- The experiments are run with PyTorch 1.9 and CUDA 11.1.
- The training is conducted on 8 A100 GPUs.
- Training on GPU with less memory would likely cause GPU out-of-memory. In this case, you can try configs with smaller batch size or frames.
We provide the training and validation configs for the model in our paper. Let us know if you have trouble reproducing the results.
| #Frame | Veh_L2 | Ped_L2 | Cyc_L2 | Mean | |
|---|---|---|---|---|---|
| CenterFormer | 1 | 69.4 | 67.7 | 70.2 | 69.1 |
| CenterFormer deformable | 1 | 69.7 | 68.3 | 68.8 | 69.0 |
| CenterFormer | 2 | 71.7 | 73.0 | 72.7 | 72.5 |
| CenterFormer deformable | 2 | 71.6 | 73.4 | 73.3 | 72.8 |
| CenterFormer deformable | 4 | 72.9 | 74.2 | 72.6 | 73.2 |
| CenterFormer deformable | 8 | 73.8 | 75.0 | 72.3 | 73.7 |
| CenterFormer deformable | 16 | 74.6 | 75.6 | 72.7 | 74.3 |