{
    "batch_size": 512,
    "grad_clip": 1.0,
    "learning_rate_style": "exp",
    "learning_rate": 0.01, 
    "min_learning_rate": 1e-05,
    "learning_decay_rate": 0.9999,
    "prediction_horizon": 30,
    "minimum_history_length": 5,
    "maximum_history_length": 50,
    "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": {
            "velocity": [
                "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": true,
    "use_map_encoding": true,
    "augment": false,
    "override_attention_radius": []
}