Frequently Asked & Good Questions

[YTEP-ZHI]

We will continually gather both frequently asked- and good questions in this thread.

Frequently Asked Questions

1. Unexpected key when loading stage2 model? Warning message when loading model #97
   Answer: unexpected key in source state_dict: bbox_size_fc.weight, bbox_size_fc.bias, pts_bbox_head.query_embedding.weight, pts_bbox_head.transformer.reference_points.weight, pts_bbox_head.transformer.reference_points.bias
   The unmatched keys come from the code refactor, and will NOT hurt the functionality of the model at all. You can just ignore this warning message.

Good Questions

1. What do we think of the open-loop evaluation? Are the open-loop results practically meaningful?
   We've answered this question from multiple perspectives to make it clarified: Some questions about the open-loop evaluation framework. #29 (comment)

2. Why introduce occupancy in this framework? What's the difference between the BEV occupancy and 3D occupancy? How to generate ground truth lable for occupancy prediction? #36

3. About the generation and usage of high-level command. questions about command generation during inference time #89