Upload 10 files

compression_exp/compression_0/config.yaml

@@ -0,0 +1,137 @@
+name: fax # only used for demonstration data api
+root_dir: '/data/s2/semantic-opv2v/train'
+validate_dir: '/data/s2/semantic-opv2v/test'
+
+
+train_params:
+  batch_size: &batch_size 1
+  epoches: &epoches 151
+  eval_freq: 5
+  save_freq: 5
+  max_cav: &max_cav 5
+  visible: true
+
+
+fusion:
+  core_method: 'CamIntermediateFusionDataset' # LateFusionDataset, EarlyFusionDataset, IntermediateFusionDataset supported
+  args: []
+
+
+data_augment: []
+add_data_extension: ['bev_dynamic.png', 'bev_static.png', 'bev_lane.png', 'bev_visibility.png', 'bev_visibility_corp.png']
+
+# preprocess-related
+preprocess:
+  # options: BasePreprocessor, VoxelPreprocessor, BevPreprocessor
+  core_method: 'RgbPreprocessor'
+  args:
+    bgr2rgb: true
+    resize_x: &image_width 512
+    resize_y: &image_height 512
+    mean: [0.485, 0.456, 0.406]
+    std: [0.229, 0.224, 0.225]
+  # object evaluation range
+  cav_lidar_range: &cav_lidar [-50, -50, -3, 50, 50, 1]
+
+
+# anchor box related
+postprocess:
+  core_method: 'CameraBevPostprocessor' # VoxelPostprocessor, BevPostprocessor supported
+  anchor_args:
+    cav_lidar_range: *cav_lidar
+  order: 'hwl' # hwl or lwh
+  max_num: 100 # maximum number of objects in a single frame. use this number to make sure different frames has the same dimension in the same batch
+  nms_thresh: 0.15
+
+model:
+  core_method: corpbevt
+  args:
+    target: &target  'dynamic' #'dynamic' dynamic, static or both
+    max_cav: *max_cav
+    encoder:
+      num_layers: 34
+      pretrained: true
+      image_width: *image_width
+      image_height: *image_height
+      id_pick: [1, 2, 3]
+
+    compression: 0 #64 #0 #8 #64 #0 # compression rate
+
+    decoder:
+      input_dim: 128
+      num_layer: 3
+      num_ch_dec: &decoder_block [32, 64, 128]
+
+    fax:
+      dim: [128, 128, 128] # b, d, h w from resenet -> b 256 h w
+      middle: [2, 2, 2] # middle conv
+      bev_embedding:
+        sigma: 1.0
+        bev_height: 256
+        bev_width: 256
+        h_meters: 100
+        w_meters: 100
+        offset: 0.0
+        upsample_scales: [2, 4, 8]
+
+      cross_view: #cross_view attention
+        image_height: *image_height
+        image_width: *image_width
+        no_image_features: False
+        skip: True
+        heads: [4, 4, 4]
+        dim_head: [32, 32, 32]
+        qkv_bias: True
+
+      cross_view_swap:
+        rel_pos_emb: False
+        q_win_size: [ [ 16, 16 ], [ 16, 16 ], [ 32, 32 ] ]
+        feat_win_size: [ [ 8, 8 ], [ 8, 8 ], [ 16, 16 ] ]
+        bev_embedding_flag: [ true, false, false ]
+
+      self_attn:
+        dim_head: 32
+        dropout: 0.1
+        window_size: 32
+
+    sttf: &sttf
+      resolution: 0.390625 # m/pixel
+      downsample_rate: 8
+      use_roi_mask: true
+
+    fax_fusion:
+      input_dim: 128
+      mlp_dim: 256
+      agent_size: *max_cav
+      window_size: 8
+      dim_head: 32
+      drop_out: 0.1
+      depth: 3
+      mask: true
+
+
+    seg_head_dim: 32
+    output_class: 2
+
+loss:
+  core_method: vanilla_seg_loss
+  args:
+    target: *target
+    d_weights: 75.0
+    s_weights: 15.0
+    d_coe: 2.0
+    s_coe: 0.0
+
+optimizer:
+  core_method: AdamW
+  lr: 2e-4
+  args:
+    eps: 1e-10
+    weight_decay: 1e-2
+
+lr_scheduler:
+    core_method: cosineannealwarm #step, multistep, Exponential and cosineannealwarm support
+    epoches: *epoches
+    warmup_lr: 2e-5
+    warmup_epoches: 10
+    lr_min: 5e-6

