_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