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- LB5s1/args.txt +97 -0
- LB5s1/config.json +762 -0
- LB5s1/events.out.tfevents.1747262517.idun-01-06.4082121.0 +3 -0
- LB5s1/model_0030.pth +3 -0
- LB5s1/optimizer_0030.pth +3 -0
- LB5s1/scaler_0030.pth +3 -0
- LB5s1/scheduler_0030.pth +3 -0
- static-LB5s1-large/args.txt +97 -0
- static-LB5s1-large/config.json +762 -0
- static-LB5s1-large/events.out.tfevents.1748913269.idun-01-03.1386931.0 +3 -0
- static-LB5s1-large/model_0006.pth +3 -0
- static-LB5s1-large/model_0014.pth +3 -0
- static-LB5s1-large/model_0030.pth +3 -0
- static-LB5s1-large/optimizer_0006.pth +3 -0
- static-LB5s1-large/optimizer_0014.pth +3 -0
- static-LB5s1-large/optimizer_0030.pth +3 -0
- static-LB5s1-large/scaler_0006.pth +3 -0
- static-LB5s1-large/scaler_0014.pth +3 -0
- static-LB5s1-large/scaler_0030.pth +3 -0
- static-LB5s1-large/scheduler_0006.pth +3 -0
- static-LB5s1-large/scheduler_0014.pth +3 -0
- static-LB5s1-large/scheduler_0030.pth +3 -0
- static-LB5s1-noprune/args.txt +97 -0
- static-LB5s1-noprune/config.json +762 -0
- static-LB5s1-noprune/events.out.tfevents.1749290589.idun-01-05.2990162.0 +3 -0
- static-LB5s1-noprune/model_0006.pth +3 -0
- static-LB5s1-noprune/model_0014.pth +3 -0
- static-LB5s1-noprune/model_0030.pth +3 -0
- static-LB5s1-noprune/optimizer_0006.pth +3 -0
- static-LB5s1-noprune/optimizer_0014.pth +3 -0
- static-LB5s1-noprune/optimizer_0030.pth +3 -0
- static-LB5s1-noprune/scaler_0006.pth +3 -0
- static-LB5s1-noprune/scaler_0014.pth +3 -0
- static-LB5s1-noprune/scaler_0030.pth +3 -0
- static-LB5s1-noprune/scheduler_0006.pth +3 -0
- static-LB5s1-noprune/scheduler_0014.pth +3 -0
- static-LB5s1-noprune/scheduler_0030.pth +3 -0
- static-LB5s1-notraj/args.txt +97 -0
- static-LB5s1-notraj/config.json +762 -0
- static-LB5s1-notraj/events.out.tfevents.1749400099.idun-06-03.1625207.0 +3 -0
- static-LB5s1-notraj/model_0006.pth +3 -0
- static-LB5s1-notraj/model_0014.pth +3 -0
- static-LB5s1-notraj/model_0030.pth +3 -0
- static-LB5s1-notraj/optimizer_0006.pth +3 -0
- static-LB5s1-notraj/optimizer_0014.pth +3 -0
- static-LB5s1-notraj/optimizer_0030.pth +3 -0
- static-LB5s1-notraj/scaler_0006.pth +3 -0
- static-LB5s1-notraj/scaler_0014.pth +3 -0
- static-LB5s1-notraj/scaler_0030.pth +3 -0
- static-LB5s1-notraj/scheduler_0006.pth +3 -0
LB5s1/args.txt
ADDED
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@@ -0,0 +1,97 @@
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{
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| 2 |
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"id": "v2/LB9s1",
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| 3 |
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"epochs": 31,
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| 4 |
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"lr": 0.0003,
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| 5 |
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"batch_size": 8,
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| 6 |
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"logdir": "/cluster/work/andrebw/repos/temporal_garage/results/training/v2/LB9s1",
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| 7 |
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"load_file": "/cluster/work/andrebw/repos/temporal_garage/results/training/tfpp_base/model_0030.pth",
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| 8 |
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"setting": "13_withheld",
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| 9 |
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"root_dir": [
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| 10 |
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"/cluster/work/andrebw/repos/temporal_garage/results/data/garage_v2/data"
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| 11 |
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],
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| 12 |
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"schedule_reduce_epoch_01": 30,
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| 13 |
+
"schedule_reduce_epoch_02": 40,
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| 14 |
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"backbone": "transFuser",
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| 15 |
+
"image_architecture": "regnety_032",
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| 16 |
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"lidar_architecture": "regnety_032",
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| 17 |
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"use_velocity": 1,
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| 18 |
+
"n_layer": 2,
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| 19 |
+
"val_every": 10,
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| 20 |
+
"sync_batch_norm": 0,
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| 21 |
+
"zero_redundancy_optimizer": 1,
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| 22 |
+
"use_disk_cache": 1,
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| 23 |
+
"realign_lidar": 1,
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| 24 |
+
"use_ground_plane": 0,
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| 25 |
+
"use_controller_input_prediction": 1,
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| 26 |
+
"use_wp_gru": 0,
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| 27 |
+
"pred_len": 8,
|
| 28 |
+
"estimate_class_distributions": 0,
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| 29 |
+
"use_focal_loss": 0,
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| 30 |
+
"use_cosine_schedule": 1,
