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