors": 12,
110
+ "detect_boxes": true,
111
+ "data_bb_static_types_white_list": [
112
+ "static.prop.constructioncone",
113
+ "static.prop.trafficwarning"
114
+ ],
115
+ "bb_confidence_threshold": 0.3,
116
+ "max_num_bbs": 90,
117
+ "num_dir_bins": 12,
118
+ "top_k_center_keypoints": 100,
119
+ "center_net_max_pooling_kernel": 3,
120
+ "bb_input_channel": 64,
121
+ "car_open_door_extra_width": 1.2,
122
+ "num_bb_classes": 8,
123
+ "use_discrete_command": true,
124
+ "discrete_command_dim": 6,
125
+ "use_noisy_tp": false,
126
+ "use_kalman_filter_for_gps": true,
127
+ "use_velocity": true,
128
+ "max_speed": 25.0,
129
+ "use_acceleration": false,
130
+ "max_acceleration": 10.0,
131
+ "use_previous_tp": true,
132
+ "use_next_tp": true,
133
+ "use_tp": true,
134
+ "target_points_normalization_constants": [
135
+ [
136
+ 200.0,
137
+ 50.0
138
+ ]
139
+ ],
140
+ "tp_pop_distance": 3.25,
141
+ "use_past_positions": false,
142
+ "use_past_speeds": false,
143
+ "num_past_samples_used": 0,
144
+ "transfuser_num_bev_cross_attention_layers": 6,
145
+ "transfuser_num_bev_cross_attention_heads": 8,
146
+ "transfuser_token_dim": 256,
147
+ "predict_target_speed": true,
148
+ "predict_spatial_path": true,
149
+ "predict_temporal_spatial_waypoints": true,
150
+ "use_planning_decoder": false,
151
+ "target_speed_classes": [
152
+ 0.0,
153
+ 4.0,
154
+ 8.0,
155
+ 10.0,
156
+ 13.88888888,
157
+ 16.0,
158
+ 17.77777777,
159
+ 20.0
160
+ ],
161
+ "target_speeds": [
162
+ 0.0,
163
+ 4.0,
164
+ 8.0,
165
+ 10.0,
166
+ 13.88888888,
167
+ 16.0,
168
+ 17.77777777,
169
+ 20.0
170
+ ],
171
+ "smooth_route": true,
172
+ "num_route_points_smoothing": 20,
173
+ "num_route_points_prediction": 10,
174
+ "max_distance_future_waypoint": 10.0,
175
+ "num_way_points_prediction": 8,
176
+ "waypoints_spacing": 5,
177
+ "horizontal_fov_reduction": 0,
178
+ "crop_height": 0,
179
+ "carla_crop_height_type": 3,
180
+ "image_width_before_camera_subselection": 1152,
181
+ "final_image_width": 1152,
182
+ "final_image_height": 384,
183
+ "img_vert_anchors": 12,
184
+ "img_horz_anchors": 36,
185
+ "freeze_backbone": false,
186
+ "image_architecture": "resnet34",
187
+ "lidar_architecture": "resnet34",
188
+ "LTF": false,
189
+ "block_exp": 4,
190
+ "n_layer": 2,
191
+ "n_head": 4,
192
+ "embd_pdrop": 0.1,
193
+ "resid_pdrop": 0.1,
194
+ "attn_pdrop": 0.1,
195
+ "gpt_linear_layer_init_mean": 0.0,
196
+ "gpt_linear_layer_init_std": 0.02,
197
+ "gpt_layer_norm_init_weight": 1.0,
198
+ "use_semantic": true,
199
+ "num_semantic_classes": 10,
200
+ "perspective_downsample_factor": 1,
201
+ "deconv_channel_num_0": 128,
202
+ "deconv_channel_num_1": 64,
203
+ "deconv_channel_num_2": 32,
204
+ "deconv_scale_factor_0": 4,
205
+ "deconv_scale_factor_1": 8,
206
+ "use_bev_semantic": true,
207
+ "num_bev_semantic_classes": 13,
208
+ "scale_pedestrian_bev_semantic_size": 2.5,
209
+ "pedestrian_bev_min_extent": 0.4,
210
+ "bev_features_chanels": 64,
211
+ "bev_down_sample_factor": 4,
212
+ "bev_upsample_factor": 2,
213
+ "use_carla_data": true,
214
+ "carla_num_samples": -1,
215
+ "use_navsim_data": false,
216
+ "navsim_data_root": "data/navsim_training_cache/navtrain",
217
+ "navsim_num_samples": -1,
218
+ "schedule_carla_num_samples": false,
219
+ "use_waymo_e2e_data": false,
220
+ "waymo_e2e_num_training_samples": -1,
221
+ "waymo_e2e_training_data_root": "data/waymo_open_dataset_end_to_end_camera_v_1_0_0_training",
222
+ "waymo_e2e_val_data_root": "data/waymo_open_dataset_end_to_end_camera_v_1_0_0_val_rfm",
223
+ "waymo_e2e_test_data_root": "data/waymo_open_dataset_end_to_end_camera_v_1_0_0_test_submission",
224
+ "waymo_e2e_subsample_factor": 5,
225
+ "navsim_num_bev_semantic_classes": 7,
226
+ "navsim_num_bb_classes": 1,
227
+ "mixed_data_training": false,
228
+ "carla_leaderboard_mode": true,
229
+ "log_scalars_frequency": 50,
230
+ "log_images_frequency": 5000,
231
+ "log_wandb": true,
232
+ "rank": 0,
233
+ "world_size": 2,
234
+ "local_rank": 0,
235
+ "assigned_cpu_cores": 8,
236
+ "workers_per_cpu_cores": 1
237
+ }
B300/checkpoints/adapt/pretrain/model_0030.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8307c5271a43c4ae8b29ab6a8ed45df56c2cd2c54e4b14f23525ba4f9880a2fa
3
+ size 236922078
B300/local_evaluation/23687/23687_debug.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:929868580ce98d078a2eab1aaae17861524dbdc64028b5555c3e235d6d4a9753
3
+ size 9788994
B300/local_evaluation/23687/23687_demo.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c633db36e8f1b8c0c195fa6e518b9011338d0f882c13e74f2f216fcc65a3af02
3
+ size 15952879
