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OpenDriveLab / TCP

[NeurIPS 2022] Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline.
Apache License 2.0
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code #39

Closed a1wj1 closed 11 months ago

a1wj1 commented 12 months ago

This code doesn't match the formulas in the paper. Could you please help explain,?

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a1wj1 commented 12 months ago

In j_ctrl = self.join_ctrl(torch.cat([feature_emb, measurement_feature], 1))，why not h_ctl but measurement_feature

penghao-wu commented 12 months ago

This is the initial step so the measurement feature is used instead of h_ctrl. image