Prerequisites

Please ensure you have prepared the environment and the NYC dataset.

Train and Test

Train VMA with 8 GPUs.

./tools/dist_train.sh ./projects/configs/vma/vma_icurb.py 8

Eval VMA with 8 GPUs

You can download our trained iCurb checkpoint in Baidu/Google.

We support metric icurb for NYC dataset and chamfer for SD dataset.

./tools/dist_test.sh ./projects/configs/vma/vma_icurb.py ./path/to/ckpts.pth 8