first commit

configs/default.yaml

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+seed: 42
+
+data:
+  dataset: tusimple          # tusimple | culane | both
+  tusimple_root: /home/suman/Downloads/american_lanes/tusimple_preprocessed
+  val_fraction: 0.1          # carved from the single training/ split (no official val/test present)
+  input_height: 360
+  input_width: 640
+  max_lanes: 8               # N_lanes decoder queries
+  num_sample_ys: 48          # number of y-rows sampled per lane for loss/matching
+  batch_size: 8
+  num_workers: 4
+
+model:
+  backbone: resnet34
+  pretrained: true
+  fusion_channels: 128
+  encoder_layers: 4
+  decoder_layers: 1
+  attn_heads: 8
+  ffn_dim: 512
+  dropout: 0.1
+
+loss:
+  cls_weight: 2.0
+  reg_weight: 5.0
+  endpoint_weight: 1.0
+  bg_class_weight: 0.2       # down-weight the dominant "no lane" class
+
+train:
+  epochs: 50
+  lr_backbone: 1.0e-5
+  lr_new: 1.0e-4
+  weight_decay: 1.0e-4
+  warmup_steps: 300
+  grad_clip_norm: 1.0
+  amp: true
+  log_every: 20
+  checkpoint_dir: checkpoints
+  log_dir: runs