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April 25, 2025 14:58
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ptv3-config-comparison
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| data: | |
| train_dataset_cfg: | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 20 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| include_ego_trailer: true | |
| add_ego_as_actor: false | |
| query_prediction_labels: false | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: true | |
| filter_actor_timesteps_outside_map_prob: 0.5 | |
| actor_timesteps_map_dist_ignore_thresh_m: 20.0 | |
| filter_actor_outside_map: true | |
| filter_actor_outside_map_prob: 0.7 | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| ignore_ego: false | |
| roi_3d_filter: true | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| load_observation_states: true | |
| load_past_states: true | |
| load_teacher_dataset: true | |
| teacher_max_future_frame: 60 | |
| teacher_min_future_frame: 0 | |
| teacher_dataset_suffix: _occflow_teacher_v5_groundness | |
| occ_noise_occ_thresholds: | |
| - 0.04 | |
| - 0.04 | |
| - -1 | |
| road_ratio: 0.9 | |
| above_ground_distance: 0.0 | |
| num_sampled_teacher_points: 200000 | |
| basepath: s3://waabi-live-training-datasets/pnp/HighwaySimv4_2025_02_13/ | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: false | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| dataset_id: highway_sim_v4_train | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| load_map_container: false | |
| return_map_container: false | |
| transform_map_container_to_ego_frame: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| dual_collect_config: | |
| load_dual_collect_timestamps: true | |
| load_dual_collect_ego_data: true | |
| data_aug_config: | |
| data_aug: true | |
| data_aug_x: 2.0 | |
| data_aug_y: 2.0 | |
| data_aug_z: 0.5 | |
| data_aug_h: 0.3 | |
| data_aug_deg: 20.0 | |
| data_aug_deg_pitch: 2.0 | |
| data_aug_deg_roll: 0.3 | |
| data_aug_size: 0.0 | |
| data_aug_flip: null | |
| data_aug_noise_std: null | |
| data_aug_h_noise: 0.02 | |
| center_flips: false | |
| map_roi_aug_enabled: true | |
| lane_graph_hole_example_ratio: 0.2 | |
| lane_graph_radius_min_max: | |
| - 10.0 | |
| - 25.0 | |
| lane_graph_dropout_example_ratio: 0.1 | |
| lane_graph_random_node_dropout: 0.01 | |
| drop_past_sweeps_p: 0.005 | |
| drop_sweep_p: 0.01 | |
| drop_lidar_p: | |
| default: 0.05 | |
| drop_lidar_point_p_max: 0.3 | |
| long_range_img_aug: true | |
| long_range_img_aug_alpha_min: 1.2 | |
| long_range_img_aug_alpha_max: 2.0 | |
| long_range_lidar_drop_in_rv_prob: 0.25 | |
| lidar_drop_in_rv_prob: 0.1 | |
| map_node_img_drop_prob: 0.1 | |
| child_configs: | |
| '0': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 20 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| include_ego_trailer: true | |
| add_ego_as_actor: false | |
| query_prediction_labels: false | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: true | |
| filter_actor_timesteps_outside_map_prob: 0.5 | |
| actor_timesteps_map_dist_ignore_thresh_m: 20.0 | |
| filter_actor_outside_map: true | |
| filter_actor_outside_map_prob: 0.7 | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| ignore_ego: false | |
| roi_3d_filter: true | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| load_observation_states: true | |
| load_past_states: true | |
| load_teacher_dataset: true | |
| teacher_max_future_frame: 60 | |
| teacher_min_future_frame: 0 | |
| teacher_dataset_suffix: _occflow_teacher_v5_groundness | |
| occ_noise_occ_thresholds: | |
| - 0.04 | |
| - 0.04 | |
| - -1 | |
| road_ratio: 0.9 | |
| above_ground_distance: 0.0 | |
| num_sampled_teacher_points: 200000 | |
| basepath: s3://waabi-live-training-datasets/pnp/truck_human_labelled_train_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: false | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| version: OLDEST | |
| dataset_id: truck_human_labelled_train | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| load_map_container: false | |
| return_map_container: false | |
| transform_map_container_to_ego_frame: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| dual_collect_config: | |
| load_dual_collect_timestamps: true | |
| load_dual_collect_ego_data: true | |
| data_aug_config: | |
| data_aug: true | |
| data_aug_x: 2.0 | |
| data_aug_y: 2.0 | |
| data_aug_z: 0.5 | |
| data_aug_h: 0.3 | |
| data_aug_deg: 20.0 | |
| data_aug_deg_pitch: 2.0 | |
| data_aug_deg_roll: 0.3 | |
| data_aug_size: 0.0 | |
| data_aug_flip: null | |
| data_aug_noise_std: null | |
| data_aug_h_noise: 0.02 | |
| center_flips: false | |
| map_roi_aug_enabled: true | |
| lane_graph_hole_example_ratio: 0.2 | |
| lane_graph_radius_min_max: | |
| - 10.0 | |
| - 25.0 | |
| lane_graph_dropout_example_ratio: 0.1 | |
| lane_graph_random_node_dropout: 0.01 | |
| drop_past_sweeps_p: 0.005 | |
| drop_sweep_p: 0.01 | |
| drop_lidar_p: | |
| default: 0.05 | |
| drop_lidar_point_p_max: 0.3 | |
| long_range_img_aug: true | |
| long_range_img_aug_alpha_min: 1.2 | |
| long_range_img_aug_alpha_max: 2.0 | |
| long_range_lidar_drop_in_rv_prob: 0.25 | |
| lidar_drop_in_rv_prob: 0.1 | |
| map_node_img_drop_prob: 0.1 | |
| '1': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 20 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| include_ego_trailer: true | |
| add_ego_as_actor: false | |
| query_prediction_labels: false | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: true | |
| filter_actor_timesteps_outside_map_prob: 0.5 | |
| actor_timesteps_map_dist_ignore_thresh_m: 20.0 | |
| filter_actor_outside_map: true | |
| filter_actor_outside_map_prob: 0.7 | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| ignore_ego: false | |
| roi_3d_filter: true | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| load_observation_states: true | |
| load_past_states: true | |
| load_teacher_dataset: true | |
| teacher_max_future_frame: 60 | |
| teacher_min_future_frame: 0 | |
| teacher_dataset_suffix: _occflow_teacher_v5_groundness | |
| occ_noise_occ_thresholds: | |
| - 0.04 | |
| - 0.04 | |
| - -1 | |
| road_ratio: 0.9 | |
| above_ground_distance: 0.0 | |
| num_sampled_teacher_points: 200000 | |
| basepath: s3://waabi-live-training-datasets/pnp/truck_frameless_human_labelled_train_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: false | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| version: OLDEST | |
| dataset_id: truck_frameless_human_labelled_train | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| ignore_sequences: | |
| - 1 | |
| - 5 | |
| - 21 | |
| - 24 | |
| - 27 | |
| - 30 | |
| - 35 | |
| - 36 | |
| - 38 | |
| - 49 | |
| - 62 | |
| - 71 | |
| - 73 | |
| - 75 | |
| - 89 | |
| - 92 | |
| - 95 | |
| - 99 | |
| - 101 | |
| - 315 | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| load_map_container: false | |
| return_map_container: false | |
| transform_map_container_to_ego_frame: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| dual_collect_config: | |
| load_dual_collect_timestamps: true | |
| load_dual_collect_ego_data: true | |
| data_aug_config: | |
| data_aug: true | |
| data_aug_x: 2.0 | |
| data_aug_y: 2.0 | |
| data_aug_z: 0.5 | |
| data_aug_h: 0.3 | |
| data_aug_deg: 20.0 | |
| data_aug_deg_pitch: 2.0 | |
| data_aug_deg_roll: 0.3 | |
| data_aug_size: 0.0 | |
| data_aug_flip: null | |
| data_aug_noise_std: null | |
| data_aug_h_noise: 0.02 | |
| center_flips: false | |
| map_roi_aug_enabled: true | |
| lane_graph_hole_example_ratio: 0.2 | |
| lane_graph_radius_min_max: | |
| - 10.0 | |
| - 25.0 | |
| lane_graph_dropout_example_ratio: 0.1 | |
| lane_graph_random_node_dropout: 0.01 | |
| drop_past_sweeps_p: 0.005 | |
| drop_sweep_p: 0.01 | |
| drop_lidar_p: | |
| default: 0.05 | |
| drop_lidar_point_p_max: 0.3 | |
| long_range_img_aug: true | |
| long_range_img_aug_alpha_min: 1.2 | |
| long_range_img_aug_alpha_max: 2.0 | |
| long_range_lidar_drop_in_rv_prob: 0.25 | |
| lidar_drop_in_rv_prob: 0.1 | |
| map_node_img_drop_prob: 0.1 | |
| '2': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 20 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| include_ego_trailer: true | |
| add_ego_as_actor: false | |
| query_prediction_labels: false | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: true | |
| filter_actor_timesteps_outside_map_prob: 0.5 | |
| actor_timesteps_map_dist_ignore_thresh_m: 20.0 | |
| filter_actor_outside_map: true | |
| filter_actor_outside_map_prob: 0.7 | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| ignore_ego: false | |
| roi_3d_filter: true | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| load_observation_states: true | |
| load_past_states: true | |
| load_teacher_dataset: true | |
| teacher_max_future_frame: 60 | |
| teacher_min_future_frame: 0 | |
| teacher_dataset_suffix: _occflow_teacher_v5_groundness | |
| occ_noise_occ_thresholds: | |
| - 0.04 | |
| - 0.04 | |
| - -1 | |
| road_ratio: 0.9 | |
| above_ground_distance: 0.0 | |
| num_sampled_teacher_points: 200000 | |
| basepath: s3://waabi-live-training-datasets/pnp/truck_human_labelled_demo_train_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: false | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| version: OLDEST | |
| dataset_id: demo_train_human_labelled | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| load_map_container: false | |
| return_map_container: false | |
| transform_map_container_to_ego_frame: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| dual_collect_config: | |
| load_dual_collect_timestamps: true | |
| load_dual_collect_ego_data: true | |
| data_aug_config: | |
| data_aug: true | |
| data_aug_x: 2.0 | |
| data_aug_y: 2.0 | |
| data_aug_z: 0.5 | |
| data_aug_h: 0.3 | |
| data_aug_deg: 20.0 | |
| data_aug_deg_pitch: 2.0 | |
| data_aug_deg_roll: 0.3 | |
| data_aug_size: 0.0 | |
| data_aug_flip: null | |
| data_aug_noise_std: null | |
| data_aug_h_noise: 0.02 | |
| center_flips: false | |
| map_roi_aug_enabled: true | |
| lane_graph_hole_example_ratio: 0.2 | |
| lane_graph_radius_min_max: | |
| - 10.0 | |
| - 25.0 | |
| lane_graph_dropout_example_ratio: 0.1 | |
| lane_graph_random_node_dropout: 0.01 | |
| drop_past_sweeps_p: 0.005 | |
| drop_sweep_p: 0.01 | |
| drop_lidar_p: | |
| default: 0.05 | |
| drop_lidar_point_p_max: 0.3 | |
| long_range_img_aug: true | |
| long_range_img_aug_alpha_min: 1.2 | |
| long_range_img_aug_alpha_max: 2.0 | |
| long_range_lidar_drop_in_rv_prob: 0.25 | |
| lidar_drop_in_rv_prob: 0.1 | |
| map_node_img_drop_prob: 0.1 | |
| '3': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 20 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| include_ego_trailer: true | |
| add_ego_as_actor: false | |
| query_prediction_labels: false | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: true | |
| filter_actor_timesteps_outside_map_prob: 0.5 | |
| actor_timesteps_map_dist_ignore_thresh_m: 20.0 | |
| filter_actor_outside_map: true | |
| filter_actor_outside_map_prob: 0.7 | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| ignore_ego: false | |
| roi_3d_filter: true | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| load_observation_states: true | |
| load_past_states: true | |
| load_teacher_dataset: true | |
| teacher_max_future_frame: 60 | |
| teacher_min_future_frame: 0 | |
| teacher_dataset_suffix: _occflow_teacher_v5_groundness | |
| occ_noise_occ_thresholds: | |
| - 0.04 | |
| - 0.04 | |
| - -1 | |
| road_ratio: 0.9 | |
| above_ground_distance: 0.0 | |
| num_sampled_teacher_points: 200000 | |
| basepath: s3://waabi-live-training-datasets/pnp/truck_human_labelled_rainy_train_2025_03_06 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: false | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| version: 20250311T0107Z | |
| dataset_id: rainy_train_human_labelled | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| load_map_container: false | |
| return_map_container: false | |
| transform_map_container_to_ego_frame: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| dual_collect_config: | |
| load_dual_collect_timestamps: true | |
| load_dual_collect_ego_data: true | |
| data_aug_config: | |
| data_aug: true | |
| data_aug_x: 2.0 | |
| data_aug_y: 2.0 | |
| data_aug_z: 0.5 | |
| data_aug_h: 0.3 | |
| data_aug_deg: 20.0 | |
| data_aug_deg_pitch: 2.0 | |
| data_aug_deg_roll: 0.3 | |
| data_aug_size: 0.0 | |
| data_aug_flip: null | |
| data_aug_noise_std: null | |
| data_aug_h_noise: 0.02 | |
| center_flips: false | |
| map_roi_aug_enabled: true | |
| lane_graph_hole_example_ratio: 0.2 | |
| lane_graph_radius_min_max: | |
| - 10.0 | |
| - 25.0 | |
| lane_graph_dropout_example_ratio: 0.1 | |
| lane_graph_random_node_dropout: 0.01 | |
| drop_past_sweeps_p: 0.005 | |
| drop_sweep_p: 0.01 | |
| drop_lidar_p: | |
| default: 0.05 | |
| drop_lidar_point_p_max: 0.3 | |
| long_range_img_aug: true | |
| long_range_img_aug_alpha_min: 1.2 | |
| long_range_img_aug_alpha_max: 2.0 | |
| long_range_lidar_drop_in_rv_prob: 0.25 | |
| lidar_drop_in_rv_prob: 0.1 | |
| map_node_img_drop_prob: 0.1 | |
| '4': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 20 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_label_region: true | |
| use_map_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| include_ego_trailer: true | |
| add_ego_as_actor: false | |
| query_prediction_labels: false | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: true | |
| filter_actor_timesteps_outside_map_prob: 0.5 | |
| actor_timesteps_map_dist_ignore_thresh_m: 20.0 | |
| filter_actor_outside_map: true | |
| filter_actor_outside_map_prob: 0.7 | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| ignore_ego: false | |
| roi_3d_filter: true | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| load_observation_states: true | |
| load_past_states: true | |
| load_teacher_dataset: true | |
| teacher_max_future_frame: 60 | |
| teacher_min_future_frame: 0 | |
| teacher_dataset_suffix: _occflow_teacher_v5_groundness | |
| occ_noise_occ_thresholds: | |
| - 0.04 | |
| - 0.04 | |
| - -1 | |
| road_ratio: 0.9 | |
| above_ground_distance: 0.0 | |
| num_sampled_teacher_points: 200000 | |
| basepath: s3://waabi-live-training-datasets/pnp/empty_world_antero_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: false | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| version: OLDEST | |
| dataset_id: truck_track_empty_world_train | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| override_ignore_regions: | |
| - xmin: -30 | |
| xmax: 0 | |
| ymin: -30 | |
| ymax: 30 | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| load_map_container: false | |
| return_map_container: false | |
| transform_map_container_to_ego_frame: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| dual_collect_config: | |
| load_dual_collect_timestamps: true | |
| load_dual_collect_ego_data: true | |
| data_aug_config: | |
| data_aug: true | |
| data_aug_x: 2.0 | |
| data_aug_y: 2.0 | |
| data_aug_z: 0.5 | |
| data_aug_h: 0.3 | |
| data_aug_deg: 20.0 | |
| data_aug_deg_pitch: 2.0 | |
| data_aug_deg_roll: 0.3 | |
| data_aug_size: 0.0 | |
| data_aug_flip: null | |
| data_aug_noise_std: null | |
| data_aug_h_noise: 0.02 | |
| center_flips: false | |
| map_roi_aug_enabled: true | |
| lane_graph_hole_example_ratio: 0.2 | |
| lane_graph_radius_min_max: | |
| - 10.0 | |
| - 25.0 | |
| lane_graph_dropout_example_ratio: 0.1 | |
| lane_graph_random_node_dropout: 0.01 | |
| drop_past_sweeps_p: 0.005 | |
| drop_sweep_p: 0.01 | |
| drop_lidar_p: | |
| default: 0.05 | |
| drop_lidar_point_p_max: 0.3 | |
| long_range_img_aug: true | |
| long_range_img_aug_alpha_min: 1.2 | |
| long_range_img_aug_alpha_max: 2.0 | |
| long_range_lidar_drop_in_rv_prob: 0.25 | |
| lidar_drop_in_rv_prob: 0.1 | |
| map_node_img_drop_prob: 0.1 | |
| '5': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 20 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| include_ego_trailer: true | |
| add_ego_as_actor: false | |
| query_prediction_labels: false | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: true | |
| filter_actor_timesteps_outside_map_prob: 0.5 | |
| actor_timesteps_map_dist_ignore_thresh_m: 20.0 | |
| filter_actor_outside_map: true | |
| filter_actor_outside_map_prob: 0.7 | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| ignore_ego: false | |
| roi_3d_filter: true | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| load_observation_states: true | |
| load_past_states: true | |
| load_teacher_dataset: true | |
| teacher_max_future_frame: 60 | |
| teacher_min_future_frame: 0 | |
| teacher_dataset_suffix: _occflow_teacher_v5_groundness | |
| occ_noise_occ_thresholds: | |
| - 0.04 | |
| - 0.04 | |
| - -1 | |
| road_ratio: 0.9 | |
| above_ground_distance: 0.0 | |
| num_sampled_teacher_points: 200000 | |
| basepath: s3://waabi-live-training-datasets/pnp/HighwaySimv4_track_2025_04_02 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: false | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| dataset_id: exponent_tpg_track_with_scripted_actors_train | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| load_map_container: false | |
| return_map_container: false | |
| transform_map_container_to_ego_frame: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| dual_collect_config: | |
| load_dual_collect_timestamps: true | |
| load_dual_collect_ego_data: true | |
| data_aug_config: | |
| data_aug: true | |
| data_aug_x: 2.0 | |
| data_aug_y: 2.0 | |
| data_aug_z: 0.5 | |
| data_aug_h: 0.3 | |
| data_aug_deg: 20.0 | |
| data_aug_deg_pitch: 2.0 | |
| data_aug_deg_roll: 0.3 | |
| data_aug_size: 0.0 | |
| data_aug_flip: null | |
| data_aug_noise_std: null | |
| data_aug_h_noise: 0.02 | |
| center_flips: false | |
| map_roi_aug_enabled: true | |
| lane_graph_hole_example_ratio: 0.2 | |
| lane_graph_radius_min_max: | |
| - 10.0 | |
| - 25.0 | |
| lane_graph_dropout_example_ratio: 0.1 | |
| lane_graph_random_node_dropout: 0.01 | |
| drop_past_sweeps_p: 0.005 | |
| drop_sweep_p: 0.01 | |
| drop_lidar_p: | |
| default: 0.05 | |
| drop_lidar_point_p_max: 0.3 | |
| long_range_img_aug: true | |
| long_range_img_aug_alpha_min: 1.2 | |
| long_range_img_aug_alpha_max: 2.0 | |
| long_range_lidar_drop_in_rv_prob: 0.25 | |
| lidar_drop_in_rv_prob: 0.1 | |
| map_node_img_drop_prob: 0.1 | |
| '6': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 20 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| include_ego_trailer: true | |
| add_ego_as_actor: false | |
| query_prediction_labels: false | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: true | |
| filter_actor_timesteps_outside_map_prob: 0.5 | |
| actor_timesteps_map_dist_ignore_thresh_m: 20.0 | |
| filter_actor_outside_map: true | |
| filter_actor_outside_map_prob: 0.7 | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| ignore_ego: false | |
| roi_3d_filter: true | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| load_observation_states: true | |
| load_past_states: true | |
| load_teacher_dataset: true | |
| teacher_max_future_frame: 60 | |
| teacher_min_future_frame: 0 | |
| teacher_dataset_suffix: _occflow_teacher_v5_groundness | |
| occ_noise_occ_thresholds: | |
| - 0.04 | |
| - 0.04 | |
| - -1 | |
| road_ratio: 0.9 | |
| above_ground_distance: 0.0 | |
| num_sampled_teacher_points: 200000 | |
| basepath: s3://waabi-live-training-datasets/pnp/truck_perception_train_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: false | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| version: OLDEST | |
| dataset_id: truck_perception_train_labelled | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| ignore_sequences: | |
| - 5 | |
| - 11 | |
| - 14 | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| load_map_container: false | |
| return_map_container: false | |
| transform_map_container_to_ego_frame: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| dual_collect_config: | |
| load_dual_collect_timestamps: true | |
| load_dual_collect_ego_data: true | |
| data_aug_config: | |
| data_aug: true | |
| data_aug_x: 2.0 | |
| data_aug_y: 2.0 | |
| data_aug_z: 0.5 | |
| data_aug_h: 0.3 | |
| data_aug_deg: 20.0 | |
| data_aug_deg_pitch: 2.0 | |
| data_aug_deg_roll: 0.3 | |
| data_aug_size: 0.0 | |
| data_aug_flip: null | |
| data_aug_noise_std: null | |
| data_aug_h_noise: 0.02 | |
| center_flips: false | |
| map_roi_aug_enabled: true | |
| lane_graph_hole_example_ratio: 0.2 | |
| lane_graph_radius_min_max: | |
| - 10.0 | |
| - 25.0 | |
| lane_graph_dropout_example_ratio: 0.1 | |
| lane_graph_random_node_dropout: 0.01 | |
| drop_past_sweeps_p: 0.005 | |
| drop_sweep_p: 0.01 | |
| drop_lidar_p: | |
| default: 0.05 | |
| drop_lidar_point_p_max: 0.3 | |
| long_range_img_aug: true | |
| long_range_img_aug_alpha_min: 1.2 | |
| long_range_img_aug_alpha_max: 2.0 | |
| long_range_lidar_drop_in_rv_prob: 0.25 | |
| lidar_drop_in_rv_prob: 0.1 | |
| map_node_img_drop_prob: 0.1 | |
| '7': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 20 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - OUSTER_OS1_0 | |
| - OUSTER_OS1_1 | |
| load_label_region: true | |
| filter_actor_timesteps_outside_map: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| include_ego_trailer: true | |
| add_ego_as_actor: false | |
| query_prediction_labels: false | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map_prob: 0.5 | |
| actor_timesteps_map_dist_ignore_thresh_m: 20.0 | |
| filter_actor_outside_map: true | |
| filter_actor_outside_map_prob: 0.7 | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| ignore_ego: false | |
| roi_3d_filter: true | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| load_observation_states: true | |
| load_past_states: true | |
| load_teacher_dataset: true | |
| teacher_max_future_frame: 60 | |
| teacher_min_future_frame: 0 | |
| teacher_dataset_suffix: _occflow_teacher_v5_groundness | |
| occ_noise_occ_thresholds: | |
| - 0.04 | |
| - 0.04 | |
| - -1 | |
| road_ratio: 0.9 | |
| above_ground_distance: 0.0 | |
| num_sampled_teacher_points: 200000 | |
| basepath: s3://waabi-live-training-datasets/pnp/urban_off_map_data_train_human_labelled_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - OUSTER_OS1_0 | |
| - OUSTER_OS1_1 | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: false | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| dataset_id: urban_off_map_data_train_human_labelled | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| map_config: | |
| load_map: false | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| load_map_container: false | |
| return_map_container: false | |
| transform_map_container_to_ego_frame: true | |
| labels_available: | |
| - ACTOR_LABEL | |
| - OCCUPANCY | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| dual_collect_config: | |
| load_dual_collect_timestamps: true | |
| load_dual_collect_ego_data: true | |
| data_aug_config: | |
| data_aug: true | |
| data_aug_x: 2.0 | |
| data_aug_y: 2.0 | |
| data_aug_z: 0.5 | |
| data_aug_h: 0.3 | |
| data_aug_deg: 20.0 | |
| data_aug_deg_pitch: 2.0 | |
| data_aug_deg_roll: 0.3 | |
| data_aug_size: 0.0 | |
| data_aug_flip: null | |
| data_aug_noise_std: null | |
| data_aug_h_noise: 0.02 | |
| center_flips: false | |
| map_roi_aug_enabled: true | |
| lane_graph_hole_example_ratio: 0.2 | |
| lane_graph_radius_min_max: | |
| - 10.0 | |
| - 25.0 | |
| lane_graph_dropout_example_ratio: 0.1 | |
| lane_graph_random_node_dropout: 0.01 | |
| drop_past_sweeps_p: 0.005 | |
| drop_sweep_p: 0.01 | |
| drop_lidar_p: | |
| default: 0.05 | |
| drop_lidar_point_p_max: 0.3 | |
| long_range_img_aug: true | |
| long_range_img_aug_alpha_min: 1.2 | |
| long_range_img_aug_alpha_max: 2.0 | |
| long_range_lidar_drop_in_rv_prob: 0.25 | |
| lidar_drop_in_rv_prob: 0.1 | |
| map_node_img_drop_prob: 0.1 | |
| '8': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 20 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| include_ego_trailer: true | |
| add_ego_as_actor: false | |
| query_prediction_labels: false | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: true | |
| filter_actor_timesteps_outside_map_prob: 0.5 | |
| actor_timesteps_map_dist_ignore_thresh_m: 20.0 | |
| filter_actor_outside_map: true | |
| filter_actor_outside_map_prob: 0.7 | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| ignore_ego: false | |
| roi_3d_filter: true | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| load_observation_states: true | |
| load_past_states: true | |
| load_teacher_dataset: true | |
| teacher_max_future_frame: 60 | |
| teacher_min_future_frame: 0 | |
| teacher_dataset_suffix: _occflow_teacher_v5_groundness | |
| occ_noise_occ_thresholds: | |
| - 0.04 | |
| - 0.04 | |
| - -1 | |
| road_ratio: 0.9 | |
| above_ground_distance: 0.0 | |
| num_sampled_teacher_points: 200000 | |
| basepath: s3://waabi-live-training-datasets/pnp/surface_streets_train_human_labelled_2025_01_31 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: false | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| dataset_id: surface_streets_train_human_labelled | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| labels_available: | |
| - TRAFFIC_LIGHT_STATE | |
| - ACTOR_LABEL | |
| - OCCUPANCY | |
| - ONLINE_MAP | |
| ignore_sequences: | |
| - 0 | |
| - 16 | |
| - 19 | |
| - 29 | |
| - 34 | |
| - 56 | |
| - 73 | |
| - 82 | |
| - 89 | |
| - 371 | |
| - 372 | |
| - 374 | |
| - 375 | |
| - 376 | |
| - 377 | |
| - 378 | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| load_map_container: false | |
| return_map_container: false | |
| transform_map_container_to_ego_frame: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| dual_collect_config: | |
| load_dual_collect_timestamps: true | |
| load_dual_collect_ego_data: true | |
| data_aug_config: | |
| data_aug: true | |
| data_aug_x: 2.0 | |
| data_aug_y: 2.0 | |
| data_aug_z: 0.5 | |
| data_aug_h: 0.3 | |
| data_aug_deg: 20.0 | |
| data_aug_deg_pitch: 2.0 | |
| data_aug_deg_roll: 0.3 | |
| data_aug_size: 0.0 | |
| data_aug_flip: null | |
| data_aug_noise_std: null | |
| data_aug_h_noise: 0.02 | |
| center_flips: false | |
| map_roi_aug_enabled: true | |
| lane_graph_hole_example_ratio: 0.2 | |
| lane_graph_radius_min_max: | |
| - 10.0 | |
| - 25.0 | |
| lane_graph_dropout_example_ratio: 0.1 | |
| lane_graph_random_node_dropout: 0.01 | |
| drop_past_sweeps_p: 0.005 | |
| drop_sweep_p: 0.01 | |
| drop_lidar_p: | |
| default: 0.05 | |
| drop_lidar_point_p_max: 0.3 | |
| long_range_img_aug: true | |
| long_range_img_aug_alpha_min: 1.2 | |
| long_range_img_aug_alpha_max: 2.0 | |
| long_range_lidar_drop_in_rv_prob: 0.25 | |
| lidar_drop_in_rv_prob: 0.1 | |
| map_node_img_drop_prob: 0.1 | |
| '9': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 20 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_label_region: true | |
| use_map_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| include_ego_trailer: true | |
| add_ego_as_actor: false | |
| query_prediction_labels: false | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: true | |
| filter_actor_timesteps_outside_map_prob: 0.5 | |
| actor_timesteps_map_dist_ignore_thresh_m: 20.0 | |
| filter_actor_outside_map: true | |
| filter_actor_outside_map_prob: 0.7 | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| ignore_ego: false | |
| roi_3d_filter: true | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| load_observation_states: true | |
| load_past_states: true | |
| load_teacher_dataset: true | |
| teacher_max_future_frame: 60 | |
| teacher_min_future_frame: 0 | |
| teacher_dataset_suffix: _occflow_teacher_v5_groundness | |
| occ_noise_occ_thresholds: | |
| - 0.04 | |
| - 0.04 | |
| - -1 | |
| road_ratio: 0.9 | |
| above_ground_distance: 0.0 | |
| num_sampled_teacher_points: 200000 | |
| basepath: s3://waabi-live-training-datasets/pnp/empty_world_blackburn_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: false | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| dataset_id: truck_track_empty_world_blackburn | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| ignore_sequences: | |
| - 7 | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| override_ignore_regions: | |
| - xmin: -30 | |
| xmax: 0 | |
| ymin: -30 | |
| ymax: 30 | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| load_map_container: false | |
| return_map_container: false | |
| transform_map_container_to_ego_frame: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| dual_collect_config: | |
| load_dual_collect_timestamps: true | |
| load_dual_collect_ego_data: true | |
| data_aug_config: | |
| data_aug: true | |
| data_aug_x: 2.0 | |
| data_aug_y: 2.0 | |
| data_aug_z: 0.5 | |
| data_aug_h: 0.3 | |
| data_aug_deg: 20.0 | |
| data_aug_deg_pitch: 2.0 | |
| data_aug_deg_roll: 0.3 | |
| data_aug_size: 0.0 | |
| data_aug_flip: null | |
| data_aug_noise_std: null | |
| data_aug_h_noise: 0.02 | |
| center_flips: false | |
| map_roi_aug_enabled: true | |
| lane_graph_hole_example_ratio: 0.2 | |
| lane_graph_radius_min_max: | |
| - 10.0 | |
| - 25.0 | |
| lane_graph_dropout_example_ratio: 0.1 | |
| lane_graph_random_node_dropout: 0.01 | |
| drop_past_sweeps_p: 0.005 | |
| drop_sweep_p: 0.01 | |
| drop_lidar_p: | |
| default: 0.05 | |
| drop_lidar_point_p_max: 0.3 | |
| long_range_img_aug: true | |
| long_range_img_aug_alpha_min: 1.2 | |
| long_range_img_aug_alpha_max: 2.0 | |
| long_range_lidar_drop_in_rv_prob: 0.25 | |
| lidar_drop_in_rv_prob: 0.1 | |
| map_node_img_drop_prob: 0.1 | |
| '10': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 20 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| include_ego_trailer: true | |
| add_ego_as_actor: false | |
| query_prediction_labels: false | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: true | |
| filter_actor_timesteps_outside_map_prob: 0.5 | |
| actor_timesteps_map_dist_ignore_thresh_m: 20.0 | |
| filter_actor_outside_map: true | |
| filter_actor_outside_map_prob: 0.7 | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| ignore_ego: false | |
| roi_3d_filter: true | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| load_observation_states: true | |
| load_past_states: true | |
| load_teacher_dataset: true | |
| teacher_max_future_frame: 60 | |
| teacher_min_future_frame: 0 | |
| teacher_dataset_suffix: _occflow_teacher_v5_groundness | |
| occ_noise_occ_thresholds: | |
| - 0.04 | |
| - 0.04 | |
| - -1 | |
| road_ratio: 0.9 | |
| above_ground_distance: 0.0 | |
| num_sampled_teacher_points: 200000 | |
| basepath: s3://waabi-live-training-datasets/pnp/dual_vehicle_train_human_labelled_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: false | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| version: 20250311T1233Z | |
| tags_path: null | |
| dataset_id: dual_vehicle_train_human_labelled | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| load_map_container: false | |
| return_map_container: false | |
| transform_map_container_to_ego_frame: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| dual_collect_config: | |
| load_dual_collect_timestamps: true | |
| load_dual_collect_ego_data: true | |
| data_aug_config: | |
| data_aug: true | |
| data_aug_x: 2.0 | |
| data_aug_y: 2.0 | |
| data_aug_z: 0.5 | |
| data_aug_h: 0.3 | |
| data_aug_deg: 20.0 | |
| data_aug_deg_pitch: 2.0 | |
| data_aug_deg_roll: 0.3 | |
| data_aug_size: 0.0 | |
| data_aug_flip: null | |
| data_aug_noise_std: null | |
| data_aug_h_noise: 0.02 | |
| center_flips: false | |
| map_roi_aug_enabled: true | |
| lane_graph_hole_example_ratio: 0.2 | |
| lane_graph_radius_min_max: | |
| - 10.0 | |
| - 25.0 | |
| lane_graph_dropout_example_ratio: 0.1 | |
| lane_graph_random_node_dropout: 0.01 | |
| drop_past_sweeps_p: 0.005 | |
| drop_sweep_p: 0.01 | |
| drop_lidar_p: | |
| default: 0.05 | |
| drop_lidar_point_p_max: 0.3 | |
| long_range_img_aug: true | |
| long_range_img_aug_alpha_min: 1.2 | |
| long_range_img_aug_alpha_max: 2.0 | |
| long_range_lidar_drop_in_rv_prob: 0.25 | |
| lidar_drop_in_rv_prob: 0.1 | |
| map_node_img_drop_prob: 0.1 | |
| train_loader_cfg: | |
| batch_size: 1 | |
| num_workers: 8 | |
| shuffle: true | |
| drop_last: true | |
| pin_memory: false | |
| persistent_workers: true | |
| pickle_data: false | |
| timeout: 0.0 | |
| prefetch_factor: 2 | |
| resumable: true | |
| chunk: false | |
| use_compact_shm_pickler: true | |
| use_compact_shm_prefetcher: true | |
| compact_shm_to_device: cuda | |
| use_multi_epochs_data_loader: false | |
| sample_sequences: false | |
| eval_random_chunk: false | |
| chunk_size: null | |
| frame_interval: null | |
| random_seed: 0 | |
| shuffle_seqs: true | |
| shuffle_frames: true | |
| assert_whole: false | |
| lumped_history: false | |
| max_num_past_frames: null | |
| multisource_mixing_ratios: null | |
| multisource_scale_factors: | |
| main: 0.05 | |
| '0': 1.0 | |
| '1': 1.0 | |
| '2': 1.0 | |
| '3': 1.0 | |
| '4': 1.0 | |
| '5': 1.0 | |
| '6': 1.0 | |
| '7': 1.0 | |
| '8': 4.0 | |
| '9': 1.0 | |
| '10': 1.0 | |
| multisource_proportions: null | |
| multisource_num_examples_epoch: 50000 | |
| interleave_source_examples: false | |
| weighted_queries: null | |
| weighted_queries_replace: false | |
| re_select_each_epoch: true | |
| num_main_cores: 4 | |
| reuse_shared_memory: true | |
| gc_interval: null | |
| eval_dataset_cfg: | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 60 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: 0 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| query_prediction_labels: true | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: false | |
| filter_actor_outside_dynamic_label_range: true | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| add_ego_bbox: true | |
| add_ego_as_actor: false | |
| ignore_ego: false | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| use_map_label_region: false | |
| load_observation_states: true | |
| load_past_states: false | |
| roi_3d_filter: true | |
| include_all_actors: true | |
| prediction_ego_bbox: true | |
| basepath: s3://waabi-live-training-datasets/pnp/truck_frameless_human_labelled_eval_2025_03_11 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: true | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| version: OLDEST | |
| dataset_id: truck_frameless_human_labelled_eval | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| labels_available: | |
| - ACTOR_LABEL | |
| - ONLINE_MAP | |
| ignore_sequences: | |
| - 2 | |
| - 18 | |
| - 179 | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| return_map_container: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| dual_collect_config: | |
| load_dual_collect_timestamps: true | |
| load_dual_collect_ego_data: true | |
| data_aug_config: | |
| data_aug: false | |
| data_aug_size: 0.0 | |
| child_configs: | |
| '0': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 60 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: 0 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| query_prediction_labels: true | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: false | |
| filter_actor_outside_dynamic_label_range: true | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| add_ego_bbox: true | |
| add_ego_as_actor: false | |
| ignore_ego: false | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| use_map_label_region: false | |
| load_observation_states: true | |
| load_past_states: false | |
| roi_3d_filter: true | |
| include_all_actors: true | |
| prediction_ego_bbox: true | |
| basepath: s3://waabi-live-training-datasets/pnp/truck_human_labelled_rainy_eval_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: true | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| version: 20250310T2330Z | |
| dataset_id: rainy_eval_human_labelled | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| labels_available: | |
| - ACTOR_LABEL | |
| - ONLINE_MAP | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| return_map_container: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| dual_collect_config: | |
| load_dual_collect_timestamps: true | |
| load_dual_collect_ego_data: true | |
| data_aug_config: | |
| data_aug: false | |
| data_aug_size: 0.0 | |
| data_subsampler_config: | |
| subsampler: NoOpDataSubsampler | |
| '1': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 60 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: 0 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| query_prediction_labels: true | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: false | |
| filter_actor_outside_dynamic_label_range: true | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| add_ego_bbox: true | |
| add_ego_as_actor: false | |
| ignore_ego: false | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| use_map_label_region: false | |
| load_observation_states: true | |
| load_past_states: false | |
| roi_3d_filter: true | |
| include_all_actors: true | |
| prediction_ego_bbox: true | |
| basepath: s3://waabi-live-training-datasets/pnp/feature_complete_eval_human_labelled_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: true | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| version: 20250311T0238Z | |
| dataset_id: feature_complete_eval_human_labelled | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| labels_available: | |
| - ACTOR_LABEL | |
| - ONLINE_MAP | |
| ignore_sequences: | |
| - 15 | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| return_map_container: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| dual_collect_config: | |
| load_dual_collect_timestamps: true | |
| load_dual_collect_ego_data: true | |
| data_aug_config: | |
| data_aug: false | |
| data_aug_size: 0.0 | |
| data_subsampler_config: | |
| subsampler: NoOpDataSubsampler | |
| '2': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 60 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: 0 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| query_prediction_labels: true | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: false | |
| filter_actor_outside_dynamic_label_range: true | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| add_ego_bbox: true | |
| add_ego_as_actor: false | |
| ignore_ego: false | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| use_map_label_region: false | |
| load_observation_states: true | |
| load_past_states: false | |
| roi_3d_filter: true | |
| include_all_actors: true | |
| prediction_ego_bbox: true | |
| basepath: s3://waabi-live-training-datasets/pnp/dual_vehicle_eval_human_labelled_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: true | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| version: 20250311T0248Z | |
| tags_path: null | |
| dataset_id: dual_vehicle_eval_human_labelled | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| dual_collect_config: | |
| load_dual_collect_timestamps: true | |
| load_dual_collect_ego_data: true | |
| labels_available: | |
| - ACTOR_LABEL | |
| - ONLINE_MAP | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| return_map_container: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| data_aug_config: | |
| data_aug: false | |
| data_aug_size: 0.0 | |
| data_subsampler_config: | |
| subsampler: NoOpDataSubsampler | |
| '3': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 60 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: 0 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| query_prediction_labels: true | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: false | |
| filter_actor_outside_dynamic_label_range: true | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| add_ego_bbox: true | |
| add_ego_as_actor: false | |
| ignore_ego: false | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| use_map_label_region: false | |
| load_observation_states: true | |
| load_past_states: false | |
| roi_3d_filter: true | |
| include_all_actors: true | |
| prediction_ego_bbox: true | |
| basepath: s3://waabi-live-training-datasets/pnp/surface_streets_eval_human_labelled_2025_01_31 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: true | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| dataset_id: surface_streets_eval_human_labelled | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| tags_path: null | |
| labels_available: | |
| - ACTOR_LABEL | |
| - ONLINE_MAP | |
| - TRAFFIC_LIGHT_STATE | |
| ignore_sequences: | |
| - 44 | |
| - 45 | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| return_map_container: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| dual_collect_config: | |
| load_dual_collect_timestamps: true | |
| load_dual_collect_ego_data: true | |
| data_aug_config: | |
| data_aug: false | |
| data_aug_size: 0.0 | |
| data_subsampler_config: | |
| subsampler: NoOpDataSubsampler | |
| '4': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 60 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: 0 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - OUSTER_OS1_0 | |
| - OUSTER_OS1_1 | |
| load_label_region: true | |
| filter_actor_timesteps_outside_map: false | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| query_prediction_labels: true | |
| sum_num_pts: true | |
| filter_actor_outside_dynamic_label_range: true | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| add_ego_bbox: true | |
| add_ego_as_actor: false | |
| ignore_ego: false | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| use_map_label_region: false | |
| load_observation_states: true | |
| load_past_states: false | |
| roi_3d_filter: true | |
| include_all_actors: true | |
| prediction_ego_bbox: true | |
| basepath: s3://waabi-live-training-datasets/pnp/urban_off_map_data_eval_human_labelled_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - OUSTER_OS1_0 | |
| - OUSTER_OS1_1 | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: true | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| dataset_id: urban_off_map_data_eval_human_labelled | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| map_config: | |
| load_map: false | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| return_map_container: true | |
| labels_available: | |
| - ACTOR_LABEL | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| dual_collect_config: | |
| load_dual_collect_timestamps: true | |
| load_dual_collect_ego_data: true | |
| data_aug_config: | |
| data_aug: false | |
| data_aug_size: 0.0 | |
| data_subsampler_config: | |
| subsampler: NoOpDataSubsampler | |
| '5': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 60 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: 0 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_label_region: true | |
| filter_actor_timesteps_outside_map: false | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| query_prediction_labels: true | |
| sum_num_pts: true | |
| filter_actor_outside_dynamic_label_range: true | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| add_ego_bbox: true | |
| add_ego_as_actor: false | |
| ignore_ego: false | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| use_map_label_region: false | |
| load_observation_states: true | |
| load_past_states: false | |
| roi_3d_filter: true | |
| include_all_actors: true | |
| prediction_ego_bbox: true | |
| basepath: s3://waabi-live-training-datasets/pnp/parking_lot_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: true | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| dataset_id: truck_static_scenes_with_human_labels | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| map_config: | |
| load_map: false | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| return_map_container: true | |
| labels_available: | |
| - ACTOR_LABEL | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| dual_collect_config: | |
| load_dual_collect_timestamps: true | |
| load_dual_collect_ego_data: true | |
| data_aug_config: | |
| data_aug: false | |
| data_aug_size: 0.0 | |
| data_subsampler_config: | |
| subsampler: NoOpDataSubsampler | |
| data_subsampler_config: | |
| subsampler: NoOpDataSubsampler | |
| eval_loader_cfg: | |
| batch_size: 1 | |
| num_workers: 4 | |
| shuffle: true | |
| drop_last: true | |
| pin_memory: false | |
| persistent_workers: true | |
| pickle_data: false | |
| timeout: 0.0 | |
| prefetch_factor: 2 | |
| resumable: true | |
| chunk: false | |
| use_compact_shm_pickler: true | |
| use_compact_shm_prefetcher: true | |
| compact_shm_to_device: cuda | |
| use_multi_epochs_data_loader: false | |
| sample_sequences: true | |
| eval_random_chunk: true | |
| chunk_size: 19 | |
| frame_interval: 3 | |
| random_seed: 0 | |
| shuffle_seqs: false | |
| shuffle_frames: false | |
| assert_whole: true | |
| lumped_history: false | |
| max_num_past_frames: null | |
| multisource_mixing_ratios: null | |
| multisource_scale_factors: | |
| main: 0.2 | |
| '0': 0.4 | |
| '1': 0.5 | |
| '2': 1.0 | |
| '3': 1.0 | |
| '4': 1.0 | |
| '5': 1.0 | |
| multisource_proportions: null | |
| multisource_num_examples_epoch: null | |
| interleave_source_examples: false | |
| weighted_queries: | |
| 120 < `actor_dist_to_closest_aos/ego` < 350: 4.0 | |
| '`is_person/any` == 1': 4.0 | |
| ? (`RawFloatPerTimestepTagName.ESTIMATED_ROAD_CURVATURE` > 0.0005) or (`RawFloatPerTimestepTagName.ESTIMATED_ROAD_CURVATURE` | |
| < -0.0005) | |
| : 4.0 | |
| weighted_queries_replace: false | |
| re_select_each_epoch: false | |
| num_main_cores: 4 | |
| reuse_shared_memory: true | |
| gc_interval: null | |
| viz_dataset_cfg: | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 60 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| query_prediction_labels: true | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: false | |
| filter_actor_outside_dynamic_label_range: true | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| add_ego_bbox: true | |
| add_ego_as_actor: false | |
| ignore_ego: false | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| use_map_label_region: false | |
| load_observation_states: true | |
| load_past_states: false | |
| roi_3d_filter: true | |
| include_all_actors: true | |
| prediction_ego_bbox: true | |
| basepath: s3://waabi-live-training-datasets/pnp/surface_streets_eval_human_labelled_2025_01_31 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: true | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| dataset_id: surface_streets_eval_human_labelled | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| tags_path: null | |
| labels_available: | |
| - ACTOR_LABEL | |
| - ONLINE_MAP | |
| - TRAFFIC_LIGHT_STATE | |
| ignore_sequences: | |
| - 44 | |
| - 45 | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| return_map_container: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| dual_collect_config: | |
| load_dual_collect_timestamps: true | |
| load_dual_collect_ego_data: true | |
| data_aug_config: | |
| data_aug: false | |
| data_aug_size: 0.0 | |
| child_configs: | |
| '0': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 60 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| query_prediction_labels: true | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: false | |
| filter_actor_outside_dynamic_label_range: true | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| add_ego_bbox: true | |
| add_ego_as_actor: false | |
| ignore_ego: false | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| use_map_label_region: false | |
| load_observation_states: true | |
| load_past_states: false | |
| roi_3d_filter: true | |
| include_all_actors: true | |
| prediction_ego_bbox: true | |
| basepath: s3://waabi-live-training-datasets/pnp/truck_human_labelled_eval_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: true | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| viz_raster_config: | |
| x_min: -202.0 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| map_channels: | |
| - lane_boundary | |
| version: 20250311T0609Z | |
| dataset_id: truck_human_labelled_viz | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| data_aug_config: | |
| data_aug: false | |
| data_aug_size: 0.0 | |
| data_subsampler_config: | |
| subsampler: SpecificDataSubsampler | |
| frames_to_keep: | |
| - 8-10 | |
| - 7-80 | |
| - 3-124 | |
| - 9-20 | |
| - 11-90 | |
| - 36-107 | |
| - 55-115 | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| return_map_container: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| dual_collect_config: | |
| load_dual_collect_timestamps: true | |
| load_dual_collect_ego_data: true | |
| '1': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 60 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| query_prediction_labels: true | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: false | |
| filter_actor_outside_dynamic_label_range: true | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| add_ego_bbox: true | |
| add_ego_as_actor: false | |
| ignore_ego: false | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| use_map_label_region: false | |
| load_observation_states: true | |
| load_past_states: false | |
| roi_3d_filter: true | |
| include_all_actors: true | |
| prediction_ego_bbox: true | |
| basepath: s3://waabi-live-training-datasets/pnp/feature_complete_eval_human_labelled_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: true | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| viz_raster_config: | |
| x_min: -202.0 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| map_channels: | |
| - lane_boundary | |
| version: 20250311T0238Z | |
| dataset_id: eval_feature_complete | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| data_aug_config: | |
| data_aug: false | |
| data_aug_size: 0.0 | |
| data_subsampler_config: | |
| subsampler: SpecificDataSubsampler | |
| frames_to_keep: | |
| - 29-70 | |
| - 26-71 | |
| - 20-96 | |
| - 4-116 | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| return_map_container: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| dual_collect_config: | |
| load_dual_collect_timestamps: true | |
| load_dual_collect_ego_data: true | |
| viz_loader_cfg: | |
| batch_size: 1 | |
| num_workers: 1 | |
| shuffle: false | |
| drop_last: false | |
| pin_memory: false | |
| persistent_workers: true | |
| pickle_data: false | |
| timeout: 0.0 | |
| prefetch_factor: 2 | |
| resumable: true | |
| chunk: false | |
| use_compact_shm_pickler: true | |
| use_compact_shm_prefetcher: true | |
| compact_shm_to_device: cuda | |
| use_multi_epochs_data_loader: false | |
| sample_sequences: false | |
| eval_random_chunk: false | |
| chunk_size: null | |
| frame_interval: null | |
| random_seed: 0 | |
| shuffle_seqs: true | |
| shuffle_frames: true | |
| assert_whole: false | |
| lumped_history: false | |
| max_num_past_frames: null | |
| multisource_mixing_ratios: null | |
| multisource_scale_factors: null | |
| multisource_proportions: null | |
| multisource_num_examples_epoch: null | |
| interleave_source_examples: false | |
| weighted_queries: null | |
| weighted_queries_replace: false | |
| re_select_each_epoch: true | |
| num_main_cores: 4 | |
| reuse_shared_memory: true | |
| gc_interval: null | |
| recurrent_viz_dataset_cfg: null | |
| recurrent_viz_loader_cfg: null | |
| dataset_name: MultiSourceOnboardPnPDataset | |
| non_commercial_use_only: false | |
| eval_dataset_name: null | |
| viz_dataset_name: null | |
| recurrent_viz_dataset_name: null | |
| trainer_cfg: | |
| seed: 0 | |
| device: cuda | |
| cudnn_deterministic: true | |
| cudnn_benchmark: false | |
| n_epochs: 8 | |
| n_iters: null | |
| eval_interval_epoch: -1.0 | |
| specific_eval_epoch_list: | |
| - 0.25 | |
| - 1.0 | |
| - 2.5 | |
| - 4.0 | |
| - 5.5 | |
| - 7.0 | |
| - 7.75 | |
| - 8.0 | |
| viz_interval_epoch: 4.0 | |
| specific_viz_epoch_list: null | |
| eval_interval_iter: -1 | |
| viz_interval_iter: -1 | |
| distribute_viz: true | |
| detach_viz: true | |
| detach_eval: true | |
| stop_detached_jobs_on_failure: true | |
| save_best_ckpt: [] | |
| checkpoint_interval_epoch: 1.0 | |
| checkpoint_interval_iter_keep: -1 | |
| checkpoint_interval_iter: 100 | |
| checkpoint_path: null | |
| pretrained_weights: null | |
| pretrained_param_regex: null | |
| no_grad_param_regex: null | |
| has_grad_param_regex: null | |
| pretrained_weights_list: | |
| - source_s3_path: s3://waabi-pretrained-weights-live/tokenizer_knn/checkpoint/model_final.pth.tar | |
| source_root_name: null | |
| destination_root_name: dp_head.pred_header.tokenizer | |
| param_prefix: null | |
| pretrained_regex: null | |
| strict: false | |
| force_load_pretrained_weights_list: false | |
| region_name: null | |
| param_prefix: null | |
| cache_pretrained_weights: false | |
| viztracer_profiling: false | |
| cuda_memory_profiling: false | |
| log_gradient_norms: false | |
| find_unused_parameters: true | |
| print_unused_parameters: false | |
| _target_: waabi.common.training.config.TrainerConfig | |
| accum_grad_iter: 1 | |
| clip_nan_grad: false | |
| max_grad_norm: 5.0 | |
| resume_sampler_state: true | |
| lr_scheduler_interval: ITER | |
