Hao Shao

> Thank you for the quick response. So, to be clear "gps_x" and "gps_y" are the goal locations, and "x" and "y" define the current ground truth position of the...

Hi! About this question. i recommend you to refer this page: https://github.com/opendilab/InterFuser/blob/main/leaderboard/team_code/interfuser_agent.py In a word, the agent controller receives the path and traffic prediction of the model. And then compute...

Hi! (1) It can be found in https://github.com/opendilab/InterFuser/blob/main/interfuser/timm/models/interfuser.py (2) No, the traffic light predictor can utilize the feature from all sensors in our framework. (3) The traffic light detection has...

Hi (1) Interfuser doesn't imitate the expert traj, it only predictes the driving route. (2) Yes, if "Is_junction" is True, we will ignore the output of the traffic light predictor....

In our released code, we ignore the output of the "junction" (because junction is alwayas greater than 0 (after softmax)). The reaction to the traffic light is depended on the...

Hi! 2D_bbs was not being used in our project. We collected it with the intention of using it in the future. Besides, the 2d_bbs is in the image(ego-vehicle) coordinate system.

Hi, It's better to train the model with the same batch size. However, if you're limited by the number of GPUs or available GPU memory, adjusting the learning rate proportionally...

Hi! 1. We train the model on 8A100 with 3~5 days (it usually depends on the io speed). 2. The dataset we used is about 1-2T 3. We do not...

Yes, the weights is trianed on a subset of the FULL dataset. And I think generating the full dataset is a prerequisite for reproducing the results of the paper.

@Mariusmarten @zhenggruk Hi, The pretrain weights we used is from PyTorch-Vision repo.