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PIWM_ckpt

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  1. PIWM/config/agent/piwm.yaml +72 -0
  2. PIWM/config/env/piwm.yaml +9 -0
  3. PIWM/model/piwm.pt +3 -0
  4. PIWM/spwan/0/act.npy +3 -0
  5. PIWM/spwan/0/full_res.npy +3 -0
  6. PIWM/spwan/0/info.json +1 -0
  7. PIWM/spwan/0/low_res.npy +3 -0
  8. PIWM/spwan/0/next_act.npy +3 -0
  9. PIWM/spwan/1/act.npy +3 -0
  10. PIWM/spwan/1/full_res.npy +3 -0
  11. PIWM/spwan/1/info.json +1 -0
  12. PIWM/spwan/1/low_res.npy +3 -0
  13. PIWM/spwan/1/next_act.npy +3 -0
  14. PIWM/spwan/10/act.npy +3 -0
  15. PIWM/spwan/10/full_res.npy +3 -0
  16. PIWM/spwan/10/info.json +1 -0
  17. PIWM/spwan/10/low_res.npy +3 -0
  18. PIWM/spwan/10/next_act.npy +3 -0
  19. PIWM/spwan/2/act.npy +3 -0
  20. PIWM/spwan/2/full_res.npy +3 -0
  21. PIWM/spwan/2/info.json +1 -0
  22. PIWM/spwan/2/low_res.npy +3 -0
  23. PIWM/spwan/2/next_act.npy +3 -0
  24. PIWM/spwan/3/act.npy +3 -0
  25. PIWM/spwan/3/full_res.npy +3 -0
  26. PIWM/spwan/3/info.json +1 -0
  27. PIWM/spwan/3/low_res.npy +3 -0
  28. PIWM/spwan/3/next_act.npy +3 -0
  29. PIWM/spwan/4/act.npy +3 -0
  30. PIWM/spwan/4/full_res.npy +3 -0
  31. PIWM/spwan/4/info.json +1 -0
  32. PIWM/spwan/4/low_res.npy +3 -0
  33. PIWM/spwan/4/next_act.npy +3 -0
  34. PIWM/spwan/5/act.npy +3 -0
  35. PIWM/spwan/5/full_res.npy +3 -0
  36. PIWM/spwan/5/info.json +1 -0
  37. PIWM/spwan/5/low_res.npy +3 -0
  38. PIWM/spwan/5/next_act.npy +3 -0
  39. PIWM/spwan/6/act.npy +3 -0
  40. PIWM/spwan/6/full_res.npy +3 -0
  41. PIWM/spwan/6/info.json +1 -0
  42. PIWM/spwan/6/low_res.npy +3 -0
  43. PIWM/spwan/6/next_act.npy +3 -0
  44. PIWM/spwan/7/act.npy +3 -0
  45. PIWM/spwan/7/full_res.npy +3 -0
  46. PIWM/spwan/7/info.json +1 -0
  47. PIWM/spwan/7/low_res.npy +3 -0
  48. PIWM/spwan/7/next_act.npy +3 -0
  49. PIWM/spwan/8/act.npy +3 -0
  50. PIWM/spwan/8/full_res.npy +3 -0
PIWM/config/agent/piwm.yaml ADDED
@@ -0,0 +1,72 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ _target_: agent.AgentConfig
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+
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+ denoiser:
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+ _target_: models.diffusion.DenoiserConfig
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+ sigma_data: 0.5
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+ sigma_offset_noise: 0.1
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+ noise_previous_obs: true
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+ upsampling_factor: null
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+
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+ # mask params
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+ mask_gain_train: 1.0
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+
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+ mask_gain_infer: 0.45
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+ mask_w_blue: 0.55 # surrounding vehicles
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+ mask_w_green: 0.45 # ego vehicle
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+
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+ mask_sigma_global_ratio: 0.35 # global Gaussian sigma ratio
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+ mask_sigma_ego_scale: 0.50 # ego radial sigma scale
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+ mask_sigma_min_px: 2.0
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+ mask_downsample_mode: bicubic
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+
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+ mask_dropout_train: 0.30
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+
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+ inner_model:
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+ _target_: models.diffusion.InnerModelConfig
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+ img_channels: 3
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+ num_steps_conditioning: 4
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+ cond_channels: 2048
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+ extra_cond_channels: 1
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+ depths:
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+ - 2
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+ - 2
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+ - 2
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+ - 2
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+ channels:
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+ - 128
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+ - 256
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+ - 512
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+ attn_depths:
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+ - 0
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+ - 0
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+ - 1
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+ - 1
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+
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+ upsampler:
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+ _target_: models.diffusion.DenoiserConfig
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+ sigma_data: 0.5
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+ sigma_offset_noise: 0.1
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+ noise_previous_obs: false
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+ upsampling_factor: 5
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+ inner_model:
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+ _target_: models.diffusion.InnerModelConfig
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+ img_channels: 3
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+ num_steps_conditioning: 1
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+ cond_channels: 2048
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+ depths:
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+ channels:
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+ attn_depths:
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+ - 0
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+ - 0
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PIWM/config/env/piwm.yaml ADDED
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+ train:
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+ id: piwm
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+ size: [150, 600]
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+ num_actions: 51
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+
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+ path_data_low_res: /home/zhexiao/Documents/old_highway_dataset_preprocessed/low_res
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+ path_data_full_res: /home/zhexiao/Documents/old_highway_dataset_preprocessed/full_res
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+
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+ keymap: piwm
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