| convert_to_sync_bn_under_ddp: true | |
| max_lr_groups_to_log: -1 | |
| deterministic_cublas_workspace: false | |
| init_eval: false | |
| ignore_nan_in_metas: true | |
| max_allowable_ooms: 0 | |
| recompute_num_pts: true | |
| min_sum_num_pts: 1 | |
| min_cam_fov_sum_num_pts: -1 | |
| crop_lidar_num_pts: true | |
| export_checkpoint: false | |
| gather_metas: true | |
| enable_dags: false | |
| dag_list: null | |
| sim_integration: null | |
| model_metadata_interval_epoch: 1.0 | |
| model_metadata_dir: null | |
| detect_anomaly: false | |
| use_amp: false | |
| use_loss_scaler: true | |
| throw_on_init: false | |
| params_to_ignore_for_broadcast: null | |
| retry_on_nan: true | |
| optimizer_cfg: | |
| name: AdamW | |
| lr: 0.0008 | |
| weight_decay: 0.0001 | |
| lr_linear_scaling_batch: false | |
| lr_linear_scaling_workers: false | |
| sgd_momentum: 0.9 | |
| nesterov: false | |
| custom_lr_multiplier: null | |
| weight_decay_blacklist: | |
| - bias | |
| - norm | |
| - query_embed | |
| betas: | |
| - 0.9 | |
| - 0.999 | |
| lr_scheduler_cfg: | |
| name: Cosine | |
| step_size: 10 | |
| gamma: 0.1 | |
| t_max: null | |
| t_max_relative: 1.0 | |
| min_lr_relative: 0.0 | |
| milestones: null | |
| warmup_steps: 1000 | |
| warmup_multiplier: 10 | |
| deformable_multiplier: 0.1 | |
| lr_max: 0.003 | |
| pct_start: 0.4 | |
| base_momentum: 0.85 | |
| max_momentum: 0.95 | |
| div_factor: 10.0 | |
| job_type: TRAINING | |
| exp_dir: ${oc.env:WAABI_OUTPUT_DIR,/opt/experiments/${now:%Y-%m-%d_%H-%M-%S}} | |
| exp_name: ptv3_dp_trt_lidar_verification_revert_vox_v2 | |
| log_cfg: | |
| tracker_log_interval: 5 | |
| console_log_interval: 100 | |
| record_breakdown_profiling: false | |
| record_pytorch_profiling: false | |
| wandb_project: pnp-onboard | |
| wandb_tags: | |
| - pretrain | |
| wandb_runid: null | |
| wandb_groupid: null | |
| specific_iter: null | |
| load_monitoring_runid: true | |
| disable_tb: true | |
| dirpaths_to_skip_s3_upload: | |
| - wandb | |
| record_weighted_tag_distributions: false | |
| wandb_sections_rewrite: | |
| rewrite_sections: | |
| Monitoring: | |
| - train/meta/non_sync_iter_time: Avg iter time | |
| - train/meta/non_sync_dataload_time: Avg data wait time | |
| Occupancy Val: | |
| - val_RasterizedOccupancyAP/VEHICLE/no_matching/iou0/expanded0.0: Vehicle Raster | |
| Occupancy AP all timesteps | |
| - val_RasterizedOccupancySoftIOU/VEHICLE/no_matching/iou0/expanded0.0: Vehicle | |
| Raster Occupancy Soft IOU | |
| Detection Val: | |
| - val/Detection/MeanAveragePrecision.VEHICLE.ignore_250m_1ptcamera_5pt: Vehicle | |
| mAP | |
| - val/Detection/AveragePrecision.VEHICLE.iou70.ignore_250m_1ptcamera_5pt: Vehicle | |
| AP @ IoU 70 | |
| - val/Detection/AveragePrecision.VEHICLE.iou50.ignore_250m_1ptcamera_5pt: Vehicle | |
| AP IoU50 | |
| - val/Detection/OperatingPoint.VEHICLE.iou50.score0.4.ignore_250m_1ptcamera_5pt_OptimalPrecision: Precision | |
| at Max F1 (IoU 50) | |
| - val/Detection/OperatingPoint.VEHICLE.iou50.score0.4.ignore_250m_1ptcamera_5pt_OptimalRecall: Recall | |
| at max F1 (IoU 50) | |
| - val/Detection/OperatingPoint.VEHICLE.iou50.score0.4.ignore_250m_1ptcamera_5pt_OptimalThreshold: Vehicle | |
| threshold at Max F1 (IoU 50) | |
| - val/Detection/HeadingError.VEHICLE.iou10.ignore_250m_1ptcamera_5pt: Detection | |
| heading error @ IoU 10 (in degrees) | |
| Detection Val No Ignores: | |
| - val/Detection/MeanAveragePrecision.VEHICLE: Vehicle mAP | |
| - val/Detection/AveragePrecision.VEHICLE.iou70: Vehicle AP @ IoU 70 | |
| - val/Detection/AveragePrecision.VEHICLE.iou50: Vehicle AP IoU50 | |
| - val/Detection/OperatingPoint.VEHICLE.iou50.score0.4_OptimalPrecision: Precision | |
| at Max F1 (IoU 50) | |
| - val/Detection/OperatingPoint.VEHICLE.iou50.score0.4_OptimalRecall: Recall | |
| at max F1 (IoU 50) | |
| - val/Detection/OperatingPoint.VEHICLE.iou50.score0.4_OptimalThreshold: Vehicle | |
| threshold at Max F1 (IoU 50) | |
| - val/Detection/HeadingError.VEHICLE.iou10: Detection heading error @ IoU 10 | |
| (in degrees) | |
| - val/Detection/AveragePrecisionLane.VEHICLE.dist10.0: Vehicle LaneAP @ Dist | |
| 10m | |
| Detection Queries Val: | |
| - val/Detection/OperatingPoint.VEHICLE.iou50.score0.4.stationary_true_ignore_250m_1ptcamera_5pt_QueryRecall: Stationary | |
| Vehicle Recall @ Threshold 0.4 | |
| - val/Detection/FPCount.VEHICLE.iou10.near_ego_lane_ignore_250m_1ptcamera_5pt: FP | |
| Count Near Ego | |
| - val/Detection/FPCount.VEHICLE.iou10.in_front_of_ego_ignore_250m_1ptcamera_5pt: FPCount | |
| Vehicle in front of ego | |
| - val/Detection/FPCount.VEHICLE.iou10.stationary_detection_ahead_of_ego_ignore_250m_1ptcamera_5pt: FPCount | |
| Static Vehicle in front of ego | |
| - val/Detection/OperatingPoint.VEHICLE.iou10.score0.4.actor_tags_aos_gt_150m_ignore_250m_1ptcamera_5pt_QueryRecall: AoS | |
| 150m+ Recall IoU10 @ Threshold 0.4 | |
| - val/Detection/OperatingPoint.VEHICLE.iou50.score0.4.actor_tags_aos_ignore_250m_1ptcamera_5pt_QueryRecall: AoS | |
| Recall IoU50 @ Threshold 0.4 | |
| - ? val/Detection/lidar_proposals_OperatingPoint.ALL.iou10.score0.4.actor_tags_aos_gt_150m_ignore_250m_1ptcamera_5pt_QueryRecall | |
| : Lidar proposal AoS 150m+ Recall IoU10 @ Threshold 0.4 | |
| - val/Detection/lidar_proposals_OperatingPoint.ALL.iou50.score0.4.actor_tags_aos_ignore_250m_1ptcamera_5pt_QueryRecall: Lidar | |
| proposal AoS Recall IoU50 @ Threshold 0.4 | |
| Detection by Distance Val No Ignores: | |
| - val/Detection/AveragePrecision.VEHICLE.iou10.dist_in_0m_40m: ap.iou10.dist_in_0m_40m | |
| - val/Detection/AveragePrecision.VEHICLE.iou10.dist_in_40m_80m: ap.iou10.dist_in_40m_80m | |
| - val/Detection/AveragePrecision.VEHICLE.iou10.dist_in_80m_120m: ap.iou10.dist_in_80m_120m | |
| - val/Detection/AveragePrecision.VEHICLE.iou10.dist_in_120m_160m: ap.iou10.dist_in_120m_160m | |
| - val/Detection/AveragePrecision.VEHICLE.iou10.dist_in_160m_200m: ap.iou10.dist_in_160m_200m | |
| - val/Detection/AveragePrecision.VEHICLE.iou10.dist_in_200m_250m: ap.iou10.dist_in_200m_250m | |
| - val/Detection/AveragePrecision.VEHICLE.iou10.dist_in_250m_350m: ap.iou10.dist_in_250m_350m | |
| - val/Detection/AveragePrecision.VEHICLE.iou50.dist_in_0m_40m: ap.iou50.dist_in_0m_40m | |
| - val/Detection/AveragePrecision.VEHICLE.iou50.dist_in_40m_80m: ap.iou50.dist_in_40m_80m | |
| - val/Detection/AveragePrecision.VEHICLE.iou50.dist_in_80m_120m: ap.iou50.dist_in_80m_120m | |
| - val/Detection/AveragePrecision.VEHICLE.iou50.dist_in_120m_160m: ap.iou50.dist_in_120m_160m | |
| - val/Detection/AveragePrecision.VEHICLE.iou50.dist_in_160m_200m: ap.iou50.dist_in_160m_200m | |
| - val/Detection/AveragePrecision.VEHICLE.iou50.dist_in_200m_250m: ap.iou50.dist_in_200m_250m | |
| - val/Detection/AveragePrecision.VEHICLE.iou50.dist_in_250m_350m: ap.iou50.dist_in_250m_350m | |
| - val/Detection/AveragePrecision.VEHICLE.iou70.dist_in_0m_40m: ap.iou70.dist_in_0m_40m | |
| - val/Detection/AveragePrecision.VEHICLE.iou70.dist_in_40m_80m: ap.iou70.dist_in_40m_80m | |
| - val/Detection/AveragePrecision.VEHICLE.iou70.dist_in_80m_120m: ap.iou70.dist_in_80m_120m | |
| - val/Detection/AveragePrecision.VEHICLE.iou70.dist_in_120m_160m: ap.iou70.dist_in_120m_160m | |
| - val/Detection/MeanAveragePrecision.VEHICLE.dist_in_0m_40m: val/Detection/MeanAveragePrecision.VEHICLE.dist_in_0m_40m | |
| - val/Detection/MeanAveragePrecision.VEHICLE.dist_in_40m_80m: val/Detection/MeanAveragePrecision.VEHICLE.dist_in_40m_80m | |
| - val/Detection/MeanAveragePrecision.VEHICLE.dist_in_80m_120m: val/Detection/MeanAveragePrecision.VEHICLE.dist_in_80m_120m | |
| - val/Detection/MeanAveragePrecision.VEHICLE.dist_in_120m_160m: val/Detection/MeanAveragePrecision.VEHICLE.dist_in_120m_160m | |
| - val/Detection/MeanAveragePrecision.VEHICLE.dist_in_160m_200m: val/Detection/MeanAveragePrecision.VEHICLE.dist_in_160m_200m | |
| - val/Detection/MeanAveragePrecision.VEHICLE.dist_in_200m_250m: val/Detection/MeanAveragePrecision.VEHICLE.dist_in_200m_250m | |
| - val/Detection/MeanAveragePrecision.VEHICLE.dist_in_250m_350m: val/Detection/MeanAveragePrecision.VEHICLE.dist_in_250m_350m | |
| - val/Detection/Recall.VEHICLE.iou10.dist_in_0m_40m: recall.iou10.dist_in_0m_40m | |
| - val/Detection/Recall.VEHICLE.iou10.dist_in_40m_80m: recall.iou10.dist_in_40m_80m | |
| - val/Detection/Recall.VEHICLE.iou10.dist_in_80m_120m: recall.iou10.dist_in_80m_120m | |
| - val/Detection/Recall.VEHICLE.iou10.dist_in_120m_160m: recall.iou10.dist_in_120m_160m | |
| - val/Detection/Recall.VEHICLE.iou10.dist_in_160m_200m: recall.iou10.dist_in_160m_200m | |
| - val/Detection/Recall.VEHICLE.iou10.dist_in_200m_250m: recall.iou10.dist_in_200m_250m | |
| - val/Detection/Recall.VEHICLE.iou10.dist_in_250m_350m: recall.iou10.dist_in_250m_350m | |
| - val/Detection/Recall.VEHICLE.iou50.dist_in_0m_40m: recall.iou50.dist_in_0m_40m | |
| - val/Detection/Recall.VEHICLE.iou50.dist_in_40m_80m: recall.iou50.dist_in_40m_80m | |
| - val/Detection/Recall.VEHICLE.iou50.dist_in_80m_120m: recall.iou50.dist_in_80m_120m | |
| - val/Detection/Recall.VEHICLE.iou50.dist_in_120m_160m: recall.iou50.dist_in_120m_160m | |
| - val/Detection/Recall.VEHICLE.iou50.dist_in_160m_200m: recall.iou50.dist_in_160m_200m | |
| - val/Detection/Recall.VEHICLE.iou50.dist_in_200m_250m: recall.iou50.dist_in_200m_250m | |
| - val/Detection/Recall.VEHICLE.iou50.dist_in_250m_350m: recall.iou50.dist_in_250m_350m | |
| - val/Detection/Recall.VEHICLE.iou70.dist_in_0m_40m: recall.iou70.dist_in_0m_40m | |
| - val/Detection/Recall.VEHICLE.iou70.dist_in_40m_80m: recall.iou70.dist_in_40m_80m | |
| - val/Detection/Recall.VEHICLE.iou70.dist_in_80m_120m: recall.iou70.dist_in_80m_120m | |
| - val/Detection/AveragePrecisionLane.VEHICLE.dist10.0.dist_in_0m_40m: laneap.dist10.0.dist_in_0m_40m | |
| - val/Detection/AveragePrecisionLane.VEHICLE.dist10.0.dist_in_40m_80m: laneap.dist10.0.dist_in_40m_80m | |
| - val/Detection/AveragePrecisionLane.VEHICLE.dist10.0.dist_in_80m_120m: laneap.dist10.0.dist_in_80m_120m | |
| - val/Detection/AveragePrecisionLane.VEHICLE.dist10.0.dist_in_120m_160m: laneap.dist10.0.dist_in_120m_160m | |
| - val/Detection/AveragePrecisionLane.VEHICLE.dist10.0.dist_in_160m_200m: laneap.dist10.0.dist_in_160m_200m | |
| - val/Detection/AveragePrecisionLane.VEHICLE.dist10.0.dist_in_200m_250m: laneap.dist10.0.dist_in_200m_250m | |
| - val/Detection/AveragePrecisionLane.VEHICLE.dist10.0.dist_in_250m_350m: laneap.dist10.0.dist_in_250m_350m | |
| Prediction Val: | |
| - val_MinCrossTrackError/k=1/ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.7/iou50: Vehicle | |
| CTE k=1 (average over time) TR 0.7 | |
| - val_MinAvgDisplError/k=1/t=6.0s/ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.7/iou50: Vehicle | |
| ADE k=1 t=6s TR 0.7 | |
| - val_MinAvgDisplError/t=6.0s/ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.7/iou50: Vehicle | |
| minADE t=6s TR 0.7 | |
| - val_MinGTLaneErrorRate/k=1/t=6.0s/LANE_KEEP_ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.7/iou50: Vehicle | |
| FP lane change rate k=1 t=6s TR 0.7 | |
| - val_FPEncroachmentRate/k=1/t=6.0s/ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.7/iou50: Vehicle | |
| FPEncroachmentRate k=1 t=6s TR 0.7 | |
| - val_MinGTLaneErrorRate/k=1/t=6.0s/ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.7/iou50: Vehicle | |
| Lane error k=1 t=6s TR 0.7 | |
| - val_TagQueryFrequency/fp_cutins_ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.7/iou50: FP | |
| Cutins Frequency TR 0.7 | |
| Prediction Val No Ignores: | |
| - val_MinCrossTrackError/k=1/VEHICLE/targetrecall0.7/iou50: Vehicle CTE k=1 | |
| (average over time) TR 0.7 | |
| - val_MinHeadingError/k=1/VEHICLE/targetrecall0.7/iou50: Vehicle heading error | |
| k=1 TR 0.7 | |
| - val_MinAvgDisplError/k=1/t=6.0s/VEHICLE/targetrecall0.7/iou50: Vehicle ADE | |
| k=1 t=6s TR 0.7 | |
| - val_MinGTLaneErrorRate/k=1/t=6.0s/LANE_KEEP/VEHICLE/targetrecall0.7/iou50: Vehicle | |
| FP lane change rate k=1 t=6s TR 0.7 | |
| - val_FPEncroachmentRate/k=1/t=6.0s/VEHICLE/targetrecall0.7/iou50: Vehicle FPEncroachmentRate | |
| k=1 t=6s TR 0.7 | |
| - val_MinGTLaneErrorRate/k=1/t=6.0s/VEHICLE/targetrecall0.7/iou50: Vehicle Lane | |
| error k=1 t=6s TR 0.7 | |
| - val_TagQueryFrequency/fp_cutins/VEHICLE/targetrecall0.7/iou50: FP Cutins Frequency | |
| TR 0.7 | |
| Prediction Queries Val: | |
| - val_MinAvgDisplError/t=6.0s/static_ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.7/iou50: Static | |
| vehicle minADE t=6s TR 0.7 | |
| - ? val_MinAvgDisplError/k=1/t=6.0s/actor_tags_actor_heading_accel_mpss_value_leq_neg_2_ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.7/iou50 | |
| : ADE k=1 t=6 High decel (< -2 m/s^2) TR 0.7 | |
| - ? val_MinAvgDisplError/t=6.0s/actor_tags_actor_heading_accel_mpss_value_leq_neg_2_ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.7/iou50 | |
| : minADE High decel TR 0.7 | |
| - ? val_MinAvgDisplError/k=1/t=6.0s/actor_tags_actor_heading_accel_mpss_value_leq_neg_2_ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.5/iou50 | |
| : ADEk=1 High Deceleration TR0.5 | |
| - ? val_MinAvgDisplError/t=6.0s/actor_tags_actor_heading_accel_mpss_value_leq_neg_2_ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.5/iou50 | |
| : minADE High Dec TR0.5 | |
| - ? val_FPEncroachmentRate/k=1/t=6.0s/scene_tags_estimated_road_curvature_geq_abs_0d0005_ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.5/iou50 | |
| : FP Encroachments k=1 t=6s High Curves 0.0005 TR0.5 | |
| - ? val_FPEncroachmentRate/k=1/t=6.0s/scene_tags_estimated_road_curvature_geq_abs_0d0005_ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.7/iou50 | |
| : FP Encroachments k=1 t=6s High Curves 0.0005 TR 0.7 | |
| - val_MinAvgDisplError/k=1/t=6.0s/scene_tags_merges_ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.5/iou50: ADEk=1 | |
| Merges TR0.5 | |
| - val_MinAvgDisplError/t=6.0s/scene_tags_merges_ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.5/iou50: minADE | |
| Merges TR0.5 | |
| - val_MinAvgDisplError/k=1/t=6.0s/scene_tags_merges_ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.7/iou50: ADEk=1 | |
| Merges TR0.7 | |
| - val_MinAvgDisplError/t=6.0s/scene_tags_merges_ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.7/iou50: minADE | |
| Merges TR0.7 | |
| Prediction Queries Val No Ignores: | |
| - val_MinAvgDisplError/k=1/t=6.0s/actor_tags_actor_heading_accel_mpss_value_leq_neg_2/VEHICLE/targetrecall0.7/iou50: ADE | |
| k=1 t=6 High decel (< -2 m/s^2) TR 0.7 | |
| - val_MinAvgDisplError/k=1/t=6.0s/actor_tags_actor_heading_accel_mpss_value_leq_neg_2/VEHICLE/targetrecall0.5/iou50: ADEk=1 | |
| High Deceleration TR0.5 | |
| - val_FPEncroachmentRate/k=1/t=6.0s/scene_tags_estimated_road_curvature_geq_abs_0d0005/VEHICLE/targetrecall0.5/iou50: FP | |
| Encroachments k=1 t=6s High Curves 0.0005 TR0.5 | |
| - val_FPEncroachmentRate/k=1/t=6.0s/scene_tags_estimated_road_curvature_geq_abs_0d0005/VEHICLE/targetrecall0.7/iou50: FP | |
| Encroachments k=1 t=6s High Curves 0.0005 TR 0.7 | |
| - val_MinAvgDisplError/k=1/t=6.0s/scene_tags_merges/VEHICLE/targetrecall0.5/iou50: ADEk=1 | |
| Merges TR0.5 | |
| - val_MinAvgDisplError/k=1/t=6.0s/scene_tags_merges/VEHICLE/targetrecall0.7/iou50: ADEk=1 | |
| Merges TR0.7 | |
| Loss Metas Val: | |
| - val/loss/total: Validation loss | |
| - val/loss/detection: Detection loss | |
| - val/det/0/cam_depth_loss: Camera depth loss | |
| - val/loss/num_non_ignore_det_labels_VEHICLE: Average Number of Non-Ignored | |
| Vehicle Labels | |
| - val/loss/num_det_labels_VEHICLE: Average Number of Vehicle Labels | |
| - val/loss/prediction_loss_1_ade: Val Prior ADE | |
| - val/prediction_loss_1/cross_entropy: Val Cross Entropy | |
| - val/loss/prediction_loss_1_cte: Val Prior CTE | |
| - val/loss/prediction_loss_0_cte: Val Intermediary CTE | |
| - val/loss/prediction_loss_0_ade: Val Intermediary ADE | |
| - val/loss/num_det_matches_0: Proposal Matches | |
| - val/loss/num_det_matches_1: Refinement Matches | |
| - val/det/0/percentage_detections_from_cam: Percentage Detections from Camera | |
| Loss Metas Train: | |
| - train/loss/total: Total loss | |
| - lr/param_group_0: Learning Rate | |
| - lr/param_group_3: Backbone Learning Rate | |
| - train/loss/detection: Detection loss | |
| - train/loss/total_pred_loss: Prediction loss | |
| - train/loss/num_det_matches_0: Proposal Matches | |
| - train/loss/num_det_matches_1: Refinement Matches | |
| - train/prediction_loss_1/accuracy: Code Accuracy | |
| - train/loss/prediction_loss_1_ade: Prior ADE | |
| - train/loss/prediction_loss_1_cte: Prior CTE | |
| - train/loss/prior_1/ratio_samples_fp_encroachments: Ratio samples FP encroachments | |
| - train/det/0/percentage_detections_from_cam: Percentage Detections from Camera | |
| Det Combined Proposal Level: | |
| - val/Detection/combined_proposals_MeanAveragePrecision.ALL.ignore_250m_1ptcamera_5pt: mAP | |
| - val/Detection/combined_proposals_AveragePrecision.ALL.iou10.ignore_250m_1ptcamera_5pt: AP | |
| IoU10 | |
| - val/Detection/combined_proposals_OperatingPoint.ALL.iou50.score0.4.ignore_250m_1ptcamera_5pt_OptimalRecall: Recall | |
| at max F1 (IoU 50) | |
| - val/Detection/combined_proposals_OperatingPoint.ALL.iou50.score0.4.ignore_250m_1ptcamera_5pt_OptimalPrecision: Precision | |
| at Max F1 (IoU 50) | |
| - val/Detection/combined_proposals_OperatingPoint.ALL.iou50.score0.4.stationary_true_ignore_250m_1ptcamera_5pt_QueryRecall: Stationary | |
| Recall at Threshold 0.4 (IoU 50) | |
| Post Tracker Detection Val: | |
| - val/Detection/post_tracker_MeanAveragePrecision.VEHICLE.ignore_250m_1ptcamera_5pt: Vehicle | |
| mAP | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou70.ignore_250m_1ptcamera_5pt: Vehicle | |
| AP @ IoU 70 | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou50.ignore_250m_1ptcamera_5pt: Vehicle | |
| AP IoU50 | |
| - val/Detection/post_tracker_OperatingPoint.VEHICLE.iou50.score0.4.ignore_250m_1ptcamera_5pt_OptimalPrecision: Precision | |
| at Max F1 (IoU 50) | |
| - val/Detection/post_tracker_OperatingPoint.VEHICLE.iou50.score0.4.ignore_250m_1ptcamera_5pt_OptimalRecall: Recall | |
| at max F1 (IoU 50) | |
| - val/Detection/post_tracker_OperatingPoint.VEHICLE.iou50.score0.4.ignore_250m_1ptcamera_5pt_OptimalThreshold: Vehicle | |
| threshold at Max F1 (IoU 50) | |
| Post Tracker Detection Val No Ignores: | |
| - val/Detection/post_tracker_MeanAveragePrecision.VEHICLE: Vehicle mAP | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou70: Vehicle AP @ IoU | |
| 70 | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou50: Vehicle AP IoU50 | |
| - val/Detection/post_tracker_OperatingPoint.VEHICLE.iou50.score0.4_OptimalPrecision: Precision | |
| at Max F1 (IoU 50) | |
| - val/Detection/post_tracker_OperatingPoint.VEHICLE.iou50.score0.4_OptimalRecall: Recall | |
| at max F1 (IoU 50) | |
| - val/Detection/post_tracker_OperatingPoint.VEHICLE.iou50.score0.4_OptimalThreshold: Vehicle | |
| threshold at Max F1 (IoU 50) | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0: Vehicle | |
| LaneAP @ Dist 10m | |
| Post Tracker Detection by Distance Val: | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou10.dist_in_0m_40m_ignore_250m_1ptcamera_5pt: ap.iou10.dist_in_0m_40m | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou10.dist_in_40m_80m_ignore_250m_1ptcamera_5pt: ap.iou10.dist_in_40m_80m | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou10.dist_in_80m_120m_ignore_250m_1ptcamera_5pt: ap.iou10.dist_in_80m_120m | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou10.dist_in_120m_160m_ignore_250m_1ptcamera_5pt: ap.iou10.dist_in_120m_160m | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou10.dist_in_160m_200m_ignore_250m_1ptcamera_5pt: ap.iou10.dist_in_160m_200m | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou10.dist_in_200m_250m_ignore_250m_1ptcamera_5pt: ap.iou10.dist_in_200m_250m | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou10.dist_in_250m_350m_ignore_250m_1ptcamera_5pt: ap.iou10.dist_in_250m_350m | |
| - val/Detection/post_tracker_Recall.VEHICLE.iou10.dist_in_40m_80m_ignore_250m_1ptcamera_5pt: recall.iou10.dist_in_40m_80m | |
| - val/Detection/post_tracker_Recall.VEHICLE.iou10.dist_in_80m_120m_ignore_250m_1ptcamera_5pt: recall.iou10.dist_in_80m_120m | |
| - val/Detection/post_tracker_Recall.VEHICLE.iou10.dist_in_120m_160m_ignore_250m_1ptcamera_5pt: recall.iou10.dist_in_120m_160m | |
| - val/Detection/post_tracker_Recall.VEHICLE.iou10.dist_in_160m_200m_ignore_250m_1ptcamera_5pt: recall.iou10.dist_in_160m_200m | |
| - val/Detection/post_tracker_Recall.VEHICLE.iou10.dist_in_200m_250m_ignore_250m_1ptcamera_5pt: recall.iou10.dist_in_200m_250m | |
| - val/Detection/post_tracker_Recall.VEHICLE.iou10.dist_in_250m_350m_ignore_250m_1ptcamera_5pt: recall.iou10.dist_in_250m_350m | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0.dist_in_0m_40m_ignore_250m_1ptcamera_5pt: laneap.dist10.0.dist_in_0m_40m | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0.dist_in_40m_80m_ignore_250m_1ptcamera_5pt: laneap.dist10.0.dist_in_40m_80m | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0.dist_in_80m_120m_ignore_250m_1ptcamera_5pt: laneap.dist10.0.dist_in_80m_120m | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0.dist_in_120m_160m_ignore_250m_1ptcamera_5pt: laneap.dist10.0.dist_in_120m_160m | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0.dist_in_160m_200m_ignore_250m_1ptcamera_5pt: laneap.dist10.0.dist_in_160m_200m | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0.dist_in_200m_250m_ignore_250m_1ptcamera_5pt: laneap.dist10.0.dist_in_200m_250m | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0.dist_in_250m_350m_ignore_250m_1ptcamera_5pt: laneap.dist10.0.dist_in_250m_350m | |
| Post Tracker Detection by Distance Val No Ignores: | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou10.dist_in_0m_40m: ap.iou10.dist_in_0m_40m | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou10.dist_in_40m_80m: ap.iou10.dist_in_40m_80m | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou10.dist_in_80m_120m: ap.iou10.dist_in_80m_120m | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou10.dist_in_120m_160m: ap.iou10.dist_in_120m_160m | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou10.dist_in_160m_200m: ap.iou10.dist_in_160m_200m | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou10.dist_in_200m_250m: ap.iou10.dist_in_200m_250m | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou10.dist_in_250m_350m: ap.iou10.dist_in_250m_350m | |
| - val/Detection/post_tracker_Recall.VEHICLE.iou10.dist_in_0m_40m: recall.iou10.dist_in_0m_40m | |
| - val/Detection/post_tracker_Recall.VEHICLE.iou10.dist_in_40m_80m: recall.iou10.dist_in_40m_80m | |
| - val/Detection/post_tracker_Recall.VEHICLE.iou10.dist_in_80m_120m: recall.iou10.dist_in_80m_120m | |
| - val/Detection/post_tracker_Recall.VEHICLE.iou10.dist_in_120m_160m: recall.iou10.dist_in_120m_160m | |
| - val/Detection/post_tracker_Recall.VEHICLE.iou10.dist_in_160m_200m: recall.iou10.dist_in_160m_200m | |
| - val/Detection/post_tracker_Recall.VEHICLE.iou10.dist_in_200m_250m: recall.iou10.dist_in_200m_250m | |
| - val/Detection/post_tracker_Recall.VEHICLE.iou10.dist_in_250m_350m: recall.iou10.dist_in_250m_350m | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0.dist_in_0m_40m: laneap.dist10.0.dist_in_0m_40m | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0.dist_in_40m_80m: laneap.dist10.0.dist_in_40m_80m | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0.dist_in_80m_120m: laneap.dist10.0.dist_in_80m_120m | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0.dist_in_120m_160m: laneap.dist10.0.dist_in_120m_160m | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0.dist_in_160m_200m: laneap.dist10.0.dist_in_160m_200m | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0.dist_in_200m_250m: laneap.dist10.0.dist_in_200m_250m | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0.dist_in_250m_350m: laneap.dist10.0.dist_in_250m_350m | |
| Det Object Mem Proposal Level No Ignores: | |
| - val/Detection/object_mem_proposals_MeanAveragePrecision.ALL: mAP | |
| - val/Detection/object_mem_proposals_AveragePrecision.ALL.iou50: AP IoU50 | |
| - val/Detection/object_mem_proposals_OperatingPoint.ALL.iou50.score0.4_OptimalRecall: Recall | |
| at max F1 (IoU 50) | |
| - val/Detection/object_mem_proposals_OperatingPoint.ALL.iou50.score0.4_OptimalPrecision: Precision | |
| at Max F1 (IoU 50) | |
| - val/Detection/object_mem_proposals_OperatingPoint.ALL.iou50.score0.4.stationary_true_QueryRecall: Stationary | |
| Recall at Threshold 0.4 (IoU 50) | |
| Det Combined Proposal Level No Ignores: | |
| - val/Detection/combined_proposals_MeanAveragePrecision.ALL: mAP | |
| - val/Detection/combined_proposals_OperatingPoint.ALL.iou50.score0.4_OptimalRecall: Recall | |
| at max F1 (IoU 50) | |
| - val/Detection/combined_proposals_OperatingPoint.ALL.iou50.score0.4_OptimalPrecision: Precision | |
| at Max F1 (IoU 50) | |
| - val/Detection/combined_proposals_OperatingPoint.ALL.iou50.score0.4.stationary_true_QueryRecall: Stationary | |
| Recall at Threshold 0.4 (IoU 50) | |
| Traffic Lights: | |
| - val/traffic_lights/GroupAccuracyMetric.3face: Traffic light 3-face accuracy | |
| - val/traffic_lights/GroupAccuracyMetric.5face: Traffic light 5-face accuracy | |
| - val/traffic_lights/GroupCountMetric.3face: Traffic light 3-face count | |
| - val/traffic_lights/GroupCountMetric.5face: Traffic light 5-face count | |
| Online Mapping: | |
| - val/Online_Mapper/RoadTypeIOU: RoadTypeIOU | |
| - val/Online_Mapper/L1ErrorSignedDTThresh.x_minus_50m_to_50m_y_minus_50m_to_50m: L1ErrorSignedDTThresh | |
| -50m to 50m | |
| - val/Online_Mapper/L1ErrorSignedDTThresh.x_50m_to_150m_y_minus_50m_to_50m: L1ErrorSignedDTThresh | |
| 50m to 150m | |
| - val/Online_Mapper/L1ErrorSignedDTThresh.x_150m_to_250m_y_minus_50m_to_50m: L1ErrorSignedDTThresh | |
| 150m to 250m | |
| - val/Online_Mapper/RMSErrorSignedDTThresh.x_minus_50m_to_50m_y_minus_50m_to_50m: RMSErrorSignedDTThresh | |
| -50m to 50m | |
| - val/Online_Mapper/RMSErrorSignedDTThresh.x_50m_to_150m_y_minus_50m_to_50m: RMSErrorSignedDTThresh | |
| 50m to 150m | |
| - val/Online_Mapper/RMSErrorSignedDTThresh.x_150m_to_250m_y_minus_50m_to_50m: RMSErrorSignedDTThresh | |
| 150m to 250m | |
| - val/Online_Mapper/L1ErrorConeBoundary.x_minus_50m_to_50m_y_minus_50m_to_50m: L1ErrorConeBoundary | |
| -50m to 50m | |
| - val/Online_Mapper/L1ErrorConeBoundary.x_50m_to_150m_y_minus_50m_to_50m: L1ErrorConeBoundary | |
| 50m to 150m | |
| - val/Online_Mapper/L1ErrorConeBoundary.x_150m_to_250m_y_minus_50m_to_50m: L1ErrorConeBoundary | |
| 150m to 250m | |
| Ego trailer: | |
| - val/Detection/post_tracker_HeadingError.EGO_TRAILER.iou20: Heading Error | |
| - val/Detection/post_tracker_HeadingError.EGO_TRAILER.iou20.heading_to_ego_under_2_degrees: Heading | |
| Error with GT delta less than 2 degrees | |
| - val/Detection/post_tracker_HeadingError.EGO_TRAILER.iou20.heading_to_ego_between_2_5_degrees: Heading | |
| Error with GT delta between 2 and 5 degrees | |
| - val/Detection/post_tracker_HeadingError.EGO_TRAILER.iou20.heading_to_ego_between_5_10_degrees: Heading | |
| Error with GT delta between 5 and 10 degrees | |
| - val/Detection/post_tracker_HeadingError.EGO_TRAILER.iou20.heading_to_ego_between_10_20_degrees: Heading | |
| Error with GT delta between 10 and 20 degrees | |
| - val/Detection/post_tracker_HeadingError.EGO_TRAILER.iou20.heading_to_ego_over_20_degrees: Heading | |
| Error with GT delta over 20 degrees | |
| - val/Detection/post_tracker_OperatingPoint.EGO_TRAILER.iou20.score0.2_QueryRecall: Recall | |
| out of tracker | |
| - val/Detection/post_tracker_QueryDetectionCount.EGO_TRAILER.iou20.heading_to_ego_under_2_degrees: Samples | |
| with GT delta under 2 degrees | |
| - val/Detection/post_tracker_QueryDetectionCount.EGO_TRAILER.iou20.heading_to_ego_between_2_5_degrees: Samples | |
| with GT delta between 2 and 5 degrees | |
| - val/Detection/post_tracker_QueryDetectionCount.EGO_TRAILER.iou20.heading_to_ego_between_5_10_degrees: Samples | |
| with GT delta between 5 and 10 degrees | |
| - val/Detection/post_tracker_QueryDetectionCount.EGO_TRAILER.iou20.heading_to_ego_between_10_20_degrees: Samples | |
| with GT delta between 10 and 20 degrees | |
| - val/Detection/post_tracker_QueryDetectionCount.EGO_TRAILER.iou20.heading_to_ego_over_20_degrees: Samples | |
| with GT delta over 20 degrees | |
| other_section: null | |
| copy_original_key: true | |
| comments: null | |
| debug_cfg: | |
| enabled: false | |
| disable_pretrained_weight_loading: true | |
| dataset_id: '' | |
| seq_ids: [] | |
| frame_interval: 1 | |
| seq_frame_ids: [] | |
| seed: null | |
| evaluator_cfg: | |
| detection_metrics_config: | |
| class_ids: | |
| - VEHICLE | |
| - PERSON | |
| - CYCLIST | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| metric_names: | |
| - AveragePrecision | |
| - AveragePrecisionLane | |
| - PRCurve | |
| - OperatingPoint | |
| - Recall | |
| - FPCount | |
| - HeadingError | |
| - ConfidenceDetectionCount | |
| bucketizer_names: [] | |
| distance_bins: [] | |
| area_bins: [] | |
| tagger_names: | |
| - LabelDisplacementTagger | |
| - ForecastDisplacementTagger | |
| - DatasetIdTagger | |
| - DistanceToEgoTagger | |
| - NumLidarPtsTagger | |
| - SceneTagsTagger | |
| - ActorTagsTagger | |
| - DistanceFromEgoAlongLaneTagger | |
| - LateralDistanceFromEgoLaneTagger | |
| - CameraFoVTagger | |
| - SequenceIdTagger | |
| - FrameIdTagger | |
| - DeltaXFromEgoTagger | |
| - DeltaYFromEgoTagger | |
| - DeltaZFromEgoTagger | |
| - HeadingToEgoTagger | |
| - TTCTagger | |
| queries: | |
| - name: ignore_250m_1ptcamera_5pt | |
| query: in_roi and ignore_policy | |
| - name: stationary_true_ignore_250m_1ptcamera_5pt | |
| query: stationary_true and in_roi and ignore_policy | |
| - name: stationary_true_cam_fov_ignore_250m_1ptcamera_5pt | |
| query: stationary_true and cam_fov and in_roi and ignore_policy | |
| - name: near_ego_lane_ignore_250m_1ptcamera_5pt | |
| query: near_ego_lane and in_roi and ignore_policy | |
| - name: cam_fov_ignore_250m_1ptcamera_5pt | |
| query: cam_fov and in_roi and ignore_policy | |
| - name: in_front_of_ego_ignore_250m_1ptcamera_5pt | |
| query: in_front_of_ego and in_roi and ignore_policy | |
| - name: stationary_detection_ahead_of_ego_ignore_250m_1ptcamera_5pt | |
| query: stationary_detection_ahead_of_ego and in_roi and ignore_policy | |
| - name: aos_gt_150m_ignore_250m_1ptcamera_5pt | |
| query: actor_tags_aos_gt_150m and in_roi and ignore_policy | |
| - name: aos_ignore_250m_1ptcamera_5pt | |
| query: actor_tags_aos and in_roi and ignore_policy | |
| - name: dist_in_0m_40m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_0m_40m and in_roi and ignore_policy | |
| - name: dist_in_40m_80m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_40m_80m and in_roi and ignore_policy | |
| - name: dist_in_80m_120m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_80m_120m and in_roi and ignore_policy | |
| - name: dist_in_120m_160m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_120m_160m and in_roi and ignore_policy | |
| - name: dist_in_160m_200m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_160m_200m and in_roi and ignore_policy | |
| - name: dist_in_200m_250m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_200m_250m and in_roi and ignore_policy | |
| - name: dist_in_250m_350m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_250m_350m and in_roi and ignore_policy | |
| - name: dist_in_350m_450m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_350m_450m and in_roi and ignore_policy | |
| - name: dist_in_450m_550m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_450m_550m and in_roi and ignore_policy | |
| - name: dist_in_550m_650m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_550m_650m and in_roi and ignore_policy | |
| - name: not_cam_fov_ignore_250m_1ptcamera_5pt | |
| query: not_cam_fov and in_roi and ignore_policy | |
| - name: all | |
| query: _dmi_index in _dmi_index | |
| - name: in_roi | |
| query: ((delta_x_from_ego <= 253) and (delta_x_from_ego >= -122) and (delta_y_from_ego | |
| >= -50) and (delta_y_from_ego <= 50) and (delta_z_from_ego >= -3.0) and (delta_z_from_ego | |
| <= 5.0)) | |
| - name: ignore_policy | |
| query: (not is_label) or (not ((is_cam_fov and sum_num_past_lidar_pts < 1) or | |
| sum_num_past_lidar_pts < 5)) | |
| - name: stationary_detection_ahead_of_ego | |
| query: is_label or ((lateral_distance_from_ego_lane_m <= 6.85) and (distance_from_ego_along_lane_m | |
| >= 0) and (forecast_future_disp_m <= 2.0)) | |
| - name: near_ego_lane | |
| query: (lateral_distance_from_ego_lane_m <= 6.85) and ((distance_from_ego_along_lane_m | |
| <= 130) and (distance_from_ego_along_lane_m >= -100)) | |
| - name: in_front_of_ego | |
| query: (lateral_distance_from_ego_lane_m <= 6.85) and (distance_from_ego_along_lane_m | |
| <= 130) and (distance_from_ego_along_lane_m >= 0) | |
| - name: stationary_true | |
| query: ((label_future_disp_m <= 2.0) or (not is_label)) | |
| - name: stationary_false | |
| query: ((label_future_disp_m > 2.0) or (not is_label)) | |
| - name: dist_in_0m_40m | |
| query: (distance_to_ego >= 0) and (distance_to_ego <= 40) | |
| - name: dist_in_40m_80m | |
| query: (distance_to_ego >= 40) and (distance_to_ego <= 80) | |
| - name: dist_in_80m_120m | |
| query: (distance_to_ego >= 80) and (distance_to_ego <= 120) | |
| - name: dist_in_120m_160m | |
| query: (distance_to_ego >= 120) and (distance_to_ego <= 160) | |
| - name: dist_in_160m_200m | |
| query: (distance_to_ego >= 160) and (distance_to_ego <= 200) | |
| - name: dist_in_200m_250m | |
| query: (distance_to_ego >= 200) and (distance_to_ego <= 250) | |
| - name: dist_in_250m_350m | |
| query: (distance_to_ego >= 250) and (distance_to_ego <= 350) | |
| - name: dist_in_350m_450m | |
| query: (distance_to_ego >= 350) and (distance_to_ego <= 450) | |
| - name: dist_in_450m_550m | |
| query: (distance_to_ego >= 450) and (distance_to_ego <= 550) | |
| - name: dist_in_550m_650m | |
| query: (distance_to_ego >= 550) and (distance_to_ego <= 650) | |
| - name: cam_fov | |
| query: is_cam_fov | |
| - name: stationary_true_cam_fov | |
| query: ((label_future_disp_m <= 2.0) or (not is_label)) and is_cam_fov | |
| - name: not_cam_fov | |
| query: (not is_cam_fov) | |
| - name: actor_tags_aos | |
| query: (`actor_tags/actor_on_shoulder/value` and `actor_tags/actor_speed_2d_mps/value` | |
| < 1.0 and is_label) or (not is_label) | |
| - name: actor_tags_aos_gt_150m | |
| query: (`actor_tags/actor_on_shoulder/value` and `actor_tags/actor_speed_2d_mps/value` | |
| < 1.0 and is_label and (distance_to_ego >= 150)) or (not is_label) | |
| - name: actor_tags_aos_cam_fov | |
| query: ((`actor_tags/actor_on_shoulder/value` and `actor_tags/actor_speed_2d_mps/value` | |
| < 1.0 and is_label) or (not is_label)) and is_cam_fov | |
| - name: actor_tags_speed_value_gt_30 | |
| query: (`actor_tags/actor_speed_2d_mps/value` > 30 and is_label) or (not is_label) | |
| - name: dist_gt_160m | |
| query: distance_to_ego > 160 | |
| - name: heading_to_ego_under_2_degrees | |
| query: (not is_label) or (heading_to_ego <= 2) | |
| - name: heading_to_ego_between_2_5_degrees | |
| query: (not is_label) or ((heading_to_ego > 2) and (heading_to_ego <= 5)) | |
| - name: heading_to_ego_between_5_10_degrees | |
| query: (not is_label) or ((heading_to_ego > 5) and (heading_to_ego <= 10)) | |
| - name: heading_to_ego_between_10_20_degrees | |
| query: (not is_label) or ((heading_to_ego > 10) and (heading_to_ego <= 20)) | |
| - name: heading_to_ego_over_20_degrees | |
| query: (not is_label) or (heading_to_ego > 20) | |
| - name: ttc_lt_2s | |
| query: ttc_s >= 0 and ttc_s < 2 | |
| metric_to_queries: | |
| PRCurve: | |
| - ignore_250m_1ptcamera_5pt | |
| HeadingError: | |
| - ignore_250m_1ptcamera_5pt | |
| - heading_to_ego_under_2_degrees | |
| - heading_to_ego_between_2_5_degrees | |
| - heading_to_ego_between_5_10_degrees | |
| - heading_to_ego_between_10_20_degrees | |
| - heading_to_ego_over_20_degrees | |
| AveragePrecision: | |
| - all | |
| - ignore_250m_1ptcamera_5pt | |
| - dist_in_0m_40m_ignore_250m_1ptcamera_5pt | |
| - dist_in_40m_80m_ignore_250m_1ptcamera_5pt | |
| - dist_in_80m_120m_ignore_250m_1ptcamera_5pt | |
| - dist_in_120m_160m_ignore_250m_1ptcamera_5pt | |
| - dist_in_160m_200m_ignore_250m_1ptcamera_5pt | |
| - dist_in_200m_250m_ignore_250m_1ptcamera_5pt | |
| - dist_in_250m_350m_ignore_250m_1ptcamera_5pt | |
| - cam_fov_ignore_250m_1ptcamera_5pt | |
| - dist_in_160m_200m | |
| - dist_in_200m_250m | |
| - dist_in_250m_350m | |
| - dist_in_350m_450m | |
| - dist_in_450m_550m | |
| - dist_in_550m_650m | |
| - dist_in_0m_40m | |
| - dist_in_120m_160m | |
| - dist_in_40m_80m | |
| - dist_in_80m_120m | |
| - stationary_true | |
| FPCount: | |
| - all | |
| - stationary_detection_ahead_of_ego | |
| - stationary_detection_ahead_of_ego_ignore_250m_1ptcamera_5pt | |
| - ignore_250m_1ptcamera_5pt | |
| - in_front_of_ego | |
| - in_front_of_ego_ignore_250m_1ptcamera_5pt | |
| - near_ego_lane | |
| - near_ego_lane_ignore_250m_1ptcamera_5pt | |
| - ttc_lt_2s | |
| OperatingPoint: | |
| - ignore_250m_1ptcamera_5pt | |
| - stationary_true_ignore_250m_1ptcamera_5pt | |
| - aos_gt_150m_ignore_250m_1ptcamera_5pt | |
| - aos_ignore_250m_1ptcamera_5pt | |
| - actor_tags_aos | |
| - actor_tags_aos_gt_150m | |
| - actor_tags_aos_cam_fov | |
| - stationary_true | |
| - stationary_true_cam_fov | |
| Recall: | |
| - ignore_250m_1ptcamera_5pt | |
| - actor_tags_aos | |
| - actor_tags_aos_gt_150m | |
| - actor_tags_aos_cam_fov | |
| - all | |
| - cam_fov | |
| - dist_in_160m_200m | |
| - dist_in_200m_250m | |
| - dist_in_250m_350m | |
| - dist_in_350m_450m | |
| - dist_in_450m_550m | |
| - dist_in_550m_650m | |
| - dist_in_0m_40m | |
| - dist_in_120m_160m | |
| - dist_in_40m_80m | |
| - dist_in_80m_120m | |
| - dist_in_0m_40m_ignore_250m_1ptcamera_5pt | |
| - dist_in_40m_80m_ignore_250m_1ptcamera_5pt | |
| - dist_in_80m_120m_ignore_250m_1ptcamera_5pt | |
| - dist_in_120m_160m_ignore_250m_1ptcamera_5pt | |
| - dist_in_160m_200m_ignore_250m_1ptcamera_5pt | |
| - dist_in_200m_250m_ignore_250m_1ptcamera_5pt | |
| - dist_in_250m_350m_ignore_250m_1ptcamera_5pt | |
| - dist_in_350m_450m_ignore_250m_1ptcamera_5pt | |
| - dist_in_450m_550m_ignore_250m_1ptcamera_5pt | |
| - dist_in_550m_650m_ignore_250m_1ptcamera_5pt | |
| - stationary_true | |
| AveragePrecisionLane: | |
| - all | |
| - ignore_250m_1ptcamera_5pt | |
| - dist_in_0m_40m_ignore_250m_1ptcamera_5pt | |
| - dist_in_40m_80m_ignore_250m_1ptcamera_5pt | |
| - dist_in_80m_120m_ignore_250m_1ptcamera_5pt | |
| - dist_in_120m_160m_ignore_250m_1ptcamera_5pt | |
| - dist_in_160m_200m_ignore_250m_1ptcamera_5pt | |
| - dist_in_200m_250m_ignore_250m_1ptcamera_5pt | |
| - dist_in_250m_350m_ignore_250m_1ptcamera_5pt | |
| - dist_in_350m_450m_ignore_250m_1ptcamera_5pt | |
| - dist_in_450m_550m_ignore_250m_1ptcamera_5pt | |
| - dist_in_550m_650m_ignore_250m_1ptcamera_5pt | |
| - dist_in_160m_200m | |
| - dist_in_200m_250m | |
| - dist_in_250m_350m | |
| - dist_in_350m_450m | |
| - dist_in_450m_550m | |
| - dist_in_550m_650m | |
| - dist_in_0m_40m | |
| - dist_in_120m_160m | |
| - dist_in_40m_80m | |
| - dist_in_80m_120m | |
| ConfidenceDetectionCount: | |
| - all | |
| - ignore_250m_1ptcamera_5pt | |
| auto_metric_queries: {} | |
| class_names: | |
| - PandasetClass.CAR | |
| - PandasetClass.PICKUP | |
| - PandasetClass.MEDIUM_SIZED_TRUCK | |
| - PandasetClass.BUS | |
| - PandasetClass.EMERGENCY_VEHICLE | |
| - PandasetClass.TOWED_OBJECT | |
| - PandasetClass.OTHER_VEHICLE_CONSTRUCTION | |
| stationary_bins: | |
| - 'False' | |
| - 'True' | |
| region_of_interest: | |
| - FORWARD_194 | |
| - FORWARD_100 | |
| - ADJACENT_LANE_FORWARD_194 | |
| - ADJACENT_LANE_FORWARD_100 | |
| - ADJACENT_LANE_REAR_160 | |
| - ADJACENT_LANE_REAR_60 | |
| - SWEEP_40 | |
| flattened_iou_threshold_classes: | |
| - 0 | |
| - 0 | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 11 | |
| - 12 | |
| - 12 | |
| flattened_iou_thresholds: | |
| - 0.1 | |
| - 0.5 | |
| - 0.7 | |
| - 0.1 | |
| - 0.1 | |
| - 0.1 | |
| - 0.7 | |
| - 0.9 | |
| flattened_yaw_error_thresholds_deg: | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| flattened_speed_error_thresholds_mps: | |
| - null | |
| - null | |
| - null | |
| - null | |
| - null | |
| - null | |
| - null | |
| - null | |
| flattened_score_thresholds: | |
| - 0.4 | |
| flattened_dist_threshold_classes: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 11 | |
| flattened_dist_thresholds: | |
| - 10.0 | |
| - 10.0 | |
| - 10.0 | |
| - 10.0 | |
| flattened_dist_yaw_error_thresholds_deg: | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| flattened_dist_speed_error_thresholds_mps: | |
| - null | |
| - null | |
| - null | |
| - null | |
| flattened_time_window_fprate_iou_thresholds: | |
| - 0.3 | |
| - 0.3 | |
| flattened_time_window_recall_iou_thresholds: | |
| - 0.5 | |
| - 0.5 | |
| time_window_thresh: 2 | |
| time_window: 3 | |
| check_timestamps: false | |
| query_score_thresh: 0.4 | |
| proposal_score_thresh: 0.1 | |
| rlx_std_sct: null | |
| image_plane_camera: TRUCK_FRONT_CENTRE_POD | |
| detection_tracker_metrics_config: | |
| class_ids: | |
| - VEHICLE | |
| - PERSON | |
| - CYCLIST | |
| - EGO_TRAILER | |
| metric_names: | |
| - AveragePrecision | |
| - AveragePrecisionLane | |
| - OperatingPoint | |
| - Recall | |
| - HeadingError | |
| bucketizer_names: [] | |
| distance_bins: [] | |
| area_bins: [] | |
| tagger_names: | |
| - LabelDisplacementTagger | |
| - ForecastDisplacementTagger | |
| - DatasetIdTagger | |
| - DistanceToEgoTagger | |
| - NumLidarPtsTagger | |
| - SceneTagsTagger | |
| - ActorTagsTagger | |
| - DistanceFromEgoAlongLaneTagger | |
| - LateralDistanceFromEgoLaneTagger | |
| - CameraFoVTagger | |
| - DeltaXFromEgoTagger | |
| - DeltaYFromEgoTagger | |
| - DeltaZFromEgoTagger | |
| - HeadingToEgoTagger | |
| queries: | |
| - name: ignore_250m_1ptcamera_5pt | |
| query: in_roi and ignore_policy | |
| - name: stationary_true_ignore_250m_1ptcamera_5pt | |
| query: stationary_true and in_roi and ignore_policy | |
| - name: stationary_true_cam_fov_ignore_250m_1ptcamera_5pt | |
| query: stationary_true and cam_fov and in_roi and ignore_policy | |
| - name: near_ego_lane_ignore_250m_1ptcamera_5pt | |
| query: near_ego_lane and in_roi and ignore_policy | |
| - name: cam_fov_ignore_250m_1ptcamera_5pt | |
| query: cam_fov and in_roi and ignore_policy | |
| - name: in_front_of_ego_ignore_250m_1ptcamera_5pt | |
| query: in_front_of_ego and in_roi and ignore_policy | |
| - name: stationary_detection_ahead_of_ego_ignore_250m_1ptcamera_5pt | |
| query: stationary_detection_ahead_of_ego and in_roi and ignore_policy | |
| - name: aos_gt_150m_ignore_250m_1ptcamera_5pt | |
| query: actor_tags_aos_gt_150m and in_roi and ignore_policy | |
| - name: aos_ignore_250m_1ptcamera_5pt | |
| query: actor_tags_aos and in_roi and ignore_policy | |
| - name: dist_in_0m_40m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_0m_40m and in_roi and ignore_policy | |
| - name: dist_in_40m_80m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_40m_80m and in_roi and ignore_policy | |
| - name: dist_in_80m_120m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_80m_120m and in_roi and ignore_policy | |
| - name: dist_in_120m_160m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_120m_160m and in_roi and ignore_policy | |
| - name: dist_in_160m_200m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_160m_200m and in_roi and ignore_policy | |
| - name: dist_in_200m_250m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_200m_250m and in_roi and ignore_policy | |
| - name: dist_in_250m_350m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_250m_350m and in_roi and ignore_policy | |
| - name: dist_in_350m_450m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_350m_450m and in_roi and ignore_policy | |
| - name: dist_in_450m_550m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_450m_550m and in_roi and ignore_policy | |
| - name: dist_in_550m_650m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_550m_650m and in_roi and ignore_policy | |
| - name: not_cam_fov_ignore_250m_1ptcamera_5pt | |
| query: not_cam_fov and in_roi and ignore_policy | |
| - name: all | |
| query: _dmi_index in _dmi_index | |
| - name: in_roi | |
| query: ((delta_x_from_ego <= 253) and (delta_x_from_ego >= -122) and (delta_y_from_ego | |
| >= -50) and (delta_y_from_ego <= 50) and (delta_z_from_ego >= -3.0) and (delta_z_from_ego | |
| <= 5.0)) | |
| - name: ignore_policy | |
| query: (not is_label) or (not ((is_cam_fov and sum_num_past_lidar_pts < 1) or | |
| sum_num_past_lidar_pts < 5)) | |
| - name: stationary_detection_ahead_of_ego | |
| query: is_label or ((lateral_distance_from_ego_lane_m <= 6.85) and (distance_from_ego_along_lane_m | |
| >= 0) and (forecast_future_disp_m <= 2.0)) | |
| - name: near_ego_lane | |
| query: (lateral_distance_from_ego_lane_m <= 6.85) and ((distance_from_ego_along_lane_m | |
| <= 130) and (distance_from_ego_along_lane_m >= -100)) | |
| - name: in_front_of_ego | |
| query: (lateral_distance_from_ego_lane_m <= 6.85) and (distance_from_ego_along_lane_m | |
| <= 130) and (distance_from_ego_along_lane_m >= 0) | |
| - name: stationary_true | |
| query: ((label_future_disp_m <= 2.0) or (not is_label)) | |
| - name: stationary_false | |
| query: ((label_future_disp_m > 2.0) or (not is_label)) | |
| - name: dist_in_0m_40m | |
| query: (distance_to_ego >= 0) and (distance_to_ego <= 40) | |
| - name: dist_in_40m_80m | |
| query: (distance_to_ego >= 40) and (distance_to_ego <= 80) | |
| - name: dist_in_80m_120m | |
| query: (distance_to_ego >= 80) and (distance_to_ego <= 120) | |
| - name: dist_in_120m_160m | |
| query: (distance_to_ego >= 120) and (distance_to_ego <= 160) | |
| - name: dist_in_160m_200m | |
| query: (distance_to_ego >= 160) and (distance_to_ego <= 200) | |
| - name: dist_in_200m_250m | |
| query: (distance_to_ego >= 200) and (distance_to_ego <= 250) | |
| - name: dist_in_250m_350m | |
| query: (distance_to_ego >= 250) and (distance_to_ego <= 350) | |
| - name: dist_in_350m_450m | |
| query: (distance_to_ego >= 350) and (distance_to_ego <= 450) | |
| - name: dist_in_450m_550m | |
| query: (distance_to_ego >= 450) and (distance_to_ego <= 550) | |
| - name: dist_in_550m_650m | |
| query: (distance_to_ego >= 550) and (distance_to_ego <= 650) | |
| - name: crowded_scenes_gt_10_actors | |
| query: '`scene_tags/num_moving_actors/value` > 10' | |
| - name: truck_frameless_human_labelled_eval | |
| query: dataset_id == 'truck_frameless_human_labelled_eval' | |
| - name: cam_fov | |
| query: is_cam_fov | |
| - name: stationary_true_cam_fov | |
| query: ((label_future_disp_m <= 2.0) or (not is_label)) and is_cam_fov | |
| - name: stationary_false_cam_fov | |
| query: ((label_future_disp_m > 2.0) or (not is_label)) and is_cam_fov | |
| - name: not_cam_fov | |
| query: (not is_cam_fov) | |
| - name: stationary_true_not_cam_fov | |
| query: ((label_future_disp_m <= 2.0) or (not is_label)) and (not is_cam_fov) | |
| - name: stationary_false_not_cam_fov | |
| query: ((label_future_disp_m > 2.0) or (not is_label)) and (not is_cam_fov) | |
| - name: actor_tags_aos | |
| query: (`actor_tags/actor_on_shoulder/value` and `actor_tags/actor_speed_2d_mps/value` | |
| < 1.0 and is_label) or (not is_label) | |
| - name: actor_tags_aos_gt_150m | |
| query: (`actor_tags/actor_on_shoulder/value` and `actor_tags/actor_speed_2d_mps/value` | |
| < 1.0 and is_label and (distance_to_ego >= 150)) or (not is_label) | |
| - name: actor_tags_aos_cam_fov | |
| query: ((`actor_tags/actor_on_shoulder/value` and `actor_tags/actor_speed_2d_mps/value` | |
| < 1.0 and is_label) or (not is_label)) and is_cam_fov | |
| - name: actor_tags_speed_value_gt_30 | |
| query: (`actor_tags/actor_speed_2d_mps/value` > 30 and is_label) or (not is_label) | |
| - name: dist_gt_160m | |
| query: distance_to_ego > 160 | |
| - name: heading_to_ego_under_2_degrees | |
| query: (not is_label) or (heading_to_ego <= 2) | |
| - name: heading_to_ego_between_2_5_degrees | |
| query: (not is_label) or ((heading_to_ego > 2) and (heading_to_ego <= 5)) | |
| - name: heading_to_ego_between_5_10_degrees | |
| query: (not is_label) or ((heading_to_ego > 5) and (heading_to_ego <= 10)) | |
| - name: heading_to_ego_between_10_20_degrees | |
| query: (not is_label) or ((heading_to_ego > 10) and (heading_to_ego <= 20)) | |
| - name: heading_to_ego_over_20_degrees | |
| query: (not is_label) or (heading_to_ego > 20) | |
| metric_to_queries: | |
| AveragePrecision: | |
| - ignore_250m_1ptcamera_5pt | |
| - cam_fov_ignore_250m_1ptcamera_5pt | |
| - stationary_true_cam_fov_ignore_250m_1ptcamera_5pt | |
| - stationary_true_ignore_250m_1ptcamera_5pt | |
| - dist_in_0m_40m_ignore_250m_1ptcamera_5pt | |
| - dist_in_40m_80m_ignore_250m_1ptcamera_5pt | |
| - dist_in_80m_120m_ignore_250m_1ptcamera_5pt | |
| - dist_in_120m_160m_ignore_250m_1ptcamera_5pt | |
| - dist_in_160m_200m_ignore_250m_1ptcamera_5pt | |
| - dist_in_200m_250m_ignore_250m_1ptcamera_5pt | |
| - dist_in_250m_350m_ignore_250m_1ptcamera_5pt | |
| - dist_in_350m_450m_ignore_250m_1ptcamera_5pt | |
| - dist_in_450m_550m_ignore_250m_1ptcamera_5pt | |
| - dist_in_550m_650m_ignore_250m_1ptcamera_5pt | |
| - near_ego_lane_ignore_250m_1ptcamera_5pt | |
| - in_front_of_ego_ignore_250m_1ptcamera_5pt | |
| - aos_gt_150m_ignore_250m_1ptcamera_5pt | |
| - aos_ignore_250m_1ptcamera_5pt | |
| - all | |
| - cam_fov | |
| - dist_in_160m_200m | |
| - dist_in_200m_250m | |
| - dist_in_250m_350m | |
| - dist_in_0m_40m | |
| - dist_in_120m_160m | |
| - dist_in_40m_80m | |
| - dist_in_80m_120m | |
| - dist_in_350m_450m | |
| - dist_in_450m_550m | |
| - dist_in_550m_650m | |
| - stationary_true | |
| OperatingPoint: | |
| - ignore_250m_1ptcamera_5pt | |
| - stationary_true_ignore_250m_1ptcamera_5pt | |
| - stationary_true_cam_fov_ignore_250m_1ptcamera_5pt | |
| - cam_fov | |
| - stationary_true | |
| Recall: | |
| - ignore_250m_1ptcamera_5pt | |
| - dist_in_0m_40m_ignore_250m_1ptcamera_5pt | |
| - dist_in_40m_80m_ignore_250m_1ptcamera_5pt | |
| - dist_in_80m_120m_ignore_250m_1ptcamera_5pt | |
| - dist_in_120m_160m_ignore_250m_1ptcamera_5pt | |
| - dist_in_160m_200m_ignore_250m_1ptcamera_5pt | |
| - dist_in_200m_250m_ignore_250m_1ptcamera_5pt | |
| - dist_in_250m_350m_ignore_250m_1ptcamera_5pt | |
| - dist_in_350m_450m_ignore_250m_1ptcamera_5pt | |
| - dist_in_450m_550m_ignore_250m_1ptcamera_5pt | |
| - dist_in_550m_650m_ignore_250m_1ptcamera_5pt | |
| - stationary_true_ignore_250m_1ptcamera_5pt | |
| - near_ego_lane_ignore_250m_1ptcamera_5pt | |
| - in_front_of_ego_ignore_250m_1ptcamera_5pt | |
| - aos_gt_150m_ignore_250m_1ptcamera_5pt | |
| - aos_ignore_250m_1ptcamera_5pt | |
| - actor_tags_aos | |
| - actor_tags_aos_gt_150m | |
| - actor_tags_aos_cam_fov | |
| - all | |
| - cam_fov | |
| - dist_in_160m_200m | |
| - dist_in_200m_250m | |
| - dist_in_250m_350m | |
| - dist_in_0m_40m | |
| - dist_in_120m_160m | |
| - dist_in_40m_80m | |
| - dist_in_80m_120m | |
| - dist_in_350m_450m | |
| - dist_in_450m_550m | |
| - dist_in_550m_650m | |
| - stationary_true | |
| HeadingError: | |
| - heading_to_ego_under_2_degrees | |
| - heading_to_ego_between_2_5_degrees | |
| - heading_to_ego_between_5_10_degrees | |
| - heading_to_ego_between_10_20_degrees | |
| - heading_to_ego_over_20_degrees | |
| AveragePrecisionLane: | |
| - all | |
| - ignore_250m_1ptcamera_5pt | |
| - dist_in_0m_40m_ignore_250m_1ptcamera_5pt | |
| - dist_in_40m_80m_ignore_250m_1ptcamera_5pt | |
| - dist_in_80m_120m_ignore_250m_1ptcamera_5pt | |
| - dist_in_120m_160m_ignore_250m_1ptcamera_5pt | |
| - dist_in_160m_200m_ignore_250m_1ptcamera_5pt | |
| - dist_in_200m_250m_ignore_250m_1ptcamera_5pt | |
| - dist_in_250m_350m_ignore_250m_1ptcamera_5pt | |
| - dist_in_350m_450m_ignore_250m_1ptcamera_5pt | |
| - dist_in_450m_550m_ignore_250m_1ptcamera_5pt | |
| - dist_in_550m_650m_ignore_250m_1ptcamera_5pt | |
| - cam_fov_ignore_250m_1ptcamera_5pt | |
| - stationary_true | |
| auto_metric_queries: {} | |
| class_names: | |
| - PandasetClass.CAR | |
| - PandasetClass.PICKUP | |
| - PandasetClass.MEDIUM_SIZED_TRUCK | |
| - PandasetClass.BUS | |
| - PandasetClass.EMERGENCY_VEHICLE | |
| - PandasetClass.TOWED_OBJECT | |
| - PandasetClass.OTHER_VEHICLE_CONSTRUCTION | |
| stationary_bins: | |
| - 'False' | |
| - 'True' | |
| region_of_interest: | |
| - FORWARD_194 | |
| - FORWARD_100 | |
| - ADJACENT_LANE_FORWARD_194 | |
| - ADJACENT_LANE_FORWARD_100 | |
| - ADJACENT_LANE_REAR_160 | |
| - ADJACENT_LANE_REAR_60 | |
| - SWEEP_40 | |
| flattened_iou_threshold_classes: | |
| - 0 | |
| - 0 | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 12 | |
| - 12 | |
| flattened_iou_thresholds: | |
| - 0.1 | |