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| 31 |
+
"augment": 1,
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| 32 |
+
"use_plant": 0,
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| 33 |
+
"learn_origin": 1,
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| 34 |
+
"local_rank": -999,
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| 35 |
+
"train_sampling_rate": 1,
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| 36 |
+
"use_amp": 0,
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| 37 |
+
"use_grad_clip": 0,
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| 38 |
+
"use_color_aug": 1,
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| 39 |
+
"use_semantic": 1,
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| 40 |
+
"use_depth": 1,
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| 41 |
+
"detect_boxes": 1,
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| 42 |
+
"use_bev_semantic": 1,
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| 43 |
+
"estimate_semantic_distribution": 0,
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| 44 |
+
"use_discrete_command": 1,
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| 45 |
+
"gru_hidden_size": 64,
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| 46 |
+
"use_cutout": 0,
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| 47 |
+
"add_features": 1,
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| 48 |
+
"freeze_backbone": 0,
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| 49 |
+
"learn_multi_task_weights": 0,
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| 50 |
+
"transformer_decoder_join": 1,
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| 51 |
+
"bev_down_sample_factor": 4,
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| 52 |
+
"perspective_downsample_factor": 1,
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| 53 |
+
"gru_input_size": 256,
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| 54 |
+
"num_repetitions": 1,
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| 55 |
+
"bev_grid_height_downsample_factor": 1,
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| 56 |
+
"wp_dilation": 1,
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| 57 |
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"use_tp": 1,
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| 58 |
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"continue_epoch": 0,
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| 59 |
+
"max_height_lidar": 100.0,
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| 60 |
+
"smooth_route": 1,
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| 61 |
+
"use_speed_weights": 0,
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| 62 |
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"max_num_bbs": 30,
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| 63 |
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"use_optim_groups": 0,
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| 64 |
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"weight_decay": 0.01,
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| 65 |
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"use_label_smoothing": 0,
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| 66 |
+
"cpu_cores": 24,
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| 67 |
+
"tp_attention": 0,
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| 68 |
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"multi_wp_output": 0,
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| 69 |
+
"seed": 0,
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| 70 |
+
"crop_image": 1,
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| 71 |
+
"input_path_to_target_speed_network": 0,
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| 72 |
+
"predict_checkpoint_len": 10,
|
| 73 |
+
"max_x": 32,
|
| 74 |
+
"crop_bev_height_only_from_behind": 0,
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| 75 |
+
"lidar_resolution_height": 256,
|
| 76 |
+
"dataset_cache_name": "dataset_cache",
|
| 77 |
+
"cosine_t0": 1,
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| 78 |
+
"compile": 0,
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| 79 |
+
"compile_mode": "default",
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| 80 |
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"seq_len": 5,
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| 81 |
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"seq_step": 1,
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| 82 |
+
"lidar_seq_len": 1,
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| 83 |
+
"lidar_step_size": 1,
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| 84 |
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"validation": true,
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| 85 |
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"use_temporal_fusion": 1,
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| 86 |
+
"temporal_fusion_layers": 4,
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| 87 |
+
"temporal_fusion_heads": 4,
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| 88 |
+
"use_recurrent_training": 1,
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| 89 |
+
"use_temporal_self_attn": 0,
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| 90 |
+
"use_trajectory_prediction": 1,
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| 91 |
+
"trajectory_loss_type": "huber",
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| 92 |
+
"use_trajectory_target_speed_mask": 1,
|
| 93 |
+
"trajectory_pred_len": 6,
|
| 94 |
+
"trajectory_step_size": 2,
|
| 95 |
+
