| { |
| "name": "diffusion-planner-rl-v14-torchpdm-100k_denoise_final_progress", |
| "save_dir": "/data/nuplan_opensourcetest/Diffusion-Planner", |
| "train_set": "/mnt/nuplan_data/nuplan_cache/exp", |
| "train_set_list": "/data/nuplan_opensourcetest/Diffusion-Planner/data_sampler/outputs/subset_100k_v14.json", |
| "future_len": 80, |
| "time_len": 21, |
| "agent_state_dim": 11, |
| "agent_num": 32, |
| "static_objects_state_dim": 10, |
| "static_objects_num": 5, |
| "lane_len": 20, |
| "lane_state_dim": 12, |
| "lane_num": 70, |
| "route_len": 20, |
| "route_state_dim": 12, |
| "route_num": 25, |
| "augment_prob": 0.5, |
| "normalization_file_path": "normalization.json", |
| "use_data_augment": true, |
| "num_workers": 4, |
| "pin_mem": true, |
| "seed": 3407, |
| "train_epochs": 50, |
| "save_utd": 1, |
| "batch_size": 256, |
| "learning_rate": 1e-05, |
| "warm_up_epoch": 1, |
| "encoder_drop_path_rate": 0.1, |
| "decoder_drop_path_rate": 0.1, |
| "alpha_planning_loss": 1.0, |
| "device": "cuda", |
| "use_ema": true, |
| "encoder_depth": 3, |
| "decoder_depth": 3, |
| "num_heads": 6, |
| "hidden_dim": 192, |
| "diffusion_model_type": "x_start", |
| "use_bidirectional": false, |
| "use_safety_aware": true, |
| "no_sad": false, |
| "no_rii": false, |
| "predicted_neighbor_num": 10, |
| "resume_model_path": null, |
| "il_ckpt": "/data/Diffusion-Planner/training_log/diffusion-planner-training/2026-05-18-14:44:02/latest.pth", |
| "num_groups": 8, |
| "num_steps": 10, |
| "eta": 0.1, |
| "use_dpm_rollout": true, |
| "reward_scale": 20.0, |
| "use_pdm_reward": false, |
| "pdm_buffer_path": null, |
| "pdm_additive_weights": "5,5,4", |
| "pdm_min_hit_rate": 0.95, |
| "use_torch_pdm_reward": true, |
| "torch_pdm_dt": 0.1, |
| "torch_pdm_progress_weight": 20.0, |
| "torch_pdm_ttc_weight": 5.0, |
| "torch_pdm_ttc_least_min_ttc": 0.95, |
| "torch_pdm_driving_direction_weight": 5.0, |
| "torch_pdm_comfortable_weight": 0.0, |
| "torch_pdm_clearance_weight": 0.0, |
| "torch_pdm_use_dense_ttc": false, |
| "torch_pdm_dense_ttc_lower_s": 0.5, |
| "torch_pdm_dense_ttc_upper_s": 3.0, |
| "torch_pdm_use_clearance_score": false, |
| "torch_pdm_clearance_lower_m": 0.5, |
| "torch_pdm_clearance_upper_m": 3.0, |
| "torch_pdm_gate_progress_by_safety": false, |
| "torch_pdm_use_drivable_area": true, |
| "torch_pdm_drivable_margin_m": 0.5, |
| "torch_pdm_progress_reference_mode": "expert_future", |
| "torch_pdm_progress_use_expert_ratio": true, |
| "torch_pdm_progress_distance_threshold": 5.0, |
| "torch_pdm_progress_ref_cos_threshold": 0.0, |
| "torch_pdm_enable_length_penalty": true, |
| "use_online_pdm_reward": false, |
| "online_pdm_data_path": "/mnt/nuplan_data/val", |
| "online_pdm_map_path": "/data/wangrongjing_data/nuplan/dataset/maps", |
| "online_pdm_map_version": "nuplan-maps-v1.0", |
| "online_pdm_log_names_json": "/data/Diffusion-Planner/nuplan_train.json", |
| "online_pdm_allowed_tokens_json": null, |
| "online_pdm_token_log_index_json": null, |
| "online_pdm_metric_dir": null, |
| "online_pdm_horizon_s": 8.0, |
| "online_pdm_dt": 0.1, |
| "online_pdm_timeout_s": 45, |
| "online_pdm_num_workers": 4, |
| "online_pdm_worker_backend": "process", |
