| { |
| "visualize_dataset": false, |
| "visualize_failed_scenarios": false, |
| "load_bev_3rd_person_images": false, |
| "seed": 0, |
| "wandb_id": "744_radarless_LTF_010_postrain32_0_251102_123841", |
| "wandb_resume": "allow", |
| "description": "744_radarless_LTF_010_postrain32_0_251102_123841", |
| "visualize_training": true, |
| "id": "744_radarless_LTF_010_postrain32_0_251102_123841", |
| "load_file": "/home/nguyen/master_thesis/outputs/training/742_LTF/000_pretrain1_0/251027_091758/model_0030.pth", |
| "continue_epoch": false, |
| "delete_old_checkpoints": true, |
| "use_ssd_cache": true, |
| "use_hdd_cache": true, |
| "force_rebuild_data_cache": false, |
| "cache_characteristics": [ |
| "2304", |
| "384", |
| "-32", |
| "64", |
| "-40", |
| "40", |
| "True", |
| "True", |
| "True", |
| "True", |
| "False", |
| "10", |
| "8", |
| "5" |
| ], |
| "ssd_cache_path": "/scratch/1876924", |
| "carla_root": "data/carla_leaderboad2_v10/results/data/sensor_data/", |
| "carla_data": "data/carla_leaderboad2_v10/results/data/sensor_data/data", |
| "logdir": "/home/nguyen/master_thesis/outputs/training/744_radarless_LTF/010_postrain32_0/251102_123841", |
| "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, |
| "epochs": 31, |
| "epochs_exit": 31, |
| "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, |
| "warmup_epochs": 1, |
| "skip_first": 10, |
| "radar_detection": true, |
| "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_cache": false, |
| "randomize_route_order": false, |
| "subsample_data": false, |
| "extreme_subsample_data": false, |
| "subsample_data_perception": false, |
| "bucket_collection": "full_posttrain", |
| "bucket_collection_path": "data/carla_leaderboad2_v10/results/data/sensor_data/buckets", |
| "augment": true, |
| "augment_percentage": 0.5, |
| "training_extreme_augment_percentage": 0.0, |
| "use_color_aug": true, |
| "color_aug_prob": 0.2, |
| "weight_decay": 0.01, |
| "use_grad_clip": false, |
| "grad_quantile": 0.975, |
| "grad_history_length": 5000, |
| "use_optimizer_groups": false, |
| "use_depth": true, |
| "training_used_lidar_steps": 10, |
| "min_z": -4, |
| "max_z": 4, |
| "pixels_per_meter": 4.0, |
| "hist_max_per_pixel": 5, |
| "lidar_resolution_width": 384, |
| "lidar_resolution_height": 320, |
| "lidar_width": 96, |
| "lidar_height": 80, |
| "lidar_vert_anchors": 10, |
| "lidar_horz_anchors": 12, |
| "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, |
| "angle_bins": [ |
| -0.375, |
| -0.125, |
| 0.125, |
| 0.375 |
| ], |
| "angles": [ |
| -0.5, |
| -0.25, |
| 0.0, |
| 0.25, |
| 0.5 |
| ], |
| "car_open_door_extra_width": 1.2, |
| "traffic_warning_bb_size": [ |
| 1.186714768409729, |
| 1.4352929592132568 |
| ], |
| "construction_cone_bb_size": [ |
| 0.1720348298549652, |
| 0.1720348298549652 |
| ], |
| "num_bb_classes": 8, |
| "use_discrete_command": true, |
| "use_noisy_tp": false, |
| "use_velocity": true, |
| "use_previous_tp": true, |
| "use_next_tp": true, |
| "max_speed": 25.0, |
| "target_points_normalization_constants": [ |
| [ |
| 200.0, |
| 50.0 |
| ] |
| ], |
| "tp_pop_distance": 3.25, |
| "transfuser_num_bev_cross_attention_layers": 6, |
| "transfuser_num_bev_cross_attention_heads": 8, |
| "transfuser_token_dim": 256, |
| "use_planning_decoder": true, |
| "target_speeds": [ |
| 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": 5, |
| "image_resolution": 1.0, |
| "num_cameras": 6, |
| "final_image_width": 2304, |
| "final_image_height": 384, |
| "img_vert_anchors": 12, |
| "img_horz_anchors": 72, |
| "freeze_backbone": false, |
| "image_architecture": "resnet34", |
| "lidar_architecture": "resnet34", |
| "LTF": true, |
| "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, |
| "detailed_loss_weights": { |
| "loss_tf": 0.08333326388894677, |
| "loss_tfpp_speed": 0.08333326388894677, |
| "loss_tfpp": 0.08333326388894677, |
| "loss_semantic": 0.08333326388894677, |
| "loss_depth": 8.333326388894678e-07, |
| "loss_bev_semantic": 0.08333326388894677, |
| "loss_center_net_heatmap": 0.08333326388894677, |
| "loss_center_net_wh": 0.08333326388894677, |
| "loss_center_net_offset": 0.08333326388894677, |
| "loss_center_net_yaw_class": 0.08333326388894677, |
| "loss_center_net_yaw_res": 0.08333326388894677, |
| "loss_center_net_velocity": 0.08333326388894677, |
| "radar_loss": 0.08333326388894677 |
| }, |
| "log_scalars_frequency": 50, |
| "log_images_frequency": 500, |
| "slurm_job_id": "1876924", |
| "log_wandb": true, |
| "gpu_name": "l40s", |
| "rank": 0, |
| "world_size": 4, |
| "local_rank": 0, |
| "assigned_cpu_cores": 64, |
| "workers_per_cpu_cores": 1 |
| } |