compression_exp/compression_0/net_epoch151.pth

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5af040f45bdf102e4a7776cfb684073bbf9aea74ba6b2abd24b0e9fdbcf7c0fa
+size 113990249

compression_exp/compression_32/config.yaml

@@ -0,0 +1,137 @@
+name: fax # only used for demonstration data api
+root_dir: '/data/s2/semantic-opv2v/train'
+validate_dir: '/data/s2/semantic-opv2v/test'
+
+
+train_params:
+  batch_size: &batch_size 1
+  epoches: &epoches 71
+  eval_freq: 5
+  save_freq: 5
+  max_cav: &max_cav 5
+  visible: true
+
+
+fusion:
+  core_method: 'CamIntermediateFusionDataset' # LateFusionDataset, EarlyFusionDataset, IntermediateFusionDataset supported
+  args: []
+
+
+data_augment: []
+add_data_extension: ['bev_dynamic.png', 'bev_static.png', 'bev_lane.png', 'bev_visibility.png', 'bev_visibility_corp.png']
+
+# preprocess-related
+preprocess:
+  # options: BasePreprocessor, VoxelPreprocessor, BevPreprocessor
+  core_method: 'RgbPreprocessor'
+  args:
+    bgr2rgb: true
+    resize_x: &image_width 512
+    resize_y: &image_height 512
+    mean: [0.485, 0.456, 0.406]
+    std: [0.229, 0.224, 0.225]
+  # object evaluation range
+  cav_lidar_range: &cav_lidar [-50, -50, -3, 50, 50, 1]
+
+
+# anchor box related
+postprocess:
+  core_method: 'CameraBevPostprocessor' # VoxelPostprocessor, BevPostprocessor supported
+  anchor_args:
+    cav_lidar_range: *cav_lidar
+  order: 'hwl' # hwl or lwh
+  max_num: 100 # maximum number of objects in a single frame. use this number to make sure different frames has the same dimension in the same batch
+  nms_thresh: 0.15
+
+model:
+  core_method: corpbevt
+  args:
+    target: &target  'dynamic' #'dynamic' dynamic, static or both
+    max_cav: *max_cav
+    encoder:
+      num_layers: 34
+      pretrained: true
+      image_width: *image_width
+      image_height: *image_height
+      id_pick: [1, 2, 3]
+
+    compression: 32 #1 #0.2 #2 #0 #64 #0 #8 #64 #0 # compression rate
+
+    decoder:
+      input_dim: 128
+      num_layer: 3
+      num_ch_dec: &decoder_block [32, 64, 128]
+
+    fax:
+      dim: [128, 128, 128] # b, d, h w from resenet -> b 256 h w
+      middle: [2, 2, 2] # middle conv
+      bev_embedding:
+        sigma: 1.0
+        bev_height: 256
+        bev_width: 256
+        h_meters: 100
+        w_meters: 100
+        offset: 0.0
+        upsample_scales: [2, 4, 8]
+
+      cross_view: #cross_view attention
+        image_height: *image_height
+        image_width: *image_width
+        no_image_features: False
+        skip: True
+        heads: [4, 4, 4]
+        dim_head: [32, 32, 32]
+        qkv_bias: True
+
+      cross_view_swap:
+        rel_pos_emb: False
+        q_win_size: [ [ 16, 16 ], [ 16, 16 ], [ 32, 32 ] ]
+        feat_win_size: [ [ 8, 8 ], [ 8, 8 ], [ 16, 16 ] ]
+        bev_embedding_flag: [ true, false, false ]
+
+      self_attn:
+        dim_head: 32
+        dropout: 0.1
+        window_size: 32
+
+    sttf: &sttf
+      resolution: 0.390625 # m/pixel
+      downsample_rate: 8
+      use_roi_mask: true
+
+    fax_fusion:
+      input_dim: 128
+      mlp_dim: 256
+      agent_size: *max_cav
+      window_size: 8
+      dim_head: 32
+      drop_out: 0.1
+      depth: 3
+      mask: true
+
+
+    seg_head_dim: 32
+    output_class: 2
+
+loss:
+  core_method: vanilla_seg_loss
+  args:
+    target: *target
+    d_weights: 75.0
+    s_weights: 15.0
+    d_coe: 2.0
+    s_coe: 0.0
+
+optimizer:
+  core_method: AdamW
+  lr: 2e-4
+  args:
+    eps: 1e-10
+    weight_decay: 1e-2
+
+lr_scheduler:
+    core_method: cosineannealwarm #step, multistep, Exponential and cosineannealwarm support
+    epoches: *epoches
+    warmup_lr: 2e-5
+    warmup_epoches: 10
+    lr_min: 5e-6

