- Please following 3DTrans as mentioned in the main submission to prepare data and install the environment.

- To pretrain using AD-PT:
```bash
bash scripts/PRETRAIN/dist_train_pretrain.sh ${NUM_GPUS} --cfg_file ./cfgs/once_models/sup_models/pv_rcnn_plus_anchor_vehicle_pede_cyclist_cat_12.5_ros_bi_dataset_consist_10x_aug_dense_mask.yamlonce_models/sup_models
```

- To fine-tuning on downstream datasets:
```bash
bash scripts/dist_train.sh ${NUM_GPUS} --cfg_file /PATH/TO/CONFIG_FILE --pretrained_model /PATH/TO/PRETRAINED_MODEL
```