hello，Why can't I get the same results as paper with the lidar-2d dataset，is there something wrong?

[YukioSama]

No description provided.

[YukioSama]

I get much lower results than paper

[zwqnju]

My result was also not as good as the paper.
In the paper, the class-level result is:
Class Precision Recall IOU
Car 66.7 95.4 64.6
Ped 45.2 29.7 21.8
Cyclist 35.7 45.8 25.1

If using the model file in this, the result is:
car:
Pixel-seg: P: 0.656, R: 0.965, IoU: 0.641
pedestrian:
Pixel-seg: P: 0.328, R: 0.290, IoU: 0.182
cyclist:
Pixel-seg: P: 0.314, R: 0.610, IoU: 0.261

However, I trained the model and got the following result on the validation set:
car:
Pixel-seg: P: 0.666, R: 0.960, IoU: 0.648
pedestrian:
Pixel-seg: P: 0.198, R: 0.359, IoU: 0.146
cyclist:
Pixel-seg: P: 0.274, R: 0.611, IoU: 0.233