Enhance waymo (#142)

* Add overall evaluation * Add config waymo-3d-car.py * Update README.md * Create hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-3class.py * Create hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-car.py * Delete waymo-3d-car.py Instead of using new dataset config, we change the load_interval in the config for specific usage. * update url links Co-authored-by: Tai-Wang <tab_wang@outlook.com> Co-authored-by: twang <30491025+Tai-Wang@users.noreply.github.com>

Enhance waymo (#142)
* Add overall evaluation * Add config waymo-3d-car.py * Update README.md * Create hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-3class.py * Create hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-car.py * Delete waymo-3d-car.py Instead of using new dataset config, we change the load_interval in the config for specific usage. * update url links Co-authored-by: Tai-Wang <tab_wang@outlook.com> Co-authored-by: twang <30491025+Tai-Wang@users.noreply.github.com>
edebb3e6 · Wenwei Zhang · GitHub · a87c110b · edebb3e6 · edebb3e6
Unverified Commit edebb3e6 authored Oct 01, 2020 by Wenwei Zhang Committed by GitHub Oct 01, 2020
19 changed files
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -78,7 +78,7 @@ jobs:
        run: pip install torch==${{matrix.torch}} torchvision==${{matrix.torchvision}} -f https://download.pytorch.org/whl/torch_stable.html
      - name: Install mmdet3d dependencies
        run: |
-          pip install mmcv-full==latest+torch${{matrix.mmcv}} -f https://openmmlab.oss-accelerate.aliyuncs.com/mmcv/dist/index.html
+          pip install mmcv-full==latest+torch${{matrix.mmcv}} -f https://download.openmmlab.com/mmcv/dist/index.html
          pip install -q git+https://github.com/open-mmlab/mmdetection.git
          pip install -r requirements.txt
      - name: Build and install

--- a/configs/dynamic_voxelization/README.md
+++ b/configs/dynamic_voxelization/README.md
@@ -21,6 +21,6 @@ We implement Dynamic Voxelization proposed in  and provide its results and model
 |  Model   |Class| Lr schd | Mem (GB) | Inf time (fps) | mAP | Download |
 | :---------: | :-----: |:-----: | :------: | :------------: | :----: | :------: |
-|[SECOND](./dv_second_secfpn_6x8_80e_kitti-3d-car.py)|Car    |cyclic 80e|5.5||78.83|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/dynamic_voxelization/dv_second_secfpn_6x8_80e_kitti-3d-car/dv_second_secfpn_6x8_80e_kitti-3d-car_20200620_235228-ac2c1c0c.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/dynamic_voxelization/dv_second_secfpn_6x8_80e_kitti-3d-car/dv_second_secfpn_6x8_80e_kitti-3d-car_20200620_235228.log.json)|
+|[SECOND](./dv_second_secfpn_6x8_80e_kitti-3d-car.py)|Car    |cyclic 80e|5.5||78.83|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/dynamic_voxelization/dv_second_secfpn_6x8_80e_kitti-3d-car/dv_second_secfpn_6x8_80e_kitti-3d-car_20200620_235228-ac2c1c0c.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/dynamic_voxelization/dv_second_secfpn_6x8_80e_kitti-3d-car/dv_second_secfpn_6x8_80e_kitti-3d-car_20200620_235228.log.json)|
-|[SECOND](./dv_second_secfpn_2x8_cosine_80e_kitti-3d-3class.py)| 3 Class|cosine 80e|5.5||65.10|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/dynamic_voxelization/dv_second_secfpn_2x8_cosine_80e_kitti-3d-3class/dv_second_secfpn_2x8_cosine_80e_kitti-3d-3class_20200620_231010-6aa607d3.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/dynamic_voxelization/dv_second_secfpn_2x8_cosine_80e_kitti-3d-3class/dv_second_secfpn_2x8_cosine_80e_kitti-3d-3class_20200620_231010.log.json)|
+|[SECOND](./dv_second_secfpn_2x8_cosine_80e_kitti-3d-3class.py)| 3 Class|cosine 80e|5.5||65.10|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/dynamic_voxelization/dv_second_secfpn_2x8_cosine_80e_kitti-3d-3class/dv_second_secfpn_2x8_cosine_80e_kitti-3d-3class_20200620_231010-6aa607d3.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/dynamic_voxelization/dv_second_secfpn_2x8_cosine_80e_kitti-3d-3class/dv_second_secfpn_2x8_cosine_80e_kitti-3d-3class_20200620_231010.log.json)|
-|[PointPillars](./dv_pointpillars_secfpn_6x8_160e_kitti-3d-car.py)| Car|cyclic 80e|4.7||77.76|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/dynamic_voxelization/dv_pointpillars_secfpn_6x8_160e_kitti-3d-car/dv_pointpillars_secfpn_6x8_160e_kitti-3d-car_20200620_230844-ee7b75c9.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/dynamic_voxelization/dv_pointpillars_secfpn_6x8_160e_kitti-3d-car/dv_pointpillars_secfpn_6x8_160e_kitti-3d-car_20200620_230844.log.json)|
+|[PointPillars](./dv_pointpillars_secfpn_6x8_160e_kitti-3d-car.py)| Car|cyclic 80e|4.7||77.76|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/dynamic_voxelization/dv_pointpillars_secfpn_6x8_160e_kitti-3d-car/dv_pointpillars_secfpn_6x8_160e_kitti-3d-car_20200620_230844-ee7b75c9.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/dynamic_voxelization/dv_pointpillars_secfpn_6x8_160e_kitti-3d-car/dv_pointpillars_secfpn_6x8_160e_kitti-3d-car_20200620_230844.log.json)|
--- a/configs/free_anchor/README.md
+++ b/configs/free_anchor/README.md
@@ -80,13 +80,13 @@ train_cfg = dict(
 |  Backbone   |FreeAnchor|Lr schd | Mem (GB) | Inf time (fps) | mAP |NDS| Download |
 | :---------: |:-----: |:-----: | :------: | :------------: | :----: |:----: | :------: |
-|[FPN](../pointpillars/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d.py)|✗|2x|17.1||40.0|53.3|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d_20200620_230405-2fa62f3d.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d_20200620_230405.log.json)|
+|[FPN](../pointpillars/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d.py)|✗|2x|17.1||40.0|53.3|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d_20200620_230405-2fa62f3d.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d_20200620_230405.log.json)|
-|[FPN](./hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py)|✓|2x|16.2||43.7|55.3|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/free_anchor/hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d/hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d_20200628_210537-09d359fc.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/free_anchor/hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d/hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d_20200628_210537.log.json)|
+|[FPN](./hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py)|✓|2x|16.2||43.7|55.3|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/free_anchor/hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d/hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d_20200628_210537-09d359fc.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/free_anchor/hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d/hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d_20200628_210537.log.json)|
