YSHRobotics's picture
Upload folder using huggingface_hub
a3c25f1 verified
{
"name": "diffusion-planner-training",
"save_dir": ".",
"train_set": "/home/Humble/Data/data/datasets/Diffusion-Planner",
"train_set_list": "/home/Humble/Humble/EndtoEnd/YSH-Diffusion-Planner/diffusion_planner_training.json",
"future_len": 80,
"time_len": 21,
"agent_state_dim": 11,
"agent_num": 32,
"static_objects_state_dim": 10,
"static_objects_num": 5,
"lane_len": 20,
"lane_state_dim": 12,
"lane_num": 70,
"route_len": 20,
"route_state_dim": 12,
"route_num": 25,
"augment_prob": 0.5,
"normalization_file_path": "normalization.json",
"use_data_augment": true,
"num_workers": 16,
"pin_mem": true,
"seed": 3407,
"train_epochs": 500,
"save_utd": 10,
"batch_size": 512,
"learning_rate": 0.0005,
"warm_up_epoch": 5,
"encoder_drop_path_rate": 0.1,
"decoder_drop_path_rate": 0.1,
"alpha_planning_loss": 1.0,
"gradient_accumulation_steps": 4,
"device": "cuda",
"use_ema": true,
"use_compile": false,
"encoder_depth": 3,
"decoder_depth": 3,
"num_heads": 6,
"hidden_dim": 192,
"diffusion_model_type": "x_start",
"predicted_neighbor_num": 10,
"resume_model_path": "/home/Humble/Humble/EndtoEnd/YSH-Diffusion-Planner/training_log/diffusion-planner-training/2026-02-04-00:16:42",
"use_wandb": false,
"notes": "",
"use_mlflow": true,
"mlflow_tracking_uri": "https://dagshub.com/YSH-research/YSH-Diffusion-Planner.mlflow",
"mlflow_experiment_name": "diffusion-planner",
"use_dvclive": true,
"ddp": true,
"port": "22323",
"state_normalizer": {
"mean": [
[
[
10,
0,
0,
0
]
],
[
[
10,
0,
0,
0
]
],
[
[
10,
0,
0,
0
]
],
[
[
10,
0,
0,
0
]
],
[
[
10,
0,
0,
0
]
],
[
[
10,
0,
0,
0
]
],
[
[
10,
0,
0,
0
]
],
[
[
10,
0,
0,
0
]
],
[
[
10,
0,
0,
0
]
],
[
[
10,
0,
0,
0
]
],
[
[
10,
0,
0,
0
]
]
],
"std": [
[
[
20,
20,
1,
1
]
],
[
[
20,
20,
1,
1
]
],
[
[
20,
20,
1,
1
]
],
[
[
20,
20,
1,
1
]
],
[
[
20,
20,
1,
1
]
],
[
[
20,
20,
1,
1
]
],
[
[
20,
20,
1,
1
]
],
[
[
20,
20,
1,
1
]
],
[
[
20,
20,
1,
1
]
],
[
[
20,
20,
1,
1
]
],
[
[
20,
20,
1,
1
]
]
]
},
"observation_normalizer": {
"ego_current_state": {
"mean": [
10.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
20.0,
20.0,
1.0,
1.0,
20.0,
20.0,
20.0,
20.0,
1.0,
1.0
]
},
"neighbor_agents_past": {
"mean": [
10.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
20.0,
20.0,
1.0,
1.0,
20.0,
20.0,
20.0,
20.0,
1.0,
1.0,
1.0
]
},
"static_objects": {
"mean": [
10.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
20.0,
20.0,
1.0,
1.0,
20.0,
20.0,
1.0,
1.0,
1.0,
1.0
]
},
"lanes": {
"mean": [
10.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
20.0,
20.0,
20.0,
20.0,
20.0,
20.0,
20.0,
20.0,
1.0,
1.0,
1.0,
1.0
]
},
"lanes_speed_limit": {
"mean": [
0.0
],
"std": [
20.0
]
},
"route_lanes": {
"mean": [
10.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
20.0,
20.0,
20.0,
20.0,
20.0,
20.0,
20.0,
20.0,
1.0,
1.0,
1.0,
1.0
]
},
"route_lanes_speed_limit": {
"mean": [
0.0
],
"std": [
20.0
]
}
},
"guidance_fn": null
}