| model: | |
| image_encoder: | |
| backbone: | |
| pretrained: true | |
| frozen: true | |
| output_dim: 128 | |
| name: feature_extractor_DPT | |
| 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: 2 | |
| num_scale_bins: 32 | |
| loss: | |
| num_classes: 6 | |
| xent_weight: 1.0 | |
| dice_weight: 1.0 | |
| focal_loss: false | |
| focal_loss_gamma: 2.0 | |
| requires_frustrum: true | |
| requires_flood_mask: false | |
| class_weights: | |
| - 1.00351229 | |
| - 4.34782609 | |
| - 1.00110121 | |
| - 1.03124678 | |
| - 6.69792364 | |
| - 7.55857899 | |
| label_smoothing: 0.1 | |
| scale_range: | |
| - 0 | |
| - 9 | |
| z_min: null |