Hugging Face's logo

pangdudu
/
V2X-Cooperative-Perception

Model card Files
xet
Community
pangdudu commited on
Commit
9e5f4dc
·
verified ·
1 Parent(s): 798ec55

Upload 4 files

Browse files
Files changed (4) hide show
  1. RQ2/v2xset_lidar_early/config.yaml +194 -0
  2. RQ2/v2xset_lidar_early/net_epoch_bestval_at27.pth +3 -0
  3. RQ2/v2xset_lidar_fcooper/config.yaml +222 -0
  4. RQ2/v2xset_lidar_fcooper/net_epoch_bestval_at25.pth +3 -0
RQ2/v2xset_lidar_early/config.yaml ADDED
@@ -0,0 +1,194 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ comm_range: 70
2
+ data_augment:
3
+ - ALONG_AXIS_LIST:
4
+ - x
5
+ NAME: random_world_flip
6
+ - NAME: random_world_rotation
7
+ WORLD_ROT_ANGLE:
8
+ - -0.78539816
9
+ - 0.78539816
10
+ - NAME: random_world_scaling
11
+ WORLD_SCALE_RANGE:
12
+ - 0.95
13
+ - 1.05
14
+ fusion:
15
+ args:
16
+ proj_first: true
17
+ core_method: early
18
+ dataset: v2xset
19
+ input_source:
20
+ - lidar
21
+ label_type: lidar
22
+ loss:
23
+ args:
24
+ cls:
25
+ alpha: 0.25
26
+ gamma: 2.0
27
+ type: SigmoidFocalLoss
28
+ weight: 1.0
29
+ dir:
30
+ args: &id001
31
+ anchor_yaw: &id004
32
+ - 0
33
+ - 90
34
+ dir_offset: 0.7853
35
+ num_bins: 2
36
+ type: WeightedSoftmaxClassificationLoss
37
+ weight: 0.2
38
+ pos_cls_weight: 2.0
39
+ reg:
40
+ codewise: true
41
+ sigma: 3.0
42
+ type: WeightedSmoothL1Loss
43
+ weight: 2.0
44
+ core_method: point_pillar_loss
45
+ lr_scheduler:
46
+ core_method: multistep
47
+ gamma: 0.1
48
+ step_size:
49
+ - 10
50
+ - 20
51
+ model:
52
+ args:
53
+ anchor_num: 2
54
+ anchor_number: 2
55
+ backbone_fix: false
56
+ base_bev_backbone:
57
+ compression: 0
58
+ layer_nums:
59
+ - 3
60
+ - 5
61
+ - 8
62
+ layer_strides:
63
+ - 2
64
+ - 2
65
+ - 2
66
+ num_filters:
67
+ - 64
68
+ - 128
69
+ - 256
70
+ num_upsample_filter:
71
+ - 128
72
+ - 128
73
+ - 128
74
+ resnet: false
75
+ upsample_strides:
76
+ - 1
77
+ - 2
78
+ - 4
79
+ voxel_size: &id002
80
+ - 0.4
81
+ - 0.4
82
+ - 4
83
+ compression: 0
84
+ dir_args: *id001
85
+ lidar_range: &id003
86
+ - -102.4
87
+ - -102.4
88
+ - -3
89
+ - 102.4
90
+ - 102.4
91
+ - 1
92
+ max_cav: 5
93
+ pillar_vfe:
94
+ num_filters:
95
+ - 64
96
+ use_absolute_xyz: true
97
+ use_norm: true
98
+ with_distance: false
99
+ point_pillar_scatter:
100
+ grid_size: !!python/object/apply:numpy.core.multiarray._reconstruct
101
+ args:
102
+ - !!python/name:numpy.ndarray ''
103
+ - !!python/tuple
104
+ - 0
105
+ - !!binary |
106
+ Yg==
107
+ state: !!python/tuple
108
+ - 1
109
+ - !!python/tuple
110
+ - 3
111
+ - !!python/object/apply:numpy.dtype
112
+ args:
113
+ - i8
114
+ - false
115
+ - true
116
+ state: !!python/tuple
117
+ - 3
118
+ - <
119
+ - null
120
+ - null
121
+ - null
122
+ - -1
123
+ - -1
124
+ - 0
125
+ - false
126
+ - !!binary |
127
+ wAIAAAAAAADIAAAAAAAAAAEAAAAAAAAA
128
+ num_features: 64
129
+ shrink_header:
130
+ dim:
131
+ - 256
132
+ input_dim: 384
133
+ kernal_size:
134
+ - 3
135
+ padding:
136
+ - 1
137
+ stride:
138
+ - 1
139
+ supervise_single: false
140
+ voxel_size: *id002
141
+ core_method: point_pillar