| - 0.5 | |
| - 0.7 | |
| - 0.1 | |
| - 0.1 | |
| - 0.7 | |
| - 0.9 | |
| flattened_yaw_error_thresholds_deg: | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| flattened_speed_error_thresholds_mps: | |
| - null | |
| - null | |
| - null | |
| - null | |
| - null | |
| - null | |
| - null | |
| flattened_score_thresholds: | |
| - 0.4 | |
| flattened_dist_threshold_classes: | |
| - 0 | |
| - 1 | |
| - 2 | |
| flattened_dist_thresholds: | |
| - 10.0 | |
| - 10.0 | |
| - 10.0 | |
| flattened_dist_yaw_error_thresholds_deg: | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| flattened_dist_speed_error_thresholds_mps: | |
| - null | |
| - null | |
| - null | |
| flattened_time_window_fprate_iou_thresholds: | |
| - 0.3 | |
| - 0.3 | |
| flattened_time_window_recall_iou_thresholds: | |
| - 0.5 | |
| - 0.5 | |
| time_window_thresh: 2 | |
| time_window: 3 | |
| check_timestamps: false | |
| query_score_thresh: 0.4 | |
| proposal_score_thresh: 0.1 | |
| rlx_std_sct: null | |
| image_plane_camera: TRUCK_FRONT_CENTRE_POD | |
| detection_proposal_metrics_config: | |
| class_ids: | |
| - ALL | |
| metric_names: | |
| - AveragePrecision | |
| - OperatingPoint | |
| - Recall | |
| - AveragePrecisionLane | |
| - HeadingError | |
| bucketizer_names: [] | |
| distance_bins: [] | |
| area_bins: [] | |
| tagger_names: | |
| - LabelDisplacementTagger | |
| - ForecastDisplacementTagger | |
| - DatasetIdTagger | |
| - DistanceToEgoTagger | |
| - NumLidarPtsTagger | |
| - SceneTagsTagger | |
| - ActorTagsTagger | |
| - DistanceFromEgoAlongLaneTagger | |
| - LateralDistanceFromEgoLaneTagger | |
| - CameraFoVTagger | |
| - DeltaXFromEgoTagger | |
| - DeltaYFromEgoTagger | |
| - DeltaZFromEgoTagger | |
| - HeadingToEgoTagger | |
| queries: | |
| - name: ignore_250m_1ptcamera_5pt | |
| query: in_roi and ignore_policy | |
| - name: stationary_true_ignore_250m_1ptcamera_5pt | |
| query: stationary_true and in_roi and ignore_policy | |
| - name: stationary_true_cam_fov_ignore_250m_1ptcamera_5pt | |
| query: stationary_true and cam_fov and in_roi and ignore_policy | |
| - name: near_ego_lane_ignore_250m_1ptcamera_5pt | |
| query: near_ego_lane and in_roi and ignore_policy | |
| - name: cam_fov_ignore_250m_1ptcamera_5pt | |
| query: cam_fov and in_roi and ignore_policy | |
| - name: in_front_of_ego_ignore_250m_1ptcamera_5pt | |
| query: in_front_of_ego and in_roi and ignore_policy | |
| - name: stationary_detection_ahead_of_ego_ignore_250m_1ptcamera_5pt | |
| query: stationary_detection_ahead_of_ego and in_roi and ignore_policy | |
| - name: aos_gt_150m_ignore_250m_1ptcamera_5pt | |
| query: actor_tags_aos_gt_150m and in_roi and ignore_policy | |
| - name: aos_ignore_250m_1ptcamera_5pt | |
| query: actor_tags_aos and in_roi and ignore_policy | |
| - name: dist_in_0m_40m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_0m_40m and in_roi and ignore_policy | |
| - name: dist_in_40m_80m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_40m_80m and in_roi and ignore_policy | |
| - name: dist_in_80m_120m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_80m_120m and in_roi and ignore_policy | |
| - name: dist_in_120m_160m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_120m_160m and in_roi and ignore_policy | |
| - name: dist_in_160m_200m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_160m_200m and in_roi and ignore_policy | |
| - name: dist_in_200m_250m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_200m_250m and in_roi and ignore_policy | |
| - name: dist_in_250m_350m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_250m_350m and in_roi and ignore_policy | |
| - name: dist_in_350m_450m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_350m_450m and in_roi and ignore_policy | |
| - name: dist_in_450m_550m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_450m_550m and in_roi and ignore_policy | |
| - name: dist_in_550m_650m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_550m_650m and in_roi and ignore_policy | |
| - name: not_cam_fov_ignore_250m_1ptcamera_5pt | |
| query: not_cam_fov and in_roi and ignore_policy | |
| - name: all | |
| query: _dmi_index in _dmi_index | |
| - name: in_roi | |
| query: ((delta_x_from_ego <= 253) and (delta_x_from_ego >= -122) and (delta_y_from_ego | |
| >= -50) and (delta_y_from_ego <= 50) and (delta_z_from_ego >= -3.0) and (delta_z_from_ego | |
| <= 5.0)) | |
| - name: ignore_policy | |
| query: (not is_label) or (not ((is_cam_fov and sum_num_past_lidar_pts < 1) or | |
| sum_num_past_lidar_pts < 5)) | |
| - name: stationary_detection_ahead_of_ego | |
| query: is_label or ((lateral_distance_from_ego_lane_m <= 6.85) and (distance_from_ego_along_lane_m | |
| >= 0) and (forecast_future_disp_m <= 2.0)) | |
| - name: near_ego_lane | |
| query: (lateral_distance_from_ego_lane_m <= 6.85) and ((distance_from_ego_along_lane_m | |
| <= 130) and (distance_from_ego_along_lane_m >= -100)) | |
| - name: in_front_of_ego | |
| query: (lateral_distance_from_ego_lane_m <= 6.85) and (distance_from_ego_along_lane_m | |
| <= 130) and (distance_from_ego_along_lane_m >= 0) | |
| - name: stationary_true | |
| query: ((label_future_disp_m <= 2.0) or (not is_label)) | |
| - name: stationary_false | |
| query: ((label_future_disp_m > 2.0) or (not is_label)) | |
| - name: dist_in_0m_40m | |
| query: (distance_to_ego >= 0) and (distance_to_ego <= 40) | |
| - name: dist_in_40m_80m | |
| query: (distance_to_ego >= 40) and (distance_to_ego <= 80) | |
| - name: dist_in_80m_120m | |
| query: (distance_to_ego >= 80) and (distance_to_ego <= 120) | |
| - name: dist_in_120m_160m | |
| query: (distance_to_ego >= 120) and (distance_to_ego <= 160) | |
| - name: dist_in_160m_200m | |
| query: (distance_to_ego >= 160) and (distance_to_ego <= 200) | |
| - name: dist_in_200m_250m | |
| query: (distance_to_ego >= 200) and (distance_to_ego <= 250) | |
| - name: dist_in_250m_350m | |
| query: (distance_to_ego >= 250) and (distance_to_ego <= 350) | |
| - name: dist_in_350m_450m | |
| query: (distance_to_ego >= 350) and (distance_to_ego <= 450) | |
| - name: dist_in_450m_550m | |
| query: (distance_to_ego >= 450) and (distance_to_ego <= 550) | |
| - name: dist_in_550m_650m | |
| query: (distance_to_ego >= 550) and (distance_to_ego <= 650) | |
| - name: crowded_scenes_gt_10_actors | |
| query: '`scene_tags/num_moving_actors/value` > 10' | |
| - name: truck_frameless_human_labelled_eval | |
| query: dataset_id == 'truck_frameless_human_labelled_eval' | |
| - name: cam_fov | |
| query: is_cam_fov | |
| - name: stationary_true_cam_fov | |
| query: ((label_future_disp_m <= 2.0) or (not is_label)) and is_cam_fov | |
| - name: stationary_false_cam_fov | |
| query: ((label_future_disp_m > 2.0) or (not is_label)) and is_cam_fov | |
| - name: not_cam_fov | |
| query: (not is_cam_fov) | |
| - name: stationary_true_not_cam_fov | |
| query: ((label_future_disp_m <= 2.0) or (not is_label)) and (not is_cam_fov) | |
| - name: stationary_false_not_cam_fov | |
| query: ((label_future_disp_m > 2.0) or (not is_label)) and (not is_cam_fov) | |
| - name: actor_tags_aos | |
| query: (`actor_tags/actor_on_shoulder/value` and `actor_tags/actor_speed_2d_mps/value` | |
| < 1.0 and is_label) or (not is_label) | |
| - name: actor_tags_aos_gt_150m | |
| query: (`actor_tags/actor_on_shoulder/value` and `actor_tags/actor_speed_2d_mps/value` | |
| < 1.0 and is_label and (distance_to_ego >= 150)) or (not is_label) | |
| - name: actor_tags_aos_cam_fov | |
| query: ((`actor_tags/actor_on_shoulder/value` and `actor_tags/actor_speed_2d_mps/value` | |
| < 1.0 and is_label) or (not is_label)) and is_cam_fov | |
| - name: actor_tags_speed_value_gt_30 | |
| query: (`actor_tags/actor_speed_2d_mps/value` > 30 and is_label) or (not is_label) | |
| - name: dist_gt_160m | |
| query: distance_to_ego > 160 | |
| - name: heading_to_ego_under_2_degrees | |
| query: (not is_label) or (heading_to_ego <= 2) | |
| - name: heading_to_ego_between_2_5_degrees | |
| query: (not is_label) or ((heading_to_ego > 2) and (heading_to_ego <= 5)) | |
| - name: heading_to_ego_between_5_10_degrees | |
| query: (not is_label) or ((heading_to_ego > 5) and (heading_to_ego <= 10)) | |
| - name: heading_to_ego_between_10_20_degrees | |
| query: (not is_label) or ((heading_to_ego > 10) and (heading_to_ego <= 20)) | |
| - name: heading_to_ego_over_20_degrees | |
| query: (not is_label) or (heading_to_ego > 20) | |
| metric_to_queries: | |
| AveragePrecision: | |
| - ignore_250m_1ptcamera_5pt | |
| - cam_fov_ignore_250m_1ptcamera_5pt | |
| - stationary_true_cam_fov_ignore_250m_1ptcamera_5pt | |
| - stationary_true_ignore_250m_1ptcamera_5pt | |
| - dist_in_0m_40m_ignore_250m_1ptcamera_5pt | |
| - dist_in_40m_80m_ignore_250m_1ptcamera_5pt | |
| - dist_in_80m_120m_ignore_250m_1ptcamera_5pt | |
| - dist_in_120m_160m_ignore_250m_1ptcamera_5pt | |
| - dist_in_160m_200m_ignore_250m_1ptcamera_5pt | |
| - dist_in_200m_250m_ignore_250m_1ptcamera_5pt | |
| - dist_in_250m_350m_ignore_250m_1ptcamera_5pt | |
| - dist_in_350m_450m_ignore_250m_1ptcamera_5pt | |
| - dist_in_450m_550m_ignore_250m_1ptcamera_5pt | |
| - dist_in_550m_650m_ignore_250m_1ptcamera_5pt | |
| - near_ego_lane_ignore_250m_1ptcamera_5pt | |
| - in_front_of_ego_ignore_250m_1ptcamera_5pt | |
| - aos_gt_150m_ignore_250m_1ptcamera_5pt | |
| - aos_ignore_250m_1ptcamera_5pt | |
| - all | |
| - cam_fov | |
| - dist_in_160m_200m | |
| - dist_in_200m_250m | |
| - dist_in_250m_350m | |
| - dist_in_0m_40m | |
| - dist_in_120m_160m | |
| - dist_in_40m_80m | |
| - dist_in_80m_120m | |
| - dist_in_350m_450m | |
| - dist_in_450m_550m | |
| - dist_in_550m_650m | |
| - stationary_true | |
| OperatingPoint: | |
| - ignore_250m_1ptcamera_5pt | |
| - stationary_true_ignore_250m_1ptcamera_5pt | |
| - stationary_true_cam_fov_ignore_250m_1ptcamera_5pt | |
| - cam_fov | |
| - stationary_true | |
| Recall: | |
| - ignore_250m_1ptcamera_5pt | |
| - dist_in_0m_40m_ignore_250m_1ptcamera_5pt | |
| - dist_in_40m_80m_ignore_250m_1ptcamera_5pt | |
| - dist_in_80m_120m_ignore_250m_1ptcamera_5pt | |
| - dist_in_120m_160m_ignore_250m_1ptcamera_5pt | |
| - dist_in_160m_200m_ignore_250m_1ptcamera_5pt | |
| - dist_in_200m_250m_ignore_250m_1ptcamera_5pt | |
| - dist_in_250m_350m_ignore_250m_1ptcamera_5pt | |
| - dist_in_350m_450m_ignore_250m_1ptcamera_5pt | |
| - dist_in_450m_550m_ignore_250m_1ptcamera_5pt | |
| - dist_in_550m_650m_ignore_250m_1ptcamera_5pt | |
| - stationary_true_ignore_250m_1ptcamera_5pt | |
| - near_ego_lane_ignore_250m_1ptcamera_5pt | |
| - in_front_of_ego_ignore_250m_1ptcamera_5pt | |
| - aos_gt_150m_ignore_250m_1ptcamera_5pt | |
| - aos_ignore_250m_1ptcamera_5pt | |
| - actor_tags_aos | |
| - actor_tags_aos_gt_150m | |
| - actor_tags_aos_cam_fov | |
| - all | |
| - cam_fov | |
| - dist_in_160m_200m | |
| - dist_in_200m_250m | |
| - dist_in_250m_350m | |
| - dist_in_0m_40m | |
| - dist_in_120m_160m | |
| - dist_in_40m_80m | |
| - dist_in_80m_120m | |
| - dist_in_350m_450m | |
| - dist_in_450m_550m | |
| - dist_in_550m_650m | |
| - stationary_true | |
| HeadingError: | |
| - heading_to_ego_under_2_degrees | |
| - heading_to_ego_between_2_5_degrees | |
| - heading_to_ego_between_5_10_degrees | |
| - heading_to_ego_between_10_20_degrees | |
| - heading_to_ego_over_20_degrees | |
| AveragePrecisionLane: | |
| - all | |
| - ignore_250m_1ptcamera_5pt | |
| - dist_in_0m_40m_ignore_250m_1ptcamera_5pt | |
| - dist_in_40m_80m_ignore_250m_1ptcamera_5pt | |
| - dist_in_80m_120m_ignore_250m_1ptcamera_5pt | |
| - dist_in_120m_160m_ignore_250m_1ptcamera_5pt | |
| - dist_in_160m_200m_ignore_250m_1ptcamera_5pt | |
| - dist_in_200m_250m_ignore_250m_1ptcamera_5pt | |
| - dist_in_250m_350m_ignore_250m_1ptcamera_5pt | |
| - dist_in_350m_450m_ignore_250m_1ptcamera_5pt | |
| - dist_in_450m_550m_ignore_250m_1ptcamera_5pt | |
| - dist_in_550m_650m_ignore_250m_1ptcamera_5pt | |
| - cam_fov_ignore_250m_1ptcamera_5pt | |
| - stationary_true | |
| auto_metric_queries: {} | |
| class_names: | |
| - PandasetClass.CAR | |
| - PandasetClass.PICKUP | |
| - PandasetClass.MEDIUM_SIZED_TRUCK | |
| - PandasetClass.BUS | |
| - PandasetClass.EMERGENCY_VEHICLE | |
| - PandasetClass.TOWED_OBJECT | |
| - PandasetClass.OTHER_VEHICLE_CONSTRUCTION | |
| stationary_bins: | |
| - 'False' | |
| - 'True' | |
| region_of_interest: | |
| - FORWARD_194 | |
| - FORWARD_100 | |
| - ADJACENT_LANE_FORWARD_194 | |
| - ADJACENT_LANE_FORWARD_100 | |
| - ADJACENT_LANE_REAR_160 | |
| - ADJACENT_LANE_REAR_60 | |
| - SWEEP_40 | |
| flattened_iou_threshold_classes: | |
| - 4 | |
| - 4 | |
| flattened_iou_thresholds: | |
| - 0.1 | |
| - 0.5 | |
| flattened_yaw_error_thresholds_deg: | |
| - 180.0 | |
| - 180.0 | |
| flattened_speed_error_thresholds_mps: | |
| - null | |
| - null | |
| flattened_score_thresholds: | |
| - 0.4 | |
| flattened_dist_threshold_classes: | |
| - 4 | |
| flattened_dist_thresholds: | |
| - 10.0 | |
| flattened_dist_yaw_error_thresholds_deg: | |
| - 180.0 | |
| flattened_dist_speed_error_thresholds_mps: | |
| - null | |
| flattened_time_window_fprate_iou_thresholds: | |
| - 0.3 | |
| - 0.3 | |
| flattened_time_window_recall_iou_thresholds: | |
| - 0.5 | |
| - 0.5 | |
| time_window_thresh: 2 | |
| time_window: 3 | |
| check_timestamps: false | |
| query_score_thresh: 0.4 | |
| proposal_score_thresh: 0.1 | |
| rlx_std_sct: null | |
| image_plane_camera: TRUCK_FRONT_CENTRE_POD | |
| prediction_metrics_config: | |
| class_ids: | |
| - 0 | |
| - 1 | |
| - 2 | |
| tagger_names: | |
| - LabelDiscreteBehaviorTagger | |
| - LabelInitialDistanceTagger | |
| - LabelInitialHeadingTagger | |
| - LabelSpeedTagger | |
| - LabelInitialAccelerationTagger | |
| - LabelStaticTagger | |
| - FPCutinTagger | |
| - NumLidarPtsTagger | |
| - SceneTagsTagger | |
| - ActorTagsTagger | |
| - CamFoVTagger | |
| - DeltaXFromEgoTagger | |
| - DeltaYFromEgoTagger | |
| - DeltaZFromEgoTagger | |
| - DistanceFromTrafficLightTagger | |
| - PredictedKinematicsTagger | |
| queries: | |
| - name: ignore_250m_1ptcamera_5pt | |
| query: in_roi and ignore_policy | |
| - name: LANE_KEEP_ignore_250m_1ptcamera_5pt | |
| query: LANE_KEEP and in_roi and ignore_policy | |
| - name: fp_cutins_ignore_250m_1ptcamera_5pt | |
| query: fp_cutins and in_roi and ignore_policy | |
| - name: static_ignore_250m_1ptcamera_5pt | |
| query: is_static and in_roi and ignore_policy | |
| - name: actor_tags_actor_heading_accel_mpss_value_leq_neg_2_ignore_250m_1ptcamera_5pt | |
| query: actor_tags_actor_heading_accel_mpss_value_leq_neg_2 and in_roi and ignore_policy | |
| - name: scene_tags_merges_ignore_250m_1ptcamera_5pt | |
| query: scene_tags_merges and in_roi and ignore_policy | |
| - name: scene_tags_estimated_road_curvature_geq_abs_0d0005_ignore_250m_1ptcamera_5pt | |
| query: scene_tags_estimated_road_curvature_geq_abs_0d0005 and in_roi and ignore_policy | |
| - name: in_roi | |
| query: ((delta_x_from_ego <= 253) and (delta_x_from_ego >= -122) and (delta_y_from_ego | |
| >= -50) and (delta_y_from_ego <= 50) and (delta_z_from_ego >= -3.0) and (delta_z_from_ego | |
| <= 5.0)) | |
| - name: ignore_policy | |
| query: (not ((is_cam_fov and sum_num_past_lidar_pts < 1) or sum_num_past_lidar_pts | |
| < 5)) | |
| - name: static | |
| query: is_static | |
| - name: acc_le_neg_2mps | |
| query: (initial_acceleration <= -2.0) | |
| - name: eval_rainy | |
| query: dataset_id == 'eval_rainy' | |
| - name: actor_tags_actor_heading_accel_mpss_geq_abs_0d7 | |
| query: '`actor_tags/actor_heading_accel_mpss/value` <= -0.7 or `actor_tags/actor_heading_accel_mpss/value` | |
| >= 0.7' | |
| - name: actor_tags_actor_heading_accel_mpss_value_leq_neg_2 | |
| query: '`actor_tags/actor_heading_accel_mpss/value` <= -2' | |
| - name: actor_tags_actor_heading_accel_mpss_value_leq_neg_1 | |
| query: '`actor_tags/actor_heading_accel_mpss/value` <= -1' | |
| - name: scene_tags_estimated_road_curvature_geq_abs_0d0005 | |
| query: '`scene_tags/estimated_road_curvature/value` >= 0.0005' | |
| - name: scene_tags_estimated_road_curvature_geq_abs_0d001 | |
| query: '`scene_tags/estimated_road_curvature/value` >= 0.001' | |
| - name: scene_tags_merges | |
| query: '`scene_tags/ego_on_merge/value` or `scene_tags/ego_on_lane_joins/value`' | |
| - name: LANE_KEEP | |
| query: behavior_lane_keep | |
| - name: actor_tags_actor_lateral_accel_mpss_geq_abs_0d3 | |
| query: '`actor_tags/actor_lateral_accel_mpss/value` <= -0.3 or `actor_tags/actor_lateral_accel_mpss/value` | |
| >= 0.3' | |
| - name: fp_cutins | |
| query: fp_cutin | |
| - name: sum_num_past_lidar_pts_in_0_20 | |
| query: (sum_num_past_lidar_pts >= 0) and (sum_num_past_lidar_pts < 20) | |
| - name: sum_num_past_lidar_pts_in_20_100 | |
| query: (sum_num_past_lidar_pts >= 20) and (sum_num_past_lidar_pts < 100) | |
| - name: sum_num_past_lidar_pts_in_100_600 | |
| query: (sum_num_past_lidar_pts >= 100) and (sum_num_past_lidar_pts < 600) | |
| - name: sum_num_past_lidar_pts_in_600_2800 | |
| query: (sum_num_past_lidar_pts >= 600) and (sum_num_past_lidar_pts < 2800) | |
| - name: sum_num_past_lidar_pts_gt_2800 | |
| query: (sum_num_past_lidar_pts >= 2800) | |
| - name: close_ego_lane | |
| query: ((delta_x_from_ego <= 30) and (delta_x_from_ego >= -50) and (delta_y_from_ego | |
| >= -10) and (delta_y_from_ego <= 10)) | |
| - name: near_traffic_lights | |
| query: (distance_from_traffic_light_tagger >= 0) and (distance_from_traffic_light_tagger | |
| <= 100) | |
| - name: slow_to_stop | |
| query: (initial_speed >= 5.0) and (final_speed <= 0.5) | |
| - name: infeasible_kinematics | |
| query: (max_acceleration_pred > 6) or (max_curvature_pred > 0.3) | |
| metric_to_queries: | |
| MinAlongTrackErrorBreakdown: | |
| - ignore_250m_1ptcamera_5pt | |
| - near_traffic_lights | |
| - slow_to_stop | |
| MinAvgDisplErrorBreakdown: | |
| - ignore_250m_1ptcamera_5pt | |
| - static_ignore_250m_1ptcamera_5pt | |
| - actor_tags_actor_heading_accel_mpss_value_leq_neg_2_ignore_250m_1ptcamera_5pt | |
| - scene_tags_merges_ignore_250m_1ptcamera_5pt | |
| - scene_tags_merges | |
| - acc_le_neg_2mps | |
| - actor_tags_actor_heading_accel_mpss_geq_abs_0d7 | |
| - actor_tags_actor_heading_accel_mpss_value_leq_neg_2 | |
| - scene_tags_estimated_road_curvature_geq_abs_0d0005 | |
| - static | |
| - close_ego_lane | |
| - near_traffic_lights | |
| - slow_to_stop | |
| MinCrossTrackErrorBreakdown: | |
| - ignore_250m_1ptcamera_5pt | |
| - LANE_KEEP | |
| - actor_tags_actor_lateral_accel_mpss_geq_abs_0d3 | |
| - scene_tags_estimated_road_curvature_geq_abs_0d0005 | |
| - close_ego_lane | |
| - near_traffic_lights | |
| - slow_to_stop | |
| FPEncroachmentRateBreakdown: | |
| - ignore_250m_1ptcamera_5pt | |
| - scene_tags_estimated_road_curvature_geq_abs_0d0005_ignore_250m_1ptcamera_5pt | |
| - scene_tags_estimated_road_curvature_geq_abs_0d0005 | |
| - scene_tags_estimated_road_curvature_geq_abs_0d001 | |
| - close_ego_lane | |
| - near_traffic_lights | |
| auto_metric_queries: {} | |
| flattened_iou_threshold_classes: 0 | |
| flattened_iou_thresholds: 0.5 | |
| flattened_yaw_error_thresholds_deg: 180.0 | |
| flattened_speed_error_thresholds_mps: null | |
| flattened_det_recalls: 0.5 | |
| flattened_score_threshold: null | |
| det_label_matching_mode: RECALL | |
| metric_groups: | |
| - metric_name: MinAvgDisplErrorBreakdown | |
| breakdown_dims: | |
| - mode_breakdown: true | |
| time_breakdown: true | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: true | |
| time_breakdown: false | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: false | |
| time_breakdown: true | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: false | |
| time_breakdown: false | |
| headers: | |
| - SCALAR | |
| require_lane_assocs: false | |
| require_lane_graph: false | |
| - metric_name: MinAlongTrackErrorBreakdown | |
| breakdown_dims: | |
| - mode_breakdown: true | |
| time_breakdown: false | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: false | |
| time_breakdown: true | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: false | |
| time_breakdown: false | |
| headers: | |
| - SCALAR | |
| require_lane_assocs: false | |
| require_lane_graph: false | |
| - metric_name: MinCrossTrackErrorBreakdown | |
| breakdown_dims: | |
| - mode_breakdown: true | |
| time_breakdown: true | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: true | |
| time_breakdown: false | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: false | |
| time_breakdown: true | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: false | |
| time_breakdown: false | |
| headers: | |
| - SCALAR | |
| require_lane_assocs: false | |
| require_lane_graph: false | |
| - metric_name: FPEncroachmentRateBreakdown | |
| breakdown_dims: | |
| - mode_breakdown: true | |
| time_breakdown: true | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: true | |
| time_breakdown: false | |
| headers: | |
| - SCALAR | |
| - HISTOGRAM | |
| require_lane_assocs: true | |
| require_lane_graph: true | |
| per_timestep_sampling_interval: 6.0 | |
| seconds_per_timestep: 0.5 | |
| top_k_modes: | |
| - 1 | |
| - 6 | |
| minimum_index_for_partial_gt: 3 | |
| roi: null | |
| grid_size: null | |
| filter_ego: true | |
| rasterization_cfg: null | |
| child_configs: | |
| '0': | |
| class_ids: | |
| - 0 | |
| - 1 | |
| - 2 | |
| tagger_names: | |
| - LabelDiscreteBehaviorTagger | |
| - LabelInitialDistanceTagger | |
| - LabelInitialHeadingTagger | |
| - LabelSpeedTagger | |
| - LabelInitialAccelerationTagger | |
| - LabelStaticTagger | |
| - FPCutinTagger | |
| - NumLidarPtsTagger | |
| - SceneTagsTagger | |
| - ActorTagsTagger | |
| - CamFoVTagger | |
| - DeltaXFromEgoTagger | |
| - DeltaYFromEgoTagger | |
| - DeltaZFromEgoTagger | |
| - DistanceFromTrafficLightTagger | |
| - PredictedKinematicsTagger | |
| queries: | |
| - name: ignore_250m_1ptcamera_5pt | |
| query: in_roi and ignore_policy | |
| - name: LANE_KEEP_ignore_250m_1ptcamera_5pt | |
| query: LANE_KEEP and in_roi and ignore_policy | |
| - name: fp_cutins_ignore_250m_1ptcamera_5pt | |
| query: fp_cutins and in_roi and ignore_policy | |
| - name: static_ignore_250m_1ptcamera_5pt | |
| query: is_static and in_roi and ignore_policy | |
| - name: actor_tags_actor_heading_accel_mpss_value_leq_neg_2_ignore_250m_1ptcamera_5pt | |
| query: actor_tags_actor_heading_accel_mpss_value_leq_neg_2 and in_roi and | |
| ignore_policy | |
| - name: scene_tags_merges_ignore_250m_1ptcamera_5pt | |
| query: scene_tags_merges and in_roi and ignore_policy | |
| - name: scene_tags_estimated_road_curvature_geq_abs_0d0005_ignore_250m_1ptcamera_5pt | |
| query: scene_tags_estimated_road_curvature_geq_abs_0d0005 and in_roi and | |
| ignore_policy | |
| - name: in_roi | |
| query: ((delta_x_from_ego <= 253) and (delta_x_from_ego >= -122) and (delta_y_from_ego | |
| >= -50) and (delta_y_from_ego <= 50) and (delta_z_from_ego >= -3.0) and | |
| (delta_z_from_ego <= 5.0)) | |
| - name: ignore_policy | |
| query: (not ((is_cam_fov and sum_num_past_lidar_pts < 1) or sum_num_past_lidar_pts | |
| < 5)) | |
| - name: static | |
| query: is_static | |
| - name: acc_le_neg_2mps | |
| query: (initial_acceleration <= -2.0) | |
| - name: eval_rainy | |
| query: dataset_id == 'eval_rainy' | |
| - name: actor_tags_actor_heading_accel_mpss_geq_abs_0d7 | |
| query: '`actor_tags/actor_heading_accel_mpss/value` <= -0.7 or `actor_tags/actor_heading_accel_mpss/value` | |
| >= 0.7' | |
| - name: actor_tags_actor_heading_accel_mpss_value_leq_neg_2 | |
| query: '`actor_tags/actor_heading_accel_mpss/value` <= -2' | |
| - name: actor_tags_actor_heading_accel_mpss_value_leq_neg_1 | |
| query: '`actor_tags/actor_heading_accel_mpss/value` <= -1' | |
| - name: scene_tags_estimated_road_curvature_geq_abs_0d0005 | |
| query: '`scene_tags/estimated_road_curvature/value` >= 0.0005' | |
| - name: scene_tags_estimated_road_curvature_geq_abs_0d001 | |
| query: '`scene_tags/estimated_road_curvature/value` >= 0.001' | |
| - name: scene_tags_merges | |
| query: '`scene_tags/ego_on_merge/value` or `scene_tags/ego_on_lane_joins/value`' | |
| - name: LANE_KEEP | |
| query: behavior_lane_keep | |
| - name: actor_tags_actor_lateral_accel_mpss_geq_abs_0d3 | |
| query: '`actor_tags/actor_lateral_accel_mpss/value` <= -0.3 or `actor_tags/actor_lateral_accel_mpss/value` | |
| >= 0.3' | |
| - name: fp_cutins | |
| query: fp_cutin | |
| - name: sum_num_past_lidar_pts_in_0_20 | |
| query: (sum_num_past_lidar_pts >= 0) and (sum_num_past_lidar_pts < 20) | |
| - name: sum_num_past_lidar_pts_in_20_100 | |
| query: (sum_num_past_lidar_pts >= 20) and (sum_num_past_lidar_pts < 100) | |
| - name: sum_num_past_lidar_pts_in_100_600 | |
| query: (sum_num_past_lidar_pts >= 100) and (sum_num_past_lidar_pts < 600) | |
| - name: sum_num_past_lidar_pts_in_600_2800 | |
| query: (sum_num_past_lidar_pts >= 600) and (sum_num_past_lidar_pts < 2800) | |
| - name: sum_num_past_lidar_pts_gt_2800 | |
| query: (sum_num_past_lidar_pts >= 2800) | |
| - name: close_ego_lane | |
| query: ((delta_x_from_ego <= 30) and (delta_x_from_ego >= -50) and (delta_y_from_ego | |
| >= -10) and (delta_y_from_ego <= 10)) | |
| - name: near_traffic_lights | |
| query: (distance_from_traffic_light_tagger >= 0) and (distance_from_traffic_light_tagger | |
| <= 100) | |
| - name: slow_to_stop | |
| query: (initial_speed >= 5.0) and (final_speed <= 0.5) | |
| - name: infeasible_kinematics | |
| query: (max_acceleration_pred > 6) or (max_curvature_pred > 0.3) | |
| metric_to_queries: | |
| MinAlongTrackErrorBreakdown: | |
| - ignore_250m_1ptcamera_5pt | |
| - near_traffic_lights | |
| - slow_to_stop | |
| MinAvgDisplErrorBreakdown: | |
| - ignore_250m_1ptcamera_5pt | |
| - static_ignore_250m_1ptcamera_5pt | |
| - actor_tags_actor_heading_accel_mpss_value_leq_neg_2_ignore_250m_1ptcamera_5pt | |
| - scene_tags_merges_ignore_250m_1ptcamera_5pt | |
| - scene_tags_merges | |
| - acc_le_neg_2mps | |
| - actor_tags_actor_heading_accel_mpss_geq_abs_0d7 | |
| - actor_tags_actor_heading_accel_mpss_value_leq_neg_2 | |
| - scene_tags_estimated_road_curvature_geq_abs_0d0005 | |
| - static | |
| - close_ego_lane | |
| - near_traffic_lights | |
| - slow_to_stop | |
| MinCrossTrackErrorBreakdown: | |
| - ignore_250m_1ptcamera_5pt | |
| - LANE_KEEP | |
| - actor_tags_actor_lateral_accel_mpss_geq_abs_0d3 | |
| - scene_tags_estimated_road_curvature_geq_abs_0d0005 | |
| - close_ego_lane | |
| - near_traffic_lights | |
| - slow_to_stop | |
| FPEncroachmentRateBreakdown: | |
| - ignore_250m_1ptcamera_5pt | |
| - scene_tags_estimated_road_curvature_geq_abs_0d0005_ignore_250m_1ptcamera_5pt | |
| - scene_tags_estimated_road_curvature_geq_abs_0d0005 | |
| - scene_tags_estimated_road_curvature_geq_abs_0d001 | |
| - close_ego_lane | |
| - near_traffic_lights | |
| auto_metric_queries: {} | |
| flattened_iou_threshold_classes: 0 | |
| flattened_iou_thresholds: 0.5 | |
| flattened_yaw_error_thresholds_deg: 180.0 | |
| flattened_speed_error_thresholds_mps: null | |
| flattened_det_recalls: 0.7 | |
| flattened_score_threshold: null | |
| det_label_matching_mode: RECALL | |
| metric_groups: | |
| - metric_name: MinAvgDisplErrorBreakdown | |
| breakdown_dims: | |
| - mode_breakdown: true | |
| time_breakdown: true | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: true | |
| time_breakdown: false | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: false | |
| time_breakdown: true | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: false | |
| time_breakdown: false | |
| headers: | |
| - SCALAR | |
| require_lane_assocs: false | |
| require_lane_graph: false | |
| - metric_name: MinAlongTrackErrorBreakdown | |
| breakdown_dims: | |
| - mode_breakdown: true | |
| time_breakdown: false | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: false | |
| time_breakdown: true | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: false | |
| time_breakdown: false | |
| headers: | |
| - SCALAR | |
| require_lane_assocs: false | |
| require_lane_graph: false | |
| - metric_name: MinCrossTrackErrorBreakdown | |
| breakdown_dims: | |
| - mode_breakdown: true | |
| time_breakdown: true | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: true | |
| time_breakdown: false | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: false | |
| time_breakdown: true | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: false | |
| time_breakdown: false | |
| headers: | |
| - SCALAR | |
| require_lane_assocs: false | |
| require_lane_graph: false | |
| - metric_name: FPEncroachmentRateBreakdown | |
| breakdown_dims: | |
| - mode_breakdown: true | |
| time_breakdown: true | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: true | |
| time_breakdown: false | |
| headers: | |
| - SCALAR | |
| - HISTOGRAM | |
| require_lane_assocs: true | |
| require_lane_graph: true | |
| per_timestep_sampling_interval: 6.0 | |
| seconds_per_timestep: 0.5 | |
| top_k_modes: | |
| - 1 | |
| - 6 | |
| minimum_index_for_partial_gt: 3 | |
| roi: null | |
| grid_size: null | |
| filter_ego: true | |
| rasterization_cfg: null | |
| child_configs: null | |
| box_expansion_amount: null | |
| '1': | |
| class_ids: | |
| - 0 | |
| - 2 | |
| tagger_names: [] | |
| queries: [] | |
| metric_to_queries: {} | |
| auto_metric_queries: {} | |
| flattened_iou_threshold_classes: 0 | |
| flattened_iou_thresholds: 0.0 | |
| flattened_yaw_error_thresholds_deg: 180.0 | |
| flattened_speed_error_thresholds_mps: null | |
| flattened_det_recalls: 0.0 | |
| flattened_score_threshold: 0.0 | |
| det_label_matching_mode: NO_MATCHING | |
| metric_groups: | |
| - metric_name: RasterizedOccupancyAP | |
| breakdown_dims: null | |
| require_lane_assocs: false | |
| require_lane_graph: false | |
| - metric_name: RasterizedOccupancySoftIOU | |
| breakdown_dims: null | |
| require_lane_assocs: false | |
| require_lane_graph: false | |
| - metric_name: AvgRasterizedOccupancyCalibration | |
| breakdown_dims: null | |
| require_lane_assocs: false | |
| require_lane_graph: false | |
| per_timestep_sampling_interval: 6.0 | |
| seconds_per_timestep: 0.5 | |
| top_k_modes: | |
| - 1 | |
| - 6 | |
| minimum_index_for_partial_gt: 3 | |
| roi: null | |
| grid_size: null | |
| filter_ego: true | |
| rasterization_cfg: | |
| x_min: -125.0 | |
| x_max: 200.0 | |
| y_min: -50.0 | |
| y_max: 50.0 | |
| step: 0.2 | |
| child_configs: null | |
| box_expansion_amount: 0.0 | |
| box_expansion_amount: null | |
| segmentation_metrics_config: null | |
| instance_free_metrics_config: | |
| metric_names: | |
| - OccupancyAP | |
| - ExpectedEgoOccupancy | |
| - ExpectedOtherRoadOccupancy | |
| - TotalEPE | |
| - StaticEPE | |
| - DynamicEPE | |
| num_calibration_buckets: 30 | |
| active_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - ALL | |
| - OTHER_OBJECT | |
| ap_threshold_bins: 100 | |
| run_flow_metrics: true | |
| eval_query_cfg: | |
| query_type: 0 | |
| x_min: -202.0 | |
| y_min: -150.0 | |
| x_max: 303.0 | |
| y_max: 150.0 | |
| flatten_z: true | |
| z_min: 0.0 | |
| z_max: 0.0 | |
| t_min: 0.0 | |
| t_max: 6.0 | |
| ground_label_step_size: 0.15625 | |
| warp_points: false | |
| warp_delta: 0.1 | |
| min_warp_time: 0.0 | |
| max_warp_time: 1.0 | |
| use_depth_image_if_available: false | |
| grid_query_cfg: | |
| x_step: 0.3125 | |
| y_step: 0.3125 | |
| z_step: 0.2 | |
| t_step: 0.5 | |
| num_pts_per_iter: 20000 | |
| x_min: -52.0 | |
| y_min: -50.0 | |
| x_max: 303.0 | |
| y_max: 50.0 | |
| z_min: null | |
| z_max: null | |
| t_min: 0.0 | |
| t_max: 6.0 | |
| class_balanced_grid_query_cfg: null | |
| continuous_query_cfg: null | |
| visibility_query_cfg: null | |
| balanced_visibility_query_cfg: null | |
| positive_labels_query_cfg: null | |
| joint_query_cfg: null | |
| grid_balanced_visibility_query_cfg: null | |
| render_lidar_cfg: null | |
| render_query_cfg: null | |
| distillation_query_cfg: null | |
| negative_ego_cfg: null | |
| online_mapper_query_cfg: null | |
| pseudo_lidar_query_cfg: null | |
| query_point_selectors: | |
| - name: initial_time | |
| expr: 'lambda q: q[..., -1] < 1e-3' | |
| - name: final_time | |
| expr: 'lambda q: q[..., -1] > 6.0 - (1e-3)' | |
| - name: long_range_200m+ | |
| expr: 'lambda q: q[..., 0] > 200.0' | |
| - name: within_10m_of_ego_initial_time | |
| expr: 'lambda q: (torch.linalg.norm(q[..., :2], dim=-1) < 10.0) & (q[..., -1] | |
| < 1e-3)' | |
| metric_to_query_point_selectors: | |
| OccupancyAP: | |
| - initial_time | |
| - final_time | |
| - long_range_200m+ | |
| - within_10m_of_ego_initial_time | |
| ExpectedEgoOccupancy: | |
| - initial_time | |
| - final_time | |
| ExpectedOtherRoadOccupancy: | |
| - initial_time | |
| - final_time | |
| - long_range_200m+ | |
| - within_10m_of_ego_initial_time | |
| compute_device: cuda | |
| online_mapper_metrics_config: null | |
| traffic_light_metrics_config: | |
| metric_names: | |
| - GroupAccuracy | |
| - GroupCount | |
| scenegen_metrics_config: null | |
| mp_metrics_cfg: | |
| metrics: | |
| - type: L2Expert | |
| arguments: {} | |
| - type: CumulativeCollisionRate | |
| arguments: {} | |
| - type: Progress | |
| arguments: {} | |
| - type: AverageBicycleModelLatJerk | |
| arguments: {} | |
| - type: AverageBicycleModelJerk | |
| arguments: {} | |
| - type: AverageBicycleModelLatAcceleration | |
| arguments: {} | |
| - type: AverageBicycleModelAcceleration | |
| arguments: {} | |
| - type: SamplesL2Expert | |
| arguments: {} | |
| - type: SamplesL2PercentileExpert | |
| arguments: {} | |
| - type: SamplesLatDistPercentileExpert | |
| arguments: {} | |
| - type: SamplesLonDistPercentileExpert | |
| arguments: {} | |
| - type: MinTTCSDVPlanTraj | |
| arguments: {} | |
| - type: TTCSDVPlanTrajPercentiles | |
| arguments: {} | |
| tta_config: null | |
| compute_loss: true | |
| device: cuda | |
| storage_device: cpu | |
| vis_save_path: null | |
| proposal_confidence_threshold: 0.1 | |
| storage_config: null | |
| fork_metrics: false | |
| metrics_only: false | |
| recompute_num_pts_ignores: false | |
| recompute_num_pts: true | |
| min_sum_num_pts: null | |
| min_cam_fov_sum_num_pts: null | |
| crop_lidar_num_pts: true | |
| warmup_ths: 9 | |
| compute_metadata: true | |
| compute_proposals: true | |
| use_incremental_eval: true | |
| dump_for_waymo_eval: false | |
| print_progress_interval: 100 | |
| visualizer_cfg: | |
| plots: | |
| - output | |
| plot_scopes: null | |
| device: cuda | |
| viz_single_actors_randomly: false | |
| select_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - EGO_TRAILER | |
| try_plot_poly_map: false | |
| visualize_pnp: false | |
| custom_viz: true | |
| save_fps: 2 | |
| save_video_as_gif: false | |
| plot_all_lidar_sweeps: false | |
| plot_perfect_loc_map_raster: false | |
| plot_actor_attention: false | |
| subsample_lidar: 0.7 | |
| min_conf: 0.5 | |
| gt_alpha: 0.7 | |
| pred_alpha: 0.5 | |
| plot_sdv_plan: true | |
| tracker_alpha: 0.7 | |
| viz_trajectories: false | |
| object_free_visualizer_cfg: null | |
| recompute_num_pts: false | |
| min_sum_num_pts: null | |
| min_cam_fov_sum_num_pts: null | |
| crop_lidar_num_pts: true | |
| radar_visualizer_cfg: null | |
| plot_label_observing_devices: false | |
| plot_distance_markers: false | |
| distance_marker_interval_m: 100.0 | |
| voxel_cfg: null | |
| perception_model: null | |
| camera_perception_model: null | |
| pred_only_model: null | |
| pnp_model: null | |
| scene_generation_model: null | |
| ultralidar_model: null | |
| mp_model: null | |
| traj_vqvae_model: null | |
| vq_dptransformer_model: | |
| class_cfg: | |
| active_classes: | |
| - VEHICLE | |
| - PERSON | |
| - CYCLIST | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| perception_model: | |
| sensor_cfg: | |
| lidar_names: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| num_sweeps: 5 | |
| voxel_cfg: | |
| x_min: -202.0 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| add_intensity: false | |
| add_ground: false | |
| add_class_id: false | |
| add_sensor_id: false | |
| add_relative_time: false | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| n_feat: null | |
| any_corner: true | |
| rasterize_concat_intensity: false | |
| name: SparseMultiLidarVoxelizer | |
| n_out: ${..det_cfg.backbone.in_channels} | |
| num_sensors: 6 | |
| num_sweeps: ${..sensor_cfg.num_sweeps} | |
| single_lidar: false | |
| single_radar: null | |
| clip_outside_voxelizer_z_roi: true | |
| use_fast_version: true | |
| norm_type: SyncBN | |
| modality: LIDAR | |
| use_norm: true | |
| with_distance: false | |
| use_absolute_xyz: true | |
| num_point_features: 4 | |
| num_filters: | |
| - 64 | |
| - 64 | |
| shuffle_points: false | |
| waabi_y_convention: true | |
| det_cfg: | |
| neck: | |
| out_channels: 128 | |
| in_channels: | |
| - 192 | |
| - 256 | |
| - 384 | |
| out_indices: | |
| - 0 | |
| norm_type: BN | |
| pyramid_pool: false | |
| name: FeatureSelect | |
| rpn_config: null | |
| rpn_with_spatial_attention_config: null | |
| header: | |
| in_channels: 512 | |
| cls_channels: 48 | |
| reg_channels: 128 | |
| pred_channels: 128 | |
| num_cls_layers: 4 | |
| num_reg_layers: 4 | |
| num_pred_layers: 4 | |
| cls_dim: 1 | |
| reg_dim: 6 | |
| pred_dim: 20 | |
| add_heading: false | |
| norm_type: SyncBN | |
| focal_init: true | |
| occ_dim: 11 | |
| final_upsample: 1 | |
| modes: 1 | |
| step_size: 0.4 | |
| flow_mode: 3 | |
| name: CenterpointProposalHead | |
| num_heading_bins: 12 | |
| center_head_cfg: | |
| class_names_each_head: ??? | |
| bn_mom: 0.1 | |
| bn_eps: 1.0e-05 | |
| num_hm_conv: 2 | |
| freeze_hm: false | |
| head_conv_type: spconv | |
| bias_before_bn: false | |
| max_obj_per_sample: 500 | |
| score_thresh: 0.1 | |
| post_center_limit_range: | |
| - -80.0 | |
| - -80.0 | |
| - -10.0 | |
| - 80.0 | |
| - 80.0 | |
| - 10.0 | |
| use_iou_to_recify_score: true | |
| iou_rectifier: | |
| - 0.68 | |
| - 0.71 | |
| - 0.65 | |
| class_specific_nms_cfg: | |
| nms_thresh: | |
| - 0.75 | |
| - 0.6 | |
| - 0.55 | |
| score_thresh: null | |
| nms_pre_maxsize: | |
| - 4096 | |
| - 4096 | |
| - 4096 | |
| nms_post_maxsize: | |
| - 500 | |
| - 500 | |
| - 500 | |
| target_assigner_cfg: | |
| feature_map_stride: 8 | |
| num_max_objs: 500 | |
| gaussian_overlap: 0.1 | |
| min_radius: 2 | |
| box_head_types: | |
| - XY_REGRESSION | |
| - Z_REGRESSION | |
| - LWH_DIMENSIONS | |
| - SIN_COS | |
| reg_weights: | |
| - 1.0 | |
| - 1.0 | |
| - 1.0 | |
| - 1.0 | |
| - 1.0 | |
| - 1.0 | |
| - 1.0 | |
| - 1.0 | |
| reg_weight: 2.0 | |
| cls_weight: 1.0 | |
| remove_ignores: false | |
| sep_head_cfgs: | |
| - head_type: HEATMAP | |
| output_channels: 6 | |
| num_layers: 2 | |
| loss_weighting: null | |
| freeze: false | |
| dropout_ratio: null | |
| - head_type: XY_REGRESSION | |
| output_channels: 2 | |
| num_layers: 2 | |
| loss_weighting: | |
| - 2.0 | |
| - 2.0 | |
| freeze: false | |
| dropout_ratio: null | |
| - head_type: Z_REGRESSION | |
| output_channels: 1 | |
| num_layers: 2 | |
| loss_weighting: | |
| - 2.0 | |
| freeze: false | |
| dropout_ratio: null | |
| - head_type: LWH_DIMENSIONS | |
| output_channels: 3 | |
| num_layers: 2 | |
| loss_weighting: | |
| - 0.9 | |
| - 0.9 | |
| - 0.9 | |
| freeze: false | |
| dropout_ratio: null | |
| - head_type: SIN_COS | |
| output_channels: 2 | |
| num_layers: 2 | |
| loss_weighting: | |
| - 2.0 | |
| - 2.0 | |
| freeze: false | |
| dropout_ratio: null | |
| - head_type: LIDAR_FEATURES | |
| output_channels: 128 | |
| num_layers: 2 | |
| loss_weighting: null | |
| freeze: false | |
| dropout_ratio: null | |
| shared_conv_channel: 64 | |
| iou_reg_loss: false | |
| box_dim_fn: ELU_PLUS_ONE | |
| voxel_cfg: null | |
| add_box_emb: false | |
| embed_dims: 128 | |
| backbone: | |
| in_channels: 16 | |
| groups_in_stem: 1 | |
| stride_in_stem: 2 | |
| channels_in_stem: | |
| - 64 | |
| - 64 | |
| - 64 | |
| blocks_per_stage: | |
| - 6 | |
| - 6 | |
| - 4 | |
| block_type: Bottleneck | |
| base_channels: 64 | |
| specify_channels: true | |
| channels_per_stage: | |
| - 48 | |
| - 64 | |
| - 96 | |
| strides_per_stage: | |
| - 2 | |
| - 2 | |
| - 2 | |
| dilations_per_stage: | |
| - 1 | |
| - 1 | |
| - 1 | |
| out_indices: | |
| - 1 | |
| - 2 | |
| - 3 | |
| map_channels: 0 | |
| channels_in_map_stem: | |
| - 64 | |
| - 64 | |
| - 64 | |
| norm_type: SyncBN | |
| use_custom_1x1_conv: true | |
| max_pool_in_stem: false | |
| name: PointTransformerV3Backbone | |
| d_proj: 128 | |
| sparse_backbone_cfg: | |
| input_hidden_dims: 16 | |
| input_stride: | |
| z_stride: 1 | |
| y_stride: 1 | |
| x_stride: 1 | |
| hidden_dims: | |
| - 16 | |
| - 32 | |
| - 64 | |
| - 128 | |
| downsample_stride: | |
| - z_stride: 1 | |
| y_stride: 1 | |
| x_stride: 1 | |
| - z_stride: 2 | |
| y_stride: 2 | |
| x_stride: 2 | |
| - z_stride: 2 | |
| y_stride: 2 | |
| x_stride: 2 | |
| - z_stride: 2 | |
| y_stride: 2 | |
| x_stride: 2 | |
| quantization: FP32 | |
| hednet_cfg: null | |
| pvt3_backbone_cfg: | |
| in_channels: 16 | |
| order: | |
| - z | |
| - z-trans | |
| - hilbert | |
| - hilbert-trans | |
| stride: | |
| - 2 | |
| - 2 | |
| - 2 | |
| downscale_grid_coord: | |
| - true | |
| - true | |
| - true | |
| attention_types: | |
| - MultiHead | |
| - MultiHead | |
| - MultiHead | |
| - MultiHead | |
| enc_depths: | |
| - 1 | |
| - 1 | |
| - 2 | |
| - 2 | |
| enc_channels: | |
| - 32 | |
| - 64 | |
| - 64 | |
| - 128 | |
| enc_head_dim: | |
| - 16 | |
| - 16 | |
| - 16 | |
| - 16 | |
| enc_patch_size: | |
| - 1024 | |
| - 1024 | |
| - 1024 | |
| - 1024 | |
| shuffle_orders: true | |
| pooling_norm: SyncBN | |
| attn_norm: LayerNorm | |
| cpe_norm: LayerNorm | |
| pre_conv_norm: SyncBN | |
| act_layer: gelu | |
| mlp_ratio: 4 | |
| qkv_bias: true | |
| attn_drop: 0.0 | |
| proj_drop: 0.0 | |
| drop_path: 0.3 | |
| pre_norm: true | |
| use_cpe: true | |
| pos_enc_type: none | |
| serialized_cpe: false | |
| pool_reduction: max | |
| pre_conv_config: | |
| - channel: 32 | |
| kernel_size: 3 | |
| stride: 1 | |
| padding: 1 | |
| use_fast_serializer: true | |
| max_seq: | |
| - 874731 | |
| - 344901 | |
| - 124848 | |
| - 41931 | |
| min_seq: | |
| - 134776 | |
| - 52454 | |
| - 16932 | |
| - 4998 | |
| opt_seq: | |
| - 437593 | |
| - 177735 | |
| - 63930 | |
| - 20616 | |
| image_cfg: null | |
| radar_backbone: null | |
| roi_header: null | |
| preprocessor: null | |
| nms_threshold: 0.1 | |
| score_threshold: 0.1 | |
| pre_nms_topk: 2000 | |
| nms_topk: 50 | |
| name: Detector | |
| use_fp16_inference: false | |
| voxel_feature_extractor_cfg: null | |
| pred_cfg: | |
| model_cfg: | |
| name: MLPPredictor | |
| pred_len: 10 | |
| pred_target: 2 | |
| num_modes: 1 | |
| target: WAYPOINT_SCALED | |
| use_traj_anchors: false | |
| traj_anchors_name: '' | |
| feature_dim: 128 | |
| hidden_dims: | |
| - 128 | |
| - 128 | |
| - 128 | |
| pred_mode_scores: true | |
| norm: null | |
| dropout_p: 0.0 | |
| postprocess_cfg: | |
| heading_speed_thresh: 0.5 | |
| detection_end_of_sweep: true | |
| past_waypoint_delta_t: 0.4 | |
| pred_delta_t_secs: 0.5 | |
| sweep_duration_secs: 0.1 | |
| history_dropout_prob: 0.0 | |
| full_history_dropout_prob: 0.0 | |
| train_rotation: false | |
| eval_rotation: false | |
| filter_ego: true | |
| actor_roi_encoder_active: true | |
| actor_roi_cfg: | |
| downsample_factor: 4 | |
| use_rroi_align: false | |
| use_rotated_box: true | |
| rroi_align_bin_size_lon: 7 | |
| rroi_align_bin_size_lat: 7 | |
| rroi_align_input_region_meters_lon: null | |
| rroi_align_input_region_meters_lat: null | |
| rroi_align_sampling_ratio: 2 | |
| rroi_cnn: null | |
| traj_encoder_active: false | |
| traj_encoder_cfg: | |
| concat_traj_info: false | |
| use_resnet1d: true | |
| resnet1d: | |
| in_channels: ??? | |
| blocks_per_stage: | |
| - 1 | |
| - 1 | |
| - 1 | |
| block_type: BasicBlock1D | |
| channels_per_stage: | |
| - 128 | |
| - 128 | |
| - 128 | |
| kernel_size_per_stage: | |
| - 3 | |
| - 3 | |
| - 3 | |
| strides_per_stage: | |
| - 1 | |
| - 2 | |
| - 2 | |
| dilations_per_stage: | |
| - 1 | |
| - 1 | |
| - 1 | |
| norm_type: SyncBN | |
| final_pool_type: NONE | |
| conv_type: Conv1d | |
| use_rnn: true | |
| rnn: | |
| rnn_type: GRU | |
| input_size: ??? | |
| hidden_size: 128 | |
| num_layers: 1 | |
| bias: false | |
| batch_first: true | |
| dropout: 0.0 | |
| bidirectional: false | |
| use_embedding_input_norm: false | |
| norm_type: SyncBN | |
| norm_by_roi: false | |
| norm_by_const: 1.0 | |
| scale_traj_to_target: false | |
| input_framing_type: RELATIVE | |
| use_delta_info: true | |
| resnet_per_actor_class: false | |
| rnn_per_actor_class: false | |
| use_ground_truth_velocity: false | |
| ground_truth_velocity_freqs: 32 | |
| rotate_velocity_to_actor_frame: true | |
| lane_graph_preprocess_cfg: | |
| num_dilations: 5 | |
| input_framing_type: RELATIVE | |
| use_topological_features: true | |
| bev_image_cfg: | |
| x_min: -75.0 | |
| x_max: 75.0 | |
| y_min: -50.0 | |
| y_max: 50.0 | |
| step: 0.2 | |
| norm_map_by_roi: false | |
| dilate_exponentially: false | |
| use_shoulder_dists: false | |
| use_ego_route: false | |
| lane_graph_3d: false | |
| lane_graph_preprocess_active: true | |
| map_gcn_active: false | |
| map_gcn_cfg: | |
| multi_edge_gcn_config: | |
| in_channels: ??? | |
| num_edge_types: ??? | |
| hidden_channels: | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| norm_type: LN | |
| pool_type: MAX_POOL | |
| conv_type: EdgeMessageFusionConv | |
| edge_dim: ??? | |
| global_shortcut_pool_type: NONE | |
| edge_dim_feedforward: 64 | |
| input_normalization: false | |
| in_channels: 25 | |
| num_edge_types: 1 | |
| map_swin_active: false | |
| map_swin_cfg: | |
| res_per_stage: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 1 | |
| - 0 | |
| blocks_per_stage: | |
| - 1 | |
| - 1 | |
| - 1 | |
| - 0 | |
| - 0 | |
| stage_types: | |
| - swin | |
| - swin | |
| - swin | |
| - none | |
| - none | |
| window_sizes: | |
| - 24.0 | |
| - 48.0 | |
| - 96.0 | |
| - 48.0 | |
| - 24.0 | |
| positional_encodings: | |
| - true | |
| latent_dims: | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| n_heads: | |
| - 8 | |
| - 8 | |
| - 8 | |
| - -1 | |
| - -1 | |
| dropouts: | |
| - 0.0 | |
| activation: relu | |
| spe_feats: | |
| - MID_X | |
| - MID_Y | |
| - MID_HEADING | |
| spe_dim: 32 | |
| initializer_hidden_dims: | |
| - 128 | |
| - 128 | |
| lateral_connections: true | |
| initializer_spe_dims: | |
| - 256 | |
| - 256 | |
| kept_geo_features: | |
| - NODE_TYPE | |
| - IS_POINT | |
| - START_X | |
| - START_Y | |
| - START_Z | |
| - START_HEADING | |
| - MID_X | |
| - MID_Y | |
| - MID_Z | |
| - MID_HEADING | |
| - END_X | |
| - END_Y | |
| - END_Z | |
| - END_HEADING | |
| - NODE_LENGTH | |
| - CURVATURE | |
| - SPEED_LIMIT | |
| - IN_INTERSECTION | |
| - IS_FORK | |
| norm_first: true | |
| layer_norm_eps: 1.0e-05 | |
| map2actor_active: false | |
| map2actor_cfg: | |
| map_node_pooling_type: MAX_POOL | |
| map2actor_node_filter_type: CLOSEST_ALONG_HIST | |
| map2actor_pooling_type: LEARNED | |
| map2actor_fusion_aggr_type: SUM | |
| map2actor_fusion_mlp: | |
| input_dim: ??? | |
| hidden_dims: | |
| - 256 | |
| output_dim: ??? | |
| norm: null | |
| map2actor_thresh_dist: 20 | |
| map2actor_topk: 5 | |
| actor2map_active: false | |
| actor2map_cfg: | |
| actor_node_pooling_type: MAX_POOL | |
| actor2map_node_filter_type: CLOSER_THAN_THRESH | |
| actor2map_pooling_type: LEARNED | |
| actor2map_fusion_aggr_type: SUM | |
| actor2map_fusion_mlp: | |
| input_dim: ??? | |
| hidden_dim: 128 | |
| num_blocks: 1 | |
| norm: null | |
| has_final_layer: true | |
| actor2map_thresh_dist: 7.0 | |
| actor2map_topk: 5 | |
| use_residual_connection: true | |
| post_a2m_map_gcn_active: false | |
| lane_actor_graph_active: false | |
| lane_actor_graph_cfg: | |
| map_actor_gnn: | |
| node_types: ??? | |
| edge_types: ??? | |
| in_channels: ??? | |
| conv_type: HeteroEdgeMLP | |
| hidden_channels: | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| norm_type: LN | |
| aggr_type: mean | |
| update_type: GRUCell | |
| edge_dim: ??? | |
| global_shortcut_pool_type: NONE | |
| edge_dim_feedforward: 64 | |
| edge_embedder_num_layers: 2 | |
| edge_embedder_residual: false | |
| unused_output_nodes: [] | |
| return_attention_weights: false | |
| attention_weight_edge_types: null | |
| dropout_p: 0.0 | |
| include_ego_node: true | |
| include_cond_node: false | |
| input_framing_type: RELATIVE | |
| use_a2a: false | |
| use_actor2map: true | |
| filter_unreachable_node_edges: false | |
| max_reachable_distance_m: null | |
| num_centerline_succ_hops_reachable: null | |
| num_neigh_hops_reachable: null | |
| map_edge_types_as_one_hot_attr: false | |
| use_vectorized_actor_graph_creation: true | |
| lane_actor_transformer_active: false | |
| lane_actor_transformer_cfg: | |
| embed_dims: -1 | |
| ffn_upsample_rate: 4 | |
| num_encoder_blocks: 1 | |
| num_heads: 1 | |
| dropout: 0.0 | |
| map_node_topk: 1 | |
| actor2actor_active: false | |
| actor2actor_cfg: | |
| input_dim: ??? | |
| type: SELF_ATTENTION | |
| transformer_config: | |
| input_dim: ??? | |
| nhead: 1 | |
| dim_feedforward: 0 | |
| dropout: 0 | |
| gcn_config: | |
| in_channels: ??? | |
| hidden_channels: | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| norm_type: LN | |
| pool_type: AVG_POOL | |
| multi_edge_gcn_config: | |
| in_channels: ??? | |
| num_edge_types: ??? | |
| hidden_channels: | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| norm_type: LN | |
| pool_type: MAX_POOL | |
| conv_type: EdgeMessageFusionConv | |
| edge_dim: ??? | |
| global_shortcut_pool_type: NONE | |
| edge_dim_feedforward: 64 | |
| input_normalization: false | |
| proxy_mlp: | |
| input_dim: ??? | |
| hidden_dims: | |
| - 256 | |
| - 256 | |
| output_dim: 256 | |
| residual_connection_type: ADD | |
| norm_type: BN | |
| adj_mat_dist_thresh_m: 7.0 | |
| adj_mat_type: CLOSER_THAN_THRESH | |
| adj_mat_topk: 10 | |
| latent_variable_active: false | |
| latent_variable_encoder_cfg: | |
| traj_enc_cfg: | |
| in_channels: ??? | |
| blocks_per_stage: | |
| - 1 | |
| - 1 | |
| - 1 | |
| block_type: BasicBlock1D | |
| channels_per_stage: | |
| - 128 | |
| - 128 | |
| - 128 | |
| kernel_size_per_stage: | |
| - 3 | |
| - 3 | |
| - 3 | |
| strides_per_stage: | |
| - 1 | |
| - 2 | |
| - 2 | |
| dilations_per_stage: | |
| - 1 | |
| - 1 | |
| - 1 | |
| norm_type: SyncBN | |
| final_pool_type: MAX_POOL | |
| conv_type: Conv1d | |
| actor_traj_fuse_mlp_cfg: | |
| input_dim: ??? | |
| hidden_dims: | |
| - 512 | |
| output_dim: ??? | |
| activation: relu | |
| norm: SyncBN | |
| dropout_p: 0.0 | |
| actor_latent_combination_strategy: FUSION | |
| actor_latent_fuse_mlp_cfg: | |
| input_dim: ??? | |
| hidden_dims: | |
| - 256 | |
| - 256 | |
| output_dim: ??? | |
| activation: relu | |
| norm: SyncBN | |
| dropout_p: 0.0 | |
| encoder_gnn_cfg: | |
| map_actor_gnn: | |
| node_types: ??? | |
| edge_types: ??? | |
| in_channels: ??? | |
| conv_type: HeteroEdgeMLP | |
| hidden_channels: | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| norm_type: LN | |
| aggr_type: mean | |
| update_type: GRUCell | |
| edge_dim: ??? | |
| global_shortcut_pool_type: NONE | |
| edge_dim_feedforward: 64 | |
| edge_embedder_num_layers: 2 | |
| edge_embedder_residual: false | |
| unused_output_nodes: [] | |
| return_attention_weights: false | |
| attention_weight_edge_types: null | |
| dropout_p: 0.0 | |
| include_ego_node: true | |
| include_cond_node: false | |
| input_framing_type: RELATIVE | |
| use_a2a: false | |
| use_actor2map: true | |
| filter_unreachable_node_edges: false | |
| max_reachable_distance_m: null | |
| num_centerline_succ_hops_reachable: null | |
| num_neigh_hops_reachable: null | |
| map_edge_types_as_one_hot_attr: false | |
| use_vectorized_actor_graph_creation: true | |
| prior_gnn_cfg: | |
| map_actor_gnn: | |
| node_types: ??? | |
| edge_types: ??? | |
| in_channels: ??? | |
| conv_type: HeteroEdgeMLP | |
| hidden_channels: | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| norm_type: LN | |
| aggr_type: mean | |
| update_type: GRUCell | |
| edge_dim: ??? | |
| global_shortcut_pool_type: NONE | |
| edge_dim_feedforward: 64 | |
| edge_embedder_num_layers: 2 | |
| edge_embedder_residual: false | |
| unused_output_nodes: [] | |
| return_attention_weights: false | |
| attention_weight_edge_types: null | |
| dropout_p: 0.0 | |
| include_ego_node: true | |
| include_cond_node: false | |
| input_framing_type: RELATIVE | |
| use_a2a: false | |
| use_actor2map: true | |
| filter_unreachable_node_edges: false | |
| max_reachable_distance_m: null | |
| num_centerline_succ_hops_reachable: null | |
| num_neigh_hops_reachable: null | |
| map_edge_types_as_one_hot_attr: false | |
| use_vectorized_actor_graph_creation: true | |
| encoder_distribution: GAUSSIAN | |
| prior_distribution: GAUSSIAN | |
| codebook_size: 32 | |
| latent_dim: 128 | |
| num_samples: 1 | |
| learn_prior: true | |
| use_fp16_inference: false | |
| raster_cfg: | |
| x_min: -75.2 | |
| x_max: 75.2 | |
| y_min: -49.6 | |
| y_max: 49.6 | |
| step: 0.2 | |
