ADA_STAGE: TARGET

CLASS_NAMES: ['Vehicle']

DATA_CONFIG:

_BASE_CONFIG_: cfgs/dataset_configs/waymo/ADA/ada_waymo_dataset_gt_D.yaml

FILE_PATH: #PATH_TO_SAMPLED_DB

INFO_WITH_FAKELIDAR: False

DATA_AUGMENTOR:

DISABLE_AUG_LIST: ['placeholder']

AUG_CONFIG_LIST:

- NAME: normalize_object_size

SIZE_RES: [ -0.91, -0.49, -0.26 ]

- NAME: random_world_flip

ALONG_AXIS_LIST: [ 'x', 'y' ]

- NAME: random_world_rotation

WORLD_ROT_ANGLE: [ -0.78539816, 0.78539816 ]

- NAME: random_world_scaling

WORLD_SCALE_RANGE: [ 0.95, 1.05 ]

DATA_CONFIG_TAR:

_BASE_CONFIG_: cfgs/dataset_configs/kitti/ADA/ada_kitti_dataset.yaml

FILE_PATH: ../data/kitti/kitti_infos_train.pkl

TARGET: True

FOV_POINTS_ONLY: False

CLASS_NAMES: ['Car']

SHIFT_COOR: [0.0, 0.0, 1.6]

DATA_CONFIG_SAMPLE:

_BASE_CONFIG_: cfgs/dataset_configs/kitti/ADA/ada_kitti_dataset.yaml

TARGET: True

FOV_POINTS_ONLY: False

CLASS_NAMES: ['Car']

SHIFT_COOR: [0.0, 0.0, 1.6]

MODEL:

NAME: ActiveDualPVRCNN

VFE:

NAME: MeanVFE

BACKBONE_3D:

NAME: VoxelBackBone8x

MAP_TO_BEV:

NAME: HeightCompression

NUM_BEV_FEATURES: 256

BACKBONE_2D:

NAME: BaseBEVBackbone

LAYER_NUMS: [5, 5]

LAYER_STRIDES: [1, 2]

NUM_FILTERS: [128, 256]

UPSAMPLE_STRIDES: [1, 2]

NUM_UPSAMPLE_FILTERS: [256, 256]

DENSE_HEAD:

NAME: ActiveAnchorHeadSingle1

CLASS_AGNOSTIC: False

MARGIN_SCALE: 1.0

USE_DIRECTION_CLASSIFIER: True

DIR_OFFSET: 0.78539

DIR_LIMIT_OFFSET: 0.0

NUM_DIR_BINS: 2

ANCHOR_GENERATOR_CONFIG: [

{

'class_name': 'Vehicle',

'anchor_sizes': [[4.2, 2.0, 1.6]],

'anchor_rotations': [0, 1.57],

'anchor_bottom_heights': [0],

'align_center': False,

'feature_map_stride': 8,

'matched_threshold': 0.55,

'unmatched_threshold': 0.4

}

]

TARGET_ASSIGNER_CONFIG:

NAME: AxisAlignedTargetAssigner

POS_FRACTION: -1.0

SAMPLE_SIZE: 512

NORM_BY_NUM_EXAMPLES: False

MATCH_HEIGHT: False

BOX_CODER: ResidualCoder

LOSS_CONFIG:

LOSS_WEIGHTS: {

'cls_weight': 1.0,

'loc_weight': 2.0,

'dir_weight': 0.2,

'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]

}

PFE:

NAME: VoxelSetAbstraction

POINT_SOURCE: raw_points

NUM_KEYPOINTS: 4096

NUM_OUTPUT_FEATURES: 128

SAMPLE_METHOD: FPS

FEATURES_SOURCE: ['bev', 'x_conv3', 'x_conv4', 'raw_points']

SA_LAYER:

raw_points:

MLPS: [[16, 16], [16, 16]]

POOL_RADIUS: [0.4, 0.8]

NSAMPLE: [16, 16]

x_conv1:

DOWNSAMPLE_FACTOR: 1

MLPS: [[16, 16], [16, 16]]

POOL_RADIUS: [0.4, 0.8]

NSAMPLE: [16, 16]

x_conv2:

DOWNSAMPLE_FACTOR: 2

MLPS: [[32, 32], [32, 32]]

POOL_RADIUS: [0.8, 1.2]

NSAMPLE: [16, 32]

x_conv3:

DOWNSAMPLE_FACTOR: 4

MLPS: [[64, 64], [64, 64]]

POOL_RADIUS: [1.2, 2.4]

NSAMPLE: [16, 32]

x_conv4:

DOWNSAMPLE_FACTOR: 8

MLPS: [[64, 64], [64, 64]]

POOL_RADIUS: [2.4, 4.8]

NSAMPLE: [16, 32]

DISCRIMINATOR:

NAME: ActiveBEVDiscriminator_Conv

FEATURE_DIM: 512

POINT_HEAD:

