From bd7f0cf2f319df87dbbf02509582ffdb482bca17 Mon Sep 17 00:00:00 2001
From: Ruben van de Ven <git@rubenvandeven.com>
Date: Wed, 12 Nov 2025 19:05:38 +0100
Subject: [PATCH] default trainign settings

---
 SETTINGS/2025-11-dortmund/trajectron.json | 130 ++++++++++++++++++++++
 1 file changed, 130 insertions(+)
 create mode 100644 SETTINGS/2025-11-dortmund/trajectron.json

diff --git a/SETTINGS/2025-11-dortmund/trajectron.json b/SETTINGS/2025-11-dortmund/trajectron.json
new file mode 100644
index 0000000..af9e44d
--- /dev/null
+++ b/SETTINGS/2025-11-dortmund/trajectron.json
@@ -0,0 +1,130 @@
+{
+    "batch_size": 512,
+    "grad_clip": 1.0,
+    "learning_rate_style": "exp",
+    "learning_rate": 0.001, 
+    "min_learning_rate": 1e-05,
+    "learning_decay_rate": 0.9999,
+    "prediction_horizon": 60,
+    "minimum_history_length": 5,
+    "maximum_history_length": 150,
+    "map_encoder": {
+        "PEDESTRIAN": {
+            "heading_state_index": [2, 3],
+            "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": 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": {}
+        }
+    },
+    "state": {
+        "PEDESTRIAN": {
+            "position": [
+                "x",
+                "y"
+            ],
+            "velocity": [
+                "x",
+                "y"
+            ],
+            "acceleration": [
+                "x",
+                "y"
+            ]
+        }
+    },
+    "pred_state": {
+        "PEDESTRIAN": {
+            "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": false,
+    "node_freq_mult_train": false,
+    "node_freq_mult_eval": false,
+    "scene_freq_mult_train": false,
+    "scene_freq_mult_eval": false,
+    "scene_freq_mult_viz": false,
+    "edge_encoding": false,
+    "use_map_encoding": true,
+    "augment": false,
+    "override_attention_radius": []
+}