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tools/cfgs/waymo_models/voxel_rcnn_with_centerhead_dyn_voxel.yaml

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+CLASS_NAMES: ['Vehicle', 'Pedestrian', 'Cyclist']
+
+DATA_CONFIG:
+    _BASE_CONFIG_: cfgs/dataset_configs/waymo_dataset.yaml
+    DATA_PROCESSOR:
+        -   NAME: mask_points_and_boxes_outside_range
+            REMOVE_OUTSIDE_BOXES: True
+            STRICT_MASK: True
+
+        -   NAME: shuffle_points
+            SHUFFLE_ENABLED: {
+                'train': True,
+                'test': True
+            }
+
+        -   NAME: transform_points_to_voxels_placeholder
+            VOXEL_SIZE: [ 0.10, 0.10, 0.15 ]
+
+MODEL:
+    NAME: VoxelRCNN
+
+    VFE:
+        NAME: DynMeanVFE
+
+    BACKBONE_3D:
+        NAME: VoxelBackBone8x
+
+    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: [
+            [ 'Vehicle', 'Pedestrian', 'Cyclist' ]
+        ]
+
+        SHARED_CONV_CHANNEL: 64
+        USE_BIAS_BEFORE_NORM: True
+        NUM_HM_CONV: 2
+        SEPARATE_HEAD_CFG:
+            HEAD_ORDER: [ 'center', 'center_z', 'dim', 'rot' ]
+            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 },
+            }
+
+        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': 2.0,
+                'code_weights': [ 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0 ]
+            }
+
+        POST_PROCESSING:
+            SCORE_THRESH: 0.1
+            POST_CENTER_LIMIT_RANGE: [ -75.2, -75.2, -2, 75.2, 75.2, 4 ]
+            MAX_OBJ_PER_SAMPLE: 500
+            NMS_CONFIG:
+                NMS_TYPE: nms_gpu
+                NMS_THRESH: 0.7
+                NMS_PRE_MAXSIZE: 4096
+                NMS_POST_MAXSIZE: 500
+
+    ROI_HEAD:
+        NAME: VoxelRCNNHead
+        CLASS_AGNOSTIC: True
+
+        SHARED_FC: [256, 256]
+        CLS_FC: [256, 256]
+        REG_FC: [256, 256]
+        DP_RATIO: 0.3
+
+        NMS_CONFIG:
+            TRAIN:
+                NMS_TYPE: nms_gpu
+                MULTI_CLASSES_NMS: False
+                NMS_PRE_MAXSIZE: 9000
+                NMS_POST_MAXSIZE: 512
+                NMS_THRESH: 0.8
+            TEST:
+                NMS_TYPE: nms_gpu
+                MULTI_CLASSES_NMS: False
+                NMS_PRE_MAXSIZE: 1024
+                NMS_POST_MAXSIZE: 100
+                NMS_THRESH: 0.7
+                # NMS_PRE_MAXSIZE: 4096
+                # NMS_POST_MAXSIZE: 300
+                # NMS_THRESH: 0.85
+
+        ROI_GRID_POOL:
+            FEATURES_SOURCE: ['x_conv2', 'x_conv3', 'x_conv4']
+            PRE_MLP: True
+            GRID_SIZE: 6
+            POOL_LAYERS:
+                x_conv2:
+                    MLPS: [ [ 64, 64 ] ]
+                    QUERY_RANGES: [ [ 3, 3, 2 ] ]
+                    POOL_RADIUS: [ 0.4 ]
+                    NSAMPLE: [ 16 ]
+                    POOL_METHOD: max_pool
+                x_conv3:
+                    MLPS: [ [ 64, 64 ] ]
+                    QUERY_RANGES: [ [ 3, 3, 2 ] ]
+                    POOL_RADIUS: [ 0.8 ]
+                    NSAMPLE: [ 16 ]
+                    POOL_METHOD: max_pool
+                x_conv4:
+                    MLPS: [ [ 64, 64 ] ]
+                    QUERY_RANGES: [ [ 3, 3, 2 ] ]
+                    POOL_RADIUS: [ 1.6 ]
+                    NSAMPLE: [ 16 ]
+                    POOL_METHOD: max_pool
+
+        TARGET_CONFIG:
+            BOX_CODER: ResidualCoder
+            ROI_PER_IMAGE: 128
+            FG_RATIO: 0.5
+
+            SAMPLE_ROI_BY_EACH_CLASS: True
+            CLS_SCORE_TYPE: roi_iou
+
+            CLS_FG_THRESH: 0.75
+            CLS_BG_THRESH: 0.25
+            CLS_BG_THRESH_LO: 0.1
+            HARD_BG_RATIO: 0.8
+
+            REG_FG_THRESH: 0.55
+
+        LOSS_CONFIG:
+            CLS_LOSS: BinaryCrossEntropy
+            REG_LOSS: smooth-l1
+            CORNER_LOSS_REGULARIZATION: True
+            LOSS_WEIGHTS: {
+                'rcnn_cls_weight': 1.0,
+                'rcnn_reg_weight': 1.0,
+                'rcnn_corner_weight': 1.0,
+                'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
+            }
+
+    POST_PROCESSING:
+        RECALL_THRESH_LIST: [0.3, 0.5, 0.7]
+        SCORE_THRESH: 0.1
+        OUTPUT_RAW_SCORE: False
+
+        EVAL_METRIC: waymo
+
+        NMS_CONFIG:
+            MULTI_CLASSES_NMS: False
+            NMS_TYPE: nms_gpu
+            NMS_THRESH: 0.7
+            NMS_PRE_MAXSIZE: 4096
+            NMS_POST_MAXSIZE: 500
+
+
+OPTIMIZATION:
+    BATCH_SIZE_PER_GPU: 4
+    NUM_EPOCHS: 30
+
+    OPTIMIZER: adam_onecycle
+    LR: 0.01
+    WEIGHT_DECAY: 0.001
+    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