From 1665f7ccd768d93b03aaccf7329b49581497527a Mon Sep 17 00:00:00 2001
From: zachary <38359514+zachytong@users.noreply.github.com>
Date: Wed, 20 Nov 2024 18:45:23 +0800
Subject: [PATCH 1/2] Update pluto_model.yaml

Set cat_x and ref_free_traj to true to avoid mismatch between pluto_model.yaml and pluto_planner.yaml, which will cause loading locally trained weights fails during simulation.
---
 config/model/pluto_model.yaml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/config/model/pluto_model.yaml b/config/model/pluto_model.yaml
index 49145d5..e9d9135 100644
--- a/config/model/pluto_model.yaml
+++ b/config/model/pluto_model.yaml
@@ -17,6 +17,8 @@ state_dropout: 0.75
 use_ego_history: false
 state_attn_encoder: true
 use_hidden_proj: false
+cat_x: true
+ref_free_traj: true
 
 feature_builder:
   _target_: src.feature_builders.pluto_feature_builder.PlutoFeatureBuilder

From a39989e7370b5eeb4bb07096da58eb42e65d0a92 Mon Sep 17 00:00:00 2001
From: zachary <38359514+zachytong@users.noreply.github.com>
Date: Thu, 21 Nov 2024 10:13:39 +0800
Subject: [PATCH 2/2] Update pluto_model.yaml

Fix another mismatch param in pluto_model and pluto_planner yaml
---
 config/model/pluto_model.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/config/model/pluto_model.yaml b/config/model/pluto_model.yaml
index e9d9135..fdf09a5 100644
--- a/config/model/pluto_model.yaml
+++ b/config/model/pluto_model.yaml
@@ -16,7 +16,7 @@ num_modes: 12
 state_dropout: 0.75
 use_ego_history: false
 state_attn_encoder: true
-use_hidden_proj: false
+use_hidden_proj: true
 cat_x: true
 ref_free_traj: true