Run and Eval Pretrain HoP using 2 GPUs ./tools/dist_train.sh ./projects/configs/bevformer_hop/bevformer_tiny_hop_only.py 2 Train BEVFormer with HoP (bi-loss weight 0.25) using 2 GPUs ./tools/dist_train.sh ./projects/configs/bevformer_hop/bevformer_tiny_hop_bi_loss_025.py 2 Test original BEVFormer tiny version using 2 GPUs ./tools/dist_test.sh ./projects/configs/bevformer/bevformer_tiny.py ./ckpts/bevformer_tiny_epoch_24.pth 2 Test enhanced BEVFormer tiny version with HoP (bi-loss weight 0.25) using 2 GPUs ./tools/dist_test.sh ./projects/configs/bevformer_hop/bevformer_tiny_hop_bi_loss_025.py ./ckpts/bevformer_tiny_hop_bi_loss_025_epoch_2.pth 2