File size: 2,514 Bytes
d4cbafd | 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 | def get_traj_hypers():
hypers = { 'batch_size': 256,
'grad_clip': 1.0,
'learning_rate_style': 'exp',
'min_learning_rate': 1e-05,
'learning_decay_rate': 0.9999,
'prediction_horizon': 12,
'minimum_history_length': 1,
'maximum_history_length': 7,
'map_encoder':
{'PEDESTRIAN':
{'heading_state_index': 6,
'patch_size': [50, 10, 50, 90],
'map_channels': 3,
'hidden_channels': [10, 20, 10, 1],
'output_size': 32,
'masks': [5, 5, 5, 5],
'strides': [1, 1, 1, 1],
'dropout': 0.5
}
},
'k': 1,
'k_eval': 25,
'kl_min': 0.07,
'kl_weight': 100.0,
'kl_weight_start': 0,
'kl_decay_rate': 0.99995,
'kl_crossover': 400,
'kl_sigmoid_divisor': 4,
'rnn_kwargs':
{'dropout_keep_prob': 0.75},
'MLP_dropout_keep_prob': 0.9,
'enc_rnn_dim_edge': 128,
'enc_rnn_dim_edge_influence': 128,
'enc_rnn_dim_history': 128,
'enc_rnn_dim_future': 128,
'dec_rnn_dim': 128,
'q_z_xy_MLP_dims': None,
'p_z_x_MLP_dims': 32,
'GMM_components': 1,
'log_p_yt_xz_max': 6,
'N': 1,
'tau_init': 2.0,
'tau_final': 0.05,
'tau_decay_rate': 0.997,
'use_z_logit_clipping': True,
'z_logit_clip_start': 0.05,
'z_logit_clip_final': 5.0,
'z_logit_clip_crossover': 300,
'z_logit_clip_divisor': 5,
'dynamic':
{'PEDESTRIAN':
{'name': 'SingleIntegrator',
'distribution': False,
'limits': {}
}
},
'state':
{'PEDESTRIAN':
{'position': ['x', 'y'],
'velocity': ['x', 'y'],
'acceleration': ['x', 'y']
}
},
'pred_state': {'PEDESTRIAN': {'velocity': ['x', 'y']}},
'log_histograms': False,
'dynamic_edges': 'yes',
'edge_state_combine_method': 'sum',
'edge_influence_combine_method': 'attention',
'edge_addition_filter': [0.25, 0.5, 0.75, 1.0],
'edge_removal_filter': [1.0, 0.0],
'offline_scene_graph': 'yes',
'incl_robot_node': False,
'node_freq_mult_train': False,
'node_freq_mult_eval': False,
'scene_freq_mult_train': False,
'scene_freq_mult_eval': False,
'scene_freq_mult_viz': False,
'edge_encoding': True,
'use_map_encoding': False,
'augment': True,
'override_attention_radius': [],
'learning_rate': 0.01,
'npl_rate': 0.8,
'K': 80,
'tao': 0.4}
return hypers
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