Download config/formal_occjoint_v42g_egorollout_ds30.json from HqH1111/OCCWAM: direct link, hf CLI and curl.
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13.3 kB
| { | |
| "action_space": { | |
| "occ_in_joint_flow": true, | |
| "public_axis_order": "manifest_native_[x,y]", | |
| "public_representation": "cumulative_meter_points", | |
| "roundtrip_tolerance_m": 1e-05, | |
| "route_decoder": "denormalize_delta_then_cumsum", | |
| "route_in_joint_flow": false, | |
| "route_internal_axis_order": "manifest_native_[dx,dy]", | |
| "route_internal_representation": "normalized_per_step_delta", | |
| "route_normalization": "train_delta_mean_std", | |
| "route_points": 20, | |
| "route_prediction": "deterministic_direct", | |
| "scene_decoder": "vae_logits_plus_p3_intent_time_joint_latent_residual", | |
| "stage3_legacy_action_io_loaded": false, | |
| "stats_artifact": "/mnt/nvme0n1/hqh_projects/unidrivevla-b2d-occwam-fullmot/Bench2Drive/projects/configs/occwam_fullmot_action_stats.json", | |
| "stats_artifact_sha256": "3ab2097ae6a0a67bcbdc83f73b0f30cf2670db5b9a6f89e97a3ebf909491edd3", | |
| "tfpp_condition": "fused_8x8_only", | |
| "tfpp_p3_direct_semantic_prior_loaded": false, | |
| "tfpp_p3_mot_condition_enabled": false, | |
| "tp3_trajectory_route_io_shared": false, | |
| "trajectory_decoder": "cumsum", | |
| "trajectory_in_joint_flow": true, | |
| "trajectory_internal_axis_order": "manifest_native_[dx,dy]", | |
| "trajectory_internal_representation": "normalized_per_step_delta", | |
| "trajectory_normalization": "train_delta_mean_std", | |
| "trajectory_points": 6, | |
| "trajectory_route_io_shared": false | |
| }, | |
| "data": { | |
| "allow_batch_size_per_gpu_resume_change": true, | |
| "allow_route_keyframe_warm_start_lineage_upgrade": true, | |
| "allow_static_hazard_occ_warm_start_lineage_upgrade": true, | |
| "allow_yield_conditioner_warm_start_lineage_upgrade": false, | |
| "allow_yield_route_resume_lineage_upgrade": true, | |
| "batch_size_per_gpu": 4, | |
| "drop_last": false, | |
| "formal_data_config": "/mnt/nvme0n1/hqh_projects/v42g_325_configs/formal_data_ds30_rebound.json", | |
| "num_workers": 4, | |
| "parking_exit_supplement_config": "/mnt/nvme0n1/hqh_projects/parking_exit_ds30/training_config.json", | |
| "parking_exit_supplement_config_sha256": "42aa4e203611a5ccba76a1cdb0d89dcec162e25ae7c5f3c715290a5453e82a7e", | |
| "pin_memory": true, | |
| "prefetch_factor": 2, | |
| "route_keyframe_context_rows": 2, | |
| "route_keyframe_lateral_span_threshold_m": 0.75, | |
| "route_keyframe_repeat_factor": 2, | |
| "route_keyframe_scenarios": [ | |
| "ConstructionObstacle", | |
| "ConstructionObstacleTwoWays", | |
| "HighwayExit", | |
| "MergerIntoSlowTraffic", | |
| "MergerIntoSlowTrafficV2", | |
| "InterurbanActorFlow", | |
| "InterurbanAdvancedActorFlow", | |
| "EnterActorFlow", | |
| "SignalizedJunctionLeftTurn", | |
| "NonSignalizedJunctionLeftTurn" | |
| ], | |
| "stop_sign_decel_repeat_factor": 2, | |
| "stop_sign_decel_rows_npy": "/mnt/nvme1n1/occwam_training/stop_sign_speed_rows_v1_20260721/train/stop_decel_only_row_indices.npy", | |
| "stop_sign_decel_rows_sha256": "ddce2297e93095fa0b09c21c5d148a709fcf566023abfc4710895427fed86da7", | |
| "stop_sign_flow_commit_repeat_factor": 2, | |
| "stop_sign_flow_commit_rows_npy": "/mnt/nvme0n1/hqh_projects/flow_commit_v1/flow_commit_disjoint_row_indices.npy", | |
