I have tried on the nuscense dataset. The results seem not well.

[didiwei60]

I have trained 30 epoches. The best accuracy and iou is only 33.75% and 23.16%, respectively.
I have used 1800 samples in Nuscense dataset. Each sample contains 34000 points.
The learning rate is set to 0.001. CosineAnnealingLR strategy is token..
I wonder if anything wrong with me. Thank you very much.