Closed dichencd closed 2 days ago
Thank you very much for your interest in our project!
Theoretically, this approach is available since our goal is to decouple the HDMap from the agent trajectories. However, generating agent trajectories based on road structures presents several challenges, primarily related to our motivation and implementation difficulties:
Thank you very much for your reply!
I wonder whether the implementation difficulties mean that doing conditional diffusion p(x|y) is hard when the condition y is complicated. Or, in other words, diffusion models may not generalize well when the conditional information is too complex (I assume the trajectories are simpler conditional information compared to the hd-map).
Yes, in addition to this issue, another challenge is that decoding the agent trajectory sequences from the BEV trajectory map is difficult.
Thanks!
Hi, thanks for the great work! I have one question regarding the BEV trajectory and hdmap generation. In the paper, the BEV trajectories are generated first, and hdmap is then generated using conditional diffusion model. I wonder whether there are any reasons behind this choice. Why not generate hdmap first and then generate agents adhering to road constraints? Thank you very much!