| _target_: waabi.common.datasets.utils.rasterizer.rasterizer.Rasterizer | |
| map_channels: [] | |
| num_history_channels: 5 | |
| is_rasterize_ego_history: true | |
| is_rasterize_signal_history: false | |
| class_cfg: | |
| active_classes: | |
| - VEHICLE | |
| - PERSON | |
| - CYCLIST | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| implicit_only_class_cfg: | |
| active_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - ALL | |
| - OTHER_OBJECT | |
| det_loss_cfg: | |
| cls_loss: focal | |
| focal_alpha: 0.5 | |
| focal_gamma: 2.0 | |
| occupancy_coefficient: 1.0 | |
| det_coefficient: 1.0 | |
| num_neg: 8000 | |
| num_hard_ratio: 4.0 | |
| bbox_loss: iou_l1_rot | |
| iou_loss_th: 0.5 | |
| bb_loss_coef: 1.0 | |
| rot_loss_coef: 1.0 | |
| box_reg_dim: 6 | |
| has_track_loss: false | |
| track_loss_coef: 1.0 | |
| pred_loss_coef: 1.0 | |
| class_coef: | |
| VEHICLE: 1.0 | |
| PERSON: 1.0 | |
| CYCLIST: 1.0 | |
| IGNORE: 1.0 | |
| ALL: 1.0 | |
| EGO: 1.0 | |
| TOWED_OBJECT: 1.0 | |
| OTHER_OBJECT: 1.0 | |
| WORK_ZONE_BARRIER: 1.0 | |
| CONE: 1.0 | |
| SIGN: 1.0 | |
| TIRE_BLOWOUT: 1.0 | |
| EGO_TRAILER: 1.0 | |
| name: det | |
| normalizer: pos | |
| moving_pos_coefficient: 1.0 | |
| moving_neg_coefficient: 1.0 | |
| stationary_pos_coefficient: 1.0 | |
| stationary_neg_coefficient: 1.0 | |
| moving_threshold: 0.0 | |
| motion_loss_cfg: null | |
| pred_loss_cfg: | |
| joint_traj_regression_loss: false | |
| use_min_scene_final_displ_loss: false | |
| variational_loss_active: false | |
| variational_loss_cfg: | |
| initial_kl_weight: 0.1 | |
| kl_scheduler_type: None | |
| final_kl_weight: 0.1 | |
| warmup_iters: 0 | |
| debug: false | |
| regression_loss_active: true | |
| regression_loss_mean_over_modes: false | |
| regression_loss_cfg: | |
| target: WAYPOINT | |
| traj_criterion: smooth_l1 | |
| mode_criterion: cross_entropy | |
| mode_margin: 0.2 | |
| traj_weight: 1.0 | |
| mode_weight: 0.1 | |
| cumsum_over_time: false | |
| action_criterion: none | |
| action_weight: 1.0 | |
| velo_weight: 0.0 | |
| lat_velo_weight_multiplier: 5.0 | |
| accel_weight: 0.0 | |
| lat_accel_weight_multiplier: 5.0 | |
| enable_teacher_forced_loss: true | |
| enable_non_teacher_forced_loss: false | |
| teacher_forced_weight: 1.0 | |
| non_teacher_forced_weight: 1.0 | |
| goal_regression_loss_active: false | |
| goal_regression_loss_cfg: | |
| target: WAYPOINT | |
| traj_criterion: smooth_l1 | |
| mode_criterion: cross_entropy | |
| mode_margin: 0.2 | |
| traj_weight: 0.1 | |
| mode_weight: 0.1 | |
| cumsum_over_time: false | |
| action_criterion: none | |
| action_weight: 1.0 | |
| velo_weight: 0.0 | |
| lat_velo_weight_multiplier: 5.0 | |
| accel_weight: 0.0 | |
| lat_accel_weight_multiplier: 5.0 | |
| use_closest_lane_for_gt_node: false | |
| use_gt_node_in_goal_reg: true | |
| disable_map_goal_offsets: false | |
| goal_classification_loss_active: false | |
| goal_classification_loss_cfg: | |
| node_criterion: kl_divergence | |
| node_weight: 1.0 | |
| temperature: 4.0 | |
| same_centerline_weight: 3.0 | |
| zero_prob_outside_gt_centerline: false | |
| focal_gamma: 2.0 | |
| cond_collision_loss_active: false | |
| cond_collision_loss_cfg: | |
| num_circles: 5 | |
| frequency_multiplier: 10 | |
| loss_weight: 1.0 | |
| loss_type: overlap | |
| actor_collision_loss_active: false | |
| actor_collision_loss_cfg: | |
| num_circles: 5 | |
| frequency_multiplier: 10 | |
| loss_weight: 1.0 | |
| loss_type: overlap | |
| cond_consistency_loss_active: false | |
| cond_consistency_loss_cfg: | |
| weight: 1.0 | |
| reweight_interactive_actors_ttc: 1.0 | |
| reweight_interactive_actors_multifuture: 1.0 | |
| num_other_actors_query: 0 | |
| enable_counterfactual_reweight: false | |
| temperature_counterfactual_reweight: 3.0 | |
| use_argoverse_actor_weights: false | |
| argoverse_focal_track_weight: 1.0 | |
| argoverse_scored_track_weight: 0.4 | |
| argoverse_unscored_track_weight: 0.1 | |
| argoverse_normalize_by_count: false | |
| differentiate_off_map_gt_in_goal_cls: false | |
| off_map_dist_thresh: 5.4 | |
| interm_regression_loss_cfg: | |
| target: WAYPOINT | |
| traj_criterion: smooth_l1 | |
| mode_criterion: cross_entropy | |
| mode_margin: 0.2 | |
| traj_weight: 0.1 | |
| mode_weight: 0.1 | |
| cumsum_over_time: false | |
| action_criterion: none | |
| action_weight: 1.0 | |
| velo_weight: 0.0 | |
| lat_velo_weight_multiplier: 5.0 | |
| accel_weight: 0.0 | |
| lat_accel_weight_multiplier: 5.0 | |
| mean_across_actors: true | |
| expected_num_actors_per_batch: 8.5 | |
| pred_coordframe: ACTOR_FRAME_TRANS_ONLY | |
| pred_train_with_gt: false | |
| has_pred: false | |
| has_track: false | |
| track_num_preds: 4 | |
| detr_cfg: null | |
| point_cluster_cfg: | |
| n_iter_fit_plane: 2 | |
| max_percent_fit_plane: 20 | |
| dbscan_plane_percentile: 50 | |
| thr_bbox_size: 0.4 | |
| thr_max_lw: 15.0 | |
| thr_max_lw_ratio: 6.0 | |
| use_pp_score: false | |
| n_neighbors: 70 | |
| radius: 2.0 | |
| max_neighbor_dist: 0.5 | |
| dbscan_eps: 0.4 | |
| dbscan_min_samples: 8 | |
| name: two_stage | |
| implicit_model_cfg: | |
| train_query_cfg: | |
| query_type: 16 | |
| x_min: ${...voxel_cfg.x_min} | |
| y_min: ${...voxel_cfg.y_min} | |
| x_max: ${...voxel_cfg.x_max} | |
| y_max: ${...voxel_cfg.y_max} | |
| flatten_z: true | |
| z_min: 0.0 | |
| z_max: 0.0 | |
| t_min: 0.0 | |
| t_max: 6.0 | |
| ground_label_step_size: 0.15625 | |
| warp_points: false | |
| warp_delta: 0.1 | |
| min_warp_time: 0.0 | |
| max_warp_time: 1.0 | |
| use_depth_image_if_available: false | |
| grid_query_cfg: null | |
| class_balanced_grid_query_cfg: null | |
| continuous_query_cfg: | |
| num_query_per_timestep: 17920 | |
| max_enlarge_dist: 0.0 | |
| min_enlarge_dist: 0.0 | |
| enlargement_prob: 0.0 | |
| sample_alpha: false | |
| visibility_query_cfg: null | |
| balanced_visibility_query_cfg: null | |
| positive_labels_query_cfg: null | |
| joint_query_cfg: null | |
| grid_balanced_visibility_query_cfg: null | |
| render_lidar_cfg: null | |
| render_query_cfg: null | |
| distillation_query_cfg: | |
| num_query_per_timestep: 150000 | |
| num_timesteps: 1 | |
| z_min: 0.4 | |
| z_max: 4.0 | |
| z_step: 0.2 | |
| npts_per_iter: 500000 | |
| ground_ths: 0.5 | |
| include_other_side_road: true | |
| future_frame_augmented: false | |
| teacher_roi_buffer: 25.0 | |
| teacher_lateral_roi_buffer: 10.0 | |
| remove_ego_buffer: 1.0 | |
| remove_ego_rear_buffer: 5.0 | |
| negative_supervise_ego: true | |
| uncertain_points_bound: 0.2 | |
| add_class_labels: true | |
| class_occupancy_cutoff: 0.8 | |
| ignore_enlarge_factor: 10.0 | |
| independent_class_labels: false | |
| discretize_general_occupancy: false | |
| include_all_valid_ground: true | |
| above_ground_upper_bound: 0.4 | |
| supervised_flow_occ_threshold: 0.2 | |
| valid_road_pred_threshold: null | |
| use_data_ground: false | |
| min_reduction_points: 50000 | |
| flag_pred_road_threshold: 0.5 | |
| flag_other_class_confidence_threshold: 0.5 | |
| ground_classification_threshold: null | |
| include_box_other_labels: true | |
| negative_ego_cfg: null | |
| online_mapper_query_cfg: null | |
| pseudo_lidar_query_cfg: null | |
| eval_query_cfg: | |
| query_type: 0 | |
| x_min: ${...voxel_cfg.x_min} | |
| y_min: ${...voxel_cfg.y_min} | |
| x_max: ${...voxel_cfg.x_max} | |
| y_max: ${...voxel_cfg.y_max} | |
| flatten_z: true | |
| z_min: 0.0 | |
| z_max: 0.0 | |
| t_min: 0.0 | |
| t_max: 6.0 | |
| ground_label_step_size: 0.15625 | |
| warp_points: false | |
| warp_delta: 0.1 | |
| min_warp_time: 0.0 | |
| max_warp_time: 1.0 | |
| use_depth_image_if_available: false | |
| grid_query_cfg: | |
| x_step: 0.3125 | |
| y_step: 0.3125 | |
| z_step: 0.2 | |
| t_step: 0.5 | |
| num_pts_per_iter: 20000 | |
| x_min: -52.0 | |
| y_min: -50.0 | |
| x_max: 303.0 | |
| y_max: 50.0 | |
| z_min: null | |
| z_max: null | |
| t_min: 0.0 | |
| t_max: 6.0 | |
| class_balanced_grid_query_cfg: null | |
| continuous_query_cfg: null | |
| visibility_query_cfg: null | |
| balanced_visibility_query_cfg: null | |
| positive_labels_query_cfg: null | |
| joint_query_cfg: null | |
| grid_balanced_visibility_query_cfg: null | |
| render_lidar_cfg: null | |
| render_query_cfg: null | |
| distillation_query_cfg: null | |
| negative_ego_cfg: null | |
| online_mapper_query_cfg: null | |
| pseudo_lidar_query_cfg: null | |
| implicit_header_cfg: | |
| name: DeformableAttentionHeader | |
| softmax_output: true | |
| python_implicit_header: | |
| interpolator_cfg: | |
| sample_mode: bilinear | |
| padding_mode: border | |
| volumetric: false | |
| resnet_cfg: | |
| feature_vector_dim: 1024 | |
| points_dim: 3 | |
| hidden_size: 16 | |
| n_blocks: 3 | |
| norm_type: None | |
| decoder_cfg: | |
| input_feature_size: 16 | |
| out_dims: | |
| - 1 | |
| - 2 | |
| init_fc_out_weight_stds: null | |
| init_fc_out_bias_consts: null | |
| use_multi_head: true | |
| offset_coords: | |
| - 1 | |
| - 2 | |
| attn_interpolator_cfg: | |
| sample_mode: bilinear | |
| padding_mode: border | |
| volumetric: false | |
| attn_resnet_cfg: | |
| feature_vector_dim: 512 | |
| points_dim: 3 | |
| hidden_size: 16 | |
| n_blocks: 1 | |
| norm_type: None | |
| attn_decoder_cfg: | |
| input_feature_size: 16 | |
| out_dims: | |
| - 2 | |
| init_fc_out_weight_stds: | |
| - 0.01 | |
| init_fc_out_bias_consts: | |
| - 0.0 | |
| use_multi_head: true | |
| n_heads: 1 | |
| concat_original_c: true | |
| decode_original_query_points: true | |
| decode_new_query_points: false | |
| feature_aggregation_cfg: | |
| mode: NONE | |
| point_embedding_dim: null | |
| embed_dim: null | |
| num_heads: null | |
| return_weights: false | |
| error_resnet_cfg: null | |
| error_decoder_cfg: null | |
| embedding_config: null | |
| map_attn_cfg: null | |
| use_z: false | |
| time_scale_attention: false | |
| run_classification: false | |
| implicit_classification_classes: null | |
| detach_classification_header: false | |
| ego_start_query: false | |
| ms_implicit_header: null | |
| implicit_losses_cfg: | |
| occupancy_loss: null | |
| motion_loss: null | |
| attention_loss: null | |
| uncertainty_loss: null | |
| multi_occupancy_loss: null | |
| render_length_loss_config: null | |
| classification_loss_config: | |
| classification_coefficient: 10.0 | |
| binary_loss: false | |
| distillation_loss_config: | |
| distillation_coefficient: 10.0 | |
| use_hard_labels: true | |
| negative_upper_limit: 0.6 | |
| positive_lower_limit: 0.8 | |
| flow_distillation_loss_config: | |
| flow_distillation_coefficient: 0.1 | |
| positive_lower_limit: 0.2 | |
| loss_norm: 1 | |
| warp_loss_config: null | |
| groundness_loss_config: null | |
| occ_loss_stages: [] | |
| motion_loss_stages: [] | |
| attention_loss_stages: [] | |
| uncertainty_loss_stages: [] | |
| multi_occ_loss_stages: [] | |
| render_length_loss_stages: [] | |
| classification_loss_stages: | |
| - 0 | |
| distillation_loss_stages: | |
| - 0 | |
| flow_distillation_loss_stages: | |
| - 0 | |
| warp_loss_stages: [] | |
| groundness_loss_stages: [] | |
| flow_mode: 3 | |
| step_size: ${data.eval_dataset_cfg.label_config.voxel_config.step} | |
| eval_function: default | |
| metrics_function: default | |
| training_stages_epochs: [] | |
| neck_cfg: null | |
| raycasting_header: null | |
| freeze_encoders: false | |
| teacher_model_path: null | |
| viz_query_cfg: | |
| time_resolution: 0.5 | |
| coarse_viz_resolution: 3.0 | |
| lane_width: 3.7 | |
| only_viz_first_timestep: true | |
| polymap_node_max_x_dist: 15.0 | |
| use_incremental_eval: true | |
| image_model: null | |
| sfl_config: null | |
| eval_implicit_losses_cfg: null | |
| eval_loss_query_cfg: null | |
| online_mapper_model_cfg: null | |
| memory_training_cfg: null | |
| class_loss_coef: | |
| 0: 1.0 | |
| 1: 1.0 | |
| 2: 1.0 | |
| 3: 1.0 | |
| 4: 1.0 | |
| 7: 1.0 | |
| seg_cfg: null | |
| detection_head: true | |
| flow_traced_loss_cfg: null | |
| memory_net_cfg: null | |
| baseline_configs: null | |
| clip_outside_voxelizer_z_roi: true | |
| detection_in_3d: false | |
| use_multi_lidar_voxelizer: false | |
| teacher_model: null | |
| learnt_cost_model_cfg: null | |
| expert_mp_pipeline_cfg: null | |
| radar_voxel_cfg: null | |
| viz_output_cfg: null | |
| pred_head_cfg: | |
| name: vq | |
| vq_head_cfg: | |
| pred_postprocess_cfg: | |
| heading_speed_thresh: 0.5 | |
| detection_end_of_sweep: true | |
| past_waypoint_delta_t: 0.4 | |
| pred_delta_t_secs: 0.5 | |
| sweep_duration_secs: 0.1 | |
| voxel_cfg: | |
| x_min: -202.0 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| add_intensity: false | |
| add_ground: false | |
| add_class_id: false | |
| add_sensor_id: true | |
| add_relative_time: false | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| n_feat: null | |
| any_corner: true | |
| rasterize_concat_intensity: false | |
| name: null | |
| n_out: null | |
| num_sensors: null | |
| num_sweeps: null | |
| single_lidar: null | |
| single_radar: null | |
| clip_outside_voxelizer_z_roi: true | |
| use_fast_version: null | |
| norm_type: LayerNorm | |
| modality: LIDAR | |
| use_norm: true | |
| with_distance: false | |
| use_absolute_xyz: true | |
| num_point_features: 4 | |
| num_filters: | |
| - 64 | |
| - 64 | |
| shuffle_points: false | |
| waabi_y_convention: true | |
| ignore_loaded_voxel_cfg_mismatch: false | |
| tokenizer_cfg: | |
| name: traj_vq_tokenizer_model | |
| feature_dim: 128 | |
| num_codes: 1024 | |
| code_dim: 1024 | |
| beta: 0.25 | |
| num_tokens: 1 | |
| num_time_steps: 12 | |
| similarity_matrix_iters: 100 | |
| predict_traj: false | |
| partial_gt: true | |
| minimum_index_for_partial_gt: 3 | |
| levels: | |
| - 7 | |
| - 5 | |
| - 5 | |
| - 5 | |
| - 5 | |
| reset_code_usage_iters: 512 | |
| train_tokenizer: false | |
| freeze_map: true | |
| pred_cfg: | |
| model_cfg: | |
| name: ??? | |
| pred_len: 12 | |
| pred_target: 2 | |
| num_modes: 10 | |
| target: LOC_SCALE_WAYPOINT | |
| use_traj_anchors: false | |
| traj_anchors_name: vehicle_16modes | |
| postprocess_cfg: | |
| heading_speed_thresh: 0.5 | |
| detection_end_of_sweep: true | |
| past_waypoint_delta_t: 0.4 | |
| pred_delta_t_secs: 0.5 | |
| sweep_duration_secs: 0.1 | |
| history_dropout_prob: 0.0 | |
| full_history_dropout_prob: 0.0 | |
| train_rotation: false | |
| eval_rotation: false | |
| filter_ego: true | |
| actor_roi_encoder_active: true | |
| actor_roi_cfg: | |
| downsample_factor: ??? | |
| use_rroi_align: false | |
| use_rotated_box: true | |
| rroi_align_bin_size_lon: 7 | |
| rroi_align_bin_size_lat: 7 | |
| rroi_align_input_region_meters_lon: null | |
| rroi_align_input_region_meters_lat: null | |
| rroi_align_sampling_ratio: 2 | |
| rroi_cnn: null | |
| traj_encoder_active: false | |
| traj_encoder_cfg: | |
| concat_traj_info: false | |
| use_resnet1d: true | |
| resnet1d: | |
| in_channels: ??? | |
| blocks_per_stage: | |
| - 1 | |
| - 1 | |
| - 1 | |
| block_type: BasicBlock1D | |
| channels_per_stage: | |
| - 128 | |
| - 128 | |
| - 128 | |
| kernel_size_per_stage: | |
| - 3 | |
| - 3 | |
| - 3 | |
| strides_per_stage: | |
| - 1 | |
| - 2 | |
| - 2 | |
| dilations_per_stage: | |
| - 1 | |
| - 1 | |
| - 1 | |
| norm_type: SyncBN | |
| final_pool_type: NONE | |
| conv_type: Conv1d | |
| use_rnn: true | |
| rnn: | |
| rnn_type: GRU | |
| input_size: ??? | |
| hidden_size: 128 | |
| num_layers: 1 | |
| bias: false | |
| batch_first: true | |
| dropout: 0.0 | |
| bidirectional: false | |
| use_embedding_input_norm: false | |
| norm_type: SyncBN | |
| norm_by_roi: false | |
| norm_by_const: 1.0 | |
| scale_traj_to_target: false | |
| input_framing_type: RELATIVE | |
| use_delta_info: true | |
| resnet_per_actor_class: false | |
| rnn_per_actor_class: false | |
| use_ground_truth_velocity: false | |
| ground_truth_velocity_freqs: 32 | |
| rotate_velocity_to_actor_frame: true | |
| lane_graph_preprocess_cfg: | |
| num_dilations: 5 | |
| input_framing_type: RELATIVE | |
| use_topological_features: true | |
| bev_image_cfg: | |
| x_min: -75.0 | |
| x_max: 75.0 | |
| y_min: -50.0 | |
| y_max: 50.0 | |
| step: 0.2 | |
| norm_map_by_roi: false | |
| dilate_exponentially: false | |
| use_shoulder_dists: false | |
| use_ego_route: false | |
| lane_graph_3d: false | |
| lane_graph_preprocess_active: true | |
| map_gcn_active: false | |
| map_gcn_cfg: | |
| multi_edge_gcn_config: | |
| in_channels: ??? | |
| num_edge_types: ??? | |
| hidden_channels: | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| norm_type: LN | |
| pool_type: MAX_POOL | |
| conv_type: EdgeMessageFusionConv | |
| edge_dim: ??? | |
| global_shortcut_pool_type: NONE | |
| edge_dim_feedforward: 64 | |
| input_normalization: false | |
| in_channels: 25 | |
| num_edge_types: 1 | |
| map_swin_active: true | |
| map_swin_cfg: | |
| res_per_stage: | |
| - 0 | |
| - 0 | |
| blocks_per_stage: | |
| - 2 | |
| - 1 | |
| stage_types: | |
| - swin | |
| - lanesa | |
| window_sizes: | |
| - 24.0 | |
| - -1.0 | |
| positional_encodings: | |
| - true | |
| - true | |
| latent_dims: | |
| - 128 | |
| - 128 | |
| n_heads: | |
| - 4 | |
| - 4 | |
| dropouts: | |
| - 0.0 | |
| - 0.0 | |
| activation: relu | |
| spe_feats: | |
| - MID_X | |
| - MID_Y | |
| - MID_HEADING | |
| spe_dim: 32 | |
| initializer_hidden_dims: | |
| - 128 | |
| - 128 | |
| lateral_connections: true | |
| initializer_spe_dims: | |
| - 256 | |
| - 256 | |
| kept_geo_features: | |
| - NODE_TYPE | |
| - IS_POINT | |
| - START_X | |
| - START_Y | |
| - START_Z | |
| - START_HEADING | |
| - MID_X | |
| - MID_Y | |
| - MID_Z | |
| - MID_HEADING | |
| - END_X | |
| - END_Y | |
| - END_Z | |
| - END_HEADING | |
| - NODE_LENGTH | |
| - CURVATURE | |
| - SPEED_LIMIT | |
| - IN_INTERSECTION | |
| - IS_FORK | |
| norm_first: true | |
| layer_norm_eps: 1.0e-05 | |
| map2actor_active: false | |
| map2actor_cfg: | |
| map_node_pooling_type: MAX_POOL | |
| map2actor_node_filter_type: CLOSEST_ALONG_HIST | |
| map2actor_pooling_type: LEARNED | |
| map2actor_fusion_aggr_type: SUM | |
| map2actor_fusion_mlp: | |
| input_dim: ??? | |
| hidden_dims: | |
| - 256 | |
| output_dim: ??? | |
| norm: null | |
| map2actor_thresh_dist: 20 | |
| map2actor_topk: 5 | |
| actor2map_active: false | |
| actor2map_cfg: | |
| actor_node_pooling_type: MAX_POOL | |
| actor2map_node_filter_type: CLOSER_THAN_THRESH | |
| actor2map_pooling_type: LEARNED | |
| actor2map_fusion_aggr_type: SUM | |
| actor2map_fusion_mlp: | |
| input_dim: ??? | |
| hidden_dim: 128 | |
| num_blocks: 1 | |
| norm: null | |
| has_final_layer: true | |
| actor2map_thresh_dist: 7.0 | |
| actor2map_topk: 5 | |
| use_residual_connection: true | |
| post_a2m_map_gcn_active: false | |
| lane_actor_graph_active: false | |
| lane_actor_graph_cfg: | |
| map_actor_gnn: | |
| node_types: ??? | |
| edge_types: ??? | |
| in_channels: ??? | |
| conv_type: HeteroEdgeMLP | |
| hidden_channels: | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| norm_type: LN | |
| aggr_type: mean | |
| update_type: GRUCell | |
| edge_dim: ??? | |
| global_shortcut_pool_type: NONE | |
| edge_dim_feedforward: 64 | |
| edge_embedder_num_layers: 2 | |
| edge_embedder_residual: false | |
| unused_output_nodes: [] | |
| return_attention_weights: false | |
| attention_weight_edge_types: null | |
| dropout_p: 0.0 | |
| include_ego_node: true | |
| include_cond_node: false | |
| input_framing_type: RELATIVE | |
| use_a2a: false | |
| use_actor2map: true | |
| filter_unreachable_node_edges: false | |
| max_reachable_distance_m: null | |
| num_centerline_succ_hops_reachable: null | |
| num_neigh_hops_reachable: null | |
| map_edge_types_as_one_hot_attr: false | |
| use_vectorized_actor_graph_creation: true | |
| lane_actor_transformer_active: false | |
| lane_actor_transformer_cfg: | |
| embed_dims: -1 | |
| ffn_upsample_rate: 4 | |
| num_encoder_blocks: 1 | |
| num_heads: 1 | |
| dropout: 0.0 | |
| map_node_topk: 1 | |
| actor2actor_active: false | |
| actor2actor_cfg: | |
| input_dim: ??? | |
| type: SELF_ATTENTION | |
| transformer_config: | |
| input_dim: ??? | |
| nhead: 1 | |
| dim_feedforward: 0 | |
| dropout: 0 | |
| gcn_config: | |
| in_channels: ??? | |
| hidden_channels: | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| norm_type: LN | |
| pool_type: AVG_POOL | |
| multi_edge_gcn_config: | |
| in_channels: ??? | |
| num_edge_types: ??? | |
| hidden_channels: | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| norm_type: LN | |
| pool_type: MAX_POOL | |
| conv_type: EdgeMessageFusionConv | |
| edge_dim: ??? | |
| global_shortcut_pool_type: NONE | |
| edge_dim_feedforward: 64 | |
| input_normalization: false | |
| proxy_mlp: | |
| input_dim: ??? | |
| hidden_dims: | |
| - 256 | |
| - 256 | |
| output_dim: 256 | |
| residual_connection_type: ADD | |
| norm_type: BN | |
| adj_mat_dist_thresh_m: 7.0 | |
| adj_mat_type: CLOSER_THAN_THRESH | |
| adj_mat_topk: 10 | |
| latent_variable_active: false | |
| latent_variable_encoder_cfg: | |
| traj_enc_cfg: | |
| in_channels: ??? | |
| blocks_per_stage: | |
| - 1 | |
| - 1 | |
| - 1 | |
| block_type: BasicBlock1D | |
| channels_per_stage: | |
| - 128 | |
| - 128 | |
| - 128 | |
| kernel_size_per_stage: | |
| - 3 | |
| - 3 | |
| - 3 | |
| strides_per_stage: | |
| - 1 | |
| - 2 | |
| - 2 | |
| dilations_per_stage: | |
| - 1 | |
| - 1 | |
| - 1 | |
| norm_type: SyncBN | |
| final_pool_type: MAX_POOL | |
| conv_type: Conv1d | |
| actor_traj_fuse_mlp_cfg: | |
| input_dim: ??? | |
| hidden_dims: | |
| - 512 | |
| output_dim: ??? | |
| activation: relu | |
| norm: SyncBN | |
| dropout_p: 0.0 | |
| actor_latent_combination_strategy: FUSION | |
| actor_latent_fuse_mlp_cfg: | |
| input_dim: ??? | |
| hidden_dims: | |
| - 256 | |
| - 256 | |
| output_dim: ??? | |
| activation: relu | |
| norm: SyncBN | |
| dropout_p: 0.0 | |
| encoder_gnn_cfg: | |
| map_actor_gnn: | |
| node_types: ??? | |
| edge_types: ??? | |
| in_channels: ??? | |
| conv_type: HeteroEdgeMLP | |
| hidden_channels: | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| norm_type: LN | |
| aggr_type: mean | |
| update_type: GRUCell | |
| edge_dim: ??? | |
| global_shortcut_pool_type: NONE | |
| edge_dim_feedforward: 64 | |
| edge_embedder_num_layers: 2 | |
| edge_embedder_residual: false | |
| unused_output_nodes: [] | |
| return_attention_weights: false | |
| attention_weight_edge_types: null | |
| dropout_p: 0.0 | |
| include_ego_node: true | |
| include_cond_node: false | |
| input_framing_type: RELATIVE | |
| use_a2a: false | |
| use_actor2map: true | |
| filter_unreachable_node_edges: false | |
| max_reachable_distance_m: null | |
| num_centerline_succ_hops_reachable: null | |
| num_neigh_hops_reachable: null | |
| map_edge_types_as_one_hot_attr: false | |
| use_vectorized_actor_graph_creation: true | |
| prior_gnn_cfg: | |
| map_actor_gnn: | |
| node_types: ??? | |
| edge_types: ??? | |
| in_channels: ??? | |
| conv_type: HeteroEdgeMLP | |
| hidden_channels: | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| norm_type: LN | |
| aggr_type: mean | |
| update_type: GRUCell | |
| edge_dim: ??? | |
| global_shortcut_pool_type: NONE | |
| edge_dim_feedforward: 64 | |
| edge_embedder_num_layers: 2 | |
| edge_embedder_residual: false | |
| unused_output_nodes: [] | |
| return_attention_weights: false | |
| attention_weight_edge_types: null | |
| dropout_p: 0.0 | |
| include_ego_node: true | |
| include_cond_node: false | |
| input_framing_type: RELATIVE | |
| use_a2a: false | |
| use_actor2map: true | |
| filter_unreachable_node_edges: false | |
| max_reachable_distance_m: null | |
| num_centerline_succ_hops_reachable: null | |
| num_neigh_hops_reachable: null | |
| map_edge_types_as_one_hot_attr: false | |
| use_vectorized_actor_graph_creation: true | |
| encoder_distribution: GAUSSIAN | |
| prior_distribution: GAUSSIAN | |
| codebook_size: 32 | |
| latent_dim: 128 | |
| num_samples: 1 | |
| learn_prior: true | |
| use_fp16_inference: false | |
| pred_loss_cfg: | |
| joint_traj_regression_loss: false | |
| use_min_scene_final_displ_loss: false | |
| variational_loss_active: false | |
| variational_loss_cfg: | |
| initial_kl_weight: 0.1 | |
| kl_scheduler_type: None | |
| final_kl_weight: 0.1 | |
| warmup_iters: 0 | |
| debug: false | |
| regression_loss_active: true | |
| regression_loss_mean_over_modes: false | |
| regression_loss_cfg: | |
| target: WAYPOINT | |
| traj_criterion: smooth_l1 | |
| mode_criterion: cross_entropy | |
| mode_margin: 0.2 | |
| traj_weight: 0.1 | |
| mode_weight: 0.1 | |
| cumsum_over_time: false | |
| action_criterion: none | |
| action_weight: 1.0 | |
| velo_weight: 0.0 | |
| lat_velo_weight_multiplier: 5.0 | |
| accel_weight: 0.0 | |
| lat_accel_weight_multiplier: 5.0 | |
| enable_teacher_forced_loss: true | |
| enable_non_teacher_forced_loss: false | |
| teacher_forced_weight: 1.0 | |
| non_teacher_forced_weight: 1.0 | |
| goal_regression_loss_active: false | |
| goal_regression_loss_cfg: | |
| target: WAYPOINT | |
| traj_criterion: smooth_l1 | |
| mode_criterion: cross_entropy | |
| mode_margin: 0.2 | |
| traj_weight: 0.1 | |
| mode_weight: 0.1 | |
| cumsum_over_time: false | |
| action_criterion: none | |
| action_weight: 1.0 | |
| velo_weight: 0.0 | |
| lat_velo_weight_multiplier: 5.0 | |
| accel_weight: 0.0 | |
| lat_accel_weight_multiplier: 5.0 | |
| use_closest_lane_for_gt_node: false | |
| use_gt_node_in_goal_reg: true | |
| disable_map_goal_offsets: false | |
| goal_classification_loss_active: false | |
| goal_classification_loss_cfg: | |
| node_criterion: kl_divergence | |
| node_weight: 1.0 | |
| temperature: 4.0 | |
| same_centerline_weight: 3.0 | |
| zero_prob_outside_gt_centerline: false | |
| focal_gamma: 2.0 | |
| cond_collision_loss_active: false | |
| cond_collision_loss_cfg: | |
| num_circles: 5 | |
| frequency_multiplier: 10 | |
| loss_weight: 1.0 | |
| loss_type: overlap | |
| actor_collision_loss_active: false | |
| actor_collision_loss_cfg: | |
| num_circles: 5 | |
| frequency_multiplier: 10 | |
| loss_weight: 1.0 | |
| loss_type: overlap | |
| cond_consistency_loss_active: false | |
| cond_consistency_loss_cfg: | |
| weight: 1.0 | |
| reweight_interactive_actors_ttc: 1.0 | |
| reweight_interactive_actors_multifuture: 1.0 | |
| num_other_actors_query: 0 | |
| enable_counterfactual_reweight: false | |
| temperature_counterfactual_reweight: 3.0 | |
| use_argoverse_actor_weights: false | |
| argoverse_focal_track_weight: 1.0 | |
| argoverse_scored_track_weight: 0.4 | |
| argoverse_unscored_track_weight: 0.1 | |
| argoverse_normalize_by_count: false | |
| differentiate_off_map_gt_in_goal_cls: false | |
| off_map_dist_thresh: 5.4 | |
| interm_regression_loss_cfg: | |
| target: WAYPOINT | |
| traj_criterion: smooth_l1 | |
| mode_criterion: cross_entropy | |
| mode_margin: 0.2 | |
| traj_weight: 0.1 | |
| mode_weight: 0.1 | |
| cumsum_over_time: false | |
| action_criterion: none | |
| action_weight: 1.0 | |
| velo_weight: 0.0 | |
| lat_velo_weight_multiplier: 5.0 | |
| accel_weight: 0.0 | |
| lat_accel_weight_multiplier: 5.0 | |
| mean_across_actors: false | |
| expected_num_actors_per_batch: 8.5 | |
| pred_coordframe: ACTOR_FRAME | |
| map_cfg: | |
| load_map: ${data.train_dataset_cfg.map_config.load_map} | |
| load_lane_graph: ${data.train_dataset_cfg.map_config.load_lane_graph} | |
| load_lane_graph_region: false | |
| poly_map_builder_config: null | |
| load_map_tiles: false | |
| lane_graph_sampling_interval_m: ${data.train_dataset_cfg.map_config.lane_graph_sampling_interval_m} | |
| lane_graph_neighbour_connection_type: ${data.train_dataset_cfg.map_config.lane_graph_neighbour_connection_type} | |
| lane_graph_neighbour_max_dist_m: ${data.train_dataset_cfg.map_config.lane_graph_neighbour_max_dist_m} | |
| lane_graph_is_close_dist_thresh_m: 2.5 | |
| lane_graph_closest_n_nodes: -1 | |
| lane_graph_argoverse2_add_pedestrian_crossings: true | |
| lane_graph_compute_reachable: false | |
| crop_map_around_focal_pose: false | |
| transform_map_container_to_ego_frame: false | |
| roi: | |
| front_dist_m: ${data.train_dataset_cfg.map_config.roi.front_dist_m} | |
| back_dist_m: ${data.train_dataset_cfg.map_config.roi.back_dist_m} | |
| left_dist_m: ${data.train_dataset_cfg.map_config.roi.left_dist_m} | |
| right_dist_m: ${data.train_dataset_cfg.map_config.roi.right_dist_m} | |
| return_map_container: true | |
| lane_graph_3d: false | |
| use_map_ground_height: false | |
| return_ground_height_raster: false | |
| lane_graph_region_roi: null | |
| return_online_mapper_gt: false | |
| load_map_region: true | |
| load_map_container: true | |
| load_cached_poly_map: true | |
| max_map_retries: 10 | |
| error_on_fail_load_map: true | |
| class_cfg: | |
| active_classes: | |
| - VEHICLE | |
| - PERSON | |
| - CYCLIST | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| prior_loss_cfg: | |
| weight: 2.0 | |
| num_samples: 20 | |
| reward_cfg: | |
| log_lane_change: true | |
| optimize_lane_change: true | |
| lane_change_cfg: | |
| per_timestep: true | |
| tp_reward: 2.0 | |
| fp_reward: -0.1 | |
| tn_reward: 1.0 | |
| log_encroachment: true | |
| optimize_encroachment: true | |
| encroachment_cfg: | |
| per_timestep: false | |
| tp_reward: 2.0 | |
| fp_reward: -0.1 | |
| tn_reward: 2.0 | |
| use_heading: true | |
| gt_inbuffer_is_invalid: true | |
| gt_buffer: 0.05 | |
| pred_buffer: 0.05 | |
| log_deceleration: true | |
| optimize_deceleration: true | |
| deceleration_cfg: | |
| per_timestep: false | |
| overshoot_penalty: -1.0 | |
| fn_stop_penalty: -5.0 | |
| tp_stop_penalty: 5.0 | |
| absolute_tolerance: 1.0 | |
| relative_tolerance: 0.01 | |
| stop_tolerance: 0.5 | |
| init_speed_tolerance: 1.0 | |
| dec_threshold: 0.5 | |
| minimum_valid_timesteps: 5 | |
| log_static: true | |
| optimize_static: true | |
| static_cfg: | |
| fn_penalty: -500.0 | |
| tp_reward: 1.0 | |
| minimum_index_for_partial_gt: 3 | |
| speed_threshold_ms: 0.5 | |
| start_epoch: 5 | |
| expected_num_objects_batch: 8.0 | |
| use_advantage: false | |
| gru_pred_model_cfg: null | |
| nms_in_3d: false | |
| nms_iou_threshold: 0.5 | |
| score_threshold: 0.1 | |
| pnp_training_association_iou_thresholds: | |
| - 0.1 | |
| - 0.1 | |
| - 0.1 | |
| - 0.1 | |
| - 0.1 | |
| - 0.1 | |
| pnp_training_association_heading_thresholds: | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| past_waypoint_l1_weight: 1.0 | |
| past_waypoint_loss_cfg: | |
| target: LOC_SCALE_WAYPOINT | |
| traj_criterion: smooth_l1 | |
| mode_criterion: cross_entropy | |
| mode_margin: 0.2 | |
| traj_weight: 0.1 | |
| mode_weight: 0.1 | |
| cumsum_over_time: false | |
| action_criterion: none | |
| action_weight: 1.0 | |
| velo_weight: 0.0 | |
| lat_velo_weight_multiplier: 5.0 | |
| accel_weight: 0.0 | |
| lat_accel_weight_multiplier: 5.0 | |
| pred_delta_t_secs: 0.5 | |
| sweep_duration_secs: 0.1 | |
| train_det_post_processing_config: | |
| nms_iou_threshold: 0.5 | |
| score_threshold: 0.1 | |
| nms_in_3d: false | |
| post_nms_topk: null | |
| training_min_score_threshold: 0.01 | |
| training_max_score_threshold: 0.15 | |
| inference_det_post_processing_config: | |
| nms_iou_threshold: 0.1 | |
| score_threshold: 0.1 | |
| nms_in_3d: false | |
| post_nms_topk: null | |
| training_min_score_threshold: 0.01 | |
| training_max_score_threshold: 0.15 | |
| neck_cfgs: | |
| - neck_user: DP | |
| neck_cfg: | |
| out_channels: ??? | |
| in_channels: | |
| - 64 | |
| - 128 | |
| - 256 | |
| out_indices: | |
| - 1 | |
| norm_type: None | |
| pyramid_pool: false | |
| name: RPN | |
| rpn_config: | |
| layer_nums: | |
| - 5 | |
| - 5 | |
| ds_layer_strides: | |
| - 1 | |
| - 2 | |
| ds_num_filters: | |
| - 128 | |
| - 256 | |
| us_layer_strides: | |
| - 1 | |
| - 2 | |
| us_num_filters: | |
| - 256 | |
| - 256 | |
| num_input_features: 256 | |
| norm_type: SyncBN | |
| out_proj: null | |
| conv_op_name: conv | |
| rpn_with_spatial_attention_config: null | |
| - neck_user: IMPLICIT | |
| neck_cfg: | |
| out_channels: ??? | |
| in_channels: | |
| - 64 | |
| - 128 | |
| - 256 | |
| out_indices: | |
| - 0 | |
| norm_type: None | |
| pyramid_pool: false | |
| name: RPN | |
| rpn_config: | |
| layer_nums: | |
| - 5 | |
| - 5 | |
| ds_layer_strides: | |
| - 2 | |
| - 2 | |
| ds_num_filters: | |
| - 128 | |
| - 256 | |
| us_layer_strides: | |
| - 2 | |
| - 4 | |
| us_num_filters: | |
| - 256 | |
| - 256 | |
| num_input_features: 256 | |
| norm_type: SyncBN | |
| out_proj: null | |
| conv_op_name: conv | |
| rpn_with_spatial_attention_config: null | |
| box_dim_update_type: PREDICT_ELU_PLUS_ONE | |
| box_centroid_update_type: PREDICT_Z_ADD_OTHERS | |
| run_dp_heads: true | |
| run_online_mapper_head: true | |
| run_occ_flow_head: true | |
| run_traffic_lights_state_estimator: true | |
| include_pred_loss: true | |
| eval_iter_force_forward: false | |
| num_queries_lidar: 200 | |
| num_queries_cam: 100 | |
| num_time_steps: 12 | |
| transformer_dim: 128 | |
| transformer_nheads: 8 | |
| use_learnable_query: false | |
| transformer_layers: 2 | |
| refinement_attn_cfgs: | |
| - attention_spec: | |
| - QUERY_OBJECT_SELF | |
| - QUERY_TO_MAP | |
| - QUERY_TO_LIDAR | |
| - QUERY_TIME_SELF | |
| - attention_spec: | |
| - QUERY_OBJECT_SELF | |
| - QUERY_TO_MAP | |
| - QUERY_TO_LIDAR | |
| - QUERY_TIME_SELF | |
| map_attention_topk: 4 | |
| proposal_resolution_level: 0 | |
| encoder_norm_type: GN | |
| proposal_nms_threshold: 0.5 | |
| lidar_proposal_pre_nms_topk: null | |
| use_gt_trajs: false | |
| heading_cost: 1.0 | |
| tracker_cfg: | |
| class_to_tracker_cfg: | |
| VEHICLE: | |
| min_det_score: 0.1 | |
| min_track_score: 0.2 | |
| grow_decay: 0.8 | |
| match_upweight: 1.05 | |
| track_score_momentum: 0.5 | |
| time_constant_s: 0.1 | |
| CYCLIST: | |
| min_det_score: 0.1 | |
| min_track_score: 0.2 | |
| grow_decay: 0.8 | |
| match_upweight: 1.05 | |
| track_score_momentum: 0.5 | |
| time_constant_s: 0.1 | |
| PERSON: | |
| min_det_score: 0.05 | |
| min_track_score: 0.1 | |
| grow_decay: 0.8 | |
| match_upweight: 1.05 | |
| track_score_momentum: 0.5 | |
| time_constant_s: 0.1 | |
| EGO: | |
| min_det_score: 0.1 | |
| min_track_score: 0.2 | |
| grow_decay: 0.8 | |
| match_upweight: 1.05 | |
| track_score_momentum: 0.5 | |
| time_constant_s: 0.1 | |
| TIRE_BLOWOUT: | |
| min_det_score: 0.1 | |
| min_track_score: 0.2 | |
| grow_decay: 0.8 | |
| match_upweight: 1.05 | |
| track_score_momentum: 0.5 | |
| time_constant_s: 0.1 | |
| EGO_TRAILER: | |
| min_det_score: 0.1 | |
| min_track_score: 0.2 | |
| grow_decay: 0.8 | |
| match_upweight: 1.05 | |
| track_score_momentum: 0.5 | |
| time_constant_s: 0.1 | |
| x_min: ${..perception_model.voxel_cfg.x_min} | |
| x_max: ${..perception_model.voxel_cfg.x_max} | |
| y_min: ${..perception_model.voxel_cfg.y_min} | |
| y_max: ${..perception_model.voxel_cfg.y_max} | |
| pred_len: 12 | |
| pred_delta_t_secs: 0.5 | |
| tracker_timeout_ns: 5000000000.0 | |
| match_th: 0.1 | |
| device: cuda | |
| nms_threshold: 0.1 | |
| evaluate_tracker: true | |
| proposal_detection_loss_config: | |
| regression_2dbox_weight: 0.04 | |
| regression_l1_weight: 0.1 | |
| regression_l1_scales: | |
| - 10.0 | |
| - 10.0 | |
| - 10.0 | |
| - 40.0 | |
| - 20.0 | |
| - 20.0 | |
| - 0.1 | |
| - 0.1 | |
| loss_cost_class: 3.0 | |
| loss_cost_giou: 0.0 | |
| matching_cost_class: 1.0 | |
| matching_cost_giou: 4.0 | |
| matching_cost_heading: 4.0 | |
| matching_cost_l1: 0.4 | |
| cls_alpha: 0.5 | |
| match_mode: IoUHead | |
| dontcare_thresh: 0.8 | |
| optimization_max_dist: 10 | |
| sync_num_boxes: true | |
| box_loss_type: AxisAlignedIoU_L1 | |
| iou_l1_cfg: | |
| box_iou_weight: 4.0 | |
| box_loc_weight: 4.0 | |
| box_size_weight: 0.4 | |
| box_rot_weight: 4.0 | |
| iou_loss_th: 0.5 | |
| focal_loss_weight: 2.0 | |
| focal_loss_config: | |
| cls_loss: focal | |
| focal_alpha: 0.5 | |
| focal_gamma: 2.0 | |
| occupancy_coefficient: 1.0 | |
| det_coefficient: 1.0 | |
| num_neg: 8000 | |
| num_hard_ratio: 4.0 | |
| bbox_loss: iou_l1_rot | |
| iou_loss_th: 0.5 | |
| bb_loss_coef: 1.0 | |
| rot_loss_coef: 1.0 | |
| box_reg_dim: 6 | |
| has_track_loss: false | |
| track_loss_coef: 1.0 | |
| pred_loss_coef: 1.0 | |
| class_coef: | |
| VEHICLE: 1.0 | |
| PERSON: 1.0 | |
| CYCLIST: 1.0 | |
| IGNORE: 1.0 | |
| ALL: 1.0 | |
| EGO: 1.0 | |
| TOWED_OBJECT: 1.0 | |
| OTHER_OBJECT: 1.0 | |
| WORK_ZONE_BARRIER: 1.0 | |
| CONE: 1.0 | |
| SIGN: 1.0 | |
| TIRE_BLOWOUT: 1.0 | |
| EGO_TRAILER: 1.0 | |
| name: det | |
| normalizer: pos | |
| moving_pos_coefficient: 1.0 | |
| moving_neg_coefficient: 1.0 | |
| stationary_pos_coefficient: 1.0 | |
| stationary_neg_coefficient: 1.0 | |
| moving_threshold: 0.0 | |
| dense_labeling_config: | |
| downsample_factor: 8 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| pred_only: false | |
| roi_buffer_dist: 0.0 | |
| detection_in_3d: true | |
| class_coef: null | |
| neg_heading_thresh: null | |
| neg_speed_thresh: null | |
| neg_lane: false | |
| refinement_detection_loss_config: | |
| regression_2dbox_weight: 0.04 | |
| regression_l1_weight: 0.1 | |
| regression_l1_scales: | |
| - 10.0 | |
| - 10.0 | |
| - 10.0 | |
| - 40.0 | |
| - 20.0 | |
| - 20.0 | |
| - 0.1 | |
| - 0.1 | |
| loss_cost_class: 1.0 | |
| loss_cost_giou: 4.0 | |
| matching_cost_class: 1.0 | |
| matching_cost_giou: 4.0 | |
| matching_cost_heading: 4.0 | |
| matching_cost_l1: 0.4 | |
| cls_alpha: 0.4 | |
| match_mode: IoU | |
| dontcare_thresh: 0.8 | |
| optimization_max_dist: 10 | |
| sync_num_boxes: true | |
| box_loss_type: IoU_L1 | |
| iou_l1_cfg: null | |
| focal_loss_weight: 2.0 | |
| focal_loss_config: | |
| cls_loss: focal | |
| focal_alpha: 0.5 | |
| focal_gamma: 2.0 | |
| occupancy_coefficient: 1.0 | |
| det_coefficient: 1.0 | |
| num_neg: 8000 | |
| num_hard_ratio: 4.0 | |
| bbox_loss: iou_l1_rot | |
| iou_loss_th: 0.5 | |
| bb_loss_coef: 1.0 | |
| rot_loss_coef: 1.0 | |
| box_reg_dim: 6 | |
| has_track_loss: false | |
| track_loss_coef: 1.0 | |
| pred_loss_coef: 1.0 | |
| class_coef: | |
| VEHICLE: 1.0 | |
| PERSON: 1.0 | |
| CYCLIST: 1.0 | |
| IGNORE: 1.0 | |
| ALL: 1.0 | |
| EGO: 1.0 | |
| TOWED_OBJECT: 1.0 | |
| OTHER_OBJECT: 1.0 | |
| WORK_ZONE_BARRIER: 1.0 | |
| CONE: 1.0 | |
| SIGN: 1.0 | |
| TIRE_BLOWOUT: 1.0 | |
| EGO_TRAILER: 1.0 | |
| name: det | |
| normalizer: pos | |
| moving_pos_coefficient: 1.0 | |
| moving_neg_coefficient: 1.0 | |
| stationary_pos_coefficient: 1.0 | |
| stationary_neg_coefficient: 1.0 | |
| moving_threshold: 0.0 | |
| dense_labeling_config: | |
| downsample_factor: 8 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| pred_only: false | |
| roi_buffer_dist: 0.0 | |
| detection_in_3d: true | |
| class_coef: null | |
| neg_heading_thresh: 20.0 | |
| neg_speed_thresh: 6.0 | |
| neg_lane: true | |
| encode_bbox_params: true | |
| nms_in_3d: false | |
| matching_in_3d: false | |
| cost_in_3d: false | |
| image_model: | |
| class_cfg: | |
| active_classes: | |
| - VEHICLE | |
| - PERSON | |
| - CYCLIST | |
| - EGO | |
| - TIRE_BLOWOUT | |
| image_network_variant: ResNet50 | |
| feature_map_scales: | |
| - 4 | |
| - 8 | |
| - 16 | |
| scale_factor: null | |
| proposal_stride: 4 | |
| train_freeze_stage: 5 | |
| pretrained: true | |
| n_images: 1 | |
| feature_channel: 128 | |
| orig_dim: | |
| - 1080 | |
| - 1920 | |
| image_divisible_factor: 32 | |
| max_depth: 500.0 | |
| depth_bins: 64 | |
| camera_proposal: true | |
| camera_only: false | |
| depth_loss_cfg: | |
| bucketized_distances: | |
| - 350-500 | |
| - 250-350 | |
| - 160-250 | |
| - 120-160 | |
| - 80-120 | |
| - 40-80 | |
| - 0-40 | |
| samples_per_bucket: | |
| - 10000 | |
| - 10000 | |
| - 10000 | |
| - 10000 | |
| - 10000 | |
| - 10000 | |
| - 10000 | |
| max_time_span_per_bucket: | |
| - 0.05 | |
| - 0.05 | |
| - 0.05 | |
| - 0.05 | |
| - 0.05 | |
| - 0.05 | |
| - 0.05 | |
| depth_loss_coef: 0.5 | |
| traffic_light_loss_coef: 10.0 | |
| in_channels: 11 | |
| implicit_cfg: | |
| resnet_cfg: | |
| feature_vector_dim: 256 | |
| points_dim: 3 | |
| hidden_size: 64 | |
| n_blocks: 3 | |
| norm_type: None | |
| attn_resnet_cfg: | |
| feature_vector_dim: 128 | |
| points_dim: 3 | |
| hidden_size: 16 | |
| n_blocks: 1 | |
| norm_type: None | |
| interpolator_cfg: | |
| sample_mode: bilinear | |
| padding_mode: border | |
| volumetric: false | |
| attn_decoder_cfg: | |
| input_feature_size: 16 | |
| out_dims: | |
| - 2 | |
| init_fc_out_weight_stds: | |
| - 0.01 | |
| init_fc_out_bias_consts: | |
| - 0.0 | |
| use_multi_head: true | |
| n_heads: 1 | |
| decode_original_query_points: true | |
| decode_new_query_points: false | |
| offset_coords: | |
| - 0 | |
| - 1 | |
| max_num_pts_depth_gt: 20000 | |
| rv_image_stride: 4 | |
| voxel_cfg: | |
| x_min: -202.0 | |
| x_max: 353.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| add_intensity: false | |
| add_ground: false | |
| add_class_id: false | |
| add_sensor_id: true | |
| add_relative_time: false | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| n_feat: null | |
| any_corner: true | |
| rasterize_concat_intensity: false | |
| name: null | |
| n_out: null | |
| num_sensors: null | |
| num_sweeps: null | |
| single_lidar: null | |
| single_radar: null | |
| clip_outside_voxelizer_z_roi: true | |
| use_fast_version: null | |
| norm_type: LayerNorm | |
| modality: LIDAR | |
| use_norm: true | |
| with_distance: false | |
| use_absolute_xyz: true | |
| num_point_features: 4 | |
| num_filters: | |
| - 64 | |
| - 64 | |
| shuffle_points: false | |
| waabi_y_convention: true | |
| cam_proposal_detection_loss_config: | |
| regression_2dbox_weight: 0.04 | |
| regression_l1_weight: 0.4 | |
| regression_l1_scales: | |
| - 10.0 | |
| - 10.0 | |
| - 10.0 | |
| - 40.0 | |
| - 20.0 | |
| - 20.0 | |
| - 0.1 | |
| - 0.1 | |
| loss_cost_class: 3.0 | |
| loss_cost_giou: 4.0 | |
| matching_cost_class: 1.0 | |
| matching_cost_giou: 4.0 | |
| matching_cost_heading: 4.0 | |
| matching_cost_l1: 0.4 | |
| cls_alpha: 0.5 | |
| match_mode: IoUHead | |
| dontcare_thresh: 0.8 | |
| optimization_max_dist: 10 | |
| sync_num_boxes: false | |
| box_loss_type: GIoU_L1 | |
| iou_l1_cfg: null | |
| focal_loss_weight: 2.0 | |
| focal_loss_config: | |
| cls_loss: focal | |
| focal_alpha: 0.5 | |
| focal_gamma: 2.0 | |
| occupancy_coefficient: 1.0 | |
| det_coefficient: 1.0 | |
| num_neg: 8000 | |
| num_hard_ratio: 4.0 | |
| bbox_loss: iou_l1_rot | |
| iou_loss_th: 0.5 | |
| bb_loss_coef: 1.0 | |
| rot_loss_coef: 1.0 | |
| box_reg_dim: 6 | |
| has_track_loss: false | |
| track_loss_coef: 1.0 | |
| pred_loss_coef: 1.0 | |
| class_coef: | |
| VEHICLE: 1.0 | |
| PERSON: 1.0 | |
| CYCLIST: 1.0 | |
| IGNORE: 1.0 | |
| ALL: 1.0 | |
| EGO: 1.0 | |
| TOWED_OBJECT: 1.0 | |
| OTHER_OBJECT: 1.0 | |
| WORK_ZONE_BARRIER: 1.0 | |
| CONE: 1.0 | |
| SIGN: 1.0 | |
| TIRE_BLOWOUT: 1.0 | |
| EGO_TRAILER: 1.0 | |
| name: det | |
| normalizer: pos | |
| moving_pos_coefficient: 1.0 | |
| moving_neg_coefficient: 1.0 | |
| stationary_pos_coefficient: 1.0 | |
| stationary_neg_coefficient: 1.0 | |
| moving_threshold: 0.0 | |
| dense_labeling_config: | |
| downsample_factor: 8 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| pred_only: false | |
| roi_buffer_dist: 0.0 | |
| detection_in_3d: true | |
| class_coef: null | |
| neg_heading_thresh: null | |
| neg_speed_thresh: null | |
| neg_lane: false | |
| matching_in_3d: false | |
| cost_in_3d: false | |
| box2d_head: true | |
| depth_pretraining: false | |
| inference_det_post_processing_config: | |
| nms_iou_threshold: 0.5 | |
| score_threshold: 0.1 | |
| post_nms_topk: 100 | |
| per_class_topk: null | |
| quantization: FP32 | |
| sfl_config: null | |
| neck_config: null | |
| proposal_header: null | |
| traffic_light_header: | |
| num_channels: 48 | |
| num_heads: 8 | |
| crop_hw: 40 | |
| crop_pix_buffer: 20 | |
| dropout: 0.0 | |
| max_dist: 300.0 | |
| min_yaw: 2.356 | |
| backbone_norm: FrozenBN | |
| decode_boxes: true | |
| use_map: true | |
| sfl_config: null | |
| viz_cfg: | |
| recompute_num_pts: true | |
| min_sum_num_pts: 20 | |
| min_cam_fov_sum_num_pts: 1 | |
| crop_lidar_num_pts: true | |
| pnp_viz_unroll_config: | |
| x_max: ${...perception_model.voxel_cfg.x_max} | |
| x_min: ${...perception_model.voxel_cfg.x_min} | |
| y_max: ${...perception_model.voxel_cfg.y_max} | |
| y_min: ${...perception_model.voxel_cfg.y_min} | |
| select_classes: | |
| - VEHICLE | |
| - PERSON | |
| - CYCLIST | |
| - TIRE_BLOWOUT | |
| save_fps: 2 | |
| subsample_lidar: 0.7 | |
| min_conf: 0.4 | |
| gt_alpha: 0.4 | |
| plot_map_raster: true | |
| plot_poly_map: false | |
| plot_lidar: false | |
| plot_radar: false | |
| map_raster_x_max: null | |
| map_raster_x_min: null | |
| map_raster_y_max: null | |
| map_raster_y_min: null | |
| plot_ego: true | |
| pnp_viz_unroll_multifuture_config: null | |
| pnp_viz_output_config: | |
| x_max: ${...perception_model.voxel_cfg.x_max} | |
| x_min: ${...perception_model.voxel_cfg.x_min} | |
| y_max: ${...perception_model.voxel_cfg.y_max} | |
| y_min: ${...perception_model.voxel_cfg.y_min} | |
| select_classes: | |
| - VEHICLE | |
| - PERSON | |
| - CYCLIST | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| - EGO | |
| save_fps: null | |
| subsample_lidar: 1.0 | |
| min_conf: 0.2 | |
| gt_alpha: 0.4 | |
| plot_map_raster: true | |
| plot_poly_map: false | |
| plot_lidar: true | |
| plot_radar: false | |
| map_raster_x_max: ${...perception_model.voxel_cfg.x_max} | |
| map_raster_x_min: ${...perception_model.voxel_cfg.x_min} | |
| map_raster_y_max: ${...perception_model.voxel_cfg.y_max} | |
| map_raster_y_min: ${...perception_model.voxel_cfg.y_min} | |
| pred_alpha: 0.5 | |
| plot_label_regions: true | |
| plot_trajectories: false | |
| plot_gt: true | |
| distance_marker_interval_m: 100.0 | |
| lidar_alpha: 0.2 | |
| plot_box_alpha: false | |
| radar_visualizer_cfg: null | |
| pnp_viz_intermediate_output_config: null | |
| pnp_viz_proposal_config: | |
| x_max: ${...perception_model.voxel_cfg.x_max} | |
| x_min: ${...perception_model.voxel_cfg.x_min} | |
| y_max: ${...perception_model.voxel_cfg.y_max} | |
| y_min: ${...perception_model.voxel_cfg.y_min} | |
| select_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - EGO_TRAILER | |
| - EGO | |
| save_fps: null | |
| subsample_lidar: 0.7 | |
| min_conf: 0.1 | |
| gt_alpha: 0.4 | |
| plot_map_raster: true | |
| plot_poly_map: false | |
| plot_lidar: true | |
| plot_radar: false | |
| map_raster_x_max: null | |
| map_raster_x_min: null | |
| map_raster_y_max: null | |
| map_raster_y_min: null | |
| pred_alpha: 0.5 | |
| plot_label_regions: true | |
| plot_trajectories: true | |
| plot_gt: true | |
| distance_marker_interval_m: 100.0 | |
| lidar_alpha: 0.1 | |
| plot_box_alpha: false | |
| radar_visualizer_cfg: null | |
| pnp_mm_viz_output_config: | |
| x_max: ${...perception_model.voxel_cfg.x_max} | |
| x_min: ${...perception_model.voxel_cfg.x_min} | |
| y_max: ${...perception_model.voxel_cfg.y_max} | |
| y_min: ${...perception_model.voxel_cfg.y_min} | |
| select_classes: | |
| - VEHICLE | |
| - PERSON | |
| - CYCLIST | |
| save_fps: null | |
| subsample_lidar: 0.7 | |
| min_conf: 0.1 | |
| gt_alpha: 0.4 | |
| plot_map_raster: true | |
| plot_poly_map: false | |
| plot_lidar: false | |
| plot_radar: false | |
| map_raster_x_max: null | |
| map_raster_x_min: null | |
| map_raster_y_max: null | |
| map_raster_y_min: null | |
| overlay_lidar_on_camera: false | |
| pred_alpha: 0.5 | |
| pnp_mm_viz_proposal_config: | |
| x_max: ${...perception_model.voxel_cfg.x_max} | |
| x_min: ${...perception_model.voxel_cfg.x_min} | |
| y_max: ${...perception_model.voxel_cfg.y_max} | |
| y_min: ${...perception_model.voxel_cfg.y_min} | |
| select_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| save_fps: null | |
| subsample_lidar: 0.7 | |
| min_conf: 0.1 | |
| gt_alpha: 0.4 | |
| plot_map_raster: true | |
| plot_poly_map: false | |
| plot_lidar: false | |
| plot_radar: false | |
| map_raster_x_max: null | |
| map_raster_x_min: null | |
| map_raster_y_max: null | |
| map_raster_y_min: null | |
| overlay_lidar_on_camera: false | |
| pred_alpha: 0.5 | |
| pnp_viz_object_memory_config: | |
| x_max: ${...perception_model.voxel_cfg.x_max} | |
| x_min: ${...perception_model.voxel_cfg.x_min} | |
| y_max: ${...perception_model.voxel_cfg.y_max} | |
| y_min: ${...perception_model.voxel_cfg.y_min} | |
| select_classes: | |
| - VEHICLE | |
| - PERSON | |
| - CYCLIST | |
| save_fps: 3 | |
| subsample_lidar: 0.7 | |
| min_conf: 0.4 | |
| gt_alpha: 1.0 | |
| plot_map_raster: true | |
| plot_poly_map: false | |
| plot_lidar: true | |
| plot_radar: false | |
| map_raster_x_max: null | |
| map_raster_x_min: null | |
| map_raster_y_max: null | |
| map_raster_y_min: null | |
| per_class_score_ths: | |
| VEHICLE: 0.4 | |
| PERSON: 0.4 | |
| CYCLIST: 0.4 | |
| lidar_proposal_score_ths: 0.4 | |
| lidar_subsample_stride: 5 | |
| pred_hex_color: '#20aef5' | |
| fp_hex_color: '#f5f073' | |
| fn_hex_color: '#f53649' | |
| gt_hex_color: '#2e2e2e' | |
| pred_line_width: 12 | |
| label_line_width: 3 | |
| memory_line_width: 3 | |
| memory_topk: 400 | |
| anchor_cmap: cool_r | |
| anchor_max_past_time_s: 0.9 | |
| pnp_viz_occ_raster_config: null | |
| online_mapper_viz_config: null | |
| object_free_cfg: | |
| visualize_ground_truth_occupancy: true | |
| visualize_predicted_occupancy: true | |
| visualize_predicted_occupancy_variance: false | |
| visualize_predicted_occupancy_error: false | |
| visualize_predicted_occupancy_entropy: false | |
| visualize_gt_classified_lidar: false | |
| visualize_attention: false | |
| visualize_ground_truth_flow: false | |
| visualize_predicted_flow: true | |
| enable_sample_traj_pts: false | |
| enable_expert_cost_viz: false | |
| include_lidar: false | |
| include_map_raster: false | |
| viz_parameters: null | |
| voxel_cfg: null | |
| visualize_4d: false | |
| visualize_rendered_lidar: false | |
| novel_view_viz_cfgs: null | |
| unroll_viz_cfg: null | |
| point_grid_viz_cfg: null | |
| visualize_ego_bbox: false | |
| visualize_reverse_flow: true | |
| visualize_flow_arrows: false | |
| scale_flow_using_roi: false | |
| visualize_flow_occupancy_combined: false | |
| visualize_sigmoid_occupancy: false | |
| visualize_discretized_classification: true | |
| visualize_ground_height: false | |
| maximum_velocity: 50.0 | |
| arrow_image_scale_factor: 0.25 | |
| occ_scale_flow: true | |
| save_fps: 2 | |
| device: cuda | |
| pnp_viz_tracker_config: | |
| x_max: ${...perception_model.voxel_cfg.x_max} | |
| x_min: ${...perception_model.voxel_cfg.x_min} | |
| y_max: ${...perception_model.voxel_cfg.y_max} | |
| y_min: ${...perception_model.voxel_cfg.y_min} | |
| select_classes: | |
| - VEHICLE | |
| - PERSON | |
| - CYCLIST | |
| - EGO_TRAILER | |
| - EGO | |
| save_fps: 2 | |
| subsample_lidar: 1.0 | |
| min_conf: 0.2 | |
| gt_alpha: 0.4 | |
| plot_map_raster: true | |
| plot_poly_map: false | |
| plot_lidar: true | |
| plot_radar: false | |
| map_raster_x_max: null | |
| map_raster_x_min: null | |
| map_raster_y_max: null | |
| map_raster_y_min: null | |
| pred_alpha: 0.5 | |
| plot_label_regions: true | |
| plot_trajectories: false | |
| plot_gt: true | |
| distance_marker_interval_m: 100.0 | |
| lidar_alpha: 0.2 | |
| plot_box_alpha: false | |
| radar_visualizer_cfg: null | |
| object_memory_handler_cfg: null | |
| lidar_backbone_freeze_epoch: 0 | |
| image_backbone_freeze_epoch: 0 | |
| sfl_freeze_epoch: 0 | |
| dp_freeze_epoch: 0 | |
| occupancy_freeze_epoch: 0 | |
| online_mapper_freeze_epoch: 0 | |
| n_levels: 1 | |
| proposal_confidence_threshold: 0.1 | |
| incremental_metrics_runner_cfg: | |
| run_sequential_det_metrics: true | |
| run_sequential_pred_metrics: true | |
| dump_detection_dataframe: true | |
| past_delta_t_secs: 0.4 | |
| validate_weights: true | |
| quantization: FP16 | |
| initial_prediction: false | |
| share_pred_head_weights: true | |
| depth_anything_model: null | |
| metric_3d_model: null | |
| onboard_depth_model_wrapper: null |
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| data: | |
| train_dataset_cfg: | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 20 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| include_ego_trailer: true | |
| add_ego_as_actor: false | |
| query_prediction_labels: false | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: true | |
| filter_actor_timesteps_outside_map_prob: 0.5 | |
| actor_timesteps_map_dist_ignore_thresh_m: 20.0 | |
| filter_actor_outside_map: true | |
| filter_actor_outside_map_prob: 0.7 | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| ignore_ego: false | |
| roi_3d_filter: true | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| load_observation_states: true | |
| load_past_states: true | |
| load_teacher_dataset: true | |
| teacher_max_future_frame: 60 | |
| teacher_min_future_frame: 0 | |
| teacher_dataset_suffix: _occflow_teacher_v5_groundness | |
| occ_noise_occ_thresholds: | |
| - 0.04 | |
| - 0.04 | |
| - -1 | |
| road_ratio: 0.9 | |
| above_ground_distance: 0.0 | |
| num_sampled_teacher_points: 200000 | |
