OCCWAM / config /formal_occjoint_v42g_egorollout_ds30.json
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{
"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": {
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"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": [
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],
"occ_latent_std": [
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],
"occupancy_balance_method": "effective_number",
"occupancy_class_balance": false,
"occupancy_class_weights": [
0,
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],
"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": [
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],
"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": {
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"betas": [
0.9,
0.95
],
"endpoint_planning_lr": 3e-05,
"eps": 1e-08,
"expert_lr": 5e-06,
"fused": true,
"grad_clip_branch_norms": {
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"endpoint_planning": 1,
"occwam_action": 1,
"occwam_perception": 5,
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"p3_scene": 5,
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"route_shortcut": 5,
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},
"grad_clip_mode": "per_branch",
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"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": {
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"composite_weights": {
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"route_pred_fde": 1,
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},
"enabled": true,
"minimum_improvements": {
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},
"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,
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"validation_samples": 16002,
"validation_start_step": 10000,
"validation_subset_method": "sample_id_sha256_lowest_v1",
"validation_subset_seed": "occwam-fullmot-val16k-v1"
},
"schedule": {
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"minimum_lr_ratio": 0.1,
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"warmup_steps": 5000
}
}