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OpenDriveLab / TCP

[NeurIPS 2022] Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline.
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TCP-SB #54

Closed a1wj1 closed 1 year ago

a1wj1 commented 1 year ago

In your paper, TCP-SB replaces shared encoders of TCP with two sparate ones for two branches. But I don't understand this shared encoders . Can you help me explain which part of the corresponding code？

penghao-wu commented 1 year ago

TCP-SB means we use two separate Resnet-34 encoders to extract image features for the control and trajectory branches.