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vector_model.yaml
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vector_model.yaml
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_target_: nuplan.planning.training.modeling.models.lanegcn_model.LaneGCN
_convert_: 'all'
# Model setup
map_net_scales: 4
num_res_blocks: 3
num_attention_layers: 4
a2a_dist_threshold: 20.0
l2a_dist_threshold: 30.0
num_output_features: 48
feature_dim: 128
# VectorMapFeatureBuilder
vector_map_feature_radius: 50 # [m] The query radius scope relative to the current ego-pose.
vector_map_connection_scales: [1, 2, 3, 4] # Use 4 scale connections which consider 1,2,3,4-hop neighbor lane
# Parameters for past trajectory
past_trajectory_sampling:
_target_: nuplan.planning.simulation.trajectory.trajectory_sampling.TrajectorySampling
_convert_: 'all'
num_poses: 4 # target future poses
time_horizon: 1.5 # [s] time horizon of future poses
# Parameters for predicted trajectory
future_trajectory_sampling:
_target_: nuplan.planning.simulation.trajectory.trajectory_sampling.TrajectorySampling
_convert_: 'all'
num_poses: 16 # target future poses
time_horizon: 8.0 # [s] time horizon of future poses