142
+ name: v2xset_point_pillar_lidar_early
143
+ noise_setting: !!python/object/apply:collections.OrderedDict
144
+ - - - add_noise
145
+ - false
146
+ optimizer:
147
+ args:
148
+ eps: 1.0e-10
149
+ weight_decay: 0.0001
150
+ core_method: Adam
151
+ lr: 0.002
152
+ postprocess:
153
+ anchor_args:
154
+ D: 1
155
+ H: 200
156
+ W: 704
157
+ cav_lidar_range: *id003
158
+ feature_stride: 2
159
+ h: 1.56
160
+ l: 3.9
161
+ num: 2
162
+ r: *id004
163
+ vd: 4
164
+ vh: 0.4
165
+ vw: 0.4
166
+ w: 1.6
167
+ core_method: VoxelPostprocessor
168
+ dir_args: *id001
169
+ gt_range: *id003
170
+ max_num: 100
171
+ nms_thresh: 0.15
172
+ order: hwl
173
+ target_args:
174
+ neg_threshold: 0.45
175
+ pos_threshold: 0.6
176
+ score_threshold: 0.2
177
+ preprocess:
178
+ args:
179
+ max_points_per_voxel: 32
180
+ max_voxel_test: 70000
181
+ max_voxel_train: 32000
182
+ voxel_size: *id002
183
+ cav_lidar_range: *id003
184
+ core_method: SpVoxelPreprocessor
185
+ root_dir: dataset/V2XSET/train
186
+ test_dir: dataset/V2XSET/test
187
+ train_params:
188
+ batch_size: 6
189
+ epoches: 30
190
+ eval_freq: 2
191
+ max_cav: 5
192
+ save_freq: 2
193
+ validate_dir: dataset/V2XSET/validate
194
+ yaml_parser: load_point_pillar_params
RQ2/v2xset_lidar_early/net_epoch_bestval_at27.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c787a06d31cc631d12d492cbc4eabb35c882b6d4ee532f7d8bb0031c7f9f0798
3
+ size 32314137
RQ2/v2xset_lidar_fcooper/config.yaml ADDED
@@ -0,0 +1,222 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ cav_lidar_range: &id001
2
+ - -102.4
3
+ - -102.4
4
+ - -3
5
+ - 102.4
6
+ - 102.4
7
+ - 1
8
+ comm_range: 70
9
+ data_augment:
10
+ - ALONG_AXIS_LIST:
11
+ - x
12
+ NAME: random_world_flip
13
+ - NAME: random_world_rotation
14
+ WORLD_ROT_ANGLE:
15
+ - -0.78539816
16
+ - 0.78539816
17
+ - NAME: random_world_scaling
18
+ WORLD_SCALE_RANGE:
19
+ - 0.95
20
+ - 1.05
21
+ fusion:
22
+ args:
23
+ data_aug_conf: None
24
+ grid_conf: None
25
+ proj_first: false
26
+ core_method: intermediateheter
27
+ dataset: v2xset
28
+ heter:
29
+ assignment_path: opencood/logs/heter_modality_assign/v2xset_4modality.json
30
+ ego_modality: m1
31
+ mapping_dict:
32
+ m1: m1
33
+ m2: m1
34
+ m3: m1
35
+ m4: m1
36
+ modality_setting:
37
+ m1:
38
+ core_method: point_pillar
39
+ preprocess:
40
+ args:
41
+ max_points_per_voxel: 32
42
+ max_voxel_test: 70000
43
+ max_voxel_train: 32000
44
+ voxel_size: &id003
45
+ - 0.4
46
+ - 0.4
47
+ - 4
48
+ cav_lidar_range: *id001
49
+ core_method: SpVoxelPreprocessor
50
+ sensor_type: lidar
51
+ input_source:
52
+ - lidar
53
+ label_type: lidar
54
+ loss:
55
+ args:
56
+ cls:
57
+ alpha: 0.25
58
+ gamma: 2.0
59
+ type: SigmoidFocalLoss
60
+ weight: 1.0
61
+ depth:
62
+ weight: 1.0
63
+ dir:
64
+ args: &id002
65
+ anchor_yaw: &id004
66
+ - 0
67
+ - 90
68
+ dir_offset: 0.7853
69
+ num_bins: 2
70
+ type: WeightedSoftmaxClassificationLoss
71
+ weight: 0.2
72
+ pos_cls_weight: 2.0
73
+ reg:
74
+ codewise: true
75
+ sigma: 3.0
76
+ type: WeightedSmoothL1Loss
77
+ weight: 2.0
78