| basepath: s3://waabi-live-training-datasets/staging/HighwaySimv4_2024_12_17/ | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: false | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| dataset_id: highway_sim_v4_train | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| load_map_container: false | |
| return_map_container: false | |
| transform_map_container_to_ego_frame: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| data_aug_config: | |
| data_aug: true | |
| data_aug_x: 2.0 | |
| data_aug_y: 2.0 | |
| data_aug_z: 0.5 | |
| data_aug_h: 0.3 | |
| data_aug_deg: 20.0 | |
| data_aug_deg_pitch: 2.0 | |
| data_aug_deg_roll: 0.3 | |
| data_aug_size: 0.0 | |
| data_aug_flip: null | |
| data_aug_noise_std: null | |
| data_aug_h_noise: 0.02 | |
| center_flips: false | |
| map_roi_aug_enabled: true | |
| lane_graph_hole_example_ratio: 0.2 | |
| lane_graph_radius_min_max: | |
| - 10.0 | |
| - 25.0 | |
| lane_graph_dropout_example_ratio: 0.1 | |
| lane_graph_random_node_dropout: 0.01 | |
| drop_past_sweeps_p: 0.005 | |
| drop_sweep_p: 0.01 | |
| drop_lidar_p: | |
| default: 0.05 | |
| drop_lidar_point_p_max: 0.3 | |
| long_range_img_aug: true | |
| long_range_img_aug_alpha_min: 1.2 | |
| long_range_img_aug_alpha_max: 2.0 | |
| long_range_lidar_drop_in_rv_prob: 0.25 | |
| lidar_drop_in_rv_prob: 0.1 | |
| map_node_img_drop_prob: 0.1 | |
| child_configs: | |
| '0': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 20 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| include_ego_trailer: true | |
| add_ego_as_actor: false | |
| query_prediction_labels: false | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: true | |
| filter_actor_timesteps_outside_map_prob: 0.5 | |
| actor_timesteps_map_dist_ignore_thresh_m: 20.0 | |
| filter_actor_outside_map: true | |
| filter_actor_outside_map_prob: 0.7 | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| ignore_ego: false | |
| roi_3d_filter: true | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| load_observation_states: true | |
| load_past_states: true | |
| load_teacher_dataset: true | |
| teacher_max_future_frame: 60 | |
| teacher_min_future_frame: 0 | |
| teacher_dataset_suffix: _occflow_teacher_v5_groundness | |
| occ_noise_occ_thresholds: | |
| - 0.04 | |
| - 0.04 | |
| - -1 | |
| road_ratio: 0.9 | |
| above_ground_distance: 0.0 | |
| num_sampled_teacher_points: 200000 | |
| basepath: s3://waabi-live-training-datasets/pnp/truck_human_labelled_train_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: false | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| version: OLDEST | |
| dataset_id: truck_human_labelled_train | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| load_map_container: false | |
| return_map_container: false | |
| transform_map_container_to_ego_frame: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| data_aug_config: | |
| data_aug: true | |
| data_aug_x: 2.0 | |
| data_aug_y: 2.0 | |
| data_aug_z: 0.5 | |
| data_aug_h: 0.3 | |
| data_aug_deg: 20.0 | |
| data_aug_deg_pitch: 2.0 | |
| data_aug_deg_roll: 0.3 | |
| data_aug_size: 0.0 | |
| data_aug_flip: null | |
| data_aug_noise_std: null | |
| data_aug_h_noise: 0.02 | |
| center_flips: false | |
| map_roi_aug_enabled: true | |
| lane_graph_hole_example_ratio: 0.2 | |
| lane_graph_radius_min_max: | |
| - 10.0 | |
| - 25.0 | |
| lane_graph_dropout_example_ratio: 0.1 | |
| lane_graph_random_node_dropout: 0.01 | |
| drop_past_sweeps_p: 0.005 | |
| drop_sweep_p: 0.01 | |
| drop_lidar_p: | |
| default: 0.05 | |
| drop_lidar_point_p_max: 0.3 | |
| long_range_img_aug: true | |
| long_range_img_aug_alpha_min: 1.2 | |
| long_range_img_aug_alpha_max: 2.0 | |
| long_range_lidar_drop_in_rv_prob: 0.25 | |
| lidar_drop_in_rv_prob: 0.1 | |
| map_node_img_drop_prob: 0.1 | |
| '1': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 20 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| include_ego_trailer: true | |
| add_ego_as_actor: false | |
| query_prediction_labels: false | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: true | |
| filter_actor_timesteps_outside_map_prob: 0.5 | |
| actor_timesteps_map_dist_ignore_thresh_m: 20.0 | |
| filter_actor_outside_map: true | |
| filter_actor_outside_map_prob: 0.7 | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| ignore_ego: false | |
| roi_3d_filter: true | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| load_observation_states: true | |
| load_past_states: true | |
| load_teacher_dataset: true | |
| teacher_max_future_frame: 60 | |
| teacher_min_future_frame: 0 | |
| teacher_dataset_suffix: _occflow_teacher_v5_groundness | |
| occ_noise_occ_thresholds: | |
| - 0.04 | |
| - 0.04 | |
| - -1 | |
| road_ratio: 0.9 | |
| above_ground_distance: 0.0 | |
| num_sampled_teacher_points: 200000 | |
| basepath: s3://waabi-live-training-datasets/pnp/truck_frameless_human_labelled_train_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: false | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| version: OLDEST | |
| dataset_id: truck_frameless_human_labelled_train | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| ignore_sequences: | |
| - 315 | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| load_map_container: false | |
| return_map_container: false | |
| transform_map_container_to_ego_frame: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| data_aug_config: | |
| data_aug: true | |
| data_aug_x: 2.0 | |
| data_aug_y: 2.0 | |
| data_aug_z: 0.5 | |
| data_aug_h: 0.3 | |
| data_aug_deg: 20.0 | |
| data_aug_deg_pitch: 2.0 | |
| data_aug_deg_roll: 0.3 | |
| data_aug_size: 0.0 | |
| data_aug_flip: null | |
| data_aug_noise_std: null | |
| data_aug_h_noise: 0.02 | |
| center_flips: false | |
| map_roi_aug_enabled: true | |
| lane_graph_hole_example_ratio: 0.2 | |
| lane_graph_radius_min_max: | |
| - 10.0 | |
| - 25.0 | |
| lane_graph_dropout_example_ratio: 0.1 | |
| lane_graph_random_node_dropout: 0.01 | |
| drop_past_sweeps_p: 0.005 | |
| drop_sweep_p: 0.01 | |
| drop_lidar_p: | |
| default: 0.05 | |
| drop_lidar_point_p_max: 0.3 | |
| long_range_img_aug: true | |
| long_range_img_aug_alpha_min: 1.2 | |
| long_range_img_aug_alpha_max: 2.0 | |
| long_range_lidar_drop_in_rv_prob: 0.25 | |
| lidar_drop_in_rv_prob: 0.1 | |
| map_node_img_drop_prob: 0.1 | |
| '2': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 20 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| include_ego_trailer: true | |
| add_ego_as_actor: false | |
| query_prediction_labels: false | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: true | |
| filter_actor_timesteps_outside_map_prob: 0.5 | |
| actor_timesteps_map_dist_ignore_thresh_m: 20.0 | |
| filter_actor_outside_map: true | |
| filter_actor_outside_map_prob: 0.7 | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| ignore_ego: false | |
| roi_3d_filter: true | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| load_observation_states: true | |
| load_past_states: true | |
| load_teacher_dataset: true | |
| teacher_max_future_frame: 60 | |
| teacher_min_future_frame: 0 | |
| teacher_dataset_suffix: _occflow_teacher_v5_groundness | |
| occ_noise_occ_thresholds: | |
| - 0.04 | |
| - 0.04 | |
| - -1 | |
| road_ratio: 0.9 | |
| above_ground_distance: 0.0 | |
| num_sampled_teacher_points: 200000 | |
| basepath: s3://waabi-live-training-datasets/pnp/truck_human_labelled_demo_train_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: false | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| version: OLDEST | |
| dataset_id: demo_train_human_labelled | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| load_map_container: false | |
| return_map_container: false | |
| transform_map_container_to_ego_frame: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| data_aug_config: | |
| data_aug: true | |
| data_aug_x: 2.0 | |
| data_aug_y: 2.0 | |
| data_aug_z: 0.5 | |
| data_aug_h: 0.3 | |
| data_aug_deg: 20.0 | |
| data_aug_deg_pitch: 2.0 | |
| data_aug_deg_roll: 0.3 | |
| data_aug_size: 0.0 | |
| data_aug_flip: null | |
| data_aug_noise_std: null | |
| data_aug_h_noise: 0.02 | |
| center_flips: false | |
| map_roi_aug_enabled: true | |
| lane_graph_hole_example_ratio: 0.2 | |
| lane_graph_radius_min_max: | |
| - 10.0 | |
| - 25.0 | |
| lane_graph_dropout_example_ratio: 0.1 | |
| lane_graph_random_node_dropout: 0.01 | |
| drop_past_sweeps_p: 0.005 | |
| drop_sweep_p: 0.01 | |
| drop_lidar_p: | |
| default: 0.05 | |
| drop_lidar_point_p_max: 0.3 | |
| long_range_img_aug: true | |
| long_range_img_aug_alpha_min: 1.2 | |
| long_range_img_aug_alpha_max: 2.0 | |
| long_range_lidar_drop_in_rv_prob: 0.25 | |
| lidar_drop_in_rv_prob: 0.1 | |
| map_node_img_drop_prob: 0.1 | |
| '3': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 20 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| include_ego_trailer: true | |
| add_ego_as_actor: false | |
| query_prediction_labels: false | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: true | |
| filter_actor_timesteps_outside_map_prob: 0.5 | |
| actor_timesteps_map_dist_ignore_thresh_m: 20.0 | |
| filter_actor_outside_map: true | |
| filter_actor_outside_map_prob: 0.7 | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| ignore_ego: false | |
| roi_3d_filter: true | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| load_observation_states: true | |
| load_past_states: true | |
| load_teacher_dataset: true | |
| teacher_max_future_frame: 60 | |
| teacher_min_future_frame: 0 | |
| teacher_dataset_suffix: _occflow_teacher_v5_groundness | |
| occ_noise_occ_thresholds: | |
| - 0.04 | |
| - 0.04 | |
| - -1 | |
| road_ratio: 0.9 | |
| above_ground_distance: 0.0 | |
| num_sampled_teacher_points: 200000 | |
| basepath: s3://waabi-live-training-datasets/pnp/truck_human_labelled_rainy_train_2025_03_06 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: false | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| version: 20250311T0107Z | |
| dataset_id: rainy_train_human_labelled | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| load_map_container: false | |
| return_map_container: false | |
| transform_map_container_to_ego_frame: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| data_aug_config: | |
| data_aug: true | |
| data_aug_x: 2.0 | |
| data_aug_y: 2.0 | |
| data_aug_z: 0.5 | |
| data_aug_h: 0.3 | |
| data_aug_deg: 20.0 | |
| data_aug_deg_pitch: 2.0 | |
| data_aug_deg_roll: 0.3 | |
| data_aug_size: 0.0 | |
| data_aug_flip: null | |
| data_aug_noise_std: null | |
| data_aug_h_noise: 0.02 | |
| center_flips: false | |
| map_roi_aug_enabled: true | |
| lane_graph_hole_example_ratio: 0.2 | |
| lane_graph_radius_min_max: | |
| - 10.0 | |
| - 25.0 | |
| lane_graph_dropout_example_ratio: 0.1 | |
| lane_graph_random_node_dropout: 0.01 | |
| drop_past_sweeps_p: 0.005 | |
| drop_sweep_p: 0.01 | |
| drop_lidar_p: | |
| default: 0.05 | |
| drop_lidar_point_p_max: 0.3 | |
| long_range_img_aug: true | |
| long_range_img_aug_alpha_min: 1.2 | |
| long_range_img_aug_alpha_max: 2.0 | |
| long_range_lidar_drop_in_rv_prob: 0.25 | |
| lidar_drop_in_rv_prob: 0.1 | |
| map_node_img_drop_prob: 0.1 | |
| '4': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 20 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_label_region: true | |
| use_map_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| include_ego_trailer: true | |
| add_ego_as_actor: false | |
| query_prediction_labels: false | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: true | |
| filter_actor_timesteps_outside_map_prob: 0.5 | |
| actor_timesteps_map_dist_ignore_thresh_m: 20.0 | |
| filter_actor_outside_map: true | |
| filter_actor_outside_map_prob: 0.7 | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| ignore_ego: false | |
| roi_3d_filter: true | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| load_observation_states: true | |
| load_past_states: true | |
| load_teacher_dataset: true | |
| teacher_max_future_frame: 60 | |
| teacher_min_future_frame: 0 | |
| teacher_dataset_suffix: _occflow_teacher_v5_groundness | |
| occ_noise_occ_thresholds: | |
| - 0.04 | |
| - 0.04 | |
| - -1 | |
| road_ratio: 0.9 | |
| above_ground_distance: 0.0 | |
| num_sampled_teacher_points: 200000 | |
| basepath: s3://waabi-live-training-datasets/pnp/empty_world_antero_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: false | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| version: OLDEST | |
| dataset_id: truck_track_empty_world_train | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| override_ignore_regions: | |
| - xmin: -30 | |
| xmax: 0 | |
| ymin: -30 | |
| ymax: 30 | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| load_map_container: false | |
| return_map_container: false | |
| transform_map_container_to_ego_frame: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| data_aug_config: | |
| data_aug: true | |
| data_aug_x: 2.0 | |
| data_aug_y: 2.0 | |
| data_aug_z: 0.5 | |
| data_aug_h: 0.3 | |
| data_aug_deg: 20.0 | |
| data_aug_deg_pitch: 2.0 | |
| data_aug_deg_roll: 0.3 | |
| data_aug_size: 0.0 | |
| data_aug_flip: null | |
| data_aug_noise_std: null | |
| data_aug_h_noise: 0.02 | |
| center_flips: false | |
| map_roi_aug_enabled: true | |
| lane_graph_hole_example_ratio: 0.2 | |
| lane_graph_radius_min_max: | |
| - 10.0 | |
| - 25.0 | |
| lane_graph_dropout_example_ratio: 0.1 | |
| lane_graph_random_node_dropout: 0.01 | |
| drop_past_sweeps_p: 0.005 | |
| drop_sweep_p: 0.01 | |
| drop_lidar_p: | |
| default: 0.05 | |
| drop_lidar_point_p_max: 0.3 | |
| long_range_img_aug: true | |
| long_range_img_aug_alpha_min: 1.2 | |
| long_range_img_aug_alpha_max: 2.0 | |
| long_range_lidar_drop_in_rv_prob: 0.25 | |
| lidar_drop_in_rv_prob: 0.1 | |
| map_node_img_drop_prob: 0.1 | |
| '5': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 20 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| include_ego_trailer: true | |
| add_ego_as_actor: false | |
| query_prediction_labels: false | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: true | |
| filter_actor_timesteps_outside_map_prob: 0.5 | |
| actor_timesteps_map_dist_ignore_thresh_m: 20.0 | |
| filter_actor_outside_map: true | |
| filter_actor_outside_map_prob: 0.7 | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| ignore_ego: false | |
| roi_3d_filter: true | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| load_observation_states: true | |
| load_past_states: true | |
| load_teacher_dataset: true | |
| teacher_max_future_frame: 60 | |
| teacher_min_future_frame: 0 | |
| teacher_dataset_suffix: _occflow_teacher_v5_groundness | |
| occ_noise_occ_thresholds: | |
| - 0.04 | |
| - 0.04 | |
| - -1 | |
| road_ratio: 0.9 | |
| above_ground_distance: 0.0 | |
| num_sampled_teacher_points: 200000 | |
| basepath: s3://waabi-live-training-datasets/compressed_datasets/staging/background_traffic_with_scripted_actors_camera_train_2024_07_30 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: false | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| dataset_id: exponent_tpg_track_with_scripted_actors_train | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| load_map_container: false | |
| return_map_container: false | |
| transform_map_container_to_ego_frame: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| data_aug_config: | |
| data_aug: true | |
| data_aug_x: 2.0 | |
| data_aug_y: 2.0 | |
| data_aug_z: 0.5 | |
| data_aug_h: 0.3 | |
| data_aug_deg: 20.0 | |
| data_aug_deg_pitch: 2.0 | |
| data_aug_deg_roll: 0.3 | |
| data_aug_size: 0.0 | |
| data_aug_flip: null | |
| data_aug_noise_std: null | |
| data_aug_h_noise: 0.02 | |
| center_flips: false | |
| map_roi_aug_enabled: true | |
| lane_graph_hole_example_ratio: 0.2 | |
| lane_graph_radius_min_max: | |
| - 10.0 | |
| - 25.0 | |
| lane_graph_dropout_example_ratio: 0.1 | |
| lane_graph_random_node_dropout: 0.01 | |
| drop_past_sweeps_p: 0.005 | |
| drop_sweep_p: 0.01 | |
| drop_lidar_p: | |
| default: 0.05 | |
| drop_lidar_point_p_max: 0.3 | |
| long_range_img_aug: true | |
| long_range_img_aug_alpha_min: 1.2 | |
| long_range_img_aug_alpha_max: 2.0 | |
| long_range_lidar_drop_in_rv_prob: 0.25 | |
| lidar_drop_in_rv_prob: 0.1 | |
| map_node_img_drop_prob: 0.1 | |
| '6': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 20 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| include_ego_trailer: true | |
| add_ego_as_actor: false | |
| query_prediction_labels: false | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: true | |
| filter_actor_timesteps_outside_map_prob: 0.5 | |
| actor_timesteps_map_dist_ignore_thresh_m: 20.0 | |
| filter_actor_outside_map: true | |
| filter_actor_outside_map_prob: 0.7 | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| ignore_ego: false | |
| roi_3d_filter: true | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| load_observation_states: true | |
| load_past_states: true | |
| load_teacher_dataset: true | |
| teacher_max_future_frame: 60 | |
| teacher_min_future_frame: 0 | |
| teacher_dataset_suffix: _occflow_teacher_v5_groundness | |
| occ_noise_occ_thresholds: | |
| - 0.04 | |
| - 0.04 | |
| - -1 | |
| road_ratio: 0.9 | |
| above_ground_distance: 0.0 | |
| num_sampled_teacher_points: 200000 | |
| basepath: s3://waabi-live-training-datasets/pnp/truck_perception_train_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: false | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| version: OLDEST | |
| dataset_id: truck_perception_train_labelled | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| load_map_container: false | |
| return_map_container: false | |
| transform_map_container_to_ego_frame: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| data_aug_config: | |
| data_aug: true | |
| data_aug_x: 2.0 | |
| data_aug_y: 2.0 | |
| data_aug_z: 0.5 | |
| data_aug_h: 0.3 | |
| data_aug_deg: 20.0 | |
| data_aug_deg_pitch: 2.0 | |
| data_aug_deg_roll: 0.3 | |
| data_aug_size: 0.0 | |
| data_aug_flip: null | |
| data_aug_noise_std: null | |
| data_aug_h_noise: 0.02 | |
| center_flips: false | |
| map_roi_aug_enabled: true | |
| lane_graph_hole_example_ratio: 0.2 | |
| lane_graph_radius_min_max: | |
| - 10.0 | |
| - 25.0 | |
| lane_graph_dropout_example_ratio: 0.1 | |
| lane_graph_random_node_dropout: 0.01 | |
| drop_past_sweeps_p: 0.005 | |
| drop_sweep_p: 0.01 | |
| drop_lidar_p: | |
| default: 0.05 | |
| drop_lidar_point_p_max: 0.3 | |
| long_range_img_aug: true | |
| long_range_img_aug_alpha_min: 1.2 | |
| long_range_img_aug_alpha_max: 2.0 | |
| long_range_lidar_drop_in_rv_prob: 0.25 | |
| lidar_drop_in_rv_prob: 0.1 | |
| map_node_img_drop_prob: 0.1 | |
| '7': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 20 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - OUSTER_OS1_0 | |
| - OUSTER_OS1_1 | |
| load_label_region: true | |
| filter_actor_timesteps_outside_map: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| include_ego_trailer: true | |
| add_ego_as_actor: false | |
| query_prediction_labels: false | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map_prob: 0.5 | |
| actor_timesteps_map_dist_ignore_thresh_m: 20.0 | |
| filter_actor_outside_map: true | |
| filter_actor_outside_map_prob: 0.7 | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| ignore_ego: false | |
| roi_3d_filter: true | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| load_observation_states: true | |
| load_past_states: true | |
| load_teacher_dataset: true | |
| teacher_max_future_frame: 60 | |
| teacher_min_future_frame: 0 | |
| teacher_dataset_suffix: _occflow_teacher_v5_groundness | |
| occ_noise_occ_thresholds: | |
| - 0.04 | |
| - 0.04 | |
| - -1 | |
| road_ratio: 0.9 | |
| above_ground_distance: 0.0 | |
| num_sampled_teacher_points: 200000 | |
| basepath: s3://waabi-live-training-datasets/pnp/urban_off_map_data_train_human_labelled_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - OUSTER_OS1_0 | |
| - OUSTER_OS1_1 | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: false | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| dataset_id: urban_off_map_data_train_human_labelled | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| map_config: | |
| load_map: false | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| load_map_container: false | |
| return_map_container: false | |
| transform_map_container_to_ego_frame: true | |
| labels_available: | |
| - ACTOR_LABEL | |
| - OCCUPANCY | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| data_aug_config: | |
| data_aug: true | |
| data_aug_x: 2.0 | |
| data_aug_y: 2.0 | |
| data_aug_z: 0.5 | |
| data_aug_h: 0.3 | |
| data_aug_deg: 20.0 | |
| data_aug_deg_pitch: 2.0 | |
| data_aug_deg_roll: 0.3 | |
| data_aug_size: 0.0 | |
| data_aug_flip: null | |
| data_aug_noise_std: null | |
| data_aug_h_noise: 0.02 | |
| center_flips: false | |
| map_roi_aug_enabled: true | |
| lane_graph_hole_example_ratio: 0.2 | |
| lane_graph_radius_min_max: | |
| - 10.0 | |
| - 25.0 | |
| lane_graph_dropout_example_ratio: 0.1 | |
| lane_graph_random_node_dropout: 0.01 | |
| drop_past_sweeps_p: 0.005 | |
| drop_sweep_p: 0.01 | |
| drop_lidar_p: | |
| default: 0.05 | |
| drop_lidar_point_p_max: 0.3 | |
| long_range_img_aug: true | |
| long_range_img_aug_alpha_min: 1.2 | |
| long_range_img_aug_alpha_max: 2.0 | |
| long_range_lidar_drop_in_rv_prob: 0.25 | |
| lidar_drop_in_rv_prob: 0.1 | |
| map_node_img_drop_prob: 0.1 | |
| '8': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 20 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| include_ego_trailer: true | |
| add_ego_as_actor: false | |
| query_prediction_labels: false | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: true | |
| filter_actor_timesteps_outside_map_prob: 0.5 | |
| actor_timesteps_map_dist_ignore_thresh_m: 20.0 | |
| filter_actor_outside_map: true | |
| filter_actor_outside_map_prob: 0.7 | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| ignore_ego: false | |
| roi_3d_filter: true | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| load_observation_states: true | |
| load_past_states: true | |
| load_teacher_dataset: true | |
| teacher_max_future_frame: 60 | |
| teacher_min_future_frame: 0 | |
| teacher_dataset_suffix: _occflow_teacher_v5_groundness | |
| occ_noise_occ_thresholds: | |
| - 0.04 | |
| - 0.04 | |
| - -1 | |
| road_ratio: 0.9 | |
| above_ground_distance: 0.0 | |
| num_sampled_teacher_points: 200000 | |
| basepath: s3://waabi-live-training-datasets/pnp/surface_streets_train_human_labelled_2025_01_31 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: false | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| dataset_id: surface_streets_train_human_labelled | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| labels_available: | |
| - TRAFFIC_LIGHT_STATE | |
| - ACTOR_LABEL | |
| - OCCUPANCY | |
| - ONLINE_MAP | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| load_map_container: false | |
| return_map_container: false | |
| transform_map_container_to_ego_frame: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| data_aug_config: | |
| data_aug: true | |
| data_aug_x: 2.0 | |
| data_aug_y: 2.0 | |
| data_aug_z: 0.5 | |
| data_aug_h: 0.3 | |
| data_aug_deg: 20.0 | |
| data_aug_deg_pitch: 2.0 | |
| data_aug_deg_roll: 0.3 | |
| data_aug_size: 0.0 | |
| data_aug_flip: null | |
| data_aug_noise_std: null | |
| data_aug_h_noise: 0.02 | |
| center_flips: false | |
| map_roi_aug_enabled: true | |
| lane_graph_hole_example_ratio: 0.2 | |
| lane_graph_radius_min_max: | |
| - 10.0 | |
| - 25.0 | |
| lane_graph_dropout_example_ratio: 0.1 | |
| lane_graph_random_node_dropout: 0.01 | |
| drop_past_sweeps_p: 0.005 | |
| drop_sweep_p: 0.01 | |
| drop_lidar_p: | |
| default: 0.05 | |
| drop_lidar_point_p_max: 0.3 | |
| long_range_img_aug: true | |
| long_range_img_aug_alpha_min: 1.2 | |
| long_range_img_aug_alpha_max: 2.0 | |
| long_range_lidar_drop_in_rv_prob: 0.25 | |
| lidar_drop_in_rv_prob: 0.1 | |
| map_node_img_drop_prob: 0.1 | |
| '9': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 20 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_label_region: true | |
| use_map_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| include_ego_trailer: true | |
| add_ego_as_actor: false | |
| query_prediction_labels: false | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: true | |
| filter_actor_timesteps_outside_map_prob: 0.5 | |
| actor_timesteps_map_dist_ignore_thresh_m: 20.0 | |
| filter_actor_outside_map: true | |
| filter_actor_outside_map_prob: 0.7 | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| ignore_ego: false | |
| roi_3d_filter: true | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| load_observation_states: true | |
| load_past_states: true | |
| load_teacher_dataset: true | |
| teacher_max_future_frame: 60 | |
| teacher_min_future_frame: 0 | |
| teacher_dataset_suffix: _occflow_teacher_v5_groundness | |
| occ_noise_occ_thresholds: | |
| - 0.04 | |
| - 0.04 | |
| - -1 | |
| road_ratio: 0.9 | |
| above_ground_distance: 0.0 | |
| num_sampled_teacher_points: 200000 | |
| basepath: s3://waabi-live-training-datasets/pnp/empty_world_blackburn_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: false | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| dataset_id: truck_track_empty_world_blackburn | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| ignore_sequences: | |
| - 7 | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| override_ignore_regions: | |
| - xmin: -30 | |
| xmax: 0 | |
| ymin: -30 | |
| ymax: 30 | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| load_map_container: false | |
| return_map_container: false | |
| transform_map_container_to_ego_frame: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| data_aug_config: | |
| data_aug: true | |
| data_aug_x: 2.0 | |
| data_aug_y: 2.0 | |
| data_aug_z: 0.5 | |
| data_aug_h: 0.3 | |
| data_aug_deg: 20.0 | |
| data_aug_deg_pitch: 2.0 | |
| data_aug_deg_roll: 0.3 | |
| data_aug_size: 0.0 | |
| data_aug_flip: null | |
| data_aug_noise_std: null | |
| data_aug_h_noise: 0.02 | |
| center_flips: false | |
| map_roi_aug_enabled: true | |
| lane_graph_hole_example_ratio: 0.2 | |
| lane_graph_radius_min_max: | |
| - 10.0 | |
| - 25.0 | |
| lane_graph_dropout_example_ratio: 0.1 | |
| lane_graph_random_node_dropout: 0.01 | |
| drop_past_sweeps_p: 0.005 | |
| drop_sweep_p: 0.01 | |
| drop_lidar_p: | |
| default: 0.05 | |
| drop_lidar_point_p_max: 0.3 | |
| long_range_img_aug: true | |
| long_range_img_aug_alpha_min: 1.2 | |
| long_range_img_aug_alpha_max: 2.0 | |
| long_range_lidar_drop_in_rv_prob: 0.25 | |
| lidar_drop_in_rv_prob: 0.1 | |
| map_node_img_drop_prob: 0.1 | |
| '10': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 20 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| include_ego_trailer: true | |
| add_ego_as_actor: false | |
| query_prediction_labels: false | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: true | |
| filter_actor_timesteps_outside_map_prob: 0.5 | |
| actor_timesteps_map_dist_ignore_thresh_m: 20.0 | |
| filter_actor_outside_map: true | |
| filter_actor_outside_map_prob: 0.7 | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| ignore_ego: false | |
| roi_3d_filter: true | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| load_observation_states: true | |
| load_past_states: true | |
| load_teacher_dataset: true | |
| teacher_max_future_frame: 60 | |
| teacher_min_future_frame: 0 | |
| teacher_dataset_suffix: _occflow_teacher_v5_groundness | |
| occ_noise_occ_thresholds: | |
| - 0.04 | |
| - 0.04 | |
| - -1 | |
| road_ratio: 0.9 | |
| above_ground_distance: 0.0 | |
| num_sampled_teacher_points: 200000 | |
| basepath: s3://waabi-live-training-datasets/pnp/dual_vehicle_train_human_labelled_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: false | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| version: 20250311T1233Z | |
| tags_path: null | |
| dataset_id: dual_vehicle_train_human_labelled | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| dual_collect_config: | |
| load_dual_collect_timestamps: true | |
| load_dual_collect_ego_data: true | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| load_map_container: false | |
| return_map_container: false | |
| transform_map_container_to_ego_frame: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| data_aug_config: | |
| data_aug: true | |
| data_aug_x: 2.0 | |
| data_aug_y: 2.0 | |
| data_aug_z: 0.5 | |
| data_aug_h: 0.3 | |
| data_aug_deg: 20.0 | |
| data_aug_deg_pitch: 2.0 | |
| data_aug_deg_roll: 0.3 | |
| data_aug_size: 0.0 | |
| data_aug_flip: null | |
| data_aug_noise_std: null | |
| data_aug_h_noise: 0.02 | |
| center_flips: false | |
| map_roi_aug_enabled: true | |
| lane_graph_hole_example_ratio: 0.2 | |
| lane_graph_radius_min_max: | |
| - 10.0 | |
| - 25.0 | |
| lane_graph_dropout_example_ratio: 0.1 | |
| lane_graph_random_node_dropout: 0.01 | |
| drop_past_sweeps_p: 0.005 | |
| drop_sweep_p: 0.01 | |
| drop_lidar_p: | |
| default: 0.05 | |
| drop_lidar_point_p_max: 0.3 | |
| long_range_img_aug: true | |
| long_range_img_aug_alpha_min: 1.2 | |
| long_range_img_aug_alpha_max: 2.0 | |
| long_range_lidar_drop_in_rv_prob: 0.25 | |
| lidar_drop_in_rv_prob: 0.1 | |
| map_node_img_drop_prob: 0.1 | |
| train_loader_cfg: | |
| batch_size: 1 | |
| num_workers: 8 | |
| shuffle: true | |
| drop_last: true | |
| pin_memory: false | |
| persistent_workers: true | |
| pickle_data: false | |
| timeout: 0.0 | |
| prefetch_factor: 2 | |
| resumable: true | |
| chunk: false | |
| use_compact_shm_pickler: true | |
| use_compact_shm_prefetcher: true | |
| compact_shm_to_device: cuda | |
| use_multi_epochs_data_loader: false | |
| sample_sequences: false | |
| eval_random_chunk: false | |
| chunk_size: null | |
| frame_interval: null | |
| random_seed: 0 | |
| shuffle_seqs: true | |
| shuffle_frames: true | |
| assert_whole: false | |
| lumped_history: false | |
| max_num_past_frames: null | |
| multisource_mixing_ratios: null | |
| multisource_scale_factors: | |
| main: 0.05 | |
| '0': 1.0 | |
| '1': 1.0 | |
| '2': 1.0 | |
| '3': 1.0 | |
| '4': 1.0 | |
| '5': 1.0 | |
| '6': 1.0 | |
| '7': 1.0 | |
| '8': 4.0 | |
| '9': 1.0 | |
| '10': 1.0 | |
| multisource_proportions: null | |
| multisource_num_examples_epoch: 50000 | |
| interleave_source_examples: false | |
| weighted_queries: null | |
| weighted_queries_replace: false | |
| re_select_each_epoch: true | |
| num_main_cores: 4 | |
| reuse_shared_memory: true | |
| gc_interval: null | |
| eval_dataset_cfg: | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 60 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: 0 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| query_prediction_labels: true | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: false | |
| filter_actor_outside_dynamic_label_range: true | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| add_ego_bbox: true | |
| add_ego_as_actor: false | |
| ignore_ego: false | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| use_map_label_region: false | |
| load_observation_states: true | |
| load_past_states: false | |
| roi_3d_filter: true | |
| include_all_actors: true | |
| prediction_ego_bbox: true | |
| basepath: s3://waabi-live-training-datasets/pnp/truck_frameless_human_labelled_eval_2025_03_11 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: true | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| version: OLDEST | |
| dataset_id: truck_frameless_human_labelled_eval | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| labels_available: | |
| - ACTOR_LABEL | |
| - ONLINE_MAP | |
| ignore_sequences: | |
| - 18 | |
| - 179 | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| return_map_container: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| data_aug_config: | |
| data_aug: false | |
| data_aug_size: 0.0 | |
| child_configs: | |
| '0': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 60 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: 0 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| query_prediction_labels: true | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: false | |
| filter_actor_outside_dynamic_label_range: true | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| add_ego_bbox: true | |
| add_ego_as_actor: false | |
| ignore_ego: false | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| use_map_label_region: false | |
| load_observation_states: true | |
| load_past_states: false | |
| roi_3d_filter: true | |
| include_all_actors: true | |
| prediction_ego_bbox: true | |
| basepath: s3://waabi-live-training-datasets/pnp/truck_human_labelled_rainy_eval_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: true | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| version: 20250310T2330Z | |
| dataset_id: rainy_eval_human_labelled | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| labels_available: | |
| - ACTOR_LABEL | |
| - ONLINE_MAP | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| return_map_container: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| data_aug_config: | |
| data_aug: false | |
| data_aug_size: 0.0 | |
| data_subsampler_config: | |
| subsampler: NoOpDataSubsampler | |
| '1': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 60 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: 0 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| query_prediction_labels: true | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: false | |
| filter_actor_outside_dynamic_label_range: true | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| add_ego_bbox: true | |
| add_ego_as_actor: false | |
| ignore_ego: false | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| use_map_label_region: false | |
| load_observation_states: true | |
| load_past_states: false | |
| roi_3d_filter: true | |
| include_all_actors: true | |
| prediction_ego_bbox: true | |
| basepath: s3://waabi-live-training-datasets/pnp/feature_complete_eval_human_labelled_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: true | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| version: 20250311T0238Z | |
| dataset_id: feature_complete_eval_human_labelled | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| labels_available: | |
| - ACTOR_LABEL | |
| - ONLINE_MAP | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| return_map_container: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| data_aug_config: | |
| data_aug: false | |
| data_aug_size: 0.0 | |
| data_subsampler_config: | |
| subsampler: NoOpDataSubsampler | |
| '2': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 60 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: 0 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| query_prediction_labels: true | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: false | |
| filter_actor_outside_dynamic_label_range: true | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| add_ego_bbox: true | |
| add_ego_as_actor: false | |
| ignore_ego: false | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| use_map_label_region: false | |
| load_observation_states: true | |
| load_past_states: false | |
| roi_3d_filter: true | |
| include_all_actors: true | |
| prediction_ego_bbox: true | |
| basepath: s3://waabi-live-training-datasets/pnp/dual_vehicle_eval_human_labelled_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: true | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| version: 20250311T0248Z | |
| tags_path: null | |
| dataset_id: dual_vehicle_eval_human_labelled | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| dual_collect_config: | |
| load_dual_collect_timestamps: true | |
| load_dual_collect_ego_data: true | |
| labels_available: | |
| - ACTOR_LABEL | |
| - ONLINE_MAP | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| return_map_container: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| data_aug_config: | |
| data_aug: false | |
| data_aug_size: 0.0 | |
| data_subsampler_config: | |
| subsampler: NoOpDataSubsampler | |
| '3': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 60 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: 0 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| query_prediction_labels: true | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: false | |
| filter_actor_outside_dynamic_label_range: true | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| add_ego_bbox: true | |
| add_ego_as_actor: false | |
| ignore_ego: false | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| use_map_label_region: false | |
| load_observation_states: true | |
| load_past_states: false | |
| roi_3d_filter: true | |
| include_all_actors: true | |
| prediction_ego_bbox: true | |
| basepath: s3://waabi-live-training-datasets/pnp/surface_streets_eval_human_labelled_2025_01_31 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: true | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| dataset_id: surface_streets_eval_human_labelled | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| tags_path: null | |
| labels_available: | |
| - ACTOR_LABEL | |
| - ONLINE_MAP | |
| - TRAFFIC_LIGHT_STATE | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| return_map_container: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| data_aug_config: | |
| data_aug: false | |
| data_aug_size: 0.0 | |
| data_subsampler_config: | |
| subsampler: NoOpDataSubsampler | |
| '4': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 60 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: 0 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - OUSTER_OS1_0 | |
| - OUSTER_OS1_1 | |
| load_label_region: true | |
| filter_actor_timesteps_outside_map: false | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| query_prediction_labels: true | |
| sum_num_pts: true | |
| filter_actor_outside_dynamic_label_range: true | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| add_ego_bbox: true | |
| add_ego_as_actor: false | |
| ignore_ego: false | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| use_map_label_region: false | |
| load_observation_states: true | |
| load_past_states: false | |
| roi_3d_filter: true | |
| include_all_actors: true | |
| prediction_ego_bbox: true | |
| basepath: s3://waabi-live-training-datasets/pnp/urban_off_map_data_eval_human_labelled_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - OUSTER_OS1_0 | |
| - OUSTER_OS1_1 | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: true | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| dataset_id: urban_off_map_data_eval_human_labelled | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| map_config: | |
| load_map: false | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| return_map_container: true | |
| labels_available: | |
| - ACTOR_LABEL | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| data_aug_config: | |
| data_aug: false | |
| data_aug_size: 0.0 | |
| data_subsampler_config: | |
| subsampler: NoOpDataSubsampler | |
| '5': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 60 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: 0 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_label_region: true | |
| filter_actor_timesteps_outside_map: false | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| query_prediction_labels: true | |
| sum_num_pts: true | |
| filter_actor_outside_dynamic_label_range: true | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| add_ego_bbox: true | |
| add_ego_as_actor: false | |
| ignore_ego: false | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| use_map_label_region: false | |
| load_observation_states: true | |
| load_past_states: false | |
| roi_3d_filter: true | |
| include_all_actors: true | |
| prediction_ego_bbox: true | |
| basepath: s3://waabi-live-training-datasets/pnp/parking_lot_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: true | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| dataset_id: truck_static_scenes_with_human_labels | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| map_config: | |
| load_map: false | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| return_map_container: true | |
| labels_available: | |
| - ACTOR_LABEL | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| data_aug_config: | |
| data_aug: false | |
| data_aug_size: 0.0 | |
| data_subsampler_config: | |
| subsampler: NoOpDataSubsampler | |
| data_subsampler_config: | |
| subsampler: NoOpDataSubsampler | |
| eval_loader_cfg: | |
| batch_size: 1 | |
| num_workers: 4 | |
| shuffle: true | |
| drop_last: true | |
| pin_memory: false | |
| persistent_workers: true | |
| pickle_data: false | |
| timeout: 0.0 | |
| prefetch_factor: 2 | |
| resumable: true | |
| chunk: false | |
| use_compact_shm_pickler: true | |
| use_compact_shm_prefetcher: true | |
| compact_shm_to_device: cuda | |
| use_multi_epochs_data_loader: false | |
| sample_sequences: true | |
| eval_random_chunk: true | |
| chunk_size: 19 | |
| frame_interval: 3 | |
| random_seed: 0 | |
| shuffle_seqs: false | |
| shuffle_frames: false | |
| assert_whole: true | |
| lumped_history: false | |
| max_num_past_frames: null | |
| multisource_mixing_ratios: null | |
| multisource_scale_factors: | |
| main: 0.2 | |
| '0': 0.4 | |
| '1': 0.5 | |
| '2': 1.0 | |
| '3': 1.0 | |
| '4': 1.0 | |
| '5': 1.0 | |
| multisource_proportions: null | |
| multisource_num_examples_epoch: null | |
| interleave_source_examples: false | |
| weighted_queries: | |
| 120 < `actor_dist_to_closest_aos/ego` < 350: 4.0 | |
| '`is_person/any` == 1': 4.0 | |
| ? (`RawFloatPerTimestepTagName.ESTIMATED_ROAD_CURVATURE` > 0.0005) or (`RawFloatPerTimestepTagName.ESTIMATED_ROAD_CURVATURE` | |
| < -0.0005) | |
| : 4.0 | |
| weighted_queries_replace: false | |
| re_select_each_epoch: false | |
| num_main_cores: 4 | |
| reuse_shared_memory: true | |
| gc_interval: null | |
| viz_dataset_cfg: | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 60 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| query_prediction_labels: true | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: false | |
| filter_actor_outside_dynamic_label_range: true | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| add_ego_bbox: true | |
| add_ego_as_actor: false | |
| ignore_ego: false | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| use_map_label_region: false | |
| load_observation_states: true | |
| load_past_states: false | |
| roi_3d_filter: true | |
| include_all_actors: true | |
| prediction_ego_bbox: true | |
| basepath: s3://waabi-live-training-datasets/pnp/surface_streets_eval_human_labelled_2025_01_31 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: true | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| dataset_id: surface_streets_eval_human_labelled | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| tags_path: null | |
| labels_available: | |
| - ACTOR_LABEL | |
| - ONLINE_MAP | |
| - TRAFFIC_LIGHT_STATE | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| return_map_container: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| data_aug_config: | |
| data_aug: false | |
| data_aug_size: 0.0 | |
| child_configs: | |
| '0': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 60 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| query_prediction_labels: true | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: false | |
| filter_actor_outside_dynamic_label_range: true | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| add_ego_bbox: true | |
| add_ego_as_actor: false | |
| ignore_ego: false | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| use_map_label_region: false | |
| load_observation_states: true | |
| load_past_states: false | |
| roi_3d_filter: true | |
| include_all_actors: true | |
| prediction_ego_bbox: true | |
| basepath: s3://waabi-live-training-datasets/pnp/truck_human_labelled_eval_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: true | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| viz_raster_config: | |
| x_min: -202.0 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| map_channels: | |
| - lane_boundary | |
| version: 20250311T0609Z | |
| dataset_id: truck_human_labelled_viz | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| data_aug_config: | |
| data_aug: false | |
| data_aug_size: 0.0 | |
| data_subsampler_config: | |
| subsampler: SpecificDataSubsampler | |
| frames_to_keep: | |
| - 8-10 | |
| - 7-80 | |
| - 3-124 | |
| - 9-20 | |
| - 11-90 | |
| - 36-107 | |
| - 55-115 | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| return_map_container: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| '1': | |
| label_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| step: 0.15625 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| load_labels: true | |
| num_prediction_sweeps: 60 | |
| stride_prediction_sweeps: 5 | |
| min_horizon_sweeps: 60 | |
| interpolate_prediction_labels: false | |
| use_sweep_end_states: true | |
| min_num_pts: -1 | |
| generate_dense_labels: true | |
| dense_label_config: | |
| downsample_factor: 4 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| label_lidar_filter: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_label_region: true | |
| heatmap_config: | |
| voxel_config: | |
| x_min: -202 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| add_ground: false | |
| max_num_labels: 500 | |
| downsample_factor: 8 | |
| min_radius: 4 | |
| gaussian_overlap: 0.1 | |
| min_num_pts: 0 | |
| box_dim_fn: ELU_PLUS_ONE | |
| unify_related_actors: | |
| - TRACTOR_TRAILER | |
| - VRU_RIDER | |
| query_prediction_labels: true | |
| sum_num_pts: true | |
| filter_actor_timesteps_outside_map: false | |
| filter_actor_outside_dynamic_label_range: true | |
| actor_map_dist_ignore_thresh_m: 20.0 | |
| add_ego_bbox: true | |
| add_ego_as_actor: false | |
| ignore_ego: false | |
| ignore_has_error: false | |
| ignore_is_sensor_id_provided: false | |
| use_map_label_region: false | |
| load_observation_states: true | |
| load_past_states: false | |
| roi_3d_filter: true | |
| include_all_actors: true | |
| prediction_ego_bbox: true | |
| basepath: s3://waabi-live-training-datasets/pnp/feature_complete_eval_human_labelled_2025_03_07 | |
| load_scenario_metadata: false | |
| split: null | |
| split_version: null | |
| lidar_config: | |
| load_lidar: true | |
| num_lidar_sweeps: 5 | |
| stride_lidar_frames: 1 | |
| lidars_to_keep: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| - LUMINAR_IRIS:BLACKBURN_LIDAR_CENTERPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_NEARRANGEPOD | |
| - HESAI_QT128_C2X:BLACKBURN_LIDAR_STARBOARDPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_PORTPOD | |
| - HESAI_OT128:BLACKBURN_LIDAR_STARBOARDPOD | |
| load_timestamps: true | |
| num_lidar_sweeps_future: 0 | |
| sample_stride_from_latest: true | |
| load_raw_lidar: false | |
| transform_lidar_i_to_ego_frame_i: false | |
| use_per_sweep_time_offset: false | |
| lidar_drift_error_config: null | |
| pose_config: | |
| load_vehicle_trajectory: true | |
| detect_in_back_axle_ground_frame: true | |
| align_detection_frame_to_ground: true | |
| max_ground_alignment_pitch_deg: 1.0 | |
| viz_raster_config: | |
| x_min: -202.0 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| map_channels: | |
| - lane_boundary | |
| version: 20250311T0238Z | |
| dataset_id: eval_feature_complete | |
| discard_duplicate_init_scenarios: true | |
| raster_config: null | |
| active_actor_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| data_aug_config: | |
| data_aug: false | |
| data_aug_size: 0.0 | |
| data_subsampler_config: | |
| subsampler: SpecificDataSubsampler | |
| frames_to_keep: | |
| - 29-70 | |
| - 26-71 | |
| - 20-96 | |
| - 4-116 | |
| map_config: | |
| load_map: true | |
| load_lane_graph: false | |
| lane_graph_3d: true | |
| roi: | |
| front_dist_m: 350 | |
| back_dist_m: 200 | |
| left_dist_m: 150 | |
| right_dist_m: 150 | |
| load_map_tiles: false | |
| lane_graph_compute_reachable: true | |
| poly_map_builder_config: | |
| num_resolutions: 3 | |
| sampling_interval_m: 10 | |
| load_boundaries: false | |
| load_map_region: false | |
| load_cached_poly_map: false | |
| return_map_container: true | |
| detection_in_3d: true | |
| load_aug_dict: true | |
| viz_loader_cfg: | |
| batch_size: 1 | |
| num_workers: 1 | |
| shuffle: false | |
| drop_last: false | |
| pin_memory: false | |
| persistent_workers: true | |
| pickle_data: false | |
| timeout: 0.0 | |
| prefetch_factor: 2 | |
| resumable: true | |
| chunk: false | |
| use_compact_shm_pickler: true | |
| use_compact_shm_prefetcher: true | |
| compact_shm_to_device: cuda | |
| use_multi_epochs_data_loader: false | |
| sample_sequences: false | |
| eval_random_chunk: false | |
| chunk_size: null | |
| frame_interval: null | |
| random_seed: 0 | |
| shuffle_seqs: true | |
| shuffle_frames: true | |
| assert_whole: false | |
| lumped_history: false | |
| max_num_past_frames: null | |
| multisource_mixing_ratios: null | |
| multisource_scale_factors: null | |
| multisource_proportions: null | |
| multisource_num_examples_epoch: null | |
| interleave_source_examples: false | |
| weighted_queries: null | |
| weighted_queries_replace: false | |
| re_select_each_epoch: true | |
| num_main_cores: 4 | |
| reuse_shared_memory: true | |
| gc_interval: null | |
| recurrent_viz_dataset_cfg: null | |
| recurrent_viz_loader_cfg: null | |
| dataset_name: MultiSourceOnboardPnPDataset | |
| non_commercial_use_only: false | |
| eval_dataset_name: null | |
| viz_dataset_name: null | |
| recurrent_viz_dataset_name: null | |
| trainer_cfg: | |
| seed: 0 | |
| device: cuda | |
| cudnn_deterministic: true | |
| cudnn_benchmark: false | |
| n_epochs: 8 | |
| n_iters: null | |
| eval_interval_epoch: -1.0 | |
| specific_eval_epoch_list: | |
| - 0.25 | |
| - 1.0 | |
| - 2.5 | |
| - 4.0 | |
| - 5.5 | |
| - 7.0 | |
| - 7.75 | |
| - 8.0 | |
| viz_interval_epoch: 4.0 | |
| specific_viz_epoch_list: null | |
| eval_interval_iter: -1 | |
| viz_interval_iter: -1 | |
| distribute_viz: true | |
| detach_viz: true | |
| detach_eval: true | |
| stop_detached_jobs_on_failure: true | |
| save_best_ckpt: [] | |
| checkpoint_interval_epoch: 1.0 | |
| checkpoint_interval_iter_keep: -1 | |
| checkpoint_interval_iter: 100 | |
| checkpoint_path: null | |
| pretrained_weights: null | |
| pretrained_param_regex: null | |
| no_grad_param_regex: null | |
| pretrained_weights_list: | |
| - source_s3_path: s3://waabi-pretrained-weights-live/tokenizer_knn/checkpoint/model_final.pth.tar | |
| source_root_name: null | |
| destination_root_name: dp_head.pred_header.tokenizer | |
| param_prefix: null | |
| pretrained_regex: null | |
| strict: false | |
| force_load_pretrained_weights_list: false | |
| region_name: null | |
| param_prefix: null | |
| cache_pretrained_weights: false | |
| viztracer_profiling: false | |
| cuda_memory_profiling: false | |
| log_gradient_norms: false | |
| find_unused_parameters: true | |
| print_unused_parameters: false | |
| _target_: waabi.common.training.config.TrainerConfig | |
| accum_grad_iter: 1 | |
| clip_nan_grad: false | |
| max_grad_norm: 5.0 | |
| resume_sampler_state: true | |
| lr_scheduler_interval: ITER | |
| convert_to_sync_bn_under_ddp: true | |
| max_lr_groups_to_log: -1 | |
| deterministic_cublas_workspace: false | |
| init_eval: false | |
| ignore_nan_in_metas: true | |
| max_allowable_ooms: 0 | |
| recompute_num_pts: true | |
| min_sum_num_pts: 1 | |
| min_cam_fov_sum_num_pts: -1 | |
| crop_lidar_num_pts: true | |
| export_checkpoint: false | |
| gather_metas: true | |
| enable_dags: false | |
| dag_list: null | |
| sim_integration: null | |
| model_metadata_interval_epoch: 1.0 | |
| model_metadata_dir: null | |
| detect_anomaly: false | |
| use_amp: false | |
| use_loss_scaler: true | |
| throw_on_init: false | |
| params_to_ignore_for_broadcast: null | |
| retry_on_nan: true | |
| optimizer_cfg: | |
| name: AdamW | |
| lr: 0.0008 | |
| weight_decay: 0.0001 | |
| lr_linear_scaling_batch: false | |
| lr_linear_scaling_workers: false | |
| sgd_momentum: 0.9 | |
| nesterov: false | |
| custom_lr_multiplier: null | |
| weight_decay_blacklist: | |
| - bias | |
| - norm | |
| - query_embed | |
| betas: | |
| - 0.9 | |
| - 0.999 | |
| lr_scheduler_cfg: | |
| name: Cosine | |
| step_size: 10 | |
| gamma: 0.1 | |
| t_max: null | |
| t_max_relative: 1.0 | |
| min_lr_relative: 0.0 | |
| milestones: null | |
| warmup_steps: 1000 | |
| warmup_multiplier: 10 | |
| deformable_multiplier: 0.1 | |
| lr_max: 0.003 | |
| pct_start: 0.4 | |
| base_momentum: 0.85 | |
| max_momentum: 0.95 | |
| div_factor: 10.0 | |
| job_type: TRAINING | |
| exp_dir: ${oc.env:WAABI_OUTPUT_DIR,/opt/experiments/${now:%Y-%m-%d_%H-%M-%S}} | |
| exp_name: ptv3_dp_trt_lidar_old_v3 | |
| log_cfg: | |
| tracker_log_interval: 5 | |
| console_log_interval: 100 | |
| record_breakdown_profiling: false | |
| record_pytorch_profiling: false | |
| wandb_project: pnp-onboard | |
| wandb_tags: | |
