From 44a4c0d8207630c4c37b67ee379a3d6f4c16348c Mon Sep 17 00:00:00 2001
From: inter <inter@qq.com>
Date: Sun, 21 Sep 2025 20:19:52 +0800
Subject: [PATCH] Add File

---
 .../argo2_models/cbgs_voxel01_voxelnext.yaml  | 112 ++++++++++++++++++
 1 file changed, 112 insertions(+)
 create mode 100644 tools/cfgs/argo2_models/cbgs_voxel01_voxelnext.yaml

diff --git a/tools/cfgs/argo2_models/cbgs_voxel01_voxelnext.yaml b/tools/cfgs/argo2_models/cbgs_voxel01_voxelnext.yaml
new file mode 100644
index 0000000..c8748f4
--- /dev/null
+++ b/tools/cfgs/argo2_models/cbgs_voxel01_voxelnext.yaml
@@ -0,0 +1,112 @@
+CLASS_NAMES: ['Regular_vehicle', 'Pedestrian', 'Bicyclist', 'Motorcyclist', 'Wheeled_rider',
+            'Bollard', 'Construction_cone', 'Sign', 'Construction_barrel', 'Stop_sign', 'Mobile_pedestrian_crossing_sign',
+            'Large_vehicle', 'Bus', 'Box_truck', 'Truck', 'Vehicular_trailer', 'Truck_cab', 'School_bus', 'Articulated_bus', 
+            'Message_board_trailer', 'Bicycle', 'Motorcycle', 'Wheeled_device', 'Wheelchair', 'Stroller', 'Dog']
+
+DATA_CONFIG:
+    _BASE_CONFIG_: cfgs/dataset_configs/argo2_dataset.yaml
+
+    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: [0.1, 0.1, 0.2]
+          MAX_POINTS_PER_VOXEL: 20
+          MAX_NUMBER_OF_VOXELS: {
+            'train': 120000,
+            'test': 160000
+          }
+
+MODEL:
+    NAME: VoxelNeXt
+
+    VFE:
+        NAME: MeanVFE
+
+    BACKBONE_3D:
+        NAME: VoxelResBackBone8xVoxelNeXt
+
+    DENSE_HEAD:
+        NAME: VoxelNeXtHead
+        CLASS_AGNOSTIC: False
+        INPUT_FEATURES: 128
+
+        CLASS_NAMES_EACH_HEAD: [
+            ['Regular_vehicle',],
+            ['Pedestrian', 'Bicyclist', 'Motorcyclist', 'Wheeled_rider'],
+            ['Bollard', 'Construction_cone', 'Sign', 'Construction_barrel', 'Stop_sign', 'Mobile_pedestrian_crossing_sign'],
+            ['Large_vehicle', 'Bus', 'Box_truck', 'Truck', 'Vehicular_trailer', 'Truck_cab', 'School_bus', 'Articulated_bus', 'Message_board_trailer'],
+            ['Bicycle', 'Motorcycle', 'Wheeled_device', 'Wheelchair', 'Stroller'],
+            ['Dog'],
+        ]
+
+        KERNEL_SIZE_HEAD: 1
+        SHARED_CONV_CHANNEL: 128
+        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': 0.25,
+                'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.2, 0.2]
+            }
+
+        POST_PROCESSING:
+            SCORE_THRESH: 0.1
+            POST_CENTER_LIMIT_RANGE: [-200, -200, -20, 200, 200, 20]
+            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: 6
+
+    OPTIMIZER: adam_onecycle
+    LR: 0.003
+    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