_target_: navsim.agents.transfuser.transfuser_agent.TransfuserAgent
_convert_: 'all'

trajectory_sampling:
    _target_: nuplan.planning.simulation.trajectory.trajectory_sampling.TrajectorySampling
    _convert_: 'all'
    time_horizon: 4
    interval_length: 0.5
config:
  _target_: navsim.agents.transfuser.transfuser_config.TransfuserConfig
  _convert_: 'all'

  bkb_path: ${oc.env:OPENSCENE_DATA_ROOT}/models/resnet34_model.bin

  latent: True
  
checkpoint_path: null
lr: 1e-4