| - pretrain | |
| wandb_runid: null | |
| wandb_groupid: null | |
| specific_iter: null | |
| load_monitoring_runid: true | |
| disable_tb: true | |
| dirpaths_to_skip_s3_upload: | |
| - wandb | |
| record_weighted_tag_distributions: false | |
| wandb_sections_rewrite: | |
| rewrite_sections: | |
| Monitoring: | |
| - train/meta/non_sync_iter_time: Avg iter time | |
| - train/meta/non_sync_dataload_time: Avg data wait time | |
| Occupancy Val: | |
| - val_RasterizedOccupancyAP/VEHICLE/no_matching/iou0/expanded0.0: Vehicle Raster | |
| Occupancy AP all timesteps | |
| - val_RasterizedOccupancySoftIOU/VEHICLE/no_matching/iou0/expanded0.0: Vehicle | |
| Raster Occupancy Soft IOU | |
| Lidar Proposal Val: | |
| - val/Detection/lidar_proposals_Recall.ALL.iou10: recall.iou10 | |
| - val/Detection/lidar_proposals_AveragePrecision.ALL.iou10: ap.iou10 | |
| - val/Detection/lidar_proposals_Recall.ALL.iou50: recall.iou50 | |
| - val/Detection/lidar_proposals_AveragePrecision.ALL.iou50: ap.iou50 | |
| Lidar Proposal IOU10 Recall Val: | |
| - val/Detection/lidar_proposals_Recall.ALL.iou10.dist_in_0m_40m: recall.iou10.dist_in_0m_40m | |
| - val/Detection/lidar_proposals_Recall.ALL.iou10.dist_in_40m_80m: recall.iou10.dist_in_40m_80m | |
| - val/Detection/lidar_proposals_Recall.ALL.iou10.dist_in_80m_120m: recall.iou10.dist_in_80m_120m | |
| - val/Detection/lidar_proposals_Recall.ALL.iou10.dist_in_120m_160m: recall.iou10.dist_in_120m_160m | |
| - val/Detection/lidar_proposals_Recall.ALL.iou10.dist_in_160m_200m: recall.iou10.dist_in_160m_200m | |
| - val/Detection/lidar_proposals_Recall.ALL.iou10.dist_in_200m_250m: recall.iou10.dist_in_200m_250m | |
| - val/Detection/lidar_proposals_Recall.ALL.iou10.dist_in_250m_350m: recall.iou10.dist_in_250m_350m | |
| Lidar Proposal IOU50 Recall Val: | |
| - val/Detection/lidar_proposals_Recall.ALL.iou50.dist_in_0m_40m: recall.iou50.dist_in_0m_40m | |
| - val/Detection/lidar_proposals_Recall.ALL.iou50.dist_in_40m_80m: recall.iou50.dist_in_40m_80m | |
| - val/Detection/lidar_proposals_Recall.ALL.iou50.dist_in_80m_120m: recall.iou50.dist_in_80m_120m | |
| - val/Detection/lidar_proposals_Recall.ALL.iou50.dist_in_120m_160m: recall.iou50.dist_in_120m_160m | |
| - val/Detection/lidar_proposals_Recall.ALL.iou50.dist_in_160m_200m: recall.iou50.dist_in_160m_200m | |
| - val/Detection/lidar_proposals_Recall.ALL.iou50.dist_in_200m_250m: recall.iou50.dist_in_200m_250m | |
| - val/Detection/lidar_proposals_Recall.ALL.iou50.dist_in_250m_350m: recall.iou50.dist_in_250m_350m | |
| Lidar Proposal AP Val: | |
| - val/Detection/lidar_proposals_AveragePrecision.ALL.iou10.dist_in_0m_40m: ap.iou10.dist_in_0m_40m | |
| - val/Detection/lidar_proposals_AveragePrecision.ALL.iou10.dist_in_40m_80m: ap.iou10.dist_in_40m_80m | |
| - val/Detection/lidar_proposals_AveragePrecision.ALL.iou10.dist_in_80m_120m: ap.iou10.dist_in_80m_120m | |
| - val/Detection/lidar_proposals_AveragePrecision.ALL.iou10.dist_in_120m_160m: ap.iou10.dist_in_120m_160m | |
| - val/Detection/lidar_proposals_AveragePrecision.ALL.iou10.dist_in_160m_200m: ap.iou10.dist_in_160m_200m | |
| - val/Detection/lidar_proposals_AveragePrecision.ALL.iou10.dist_in_200m_250m: ap.iou10.dist_in_200m_250m | |
| - val/Detection/lidar_proposals_AveragePrecision.ALL.iou10.dist_in_250m_350m: ap.iou10.dist_in_250m_350m | |
| Detection Val: | |
| - val/Detection/MeanAveragePrecision.VEHICLE.ignore_250m_1ptcamera_5pt: Vehicle | |
| mAP | |
| - val/Detection/AveragePrecision.VEHICLE.iou70.ignore_250m_1ptcamera_5pt: Vehicle | |
| AP @ IoU 70 | |
| - val/Detection/AveragePrecision.VEHICLE.iou50.ignore_250m_1ptcamera_5pt: Vehicle | |
| AP IoU50 | |
| - val/Detection/OperatingPoint.VEHICLE.iou50.score0.4.ignore_250m_1ptcamera_5pt_OptimalPrecision: Precision | |
| at Max F1 (IoU 50) | |
| - val/Detection/OperatingPoint.VEHICLE.iou50.score0.4.ignore_250m_1ptcamera_5pt_OptimalRecall: Recall | |
| at max F1 (IoU 50) | |
| - val/Detection/OperatingPoint.VEHICLE.iou50.score0.4.ignore_250m_1ptcamera_5pt_OptimalThreshold: Vehicle | |
| threshold at Max F1 (IoU 50) | |
| - val/Detection/HeadingError.VEHICLE.iou10.ignore_250m_1ptcamera_5pt: Detection | |
| heading error @ IoU 10 (in degrees) | |
| Detection Val No Ignores: | |
| - val/Detection/MeanAveragePrecision.VEHICLE: Vehicle mAP | |
| - val/Detection/AveragePrecision.VEHICLE.iou70: Vehicle AP @ IoU 70 | |
| - val/Detection/AveragePrecision.VEHICLE.iou50: Vehicle AP IoU50 | |
| - val/Detection/OperatingPoint.VEHICLE.iou50.score0.4_OptimalPrecision: Precision | |
| at Max F1 (IoU 50) | |
| - val/Detection/OperatingPoint.VEHICLE.iou50.score0.4_OptimalRecall: Recall | |
| at max F1 (IoU 50) | |
| - val/Detection/OperatingPoint.VEHICLE.iou50.score0.4_OptimalThreshold: Vehicle | |
| threshold at Max F1 (IoU 50) | |
| - val/Detection/HeadingError.VEHICLE.iou10: Detection heading error @ IoU 10 | |
| (in degrees) | |
| - val/Detection/AveragePrecisionLane.VEHICLE.dist10.0: Vehicle LaneAP @ Dist | |
| 10m | |
| Detection Queries Val: | |
| - val/Detection/OperatingPoint.VEHICLE.iou50.score0.4.stationary_true_ignore_250m_1ptcamera_5pt_QueryRecall: Stationary | |
| Vehicle Recall @ Threshold 0.4 | |
| - val/Detection/FPCount.VEHICLE.iou10.near_ego_lane_ignore_250m_1ptcamera_5pt: FP | |
| Count Near Ego | |
| - val/Detection/FPCount.VEHICLE.iou10.in_front_of_ego_ignore_250m_1ptcamera_5pt: FPCount | |
| Vehicle in front of ego | |
| - val/Detection/FPCount.VEHICLE.iou10.stationary_detection_ahead_of_ego_ignore_250m_1ptcamera_5pt: FPCount | |
| Static Vehicle in front of ego | |
| - val/Detection/OperatingPoint.VEHICLE.iou10.score0.4.actor_tags_aos_gt_150m_ignore_250m_1ptcamera_5pt_QueryRecall: AoS | |
| 150m+ Recall IoU10 @ Threshold 0.4 | |
| - val/Detection/OperatingPoint.VEHICLE.iou50.score0.4.actor_tags_aos_ignore_250m_1ptcamera_5pt_QueryRecall: AoS | |
| Recall IoU50 @ Threshold 0.4 | |
| - ? val/Detection/lidar_proposals_OperatingPoint.ALL.iou10.score0.4.actor_tags_aos_gt_150m_ignore_250m_1ptcamera_5pt_QueryRecall | |
| : Lidar proposal AoS 150m+ Recall IoU10 @ Threshold 0.4 | |
| - val/Detection/lidar_proposals_OperatingPoint.ALL.iou50.score0.4.actor_tags_aos_ignore_250m_1ptcamera_5pt_QueryRecall: Lidar | |
| proposal AoS Recall IoU50 @ Threshold 0.4 | |
| Detection by Distance Val No Ignores: | |
| - val/Detection/AveragePrecision.VEHICLE.iou10.dist_in_0m_40m: ap.iou10.dist_in_0m_40m | |
| - val/Detection/AveragePrecision.VEHICLE.iou10.dist_in_40m_80m: ap.iou10.dist_in_40m_80m | |
| - val/Detection/AveragePrecision.VEHICLE.iou10.dist_in_80m_120m: ap.iou10.dist_in_80m_120m | |
| - val/Detection/AveragePrecision.VEHICLE.iou10.dist_in_120m_160m: ap.iou10.dist_in_120m_160m | |
| - val/Detection/AveragePrecision.VEHICLE.iou10.dist_in_160m_200m: ap.iou10.dist_in_160m_200m | |
| - val/Detection/AveragePrecision.VEHICLE.iou10.dist_in_200m_250m: ap.iou10.dist_in_200m_250m | |
| - val/Detection/AveragePrecision.VEHICLE.iou10.dist_in_250m_350m: ap.iou10.dist_in_250m_350m | |
| - val/Detection/AveragePrecision.VEHICLE.iou50.dist_in_0m_40m: ap.iou50.dist_in_0m_40m | |
| - val/Detection/AveragePrecision.VEHICLE.iou50.dist_in_40m_80m: ap.iou50.dist_in_40m_80m | |
| - val/Detection/AveragePrecision.VEHICLE.iou50.dist_in_80m_120m: ap.iou50.dist_in_80m_120m | |
| - val/Detection/AveragePrecision.VEHICLE.iou50.dist_in_120m_160m: ap.iou50.dist_in_120m_160m | |
| - val/Detection/AveragePrecision.VEHICLE.iou50.dist_in_160m_200m: ap.iou50.dist_in_160m_200m | |
| - val/Detection/AveragePrecision.VEHICLE.iou50.dist_in_200m_250m: ap.iou50.dist_in_200m_250m | |
| - val/Detection/AveragePrecision.VEHICLE.iou50.dist_in_250m_350m: ap.iou50.dist_in_250m_350m | |
| - val/Detection/AveragePrecision.VEHICLE.iou70.dist_in_0m_40m: ap.iou70.dist_in_0m_40m | |
| - val/Detection/AveragePrecision.VEHICLE.iou70.dist_in_40m_80m: ap.iou70.dist_in_40m_80m | |
| - val/Detection/AveragePrecision.VEHICLE.iou70.dist_in_80m_120m: ap.iou70.dist_in_80m_120m | |
| - val/Detection/AveragePrecision.VEHICLE.iou70.dist_in_120m_160m: ap.iou70.dist_in_120m_160m | |
| - val/Detection/MeanAveragePrecision.VEHICLE.dist_in_0m_40m: val/Detection/MeanAveragePrecision.VEHICLE.dist_in_0m_40m | |
| - val/Detection/MeanAveragePrecision.VEHICLE.dist_in_40m_80m: val/Detection/MeanAveragePrecision.VEHICLE.dist_in_40m_80m | |
| - val/Detection/MeanAveragePrecision.VEHICLE.dist_in_80m_120m: val/Detection/MeanAveragePrecision.VEHICLE.dist_in_80m_120m | |
| - val/Detection/MeanAveragePrecision.VEHICLE.dist_in_120m_160m: val/Detection/MeanAveragePrecision.VEHICLE.dist_in_120m_160m | |
| - val/Detection/MeanAveragePrecision.VEHICLE.dist_in_160m_200m: val/Detection/MeanAveragePrecision.VEHICLE.dist_in_160m_200m | |
| - val/Detection/MeanAveragePrecision.VEHICLE.dist_in_200m_250m: val/Detection/MeanAveragePrecision.VEHICLE.dist_in_200m_250m | |
| - val/Detection/MeanAveragePrecision.VEHICLE.dist_in_250m_350m: val/Detection/MeanAveragePrecision.VEHICLE.dist_in_250m_350m | |
| - val/Detection/Recall.VEHICLE.iou10.dist_in_0m_40m: recall.iou10.dist_in_0m_40m | |
| - val/Detection/Recall.VEHICLE.iou10.dist_in_40m_80m: recall.iou10.dist_in_40m_80m | |
| - val/Detection/Recall.VEHICLE.iou10.dist_in_80m_120m: recall.iou10.dist_in_80m_120m | |
| - val/Detection/Recall.VEHICLE.iou10.dist_in_120m_160m: recall.iou10.dist_in_120m_160m | |
| - val/Detection/Recall.VEHICLE.iou10.dist_in_160m_200m: recall.iou10.dist_in_160m_200m | |
| - val/Detection/Recall.VEHICLE.iou10.dist_in_200m_250m: recall.iou10.dist_in_200m_250m | |
| - val/Detection/Recall.VEHICLE.iou10.dist_in_250m_350m: recall.iou10.dist_in_250m_350m | |
| - val/Detection/Recall.VEHICLE.iou50.dist_in_0m_40m: recall.iou50.dist_in_0m_40m | |
| - val/Detection/Recall.VEHICLE.iou50.dist_in_40m_80m: recall.iou50.dist_in_40m_80m | |
| - val/Detection/Recall.VEHICLE.iou50.dist_in_80m_120m: recall.iou50.dist_in_80m_120m | |
| - val/Detection/Recall.VEHICLE.iou50.dist_in_120m_160m: recall.iou50.dist_in_120m_160m | |
| - val/Detection/Recall.VEHICLE.iou50.dist_in_160m_200m: recall.iou50.dist_in_160m_200m | |
| - val/Detection/Recall.VEHICLE.iou50.dist_in_200m_250m: recall.iou50.dist_in_200m_250m | |
| - val/Detection/Recall.VEHICLE.iou50.dist_in_250m_350m: recall.iou50.dist_in_250m_350m | |
| - val/Detection/Recall.VEHICLE.iou70.dist_in_0m_40m: recall.iou70.dist_in_0m_40m | |
| - val/Detection/Recall.VEHICLE.iou70.dist_in_40m_80m: recall.iou70.dist_in_40m_80m | |
| - val/Detection/Recall.VEHICLE.iou70.dist_in_80m_120m: recall.iou70.dist_in_80m_120m | |
| - val/Detection/AveragePrecisionLane.VEHICLE.dist10.0.dist_in_0m_40m: laneap.dist10.0.dist_in_0m_40m | |
| - val/Detection/AveragePrecisionLane.VEHICLE.dist10.0.dist_in_40m_80m: laneap.dist10.0.dist_in_40m_80m | |
| - val/Detection/AveragePrecisionLane.VEHICLE.dist10.0.dist_in_80m_120m: laneap.dist10.0.dist_in_80m_120m | |
| - val/Detection/AveragePrecisionLane.VEHICLE.dist10.0.dist_in_120m_160m: laneap.dist10.0.dist_in_120m_160m | |
| - val/Detection/AveragePrecisionLane.VEHICLE.dist10.0.dist_in_160m_200m: laneap.dist10.0.dist_in_160m_200m | |
| - val/Detection/AveragePrecisionLane.VEHICLE.dist10.0.dist_in_200m_250m: laneap.dist10.0.dist_in_200m_250m | |
| - val/Detection/AveragePrecisionLane.VEHICLE.dist10.0.dist_in_250m_350m: laneap.dist10.0.dist_in_250m_350m | |
| Prediction Val: | |
| - val_MinCrossTrackError/k=1/ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.7/iou50: Vehicle | |
| CTE k=1 (average over time) TR 0.7 | |
| - val_MinAvgDisplError/k=1/t=6.0s/ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.7/iou50: Vehicle | |
| ADE k=1 t=6s TR 0.7 | |
| - val_MinAvgDisplError/t=6.0s/ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.7/iou50: Vehicle | |
| minADE t=6s TR 0.7 | |
| - val_MinGTLaneErrorRate/k=1/t=6.0s/LANE_KEEP_ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.7/iou50: Vehicle | |
| FP lane change rate k=1 t=6s TR 0.7 | |
| - val_FPEncroachmentRate/k=1/t=6.0s/ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.7/iou50: Vehicle | |
| FPEncroachmentRate k=1 t=6s TR 0.7 | |
| - val_MinGTLaneErrorRate/k=1/t=6.0s/ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.7/iou50: Vehicle | |
| Lane error k=1 t=6s TR 0.7 | |
| - val_TagQueryFrequency/fp_cutins_ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.7/iou50: FP | |
| Cutins Frequency TR 0.7 | |
| Prediction Val No Ignores: | |
| - val_MinCrossTrackError/k=1/VEHICLE/targetrecall0.7/iou50: Vehicle CTE k=1 | |
| (average over time) TR 0.7 | |
| - val_MinHeadingError/k=1/VEHICLE/targetrecall0.7/iou50: Vehicle heading error | |
| k=1 TR 0.7 | |
| - val_MinAvgDisplError/k=1/t=6.0s/VEHICLE/targetrecall0.7/iou50: Vehicle ADE | |
| k=1 t=6s TR 0.7 | |
| - val_MinGTLaneErrorRate/k=1/t=6.0s/LANE_KEEP/VEHICLE/targetrecall0.7/iou50: Vehicle | |
| FP lane change rate k=1 t=6s TR 0.7 | |
| - val_FPEncroachmentRate/k=1/t=6.0s/VEHICLE/targetrecall0.7/iou50: Vehicle FPEncroachmentRate | |
| k=1 t=6s TR 0.7 | |
| - val_MinGTLaneErrorRate/k=1/t=6.0s/VEHICLE/targetrecall0.7/iou50: Vehicle Lane | |
| error k=1 t=6s TR 0.7 | |
| - val_TagQueryFrequency/fp_cutins/VEHICLE/targetrecall0.7/iou50: FP Cutins Frequency | |
| TR 0.7 | |
| Prediction Queries Val: | |
| - val_MinAvgDisplError/t=6.0s/static_ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.7/iou50: Static | |
| vehicle minADE t=6s TR 0.7 | |
| - ? val_MinAvgDisplError/k=1/t=6.0s/actor_tags_actor_heading_accel_mpss_value_leq_neg_2_ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.7/iou50 | |
| : ADE k=1 t=6 High decel (< -2 m/s^2) TR 0.7 | |
| - ? val_MinAvgDisplError/t=6.0s/actor_tags_actor_heading_accel_mpss_value_leq_neg_2_ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.7/iou50 | |
| : minADE High decel TR 0.7 | |
| - ? val_MinAvgDisplError/k=1/t=6.0s/actor_tags_actor_heading_accel_mpss_value_leq_neg_2_ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.5/iou50 | |
| : ADEk=1 High Deceleration TR0.5 | |
| - ? val_MinAvgDisplError/t=6.0s/actor_tags_actor_heading_accel_mpss_value_leq_neg_2_ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.5/iou50 | |
| : minADE High Dec TR0.5 | |
| - ? val_FPEncroachmentRate/k=1/t=6.0s/scene_tags_estimated_road_curvature_geq_abs_0d0005_ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.5/iou50 | |
| : FP Encroachments k=1 t=6s High Curves 0.0005 TR0.5 | |
| - ? val_FPEncroachmentRate/k=1/t=6.0s/scene_tags_estimated_road_curvature_geq_abs_0d0005_ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.7/iou50 | |
| : FP Encroachments k=1 t=6s High Curves 0.0005 TR 0.7 | |
| - val_MinAvgDisplError/k=1/t=6.0s/scene_tags_merges_ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.5/iou50: ADEk=1 | |
| Merges TR0.5 | |
| - val_MinAvgDisplError/t=6.0s/scene_tags_merges_ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.5/iou50: minADE | |
| Merges TR0.5 | |
| - val_MinAvgDisplError/k=1/t=6.0s/scene_tags_merges_ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.7/iou50: ADEk=1 | |
| Merges TR0.7 | |
| - val_MinAvgDisplError/t=6.0s/scene_tags_merges_ignore_250m_1ptcamera_5pt/VEHICLE/targetrecall0.7/iou50: minADE | |
| Merges TR0.7 | |
| Prediction Queries Val No Ignores: | |
| - val_MinAvgDisplError/k=1/t=6.0s/actor_tags_actor_heading_accel_mpss_value_leq_neg_2/VEHICLE/targetrecall0.7/iou50: ADE | |
| k=1 t=6 High decel (< -2 m/s^2) TR 0.7 | |
| - val_MinAvgDisplError/k=1/t=6.0s/actor_tags_actor_heading_accel_mpss_value_leq_neg_2/VEHICLE/targetrecall0.5/iou50: ADEk=1 | |
| High Deceleration TR0.5 | |
| - val_FPEncroachmentRate/k=1/t=6.0s/scene_tags_estimated_road_curvature_geq_abs_0d0005/VEHICLE/targetrecall0.5/iou50: FP | |
| Encroachments k=1 t=6s High Curves 0.0005 TR0.5 | |
| - val_FPEncroachmentRate/k=1/t=6.0s/scene_tags_estimated_road_curvature_geq_abs_0d0005/VEHICLE/targetrecall0.7/iou50: FP | |
| Encroachments k=1 t=6s High Curves 0.0005 TR 0.7 | |
| - val_MinAvgDisplError/k=1/t=6.0s/scene_tags_merges/VEHICLE/targetrecall0.5/iou50: ADEk=1 | |
| Merges TR0.5 | |
| - val_MinAvgDisplError/k=1/t=6.0s/scene_tags_merges/VEHICLE/targetrecall0.7/iou50: ADEk=1 | |
| Merges TR0.7 | |
| Loss Metas Val: | |
| - val/loss/total: Validation loss | |
| - val/loss/detection: Detection loss | |
| - val/det/0/cam_depth_loss: Camera depth loss | |
| - val/loss/num_non_ignore_det_labels_VEHICLE: Average Number of Non-Ignored | |
| Vehicle Labels | |
| - val/loss/num_det_labels_VEHICLE: Average Number of Vehicle Labels | |
| - val/loss/prediction_loss_1_ade: Val Prior ADE | |
| - val/prediction_loss_1/cross_entropy: Val Cross Entropy | |
| - val/loss/prediction_loss_1_cte: Val Prior CTE | |
| - val/loss/prediction_loss_0_cte: Val Intermediary CTE | |
| - val/loss/prediction_loss_0_ade: Val Intermediary ADE | |
| - val/loss/num_det_matches_0: Proposal Matches | |
| - val/loss/num_det_matches_1: Refinement Matches | |
| - val/det/0/percentage_detections_from_cam: Percentage Detections from Camera | |
| Loss Metas Train: | |
| - train/loss/total: Total loss | |
| - lr/param_group_0: Learning Rate | |
| - lr/param_group_3: Backbone Learning Rate | |
| - train/loss/detection: Detection loss | |
| - train/loss/total_pred_loss: Prediction loss | |
| - train/loss/num_det_matches_0: Proposal Matches | |
| - train/loss/num_det_matches_1: Refinement Matches | |
| - train/prediction_loss_1/accuracy: Code Accuracy | |
| - train/loss/prediction_loss_1_ade: Prior ADE | |
| - train/loss/prediction_loss_1_cte: Prior CTE | |
| - train/loss/prior_1/ratio_samples_fp_encroachments: Ratio samples FP encroachments | |
| - train/det/0/percentage_detections_from_cam: Percentage Detections from Camera | |
| Det Combined Proposal Level: | |
| - val/Detection/combined_proposals_MeanAveragePrecision.ALL.ignore_250m_1ptcamera_5pt: mAP | |
| - val/Detection/combined_proposals_AveragePrecision.ALL.iou10.ignore_250m_1ptcamera_5pt: AP | |
| IoU10 | |
| - val/Detection/combined_proposals_OperatingPoint.ALL.iou50.score0.4.ignore_250m_1ptcamera_5pt_OptimalRecall: Recall | |
| at max F1 (IoU 50) | |
| - val/Detection/combined_proposals_OperatingPoint.ALL.iou50.score0.4.ignore_250m_1ptcamera_5pt_OptimalPrecision: Precision | |
| at Max F1 (IoU 50) | |
| - val/Detection/combined_proposals_OperatingPoint.ALL.iou50.score0.4.stationary_true_ignore_250m_1ptcamera_5pt_QueryRecall: Stationary | |
| Recall at Threshold 0.4 (IoU 50) | |
| Post Tracker Detection Val: | |
| - val/Detection/post_tracker_MeanAveragePrecision.VEHICLE.ignore_250m_1ptcamera_5pt: Vehicle | |
| mAP | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou70.ignore_250m_1ptcamera_5pt: Vehicle | |
| AP @ IoU 70 | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou50.ignore_250m_1ptcamera_5pt: Vehicle | |
| AP IoU50 | |
| - val/Detection/post_tracker_OperatingPoint.VEHICLE.iou50.score0.4.ignore_250m_1ptcamera_5pt_OptimalPrecision: Precision | |
| at Max F1 (IoU 50) | |
| - val/Detection/post_tracker_OperatingPoint.VEHICLE.iou50.score0.4.ignore_250m_1ptcamera_5pt_OptimalRecall: Recall | |
| at max F1 (IoU 50) | |
| - val/Detection/post_tracker_OperatingPoint.VEHICLE.iou50.score0.4.ignore_250m_1ptcamera_5pt_OptimalThreshold: Vehicle | |
| threshold at Max F1 (IoU 50) | |
| Post Tracker Detection Val No Ignores: | |
| - val/Detection/post_tracker_MeanAveragePrecision.VEHICLE: Vehicle mAP | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou70: Vehicle AP @ IoU | |
| 70 | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou50: Vehicle AP IoU50 | |
| - val/Detection/post_tracker_OperatingPoint.VEHICLE.iou50.score0.4_OptimalPrecision: Precision | |
| at Max F1 (IoU 50) | |
| - val/Detection/post_tracker_OperatingPoint.VEHICLE.iou50.score0.4_OptimalRecall: Recall | |
| at max F1 (IoU 50) | |
| - val/Detection/post_tracker_OperatingPoint.VEHICLE.iou50.score0.4_OptimalThreshold: Vehicle | |
| threshold at Max F1 (IoU 50) | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0: Vehicle | |
| LaneAP @ Dist 10m | |
| Post Tracker Detection by Distance Val: | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou10.dist_in_0m_40m_ignore_250m_1ptcamera_5pt: ap.iou10.dist_in_0m_40m | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou10.dist_in_40m_80m_ignore_250m_1ptcamera_5pt: ap.iou10.dist_in_40m_80m | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou10.dist_in_80m_120m_ignore_250m_1ptcamera_5pt: ap.iou10.dist_in_80m_120m | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou10.dist_in_120m_160m_ignore_250m_1ptcamera_5pt: ap.iou10.dist_in_120m_160m | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou10.dist_in_160m_200m_ignore_250m_1ptcamera_5pt: ap.iou10.dist_in_160m_200m | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou10.dist_in_200m_250m_ignore_250m_1ptcamera_5pt: ap.iou10.dist_in_200m_250m | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou10.dist_in_250m_350m_ignore_250m_1ptcamera_5pt: ap.iou10.dist_in_250m_350m | |
| - val/Detection/post_tracker_Recall.VEHICLE.iou10.dist_in_40m_80m_ignore_250m_1ptcamera_5pt: recall.iou10.dist_in_40m_80m | |
| - val/Detection/post_tracker_Recall.VEHICLE.iou10.dist_in_80m_120m_ignore_250m_1ptcamera_5pt: recall.iou10.dist_in_80m_120m | |
| - val/Detection/post_tracker_Recall.VEHICLE.iou10.dist_in_120m_160m_ignore_250m_1ptcamera_5pt: recall.iou10.dist_in_120m_160m | |
| - val/Detection/post_tracker_Recall.VEHICLE.iou10.dist_in_160m_200m_ignore_250m_1ptcamera_5pt: recall.iou10.dist_in_160m_200m | |
| - val/Detection/post_tracker_Recall.VEHICLE.iou10.dist_in_200m_250m_ignore_250m_1ptcamera_5pt: recall.iou10.dist_in_200m_250m | |
| - val/Detection/post_tracker_Recall.VEHICLE.iou10.dist_in_250m_350m_ignore_250m_1ptcamera_5pt: recall.iou10.dist_in_250m_350m | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0.dist_in_0m_40m_ignore_250m_1ptcamera_5pt: laneap.dist10.0.dist_in_0m_40m | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0.dist_in_40m_80m_ignore_250m_1ptcamera_5pt: laneap.dist10.0.dist_in_40m_80m | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0.dist_in_80m_120m_ignore_250m_1ptcamera_5pt: laneap.dist10.0.dist_in_80m_120m | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0.dist_in_120m_160m_ignore_250m_1ptcamera_5pt: laneap.dist10.0.dist_in_120m_160m | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0.dist_in_160m_200m_ignore_250m_1ptcamera_5pt: laneap.dist10.0.dist_in_160m_200m | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0.dist_in_200m_250m_ignore_250m_1ptcamera_5pt: laneap.dist10.0.dist_in_200m_250m | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0.dist_in_250m_350m_ignore_250m_1ptcamera_5pt: laneap.dist10.0.dist_in_250m_350m | |
| Post Tracker Detection by Distance Val No Ignores: | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou10.dist_in_0m_40m: ap.iou10.dist_in_0m_40m | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou10.dist_in_40m_80m: ap.iou10.dist_in_40m_80m | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou10.dist_in_80m_120m: ap.iou10.dist_in_80m_120m | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou10.dist_in_120m_160m: ap.iou10.dist_in_120m_160m | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou10.dist_in_160m_200m: ap.iou10.dist_in_160m_200m | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou10.dist_in_200m_250m: ap.iou10.dist_in_200m_250m | |
| - val/Detection/post_tracker_AveragePrecision.VEHICLE.iou10.dist_in_250m_350m: ap.iou10.dist_in_250m_350m | |
| - val/Detection/post_tracker_Recall.VEHICLE.iou10.dist_in_0m_40m: recall.iou10.dist_in_0m_40m | |
| - val/Detection/post_tracker_Recall.VEHICLE.iou10.dist_in_40m_80m: recall.iou10.dist_in_40m_80m | |
| - val/Detection/post_tracker_Recall.VEHICLE.iou10.dist_in_80m_120m: recall.iou10.dist_in_80m_120m | |
| - val/Detection/post_tracker_Recall.VEHICLE.iou10.dist_in_120m_160m: recall.iou10.dist_in_120m_160m | |
| - val/Detection/post_tracker_Recall.VEHICLE.iou10.dist_in_160m_200m: recall.iou10.dist_in_160m_200m | |
| - val/Detection/post_tracker_Recall.VEHICLE.iou10.dist_in_200m_250m: recall.iou10.dist_in_200m_250m | |
| - val/Detection/post_tracker_Recall.VEHICLE.iou10.dist_in_250m_350m: recall.iou10.dist_in_250m_350m | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0.dist_in_0m_40m: laneap.dist10.0.dist_in_0m_40m | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0.dist_in_40m_80m: laneap.dist10.0.dist_in_40m_80m | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0.dist_in_80m_120m: laneap.dist10.0.dist_in_80m_120m | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0.dist_in_120m_160m: laneap.dist10.0.dist_in_120m_160m | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0.dist_in_160m_200m: laneap.dist10.0.dist_in_160m_200m | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0.dist_in_200m_250m: laneap.dist10.0.dist_in_200m_250m | |
| - val/Detection/post_tracker_AveragePrecisionLane.VEHICLE.dist10.0.dist_in_250m_350m: laneap.dist10.0.dist_in_250m_350m | |
| Det Object Mem Proposal Level No Ignores: | |
| - val/Detection/object_mem_proposals_MeanAveragePrecision.ALL: mAP | |
| - val/Detection/object_mem_proposals_AveragePrecision.ALL.iou50: AP IoU50 | |
| - val/Detection/object_mem_proposals_OperatingPoint.ALL.iou50.score0.4_OptimalRecall: Recall | |
| at max F1 (IoU 50) | |
| - val/Detection/object_mem_proposals_OperatingPoint.ALL.iou50.score0.4_OptimalPrecision: Precision | |
| at Max F1 (IoU 50) | |
| - val/Detection/object_mem_proposals_OperatingPoint.ALL.iou50.score0.4.stationary_true_QueryRecall: Stationary | |
| Recall at Threshold 0.4 (IoU 50) | |
| Det Combined Proposal Level No Ignores: | |
| - val/Detection/combined_proposals_MeanAveragePrecision.ALL: mAP | |
| - val/Detection/combined_proposals_OperatingPoint.ALL.iou50.score0.4_OptimalRecall: Recall | |
| at max F1 (IoU 50) | |
| - val/Detection/combined_proposals_OperatingPoint.ALL.iou50.score0.4_OptimalPrecision: Precision | |
| at Max F1 (IoU 50) | |
| - val/Detection/combined_proposals_OperatingPoint.ALL.iou50.score0.4.stationary_true_QueryRecall: Stationary | |
| Recall at Threshold 0.4 (IoU 50) | |
| Traffic Lights: | |
| - val/traffic_lights/GroupAccuracyMetric.3face: Traffic light 3-face accuracy | |
| - val/traffic_lights/GroupAccuracyMetric.5face: Traffic light 5-face accuracy | |
| - val/traffic_lights/GroupCountMetric.3face: Traffic light 3-face count | |
| - val/traffic_lights/GroupCountMetric.5face: Traffic light 5-face count | |
| Online Mapping: | |
| - val/Online_Mapper/RoadTypeIOU: RoadTypeIOU | |
| - val/Online_Mapper/L1ErrorSignedDTThresh.x_minus_50m_to_50m_y_minus_50m_to_50m: L1ErrorSignedDTThresh | |
| -50m to 50m | |
| - val/Online_Mapper/L1ErrorSignedDTThresh.x_50m_to_150m_y_minus_50m_to_50m: L1ErrorSignedDTThresh | |
| 50m to 150m | |
| - val/Online_Mapper/L1ErrorSignedDTThresh.x_150m_to_250m_y_minus_50m_to_50m: L1ErrorSignedDTThresh | |
| 150m to 250m | |
| - val/Online_Mapper/RMSErrorSignedDTThresh.x_minus_50m_to_50m_y_minus_50m_to_50m: RMSErrorSignedDTThresh | |
| -50m to 50m | |
| - val/Online_Mapper/RMSErrorSignedDTThresh.x_50m_to_150m_y_minus_50m_to_50m: RMSErrorSignedDTThresh | |
| 50m to 150m | |
| - val/Online_Mapper/RMSErrorSignedDTThresh.x_150m_to_250m_y_minus_50m_to_50m: RMSErrorSignedDTThresh | |
| 150m to 250m | |
| - val/Online_Mapper/L1ErrorConeBoundary.x_minus_50m_to_50m_y_minus_50m_to_50m: L1ErrorConeBoundary | |
| -50m to 50m | |
| - val/Online_Mapper/L1ErrorConeBoundary.x_50m_to_150m_y_minus_50m_to_50m: L1ErrorConeBoundary | |
| 50m to 150m | |
| - val/Online_Mapper/L1ErrorConeBoundary.x_150m_to_250m_y_minus_50m_to_50m: L1ErrorConeBoundary | |
| 150m to 250m | |
| Ego trailer: | |
| - val/Detection/post_tracker_HeadingError.EGO_TRAILER.iou20: Heading Error | |
| - val/Detection/post_tracker_HeadingError.EGO_TRAILER.iou20.heading_to_ego_under_2_degrees: Heading | |
| Error with GT delta less than 2 degrees | |
| - val/Detection/post_tracker_HeadingError.EGO_TRAILER.iou20.heading_to_ego_between_2_5_degrees: Heading | |
| Error with GT delta between 2 and 5 degrees | |
| - val/Detection/post_tracker_HeadingError.EGO_TRAILER.iou20.heading_to_ego_between_5_10_degrees: Heading | |
| Error with GT delta between 5 and 10 degrees | |
| - val/Detection/post_tracker_HeadingError.EGO_TRAILER.iou20.heading_to_ego_between_10_20_degrees: Heading | |
| Error with GT delta between 10 and 20 degrees | |
| - val/Detection/post_tracker_HeadingError.EGO_TRAILER.iou20.heading_to_ego_over_20_degrees: Heading | |
| Error with GT delta over 20 degrees | |
| - val/Detection/post_tracker_OperatingPoint.EGO_TRAILER.iou20.score0.2_QueryRecall: Recall | |
| out of tracker | |
| - val/Detection/post_tracker_QueryDetectionCount.EGO_TRAILER.iou20.heading_to_ego_under_2_degrees: Samples | |
| with GT delta under 2 degrees | |
| - val/Detection/post_tracker_QueryDetectionCount.EGO_TRAILER.iou20.heading_to_ego_between_2_5_degrees: Samples | |
| with GT delta between 2 and 5 degrees | |
| - val/Detection/post_tracker_QueryDetectionCount.EGO_TRAILER.iou20.heading_to_ego_between_5_10_degrees: Samples | |
| with GT delta between 5 and 10 degrees | |
| - val/Detection/post_tracker_QueryDetectionCount.EGO_TRAILER.iou20.heading_to_ego_between_10_20_degrees: Samples | |
| with GT delta between 10 and 20 degrees | |
| - val/Detection/post_tracker_QueryDetectionCount.EGO_TRAILER.iou20.heading_to_ego_over_20_degrees: Samples | |
| with GT delta over 20 degrees | |
| other_section: null | |
| copy_original_key: true | |
| comments: null | |
| debug_cfg: | |
| enabled: false | |
| disable_pretrained_weight_loading: true | |
| dataset_id: '' | |
| seq_ids: [] | |
| frame_interval: 1 | |
| seq_frame_ids: [] | |
| seed: null | |
| evaluator_cfg: | |
| detection_metrics_config: | |
| class_ids: | |
| - VEHICLE | |
| - PERSON | |
| - CYCLIST | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| metric_names: | |
| - AveragePrecision | |
| - AveragePrecisionLane | |
| - PRCurve | |
| - OperatingPoint | |
| - Recall | |
| - FPCount | |
| - HeadingError | |
| - ConfidenceDetectionCount | |
| bucketizer_names: [] | |
| distance_bins: [] | |
| area_bins: [] | |
| tagger_names: | |
| - LabelDisplacementTagger | |
| - ForecastDisplacementTagger | |
| - DatasetIdTagger | |
| - DistanceToEgoTagger | |
| - NumLidarPtsTagger | |
| - SceneTagsTagger | |
| - ActorTagsTagger | |
| - DistanceFromEgoAlongLaneTagger | |
| - LateralDistanceFromEgoLaneTagger | |
| - CameraFoVTagger | |
| - SequenceIdTagger | |
| - FrameIdTagger | |
| - DeltaXFromEgoTagger | |
| - DeltaYFromEgoTagger | |
| - DeltaZFromEgoTagger | |
| - HeadingToEgoTagger | |
| - TTCTagger | |
| queries: | |
| - name: ignore_250m_1ptcamera_5pt | |
| query: in_roi and ignore_policy | |
| - name: stationary_true_ignore_250m_1ptcamera_5pt | |
| query: stationary_true and in_roi and ignore_policy | |
| - name: stationary_true_cam_fov_ignore_250m_1ptcamera_5pt | |
| query: stationary_true and cam_fov and in_roi and ignore_policy | |
| - name: near_ego_lane_ignore_250m_1ptcamera_5pt | |
| query: near_ego_lane and in_roi and ignore_policy | |
| - name: cam_fov_ignore_250m_1ptcamera_5pt | |
| query: cam_fov and in_roi and ignore_policy | |
| - name: in_front_of_ego_ignore_250m_1ptcamera_5pt | |
| query: in_front_of_ego and in_roi and ignore_policy | |
| - name: stationary_detection_ahead_of_ego_ignore_250m_1ptcamera_5pt | |
| query: stationary_detection_ahead_of_ego and in_roi and ignore_policy | |
| - name: aos_gt_150m_ignore_250m_1ptcamera_5pt | |
| query: actor_tags_aos_gt_150m and in_roi and ignore_policy | |
| - name: aos_ignore_250m_1ptcamera_5pt | |
| query: actor_tags_aos and in_roi and ignore_policy | |
| - name: dist_in_0m_40m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_0m_40m and in_roi and ignore_policy | |
| - name: dist_in_40m_80m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_40m_80m and in_roi and ignore_policy | |
| - name: dist_in_80m_120m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_80m_120m and in_roi and ignore_policy | |
| - name: dist_in_120m_160m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_120m_160m and in_roi and ignore_policy | |
| - name: dist_in_160m_200m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_160m_200m and in_roi and ignore_policy | |
| - name: dist_in_200m_250m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_200m_250m and in_roi and ignore_policy | |
| - name: dist_in_250m_350m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_250m_350m and in_roi and ignore_policy | |
| - name: dist_in_350m_450m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_350m_450m and in_roi and ignore_policy | |
| - name: dist_in_450m_550m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_450m_550m and in_roi and ignore_policy | |
| - name: dist_in_550m_650m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_550m_650m and in_roi and ignore_policy | |
| - name: not_cam_fov_ignore_250m_1ptcamera_5pt | |
| query: not_cam_fov and in_roi and ignore_policy | |
| - name: all | |
| query: _dmi_index in _dmi_index | |
| - name: in_roi | |
| query: ((delta_x_from_ego <= 253) and (delta_x_from_ego >= -122) and (delta_y_from_ego | |
| >= -50) and (delta_y_from_ego <= 50) and (delta_z_from_ego >= -3.0) and (delta_z_from_ego | |
| <= 5.0)) | |
| - name: ignore_policy | |
| query: (not is_label) or (not ((is_cam_fov and sum_num_past_lidar_pts < 1) or | |
| sum_num_past_lidar_pts < 5)) | |
| - name: stationary_detection_ahead_of_ego | |
| query: is_label or ((lateral_distance_from_ego_lane_m <= 6.85) and (distance_from_ego_along_lane_m | |
| >= 0) and (forecast_future_disp_m <= 2.0)) | |
| - name: near_ego_lane | |
| query: (lateral_distance_from_ego_lane_m <= 6.85) and ((distance_from_ego_along_lane_m | |
| <= 130) and (distance_from_ego_along_lane_m >= -100)) | |
| - name: in_front_of_ego | |
| query: (lateral_distance_from_ego_lane_m <= 6.85) and (distance_from_ego_along_lane_m | |
| <= 130) and (distance_from_ego_along_lane_m >= 0) | |
| - name: stationary_true | |
| query: ((label_future_disp_m <= 2.0) or (not is_label)) | |
| - name: stationary_false | |
| query: ((label_future_disp_m > 2.0) or (not is_label)) | |
| - name: dist_in_0m_40m | |
| query: (distance_to_ego >= 0) and (distance_to_ego <= 40) | |
| - name: dist_in_40m_80m | |
| query: (distance_to_ego >= 40) and (distance_to_ego <= 80) | |
| - name: dist_in_80m_120m | |
| query: (distance_to_ego >= 80) and (distance_to_ego <= 120) | |
| - name: dist_in_120m_160m | |
| query: (distance_to_ego >= 120) and (distance_to_ego <= 160) | |
| - name: dist_in_160m_200m | |
| query: (distance_to_ego >= 160) and (distance_to_ego <= 200) | |
| - name: dist_in_200m_250m | |
| query: (distance_to_ego >= 200) and (distance_to_ego <= 250) | |
| - name: dist_in_250m_350m | |
| query: (distance_to_ego >= 250) and (distance_to_ego <= 350) | |
| - name: dist_in_350m_450m | |
| query: (distance_to_ego >= 350) and (distance_to_ego <= 450) | |
| - name: dist_in_450m_550m | |
| query: (distance_to_ego >= 450) and (distance_to_ego <= 550) | |
| - name: dist_in_550m_650m | |
| query: (distance_to_ego >= 550) and (distance_to_ego <= 650) | |
| - name: cam_fov | |
| query: is_cam_fov | |
| - name: stationary_true_cam_fov | |
| query: ((label_future_disp_m <= 2.0) or (not is_label)) and is_cam_fov | |
| - name: not_cam_fov | |
| query: (not is_cam_fov) | |
| - name: actor_tags_aos | |
| query: (`actor_tags/actor_on_shoulder/value` and `actor_tags/actor_speed_2d_mps/value` | |
| < 1.0 and is_label) or (not is_label) | |
| - name: actor_tags_aos_gt_150m | |
| query: (`actor_tags/actor_on_shoulder/value` and `actor_tags/actor_speed_2d_mps/value` | |
| < 1.0 and is_label and (distance_to_ego >= 150)) or (not is_label) | |
| - name: actor_tags_aos_cam_fov | |
| query: ((`actor_tags/actor_on_shoulder/value` and `actor_tags/actor_speed_2d_mps/value` | |
| < 1.0 and is_label) or (not is_label)) and is_cam_fov | |
| - name: actor_tags_speed_value_gt_30 | |
| query: (`actor_tags/actor_speed_2d_mps/value` > 30 and is_label) or (not is_label) | |
| - name: dist_gt_160m | |
| query: distance_to_ego > 160 | |
| - name: heading_to_ego_under_2_degrees | |
| query: (not is_label) or (heading_to_ego <= 2) | |
| - name: heading_to_ego_between_2_5_degrees | |
| query: (not is_label) or ((heading_to_ego > 2) and (heading_to_ego <= 5)) | |
| - name: heading_to_ego_between_5_10_degrees | |
| query: (not is_label) or ((heading_to_ego > 5) and (heading_to_ego <= 10)) | |
| - name: heading_to_ego_between_10_20_degrees | |
| query: (not is_label) or ((heading_to_ego > 10) and (heading_to_ego <= 20)) | |
| - name: heading_to_ego_over_20_degrees | |
| query: (not is_label) or (heading_to_ego > 20) | |
| - name: ttc_lt_2s | |
| query: ttc_s >= 0 and ttc_s < 2 | |
| metric_to_queries: | |
| PRCurve: | |
| - ignore_250m_1ptcamera_5pt | |
| HeadingError: | |
| - ignore_250m_1ptcamera_5pt | |
| - heading_to_ego_under_2_degrees | |
| - heading_to_ego_between_2_5_degrees | |
| - heading_to_ego_between_5_10_degrees | |
| - heading_to_ego_between_10_20_degrees | |
| - heading_to_ego_over_20_degrees | |
| AveragePrecision: | |
| - all | |
| - ignore_250m_1ptcamera_5pt | |
| - dist_in_0m_40m_ignore_250m_1ptcamera_5pt | |
| - dist_in_40m_80m_ignore_250m_1ptcamera_5pt | |
| - dist_in_80m_120m_ignore_250m_1ptcamera_5pt | |
| - dist_in_120m_160m_ignore_250m_1ptcamera_5pt | |
| - dist_in_160m_200m_ignore_250m_1ptcamera_5pt | |
| - dist_in_200m_250m_ignore_250m_1ptcamera_5pt | |
| - dist_in_250m_350m_ignore_250m_1ptcamera_5pt | |
| - cam_fov_ignore_250m_1ptcamera_5pt | |
| - dist_in_160m_200m | |
| - dist_in_200m_250m | |
| - dist_in_250m_350m | |
| - dist_in_350m_450m | |
| - dist_in_450m_550m | |
| - dist_in_550m_650m | |
| - dist_in_0m_40m | |
| - dist_in_120m_160m | |
| - dist_in_40m_80m | |
| - dist_in_80m_120m | |
| - stationary_true | |
| FPCount: | |
| - all | |
| - stationary_detection_ahead_of_ego | |
| - stationary_detection_ahead_of_ego_ignore_250m_1ptcamera_5pt | |
| - ignore_250m_1ptcamera_5pt | |
| - in_front_of_ego | |
| - in_front_of_ego_ignore_250m_1ptcamera_5pt | |
| - near_ego_lane | |
| - near_ego_lane_ignore_250m_1ptcamera_5pt | |
| - ttc_lt_2s | |
| OperatingPoint: | |
| - ignore_250m_1ptcamera_5pt | |
| - stationary_true_ignore_250m_1ptcamera_5pt | |
| - aos_gt_150m_ignore_250m_1ptcamera_5pt | |
| - aos_ignore_250m_1ptcamera_5pt | |
| - actor_tags_aos | |
| - actor_tags_aos_gt_150m | |
| - actor_tags_aos_cam_fov | |
| - stationary_true | |
| - stationary_true_cam_fov | |
| Recall: | |
| - ignore_250m_1ptcamera_5pt | |
| - actor_tags_aos | |
| - actor_tags_aos_gt_150m | |
| - actor_tags_aos_cam_fov | |
| - all | |
| - cam_fov | |
| - dist_in_160m_200m | |
| - dist_in_200m_250m | |
| - dist_in_250m_350m | |
| - dist_in_350m_450m | |
| - dist_in_450m_550m | |
| - dist_in_550m_650m | |
| - dist_in_0m_40m | |
| - dist_in_120m_160m | |
| - dist_in_40m_80m | |
| - dist_in_80m_120m | |
| - dist_in_0m_40m_ignore_250m_1ptcamera_5pt | |
| - dist_in_40m_80m_ignore_250m_1ptcamera_5pt | |
| - dist_in_80m_120m_ignore_250m_1ptcamera_5pt | |
| - dist_in_120m_160m_ignore_250m_1ptcamera_5pt | |
| - dist_in_160m_200m_ignore_250m_1ptcamera_5pt | |
| - dist_in_200m_250m_ignore_250m_1ptcamera_5pt | |
| - dist_in_250m_350m_ignore_250m_1ptcamera_5pt | |
| - dist_in_350m_450m_ignore_250m_1ptcamera_5pt | |
| - dist_in_450m_550m_ignore_250m_1ptcamera_5pt | |
| - dist_in_550m_650m_ignore_250m_1ptcamera_5pt | |
| - stationary_true | |
| AveragePrecisionLane: | |
| - all | |
| - ignore_250m_1ptcamera_5pt | |
| - dist_in_0m_40m_ignore_250m_1ptcamera_5pt | |
| - dist_in_40m_80m_ignore_250m_1ptcamera_5pt | |
| - dist_in_80m_120m_ignore_250m_1ptcamera_5pt | |
| - dist_in_120m_160m_ignore_250m_1ptcamera_5pt | |
| - dist_in_160m_200m_ignore_250m_1ptcamera_5pt | |
| - dist_in_200m_250m_ignore_250m_1ptcamera_5pt | |
| - dist_in_250m_350m_ignore_250m_1ptcamera_5pt | |
| - dist_in_350m_450m_ignore_250m_1ptcamera_5pt | |
| - dist_in_450m_550m_ignore_250m_1ptcamera_5pt | |
| - dist_in_550m_650m_ignore_250m_1ptcamera_5pt | |
| - dist_in_160m_200m | |
| - dist_in_200m_250m | |
| - dist_in_250m_350m | |
| - dist_in_350m_450m | |
| - dist_in_450m_550m | |
| - dist_in_550m_650m | |
| - dist_in_0m_40m | |
| - dist_in_120m_160m | |
| - dist_in_40m_80m | |
| - dist_in_80m_120m | |
| ConfidenceDetectionCount: | |
| - all | |
| - ignore_250m_1ptcamera_5pt | |
| auto_metric_queries: {} | |
| class_names: | |
| - PandasetClass.CAR | |
| - PandasetClass.PICKUP | |
| - PandasetClass.MEDIUM_SIZED_TRUCK | |
| - PandasetClass.BUS | |
| - PandasetClass.EMERGENCY_VEHICLE | |
| - PandasetClass.TOWED_OBJECT | |
| - PandasetClass.OTHER_VEHICLE_CONSTRUCTION | |
| stationary_bins: | |
| - 'False' | |
| - 'True' | |
| region_of_interest: | |
| - FORWARD_194 | |
| - FORWARD_100 | |
| - ADJACENT_LANE_FORWARD_194 | |
| - ADJACENT_LANE_FORWARD_100 | |
| - ADJACENT_LANE_REAR_160 | |
| - ADJACENT_LANE_REAR_60 | |
| - SWEEP_40 | |
| flattened_iou_threshold_classes: | |
| - 0 | |
| - 0 | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 11 | |
| - 12 | |
| - 12 | |
| flattened_iou_thresholds: | |
| - 0.1 | |
| - 0.5 | |
| - 0.7 | |
| - 0.1 | |
| - 0.1 | |
| - 0.1 | |
| - 0.7 | |
| - 0.9 | |
| flattened_yaw_error_thresholds_deg: | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| flattened_speed_error_thresholds_mps: | |
| - null | |
| - null | |
| - null | |
| - null | |
| - null | |
| - null | |
| - null | |
| - null | |
| flattened_score_thresholds: | |
| - 0.4 | |
| flattened_dist_threshold_classes: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 11 | |
| flattened_dist_thresholds: | |
| - 10.0 | |
| - 10.0 | |
| - 10.0 | |
| - 10.0 | |
| flattened_dist_yaw_error_thresholds_deg: | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| flattened_dist_speed_error_thresholds_mps: | |
| - null | |
| - null | |
| - null | |
| - null | |
| flattened_time_window_fprate_iou_thresholds: | |
| - 0.3 | |
| - 0.3 | |
| flattened_time_window_recall_iou_thresholds: | |
| - 0.5 | |
| - 0.5 | |
| time_window_thresh: 2 | |
| time_window: 3 | |
| check_timestamps: false | |
| query_score_thresh: 0.4 | |
| proposal_score_thresh: 0.1 | |
| rlx_std_sct: null | |
| image_plane_camera: TRUCK_FRONT_CENTRE_POD | |
| detection_tracker_metrics_config: | |
| class_ids: | |
| - VEHICLE | |
| - PERSON | |
| - CYCLIST | |
| - EGO_TRAILER | |
| metric_names: | |
| - AveragePrecision | |
| - AveragePrecisionLane | |
| - OperatingPoint | |
| - Recall | |
| - HeadingError | |
| bucketizer_names: [] | |
| distance_bins: [] | |
| area_bins: [] | |
| tagger_names: | |
| - LabelDisplacementTagger | |
| - ForecastDisplacementTagger | |
| - DatasetIdTagger | |
| - DistanceToEgoTagger | |
| - NumLidarPtsTagger | |
| - SceneTagsTagger | |
| - ActorTagsTagger | |
| - DistanceFromEgoAlongLaneTagger | |
| - LateralDistanceFromEgoLaneTagger | |
| - CameraFoVTagger | |
| - DeltaXFromEgoTagger | |
| - DeltaYFromEgoTagger | |
| - DeltaZFromEgoTagger | |
| - HeadingToEgoTagger | |
| queries: | |
| - name: ignore_250m_1ptcamera_5pt | |
| query: in_roi and ignore_policy | |
| - name: stationary_true_ignore_250m_1ptcamera_5pt | |
| query: stationary_true and in_roi and ignore_policy | |
| - name: stationary_true_cam_fov_ignore_250m_1ptcamera_5pt | |
| query: stationary_true and cam_fov and in_roi and ignore_policy | |
| - name: near_ego_lane_ignore_250m_1ptcamera_5pt | |
| query: near_ego_lane and in_roi and ignore_policy | |
| - name: cam_fov_ignore_250m_1ptcamera_5pt | |
| query: cam_fov and in_roi and ignore_policy | |
| - name: in_front_of_ego_ignore_250m_1ptcamera_5pt | |
| query: in_front_of_ego and in_roi and ignore_policy | |
| - name: stationary_detection_ahead_of_ego_ignore_250m_1ptcamera_5pt | |
| query: stationary_detection_ahead_of_ego and in_roi and ignore_policy | |
| - name: aos_gt_150m_ignore_250m_1ptcamera_5pt | |
| query: actor_tags_aos_gt_150m and in_roi and ignore_policy | |
| - name: aos_ignore_250m_1ptcamera_5pt | |
| query: actor_tags_aos and in_roi and ignore_policy | |
| - name: dist_in_0m_40m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_0m_40m and in_roi and ignore_policy | |
| - name: dist_in_40m_80m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_40m_80m and in_roi and ignore_policy | |
| - name: dist_in_80m_120m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_80m_120m and in_roi and ignore_policy | |
| - name: dist_in_120m_160m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_120m_160m and in_roi and ignore_policy | |
| - name: dist_in_160m_200m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_160m_200m and in_roi and ignore_policy | |
| - name: dist_in_200m_250m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_200m_250m and in_roi and ignore_policy | |
| - name: dist_in_250m_350m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_250m_350m and in_roi and ignore_policy | |
| - name: dist_in_350m_450m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_350m_450m and in_roi and ignore_policy | |
| - name: dist_in_450m_550m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_450m_550m and in_roi and ignore_policy | |
| - name: dist_in_550m_650m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_550m_650m and in_roi and ignore_policy | |
| - name: not_cam_fov_ignore_250m_1ptcamera_5pt | |
| query: not_cam_fov and in_roi and ignore_policy | |
| - name: all | |
| query: _dmi_index in _dmi_index | |
| - name: in_roi | |
| query: ((delta_x_from_ego <= 253) and (delta_x_from_ego >= -122) and (delta_y_from_ego | |
| >= -50) and (delta_y_from_ego <= 50) and (delta_z_from_ego >= -3.0) and (delta_z_from_ego | |
| <= 5.0)) | |
| - name: ignore_policy | |
| query: (not is_label) or (not ((is_cam_fov and sum_num_past_lidar_pts < 1) or | |
| sum_num_past_lidar_pts < 5)) | |
| - name: stationary_detection_ahead_of_ego | |
| query: is_label or ((lateral_distance_from_ego_lane_m <= 6.85) and (distance_from_ego_along_lane_m | |
| >= 0) and (forecast_future_disp_m <= 2.0)) | |
| - name: near_ego_lane | |
| query: (lateral_distance_from_ego_lane_m <= 6.85) and ((distance_from_ego_along_lane_m | |
| <= 130) and (distance_from_ego_along_lane_m >= -100)) | |
| - name: in_front_of_ego | |
| query: (lateral_distance_from_ego_lane_m <= 6.85) and (distance_from_ego_along_lane_m | |
| <= 130) and (distance_from_ego_along_lane_m >= 0) | |
| - name: stationary_true | |
| query: ((label_future_disp_m <= 2.0) or (not is_label)) | |
| - name: stationary_false | |
| query: ((label_future_disp_m > 2.0) or (not is_label)) | |
| - name: dist_in_0m_40m | |
| query: (distance_to_ego >= 0) and (distance_to_ego <= 40) | |
| - name: dist_in_40m_80m | |
| query: (distance_to_ego >= 40) and (distance_to_ego <= 80) | |
| - name: dist_in_80m_120m | |
| query: (distance_to_ego >= 80) and (distance_to_ego <= 120) | |
| - name: dist_in_120m_160m | |
| query: (distance_to_ego >= 120) and (distance_to_ego <= 160) | |
| - name: dist_in_160m_200m | |
| query: (distance_to_ego >= 160) and (distance_to_ego <= 200) | |
| - name: dist_in_200m_250m | |
| query: (distance_to_ego >= 200) and (distance_to_ego <= 250) | |
| - name: dist_in_250m_350m | |
| query: (distance_to_ego >= 250) and (distance_to_ego <= 350) | |
| - name: dist_in_350m_450m | |
| query: (distance_to_ego >= 350) and (distance_to_ego <= 450) | |
| - name: dist_in_450m_550m | |
| query: (distance_to_ego >= 450) and (distance_to_ego <= 550) | |
| - name: dist_in_550m_650m | |
| query: (distance_to_ego >= 550) and (distance_to_ego <= 650) | |
| - name: crowded_scenes_gt_10_actors | |
| query: '`scene_tags/num_moving_actors/value` > 10' | |
| - name: truck_frameless_human_labelled_eval | |
| query: dataset_id == 'truck_frameless_human_labelled_eval' | |
| - name: cam_fov | |
| query: is_cam_fov | |
| - name: stationary_true_cam_fov | |
| query: ((label_future_disp_m <= 2.0) or (not is_label)) and is_cam_fov | |
| - name: stationary_false_cam_fov | |
| query: ((label_future_disp_m > 2.0) or (not is_label)) and is_cam_fov | |
| - name: not_cam_fov | |
| query: (not is_cam_fov) | |
| - name: stationary_true_not_cam_fov | |
| query: ((label_future_disp_m <= 2.0) or (not is_label)) and (not is_cam_fov) | |
| - name: stationary_false_not_cam_fov | |
| query: ((label_future_disp_m > 2.0) or (not is_label)) and (not is_cam_fov) | |
| - name: actor_tags_aos | |
| query: (`actor_tags/actor_on_shoulder/value` and `actor_tags/actor_speed_2d_mps/value` | |
| < 1.0 and is_label) or (not is_label) | |
| - name: actor_tags_aos_gt_150m | |
| query: (`actor_tags/actor_on_shoulder/value` and `actor_tags/actor_speed_2d_mps/value` | |
| < 1.0 and is_label and (distance_to_ego >= 150)) or (not is_label) | |
| - name: actor_tags_aos_cam_fov | |
| query: ((`actor_tags/actor_on_shoulder/value` and `actor_tags/actor_speed_2d_mps/value` | |
| < 1.0 and is_label) or (not is_label)) and is_cam_fov | |
| - name: actor_tags_speed_value_gt_30 | |
| query: (`actor_tags/actor_speed_2d_mps/value` > 30 and is_label) or (not is_label) | |
| - name: dist_gt_160m | |
| query: distance_to_ego > 160 | |
| - name: heading_to_ego_under_2_degrees | |
| query: (not is_label) or (heading_to_ego <= 2) | |
| - name: heading_to_ego_between_2_5_degrees | |
| query: (not is_label) or ((heading_to_ego > 2) and (heading_to_ego <= 5)) | |
| - name: heading_to_ego_between_5_10_degrees | |
| query: (not is_label) or ((heading_to_ego > 5) and (heading_to_ego <= 10)) | |
| - name: heading_to_ego_between_10_20_degrees | |
| query: (not is_label) or ((heading_to_ego > 10) and (heading_to_ego <= 20)) | |
| - name: heading_to_ego_over_20_degrees | |
| query: (not is_label) or (heading_to_ego > 20) | |
| metric_to_queries: | |
| AveragePrecision: | |
| - ignore_250m_1ptcamera_5pt | |
| - cam_fov_ignore_250m_1ptcamera_5pt | |
| - stationary_true_cam_fov_ignore_250m_1ptcamera_5pt | |
| - stationary_true_ignore_250m_1ptcamera_5pt | |
| - dist_in_0m_40m_ignore_250m_1ptcamera_5pt | |
| - dist_in_40m_80m_ignore_250m_1ptcamera_5pt | |
| - dist_in_80m_120m_ignore_250m_1ptcamera_5pt | |
| - dist_in_120m_160m_ignore_250m_1ptcamera_5pt | |
| - dist_in_160m_200m_ignore_250m_1ptcamera_5pt | |
| - dist_in_200m_250m_ignore_250m_1ptcamera_5pt | |
| - dist_in_250m_350m_ignore_250m_1ptcamera_5pt | |
| - dist_in_350m_450m_ignore_250m_1ptcamera_5pt | |
| - dist_in_450m_550m_ignore_250m_1ptcamera_5pt | |
| - dist_in_550m_650m_ignore_250m_1ptcamera_5pt | |
| - near_ego_lane_ignore_250m_1ptcamera_5pt | |
| - in_front_of_ego_ignore_250m_1ptcamera_5pt | |
| - aos_gt_150m_ignore_250m_1ptcamera_5pt | |
| - aos_ignore_250m_1ptcamera_5pt | |
| - all | |
| - cam_fov | |
| - dist_in_160m_200m | |
| - dist_in_200m_250m | |
| - dist_in_250m_350m | |
| - dist_in_0m_40m | |
| - dist_in_120m_160m | |
| - dist_in_40m_80m | |
| - dist_in_80m_120m | |
| - dist_in_350m_450m | |
| - dist_in_450m_550m | |
| - dist_in_550m_650m | |
| - stationary_true | |
| OperatingPoint: | |
| - ignore_250m_1ptcamera_5pt | |
| - stationary_true_ignore_250m_1ptcamera_5pt | |
| - stationary_true_cam_fov_ignore_250m_1ptcamera_5pt | |
| - cam_fov | |
| - stationary_true | |
| Recall: | |
| - ignore_250m_1ptcamera_5pt | |
| - dist_in_0m_40m_ignore_250m_1ptcamera_5pt | |
| - dist_in_40m_80m_ignore_250m_1ptcamera_5pt | |
| - dist_in_80m_120m_ignore_250m_1ptcamera_5pt | |
| - dist_in_120m_160m_ignore_250m_1ptcamera_5pt | |
| - dist_in_160m_200m_ignore_250m_1ptcamera_5pt | |
| - dist_in_200m_250m_ignore_250m_1ptcamera_5pt | |
| - dist_in_250m_350m_ignore_250m_1ptcamera_5pt | |
| - dist_in_350m_450m_ignore_250m_1ptcamera_5pt | |
| - dist_in_450m_550m_ignore_250m_1ptcamera_5pt | |
| - dist_in_550m_650m_ignore_250m_1ptcamera_5pt | |
| - stationary_true_ignore_250m_1ptcamera_5pt | |
| - near_ego_lane_ignore_250m_1ptcamera_5pt | |
| - in_front_of_ego_ignore_250m_1ptcamera_5pt | |
| - aos_gt_150m_ignore_250m_1ptcamera_5pt | |
| - aos_ignore_250m_1ptcamera_5pt | |
| - actor_tags_aos | |
| - actor_tags_aos_gt_150m | |
| - actor_tags_aos_cam_fov | |
| - all | |
| - cam_fov | |
| - dist_in_160m_200m | |
| - dist_in_200m_250m | |
| - dist_in_250m_350m | |
| - dist_in_0m_40m | |
| - dist_in_120m_160m | |
| - dist_in_40m_80m | |
| - dist_in_80m_120m | |
| - dist_in_350m_450m | |
| - dist_in_450m_550m | |
| - dist_in_550m_650m | |
| - stationary_true | |
| HeadingError: | |
| - heading_to_ego_under_2_degrees | |
| - heading_to_ego_between_2_5_degrees | |
| - heading_to_ego_between_5_10_degrees | |
| - heading_to_ego_between_10_20_degrees | |
| - heading_to_ego_over_20_degrees | |
| AveragePrecisionLane: | |
| - all | |
| - ignore_250m_1ptcamera_5pt | |
| - dist_in_0m_40m_ignore_250m_1ptcamera_5pt | |
| - dist_in_40m_80m_ignore_250m_1ptcamera_5pt | |
| - dist_in_80m_120m_ignore_250m_1ptcamera_5pt | |
| - dist_in_120m_160m_ignore_250m_1ptcamera_5pt | |
| - dist_in_160m_200m_ignore_250m_1ptcamera_5pt | |
| - dist_in_200m_250m_ignore_250m_1ptcamera_5pt | |
| - dist_in_250m_350m_ignore_250m_1ptcamera_5pt | |
| - dist_in_350m_450m_ignore_250m_1ptcamera_5pt | |
| - dist_in_450m_550m_ignore_250m_1ptcamera_5pt | |
