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config.json

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+{
+    "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
+}