Add config/formal_occjoint_v42g_egorollout_ds30.json

config/formal_occjoint_v42g_egorollout_ds30.json

@@ -0,0 +1,327 @@
+{
+  "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
+  }
+}