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tools/cfgs/waymo_models/PartA2.yaml

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+CLASS_NAMES: ['Vehicle', 'Pedestrian', 'Cyclist']
+
+DATA_CONFIG:
+    _BASE_CONFIG_: cfgs/dataset_configs/waymo_dataset.yaml
+
+
+MODEL:
+    NAME: PartA2Net
+
+    VFE:
+        NAME: MeanVFE
+
+    BACKBONE_3D:
+        NAME: UNetV2
+
+    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: AnchorHeadSingle
+        CLASS_AGNOSTIC: False
+
+        USE_DIRECTION_CLASSIFIER: True
+        DIR_OFFSET: 0.78539
+        DIR_LIMIT_OFFSET: 0.0
+        NUM_DIR_BINS: 2
+
+        ANCHOR_GENERATOR_CONFIG: [
+            {
+                'class_name': 'Vehicle',
+                'anchor_sizes': [[4.7, 2.1, 1.7]],
+                'anchor_rotations': [0, 1.57],
+                'anchor_bottom_heights': [0],
+                'align_center': False,
+                'feature_map_stride': 8,
+                'matched_threshold': 0.55,
+                'unmatched_threshold': 0.4
+            },
+            {
+                'class_name': 'Pedestrian',
+                'anchor_sizes': [[0.91, 0.86, 1.73]],
+                'anchor_rotations': [0, 1.57],
+                'anchor_bottom_heights': [0],
+                'align_center': False,
+                'feature_map_stride': 8,
+                'matched_threshold': 0.5,
+                'unmatched_threshold': 0.35
+            },
+            {
+                'class_name': 'Cyclist',
+                'anchor_sizes': [[1.78, 0.84, 1.78]],
+                'anchor_rotations': [0, 1.57],
+                'anchor_bottom_heights': [0],
+                'align_center': False,
+                'feature_map_stride': 8,
+                'matched_threshold': 0.5,
+                'unmatched_threshold': 0.35
+            }
+        ]
+
+        TARGET_ASSIGNER_CONFIG:
+            NAME: AxisAlignedTargetAssigner
+            POS_FRACTION: -1.0
+            SAMPLE_SIZE: 512
+            NORM_BY_NUM_EXAMPLES: False
+            MATCH_HEIGHT: False
+            BOX_CODER: ResidualCoder
+
+        LOSS_CONFIG:
+            LOSS_WEIGHTS: {
+                'cls_weight': 1.0,
+                'loc_weight': 2.0,
+                'dir_weight': 0.2,
+                'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
+            }
+
+    POINT_HEAD:
+        NAME: PointIntraPartOffsetHead
+        CLS_FC: []
+        PART_FC: []
+        CLASS_AGNOSTIC: True
+        TARGET_CONFIG:
+            GT_EXTRA_WIDTH: [0.2, 0.2, 0.2]
+        LOSS_CONFIG:
+            LOSS_REG: smooth-l1
+            LOSS_WEIGHTS: {
+                'point_cls_weight': 1.0,
+                'point_part_weight': 1.0
+            }
+
+    ROI_HEAD:
+        NAME: PartA2FCHead
+        CLASS_AGNOSTIC: True
+
+        SHARED_FC: [256, 256, 256]
+        CLS_FC: [256, 256]
+        REG_FC: [256, 256]
+        DP_RATIO: 0.3
+
+        SEG_MASK_SCORE_THRESH: 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_AWARE_POOL:
+            POOL_SIZE: 10
+            NUM_FEATURES: 128
+            MAX_POINTS_PER_VOXEL: 128
+
+        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: 0.65
+
+        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: 2
+    NUM_EPOCHS: 30
+
+    OPTIMIZER: adam_onecycle
+    LR: 0.01
+    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