| "stop_sign_flow_commit_rows_sha256": "7e03a25a318531dbc84b49f7d81646d4b878a6ab83cdeff0a648314ea6a85029", | |
| "stop_sign_full_repeat_factor": 2, | |
| "stop_sign_full_rows_npy": "/mnt/nvme1n1/occwam_training/stop_sign_speed_rows_v1_20260721/train/stop_full_row_indices.npy", | |
| "stop_sign_full_rows_sha256": "7fc89cd81267715dbfec40a2c305877b3f7840a3af0fc4e635a37191b5532117", | |
| "stop_sign_slow_repeat_factor": 2, | |
| "stop_sign_slow_rows_npy": "/mnt/nvme1n1/occwam_training/stop_sign_speed_rows_v1_20260721/train/stop_slow_only_row_indices.npy", | |
| "stop_sign_slow_rows_sha256": "d2ceab505e8d239ed9798c44dd97c0b6365984f76fb0b77051cca248050ae060", | |
| "validate_all_train_prefix_rows_on_rank0": false, | |
| "validation_batch_size": 8, | |
| "validation_batch_size_benchmark_candidates": [ | |
| 1, | |
| 2, | |
| 4, | |
| 8 | |
| ], | |
| "validation_num_workers": 2, | |
| "yield_hard_negative_repeat_factor": 1, | |
| "yield_route_critical_repeat_factor": 1, | |
| "yield_route_recovery_repeat_factor": 1 | |
| }, | |
| "flow_matching": { | |
| "path": "linear", | |
| "prediction_type": "velocity", | |
| "shared_occ_traj_time": true, | |
| "solver_method": "euler", | |
| "solver_steps": 1, | |
| "source": "standard_gaussian", | |
| "time_eps": 0.001, | |
| "time_sampler": "fp32_shifted_uniform_mixture_eps", | |
| "time_shift": 5, | |
| "uniform_mix": 0.5 | |
| }, | |
| "format": "occwam-fullmot-train-v1", | |
| "model": { | |
| "allow_tfpp_p3_warm_start_upgrade": false, | |
| "allow_tfpp_route_shortcut_warm_start_upgrade": false, | |
| "allow_yield_conditioner_warm_start_upgrade": false, | |
| "head_kwargs": { | |
| "bev_size": 64, | |
| "coupling_drivable_weight": 0.1, | |
| "coupling_dynamic_weight": 0.4, | |
| "coupling_static_weight": 0.2, | |
| "ego_rollout_ce_weight": 1.0, | |
| "ego_rollout_latent_weight": 1.0, | |
| "endpoint_planning_cross_dim": 256, | |
| "endpoint_planning_cross_heads": 8, | |
| "endpoint_planning_cross_layers": 6, | |
| "endpoint_planning_cross_memory_source": "tfpp_fused_tokens", | |
| "endpoint_planning_loss_weight": 0.5, | |
| "flow_output_init_std": 0.005, | |
| "flow_prediction_type": "velocity", | |
| "flow_time_eps": 0.001, | |
| "flow_time_shift": 5, | |
| "flow_time_uniform_mix": 0.5, | |
| "hidden_size": 1024, | |
| "hole_class_index": 0, | |
| "inference_solver_method": "euler", | |
| "inference_solver_steps": 1, | |
| "latent_channels": 8, | |
| "meters_per_pixel": 1, | |
| "num_classes": 11, | |
| "occ_flow_weight": 1, | |
| "occ_latent_mean": [ | |
| -0.11749874864126549, | |
| -0.06263126669817203, | |
| -0.055026640336892384, | |
| -0.08906493152756566, | |
| -0.30770975638568693, | |
| -0.3367392817349086, | |
| -0.20425662993791605, | |
| 0.34836530026232687 | |
| ], | |
| "occ_latent_std": [ | |
| 0.9939309313047032, | |
| 1.0926439866036277, | |
| 1.015430613386019, | |
| 0.8722492545294619, | |
| 0.9422396545971748, | |
| 1.1328961975905276, | |
| 0.9416208501378608, | |
| 1.5785298219961281 | |
| ], | |
| "occupancy_balance_method": "effective_number", | |
| "occupancy_class_balance": false, | |
| "occupancy_class_weights": [ | |
| 0, | |
| 0.4258175984706081, | |
| 0.4258175984706081, | |
| 0.4258175984706081, | |
| 0.4258175984706081, | |
| 1.7031933859103572, | |
| 0.4627417904843944, | |
| 4.225653058873132, | |
| 0.42583982028896655, | |
| 0.8516351969412163, | |
| 1.0534839520901094 | |
| ], | |
| "occupancy_decode_weight": 1, | |
| "occupancy_dice_weight": 0.1, | |