"trajectory_decoder_layers": 1,
|
| 96 |
+
"trajectory_modes": 6
|
| 97 |
+
}
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LB5s1/config.json
ADDED
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@@ -0,0 +1,762 @@
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|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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| 19 |
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],
|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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| 24 |
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|
| 25 |
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| 26 |
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| 27 |
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| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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| 41 |
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|
| 42 |
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|
| 43 |
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[
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| 44 |
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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|
| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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| 58 |
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| 59 |
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| 60 |
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| 61 |
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| 62 |
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| 63 |
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| 64 |
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| 65 |
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| 66 |
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157
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| 67 |
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| 68 |
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| 69 |
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| 70 |
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| 71 |
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| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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| 77 |
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| 78 |
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| 79 |
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| 80 |
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| 84 |
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| 88 |
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| 90 |
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2,
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| 111 |
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| 113 |
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| 114 |
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| 129 |
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|
| 130 |
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|
| 131 |
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| 132 |
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|
| 133 |
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| 134 |
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| 135 |
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| 136 |
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| 137 |
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| 138 |
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| 139 |
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| 147 |
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]
|
| 148 |
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},
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| 149 |
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| 150 |
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|
| 151 |
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|
| 152 |
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| 153 |
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|
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0.0,
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| 155 |
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2.0
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| 156 |
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],
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| 157 |
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| 158 |
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| 159 |
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| 160 |
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| 161 |
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],
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| 162 |
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| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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| 171 |
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|
| 172 |
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|
| 173 |
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| 174 |
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| 175 |
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| 176 |
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| 177 |
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0
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| 178 |
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| 179 |
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| 180 |
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| 181 |
