config.json

{
  "architectures": [
    "InterfuserForHuggingFace"
  ],
  "dec_depth": 6,
  "dim_feedforward": 2048,
  "direct_concat": false,
  "dropout": 0.1,
  "embed_dim": 256,
  "enc_depth": 6,
  "end2end": false,
  "freeze_num": -1,
  "img_size": [
    224,
    224
  ],
  "in_chans": 3,
  "lidar_backbone_name": "r18",
  "model_type": "interfuser",
  "normalize_before": false,
  "num_heads": 8,
  "patch_size": 8,
  "reverse_pos": true,
  "rgb_backbone_name": "r26",
  "separate_all_attention": false,
  "separate_view_attention": false,
  "torch_dtype": "float32",
  "traffic_pred_head_type": "det",
  "transformers_version": "4.52.4",
  "use_different_backbone": true,
  "use_mmad_pretrain": null,
  "use_view_embed": true,
  "waypoints_pred_head": "gru",
  "with_center_sensor": true,
  "with_lidar": true,
  "with_right_left_sensors": true,
  "auto_map": {
    "AutoModel": "modeling_interfuser.InterfuserForHuggingFace"
  },
  "turn_KP": 1.0,
  "turn_KI": 0.1,
  "turn_KD": 0.1,
  "turn_n": 20,
  "speed_KP": 0.5,
  "speed_KI": 0.05,
  "speed_KD": 0.1,
  "speed_n": 20,
  "max_speed": 6.0,
  "max_throttle": 0.75,
  "clip_delta": 0.25,
  "collision_buffer": [
    0.0,
    0.0
  ],
  "detect_threshold": 0.04,
  "brake_speed": 0.4,
  "brake_ratio": 1.1
}