diff --git "a/model_definition.py" "b/model_definition.py"
--- "a/model_definition.py"
+++ "b/model_definition.py"
@@ -1,1338 +1,1338 @@
-# model_definition.py
-# ============================================================================
-# الاستيرادات الأساسية
-# ============================================================================
-import torch
-import torch.nn as nn
-import torch.nn.functional as F
-import torch.optim as optim
-from torch.optim import AdamW
-from torch.optim.lr_scheduler import OneCycleLR
-from torch.utils.data import Dataset, DataLoader
-from torchvision import transforms
-from functools import partial
-from typing import Optional, List
-from torch import Tensor
-import os
-import json
-import numpy as np
-import cv2
-from PIL import Image
-import torch
-import torch.nn as nn
-import torch.nn.functional as F
-from torchvision import transforms
-from functools import partial
-from collections import deque, OrderedDict
-import math
-from torch.nn import MultiheadAttention
-from torch.nn import TransformerEncoder, TransformerEncoderLayer
-from torch.nn import TransformerDecoder, TransformerDecoderLayer
-from timm.models.resnet import resnet50d, resnet26d, resnet18d
-try:
-    from timm.layers import trunc_normal_
-except ImportError:
-    from timm.models.layers import trunc_normal_
-
-# مكتبات إضافية
-import os
-import json
-import logging
-import math
-import copy
-from pathlib import Path
-from collections import OrderedDict
-
-# مكتبات معالجة البيانات
-import numpy as np
-import cv2
-
-# مكتبات اختيارية (يمكن تعطيلها إذا لم تكن متوفرة)
-try:
-    import wandb
-    WANDB_AVAILABLE = True
-except ImportError:
-    WANDB_AVAILABLE = False
-    
-try:
-    from tqdm import tqdm
-except ImportError:
-    # إذا لم تكن tqdm متوفرة، استخدم دالة بديلة
-    def tqdm(iterable, *args, **kwargs):
-        return iterable
-
-# ============================================================================
-# دوال مساعدة
-# ============================================================================
-def to_2tuple(x):
-    """تحويل قيمة إلى tuple من عنصرين"""
-    if isinstance(x, (list, tuple)):
-        return tuple(x)
-    return (x, x)
-# ============================================================================
-# ============================================================================
-
-class HybridEmbed(nn.Module):
-    def __init__(
-        self,
-        backbone,
-        img_size=224,
-        patch_size=1,
-        feature_size=None,
-        in_chans=3,
-        embed_dim=768,
-    ):
-        super().__init__()
-        assert isinstance(backbone, nn.Module)
-        img_size = to_2tuple(img_size)
-        patch_size = to_2tuple(patch_size)
-        self.img_size = img_size
-        self.patch_size = patch_size
-        self.backbone = backbone
-        if feature_size is None:
-            with torch.no_grad():
-                training = backbone.training
-                if training:
-                    backbone.eval()
-                o = self.backbone(torch.zeros(1, in_chans, img_size[0], img_size[1]))
-                if isinstance(o, (list, tuple)):
-                    o = o[-1]  # last feature if backbone outputs list/tuple of features
-                feature_size = o.shape[-2:]
-                feature_dim = o.shape[1]
-                backbone.train(training)
-        else:
-            feature_size = to_2tuple(feature_size)
-            if hasattr(self.backbone, "feature_info"):
-                feature_dim = self.backbone.feature_info.channels()[-1]
-            else:
-                feature_dim = self.backbone.num_features
-
-        self.proj = nn.Conv2d(feature_dim, embed_dim, kernel_size=1, stride=1)
-
-    def forward(self, x):
-        x = self.backbone(x)
-        if isinstance(x, (list, tuple)):
-            x = x[-1]  # last feature if backbone outputs list/tuple of features
-        x = self.proj(x)
-        global_x = torch.mean(x, [2, 3], keepdim=False)[:, :, None]
-        return x, global_x
-
-
-class PositionEmbeddingSine(nn.Module):
-    """
-    This is a more standard version of the position embedding, very similar to the one
-    used by the Attention is all you need paper, generalized to work on images.
-    """
-
-    def __init__(
-        self, num_pos_feats=64, temperature=10000, normalize=False, scale=None
-    ):
-        super().__init__()
-        self.num_pos_feats = num_pos_feats
-        self.temperature = temperature
-        self.normalize = normalize
-        if scale is not None and normalize is False:
-            raise ValueError("normalize should be True if scale is passed")
-        if scale is None:
-            scale = 2 * math.pi
-        self.scale = scale
-
-    def forward(self, tensor):
-        x = tensor
-        bs, _, h, w = x.shape
-        not_mask = torch.ones((bs, h, w), device=x.device)
-        y_embed = not_mask.cumsum(1, dtype=torch.float32)
-        x_embed = not_mask.cumsum(2, dtype=torch.float32)
-        if self.normalize:
-            eps = 1e-6
-            y_embed = y_embed / (y_embed[:, -1:, :] + eps) * self.scale
-            x_embed = x_embed / (x_embed[:, :, -1:] + eps) * self.scale
-
-        dim_t = torch.arange(self.num_pos_feats, dtype=torch.float32, device=x.device)
-        dim_t = self.temperature ** (2 * (dim_t // 2) / self.num_pos_feats)
-
-        pos_x = x_embed[:, :, :, None] / dim_t
-        pos_y = y_embed[:, :, :, None] / dim_t
-        pos_x = torch.stack(
-            (pos_x[:, :, :, 0::2].sin(), pos_x[:, :, :, 1::2].cos()), dim=4
-        ).flatten(3)
-        pos_y = torch.stack(
-            (pos_y[:, :, :, 0::2].sin(), pos_y[:, :, :, 1::2].cos()), dim=4
-        ).flatten(3)
-        pos = torch.cat((pos_y, pos_x), dim=3).permute(0, 3, 1, 2)
-        return pos
-
-
-class TransformerEncoder(nn.Module):
-    def __init__(self, encoder_layer, num_layers, norm=None):
-        super().__init__()
-        self.layers = _get_clones(encoder_layer, num_layers)
-        self.num_layers = num_layers
-        self.norm = norm
-
-    def forward(
-        self,
-        src,
-        mask: Optional[Tensor] = None,
-        src_key_padding_mask: Optional[Tensor] = None,
-        pos: Optional[Tensor] = None,
-    ):
-        output = src
-
-        for layer in self.layers:
-            output = layer(
-                output,
-                src_mask=mask,
-                src_key_padding_mask=src_key_padding_mask,
-                pos=pos,
-            )
-
-        if self.norm is not None:
-            output = self.norm(output)
-
-        return output
-
-
-class SpatialSoftmax(nn.Module):
-    def __init__(self, height, width, channel, temperature=None, data_format="NCHW"):
-        super().__init__()
-
-        self.data_format = data_format
-        self.height = height
-        self.width = width
-        self.channel = channel
-
-        if temperature:
-            self.temperature = Parameter(torch.ones(1) * temperature)
-        else:
-            self.temperature = 1.0
-
-        pos_x, pos_y = np.meshgrid(
-            np.linspace(-1.0, 1.0, self.height), np.linspace(-1.0, 1.0, self.width)
-        )
-        pos_x = torch.from_numpy(pos_x.reshape(self.height * self.width)).float()
-        pos_y = torch.from_numpy(pos_y.reshape(self.height * self.width)).float()
-        self.register_buffer("pos_x", pos_x)
-        self.register_buffer("pos_y", pos_y)
-
-    def forward(self, feature):
-        # Output:
-        #   (N, C*2) x_0 y_0 ...
-
-        if self.data_format == "NHWC":
-            feature = (
-                feature.transpose(1, 3)
-                .tranpose(2, 3)
-                .view(-1, self.height * self.width)
-            )
-        else:
-            feature = feature.view(-1, self.height * self.width)
-
-        weight = F.softmax(feature / self.temperature, dim=-1)
-        expected_x = torch.sum(
-            torch.autograd.Variable(self.pos_x) * weight, dim=1, keepdim=True
-        )
-        expected_y = torch.sum(
-            torch.autograd.Variable(self.pos_y) * weight, dim=1, keepdim=True
-        )
-        expected_xy = torch.cat([expected_x, expected_y], 1)
-        feature_keypoints = expected_xy.view(-1, self.channel, 2)
-        feature_keypoints[:, :, 1] = (feature_keypoints[:, :, 1] - 1) * 12
-        feature_keypoints[:, :, 0] = feature_keypoints[:, :, 0] * 12
-        return feature_keypoints
-
-
-class MultiPath_Generator(nn.Module):
-    def __init__(self, in_channel, embed_dim, out_channel):
-        super().__init__()
-        self.spatial_softmax = SpatialSoftmax(100, 100, out_channel)
-        self.tconv0 = nn.Sequential(
-            nn.ConvTranspose2d(in_channel, 256, 4, 2, 1, bias=False),
-            nn.BatchNorm2d(256),
-            nn.ReLU(True),
-        )
-        self.tconv1 = nn.Sequential(
-            nn.ConvTranspose2d(256, 256, 4, 2, 1, bias=False),
-            nn.BatchNorm2d(256),
-            nn.ReLU(True),
-        )
-        self.tconv2 = nn.Sequential(
-            nn.ConvTranspose2d(256, 192, 4, 2, 1, bias=False),
-            nn.BatchNorm2d(192),
-            nn.ReLU(True),
-        )
-        self.tconv3 = nn.Sequential(
-            nn.ConvTranspose2d(192, 64, 4, 2, 1, bias=False),
-            nn.BatchNorm2d(64),
-            nn.ReLU(True),
-        )
-        self.tconv4_list = torch.nn.ModuleList(
-            [
-                nn.Sequential(
-                    nn.ConvTranspose2d(64, out_channel, 8, 2, 3, bias=False),
-                    nn.Tanh(),
-                )
-                for _ in range(6)
-            ]
-        )
-
-        self.upsample = nn.Upsample(size=(50, 50), mode="bilinear")
-
-    def forward(self, x, measurements):
-        mask = measurements[:, :6]
-        mask = mask.unsqueeze(-1).unsqueeze(-1).unsqueeze(-1).repeat(1, 1, 1, 100, 100)
-        velocity = measurements[:, 6:7].unsqueeze(-1).unsqueeze(-1)
-        velocity = velocity.repeat(1, 32, 2, 2)
-
-        n, d, c = x.shape
-        x = x.transpose(1, 2)
-        x = x.view(n, -1, 2, 2)
-        x = torch.cat([x, velocity], dim=1)
-        x = self.tconv0(x)
-        x = self.tconv1(x)
-        x = self.tconv2(x)
-        x = self.tconv3(x)
-        x = self.upsample(x)
-        xs = []
-        for i in range(6):
-            xt = self.tconv4_list[i](x)
-            xs.append(xt)
-        xs = torch.stack(xs, dim=1)
-        x = torch.sum(xs * mask, dim=1)
-        x = self.spatial_softmax(x)
-        return x
-
-
-class LinearWaypointsPredictor(nn.Module):
-    def __init__(self, input_dim, cumsum=True):
-        super().__init__()
-        self.cumsum = cumsum
-        self.rank_embed = nn.Parameter(torch.zeros(1, 10, input_dim))
-        self.head_fc1_list = nn.ModuleList([nn.Linear(input_dim, 64) for _ in range(6)])
-        self.head_relu = nn.ReLU(inplace=True)
-        self.head_fc2_list = nn.ModuleList([nn.Linear(64, 2) for _ in range(6)])
-
-    def forward(self, x, measurements):
-        # input shape: n 10 embed_dim
-        bs, n, dim = x.shape
-        x = x + self.rank_embed
-        x = x.reshape(-1, dim)
-
-        mask = measurements[:, :6]
-        mask = torch.unsqueeze(mask, -1).repeat(n, 1, 2)
-
-        rs = []
