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_base_ = [
'../_base_/datasets/waymoD5-mv3d-3class.py',
'../_base_/models/multiview_dfm.py'
]
# optimizer
optim_wrapper = dict(
type='OptimWrapper',
optimizer=dict(type='AdamW', lr=0.0005, weight_decay=0.0001),
paramwise_cfg=dict(
custom_keys={'backbone': dict(lr_mult=0.1, decay_mult=1.0)}),
clip_grad=dict(max_norm=35., norm_type=2))
param_scheduler = [
dict(
type='MultiStepLR',
begin=0,
end=24,
by_epoch=True,
milestones=[16, 22],
gamma=0.1)
]
# hooks
default_hooks = dict(
timer=dict(type='IterTimerHook'),
logger=dict(type='LoggerHook', interval=50),
param_scheduler=dict(type='ParamSchedulerHook'),
checkpoint=dict(type='CheckpointHook', interval=1, max_keep_ckpts=1),
sampler_seed=dict(type='DistSamplerSeedHook'),
)
# training schedule for 2x
train_cfg = dict(type='EpochBasedTrainLoop', max_epochs=24, val_interval=24)
val_cfg = dict(type='ValLoop')
test_cfg = dict(type='TestLoop')
# runtime
default_scope = 'mmdet3d'
env_cfg = dict(
cudnn_benchmark=False,
mp_cfg=dict(mp_start_method='fork', opencv_num_threads=0),
dist_cfg=dict(backend='nccl'),
)
log_level = 'INFO'
load_from = None
resume = False
find_unused_parameters = True # only 1 of 4 FPN outputs is used
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