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OpenDriveLab / UniAD

[CVPR'23 Best Paper Award] Planning-oriented Autonomous Driving
Apache License 2.0
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why freeze img backbone in both stage? #155

Closed buaazeus closed 6 months ago

buaazeus commented 6 months ago

Could you please explain why img backbone is freezed both in stage1 and stage2? The img backbone weights are pretrained and not updated in UniAD training process. Thank you.

ilnehc commented 6 months ago

@buaazeus Thanks for the question. Training backbones with the tracking module usually need to save gradients for all timestamps, which will cause OOM.