| "online_pdm_process_start_method": "spawn", |
| "online_pdm_process_queue_size": 0, |
| "online_pdm_scenarios_per_load_batch": 16, |
| "online_pdm_use_token_log_index": true, |
| "online_pdm_eager_process_start": true, |
| "online_pdm_prefetch_tokens_per_epoch": 64, |
| "online_pdm_reward_only_metrics": true, |
| "online_pdm_debug_print": false, |
| "kl_coef": 0.001, |
| "ppo_clip_eps": 0.2, |
| "rollout_denoise_final": true, |
| "ddim_sigma_floor": 0.04, |
| "ddim_logprob_sigma_floor": 0.1, |
| "il_weight": 0.5, |
| "component_grad_norm_interval": 10, |
| "use_wandb": false, |
| "notes": "", |
| "ddp": true, |
| "port": "22324", |
| "state_normalizer": { |
| "mean": [ |
| [ |
| [ |
| 10, |
| 0, |
| 0, |
| 0 |
| ] |
| ], |
| [ |
| [ |
| 10, |
| 0, |
| 0, |
| 0 |
| ] |
| ], |
| [ |
| [ |
| 10, |
| 0, |
| 0, |
| 0 |
| ] |
| ], |
| [ |
| [ |
| 10, |
| 0, |
| 0, |
| 0 |
| ] |
| ], |
| [ |
| [ |
| 10, |
| 0, |
| 0, |
| 0 |
| ] |
| ], |
| [ |
| [ |
| 10, |
| 0, |
| 0, |
| 0 |
| ] |
| ], |
| [ |
| [ |
| 10, |
| 0, |
| 0, |
| 0 |
| ] |
| ], |
| [ |
| [ |
| 10, |
| 0, |
| 0, |
| 0 |
| ] |
| ], |
| [ |
| [ |
| 10, |
| 0, |
| 0, |
| 0 |
| ] |
| ], |
| [ |
| [ |
| 10, |
| 0, |
| 0, |
| 0 |
| ] |
| ], |
| [ |
| [ |
| 10, |
| 0, |
| 0, |
| 0 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 20, |
| 20, |
| 1, |
| 1 |
| ] |
| ], |
| [ |
| [ |
| 20, |
| 20, |
| 1, |
| 1 |
| ] |
| ], |
| [ |
| [ |
| 20, |
| 20, |
| 1, |
| 1 |
| ] |
| ], |
| [ |
| [ |
| 20, |
| 20, |
| 1, |
| 1 |
| ] |
| ], |
| [ |
| [ |
| 20, |
| 20, |
| 1, |
| 1 |
| ] |
| ], |
| [ |
| [ |
| 20, |
| 20, |
| 1, |
| 1 |
| ] |
| ], |
| [ |
| [ |
| 20, |
| 20, |
| 1, |
| 1 |
| ] |
| ], |
| [ |
| [ |
| 20, |
| 20, |
| 1, |
| 1 |
| ] |
| ], |
| [ |
| [ |
| 20, |
| 20, |
| 1, |
| 1 |
| ] |
| ], |
| [ |
| [ |
| 20, |
| 20, |
| 1, |
| 1 |
| ] |
| ], |
| [ |
| [ |
| 20, |
| 20, |
| 1, |
| 1 |
| ] |
| ] |
| ] |
| }, |
| "observation_normalizer": { |
| "ego_current_state": { |
| "mean": [ |
| 10.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 20.0, |
| 20.0, |
| 1.0, |
| 1.0, |
| 20.0, |
| 20.0, |
| 20.0, |
| 20.0, |
| 1.0, |
| 1.0 |
| ] |
| }, |
| "neighbor_agents_past": { |
| "mean": [ |
| 10.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 20.0, |
| 20.0, |
| 1.0, |
| 1.0, |
| 20.0, |
| 20.0, |
| 20.0, |
| 20.0, |
| 1.0, |
| 1.0, |
| 1.0 |
| ] |
| }, |
| "static_objects": { |
| "mean": [ |
| 10.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 20.0, |
| 20.0, |
| 1.0, |
| 1.0, |
| 20.0, |
| 20.0, |
| 1.0, |
| 1.0, |
| 1.0, |
| 1.0 |
| ] |
| }, |
| "lanes": { |
| "mean": [ |
| 10.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 20.0, |
| 20.0, |
| 20.0, |
| 20.0, |
| 20.0, |
| 20.0, |
| 20.0, |
| 20.0, |
| 1.0, |
| 1.0, |
| 1.0, |
| 1.0 |
| ] |
| }, |
| "lanes_speed_limit": { |
| "mean": [ |
| 0.0 |
| ], |
| "std": [ |
| 20.0 |
| ] |
| }, |
| "route_lanes": { |
| "mean": [ |
| 10.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 20.0, |
| 20.0, |
| 20.0, |
| 20.0, |
| 20.0, |
| 20.0, |
| 20.0, |
| 20.0, |
| 1.0, |
| 1.0, |
| 1.0, |
| 1.0 |
| ] |
| }, |
| "route_lanes_speed_limit": { |
| "mean": [ |
| 0.0 |
| ], |
| "std": [ |
| 20.0 |
| ] |
| } |
| }, |
| "use_sad": true, |
| "use_rii": true |
| } |
