Does FSD need NMS?

[zwqnju]

It seems FSD does not need NMS. But your FSD paper dose not mention this.

[Abyssaledge]

We still use NMS in FSD. But FSD does not heavily rely on NMS. If I recall correctly, removing NMS lead to 2 AP performance drop in Vehicle class.
This is an interesting issue, I hope we keep it open for a couple of days for community reference.