| { |
| "target_dataset": 3, |
| "num_available_cameras": 4, |
| "used_cameras": [ |
| true, |
| true, |
| true, |
| true |
| ], |
| "num_used_cameras": 4, |
| "pixels_per_meter": 4.0, |
| "min_x_meter": -32, |
| "max_x_meter": 32, |
| "min_y_meter": -32, |
| "max_y_meter": 32, |
| "lidar_width_pixel": 256, |
| "lidar_height_pixel": 256, |
| "lidar_width_meter": 64, |
| "lidar_height_meter": 64, |
| "visualize_dataset": false, |
| "visualize_failed_scenarios": false, |
| "load_bev_3rd_person_images": false, |
| "seed": 0, |
| "wandb_id": "810_w_schedule_w_bn_010_postrain32_0_251112_003238", |
| "wandb_resume": "never", |
| "description": "810_w_schedule_w_bn_010_postrain32_0_251112_003238", |
| "visualize_training": true, |
| "id": "810_w_schedule_w_bn_010_postrain32_0_251112_003238", |
| "load_file": "outputs/training/810_w_schedule_w_bn/000_pretrain2_0/251111_160533/model_0030.pth", |
| "continue_epoch": false, |
| "epoch_checkpoints_keep": [ |
| 7, |
| 15, |
| 31, |
| 63, |
| 127, |
| 255, |
| 511 |
| ], |
| "use_training_session_cache": true, |
| "use_persistent_cache": false, |
| "force_rebuild_data_cache": false, |
| "carla_cache_path": [ |
| "1920", |
| "270", |
| "-32", |
| "32", |
| "-32", |
| "32", |
| "True", |
| "False", |
| "True", |
| "True", |
| "False", |
| "10", |
| "8", |
| "5" |
| ], |
| "ssd_cache_path": "/scratch/1909240", |
| "carla_root": "data/carla_leaderboad2_v12/results/data/sensor_data/", |
| "carla_data": "data/carla_leaderboad2_v12/results/data/sensor_data/data", |
| "logdir": "/home/nguyen/master_thesis/outputs/training/810_w_schedule_w_bn/010_postrain32_0/251112_003238", |
| "training_png_compression_level": 6, |
| "vehicle_min_num_lidar_points": 1, |
| "vehicle_min_num_visible_pixels": 1, |
| "pedestrian_min_num_lidar_points": 5, |
| "pedestrian_min_num_visible_pixels": 15, |
| "parking_vehicle_min_num_lidar_points": 3, |
| "parking_vehicle_min_num_visible_pixels": 5, |
| "grad_scaler_init_scale": 1024, |
| "grad_scaler_growth_factor": 2, |
| "grad_scaler_backoff_factor": 0.5, |
| "grad_scaler_growth_interval": 256, |
| "grad_scaler_max_grad_scale": 65536, |
| "sync_batchnorm": false, |
| "freeze_batchnorm": false, |
| "epochs": 61, |
| "batch_size": 64, |
| "use_mixed_precision_training": true, |
| "need_grad_scaler": false, |
| "use_zero_redundancy": false, |
| "save_model_checkpoint": true, |
| "is_pretraining": false, |
| "prefetch_factor": 8, |
| "compile": true, |
| "channel_last": true, |
| "lr": 0.0003, |
| "skip_first": 8, |
| "skip_last": 16, |
| "radar_detection": false, |
| "use_radar_detection": false, |
| "num_radar_points_per_sensor": 75, |
| "num_radar_queries": 20, |
| "radar_hidden_dim_tokenizer": 1024, |
| "radar_token_dim": 256, |
| "radar_tf_dim_ff": 1024, |
| "radar_dropout": 0.1, |
| "radar_num_heads": 8, |
| "radar_num_layers": 4, |
| "radar_hidden_dim_decoder": 1024, |
| "radar_classification_loss_weight": 1.0, |
| "radar_forecast_loss_weight": 0.1, |
| "radar_regression_loss_weight": 5.0, |
| "radar_sine_features": 128, |
| "num_radar_sensors": 4, |
| "forecast_radar_detections": false, |
| "num_radar_forecast_steps": 8, |
| "radar_waypoints_spacing": 5, |
| "max_distance_future_waypoint": 10.0, |
| "force_rebuild_bucket": false, |
| "randomize_route_order": false, |
| "subsample_data": false, |
| "hold_out_town13_routes": false, |
| "carla_bucket_collection": "full_posttrain", |
| "bucket_collection_path": "data/carla_leaderboad2_v12/results/data/sensor_data/buckets", |
| "use_sensor_perburtation": true, |
| "use_sensor_perburtation_prob": 0.8, |
| "use_extreme_sensor_perburtation_prob": 0.5, |
| "use_color_aug": true, |
| "use_color_aug_prob": 0.1, |
| "weight_decay": 0.01, |
| "use_grad_clip": false, |
| "grad_quantile": 0.99, |
| "grad_history_length": 1000, |
| "use_optimizer_groups": false, |
| "use_cosine_annealing_with_restarts": true, |
| "use_depth": false, |