B300/local_evaluation/23687/23687_input.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bc155cf988d8f35bc41fc83e89fafce3194104cb061021bd623bb4807b9fca5f
3
+ size 5120204
B300/local_evaluation/23687/checkpoint_endpoint.json ADDED
@@ -0,0 +1,152 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "_checkpoint": {
3
+ "global_record": {
4
+ "index": -1,
5
+ "route_id": -1,
6
+ "status": "Completed",
7
+ "infractions": {
8
+ "collisions_layout": 0.0,
9
+ "collisions_pedestrian": 0.0,
10
+ "collisions_vehicle": 0.0,
11
+ "red_light": 0.0,
12
+ "stop_infraction": 0.0,
13
+ "outside_route_lanes": 0.0,
14
+ "min_speed_infractions": 130.025,
15
+ "yield_emergency_vehicle_infractions": 0.0,
16
+ "scenario_timeouts": 0.0,
17
+ "route_dev": 6.501,
18
+ "vehicle_blocked": 0.0,
19
+ "route_timeout": 0.0
20
+ },
21
+ "scores_mean": {
22
+ "score_composed": 100.0,
23
+ "score_route": 100.0,
24
+ "score_penalty": 1.0
25
+ },
26
+ "scores_std_dev": {
27
+ "score_composed": 0,
28
+ "score_route": 0,
29
+ "score_penalty": 0
30
+ },
31
+ "meta": {
32
+ "total_length": 153.816,
33
+ "duration_game": 29.95,
34
+ "duration_system": 1487.59,
35
+ "exceptions": []
36
+ }
37
+ },
38
+ "progress": [
39
+ 1,
40
+ 1
41
+ ],
42
+ "records": [
43
+ {
44
+ "index": 0,
45
+ "route_id": "RouteScenario_23687_rep0",
46
+ "scenario_name": "HighwayExit_1",
47
+ "weather_id": "9",
48
+ "save_name": "RouteScenario_23687_rep0_Town12_HighwayExit_1_9_06_05_18_10_51",
49
+ "status": "Completed",
50
+ "num_infractions": 21,
51
+ "infractions": {
52
+ "collisions_layout": [],
53
+ "collisions_pedestrian": [],
54
+ "collisions_vehicle": [],
55
+ "red_light": [],
56
+ "stop_infraction": [],
57
+ "outside_route_lanes": [],
58
+ "min_speed_infractions": [
59
+ "Average speed is 26.85% of the surrounding traffic's one",
60
+ "Average speed is 69.69% of the surrounding traffic's one",
61
+ "Average speed is 39.81% of the surrounding traffic's one",
62
+ "Average speed is 326.81% of the surrounding traffic's one",
63
+ "Average speed is 297.5% of the surrounding traffic's one",
64
+ "Average speed is 279.7% of the surrounding traffic's one",
65
+ "Average speed is 245.94% of the surrounding traffic's one",
66
+ "Average speed is 259.94% of the surrounding traffic's one",
67
+ "Average speed is 246.25% of the surrounding traffic's one",
68
+ "Average speed is 231.93% of the surrounding traffic's one",
69
+ "Average speed is 260.75% of the surrounding traffic's one",
70
+ "Average speed is 252.96% of the surrounding traffic's one",
71
+ "Average speed is 278.95% of the surrounding traffic's one",
72
+ "Average speed is 310.49% of the surrounding traffic's one",
73
+ "Average speed is 307.37% of the surrounding traffic's one",
74
+ "Average speed is 175.81% of the surrounding traffic's one",
75
+ "Average speed is 213.68% of the surrounding traffic's one",
76
+ "Average speed is 168.47% of the surrounding traffic's one",
77
+ "Average speed is 139.29% of the surrounding traffic's one",
78
+ "Average speed is 139.29% of the surrounding traffic's one"
79
+ ],
80
+ "yield_emergency_vehicle_infractions": [],
81
+ "scenario_timeouts": [],
82
+ "route_dev": [
83
+ "Agent deviated from the route at (x=-2463.833, y=4079.398, z=363.005)"
84
+ ],
85
+ "vehicle_blocked": [],
86
+ "route_timeout": []
87
+ },
88
+ "scores": {
89
+ "score_route": 100.0,
90
+ "score_penalty": 1.0,
91
+ "score_composed": 100.0
92
+ },
93
+ "meta": {
94
+ "route_length": 153.816,
95
+ "duration_game": 29.95,
96
+ "duration_system": 1487.59
97
+ },
98
+ "town_name": "Town12"
99
+ }
100
+ ]
101
+ },
102
+ "entry_status": "Finished",
103
+ "eligible": true,
104
+ "sensors": [
105
+ "carla_camera",
106
+ "carla_camera",
107
+ "carla_camera",
108
+ "carla_lidar",
109
+ "carla_lidar",
110
+ "carla_radar",
111
+ "carla_radar",
112
+ "carla_radar",
113
+ "carla_radar",
114
+ "carla_imu",
115
+ "carla_gnss",
116
+ "carla_speedometer"
117
+ ],
118
+ "values": [
119
+ "100.0",
120
+ "100.0",
121
+ "1.0",
122
+ "0.0",
123
+ "0.0",
124
+ "0.0",
125
+ "0.0",
126
+ "0.0",
127
+ "0.0",
128
+ "6.501",
129
+ "0.0",
130
+ "0.0",
131
+ "0.0",
132
+ "0.0",
133
+ "130.025"
134
+ ],
135
+ "labels": [
136
+ "Avg. driving score",
137
+ "Avg. route completion",
138
+ "Avg. infraction penalty",
139
+ "Collisions with pedestrians",
140
+ "Collisions with vehicles",
141
+ "Collisions with layout",
142
+ "Red lights infractions",
143
+ "Stop sign infractions",
144
+ "Off-road infractions",
145
+ "Route deviations",
146
+ "Route timeouts",
147
+ "Agent blocked",
148
+ "Yield emergency vehicles infractions",
149
+ "Scenario timeouts",
150
+ "Min speed infractions"
151
+ ]
152
+ }
B300/local_evaluation/23687/debug_images/00001.png ADDED

