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