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Merged
eugenevinitsky merged 1 commit into from
Jun 2, 2026
Merged

Add 06_02_checkpoint to weights folder #469

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390 changes: 390 additions & 0 deletions weights/06_02_checkpoint/config.yaml
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agent_index: null
controlled_exp:
train:
ent_coef:
values:
- 0.01
- 0.005
learning_rate:
values:
- 0.001
- 0.003
- 0.01
env:
action_type: discrete
collision_behavior: 1
compute_eval_metrics: false
control_mode: control_vehicles
dt: 0.3
dynamics_model: jerk
goal_on_lane: true
goal_radius: 2.0
goal_speed: 3.0
inactive_agent_threshold: 0.4
init_mode: create_all_valid
init_step: 0
map_dir: pufferlib/resources/drive/binaries/carla
max_agents_per_env: 150
max_waypoint_spacing: 60.0
min_agents_per_env: 1
min_waypoint_spacing: 20.0
num_agents: 2048
num_maps: 8
num_target_waypoints: 3
obs_dropout_boundary: 0.4
obs_dropout_lane: 0.5
obs_norm_goal_offset_m: 200.0
obs_norm_road_seg_length_m: 10.0
obs_norm_road_seg_width_m: 5.0
obs_norm_veh_length_m: 15.0
obs_norm_veh_width_m: 10.0
obs_norm_xy_offset_m: 200.0
obs_range_partner_m: 200.0
obs_range_road_behind_m: 40.0
obs_range_road_front_m: 200.0
obs_range_road_side_m: 50.0
obs_range_traffic_control_m: 100.0
obs_slots_boundary_n: 80
obs_slots_lane_n: 80
obs_slots_partners_n: 16
obs_slots_traffic_controls_n: 4
offroad_behavior: 1
partner_blindness_prob: 0.03
partner_blindness_trigger_prob: 0.05
phantom_braking_duration: 10
phantom_braking_prob: 0.02
phantom_braking_trigger_prob: 0.02
resample_frequency: 0
reward_ade: 0.0
reward_center_bias: 0.0
reward_collision: 1.5
reward_comfort: 0.05
reward_conditioning: true
reward_goal: 1.0
reward_lane_align: 0.025
reward_lane_center: 0.005
reward_offroad: 1.5
reward_overspeed: 0.05
reward_randomization: true
reward_reverse: 0.005
reward_stop_line: 1.0
reward_timestep: 2.5e-05
reward_vel_align: 1.0
reward_velocity: 0.0025
scenario_length: 1200
simulation_mode: gigaflow
spawn_initial_speed: 0.0
target_type: static
termination_mode: 1
traffic_light_behavior: 1
use_map_cache: 1
env_name: puffer_drive
eval:
behaviors_defaults:
clean: 'true'
enabled: 'false'
env:
control_mode: control_sdc_only
init_mode: create_all_valid
obs_slots_partners_n: 32
scenario_length: 201
simulation_mode: replay
eval:
num_scenarios: 50
render_max_steps: 200
render_num_scenarios: 2
interval: 250
mode: inline
render: 'true'
render_views:
- sim_state
- bev
behaviors_full_dir:
enabled: 0
env:
map_dir: /scratch/ev2237/data/nuplan/nuplan_mini_train_bins
inherits: behaviors_defaults
type: behavior_class
behaviors_hard_stop:
enabled: 0
env:
map_dir: /scratch/ev2237/data/nuplan/categories_v021/hard_stop
inherits: behaviors_defaults
type: behavior_class
behaviors_highway_straight:
enabled: 0
env:
map_dir: /scratch/ev2237/data/nuplan/categories_v021/highway_straight
inherits: behaviors_defaults
type: behavior_class
behaviors_lane_change:
enabled: 0
env:
map_dir: /scratch/ev2237/data/nuplan/categories_v021/lane_change
inherits: behaviors_defaults
type: behavior_class
behaviors_merge:
enabled: 0
env:
map_dir: /scratch/ev2237/data/nuplan/categories_v021/merge
inherits: behaviors_defaults
type: behavior_class
behaviors_parked_cars:
enabled: 0
env:
map_dir: /scratch/ev2237/data/nuplan/categories_v021/parked_cars
inherits: behaviors_defaults
type: behavior_class
behaviors_roundabout:
enabled: 0
env:
map_dir: /scratch/ev2237/data/nuplan/categories_v021/roundabout
inherits: behaviors_defaults
type: behavior_class
behaviors_stopped_traffic:
enabled: 0
env:
map_dir: /scratch/ev2237/data/nuplan/categories_v021/stopped_traffic
inherits: behaviors_defaults
type: behavior_class
behaviors_traffic_light_green:
enabled: 0
env:
map_dir: /scratch/ev2237/data/nuplan/categories_v021/traffic_light_green
inherits: behaviors_defaults
type: behavior_class
behaviors_traffic_light_stop:
enabled: 0
env:
map_dir: /scratch/ev2237/data/nuplan/categories_v021/traffic_light_stop
inherits: behaviors_defaults
type: behavior_class
behaviors_unprotected_left:
enabled: 0
env:
map_dir: /scratch/ev2237/data/nuplan/categories_v021/unprotected_left
inherits: behaviors_defaults
type: behavior_class
behaviors_unprotected_right:
enabled: 0
env:
map_dir: /scratch/ev2237/data/nuplan/categories_v021/unprotected_right