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| 182 |
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| 183 |
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| 185 |
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| 190 |
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| 211 |
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|
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|
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|
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|
| 252 |
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|
| 253 |
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|
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| 256 |
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| 93 |
+
"trajectory_pred_len": 6,
|
| 94 |
+
"trajectory_step_size": 2,
|
| 95 |
+
"trajectory_decoder_layers": 2,
|
| 96 |
+
"trajectory_modes": 6
|
| 97 |
+
}
|
static-LB5s1-large/config.json
ADDED
|
@@ -0,0 +1,762 @@
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|
| 1 |
+
{
|
| 2 |
+
"add_after_accident_two_ways": -15,
|
| 3 |
+
"add_after_construction_obstacle_two_ways": 15,
|
| 4 |
+
"add_after_parked_obstacle_two_ways": -5,
|
| 5 |
+
"add_after_vehicle_opens_door_two_ways": -20,
|
| 6 |
+
"add_before_accident_two_ways": -15,
|
| 7 |
+
"add_before_construction_obstacle_two_ways": 15,
|
| 8 |
+
"add_before_parked_obstacle_two_ways": -5,
|
| 9 |
+
"add_before_vehicle_opens_door_two_ways": -20,
|
| 10 |
+
"add_features": 1,
|
| 11 |
+
"aim_distance_fast": 3.0,
|
| 12 |
+
"aim_distance_slow": 2.25,
|
| 13 |
+
"aim_distance_threshold": 5.5,
|
| 14 |
+
"angle_bins": [
|
| 15 |
+
-0.375,
|
| 16 |
+
-0.125,
|
| 17 |
+
0.125,
|
| 18 |
+
0.375
|
| 19 |
+
],
|
| 20 |
+
"angle_weights": [
|
| 21 |
+
204.25901201602136,
|
| 22 |
+
7.554315623148331,
|
| 23 |
+
0.21388916461734406,
|
| 24 |
+
5.476446162657503,
|
| 25 |
+
207.86684782608697
|
| 26 |
+
],
|
| 27 |
+
"angles": [
|
| 28 |
+
-0.5,
|
| 29 |
+
-0.25,
|
| 30 |
+
0.0,
|
| 31 |
+
0.25,
|
| 32 |
+
0.5
|
| 33 |
+
],
|
| 34 |
+
"attn_pdrop": 0.1,
|
| 35 |
+
"augment": 1,
|
| 36 |
+
"augment_percentage": 0.5,
|
| 37 |
+
"backbone": "transFuser",
|
| 38 |
+
"batch_size": 8,
|
| 39 |
+
"bb_confidence_threshold": 0.3,
|
| 40 |
+
"bb_input_channel": 64,
|
| 41 |
+
"bb_save_radius": 64.0,
|
| 42 |
+
"bev_classes_list": [
|
| 43 |
+
[
|
| 44 |
+
0,
|
| 45 |
+
0,
|
| 46 |
+
0
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
200,
|
| 50 |
+
200,
|
| 51 |
+
200
|
| 52 |
+
],
|
| 53 |
+
[
|
| 54 |
+
255,
|
| 55 |
+
255,
|
| 56 |
+
255
|
| 57 |
+
],
|
| 58 |
+
[
|
| 59 |
+
255,
|
| 60 |
+
255,
|
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static-LB5s1-large/events.out.tfevents.1748913269.idun-01-03.1386931.0
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static-LB5s1-large/model_0006.pth
ADDED
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ADDED
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static-LB5s1-large/model_0030.pth
ADDED
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static-LB5s1-large/optimizer_0006.pth
ADDED
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static-LB5s1-large/optimizer_0014.pth
ADDED
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static-LB5s1-large/optimizer_0030.pth
ADDED
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static-LB5s1-large/scaler_0006.pth
ADDED
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static-LB5s1-large/scaler_0014.pth
ADDED
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static-LB5s1-large/scaler_0030.pth
ADDED
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version https://git-lfs.github.com/spec/v1
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static-LB5s1-large/scheduler_0006.pth
ADDED
|
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static-LB5s1-large/scheduler_0014.pth
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 1084
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static-LB5s1-large/scheduler_0030.pth
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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|
| 3 |
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size 1084
|
static-LB5s1-noprune/args.txt
ADDED
|
@@ -0,0 +1,97 @@
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
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|
|
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|
|
|
|
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|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
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|
|
|
|
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
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|
|
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|
|
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|
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|
| 1 |
+
{
|
| 2 |
+
"id": "v2/static-LB5s1-noprune",
|
| 3 |
+
"epochs": 31,
|
| 4 |
+
"lr": 0.0003,
|
| 5 |
+
"batch_size": 8,
|
| 6 |
+
"logdir": "/cluster/work/andrebw/repos/temporal_garage/results/training/v2/static-LB5s1-noprune",
|
| 7 |
+
"load_file": "/cluster/work/andrebw/repos/temporal_garage/results/training/tfpp_base/model_0030.pth",
|
| 8 |
+
"setting": "13_withheld",
|
| 9 |
+
"root_dir": [
|
| 10 |
+
"/cluster/work/andrebw/repos/temporal_garage/results/data/leaderboard_2/data"
|
| 11 |
+
],
|
| 12 |
+
"schedule_reduce_epoch_01": 30,
|
| 13 |
+
"schedule_reduce_epoch_02": 40,
|
| 14 |
+
"backbone": "transFuser",
|
| 15 |
+
"image_architecture": "regnety_032",
|
| 16 |
+
"lidar_architecture": "regnety_032",
|
| 17 |
+
"use_velocity": 1,
|
| 18 |
+
"n_layer": 2,
|
| 19 |
+
"val_every": 10,
|
| 20 |
+
"sync_batch_norm": 0,
|
| 21 |
+
"zero_redundancy_optimizer": 1,
|
| 22 |
+
