LAV
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Some question about the code
Hi Chen, thanks for the wonderful work. I would like to ask you some questions about the code in lav_agent.py
.
- Does the npxs means the next target point about 50m away? Show as the green point in the video?
https://github.com/dotchen/LAV/blob/2d00c6276d1a72f45627b4b9b418cd2ccad0b994/team_code/lav_agent.py#L218
- In the inference phase i.e. using LAV agent, is it redundant to load the
bev_model
? Since I think thebev_planner
(teacher) only used to generate soft labels forUniPlanner
(student) to learn in the training time. - One of the output of the lidar_model is named
pred_heatmaps
, but I think the corresponding output is the center location of other vehicles. Could you explain what aheatmap
is? https://github.com/dotchen/LAV/blob/2d00c6276d1a72f45627b4b9b418cd2ccad0b994/team_code/lav_agent.py#L220-L224 https://github.com/dotchen/LAV/blob/2d00c6276d1a72f45627b4b9b418cd2ccad0b994/lav/models/lidar.py#L34-L44
- Yes
- Absolutely correct. You can remove it from the code but you will need to add a
strict=False
when loading the weights. -
pred_heatmap
is the predicted Gaussian "object centerness" map. It follows the CenterNet/CenterPoint [1,2] formulation
[1] Objects as Points, Zhou et al., 2019 [2] Center-based 3D Object Detection and Tracking, Yin et al., 2021