About intra-modal spatial perception module parameters update problem

[jiangxb98]

Hello author, in the SimIPU paper, I find that the inter-modal module loss is gradient truncation in the point cloud features. When gradient backpropagation is considered, this step does not contribute to the update of the intra-modal module parameters. Why does adding this loss improve the point cloud 3D object detection performance?

[jiangxb98]

Is the ablation experiment in Table 5 only used for monocular 3D object detection?