low results on nusenes-mini about uvtr HOT 3 OPEN

user@gpu-cluster:~/src/mmdet$ python3 extra_tools/test.py configs/uvtr/multi_modality/uvtr_m_v0075_r101_h5.py ckpts/uvtr/uvtr_m_v0075_r101_h5.pth --eval=bbox
/usr/local/lib/python3.8/dist-packages/mmcv/__init__.py:20: UserWarning: On January 1, 2023, MMCV will release v2.0.0, in which it will remove components related to the training process and add a data transformation module. In addition, it will rename the package names mmcv to mmcv-lite and mmcv-full to mmcv. See https://github.com/open-mmlab/mmcv/blob/master/docs/en/compatibility.md for more details.
  warnings.warn(
/usr/local/lib/python3.8/dist-packages/torch/functional.py:504: UserWarning: torch.meshgrid: in an upcoming release, it will be required to pass the indexing argument. (Triggered internally at ../aten/src/ATen/native/TensorShape.cpp:3190.)
  return _VF.meshgrid(tensors, **kwargs)  # type: ignore[attr-defined]
load checkpoint from local path: ckpts/uvtr/uvtr_m_v0075_r101_h5.pth
2023-04-30 12:26:43,335 - root - INFO - ModulatedDeformConvPack img_backbone.layer3.0.conv2 is upgraded to version 2.
2023-04-30 12:26:43,337 - root - INFO - ModulatedDeformConvPack img_backbone.layer3.1.conv2 is upgraded to version 2.
2023-04-30 12:26:43,338 - root - INFO - ModulatedDeformConvPack img_backbone.layer3.2.conv2 is upgraded to version 2.
2023-04-30 12:26:43,339 - root - INFO - ModulatedDeformConvPack img_backbone.layer3.3.conv2 is upgraded to version 2.
2023-04-30 12:26:43,340 - root - INFO - ModulatedDeformConvPack img_backbone.layer3.4.conv2 is upgraded to version 2.
2023-04-30 12:26:43,341 - root - INFO - ModulatedDeformConvPack img_backbone.layer3.5.conv2 is upgraded to version 2.
2023-04-30 12:26:43,342 - root - INFO - ModulatedDeformConvPack img_backbone.layer3.6.conv2 is upgraded to version 2.
2023-04-30 12:26:43,343 - root - INFO - ModulatedDeformConvPack img_backbone.layer3.7.conv2 is upgraded to version 2.
2023-04-30 12:26:43,344 - root - INFO - ModulatedDeformConvPack img_backbone.layer3.8.conv2 is upgraded to version 2.
2023-04-30 12:26:43,345 - root - INFO - ModulatedDeformConvPack img_backbone.layer3.9.conv2 is upgraded to version 2.
2023-04-30 12:26:43,346 - root - INFO - ModulatedDeformConvPack img_backbone.layer3.10.conv2 is upgraded to version 2.
2023-04-30 12:26:43,347 - root - INFO - ModulatedDeformConvPack img_backbone.layer3.11.conv2 is upgraded to version 2.
2023-04-30 12:26:43,349 - root - INFO - ModulatedDeformConvPack img_backbone.layer3.12.conv2 is upgraded to version 2.
2023-04-30 12:26:43,350 - root - INFO - ModulatedDeformConvPack img_backbone.layer3.13.conv2 is upgraded to version 2.
2023-04-30 12:26:43,351 - root - INFO - ModulatedDeformConvPack img_backbone.layer3.14.conv2 is upgraded to version 2.
2023-04-30 12:26:43,352 - root - INFO - ModulatedDeformConvPack img_backbone.layer3.15.conv2 is upgraded to version 2.
2023-04-30 12:26:43,353 - root - INFO - ModulatedDeformConvPack img_backbone.layer3.16.conv2 is upgraded to version 2.
2023-04-30 12:26:43,354 - root - INFO - ModulatedDeformConvPack img_backbone.layer3.17.conv2 is upgraded to version 2.
2023-04-30 12:26:43,355 - root - INFO - ModulatedDeformConvPack img_backbone.layer3.18.conv2 is upgraded to version 2.
2023-04-30 12:26:43,356 - root - INFO - ModulatedDeformConvPack img_backbone.layer3.19.conv2 is upgraded to version 2.
2023-04-30 12:26:43,357 - root - INFO - ModulatedDeformConvPack img_backbone.layer3.20.conv2 is upgraded to version 2.
2023-04-30 12:26:43,358 - root - INFO - ModulatedDeformConvPack img_backbone.layer3.21.conv2 is upgraded to version 2.
2023-04-30 12:26:43,359 - root - INFO - ModulatedDeformConvPack img_backbone.layer3.22.conv2 is upgraded to version 2.
2023-04-30 12:26:43,360 - root - INFO - ModulatedDeformConvPack img_backbone.layer4.0.conv2 is upgraded to version 2.
2023-04-30 12:26:43,362 - root - INFO - ModulatedDeformConvPack img_backbone.layer4.1.conv2 is upgraded to version 2.