-        for i in range(6):
-            res = self.head_fc1_list[i](x)
-            res = self.head_relu(res)
-            res = self.head_fc2_list[i](res)
-            rs.append(res)
-        rs = torch.stack(rs, 1)
-        x = torch.sum(rs * mask, dim=1)
-
-        x = x.view(bs, n, 2)
-        if self.cumsum:
-            x = torch.cumsum(x, 1)
-        return x
-
-
-class GRUWaypointsPredictor(nn.Module):
-    def __init__(self, input_dim, waypoints=10):
-        super().__init__()
-        # self.gru = torch.nn.GRUCell(input_size=input_dim, hidden_size=64)
-        self.gru = torch.nn.GRU(input_size=input_dim, hidden_size=64, batch_first=True)
-        self.encoder = nn.Linear(2, 64)
-        self.decoder = nn.Linear(64, 2)
-        self.waypoints = waypoints
-
-    def forward(self, x, target_point):
-        bs = x.shape[0]
-        z = self.encoder(target_point).unsqueeze(0)
-        output, _ = self.gru(x, z)
-        output = output.reshape(bs * self.waypoints, -1)
-        output = self.decoder(output).reshape(bs, self.waypoints, 2)
-        output = torch.cumsum(output, 1)
-        return output
-
-class GRUWaypointsPredictorWithCommand(nn.Module):
-    def __init__(self, input_dim, waypoints=10):
-        super().__init__()
-        # self.gru = torch.nn.GRUCell(input_size=input_dim, hidden_size=64)
-        self.grus = nn.ModuleList([torch.nn.GRU(input_size=input_dim, hidden_size=64, batch_first=True) for _ in range(6)])
-        self.encoder = nn.Linear(2, 64)
-        self.decoders = nn.ModuleList([nn.Linear(64, 2) for _ in range(6)])
-        self.waypoints = waypoints
-
-    def forward(self, x, target_point, measurements):
-        bs, n, dim = x.shape
-        mask = measurements[:, :6, None, None]
-        mask = mask.repeat(1, 1, self.waypoints, 2)
-
-        z = self.encoder(target_point).unsqueeze(0)
-        outputs = []
-        for i in range(6):
-            output, _ = self.grus[i](x, z)
-            output = output.reshape(bs * self.waypoints, -1)
-            output = self.decoders[i](output).reshape(bs, self.waypoints, 2)
-            output = torch.cumsum(output, 1)
-            outputs.append(output)
-        outputs = torch.stack(outputs, 1)
-        output = torch.sum(outputs * mask, dim=1)
-        return output
-
-
-class TransformerDecoder(nn.Module):
-    def __init__(self, decoder_layer, num_layers, norm=None, return_intermediate=False):
-        super().__init__()
-        self.layers = _get_clones(decoder_layer, num_layers)
-        self.num_layers = num_layers
-        self.norm = norm
-        self.return_intermediate = return_intermediate
-
-    def forward(
-        self,
-        tgt,
-        memory,
-        tgt_mask: Optional[Tensor] = None,
-        memory_mask: Optional[Tensor] = None,
-        tgt_key_padding_mask: Optional[Tensor] = None,
-        memory_key_padding_mask: Optional[Tensor] = None,
-        pos: Optional[Tensor] = None,
-        query_pos: Optional[Tensor] = None,
-    ):
-        output = tgt
-
-        intermediate = []
-
-        for layer in self.layers:
-            output = layer(
-                output,
-                memory,
-                tgt_mask=tgt_mask,
-                memory_mask=memory_mask,
-                tgt_key_padding_mask=tgt_key_padding_mask,
-                memory_key_padding_mask=memory_key_padding_mask,
-                pos=pos,
-                query_pos=query_pos,
-            )
-            if self.return_intermediate:
-                intermediate.append(self.norm(output))
-
-        if self.norm is not None:
-            output = self.norm(output)
-            if self.return_intermediate:
-                intermediate.pop()
-                intermediate.append(output)
-
-        if self.return_intermediate:
-            return torch.stack(intermediate)
-
-        return output.unsqueeze(0)
-
-
-class TransformerEncoderLayer(nn.Module):
-    def __init__(
-        self,
-        d_model,
-        nhead,
-        dim_feedforward=2048,
-        dropout=0.1,
-        activation=nn.ReLU(),
-        normalize_before=False,
-    ):
-        super().__init__()
-        self.self_attn = nn.MultiheadAttention(d_model, nhead, dropout=dropout)
-        # Implementation of Feedforward model
-        self.linear1 = nn.Linear(d_model, dim_feedforward)
-        self.dropout = nn.Dropout(dropout)
-        self.linear2 = nn.Linear(dim_feedforward, d_model)
-
-        self.norm1 = nn.LayerNorm(d_model)
-        self.norm2 = nn.LayerNorm(d_model)
-        self.dropout1 = nn.Dropout(dropout)
-        self.dropout2 = nn.Dropout(dropout)
-
-        self.activation = activation()
-        self.normalize_before = normalize_before
-
-    def with_pos_embed(self, tensor, pos: Optional[Tensor]):
-        return tensor if pos is None else tensor + pos
-
-    def forward_post(
-        self,
-        src,
-        src_mask: Optional[Tensor] = None,
-        src_key_padding_mask: Optional[Tensor] = None,
-        pos: Optional[Tensor] = None,
-    ):
-        q = k = self.with_pos_embed(src, pos)
-        src2 = self.self_attn(
-            q, k, value=src, attn_mask=src_mask, key_padding_mask=src_key_padding_mask
-        )[0]
-        src = src + self.dropout1(src2)
-        src = self.norm1(src)
-        src2 = self.linear2(self.dropout(self.activation(self.linear1(src))))
-        src = src + self.dropout2(src2)
-        src = self.norm2(src)
-        return src
-
-    def forward_pre(
-        self,
-        src,
-        src_mask: Optional[Tensor] = None,
-        src_key_padding_mask: Optional[Tensor] = None,
-        pos: Optional[Tensor] = None,
-    ):
-        src2 = self.norm1(src)
-        q = k = self.with_pos_embed(src2, pos)
-        src2 = self.self_attn(
-            q, k, value=src2, attn_mask=src_mask, key_padding_mask=src_key_padding_mask
-        )[0]
-        src = src + self.dropout1(src2)
-        src2 = self.norm2(src)
-        src2 = self.linear2(self.dropout(self.activation(self.linear1(src2))))
-        src = src + self.dropout2(src2)
-        return src
-
-    def forward(
-        self,
-        src,
-        src_mask: Optional[Tensor] = None,
-        src_key_padding_mask: Optional[Tensor] = None,
-        pos: Optional[Tensor] = None,
-    ):
-        if self.normalize_before:
-            return self.forward_pre(src, src_mask, src_key_padding_mask, pos)
-        return self.forward_post(src, src_mask, src_key_padding_mask, pos)
-
-
-class TransformerDecoderLayer(nn.Module):
-    def __init__(
-        self,
-        d_model,
-        nhead,
-        dim_feedforward=2048,
-        dropout=0.1,
-        activation=nn.ReLU(),
-        normalize_before=False,
-    ):
-        super().__init__()
-        self.self_attn = nn.MultiheadAttention(d_model, nhead, dropout=dropout)
-        self.multihead_attn = nn.MultiheadAttention(d_model, nhead, dropout=dropout)
-        # Implementation of Feedforward model
-        self.linear1 = nn.Linear(d_model, dim_feedforward)
-        self.dropout = nn.Dropout(dropout)
-        self.linear2 = nn.Linear(dim_feedforward, d_model)
-
-        self.norm1 = nn.LayerNorm(d_model)
-        self.norm2 = nn.LayerNorm(d_model)
-        self.norm3 = nn.LayerNorm(d_model)
-        self.dropout1 = nn.Dropout(dropout)
-        self.dropout2 = nn.Dropout(dropout)
-        self.dropout3 = nn.Dropout(dropout)
-
-        self.activation = activation()
-        self.normalize_before = normalize_before
-
-    def with_pos_embed(self, tensor, pos: Optional[Tensor]):
-        return tensor if pos is None else tensor + pos
-
-    def forward_post(
-        self,
-        tgt,
-        memory,
-        tgt_mask: Optional[Tensor] = None,
-        memory_mask: Optional[Tensor] = None,
-        tgt_key_padding_mask: Optional[Tensor] = None,
-        memory_key_padding_mask: Optional[Tensor] = None,
-        pos: Optional[Tensor] = None,
-        query_pos: Optional[Tensor] = None,
-    ):
-        q = k = self.with_pos_embed(tgt, query_pos)
-        tgt2 = self.self_attn(
-            q, k, value=tgt, attn_mask=tgt_mask, key_padding_mask=tgt_key_padding_mask
-        )[0]
-        tgt = tgt + self.dropout1(tgt2)
-        tgt = self.norm1(tgt)
-        tgt2 = self.multihead_attn(
-            query=self.with_pos_embed(tgt, query_pos),
-            key=self.with_pos_embed(memory, pos),
-            value=memory,
-            attn_mask=memory_mask,
-            key_padding_mask=memory_key_padding_mask,
-        )[0]
-        tgt = tgt + self.dropout2(tgt2)
-        tgt = self.norm2(tgt)
-        tgt2 = self.linear2(self.dropout(self.activation(self.linear1(tgt))))
-        tgt = tgt + self.dropout3(tgt2)
-        tgt = self.norm3(tgt)
-        return tgt
-
-    def forward_pre(
-        self,
-        tgt,
-        memory,
-        tgt_mask: Optional[Tensor] = None,
-        memory_mask: Optional[Tensor] = None,
-        tgt_key_padding_mask: Optional[Tensor] = None,
-        memory_key_padding_mask: Optional[Tensor] = None,
-        pos: Optional[Tensor] = None,
-        query_pos: Optional[Tensor] = None,
-    ):
-        tgt2 = self.norm1(tgt)
-        q = k = self.with_pos_embed(tgt2, query_pos)
-        tgt2 = self.self_attn(
-            q, k, value=tgt2, attn_mask=tgt_mask, key_padding_mask=tgt_key_padding_mask
-        )[0]
-        tgt = tgt + self.dropout1(tgt2)
-        tgt2 = self.norm2(tgt)
-        tgt2 = self.multihead_attn(
-            query=self.with_pos_embed(tgt2, query_pos),
-            key=self.with_pos_embed(memory, pos),
-            value=memory,
-            attn_mask=memory_mask,
-            key_padding_mask=memory_key_padding_mask,
-        )[0]
-        tgt = tgt + self.dropout2(tgt2)
-        tgt2 = self.norm3(tgt)
-        tgt2 = self.linear2(self.dropout(self.activation(self.linear1(tgt2))))
-        tgt = tgt + self.dropout3(tgt2)
-        return tgt
-
-    def forward(
-        self,
-        tgt,
-        memory,
-        tgt_mask: Optional[Tensor] = None,
-        memory_mask: Optional[Tensor] = None,
-        tgt_key_padding_mask: Optional[Tensor] = None,
-        memory_key_padding_mask: Optional[Tensor] = None,
-        pos: Optional[Tensor] = None,
-        query_pos: Optional[Tensor] = None,
-    ):
-        if self.normalize_before:
-            return self.forward_pre(
-                tgt,
-                memory,
-                tgt_mask,
-                memory_mask,
-                tgt_key_padding_mask,
-                memory_key_padding_mask,
-                pos,
-                query_pos,
-            )
-        return self.forward_post(
-            tgt,
-            memory,
-            tgt_mask,
-            memory_mask,
-            tgt_key_padding_mask,
-            memory_key_padding_mask,
-            pos,
-            query_pos,
-        )
-
-
-def _get_clones(module, N):
-    return nn.ModuleList([copy.deepcopy(module) for i in range(N)])
-
-
-def _get_activation_fn(activation):
-    """Return an activation function given a string"""
-    if activation == "relu":
-        return F.relu
-    if activation == "gelu":
-        return F.gelu
-    if activation == "glu":
-        return F.glu
-    raise RuntimeError(f"activation should be relu/gelu, not {activation}.")
