align training hyper-param

Author: LegendBC

navsim/agents/diffusiondrive/transfuser_config.py

@@ -120,7 +120,7 @@ class TransfuserConfig:
     lr_steps = [70]
     optimizer_type = "AdamW"
     scheduler_type = "MultiStepLR"
-    cfg_lr_mult = 0.1
+    cfg_lr_mult = 0.5
     opt_paramwise_cfg = {
         "name":{
             "image_encoder":{

navsim/planning/script/config/common/agent/diffusiondrive_agent.yaml

@@ -14,4 +14,4 @@ config:
   latent: False
 
 checkpoint_path: null
-lr: 2e-4
+lr: 6e-4