-|[RegNetX-400MF-FPN](../regnet/hv_pointpillars_regnet-400mf_fpn_sbn-all_4x8_2x_nus-3d.py)|✗|2x|17.3||44.8|56.4|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/regnet/hv_pointpillars_regnet-400mf_fpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_regnet-400mf_fpn_sbn-all_4x8_2x_nus-3d_20200620_230239-c694dce7.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/regnet/hv_pointpillars_regnet-400mf_fpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_regnet-400mf_fpn_sbn-all_4x8_2x_nus-3d_20200620_230239.log.json)|
+|[RegNetX-400MF-FPN](../regnet/hv_pointpillars_regnet-400mf_fpn_sbn-all_4x8_2x_nus-3d.py)|✗|2x|17.3||44.8|56.4|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/regnet/hv_pointpillars_regnet-400mf_fpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_regnet-400mf_fpn_sbn-all_4x8_2x_nus-3d_20200620_230239-c694dce7.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/regnet/hv_pointpillars_regnet-400mf_fpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_regnet-400mf_fpn_sbn-all_4x8_2x_nus-3d_20200620_230239.log.json)|
-|[RegNetX-400MF-FPN](./hv_pointpillars_regnet-400mf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py)|✓|2x|17.7||47.9|58.6|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/free_anchor/hv_pointpillars_regnet-400mf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d/hv_pointpillars_regnet-400mf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d_20200629_050311-a334765d.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/free_anchor/hv_pointpillars_regnet-400mf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d/hv_pointpillars_regnet-400mf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d_20200629_050311.log.json)|
+|[RegNetX-400MF-FPN](./hv_pointpillars_regnet-400mf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py)|✓|2x|17.7||47.9|58.6|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/free_anchor/hv_pointpillars_regnet-400mf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d/hv_pointpillars_regnet-400mf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d_20200629_050311-a334765d.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/free_anchor/hv_pointpillars_regnet-400mf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d/hv_pointpillars_regnet-400mf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d_20200629_050311.log.json)|
-|[RegNetX-1.6GF-FPN](./hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py)|✓|2x|24.3||51.2|60.8|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/free_anchor/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d_20200629_105446-6ffa59cb.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/free_anchor/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d_20200629_105446.log.json)|
+|[RegNetX-1.6GF-FPN](./hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py)|✓|2x|24.3||51.2|60.8|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/free_anchor/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d_20200629_105446-6ffa59cb.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/free_anchor/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d_20200629_105446.log.json)|
-|[RegNetX-1.6GF-FPN](./hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d.py)*|✓|3x|24.3||53.0|62.2|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/free_anchor/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d_20200701_201531-036f7de3.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/free_anchor/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d_20200701_201531.log.json)|
+|[RegNetX-1.6GF-FPN](./hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d.py)*|✓|3x|24.3||53.0|62.2|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/free_anchor/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d_20200701_201531-036f7de3.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/free_anchor/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d_20200701_201531.log.json)|
-|[RegNetX-3.2GF-FPN](./hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py)|✓|2x|29.5||52.2|62.0|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/free_anchor/hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d/hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d_20200629_055854-658125b0.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/free_anchor/hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d/hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d_20200629_055854.log.json)|
+|[RegNetX-3.2GF-FPN](./hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py)|✓|2x|29.5||52.2|62.0|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/free_anchor/hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d/hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d_20200629_055854-658125b0.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/free_anchor/hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d/hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d_20200629_055854.log.json)|
-|[RegNetX-3.2GF-FPN](./hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d.py)*|✓|3x|29.5||55.09|63.5|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/free_anchor/hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d/hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d_20200629_181452-297fdc66.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/free_anchor/hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d/hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d_20200629_181452.log.json)|
+|[RegNetX-3.2GF-FPN](./hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d.py)*|✓|3x|29.5||55.09|63.5|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/free_anchor/hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d/hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d_20200629_181452-297fdc66.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/free_anchor/hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d/hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d_20200629_181452.log.json)|
 **Note**: Models noted by `*` means it is trained using stronger augmentation with vertical flip under bird-eye-view, global translation, and larger range of global rotation.
--- a/configs/free_anchor/hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py
+++ b/configs/free_anchor/hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py
 _base_ = [
-    '../_base_/models/hv_pointpillars_fpn_lyft.py',
+    '../_base_/models/hv_pointpillars_fpn_nus.py',
    '../_base_/datasets/nus-3d.py', '../_base_/schedules/schedule_2x.py',
    '../_base_/default_runtime.py'
 ]

--- a/configs/h3dnet/README.md
+++ b/configs/h3dnet/README.md
@@ -16,4 +16,4 @@ We implement H3DNet and provide the result and checkpoints on ScanNet datasets.
