186 lines
3.8 KiB
JSON
186 lines
3.8 KiB
JSON
{
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"camera": "oak-d",
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"modelo": "segformer_b0",
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"model_name": "corredores_v2",
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"main_class_name": "navegavel",
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"model_to_use": "geral",
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"ckpt_test": "best_operational",
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"raw_size": [1920, 1080],
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"resolucao": [1024, 576],
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"roi_inicio": 0.0,
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"roi_tamanho": 1.0,
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"channels": 3,
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"backbone": "nvidia/mit-b0",
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"label_classes": [
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"Parado",
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"EntrandoRua",
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"CaminhandoRua",
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"SaindoRua",
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"Manobrando",
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"Direcionando",
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"RetornandoBase",
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"Indefinido"
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],
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"corridor_training": {
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"data": {
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"strict_labels": true,
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"strict_pipeline_contract": true,
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"preflight_max_samples": 0
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},
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"augmentation": {
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"enabled": true,
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"horizontal_flip_p": 0.50,
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"affine_p": 0.60,
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"rotate_deg": 4.0,
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"scale_min": 0.92,
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"scale_max": 1.08,
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"translate_frac": 0.03,
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"global_gain_p": 0.45,
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"global_gain_min": 0.82,
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"global_gain_max": 1.18,
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"contrast_p": 0.35,
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"contrast_min": 0.85,
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"contrast_max": 1.15,
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"gamma_p": 0.30,
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"gamma_min": 0.82,
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"gamma_max": 1.18,
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"rgb_gain_p": 0.25,
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"rgb_gain_min": 0.94,
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"rgb_gain_max": 1.06,
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"shadow_p": 0.35,
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"shadow_strength_min": 0.12,
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"shadow_strength_max": 0.42,
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"noise_p": 0.18,
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"noise_sigma_min": 0.003,
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"noise_sigma_max": 0.018,
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"blur_p": 0.12,
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"blur_kernel": 3,
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"occlusion_p": 0.00,
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"occlusion_min_frac": 0.04,
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"occlusion_max_frac": 0.15,
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"ramp_epochs": 6
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},
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"sampler": {
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"mode": "joint",
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"joint_power": 0.30,
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"status_power": 0.12,
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"group_power": 0.10,
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"max_weight_ratio": 5.0,
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"samples_per_epoch": 0
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},
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"class_weighting": {
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"seg_method": "log_inverse",
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"seg_log_offset": 1.02,
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"seg_min_weight": 0.35,
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"seg_max_weight": 3.0,
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"seg_max_samples": 1200,
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"status_enabled": true,
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"status_power": 0.30,
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"status_min_weight": 0.50,
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"status_max_weight": 3.0
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},
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"loss": {
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"seg_ce_weight": 0.65,
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"seg_dice_weight": 0.35,
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"boundary_boost": 0.15,
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"unsafe_nav_weight": 0.06,
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"status_weight": 0.40,
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"status_ramp_epochs": 8,
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"status_label_smoothing": 0.03
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},
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"status_head": {
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"pool_h": 3,
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"pool_w": 4,
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"hidden": 256,
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"dropout": 0.20,
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"detach_seg_summary": true,
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"seg_summary": "probabilities"
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},
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"optimizer": {
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"encoder_lr_mult": 0.50,
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"decoder_lr_mult": 1.00,
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"status_lr_mult": 2.00,
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"freeze_encoder_epochs": 2,
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"no_decay_bias": true,
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"no_decay_norm": true,
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"betas": [0.9, 0.999],
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"eps": 1e-8
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},
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"scheduler": {
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"mode": "poly",
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"warmup_ratio": 0.05,
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"warmup_start_factor": 0.10,
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"poly_power": 1.0,
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"min_lr_ratio": 0.02
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},
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"optimization": {
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"grad_clip_norm": 1.0,
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"matmul_precision": "high",
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"cudnn_benchmark": true,
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"persistent_workers": true,
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"prefetch_factor": 2
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},
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"score": {
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"nav_iou": 0.40,
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"nav_f1": 0.20,
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"status_macro_f1": 0.20,
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"safety": 0.20
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},
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"operational_gate": {
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"enabled": true,
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"min_epoch": 5,
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"min_nav_iou": 0.70,
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"min_nav_f1": 0.80,
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"min_non_nav_iou": 0.60,
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"min_status_macro_f1": 0.60,
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"max_unsafe_nav_rate": 0.03,
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"group_unsafe": {
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"enabled": true,
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"min_non_nav_pixels": 5000,
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"max_rate": 0.05,
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"max_rate_by_group": {
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"naonavegavel": 0.04,
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"navegavel_naonavegavel": 0.05
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}
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},
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"status_recall": {
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"enabled": false,
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"min_support": 5,
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"minimums": {}
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}
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},
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"checkpoint": {
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"early_stop_patience": 18,
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"early_stop_min_delta": 0.0003
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}
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}
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}
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