Has the author tried returning to velocity in centerhead?

[xjturjc]

DENSE_HEAD:
    NAME: CenterHead
    CLASS_AGNOSTIC: False

    CLASS_NAMES_EACH_HEAD: [
        ['Vehicle', 'Pedestrian', 'Cyclist']
    ]

    SHARED_CONV_CHANNEL: 64
    USE_BIAS_BEFORE_NORM: True
    NUM_HM_CONV: 2
    IOU_WEIGHT: 1
    SEPARATE_HEAD_CFG:
        HEAD_ORDER: ['center', 'center_z', 'dim', 'rot', 'vel', 'iou']
        HEAD_DICT: {
            'center': {'out_channels': 2, 'num_conv': 2},
            'center_z': {'out_channels': 1, 'num_conv': 2},
            'dim': {'out_channels': 3, 'num_conv': 2},
            'rot': {'out_channels': 2, 'num_conv': 2},
            'vel': {'out_channels': 2, 'num_conv': 2},
            'iou': {'out_channels': 1, 'num_conv': 2},
        }

    TARGET_ASSIGNER_CONFIG:
        FEATURE_MAP_STRIDE: 8
        NUM_MAX_OBJS: 500
        GAUSSIAN_OVERLAP: 0.1
        MIN_RADIUS: 2

    LOSS_CONFIG:
        LOSS_WEIGHTS: {
            'cls_weight': 1.0,
            'loc_weight': 2.0,
            'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.2, 0.2]

I added velocity to the centerhead in the configuration file, referring to the source code of Centerpoint. However, the detector results are basically the same for pedestrians, but the vehicle is 10 points behind. Has the author tried adding velocity detection?