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11.7 kB
| { | |
| "action_repeat": 1, | |
| "action_space_dim": 2, | |
| "action_space_max": 1.0, | |
| "action_space_min": -1.0, | |
| "adam_eps": 1e-05, | |
| "allow_tf32": false, | |
| "benchmark": false, | |
| "best_iteration": 4464, | |
| "beta_1": 0.9, | |
| "beta_2": 0.999, | |
| "beta_min_a_b_value": 1.0, | |
| "bev_classes_list": { | |
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| "bev_semantics_height": 256, | |
| "bev_semantics_width": 256, | |
| "capture_video": false, | |
| "clip_coef": 0.1, | |
| "clip_vloss": true, | |
| "comfort_penalty_factor": 0.5, | |
| "comfort_penalty_ticks": 500, | |
| "compile_model": false, | |
| "condition_outside_junction": false, | |
| "consider_tl": true, | |
| "cpu_collect": false, | |
| "cuda": true, | |
| "current_eval_interval_idx": 9, | |
| "current_learning_rate": 1.0924186148131287e-07, | |
| "dd_ppo_min_perc": 0.25, | |
| "dd_ppo_preempt_threshold": 0.6, | |
| "debug": false, | |
| "distribution": "beta", | |
| "ego_extent_x": 2.44619083404541, | |
| "ego_extent_y": 0.9183566570281982, | |
| "ego_extent_z": 0.7451388239860535, | |
| "ego_forecast_min_speed": 2.5, | |
| "ego_forecast_time": 1.0, | |
| "ent_coef": 0.01, | |
| "eval_intervals": { | |
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| }, | |
| "eval_time": 1200.0, | |
| "exp_name": "CaRL_1_1_003_01", | |
| "expl_coef": 0.05, | |
| "features_dim": 256, | |
| "frame_rate": 10.0, | |
| "gae": true, | |
| "gae_lambda": 0.95, | |
| "gamma": 0.99, | |
| "global_step": 300154880, | |
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| "green_wave_prob": 0.05, | |
| "gym_id": "CARLAEnv-v0", | |
| "history_idx": [ | |
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| "history_idx_2": [ | |
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| "hl_gauss_bucket_size": 1.0, | |
| "hl_gauss_num_classes": 41, | |
| "hl_gauss_std": 0.75, | |
| "hl_gauss_vmax": 30.0, | |
| "hl_gauss_vmin": -10.0, | |
| "image_encoder": "roach_ln2", | |
| "kl_early_stop": 0, | |
| "lane_dist_penalty_softener": 1.0, | |
| "lane_distance_violation_threshold": 0.0, | |
| "latest_iteration": 4576, | |
| "learning_rate": 0.00025, | |
| "light_radius": 15.0, | |
| "load_file": "/scratch_local/rocky/code/ad_planning/2_carla/results/CaRL_1_1_003_01/model_latest_000002476.pth", | |
| "logdir": "/scratch_local/rocky/code/ad_planning/2_carla/results", | |
| "logger_region_of_interest": 30.0, | |
| "logging_freq": 10, | |
| "lr_schedule": "linear", | |
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| "map_folder": "maps_2ppm_cv", | |
| "matmul_precision": "highest", | |
| "max_abs_lat_accel": 9.0, | |
| "max_abs_lon_jerk": 30.0, | |
| "max_abs_mag_jerk": 30.0, | |
| "max_abs_yaw_accel": 3.0, | |
| "max_abs_yaw_rate": 1.0, | |
| "max_avg_steer_angle": 60.0, | |
| "max_change": 0.25, | |
| "max_grad_norm": 0.5, | |
| "max_lon_accel": 10.0, | |
| "max_overspeed_value_threshold": 2.23, | |
| "max_pedestrian_detection_number": 10, | |
| "max_speed_actor": 33.33, | |
| "max_training_score": 36.4181325340271, | |
| "max_vehicle_detection_number": 10, | |
| "min_ext_bounding_box": 0.8, | |
| "min_lon_accel": -20.0, | |