-
-
-def build_attn_mask(mask_type):
-    mask = torch.ones((151, 151), dtype=torch.bool).cuda()
-    if mask_type == "seperate_all":
-        mask[:50, :50] = False
-        mask[50:67, 50:67] = False
-        mask[67:84, 67:84] = False
-        mask[84:101, 84:101] = False
-        mask[101:151, 101:151] = False
-    elif mask_type == "seperate_view":
-        mask[:50, :50] = False
-        mask[50:67, 50:67] = False
-        mask[67:84, 67:84] = False
-        mask[84:101, 84:101] = False
-        mask[101:151, :] = False
-        mask[:, 101:151] = False
-    return mask
-# class InterfuserModel(nn.Module):
-
-class InterfuserModel(nn.Module):
-    def __init__(
-        self,
-        img_size=224,
-        multi_view_img_size=112,
-        patch_size=8,
-        in_chans=3,
-        embed_dim=768,
-        enc_depth=6,
-        dec_depth=6,
-        dim_feedforward=2048,
-        normalize_before=False,
-        rgb_backbone_name="r50",
-        lidar_backbone_name="r50",
-        num_heads=8,
-        norm_layer=None,
-        dropout=0.1,
-        end2end=False,
-        direct_concat=False,
-        separate_view_attention=False,
-        separate_all_attention=False,
-        act_layer=None,
-        weight_init="",
-        freeze_num=-1,
-        with_lidar=False,
-        with_right_left_sensors=False,
-        with_center_sensor=False,
-        traffic_pred_head_type="det",
-        waypoints_pred_head="heatmap",
-        reverse_pos=True,
-        use_different_backbone=False,
-        use_view_embed=False,
-        use_mmad_pretrain=None,
-    ):
-        super().__init__()
-        self.traffic_pred_head_type = traffic_pred_head_type
-        self.num_features = (
-            self.embed_dim
-        ) = embed_dim  # num_features for consistency with other models
-        norm_layer = norm_layer or partial(nn.LayerNorm, eps=1e-6)
-        act_layer = act_layer or nn.GELU
-
-        self.reverse_pos = reverse_pos
-        self.waypoints_pred_head = waypoints_pred_head
-        self.with_lidar = with_lidar
-        self.with_right_left_sensors = with_right_left_sensors
-        self.with_center_sensor = with_center_sensor
-
-        self.direct_concat = direct_concat
-        self.separate_view_attention = separate_view_attention
-        self.separate_all_attention = separate_all_attention
-        self.end2end = end2end
-        self.use_view_embed = use_view_embed
-
-        if self.direct_concat:
-            in_chans = in_chans * 4
-            self.with_center_sensor = False
-            self.with_right_left_sensors = False
-
-        if self.separate_view_attention:
-            self.attn_mask = build_attn_mask("seperate_view")
-        elif self.separate_all_attention:
-            self.attn_mask = build_attn_mask("seperate_all")
-        else:
-            self.attn_mask = None
-
-        if use_different_backbone:
-            if rgb_backbone_name == "r50":
-                self.rgb_backbone = resnet50d(
-                    pretrained=True,
-                    in_chans=in_chans,
-                    features_only=True,
-                    out_indices=[4],
-                )
-            elif rgb_backbone_name == "r26":
-                self.rgb_backbone = resnet26d(
-                    pretrained=True,
-                    in_chans=in_chans,
-                    features_only=True,
-                    out_indices=[4],
-                )
-            elif rgb_backbone_name == "r18":
-                self.rgb_backbone = resnet18d(
-                    pretrained=True,
-                    in_chans=in_chans,
-                    features_only=True,
-                    out_indices=[4],
-                )
-            if lidar_backbone_name == "r50":
-                self.lidar_backbone = resnet50d(
-                    pretrained=False,
-                    in_chans=in_chans,
-                    features_only=True,
-                    out_indices=[4],
-                )
-            elif lidar_backbone_name == "r26":
-                self.lidar_backbone = resnet26d(
-                    pretrained=False,
-                    in_chans=in_chans,
-                    features_only=True,
-                    out_indices=[4],
-                )
-            elif lidar_backbone_name == "r18":
-                self.lidar_backbone = resnet18d(
-                    pretrained=False, in_chans=3, features_only=True, out_indices=[4]
-                )
-            rgb_embed_layer = partial(HybridEmbed, backbone=self.rgb_backbone)
-            lidar_embed_layer = partial(HybridEmbed, backbone=self.lidar_backbone)
-
-            if use_mmad_pretrain:
-                params = torch.load(use_mmad_pretrain)["state_dict"]
-                updated_params = OrderedDict()
-                for key in params:
-                    if "backbone" in key:
-                        updated_params[key.replace("backbone.", "")] = params[key]
-                self.rgb_backbone.load_state_dict(updated_params)
-
-            self.rgb_patch_embed = rgb_embed_layer(
-                img_size=img_size,
-                patch_size=patch_size,
-                in_chans=in_chans,
-                embed_dim=embed_dim,
-            )
-            self.lidar_patch_embed = lidar_embed_layer(
-                img_size=img_size,
-                patch_size=patch_size,
-                in_chans=3,
-                embed_dim=embed_dim,
-            )
-        else:
-            if rgb_backbone_name == "r50":
-                self.rgb_backbone = resnet50d(
-                    pretrained=True, in_chans=3, features_only=True, out_indices=[4]
-                )
-            elif rgb_backbone_name == "r101":
-                self.rgb_backbone = resnet101d(
-                    pretrained=True, in_chans=3, features_only=True, out_indices=[4]
-                )
-            elif rgb_backbone_name == "r26":
-                self.rgb_backbone = resnet26d(
-                    pretrained=True, in_chans=3, features_only=True, out_indices=[4]
-                )
-            elif rgb_backbone_name == "r18":
-                self.rgb_backbone = resnet18d(
-                    pretrained=True, in_chans=3, features_only=True, out_indices=[4]
-                )
-            embed_layer = partial(HybridEmbed, backbone=self.rgb_backbone)
-
-            self.rgb_patch_embed = embed_layer(
-                img_size=img_size,
-                patch_size=patch_size,
-                in_chans=in_chans,
-                embed_dim=embed_dim,
-            )
-            self.lidar_patch_embed = embed_layer(
-                img_size=img_size,
-                patch_size=patch_size,
-                in_chans=in_chans,
-                embed_dim=embed_dim,
-            )
-
-        self.global_embed = nn.Parameter(torch.zeros(1, embed_dim, 5))
-        self.view_embed = nn.Parameter(torch.zeros(1, embed_dim, 5, 1))
-
-        if self.end2end:
-            self.query_pos_embed = nn.Parameter(torch.zeros(1, embed_dim, 4))
-            self.query_embed = nn.Parameter(torch.zeros(4, 1, embed_dim))
-        elif self.waypoints_pred_head == "heatmap":
-            self.query_pos_embed = nn.Parameter(torch.zeros(1, embed_dim, 5))
-            self.query_embed = nn.Parameter(torch.zeros(400 + 5, 1, embed_dim))
-        else:
-            self.query_pos_embed = nn.Parameter(torch.zeros(1, embed_dim, 11))
-            self.query_embed = nn.Parameter(torch.zeros(400 + 11, 1, embed_dim))
-
-        if self.end2end:
-            self.waypoints_generator = GRUWaypointsPredictor(embed_dim, 4)
-        elif self.waypoints_pred_head == "heatmap":
-            self.waypoints_generator = MultiPath_Generator(
-                embed_dim + 32, embed_dim, 10
-            )
-        elif self.waypoints_pred_head == "gru":
-            self.waypoints_generator = GRUWaypointsPredictor(embed_dim)
-        elif self.waypoints_pred_head == "gru-command":
-            self.waypoints_generator = GRUWaypointsPredictorWithCommand(embed_dim)
-        elif self.waypoints_pred_head == "linear":
-            self.waypoints_generator = LinearWaypointsPredictor(embed_dim)
-        elif self.waypoints_pred_head == "linear-sum":
-            self.waypoints_generator = LinearWaypointsPredictor(embed_dim, cumsum=True)
-
-        self.junction_pred_head = nn.Linear(embed_dim, 2)
-        self.traffic_light_pred_head = nn.Linear(embed_dim, 2)
-        self.stop_sign_head = nn.Linear(embed_dim, 2)
-
-        if self.traffic_pred_head_type == "det":
-            self.traffic_pred_head = nn.Sequential(
-                *[
-                    nn.Linear(embed_dim + 32, 64),
-                    nn.ReLU(),
-                    nn.Linear(64, 7),
-                    # nn.Sigmoid(),
-                ]
-            )
-        elif self.traffic_pred_head_type == "seg":
-            self.traffic_pred_head = nn.Sequential(
-                *[nn.Linear(embed_dim, 64), nn.ReLU(), nn.Linear(64, 1), nn.Sigmoid()]
-            )
-
-        self.position_encoding = PositionEmbeddingSine(embed_dim // 2, normalize=True)
-
-        encoder_layer = TransformerEncoderLayer(
-            embed_dim, num_heads, dim_feedforward, dropout, act_layer, normalize_before
-        )
-        self.encoder = TransformerEncoder(encoder_layer, enc_depth, None)
-
-        decoder_layer = TransformerDecoderLayer(
-            embed_dim, num_heads, dim_feedforward, dropout, act_layer, normalize_before
-        )
-        decoder_norm = nn.LayerNorm(embed_dim)
-        self.decoder = TransformerDecoder(
-            decoder_layer, dec_depth, decoder_norm, return_intermediate=False
-        )
-        self.reset_parameters()
-
-    def reset_parameters(self):
-        nn.init.uniform_(self.global_embed)
-        nn.init.uniform_(self.view_embed)
-        nn.init.uniform_(self.query_embed)
-        nn.init.uniform_(self.query_pos_embed)
-
-    def forward_features(
-        self,
-        front_image,
-        left_image,
-        right_image,
-        front_center_image,
-        lidar,
-        measurements,
-    ):
-        features = []
-
-        # Front view processing
-        front_image_token, front_image_token_global = self.rgb_patch_embed(front_image)
-        if self.use_view_embed:
-            front_image_token = (
-                front_image_token
-                + self.view_embed[:, :, 0:1, :]
-                + self.position_encoding(front_image_token)
-            )
-        else:
-            front_image_token = front_image_token + self.position_encoding(
-                front_image_token
-            )
-        front_image_token = front_image_token.flatten(2).permute(2, 0, 1)
-        front_image_token_global = (
-            front_image_token_global
-            + self.view_embed[:, :, 0, :]
-            + self.global_embed[:, :, 0:1]
-        )
-        front_image_token_global = front_image_token_global.permute(2, 0, 1)
-        features.extend([front_image_token, front_image_token_global])
-
-        if self.with_right_left_sensors:
-            # Left view processing
-            left_image_token, left_image_token_global = self.rgb_patch_embed(left_image)
-            if self.use_view_embed:
-                left_image_token = (
-                    left_image_token
-                    + self.view_embed[:, :, 1:2, :]
-                    + self.position_encoding(left_image_token)
-                )
-            else:
-                left_image_token = left_image_token + self.position_encoding(
-                    left_image_token
-                )
-            left_image_token = left_image_token.flatten(2).permute(2, 0, 1)
-            left_image_token_global = (
-                left_image_token_global
-                + self.view_embed[:, :, 1, :]
-                + self.global_embed[:, :, 1:2]
-            )
-            left_image_token_global = left_image_token_global.permute(2, 0, 1)
-
-            # Right view processing
-            right_image_token, right_image_token_global = self.rgb_patch_embed(
-                right_image
-            )
-            if self.use_view_embed:
-                right_image_token = (
-                    right_image_token
-                    + self.view_embed[:, :, 2:3, :]
-                    + self.position_encoding(right_image_token)
-                )
-            else:
