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tools/cfgs/waymo_models/dsvt_pillar.yaml
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190
tools/cfgs/waymo_models/dsvt_pillar.yaml
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CLASS_NAMES: ['Vehicle', 'Pedestrian', 'Cyclist']
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DATA_CONFIG:
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_BASE_CONFIG_: cfgs/dataset_configs/waymo_dataset.yaml
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SAMPLED_INTERVAL: {'train': 1, 'test': 1}
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POINT_CLOUD_RANGE: [-74.88, -74.88, -2, 74.88, 74.88, 4.0]
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POINTS_TANH_DIM: [3, 4]
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DATA_AUGMENTOR:
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DISABLE_AUG_LIST: ['placeholder']
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AUG_CONFIG_LIST:
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- NAME: gt_sampling
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USE_ROAD_PLANE: False
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DB_INFO_PATH:
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- waymo_processed_data_v0_5_0_waymo_dbinfos_train_sampled_1.pkl
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USE_SHARED_MEMORY: True # set it to True to speed up (it costs about 15GB shared memory)
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DB_DATA_PATH:
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- waymo_processed_data_v0_5_0_gt_database_train_sampled_1_global.npy
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BACKUP_DB_INFO:
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# if the above DB_INFO cannot be found, will use this backup one
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DB_INFO_PATH: waymo_processed_data_v0_5_0_waymo_dbinfos_train_sampled_1_multiframe_-4_to_0.pkl
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DB_DATA_PATH: waymo_processed_data_v0_5_0_gt_database_train_sampled_1_multiframe_-4_to_0_global.npy
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NUM_POINT_FEATURES: 6
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PREPARE: {
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filter_by_min_points: ['Vehicle:5', 'Pedestrian:10', 'Cyclist:10'],
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filter_by_difficulty: [-1],
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}
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SAMPLE_GROUPS: ['Vehicle:15', 'Pedestrian:10', 'Cyclist:10']
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NUM_POINT_FEATURES: 5
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REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
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LIMIT_WHOLE_SCENE: True
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- NAME: random_world_flip
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ALONG_AXIS_LIST: ['x', 'y']
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- NAME: random_world_rotation
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WORLD_ROT_ANGLE: [-0.78539816, 0.78539816]
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- NAME: random_world_scaling
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WORLD_SCALE_RANGE: [0.95, 1.05]
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- NAME: random_world_translation
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NOISE_TRANSLATE_STD: [0.5, 0.5, 0.5]
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DATA_PROCESSOR:
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- NAME: mask_points_and_boxes_outside_range
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REMOVE_OUTSIDE_BOXES: True
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- NAME: shuffle_points
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SHUFFLE_ENABLED: {
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'train': True,
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'test': True
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}
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- NAME: transform_points_to_voxels_placeholder
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VOXEL_SIZE: [ 0.32, 0.32, 6]
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MODEL:
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NAME: CenterPoint
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VFE:
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NAME: DynamicVoxelVFE
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WITH_DISTANCE: False
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USE_ABSLOTE_XYZ: True
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USE_NORM: True
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NUM_FILTERS: [ 192, 192 ]
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BACKBONE_3D:
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NAME: DSVT
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INPUT_LAYER:
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sparse_shape: [468, 468, 1]
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downsample_stride: []
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d_model: [192]
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set_info: [[36, 4]]
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window_shape: [[12, 12, 1]]
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hybrid_factor: [2, 2, 1] # x, y, z
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shifts_list: [[[0, 0, 0], [6, 6, 0]]]
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normalize_pos: False
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block_name: ['DSVTBlock']
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set_info: [[36, 4]]
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d_model: [192]
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nhead: [8]
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dim_feedforward: [384]
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dropout: 0.0
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activation: gelu
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output_shape: [468, 468]
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conv_out_channel: 192
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# You can enable torch.utils.checkpoint to save GPU memory
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USE_CHECKPOINT: True
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MAP_TO_BEV:
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NAME: PointPillarScatter3d
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INPUT_SHAPE: [468, 468, 1]
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NUM_BEV_FEATURES: 192
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BACKBONE_2D:
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NAME: BaseBEVResBackbone
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LAYER_NUMS: [ 1, 2, 2 ]
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LAYER_STRIDES: [ 1, 2, 2 ]
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NUM_FILTERS: [ 128, 128, 256 ]
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UPSAMPLE_STRIDES: [ 1, 2, 4 ]
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NUM_UPSAMPLE_FILTERS: [ 128, 128, 128 ]
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DENSE_HEAD:
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NAME: CenterHead
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CLASS_AGNOSTIC: False
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CLASS_NAMES_EACH_HEAD: [
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['Vehicle', 'Pedestrian', 'Cyclist']
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]
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SHARED_CONV_CHANNEL: 64
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USE_BIAS_BEFORE_NORM: False
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NUM_HM_CONV: 2
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BN_EPS: 0.001
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BN_MOM: 0.01
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SEPARATE_HEAD_CFG:
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HEAD_ORDER: ['center', 'center_z', 'dim', 'rot']
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HEAD_DICT: {
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'center': {'out_channels': 2, 'num_conv': 2},
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'center_z': {'out_channels': 1, 'num_conv': 2},
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'dim': {'out_channels': 3, 'num_conv': 2},
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'rot': {'out_channels': 2, 'num_conv': 2},
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'iou': {'out_channels': 1, 'num_conv': 2},
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}
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TARGET_ASSIGNER_CONFIG:
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FEATURE_MAP_STRIDE: 1
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NUM_MAX_OBJS: 500
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GAUSSIAN_OVERLAP: 0.1
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MIN_RADIUS: 2
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IOU_REG_LOSS: True
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LOSS_CONFIG:
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LOSS_WEIGHTS: {
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'cls_weight': 1.0,
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'loc_weight': 2.0,
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'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
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}
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POST_PROCESSING:
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SCORE_THRESH: 0.1
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POST_CENTER_LIMIT_RANGE: [-80, -80, -10.0, 80, 80, 10.0]
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MAX_OBJ_PER_SAMPLE: 500
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USE_IOU_TO_RECTIFY_SCORE: True
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IOU_RECTIFIER: [0.68, 0.71, 0.65]
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NMS_CONFIG:
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NMS_TYPE: class_specific_nms
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NMS_THRESH: [0.75, 0.6, 0.55]
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NMS_PRE_MAXSIZE: [4096, 4096, 4096]
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NMS_POST_MAXSIZE: [500, 500, 500]
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POST_PROCESSING:
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RECALL_THRESH_LIST: [0.3, 0.5, 0.7]
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EVAL_METRIC: waymo
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OPTIMIZATION:
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BATCH_SIZE_PER_GPU: 3
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NUM_EPOCHS: 24
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OPTIMIZER: adam_onecycle
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LR: 0.003 #
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WEIGHT_DECAY: 0.05
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MOMENTUM: 0.9
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MOMS: [0.95, 0.85]
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PCT_START: 0.1
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DIV_FACTOR: 100
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DECAY_STEP_LIST: [35, 45]
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LR_DECAY: 0.1
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LR_CLIP: 0.0000001
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LR_WARMUP: False
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WARMUP_EPOCH: 1
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GRAD_NORM_CLIP: 10
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LOSS_SCALE_FP16: 32.0
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HOOK:
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DisableAugmentationHook:
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DISABLE_AUG_LIST: ['gt_sampling','random_world_flip','random_world_rotation','random_world_scaling', 'random_world_translation']
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NUM_LAST_EPOCHS: 1
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