"use_disk_cache": 1,
|
| 23 |
+
"realign_lidar": 1,
|
| 24 |
+
"use_ground_plane": 0,
|
| 25 |
+
"use_controller_input_prediction": 1,
|
| 26 |
+
"use_wp_gru": 0,
|
| 27 |
+
"pred_len": 8,
|
| 28 |
+
"estimate_class_distributions": 0,
|
| 29 |
+
"use_focal_loss": 0,
|
| 30 |
+
"use_cosine_schedule": 1,
|
| 31 |
+
"augment": 1,
|
| 32 |
+
"use_plant": 0,
|
| 33 |
+
"learn_origin": 1,
|
| 34 |
+
"local_rank": -999,
|
| 35 |
+
"train_sampling_rate": 1,
|
| 36 |
+
"use_amp": 0,
|
| 37 |
+
"use_grad_clip": 0,
|
| 38 |
+
"use_color_aug": 1,
|
| 39 |
+
"use_semantic": 1,
|
| 40 |
+
"use_depth": 1,
|
| 41 |
+
"detect_boxes": 1,
|
| 42 |
+
"use_bev_semantic": 1,
|
| 43 |
+
"estimate_semantic_distribution": 0,
|
| 44 |
+
"use_discrete_command": 1,
|
| 45 |
+
"gru_hidden_size": 64,
|
| 46 |
+
"use_cutout": 0,
|
| 47 |
+
"add_features": 1,
|
| 48 |
+
"freeze_backbone": 0,
|
| 49 |
+
"learn_multi_task_weights": 0,
|
| 50 |
+
"transformer_decoder_join": 1,
|
| 51 |
+
"bev_down_sample_factor": 4,
|
| 52 |
+
"perspective_downsample_factor": 1,
|
| 53 |
+
"gru_input_size": 256,
|
| 54 |
+
"num_repetitions": 1,
|
| 55 |
+
"bev_grid_height_downsample_factor": 1,
|
| 56 |
+
"wp_dilation": 1,
|
| 57 |
+
"use_tp": 1,
|
| 58 |
+
"continue_epoch": 0,
|
| 59 |
+
"max_height_lidar": 100.0,
|
| 60 |
+
"smooth_route": 1,
|
| 61 |
+
"use_speed_weights": 0,
|
| 62 |
+
"max_num_bbs": 30,
|
| 63 |
+
"use_optim_groups": 0,
|
| 64 |
+
"weight_decay": 0.01,
|
| 65 |
+
"use_label_smoothing": 0,
|
| 66 |
+
"cpu_cores": 16,
|
| 67 |
+
"tp_attention": 0,
|
| 68 |
+
"multi_wp_output": 0,
|
| 69 |
+
"seed": 0,
|
| 70 |
+
"crop_image": 1,
|
| 71 |
+
"input_path_to_target_speed_network": 0,
|
| 72 |
+
"predict_checkpoint_len": 10,
|
| 73 |
+
"max_x": 32,
|
| 74 |
+
"crop_bev_height_only_from_behind": 0,
|
| 75 |
+
"lidar_resolution_height": 256,
|
| 76 |
+
"dataset_cache_name": "dataset_cache",
|
| 77 |
+
"cosine_t0": 1,
|
| 78 |
+
"compile": 0,
|
| 79 |
+
"compile_mode": "default",
|
| 80 |
+
"seq_len": 5,
|
| 81 |
+
"seq_step": 1,
|
| 82 |
+
"lidar_seq_len": 1,
|
| 83 |
+
"lidar_step_size": 1,
|
| 84 |
+
"validation": true,
|
| 85 |
+
"use_temporal_fusion": 1,
|
| 86 |
+
"temporal_fusion_layers": 4,
|
| 87 |
+
"temporal_fusion_heads": 4,
|
| 88 |
+
"use_recurrent_training": 0,
|
| 89 |
+
"use_temporal_self_attn": 0,
|
| 90 |
+
"use_trajectory_prediction": 1,
|
| 91 |
+
"trajectory_loss_type": "huber",
|
| 92 |
+
"use_trajectory_target_speed_mask": 1,
|
| 93 |
+
"trajectory_pred_len": 6,
|
| 94 |
+
"trajectory_step_size": 2,
|
| 95 |
+
"trajectory_decoder_layers": 1,
|
| 96 |
+
"trajectory_modes": 6
|
| 97 |
+
}
|
static-LB5s1-noprune/config.json
ADDED
|
@@ -0,0 +1,762 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"add_after_accident_two_ways": -15,
|
| 3 |
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"add_after_construction_obstacle_two_ways": 15,
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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"add_before_construction_obstacle_two_ways": 15,
|
| 8 |
+
"add_before_parked_obstacle_two_ways": -5,
|
| 9 |
+
"add_before_vehicle_opens_door_two_ways": -20,
|
| 10 |
+
"add_features": 1,
|
| 11 |
+
"aim_distance_fast": 3.0,
|
| 12 |
+
"aim_distance_slow": 2.25,
|
| 13 |
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"aim_distance_threshold": 5.5,
|
| 14 |
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|
| 15 |
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-0.375,
|
| 16 |
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-0.125,
|
| 17 |
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0.125,
|
| 18 |
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0.375
|
| 19 |
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],
|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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],
|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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0.0,
|
| 31 |
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0.25,
|
| 32 |
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0.5
|
| 33 |
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],
|
| 34 |
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"attn_pdrop": 0.1,
|
| 35 |
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"augment": 1,
|
| 36 |
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"augment_percentage": 0.5,
|
| 37 |
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"backbone": "transFuser",
|
| 38 |
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"batch_size": 8,
|
| 39 |
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"bb_confidence_threshold": 0.3,
|
| 40 |
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"bb_input_channel": 64,
|
| 41 |
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|
| 42 |
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|
| 43 |
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[
|
| 44 |
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0,
|
| 45 |
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0,
|
| 46 |
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0
|
| 47 |
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],
|
| 48 |
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[
|
| 49 |
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200,
|
| 50 |
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200,
|
| 51 |
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200
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| 52 |
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],
|
| 53 |
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[
|
| 54 |
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255,
|
| 55 |
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255,
