1 line
2.1 KiB
JSON
1 line
2.1 KiB
JSON
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{"batch_size": 256, "grad_clip": 1.0, "learning_rate_style": "exp", "learning_rate": 0.003, "min_learning_rate": 1e-05, "learning_decay_rate": 0.9999, "prediction_horizon": 6, "minimum_history_length": 1, "maximum_history_length": 8, "map_encoder": {"VEHICLE": {"heading_state_index": 6, "patch_size": [50, 10, 50, 90], "map_channels": 3, "hidden_channels": [10, 20, 10, 1], "output_size": 32, "masks": [5, 5, 5, 3], "strides": [2, 2, 1, 1], "dropout": 0.5}}, "k": 1, "k_eval": 25, "kl_min": 0.07, "kl_weight": 100.0, "kl_weight_start": 0, "kl_decay_rate": 0.99995, "kl_crossover": 400, "kl_sigmoid_divisor": 4, "rnn_kwargs": {"dropout_keep_prob": 0.75}, "MLP_dropout_keep_prob": 0.9, "enc_rnn_dim_edge": 32, "enc_rnn_dim_edge_influence": 32, "enc_rnn_dim_history": 32, "enc_rnn_dim_future": 32, "dec_rnn_dim": 128, "q_z_xy_MLP_dims": null, "p_z_x_MLP_dims": 32, "GMM_components": 1, "log_p_yt_xz_max": 6, "N": 1, "K": 25, "tau_init": 2.0, "tau_final": 0.05, "tau_decay_rate": 0.997, "use_z_logit_clipping": true, "z_logit_clip_start": 0.05, "z_logit_clip_final": 5.0, "z_logit_clip_crossover": 300, "z_logit_clip_divisor": 5, "dynamic": {"PEDESTRIAN": {"name": "SingleIntegrator", "distribution": true, "limits": {}}, "VEHICLE": {"name": "Unicycle", "distribution": true, "limits": {"max_a": 4, "min_a": -5, "max_heading_change": 0.7, "min_heading_change": -0.7}}}, "state": {"PEDESTRIAN": {"position": ["x", "y"], "velocity": ["x", "y"], "acceleration": ["x", "y"]}, "VEHICLE": {"position": ["x", "y"], "velocity": ["x", "y"], "acceleration": ["x", "y"], "heading": ["\u00b0", "d\u00b0"]}}, "pred_state": {"VEHICLE": {"position": ["x", "y"]}}, "log_histograms": false, "dynamic_edges": "yes", "edge_state_combine_method": "sum", "edge_influence_combine_method": "attention", "edge_addition_filter": [0.25, 0.5, 0.75, 1.0], "edge_removal_filter": [1.0, 0.0], "offline_scene_graph": "yes", "incl_robot_node": true, "node_freq_mult_train": true, "node_freq_mult_eval": false, "scene_freq_mult_train": false, "scene_freq_mult_eval": false, "scene_freq_mult_viz": false, "edge_encoding": true, "use_map_encoding": true, "augment": false, "override_attention_radius": []}
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