Point density, not architecture, was the bottleneck for a 5-class radar-only object [P]

Hello all, TL;DR: point density, not model architecture, was the real bottleneck for a 5-class radar-only classifier on RadarScenes. Going from 1 to 5 points per instance roughly doubles macro F1 (0.381 → 0.764), while a whole set of architecture and feature changes all landed inside a measured nois