 ### ScanNet
 |  Backbone   | Lr schd | Mem (GB) | Inf time (fps) | AP@0.25 |AP@0.5| Download |
 | :---------: | :-----: | :------: | :------------: | :----: |:----: | :------: |
-|    [MultiBackbone](./h3dnet_scannet-3d-18class.py)     |  3x    |7.9||66.43|48.01|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/h3dnet/h3dnet_scannet-3d-18class/h3dnet_scannet-3d-18class_20200830_000136-02e36246.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/h3dnet/h3dnet_scannet-3d-18class/h3dnet_scannet-3d-18class_20200830_000136.log.json) |
+|    [MultiBackbone](./h3dnet_scannet-3d-18class.py)     |  3x    |7.9||66.43|48.01|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/h3dnet/h3dnet_scannet-3d-18class/h3dnet_scannet-3d-18class_20200830_000136-02e36246.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/h3dnet/h3dnet_scannet-3d-18class/h3dnet_scannet-3d-18class_20200830_000136.log.json) |
--- a/configs/mvxnet/README.md
+++ b/configs/mvxnet/README.md
@@ -21,4 +21,4 @@ We implement MVX-Net and provide its results and models on KITTI dataset.
 |  Backbone   |Class| Lr schd | Mem (GB) | Inf time (fps) | mAP | Download |
 | :---------: | :-----: | :------: | :------------: | :----: |:----: | :------: |
-|    [SECFPN](./dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py)|3 Class|cosine 80e|6.7||63.0|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class_20200621_003904-10140f2d.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class_20200621_003904.log.json)|
+|    [SECFPN](./dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py)|3 Class|cosine 80e|6.7||63.0|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class_20200621_003904-10140f2d.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class_20200621_003904.log.json)|
--- a/configs/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py
+++ b/configs/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py
@@ -250,6 +250,6 @@ dist_params = dict(backend='nccl')
 log_level = 'INFO'
 work_dir = None
 # You may need to download the model first is the network is unstable
-load_from = 'http://download.openmmlab.com/mmdetection3d/pretrain_models/mvx_faster_rcnn_detectron2-caffe_20e_coco-pretrain_gt-sample_kitti-3-class_moderate-79.3_20200207-a4a6a3c7.pth'  # noqa
+load_from = 'https://download.openmmlab.com/mmdetection3d/pretrain_models/mvx_faster_rcnn_detectron2-caffe_20e_coco-pretrain_gt-sample_kitti-3-class_moderate-79.3_20200207-a4a6a3c7.pth'  # noqa
 resume_from = None
 workflow = [('train', 1)]
--- a/configs/nuimages/README.md
+++ b/configs/nuimages/README.md
@@ -16,15 +16,15 @@ We report Mask R-CNN and Cascade Mask R-CNN results on nuimages.
 |Method | Backbone|Pretraining | Lr schd | Mem (GB) | Box AP  | Mask AP  |Download |
 | :---------: |:---------: | :---------: | :-----: |:-----: | :------: | :------------: | :----: |
-| Mask R-CNN| [R-50](./mask_rcnn_r50_fpn_1x_nuim.py) |IN|1x|7.4|47.8 |38.4|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/mask_rcnn_r50_fpn_1x_nuim/mask_rcnn_r50_fpn_1x_nuim_20200906_114546-902bb808.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/mask_rcnn_r50_fpn_1x_nuim/mask_rcnn_r50_fpn_1x_nuim_20200906_114546.log.json)|
+| Mask R-CNN| [R-50](./mask_rcnn_r50_fpn_1x_nuim.py) |IN|1x|7.4|47.8 |38.4|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/mask_rcnn_r50_fpn_1x_nuim/mask_rcnn_r50_fpn_1x_nuim_20200906_114546-902bb808.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/mask_rcnn_r50_fpn_1x_nuim/mask_rcnn_r50_fpn_1x_nuim_20200906_114546.log.json)|
-| Mask R-CNN| [R-50](./mask_rcnn_r50_fpn_coco-2x_1x_nuim.py) |IN+COCO-2x|1x|7.4|49.6|40.0|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/mask_rcnn_r50_fpn_coco-2x_1x_nuim/mask_rcnn_r50_fpn_coco-2x_1x_nuim_20200905_234546-01b6b9ba.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/mask_rcnn_r50_fpn_coco-2x_1x_nuim/mask_rcnn_r50_fpn_coco-2x_1x_nuim_20200905_234546.log.json)|
+| Mask R-CNN| [R-50](./mask_rcnn_r50_fpn_coco-2x_1x_nuim.py) |IN+COCO-2x|1x|7.4|49.6|40.0|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/mask_rcnn_r50_fpn_coco-2x_1x_nuim/mask_rcnn_r50_fpn_coco-2x_1x_nuim_20200905_234546-01b6b9ba.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/mask_rcnn_r50_fpn_coco-2x_1x_nuim/mask_rcnn_r50_fpn_coco-2x_1x_nuim_20200905_234546.log.json)|
-| Mask R-CNN| [R-50-CAFFE](./mask_rcnn_r50_caffe_fpn_1x_nuim.py) |IN|1x|7.0|47.7|38.2|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/mask_rcnn_r50_caffe_fpn_1x_nuim/mask_rcnn_r50_caffe_fpn_1x_nuim_20200906_120052-733905fa.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/mask_rcnn_r50_caffe_fpn_1x_nuim/mask_rcnn_r50_caffe_fpn_1x_nuim_20200906_120052.log.json)|
+| Mask R-CNN| [R-50-CAFFE](./mask_rcnn_r50_caffe_fpn_1x_nuim.py) |IN|1x|7.0|47.7|38.2|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/mask_rcnn_r50_caffe_fpn_1x_nuim/mask_rcnn_r50_caffe_fpn_1x_nuim_20200906_120052-733905fa.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/mask_rcnn_r50_caffe_fpn_1x_nuim/mask_rcnn_r50_caffe_fpn_1x_nuim_20200906_120052.log.json)|