2023-04-30 12:26:43,364 - root - INFO - ModulatedDeformConvPack img_backbone.layer4.2.conv2 is upgraded to version 2.
[                                                  ] 0/6019, elapsed: 0s, ETA:/usr/local/lib/python3.8/dist-packages/torch/nn/functional.py:4227: UserWarning: Default grid_sample and affine_grid behavior has changed to align_corners=False since 1.3.0. Please specify align_corners=True if the old behavior is desired. See the documentation of grid_sample for details.
  warnings.warn(
[                                                  ] 1/6019, 0.3 task/s, elapsed: 3s, ETA: 18116s ~/src/mmdet/mmdet3d/core/bbox/coders/nms_free_coder.py:67: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.clone().detach() or sourceTensor.clone().detach().requires_grad_(True), rather than torch.tensor(sourceTensor).
  self.post_center_range = torch.tensor(
[>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>] 6019/6019, 2.1 task/s, elapsed: 2800s, ETA:     0s
Formating bboxes of pts_bbox
Start to convert detection format...
[>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>] 6019/6019, 40.5 task/s, elapsed: 149s, ETA:     0s
Results writes to /tmp/tmp2zhts1f2/results/pts_bbox/results_nusc.json
Evaluating bboxes of pts_bbox
mAP: 0.1348                                                                                               
mATE: 0.8543
mASE: 0.3209
mAOE: 0.6170
mAVE: 0.8633
mAAE: 0.2407
NDS: 0.2778
Eval time: 83.0s

Per-class results:
Object Class    AP      ATE     ASE     AOE     AVE     AAE
car     0.142   0.875   0.180   0.249   0.971   0.183
truck   0.049   0.992   0.265   0.324   0.876   0.229
bus     0.017   1.112   0.248   0.555   2.468   0.604
trailer 0.021   1.100   0.283   0.908   0.330   0.135
construction_vehicle    0.002   1.001   0.529   1.144   0.130   0.228
pedestrian      0.295   0.541   0.323   0.683   0.649   0.316
motorcycle      0.177   0.681   0.296   0.629   1.075   0.194
bicycle 0.253   0.663   0.311   0.703   0.408   0.038
traffic_cone    0.225   0.773   0.394   nan     nan     nan
barrier 0.166   0.803   0.380   0.359   nan     nan
{'pts_bbox_NuScenes/car_AP_dist_0.5': 0.0019, 'pts_bbox_NuScenes/car_AP_dist_1.0': 0.0591, 'pts_bbox_NuScenes/car_AP_dist_2.0': 0.191, 'pts_bbox_NuScenes/car_AP_dist_4.0': 0.316, 'pts_bbox_NuScenes/car_trans_err': 0.8745, 'pts_bbox_NuScenes/car_scale_err': 0.1798, 'pts_bbox_NuScenes/car_orient_err': 0.2486, 'pts_bbox_NuScenes/car_vel_err': 0.9711, 'pts_bbox_NuScenes/car_attr_err': 0.1828, 'pts_bbox_NuScenes/mATE': 0.8543, 'pts_bbox_NuScenes/mASE': 0.3209, 'pts_bbox_NuScenes/mAOE': 0.617, 'pts_bbox_NuScenes/mAVE': 0.8633, 'pts_bbox_NuScenes/mAAE': 0.2407, 'pts_bbox_NuScenes/truck_AP_dist_0.5': 0.0, 'pts_bbox_NuScenes/truck_AP_dist_1.0': 0.0057, 'pts_bbox_NuScenes/truck_AP_dist_2.0': 0.0585, 'pts_bbox_NuScenes/truck_AP_dist_4.0': 0.1328, 'pts_bbox_NuScenes/truck_trans_err': 0.9924, 'pts_bbox_NuScenes/truck_scale_err': 0.2653, 'pts_bbox_NuScenes/truck_orient_err': 0.3236, 'pts_bbox_NuScenes/truck_vel_err': 0.8758, 'pts_bbox_NuScenes/truck_attr_err': 0.2292, 'pts_bbox_NuScenes/construction_vehicle_AP_dist_0.5': 0.0, 'pts_bbox_NuScenes/construction_vehicle_AP_dist_1.0': 0.0, 'pts_bbox_NuScenes/construction_vehicle_AP_dist_2.0': 0.0002, 'pts_bbox_NuScenes/construction_vehicle_AP_dist_4.0': 0.0097, 'pts_bbox_NuScenes/construction_vehicle_trans_err': 