train_settings.yaml

log_dir: '/tmp/train_straight_7ms'
quad_name: 'none'
odometry_topic: 'ground_truth/odometry'
rgb_topic: 'agile_autonomy/unity_rgb'
depth_topic: 'agile_autonomy/sgm_depth'
use_rgb: False # Use camera images
use_depth: True # Use depth images
state_dim: 3 # x,y,z
out_seq_len: 10 # Number of steps in the future to predict
predict_state_number: [] # Empty list means will predict all states in out_seq_len. Otherwise it will train only for the single state. Only supported mode is len(predict_state_number) == 1.
seq_len: 1 # Number of inputs to load in the last second
poly_coeff: 3 # Equivalent to poly order minus 1
img_width: 224
img_height: 224
future_time: 5.0 # in seconds, how much in the future to track the reference
modes: 3 # Modes of distribution
checkpoint:
  resume_training: False
  resume_file: ""
train:
  max_training_epochs: 150
  batch_size: 8
  freeze_backbone: False
  top_trajectories: 3
  summary_freq: 400
  data_save_freq: 15
  train_dir: "data/train"
  val_dir: "data/val"
  log_images: False
  save_every_n_epochs: 5
  ref_frame: 'bf'
  track_global_traj: False
inputs:
  position: False
  attitude: True
  bodyrates: True
  velocity_frame: 'bf'