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| # For nuScenes dataset, we usually evaluate the model at the end of training. | |
| # Since the models are trained by 24 epochs by default, we set evaluation | |
| # interval to be 20. Please change the interval accordingly if you do not | |
| # use a default schedule. | |
| # optimizer | |
| # This schedule is mainly used by models on nuScenes dataset | |
| optimizer = dict(type='AdamW', lr=1e-4, weight_decay=0.01) | |
| # max_norm=10 is better for SECOND | |
| optimizer_config = dict(grad_clip=dict(max_norm=35, norm_type=2)) | |
| lr_config = dict( | |
| policy='cyclic', | |
| target_ratio=(10, 1e-4), | |
| cyclic_times=1, | |
| step_ratio_up=0.4, | |
| ) | |
| momentum_config = dict( | |
| policy='cyclic', | |
| target_ratio=(0.85 / 0.95, 1), | |
| cyclic_times=1, | |
| step_ratio_up=0.4, | |
| ) | |
| # runtime settings | |
| runner = dict(type='EpochBasedRunner', max_epochs=20) | |