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DanielDDDS
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topological-traps

Image Segmentation
English
robotics
motion-planning
segmentation
unet
topological-traps
viability-prediction
non-holonomic
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 Community
DanielDDDS commited on
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Upload configs/training_config.yaml with huggingface_hub

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  1. configs/training_config.yaml +167 -0
configs/training_config.yaml ADDED
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+ data:
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+ num_maps: 1000
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+ num_workers: 4
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+ random_seed: 42
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+ resolution: 512
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+ split_ratios:
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+ test: 0.15
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+ train: 0.7
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+ val: 0.15
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+ test_split: 0.15
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+ train_split: 0.7
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+ val_split: 0.15
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+ discopygal:
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+ default_robot_length: 30
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+ default_robot_width: 20
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+ k_nn: 15
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+ num_landmarks: 1000
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+ trap_penalty: 10.0
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+ viability_threshold: 0.5
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+ evaluation:
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+ compute_per_direction: true
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+ compute_per_robot_size: true
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+ metrics:
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+ - iou
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+ - dice
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+ - accuracy
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+ - precision
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+ - recall
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+ speed_benchmark_maps: 50
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+ speed_benchmark_repeats: 5
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+ threshold: 0.5
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+ logging:
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+ log_interval: 10
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+ use_wandb: false
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+ wandb_entity: null
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+ wandb_project: topological-traps
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+ model:
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+ activation: null
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+ architecture: unet
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+ classes: 4
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+ encoder: resnet34
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+ encoder_name: resnet34
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+ encoder_weights: imagenet
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+ in_channels: 3
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+ out_channels: 4
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+ oracle:
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+ batch_size: 100
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+ directions:
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+ - N
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+ - S
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+ - E
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+ - W
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+ kernel_margin: 1.2
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+ num_workers: 16
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+ use_parallel: true
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+ paths:
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+ checkpoint_dir: checkpoints
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+ checkpoints: checkpoints
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+ figures: outputs/figures
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+ figures_dir: outputs/figures
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+ labels_dir: data/labels
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+ log_dir: logs
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+ logs: logs
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+ manifest: data/manifest.csv
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+ manifest_path: data/manifest.csv
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+ output_dir: outputs
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+ processed_dir: data/processed
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+ processed_maps: data/processed
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+ project_root: .
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+ raw_maps: data/raw_maps
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+ raw_maps_dir: data/raw_maps
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+ reports: outputs/results
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+ results_dir: outputs/results
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+ robot:
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+ test_only_sizes:
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+ - - 25
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+ - 18
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+ train_sizes:
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+ - - 20
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+ - 15
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+ - - 30
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+ - 20
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+ - - 40
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+ - 25
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+ robot_sizes:
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+ all_sizes:
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+ - - 20
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+ - 15
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+ - - 30
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+ - 20
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+ - - 40
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+ - 25
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+ - - 25
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+ - 18
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+ test_only:
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+ - - 25
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+ - 18
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+ test_only_sizes:
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+ - - 25
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+ - 18
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+ train:
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+ - - 20
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+ - 15
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+ - - 30
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+ - 20
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+ - - 40
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+ - 25
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+ train_sizes:
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+ - - 20
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+ - 15
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+ - - 30
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+ - 20
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+ - - 40
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+ - 25
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+ slurm:
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+ account: null
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+ cpu_memory: 32G
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+ default_time: 08:00:00
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+ gpu_memory: 12G
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+ gpu_partition: studentkillable
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+ num_cpus: 4
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+ num_gpus: 1
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+ partition: studentkillable
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+ training:
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+ batch_size: 16
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+ early_stopping_patience: 5
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+ epochs: 50
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+ gradient_clip: 1.0
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+ gradient_clip_val: 1.0
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+ learning_rate: 0.0001
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+ loss:
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+ bce_weight: 0.5
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+ dice_weight: 0.5
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+ type: dice_bce
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+ mixed_precision: true
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+ num_epochs: 30
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+ num_workers: 4
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+ optimizer: adamw
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+ pin_memory: true
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+ prefetch_factor: 2
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+ scheduler:
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+ T_max: 50
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+ eta_min: 1.0e-06
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+ factor: 0.5
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+ min_lr: 1.0e-06
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+ patience: 5
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+ step_size: 30
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+ type: cosine
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+ use_amp: true
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+ warmup_epochs: 3
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+ weight_decay: 0.0001
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+ visualization:
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+ colormap:
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+ obstacle:
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+ - 50
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+ - 50
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+ - 50
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+ trap:
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+ - 200
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+ - 50
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+ - 50
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+ viable:
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+ - 50
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+ - 200
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+ - 50
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+ dpi: 150
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+ figure_format: png