4 waypoints used instead of 5?

autonomousvision / neat

[ICCV'21] NEAT: Neural Attention Fields for End-to-End Autonomous Driving

MIT License

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4 waypoints used instead of 5? #5

Closed cozeybozey closed 1 year ago

cozeybozey commented 2 years ago

Hi, I am taking a look at your code and I noticed you predict 5 waypoints in the decoder network, but you only use 4 waypoints for actually controlling the car. You do not use the first predicted waypoint and I was wondering why you would do that.

Thanks in advance!

ap229997 commented 2 years ago

The decoder predicts the current timestep and 4 future timesteps and we require the future timesteps predictions for controller.