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# MinkLoc3D training config using Baseline dataset | ||
[DEFAULT] | ||
dataset_folder = /data3/pointnetvlad/benchmark_datasets | ||
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[TRAIN] | ||
num_workers = 4 | ||
batch_size = 16 | ||
batch_size_limit = 256 | ||
batch_expansion_rate = 1.4 | ||
batch_expansion_th = 0.7 | ||
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lr = 1e-3 | ||
epochs = 40 | ||
scheduler_milestones = 30 | ||
aug_mode = 1 | ||
weight_decay = 1e-3 | ||
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loss = BatchHardTripletMarginLoss | ||
margin = 0.2 | ||
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train_file = training_queries_baseline2.pickle | ||
val_file = test_queries_baseline2.pickle |
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# MinkLoc3Dv2 training config using Refined dataset | ||
[DEFAULT] | ||
dataset_folder = /data3/pointnetvlad/benchmark_datasets | ||
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[TRAIN] | ||
num_workers = 4 | ||
batch_size = 16 | ||
batch_size_limit = 256 | ||
batch_expansion_rate = 1.4 | ||
batch_expansion_th = 0.7 | ||
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lr = 1e-3 | ||
epochs = 80 | ||
scheduler_milestones = 60 | ||
aug_mode = 1 | ||
weight_decay = 1e-3 | ||
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loss = BatchHardTripletMarginLoss | ||
margin = 0.2 | ||
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train_file = training_queries_refine2.pickle | ||
val_file = test_queries_baseline2.pickle |
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# MinkLoc3D model definition | ||
[MODEL] | ||
model=MinkLoc | ||
planes = 32,64,64 | ||
layers = 1,1,1 | ||
num_top_down=1 | ||
conv0_kernel_size=5 | ||
feature_size=256 | ||
block=BasicBlock | ||
pooling=GeM | ||
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coordinates=cartesian | ||
quantization_step=0.01 | ||
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normalize_embeddings=False |
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