Git LFS Details

  • SHA256: 1fd580b9839f16acf102c9789a0e434727d3cbcb724bb9094b8fd974a750c89d
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00002.png ADDED

Git LFS Details

  • SHA256: b9bae5fc5bb28ce9631dc2101129c9bc18625d1189ccad596e68db2509f51723
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00003.png ADDED

Git LFS Details

  • SHA256: edf421731023e6748c031750acc84a5e8049ebad9acc5b6f28df16d72dc2a401
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00004.png ADDED

Git LFS Details

  • SHA256: 4a5b067148d154652e78f873143371fb32e870bfa81f369b1b88263df49e23c8
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00005.png ADDED

Git LFS Details

  • SHA256: 40f6f94ba03b42685cce2a580a55dec7bbfe1df29d60490fce25b895260646c1
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00006.png ADDED

Git LFS Details

  • SHA256: 3bb52cbe8d6ae13ff1427b039a13edcf5f2b514f0c34af2f0f9bbc8623ae4359
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00007.png ADDED

Git LFS Details

  • SHA256: ca2f4e9c1c7a7cb9eab17c0dcca68ee8a1d4e765d9821c15efc59ad5bff668e4
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00008.png ADDED

Git LFS Details

  • SHA256: c7770666a4cc16f70acb2efa40e6dbc66afb1eb24a2957e6718cfc33d9066f3b
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00009.png ADDED

Git LFS Details

  • SHA256: 117c8d232d83e56654911eec0650c435963d037a20a97674f5e919face075786
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00010.png ADDED

Git LFS Details

  • SHA256: 4085a9f88c11179944831fcbde3d0d503d8ad1b3613835988685bd41aaf14ff3
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00011.png ADDED