-                right_image_token = right_image_token + self.position_encoding(
-                    right_image_token
-                )
-            right_image_token = right_image_token.flatten(2).permute(2, 0, 1)
-            right_image_token_global = (
-                right_image_token_global
-                + self.view_embed[:, :, 2, :]
-                + self.global_embed[:, :, 2:3]
-            )
-            right_image_token_global = right_image_token_global.permute(2, 0, 1)
-
-            features.extend(
-                [
-                    left_image_token,
-                    left_image_token_global,
-                    right_image_token,
-                    right_image_token_global,
-                ]
-            )
-
-        if self.with_center_sensor:
-            # Front center view processing
-            (
-                front_center_image_token,
-                front_center_image_token_global,
-            ) = self.rgb_patch_embed(front_center_image)
-            if self.use_view_embed:
-                front_center_image_token = (
-                    front_center_image_token
-                    + self.view_embed[:, :, 3:4, :]
-                    + self.position_encoding(front_center_image_token)
-                )
-            else:
-                front_center_image_token = (
-                    front_center_image_token
-                    + self.position_encoding(front_center_image_token)
-                )
-
-            front_center_image_token = front_center_image_token.flatten(2).permute(
-                2, 0, 1
-            )
-            front_center_image_token_global = (
-                front_center_image_token_global
-                + self.view_embed[:, :, 3, :]
-                + self.global_embed[:, :, 3:4]
-            )
-            front_center_image_token_global = front_center_image_token_global.permute(
-                2, 0, 1
-            )
-            features.extend([front_center_image_token, front_center_image_token_global])
-
-        if self.with_lidar:
-            lidar_token, lidar_token_global = self.lidar_patch_embed(lidar)
-            if self.use_view_embed:
-                lidar_token = (
-                    lidar_token
-                    + self.view_embed[:, :, 4:5, :]
-                    + self.position_encoding(lidar_token)
-                )
-            else:
-                lidar_token = lidar_token + self.position_encoding(lidar_token)
-            lidar_token = lidar_token.flatten(2).permute(2, 0, 1)
-            lidar_token_global = (
-                lidar_token_global
-                + self.view_embed[:, :, 4, :]
-                + self.global_embed[:, :, 4:5]
-            )
-            lidar_token_global = lidar_token_global.permute(2, 0, 1)
-            features.extend([lidar_token, lidar_token_global])
-
-        features = torch.cat(features, 0)
-        return features
-
-    def forward(self, x):
-        front_image = x["rgb"]
-        left_image = x["rgb_left"]
-        right_image = x["rgb_right"]
-        front_center_image = x["rgb_center"]
-        measurements = x["measurements"]
-        target_point = x["target_point"]
-        lidar = x["lidar"]
-
-        if self.direct_concat:
-            img_size = front_image.shape[-1]
-            left_image = torch.nn.functional.interpolate(
-                left_image, size=(img_size, img_size)
-            )
-            right_image = torch.nn.functional.interpolate(
-                right_image, size=(img_size, img_size)
-            )
-            front_center_image = torch.nn.functional.interpolate(
-                front_center_image, size=(img_size, img_size)
-            )
-            front_image = torch.cat(
-                [front_image, left_image, right_image, front_center_image], dim=1
-            )
-        features = self.forward_features(
-            front_image,
-            left_image,
-            right_image,
-            front_center_image,
-            lidar,
-            measurements,
-        )
-
-        bs = front_image.shape[0]
-
-        if self.end2end:
-            tgt = self.query_pos_embed.repeat(bs, 1, 1)
-        else:
-            tgt = self.position_encoding(
-                torch.ones((bs, 1, 20, 20), device=x["rgb"].device)
-            )
-            tgt = tgt.flatten(2)
-            tgt = torch.cat([tgt, self.query_pos_embed.repeat(bs, 1, 1)], 2)
-        tgt = tgt.permute(2, 0, 1)
-
-        memory = self.encoder(features, mask=self.attn_mask)
-        hs = self.decoder(self.query_embed.repeat(1, bs, 1), memory, query_pos=tgt)[0]
-
-        hs = hs.permute(1, 0, 2)  # Batchsize ,  N, C
-        if self.end2end:
-            waypoints = self.waypoints_generator(hs, target_point)
-            return waypoints
-
-        if self.waypoints_pred_head != "heatmap":
-            traffic_feature = hs[:, :400]
-            is_junction_feature = hs[:, 400]
-            traffic_light_state_feature = hs[:, 400]
-            stop_sign_feature = hs[:, 400]
-            waypoints_feature = hs[:, 401:411]
-        else:
-            traffic_feature = hs[:, :400]
-            is_junction_feature = hs[:, 400]
-            traffic_light_state_feature = hs[:, 400]
-            stop_sign_feature = hs[:, 400]
-            waypoints_feature = hs[:, 401:405]
-
-        if self.waypoints_pred_head == "heatmap":
-            waypoints = self.waypoints_generator(waypoints_feature, measurements)
-        elif self.waypoints_pred_head == "gru":
-            waypoints = self.waypoints_generator(waypoints_feature, target_point)
-        elif self.waypoints_pred_head == "gru-command":
-            waypoints = self.waypoints_generator(waypoints_feature, target_point, measurements)
-        elif self.waypoints_pred_head == "linear":
-            waypoints = self.waypoints_generator(waypoints_feature, measurements)
-        elif self.waypoints_pred_head == "linear-sum":
-            waypoints = self.waypoints_generator(waypoints_feature, measurements)
-
-        is_junction = self.junction_pred_head(is_junction_feature)
-        traffic_light_state = self.traffic_light_pred_head(traffic_light_state_feature)
-        stop_sign = self.stop_sign_head(stop_sign_feature)
-
-        velocity = measurements[:, 6:7].unsqueeze(-1)
-        velocity = velocity.repeat(1, 400, 32)
-        traffic_feature_with_vel = torch.cat([traffic_feature, velocity], dim=2)
-        traffic = self.traffic_pred_head(traffic_feature_with_vel)
-        return traffic, waypoints, is_junction, traffic_light_state, stop_sign, traffic_feature
-    def load_pretrained(self, model_path, strict=False):
-        """
-        تحميل الأوزان المدربة مسبقاً - نسخة محسنة
-        
-        Args:
-            model_path (str): مسار ملف الأوزان
-            strict (bool): إذا كان True، يتطلب تطابق تام للمفاتيح
-        """
-        if not model_path or not Path(model_path).exists():
-            logging.warning(f"ملف الأوزان غير موجود: {model_path}")
-            logging.info("سيتم استخدام أوزان عشوائية")
-            return False
-            
-        try:
-            logging.info(f"محاولة تحميل الأوزان من: {model_path}")
-            
-            # تحميل الملف مع معالجة أنواع مختلفة من ملفات الحفظ
-            checkpoint = torch.load(model_path, map_location='cpu', weights_only=False)
-            
-            # استخراج state_dict من أنواع مختلفة من ملفات الحفظ
-            if isinstance(checkpoint, dict):
-                if 'model_state_dict' in checkpoint:
-                    state_dict = checkpoint['model_state_dict']
-                    logging.info("تم العثور على 'model_state_dict' في الملف")
-                elif 'state_dict' in checkpoint:
-                    state_dict = checkpoint['state_dict']
-                    logging.info("تم العثور على 'state_dict' في الملف")
-                elif 'model' in checkpoint:
-                    state_dict = checkpoint['model']
-                    logging.info("تم العثور على 'model' في الملف")
-                else:
-                    state_dict = checkpoint
-                    logging.info("استخدام الملف كـ state_dict مباشرة")
-            else:
-                state_dict = checkpoint
-                logging.info("استخدام الملف كـ state_dict مباشرة")
-            
-            # تنظيف أسماء المفاتيح (إزالة 'module.' إذا كانت موجودة)
-            clean_state_dict = OrderedDict()
-            for k, v in state_dict.items():
-                # إزالة 'module.' من بداية اسم المفتاح إذا كان موجوداً
-                clean_key = k[7:] if k.startswith('module.') else k
-                clean_state_dict[clean_key] = v
-            
-            # تحميل الأوزان
-            missing_keys, unexpected_keys = self.load_state_dict(clean_state_dict, strict=strict)
-            
-            # تقرير حالة التحميل
-            if missing_keys:
-                logging.warning(f"مفاتيح مفقودة ({len(missing_keys)}): {missing_keys[:5]}..." if len(missing_keys) > 5 else f"مفاتيح مفقودة: {missing_keys}")
-            
-            if unexpected_keys:
-                logging.warning(f"مفاتيح غير متوقعة ({len(unexpected_keys)}): {unexpected_keys[:5]}..." if len(unexpected_keys) > 5 else f"مفاتيح غير متوقعة: {unexpected_keys}")
-            
-            if not missing_keys and not unexpected_keys:
-                logging.info("✅ تم تحميل جميع الأوزان بنجاح تام")
-            elif not strict:
-                logging.info("✅ تم تحميل الأوزان بنجاح (مع تجاهل عدم التطابق)")
-            
-            return True
-            
-        except Exception as e:
-            logging.error(f"❌ خطأ في تحميل الأوزان: {str(e)}")
-            logging.info("سيتم استخدام أوزان عشوائية")
-            return False
-
-
-# ============================================================================
-# دوال مساعدة لتحميل النموذج
-# ============================================================================
-
-def load_and_prepare_model(config, device):
-    """
-    يقوم بإنشاء النموذج وتحميل الأوزان المدربة مسبقًا.
-    
-    Args:
-        config (dict): إعدادات النموذج والمسارات
-        device (torch.device): الجهاز المستهدف (CPU/GPU)
-    
-    Returns:
-        InterfuserModel: النموذج المحمل
-    """
-    try:
-        # إنشاء النموذج
-        model = InterfuserModel(**config.get('model_params', {})).to(device)
-        logging.info(f"تم إنشاء النموذج على الجهاز: {device}")
-        
-        # تحميل الأوزان إذا كان المسار محدد
-        checkpoint_path = config.get('paths', {}).get('pretrained_weights')
-        if checkpoint_path:
-            success = model.load_pretrained(checkpoint_path, strict=False)
-            if success:
-                logging.info("✅ تم تحميل النموذج والأوزان بنجاح")
-            else:
-                logging.warning("⚠️ تم إنشاء النموذج بأوزان عشوائية")
-        else:
-            logging.info("لم يتم تحديد مسار الأوزان، سيتم استخدام أوزان عشوائية")
-        
-        # وضع النموذج في وضع التقييم
-        model.eval()
-        
-        return model
-        
-    except Exception as e:
-        logging.error(f"خطأ في إنشاء النموذج: {str(e)}")
-        raise
-
-
-def create_model_config(model_path="model/best_model.pth", **model_params):
-    """
-    إنشاء إعدادات النموذج باستخدام الإعدادات الصحيحة من التدريب
-    
-    Args:
-        model_path (str): مسار ملف الأوزان
-        **model_params: معاملات النموذج الإضافية
-    
-    Returns:
-        dict: إعدادات النموذج
-    """
-    # الإعدادات الصحيحة من كونفيج التدريب الأصلي
-    training_config_params = {
-        "img_size": 224,
-        "embed_dim": 256,  # مهم: هذه القيمة من التدريب الأصلي
-        "enc_depth": 6,
-        "dec_depth": 6,
-        "rgb_backbone_name": 'r50',
-        "lidar_backbone_name": 'r18',
-        "waypoints_pred_head": 'gru',
-        "use_different_backbone": True,
-        "with_lidar": False,
-        "with_right_left_sensors": False,
-        "with_center_sensor": False,
-        
-        # إعدادات إضافية من الكونفيج الأصلي
-        "multi_view_img_size": 112,
-        "patch_size": 8,
-        "in_chans": 3,
-        "dim_feedforward": 2048,
-        "normalize_before": False,
-        "num_heads": 8,
-        "dropout": 0.1,
-        "end2end": False,
-        "direct_concat": False,
-        "separate_view_attention": False,
