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Nightmare-n / UniPAD

UniPAD: A Universal Pre-training Paradigm for Autonomous Driving (CVPR 2024)
https://arxiv.org/abs/2310.08370
Apache License 2.0
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Question about point feature #6

Closed tjzhym closed 3 months ago

tjzhym commented 5 months ago

when i debug with you code, found that there is no pts_voxel_encoder, thus there is no pts_feat of the output. I can only found you use point surpervise the sdf in "sparse_points_sdf_supervised"?

So how do you use lidar input like your paper?

Nightmare-n commented 4 months ago

Thanks for your interest! We currently only release the code for image modality, and the complete code (for point modality and multi-modality) will be released soon.