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default trainign settings

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Ruben van de Ven 2025-11-12 19:05:38 +01:00
parent 509ad16733
commit bd7f0cf2f3
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SETTINGS/2025-11-dortmund/trajectron.json Normal file
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{
"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": []
}