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  "batch_size": 256,
  "grad_clip": 1.0,

  "learning_rate_style": "exp",
  "learning_rate": 0.001,
  "min_learning_rate": 0.00001,
  "learning_decay_rate": 0.9999,

  "prediction_horizon": 12,
  "minimum_history_length": 1,
  "maximum_history_length": 8,

  "map_encoder": {
    "PEDESTRIAN": {
      "heading_state_index": 6,
      "patch_size": [50, 10, 50, 90],
      "map_channels": 3,
      "hidden_channels": [10, 20, 10, 1],
      "output_size": 32,
      "masks": [5, 5, 5, 5],
      "strides": [1, 1, 1, 1],
      "dropout": 0.5
    }
  },

  "k": 1,
  "k_eval": 1,

  "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": {}
      }
  },

  "state": {
      "PEDESTRIAN": {
      "position": ["x", "y"],
      "velocity": ["x", "y"],
      "acceleration": ["x", "y"]
    }
  },

  "pred_state": {
    "PEDESTRIAN": {
      "position": ["x", "y"]
    }
  },

  "log_histograms": false
}