config.yaml

---
imagenet_pretrained: True
log_wandb: True
fps: 20
crop_size: 96
bev_embd_size: 96
embd_size: 32
x_jitter: 5
a_jitter: 30
nxp_jitter: 10
num_sample: 50
num_plan_iter: 5
num_plan: 10
cmd_weight: 0.1
cmd_smooth: 0.2
cmd_thresh: 0.2
kd_weight : 1.0
other_weight: 0.5 # LiDAR only
crop_rgb: 20
num_cmds: 6
#### RGB ######
camera_x: 1.5
camera_z: 2.4
camera_yaws: [-120,-60,0,60,120]
#### LiDAR ##########
backbone: cnn
min_x: -10
max_x:  70
min_y: -40
max_y:  40
max_vehicle_radius: 15
max_pedestrian_radius: 10
max_objs: 20
pixels_per_meter: 4
max_points_per_pillar: 100
max_lidar_points: 40000
#### Point Painting #####
seg_channels: [4,6,7,10]
##### LiDAR augmentation ####
x_jitter: 10 # In pixels
angle_jitter: 30 # In degrees
#### Motion planning ##
expert_weight: 0.5
#### Feature augmentation ###
feature_x_jitter: 1.5      # In meters
feature_angle_jitter: 20 # In degrees
##### Use others to train ###
use_others_to_train: True
#### Detetion #####
box_weight: 1.0
ori_weight: 1.0
## Segmentations ##
seg_weight: 2.0
#### RGB ##########
crop_tel_bottom: 96
#### Point Painting ####
point_painting: True
num_features: [32,32]
#### DATA #####
percentage_data: 1.01
all_towns: True
#### CONTROLLER #####
aim_point: 4
turn_KP: 1.0
turn_KI: 0.5
turn_KD: 0.2
turn_n:  40 # buffer size
speed_KP: 5.0
speed_KI: 0.5
speed_KD: 1.0
speed_n:  40 # buffer size
brake_speed: 0.2
brake_ratio: 1.1
clip_delta: 0.25
max_throttle: 0.8
max_speed: 35 # km/h
no_forecast: False
no_refine: False
#### MODEL DIR ####
pixels_per_meter: 4
lidar_model_dir: ML_Models/LAV/weights/lidar_15.th
bev_model_dir: ML_Models/LAV/weights/bev_160.th
uniplanner_dir: ML_Models/LAV/weights/uniplanner_15.th
bra_model_dir: ML_Models/LAV/weights/bra_10.th
seg_model_dir: ML_Models/LAV/weights/seg_1.th
### DATASET DIR ###
data_dir: [PATH TO DATASET]