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MMDataParallel coordinate batch -BEV -DETR embedding MMDetection3D mmd3d -BEV -BEVFormer PETR log -Attention 数据提取 xmind MMDetection runner MMD Carla -BEV -Attention DataLoader nn.Module FPN Registry Sampler -BEV -DETR -code __call__ BEV registry model MMD3D pytorch 模型搭建 code -BEV -PETR -BEV -综述 hook
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