-| Mask R-CNN| [R-50-CAFFE](./mask_rcnn_r50_caffe_fpn_coco-3x_1x_nuim.py) |IN+COCO-3x|1x|7.0|49.7|40.3|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/mask_rcnn_r50_caffe_fpn_coco-3x_1x_nuim/mask_rcnn_r50_caffe_fpn_coco-3x_1x_nuim_20200906_134613-e6dc1931.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/mask_rcnn_r50_caffe_fpn_coco-3x_1x_nuim/mask_rcnn_r50_caffe_fpn_coco-3x_1x_nuim_20200906_134613.log.json)|
+| Mask R-CNN| [R-50-CAFFE](./mask_rcnn_r50_caffe_fpn_coco-3x_1x_nuim.py) |IN+COCO-3x|1x|7.0|49.7|40.3|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/mask_rcnn_r50_caffe_fpn_coco-3x_1x_nuim/mask_rcnn_r50_caffe_fpn_coco-3x_1x_nuim_20200906_134613-e6dc1931.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/mask_rcnn_r50_caffe_fpn_coco-3x_1x_nuim/mask_rcnn_r50_caffe_fpn_coco-3x_1x_nuim_20200906_134613.log.json)|
-| Mask R-CNN| [R-101](./mask_rcnn_r101_fpn_1x_nuim.py) |IN|1x|10.9|48.9|38.9|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/mask_rcnn_r101_fpn_1x_nuim/mask_rcnn_r101_fpn_1x_nuim_20200906_182752-823be521.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/mask_rcnn_r101_fpn_1x_nuim/mask_rcnn_r101_fpn_1x_nuim_20200906_182752.log.json)|
+| Mask R-CNN| [R-101](./mask_rcnn_r101_fpn_1x_nuim.py) |IN|1x|10.9|48.9|38.9|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/mask_rcnn_r101_fpn_1x_nuim/mask_rcnn_r101_fpn_1x_nuim_20200906_182752-823be521.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/mask_rcnn_r101_fpn_1x_nuim/mask_rcnn_r101_fpn_1x_nuim_20200906_182752.log.json)|
-| Mask R-CNN| [X-101_32x4d](./mask_rcnn_x101_32x4d_fpn_1x_nuim.py) |IN|1x|13.3|50.3|40.1|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/mask_rcnn_x101_32x4d_fpn_1x_nuim/mask_rcnn_x101_32x4d_fpn_1x_nuim_20200906_134611-bd241530.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/mask_rcnn_x101_32x4d_fpn_1x_nuim/mask_rcnn_x101_32x4d_fpn_1x_nuim_20200906_134611.log.json)|
+| Mask R-CNN| [X-101_32x4d](./mask_rcnn_x101_32x4d_fpn_1x_nuim.py) |IN|1x|13.3|50.3|40.1|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/mask_rcnn_x101_32x4d_fpn_1x_nuim/mask_rcnn_x101_32x4d_fpn_1x_nuim_20200906_134611-bd241530.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/mask_rcnn_x101_32x4d_fpn_1x_nuim/mask_rcnn_x101_32x4d_fpn_1x_nuim_20200906_134611.log.json)|
-| Cascade Mask R-CNN| [R-50](./cascade_mask_rcnn_r50_fpn_1x_nuim.py) |IN|1x|8.9|50.8|40.1|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/cascade_mask_rcnn_r50_fpn_1x_nuim/cascade_mask_rcnn_r50_fpn_1x_nuim_20200906_114546-22bf3085.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/cascade_mask_rcnn_r50_fpn_1x_nuim/cascade_mask_rcnn_r50_fpn_1x_nuim_20200906_114546.log.json)|
+| Cascade Mask R-CNN| [R-50](./cascade_mask_rcnn_r50_fpn_1x_nuim.py) |IN|1x|8.9|50.8|40.1|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/cascade_mask_rcnn_r50_fpn_1x_nuim/cascade_mask_rcnn_r50_fpn_1x_nuim_20200906_114546-22bf3085.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/cascade_mask_rcnn_r50_fpn_1x_nuim/cascade_mask_rcnn_r50_fpn_1x_nuim_20200906_114546.log.json)|
-| Cascade Mask R-CNN| [R-101](./cascade_mask_rcnn_r101_fpn_1x_nuim.py) |IN|1x|12.5|51.8|40.6|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/cascade_mask_rcnn_r101_fpn_1x_nuim/cascade_mask_rcnn_r101_fpn_1x_nuim_20200906_134611-ee279b07.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/cascade_mask_rcnn_r101_fpn_1x_nuim/cascade_mask_rcnn_r101_fpn_1x_nuim_20200906_134611.log.json)|
+| Cascade Mask R-CNN| [R-101](./cascade_mask_rcnn_r101_fpn_1x_nuim.py) |IN|1x|12.5|51.8|40.6|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/cascade_mask_rcnn_r101_fpn_1x_nuim/cascade_mask_rcnn_r101_fpn_1x_nuim_20200906_134611-ee279b07.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/cascade_mask_rcnn_r101_fpn_1x_nuim/cascade_mask_rcnn_r101_fpn_1x_nuim_20200906_134611.log.json)|
-| Cascade Mask R-CNN| [X-101_32x4d](./cascade_mask_rcnn_x101_32x4d_fpn_1x_nuim.py) |IN|1x|14.9|52.9|41.6|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/cascade_mask_rcnn_x101_32x4d_fpn_1x_nuim/cascade_mask_rcnn_x101_32x4d_fpn_1x_nuim_20200906_134611-47db31b0.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/cascade_mask_rcnn_x101_32x4d_fpn_1x_nuim/cascade_mask_rcnn_x101_32x4d_fpn_1x_nuim_20200906_134611.log.json)|
+| Cascade Mask R-CNN| [X-101_32x4d](./cascade_mask_rcnn_x101_32x4d_fpn_1x_nuim.py) |IN|1x|14.9|52.9|41.6|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/cascade_mask_rcnn_x101_32x4d_fpn_1x_nuim/cascade_mask_rcnn_x101_32x4d_fpn_1x_nuim_20200906_134611-47db31b0.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/nuimages/cascade_mask_rcnn_x101_32x4d_fpn_1x_nuim/cascade_mask_rcnn_x101_32x4d_fpn_1x_nuim_20200906_134611.log.json)|
 **Note**:
 1. `IN` means only using ImageNet pre-trained backbone. `IN+COCO-Nx` means the backbone is first pre-trained on ImageNet, and then the detector is pre-trained on COCO train2017 dataset by `Nx` schedules.

