Open JaneFo opened 2 months ago
I would like to ask you how this waypoint queries are initialized, i.e., whether it is unimodal or multimodal for predicting the trajectory of the ego vehicle?
Hi @JaneFo, we use unimodal queries. When predicting future waypoints for N steps, we randomly initialize N learnable embeddings as waypoint queries.
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I would like to ask you how this waypoint queries are initialized, i.e., whether it is unimodal or multimodal for predicting the trajectory of the ego vehicle?