PointPillars On KITTI

3D

Model	tau	fun	Car/Easy	Car/Mod	Car/Hard	Ped/Easy	Ped/Mod	Ped/Hard	Cyc/Easy	Cyc/Mod	Cyc/Hard	Ovr/Easy	Ovr/Mod	Ovr/Hard	download
baseline	-	-	86.3442	76.8062	73.5068	57.1734	52.6698	48.0374	81.6086	65.5086	61.4947	75.0421	64.9949	61.0130	log weight
gwd	0	f(x)=x	86.4740	76.6016	75.1838	58.9054	54.3385	49.8206	83.5646	65.9063	62.1912	76.3147	65.6154	62.3985	log weight
gwd	0	f(x)=log(1+x)	86.1492	76.7271	75.1031	61.0951	55.2907	50.8962	82.8355	65.9086	62.3309	76.6933	65.9755	62.7767	log weight
kld	0	f(x)=x	87.4018	77.2049	75.9145	58.2495	52.5324	47.8418	81.2845	66.1001	61.4003	75.6453	65.2791	61.7189	log weight
kld	0	f(x)=log(1+x)	87.7164	77.5651	75.6711	59.9753	54.3827	50.0470	82.4651	66.2440	62.7426	76.7189	66.0640	62.8202	log weight
bcd	0	f(x)=x	87.3245	77.8775	76.4542	58.7822	52.0467	47.7859	87.8213	67.6561	63.7225	77.9760	65.8601	62.6542	log weight
bcd	0	f(x)=log(1+x)	87.2366	76.9278	74.8263	57.3766	53.4922	49.3513	83.2023	66.6907	63.4531	75.9385	65.7036	62.5435	log weight

BEV

Model	tau	fun	Car/Easy	Car/Mod	Car/Hard	Ped/Easy	Ped/Mod	Ped/Hard	Cyc/Easy	Cyc/Mod	Cyc/Hard	Ovr/Easy	Ovr/Mod	Ovr/Hard	download
baseline	-	-	89.4991	86.6383	83.1225	62.4799	57.4521	53.1716	84.0316	68.5454	64.4239	78.6702	70.8786	66.9060	log weight
gwd	0	f(x)=x	89.1938	86.9307	85.3496	62.5435	57.2883	53.6182	85.3651	68.8068	64.7492	79.0341	71.0086	67.9056	log weight
gwd	0	f(x)=log(1+x)	89.4604	87.1875	84.6354	65.0736	59.4175	55.2898	86.5754	70.8361	66.3322	80.3698	72.4804	68.7525	log weight
kld	0	f(x)=x	89.8162	87.2874	85.5490	62.0096	55.6291	52.0079	86.3622	68.9297	64.8103	79.3960	70.6154	67.4557	log weight
kld	0	f(x)=log(1+x)	89.7779	87.5629	83.7490	63.9494	57.6823	54.6880	86.5358	69.5444	66.2115	80.0877	71.5965	68.2162	log weight
bcd	0	f(x)=x	89.5253	87.4416	85.2996	63.8959	56.9703	52.7919	88.8584	71.1039	66.6938	80.7598	71.8386	68.2618	log weight
bcd	0	f(x)=log(1+x)	89.5482	86.6646	83.9405	62.9139	58.0344	54.6862	85.6345	69.1394	65.4903	79.3656	71.2794	68.0390	log weight