Add File
This commit is contained in:
194
tools/cfgs/waymo_models/mppnet_e2e_memorybank_inference.yaml
Normal file
194
tools/cfgs/waymo_models/mppnet_e2e_memorybank_inference.yaml
Normal file
@@ -0,0 +1,194 @@
|
||||
CLASS_NAMES: ['Vehicle', 'Pedestrian', 'Cyclist']
|
||||
|
||||
DATA_CONFIG:
|
||||
|
||||
_BASE_CONFIG_: cfgs/dataset_configs/waymo_dataset_multiframe.yaml
|
||||
PROCESSED_DATA_TAG: 'waymo_processed_data_v0_5_0'
|
||||
|
||||
SEQUENCE_CONFIG:
|
||||
ENABLED: True
|
||||
SAMPLE_OFFSET: [-3, 0] #16frame using [-15,0]
|
||||
|
||||
POINT_FEATURE_ENCODING: {
|
||||
encoding_type: absolute_coordinates_encoding,
|
||||
used_feature_list: ['x', 'y', 'z', 'intensity', 'elongation','time'],
|
||||
src_feature_list: ['x', 'y', 'z', 'intensity', 'elongation','time'],
|
||||
}
|
||||
|
||||
|
||||
MODEL:
|
||||
NAME: MPPNetE2E
|
||||
|
||||
VFE:
|
||||
NAME: DynMeanVFE
|
||||
|
||||
BACKBONE_3D:
|
||||
NAME: VoxelResBackBone8x
|
||||
|
||||
MAP_TO_BEV:
|
||||
NAME: HeightCompression
|
||||
NUM_BEV_FEATURES: 256
|
||||
|
||||
BACKBONE_2D:
|
||||
NAME: BaseBEVBackbone
|
||||
NUM_FRAME: 2
|
||||
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','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': 2.0,
|
||||
'code_weights': [1.0, 1.0, 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: [-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: MPPNetHeadE2E
|
||||
TRANS_INPUT: 256
|
||||
CLASS_AGNOSTIC: True
|
||||
USE_BOX_ENCODING:
|
||||
ENABLED: True
|
||||
NORM_T0: True
|
||||
ALL_YAW_T0: True
|
||||
AVG_STAGE1_SCORE: True
|
||||
USE_TRAJ_EMPTY_MASK: True
|
||||
USE_AUX_LOSS: True
|
||||
IOU_WEIGHT: [0.5,0.4]
|
||||
|
||||
ROI_GRID_POOL: #if using 16frame, change to the corresponding setting
|
||||
GRID_SIZE: 4
|
||||
MLPS: [[128,128], [128,128]]
|
||||
POOL_RADIUS: [0.8, 1.6]
|
||||
NSAMPLE: [16, 16]
|
||||
POOL_METHOD: max_pool
|
||||
|
||||
Transformer:
|
||||
num_lidar_points: 128
|
||||
num_proxy_points: 64
|
||||
pos_hidden_dim: 64
|
||||
enc_layers: 3
|
||||
dim_feedforward: 512
|
||||
hidden_dim: 256
|
||||
dropout: 0.1
|
||||
nheads: 4
|
||||
pre_norm: False
|
||||
num_frames: 4 #16frame using 16
|
||||
num_groups: 4
|
||||
sequence_stride: 1 #16frame using 4
|
||||
use_grid_pos:
|
||||
enabled: True
|
||||
init_type: index
|
||||
use_mlp_mixer:
|
||||
enabled: True
|
||||
hidden_dim: 16
|
||||
|
||||
TARGET_CONFIG:
|
||||
BOX_CODER: ResidualCoder
|
||||
ROI_PER_IMAGE: 96
|
||||
FG_RATIO: 0.5
|
||||
REG_AUG_METHOD: single
|
||||
ROI_FG_AUG_TIMES: 10
|
||||
RATIO: 0.2
|
||||
USE_ROI_AUG: True
|
||||
USE_TRAJ_AUG:
|
||||
ENABLED: True
|
||||
THRESHOD: 0.8
|
||||
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': 2.0,
|
||||
'traj_reg_weight': [2.0, 2.0, 2.0],
|
||||
'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
|
||||
SAVE_BBOX: False
|
||||
EVAL_METRIC: waymo
|
||||
NOT_APPLY_NMS_FOR_VEL: True
|
||||
|
||||
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: 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
|
||||
Reference in New Issue
Block a user