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| 56 |
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255
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| 57 |
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|
| 58 |
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[
|
| 59 |
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255,
|
| 60 |
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255,
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| 61 |
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0
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| 62 |
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],
|
| 63 |
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[
|
| 64 |
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50,
|
| 65 |
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234,
|
| 66 |
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157
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| 67 |
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],
|
| 68 |
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[
|
| 69 |
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160,
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| 70 |
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160,
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| 71 |
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0
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| 72 |
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],
|
| 73 |
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[
|
| 74 |
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0,
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| 75 |
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255,
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| 76 |
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0
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| 77 |
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],
|
| 78 |
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[
|
| 79 |
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255,
|
| 80 |
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255,
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| 81 |
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0
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| 82 |
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|
| 83 |
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[
|
| 84 |
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255,
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| 85 |
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0,
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| 86 |
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0
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| 87 |
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],
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| 88 |
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[
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| 89 |
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250,
|
| 90 |
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170,
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| 91 |
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30
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| 92 |
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],
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| 93 |
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[
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| 94 |
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0,
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| 95 |
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255,
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| 96 |
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0
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| 97 |
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]
|
| 98 |
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],
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| 99 |
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|
| 100 |
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0,
|
| 101 |
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1,
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| 102 |
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2,
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| 103 |
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3,
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| 104 |
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4,
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| 105 |
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5,
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| 106 |
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6,
|
| 107 |
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7,
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| 108 |
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8,
|
| 109 |
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9,
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| 110 |
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10
|
| 111 |
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],
|
| 112 |
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"bev_down_sample_factor": 4,
|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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1.0,
|
| 118 |
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1.0,
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| 119 |
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1.0,
