| num_workers: 6 |
| train_split: 0.9 |
| seed: 3072 |
| img_size: 224 |
| embed_dim: 192 |
| history_size: 3 |
| num_preds: 1 |
| optimizer: |
| type: AdamW |
| lr: 0.0003 |
| weight_decay: 0.0001 |
| loss: |
| sigreg: |
| weight: 0.09 |
| kwargs: |
| knots: 17 |
| num_proj: 1024 |
| model: |
| _target_: jepa_shield.models.jepa.JEPA |
| encoder: |
| _target_: stable_pretraining.backbone.utils.vit_hf |
| size: tiny |
| patch_size: 14 |
| image_size: 224 |
| pretrained: false |
| use_mask_token: false |
| predictor: |
| _target_: jepa_shield.models.layers.ARPredictor |
| num_frames: 3 |
| input_dim: 192 |
| hidden_dim: 192 |
| output_dim: 192 |
| depth: 6 |
| heads: 16 |
| mlp_dim: 2048 |
| dim_head: 64 |
| dropout: 0.1 |
| emb_dropout: 0.0 |
| action_encoder: |
| _target_: jepa_shield.models.layers.Embedder |
| input_dim: 4 |
| emb_dim: 192 |
| projector: |
| _target_: jepa_shield.models.layers.MLP |
| input_dim: 192 |
| output_dim: 192 |
| hidden_dim: 2048 |
| norm_fn: |
| _target_: torch.nn.BatchNorm1d |
| _partial_: true |
| pred_proj: |
| _target_: jepa_shield.models.layers.MLP |
| input_dim: 192 |
| output_dim: 192 |
| hidden_dim: 2048 |
| norm_fn: |
| _target_: torch.nn.BatchNorm1d |
| _partial_: true |
| simulator_backend: analytic |
| simulator: |
| backend: analytic |
| source_root: third_party/s26-tk-tt-sim-dataset |
| occupancy_target_source: analytic_geometry |
| allow_dirty_hash_bound_source: false |
| task: |
| name: tractor_trailer |
| controller_parameters: configs/parking/controller/tractor_trailer_dial_mpc_best.yaml |
| benchmark_protocol: configs/parking/benchmark/tractor_trailer_parking.yaml |
| benchmark_scenario_bank: configs/parking/benchmark/data/tractor_trailer_parking_cases.json |
| vehicle_kind: tractor_trailer |
| state_dim: 8 |
| motion_dim: 4 |
| action_dim: 2 |
| frameskip: 2 |
| image_size: 224 |
| state: |
| reference: tractor_rear_axle |
| channels: |
| - tractor_rear_x_m |
| - tractor_rear_y_m |
| - sin_theta_tractor |
| - cos_theta_tractor |
| - sin_theta_trailer |
| - cos_theta_trailer |
| - velocity_mps |
| - steering_rad |
| heading_encoding: sin_cos |
| position_unit: meter |
| heading_unit: radian |
| action: |
| channels: |
| - velocity_mps |
| - steering_rad |
| units: |
| - meter_per_second |
| - radian |
| storage: raw_physical |
| bev: |
| width_px: 224 |
| height_px: 224 |
| physical_width_m: 30.0 |
| physical_height_m: 30.0 |
| anchor: tractor_body_center |
| safety: |
| occupancy_threshold: 0.5 |
| occupancy_dilation_pixels: 0 |
| occupancy_certification_horizon: 8 |
| jackknife_limit_deg: 60.0 |
| vehicle: |
| kind: tractor_trailer |
| state_dim: 8 |
| camera_forward_offset_m: 1.141 |
| tractor_center_forward_offset_m: 1.141 |
| tractor_length_m: 5.978 |
| tractor_width_m: 2.0 |
| hitch_offset_behind_rear_axle_m: 1.15 |
| trailer_center_from_hitch_m: -3.8025 |
| trailer_length_m: 4.645 |
| trailer_width_m: 2.5 |
| data: |
| simulator_backend: analytic |
| verify_hashes: true |
| require_ready: true |
| frameskip: 2 |
| history_size: 3 |
| num_predictions: 1 |
| num_observations: 4 |
| action_dim: 2 |
| action_block_dim: 4 |
| require_action_valid: true |
| lewm: {} |
| occupancy: |
| target_source: analytic_geometry |
| vehicle: |
| kind: tractor_trailer |
| state_dim: 8 |
| camera_forward_offset_m: 1.141 |
| tractor_center_forward_offset_m: 1.141 |
| tractor_length_m: 5.978 |
| tractor_width_m: 2.0 |
| hitch_offset_behind_rear_axle_m: 1.15 |
| trailer_center_from_hitch_m: -3.8025 |
| trailer_length_m: 4.645 |
| trailer_width_m: 2.5 |
| target: obstacle |
| ignore_ego: false |
| threshold: 0.05 |
| run_test_after_fit: true |
| model: |
| _target_: jepa_shield.models.occupancy.FrozenLeWMOccupancyModel |
| hidden_layers: |
| - 3 |
| - 6 |
| - 9 |
| append_last_hidden_state: true |
| output_size: 224 |
| output_channels: 1 |
| decoder_channels: |
| - 128 |
| - 96 |
| - 64 |
| - 32 |
| loss: |
| pos_weight: 3.0 |
| bce_weight: 1.0 |
| tversky_weight: 1.0 |
| tversky_alpha: 0.3 |
| tversky_beta: 0.7 |
| boundary_weight: 2.0 |
| boundary_radius: 2 |
| visualization: |
| interval_epochs: 1 |
| num_scenes: 6 |
| preprocessing: |
| path: models/preprocessing.json |
| image_size: 224 |
| image_normalization: imagenet |
| scheduler: |
| enabled: true |
| eta_min: 1.0e-06 |
|
|