-        "separate_all_attention": False,
-        "freeze_num": -1,
-        "traffic_pred_head_type": "det",
-        "reverse_pos": True,
-        "use_view_embed": False,
-        "use_mmad_pretrain": None,
-    }
-    
-    # دمج المعاملات المخصصة مع الإعدادات من التدريب
-    training_config_params.update(model_params)
-    
-    config = {
-        'model_params': training_config_params,
-        'paths': {
-            'pretrained_weights': model_path
-        },
-        
-        # إضافة إعدادات الشبكة من التدريب
-        'grid_conf': {
-            'h': 20, 'w': 20,
-            'x_res': 1.0, 'y_res': 1.0,
-            'y_min': 0.0, 'y_max': 20.0,
-            'x_min': -10.0, 'x_max': 10.0,
-        },
-        
-        # معلومات إضافية عن التدريب
-        'training_info': {
-            'original_project': 'Interfuser_Finetuning',
-            'run_name': 'Finetune_Focus_on_Detection_v5',
-            'focus': 'traffic_detection_and_iou',
-            'backbone': 'ResNet50 + ResNet18',
-            'trained_on': 'PDM_Lite_Carla'
-        }
-    }
-    
-    return config
-
-
-def get_training_config():
-    """
-    إرجاع إعدادات التدريب الأصلية للمرجع
-    هذه الإعدادات توضح كيف تم تدريب النموذج
-    """
-    return {
-        'project_info': {
-            'project': 'Interfuser_Finetuning',
-            'entity': None,
-            'run_name': 'Finetune_Focus_on_Detection_v5'
-        },
-        'training': {
-            'epochs': 50,
-            'batch_size': 8,
-            'num_workers': 2,
-            'learning_rate': 1e-4,  # معدل تعلم منخفض للـ Fine-tuning
-            'weight_decay': 1e-2,
-            'patience': 15,
-            'clip_grad_norm': 1.0,
-        },
-        'loss_weights': {
-            'iou': 2.0,              # أولوية قصوى لدقة الصناديق
-            'traffic_map': 25.0,     # تركيز عالي على اكتشاف الكائنات
-            'waypoints': 1.0,        # مرجع أساسي
-            'junction': 0.25,        # مهام متقنة بالفعل
-            'traffic_light': 0.5,
-            'stop_sign': 0.25,
-        },
-        'data_split': {
-            'strategy': 'interleaved',
-            'segment_length': 100,
-            'validation_frequency': 10,
-        },
-        'transforms': {
-            'use_data_augmentation': False,  # معطل للتركيز على البيانات الأصلية
-        }
-    }
+# model_definition.py
+# ============================================================================
+# الاستيرادات الأساسية
+# ============================================================================
+import torch
+import torch.nn as nn
+import torch.nn.functional as F
+import torch.optim as optim
+from torch.optim import AdamW
+from torch.optim.lr_scheduler import OneCycleLR
+from torch.utils.data import Dataset, DataLoader
+from torchvision import transforms
+from functools import partial
+from typing import Optional, List
+from torch import Tensor
+import os
+import json
+import numpy as np
+import cv2
+from PIL import Image
+import torch
+import torch.nn as nn
+import torch.nn.functional as F
+from torchvision import transforms
+from functools import partial
+from collections import deque, OrderedDict
+import math
+from torch.nn import MultiheadAttention
+from torch.nn import TransformerEncoder, TransformerEncoderLayer
+from torch.nn import TransformerDecoder, TransformerDecoderLayer
+from timm.models.resnet import resnet50d, resnet26d, resnet18d
+try:
+    from timm.layers import trunc_normal_
+except ImportError:
+    from timm.models.layers import trunc_normal_
+
+# مكتبات إضافية
+import os
+import json
+import logging
+import math
+import copy
+from pathlib import Path
+from collections import OrderedDict
+
+# مكتبات معالجة البيانات
+import numpy as np
+import cv2
+
+# مكتبات اختيارية (يمكن تعطيلها إذا لم تكن متوفرة)
+try:
+    import wandb
+    WANDB_AVAILABLE = True
+except ImportError:
+    WANDB_AVAILABLE = False
+    
+try:
+    from tqdm import tqdm
+except ImportError:
+    # إذا لم تكن tqdm متوفرة، استخدم دالة بديلة
+    def tqdm(iterable, *args, **kwargs):
+        return iterable
+
+# ============================================================================
+# دوال مساعدة
+# ============================================================================
+def to_2tuple(x):
+    """تحويل قيمة إلى tuple من عنصرين"""
+    if isinstance(x, (list, tuple)):
+        return tuple(x)
+    return (x, x)
+# ============================================================================
+# ============================================================================
+
+class HybridEmbed(nn.Module):
+    def __init__(
+        self,
+        backbone,
+        img_size=224,
+        patch_size=1,
+        feature_size=None,
+        in_chans=3,
+        embed_dim=768,
+    ):
+        super().__init__()
+        assert isinstance(backbone, nn.Module)
+        img_size = to_2tuple(img_size)
+        patch_size = to_2tuple(patch_size)
+        self.img_size = img_size
+        self.patch_size = patch_size
+        self.backbone = backbone
+        if feature_size is None:
+            with torch.no_grad():
+                training = backbone.training
+                if training:
+                    backbone.eval()
+                o = self.backbone(torch.zeros(1, in_chans, img_size[0], img_size[1]))
+                if isinstance(o, (list, tuple)):
+                    o = o[-1]  # last feature if backbone outputs list/tuple of features
+                feature_size = o.shape[-2:]
+                feature_dim = o.shape[1]
+                backbone.train(training)
+        else:
+            feature_size = to_2tuple(feature_size)
+            if hasattr(self.backbone, "feature_info"):
+                feature_dim = self.backbone.feature_info.channels()[-1]
+            else:
+                feature_dim = self.backbone.num_features
+
+        self.proj = nn.Conv2d(feature_dim, embed_dim, kernel_size=1, stride=1)
+
+    def forward(self, x):
+        x = self.backbone(x)
+        if isinstance(x, (list, tuple)):
+            x = x[-1]  # last feature if backbone outputs list/tuple of features
+        x = self.proj(x)
+        global_x = torch.mean(x, [2, 3], keepdim=False)[:, :, None]
+        return x, global_x
+
+
+class PositionEmbeddingSine(nn.Module):
+    """
+    This is a more standard version of the position embedding, very similar to the one
+    used by the Attention is all you need paper, generalized to work on images.
+    """
+
+    def __init__(
+        self, num_pos_feats=64, temperature=10000, normalize=False, scale=None
+    ):
+        super().__init__()
+        self.num_pos_feats = num_pos_feats
+        self.temperature = temperature
+        self.normalize = normalize
+        if scale is not None and normalize is False:
+            raise ValueError("normalize should be True if scale is passed")
+        if scale is None:
+            scale = 2 * math.pi
+        self.scale = scale
+
+    def forward(self, tensor):
+        x = tensor
+        bs, _, h, w = x.shape
+        not_mask = torch.ones((bs, h, w), device=x.device)
+        y_embed = not_mask.cumsum(1, dtype=torch.float32)
+        x_embed = not_mask.cumsum(2, dtype=torch.float32)
+        if self.normalize:
+            eps = 1e-6
+            y_embed = y_embed / (y_embed[:, -1:, :] + eps) * self.scale
+            x_embed = x_embed / (x_embed[:, :, -1:] + eps) * self.scale
+
+        dim_t = torch.arange(self.num_pos_feats, dtype=torch.float32, device=x.device)
+        dim_t = self.temperature ** (2 * (dim_t // 2) / self.num_pos_feats)
+
+        pos_x = x_embed[:, :, :, None] / dim_t
+        pos_y = y_embed[:, :, :, None] / dim_t
+        pos_x = torch.stack(
+            (pos_x[:, :, :, 0::2].sin(), pos_x[:, :, :, 1::2].cos()), dim=4
+        ).flatten(3)
+        pos_y = torch.stack(
+            (pos_y[:, :, :, 0::2].sin(), pos_y[:, :, :, 1::2].cos()), dim=4
+        ).flatten(3)
+        pos = torch.cat((pos_y, pos_x), dim=3).permute(0, 3, 1, 2)
+        return pos
+
+
+class TransformerEncoder(nn.Module):
+    def __init__(self, encoder_layer, num_layers, norm=None):
+        super().__init__()
+        self.layers = _get_clones(encoder_layer, num_layers)
+        self.num_layers = num_layers
+        self.norm = norm
+
+    def forward(
+        self,
+        src,
+        mask: Optional[Tensor] = None,
+        src_key_padding_mask: Optional[Tensor] = None,
+        pos: Optional[Tensor] = None,
+    ):
+        output = src
+
+        for layer in self.layers:
+            output = layer(
+                output,
+                src_mask=mask,
+                src_key_padding_mask=src_key_padding_mask,
+                pos=pos,
+            )
+
+        if self.norm is not None:
+            output = self.norm(output)
+
+        return output
+
+
+class SpatialSoftmax(nn.Module):
+    def __init__(self, height, width, channel, temperature=None, data_format="NCHW"):
+        super().__init__()
+
+        self.data_format = data_format
+        self.height = height
+        self.width = width
+        self.channel = channel
+
+        if temperature:
+            self.temperature = Parameter(torch.ones(1) * temperature)
+        else:
+            self.temperature = 1.0
+
+        pos_x, pos_y = np.meshgrid(
+            np.linspace(-1.0, 1.0, self.height), np.linspace(-1.0, 1.0, self.width)
+        )
+        pos_x = torch.from_numpy(pos_x.reshape(self.height * self.width)).float()
+        pos_y = torch.from_numpy(pos_y.reshape(self.height * self.width)).float()
+        self.register_buffer("pos_x", pos_x)
+        self.register_buffer("pos_y", pos_y)
+
+    def forward(self, feature):
+        # Output:
+        #   (N, C*2) x_0 y_0 ...
+
+        if self.data_format == "NHWC":
+            feature = (
+                feature.transpose(1, 3)
+                .tranpose(2, 3)
+                .view(-1, self.height * self.width)
+            )
+        else:
+            feature = feature.view(-1, self.height * self.width)
+
+        weight = F.softmax(feature / self.temperature, dim=-1)
+        expected_x = torch.sum(
+            torch.autograd.Variable(self.pos_x) * weight, dim=1, keepdim=True
+        )
+        expected_y = torch.sum(
+            torch.autograd.Variable(self.pos_y) * weight, dim=1, keepdim=True
+        )
+        expected_xy = torch.cat([expected_x, expected_y], 1)
+        feature_keypoints = expected_xy.view(-1, self.channel, 2)
+        feature_keypoints[:, :, 1] = (feature_keypoints[:, :, 1] - 1) * 12
+        feature_keypoints[:, :, 0] = feature_keypoints[:, :, 0] * 12
+        return feature_keypoints
+
+
+class MultiPath_Generator(nn.Module):
+    def __init__(self, in_channel, embed_dim, out_channel):
+        super().__init__()
+        self.spatial_softmax = SpatialSoftmax(100, 100, out_channel)
+        self.tconv0 = nn.Sequential(
+            nn.ConvTranspose2d(in_channel, 256, 4, 2, 1, bias=False),
+            nn.BatchNorm2d(256),
+            nn.ReLU(True),
+        )
+        self.tconv1 = nn.Sequential(
+            nn.ConvTranspose2d(256, 256, 4, 2, 1, bias=False),
+            nn.BatchNorm2d(256),
+            nn.ReLU(True),
+        )
+        self.tconv2 = nn.Sequential(
+            nn.ConvTranspose2d(256, 192, 4, 2, 1, bias=False),
+            nn.BatchNorm2d(192),
+            nn.ReLU(True),
+        )
+        self.tconv3 = nn.Sequential(
+            nn.ConvTranspose2d(192, 64, 4, 2, 1, bias=False),
+            nn.BatchNorm2d(64),
+            nn.ReLU(True),
+        )
+        self.tconv4_list = torch.nn.ModuleList(
+            [
+                nn.Sequential(
+                    nn.ConvTranspose2d(64, out_channel, 8, 2, 3, bias=False),
+                    nn.Tanh(),
+                )
+                for _ in range(6)
+            ]
+        )
+
+        self.upsample = nn.Upsample(size=(50, 50), mode="bilinear")
+
+    def forward(self, x, measurements):
+        mask = measurements[:, :6]
+        mask = mask.unsqueeze(-1).unsqueeze(-1).unsqueeze(-1).repeat(1, 1, 1, 100, 100)
+        velocity = measurements[:, 6:7].unsqueeze(-1).unsqueeze(-1)
+        velocity = velocity.repeat(1, 32, 2, 2)
+
+        n, d, c = x.shape
+        x = x.transpose(1, 2)
+        x = x.view(n, -1, 2, 2)
+        x = torch.cat([x, velocity], dim=1)
+        x = self.tconv0(x)
