109 lines
2 KiB
JSON
109 lines
2 KiB
JSON
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{
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"batch_size": 256,
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"grad_clip": 1.0,
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"learning_rate_style": "exp",
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"learning_rate": 0.003,
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"min_learning_rate": 0.00001,
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"learning_decay_rate": 0.9999,
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"prediction_horizon": 6,
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"minimum_history_length": 1,
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"maximum_history_length": 8,
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"map_encoder": {
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"VEHICLE": {
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"heading_state_index": 6,
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"patch_size": [50, 10, 50, 90],
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"map_channels": 3,
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"hidden_channels": [10, 20, 10, 1],
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"output_size": 32,
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"masks": [5, 5, 5, 3],
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"strides": [2, 2, 1, 1],
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"dropout": 0.5
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}
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},
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"k": 1,
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"k_eval": 1,
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"kl_min": 0.07,
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"kl_weight": 100.0,
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"kl_weight_start": 0,
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"kl_decay_rate": 0.99995,
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"kl_crossover": 400,
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"kl_sigmoid_divisor": 4,
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"rnn_kwargs": {
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"dropout_keep_prob": 0.75
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},
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"MLP_dropout_keep_prob": 0.9,
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"enc_rnn_dim_edge": 32,
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"enc_rnn_dim_edge_influence": 32,
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"enc_rnn_dim_history": 32,
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"enc_rnn_dim_future": 32,
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"dec_rnn_dim": 128,
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"q_z_xy_MLP_dims": null,
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"p_z_x_MLP_dims": 32,
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"GMM_components": 1,
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"log_p_yt_xz_max": 6,
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"N": 1,
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"K": 25,
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"tau_init": 2.0,
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"tau_final": 0.05,
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"tau_decay_rate": 0.997,
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"use_z_logit_clipping": true,
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"z_logit_clip_start": 0.05,
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"z_logit_clip_final": 5.0,
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"z_logit_clip_crossover": 300,
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"z_logit_clip_divisor": 5,
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"dynamic": {
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"PEDESTRIAN": {
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"name": "SingleIntegrator",
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"distribution": true,
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"limits": {}
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},
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"VEHICLE": {
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"name": "Unicycle",
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"distribution": true,
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"limits": {
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"max_a": 4,
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"min_a": -5,
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"max_heading_change": 0.7,
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"min_heading_change": -0.7
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}
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}
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},
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"state": {
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"PEDESTRIAN": {
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"position": ["x", "y"],
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"velocity": ["x", "y"],
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"acceleration": ["x", "y"]
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},
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"VEHICLE": {
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"position": ["x", "y"],
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"velocity": ["x", "y"],
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"acceleration": ["x", "y"],
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"heading": ["°", "d°"]
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}
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},
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"pred_state": {
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"VEHICLE": {
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"position": ["x", "y"]
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},
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"PEDESTRIAN": {
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"position": ["x", "y"]
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}
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},
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"log_histograms": false
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}
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