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