There are some questions about the details of the paper

[ZZXin]

Hi, thanks for your awesome job. There are some questions about the details of the paper: In the design of loss, why use heatmap-like supervision for the visibility of object instead of nuscenes_att-like supervision?

[pvtokmakov]

Hi,

sorry for the late reply :) We haven't done a thorough investigation of the best approach for supervising the visibility head. Heatmap just seemed like the most natural thing to do, but there might well be better approaches for this.