configuration.yaml

defaults:
    - base_configuration
    - vqvae: base_vqvae
    - pixelcnn: base_pixelcnn
    - trainer: base_trainer
    - dataset: base_dataset
    - projection: base_projection
    - live: base_live
    - _self_
    - override hydra/hydra_logging: none
    - override hydra/job_logging: none

vqvae:
    num_embeddings: 64
    embedding_dim: 4
    # hidden_channels: 96
    checkpoint_path: /checkpoint_path/vqvae_best_checkpoint.bin
pixelcnn:
    #   observation_embedding_dim: 32
    checkpoint_path: /checkpoint_path/vqvae_best_checkpoint.bin
scoring_network:
    num_samples: 50
trainer:
    results_directory: results
    batch_size: 4096
    learning_rate: 3e-4
    num_epochs: 100
    # epochs_per_save: 10
    # use_safetensors_for_saving: false
    # dataloader_num_workers: 12
    # dataloader_pin_memory: true
dataset:
    directory: data
    trajectory_length: 50
    trajectory_time: 5
    coefficient_configuration:
        # - BEST_PRIEST
        # - ELITE_PRIEST
        - BEST_EXPERT
        # - ELITE_EXPERT
    # static_obstacle_type: POINT_CLOUD
    # num_elite_coefficients: 80
    # padding: 0
projection:
    guidance_type: PRIEST
    num_priest_iterations: 2
    use_obstacle_constraints: true
#   max_dynamic_obstacles: 10
    max_static_obstacles: 100
#   padding: 1000
live:
    world_frame: map
    robot_base_frame: base_link
    odometry_topic: /odom
    dynamic_obstacle_topic: /track_ped
    # point_cloud_topic: /pointcloud
    laser_scan_topic: /scan
    velocity_command_topic: mobile_base/cmd_vel
    goal_topic: /final_goal
    # subgoal_topic: /subgoal
    # path_topic: /trajectory
    threshold_distance: 1.0
    # padding: 1000.0
    # time_horizon: 3.0
    # previous_time_steps_for_dynamic: 5
    dynamic_msg: TRACKED_PERSONS

mode: LIVE