| # Config format schema number, the yaml support to valid case source from different dataset | |
| time_info: | |
| num_historical_steps: 11 | |
| num_future_steps: 80 | |
| use_intention: True | |
| token_size: 2048 | |
| predict_motion: True | |
| predict_state: True | |
| predict_map: False | |
| predict_occ: True | |
| state_token: | |
| invalid: 0 | |
| valid: 1 | |
| enter: 2 | |
| exit: 3 | |
| pl2seed_radius: 75. | |
| grid_range: 150. # 2 times of pl2seed_radius | |
| grid_interval: 3. | |
| angle_interval: 3. | |
| seed_size: 1 | |
| buffer_size: 128 | |
| Dataset: | |
| root: | |
| train_batch_size: 1 | |
| val_batch_size: 1 | |
| test_batch_size: 1 | |
| shuffle: True | |
| num_workers: 1 | |
| pin_memory: True | |
| persistent_workers: True | |
| train_raw_dir: ["data/waymo_processed/training"] | |
| val_raw_dir: ["data/waymo_processed/validation"] | |
| test_raw_dir: ["data/waymo_processed/validation"] | |
| transform: WaymoTargetBuilder | |
| train_processed_dir: | |
| val_processed_dir: | |
| test_processed_dir: | |
| dataset: "scalable" | |
| <<: | |
| Trainer: | |
| strategy: ddp_find_unused_parameters_false | |
| accelerator: "gpu" | |
| devices: 1 | |
| max_epochs: 32 | |
| overfit_epochs: 6000 | |
| save_ckpt_path: | |
| num_nodes: 1 | |
| mode: | |
| ckpt_path: | |
| precision: 32 | |
| accumulate_grad_batches: 1 | |
| Model: | |
| predictor: "smart" | |
| decoder_type: "agent_decoder" # choose from ['agent_decoder', 'occ_decoder'] | |
| dataset: "waymo" | |
| input_dim: 2 | |
| hidden_dim: 128 | |
| output_dim: 2 | |
| output_head: False | |
| num_heads: 8 | |
| <<: | |
| head_dim: 16 | |
| dropout: 0.1 | |
| num_freq_bands: 64 | |
| lr: 0.0005 | |
| warmup_steps: 0 | |
| total_steps: 32 | |
| predict_map_token: False | |
| num_recurrent_steps_val: -1 | |
| val_open_loop: True | |
| val_close_loop: False | |
| val_insert: False | |
| decoder: | |
| <<: | |
| num_map_layers: 3 | |
| num_agent_layers: 6 | |
| a2a_radius: 60 | |
| pl2pl_radius: 10 | |
| pl2a_radius: 30 | |
| a2sa_radius: 10 | |
| pl2sa_radius: 10 | |
| time_span: 60 | |
| loss_weight: | |
| token_cls_loss: 1 | |
| map_token_loss: 1 | |
| state_cls_loss: 10 | |
| type_cls_loss: 5 | |
| pos_cls_loss: 1 | |
| head_cls_loss: 1 | |
| offset_reg_loss: 5 | |
| shape_reg_loss: .2 | |
| state_weight: [0.1, 0.1, 0.8] # invalid, valid, exit | |
| seed_state_weight: [0.1, 0.9] # invalid, enter | |
| seed_type_weight: [0.8, 0.1, 0.1] | |
| agent_occ_pos_weight: 100 | |
| pt_occ_pos_weight: 5 | |
| agent_occ_loss: 10 | |
| pt_occ_loss: 10 | |