+        x = self.tconv1(x)
+        x = self.tconv2(x)
+        x = self.tconv3(x)
+        x = self.upsample(x)
+        xs = []
+        for i in range(6):
+            xt = self.tconv4_list[i](x)
+            xs.append(xt)
+        xs = torch.stack(xs, dim=1)
+        x = torch.sum(xs * mask, dim=1)
+        x = self.spatial_softmax(x)
+        return x
+
+
+class LinearWaypointsPredictor(nn.Module):
+    def __init__(self, input_dim, cumsum=True):
+        super().__init__()
+        self.cumsum = cumsum
+        self.rank_embed = nn.Parameter(torch.zeros(1, 10, input_dim))
+        self.head_fc1_list = nn.ModuleList([nn.Linear(input_dim, 64) for _ in range(6)])
+        self.head_relu = nn.ReLU(inplace=True)
+        self.head_fc2_list = nn.ModuleList([nn.Linear(64, 2) for _ in range(6)])
+
+    def forward(self, x, measurements):
+        # input shape: n 10 embed_dim
+        bs, n, dim = x.shape
+        x = x + self.rank_embed
+        x = x.reshape(-1, dim)
+
+        mask = measurements[:, :6]
+        mask = torch.unsqueeze(mask, -1).repeat(n, 1, 2)
+
+        rs = []
+        for i in range(6):
+            res = self.head_fc1_list[i](x)
+            res = self.head_relu(res)
+            res = self.head_fc2_list[i](res)
+            rs.append(res)
+        rs = torch.stack(rs, 1)
+        x = torch.sum(rs * mask, dim=1)
+
+        x = x.view(bs, n, 2)
+        if self.cumsum:
+            x = torch.cumsum(x, 1)
+        return x
+
+
+class GRUWaypointsPredictor(nn.Module):
+    def __init__(self, input_dim, waypoints=10):
+        super().__init__()
+        # self.gru = torch.nn.GRUCell(input_size=input_dim, hidden_size=64)
+        self.gru = torch.nn.GRU(input_size=input_dim, hidden_size=64, batch_first=True)
+        self.encoder = nn.Linear(2, 64)
+        self.decoder = nn.Linear(64, 2)
+        self.waypoints = waypoints
+
+    def forward(self, x, target_point):
+        bs = x.shape[0]
+        z = self.encoder(target_point).unsqueeze(0)
+        output, _ = self.gru(x, z)
+        output = output.reshape(bs * self.waypoints, -1)
+        output = self.decoder(output).reshape(bs, self.waypoints, 2)
+        output = torch.cumsum(output, 1)
+        return output
+
+class GRUWaypointsPredictorWithCommand(nn.Module):
+    def __init__(self, input_dim, waypoints=10):
+        super().__init__()
+        # self.gru = torch.nn.GRUCell(input_size=input_dim, hidden_size=64)
+        self.grus = nn.ModuleList([torch.nn.GRU(input_size=input_dim, hidden_size=64, batch_first=True) for _ in range(6)])
+        self.encoder = nn.Linear(2, 64)
+        self.decoders = nn.ModuleList([nn.Linear(64, 2) for _ in range(6)])
+        self.waypoints = waypoints
+
+    def forward(self, x, target_point, measurements):
+        bs, n, dim = x.shape
+        mask = measurements[:, :6, None, None]
+        mask = mask.repeat(1, 1, self.waypoints, 2)
+
+        z = self.encoder(target_point).unsqueeze(0)
+        outputs = []
+        for i in range(6):
+            output, _ = self.grus[i](x, z)
+            output = output.reshape(bs * self.waypoints, -1)
+            output = self.decoders[i](output).reshape(bs, self.waypoints, 2)
+            output = torch.cumsum(output, 1)
+            outputs.append(output)
+        outputs = torch.stack(outputs, 1)
+        output = torch.sum(outputs * mask, dim=1)
+        return output
+
+
+class TransformerDecoder(nn.Module):
+    def __init__(self, decoder_layer, num_layers, norm=None, return_intermediate=False):
+        super().__init__()
+        self.layers = _get_clones(decoder_layer, num_layers)
+        self.num_layers = num_layers
+        self.norm = norm
+        self.return_intermediate = return_intermediate
+
+    def forward(
+        self,
+        tgt,
+        memory,
+        tgt_mask: Optional[Tensor] = None,
+        memory_mask: Optional[Tensor] = None,
+        tgt_key_padding_mask: Optional[Tensor] = None,
+        memory_key_padding_mask: Optional[Tensor] = None,
+        pos: Optional[Tensor] = None,
+        query_pos: Optional[Tensor] = None,
+    ):
+        output = tgt
+
+        intermediate = []
+
+        for layer in self.layers:
+            output = layer(
+                output,
+                memory,
+                tgt_mask=tgt_mask,
+                memory_mask=memory_mask,
+                tgt_key_padding_mask=tgt_key_padding_mask,
+                memory_key_padding_mask=memory_key_padding_mask,
+                pos=pos,
+                query_pos=query_pos,
+            )
+            if self.return_intermediate:
+                intermediate.append(self.norm(output))
+
+        if self.norm is not None:
+            output = self.norm(output)
+            if self.return_intermediate:
+                intermediate.pop()
+                intermediate.append(output)
+
+        if self.return_intermediate:
+            return torch.stack(intermediate)
+
+        return output.unsqueeze(0)
+
+
+class TransformerEncoderLayer(nn.Module):
+    def __init__(
+        self,
+        d_model,
+        nhead,
+        dim_feedforward=2048,
+        dropout=0.1,
+        activation=nn.ReLU(),
+        normalize_before=False,
+    ):
+        super().__init__()
+        self.self_attn = nn.MultiheadAttention(d_model, nhead, dropout=dropout)
+        # Implementation of Feedforward model
+        self.linear1 = nn.Linear(d_model, dim_feedforward)
+        self.dropout = nn.Dropout(dropout)
+        self.linear2 = nn.Linear(dim_feedforward, d_model)
+
+        self.norm1 = nn.LayerNorm(d_model)
+        self.norm2 = nn.LayerNorm(d_model)
+        self.dropout1 = nn.Dropout(dropout)
+        self.dropout2 = nn.Dropout(dropout)
+
+        self.activation = activation()
+        self.normalize_before = normalize_before
+
+    def with_pos_embed(self, tensor, pos: Optional[Tensor]):
+        return tensor if pos is None else tensor + pos
+
+    def forward_post(
+        self,
+        src,
+        src_mask: Optional[Tensor] = None,
+        src_key_padding_mask: Optional[Tensor] = None,
+        pos: Optional[Tensor] = None,
+    ):
+        q = k = self.with_pos_embed(src, pos)
+        src2 = self.self_attn(
+            q, k, value=src, attn_mask=src_mask, key_padding_mask=src_key_padding_mask
+        )[0]
+        src = src + self.dropout1(src2)
+        src = self.norm1(src)
+        src2 = self.linear2(self.dropout(self.activation(self.linear1(src))))
+        src = src + self.dropout2(src2)
+        src = self.norm2(src)
+        return src
+
+    def forward_pre(
+        self,
+        src,
+        src_mask: Optional[Tensor] = None,
+        src_key_padding_mask: Optional[Tensor] = None,
+        pos: Optional[Tensor] = None,
+    ):
+        src2 = self.norm1(src)
+        q = k = self.with_pos_embed(src2, pos)
+        src2 = self.self_attn(
+            q, k, value=src2, attn_mask=src_mask, key_padding_mask=src_key_padding_mask
+        )[0]
+        src = src + self.dropout1(src2)
+        src2 = self.norm2(src)
+        src2 = self.linear2(self.dropout(self.activation(self.linear1(src2))))
+        src = src + self.dropout2(src2)
+        return src
+
+    def forward(
+        self,
+        src,
+        src_mask: Optional[Tensor] = None,
+        src_key_padding_mask: Optional[Tensor] = None,
+        pos: Optional[Tensor] = None,
+    ):
+        if self.normalize_before:
+            return self.forward_pre(src, src_mask, src_key_padding_mask, pos)
+        return self.forward_post(src, src_mask, src_key_padding_mask, pos)
+
+
+class TransformerDecoderLayer(nn.Module):
+    def __init__(
+        self,
+        d_model,
+        nhead,
+        dim_feedforward=2048,
+        dropout=0.1,
+        activation=nn.ReLU(),
+        normalize_before=False,
+    ):
+        super().__init__()
+        self.self_attn = nn.MultiheadAttention(d_model, nhead, dropout=dropout)
+        self.multihead_attn = nn.MultiheadAttention(d_model, nhead, dropout=dropout)
+        # Implementation of Feedforward model
+        self.linear1 = nn.Linear(d_model, dim_feedforward)
+        self.dropout = nn.Dropout(dropout)
+        self.linear2 = nn.Linear(dim_feedforward, d_model)
+
+        self.norm1 = nn.LayerNorm(d_model)
+        self.norm2 = nn.LayerNorm(d_model)
+        self.norm3 = nn.LayerNorm(d_model)
+        self.dropout1 = nn.Dropout(dropout)
+        self.dropout2 = nn.Dropout(dropout)
+        self.dropout3 = nn.Dropout(dropout)
+
+        self.activation = activation()
+        self.normalize_before = normalize_before
+
+    def with_pos_embed(self, tensor, pos: Optional[Tensor]):
+        return tensor if pos is None else tensor + pos
+
+    def forward_post(
+        self,
+        tgt,
+        memory,
+        tgt_mask: Optional[Tensor] = None,
+        memory_mask: Optional[Tensor] = None,
+        tgt_key_padding_mask: Optional[Tensor] = None,
+        memory_key_padding_mask: Optional[Tensor] = None,
+        pos: Optional[Tensor] = None,
+        query_pos: Optional[Tensor] = None,
+    ):
+        q = k = self.with_pos_embed(tgt, query_pos)
+        tgt2 = self.self_attn(
+            q, k, value=tgt, attn_mask=tgt_mask, key_padding_mask=tgt_key_padding_mask
+        )[0]
+        tgt = tgt + self.dropout1(tgt2)
+        tgt = self.norm1(tgt)
+        tgt2 = self.multihead_attn(
+            query=self.with_pos_embed(tgt, query_pos),
+            key=self.with_pos_embed(memory, pos),
+            value=memory,
+            attn_mask=memory_mask,
+            key_padding_mask=memory_key_padding_mask,
+        )[0]
+        tgt = tgt + self.dropout2(tgt2)
+        tgt = self.norm2(tgt)
+        tgt2 = self.linear2(self.dropout(self.activation(self.linear1(tgt))))
+        tgt = tgt + self.dropout3(tgt2)
+        tgt = self.norm3(tgt)
+        return tgt
+
+    def forward_pre(
+        self,
+        tgt,
+        memory,
+        tgt_mask: Optional[Tensor] = None,
+        memory_mask: Optional[Tensor] = None,
+        tgt_key_padding_mask: Optional[Tensor] = None,
+        memory_key_padding_mask: Optional[Tensor] = None,
+        pos: Optional[Tensor] = None,
+        query_pos: Optional[Tensor] = None,
+    ):
+        tgt2 = self.norm1(tgt)
+        q = k = self.with_pos_embed(tgt2, query_pos)
+        tgt2 = self.self_attn(
+            q, k, value=tgt2, attn_mask=tgt_mask, key_padding_mask=tgt_key_padding_mask
+        )[0]
+        tgt = tgt + self.dropout1(tgt2)
+        tgt2 = self.norm2(tgt)
+        tgt2 = self.multihead_attn(
+            query=self.with_pos_embed(tgt2, query_pos),
+            key=self.with_pos_embed(memory, pos),
+            value=memory,
+            attn_mask=memory_mask,
+            key_padding_mask=memory_key_padding_mask,
+        )[0]
+        tgt = tgt + self.dropout2(tgt2)
+        tgt2 = self.norm3(tgt)
+        tgt2 = self.linear2(self.dropout(self.activation(self.linear1(tgt2))))
+        tgt = tgt + self.dropout3(tgt2)
+        return tgt
+
+    def forward(
+        self,
+        tgt,
+        memory,
+        tgt_mask: Optional[Tensor] = None,
+        memory_mask: Optional[Tensor] = None,
+        tgt_key_padding_mask: Optional[Tensor] = None,
+        memory_key_padding_mask: Optional[Tensor] = None,
+        pos: Optional[Tensor] = None,
+        query_pos: Optional[Tensor] = None,
+    ):
+        if self.normalize_before:
+            return self.forward_pre(
+                tgt,
+                memory,
+                tgt_mask,
+                memory_mask,
+                tgt_key_padding_mask,
+                memory_key_padding_mask,
+                pos,
+                query_pos,
+            )
+        return self.forward_post(
+            tgt,
+            memory,
+            tgt_mask,
+            memory_mask,
+            tgt_key_padding_mask,
+            memory_key_padding_mask,
+            pos,
+            query_pos,
+        )
+
+
+def _get_clones(module, N):
+    return nn.ModuleList([copy.deepcopy(module) for i in range(N)])
+
+
+def _get_activation_fn(activation):
+    """Return an activation function given a string"""
+    if activation == "relu":
+        return F.relu
+    if activation == "gelu":
+        return F.gelu
+    if activation == "glu":
+        return F.glu
+    raise RuntimeError(f"activation should be relu/gelu, not {activation}.")