--- a/configs/nuimages/mask_rcnn_r50_caffe_fpn_coco-3x_1x_nuim.py
+++ b/configs/nuimages/mask_rcnn_r50_caffe_fpn_coco-3x_1x_nuim.py
@@ -45,4 +45,4 @@ data = dict(
    val=dict(pipeline=test_pipeline),
    test=dict(pipeline=test_pipeline))
-load_from = 'http://download.openmmlab.com/mmdetection/v2.0/mask_rcnn/mask_rcnn_r50_caffe_fpn_mstrain-poly_3x_coco/mask_rcnn_r50_caffe_fpn_mstrain-poly_3x_coco_bbox_mAP-0.408__segm_mAP-0.37_20200504_163245-42aa3d00.pth'  # noqa
+load_from = 'https://download.openmmlab.com/mmdetection/v2.0/mask_rcnn/mask_rcnn_r50_caffe_fpn_mstrain-poly_3x_coco/mask_rcnn_r50_caffe_fpn_mstrain-poly_3x_coco_bbox_mAP-0.408__segm_mAP-0.37_20200504_163245-42aa3d00.pth'  # noqa
--- a/configs/nuimages/mask_rcnn_r50_fpn_coco-2x_1x_nuim.py
+++ b/configs/nuimages/mask_rcnn_r50_fpn_coco-2x_1x_nuim.py
@@ -6,4 +6,4 @@ _base_ = [
 model = dict(
    roi_head=dict(
        bbox_head=dict(num_classes=10), mask_head=dict(num_classes=10)))
-load_from = 'http://download.openmmlab.com/mmdetection/v2.0/mask_rcnn/mask_rcnn_r50_fpn_2x_coco/mask_rcnn_r50_fpn_2x_coco_bbox_mAP-0.392__segm_mAP-0.354_20200505_003907-3e542a40.pth'  # noqa
+load_from = 'https://download.openmmlab.com/mmdetection/v2.0/mask_rcnn/mask_rcnn_r50_fpn_2x_coco/mask_rcnn_r50_fpn_2x_coco_bbox_mAP-0.392__segm_mAP-0.354_20200505_003907-3e542a40.pth'  # noqa
--- a/configs/parta2/README.md
+++ b/configs/parta2/README.md
@@ -20,5 +20,5 @@ We implement Part-A^2 and provide its results and checkpoints on KITTI dataset.
 |  Backbone   |Class| Lr schd | Mem (GB) | Inf time (fps) | mAP | Download |
 | :---------: | :-----: |:-----: | :------: | :------------: | :----: |:----: |
-|    [SECFPN](./hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-3class.py) |3 Class|cyclic 80e|4.1||67.9|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/parta2/hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-3class/hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-3class_20200620_230724-a2672098.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/parta2/hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-3class/hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-3class_20200620_230724.log.json)|
+|    [SECFPN](./hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-3class.py) |3 Class|cyclic 80e|4.1||67.9|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/parta2/hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-3class/hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-3class_20200620_230724-a2672098.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/parta2/hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-3class/hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-3class_20200620_230724.log.json)|
-|    [SECFPN](./hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-car.py) |Car |cyclic 80e|4.0||79.16|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/parta2/hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-car/hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-car_20200620_230755-f2a38b9a.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/parta2/hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-car/hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-car_20200620_230755.log.json)|
+|    [SECFPN](./hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-car.py) |Car |cyclic 80e|4.0||79.16|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/parta2/hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-car/hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-car_20200620_230755-f2a38b9a.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/parta2/hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-car/hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-car_20200620_230755.log.json)|
--- a/configs/pointpillars/README.md
+++ b/configs/pointpillars/README.md
@@ -21,15 +21,15 @@ We implement PointPillars and provide the results and checkpoints on KITTI and n
 |  Backbone|Class   | Lr schd | Mem (GB) | Inf time (fps) | AP  |Download |
 | :---------: | :-----: |:-----: | :------: | :------------: | :----: | :------: |
-|    [SECFPN](./hv_pointpillars_secfpn_6x8_160e_kitti-3d-car.py)|Car|cyclic 160e|5.4||77.1|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_6x8_160e_kitti-3d-car/hv_pointpillars_secfpn_6x8_160e_kitti-3d-car_20200620_230614-77663cd6.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_6x8_160e_kitti-3d-car/hv_pointpillars_secfpn_6x8_160e_kitti-3d-car_20200620_230614.log.json)|
+|    [SECFPN](./hv_pointpillars_secfpn_6x8_160e_kitti-3d-car.py)|Car|cyclic 160e|5.4||77.1|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_6x8_160e_kitti-3d-car/hv_pointpillars_secfpn_6x8_160e_kitti-3d-car_20200620_230614-77663cd6.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_6x8_160e_kitti-3d-car/hv_pointpillars_secfpn_6x8_160e_kitti-3d-car_20200620_230614.log.json)|
-|    [SECFPN](./hv_pointpillars_secfpn_6x8_160e_kitti-3d-3class.py)|3 Class|cyclic 160e|5.5||59.5|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_6x8_160e_kitti-3d-3class/hv_pointpillars_secfpn_6x8_160e_kitti-3d-3class_20200620_230421-aa0f3adb.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_6x8_160e_kitti-3d-3class/hv_pointpillars_secfpn_6x8_160e_kitti-3d-3class_20200620_230421.log.json)|
+|    [SECFPN](./hv_pointpillars_secfpn_6x8_160e_kitti-3d-3class.py)|3 Class|cyclic 160e|5.5||59.5|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_6x8_160e_kitti-3d-3class/hv_pointpillars_secfpn_6x8_160e_kitti-3d-3class_20200620_230421-aa0f3adb.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_6x8_160e_kitti-3d-3class/hv_pointpillars_secfpn_6x8_160e_kitti-3d-3class_20200620_230421.log.json)|
 ### nuScenes
 |  Backbone   | Lr schd | Mem (GB) | Inf time (fps) | mAP |NDS| Download |
 | :---------: | :-----: | :------: | :------------: | :----: |:----: | :------: |
