Adding Transfusion#3
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Adding Transfusion and the same partition fix on the data_info list.
Please reference the example_scripts inside Transfusion for running the training script.
Most likely, the voxel version will perform better accuracy-wise and point-pillars speed-wise.
Some of the code is from BEVFusion. Many of the ideas and structure are shared with BEVFusion, while the names are similar, the decoder layer and head are slightly different.
The Decoder layer supports cross-attention only. Which isnt the case for BEVFusion's.
The head is different because the fusion happens in the head, while BEVFusion's happen before it.