+
+
+def build_attn_mask(mask_type):
+    mask = torch.ones((151, 151), dtype=torch.bool).cuda()
+    if mask_type == "seperate_all":
+        mask[:50, :50] = False
+        mask[50:67, 50:67] = False
+        mask[67:84, 67:84] = False
+        mask[84:101, 84:101] = False
+        mask[101:151, 101:151] = False
+    elif mask_type == "seperate_view":
+        mask[:50, :50] = False
+        mask[50:67, 50:67] = False
+        mask[67:84, 67:84] = False
+        mask[84:101, 84:101] = False
+        mask[101:151, :] = False
+        mask[:, 101:151] = False
+    return mask
+# class InterfuserModel(nn.Module):
+
+class InterfuserModel(nn.Module):
+    def __init__(
+        self,
+        img_size=224,
+        multi_view_img_size=112,
+        patch_size=8,
+        in_chans=3,
+        embed_dim=768,
+        enc_depth=6,
+        dec_depth=6,
+        dim_feedforward=2048,
+        normalize_before=False,
+        rgb_backbone_name="r50",
+        lidar_backbone_name="r50",
+        num_heads=8,
+        norm_layer=None,
+        dropout=0.1,
+        end2end=False,
+        direct_concat=False,
+        separate_view_attention=False,
+        separate_all_attention=False,
+        act_layer=None,
+        weight_init="",
+        freeze_num=-1,
+        with_lidar=False,
+        with_right_left_sensors=False,
+        with_center_sensor=False,
+        traffic_pred_head_type="det",
+        waypoints_pred_head="heatmap",
+        reverse_pos=True,
+        use_different_backbone=False,
+        use_view_embed=False,
+        use_mmad_pretrain=None,
+    ):
+        super().__init__()
+        self.traffic_pred_head_type = traffic_pred_head_type
+        self.num_features = (
+            self.embed_dim
+        ) = embed_dim  # num_features for consistency with other models
+        norm_layer = norm_layer or partial(nn.LayerNorm, eps=1e-6)
+        act_layer = act_layer or nn.GELU
+
+        self.reverse_pos = reverse_pos
+        self.waypoints_pred_head = waypoints_pred_head
+        self.with_lidar = with_lidar
+        self.with_right_left_sensors = with_right_left_sensors
+        self.with_center_sensor = with_center_sensor
+
+        self.direct_concat = direct_concat
+        self.separate_view_attention = separate_view_attention
+        self.separate_all_attention = separate_all_attention
+        self.end2end = end2end
+        self.use_view_embed = use_view_embed
+
+        if self.direct_concat:
+            in_chans = in_chans * 4
+            self.with_center_sensor = False
+            self.with_right_left_sensors = False
+
+        if self.separate_view_attention:
+            self.attn_mask = build_attn_mask("seperate_view")
+        elif self.separate_all_attention:
+            self.attn_mask = build_attn_mask("seperate_all")
+        else:
+            self.attn_mask = None
+
+        if use_different_backbone:
+            if rgb_backbone_name == "r50":
+                self.rgb_backbone = resnet50d(
+                    pretrained=True,
+                    in_chans=in_chans,
+                    features_only=True,
+                    out_indices=[4],
+                )
+            elif rgb_backbone_name == "r26":
+                self.rgb_backbone = resnet26d(
+                    pretrained=True,
+                    in_chans=in_chans,
+                    features_only=True,
+                    out_indices=[4],
+                )
+            elif rgb_backbone_name == "r18":
+                self.rgb_backbone = resnet18d(
+                    pretrained=True,
+                    in_chans=in_chans,
+                    features_only=True,
+                    out_indices=[4],
+                )
+            if lidar_backbone_name == "r50":
+                self.lidar_backbone = resnet50d(
+                    pretrained=False,
+                    in_chans=in_chans,
+                    features_only=True,
+                    out_indices=[4],
+                )
+            elif lidar_backbone_name == "r26":
+                self.lidar_backbone = resnet26d(
+                    pretrained=False,
+                    in_chans=in_chans,
+                    features_only=True,
+                    out_indices=[4],
+                )
+            elif lidar_backbone_name == "r18":
+                self.lidar_backbone = resnet18d(
+                    pretrained=False, in_chans=3, features_only=True, out_indices=[4]
+                )
+            rgb_embed_layer = partial(HybridEmbed, backbone=self.rgb_backbone)
+            lidar_embed_layer = partial(HybridEmbed, backbone=self.lidar_backbone)
+
+            if use_mmad_pretrain:
+                params = torch.load(use_mmad_pretrain)["state_dict"]
+                updated_params = OrderedDict()
+                for key in params:
+                    if "backbone" in key:
+                        updated_params[key.replace("backbone.", "")] = params[key]
+                self.rgb_backbone.load_state_dict(updated_params)
+
+            self.rgb_patch_embed = rgb_embed_layer(
+                img_size=img_size,
+                patch_size=patch_size,
+                in_chans=in_chans,
+                embed_dim=embed_dim,
+            )
+            self.lidar_patch_embed = lidar_embed_layer(
+                img_size=img_size,
+                patch_size=patch_size,
+                in_chans=3,
+                embed_dim=embed_dim,
+            )
+        else:
+            if rgb_backbone_name == "r50":
+                self.rgb_backbone = resnet50d(
+                    pretrained=True, in_chans=3, features_only=True, out_indices=[4]
+                )
+            elif rgb_backbone_name == "r101":
+                self.rgb_backbone = resnet101d(
+                    pretrained=True, in_chans=3, features_only=True, out_indices=[4]
+                )
+            elif rgb_backbone_name == "r26":
+                self.rgb_backbone = resnet26d(
+                    pretrained=True, in_chans=3, features_only=True, out_indices=[4]
+                )
+            elif rgb_backbone_name == "r18":
+                self.rgb_backbone = resnet18d(
+                    pretrained=True, in_chans=3, features_only=True, out_indices=[4]
+                )
+            embed_layer = partial(HybridEmbed, backbone=self.rgb_backbone)
+
+            self.rgb_patch_embed = embed_layer(
+                img_size=img_size,
+                patch_size=patch_size,
+                in_chans=in_chans,
+                embed_dim=embed_dim,
+            )
+            self.lidar_patch_embed = embed_layer(
+                img_size=img_size,
+                patch_size=patch_size,
+                in_chans=in_chans,
+                embed_dim=embed_dim,
+            )
+
+        self.global_embed = nn.Parameter(torch.zeros(1, embed_dim, 5))
+        self.view_embed = nn.Parameter(torch.zeros(1, embed_dim, 5, 1))
+
+        if self.end2end:
+            self.query_pos_embed = nn.Parameter(torch.zeros(1, embed_dim, 4))
+            self.query_embed = nn.Parameter(torch.zeros(4, 1, embed_dim))
+        elif self.waypoints_pred_head == "heatmap":
+            self.query_pos_embed = nn.Parameter(torch.zeros(1, embed_dim, 5))
+            self.query_embed = nn.Parameter(torch.zeros(400 + 5, 1, embed_dim))
+        else:
+            self.query_pos_embed = nn.Parameter(torch.zeros(1, embed_dim, 11))
+            self.query_embed = nn.Parameter(torch.zeros(400 + 11, 1, embed_dim))
+
+        if self.end2end:
+            self.waypoints_generator = GRUWaypointsPredictor(embed_dim, 4)
+        elif self.waypoints_pred_head == "heatmap":
+            self.waypoints_generator = MultiPath_Generator(
+                embed_dim + 32, embed_dim, 10
+            )
+        elif self.waypoints_pred_head == "gru":
+            self.waypoints_generator = GRUWaypointsPredictor(embed_dim)
+        elif self.waypoints_pred_head == "gru-command":
+            self.waypoints_generator = GRUWaypointsPredictorWithCommand(embed_dim)
+        elif self.waypoints_pred_head == "linear":
+            self.waypoints_generator = LinearWaypointsPredictor(embed_dim)
+        elif self.waypoints_pred_head == "linear-sum":
+            self.waypoints_generator = LinearWaypointsPredictor(embed_dim, cumsum=True)
+
+        self.junction_pred_head = nn.Linear(embed_dim, 2)
+        self.traffic_light_pred_head = nn.Linear(embed_dim, 2)
+        self.stop_sign_head = nn.Linear(embed_dim, 2)
+
+        if self.traffic_pred_head_type == "det":
+            self.traffic_pred_head = nn.Sequential(
+                *[
+                    nn.Linear(embed_dim + 32, 64),
+                    nn.ReLU(),
+                    nn.Linear(64, 7),
+                    # nn.Sigmoid(),
+                ]
+            )
+        elif self.traffic_pred_head_type == "seg":
+            self.traffic_pred_head = nn.Sequential(
+                *[nn.Linear(embed_dim, 64), nn.ReLU(), nn.Linear(64, 1), nn.Sigmoid()]
+            )
+
+        self.position_encoding = PositionEmbeddingSine(embed_dim // 2, normalize=True)
+
+        encoder_layer = TransformerEncoderLayer(
+            embed_dim, num_heads, dim_feedforward, dropout, act_layer, normalize_before
+        )
+        self.encoder = TransformerEncoder(encoder_layer, enc_depth, None)
+
+        decoder_layer = TransformerDecoderLayer(
+            embed_dim, num_heads, dim_feedforward, dropout, act_layer, normalize_before
+        )
+        decoder_norm = nn.LayerNorm(embed_dim)
+        self.decoder = TransformerDecoder(
+            decoder_layer, dec_depth, decoder_norm, return_intermediate=False
+        )
+        self.reset_parameters()
+
+    def reset_parameters(self):
+        nn.init.uniform_(self.global_embed)
+        nn.init.uniform_(self.view_embed)
+        nn.init.uniform_(self.query_embed)
+        nn.init.uniform_(self.query_pos_embed)
+
+    def forward_features(
+        self,
+        front_image,
+        left_image,
+        right_image,
+        front_center_image,
+        lidar,
+        measurements,
+    ):
+        features = []
+
+        # Front view processing
+        front_image_token, front_image_token_global = self.rgb_patch_embed(front_image)
+        if self.use_view_embed:
+            front_image_token = (
+                front_image_token
+                + self.view_embed[:, :, 0:1, :]
+                + self.position_encoding(front_image_token)
+            )
+        else:
+            front_image_token = front_image_token + self.position_encoding(
+                front_image_token
+            )
+        front_image_token = front_image_token.flatten(2).permute(2, 0, 1)
+        front_image_token_global = (
+            front_image_token_global
+            + self.view_embed[:, :, 0, :]
+            + self.global_embed[:, :, 0:1]
+        )
+        front_image_token_global = front_image_token_global.permute(2, 0, 1)
+        features.extend([front_image_token, front_image_token_global])
+
+        if self.with_right_left_sensors:
+            # Left view processing
+            left_image_token, left_image_token_global = self.rgb_patch_embed(left_image)
+            if self.use_view_embed:
+                left_image_token = (
+                    left_image_token
+                    + self.view_embed[:, :, 1:2, :]
+                    + self.position_encoding(left_image_token)
+                )
+            else:
+                left_image_token = left_image_token + self.position_encoding(
+                    left_image_token
+                )
+            left_image_token = left_image_token.flatten(2).permute(2, 0, 1)
+            left_image_token_global = (
+                left_image_token_global
+                + self.view_embed[:, :, 1, :]
+                + self.global_embed[:, :, 1:2]
+            )
+            left_image_token_global = left_image_token_global.permute(2, 0, 1)
+
+            # Right view processing
+            right_image_token, right_image_token_global = self.rgb_patch_embed(
+                right_image
+            )
+            if self.use_view_embed:
+                right_image_token = (
+                    right_image_token
+                    + self.view_embed[:, :, 2:3, :]
+                    + self.position_encoding(right_image_token)
+                )
+            else:
+                right_image_token = right_image_token + self.position_encoding(
+                    right_image_token
+                )
+            right_image_token = right_image_token.flatten(2).permute(2, 0, 1)
+            right_image_token_global = (
+                right_image_token_global
+                + self.view_embed[:, :, 2, :]
+                + self.global_embed[:, :, 2:3]
+            )
+            right_image_token_global = right_image_token_global.permute(2, 0, 1)
+
+            features.extend(
+                [
+                    left_image_token,
+                    left_image_token_global,
+                    right_image_token,
+                    right_image_token_global,
+                ]
+            )
+
+        if self.with_center_sensor:
+            # Front center view processing
+            (
+                front_center_image_token,
+                front_center_image_token_global,
+            ) = self.rgb_patch_embed(front_center_image)
+            if self.use_view_embed:
+                front_center_image_token = (
+                    front_center_image_token
+                    + self.view_embed[:, :, 3:4, :]