compression_exp/compression_32/net_epoch71.pth

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80dc7a5c5bce3bc40d8d1929111c5caadcf93318a9774246f90bea7bcd103f60
+size 114596103

compression_exp/compression_4/config.yaml

@@ -0,0 +1,137 @@
+name: fax # only used for demonstration data api
+root_dir: '/data/s2/semantic-opv2v/train'
+validate_dir: '/data/s2/semantic-opv2v/test'
+
+
+train_params:
+  batch_size: &batch_size 1
+  epoches: &epoches 71
+  eval_freq: 5
+  save_freq: 5
+  max_cav: &max_cav 5
+  visible: true
+
+
+fusion:
+  core_method: 'CamIntermediateFusionDataset' # LateFusionDataset, EarlyFusionDataset, IntermediateFusionDataset supported
+  args: []
+
+
+data_augment: []
+add_data_extension: ['bev_dynamic.png', 'bev_static.png', 'bev_lane.png', 'bev_visibility.png', 'bev_visibility_corp.png']
+
+# preprocess-related
+preprocess:
+  # options: BasePreprocessor, VoxelPreprocessor, BevPreprocessor
+  core_method: 'RgbPreprocessor'
+  args:
+    bgr2rgb: true
+    resize_x: &image_width 512
+    resize_y: &image_height 512
+    mean: [0.485, 0.456, 0.406]
+    std: [0.229, 0.224, 0.225]
+  # object evaluation range
+  cav_lidar_range: &cav_lidar [-50, -50, -3, 50, 50, 1]
+
+
+# anchor box related
+postprocess:
+  core_method: 'CameraBevPostprocessor' # VoxelPostprocessor, BevPostprocessor supported
+  anchor_args:
+    cav_lidar_range: *cav_lidar
+  order: 'hwl' # hwl or lwh
+  max_num: 100 # maximum number of objects in a single frame. use this number to make sure different frames has the same dimension in the same batch
+  nms_thresh: 0.15
+
+model:
+  core_method: corpbevt
+  args:
+    target: &target  'dynamic' #'dynamic' dynamic, static or both
+    max_cav: *max_cav
+    encoder:
+      num_layers: 34
+      pretrained: true
+      image_width: *image_width
+      image_height: *image_height
+      id_pick: [1, 2, 3]
+
+    compression: 4 #1 #0.2 #2 #0 #64 #0 #8 #64 #0 # compression rate
+
+    decoder:
+      input_dim: 128
+      num_layer: 3
+      num_ch_dec: &decoder_block [32, 64, 128]
+
+    fax:
+      dim: [128, 128, 128] # b, d, h w from resenet -> b 256 h w
+      middle: [2, 2, 2] # middle conv
+      bev_embedding:
+        sigma: 1.0
+        bev_height: 256
+        bev_width: 256
+        h_meters: 100
+        w_meters: 100
+        offset: 0.0
+        upsample_scales: [2, 4, 8]
+
+      cross_view: #cross_view attention
+        image_height: *image_height
+        image_width: *image_width
+        no_image_features: False
+        skip: True
+        heads: [4, 4, 4]
+        dim_head: [32, 32, 32]
+        qkv_bias: True
+
+      cross_view_swap:
+        rel_pos_emb: False
+        q_win_size: [ [ 16, 16 ], [ 16, 16 ], [ 32, 32 ] ]
+        feat_win_size: [ [ 8, 8 ], [ 8, 8 ], [ 16, 16 ] ]
+        bev_embedding_flag: [ true, false, false ]
+
+      self_attn:
+        dim_head: 32
+        dropout: 0.1
+        window_size: 32
+
+    sttf: &sttf
+      resolution: 0.390625 # m/pixel
+      downsample_rate: 8
+      use_roi_mask: true
+
+    fax_fusion:
+      input_dim: 128
+      mlp_dim: 256
+      agent_size: *max_cav
+      window_size: 8
+      dim_head: 32
+      drop_out: 0.1
+      depth: 3
+      mask: true
+
+
+    seg_head_dim: 32
+    output_class: 2
+
+loss:
+  core_method: vanilla_seg_loss
+  args:
+    target: *target
+    d_weights: 75.0
+    s_weights: 15.0
+    d_coe: 2.0
+    s_coe: 0.0
+
+optimizer:
+  core_method: AdamW
+  lr: 2e-4
+  args:
+    eps: 1e-10
+    weight_decay: 1e-2
+
+lr_scheduler:
+    core_method: cosineannealwarm #step, multistep, Exponential and cosineannealwarm support
+    epoches: *epoches
+    warmup_lr: 2e-5
+    warmup_epoches: 10
+    lr_min: 5e-6