-|[SECFPN](./hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d.py)|2x|16.4||35.17|49.7|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d_20200620_230725-0817d270.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d_20200620_230725.log.json)|
+|[SECFPN](./hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d.py)|2x|16.4||35.17|49.7|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d_20200620_230725-0817d270.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d_20200620_230725.log.json)|
-|[FPN](./hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d.py)|2x|16.4||40.0|53.3|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d_20200620_230405-2fa62f3d.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d_20200620_230405.log.json)|
+|[FPN](./hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d.py)|2x|16.4||40.0|53.3|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d_20200620_230405-2fa62f3d.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d_20200620_230405.log.json)|
 ### Lyft
@@ -42,16 +42,20 @@ We implement PointPillars and provide the results and checkpoints on KITTI and n
 |  Backbone | Load Interval | Class | Lr schd | Mem (GB) | Inf time (fps) | mAP@L1 | mAPH@L1 |  mAP@L2 | **mAPH@L2** | Download |
 | :-------: | :-----------: |:-----:| :------:| :------: | :------------: | :----: | :-----: | :-----: | :-----: | :------: |
-| [SECFPN](./hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-car.py)|5|Car|2x|7.76||70.2|69.6|62.6|62.1|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-car/hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-car_20200901_204315-302fc3e7.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-car/hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-car_20200901_204315.log.json)|
+| [SECFPN](./hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-car.py)|5|Car|2x|7.76||70.2|69.6|62.6|62.1|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-car/hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-car_20200901_204315-302fc3e7.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-car/hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-car_20200901_204315.log.json)|
-| [SECFPN](./hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-3class.py)|5|3 Class|2x|8.12||64.7|57.6|58.4|52.1|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-3class/hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-3class_20200831_204144-d1a706b1.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-3class/hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-3class_20200831_204144.log.json)|
+| [SECFPN](./hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-3class.py)|5|3 Class|2x|8.12||64.7|57.6|58.4|52.1|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-3class/hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-3class_20200831_204144-d1a706b1.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-3class/hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-3class_20200831_204144.log.json)|
 | above @ Car|||2x|8.12||68.5|67.9|60.1|59.6| |
 | above @ Pedestrian|||2x|8.12||67.8|50.6|59.6|44.3| |
 | above @ Cyclist|||2x|8.12||57.7|54.4|55.5|52.4| |
+| [SECFPN](./hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-car.py)|1|Car|2x|7.76||72.1|71.5|63.6|63.1|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-car/hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-car-9fa20624.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-car/hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-car.log.json)|
+| [SECFPN](./hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-3class.py)|1|3 Class|2x|8.12||68.8|63.3|62.6|57.6|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-3class/hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-3class-b70d5ebc.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-3class/hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-3class.log.json)|
+| above @ Car|||2x|8.12||71.6|71.0|63.1|62.5| |
+| above @ Pedestrian|||2x|8.12||70.6|56.7|62.9|50.2| |
+| above @ Cyclist|||2x|8.12||64.4|62.3|61.9|59.9| |
 Note:
 - **Metric**: For model trained with 3 classes, the average APH@L2 (mAPH@L2) of all the categories is reported and used to rank the model. For model trained with only 1 class, the APH@L2 is reported and used to rank the model.
- **Data Split**: Here we provide several baselines for waymo dataset, which are adapted from the original pointpillars implementation. Specifically, we divide the dataset into 5 folds (denoted as D5 in the config names) for efficient experiments.
+- **Data Split**: Here we provide several baselines for waymo dataset, among which D5 means that we divide the dataset into 5 folds and only use one fold for efficient experiments. Using the complete dataset can boost the performance a lot, especially for the detection of cyclist and pedestrian, where more than 5 mAP or mAPH improvement can be expected.
-Using the complete dataset can boost the performance a lot, especially for the detection of cyclist and pedestrian, where more than 5 mAP or mAPH improvement can be expected. A more complete benchmark with more models and methods is coming soon.
 - **Implementation Details**: We basically follow the implementation in the [paper](https://arxiv.org/pdf/1912.04838.pdf) in terms of the network architecture (having a
-stride of 1 for the first convolutional block). Different settings of voxelization, data augmentation and hyper parameters make these baselines outperform those in the paper by about 7 mAP for car and 4 mAP for pedestrian with only a subset of the whole dataset.
+stride of 1 for the first convolutional block). Different settings of voxelization, data augmentation and hyper parameters make these baselines outperform those in the paper by about 7 mAP for car and 4 mAP for pedestrian with only a subset of the whole dataset. All of these results are achieved without bells-and-whistles, e.g. ensemble, multi-scale training and test augmentation.