| "min_speed_actor": -2.67, | |
| "min_temperature": 0.1, | |
| "min_thresh_lat_dist": 2.0, | |
| "n_step_exploration": 100, | |
| "norm_adv": true, | |
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| "normalize_rewards": false, | |
| "num_envs": 1, | |
| "num_envs_per_proc": 32, | |
| "num_lstm_layers": 1, | |
| "num_route_points_rendered": 150, | |
| "num_value_measurements": 10, | |
| "obs_num_channels": 10, | |
| "obs_num_measurements": 8, | |
| "off_road_term_perc": 0.95, | |
| "original_frame_rate": 20.0, | |
| "pedestrian_distance_threshold": 15, | |
| "penalize_yellow_light": false, | |
| "pixels_ev_to_bottom": 100, | |
| "pixels_per_meter": 2.0, | |
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| "py/object": "rl_config.GlobalConfig", | |
| "rdzv_addr": "127.0.0.1", | |
| "red_light_thickness": 3, | |
| "render_green_tl": true, | |
| "render_shoulder": false, | |
| "render_speed_lines": true, | |
| "render_yellow_time": true, | |
| "reward_type": "simple_reward", | |
| "route_points": 10, | |
| "route_width": 6, | |
| "rpo_alpha": 0.5, | |
| "rr_maximum_speed": 6.0, | |
| "rr_pedestrian_proximity_threshold": 9.5, | |
| "rr_tl_dist_threshold": 18.0, | |
| "rr_tl_offset": -1.9569526672363282, | |
| "rr_vehicle_proximity_threshold": 9.5, | |
| "scale_bbox": true, | |
| "scale_factor_vehicle": 1.0, | |
| "scale_factor_walker": 2.0, | |
| "scale_mask_col": 1.0, | |
| "seed": 100, | |
| "speeding_infraction": true, | |
| "start_delay_frames": 20, | |
| "survival_reward_magnitude": 0.0001, | |
| "target_kl": 0.015, | |
| "tcp_store_port": 7000, | |
| "terminal_hint": 1.0, | |
| "terminal_reward": 0.0, | |
| "time_interval": 0.1, | |
| "torch_deterministic": true, | |
| "total_batch_size": 65536, | |
| "total_minibatch_size": 16384, | |
| "total_timesteps": 300000000, | |
| "track": true, | |
| "ttc_penalty_ticks": 500, | |
| "ttc_resolution": 2, | |
| "uniform_percentage_z": 0.03, | |
| "update_epochs": 3, | |
| "use_comfort_infraction": true, | |
| "use_dd_ppo_preempt": false, | |
| "use_exploration_suggest": false, | |
| "use_extra_control_inputs": false, | |
| "use_green_wave": false, | |
| "use_history": false, | |
| "use_hl_gauss_value_loss": false, | |
| "use_layer_norm": true, | |
| "use_layer_norm_policy_head": true, | |
| "use_leave_route_done": false, | |
| "use_lstm": false, | |
| "use_max_change_penalty": false, | |
| "use_min_speed_infraction": false, | |
| "use_new_bev_obs": true, | |
| "use_new_stop_sign_detector": true, | |
| "use_off_road_term": true, | |
| "use_outside_route_lanes": true, | |
| "use_perc_progress": true, | |
| "use_positional_encoding": false, | |
| "use_rl_termination_hint": true, | |
| "use_rpo": false, | |
| "use_shoulder_channel": true, | |
| "use_single_reward": true, | |
| "use_speed_limit_as_max_speed": false, | |
| "use_survival_reward": false, | |
| "use_target_point": false, | |
| "use_temperature": false, | |
| "use_termination_hint": true, | |
| "use_ttc": true, | |
| "use_value_measurements": true, | |
| "use_vehicle_close_penalty": false, | |
| "vehicle_distance_threshold": 15, | |
| "vf_coef": 0.5, | |
| "visualize": false, | |
| "wandb_entity": null, | |
| "wandb_project_name": "ppo-roach", | |
| "weight_decay": 0.0 | |
| } |