| - dist_in_550m_650m_ignore_250m_1ptcamera_5pt | |
| - cam_fov_ignore_250m_1ptcamera_5pt | |
| - stationary_true | |
| auto_metric_queries: {} | |
| class_names: | |
| - PandasetClass.CAR | |
| - PandasetClass.PICKUP | |
| - PandasetClass.MEDIUM_SIZED_TRUCK | |
| - PandasetClass.BUS | |
| - PandasetClass.EMERGENCY_VEHICLE | |
| - PandasetClass.TOWED_OBJECT | |
| - PandasetClass.OTHER_VEHICLE_CONSTRUCTION | |
| stationary_bins: | |
| - 'False' | |
| - 'True' | |
| region_of_interest: | |
| - FORWARD_194 | |
| - FORWARD_100 | |
| - ADJACENT_LANE_FORWARD_194 | |
| - ADJACENT_LANE_FORWARD_100 | |
| - ADJACENT_LANE_REAR_160 | |
| - ADJACENT_LANE_REAR_60 | |
| - SWEEP_40 | |
| flattened_iou_threshold_classes: | |
| - 0 | |
| - 0 | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 12 | |
| - 12 | |
| flattened_iou_thresholds: | |
| - 0.1 | |
| - 0.5 | |
| - 0.7 | |
| - 0.1 | |
| - 0.1 | |
| - 0.7 | |
| - 0.9 | |
| flattened_yaw_error_thresholds_deg: | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| flattened_speed_error_thresholds_mps: | |
| - null | |
| - null | |
| - null | |
| - null | |
| - null | |
| - null | |
| - null | |
| flattened_score_thresholds: | |
| - 0.4 | |
| flattened_dist_threshold_classes: | |
| - 0 | |
| - 1 | |
| - 2 | |
| flattened_dist_thresholds: | |
| - 10.0 | |
| - 10.0 | |
| - 10.0 | |
| flattened_dist_yaw_error_thresholds_deg: | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| flattened_dist_speed_error_thresholds_mps: | |
| - null | |
| - null | |
| - null | |
| flattened_time_window_fprate_iou_thresholds: | |
| - 0.3 | |
| - 0.3 | |
| flattened_time_window_recall_iou_thresholds: | |
| - 0.5 | |
| - 0.5 | |
| time_window_thresh: 2 | |
| time_window: 3 | |
| check_timestamps: false | |
| query_score_thresh: 0.4 | |
| proposal_score_thresh: 0.1 | |
| rlx_std_sct: null | |
| image_plane_camera: TRUCK_FRONT_CENTRE_POD | |
| detection_proposal_metrics_config: | |
| class_ids: | |
| - ALL | |
| metric_names: | |
| - AveragePrecision | |
| - OperatingPoint | |
| - Recall | |
| - AveragePrecisionLane | |
| - HeadingError | |
| bucketizer_names: [] | |
| distance_bins: [] | |
| area_bins: [] | |
| tagger_names: | |
| - LabelDisplacementTagger | |
| - ForecastDisplacementTagger | |
| - DatasetIdTagger | |
| - DistanceToEgoTagger | |
| - NumLidarPtsTagger | |
| - SceneTagsTagger | |
| - ActorTagsTagger | |
| - DistanceFromEgoAlongLaneTagger | |
| - LateralDistanceFromEgoLaneTagger | |
| - CameraFoVTagger | |
| - DeltaXFromEgoTagger | |
| - DeltaYFromEgoTagger | |
| - DeltaZFromEgoTagger | |
| - HeadingToEgoTagger | |
| queries: | |
| - name: ignore_250m_1ptcamera_5pt | |
| query: in_roi and ignore_policy | |
| - name: stationary_true_ignore_250m_1ptcamera_5pt | |
| query: stationary_true and in_roi and ignore_policy | |
| - name: stationary_true_cam_fov_ignore_250m_1ptcamera_5pt | |
| query: stationary_true and cam_fov and in_roi and ignore_policy | |
| - name: near_ego_lane_ignore_250m_1ptcamera_5pt | |
| query: near_ego_lane and in_roi and ignore_policy | |
| - name: cam_fov_ignore_250m_1ptcamera_5pt | |
| query: cam_fov and in_roi and ignore_policy | |
| - name: in_front_of_ego_ignore_250m_1ptcamera_5pt | |
| query: in_front_of_ego and in_roi and ignore_policy | |
| - name: stationary_detection_ahead_of_ego_ignore_250m_1ptcamera_5pt | |
| query: stationary_detection_ahead_of_ego and in_roi and ignore_policy | |
| - name: aos_gt_150m_ignore_250m_1ptcamera_5pt | |
| query: actor_tags_aos_gt_150m and in_roi and ignore_policy | |
| - name: aos_ignore_250m_1ptcamera_5pt | |
| query: actor_tags_aos and in_roi and ignore_policy | |
| - name: dist_in_0m_40m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_0m_40m and in_roi and ignore_policy | |
| - name: dist_in_40m_80m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_40m_80m and in_roi and ignore_policy | |
| - name: dist_in_80m_120m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_80m_120m and in_roi and ignore_policy | |
| - name: dist_in_120m_160m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_120m_160m and in_roi and ignore_policy | |
| - name: dist_in_160m_200m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_160m_200m and in_roi and ignore_policy | |
| - name: dist_in_200m_250m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_200m_250m and in_roi and ignore_policy | |
| - name: dist_in_250m_350m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_250m_350m and in_roi and ignore_policy | |
| - name: dist_in_350m_450m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_350m_450m and in_roi and ignore_policy | |
| - name: dist_in_450m_550m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_450m_550m and in_roi and ignore_policy | |
| - name: dist_in_550m_650m_ignore_250m_1ptcamera_5pt | |
| query: dist_in_550m_650m and in_roi and ignore_policy | |
| - name: not_cam_fov_ignore_250m_1ptcamera_5pt | |
| query: not_cam_fov and in_roi and ignore_policy | |
| - name: all | |
| query: _dmi_index in _dmi_index | |
| - name: in_roi | |
| query: ((delta_x_from_ego <= 253) and (delta_x_from_ego >= -122) and (delta_y_from_ego | |
| >= -50) and (delta_y_from_ego <= 50) and (delta_z_from_ego >= -3.0) and (delta_z_from_ego | |
| <= 5.0)) | |
| - name: ignore_policy | |
| query: (not is_label) or (not ((is_cam_fov and sum_num_past_lidar_pts < 1) or | |
| sum_num_past_lidar_pts < 5)) | |
| - name: stationary_detection_ahead_of_ego | |
| query: is_label or ((lateral_distance_from_ego_lane_m <= 6.85) and (distance_from_ego_along_lane_m | |
| >= 0) and (forecast_future_disp_m <= 2.0)) | |
| - name: near_ego_lane | |
| query: (lateral_distance_from_ego_lane_m <= 6.85) and ((distance_from_ego_along_lane_m | |
| <= 130) and (distance_from_ego_along_lane_m >= -100)) | |
| - name: in_front_of_ego | |
| query: (lateral_distance_from_ego_lane_m <= 6.85) and (distance_from_ego_along_lane_m | |
| <= 130) and (distance_from_ego_along_lane_m >= 0) | |
| - name: stationary_true | |
| query: ((label_future_disp_m <= 2.0) or (not is_label)) | |
| - name: stationary_false | |
| query: ((label_future_disp_m > 2.0) or (not is_label)) | |
| - name: dist_in_0m_40m | |
| query: (distance_to_ego >= 0) and (distance_to_ego <= 40) | |
| - name: dist_in_40m_80m | |
| query: (distance_to_ego >= 40) and (distance_to_ego <= 80) | |
| - name: dist_in_80m_120m | |
| query: (distance_to_ego >= 80) and (distance_to_ego <= 120) | |
| - name: dist_in_120m_160m | |
| query: (distance_to_ego >= 120) and (distance_to_ego <= 160) | |
| - name: dist_in_160m_200m | |
| query: (distance_to_ego >= 160) and (distance_to_ego <= 200) | |
| - name: dist_in_200m_250m | |
| query: (distance_to_ego >= 200) and (distance_to_ego <= 250) | |
| - name: dist_in_250m_350m | |
| query: (distance_to_ego >= 250) and (distance_to_ego <= 350) | |
| - name: dist_in_350m_450m | |
| query: (distance_to_ego >= 350) and (distance_to_ego <= 450) | |
| - name: dist_in_450m_550m | |
| query: (distance_to_ego >= 450) and (distance_to_ego <= 550) | |
| - name: dist_in_550m_650m | |
| query: (distance_to_ego >= 550) and (distance_to_ego <= 650) | |
| - name: crowded_scenes_gt_10_actors | |
| query: '`scene_tags/num_moving_actors/value` > 10' | |
| - name: truck_frameless_human_labelled_eval | |
| query: dataset_id == 'truck_frameless_human_labelled_eval' | |
| - name: cam_fov | |
| query: is_cam_fov | |
| - name: stationary_true_cam_fov | |
| query: ((label_future_disp_m <= 2.0) or (not is_label)) and is_cam_fov | |
| - name: stationary_false_cam_fov | |
| query: ((label_future_disp_m > 2.0) or (not is_label)) and is_cam_fov | |
| - name: not_cam_fov | |
| query: (not is_cam_fov) | |
| - name: stationary_true_not_cam_fov | |
| query: ((label_future_disp_m <= 2.0) or (not is_label)) and (not is_cam_fov) | |
| - name: stationary_false_not_cam_fov | |
| query: ((label_future_disp_m > 2.0) or (not is_label)) and (not is_cam_fov) | |
| - name: actor_tags_aos | |
| query: (`actor_tags/actor_on_shoulder/value` and `actor_tags/actor_speed_2d_mps/value` | |
| < 1.0 and is_label) or (not is_label) | |
| - name: actor_tags_aos_gt_150m | |
| query: (`actor_tags/actor_on_shoulder/value` and `actor_tags/actor_speed_2d_mps/value` | |
| < 1.0 and is_label and (distance_to_ego >= 150)) or (not is_label) | |
| - name: actor_tags_aos_cam_fov | |
| query: ((`actor_tags/actor_on_shoulder/value` and `actor_tags/actor_speed_2d_mps/value` | |
| < 1.0 and is_label) or (not is_label)) and is_cam_fov | |
| - name: actor_tags_speed_value_gt_30 | |
| query: (`actor_tags/actor_speed_2d_mps/value` > 30 and is_label) or (not is_label) | |
| - name: dist_gt_160m | |
| query: distance_to_ego > 160 | |
| - name: heading_to_ego_under_2_degrees | |
| query: (not is_label) or (heading_to_ego <= 2) | |
| - name: heading_to_ego_between_2_5_degrees | |
| query: (not is_label) or ((heading_to_ego > 2) and (heading_to_ego <= 5)) | |
| - name: heading_to_ego_between_5_10_degrees | |
| query: (not is_label) or ((heading_to_ego > 5) and (heading_to_ego <= 10)) | |
| - name: heading_to_ego_between_10_20_degrees | |
| query: (not is_label) or ((heading_to_ego > 10) and (heading_to_ego <= 20)) | |
| - name: heading_to_ego_over_20_degrees | |
| query: (not is_label) or (heading_to_ego > 20) | |
| metric_to_queries: | |
| AveragePrecision: | |
| - ignore_250m_1ptcamera_5pt | |
| - cam_fov_ignore_250m_1ptcamera_5pt | |
| - stationary_true_cam_fov_ignore_250m_1ptcamera_5pt | |
| - stationary_true_ignore_250m_1ptcamera_5pt | |
| - dist_in_0m_40m_ignore_250m_1ptcamera_5pt | |
| - dist_in_40m_80m_ignore_250m_1ptcamera_5pt | |
| - dist_in_80m_120m_ignore_250m_1ptcamera_5pt | |
| - dist_in_120m_160m_ignore_250m_1ptcamera_5pt | |
| - dist_in_160m_200m_ignore_250m_1ptcamera_5pt | |
| - dist_in_200m_250m_ignore_250m_1ptcamera_5pt | |
| - dist_in_250m_350m_ignore_250m_1ptcamera_5pt | |
| - dist_in_350m_450m_ignore_250m_1ptcamera_5pt | |
| - dist_in_450m_550m_ignore_250m_1ptcamera_5pt | |
| - dist_in_550m_650m_ignore_250m_1ptcamera_5pt | |
| - near_ego_lane_ignore_250m_1ptcamera_5pt | |
| - in_front_of_ego_ignore_250m_1ptcamera_5pt | |
| - aos_gt_150m_ignore_250m_1ptcamera_5pt | |
| - aos_ignore_250m_1ptcamera_5pt | |
| - all | |
| - cam_fov | |
| - dist_in_160m_200m | |
| - dist_in_200m_250m | |
| - dist_in_250m_350m | |
| - dist_in_0m_40m | |
| - dist_in_120m_160m | |
| - dist_in_40m_80m | |
| - dist_in_80m_120m | |
| - dist_in_350m_450m | |
| - dist_in_450m_550m | |
| - dist_in_550m_650m | |
| - stationary_true | |
| OperatingPoint: | |
| - ignore_250m_1ptcamera_5pt | |
| - stationary_true_ignore_250m_1ptcamera_5pt | |
| - stationary_true_cam_fov_ignore_250m_1ptcamera_5pt | |
| - cam_fov | |
| - stationary_true | |
| Recall: | |
| - ignore_250m_1ptcamera_5pt | |
| - dist_in_0m_40m_ignore_250m_1ptcamera_5pt | |
| - dist_in_40m_80m_ignore_250m_1ptcamera_5pt | |
| - dist_in_80m_120m_ignore_250m_1ptcamera_5pt | |
| - dist_in_120m_160m_ignore_250m_1ptcamera_5pt | |
| - dist_in_160m_200m_ignore_250m_1ptcamera_5pt | |
| - dist_in_200m_250m_ignore_250m_1ptcamera_5pt | |
| - dist_in_250m_350m_ignore_250m_1ptcamera_5pt | |
| - dist_in_350m_450m_ignore_250m_1ptcamera_5pt | |
| - dist_in_450m_550m_ignore_250m_1ptcamera_5pt | |
| - dist_in_550m_650m_ignore_250m_1ptcamera_5pt | |
| - stationary_true_ignore_250m_1ptcamera_5pt | |
| - near_ego_lane_ignore_250m_1ptcamera_5pt | |
| - in_front_of_ego_ignore_250m_1ptcamera_5pt | |
| - aos_gt_150m_ignore_250m_1ptcamera_5pt | |
| - aos_ignore_250m_1ptcamera_5pt | |
| - actor_tags_aos | |
| - actor_tags_aos_gt_150m | |
| - actor_tags_aos_cam_fov | |
| - all | |
| - cam_fov | |
| - dist_in_160m_200m | |
| - dist_in_200m_250m | |
| - dist_in_250m_350m | |
| - dist_in_0m_40m | |
| - dist_in_120m_160m | |
| - dist_in_40m_80m | |
| - dist_in_80m_120m | |
| - dist_in_350m_450m | |
| - dist_in_450m_550m | |
| - dist_in_550m_650m | |
| - stationary_true | |
| HeadingError: | |
| - heading_to_ego_under_2_degrees | |
| - heading_to_ego_between_2_5_degrees | |
| - heading_to_ego_between_5_10_degrees | |
| - heading_to_ego_between_10_20_degrees | |
| - heading_to_ego_over_20_degrees | |
| AveragePrecisionLane: | |
| - all | |
| - ignore_250m_1ptcamera_5pt | |
| - dist_in_0m_40m_ignore_250m_1ptcamera_5pt | |
| - dist_in_40m_80m_ignore_250m_1ptcamera_5pt | |
| - dist_in_80m_120m_ignore_250m_1ptcamera_5pt | |
| - dist_in_120m_160m_ignore_250m_1ptcamera_5pt | |
| - dist_in_160m_200m_ignore_250m_1ptcamera_5pt | |
| - dist_in_200m_250m_ignore_250m_1ptcamera_5pt | |
| - dist_in_250m_350m_ignore_250m_1ptcamera_5pt | |
| - dist_in_350m_450m_ignore_250m_1ptcamera_5pt | |
| - dist_in_450m_550m_ignore_250m_1ptcamera_5pt | |
| - dist_in_550m_650m_ignore_250m_1ptcamera_5pt | |
| - cam_fov_ignore_250m_1ptcamera_5pt | |
| - stationary_true | |
| auto_metric_queries: {} | |
| class_names: | |
| - PandasetClass.CAR | |
| - PandasetClass.PICKUP | |
| - PandasetClass.MEDIUM_SIZED_TRUCK | |
| - PandasetClass.BUS | |
| - PandasetClass.EMERGENCY_VEHICLE | |
| - PandasetClass.TOWED_OBJECT | |
| - PandasetClass.OTHER_VEHICLE_CONSTRUCTION | |
| stationary_bins: | |
| - 'False' | |
| - 'True' | |
| region_of_interest: | |
| - FORWARD_194 | |
| - FORWARD_100 | |
| - ADJACENT_LANE_FORWARD_194 | |
| - ADJACENT_LANE_FORWARD_100 | |
| - ADJACENT_LANE_REAR_160 | |
| - ADJACENT_LANE_REAR_60 | |
| - SWEEP_40 | |
| flattened_iou_threshold_classes: | |
| - 4 | |
| - 4 | |
| flattened_iou_thresholds: | |
| - 0.1 | |
| - 0.5 | |
| flattened_yaw_error_thresholds_deg: | |
| - 180.0 | |
| - 180.0 | |
| flattened_speed_error_thresholds_mps: | |
| - null | |
| - null | |
| flattened_score_thresholds: | |
| - 0.4 | |
| flattened_dist_threshold_classes: | |
| - 4 | |
| flattened_dist_thresholds: | |
| - 10.0 | |
| flattened_dist_yaw_error_thresholds_deg: | |
| - 180.0 | |
| flattened_dist_speed_error_thresholds_mps: | |
| - null | |
| flattened_time_window_fprate_iou_thresholds: | |
| - 0.3 | |
| - 0.3 | |
| flattened_time_window_recall_iou_thresholds: | |
| - 0.5 | |
| - 0.5 | |
| time_window_thresh: 2 | |
| time_window: 3 | |
| check_timestamps: false | |
| query_score_thresh: 0.4 | |
| proposal_score_thresh: 0.1 | |
| rlx_std_sct: null | |
| image_plane_camera: TRUCK_FRONT_CENTRE_POD | |
| prediction_metrics_config: | |
| class_ids: | |
| - 0 | |
| - 1 | |
| - 2 | |
| tagger_names: | |
| - LabelDiscreteBehaviorTagger | |
| - LabelInitialDistanceTagger | |
| - LabelInitialHeadingTagger | |
| - LabelSpeedTagger | |
| - LabelInitialAccelerationTagger | |
| - LabelStaticTagger | |
| - FPCutinTagger | |
| - NumLidarPtsTagger | |
| - SceneTagsTagger | |
| - ActorTagsTagger | |
| - CamFoVTagger | |
| - DeltaXFromEgoTagger | |
| - DeltaYFromEgoTagger | |
| - DeltaZFromEgoTagger | |
| - DistanceFromTrafficLightTagger | |
| - PredictedKinematicsTagger | |
| queries: | |
| - name: ignore_250m_1ptcamera_5pt | |
| query: in_roi and ignore_policy | |
| - name: LANE_KEEP_ignore_250m_1ptcamera_5pt | |
| query: LANE_KEEP and in_roi and ignore_policy | |
| - name: fp_cutins_ignore_250m_1ptcamera_5pt | |
| query: fp_cutins and in_roi and ignore_policy | |
| - name: static_ignore_250m_1ptcamera_5pt | |
| query: is_static and in_roi and ignore_policy | |
| - name: actor_tags_actor_heading_accel_mpss_value_leq_neg_2_ignore_250m_1ptcamera_5pt | |
| query: actor_tags_actor_heading_accel_mpss_value_leq_neg_2 and in_roi and ignore_policy | |
| - name: scene_tags_merges_ignore_250m_1ptcamera_5pt | |
| query: scene_tags_merges and in_roi and ignore_policy | |
| - name: scene_tags_estimated_road_curvature_geq_abs_0d0005_ignore_250m_1ptcamera_5pt | |
| query: scene_tags_estimated_road_curvature_geq_abs_0d0005 and in_roi and ignore_policy | |
| - name: in_roi | |
| query: ((delta_x_from_ego <= 253) and (delta_x_from_ego >= -122) and (delta_y_from_ego | |
| >= -50) and (delta_y_from_ego <= 50) and (delta_z_from_ego >= -3.0) and (delta_z_from_ego | |
| <= 5.0)) | |
| - name: ignore_policy | |
| query: (not ((is_cam_fov and sum_num_past_lidar_pts < 1) or sum_num_past_lidar_pts | |
| < 5)) | |
| - name: static | |
| query: is_static | |
| - name: acc_le_neg_2mps | |
| query: (initial_acceleration <= -2.0) | |
| - name: eval_rainy | |
| query: dataset_id == 'eval_rainy' | |
| - name: actor_tags_actor_heading_accel_mpss_geq_abs_0d7 | |
| query: '`actor_tags/actor_heading_accel_mpss/value` <= -0.7 or `actor_tags/actor_heading_accel_mpss/value` | |
| >= 0.7' | |
| - name: actor_tags_actor_heading_accel_mpss_value_leq_neg_2 | |
| query: '`actor_tags/actor_heading_accel_mpss/value` <= -2' | |
| - name: actor_tags_actor_heading_accel_mpss_value_leq_neg_1 | |
| query: '`actor_tags/actor_heading_accel_mpss/value` <= -1' | |
| - name: scene_tags_estimated_road_curvature_geq_abs_0d0005 | |
| query: '`scene_tags/estimated_road_curvature/value` >= 0.0005' | |
| - name: scene_tags_estimated_road_curvature_geq_abs_0d001 | |
| query: '`scene_tags/estimated_road_curvature/value` >= 0.001' | |
| - name: scene_tags_merges | |
| query: '`scene_tags/ego_on_merge/value` or `scene_tags/ego_on_lane_joins/value`' | |
| - name: LANE_KEEP | |
| query: behavior_lane_keep | |
| - name: actor_tags_actor_lateral_accel_mpss_geq_abs_0d3 | |
| query: '`actor_tags/actor_lateral_accel_mpss/value` <= -0.3 or `actor_tags/actor_lateral_accel_mpss/value` | |
| >= 0.3' | |
| - name: fp_cutins | |
| query: fp_cutin | |
| - name: sum_num_past_lidar_pts_in_0_20 | |
| query: (sum_num_past_lidar_pts >= 0) and (sum_num_past_lidar_pts < 20) | |
| - name: sum_num_past_lidar_pts_in_20_100 | |
| query: (sum_num_past_lidar_pts >= 20) and (sum_num_past_lidar_pts < 100) | |
| - name: sum_num_past_lidar_pts_in_100_600 | |
| query: (sum_num_past_lidar_pts >= 100) and (sum_num_past_lidar_pts < 600) | |
| - name: sum_num_past_lidar_pts_in_600_2800 | |
| query: (sum_num_past_lidar_pts >= 600) and (sum_num_past_lidar_pts < 2800) | |
| - name: sum_num_past_lidar_pts_gt_2800 | |
| query: (sum_num_past_lidar_pts >= 2800) | |
| - name: close_ego_lane | |
| query: ((delta_x_from_ego <= 30) and (delta_x_from_ego >= -50) and (delta_y_from_ego | |
| >= -10) and (delta_y_from_ego <= 10)) | |
| - name: near_traffic_lights | |
| query: (distance_from_traffic_light_tagger >= 0) and (distance_from_traffic_light_tagger | |
| <= 100) | |
| - name: slow_to_stop | |
| query: (initial_speed >= 5.0) and (final_speed <= 0.5) | |
| - name: infeasible_kinematics | |
| query: (max_acceleration_pred > 6) or (max_curvature_pred > 0.3) | |
| metric_to_queries: | |
| MinAlongTrackErrorBreakdown: | |
| - ignore_250m_1ptcamera_5pt | |
| - near_traffic_lights | |
| - slow_to_stop | |
| MinAvgDisplErrorBreakdown: | |
| - ignore_250m_1ptcamera_5pt | |
| - static_ignore_250m_1ptcamera_5pt | |
| - actor_tags_actor_heading_accel_mpss_value_leq_neg_2_ignore_250m_1ptcamera_5pt | |
| - scene_tags_merges_ignore_250m_1ptcamera_5pt | |
| - scene_tags_merges | |
| - acc_le_neg_2mps | |
| - actor_tags_actor_heading_accel_mpss_geq_abs_0d7 | |
| - actor_tags_actor_heading_accel_mpss_value_leq_neg_2 | |
| - scene_tags_estimated_road_curvature_geq_abs_0d0005 | |
| - static | |
| - close_ego_lane | |
| - near_traffic_lights | |
| - slow_to_stop | |
| MinCrossTrackErrorBreakdown: | |
| - ignore_250m_1ptcamera_5pt | |
| - LANE_KEEP | |
| - actor_tags_actor_lateral_accel_mpss_geq_abs_0d3 | |
| - scene_tags_estimated_road_curvature_geq_abs_0d0005 | |
| - close_ego_lane | |
| - near_traffic_lights | |
| - slow_to_stop | |
| FPEncroachmentRateBreakdown: | |
| - ignore_250m_1ptcamera_5pt | |
| - scene_tags_estimated_road_curvature_geq_abs_0d0005_ignore_250m_1ptcamera_5pt | |
| - scene_tags_estimated_road_curvature_geq_abs_0d0005 | |
| - scene_tags_estimated_road_curvature_geq_abs_0d001 | |
| - close_ego_lane | |
| - near_traffic_lights | |
| auto_metric_queries: {} | |
| flattened_iou_threshold_classes: 0 | |
| flattened_iou_thresholds: 0.5 | |
| flattened_yaw_error_thresholds_deg: 180.0 | |
| flattened_speed_error_thresholds_mps: null | |
| flattened_det_recalls: 0.5 | |
| flattened_score_threshold: null | |
| det_label_matching_mode: RECALL | |
| metric_groups: | |
| - metric_name: MinAvgDisplErrorBreakdown | |
| breakdown_dims: | |
| - mode_breakdown: true | |
| time_breakdown: true | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: true | |
| time_breakdown: false | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: false | |
| time_breakdown: true | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: false | |
| time_breakdown: false | |
| headers: | |
| - SCALAR | |
| require_lane_assocs: false | |
| require_lane_graph: false | |
| - metric_name: MinAlongTrackErrorBreakdown | |
| breakdown_dims: | |
| - mode_breakdown: true | |
| time_breakdown: false | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: false | |
| time_breakdown: true | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: false | |
| time_breakdown: false | |
| headers: | |
| - SCALAR | |
| require_lane_assocs: false | |
| require_lane_graph: false | |
| - metric_name: MinCrossTrackErrorBreakdown | |
| breakdown_dims: | |
| - mode_breakdown: true | |
| time_breakdown: true | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: true | |
| time_breakdown: false | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: false | |
| time_breakdown: true | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: false | |
| time_breakdown: false | |
| headers: | |
| - SCALAR | |
| require_lane_assocs: false | |
| require_lane_graph: false | |
| - metric_name: FPEncroachmentRateBreakdown | |
| breakdown_dims: | |
| - mode_breakdown: true | |
| time_breakdown: true | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: true | |
| time_breakdown: false | |
| headers: | |
| - SCALAR | |
| - HISTOGRAM | |
| require_lane_assocs: true | |
| require_lane_graph: true | |
| per_timestep_sampling_interval: 6.0 | |
| seconds_per_timestep: 0.5 | |
| top_k_modes: | |
| - 1 | |
| - 6 | |
| minimum_index_for_partial_gt: 3 | |
| roi: null | |
| grid_size: null | |
| filter_ego: true | |
| rasterization_cfg: null | |
| child_configs: | |
| '0': | |
| class_ids: | |
| - 0 | |
| - 1 | |
| - 2 | |
| tagger_names: | |
| - LabelDiscreteBehaviorTagger | |
| - LabelInitialDistanceTagger | |
| - LabelInitialHeadingTagger | |
| - LabelSpeedTagger | |
| - LabelInitialAccelerationTagger | |
| - LabelStaticTagger | |
| - FPCutinTagger | |
| - NumLidarPtsTagger | |
| - SceneTagsTagger | |
| - ActorTagsTagger | |
| - CamFoVTagger | |
| - DeltaXFromEgoTagger | |
| - DeltaYFromEgoTagger | |
| - DeltaZFromEgoTagger | |
| - DistanceFromTrafficLightTagger | |
| - PredictedKinematicsTagger | |
| queries: | |
| - name: ignore_250m_1ptcamera_5pt | |
| query: in_roi and ignore_policy | |
| - name: LANE_KEEP_ignore_250m_1ptcamera_5pt | |
| query: LANE_KEEP and in_roi and ignore_policy | |
| - name: fp_cutins_ignore_250m_1ptcamera_5pt | |
| query: fp_cutins and in_roi and ignore_policy | |
| - name: static_ignore_250m_1ptcamera_5pt | |
| query: is_static and in_roi and ignore_policy | |
| - name: actor_tags_actor_heading_accel_mpss_value_leq_neg_2_ignore_250m_1ptcamera_5pt | |
| query: actor_tags_actor_heading_accel_mpss_value_leq_neg_2 and in_roi and | |
| ignore_policy | |
| - name: scene_tags_merges_ignore_250m_1ptcamera_5pt | |
| query: scene_tags_merges and in_roi and ignore_policy | |
| - name: scene_tags_estimated_road_curvature_geq_abs_0d0005_ignore_250m_1ptcamera_5pt | |
| query: scene_tags_estimated_road_curvature_geq_abs_0d0005 and in_roi and | |
| ignore_policy | |
| - name: in_roi | |
| query: ((delta_x_from_ego <= 253) and (delta_x_from_ego >= -122) and (delta_y_from_ego | |
| >= -50) and (delta_y_from_ego <= 50) and (delta_z_from_ego >= -3.0) and | |
| (delta_z_from_ego <= 5.0)) | |
| - name: ignore_policy | |
| query: (not ((is_cam_fov and sum_num_past_lidar_pts < 1) or sum_num_past_lidar_pts | |
| < 5)) | |
| - name: static | |
| query: is_static | |
| - name: acc_le_neg_2mps | |
| query: (initial_acceleration <= -2.0) | |
| - name: eval_rainy | |
| query: dataset_id == 'eval_rainy' | |
| - name: actor_tags_actor_heading_accel_mpss_geq_abs_0d7 | |
| query: '`actor_tags/actor_heading_accel_mpss/value` <= -0.7 or `actor_tags/actor_heading_accel_mpss/value` | |
| >= 0.7' | |
| - name: actor_tags_actor_heading_accel_mpss_value_leq_neg_2 | |
| query: '`actor_tags/actor_heading_accel_mpss/value` <= -2' | |
| - name: actor_tags_actor_heading_accel_mpss_value_leq_neg_1 | |
| query: '`actor_tags/actor_heading_accel_mpss/value` <= -1' | |
| - name: scene_tags_estimated_road_curvature_geq_abs_0d0005 | |
| query: '`scene_tags/estimated_road_curvature/value` >= 0.0005' | |
| - name: scene_tags_estimated_road_curvature_geq_abs_0d001 | |
| query: '`scene_tags/estimated_road_curvature/value` >= 0.001' | |
| - name: scene_tags_merges | |
| query: '`scene_tags/ego_on_merge/value` or `scene_tags/ego_on_lane_joins/value`' | |
| - name: LANE_KEEP | |
| query: behavior_lane_keep | |
| - name: actor_tags_actor_lateral_accel_mpss_geq_abs_0d3 | |
| query: '`actor_tags/actor_lateral_accel_mpss/value` <= -0.3 or `actor_tags/actor_lateral_accel_mpss/value` | |
| >= 0.3' | |
| - name: fp_cutins | |
| query: fp_cutin | |
| - name: sum_num_past_lidar_pts_in_0_20 | |
| query: (sum_num_past_lidar_pts >= 0) and (sum_num_past_lidar_pts < 20) | |
| - name: sum_num_past_lidar_pts_in_20_100 | |
| query: (sum_num_past_lidar_pts >= 20) and (sum_num_past_lidar_pts < 100) | |
| - name: sum_num_past_lidar_pts_in_100_600 | |
| query: (sum_num_past_lidar_pts >= 100) and (sum_num_past_lidar_pts < 600) | |
| - name: sum_num_past_lidar_pts_in_600_2800 | |
| query: (sum_num_past_lidar_pts >= 600) and (sum_num_past_lidar_pts < 2800) | |
| - name: sum_num_past_lidar_pts_gt_2800 | |
| query: (sum_num_past_lidar_pts >= 2800) | |
| - name: close_ego_lane | |
| query: ((delta_x_from_ego <= 30) and (delta_x_from_ego >= -50) and (delta_y_from_ego | |
| >= -10) and (delta_y_from_ego <= 10)) | |
| - name: near_traffic_lights | |
| query: (distance_from_traffic_light_tagger >= 0) and (distance_from_traffic_light_tagger | |
| <= 100) | |
| - name: slow_to_stop | |
| query: (initial_speed >= 5.0) and (final_speed <= 0.5) | |
| - name: infeasible_kinematics | |
| query: (max_acceleration_pred > 6) or (max_curvature_pred > 0.3) | |
| metric_to_queries: | |
| MinAlongTrackErrorBreakdown: | |
| - ignore_250m_1ptcamera_5pt | |
| - near_traffic_lights | |
| - slow_to_stop | |
| MinAvgDisplErrorBreakdown: | |
| - ignore_250m_1ptcamera_5pt | |
| - static_ignore_250m_1ptcamera_5pt | |
| - actor_tags_actor_heading_accel_mpss_value_leq_neg_2_ignore_250m_1ptcamera_5pt | |
| - scene_tags_merges_ignore_250m_1ptcamera_5pt | |
| - scene_tags_merges | |
| - acc_le_neg_2mps | |
| - actor_tags_actor_heading_accel_mpss_geq_abs_0d7 | |
| - actor_tags_actor_heading_accel_mpss_value_leq_neg_2 | |
| - scene_tags_estimated_road_curvature_geq_abs_0d0005 | |
| - static | |
| - close_ego_lane | |
| - near_traffic_lights | |
| - slow_to_stop | |
| MinCrossTrackErrorBreakdown: | |
| - ignore_250m_1ptcamera_5pt | |
| - LANE_KEEP | |
| - actor_tags_actor_lateral_accel_mpss_geq_abs_0d3 | |
| - scene_tags_estimated_road_curvature_geq_abs_0d0005 | |
| - close_ego_lane | |
| - near_traffic_lights | |
| - slow_to_stop | |
| FPEncroachmentRateBreakdown: | |
| - ignore_250m_1ptcamera_5pt | |
| - scene_tags_estimated_road_curvature_geq_abs_0d0005_ignore_250m_1ptcamera_5pt | |
| - scene_tags_estimated_road_curvature_geq_abs_0d0005 | |
| - scene_tags_estimated_road_curvature_geq_abs_0d001 | |
| - close_ego_lane | |
| - near_traffic_lights | |
| auto_metric_queries: {} | |
| flattened_iou_threshold_classes: 0 | |
| flattened_iou_thresholds: 0.5 | |
| flattened_yaw_error_thresholds_deg: 180.0 | |
| flattened_speed_error_thresholds_mps: null | |
| flattened_det_recalls: 0.7 | |
| flattened_score_threshold: null | |
| det_label_matching_mode: RECALL | |
| metric_groups: | |
| - metric_name: MinAvgDisplErrorBreakdown | |
| breakdown_dims: | |
| - mode_breakdown: true | |
| time_breakdown: true | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: true | |
| time_breakdown: false | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: false | |
| time_breakdown: true | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: false | |
| time_breakdown: false | |
| headers: | |
| - SCALAR | |
| require_lane_assocs: false | |
| require_lane_graph: false | |
| - metric_name: MinAlongTrackErrorBreakdown | |
| breakdown_dims: | |
| - mode_breakdown: true | |
| time_breakdown: false | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: false | |
| time_breakdown: true | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: false | |
| time_breakdown: false | |
| headers: | |
| - SCALAR | |
| require_lane_assocs: false | |
| require_lane_graph: false | |
| - metric_name: MinCrossTrackErrorBreakdown | |
| breakdown_dims: | |
| - mode_breakdown: true | |
| time_breakdown: true | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: true | |
| time_breakdown: false | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: false | |
| time_breakdown: true | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: false | |
| time_breakdown: false | |
| headers: | |
| - SCALAR | |
| require_lane_assocs: false | |
| require_lane_graph: false | |
| - metric_name: FPEncroachmentRateBreakdown | |
| breakdown_dims: | |
| - mode_breakdown: true | |
| time_breakdown: true | |
| headers: | |
| - SCALAR | |
| - mode_breakdown: true | |
| time_breakdown: false | |
| headers: | |
| - SCALAR | |
| - HISTOGRAM | |
| require_lane_assocs: true | |
| require_lane_graph: true | |
| per_timestep_sampling_interval: 6.0 | |
| seconds_per_timestep: 0.5 | |
| top_k_modes: | |
| - 1 | |
| - 6 | |
| minimum_index_for_partial_gt: 3 | |
| roi: null | |
| grid_size: null | |
| filter_ego: true | |
| rasterization_cfg: null | |
| child_configs: null | |
| box_expansion_amount: null | |
| '1': | |
| class_ids: | |
| - 0 | |
| - 2 | |
| tagger_names: [] | |
| queries: [] | |
| metric_to_queries: {} | |
| auto_metric_queries: {} | |
| flattened_iou_threshold_classes: 0 | |
| flattened_iou_thresholds: 0.0 | |
| flattened_yaw_error_thresholds_deg: 180.0 | |
| flattened_speed_error_thresholds_mps: null | |
| flattened_det_recalls: 0.0 | |
| flattened_score_threshold: 0.0 | |
| det_label_matching_mode: NO_MATCHING | |
| metric_groups: | |
| - metric_name: RasterizedOccupancyAP | |
| breakdown_dims: null | |
| require_lane_assocs: false | |
| require_lane_graph: false | |
| - metric_name: RasterizedOccupancySoftIOU | |
| breakdown_dims: null | |
| require_lane_assocs: false | |
| require_lane_graph: false | |
| - metric_name: AvgRasterizedOccupancyCalibration | |
| breakdown_dims: null | |
| require_lane_assocs: false | |
| require_lane_graph: false | |
| per_timestep_sampling_interval: 6.0 | |
| seconds_per_timestep: 0.5 | |
| top_k_modes: | |
| - 1 | |
| - 6 | |
| minimum_index_for_partial_gt: 3 | |
| roi: null | |
| grid_size: null | |
| filter_ego: true | |
| rasterization_cfg: | |
| x_min: -125.0 | |
| x_max: 200.0 | |
| y_min: -50.0 | |
| y_max: 50.0 | |
| step: 0.2 | |
| child_configs: null | |
| box_expansion_amount: 0.0 | |
| box_expansion_amount: null | |
| segmentation_metrics_config: null | |
| instance_free_metrics_config: | |
| metric_names: | |
| - OccupancyAP | |
| - ExpectedEgoOccupancy | |
| - ExpectedOtherRoadOccupancy | |
| num_calibration_buckets: 30 | |
| active_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - ALL | |
| - OTHER_OBJECT | |
| ap_threshold_bins: 100 | |
| run_flow_metrics: false | |
| eval_query_cfg: | |
| query_type: 0 | |
| x_min: -202.0 | |
| y_min: -150.0 | |
| x_max: 303.0 | |
| y_max: 150.0 | |
| flatten_z: true | |
| z_min: 0.0 | |
| z_max: 0.0 | |
| t_min: 0.0 | |
| t_max: 6.0 | |
| ground_label_step_size: 0.15625 | |
| warp_points: false | |
| warp_delta: 0.1 | |
| min_warp_time: 0.0 | |
| max_warp_time: 1.0 | |
| grid_query_cfg: | |
| x_step: 0.3125 | |
| y_step: 0.3125 | |
| z_step: 0.2 | |
| t_step: 0.5 | |
| num_pts_per_iter: 20000 | |
| x_min: -52.0 | |
| y_min: -50.0 | |
| x_max: 303.0 | |
| y_max: 50.0 | |
| z_min: null | |
| z_max: null | |
| t_min: 0.0 | |
| t_max: 6.0 | |
| class_balanced_grid_query_cfg: null | |
| continuous_query_cfg: null | |
| visibility_query_cfg: null | |
| balanced_visibility_query_cfg: null | |
| positive_labels_query_cfg: null | |
| joint_query_cfg: null | |
| grid_balanced_visibility_query_cfg: null | |
| render_lidar_cfg: null | |
| render_query_cfg: null | |
| distillation_query_cfg: null | |
| negative_ego_cfg: null | |
| online_mapper_query_cfg: null | |
| pseudo_lidar_query_cfg: null | |
| query_point_selectors: | |
| - name: initial_time | |
| expr: 'lambda q: q[..., -1] < 1e-3' | |
| - name: final_time | |
| expr: 'lambda q: q[..., -1] > 6.0 - (1e-3)' | |
| - name: long_range_200m+ | |
| expr: 'lambda q: q[..., 0] > 200.0' | |
| - name: within_10m_of_ego_initial_time | |
| expr: 'lambda q: (torch.linalg.norm(q[..., :2], dim=-1) < 10.0) & (q[..., -1] | |
| < 1e-3)' | |
| metric_to_query_point_selectors: | |
| OccupancyAP: | |
| - initial_time | |
| - final_time | |
| - long_range_200m+ | |
| - within_10m_of_ego_initial_time | |
| ExpectedEgoOccupancy: | |
| - initial_time | |
| - final_time | |
| ExpectedOtherRoadOccupancy: | |
| - initial_time | |
| - final_time | |
| - long_range_200m+ | |
| - within_10m_of_ego_initial_time | |
| compute_device: cuda | |
| online_mapper_metrics_config: null | |
| traffic_light_metrics_config: | |
| metric_names: | |
| - GroupAccuracy | |
| - GroupCount | |
| scenegen_metrics_config: null | |
| mp_metrics_cfg: | |
| metrics: | |
| - type: L2Expert | |
| arguments: {} | |
| - type: CumulativeCollisionRate | |
| arguments: {} | |
| - type: Progress | |
| arguments: {} | |
| - type: AverageBicycleModelLatJerk | |
| arguments: {} | |
| - type: AverageBicycleModelJerk | |
| arguments: {} | |
| - type: AverageBicycleModelLatAcceleration | |
| arguments: {} | |
| - type: AverageBicycleModelAcceleration | |
| arguments: {} | |
| - type: SamplesL2Expert | |
| arguments: {} | |
| - type: SamplesL2PercentileExpert | |
| arguments: {} | |
| - type: SamplesLatDistPercentileExpert | |
| arguments: {} | |
| - type: SamplesLonDistPercentileExpert | |
| arguments: {} | |
| - type: MinTTCSDVPlanTraj | |
| arguments: {} | |
| - type: TTCSDVPlanTrajPercentiles | |
| arguments: {} | |
| tta_config: null | |
| compute_loss: true | |
| device: cuda | |
| storage_device: cpu | |
| vis_save_path: null | |
| proposal_confidence_threshold: 0.1 | |
| storage_config: null | |
| fork_metrics: false | |
| metrics_only: false | |
| recompute_num_pts_ignores: false | |
| recompute_num_pts: true | |
| min_sum_num_pts: null | |
| min_cam_fov_sum_num_pts: null | |
| crop_lidar_num_pts: true | |
| warmup_ths: 9 | |
| compute_metadata: true | |
| compute_proposals: true | |
| use_incremental_eval: true | |
| dump_for_waymo_eval: false | |
| print_progress_interval: 100 | |
| visualizer_cfg: | |
| plots: | |
| - output | |
| plot_scopes: null | |
| device: cuda | |
| viz_single_actors_randomly: false | |
| select_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - EGO | |
| - EGO_TRAILER | |
| try_plot_poly_map: false | |
| visualize_pnp: false | |
| custom_viz: true | |
| save_fps: 2 | |
| save_video_as_gif: false | |
| plot_all_lidar_sweeps: false | |
| plot_perfect_loc_map_raster: false | |
| plot_actor_attention: false | |
| subsample_lidar: 0.7 | |
| min_conf: 0.5 | |
| gt_alpha: 0.7 | |
| pred_alpha: 0.5 | |
| plot_sdv_plan: true | |
| tracker_alpha: 0.7 | |
| viz_trajectories: false | |
| object_free_visualizer_cfg: null | |
| recompute_num_pts: false | |
| min_sum_num_pts: null | |
| min_cam_fov_sum_num_pts: null | |
| crop_lidar_num_pts: true | |
| radar_visualizer_cfg: null | |
| plot_label_observing_devices: false | |
| plot_distance_markers: false | |
| distance_marker_interval_m: 100.0 | |
| voxel_cfg: null | |
| perception_model: null | |
| camera_perception_model: null | |
| pred_only_model: null | |
| pnp_model: null | |
| scene_generation_model: null | |
| ultralidar_model: null | |
| mp_model: null | |
| traj_vqvae_model: null | |
| vq_dptransformer_model: | |
| class_cfg: | |
| active_classes: | |
| - VEHICLE | |
| - PERSON | |
| - CYCLIST | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| perception_model: | |
| sensor_cfg: | |
| lidar_names: | |
| - HESAI_PANDAR128_E3X_0 | |
| - HESAI_PANDAR128_E3X_1 | |
| - HESAI_QT128_C2X_0 | |
| - HESAI_QT128_C2X_1 | |
| - HESAI_QT128_C2X_2 | |
| - LUMINAR_H3_IRIS | |
| num_sweeps: 5 | |
| voxel_cfg: | |
| x_min: -202.0 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| add_intensity: false | |
| add_ground: false | |
| add_class_id: false | |
| add_sensor_id: false | |
| add_relative_time: false | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| n_feat: null | |
| any_corner: true | |
| rasterize_concat_intensity: false | |
| name: SparseMultiLidarVoxelizer | |
| n_out: ${..det_cfg.backbone.in_channels} | |
| num_sensors: 6 | |
| num_sweeps: ${..sensor_cfg.num_sweeps} | |
| single_lidar: false | |
| single_radar: null | |
| clip_outside_voxelizer_z_roi: true | |
| use_fast_version: true | |
| norm_type: SyncBN | |
| modality: LIDAR | |
| use_norm: true | |
| with_distance: false | |
| use_absolute_xyz: true | |
| num_point_features: 4 | |
| num_filters: | |
| - 64 | |
| - 64 | |
| shuffle_points: false | |
| waabi_y_convention: true | |
| det_cfg: | |
| neck: | |
| out_channels: 128 | |
| in_channels: | |
| - 192 | |
| - 256 | |
| - 384 | |
| out_indices: | |
| - 0 | |
| norm_type: BN | |
| pyramid_pool: false | |
| name: FeatureSelect | |
| rpn_config: null | |
| rpn_with_spatial_attention_config: null | |
| header: | |
| in_channels: 512 | |
| cls_channels: 48 | |
| reg_channels: 128 | |
| pred_channels: 128 | |
| num_cls_layers: 4 | |
| num_reg_layers: 4 | |
| num_pred_layers: 4 | |
| cls_dim: 1 | |
| reg_dim: 6 | |
| pred_dim: 20 | |
| add_heading: false | |
| norm_type: SyncBN | |
| focal_init: true | |
| occ_dim: 11 | |
| final_upsample: 1 | |
| modes: 1 | |
| step_size: 0.4 | |
| flow_mode: 3 | |
| name: CenterpointProposalHead | |
| num_heading_bins: 12 | |
| center_head_cfg: | |
| class_names_each_head: ??? | |
| bn_mom: 0.1 | |
| bn_eps: 1.0e-05 | |
| num_hm_conv: 2 | |
| freeze_hm: false | |
| head_conv_type: spconv | |
| bias_before_bn: false | |
| max_obj_per_sample: 500 | |
| score_thresh: 0.1 | |
| post_center_limit_range: | |
| - -80.0 | |
| - -80.0 | |
| - -10.0 | |
| - 80.0 | |
| - 80.0 | |
| - 10.0 | |
| use_iou_to_recify_score: true | |
| iou_rectifier: | |
| - 0.68 | |
| - 0.71 | |
| - 0.65 | |
| class_specific_nms_cfg: | |
| nms_thresh: | |
| - 0.75 | |
| - 0.6 | |
| - 0.55 | |
| score_thresh: null | |
| nms_pre_maxsize: | |
| - 4096 | |
| - 4096 | |
| - 4096 | |
| nms_post_maxsize: | |
| - 500 | |
| - 500 | |
| - 500 | |
| target_assigner_cfg: | |
| feature_map_stride: 8 | |
| num_max_objs: 500 | |
| gaussian_overlap: 0.1 | |
| min_radius: 2 | |
| box_head_types: | |
| - XY_REGRESSION | |
| - Z_REGRESSION | |
| - LWH_DIMENSIONS | |
| - SIN_COS | |
| reg_weights: | |
| - 1.0 | |
| - 1.0 | |
| - 1.0 | |
| - 1.0 | |
| - 1.0 | |
| - 1.0 | |
| - 1.0 | |
| - 1.0 | |
| reg_weight: 2.0 | |
| cls_weight: 1.0 | |
| remove_ignores: false | |
| sep_head_cfgs: | |
| - head_type: HEATMAP | |
| output_channels: 6 | |
| num_layers: 2 | |
| loss_weighting: null | |
| freeze: false | |
| dropout_ratio: null | |
| - head_type: XY_REGRESSION | |
| output_channels: 2 | |
| num_layers: 2 | |
| loss_weighting: | |
| - 2.0 | |
| - 2.0 | |
| freeze: false | |
| dropout_ratio: null | |
| - head_type: Z_REGRESSION | |
| output_channels: 1 | |
| num_layers: 2 | |
| loss_weighting: | |
| - 2.0 | |
| freeze: false | |
| dropout_ratio: null | |
| - head_type: LWH_DIMENSIONS | |
| output_channels: 3 | |
| num_layers: 2 | |
| loss_weighting: | |
| - 0.9 | |
| - 0.9 | |
| - 0.9 | |
| freeze: false | |
| dropout_ratio: null | |
| - head_type: SIN_COS | |
| output_channels: 2 | |
| num_layers: 2 | |
| loss_weighting: | |
| - 2.0 | |
| - 2.0 | |
| freeze: false | |
| dropout_ratio: null | |
| - head_type: LIDAR_FEATURES | |
| output_channels: 128 | |
| num_layers: 2 | |
| loss_weighting: null | |
| freeze: false | |
| dropout_ratio: null | |
| shared_conv_channel: 64 | |
| iou_reg_loss: false | |
| box_dim_fn: ELU_PLUS_ONE | |
| voxel_cfg: null | |
| add_box_emb: false | |
| embed_dims: 128 | |
| backbone: | |
| in_channels: 16 | |
| groups_in_stem: 1 | |
| stride_in_stem: 2 | |
| channels_in_stem: | |
| - 64 | |
| - 64 | |
| - 64 | |
| blocks_per_stage: | |
| - 6 | |
| - 6 | |
| - 4 | |
| block_type: Bottleneck | |
| base_channels: 64 | |
| specify_channels: true | |
| channels_per_stage: | |
| - 48 | |
| - 64 | |
| - 96 | |
| strides_per_stage: | |
| - 2 | |
| - 2 | |
| - 2 | |
| dilations_per_stage: | |
| - 1 | |
| - 1 | |
| - 1 | |
| out_indices: | |
| - 1 | |
| - 2 | |
| - 3 | |
| map_channels: 0 | |
| channels_in_map_stem: | |
| - 64 | |
| - 64 | |
| - 64 | |
| norm_type: SyncBN | |
| use_custom_1x1_conv: true | |
| max_pool_in_stem: false | |
| name: PointTransformerV3Backbone | |
| d_proj: 128 | |
| sparse_backbone_cfg: | |
| input_hidden_dims: 16 | |
| input_stride: | |
| z_stride: 1 | |
| y_stride: 1 | |
| x_stride: 1 | |
| hidden_dims: | |
| - 16 | |
| - 32 | |
| - 64 | |
| - 128 | |
| downsample_stride: | |
| - z_stride: 1 | |
| y_stride: 1 | |
| x_stride: 1 | |
| - z_stride: 2 | |
| y_stride: 2 | |
| x_stride: 2 | |
| - z_stride: 2 | |
| y_stride: 2 | |
| x_stride: 2 | |
| - z_stride: 2 | |
| y_stride: 2 | |
| x_stride: 2 | |
| quantization: FP32 | |
| hednet_cfg: null | |
| pvt3_backbone_cfg: | |
| in_channels: 16 | |
| order: | |
| - z | |
| - z-trans | |
| - hilbert | |
| - hilbert-trans | |
| stride: | |
| - 2 | |
| - 2 | |
| - 2 | |
| downscale_grid_coord: | |
| - true | |
| - true | |
| - true | |
| attention_types: | |
| - MultiHead | |
| - MultiHead | |
| - MultiHead | |
| - MultiHead | |
| enc_depths: | |
| - 1 | |
| - 1 | |
| - 2 | |
| - 2 | |
| enc_channels: | |
| - 32 | |
| - 64 | |
| - 64 | |
| - 128 | |
| enc_head_dim: | |
| - 16 | |
| - 16 | |
| - 16 | |
| - 16 | |
| enc_patch_size: | |
| - 1024 | |
| - 1024 | |
| - 1024 | |
| - 1024 | |
| shuffle_orders: true | |
| pooling_norm: SyncBN | |
| attn_norm: LayerNorm | |
| cpe_norm: LayerNorm | |
| pre_conv_norm: LayerNorm | |
| act_layer: gelu | |
| mlp_ratio: 4 | |
| qkv_bias: true | |
| attn_drop: 0.0 | |
| proj_drop: 0.0 | |
| drop_path: 0.3 | |
| pre_norm: true | |
| use_cpe: true | |
| pos_enc_type: none | |
| serialized_cpe: false | |
| pool_reduction: max | |
| pre_conv_config: | |
| - channel: 32 | |
| kernel_size: 3 | |
| stride: 1 | |
| padding: 1 | |
| use_fast_serializer: true | |
| max_seq: | |
| - 874731 | |
| - 344901 | |
| - 124848 | |
| - 41931 | |
| min_seq: | |
| - 134776 | |
| - 52454 | |
| - 16932 | |
| - 4998 | |
| opt_seq: | |
| - 437593 | |
| - 177735 | |
| - 63930 | |
| - 20616 | |
| image_cfg: null | |
| radar_backbone: null | |
| roi_header: null | |
| preprocessor: null | |
| nms_threshold: 0.1 | |
| score_threshold: 0.1 | |
| pre_nms_topk: 2000 | |
| nms_topk: 50 | |
| name: Detector | |
| use_fp16_inference: false | |
| voxel_feature_extractor_cfg: null | |
| pred_cfg: | |
| model_cfg: | |
| name: MLPPredictor | |
| pred_len: 10 | |
| pred_target: 2 | |
| num_modes: 1 | |
| target: WAYPOINT_SCALED | |
| use_traj_anchors: false | |
| traj_anchors_name: '' | |
| feature_dim: 128 | |
| hidden_dims: | |
| - 128 | |
| - 128 | |
| - 128 | |
| pred_mode_scores: true | |
| norm: null | |
| dropout_p: 0.0 | |
| postprocess_cfg: | |
| heading_speed_thresh: 0.5 | |
| detection_end_of_sweep: true | |
| past_waypoint_delta_t: 0.4 | |
| pred_delta_t_secs: 0.5 | |
| sweep_duration_secs: 0.1 | |
| history_dropout_prob: 0.0 | |
| full_history_dropout_prob: 0.0 | |
| train_rotation: false | |
| eval_rotation: false | |
| filter_ego: true | |
| actor_roi_encoder_active: true | |
| actor_roi_cfg: | |
| downsample_factor: 4 | |
| use_rroi_align: false | |
| use_rotated_box: true | |
| rroi_align_bin_size_lon: 7 | |
| rroi_align_bin_size_lat: 7 | |
| rroi_align_input_region_meters_lon: null | |
| rroi_align_input_region_meters_lat: null | |
| rroi_align_sampling_ratio: 2 | |
| rroi_cnn: null | |
| traj_encoder_active: false | |
| traj_encoder_cfg: | |
| concat_traj_info: false | |
| use_resnet1d: true | |
| resnet1d: | |
| in_channels: ??? | |
| blocks_per_stage: | |
| - 1 | |
| - 1 | |
| - 1 | |
| block_type: BasicBlock1D | |
| channels_per_stage: | |
| - 128 | |
| - 128 | |
| - 128 | |
| kernel_size_per_stage: | |
| - 3 | |
| - 3 | |
| - 3 | |
| strides_per_stage: | |
| - 1 | |
| - 2 | |
| - 2 | |
| dilations_per_stage: | |
| - 1 | |
| - 1 | |
| - 1 | |
| norm_type: SyncBN | |
| final_pool_type: NONE | |
| conv_type: Conv1d | |
| use_rnn: true | |
| rnn: | |
| rnn_type: GRU | |
| input_size: ??? | |
| hidden_size: 128 | |
| num_layers: 1 | |
| bias: false | |
| batch_first: true | |
| dropout: 0.0 | |
| bidirectional: false | |
| use_embedding_input_norm: false | |
| norm_type: SyncBN | |
| norm_by_roi: false | |
| norm_by_const: 1.0 | |
| scale_traj_to_target: false | |
| input_framing_type: RELATIVE | |
| use_delta_info: true | |
| resnet_per_actor_class: false | |
| rnn_per_actor_class: false | |
| use_ground_truth_velocity: false | |
| ground_truth_velocity_freqs: 32 | |
| rotate_velocity_to_actor_frame: true | |
| lane_graph_preprocess_cfg: | |
| num_dilations: 5 | |
| input_framing_type: RELATIVE | |
| use_topological_features: true | |
| bev_image_cfg: | |
| x_min: -75.0 | |
| x_max: 75.0 | |
| y_min: -50.0 | |
| y_max: 50.0 | |
| step: 0.2 | |
| norm_map_by_roi: false | |
| dilate_exponentially: false | |
| use_shoulder_dists: false | |
| use_ego_route: false | |
| lane_graph_3d: false | |
| lane_graph_preprocess_active: true | |
| map_gcn_active: false | |
| map_gcn_cfg: | |
| multi_edge_gcn_config: | |
| in_channels: ??? | |
| num_edge_types: ??? | |
| hidden_channels: | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| norm_type: LN | |
| pool_type: MAX_POOL | |
| conv_type: EdgeMessageFusionConv | |
| edge_dim: ??? | |
| global_shortcut_pool_type: NONE | |
| edge_dim_feedforward: 64 | |
| input_normalization: false | |
| in_channels: 25 | |
| num_edge_types: 1 | |
| map_swin_active: false | |
| map_swin_cfg: | |
| res_per_stage: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 1 | |
| - 0 | |
| blocks_per_stage: | |
| - 1 | |
| - 1 | |
| - 1 | |
| - 0 | |
| - 0 | |
| stage_types: | |
| - swin | |
| - swin | |
| - swin | |
| - none | |
| - none | |
| window_sizes: | |
| - 24.0 | |
| - 48.0 | |
| - 96.0 | |
| - 48.0 | |
| - 24.0 | |
| positional_encodings: | |
| - true | |
| latent_dims: | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| n_heads: | |
| - 8 | |
| - 8 | |
| - 8 | |
| - -1 | |
| - -1 | |
| dropouts: | |
| - 0.0 | |
| activation: relu | |
| spe_feats: | |
| - MID_X | |
| - MID_Y | |
| - MID_HEADING | |
| spe_dim: 32 | |
| initializer_hidden_dims: | |
| - 128 | |
| - 128 | |
| lateral_connections: true | |
| initializer_spe_dims: | |
| - 256 | |
| - 256 | |
| kept_geo_features: | |
| - NODE_TYPE | |
| - IS_POINT | |
| - START_X | |
| - START_Y | |
| - START_Z | |
| - START_HEADING | |
| - MID_X | |
| - MID_Y | |
| - MID_Z | |
| - MID_HEADING | |
| - END_X | |
| - END_Y | |
| - END_Z | |
| - END_HEADING | |
| - NODE_LENGTH | |
| - CURVATURE | |
| - SPEED_LIMIT | |
| - IN_INTERSECTION | |
| - IS_FORK | |
| norm_first: true | |
| layer_norm_eps: 1.0e-05 | |
| map2actor_active: false | |
| map2actor_cfg: | |
| map_node_pooling_type: MAX_POOL | |
| map2actor_node_filter_type: CLOSEST_ALONG_HIST | |
| map2actor_pooling_type: LEARNED | |
| map2actor_fusion_aggr_type: SUM | |
| map2actor_fusion_mlp: | |
| input_dim: ??? | |
| hidden_dims: | |
| - 256 | |
| output_dim: ??? | |
| norm: null | |
| map2actor_thresh_dist: 20 | |
| map2actor_topk: 5 | |
| actor2map_active: false | |
| actor2map_cfg: | |
| actor_node_pooling_type: MAX_POOL | |
| actor2map_node_filter_type: CLOSER_THAN_THRESH | |
| actor2map_pooling_type: LEARNED | |
| actor2map_fusion_aggr_type: SUM | |
| actor2map_fusion_mlp: | |
| input_dim: ??? | |
| hidden_dim: 128 | |
| num_blocks: 1 | |
| norm: null | |
| has_final_layer: true | |
| actor2map_thresh_dist: 7.0 | |
| actor2map_topk: 5 | |
| use_residual_connection: true | |
| post_a2m_map_gcn_active: false | |
| lane_actor_graph_active: false | |
| lane_actor_graph_cfg: | |
| map_actor_gnn: | |
| node_types: ??? | |
| edge_types: ??? | |
| in_channels: ??? | |
| conv_type: HeteroEdgeMLP | |
| hidden_channels: | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| norm_type: LN | |
| aggr_type: mean | |
| update_type: GRUCell | |
| edge_dim: ??? | |
| global_shortcut_pool_type: NONE | |
| edge_dim_feedforward: 64 | |
| edge_embedder_num_layers: 2 | |
| edge_embedder_residual: false | |
| unused_output_nodes: [] | |
| return_attention_weights: false | |
| attention_weight_edge_types: null | |
| dropout_p: 0.0 | |
| include_ego_node: true | |
| include_cond_node: false | |
| input_framing_type: RELATIVE | |
| use_a2a: false | |
| use_actor2map: true | |
| filter_unreachable_node_edges: false | |
| max_reachable_distance_m: null | |
| num_centerline_succ_hops_reachable: null | |
| num_neigh_hops_reachable: null | |
| map_edge_types_as_one_hot_attr: false | |
| use_vectorized_actor_graph_creation: true | |
| lane_actor_transformer_active: false | |
| lane_actor_transformer_cfg: | |
| embed_dims: -1 | |
| ffn_upsample_rate: 4 | |
| num_encoder_blocks: 1 | |
| num_heads: 1 | |
| dropout: 0.0 | |
| map_node_topk: 1 | |
| actor2actor_active: false | |
| actor2actor_cfg: | |
| input_dim: ??? | |
| type: SELF_ATTENTION | |
| transformer_config: | |
| input_dim: ??? | |
| nhead: 1 | |
| dim_feedforward: 0 | |
| dropout: 0 | |
| gcn_config: | |
| in_channels: ??? | |
| hidden_channels: | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| norm_type: LN | |
| pool_type: AVG_POOL | |
| multi_edge_gcn_config: | |
| in_channels: ??? | |
| num_edge_types: ??? | |
| hidden_channels: | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| norm_type: LN | |
| pool_type: MAX_POOL | |
| conv_type: EdgeMessageFusionConv | |
| edge_dim: ??? | |
| global_shortcut_pool_type: NONE | |
| edge_dim_feedforward: 64 | |
| input_normalization: false | |
| proxy_mlp: | |
| input_dim: ??? | |
| hidden_dims: | |
| - 256 | |
| - 256 | |
| output_dim: 256 | |
| residual_connection_type: ADD | |
| norm_type: BN | |
| adj_mat_dist_thresh_m: 7.0 | |
| adj_mat_type: CLOSER_THAN_THRESH | |
| adj_mat_topk: 10 | |
| latent_variable_active: false | |
| latent_variable_encoder_cfg: | |
| traj_enc_cfg: | |
| in_channels: ??? | |
| blocks_per_stage: | |
| - 1 | |
| - 1 | |
| - 1 | |
| block_type: BasicBlock1D | |
| channels_per_stage: | |
| - 128 | |
| - 128 | |
| - 128 | |
| kernel_size_per_stage: | |
| - 3 | |
| - 3 | |
| - 3 | |
| strides_per_stage: | |
| - 1 | |
| - 2 | |
| - 2 | |
| dilations_per_stage: | |
| - 1 | |
| - 1 | |
| - 1 | |
| norm_type: SyncBN | |
| final_pool_type: MAX_POOL | |
| conv_type: Conv1d | |
| actor_traj_fuse_mlp_cfg: | |
| input_dim: ??? | |
| hidden_dims: | |
| - 512 | |
| output_dim: ??? | |
| activation: relu | |
| norm: SyncBN | |
| dropout_p: 0.0 | |
| actor_latent_combination_strategy: FUSION | |
| actor_latent_fuse_mlp_cfg: | |
| input_dim: ??? | |
| hidden_dims: | |
| - 256 | |
| - 256 | |
| output_dim: ??? | |
| activation: relu | |
| norm: SyncBN | |
| dropout_p: 0.0 | |
| encoder_gnn_cfg: | |
| map_actor_gnn: | |
| node_types: ??? | |
| edge_types: ??? | |
| in_channels: ??? | |
| conv_type: HeteroEdgeMLP | |
| hidden_channels: | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| norm_type: LN | |
| aggr_type: mean | |
| update_type: GRUCell | |
| edge_dim: ??? | |
| global_shortcut_pool_type: NONE | |
| edge_dim_feedforward: 64 | |
| edge_embedder_num_layers: 2 | |
| edge_embedder_residual: false | |
| unused_output_nodes: [] | |
| return_attention_weights: false | |
| attention_weight_edge_types: null | |
| dropout_p: 0.0 | |
| include_ego_node: true | |
| include_cond_node: false | |
| input_framing_type: RELATIVE | |
| use_a2a: false | |
| use_actor2map: true | |
| filter_unreachable_node_edges: false | |
| max_reachable_distance_m: null | |
| num_centerline_succ_hops_reachable: null | |
| num_neigh_hops_reachable: null | |
| map_edge_types_as_one_hot_attr: false | |
| use_vectorized_actor_graph_creation: true | |
| prior_gnn_cfg: | |
| map_actor_gnn: | |
| node_types: ??? | |
| edge_types: ??? | |
| in_channels: ??? | |
| conv_type: HeteroEdgeMLP | |
| hidden_channels: | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| norm_type: LN | |
| aggr_type: mean | |
| update_type: GRUCell | |
| edge_dim: ??? | |
| global_shortcut_pool_type: NONE | |
| edge_dim_feedforward: 64 | |
| edge_embedder_num_layers: 2 | |
| edge_embedder_residual: false | |
