BAT_PEDESTRIAN_NUSCENES.yaml

#data
dataset: nuscenes
path: #put data root here
version: v1.0-trainval
category_name: Pedestrian
search_bb_scale: 1.25
search_bb_offset: 2
model_bb_scale: 1.25
model_bb_offset: 0
template_size: 512
search_size: 1024
random_sample: False
sample_per_epoch: -1
degrees: True # use degrees or radians
box_aware: True
num_candidates: 4
up_axis: [ 0,0,1 ]
preload_offset: 10
key_frame_only: False
train_split: train_track
val_split: val
test_split: val
min_points: 1
train_type: train_siamese

#model configuration
net_model: BAT
use_fps: True
normalize_xyz: False
feature_channel: 256 #the output channel of backbone
hidden_channel: 256 #the hidden channel of xcorr
out_channel: 256 #the output channel of xcorr
vote_channel: 256 #the channel for vote aggregation
num_proposal: 64
k: 4
use_search_bc: False
use_search_feature: False
bc_channel: 9

#loss configuration
objectiveness_weight: 1.5
box_weight: 0.2
vote_weight: 1.0
seg_weight: 0.2
bc_weight: 1.0

# testing config
reference_BB: previous_result
shape_aggregation: firstandprevious
use_z: False
limit_box: True
IoU_space: 3

#training
batch_size: 100
workers: 10
epoch: 60
from_epoch: 0
lr: 0.001
optimizer: Adam
lr_decay_step: 20
lr_decay_rate: 0.1
wd: 0
gradient_clip_val: 0.0