1 line
2.3 KiB
JSON
1 line
2.3 KiB
JSON
{"batch_size": 256, "grad_clip": 1.0, "learning_rate_style": "exp", "learning_rate": 0.003, "min_learning_rate": 0.0005, "learning_decay_rate": 0.9995, "prediction_horizon": 6, "minimum_history_length": 1, "maximum_history_length": 8, "map_context": 120, "map_enc_num_layers": 4, "map_enc_hidden_size": 512, "map_enc_output_size": 512, "map_enc_dropout": 0.5, "alpha": 1, "k": 30, "k_eval": 50, "use_iwae": false, "kl_exact": true, "kl_min": 0.07, "kl_weight": 5.0, "kl_weight_start": 0, "kl_decay_rate": 0.99995, "kl_crossover": 500, "kl_sigmoid_divisor": 4, "inf_warmup": 1.0, "inf_warmup_start": 1.0, "inf_warmup_crossover": 1500, "inf_warmup_sigmoid_divisor": 4, "rnn_kwargs": {"dropout_keep_prob": 0.5}, "MLP_dropout_keep_prob": 0.9, "rnn_io_dropout_keep_prob": 1.0, "enc_rnn_dim_multiple_inputs": 8, "enc_rnn_dim_edge": 8, "enc_rnn_dim_edge_influence": 8, "enc_rnn_dim_history": 32, "enc_rnn_dim_future": 32, "dec_rnn_dim": 512, "dec_GMM_proj_MLP_dims": null, "sample_model_during_dec": true, "dec_sample_model_prob_start": 1.0, "dec_sample_model_prob_final": 1.0, "dec_sample_model_prob_crossover": 200, "dec_sample_model_prob_divisor": 4, "q_z_xy_MLP_dims": null, "p_z_x_MLP_dims": 32, "fuzz_factor": 0.05, "GMM_components": 12, "log_sigma_min": -10, "log_sigma_max": 10, "log_p_yt_xz_max": 50, "N": 2, "K": 5, "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": 500, "z_logit_clip_divisor": 5, "state": {"PEDESTRIAN": {"position": ["x", "y"], "velocity": ["x", "y"], "acceleration": ["x", "y"], "heading": ["value"]}, "BICYCLE": {"position": ["x", "y"], "velocity": ["x", "y", "m"], "acceleration": ["x", "y", "m"], "heading": ["value"]}, "VEHICLE": {"position": ["x", "y"], "velocity": ["x", "y", "m"], "acceleration": ["x", "y", "m"], "heading": ["value"]}}, "pred_state": {"PEDESTRIAN": {"velocity": ["x", "y"]}, "BICYCLE": {"velocity": ["x", "y"]}, "VEHICLE": {"velocity": ["x", "y"]}}, "log_histograms": false, "dynamic_edges": "yes", "edge_state_combine_method": "sum", "edge_influence_combine_method": "attention", "edge_radius": 20.0, "use_map_encoding": false, "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} |