{
  "camera": "oak-d",
  "modelo": "segformer_b0",
  "model_name": "corredores_v2",
  "main_class_name": "navegavel",
  "model_to_use": "geral",
  "ckpt_test": "best_operational",

  "raw_size": [1920, 1080],
  "resolucao": [1024, 576],
  "roi_inicio": 0.0,
  "roi_tamanho": 1.0,

  "channels": 3,
  "backbone": "nvidia/mit-b0",

  "label_classes": [
    "Parado",
    "EntrandoRua",
    "CaminhandoRua",
    "SaindoRua",
    "Manobrando",
    "Direcionando",
    "RetornandoBase",
    "Indefinido"
  ],

  "corridor_training": {
    "data": {
      "strict_labels": true,
      "strict_pipeline_contract": true,
      "preflight_max_samples": 0
    },

    "augmentation": {
      "enabled": true,
      "horizontal_flip_p": 0.50,
      "affine_p": 0.60,
      "rotate_deg": 4.0,
      "scale_min": 0.92,
      "scale_max": 1.08,
      "translate_frac": 0.03,

      "global_gain_p": 0.45,
      "global_gain_min": 0.82,
      "global_gain_max": 1.18,

      "contrast_p": 0.35,
      "contrast_min": 0.85,
      "contrast_max": 1.15,

      "gamma_p": 0.30,
      "gamma_min": 0.82,
      "gamma_max": 1.18,

      "rgb_gain_p": 0.25,
      "rgb_gain_min": 0.94,
      "rgb_gain_max": 1.06,

      "shadow_p": 0.35,
      "shadow_strength_min": 0.12,
      "shadow_strength_max": 0.42,

      "noise_p": 0.18,
      "noise_sigma_min": 0.003,
      "noise_sigma_max": 0.018,

      "blur_p": 0.12,
      "blur_kernel": 3,

      "occlusion_p": 0.00,
      "occlusion_min_frac": 0.04,
      "occlusion_max_frac": 0.15,
      "ramp_epochs": 6
    },

    "sampler": {
      "mode": "joint",
      "joint_power": 0.30,
      "status_power": 0.12,
      "group_power": 0.10,
      "max_weight_ratio": 5.0,
      "samples_per_epoch": 0
    },

    "class_weighting": {
      "seg_method": "log_inverse",
      "seg_log_offset": 1.02,
      "seg_min_weight": 0.35,
      "seg_max_weight": 3.0,
      "seg_max_samples": 1200,

      "status_enabled": true,
      "status_power": 0.30,
      "status_min_weight": 0.50,
      "status_max_weight": 3.0
    },

    "loss": {
      "seg_ce_weight": 0.65,
      "seg_dice_weight": 0.35,
      "boundary_boost": 0.15,
      "unsafe_nav_weight": 0.06,

      "status_weight": 0.40,
      "status_ramp_epochs": 8,
      "status_label_smoothing": 0.03
    },

    "status_head": {
      "pool_h": 3,
      "pool_w": 4,
      "hidden": 256,
      "dropout": 0.20,
      "detach_seg_summary": true,
      "seg_summary": "probabilities"
    },

    "optimizer": {
      "encoder_lr_mult": 0.50,
      "decoder_lr_mult": 1.00,
      "status_lr_mult": 2.00,
      "freeze_encoder_epochs": 2,
      "no_decay_bias": true,
      "no_decay_norm": true,
      "betas": [0.9, 0.999],
      "eps": 1e-8
    },

    "scheduler": {
      "mode": "poly",
      "warmup_ratio": 0.05,
      "warmup_start_factor": 0.10,
      "poly_power": 1.0,
      "min_lr_ratio": 0.02
    },

    "optimization": {
      "grad_clip_norm": 1.0,
      "matmul_precision": "high",
      "cudnn_benchmark": true,
      "persistent_workers": true,
      "prefetch_factor": 2
    },

    "score": {
      "nav_iou": 0.40,
      "nav_f1": 0.20,
      "status_macro_f1": 0.20,
      "safety": 0.20
    },

    "operational_gate": {
      "enabled": true,
      "min_epoch": 5,

      "min_nav_iou": 0.70,
      "min_nav_f1": 0.80,
      "min_non_nav_iou": 0.60,
      "min_status_macro_f1": 0.60,
      "max_unsafe_nav_rate": 0.03,

      "group_unsafe": {
        "enabled": true,
        "min_non_nav_pixels": 5000,
        "max_rate": 0.05,
        "max_rate_by_group": {
          "naonavegavel": 0.04,
          "navegavel_naonavegavel": 0.05
        }
      },

      "status_recall": {
        "enabled": false,
        "min_support": 5,
        "minimums": {}
      }
    },

    "checkpoint": {
      "early_stop_patience": 18,
      "early_stop_min_delta": 0.0003
    }
  }
}