Git LFS Details

  • SHA256: aed67eae41816fa917f71fc55d23f0d52f61a886ac914205e2aae46874b242a8
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00012.png ADDED

Git LFS Details

  • SHA256: 54b190052f424fa0b7ae9a60f03260dfe9512e44307ea55765cea8c8cea7780f
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00013.png ADDED

Git LFS Details

  • SHA256: 7d5ded9a67b627e67b1a9ae5782c71f4d45671ece04a46e378555bede64be627
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00014.png ADDED

Git LFS Details

  • SHA256: a1831936026e236953b2040b6e7788f3abef1ffbb94e44952feb2287d9e6fc23
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00015.png ADDED

Git LFS Details

  • SHA256: 129eff9d78b8a7c3df3ec8d76ed57fff309aec46d53cac0eeac38b5afd39e82d
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00016.png ADDED

Git LFS Details

  • SHA256: 93b58caea61e283ae058d8d77d6729a50fbb43741889a03739e08be43f1d8f86
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00017.png ADDED

Git LFS Details

  • SHA256: c8d7f3a246c35524db7d8c1b9ba95e9a1ef4e63d23c1d881068870495773e0e0
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00018.png ADDED

Git LFS Details

  • SHA256: 98e1fe7b877fb09129ae267e61b6dfa984d671760fcea9242cf5f0c60097ebb6
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00019.png ADDED

Git LFS Details

  • SHA256: 5b33f394143068952d4293c8e908fd2b6c1444bdedafa354ecd0ea050d873294
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00020.png ADDED

Git LFS Details

  • SHA256: 384a14b894cb9e5adf12d6d1cfea3b515fa98fe757b284e784f07faf9c5ba58b
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00021.png ADDED

Git LFS Details

  • SHA256: c6bc2b19a3628128bd3d549dabe18d8de1c147032ec8e5a5dfdc1adb63dbc9c1
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00022.png ADDED

Git LFS Details

  • SHA256: 0de0a2ebfa41022b158cd7a1775b0312bba5e84b87c60efd8db1e8f90b815f3d
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00023.png ADDED

Git LFS Details

  • SHA256: 1b35cfbbef2088cdc0db65e9ddf729902f6166b58810cb6714dd02e5595f539e
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00024.png ADDED

Git LFS Details

  • SHA256: c7e0b4a6c048bfca3c163ca6769e0acfa8403791eb080bcad25863ae3b3520d6
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00025.png ADDED

Git LFS Details

  • SHA256: be7958a222de384004e87151992d60276ecd761a3c37f9f4adde7c251beba113
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00026.png ADDED

Git LFS Details

  • SHA256: 3152a2bf4e210dc10565f7f92aefb8227084003cc42d9ef5e5c0eafc09e4a3f0
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00027.png ADDED

Git LFS Details

  • SHA256: 5caffb101420350d9313a72dcc8cb1e0b51e20f967856b3dea1abdeeb8d4c91f
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00028.png ADDED

Git LFS Details

  • SHA256: 4d8be21c4c31bdfcb601090fcfa03ab511830004d5efd17c22f76b39beca489f
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00029.png ADDED

Git LFS Details

  • SHA256: 35e3dfbd0c1d549dc988ed338dc0f860956c97c9648b1621af4b4f47dc5b8ac4
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00030.png ADDED

Git LFS Details

  • SHA256: 764ae810ab256b864637ff6d907666b05df3b9e29c59f4cd8f17d5b3bf3d6de9
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00031.png ADDED

Git LFS Details

  • SHA256: c8fb8beaa521f187ca965d2e898c993cf212fcf402181285e10fa650b859a757
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00032.png ADDED

Git LFS Details

  • SHA256: 4b58196e8d191a2b81429d66f8ad333bc3f2fbe07151169f51538bf8f2b1c69e
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00033.png ADDED

Git LFS Details

  • SHA256: 4f14f067d25f11cca2aae40be130254b2b2f68f49101887c0abc2079a96d6aa3
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00034.png ADDED

Git LFS Details

  • SHA256: b8f9956c8ca6a690bf27b74865840fd7ae2385540219e593bdf65e8014cfb100
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00035.png ADDED

Git LFS Details

  • SHA256: d8bbc38333a0f2da2cdd2b0edbe97cfbafc29c524989f98a25344f95596f3dcd
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB
B300/local_evaluation/23687/debug_images/00036.png ADDED

Git LFS Details

  • SHA256: 4c284c00a243f373f73fbfa411bde8b2066ffccad8fd89e10fad4525c142ee22
  • Pointer size: 132 Bytes
  • Size of remote file: 6.38 MB