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| 120 |
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1.0,
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| 121 |
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1.0,
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| 122 |
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1.0,
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| 123 |
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1.0,
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| 124 |
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1.0,
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| 125 |
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1.0,
|
| 126 |
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1.0,
|
| 127 |
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1.0
|
| 128 |
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],
|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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"brake_speed": 0.4,
|
| 135 |
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"brake_uncertainty_threshold": 0.9,
|
| 136 |
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|
| 137 |
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"dtype": "float64",
|
| 138 |
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"py/object": "numpy.ndarray",
|
| 139 |
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"values": [
|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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2.44419284e-09,
|
| 146 |
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|
| 147 |
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]
|
| 148 |
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},
|
| 149 |
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|
| 150 |
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"camera_fov": 110,
|
| 151 |
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"camera_height": 512,
|
| 152 |
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|
| 153 |
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-1.5,
|
| 154 |
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0.0,
|
| 155 |
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2.0
|
| 156 |
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],
|
| 157 |
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|
| 158 |
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0.0,
|
| 159 |
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0.0,
|
| 160 |
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|
| 161 |
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],
|
| 162 |
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"camera_rotation_augmentation_max": 5.0,
|
| 163 |
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"camera_rotation_augmentation_min": -5.0,
|
| 164 |
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"camera_translation_augmentation_max": 1.0,
|
| 165 |
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"camera_translation_augmentation_min": -1.0,
|
| 166 |
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"camera_width": 1024,
|
| 167 |
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"carla_fps": 20,
|
| 168 |
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"carla_frame_rate": 0.05,
|
| 169 |
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"center_net_max_pooling_kernel": 3,
|
| 170 |
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"check_path_free_safety_distance": 10,
|
| 171 |
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"check_path_free_safety_time": 0.2,
|
| 172 |
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"check_previous_distance_for_lane_change": 150,
|
| 173 |
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"classes": {
|
| 174 |
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"0": [
|
| 175 |
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0,
|
| 176 |
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0,
|
| 177 |
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0
|
| 178 |
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],
|
| 179 |
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|
| 180 |
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30,
|
| 181 |
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170,
|
| 182 |
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250
|
| 183 |
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],
|
| 184 |
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|
| 185 |
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200,
|
| 186 |
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200,
|
| 187 |
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200
|
| 188 |
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],
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| 189 |
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| 190 |
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255,
|
| 191 |
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255,
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| 192 |
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0
|
| 193 |
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],
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| 194 |
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| 195 |
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0,
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| 196 |
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255,
|
| 197 |
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0
|
| 198 |
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],
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| 199 |
