File size: 7,945 Bytes
d38a697 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 |
{
"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
} |