inherits: behaviors_defaults
type: behavior_class
dnf_triage:
enabled: 'false'
env:
map_dir: pufferlib/resources/drive/binaries/carla/opendrive__Town10HD.bin
max_agents_per_env: 1
min_agents_per_env: 1
num_maps: 1
resample_frequency: 500
scenario_length: 500
simulation_mode: gigaflow
eval:
num_scenarios: 32
render_max_steps: 300
render_num_scenarios: 16
inherits: validation_defaults
render: 'true'
render_backend: triage_html
type: multi_scenario
validation_defaults:
clean: 'true'
enabled: 'true'
env:
collision_behavior: 1
eval_mode: 1
goal_speed: 3.0
num_agents: 1024
obs_dropout_boundary: 0.0
obs_dropout_lane: 0.0
obs_slots_boundary_n: 80
obs_slots_lane_n: 80
offroad_behavior: 1
reward_ade: 0.0
reward_collision: 3.0
reward_comfort: 0.05
reward_goal: 1.0
reward_lane_align: 0.025
reward_lane_center: 0.0038
reward_offroad: 3.0
reward_overspeed: 0.05
reward_randomization: false
reward_reverse: 0.005
reward_stop_line: 1.0
reward_timestep: 2.5e-05
reward_velocity: 0.0025
target_type: static
termination_mode: 0
traffic_light_behavior: 0
eval:
export_episode_csv: 'true'
num_scenarios: 250
verify_coverage: 'true'
interval: 250
mode: inline
validation_gigaflow:
enabled: 'true'
env:
map_dir: pufferlib/resources/drive/binaries/carla
max_agents_per_env: 40
min_agents_per_env: 40
num_agents: 1024
num_maps: 8
resample_frequency: 500
scenario_length: 500
simulation_mode: gigaflow
eval:
render_max_steps: 300
render_num_scenarios: 8
inherits: validation_defaults
render: false
render_backend: egl
render_views:
- sim_state
- bev
type: multi_scenario
validation_replay:
enabled: 0
env:
control_mode: control_sdc_only
map_dir: /scratch/ev2237/data/nuplan/nuplan_mini_train_bins
max_agents_per_env: 64
num_maps: 250
resample_frequency: 200
scenario_length: 200
simulation_mode: replay
eval:
render_max_steps: 200
render_num_scenarios: 5
inherits: validation_defaults
render: 'true'
render_backend: triage_html
type: multi_scenario
wosac:
clean: 'true'
enabled: 'false'
env:
control_mode: control_wosac
goal_radius: 2.0
init_mode: create_all_valid
init_step: 10
eval:
wosac_aggregate_results: 'true'
wosac_num_agents: 256
wosac_num_rollouts: 32
wosac_sanity_check: 'false'
interval: 500
mode: subprocess
render: 'false'
type: wosac
eval_simulation: null
fps: 15
gif_path: eval.gif
git:
commit_hash: aca6960c5c9368422a945fd62b81985378bc0031
load_id: null
load_model_path: null
local_rank: 0
max_runs: 200
max_suggestion_cost: 3600
mine:
num_episodes: 100
output_dir: ''
render: 'true'
score_threshold: -inf
neptune: false
neptune_name: pufferai
neptune_project: ablations
no_model_upload: {}
num_scenarios: 3
package: ocean
policy:
actor_hidden_size: 1024
actor_num_layers: 0
backbone_hidden_size: 1024
backbone_num_layers: 3
critic_hidden_size: 1024
critic_num_layers: 0
dropout: 0.0
encoder_gigaflow: true
input_size: 256
split_network: true
policy_name: Drive
render: 0
render_mode: auto
rnn:
hidden_size: 512
input_size: 512
rnn_name: null
run_name: null
save_frames: 0
sweep:
downsample: 10
goal: maximize
method: Protein
metric: score
tag: 2026-06-02_local_4gpu
tb: false
train:
adam_beta1: 0.9
adam_beta2: 0.999
adam_eps: 1.0e-08
adv_filter_ewma_beta: 0.25
adv_filter_threshold_scale: 0.01
adv_sampling_prio_alpha: 0.8499999999999999
adv_sampling_prio_beta0: 0.8499999999999999
amp: true
anneal_lr: true
batch_size: auto
bptt_horizon: 128
checkpoint_interval: 500
clip_coef: 0.2
compile: true
compile_fullgraph: false
compile_mode: default
cpu_offload: false
data_dir: experiments
device: cuda
ent_coef: 0.01
gae_lambda: 0.95
gamma: 0.999
learning_rate: 0.0005
max_grad_norm: 0.5
max_minibatch_size: 153600
minibatch_size: 153600
name: pufferai
normalize_rewards: false
obs_only: true
optimizer: adamw
ppo_granularity: auto
precision: bfloat16
project: ablations
render: false
render_interval: 1000
render_map: none
resume_state_path: null
seed: 0
show_grid: false
show_human_logs: true
show_lasers: false
torch_deterministic: false
total_timesteps: 10000000000
update_epochs: 3
use_rnn: false
vf_clip_coef: null
vf_coef: 0.5
vtrace_c_clip: 1
vtrace_rho_clip: 1
vec:
backend: Multiprocessing
batch_size: auto
num_envs: 20
num_workers: auto
seed: 42
zero_copy: true
video_path: videos
wandb: true
wandb_group: Nightly_MultiAgent
wandb_project: nightly-multi-agent
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