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| 200 |
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0,
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| 201 |
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255,
|
| 202 |
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255
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| 203 |
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],
|
| 204 |
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"6": [
|
| 205 |
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255,
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| 206 |
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255,
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| 207 |
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255
|
| 208 |
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]
|
| 209 |
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},
|
| 210 |
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"classes_list": [
|
| 211 |
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[
|
| 212 |
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0,
|
| 213 |
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0,
|
| 214 |
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0
|
| 215 |
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],
|
| 216 |
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| 217 |
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250,
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| 218 |
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| 219 |
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|
| 221 |
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| 222 |
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200,
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| 223 |
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200,
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| 224 |
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200
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| 225 |
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],
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"id": "v2/static-LB5s1-notraj",
|
| 3 |
+
"epochs": 31,
|
| 4 |
+
"lr": 0.0003,
|
| 5 |
+
"batch_size": 8,
|
| 6 |
+
"logdir": "/cluster/work/andrebw/repos/temporal_garage/results/training/v2/static-LB5s1-notraj",
|
| 7 |
+
"load_file": "/cluster/work/andrebw/repos/temporal_garage/results/training/tfpp_base/model_0030.pth",
|
| 8 |
+
"setting": "13_withheld",
|
| 9 |
+
"root_dir": [
|
| 10 |
+
"/cluster/work/andrebw/repos/temporal_garage/results/data/leaderboard_2/data"
|
| 11 |
+
],
|
| 12 |
+
"schedule_reduce_epoch_01": 30,
|
| 13 |
+
"schedule_reduce_epoch_02": 40,
|
| 14 |
+
"backbone": "transFuser",
|
| 15 |
+
"image_architecture": "regnety_032",
|
| 16 |
+
"lidar_architecture": "regnety_032",
|
| 17 |
+
"use_velocity": 1,
|
| 18 |
+
"n_layer": 2,
|
| 19 |
+
"val_every": 10,
|
| 20 |
+
"sync_batch_norm": 0,
|
| 21 |
+
"zero_redundancy_optimizer": 1,
|
| 22 |
+
"use_disk_cache": 1,
|
| 23 |
+
"realign_lidar": 1,
|
| 24 |
+
"use_ground_plane": 0,
|
| 25 |
+
"use_controller_input_prediction": 1,
|
| 26 |
+
"use_wp_gru": 0,
|
| 27 |
+
"pred_len": 8,
|
| 28 |
+
"estimate_class_distributions": 0,
|
| 29 |
+
"use_focal_loss": 0,
|
| 30 |
+
"use_cosine_schedule": 1,
|
| 31 |
+
"augment": 1,
|
| 32 |
+
"use_plant": 0,
|
| 33 |
+
"learn_origin": 1,
|
| 34 |
+
"local_rank": -999,
|
| 35 |
+
"train_sampling_rate": 1,
|
| 36 |
+
"use_amp": 0,
|
| 37 |
+
"use_grad_clip": 0,
|
| 38 |
+
"use_color_aug": 1,
|
| 39 |
+
"use_semantic": 1,
|
| 40 |
+
"use_depth": 1,
|
| 41 |
+
"detect_boxes": 1,
|
| 42 |
+
"use_bev_semantic": 1,
|
| 43 |
+
"estimate_semantic_distribution": 0,
|
| 44 |
+
"use_discrete_command": 1,
|
| 45 |
+
"gru_hidden_size": 64,
|
| 46 |
+
"use_cutout": 0,
|
| 47 |
+
"add_features": 1,
|
| 48 |
+
"freeze_backbone": 0,
|
| 49 |
+
"learn_multi_task_weights": 0,
|
| 50 |
+
"transformer_decoder_join": 1,
|
| 51 |
+
"bev_down_sample_factor": 4,
|
| 52 |
+
"perspective_downsample_factor": 1,
|
| 53 |
+
"gru_input_size": 256,
|
| 54 |
+
"num_repetitions": 1,
|
| 55 |
+
"bev_grid_height_downsample_factor": 1,
|
| 56 |
+
"wp_dilation": 1,
|
| 57 |
+
"use_tp": 1,
|
| 58 |
+
"continue_epoch": 0,
|
| 59 |
+
"max_height_lidar": 100.0,
|
| 60 |
+
"smooth_route": 1,
|
| 61 |
+
"use_speed_weights": 0,
|
| 62 |
+
"max_num_bbs": 30,
|
| 63 |
+
"use_optim_groups": 0,
|
| 64 |
+
"weight_decay": 0.01,
|
| 65 |
+
"use_label_smoothing": 0,
|
| 66 |
+
"cpu_cores": 16,
|
| 67 |
+
"tp_attention": 0,
|
| 68 |
+
"multi_wp_output": 0,
|
| 69 |
+
"seed": 0,
|
| 70 |
+
"crop_image": 1,
|
| 71 |
+
"input_path_to_target_speed_network": 0,
|
| 72 |
+
"predict_checkpoint_len": 10,
|
| 73 |
+
"max_x": 32,
|
| 74 |
+
"crop_bev_height_only_from_behind": 0,
|
| 75 |
+
"lidar_resolution_height": 256,
|
| 76 |
+
"dataset_cache_name": "dataset_cache",
|
| 77 |
+
"cosine_t0": 1,
|
| 78 |
+
"compile": 0,
|
| 79 |
+
"compile_mode": "default",
|
| 80 |
+
"seq_len": 5,
|
| 81 |
+
"seq_step": 1,
|
| 82 |
+
"lidar_seq_len": 1,
|
| 83 |
+
"lidar_step_size": 1,
|
| 84 |
+
"validation": true,
|
| 85 |
+
"use_temporal_fusion": 1,
|
| 86 |
+
"temporal_fusion_layers": 4,
|
| 87 |
+
"temporal_fusion_heads": 4,
|
| 88 |
+
"use_recurrent_training": 0,
|
| 89 |
+
"use_temporal_self_attn": 0,
|
| 90 |
+
"use_trajectory_prediction": 0,
|
| 91 |
+
"trajectory_loss_type": "huber",
|
| 92 |
+
"use_trajectory_target_speed_mask": 1,
|
| 93 |
+
"trajectory_pred_len": 6,
|
| 94 |
+
"trajectory_step_size": 2,
|
| 95 |
+
"trajectory_decoder_layers": 1,
|
| 96 |
+
"trajectory_modes": 6
|
| 97 |
+
}
|
static-LB5s1-notraj/config.json
ADDED
|
@@ -0,0 +1,762 @@
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