| unused_output_nodes: [] | |
| return_attention_weights: false | |
| attention_weight_edge_types: null | |
| dropout_p: 0.0 | |
| include_ego_node: true | |
| include_cond_node: false | |
| input_framing_type: RELATIVE | |
| use_a2a: false | |
| use_actor2map: true | |
| filter_unreachable_node_edges: false | |
| max_reachable_distance_m: null | |
| num_centerline_succ_hops_reachable: null | |
| num_neigh_hops_reachable: null | |
| map_edge_types_as_one_hot_attr: false | |
| use_vectorized_actor_graph_creation: true | |
| encoder_distribution: GAUSSIAN | |
| prior_distribution: GAUSSIAN | |
| codebook_size: 32 | |
| latent_dim: 128 | |
| num_samples: 1 | |
| learn_prior: true | |
| use_fp16_inference: false | |
| raster_cfg: | |
| x_min: -75.2 | |
| x_max: 75.2 | |
| y_min: -49.6 | |
| y_max: 49.6 | |
| step: 0.2 | |
| _target_: waabi.common.datasets.utils.rasterizer.rasterizer.Rasterizer | |
| map_channels: [] | |
| num_history_channels: 5 | |
| is_rasterize_ego_history: true | |
| is_rasterize_signal_history: false | |
| class_cfg: | |
| active_classes: | |
| - VEHICLE | |
| - PERSON | |
| - CYCLIST | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| implicit_only_class_cfg: | |
| active_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - PERSON | |
| - ALL | |
| - OTHER_OBJECT | |
| det_loss_cfg: | |
| cls_loss: focal | |
| focal_alpha: 0.5 | |
| focal_gamma: 2.0 | |
| occupancy_coefficient: 1.0 | |
| det_coefficient: 1.0 | |
| num_neg: 8000 | |
| num_hard_ratio: 4.0 | |
| bbox_loss: iou_l1_rot | |
| iou_loss_th: 0.5 | |
| bb_loss_coef: 1.0 | |
| rot_loss_coef: 1.0 | |
| box_reg_dim: 6 | |
| has_track_loss: false | |
| track_loss_coef: 1.0 | |
| pred_loss_coef: 1.0 | |
| class_coef: | |
| VEHICLE: 1.0 | |
| PERSON: 1.0 | |
| CYCLIST: 1.0 | |
| IGNORE: 1.0 | |
| ALL: 1.0 | |
| EGO: 1.0 | |
| TOWED_OBJECT: 1.0 | |
| OTHER_OBJECT: 1.0 | |
| WORK_ZONE_BARRIER: 1.0 | |
| CONE: 1.0 | |
| SIGN: 1.0 | |
| TIRE_BLOWOUT: 1.0 | |
| EGO_TRAILER: 1.0 | |
| name: det | |
| normalizer: pos | |
| moving_pos_coefficient: 1.0 | |
| moving_neg_coefficient: 1.0 | |
| stationary_pos_coefficient: 1.0 | |
| stationary_neg_coefficient: 1.0 | |
| moving_threshold: 0.0 | |
| motion_loss_cfg: null | |
| pred_loss_cfg: | |
| joint_traj_regression_loss: false | |
| use_min_scene_final_displ_loss: false | |
| variational_loss_active: false | |
| variational_loss_cfg: | |
| initial_kl_weight: 0.1 | |
| kl_scheduler_type: None | |
| final_kl_weight: 0.1 | |
| warmup_iters: 0 | |
| debug: false | |
| regression_loss_active: true | |
| regression_loss_mean_over_modes: false | |
| regression_loss_cfg: | |
| target: WAYPOINT | |
| traj_criterion: smooth_l1 | |
| mode_criterion: cross_entropy | |
| mode_margin: 0.2 | |
| traj_weight: 1.0 | |
| mode_weight: 0.1 | |
| cumsum_over_time: false | |
| action_criterion: none | |
| action_weight: 1.0 | |
| velo_weight: 0.0 | |
| lat_velo_weight_multiplier: 5.0 | |
| accel_weight: 0.0 | |
| lat_accel_weight_multiplier: 5.0 | |
| enable_teacher_forced_loss: true | |
| enable_non_teacher_forced_loss: false | |
| teacher_forced_weight: 1.0 | |
| non_teacher_forced_weight: 1.0 | |
| goal_regression_loss_active: false | |
| goal_regression_loss_cfg: | |
| target: WAYPOINT | |
| traj_criterion: smooth_l1 | |
| mode_criterion: cross_entropy | |
| mode_margin: 0.2 | |
| traj_weight: 0.1 | |
| mode_weight: 0.1 | |
| cumsum_over_time: false | |
| action_criterion: none | |
| action_weight: 1.0 | |
| velo_weight: 0.0 | |
| lat_velo_weight_multiplier: 5.0 | |
| accel_weight: 0.0 | |
| lat_accel_weight_multiplier: 5.0 | |
| use_closest_lane_for_gt_node: false | |
| use_gt_node_in_goal_reg: true | |
| disable_map_goal_offsets: false | |
| goal_classification_loss_active: false | |
| goal_classification_loss_cfg: | |
| node_criterion: kl_divergence | |
| node_weight: 1.0 | |
| temperature: 4.0 | |
| same_centerline_weight: 3.0 | |
| zero_prob_outside_gt_centerline: false | |
| focal_gamma: 2.0 | |
| cond_collision_loss_active: false | |
| cond_collision_loss_cfg: | |
| num_circles: 5 | |
| frequency_multiplier: 10 | |
| loss_weight: 1.0 | |
| loss_type: overlap | |
| actor_collision_loss_active: false | |
| actor_collision_loss_cfg: | |
| num_circles: 5 | |
| frequency_multiplier: 10 | |
| loss_weight: 1.0 | |
| loss_type: overlap | |
| cond_consistency_loss_active: false | |
| cond_consistency_loss_cfg: | |
| weight: 1.0 | |
| reweight_interactive_actors_ttc: 1.0 | |
| reweight_interactive_actors_multifuture: 1.0 | |
| num_other_actors_query: 0 | |
| enable_counterfactual_reweight: false | |
| temperature_counterfactual_reweight: 3.0 | |
| use_argoverse_actor_weights: false | |
| argoverse_focal_track_weight: 1.0 | |
| argoverse_scored_track_weight: 0.4 | |
| argoverse_unscored_track_weight: 0.1 | |
| argoverse_normalize_by_count: false | |
| differentiate_off_map_gt_in_goal_cls: false | |
| off_map_dist_thresh: 5.4 | |
| interm_regression_loss_cfg: | |
| target: WAYPOINT | |
| traj_criterion: smooth_l1 | |
| mode_criterion: cross_entropy | |
| mode_margin: 0.2 | |
| traj_weight: 0.1 | |
| mode_weight: 0.1 | |
| cumsum_over_time: false | |
| action_criterion: none | |
| action_weight: 1.0 | |
| velo_weight: 0.0 | |
| lat_velo_weight_multiplier: 5.0 | |
| accel_weight: 0.0 | |
| lat_accel_weight_multiplier: 5.0 | |
| mean_across_actors: true | |
| expected_num_actors_per_batch: 8.5 | |
| pred_coordframe: ACTOR_FRAME_TRANS_ONLY | |
| pred_train_with_gt: false | |
| has_pred: false | |
| has_track: false | |
| track_num_preds: 4 | |
| detr_cfg: null | |
| point_cluster_cfg: | |
| n_iter_fit_plane: 2 | |
| max_percent_fit_plane: 20 | |
| dbscan_plane_percentile: 50 | |
| thr_bbox_size: 0.4 | |
| thr_max_lw: 15.0 | |
| thr_max_lw_ratio: 6.0 | |
| use_pp_score: false | |
| n_neighbors: 70 | |
| radius: 2.0 | |
| max_neighbor_dist: 0.5 | |
| dbscan_eps: 0.4 | |
| dbscan_min_samples: 8 | |
| name: two_stage | |
| implicit_model_cfg: | |
| train_query_cfg: | |
| query_type: 16 | |
| x_min: ${...voxel_cfg.x_min} | |
| y_min: ${...voxel_cfg.y_min} | |
| x_max: ${...voxel_cfg.x_max} | |
| y_max: ${...voxel_cfg.y_max} | |
| flatten_z: true | |
| z_min: 0.0 | |
| z_max: 0.0 | |
| t_min: 0.0 | |
| t_max: 6.0 | |
| ground_label_step_size: 0.15625 | |
| warp_points: false | |
| warp_delta: 0.1 | |
| min_warp_time: 0.0 | |
| max_warp_time: 1.0 | |
| grid_query_cfg: null | |
| class_balanced_grid_query_cfg: null | |
| continuous_query_cfg: | |
| num_query_per_timestep: 17920 | |
| max_enlarge_dist: 0.0 | |
| min_enlarge_dist: 0.0 | |
| enlargement_prob: 0.0 | |
| sample_alpha: false | |
| visibility_query_cfg: null | |
| balanced_visibility_query_cfg: null | |
| positive_labels_query_cfg: null | |
| joint_query_cfg: null | |
| grid_balanced_visibility_query_cfg: null | |
| render_lidar_cfg: null | |
| render_query_cfg: null | |
| distillation_query_cfg: | |
| num_query_per_timestep: 150000 | |
| num_timesteps: 1 | |
| z_min: 0.4 | |
| z_max: 4.0 | |
| z_step: 0.2 | |
| npts_per_iter: 500000 | |
| ground_ths: 0.5 | |
| include_other_side_road: true | |
| future_frame_augmented: false | |
| teacher_roi_buffer: 25.0 | |
| teacher_lateral_roi_buffer: 10.0 | |
| remove_ego_buffer: 1.0 | |
| remove_ego_rear_buffer: 5.0 | |
| negative_supervise_ego: true | |
| uncertain_points_bound: 0.2 | |
| add_class_labels: true | |
| class_occupancy_cutoff: 0.8 | |
| ignore_enlarge_factor: 10.0 | |
| independent_class_labels: false | |
| discretize_general_occupancy: false | |
| include_all_valid_ground: true | |
| above_ground_upper_bound: 0.4 | |
| supervised_flow_occ_threshold: 0.2 | |
| valid_road_pred_threshold: null | |
| use_data_ground: false | |
| min_reduction_points: 50000 | |
| flag_pred_road_threshold: 0.5 | |
| flag_other_class_confidence_threshold: 0.5 | |
| ground_classification_threshold: null | |
| include_box_other_labels: true | |
| negative_ego_cfg: null | |
| online_mapper_query_cfg: null | |
| pseudo_lidar_query_cfg: null | |
| eval_query_cfg: | |
| query_type: 0 | |
| x_min: ${...voxel_cfg.x_min} | |
| y_min: ${...voxel_cfg.y_min} | |
| x_max: ${...voxel_cfg.x_max} | |
| y_max: ${...voxel_cfg.y_max} | |
| flatten_z: true | |
| z_min: 0.0 | |
| z_max: 0.0 | |
| t_min: 0.0 | |
| t_max: 6.0 | |
| ground_label_step_size: 0.15625 | |
| warp_points: false | |
| warp_delta: 0.1 | |
| min_warp_time: 0.0 | |
| max_warp_time: 1.0 | |
| grid_query_cfg: | |
| x_step: 0.3125 | |
| y_step: 0.3125 | |
| z_step: 0.2 | |
| t_step: 0.5 | |
| num_pts_per_iter: 20000 | |
| x_min: -52.0 | |
| y_min: -50.0 | |
| x_max: 303.0 | |
| y_max: 50.0 | |
| z_min: null | |
| z_max: null | |
| t_min: 0.0 | |
| t_max: 6.0 | |
| class_balanced_grid_query_cfg: null | |
| continuous_query_cfg: null | |
| visibility_query_cfg: null | |
| balanced_visibility_query_cfg: null | |
| positive_labels_query_cfg: null | |
| joint_query_cfg: null | |
| grid_balanced_visibility_query_cfg: null | |
| render_lidar_cfg: null | |
| render_query_cfg: null | |
| distillation_query_cfg: null | |
| negative_ego_cfg: null | |
| online_mapper_query_cfg: null | |
| pseudo_lidar_query_cfg: null | |
| implicit_header_cfg: | |
| name: DeformableAttentionHeader | |
| softmax_output: true | |
| python_implicit_header: | |
| interpolator_cfg: | |
| sample_mode: bilinear | |
| padding_mode: border | |
| volumetric: false | |
| resnet_cfg: | |
| feature_vector_dim: 1024 | |
| points_dim: 3 | |
| hidden_size: 16 | |
| n_blocks: 3 | |
| norm_type: None | |
| decoder_cfg: | |
| input_feature_size: 16 | |
| out_dims: | |
| - 1 | |
| - 2 | |
| init_fc_out_weight_stds: null | |
| init_fc_out_bias_consts: null | |
| use_multi_head: true | |
| offset_coords: | |
| - 1 | |
| - 2 | |
| attn_interpolator_cfg: | |
| sample_mode: bilinear | |
| padding_mode: border | |
| volumetric: false | |
| attn_resnet_cfg: | |
| feature_vector_dim: 512 | |
| points_dim: 3 | |
| hidden_size: 16 | |
| n_blocks: 1 | |
| norm_type: None | |
| attn_decoder_cfg: | |
| input_feature_size: 16 | |
| out_dims: | |
| - 2 | |
| init_fc_out_weight_stds: | |
| - 0.01 | |
| init_fc_out_bias_consts: | |
| - 0.0 | |
| use_multi_head: true | |
| n_heads: 1 | |
| concat_original_c: true | |
| decode_original_query_points: true | |
| decode_new_query_points: false | |
| feature_aggregation_cfg: | |
| mode: NONE | |
| point_embedding_dim: null | |
| embed_dim: null | |
| num_heads: null | |
| return_weights: false | |
| error_resnet_cfg: null | |
| error_decoder_cfg: null | |
| embedding_config: null | |
| map_attn_cfg: null | |
| use_z: false | |
| time_scale_attention: false | |
| run_classification: false | |
| implicit_classification_classes: null | |
| detach_classification_header: false | |
| ego_start_query: false | |
| ms_implicit_header: null | |
| implicit_losses_cfg: | |
| occupancy_loss: null | |
| motion_loss: null | |
| attention_loss: null | |
| uncertainty_loss: null | |
| multi_occupancy_loss: null | |
| render_length_loss_config: null | |
| classification_loss_config: | |
| classification_coefficient: 10.0 | |
| binary_loss: false | |
| distillation_loss_config: | |
| distillation_coefficient: 10.0 | |
| use_hard_labels: true | |
| negative_upper_limit: 0.6 | |
| positive_lower_limit: 0.8 | |
| flow_distillation_loss_config: | |
| flow_distillation_coefficient: 0.1 | |
| positive_lower_limit: 0.2 | |
| loss_norm: 1 | |
| warp_loss_config: null | |
| groundness_loss_config: null | |
| occ_loss_stages: [] | |
| motion_loss_stages: [] | |
| attention_loss_stages: [] | |
| uncertainty_loss_stages: [] | |
| multi_occ_loss_stages: [] | |
| render_length_loss_stages: [] | |
| classification_loss_stages: | |
| - 0 | |
| distillation_loss_stages: | |
| - 0 | |
| flow_distillation_loss_stages: | |
| - 0 | |
| warp_loss_stages: [] | |
| groundness_loss_stages: [] | |
| flow_mode: 0 | |
| step_size: ${data.eval_dataset_cfg.label_config.voxel_config.step} | |
| eval_function: default | |
| metrics_function: default | |
| training_stages_epochs: [] | |
| neck_cfg: null | |
| raycasting_header: null | |
| freeze_encoders: false | |
| teacher_model_path: null | |
| viz_query_cfg: | |
| time_resolution: 0.5 | |
| coarse_viz_resolution: 3.0 | |
| lane_width: 3.7 | |
| only_viz_first_timestep: true | |
| polymap_node_max_x_dist: 15.0 | |
| use_incremental_eval: true | |
| image_model: null | |
| sfl_config: null | |
| eval_implicit_losses_cfg: null | |
| eval_loss_query_cfg: null | |
| online_mapper_model_cfg: null | |
| memory_training_cfg: null | |
| class_loss_coef: | |
| 0: 1.0 | |
| 1: 1.0 | |
| 2: 1.0 | |
| 3: 1.0 | |
| 4: 1.0 | |
| 7: 1.0 | |
| seg_cfg: null | |
| detection_head: true | |
| flow_traced_loss_cfg: null | |
| memory_net_cfg: null | |
| baseline_configs: null | |
| clip_outside_voxelizer_z_roi: true | |
| detection_in_3d: false | |
| use_multi_lidar_voxelizer: false | |
| teacher_model: null | |
| learnt_cost_model_cfg: null | |
| expert_mp_pipeline_cfg: null | |
| radar_voxel_cfg: null | |
| viz_output_cfg: null | |
| pred_head_cfg: | |
| name: vq | |
| vq_head_cfg: | |
| pred_postprocess_cfg: | |
| heading_speed_thresh: 0.5 | |
| detection_end_of_sweep: true | |
| past_waypoint_delta_t: 0.4 | |
| pred_delta_t_secs: 0.5 | |
| sweep_duration_secs: 0.1 | |
| voxel_cfg: | |
| x_min: -202.0 | |
| x_max: 303.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| add_intensity: false | |
| add_ground: false | |
| add_class_id: false | |
| add_sensor_id: true | |
| add_relative_time: false | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| n_feat: null | |
| any_corner: true | |
| rasterize_concat_intensity: false | |
| name: null | |
| n_out: null | |
| num_sensors: null | |
| num_sweeps: null | |
| single_lidar: null | |
| single_radar: null | |
| clip_outside_voxelizer_z_roi: true | |
| use_fast_version: null | |
| norm_type: LayerNorm | |
| modality: LIDAR | |
| use_norm: true | |
| with_distance: false | |
| use_absolute_xyz: true | |
| num_point_features: 4 | |
| num_filters: | |
| - 64 | |
| - 64 | |
| shuffle_points: false | |
| waabi_y_convention: true | |
| ignore_loaded_voxel_cfg_mismatch: false | |
| tokenizer_cfg: | |
| name: traj_vq_tokenizer_model | |
| feature_dim: 128 | |
| num_codes: 1024 | |
| code_dim: 1024 | |
| beta: 0.25 | |
| num_tokens: 1 | |
| num_time_steps: 12 | |
| similarity_matrix_iters: 100 | |
| predict_traj: false | |
| partial_gt: true | |
| minimum_index_for_partial_gt: 3 | |
| levels: | |
| - 7 | |
| - 5 | |
| - 5 | |
| - 5 | |
| - 5 | |
| reset_code_usage_iters: 512 | |
| train_tokenizer: false | |
| freeze_map: true | |
| pred_cfg: | |
| model_cfg: | |
| name: ??? | |
| pred_len: 12 | |
| pred_target: 2 | |
| num_modes: 10 | |
| target: LOC_SCALE_WAYPOINT | |
| use_traj_anchors: false | |
| traj_anchors_name: vehicle_16modes | |
| postprocess_cfg: | |
| heading_speed_thresh: 0.5 | |
| detection_end_of_sweep: true | |
| past_waypoint_delta_t: 0.4 | |
| pred_delta_t_secs: 0.5 | |
| sweep_duration_secs: 0.1 | |
| history_dropout_prob: 0.0 | |
| full_history_dropout_prob: 0.0 | |
| train_rotation: false | |
| eval_rotation: false | |
| filter_ego: true | |
| actor_roi_encoder_active: true | |
| actor_roi_cfg: | |
| downsample_factor: ??? | |
| use_rroi_align: false | |
| use_rotated_box: true | |
| rroi_align_bin_size_lon: 7 | |
| rroi_align_bin_size_lat: 7 | |
| rroi_align_input_region_meters_lon: null | |
| rroi_align_input_region_meters_lat: null | |
| rroi_align_sampling_ratio: 2 | |
| rroi_cnn: null | |
| traj_encoder_active: false | |
| traj_encoder_cfg: | |
| concat_traj_info: false | |
| use_resnet1d: true | |
| resnet1d: | |
| in_channels: ??? | |
| blocks_per_stage: | |
| - 1 | |
| - 1 | |
| - 1 | |
| block_type: BasicBlock1D | |
| channels_per_stage: | |
| - 128 | |
| - 128 | |
| - 128 | |
| kernel_size_per_stage: | |
| - 3 | |
| - 3 | |
| - 3 | |
| strides_per_stage: | |
| - 1 | |
| - 2 | |
| - 2 | |
| dilations_per_stage: | |
| - 1 | |
| - 1 | |
| - 1 | |
| norm_type: SyncBN | |
| final_pool_type: NONE | |
| conv_type: Conv1d | |
| use_rnn: true | |
| rnn: | |
| rnn_type: GRU | |
| input_size: ??? | |
| hidden_size: 128 | |
| num_layers: 1 | |
| bias: false | |
| batch_first: true | |
| dropout: 0.0 | |
| bidirectional: false | |
| use_embedding_input_norm: false | |
| norm_type: SyncBN | |
| norm_by_roi: false | |
| norm_by_const: 1.0 | |
| scale_traj_to_target: false | |
| input_framing_type: RELATIVE | |
| use_delta_info: true | |
| resnet_per_actor_class: false | |
| rnn_per_actor_class: false | |
| use_ground_truth_velocity: false | |
| ground_truth_velocity_freqs: 32 | |
| rotate_velocity_to_actor_frame: true | |
| lane_graph_preprocess_cfg: | |
| num_dilations: 5 | |
| input_framing_type: RELATIVE | |
| use_topological_features: true | |
| bev_image_cfg: | |
| x_min: -75.0 | |
| x_max: 75.0 | |
| y_min: -50.0 | |
| y_max: 50.0 | |
| step: 0.2 | |
| norm_map_by_roi: false | |
| dilate_exponentially: false | |
| use_shoulder_dists: false | |
| use_ego_route: false | |
| lane_graph_3d: false | |
| lane_graph_preprocess_active: true | |
| map_gcn_active: false | |
| map_gcn_cfg: | |
| multi_edge_gcn_config: | |
| in_channels: ??? | |
| num_edge_types: ??? | |
| hidden_channels: | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| norm_type: LN | |
| pool_type: MAX_POOL | |
| conv_type: EdgeMessageFusionConv | |
| edge_dim: ??? | |
| global_shortcut_pool_type: NONE | |
| edge_dim_feedforward: 64 | |
| input_normalization: false | |
| in_channels: 25 | |
| num_edge_types: 1 | |
| map_swin_active: true | |
| map_swin_cfg: | |
| res_per_stage: | |
| - 0 | |
| - 0 | |
| blocks_per_stage: | |
| - 2 | |
| - 1 | |
| stage_types: | |
| - swin | |
| - lanesa | |
| window_sizes: | |
| - 24.0 | |
| - -1.0 | |
| positional_encodings: | |
| - true | |
| - true | |
| latent_dims: | |
| - 128 | |
| - 128 | |
| n_heads: | |
| - 4 | |
| - 4 | |
| dropouts: | |
| - 0.0 | |
| - 0.0 | |
| activation: relu | |
| spe_feats: | |
| - MID_X | |
| - MID_Y | |
| - MID_HEADING | |
| spe_dim: 32 | |
| initializer_hidden_dims: | |
| - 128 | |
| - 128 | |
| lateral_connections: true | |
| initializer_spe_dims: | |
| - 256 | |
| - 256 | |
| kept_geo_features: | |
| - NODE_TYPE | |
| - IS_POINT | |
| - START_X | |
| - START_Y | |
| - START_Z | |
| - START_HEADING | |
| - MID_X | |
| - MID_Y | |
| - MID_Z | |
| - MID_HEADING | |
| - END_X | |
| - END_Y | |
| - END_Z | |
| - END_HEADING | |
| - NODE_LENGTH | |
| - CURVATURE | |
| - SPEED_LIMIT | |
| - IN_INTERSECTION | |
| - IS_FORK | |
| norm_first: true | |
| layer_norm_eps: 1.0e-05 | |
| map2actor_active: false | |
| map2actor_cfg: | |
| map_node_pooling_type: MAX_POOL | |
| map2actor_node_filter_type: CLOSEST_ALONG_HIST | |
| map2actor_pooling_type: LEARNED | |
| map2actor_fusion_aggr_type: SUM | |
| map2actor_fusion_mlp: | |
| input_dim: ??? | |
| hidden_dims: | |
| - 256 | |
| output_dim: ??? | |
| norm: null | |
| map2actor_thresh_dist: 20 | |
| map2actor_topk: 5 | |
| actor2map_active: false | |
| actor2map_cfg: | |
| actor_node_pooling_type: MAX_POOL | |
| actor2map_node_filter_type: CLOSER_THAN_THRESH | |
| actor2map_pooling_type: LEARNED | |
| actor2map_fusion_aggr_type: SUM | |
| actor2map_fusion_mlp: | |
| input_dim: ??? | |
| hidden_dim: 128 | |
| num_blocks: 1 | |
| norm: null | |
| has_final_layer: true | |
| actor2map_thresh_dist: 7.0 | |
| actor2map_topk: 5 | |
| use_residual_connection: true | |
| post_a2m_map_gcn_active: false | |
| lane_actor_graph_active: false | |
| lane_actor_graph_cfg: | |
| map_actor_gnn: | |
| node_types: ??? | |
| edge_types: ??? | |
| in_channels: ??? | |
| conv_type: HeteroEdgeMLP | |
| hidden_channels: | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| norm_type: LN | |
| aggr_type: mean | |
| update_type: GRUCell | |
| edge_dim: ??? | |
| global_shortcut_pool_type: NONE | |
| edge_dim_feedforward: 64 | |
| edge_embedder_num_layers: 2 | |
| edge_embedder_residual: false | |
| unused_output_nodes: [] | |
| return_attention_weights: false | |
| attention_weight_edge_types: null | |
| dropout_p: 0.0 | |
| include_ego_node: true | |
| include_cond_node: false | |
| input_framing_type: RELATIVE | |
| use_a2a: false | |
| use_actor2map: true | |
| filter_unreachable_node_edges: false | |
| max_reachable_distance_m: null | |
| num_centerline_succ_hops_reachable: null | |
| num_neigh_hops_reachable: null | |
| map_edge_types_as_one_hot_attr: false | |
| use_vectorized_actor_graph_creation: true | |
| lane_actor_transformer_active: false | |
| lane_actor_transformer_cfg: | |
| embed_dims: -1 | |
| ffn_upsample_rate: 4 | |
| num_encoder_blocks: 1 | |
| num_heads: 1 | |
| dropout: 0.0 | |
| map_node_topk: 1 | |
| actor2actor_active: false | |
| actor2actor_cfg: | |
| input_dim: ??? | |
| type: SELF_ATTENTION | |
| transformer_config: | |
| input_dim: ??? | |
| nhead: 1 | |
| dim_feedforward: 0 | |
| dropout: 0 | |
| gcn_config: | |
| in_channels: ??? | |
| hidden_channels: | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| norm_type: LN | |
| pool_type: AVG_POOL | |
| multi_edge_gcn_config: | |
| in_channels: ??? | |
| num_edge_types: ??? | |
| hidden_channels: | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| norm_type: LN | |
| pool_type: MAX_POOL | |
| conv_type: EdgeMessageFusionConv | |
| edge_dim: ??? | |
| global_shortcut_pool_type: NONE | |
| edge_dim_feedforward: 64 | |
| input_normalization: false | |
| proxy_mlp: | |
| input_dim: ??? | |
| hidden_dims: | |
| - 256 | |
| - 256 | |
| output_dim: 256 | |
| residual_connection_type: ADD | |
| norm_type: BN | |
| adj_mat_dist_thresh_m: 7.0 | |
| adj_mat_type: CLOSER_THAN_THRESH | |
| adj_mat_topk: 10 | |
| latent_variable_active: false | |
| latent_variable_encoder_cfg: | |
| traj_enc_cfg: | |
| in_channels: ??? | |
| blocks_per_stage: | |
| - 1 | |
| - 1 | |
| - 1 | |
| block_type: BasicBlock1D | |
| channels_per_stage: | |
| - 128 | |
| - 128 | |
| - 128 | |
| kernel_size_per_stage: | |
| - 3 | |
| - 3 | |
| - 3 | |
| strides_per_stage: | |
| - 1 | |
| - 2 | |
| - 2 | |
| dilations_per_stage: | |
| - 1 | |
| - 1 | |
| - 1 | |
| norm_type: SyncBN | |
| final_pool_type: MAX_POOL | |
| conv_type: Conv1d | |
| actor_traj_fuse_mlp_cfg: | |
| input_dim: ??? | |
| hidden_dims: | |
| - 512 | |
| output_dim: ??? | |
| activation: relu | |
| norm: SyncBN | |
| dropout_p: 0.0 | |
| actor_latent_combination_strategy: FUSION | |
| actor_latent_fuse_mlp_cfg: | |
| input_dim: ??? | |
| hidden_dims: | |
| - 256 | |
| - 256 | |
| output_dim: ??? | |
| activation: relu | |
| norm: SyncBN | |
| dropout_p: 0.0 | |
| encoder_gnn_cfg: | |
| map_actor_gnn: | |
| node_types: ??? | |
| edge_types: ??? | |
| in_channels: ??? | |
| conv_type: HeteroEdgeMLP | |
| hidden_channels: | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| norm_type: LN | |
| aggr_type: mean | |
| update_type: GRUCell | |
| edge_dim: ??? | |
| global_shortcut_pool_type: NONE | |
| edge_dim_feedforward: 64 | |
| edge_embedder_num_layers: 2 | |
| edge_embedder_residual: false | |
| unused_output_nodes: [] | |
| return_attention_weights: false | |
| attention_weight_edge_types: null | |
| dropout_p: 0.0 | |
| include_ego_node: true | |
| include_cond_node: false | |
| input_framing_type: RELATIVE | |
| use_a2a: false | |
| use_actor2map: true | |
| filter_unreachable_node_edges: false | |
| max_reachable_distance_m: null | |
| num_centerline_succ_hops_reachable: null | |
| num_neigh_hops_reachable: null | |
| map_edge_types_as_one_hot_attr: false | |
| use_vectorized_actor_graph_creation: true | |
| prior_gnn_cfg: | |
| map_actor_gnn: | |
| node_types: ??? | |
| edge_types: ??? | |
| in_channels: ??? | |
| conv_type: HeteroEdgeMLP | |
| hidden_channels: | |
| - 128 | |
| - 128 | |
| - 128 | |
| - 128 | |
| norm_type: LN | |
| aggr_type: mean | |
| update_type: GRUCell | |
| edge_dim: ??? | |
| global_shortcut_pool_type: NONE | |
| edge_dim_feedforward: 64 | |
| edge_embedder_num_layers: 2 | |
| edge_embedder_residual: false | |
| unused_output_nodes: [] | |
| return_attention_weights: false | |
| attention_weight_edge_types: null | |
| dropout_p: 0.0 | |
| include_ego_node: true | |
| include_cond_node: false | |
| input_framing_type: RELATIVE | |
| use_a2a: false | |
| use_actor2map: true | |
| filter_unreachable_node_edges: false | |
| max_reachable_distance_m: null | |
| num_centerline_succ_hops_reachable: null | |
| num_neigh_hops_reachable: null | |
| map_edge_types_as_one_hot_attr: false | |
| use_vectorized_actor_graph_creation: true | |
| encoder_distribution: GAUSSIAN | |
| prior_distribution: GAUSSIAN | |
| codebook_size: 32 | |
| latent_dim: 128 | |
| num_samples: 1 | |
| learn_prior: true | |
| use_fp16_inference: false | |
| pred_loss_cfg: | |
| joint_traj_regression_loss: false | |
| use_min_scene_final_displ_loss: false | |
| variational_loss_active: false | |
| variational_loss_cfg: | |
| initial_kl_weight: 0.1 | |
| kl_scheduler_type: None | |
| final_kl_weight: 0.1 | |
| warmup_iters: 0 | |
| debug: false | |
| regression_loss_active: true | |
| regression_loss_mean_over_modes: false | |
| regression_loss_cfg: | |
| target: WAYPOINT | |
| traj_criterion: smooth_l1 | |
| mode_criterion: cross_entropy | |
| mode_margin: 0.2 | |
| traj_weight: 0.1 | |
| mode_weight: 0.1 | |
| cumsum_over_time: false | |
| action_criterion: none | |
| action_weight: 1.0 | |
| velo_weight: 0.0 | |
| lat_velo_weight_multiplier: 5.0 | |
| accel_weight: 0.0 | |
| lat_accel_weight_multiplier: 5.0 | |
| enable_teacher_forced_loss: true | |
| enable_non_teacher_forced_loss: false | |
| teacher_forced_weight: 1.0 | |
| non_teacher_forced_weight: 1.0 | |
| goal_regression_loss_active: false | |
| goal_regression_loss_cfg: | |
| target: WAYPOINT | |
| traj_criterion: smooth_l1 | |
| mode_criterion: cross_entropy | |
| mode_margin: 0.2 | |
| traj_weight: 0.1 | |
| mode_weight: 0.1 | |
| cumsum_over_time: false | |
| action_criterion: none | |
| action_weight: 1.0 | |
| velo_weight: 0.0 | |
| lat_velo_weight_multiplier: 5.0 | |
| accel_weight: 0.0 | |
| lat_accel_weight_multiplier: 5.0 | |
| use_closest_lane_for_gt_node: false | |
| use_gt_node_in_goal_reg: true | |
| disable_map_goal_offsets: false | |
| goal_classification_loss_active: false | |
| goal_classification_loss_cfg: | |
| node_criterion: kl_divergence | |
| node_weight: 1.0 | |
| temperature: 4.0 | |
| same_centerline_weight: 3.0 | |
| zero_prob_outside_gt_centerline: false | |
| focal_gamma: 2.0 | |
| cond_collision_loss_active: false | |
| cond_collision_loss_cfg: | |
| num_circles: 5 | |
| frequency_multiplier: 10 | |
| loss_weight: 1.0 | |
| loss_type: overlap | |
| actor_collision_loss_active: false | |
| actor_collision_loss_cfg: | |
| num_circles: 5 | |
| frequency_multiplier: 10 | |
| loss_weight: 1.0 | |
| loss_type: overlap | |
| cond_consistency_loss_active: false | |
| cond_consistency_loss_cfg: | |
| weight: 1.0 | |
| reweight_interactive_actors_ttc: 1.0 | |
| reweight_interactive_actors_multifuture: 1.0 | |
| num_other_actors_query: 0 | |
| enable_counterfactual_reweight: false | |
| temperature_counterfactual_reweight: 3.0 | |
| use_argoverse_actor_weights: false | |
| argoverse_focal_track_weight: 1.0 | |
| argoverse_scored_track_weight: 0.4 | |
| argoverse_unscored_track_weight: 0.1 | |
| argoverse_normalize_by_count: false | |
| differentiate_off_map_gt_in_goal_cls: false | |
| off_map_dist_thresh: 5.4 | |
| interm_regression_loss_cfg: | |
| target: WAYPOINT | |
| traj_criterion: smooth_l1 | |
| mode_criterion: cross_entropy | |
| mode_margin: 0.2 | |
| traj_weight: 0.1 | |
| mode_weight: 0.1 | |
| cumsum_over_time: false | |
| action_criterion: none | |
| action_weight: 1.0 | |
| velo_weight: 0.0 | |
| lat_velo_weight_multiplier: 5.0 | |
| accel_weight: 0.0 | |
| lat_accel_weight_multiplier: 5.0 | |
| mean_across_actors: false | |
| expected_num_actors_per_batch: 8.5 | |
| pred_coordframe: ACTOR_FRAME | |
| map_cfg: | |
| load_map: ${data.train_dataset_cfg.map_config.load_map} | |
| load_lane_graph: ${data.train_dataset_cfg.map_config.load_lane_graph} | |
| load_lane_graph_region: false | |
| poly_map_builder_config: null | |
| load_map_tiles: false | |
| lane_graph_sampling_interval_m: ${data.train_dataset_cfg.map_config.lane_graph_sampling_interval_m} | |
| lane_graph_neighbour_connection_type: ${data.train_dataset_cfg.map_config.lane_graph_neighbour_connection_type} | |
| lane_graph_neighbour_max_dist_m: ${data.train_dataset_cfg.map_config.lane_graph_neighbour_max_dist_m} | |
| lane_graph_is_close_dist_thresh_m: 2.5 | |
| lane_graph_closest_n_nodes: -1 | |
| lane_graph_argoverse2_add_pedestrian_crossings: true | |
| lane_graph_compute_reachable: false | |
| crop_map_around_focal_pose: false | |
| transform_map_container_to_ego_frame: false | |
| roi: | |
| front_dist_m: ${data.train_dataset_cfg.map_config.roi.front_dist_m} | |
| back_dist_m: ${data.train_dataset_cfg.map_config.roi.back_dist_m} | |
| left_dist_m: ${data.train_dataset_cfg.map_config.roi.left_dist_m} | |
| right_dist_m: ${data.train_dataset_cfg.map_config.roi.right_dist_m} | |
| return_map_container: true | |
| lane_graph_3d: false | |
| use_map_ground_height: false | |
| return_ground_height_raster: false | |
| lane_graph_region_roi: null | |
| return_online_mapper_gt: false | |
| load_map_region: true | |
| load_map_container: true | |
| load_cached_poly_map: true | |
| max_map_retries: 10 | |
| error_on_fail_load_map: true | |
| class_cfg: | |
| active_classes: | |
| - VEHICLE | |
| - PERSON | |
| - CYCLIST | |
| - EGO | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| prior_loss_cfg: | |
| weight: 2.0 | |
| num_samples: 20 | |
| reward_cfg: | |
| log_lane_change: true | |
| optimize_lane_change: true | |
| lane_change_cfg: | |
| per_timestep: true | |
| tp_reward: 2.0 | |
| fp_reward: -0.1 | |
| tn_reward: 1.0 | |
| log_encroachment: true | |
| optimize_encroachment: true | |
| encroachment_cfg: | |
| per_timestep: false | |
| tp_reward: 2.0 | |
| fp_reward: -0.1 | |
| tn_reward: 2.0 | |
| use_heading: true | |
| gt_inbuffer_is_invalid: true | |
| gt_buffer: 0.05 | |
| pred_buffer: 0.05 | |
| log_deceleration: true | |
| optimize_deceleration: true | |
| deceleration_cfg: | |
| per_timestep: false | |
| overshoot_penalty: -1.0 | |
| fn_stop_penalty: -5.0 | |
| tp_stop_penalty: 5.0 | |
| absolute_tolerance: 1.0 | |
| relative_tolerance: 0.01 | |
| stop_tolerance: 0.5 | |
| init_speed_tolerance: 1.0 | |
| dec_threshold: 0.5 | |
| minimum_valid_timesteps: 5 | |
| log_static: true | |
| optimize_static: true | |
| static_cfg: | |
| fn_penalty: -500.0 | |
| tp_reward: 1.0 | |
| minimum_index_for_partial_gt: 3 | |
| speed_threshold_ms: 0.5 | |
| start_epoch: 5 | |
| expected_num_objects_batch: 8.0 | |
| use_advantage: false | |
| gru_pred_model_cfg: null | |
| nms_in_3d: false | |
| nms_iou_threshold: 0.5 | |
| score_threshold: 0.1 | |
| pnp_training_association_iou_thresholds: | |
| - 0.1 | |
| - 0.1 | |
| - 0.1 | |
| - 0.1 | |
| - 0.1 | |
| - 0.1 | |
| pnp_training_association_heading_thresholds: | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| - 180.0 | |
| past_waypoint_l1_weight: 1.0 | |
| past_waypoint_loss_cfg: | |
| target: LOC_SCALE_WAYPOINT | |
| traj_criterion: smooth_l1 | |
| mode_criterion: cross_entropy | |
| mode_margin: 0.2 | |
| traj_weight: 0.1 | |
| mode_weight: 0.1 | |
| cumsum_over_time: false | |
| action_criterion: none | |
| action_weight: 1.0 | |
| velo_weight: 0.0 | |
| lat_velo_weight_multiplier: 5.0 | |
| accel_weight: 0.0 | |
| lat_accel_weight_multiplier: 5.0 | |
| pred_delta_t_secs: 0.5 | |
| sweep_duration_secs: 0.1 | |
| train_det_post_processing_config: | |
| nms_iou_threshold: 0.5 | |
| score_threshold: 0.1 | |
| nms_in_3d: false | |
| post_nms_topk: null | |
| training_min_score_threshold: 0.01 | |
| training_max_score_threshold: 0.15 | |
| inference_det_post_processing_config: | |
| nms_iou_threshold: 0.1 | |
| score_threshold: 0.1 | |
| nms_in_3d: false | |
| post_nms_topk: null | |
| training_min_score_threshold: 0.01 | |
| training_max_score_threshold: 0.15 | |
| neck_cfgs: | |
| - neck_user: DP | |
| neck_cfg: | |
| out_channels: ??? | |
| in_channels: | |
| - 64 | |
| - 128 | |
| - 256 | |
| out_indices: | |
| - 1 | |
| norm_type: None | |
| pyramid_pool: false | |
| name: RPN | |
| rpn_config: | |
| layer_nums: | |
| - 5 | |
| - 5 | |
| ds_layer_strides: | |
| - 1 | |
| - 2 | |
| ds_num_filters: | |
| - 128 | |
| - 256 | |
| us_layer_strides: | |
| - 1 | |
| - 2 | |
| us_num_filters: | |
| - 256 | |
| - 256 | |
| num_input_features: 256 | |
| norm_type: SyncBN | |
| out_proj: null | |
| conv_op_name: conv | |
| rpn_with_spatial_attention_config: null | |
| - neck_user: IMPLICIT | |
| neck_cfg: | |
| out_channels: ??? | |
| in_channels: | |
| - 64 | |
| - 128 | |
| - 256 | |
| out_indices: | |
| - 0 | |
| norm_type: None | |
| pyramid_pool: false | |
| name: RPN | |
| rpn_config: | |
| layer_nums: | |
| - 5 | |
| - 5 | |
| ds_layer_strides: | |
| - 2 | |
| - 2 | |
| ds_num_filters: | |
| - 128 | |
| - 256 | |
| us_layer_strides: | |
| - 2 | |
| - 4 | |
| us_num_filters: | |
| - 256 | |
| - 256 | |
| num_input_features: 256 | |
| norm_type: SyncBN | |
| out_proj: null | |
| conv_op_name: conv | |
| rpn_with_spatial_attention_config: null | |
| box_dim_update_type: PREDICT_ELU_PLUS_ONE | |
| box_centroid_update_type: PREDICT_Z_ADD_OTHERS | |
| run_dp_heads: true | |
| run_online_mapper_head: true | |
| run_occ_flow_head: true | |
| run_traffic_lights_state_estimator: true | |
| include_pred_loss: true | |
| eval_iter_force_forward: false | |
| num_queries_lidar: 200 | |
| num_queries_cam: 100 | |
| num_time_steps: 12 | |
| transformer_dim: 128 | |
| transformer_nheads: 8 | |
| use_learnable_query: false | |
| transformer_layers: 2 | |
| refinement_attn_cfgs: | |
| - attention_spec: | |
| - QUERY_OBJECT_SELF | |
| - QUERY_TO_MAP | |
| - QUERY_TO_LIDAR | |
| - QUERY_TIME_SELF | |
| - attention_spec: | |
| - QUERY_OBJECT_SELF | |
| - QUERY_TO_MAP | |
| - QUERY_TO_LIDAR | |
| - QUERY_TIME_SELF | |
| map_attention_topk: 4 | |
| proposal_resolution_level: 0 | |
| encoder_norm_type: GN | |
| proposal_nms_threshold: 0.5 | |
| lidar_proposal_pre_nms_topk: null | |
| use_gt_trajs: false | |
| heading_cost: 1.0 | |
| tracker_cfg: | |
| class_to_tracker_cfg: | |
| VEHICLE: | |
| min_det_score: 0.1 | |
| min_track_score: 0.2 | |
| grow_decay: 0.8 | |
| match_upweight: 1.05 | |
| track_score_momentum: 0.5 | |
| time_constant_s: 0.1 | |
| CYCLIST: | |
| min_det_score: 0.1 | |
| min_track_score: 0.2 | |
| grow_decay: 0.8 | |
| match_upweight: 1.05 | |
| track_score_momentum: 0.5 | |
| time_constant_s: 0.1 | |
| PERSON: | |
| min_det_score: 0.05 | |
| min_track_score: 0.1 | |
| grow_decay: 0.8 | |
| match_upweight: 1.05 | |
| track_score_momentum: 0.5 | |
| time_constant_s: 0.1 | |
| EGO: | |
| min_det_score: 0.1 | |
| min_track_score: 0.2 | |
| grow_decay: 0.8 | |
| match_upweight: 1.05 | |
| track_score_momentum: 0.5 | |
| time_constant_s: 0.1 | |
| TIRE_BLOWOUT: | |
| min_det_score: 0.1 | |
| min_track_score: 0.2 | |
| grow_decay: 0.8 | |
| match_upweight: 1.05 | |
| track_score_momentum: 0.5 | |
| time_constant_s: 0.1 | |
| EGO_TRAILER: | |
| min_det_score: 0.1 | |
| min_track_score: 0.2 | |
| grow_decay: 0.8 | |
| match_upweight: 1.05 | |
| track_score_momentum: 0.5 | |
| time_constant_s: 0.1 | |
| x_min: ${..perception_model.voxel_cfg.x_min} | |
| x_max: ${..perception_model.voxel_cfg.x_max} | |
| y_min: ${..perception_model.voxel_cfg.y_min} | |
| y_max: ${..perception_model.voxel_cfg.y_max} | |
| pred_len: 12 | |
| pred_delta_t_secs: 0.5 | |
| tracker_timeout_ns: 5000000000.0 | |
| match_th: 0.1 | |
| device: cuda | |
| nms_threshold: 0.1 | |
| evaluate_tracker: true | |
| proposal_detection_loss_config: | |
| regression_2dbox_weight: 0.04 | |
| regression_l1_weight: 0.1 | |
| regression_l1_scales: | |
| - 10.0 | |
| - 10.0 | |
| - 10.0 | |
| - 40.0 | |
| - 20.0 | |
| - 20.0 | |
| - 0.1 | |
| - 0.1 | |
| loss_cost_class: 3.0 | |
| loss_cost_giou: 0.0 | |
| matching_cost_class: 1.0 | |
| matching_cost_giou: 4.0 | |
| matching_cost_heading: 4.0 | |
| matching_cost_l1: 0.4 | |
| cls_alpha: 0.5 | |
| match_mode: IoUHead | |
| dontcare_thresh: 0.8 | |
| optimization_max_dist: 10 | |
| sync_num_boxes: true | |
| box_loss_type: AxisAlignedIoU_L1 | |
| iou_l1_cfg: | |
| box_iou_weight: 4.0 | |
| box_loc_weight: 4.0 | |
| box_size_weight: 0.4 | |
| box_rot_weight: 4.0 | |
| iou_loss_th: 0.5 | |
| focal_loss_weight: 2.0 | |
| focal_loss_config: | |
| cls_loss: focal | |
| focal_alpha: 0.5 | |
| focal_gamma: 2.0 | |
| occupancy_coefficient: 1.0 | |
| det_coefficient: 1.0 | |
| num_neg: 8000 | |
| num_hard_ratio: 4.0 | |
| bbox_loss: iou_l1_rot | |
| iou_loss_th: 0.5 | |
| bb_loss_coef: 1.0 | |
| rot_loss_coef: 1.0 | |
| box_reg_dim: 6 | |
| has_track_loss: false | |
| track_loss_coef: 1.0 | |
| pred_loss_coef: 1.0 | |
| class_coef: | |
| VEHICLE: 1.0 | |
| PERSON: 1.0 | |
| CYCLIST: 1.0 | |
| IGNORE: 1.0 | |
| ALL: 1.0 | |
| EGO: 1.0 | |
| TOWED_OBJECT: 1.0 | |
| OTHER_OBJECT: 1.0 | |
| WORK_ZONE_BARRIER: 1.0 | |
| CONE: 1.0 | |
| SIGN: 1.0 | |
| TIRE_BLOWOUT: 1.0 | |
| EGO_TRAILER: 1.0 | |
| name: det | |
| normalizer: pos | |
| moving_pos_coefficient: 1.0 | |
| moving_neg_coefficient: 1.0 | |
| stationary_pos_coefficient: 1.0 | |
| stationary_neg_coefficient: 1.0 | |
| moving_threshold: 0.0 | |
| dense_labeling_config: | |
| downsample_factor: 8 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| pred_only: false | |
| roi_buffer_dist: 0.0 | |
| detection_in_3d: true | |
| class_coef: null | |
| neg_heading_thresh: null | |
| neg_speed_thresh: null | |
| neg_lane: false | |
| refinement_detection_loss_config: | |
| regression_2dbox_weight: 0.04 | |
| regression_l1_weight: 0.1 | |
| regression_l1_scales: | |
| - 10.0 | |
| - 10.0 | |
| - 10.0 | |
| - 40.0 | |
| - 20.0 | |
| - 20.0 | |
| - 0.1 | |
| - 0.1 | |
| loss_cost_class: 1.0 | |
| loss_cost_giou: 4.0 | |
| matching_cost_class: 1.0 | |
| matching_cost_giou: 4.0 | |
| matching_cost_heading: 4.0 | |
| matching_cost_l1: 0.4 | |
| cls_alpha: 0.4 | |
| match_mode: IoU | |
| dontcare_thresh: 0.8 | |
| optimization_max_dist: 10 | |
| sync_num_boxes: true | |
| box_loss_type: IoU_L1 | |
| iou_l1_cfg: null | |
| focal_loss_weight: 2.0 | |
| focal_loss_config: | |
| cls_loss: focal | |
| focal_alpha: 0.5 | |
| focal_gamma: 2.0 | |
| occupancy_coefficient: 1.0 | |
| det_coefficient: 1.0 | |
| num_neg: 8000 | |
| num_hard_ratio: 4.0 | |
| bbox_loss: iou_l1_rot | |
| iou_loss_th: 0.5 | |
| bb_loss_coef: 1.0 | |
| rot_loss_coef: 1.0 | |
| box_reg_dim: 6 | |
| has_track_loss: false | |
| track_loss_coef: 1.0 | |
| pred_loss_coef: 1.0 | |
| class_coef: | |
| VEHICLE: 1.0 | |
| PERSON: 1.0 | |
| CYCLIST: 1.0 | |
| IGNORE: 1.0 | |
| ALL: 1.0 | |
| EGO: 1.0 | |
| TOWED_OBJECT: 1.0 | |
| OTHER_OBJECT: 1.0 | |
| WORK_ZONE_BARRIER: 1.0 | |
| CONE: 1.0 | |
| SIGN: 1.0 | |
| TIRE_BLOWOUT: 1.0 | |
| EGO_TRAILER: 1.0 | |
| name: det | |
| normalizer: pos | |
| moving_pos_coefficient: 1.0 | |
| moving_neg_coefficient: 1.0 | |
| stationary_pos_coefficient: 1.0 | |
| stationary_neg_coefficient: 1.0 | |
| moving_threshold: 0.0 | |
| dense_labeling_config: | |
| downsample_factor: 8 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| pred_only: false | |
| roi_buffer_dist: 0.0 | |
| detection_in_3d: true | |
| class_coef: null | |
| neg_heading_thresh: 20.0 | |
| neg_speed_thresh: 6.0 | |
| neg_lane: true | |
| encode_bbox_params: true | |
| nms_in_3d: false | |
| matching_in_3d: false | |
| cost_in_3d: false | |
| image_model: | |
| class_cfg: | |
| active_classes: | |
| - VEHICLE | |
| - PERSON | |
| - CYCLIST | |
| - EGO | |
| - TIRE_BLOWOUT | |
| image_network_variant: ResNet50 | |
| feature_map_scales: | |
| - 4 | |
| - 8 | |
| - 16 | |
| scale_factor: null | |
| proposal_stride: 4 | |
| train_freeze_stage: 5 | |
| pretrained: true | |
| n_images: 1 | |
| feature_channel: 128 | |
| orig_dim: | |
| - 1080 | |
| - 1920 | |
| image_divisible_factor: 32 | |
| max_depth: 500.0 | |
| depth_bins: 64 | |
| camera_proposal: true | |
| camera_only: false | |
| depth_loss_cfg: | |
| bucketized_distances: | |
| - 350-500 | |
| - 250-350 | |
| - 160-250 | |
| - 120-160 | |
| - 80-120 | |
| - 40-80 | |
| - 0-40 | |
| samples_per_bucket: | |
| - 10000 | |
| - 10000 | |
| - 10000 | |
| - 10000 | |
| - 10000 | |
| - 10000 | |
| - 10000 | |
| max_time_span_per_bucket: | |
| - 0.05 | |
| - 0.05 | |
| - 0.05 | |
| - 0.05 | |
| - 0.05 | |
| - 0.05 | |
| - 0.05 | |
| depth_loss_coef: 0.5 | |
| traffic_light_loss_coef: 10.0 | |
| in_channels: 11 | |
| implicit_cfg: | |
| resnet_cfg: | |
| feature_vector_dim: 256 | |
| points_dim: 3 | |
| hidden_size: 64 | |
| n_blocks: 3 | |
| norm_type: None | |
| attn_resnet_cfg: | |
| feature_vector_dim: 128 | |
| points_dim: 3 | |
| hidden_size: 16 | |
| n_blocks: 1 | |
| norm_type: None | |
| interpolator_cfg: | |
| sample_mode: bilinear | |
| padding_mode: border | |
| volumetric: false | |
| attn_decoder_cfg: | |
| input_feature_size: 16 | |
| out_dims: | |
| - 2 | |
| init_fc_out_weight_stds: | |
| - 0.01 | |
| init_fc_out_bias_consts: | |
| - 0.0 | |
| use_multi_head: true | |
| n_heads: 1 | |
| decode_original_query_points: true | |
| decode_new_query_points: false | |
| offset_coords: | |
| - 0 | |
| - 1 | |
| max_num_pts_depth_gt: 20000 | |
| rv_image_stride: 4 | |
| voxel_cfg: | |
| x_min: -202.0 | |
| x_max: 350.0 | |
| y_min: -150.0 | |
| y_max: 150.0 | |
| step: 0.15625 | |
| z_min: -3.0 | |
| z_max: 5.0 | |
| z_step: 0.25 | |
| add_intensity: false | |
| add_ground: false | |
| add_class_id: false | |
| add_sensor_id: true | |
| add_relative_time: false | |
| h_min: -0.3125 | |
| h_max: 5.0 | |
| h_step: 0.15625 | |
| n_feat: null | |
| any_corner: true | |
| rasterize_concat_intensity: false | |
| name: null | |
| n_out: null | |
| num_sensors: null | |
| num_sweeps: null | |
| single_lidar: null | |
| single_radar: null | |
| clip_outside_voxelizer_z_roi: true | |
| use_fast_version: null | |
| norm_type: LayerNorm | |
| modality: LIDAR | |
| use_norm: true | |
| with_distance: false | |
| use_absolute_xyz: true | |
| num_point_features: 4 | |
| num_filters: | |
| - 64 | |
| - 64 | |
| shuffle_points: false | |
| waabi_y_convention: true | |
| cam_proposal_detection_loss_config: | |
| regression_2dbox_weight: 0.04 | |
| regression_l1_weight: 0.4 | |
| regression_l1_scales: | |
| - 10.0 | |
| - 10.0 | |
| - 10.0 | |
| - 40.0 | |
| - 20.0 | |
| - 20.0 | |
| - 0.1 | |
| - 0.1 | |
| loss_cost_class: 3.0 | |
| loss_cost_giou: 4.0 | |
| matching_cost_class: 1.0 | |
| matching_cost_giou: 4.0 | |
| matching_cost_heading: 4.0 | |
| matching_cost_l1: 0.4 | |
| cls_alpha: 0.5 | |
| match_mode: IoUHead | |
| dontcare_thresh: 0.8 | |
| optimization_max_dist: 10 | |
| sync_num_boxes: false | |
| box_loss_type: GIoU_L1 | |
| iou_l1_cfg: null | |
| focal_loss_weight: 2.0 | |
| focal_loss_config: | |
| cls_loss: focal | |
| focal_alpha: 0.5 | |
| focal_gamma: 2.0 | |
| occupancy_coefficient: 1.0 | |
| det_coefficient: 1.0 | |
| num_neg: 8000 | |
| num_hard_ratio: 4.0 | |
| bbox_loss: iou_l1_rot | |
| iou_loss_th: 0.5 | |
| bb_loss_coef: 1.0 | |
| rot_loss_coef: 1.0 | |
| box_reg_dim: 6 | |
| has_track_loss: false | |
| track_loss_coef: 1.0 | |
| pred_loss_coef: 1.0 | |
| class_coef: | |
| VEHICLE: 1.0 | |
| PERSON: 1.0 | |
| CYCLIST: 1.0 | |
| IGNORE: 1.0 | |
| ALL: 1.0 | |
| EGO: 1.0 | |
| TOWED_OBJECT: 1.0 | |
| OTHER_OBJECT: 1.0 | |
| WORK_ZONE_BARRIER: 1.0 | |
| CONE: 1.0 | |
| SIGN: 1.0 | |
| TIRE_BLOWOUT: 1.0 | |
| EGO_TRAILER: 1.0 | |
| name: det | |
| normalizer: pos | |
| moving_pos_coefficient: 1.0 | |
| moving_neg_coefficient: 1.0 | |
| stationary_pos_coefficient: 1.0 | |
| stationary_neg_coefficient: 1.0 | |
| moving_threshold: 0.0 | |
| dense_labeling_config: | |
| downsample_factor: 8 | |
| pos_th: 0.5 | |
| neg_th: 0.3 | |
| pred_only: false | |
| roi_buffer_dist: 0.0 | |
| detection_in_3d: true | |
| class_coef: null | |
| neg_heading_thresh: null | |
| neg_speed_thresh: null | |
| neg_lane: false | |
| matching_in_3d: false | |
| cost_in_3d: false | |
| box2d_head: true | |
| depth_pretraining: false | |
| inference_det_post_processing_config: | |
| nms_iou_threshold: 0.5 | |
| score_threshold: 0.1 | |
| post_nms_topk: 100 | |
| per_class_topk: null | |
| quantization: FP32 | |
| sfl_config: null | |
| sparse_proposal_header_cfg: null | |
| neck_config: null | |
| proposal_header: null | |
| traffic_light_header: | |
| num_channels: 48 | |
| num_heads: 8 | |
| crop_hw: 40 | |
| crop_pix_buffer: 20 | |
| dropout: 0.0 | |
| max_dist: 300.0 | |
| min_yaw: 2.356 | |
| backbone_norm: FrozenBN | |
| decode_boxes: true | |
| use_map: true | |
| sfl_config: null | |
| viz_cfg: | |
| recompute_num_pts: true | |
| min_sum_num_pts: 20 | |
| min_cam_fov_sum_num_pts: 1 | |
| crop_lidar_num_pts: true | |
| pnp_viz_unroll_config: | |
| x_max: ${...perception_model.voxel_cfg.x_max} | |
| x_min: ${...perception_model.voxel_cfg.x_min} | |
| y_max: ${...perception_model.voxel_cfg.y_max} | |
| y_min: ${...perception_model.voxel_cfg.y_min} | |
| select_classes: | |
| - VEHICLE | |
| - PERSON | |
| - CYCLIST | |
| - TIRE_BLOWOUT | |
| save_fps: 2 | |
| subsample_lidar: 0.7 | |
| min_conf: 0.4 | |
| gt_alpha: 0.4 | |
| plot_map_raster: true | |
| plot_poly_map: false | |
| plot_lidar: false | |
| plot_radar: false | |
| map_raster_x_max: null | |
| map_raster_x_min: null | |
| map_raster_y_max: null | |
| map_raster_y_min: null | |
| plot_ego: true | |
| pnp_viz_unroll_multifuture_config: null | |
| pnp_viz_output_config: | |
| x_max: ${...perception_model.voxel_cfg.x_max} | |
| x_min: ${...perception_model.voxel_cfg.x_min} | |
| y_max: ${...perception_model.voxel_cfg.y_max} | |
| y_min: ${...perception_model.voxel_cfg.y_min} | |
| select_classes: | |
| - VEHICLE | |
| - PERSON | |
| - CYCLIST | |
| - TIRE_BLOWOUT | |
| - EGO_TRAILER | |
| - EGO | |
| save_fps: null | |
| subsample_lidar: 1.0 | |
| min_conf: 0.2 | |
| gt_alpha: 0.4 | |
| plot_map_raster: true | |
| plot_poly_map: false | |
| plot_lidar: true | |
| plot_radar: false | |
| map_raster_x_max: ${...perception_model.voxel_cfg.x_max} | |
| map_raster_x_min: ${...perception_model.voxel_cfg.x_min} | |
| map_raster_y_max: ${...perception_model.voxel_cfg.y_max} | |
| map_raster_y_min: ${...perception_model.voxel_cfg.y_min} | |
| pred_alpha: 0.5 | |
| plot_label_regions: true | |
| plot_trajectories: false | |
| plot_gt: true | |
| distance_marker_interval_m: 100.0 | |
| lidar_alpha: 0.2 | |
| plot_box_alpha: false | |
| radar_visualizer_cfg: null | |
| pnp_viz_intermediate_output_config: null | |
| pnp_viz_proposal_config: | |
| x_max: ${...perception_model.voxel_cfg.x_max} | |
| x_min: ${...perception_model.voxel_cfg.x_min} | |
| y_max: ${...perception_model.voxel_cfg.y_max} | |
| y_min: ${...perception_model.voxel_cfg.y_min} | |
| select_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| - EGO_TRAILER | |
| - EGO | |
| save_fps: null | |
| subsample_lidar: 0.7 | |
| min_conf: 0.1 | |
| gt_alpha: 0.4 | |
| plot_map_raster: true | |
| plot_poly_map: false | |
| plot_lidar: true | |
| plot_radar: false | |
| map_raster_x_max: null | |
| map_raster_x_min: null | |
| map_raster_y_max: null | |
| map_raster_y_min: null | |
| pred_alpha: 0.5 | |
| plot_label_regions: true | |
| plot_trajectories: true | |
| plot_gt: true | |
| distance_marker_interval_m: 100.0 | |
| lidar_alpha: 0.1 | |
| plot_box_alpha: false | |
| radar_visualizer_cfg: null | |
| pnp_mm_viz_output_config: | |
| x_max: ${...perception_model.voxel_cfg.x_max} | |
| x_min: ${...perception_model.voxel_cfg.x_min} | |
| y_max: ${...perception_model.voxel_cfg.y_max} | |
| y_min: ${...perception_model.voxel_cfg.y_min} | |
| select_classes: | |
| - VEHICLE | |
| - PERSON | |
| - CYCLIST | |
| save_fps: null | |
| subsample_lidar: 0.7 | |
| min_conf: 0.1 | |
| gt_alpha: 0.4 | |
| plot_map_raster: true | |
| plot_poly_map: false | |
| plot_lidar: false | |
| plot_radar: false | |
| map_raster_x_max: null | |
| map_raster_x_min: null | |
| map_raster_y_max: null | |
| map_raster_y_min: null | |
| overlay_lidar_on_camera: false | |
| pred_alpha: 0.5 | |
| pnp_mm_viz_proposal_config: | |
| x_max: ${...perception_model.voxel_cfg.x_max} | |
| x_min: ${...perception_model.voxel_cfg.x_min} | |
| y_max: ${...perception_model.voxel_cfg.y_max} | |
| y_min: ${...perception_model.voxel_cfg.y_min} | |
| select_classes: | |
| - VEHICLE | |
| - CYCLIST | |
| save_fps: null | |
| subsample_lidar: 0.7 | |
| min_conf: 0.1 | |
| gt_alpha: 0.4 | |
| plot_map_raster: true | |
| plot_poly_map: false | |
| plot_lidar: false | |
| plot_radar: false | |
| map_raster_x_max: null | |
| map_raster_x_min: null | |
| map_raster_y_max: null | |
| map_raster_y_min: null | |
| overlay_lidar_on_camera: false | |
| pred_alpha: 0.5 | |
| pnp_viz_object_memory_config: | |
| x_max: ${...perception_model.voxel_cfg.x_max} | |
| x_min: ${...perception_model.voxel_cfg.x_min} | |
| y_max: ${...perception_model.voxel_cfg.y_max} | |
| y_min: ${...perception_model.voxel_cfg.y_min} | |
| select_classes: | |
| - VEHICLE | |
| - PERSON | |
| - CYCLIST | |
| save_fps: 3 | |
| subsample_lidar: 0.7 | |
| min_conf: 0.4 | |
| gt_alpha: 1.0 | |
| plot_map_raster: true | |
| plot_poly_map: false | |
| plot_lidar: true | |
| plot_radar: false | |
| map_raster_x_max: null | |
| map_raster_x_min: null | |
| map_raster_y_max: null | |
| map_raster_y_min: null | |
| per_class_score_ths: | |
| VEHICLE: 0.4 | |
| PERSON: 0.4 | |
| CYCLIST: 0.4 | |
| lidar_proposal_score_ths: 0.4 | |
| lidar_subsample_stride: 5 | |
| pred_hex_color: '#20aef5' | |
| fp_hex_color: '#f5f073' | |
| fn_hex_color: '#f53649' | |
| gt_hex_color: '#2e2e2e' | |
| pred_line_width: 12 | |
| label_line_width: 3 | |
| memory_line_width: 3 | |
| memory_topk: 400 | |
| anchor_cmap: cool_r | |
| anchor_max_past_time_s: 0.9 | |
| pnp_viz_occ_raster_config: null | |
| online_mapper_viz_config: null | |
| object_free_cfg: | |
| visualize_ground_truth_occupancy: true | |
| visualize_predicted_occupancy: true | |
| visualize_predicted_occupancy_variance: false | |
| visualize_predicted_occupancy_error: false | |
| visualize_predicted_occupancy_entropy: false | |
| visualize_gt_classified_lidar: false | |
| visualize_attention: false | |
| visualize_ground_truth_flow: false | |
| visualize_predicted_flow: true | |
| enable_sample_traj_pts: false | |
| enable_expert_cost_viz: false | |
| include_lidar: false | |
| include_map_raster: false | |
| viz_parameters: null | |
| voxel_cfg: null | |
| visualize_4d: false | |
| visualize_rendered_lidar: false | |
| novel_view_viz_cfgs: null | |
| unroll_viz_cfg: null | |
| point_grid_viz_cfg: null | |
| visualize_ego_bbox: false | |
| visualize_reverse_flow: true | |
| visualize_flow_arrows: false | |
| scale_flow_using_roi: false | |
| visualize_flow_occupancy_combined: false | |
| visualize_sigmoid_occupancy: false | |
| visualize_discretized_classification: true | |
| visualize_ground_height: false | |
| maximum_velocity: 50.0 | |
| arrow_image_scale_factor: 0.25 | |
| occ_scale_flow: true | |
| save_fps: 2 | |
| device: cuda | |
| pnp_viz_tracker_config: | |
| x_max: ${...perception_model.voxel_cfg.x_max} | |
| x_min: ${...perception_model.voxel_cfg.x_min} | |
| y_max: ${...perception_model.voxel_cfg.y_max} | |
| y_min: ${...perception_model.voxel_cfg.y_min} | |
| select_classes: | |
| - VEHICLE | |
| - PERSON | |
| - CYCLIST | |
| - EGO_TRAILER | |
| - EGO | |
| save_fps: 2 | |
| subsample_lidar: 1.0 | |
| min_conf: 0.2 | |
| gt_alpha: 0.4 | |
| plot_map_raster: true | |
| plot_poly_map: false | |
| plot_lidar: true | |
| plot_radar: false | |
| map_raster_x_max: null | |
| map_raster_x_min: null | |
| map_raster_y_max: null | |
| map_raster_y_min: null | |
| pred_alpha: 0.5 | |
| plot_label_regions: true | |
| plot_trajectories: false | |
| plot_gt: true | |
| distance_marker_interval_m: 100.0 | |
| lidar_alpha: 0.2 | |
| plot_box_alpha: false | |
| radar_visualizer_cfg: null | |
| object_memory_handler_cfg: null | |
| lidar_backbone_freeze_epoch: 0 | |
| image_backbone_freeze_epoch: 0 | |
| sfl_freeze_epoch: 0 | |
| dp_freeze_epoch: 0 | |
| occupancy_freeze_epoch: 0 | |
| online_mapper_freeze_epoch: 0 | |
| n_levels: 1 | |
| proposal_confidence_threshold: 0.1 | |
| incremental_metrics_runner_cfg: | |
| run_sequential_det_metrics: true | |
| run_sequential_pred_metrics: true | |
| dump_detection_dataframe: true | |
| past_delta_t_secs: 0.4 | |
| validate_weights: true | |
| quantization: FP16 | |
| initial_prediction: false | |
| share_pred_head_weights: true | |
| depth_anything_model: null | |
| metric_3d_model: null | |
| onboard_depth_model_wrapper: null | |
| ptv3_det_model: null |
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Comparison: wandb
ptv3_dp_trt_lidar_old_v3(aqua, top)ptv3_dp_trt_lidar_verification_revert_vox_v2(pink, below aqua)Only differences: