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_target_: navsim.agents.gtrs_dense.gtrs_agent.GTRSAgent
_convert_: 'all'
pdm_gt_path: ${oc.env:OPENSCENE_DATA_ROOT}/traj_pdm_v2/ori/navtrain_16384.pkl

config:
  _target_: navsim.agents.gtrs_dense.hydra_config.HydraConfig
  _convert_: 'all'
  vocab_path: ${oc.env:NAVSIM_DEVKIT_ROOT}/traj_final/16384.npy
  ckpt_path: hydra_plus_16384_ckpt
  vocab_size: 16384
  lidar_seq_len: 4
  sigma: 0.5
  trajectory_imi_weight: 1.0
  progress_weight: 2.0

  vocab_dropout: True

  normalize_vocab_pos: True

  camera_width: 2048
  camera_height: 512
  img_vert_anchors: 16
  img_horz_anchors: 64
  backbone_type: 'resnet'  # 'vov' or 'resnet'

  bkb_path: ${oc.env:OPENSCENE_DATA_ROOT}/models/resnet34_model.bin
  vov_ckpt: ${oc.env:OPENSCENE_DATA_ROOT}/models/dd3d_det_final.pth
  lr_mult_backbone: 1.0

  trajectory_sampling:
    _target_: nuplan.planning.simulation.trajectory.trajectory_sampling.TrajectorySampling
    _convert_: 'all'
    time_horizon: 4
    interval_length: 0.1

checkpoint_path: null
lr: 1e-4
max_epochs: 50