Closed RomanticLeon closed 3 years ago
masked_scatter allows for more efficient batching for the encoder LSTMs and the conv social pooling layers during training. There will typically be a different number of neighboring vehicles for each training instance. During the forward pass, all neighboring vehicles in a minibatch are pooled together and processed by the encoder LSTM. The masked_scatter function then places the LSTM states for each vehicle at the appropriate cell location, for the appropriate training instance.