-
Notifications
You must be signed in to change notification settings - Fork 0
/
Flex_SoftGRM_final.yaml
102 lines (80 loc) · 2.73 KB
/
Flex_SoftGRM_final.yaml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
DATASETS:
DATASET: "kitti"
DATA_ROOT: "./kitti"
DETECT_CLASSES: ("Car", "Pedestrian", "Cyclist")
TRAIN: ("kitti_train",)
TEST: ("kitti_train",)
TRAIN_SPLIT: "trainval"
TEST_SPLIT: "val"
USE_RIGHT_IMAGE: True
CONSIDER_OUTSIDE_OBJS: True
FILTER_ANNO_ENABLE: True
INPUT:
HEATMAP_CENTER: '3D'
AUG_PARAMS: [[0.5]]
ORIENTATION: 'multi-bin'
MODIFY_ALPHA: False
ORIENTATION_BIN_SIZE: 4
APPROX_3D_CENTER: 'intersect'
ADJUST_BOUNDARY_HEATMAP: True
KEYPOINT_VISIBLE_MODIFY: True
MODEL:
INPLACE_ABN: True
HEAD:
REGRESSION_HEADS: [['2d_dim'], ['3d_offset'], ['corner_offset'], ['corner_uncertainty'], ['GRM1_uncern', 'GRM2_uncern', 'Mono_Direct_uncern', 'Mono_Keypoint_uncern'], ['3d_dim'], ['ori_cls', 'ori_offset'], ['depth'], ['depth_uncertainty'], ['combined_depth_uncern'], ['corner_loss_uncern']]
REGRESSION_CHANNELS: [[4, ], [2, ], [20], [3], [8, 8, 1, 3], [3, ], [8, 8], [1, ], [1, ], [1, ], [1, ]]
ENABLE_EDGE_FUSION: True
TRUNCATION_OUTPUT_FUSION: 'add'
EDGE_FUSION_NORM: 'BN'
TRUNCATION_OFFSET_LOSS: 'log'
BN_MOMENTUM: 0.1
USE_NORMALIZATION: "BN"
LOSS_TYPE: ["Penalty_Reduced_FocalLoss", "L1", "giou", "L1"]
MODIFY_INVALID_KEYPOINT_DEPTH: True
CORNER_LOSS_DEPTH: 'soft_GRM'
LOSS_NAMES: ['hm_loss', 'bbox_loss', 'depth_loss', 'offset_loss', 'orien_loss', 'dims_loss', 'corner_loss', 'keypoint_loss', 'keypoint_depth_loss', 'trunc_offset_loss', 'combined_depth_loss', 'SoftGRM_loss']
LOSS_UNCERTAINTY: [True, True, False, True, True, False, False, False, False, True, False, False]
INIT_LOSS_WEIGHT: [1, 1, 1, 0.5, 1, 1, 0.2, 1.0, 0.2, 0.1, 0.2, 1]
SOFTGRM_LOSS_WEIGHT: [0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2]
CENTER_MODE: 'max'
HEATMAP_TYPE: 'centernet'
DIMENSION_REG: ['exp', True, False]
USE_UNCERTAINTY: False
DEPTH_MODE: 'inv_sigmoid'
OUTPUT_DEPTH: 'soft_GRM'
DIMENSION_WEIGHT: [1, 1, 1]
UNCERTAINTY_INIT: True
BACKBONE:
NORM_TYPE: "BIN"
REDUCE_LOSS_NORM: True
USE_SYNC_BN: True
SOLVER:
OPTIMIZER: 'adamw'
BASE_LR: 3e-4
WEIGHT_DECAY: 1e-5
LR_WARMUP: False
WARMUP_STEPS: 2000
RAMPUP_ITERATIONS: 0
# for 1 GPU
LR_DECAY: 0.1
EVAL_AND_SAVE_EPOCH: True
EVAL_EPOCH_INTERVAL: 1
SAVE_CHECKPOINT_EPOCH_INTERVAL: 2
MAX_EPOCHS: 100
DECAY_EPOCH_STEPS: [80, 90]
IMS_PER_BATCH: 8
EVAL_INTERVAL: 10
DYNAMIC_WEIGHT: False
DYNAMIC_THRESHOLD: 0.7
TEST:
UNCERTAINTY_AS_CONFIDENCE: True
UNCERTAINTY_GUIDED_PRUNING: True
UNCERTAINTY_GUIDED_PARAM: 3
DETECTIONS_THRESHOLD: 0.2
DETECTIONS_3D_THRESHOLD: 0.2
METRIC: ['R40']
DEBUG: False
UNCERTAINTY_3D: "uncern_soft_avg"
USE_NMS: True
NMS_THRESHOLD: 0.3
OUTPUT_DIR: "./output/debug"