waymo_setup.md

1. Installation

Please refer to installation.md for installation of environment.

2. Data Preparation

Please refer to data_preparation.md for preparation of dataset and pretrained model.

3. Running Experiments

We provide a baseline config to run BEVFormer on Waymo 1/5 training data.

cd waymo_playground
sh ./tools/dist_train_video.sh projects/configs/bevformer/waymo_mini_r101_baseline.py 8

Logs and checkpoints will be saved at work_dirs/waymo_mini_r101_baseline. After training, run the following command for evaluation.

sh ./tools/dist_test_video.sh projects/configs/bevformer/waymo_mini_r101_baseline.py work_dirs/waymo_mini_r101_baseline/latest.pth 8

Change the config file for running other experiments.