+                    + self.position_encoding(front_center_image_token)
+                )
+            else:
+                front_center_image_token = (
+                    front_center_image_token
+                    + self.position_encoding(front_center_image_token)
+                )
+
+            front_center_image_token = front_center_image_token.flatten(2).permute(
+                2, 0, 1
+            )
+            front_center_image_token_global = (
+                front_center_image_token_global
+                + self.view_embed[:, :, 3, :]
+                + self.global_embed[:, :, 3:4]
+            )
+            front_center_image_token_global = front_center_image_token_global.permute(
+                2, 0, 1
+            )
+            features.extend([front_center_image_token, front_center_image_token_global])
+
+        if self.with_lidar:
+            lidar_token, lidar_token_global = self.lidar_patch_embed(lidar)
+            if self.use_view_embed:
+                lidar_token = (
+                    lidar_token
+                    + self.view_embed[:, :, 4:5, :]
+                    + self.position_encoding(lidar_token)
+                )
+            else:
+                lidar_token = lidar_token + self.position_encoding(lidar_token)
+            lidar_token = lidar_token.flatten(2).permute(2, 0, 1)
+            lidar_token_global = (
+                lidar_token_global
+                + self.view_embed[:, :, 4, :]
+                + self.global_embed[:, :, 4:5]
+            )
+            lidar_token_global = lidar_token_global.permute(2, 0, 1)
+            features.extend([lidar_token, lidar_token_global])
+
+        features = torch.cat(features, 0)
+        return features
+
+    def forward(self, x):
+        front_image = x["rgb"]
+        left_image = x["rgb_left"]
+        right_image = x["rgb_right"]
+        front_center_image = x["rgb_center"]
+        measurements = x["measurements"]
+        target_point = x["target_point"]
+        lidar = x["lidar"]
+
+        if self.direct_concat:
+            img_size = front_image.shape[-1]
+            left_image = torch.nn.functional.interpolate(
+                left_image, size=(img_size, img_size)
+            )
+            right_image = torch.nn.functional.interpolate(
+                right_image, size=(img_size, img_size)
+            )
+            front_center_image = torch.nn.functional.interpolate(
+                front_center_image, size=(img_size, img_size)
+            )
+            front_image = torch.cat(
+                [front_image, left_image, right_image, front_center_image], dim=1
+            )
+        features = self.forward_features(
+            front_image,
+            left_image,
+            right_image,
+            front_center_image,
+            lidar,
+            measurements,
+        )
+
+        bs = front_image.shape[0]
+
+        if self.end2end:
+            tgt = self.query_pos_embed.repeat(bs, 1, 1)
+        else:
+            tgt = self.position_encoding(
+                torch.ones((bs, 1, 20, 20), device=x["rgb"].device)
+            )
+            tgt = tgt.flatten(2)
+            tgt = torch.cat([tgt, self.query_pos_embed.repeat(bs, 1, 1)], 2)
+        tgt = tgt.permute(2, 0, 1)
+
+        memory = self.encoder(features, mask=self.attn_mask)
+        hs = self.decoder(self.query_embed.repeat(1, bs, 1), memory, query_pos=tgt)[0]
+
+        hs = hs.permute(1, 0, 2)  # Batchsize ,  N, C
+        if self.end2end:
+            waypoints = self.waypoints_generator(hs, target_point)
+            return waypoints
+
+        if self.waypoints_pred_head != "heatmap":
+            traffic_feature = hs[:, :400]
+            is_junction_feature = hs[:, 400]
+            traffic_light_state_feature = hs[:, 400]
+            stop_sign_feature = hs[:, 400]
+            waypoints_feature = hs[:, 401:411]
+        else:
+            traffic_feature = hs[:, :400]
+            is_junction_feature = hs[:, 400]
+            traffic_light_state_feature = hs[:, 400]
+            stop_sign_feature = hs[:, 400]
+            waypoints_feature = hs[:, 401:405]
+
+        if self.waypoints_pred_head == "heatmap":
+            waypoints = self.waypoints_generator(waypoints_feature, measurements)
+        elif self.waypoints_pred_head == "gru":
+            waypoints = self.waypoints_generator(waypoints_feature, target_point)
+        elif self.waypoints_pred_head == "gru-command":
+            waypoints = self.waypoints_generator(waypoints_feature, target_point, measurements)
+        elif self.waypoints_pred_head == "linear":
+            waypoints = self.waypoints_generator(waypoints_feature, measurements)
+        elif self.waypoints_pred_head == "linear-sum":
+            waypoints = self.waypoints_generator(waypoints_feature, measurements)
+
+        is_junction = self.junction_pred_head(is_junction_feature)
+        traffic_light_state = self.traffic_light_pred_head(traffic_light_state_feature)
+        stop_sign = self.stop_sign_head(stop_sign_feature)
+
+        velocity = measurements[:, 6:7].unsqueeze(-1)
+        velocity = velocity.repeat(1, 400, 32)
+        traffic_feature_with_vel = torch.cat([traffic_feature, velocity], dim=2)
+        traffic = self.traffic_pred_head(traffic_feature_with_vel)
+        return traffic, waypoints, is_junction, traffic_light_state, stop_sign, traffic_feature
+    def load_pretrained(self, model_path, strict=False):
+        """
+        تحميل الأوزان المدربة مسبقاً - نسخة محسنة
+        
+        Args:
+            model_path (str): مسار ملف الأوزان
+            strict (bool): إذا كان True، يتطلب تطابق تام للمفاتيح
+        """
+        if not model_path or not Path(model_path).exists():
+            logging.warning(f"ملف الأوزان غير موجود: {model_path}")
+            logging.info("سيتم استخدام أوزان عشوائية")
+            return False
+            
+        try:
+            logging.info(f"محاولة تحميل الأوزان من: {model_path}")
+            
+            # تحميل الملف مع معالجة أنواع مختلفة من ملفات الحفظ
+            checkpoint = torch.load(model_path, map_location='cpu', weights_only=False)
+            
+            # استخراج state_dict من أنواع مختلفة من ملفات الحفظ
+            if isinstance(checkpoint, dict):
+                if 'model_state_dict' in checkpoint:
+                    state_dict = checkpoint['model_state_dict']
+                    logging.info("تم العثور على 'model_state_dict' في الملف")
+                elif 'state_dict' in checkpoint:
+                    state_dict = checkpoint['state_dict']
+                    logging.info("تم العثور على 'state_dict' في الملف")
+                elif 'model' in checkpoint:
+                    state_dict = checkpoint['model']
+                    logging.info("تم العثور على 'model' في الملف")
+                else:
+                    state_dict = checkpoint
+                    logging.info("استخدام الملف كـ state_dict مباشرة")
+            else:
+                state_dict = checkpoint
+                logging.info("استخدام الملف كـ state_dict مباشرة")
+            
+            # تنظيف أسماء المفاتيح (إزالة 'module.' إذا كانت موجودة)
+            clean_state_dict = OrderedDict()
+            for k, v in state_dict.items():
+                # إزالة 'module.' من بداية اسم المفتاح إذا كان موجوداً
+                clean_key = k[7:] if k.startswith('module.') else k
+                clean_state_dict[clean_key] = v
+            
+            # تحميل الأوزان
+            missing_keys, unexpected_keys = self.load_state_dict(clean_state_dict, strict=strict)
+            
+            # تقرير حالة التحميل
+            if missing_keys:
+                logging.warning(f"مفاتيح مفقودة ({len(missing_keys)}): {missing_keys[:5]}..." if len(missing_keys) > 5 else f"مفاتيح مفقودة: {missing_keys}")
+            
+            if unexpected_keys:
+                logging.warning(f"مفاتيح غير متوقعة ({len(unexpected_keys)}): {unexpected_keys[:5]}..." if len(unexpected_keys) > 5 else f"مفاتيح غير متوقعة: {unexpected_keys}")
+            
+            if not missing_keys and not unexpected_keys:
+                logging.info("✅ تم تحميل جميع الأوزان بنجاح تام")
+            elif not strict:
+                logging.info("✅ تم تحميل الأوزان بنجاح (مع تجاهل عدم التطابق)")
+            
+            return True
+            
+        except Exception as e:
+            logging.error(f"❌ خطأ في تحميل الأوزان: {str(e)}")
+            logging.info("سيتم استخدام أوزان عشوائية")
+            return False
+
+
+# ============================================================================
+# دوال مساعدة لتحميل النموذج
+# ============================================================================
+
+def load_and_prepare_model(config, device):
+    """
+    يقوم بإنشاء النموذج وتحميل الأوزان المدربة مسبقًا.
+    
+    Args:
+        config (dict): إعدادات النموذج والمسارات
+        device (torch.device): الجهاز المستهدف (CPU/GPU)
+    
+    Returns:
+        InterfuserModel: النموذج المحمل
+    """
+    try:
+        # إنشاء النموذج
+        model = InterfuserModel(**config.get('model_params', {})).to(device)
+        logging.info(f"تم إنشاء النموذج على الجهاز: {device}")
+        
+        # تحميل الأوزان إذا كان المسار محدد
+        checkpoint_path = config.get('paths', {}).get('pretrained_weights')
+        if checkpoint_path:
+            success = model.load_pretrained(checkpoint_path, strict=False)
+            if success:
+                logging.info("✅ تم تحميل النموذج والأوزان بنجاح")
+            else:
+                logging.warning("⚠️ تم إنشاء النموذج بأوزان عشوائية")
+        else:
+            logging.info("لم يتم تحديد مسار الأوزان، سيتم استخدام أوزان عشوائية")
+        
+        # وضع النموذج في وضع التقييم
+        model.eval()
+        
+        return model
+        
+    except Exception as e:
+        logging.error(f"خطأ في إنشاء النموذج: {str(e)}")
+        raise
+
+
+def create_model_config(model_path="model/best_model.pth", **model_params):
+    """
+    إنشاء إعدادات النموذج باستخدام الإعدادات الصحيحة من التدريب
+    
+    Args:
+        model_path (str): مسار ملف الأوزان
+        **model_params: معاملات النموذج الإضافية
+    
+    Returns:
+        dict: إعدادات النموذج
+    """
+    # الإعدادات الصحيحة من كونفيج التدريب الأصلي
+    training_config_params = {
+        "img_size": 224,
+        "embed_dim": 256,  # مهم: هذه القيمة من التدريب الأصلي
+        "enc_depth": 6,
+        "dec_depth": 6,
+        "rgb_backbone_name": 'r50',
+        "lidar_backbone_name": 'r18',
+        "waypoints_pred_head": 'gru',
+        "use_different_backbone": True,
+        "with_lidar": False,
+        "with_right_left_sensors": False,
+        "with_center_sensor": False,
+        
+        # إعدادات إضافية من الكونفيج الأصلي
+        "multi_view_img_size": 112,
+        "patch_size": 8,
+        "in_chans": 3,
+        "dim_feedforward": 2048,
+        "normalize_before": False,
+        "num_heads": 8,
+        "dropout": 0.1,
+        "end2end": False,
+        "direct_concat": False,
+        "separate_view_attention": False,
+        "separate_all_attention": False,
+        "freeze_num": -1,
+        "traffic_pred_head_type": "det",
+        "reverse_pos": True,
+        "use_view_embed": False,
+        "use_mmad_pretrain": None,
+    }
+    
+    # دمج المعاملات المخصصة مع الإعدادات من التدريب
+    training_config_params.update(model_params)
+    
+    config = {
+        'model_params': training_config_params,
+        'paths': {
+            'pretrained_weights': model_path
+        },
+        
+        # إضافة إعدادات الشبكة من التدريب
+        'grid_conf': {
+            'h': 20, 'w': 20,
+            'x_res': 1.0, 'y_res': 1.0,
+            'y_min': 0.0, 'y_max': 20.0,
+            'x_min': -10.0, 'x_max': 10.0,
+        },
+        
+        # معلومات إضافية عن التدريب
+        'training_info': {
+            'original_project': 'Interfuser_Finetuning',
+            'run_name': 'Finetune_Focus_on_Detection_v5',
+            'focus': 'traffic_detection_and_iou',
+            'backbone': 'ResNet50 + ResNet18',
+            'trained_on': 'PDM_Lite_Carla'
+        }
+    }
+    
+    return config
+
+
+def get_training_config():
+    """
+    إرجاع إعدادات التدريب الأصلية للمرجع
+    هذه الإعدادات توضح كيف تم تدريب النموذج
+    """
+    return {
+        'project_info': {
+            'project': 'Interfuser_Finetuning',
+            'entity': None,
+            'run_name': 'Finetune_Focus_on_Detection_v5'
+        },
+        'training': {
+            'epochs': 50,
+            'batch_size': 8,
+            'num_workers': 2,
+            'learning_rate': 1e-4,  # معدل تعلم منخفض للـ Fine-tuning
+            'weight_decay': 1e-2,
+            'patience': 15,
+            'clip_grad_norm': 1.0,
+        },
+        'loss_weights': {
+            'iou': 2.0,              # أولوية قصوى لدقة الصناديق
+            'traffic_map': 25.0,     # تركيز عالي على اكتشاف الكائنات
+            'waypoints': 1.0,        # مرجع أساسي
+            'junction': 0.25,        # مهام متقنة بالفعل
+            'traffic_light': 0.5,
+            'stop_sign': 0.25,
+        },
+        'data_split': {
+            'strategy': 'interleaved',
+            'segment_length': 100,
+            'validation_frequency': 10,
+        },
+        'transforms': {
+            'use_data_augmentation': False,  # معطل للتركيز على البيانات الأصلية
+        }
+    }