The code for SIoU Loss is located in the yolov5-5.0/utils/general.py path.

The code for Decoupled Heads (DHs) is located in the yolov5-5.0/models/yolo.py path.

The code for the GAMGC attention mechanism is located in the yolov5-5.0/models/common.py and yolov5-5.0/models/yolov5s_gam.yaml paths.

The categories and paths of the three datasets can be modified in the udacity-selfdriving.yaml, BDD100.yaml, and KITTI.yaml files located in the yolov5-5.0/data path.