2022-06-03 12:21:18 +08:00
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model:
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encoders:
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camera: null
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lidar:
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voxelize:
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max_num_points: 10
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point_cloud_range: ${point_cloud_range}
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voxel_size: ${voxel_size}
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max_voxels: [90000, 120000]
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backbone:
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type: SparseEncoder
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in_channels: 5
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sparse_shape: [1024, 1024, 41]
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output_channels: 128
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order:
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- conv
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- norm
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- act
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encoder_channels:
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- [16, 16, 32]
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- [32, 32, 64]
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- [64, 64, 128]
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- [128, 128]
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encoder_paddings:
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- [0, 0, 1]
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- [0, 0, 1]
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- [0, 0, [1, 1, 0]]
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- [0, 0]
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block_type: basicblock
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fuser: null
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decoder:
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backbone:
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type: SECOND
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in_channels: 256
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out_channels: [128, 256]
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layer_nums: [5, 5]
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layer_strides: [1, 2]
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norm_cfg:
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type: BN
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eps: 1.0e-3
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momentum: 0.01
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conv_cfg:
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type: Conv2d
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bias: false
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neck:
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type: SECONDFPN
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in_channels: [128, 256]
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out_channels: [256, 256]
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upsample_strides: [1, 2]
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norm_cfg:
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type: BN
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eps: 1.0e-3
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momentum: 0.01
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upsample_cfg:
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type: deconv
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bias: false
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use_conv_for_no_stride: true
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heads:
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map:
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in_channels: 512
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optimizer:
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type: AdamW
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lr: 1.0e-4
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2022-09-27 06:24:38 +08:00
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optimizer_config:
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grad_clip:
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max_norm: 35
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norm_type: 2
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lr_config:
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policy: cyclic
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momentum_config:
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policy: cyclic
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