compression_exp/compression_4/net_epoch41.pth

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:744ab1d8267a02c87c0cf687ca522ae4686ba0729a8fda3f0773a554ed855278
+size 114625415

compression_exp/compression_64/config.yaml

@@ -0,0 +1,137 @@
+name: fax # only used for demonstration data api
+root_dir: '/data/s2/semantic-opv2v/train'
+validate_dir: '/data/s2/semantic-opv2v/test'
+
+
+train_params:
+  batch_size: &batch_size 1
+  epoches: &epoches 71
+  eval_freq: 5
+  save_freq: 5
+  max_cav: &max_cav 5
+  visible: true
+
+
+fusion:
+  core_method: 'CamIntermediateFusionDataset' # LateFusionDataset, EarlyFusionDataset, IntermediateFusionDataset supported
+  args: []
+
+
+data_augment: []
+add_data_extension: ['bev_dynamic.png', 'bev_static.png', 'bev_lane.png', 'bev_visibility.png', 'bev_visibility_corp.png']
+
+# preprocess-related
+preprocess:
+  # options: BasePreprocessor, VoxelPreprocessor, BevPreprocessor
+  core_method: 'RgbPreprocessor'
+  args:
+    bgr2rgb: true
+    resize_x: &image_width 512
+    resize_y: &image_height 512
+    mean: [0.485, 0.456, 0.406]
+    std: [0.229, 0.224, 0.225]
+  # object evaluation range
+  cav_lidar_range: &cav_lidar [-50, -50, -3, 50, 50, 1]
+
+
+# anchor box related
+postprocess:
+  core_method: 'CameraBevPostprocessor' # VoxelPostprocessor, BevPostprocessor supported
+  anchor_args:
+    cav_lidar_range: *cav_lidar
+  order: 'hwl' # hwl or lwh
+  max_num: 100 # maximum number of objects in a single frame. use this number to make sure different frames has the same dimension in the same batch
+  nms_thresh: 0.15
+
+model:
+  core_method: corpbevt
+  args:
+    target: &target  'dynamic' #'dynamic' dynamic, static or both
+    max_cav: *max_cav
+    encoder:
+      num_layers: 34
+      pretrained: true
+      image_width: *image_width
+      image_height: *image_height
+      id_pick: [1, 2, 3]
+
+    compression: 64 #1 #0.2 #2 #0 #64 #0 #8 #64 #0 # compression rate
+
