text: _base_ = [
      '../_base_/datasets/waymoD5-3d-3class-ssl-withmotion.py',
      '../_base_/models/centerpoint_ssl_01voxel_waymo.py',
      '../_base_/schedules/cyclic_20e.py', '../_base_/default_runtime.py'
  ]
  
  # If point cloud range is changed, the models should also change their point
  # cloud range accordingly
  #point_cloud_range = [-51.2, -51.2, -5.0, 51.2, 51.2, 3.0]
  # For nuScenes we usually do 10-class detection
  class_names = [
      'Car',
      'Pedestrian',
      'Cyclist',
  ]
  
  point_cloud_range = [-74.88, -74.88, 0.3, 74.88, 74.88, 4]
  
  model = dict(
      pts_voxel_layer=dict(point_cloud_range=point_cloud_range),
      pts_bbox_head=dict(bbox_coder=dict(pc_range=point_cloud_range[:2])),
      # model training and testing settings
      train_cfg=dict(pts=dict(point_cloud_range=point_cloud_range)),
      test_cfg=dict(pts=dict(pc_range=point_cloud_range[:2], nms_type='circle')),
      ssl_mlps=dict(ssl_channels=[
          ([5, 128, 2], 0.0),
          ([16, 128, 2], 0.1),
          ([32, 128, 2], 0.1),
          ([64, 128, 2], 0.5),
          ([128, 128, 2], 0.5),
          ([128, 128, 2], 1.0),
          ])
      )
  
  workflow = [('train', 1)]
  runner = dict(type='EpochBasedRunner', max_epochs=40)
  eval_options=dict(pklfile_prefix='./work_dirs/centerpoint_ssl_01voxel_waymo_10percent_withmotion')
  
  