VAD

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Question about L2 computation

2

Hi, and thank you for your work. When reviewing your evaluation code I find that your computation of the L2 displacement error ([here](https://github.com/hustvl/VAD/blob/1ede800a517653837faf78b5ec1c3b5fc3ec77b5/projects/mmdet3d_plugin/VAD/VAD.py#L624C1-L629C1)) is computed using the average displacement error...

wljungbergh

Questions on Carla Evaluation

3

Hi, I have few questions regarding Carla results. 1) For the paper, have you trained VAD on Carla and then reported the evaluation results or used your open loop checkpoint...

byaman14

When will VADv2 be open sourced?

24werewolf

Ego-states used in VAD

1

Hi, Thanks for your great work and contribution to the community. I noticed that [here](https://github.com/hustvl/VAD/blob/main/projects/mmdet3d_plugin/bevformer/modules/transformer.py#L158) and [here](https://github.com/hustvl/VAD/blob/main/projects/configs/VAD/VAD_base_e2e.py#L170) in your code are actually using ego-states from can-bus as initialized queries in...

PointsCoder

Problem of reproduced results

4

Hello, Thank you for your great work! Below is my reproduced results, I found _plan_L2_ is the same with paper's, but the _plan_obj_box_col_ is not, I don't konw why. Do...

JuiceLemonLemon

Dose the code take ego status information as input by default?

1

Hello, thank you for your great work! I find you write below comment in your paper: _‡ denotes taking ego status information as input._ So I want to konw whether...

JuiceLemonLemon

Training on different datasets

1

Hi, Thank you for your work. I was wondering if you are aware of any efforts in training/validating your work on other datasets e.g., Argoverse2, Waymo, or ZOD?

wljungbergh

Perception without tracking task

1

Why does Agent Query directly perform motion transformer without performing tracking tasks? Will this reduce performance?

chenzyhust

Why the rotate_center is always [100,100] in both tiny and base config?

1

I found that the setting "rotate_prev_bev" in config is always set to True, which means the prev bev feat needs to be rotated. But the rotate_center is always equal to...

FlyingSong888

Why does the batch size fix to 1?

1

i find the batch fix to 1, what is the reason?

rOtking