refactor(lidar_centerpoint): add training docs #19825
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perception/lidar_centerpoint/README.md#L84
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perception/lidar_centerpoint/README.md#L114
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perception/lidar_centerpoint/README.md#L146
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perception/lidar_centerpoint/README.md#L146
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perception/lidar_centerpoint/README.md#L162
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perception/lidar_centerpoint/README.md#L163
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perception/lidar_centerpoint/README.md#L201
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