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ACR Cuboid v1.1.0
3D cuboid detection for carton boxes on AGV — YOPO (You Only Predict Once).
transformers: 5.7.0
Changes from v1.0.x
- Combined dataset: 260429 (1,296 samples) + 260702 (678 samples) = 1,974 total
- 260702 data: new carton box images with keypoint→cuboid conversion
- Base model: v1.0.3 (v7 best, checkpoint-1380)
- Training: 30 epochs, 7 GPU DDP, paper augmentation (HSV + translate + hflip)
- Loss coefficients: rot=5, center_2d=5, bbox=5, giou=2, depth=50, scale=50
- Backbone frozen, lr=1e-4 → 1e-5 (milestone 0.9167), max_grad_norm=0.1
Class prompts
| Task | Prompts |
|---|---|
| carton_buffer | item in box, top box |
Training results
- Final loss: 5.25 (90% reduction from initial)
- 30 epochs, ~5h training time
- No overfitting observed (seen/unseen performance comparable)
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