NAME: PointHeadSimple

CLS_FC: [256, 256]

CLASS_AGNOSTIC: True

USE_POINT_FEATURES_BEFORE_FUSION: True

TARGET_CONFIG:

GT_EXTRA_WIDTH: [0.2, 0.2, 0.2]

LOSS_CONFIG:

LOSS_REG: smooth-l1

LOSS_WEIGHTS: {

'point_cls_weight': 1.0,

}

ROI_HEAD:

NAME: ActivePVRCNNHead

CLASS_AGNOSTIC: True

SHARED_FC: [256, 256]

CLS_FC: [256, 256]

REG_FC: [256, 256]

DP_RATIO: 0.3

NMS_CONFIG:

TRAIN:

NMS_TYPE: nms_gpu

MULTI_CLASSES_NMS: False

NMS_PRE_MAXSIZE: 9000

NMS_POST_MAXSIZE: 512

NMS_THRESH: 0.8

TEST:

NMS_TYPE: nms_gpu

MULTI_CLASSES_NMS: False

NMS_PRE_MAXSIZE: 1024

NMS_POST_MAXSIZE: 100

NMS_THRESH: 0.7

ROI_GRID_POOL:

GRID_SIZE: 6

MLPS: [[64, 64], [64, 64]]

POOL_RADIUS: [0.8, 1.6]

NSAMPLE: [16, 16]

POOL_METHOD: max_pool

TARGET_CONFIG:

BOX_CODER: ResidualCoder

ROI_PER_IMAGE: 128

FG_RATIO: 0.5

SAMPLE_ROI_BY_EACH_CLASS: True

CLS_SCORE_TYPE: raw_roi_iou

CLS_FG_THRESH: 0.75

CLS_BG_THRESH: 0.25

CLS_BG_THRESH_LO: 0.1

HARD_BG_RATIO: 0.8

REG_FG_THRESH: 0.55

LOSS_CONFIG:

CLS_LOSS: BinaryCrossEntropy

REG_LOSS: smooth-l1

CORNER_LOSS_REGULARIZATION: True

LOSS_WEIGHTS: {

'rcnn_cls_weight': 1.0,

'rcnn_reg_weight': 1.0,

'rcnn_corner_weight': 1.0,

'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]

}

POST_PROCESSING:

RECALL_THRESH_LIST: [0.3, 0.5, 0.7]

SCORE_THRESH: 0.1

OUTPUT_RAW_SCORE: False

EVAL_METRIC: kitti

NMS_CONFIG:

MULTI_CLASSES_NMS: False

NMS_TYPE: nms_gpu

NMS_THRESH: 0.1

NMS_PRE_MAXSIZE: 4096

NMS_POST_MAXSIZE: 500

SELF_TRAIN:

SRC:

USE_DATA: False

USE_GRAD: False

LOSS_WEIGHT: 1.0

TAR:

USE_DATA: True

LOSS_WEIGHT: 1.0

SCORE_THRESH: [0.5]

NEG_THRESH: [0.2]

UPDATE_PSEUDO_LABEL: [0]

UPDATE_PSEUDO_LABEL_INTERVAL: 2

INIT_PS: None

PROG_AUG:

ENABLED: True

UPDATE_AUG: [5, 10]

SCALE: 1.1

MEMORY_ENSEMBLE:

ENABLED: False

NAME: consistency_ensemble

IOU_THRESH: 0.1

NMS_CONFIG:

NMS_TYPE: nms_gpu

MULTI_CLASSES_NMS: False

NMS_PRE_MAXSIZE: 512

NMS_POST_MAXSIZE: 100

NMS_THRESH: 0.1

MEMORY_VOTING:

ENABLED: False

IGNORE_THRESH: 2

RM_THRESH: 3

OPTIMIZATION:

NUM_EPOCHS: 40

BATCH_SIZE_PER_GPU: 2

OPTIMIZER: adam_onecycle

LR: 0.001

WEIGHT_DECAY: 0.001

MOMENTUM: 0.9

MOMS: [0.95, 0.85]

PCT_START: 0.4

DIV_FACTOR: 10

DECAY_STEP_LIST: [15]

LR_DECAY: 0.1

LR_CLIP: 0.0000001

DISCRIMINATOR:

OPTIMIZER: adam

LR: 0.001

WEIGHT_DECAY: 0.

LR_CLIP: 0.0000001

LR_DECAY: 0.1

DECAY_STEP_LIST: [10]

LR_WARMUP: False

GRAD_NORM_CLIP: 10

LR_WARMUP: False

WARMUP_EPOCH: 1

GRAD_NORM_CLIP: 10

TAR_LOSS_SCALE: 1.0

SAMPLE_LOSS_SCALE: 1.0

ANNOTATION_BUDGET: 37

SAMPLE_EPOCHS: [0, 2, 4, 6, 8]