| 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} |