| "occupancy_rollout_field_solver_steps": 2, | |
| "occupancy_rollout_field_weight": 0, | |
| "occupancy_rollout_semantic_weight": 0, | |
| "prefix_length": 1024, | |
| "route_coupling_blockage_weight": 0.2, | |
| "route_coupling_drivable_weight": 0.1, | |
| "route_cumulative_weight": 1, | |
| "route_direct_weight": 1, | |
| "route_endpoint_weight": 0, | |
| "status_dim": 7, | |
| "tf_feature_dim": 1512, | |
| "tfpp_emergency_yield_classifier_perception_only": true, | |
| "tfpp_emergency_yield_context_dim": 128, | |
| "tfpp_emergency_yield_freeze_conditioner": false, | |
| "tfpp_emergency_yield_gate_route_residual": true, | |
| "tfpp_emergency_yield_gate_source": "learned_classifier", | |
| "tfpp_emergency_yield_loss_weight": 1.0, | |
| "tfpp_emergency_yield_pos_weight": 8, | |
| "tfpp_emergency_yield_residual_after_route_decoder": true, | |
| "tfpp_emergency_yield_route_activation_threshold": 0.4, | |
| "tfpp_emergency_yield_route_residual_hidden_dim": 256, | |
| "tfpp_emergency_yield_route_residual_loss_weight": 5, | |
| "tfpp_emergency_yield_route_residual_mode": "direct_per_query", | |
| "tfpp_emergency_yield_upsample64": true, | |
| "tfpp_p3_scene_dim": 128, | |
| "tfpp_route_decoder_dim": 256, | |
| "tfpp_route_decoder_heads": 8, | |
| "tfpp_route_decoder_layers": 6, | |
| "trajectory_adjacent_increment_weight": 0.05, | |
| "trajectory_control_speed_weight": 0.2, | |
| "trajectory_cumulative_weight": 1, | |
| "trajectory_endpoint_weight": 0, | |
| "trajectory_flow_point_weights": [ | |
| 3, | |
| 3, | |
| 1, | |
| 1, | |
| 1, | |
| 1 | |
| ], | |
| "trajectory_flow_weight": 1, | |
| "use_ego_view_rollout": true, | |
| "use_endpoint_planning_cross_attention": true, | |
| "use_endpoint_planning_refiner": true, | |
| "use_endpoint_planning_route_refiner": false, | |
| "use_tfpp_direct_scene_prior": false, | |
| "use_tfpp_emergency_yield_conditioner": true, | |
| "use_tfpp_p3_condition": true, | |
| "use_tfpp_p3_endpoint_planning_condition": true, | |
| "use_tfpp_p3_mot_condition": false, | |
| "use_tfpp_route_decoder_shortcut": true, | |
| "zero_initialize_flow_outputs": false | |
| }, | |
| "minimum_component_coverage": 0.99, | |
| "precision": "bfloat16", | |
| "pretrained_path": "/mnt/nvme0n1/hqh_projects/qwen3vl_2b_new", | |
| "pretrained_weight_file": "model.safetensors", | |
| "pretrained_weight_sha256": "873e8eac6ac3f901b916e3f414f565b64f09a1205b4b819cad5657405fd11a8c", | |
| "reset_flow_predictors_after_warm_start": false, | |
| "stage3_checkpoint": "/mnt/nvme0n1/hqh_projects/stage3_qwen3vlnew_merged.pt", | |
| "stage3_checkpoint_sha256": "42e2374619e03625006b0d3332ff8980107a7fb266ac47aa28a58673527a23b5", | |
| "tfpp_emergency_head_checkpoint": "/mnt/nvme0n1/hqh_projects/tfpp_pretrained/pretrained_models/all_towns/model_0030_1.pth", | |
| "tfpp_emergency_head_checkpoint_sha256": "0ff5062a234f5919385957c4b46df8a10adcf09a88a427198e0e2e655b5935cb", | |
| "tfpp_route_decoder_checkpoint": "/mnt/nvme0n1/hqh_projects/carla-garage-b2d-occwam/work_dirs/occwam_b2d/profile_b_parking_mix/selected/checkpoint/model.pt", | |
| "tfpp_route_decoder_checkpoint_sha256": "6a60ac32b18ba33739997f2bc314d9dd550dc03aed40c1e6eec950389c7120e5", | |
| "tfpp_route_native_checkpoint": "/mnt/nvme0n1/hqh_projects/tfpp_pretrained/pretrained_models/all_towns/model_0030_1.pth", | |
| "tfpp_route_native_checkpoint_sha256": "0ff5062a234f5919385957c4b46df8a10adcf09a88a427198e0e2e655b5935cb", | |