+    decoder:
+      input_dim: 128
+      num_layer: 3
+      num_ch_dec: &decoder_block [32, 64, 128]
+
+    fax:
+      dim: [128, 128, 128] # b, d, h w from resenet -> b 256 h w
+      middle: [2, 2, 2] # middle conv
+      bev_embedding:
+        sigma: 1.0
+        bev_height: 256
+        bev_width: 256
+        h_meters: 100
+        w_meters: 100
+        offset: 0.0
+        upsample_scales: [2, 4, 8]
+
+      cross_view: #cross_view attention
+        image_height: *image_height
+        image_width: *image_width
+        no_image_features: False
+        skip: True
+        heads: [4, 4, 4]
+        dim_head: [32, 32, 32]
+        qkv_bias: True
+
+      cross_view_swap:
+        rel_pos_emb: False
+        q_win_size: [ [ 16, 16 ], [ 16, 16 ], [ 32, 32 ] ]
+        feat_win_size: [ [ 8, 8 ], [ 8, 8 ], [ 16, 16 ] ]
+        bev_embedding_flag: [ true, false, false ]
+
+      self_attn:
+        dim_head: 32
+        dropout: 0.1
+        window_size: 32
+
+    sttf: &sttf
+      resolution: 0.390625 # m/pixel
+      downsample_rate: 8
+      use_roi_mask: true
+
+    fax_fusion:
+      input_dim: 128
+      mlp_dim: 256
+      agent_size: *max_cav
+      window_size: 8
+      dim_head: 32
+      drop_out: 0.1
+      depth: 3
+      mask: true
+
+
+    seg_head_dim: 32
+    output_class: 2
+
+loss:
+  core_method: vanilla_seg_loss
+  args:
+    target: *target
+    d_weights: 75.0
+    s_weights: 15.0
+    d_coe: 2.0
+    s_coe: 0.0
+
+optimizer:
+  core_method: AdamW
+  lr: 2e-4
+  args:
+    eps: 1e-10
+    weight_decay: 1e-2
+
+lr_scheduler:
+    core_method: cosineannealwarm #step, multistep, Exponential and cosineannealwarm support
+    epoches: *epoches
+    warmup_lr: 2e-5
+    warmup_epoches: 10
+    lr_min: 5e-6

compression_exp/compression_64/net_epoch71.pth

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86b69e637c73e6c86000e2e9ca91edda48172da46a80524edd2d2510cde19941
+size 114594055