| "training_used_lidar_steps": 10, |
| "min_z": -4, |
| "max_z": 4, |
| "hist_max_per_pixel": 5, |
| "lidar_vert_anchors": 8, |
| "lidar_horz_anchors": 8, |
| "detect_boxes": true, |
| "debug_boxes_visualization": true, |
| "center_net_global_avg_factor": false, |
| "data_bb_static_types_white_list": [ |
| "static.prop.constructioncone", |
| "static.prop.trafficwarning" |
| ], |
| "bb_confidence_threshold": 0.3, |
| "max_num_bbs": 90, |
| "num_dir_bins": 12, |
| "top_k_center_keypoints": 100, |
| "center_net_max_pooling_kernel": 3, |
| "bb_input_channel": 64, |
| "car_open_door_extra_width": 1.2, |
| "num_bb_classes": 8, |
| "use_discrete_command": true, |
| "discrete_command_dim": 4, |
| "use_noisy_tp": false, |
| "use_velocity": true, |
| "max_speed": 15.0, |
| "use_acceleration": true, |
| "max_acceleration": 4.0, |
| "use_previous_tp": false, |
| "use_next_tp": false, |
| "use_tp": false, |
| "target_points_normalization_constants": [ |
| [ |
| 200.0, |
| 50.0 |
| ] |
| ], |
| "tp_pop_distance": 3.25, |
| "use_past_positions": false, |
| "use_past_speeds": false, |
| "num_past_samples_used": 0, |
| "transfuser_num_bev_cross_attention_layers": 6, |
| "transfuser_num_bev_cross_attention_heads": 8, |
| "transfuser_token_dim": 256, |
| "predict_target_speed": false, |
| "predict_spatial_path": false, |
| "predict_temporal_spatial_waypoints": true, |
| "use_planning_decoder": true, |
| "target_speed_classes": [ |
| 0.0, |
| 4.0, |
| 8.0, |
| 10.0, |
| 13.88888888, |
| 16.0, |
| 17.77777777, |
| 20.0 |
| ], |
| "smooth_route": true, |
| "num_route_points_smoothing": 20, |
| "num_route_points_prediction": 10, |
| "num_way_points_prediction": 8, |
| "waypoints_spacing": 10, |
| "crop_height": 10, |
| "carla_crop_height_type": 1, |
| "image_width_before_camera_subselection": 1920, |
| "final_image_width": 1920, |
| "final_image_height": 270, |
| "img_vert_anchors": 8, |
| "img_horz_anchors": 60, |
| "freeze_backbone": false, |
| "image_architecture": "resnet34", |
| "lidar_architecture": "resnet34", |
| "LTF": true, |
| "num_fusion_stages": 4, |
| "only_ego_status_input": false, |
| "block_exp": 4, |
| "n_layer": 2, |
| "n_head": 4, |
| "embd_pdrop": 0.1, |
| "resid_pdrop": 0.1, |
| "attn_pdrop": 0.1, |
| "gpt_linear_layer_init_mean": 0.0, |
| "gpt_linear_layer_init_std": 0.02, |
| "gpt_layer_norm_init_weight": 1.0, |
| "use_semantic": true, |
| "num_semantic_classes": 10, |
| "perspective_downsample_factor": 1, |
| "deconv_channel_num_0": 128, |
| "deconv_channel_num_1": 64, |
| "deconv_channel_num_2": 32, |
| "deconv_scale_factor_0": 4, |
| "deconv_scale_factor_1": 8, |
| "use_bev_semantic": true, |
| "num_bev_semantic_classes": 13, |
| "scale_pedestrian_bev_semantic_size": 2.5, |
| "pedestrian_bev_min_extent": 0.4, |
| "bev_features_chanels": 64, |
| "bev_down_sample_factor": 4, |
| "bev_upsample_factor": 2, |
| "use_carla_data": false, |
| "carla_num_samples": 104000, |
| "use_navsim_data": true, |
| "navsim_data_root": "data/navsim_training_cache/trainval", |
| "navsim_num_samples": 104000, |
| "schedule_carla_num_samples": false, |
| "use_waymo_e2e_data": false, |
| "waymo_e2e_num_training_samples": -1, |
| "waymo_e2e_training_data_root": "data/waymo_open_dataset_end_to_end_camera_v_1_0_0_training", |
| "waymo_e2e_val_data_root": "data/waymo_open_dataset_end_to_end_camera_v_1_0_0_val", |
| "waymo_e2e_test_data_root": "data/waymo_open_dataset_end_to_end_camera_v_1_0_0_test", |
| "waymo_e2e_subsample_factor": 5, |
| "navsim_num_bev_semantic_classes": 7, |
| "navsim_num_bb_classes": 1, |
| "mixed_data_training": false, |
| "carla_leaderboard_mode": false, |
| "log_scalars_frequency": 50, |
| "log_images_frequency": 2000, |
| "slurm_job_id": "1909240", |
| "log_wandb": true, |
| "gpu_name": "l40s", |
| "rank": 0, |
| "world_size": 1, |
| "local_rank": 0, |
| "assigned_cpu_cores": 16, |
| "workers_per_cpu_cores": 1 |
| } |