| "vae_checkpoint": "/mnt/nvme1n1/occwam_training/scene_vae_static_hazard_deterministic_v4_20260720/selected_epoch02_class5bias_m1p4.pt", | |
| "vae_checkpoint_sha256": "007271376f93ca4e65f03c58995c9250d4ee91adfdc7333f3682d70966840346" | |
| }, | |
| "optimizer": { | |
| "action_expert_lr": 5e-06, | |
| "betas": [ | |
| 0.9, | |
| 0.95 | |
| ], | |
| "endpoint_planning_lr": 3e-05, | |
| "eps": 1e-08, | |
| "expert_lr": 5e-06, | |
| "fused": true, | |
| "grad_clip_branch_norms": { | |
| "action_expert": 1, | |
| "endpoint_planning": 1, | |
| "occwam_action": 1, | |
| "occwam_perception": 5, | |
| "occwam_shared": 1, | |
| "p3_scene": 5, | |
| "perception_expert": 1, | |
| "route_shortcut": 5, | |
| "yield_route_residual": 5 | |
| }, | |
| "grad_clip_mode": "per_branch", | |
| "grad_clip_norm": 1, | |
| "gradient_accumulation_steps": 1, | |
| "new_layers_lr": 5e-05, | |
| "occwam_action_lr": 1e-05, | |
| "occwam_trajectory_lr": 1e-05, | |
| "p3_mot_lr": 3e-05, | |
| "p3_scene_lr": 0.0001, | |
| "route_output_lr": 5e-05, | |
| "route_query_lr": 5e-05, | |
| "route_shortcut_lr": 5e-05, | |
| "weight_decay": 0.01, | |
| "yield_conditioner_lr": 0.0001, | |
| "yield_route_residual_lr": 0.001 | |
| }, | |
| "runtime": { | |
| "allow_direct_scene_prior_optimizer_resume_migration": false, | |
| "allow_endpoint_blend_weight_optimizer_resume_migration": true, | |
| "allow_endpoint_cross_attention_optimizer_resume_migration": false, | |
| "allow_flow_time_sampler_optimizer_resume_migration": true, | |
| "allow_parking_exit_supplement_removal_optimizer_resume_migration": false, | |
| "allow_stop_sign_repeat_optimizer_resume_migration": true, | |
| "allow_tf32": true, | |
| "allow_trajectory_loss_optimizer_resume_migration": true, | |
| "allow_yield_anticipatory_label_optimizer_resume_migration": false, | |
| "allow_yield_final_route_optimizer_resume_migration": false, | |
| "allow_yield_route_override_optimizer_resume_migration": false, | |
| "checkpoint_interval_steps": 0, | |
| "checkpoint_keep_best": 3, | |
| "checkpoint_keep_interval": 2, | |
| "checkpoint_keep_signal": 1, | |
| "early_stopping": { | |
| "composite_min_delta": 1, | |
| "composite_weights": { | |
| "occ_pred_miou": 1, | |
| "route_pred_ade": 1, | |
| "route_pred_fde": 1, | |
| "traj_pred_ade": 1, | |
| "traj_pred_fde": 1 | |
| }, | |
| "enabled": true, | |
| "minimum_improvements": { | |
| "occ_pred_miou": 0.002, | |
| "route_pred_ade": 0.005, | |
| "route_pred_fde": 0.01, | |
| "traj_pred_ade": 0.01, | |
| "traj_pred_fde": 0.02 | |
| }, | |
| "patience": 5, | |
| "patience_start_step": 18000, | |
| "validation_grid_steps": 1000 | |
| }, | |
| "gradient_checkpointing": true, | |
| "log_interval_steps": 20, | |
| "output_dir": "/mnt/nvme1n1/occwam_training/occrestore_v42g_exitmain_b2_7gpu_20260723", | |
| "rolling_checkpoint_interval_steps": 300, | |
| "sampler_seed": 4396, | |
| "seed": 4396, | |
| "shadow_validation_samples": 2044, | |
| "step_validation_enabled": true, | |
| "validation_interval_steps": 1000, | |
| "validation_samples": 16002, | |
| "validation_start_step": 10000, | |
| "validation_subset_method": "sample_id_sha256_lowest_v1", | |
| "validation_subset_seed": "occwam-fullmot-val16k-v1" | |
| }, | |
| "schedule": { | |
| "epochs": 3, | |
| "minimum_lr_ratio": 0.1, | |
| "warmup_initial_ratio": 0.999, | |
| "warmup_ratio": 0.03, | |
| "warmup_steps": 5000 | |
| } | |
| } | |