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Pretrained models can be downloaded from google drive. For submission to KITTI 2012 and 2015 online test sets, you can run:

python inference.py --dataset-name kitti_2015 --output $your_directory --config-file configs/kitti-mix-train-swint.yaml SOLVER.RESUME pretrained/kitti_swint.pth

and

python inference.py --dataset-name kitti_2012 --output $your_directory --config-file configs/kitti-mix-train-swint.yaml SOLVER.RESUME pretrained/kitti_swint.pth