Visual-Navigation-Model-Checkpoints / improved_flowpilot /improved_flowpilot_dune_vits14_stream.metadata.json

Add improved_flowpilot (streaming, route patch only, no ego status or point goal)

6a002d5 verified 16 days ago

2.83 kB

{
  "exp_name": "flowpilot_dune_dst_pair_s5_bridge_route_fisheye_ft_clips1k",
  "checkpoint": "logs/visnavkit/fdi89xja/checkpoints/epoch_04-step_32736.ckpt",
  "checkpoint_sha256": "448f6f12b1de4ec6dbc10610f4a1a9f9e85a6c42e1ec4f932edf342fae4437df",
  "onnx_sha256": "834a3dc7fe56b997550010c688bf7374768f8883a3ea566c7abbb34321722c6d",
  "precision": "float32",
  "opset": 17,
  "input_shapes": {
    "vision": [
      1,
      2,
      3,
      216,
      384
    ],
    "feature_buffer": [
      1,
      4,
      1024
    ],
    "frame_valid": [
      1,
      4
    ],
    "route_patch": [
      1,
      80,
      80
    ],
    "action_bounds": [
      1,
      2,
      5
    ],
    "noise": [
      1,
      64,
      80,
      2
    ]
  },
  "output_shapes": {
    "modes": [
      1,
      6,
      80,
      5
    ],
    "probs": [
      1,
      6
    ],
    "speed": [
      1,
      1
    ],
    "feat_out": [
      1,
      1024
    ]
  },
  "stream": true,
  "weights": "ema",
  "frames_per_call": 2,
  "lead_frames": 1,
  "pose_fields": [
    "x_m",
    "y_m",
    "yaw_rad",
    "v_mps",
    "w_radps"
  ],
  "target_times_s": [
    0.05,
    0.1,
    0.15000000000000002,
    0.2,
    0.25,
    0.30000000000000004,
    0.35000000000000003,
    0.4,
    0.45,
    0.5,
    0.55,
    0.6000000000000001,
    0.65,
    0.7000000000000001,
    0.75,
    0.8,
    0.8500000000000001,
    0.9,
    0.9500000000000001,
    1.0,
    1.05,
    1.1,
    1.1500000000000001,
    1.2000000000000002,
    1.25,
    1.3,
    1.35,
    1.4000000000000001,
    1.4500000000000002,
    1.5,
    1.55,
    1.6,
    1.6500000000000001,
    1.7000000000000002,
    1.75,
    1.8,
    1.85,
    1.9000000000000001,
    1.9500000000000002,
    2.0,
    2.0500000000000003,
    2.1,
    2.15,
    2.2,
    2.25,
    2.3000000000000003,
    2.35,
    2.4000000000000004,
    2.45,
    2.5,
    2.5500000000000003,
    2.6,
    2.6500000000000004,
    2.7,
    2.75,
    2.8000000000000003,
    2.85,
    2.9000000000000004,
    2.95,
    3.0,
    3.0500000000000003,
    3.1,
    3.1500000000000004,
    3.2,
    3.25,
    3.3000000000000003,
    3.35,
    3.4000000000000004,
    3.45,
    3.5,
    3.5500000000000003,
    3.6,
    3.6500000000000004,
    3.7,
    3.75,
    3.8000000000000003,
    3.85,
    3.9000000000000004,
    3.95,
    4.0
  ],
  "top_k": 6,
  "excluded_anchors": [],
  "denoising_steps": 4,
  "flow": "bridge",
  "num_anchors": 64,
  "parameters_total": 153702996,
  "parity_max_abs_error": {
    "modes": 3.993511199951172e-06,
    "probs": 8.642673492431641e-07,
    "speed": 2.5033950805664062e-06,
    "feat_out": 7.271766662597656e-06,
    "stream_vs_window_modes": 5.0067901611328125e-06,
    "stream_vs_window_probs": 5.364418029785156e-07,
    "stream_vs_window_speed": 2.5033950805664062e-06
  }
}

	{
	"exp_name": "flowpilot_dune_dst_pair_s5_bridge_route_fisheye_ft_clips1k",
	"checkpoint": "logs/visnavkit/fdi89xja/checkpoints/epoch_04-step_32736.ckpt",
	"checkpoint_sha256": "448f6f12b1de4ec6dbc10610f4a1a9f9e85a6c42e1ec4f932edf342fae4437df",
	"onnx_sha256": "834a3dc7fe56b997550010c688bf7374768f8883a3ea566c7abbb34321722c6d",
	"precision": "float32",
	"opset": 17,
	"input_shapes": {
	"vision": [
	1,
	2,
	3,
	216,
	384
	],
	"feature_buffer": [
	1,
	4,
	1024
	],
	"frame_valid": [
	1,
	4
	],
	"route_patch": [
	1,
	80,
	80
	],
	"action_bounds": [
	1,
	2,
	5
	],
	"noise": [
	1,
	64,
	80,
	2
	]
	},
	"output_shapes": {
	"modes": [
	1,
	6,
	80,
	5
	],
	"probs": [
	1,
	6
	],
	"speed": [
	1,
	1
	],
	"feat_out": [
	1,
	1024
	]
	},
	"stream": true,
	"weights": "ema",
	"frames_per_call": 2,
	"lead_frames": 1,
	"pose_fields": [
	"x_m",
	"y_m",
	"yaw_rad",
	"v_mps",
	"w_radps"
	],
	"target_times_s": [
	0.05,
	0.1,
	0.15000000000000002,
	0.2,
	0.25,
	0.30000000000000004,
	0.35000000000000003,
	0.4,
	0.45,
	0.5,
	0.55,
	0.6000000000000001,
	0.65,
	0.7000000000000001,
	0.75,
	0.8,
	0.8500000000000001,
	0.9,
	0.9500000000000001,
	1.0,
	1.05,
	1.1,
	1.1500000000000001,
	1.2000000000000002,
	1.25,
	1.3,
	1.35,
	1.4000000000000001,
	1.4500000000000002,
	1.5,
	1.55,
	1.6,
	1.6500000000000001,
	1.7000000000000002,
	1.75,
	1.8,
	1.85,
	1.9000000000000001,
	1.9500000000000002,
	2.0,
	2.0500000000000003,
	2.1,
	2.15,
	2.2,
	2.25,
	2.3000000000000003,
	2.35,
	2.4000000000000004,
	2.45,
	2.5,
	2.5500000000000003,
	2.6,
	2.6500000000000004,
	2.7,
	2.75,
	2.8000000000000003,
	2.85,
	2.9000000000000004,
	2.95,
	3.0,
	3.0500000000000003,
	3.1,
	3.1500000000000004,
	3.2,
	3.25,
	3.3000000000000003,
	3.35,
	3.4000000000000004,
	3.45,
	3.5,
	3.5500000000000003,
	3.6,
	3.6500000000000004,
	3.7,
	3.75,
	3.8000000000000003,
	3.85,
	3.9000000000000004,
	3.95,
	4.0
	],
	"top_k": 6,
	"excluded_anchors": [],
	"denoising_steps": 4,
	"flow": "bridge",
	"num_anchors": 64,
	"parameters_total": 153702996,
	"parity_max_abs_error": {
	"modes": 3.993511199951172e-06,
	"probs": 8.642673492431641e-07,
	"speed": 2.5033950805664062e-06,
	"feat_out": 7.271766662597656e-06,
	"stream_vs_window_modes": 5.0067901611328125e-06,
	"stream_vs_window_probs": 5.364418029785156e-07,
	"stream_vs_window_speed": 2.5033950805664062e-06
	}
	}