second_with_lion_mamba_64dim.yaml

CLASS_NAMES: ['Car', 'Pedestrian', 'Cyclist']

DATA_CONFIG:
    _BASE_CONFIG_: cfgs/dataset_configs/kitti_dataset.yaml
    POINT_CLOUD_RANGE: [0, -40, -3, 70.4, 40, 1]
    DATA_AUGMENTOR:
        DISABLE_AUG_LIST: ['placeholder']
        AUG_CONFIG_LIST:
            - NAME: gt_sampling
              USE_ROAD_PLANE: True
              DB_INFO_PATH:
                  - kitti_dbinfos_train.pkl
              PREPARE: {
                  filter_by_min_points: ['Car:5', 'Pedestrian:5', 'Cyclist:5'],
                  filter_by_difficulty: [-1],
              }

              SAMPLE_GROUPS: ['Car:15','Pedestrian:10', 'Cyclist:10']
              NUM_POINT_FEATURES: 4
              DATABASE_WITH_FAKELIDAR: False
              REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
              LIMIT_WHOLE_SCENE: False

            - NAME: random_world_flip
              ALONG_AXIS_LIST: ['x']

            - NAME: random_world_rotation
              WORLD_ROT_ANGLE: [-0.78539816, 0.78539816]

            - NAME: random_world_scaling
              WORLD_SCALE_RANGE: [0.95, 1.05]

    DATA_PROCESSOR:
        - NAME: mask_points_and_boxes_outside_range
          REMOVE_OUTSIDE_BOXES: True

        - NAME: shuffle_points
          SHUFFLE_ENABLED: {
              'train': True,
              'test': False
          }

        - NAME: transform_points_to_voxels
          VOXEL_SIZE: [ 0.2, 0.2, 0.125]
          MAX_POINTS_PER_VOXEL: 5
          MAX_NUMBER_OF_VOXELS: {
              'train': 16000,
              'test': 40000
          }


MODEL:
    NAME: SECONDNet

    VFE:
        NAME: DynamicVoxelVFE
        WITH_DISTANCE: False
        USE_ABSLOTE_XYZ: True
        USE_NORM: True
        NUM_FILTERS: [64, 64]

    BACKBONE_3D:
        NAME: LION3DBackboneOneStride
        FEATURE_DIM: 64
        LAYER_DIM: [64, 64, 64, 64]
        NUM_LAYERS: 4
        DEPTHS: [2, 2, 2, 2]
        LAYER_DOWN_SCALES: [[[2, 2, 2], [2, 2, 2]], [[2, 2, 2], [2, 2, 2]], [[2, 2, 2], [2, 2, 2]], [[2, 2, 2], [2, 2, 2]]]
        WINDOW_SHAPE: [[13, 13, 32], [13, 13, 16], [13, 13, 8], [13, 13, 4]] 
        GROUP_SIZE: [4096, 2048, 1024, 512] 
        DIRECTION: ['x', 'y']
        DIFF_SCALE: 0.2
        DIFFUSION:  True #False #True
        SHIFT: True
        OPERATOR:
            NAME: 'Mamba'
            CFG:
                d_state: 16
                d_conv: 4
                expand: 2
                drop_path: 0.2

    MAP_TO_BEV:
        NAME: HeightCompression
        NUM_BEV_FEATURES: 128 #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': 'Car',
                'anchor_sizes': [[3.9, 1.6, 1.56]],
                'anchor_rotations': [0, 1.57],
                'anchor_bottom_heights': [-1.78],
                'align_center': False,
                'feature_map_stride': 1,
                'matched_threshold': 0.6,
                'unmatched_threshold': 0.45
            },
            {
                'class_name': 'Pedestrian',
                'anchor_sizes': [[0.8, 0.6, 1.73]],
                'anchor_rotations': [0, 1.57],
                'anchor_bottom_heights': [-0.6],
                'align_center': False,
                'feature_map_stride': 1,
                'matched_threshold': 0.5,
                'unmatched_threshold': 0.35
            },
            {
                'class_name': 'Cyclist',
                'anchor_sizes': [[1.76, 0.6, 1.73]],
                'anchor_rotations': [0, 1.57],
                'anchor_bottom_heights': [-0.6],
                'align_center': False,
                'feature_map_stride': 1,
                '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]
            }

    POST_PROCESSING:
        RECALL_THRESH_LIST: [0.3, 0.5, 0.7]
        SCORE_THRESH: 0.1
        OUTPUT_RAW_SCORE: False

        EVAL_METRIC: kitti

        NMS_CONFIG:
            MULTI_CLASSES_NMS: False
            NMS_TYPE: nms_gpu
            NMS_THRESH: 0.01
            NMS_PRE_MAXSIZE: 4096
            NMS_POST_MAXSIZE: 500


OPTIMIZATION:
    BATCH_SIZE_PER_GPU: 4
    NUM_EPOCHS: 80

    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