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tools/cfgs/nuscenes_models/cbgs_voxel0075_res3d_centerpoint.yaml

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+CLASS_NAMES: ['car','truck', 'construction_vehicle', 'bus', 'trailer',
+              'barrier', 'motorcycle', 'bicycle', 'pedestrian', 'traffic_cone']
+
+DATA_CONFIG:
+    _BASE_CONFIG_: cfgs/dataset_configs/nuscenes_dataset.yaml
+    POINT_CLOUD_RANGE: [-54.0, -54.0, -5.0, 54.0, 54.0, 3.0]
+
+    DATA_AUGMENTOR:
+        DISABLE_AUG_LIST: ['placeholder']
+        AUG_CONFIG_LIST:
+            - NAME: gt_sampling
+              DB_INFO_PATH:
+                - nuscenes_dbinfos_10sweeps_withvelo.pkl
+              PREPARE: {
+                filter_by_min_points: [
+                    'car:5','truck:5', 'construction_vehicle:5', 'bus:5', 'trailer:5',
+                    'barrier:5', 'motorcycle:5', 'bicycle:5', 'pedestrian:5', 'traffic_cone:5'
+                ],
+              }
+
+              SAMPLE_GROUPS: [
+                'car:2','truck:3', 'construction_vehicle:7', 'bus:4', 'trailer:6',
+                'barrier:2', 'motorcycle:6', 'bicycle:6', 'pedestrian:2', 'traffic_cone:2'
+              ]
+
+              NUM_POINT_FEATURES: 5
+              DATABASE_WITH_FAKELIDAR: False
+              REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
+              LIMIT_WHOLE_SCENE: True
+
+            - NAME: random_world_flip
+              ALONG_AXIS_LIST: ['x', 'y']
+
+            - NAME: random_world_rotation
+              WORLD_ROT_ANGLE: [-0.78539816, 0.78539816]
+
+            - NAME: random_world_scaling
+              WORLD_SCALE_RANGE: [0.9, 1.1]
+            
+            - NAME: random_world_translation
+              NOISE_TRANSLATE_STD: [0.5, 0.5, 0.5]
+
+
+    DATA_PROCESSOR:
+        - NAME: mask_points_and_boxes_outside_range
+          REMOVE_OUTSIDE_BOXES: True
+
+        - NAME: shuffle_points
+          SHUFFLE_ENABLED: {
+            'train': True,
+            'test': True
+          }
+
+        - NAME: transform_points_to_voxels
+          VOXEL_SIZE: [0.075, 0.075, 0.2]
+          MAX_POINTS_PER_VOXEL: 10
+          MAX_NUMBER_OF_VOXELS: {
+            'train': 120000,
+            'test': 160000
+          }
+
+
+MODEL:
+    NAME: CenterPoint
+
+    VFE:
+        NAME: MeanVFE
+
+    BACKBONE_3D:
+        NAME: VoxelResBackBone8x
+
+    MAP_TO_BEV:
+        NAME: HeightCompression
+        NUM_BEV_FEATURES: 256
+
+    BACKBONE_2D:
+        NAME: BaseBEVBackbone
+
+        LAYER_NUMS: [5, 5]
+        LAYER_STRIDES: [1, 2]
+        NUM_FILTERS: [128, 256]
+        UPSAMPLE_STRIDES: [1, 2]
+        NUM_UPSAMPLE_FILTERS: [256, 256]
+
+    DENSE_HEAD:
+        NAME: CenterHead
+        CLASS_AGNOSTIC: False
+
+        CLASS_NAMES_EACH_HEAD: [
+            ['car'], 
+            ['truck', 'construction_vehicle'],
+            ['bus', 'trailer'],
+            ['barrier'],
+            ['motorcycle', 'bicycle'],
+            ['pedestrian', 'traffic_cone'],
+        ]
+
+        SHARED_CONV_CHANNEL: 64
+        USE_BIAS_BEFORE_NORM: True
+        NUM_HM_CONV: 2
+        SEPARATE_HEAD_CFG:
+            HEAD_ORDER: ['center', 'center_z', 'dim', 'rot', 'vel']
+            HEAD_DICT: {
+                'center': {'out_channels': 2, 'num_conv': 2},
+                'center_z': {'out_channels': 1, 'num_conv': 2},
+                'dim': {'out_channels': 3, 'num_conv': 2},
+                'rot': {'out_channels': 2, 'num_conv': 2},
+                'vel': {'out_channels': 2, 'num_conv': 2},
+            }
+
+        TARGET_ASSIGNER_CONFIG:
+            FEATURE_MAP_STRIDE: 8
+            NUM_MAX_OBJS: 500
+            GAUSSIAN_OVERLAP: 0.1
+            MIN_RADIUS: 2
+
+        LOSS_CONFIG:
+            LOSS_WEIGHTS: {
+                'cls_weight': 1.0,
+                'loc_weight': 0.25,
+                'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.2, 0.2, 1.0, 1.0]
+            }
+
+        POST_PROCESSING:
+            SCORE_THRESH: 0.1
+            POST_CENTER_LIMIT_RANGE: [-61.2, -61.2, -10.0, 61.2, 61.2, 10.0]
+            MAX_OBJ_PER_SAMPLE: 500
+            NMS_CONFIG:
+                NMS_TYPE: nms_gpu
+                NMS_THRESH: 0.2
+                NMS_PRE_MAXSIZE: 1000
+                NMS_POST_MAXSIZE: 83
+
+    POST_PROCESSING:
+        RECALL_THRESH_LIST: [0.3, 0.5, 0.7]
+
+        EVAL_METRIC: kitti
+
+
+
+OPTIMIZATION:
+    BATCH_SIZE_PER_GPU: 4
+    NUM_EPOCHS: 20
+
+    OPTIMIZER: adam_onecycle
+    LR: 0.001
+    WEIGHT_DECAY: 0.01
+    MOMENTUM: 0.9
+
+    MOMS: [0.95, 0.85]
+    PCT_START: 0.4
+    DIV_FACTOR: 10
+    DECAY_STEP_LIST: [35, 45]
+    LR_DECAY: 0.1
+    LR_CLIP: 0.0000001
+
+    LR_WARMUP: False
+    WARMUP_EPOCH: 1
+
+    GRAD_NORM_CLIP: 10