108 lines
2.3 KiB
JSON
108 lines
2.3 KiB
JSON
{
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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": 0.002,
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"min_learning_rate": 0.0005,
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"learning_decay_rate": 0.9995,
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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_context": 120,
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"map_enc_num_layers": 4,
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"map_enc_hidden_size": 512,
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"map_enc_output_size": 512,
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"map_enc_dropout": 0.5,
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"alpha": 1,
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"k": 30,
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"k_eval": 200,
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"use_iwae": false,
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"kl_exact": true,
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"kl_min": 0.07,
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"kl_weight": 5.0,
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"kl_weight_start": 0,
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"kl_decay_rate": 0.99995,
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"kl_crossover": 500,
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"kl_sigmoid_divisor": 4,
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"inf_warmup": 1.0,
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"inf_warmup_start": 1.0,
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"inf_warmup_crossover": 1500,
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"inf_warmup_sigmoid_divisor": 4,
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"rnn_kwargs": {
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"dropout_keep_prob": 0.5
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},
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"MLP_dropout_keep_prob": 0.9,
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"rnn_io_dropout_keep_prob": 1.0,
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"enc_rnn_dim_multiple_inputs": 8,
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"enc_rnn_dim_edge": 8,
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"enc_rnn_dim_edge_influence": 8,
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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": 512,
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"dec_GMM_proj_MLP_dims": null,
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"sample_model_during_dec": true,
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"dec_sample_model_prob_start": 1.00,
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"dec_sample_model_prob_final": 1.00,
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"dec_sample_model_prob_crossover": 200,
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"dec_sample_model_prob_divisor": 4,
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"q_z_xy_MLP_dims": null,
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"p_z_x_MLP_dims": 32,
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"fuzz_factor": 0.05,
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"GMM_components": 12,
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"log_sigma_min": -10,
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"log_sigma_max": 10,
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"log_p_yt_xz_max": 50,
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"N": 2,
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"K": 5,
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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": 500,
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"z_logit_clip_divisor": 5,
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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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"heading": ["value"]
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},
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"BICYCLE": {
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"position": ["x", "y"],
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"velocity": ["x", "y", "m"],
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"acceleration": ["x", "y", "m"],
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"heading": ["value"]
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},
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"VEHICLE": {
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"position": ["x", "y"],
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"velocity": ["x", "y", "m"],
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"acceleration": ["x", "y", "m"],
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"heading": ["value"]
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}
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},
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"pred_state": {
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"PEDESTRIAN": {
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"velocity": ["x", "y"]
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},
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"BICYCLE": {
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"velocity": ["x", "y"]
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},
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"VEHICLE": {
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"velocity": ["x", "y"]
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}
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},
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"log_histograms": false
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} |