compression_exp/compression_8/config.yaml

@@ -0,0 +1,137 @@
+name: fax # only used for demonstration data api
+root_dir: '/data/s2/semantic-opv2v/train'
+validate_dir: '/data/s2/semantic-opv2v/test'
+
+
+train_params:
+  batch_size: &batch_size 1
+  epoches: &epoches 71
+  eval_freq: 5
+  save_freq: 5
+  max_cav: &max_cav 5
+  visible: true
+
+
+fusion:
+  core_method: 'CamIntermediateFusionDataset' # LateFusionDataset, EarlyFusionDataset, IntermediateFusionDataset supported
+  args: []
+
+
+data_augment: []
+add_data_extension: ['bev_dynamic.png', 'bev_static.png', 'bev_lane.png', 'bev_visibility.png', 'bev_visibility_corp.png']
+
+# preprocess-related
+preprocess:
+  # options: BasePreprocessor, VoxelPreprocessor, BevPreprocessor
+  core_method: 'RgbPreprocessor'
+  args:
+    bgr2rgb: true
+    resize_x: &image_width 512
+    resize_y: &image_height 512
+    mean: [0.485, 0.456, 0.406]
+    std: [0.229, 0.224, 0.225]
+  # object evaluation range
+  cav_lidar_range: &cav_lidar [-50, -50, -3, 50, 50, 1]
+
+
+# anchor box related
+postprocess:
+  core_method: 'CameraBevPostprocessor' # VoxelPostprocessor, BevPostprocessor supported
+  anchor_args:
+    cav_lidar_range: *cav_lidar
+  order: 'hwl' # hwl or lwh
+  max_num: 100 # maximum number of objects in a single frame. use this number to make sure different frames has the same dimension in the same batch
+  nms_thresh: 0.15
+
+model:
+  core_method: corpbevt
+  args:
+    target: &target  'dynamic' #'dynamic' dynamic, static or both
+    max_cav: *max_cav
+    encoder:
+      num_layers: 34
+      pretrained: true
+      image_width: *image_width
+      image_height: *image_height
+      id_pick: [1, 2, 3]
+
+    compression: 8 #0.2 #2 #0 #64 #0 #8 #64 #0 # compression rate
+
+    decoder:
+      input_dim: 128
+      num_layer: 3
+      num_ch_dec: &decoder_block [32, 64, 128]
+
+    fax:
+      dim: [128, 128, 128] # b, d, h w from resenet -> b 256 h w
+      middle: [2, 2, 2] # middle conv
+      bev_embedding:
+        sigma: 1.0
+        bev_height: 256
+        bev_width: 256
+        h_meters: 100
+        w_meters: 100
+        offset: 0.0
+        upsample_scales: [2, 4, 8]
+
+      cross_view: #cross_view attention
+        image_height: *image_height
+        image_width: *image_width
+        no_image_features: False
+        skip: True
+        heads: [4, 4, 4]
+        dim_head: [32, 32, 32]
+        qkv_bias: True
+
+      cross_view_swap:
+        rel_pos_emb: False
+        q_win_size: [ [ 16, 16 ], [ 16, 16 ], [ 32, 32 ] ]
+        feat_win_size: [ [ 8, 8 ], [ 8, 8 ], [ 16, 16 ] ]
+        bev_embedding_flag: [ true, false, false ]
+
+      self_attn:
+        dim_head: 32
+        dropout: 0.1
+        window_size: 32
+
+    sttf: &sttf
+      resolution: 0.390625 # m/pixel
+      downsample_rate: 8
+      use_roi_mask: true
+
+    fax_fusion:
+      input_dim: 128
+      mlp_dim: 256
+      agent_size: *max_cav
+      window_size: 8
+      dim_head: 32
+      drop_out: 0.1
+      depth: 3
+      mask: true
+
+
+    seg_head_dim: 32
+    output_class: 2
+
+loss:
+  core_method: vanilla_seg_loss
+  args:
+    target: *target
+    d_weights: 75.0
+    s_weights: 15.0
+    d_coe: 2.0
+    s_coe: 0.0
+
+optimizer:
+  core_method: AdamW
+  lr: 2e-4
+  args:
+    eps: 1e-10
+    weight_decay: 1e-2
+
+lr_scheduler:
+    core_method: cosineannealwarm #step, multistep, Exponential and cosineannealwarm support
+    epoches: *epoches
+    warmup_lr: 2e-5
+    warmup_epoches: 10
+    lr_min: 5e-6

compression_exp/compression_8/net_epoch71.pth

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f076cba4beefd596c69a4f781bf5719225561083fe0329949b89ae98b93cbcc
+size 114608711