+ core_method: point_pillar_depth_loss
79
+ lr_scheduler:
80
+ core_method: multistep
81
+ gamma: 0.1
82
+ step_size:
83
+ - 10
84
+ - 25
85
+ model:
86
+ args:
87
+ anchor_number: 2
88
+ dir_args: *id002
89
+ ego_modality: m1
90
+ fusion_method: max
91
+ in_head: 256
92
+ lidar_range: *id001
93
+ m1:
94
+ backbone_args:
95
+ layer_nums:
96
+ - 3
97
+ - 5
98
+ - 8
99
+ layer_strides:
100
+ - 2
101
+ - 2
102
+ - 2
103
+ num_filters:
104
+ - 64
105
+ - 128
106
+ - 256
107
+ num_upsample_filter:
108
+ - 128
109
+ - 128
110
+ - 128
111
+ upsample_strides:
112
+ - 1
113
+ - 2
114
+ - 4
115
+ core_method: point_pillar
116
+ encoder_args:
117
+ lidar_range: *id001
118
+ pillar_vfe:
119
+ num_filters:
120
+ - 64
121
+ use_absolute_xyz: true
122
+ use_norm: true
123
+ with_distance: false
124
+ point_pillar_scatter:
125
+ grid_size: !!python/object/apply:numpy.core.multiarray._reconstruct
126
+ args:
127
+ - !!python/name:numpy.ndarray ''
128
+ - !!python/tuple
129
+ - 0
130
+ - !!binary |
131
+ Yg==
132
+ state: !!python/tuple
133
+ - 1
134
+ - !!python/tuple
135
+ - 3
136
+ - !!python/object/apply:numpy.dtype
137
+ args:
138
+ - i8
139
+ - false
140
+ - true
141
+ state: !!python/tuple
142
+ - 3
143
+ - <
144
+ - null
145
+ - null
146
+ - null
147
+ - -1
148
+ - -1
149
+ - 0
150
+ - false
151
+ - !!binary |
152
+ AAIAAAAAAAAAAgAAAAAAAAEAAAAAAAAA
153
+ num_features: 64
154
+ voxel_size: *id003
155
+ sensor_type: lidar
156
+ shrink_header:
157
+ dim:
158
+ - 256
159
+ input_dim: 384
160
+ kernal_size:
161
+ - 3
162
+ padding:
163
+ - 1
164
+ stride:
165
+ - 1
166
+ core_method: heter_model_baseline
167
+ name: HeterBaseline_v2xset_lidar_fcooper
168
+ noise_setting: !!python/object/apply:collections.OrderedDict
169
+ - - - add_noise
170
+ - false
171
+ optimizer:
172
+ args:
173
+ eps: 1.0e-10
174
+ weight_decay: 0.0001
175
+ core_method: Adam
176
+ lr: 0.002
177
+ postprocess:
178
+ anchor_args:
179
+ D: 1
180
+ H: 512
181
+ W: 512
182
+ cav_lidar_range: *id001
183
+ feature_stride: 2
184
+ h: 1.56
185
+ l: 3.9
186
+ num: 2
187
+ r: *id004
188
+ vd: 4
189
+ vh: 0.4
190
+ vw: 0.4
191
+ w: 1.6
192
+ core_method: VoxelPostprocessor
193
+ dir_args: *id002
194
+ gt_range: *id001
195
+ max_num: 150
196
+ nms_thresh: 0.15
197
+ order: hwl
198
+ target_args:
199
+ neg_threshold: 0.45
200
+ pos_threshold: 0.6
201
+ score_threshold: 0.2
202
+ preprocess:
203
+ args:
204
+ max_points_per_voxel: 1
205
+ max_voxel_test: 1
206
+ max_voxel_train: 1
207
+ voxel_size:
208
+ - 0.4
209
+ - 0.4
210
+ - 4
211
+ cav_lidar_range: *id001
212
+ core_method: SpVoxelPreprocessor
213
+ root_dir: dataset/V2XSET/train
214
+ test_dir: dataset/V2XSET/test
215
+ train_params:
216
+ batch_size: 2
217
+ epoches: 30
218
+ eval_freq: 2
219
+ max_cav: 5
220
+ save_freq: 2
221
+ validate_dir: dataset/V2XSET/validate
222
+ yaml_parser: load_general_params
RQ2/v2xset_lidar_fcooper/net_epoch_bestval_at25.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1a361bbd0b270f7460c3b401339eff642f6d31430e0f5053c3cf4e7e1dd14234
3
+ size 32314969