1.0013, 'pts_bbox_NuScenes/construction_vehicle_scale_err': 0.5295, 'pts_bbox_NuScenes/construction_vehicle_orient_err': 1.144, 'pts_bbox_NuScenes/construction_vehicle_vel_err': 0.1305, 'pts_bbox_NuScenes/construction_vehicle_attr_err': 0.2276, 'pts_bbox_NuScenes/bus_AP_dist_0.5': 0.0, 'pts_bbox_NuScenes/bus_AP_dist_1.0': 0.0, 'pts_bbox_NuScenes/bus_AP_dist_2.0': 0.0076, 'pts_bbox_NuScenes/bus_AP_dist_4.0': 0.0606, 'pts_bbox_NuScenes/bus_trans_err': 1.1117, 'pts_bbox_NuScenes/bus_scale_err': 0.2478, 'pts_bbox_NuScenes/bus_orient_err': 0.5546, 'pts_bbox_NuScenes/bus_vel_err': 2.4679, 'pts_bbox_NuScenes/bus_attr_err': 0.6041, 'pts_bbox_NuScenes/trailer_AP_dist_0.5': 0.0, 'pts_bbox_NuScenes/trailer_AP_dist_1.0': 0.0, 'pts_bbox_NuScenes/trailer_AP_dist_2.0': 0.0116, 'pts_bbox_NuScenes/trailer_AP_dist_4.0': 0.072, 'pts_bbox_NuScenes/trailer_trans_err': 1.1001, 'pts_bbox_NuScenes/trailer_scale_err': 0.283, 'pts_bbox_NuScenes/trailer_orient_err': 0.908, 'pts_bbox_NuScenes/trailer_vel_err': 0.3297, 'pts_bbox_NuScenes/trailer_attr_err': 0.1348, 'pts_bbox_NuScenes/barrier_AP_dist_0.5': 0.011, 'pts_bbox_NuScenes/barrier_AP_dist_1.0': 0.0915, 'pts_bbox_NuScenes/barrier_AP_dist_2.0': 0.2187, 'pts_bbox_NuScenes/barrier_AP_dist_4.0': 0.3434, 'pts_bbox_NuScenes/barrier_trans_err': 0.8034, 'pts_bbox_NuScenes/barrier_scale_err': 0.3798, 'pts_bbox_NuScenes/barrier_orient_err': 0.3595, 'pts_bbox_NuScenes/barrier_vel_err': nan, 'pts_bbox_NuScenes/barrier_attr_err': nan, 'pts_bbox_NuScenes/motorcycle_AP_dist_0.5': 0.0253, 'pts_bbox_NuScenes/motorcycle_AP_dist_1.0': 0.133, 'pts_bbox_NuScenes/motorcycle_AP_dist_2.0': 0.2365, 'pts_bbox_NuScenes/motorcycle_AP_dist_4.0': 0.3129, 'pts_bbox_NuScenes/motorcycle_trans_err': 0.6813, 'pts_bbox_NuScenes/motorcycle_scale_err': 0.2961, 'pts_bbox_NuScenes/motorcycle_orient_err': 0.629, 'pts_bbox_NuScenes/motorcycle_vel_err': 1.0745, 'pts_bbox_NuScenes/motorcycle_attr_err': 0.1937, 'pts_bbox_NuScenes/bicycle_AP_dist_0.5': 0.0458, 'pts_bbox_NuScenes/bicycle_AP_dist_1.0': 0.1917, 'pts_bbox_NuScenes/bicycle_AP_dist_2.0': 0.3496, 'pts_bbox_NuScenes/bicycle_AP_dist_4.0': 0.4252, 'pts_bbox_NuScenes/bicycle_trans_err': 0.6635, 'pts_bbox_NuScenes/bicycle_scale_err': 0.311, 'pts_bbox_NuScenes/bicycle_orient_err': 0.7029, 'pts_bbox_NuScenes/bicycle_vel_err': 0.4081, 'pts_bbox_NuScenes/bicycle_attr_err': 0.0378, 'pts_bbox_NuScenes/pedestrian_AP_dist_0.5': 0.1057, 'pts_bbox_NuScenes/pedestrian_AP_dist_1.0': 0.264, 'pts_bbox_NuScenes/pedestrian_AP_dist_2.0': 0.3596, 'pts_bbox_NuScenes/pedestrian_AP_dist_4.0': 0.4512, 'pts_bbox_NuScenes/pedestrian_trans_err': 0.5412, 'pts_bbox_NuScenes/pedestrian_scale_err': 0.3233, 'pts_bbox_NuScenes/pedestrian_orient_err': 0.6827, 'pts_bbox_NuScenes/pedestrian_vel_err': 0.649, 'pts_bbox_NuScenes/pedestrian_attr_err': 0.3156, 'pts_bbox_NuScenes/traffic_cone_AP_dist_0.5': 0.0235, 'pts_bbox_NuScenes/traffic_cone_AP_dist_1.0': 0.1444, 'pts_bbox_NuScenes/traffic_cone_AP_dist_2.0': 0.2996, 'pts_bbox_NuScenes/traffic_cone_AP_dist_4.0': 0.4316, 'pts_bbox_NuScenes/traffic_cone_trans_err': 0.7734, 'pts_bbox_NuScenes/traffic_cone_scale_err': 0.3937, 'pts_bbox_NuScenes/traffic_cone_orient_err': nan, 'pts_bbox_NuScenes/traffic_cone_vel_err': nan, 'pts_bbox_NuScenes/traffic_cone_attr_err': nan, 'pts_bbox_NuScenes/NDS': 0.27776341220635314, 'pts_bbox_NuScenes/mAP': 0.13476739579111732}