Collections:
  - Name: FreeAnchor
    Metadata:
      Training Data: nuScenes
      Training Techniques:
        - AdamW
      Training Resources: 8x V100 GPUs
      Architecture:
        - Hard Voxelization
        - Free Anchor
    Paper:
      URL: https://arxiv.org/abs/1909.02466
      Title: 'FreeAnchor: Learning to Match Anchors for Visual Object Detection'
    README: configs/free_anchor/README.md
    Code:
      URL: https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/models/dense_heads/free_anchor3d_head.py#L13
      Version: v0.5.0

Models:
  - Name: pointpillars_hv_fpn_sbn-all_8xb4-2x_nus-3d
    In Collection: FreeAnchor
    Config: pointpillars/pointpillars_hv_fpn_sbn-all_8xb4-2x_nus-3d.py
    Metadata:
      Training Memory (GB): 17.1
    Results:
      - Task: 3D Object Detection
        Dataset: nuScenes
        Metrics:
          mAP: 40.0
          NDS: 53.3
    Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d_20200620_230405-2fa62f3d.pth

  - Name: pointpillars_hv_fpn_head-free-anchor_sbn-all_8xb4-2x_nus-3d
    In Collection: FreeAnchor
    Config: free_anchor/pointpillars_hv_fpn_head-free-anchor_sbn-all_8xb4-2x_nus-3d.py
    Metadata:
      Training Memory (GB): 16.3
    Results:
      - Task: 3D Object Detection
        Dataset: nuScenes
        Metrics:
          mAP: 43.82
          NDS: 54.86
    Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d_20210816_163441-ae0897e7.pth

  - Name: pointpillars_hv_regnet-400mf_fpn_sbn-all_8xb4-2x_nus-3d
    In Collection: FreeAnchor
    Config: configs/regnet/pointpillars_hv_regnet-400mf_fpn_sbn-all_8xb4-2x_nus-3d.py
    Metadata:
      Training Memory (GB): 17.3
    Results:
      - Task: 3D Object Detection
        Dataset: nuScenes
        Metrics:
          mAP: 44.8
          NDS: 56.4
    Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/free_anchor/hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d/hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d_20210816_163441-ae0897e7.pth

  - Name: pointpillars_hv_regnet-400mf_fpn_head-free-anchor_sbn-all_8xb4-2x_nus-3d
    In Collection: FreeAnchor
    Config: configs/free_anchor/pointpillars_hv_regnet-400mf_fpn_head-free-anchor_sbn-all_8xb4-2x_nus-3d.py
    Metadata:
      Training Memory (GB): 17.6
    Results:
      - Task: 3D Object Detection
        Dataset: nuScenes
        Metrics:
          mAP: 48.3
          NDS: 58.65
    Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/free_anchor/hv_pointpillars_regnet-400mf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d/hv_pointpillars_regnet-400mf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d_20210827_213939-a2dd3fff.pth

  - Name: hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d
    In Collection: FreeAnchor
    Config: configs/free_anchor/pointpillars_hv_regnet-1.6gf_fpn_head-free-anchor_sbn-all_8xb4-2x_nus-3d.py
    Metadata:
      Training Memory (GB): 24.3
    Results:
      - Task: 3D Object Detection
        Dataset: nuScenes
        Metrics:
          mAP: 52.04
          NDS: 61.49
    Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/free_anchor/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d_20210828_025608-bfbd506e.pth

  - Name: pointpillars_hv_regnet-1.6gf_fpn_head-free-anchor_sbn-all_8xb4-strong-aug-3x_nus-3d
    In Collection: FreeAnchor
    Config: configs/free_anchor/pointpillars_hv_regnet-1.6gf_fpn_head-free-anchor_sbn-all_8xb4-strong-aug-3x_nus-3d.py
    Metadata:
      Training Memory (GB): 24.4
    Results:
      - Task: 3D Object Detection
        Dataset: nuScenes
        Metrics:
          mAP: 52.69
          NDS: 62.45
    Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/free_anchor/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d_20210827_184909-14d2dbd1.pth

  - Name: pointpillars_hv_regnet-3.2gf_fpn_head-free-anchor_sbn-all_8xb4-2x_nus-3d
    In Collection: FreeAnchor
    Config: configs/free_anchor/pointpillars_hv_regnet-3.2gf_fpn_head-free-anchor_sbn-all_8xb4-2x_nus-3d.py
    Metadata:
      Training Memory (GB): 29.4
    Results:
      - Task: 3D Object Detection
        Dataset: nuScenes
        Metrics:
          mAP: 52.4
          NDS: 61.94
    Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/free_anchor/hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d/hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d_20210827_181237-e385c35a.pth

  - Name: pointpillars_hv_regnet-3.2gf_fpn_head-free-anchor_sbn-all_8xb4-strong-aug-3x_nus-3d
    In Collection: FreeAnchor
    Config: configs/free_anchor/pointpillars_hv_regnet-3.2gf_fpn_head-free-anchor_sbn-all_8xb4-strong-aug-3x_nus-3d.py
    Metadata:
      Training Memory (GB): 29.2
    Results:
      - Task: 3D Object Detection
        Dataset: nuScenes
        Metrics:
          mAP: 54.23
          NDS: 63.41
    Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/free_anchor/hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d/hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d_20210828_030816-06708918.pth