Configuration issue

[zlr111]

Hello, could you provide the baseline configurations for tj4d millimeter-wave radar like PointPillars and PV-RCNN? When I run PointRCNN, the results are very poor, and I encounter errors as soon as I run PointPillars.
Traceback (most recent call last): | 0/1427 [00:00<?, ?it/s]

File "tools/train.py", line 239, in

main()

File "tools/train.py", line 184, in main

train_model(

File "/home/zlr0186/OpenPCDet/tools/train_utils/train_utils.py", line 180, in train_model

accumulated_iter = train_one_epoch(

File "/home/zlr0186/OpenPCDet/tools/train_utils/train_utils.py", line 56, in train_one_epoch

loss, tb_dict, disp_dict = model_func(model, batch)

File "/home/zlr0186/OpenPCDet/pcdet/models/init.py", line 44, in model_func

ret_dict, tb_dict, disp_dict = model(batch_dict)

File "/home/zlr0186/anaconda3/envs/OpenPCDet/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1102, in _call_impl

return forward_call(*input, **kwargs)

File "/home/zlr0186/OpenPCDet/pcdet/models/detectors/pointpillar.py", line 11, in forward

batch_dict = cur_module(batch_dict)

File "/home/zlr0186/anaconda3/envs/OpenPCDet/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1102, in _call_impl

return forward_call(*input, **kwargs)

File "/home/zlr0186/OpenPCDet/pcdet/models/backbones_3d/vfe/pillar_vfe.py", line 96, in forward

voxel_features, voxel_num_points, coords = batch_dict['voxels'], batch_dict['voxel_num_points'], batch_dict['voxel_coords']

KeyError: 'voxels'