mapper/conf/model/mapper.yaml

defaults:
  - schema/backbone: dino
  - image_encoder: dino

segmentation_head:
  dropout_rate: 0.2
name: map_perception_net
num_classes: 6
latent_dim: 128
z_max: 50
x_max: 25
pixel_per_meter: ${data.pixel_per_meter}
num_scale_bins: 32
loss:
  num_classes: ${..num_classes}