Frequently Asked & Good Questions

[YTEP-ZHI]

We will continually gather both frequently asked- and good questions in this thread.

Frequently Asked Questions

1. Unexpected key when loading stage2 model? https://github.com/OpenDriveLab/UniAD/issues/97 Answer: unexpected key in source state_dict: bbox_size_fc.weight, bbox_size_fc.bias, pts_bbox_head.query_embedding.weight, pts_bbox_head.transformer.reference_points.weight, pts_bbox_head.transformer.reference_points.bias The unmatched keys come from the code refactor, and will NOT hurt the functionality of the model at all. You can just ignore this warning message.

Good Questions

1. What do we think of the open-loop evaluation? Are the open-loop results practically meaningful?
   We've answered this question from multiple perspectives to make it clarified: https://github.com/OpenDriveLab/UniAD/issues/29#issuecomment-1583070151

2. Why introduce occupancy in this framework? What's the difference between the BEV occupancy and 3D occupancy? https://github.com/OpenDriveLab/UniAD/issues/36

3. About the generation and usage of high-level command. https://github.com/OpenDriveLab/UniAD/issues/89