| 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 | |