--- a/configs/pointpillars/hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-3class.py
+++ b/configs/pointpillars/hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-3class.py
+_base_ = [
+    '../_base_/models/hv_pointpillars_secfpn_waymo.py',
+    '../_base_/datasets/waymoD5-3d-3class.py',
+    '../_base_/schedules/schedule_2x.py',
+    '../_base_/default_runtime.py',
+]
+# data settings
+data = dict(train=dict(dataset=dict(load_interval=1)))
--- a/configs/pointpillars/hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-car.py
+++ b/configs/pointpillars/hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-car.py
+_base_ = [
+    '../_base_/models/hv_pointpillars_secfpn_waymo.py',
+    '../_base_/datasets/waymoD5-3d-car.py',
+    '../_base_/schedules/schedule_2x.py',
+    '../_base_/default_runtime.py',
+]
+# data settings
+data = dict(train=dict(dataset=dict(load_interval=1)))
+# model settings
+model = dict(
+    type='MVXFasterRCNN',
+    pts_bbox_head=dict(
+        type='Anchor3DHead',
+        num_classes=1,
+        anchor_generator=dict(
+            type='AlignedAnchor3DRangeGenerator',
+            ranges=[[-74.88, -74.88, -0.0345, 74.88, 74.88, -0.0345]],
+            sizes=[[2.08, 4.73, 1.77]],
+            rotations=[0, 1.57],
+            reshape_out=True)))
+# model training and testing settings
+train_cfg = dict(
+    _delete_=True,
+    pts=dict(
+        assigner=dict(
+            type='MaxIoUAssigner',
+            iou_calculator=dict(type='BboxOverlapsNearest3D'),
+            pos_iou_thr=0.55,
+            neg_iou_thr=0.4,
+            min_pos_iou=0.4,
+            ignore_iof_thr=-1),
+        allowed_border=0,
+        code_weight=[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0],
+        pos_weight=-1,
+        debug=False))
--- a/configs/regnet/README.md
+++ b/configs/regnet/README.md
@@ -51,11 +51,11 @@ For other pre-trained models or self-implemented regnet models, the users are re
 |  Backbone   | Lr schd | Mem (GB) | Inf time (fps) | mAP |NDS| Download |
 | :---------: | :-----: | :------: | :------------: | :----: |:----: | :------: |
-|[SECFPN](../pointpillars/hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d.py)|2x|16.4||35.17|49.7|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d_20200620_230725-0817d270.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d_20200620_230725.log.json)|
+|[SECFPN](../pointpillars/hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d.py)|2x|16.4||35.17|49.7|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d_20200620_230725-0817d270.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d_20200620_230725.log.json)|
-|[RegNetX-400MF-SECFPN](./hv_pointpillars_regnet-400mf_secfpn_sbn-all_4x8_2x_nus-3d.py)|  2x    |16.4||41.2|55.2|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/regnet/hv_pointpillars_regnet-400mf_secfpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_regnet-400mf_secfpn_sbn-all_4x8_2x_nus-3d_20200620_230334-53044f32.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/regnet/hv_pointpillars_regnet-400mf_secfpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_regnet-400mf_secfpn_sbn-all_4x8_2x_nus-3d_20200620_230334.log.json)|
+|[RegNetX-400MF-SECFPN](./hv_pointpillars_regnet-400mf_secfpn_sbn-all_4x8_2x_nus-3d.py)|  2x    |16.4||41.2|55.2|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/regnet/hv_pointpillars_regnet-400mf_secfpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_regnet-400mf_secfpn_sbn-all_4x8_2x_nus-3d_20200620_230334-53044f32.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/regnet/hv_pointpillars_regnet-400mf_secfpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_regnet-400mf_secfpn_sbn-all_4x8_2x_nus-3d_20200620_230334.log.json)|
-|[FPN](../pointpillars/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d.py)|2x|17.1||40.0|53.3|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d_20200620_230405-2fa62f3d.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d_20200620_230405.log.json)|
+|[FPN](../pointpillars/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d.py)|2x|17.1||40.0|53.3|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d_20200620_230405-2fa62f3d.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d_20200620_230405.log.json)|
-|[RegNetX-400MF-FPN](./hv_pointpillars_regnet-400mf_fpn_sbn-all_4x8_2x_nus-3d.py)|2x|17.3||44.8|56.4|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/regnet/hv_pointpillars_regnet-400mf_fpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_regnet-400mf_fpn_sbn-all_4x8_2x_nus-3d_20200620_230239-c694dce7.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/regnet/hv_pointpillars_regnet-400mf_fpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_regnet-400mf_fpn_sbn-all_4x8_2x_nus-3d_20200620_230239.log.json)|
+|[RegNetX-400MF-FPN](./hv_pointpillars_regnet-400mf_fpn_sbn-all_4x8_2x_nus-3d.py)|2x|17.3||44.8|56.4|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/regnet/hv_pointpillars_regnet-400mf_fpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_regnet-400mf_fpn_sbn-all_4x8_2x_nus-3d_20200620_230239-c694dce7.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/regnet/hv_pointpillars_regnet-400mf_fpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_regnet-400mf_fpn_sbn-all_4x8_2x_nus-3d_20200620_230239.log.json)|
-|[RegNetX-1.6gF-FPN](./hv_pointpillars_regnet-1.6gf_fpn_sbn-all_4x8_2x_nus-3d.py)|2x|24.0||48.2|59.3|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/regnet/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_4x8_2x_nus-3d_20200629_050311-dcd4e090.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/regnet/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_4x8_2x_nus-3d_20200629_050311.log.json)|
+|[RegNetX-1.6gF-FPN](./hv_pointpillars_regnet-1.6gf_fpn_sbn-all_4x8_2x_nus-3d.py)|2x|24.0||48.2|59.3|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/regnet/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_4x8_2x_nus-3d_20200629_050311-dcd4e090.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/regnet/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_4x8_2x_nus-3d_20200629_050311.log.json)|
 ### Lyft

--- a/configs/second/README.md
+++ b/configs/second/README.md
@@ -18,5 +18,5 @@ We implement SECOND and provide the results and checkpoints on KITTI dataset.
