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codriving/perception/config.yaml

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+comm_range: 200
+data_augment:
+- ALONG_AXIS_LIST:
+  - x
+  NAME: random_world_flip
+- NAME: random_world_rotation
+  WORLD_ROT_ANGLE:
+  - -0.78539816
+  - 0.78539816
+- NAME: random_world_scaling
+  WORLD_SCALE_RANGE:
+  - 0.95
+  - 1.05
+fusion:
+  args:
+    clip_pc: false
+    proj_first: false
+  core_method: intermediatemulticlass
+  dataset: v2xverse
+input_source:
+- lidar
+label_type: lidar
+loss:
+  args:
+    cls_weight: 20.0
+    code_weights:
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 20.0
+    - 20.0
+    loc_weight: 1.0
+    target_assigner_config:
+      box_coder: ResidualCoder
+      cav_lidar_range: &id004
+      - -36
+      - -12
+      - -22
+      - 36
+      - 12
+      - 14
+      gaussian_overlap: 0.1
+      max_objs: 40
+      min_radius: 2
+      out_size_factor: 2
+      voxel_size: &id001
+      - 0.125
+      - 0.125
+      - 36
+  core_method: center_point_loss_multiclass
+lr_scheduler:
+  core_method: multistep
+  gamma: 0.1
+  step_size:
+  - 8
+  - 15
+model:
+  args:
+    anchor_number: 3
+    base_bev_backbone:
+      compression: 0
+      layer_nums: &id002
+      - 3
+      - 4
+      - 5
+      layer_strides:
+      - 2
+      - 2
+      - 2
+      num_filters: &id003
+      - 64
+      - 128
+      - 256
+      num_upsample_filter:
+      - 128
+      - 128
+      - 128
+      resnet: true
+      upsample_strides:
+      - 1
+      - 2
+      - 4
+      voxel_size: *id001
+    fusion_args:
+      agg_operator:
+        feature_dim: 256
+        mode: ATTEN
+      communication:
+        thre: 0
+        cav_lidar_range: *id004
+        driving_request: False
+        gaussian_smooth:
+          k_size: 160
+          c_sigma: 5
+      downsample_rate: 1
+      dropout_rate: 0
+      in_channels: 256
+      layer_nums: *id002
+      multi_scale: true
+      n_head: 8
+      num_filters: *id003
+      only_attention: true
+      voxel_size: *id001
+    lidar_range: *id004
+    max_cav: 5
+    multi_class: true
+    out_size_factor: 2
+    pillar_vfe:
+      num_filters:
+      - 64
+      use_absolute_xyz: true
+      use_norm: true
+      with_distance: false
+    point_pillar_scatter:
+      grid_size: !!python/object/apply:numpy.core.multiarray._reconstruct
+        args:
+        - !!python/name:numpy.ndarray ''
+        - !!python/tuple
+          - 0
+        - !!binary |
+          Yg==
+        state: !!python/tuple
+        - 1
+        - !!python/tuple
+          - 3
+        - !!python/object/apply:numpy.dtype
+          args:
+          - i8
+          - false
+          - true
+          state: !!python/tuple
+          - 3
+          - <
+          - null
+          - null
+          - null
+          - -1
+          - -1
+          - 0
+        - false
+        - !!binary |
+          QAIAAAAAAADAAAAAAAAAAAEAAAAAAAAA
+      num_features: 64
+    shrink_header:
+      dim:
+      - 128
+      input_dim: 384
+      kernal_size:
+      - 3
+      padding:
+      - 1
+      stride:
+      - 1
+    supervise_single: true
+    voxel_size: *id001
+  core_method: center_point_codriving
+name: v2xverse_codriving_ms_atten_multiclass
+noise_setting: !!python/object/apply:collections.OrderedDict
+- - - add_noise
+    - false
+optimizer:
+  args:
+    eps: 1.0e-10
+    weight_decay: 0.0001
+  core_method: Adam
+  lr: 0.002
+postprocess:
+  anchor_args:
+    D: 1
+    H: 192
+    W: 576
+    cav_lidar_range: *id004
+    feature_stride: 2
+    h: 1.56
+    l: 3.9
+    num: 1
+    r: &id005
+    - 0
+    vd: 36
+    vh: 0.125
+    vw: 0.125
+    w: 1.6
+  core_method: VoxelPostprocessor
+  dir_args:
+    anchor_yaw: *id005
+    dir_offset: 0.7853
+    num_bins: 1
+  gt_range: *id004
+  max_num: 100
+  nms_thresh: 0 # 0.15
+  order: hwl
+  target_args:
+    neg_threshold: 0.45
+    pos_threshold: 0.6
+    score_threshold: 0.2
+preprocess:
+  args:
+    max_points_per_voxel: 32
+    max_voxel_test: 70000
+    max_voxel_train: 32000
+    voxel_size: *id001
+  cav_lidar_range: *id004
+  core_method: SpVoxelPreprocessor
+root_dir: ./dataset/dataset_v2xverse/
+test_dir: ./dataset/dataset_v2xverse/
+train_params:
+  batch_size: 2 # 4
+  epoches: 40
+  eval_freq: 1
+  max_cav: 5
+  save_freq: 1
+validate_dir: ./dataset/dataset_v2xverse/
+yaml_parser: load_point_pillar_params
+
+index_file: dataset_index

codriving/perception/net_epoch_bestval_at16.pth

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+version https://git-lfs.github.com/spec/v1
+oid sha256:f53047434e7336e09857f86ef9a92b55a194f60b0e284fe8f295bb89f87241ee
+size 32817341

codriving/planner/codrving_planner.ckpt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18642c160f9c60e2ea650a365df924c2b5d4f34b6c42b6844b81db51676ab038
+size 20002291