UniAD

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Deriving command from ego trajectory for planning GT

1

Hi team, Would you mind double-checking the following code block on why using the index of 0 to derive the command? mask = planning_mask_all[0].any(axis=1) if mask.sum() == 0: command =...

xinshuoweng

https://github.com/OpenDriveLab/UniAD/blob/2f38ff1357d3956af11c5609d5275db56c559c20/projects/mmdet3d_plugin/uniad/detectors/uniad_e2e.py#L263-L283 On line 267, update `self.prev_frame_info['scene_token']` so it is not `None`. As a result, on line 277, the condition is always evaluated as `False`. Is this intended behavior?

whystopped

About IDS indicators

2

Thanks to the author for the proposed method. I found 'nan' in some categories of IDS indicators during eval. What does this mean? "ids": { "bicycle": NaN, "bus": NaN, "car":...

haichen-ber

How to do ablation experiment?

1

Dear @Yihanhu , I hope this message finds you well. My username is @lzf18, and I've been exploring UniAD with great interest. First and foremost, I would like to express...

lzf18

Question Regarding Exp.10 in Table 2 - Training Method for Planning-Only Experiment

4

Hi authors, Thanks for the great work. It is truly impressive! Regarding Exp.10 in Table 2, I have a few questions about the 'planning-only' experiment. Could you please provide some...

ChristinaTan0704

How to align the gt_bbox_3d on the (200, 200, 256) BEV map?

3

Hi authors, I'm wondering the gt_bbox_3d format. Does the 9-D box in format of (center_x, center_y, center_z, width, height, depth, angle, velocity_x, velocity_y)? Then, if so, how to align the...

Christinepan881

KeyError: 'traj'

7

Hello, I encountered the following error when executing the visualization command: ```bash (uniad38) jarvis@jia:~/coding/pyhome/github.com/meua/UniAD$ ./tools/uniad_vis_result.sh ====== Loading NuScenes tables for version v1.0-trainval... 23 category, 8 attribute, 4 visibility, 64386 instance,...

meua

Hi, I came across a problem when studying the code and examining the output of MapFormer: the 'stuff_score_list' generated by `PansegformerHead.get_bboxes()` is always empty. As far as I know, this...

zengyf131

Closed-loop training and testing in simulator & real world

1

Hello, I would like to ask whether the code integrated with the simulation environment Carla mentioned in https://opendrivelab.com/e2ead/UniAD_plenary_talk_slides.pdf this slides has been open sourced. If so, where should I find...

meua

NameError: name 'planning_evaluation_strategy' is not defined

7

Traceback (most recent call last): File "./tools/test.py", line 263, in main() File "./tools/test.py", line 124, in main cfg = Config.fromfile(args.config) File "/root/miniconda3/envs/uniad/lib/python3.8/site-packages/mmcv/utils/config.py", line 331, in fromfile cfg_dict, cfg_text = Config._file2dict(filename,...

Wright-bit