 ### KITTI
 |  Backbone   |Class| Lr schd | Mem (GB) | Inf time (fps) | mAP |Download |
 | :---------: | :-----: | :------: | :------------: | :----: |:----: | :------: |
-|    [SECFPN](./hv_second_secfpn_6x8_80e_kitti-3d-car.py)| Car |cyclic 80e|5.4||79.07|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/second/hv_second_secfpn_6x8_80e_kitti-3d-car/hv_second_secfpn_6x8_80e_kitti-3d-car_20200620_230238-393f000c.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/second/hv_second_secfpn_6x8_80e_kitti-3d-car/hv_second_secfpn_6x8_80e_kitti-3d-car_20200620_230238.log.json)|
+|    [SECFPN](./hv_second_secfpn_6x8_80e_kitti-3d-car.py)| Car |cyclic 80e|5.4||79.07|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/second/hv_second_secfpn_6x8_80e_kitti-3d-car/hv_second_secfpn_6x8_80e_kitti-3d-car_20200620_230238-393f000c.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/second/hv_second_secfpn_6x8_80e_kitti-3d-car/hv_second_secfpn_6x8_80e_kitti-3d-car_20200620_230238.log.json)|
-|    [SECFPN](./hv_second_secfpn_6x8_80e_kitti-3d-3class.py)| 3 Class |cyclic 80e|5.4||64.41|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/second/hv_second_secfpn_6x8_80e_kitti-3d-3class/hv_second_secfpn_6x8_80e_kitti-3d-3class_20200620_230238-9208083a.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/second/hv_second_secfpn_6x8_80e_kitti-3d-3class/hv_second_secfpn_6x8_80e_kitti-3d-3class_20200620_230238-9208083a.pth)|
+|    [SECFPN](./hv_second_secfpn_6x8_80e_kitti-3d-3class.py)| 3 Class |cyclic 80e|5.4||64.41|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/second/hv_second_secfpn_6x8_80e_kitti-3d-3class/hv_second_secfpn_6x8_80e_kitti-3d-3class_20200620_230238-9208083a.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/second/hv_second_secfpn_6x8_80e_kitti-3d-3class/hv_second_secfpn_6x8_80e_kitti-3d-3class_20200620_230238-9208083a.pth)|
--- a/configs/votenet/README.md
+++ b/configs/votenet/README.md
@@ -16,9 +16,9 @@ We implement VoteNet and provide the result and checkpoints on ScanNet and SUNRG
 ### ScanNet
 |  Backbone   | Lr schd | Mem (GB) | Inf time (fps) | AP@0.25 |AP@0.5| Download |
 | :---------: | :-----: | :------: | :------------: | :----: |:----: | :------: |
-|    [PointNet++](./votenet_8x8_scannet-3d-18class.py)     |  3x    |4.1||62.90|39.91|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/votenet/votenet_8x8_scannet-3d-18class/votenet_8x8_scannet-3d-18class_20200620_230238-2cea9c3a.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/votenet/votenet_8x8_scannet-3d-18class/votenet_8x8_scannet-3d-18class_20200620_230238.log.json)|
+|    [PointNet++](./votenet_8x8_scannet-3d-18class.py)     |  3x    |4.1||62.90|39.91|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/votenet/votenet_8x8_scannet-3d-18class/votenet_8x8_scannet-3d-18class_20200620_230238-2cea9c3a.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/votenet/votenet_8x8_scannet-3d-18class/votenet_8x8_scannet-3d-18class_20200620_230238.log.json)|
 ### SUNRGBD
 |  Backbone   | Lr schd | Mem (GB) | Inf time (fps) | AP@0.25 |AP@0.5| Download |
 | :---------: | :-----: | :------: | :------------: | :----: |:----: | :------: |
-|    [PointNet++](./votenet_16x8_sunrgbd-3d-10class.py)     |  3x    |8.1||59.07|35.77|[model](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/votenet/votenet_16x8_sunrgbd-3d-10class/votenet_16x8_sunrgbd-3d-10class_20200620_230238-4483c0c0.pth) &#124; [log](http://download.openmmlab.com/mmdetection3d/v0.1.0_models/votenet/votenet_16x8_sunrgbd-3d-10class/votenet_16x8_sunrgbd-3d-10class_20200620_230238.log.json)|
+|    [PointNet++](./votenet_16x8_sunrgbd-3d-10class.py)     |  3x    |8.1||59.07|35.77|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/votenet/votenet_16x8_sunrgbd-3d-10class/votenet_16x8_sunrgbd-3d-10class_20200620_230238-4483c0c0.pth) &#124; [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/votenet/votenet_16x8_sunrgbd-3d-10class/votenet_16x8_sunrgbd-3d-10class_20200620_230238.log.json)|
--- a/docs/install.md
+++ b/docs/install.md
@@ -51,7 +51,7 @@ c. Install [MMCV](https://mmcv.readthedocs.io/en/latest/).
 The pre-build *mmcv-full* could be installed by running: (available versions could be found [here](https://mmcv.readthedocs.io/en/latest/#install-with-pip))
 ```shell
-pip install mmcv-full==latest+torch1.5.0+cu101 -f https://openmmlab.oss-accelerate.aliyuncs.com/mmcv/dist/index.html
+pip install mmcv-full==latest+torch1.5.0+cu101 -f https://download.openmmlab.com/mmcv/dist/index.html
 ```
 Optionally, you could also build the full version from source:

--- a/mmdet3d/datasets/waymo_dataset.py
+++ b/mmdet3d/datasets/waymo_dataset.py
@@ -313,7 +313,11 @@ class WaymoDataset(KittiDataset):
                'Cyclist/L1 mAP': 0,
                'Cyclist/L1 mAPH': 0,
                'Cyclist/L2 mAP': 0,
-                'Cyclist/L2 mAPH': 0
+                'Cyclist/L2 mAPH': 0,
+                'Overall/L1 mAP': 0,
+                'Overall/L1 mAPH': 0,
+                'Overall/L2 mAP': 0,
+                'Overall/L2 mAPH': 0
            }
            mAP_splits = ret_texts.split('mAP ')
            mAPH_splits = ret_texts.split('mAPH ')
@@ -323,6 +327,18 @@ class WaymoDataset(KittiDataset):
                    ap_dict[key] = float(mAP_splits[split_idx].split(']')[0])
                else:  # mAPH
                    ap_dict[key] = float(mAPH_splits[split_idx].split(']')[0])
+            ap_dict['Overall/L1 mAP'] = \
+                (ap_dict['Vehicle/L1 mAP'] + ap_dict['Pedestrian/L1 mAP'] +
+                 ap_dict['Cyclist/L1 mAP']) / 3
+            ap_dict['Overall/L1 mAPH'] = \
+                (ap_dict['Vehicle/L1 mAPH'] + ap_dict['Pedestrian/L1 mAPH'] +
+                 ap_dict['Cyclist/L1 mAPH']) / 3
+            ap_dict['Overall/L2 mAP'] = \
+                (ap_dict['Vehicle/L2 mAP'] + ap_dict['Pedestrian/L2 mAP'] +
+                 ap_dict['Cyclist/L2 mAP']) / 3
+            ap_dict['Overall/L2 mAPH'] = \
+                (ap_dict['Vehicle/L2 mAPH'] + ap_dict['Pedestrian/L2 mAPH'] +
+                 ap_dict['Cyclist/L2 mAPH']) / 3
            if eval_tmp_dir is not None:
                eval_tmp_dir.cleanup()