torch == 1.8.1
numpy == 1.20.2
MinkowskiEngine == 0.5.3
nuscenes-devkit == 1.1.9
copy
tqdm
pytorch_lightning == 1.4.0
Pillow == 8.3.1
pyquaternion
multiprocessing
scikit-image == 0.18.2
torchvision == 0.9.1
spconv == 1.2.1
torchmetrics == 0.4.0