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swc-17 / SparseDrive

SparseDrive: End-to-End Autonomous Driving via Sparse Scene Representation
MIT License
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det_head config #50

Open bowang9711 opened 4 hours ago

bowang9711 commented 4 hours ago

Could you please clarify the rationale behind the inclusion of a [2:] slicing operation in the operation_order of det_head within the configuration, while it is absent in the map component? 1

swc-17 commented 3 hours ago

Sparse4Dv2 initializes instance features as 0 and removes first two layers in single_frame_decoder, which improves detection performance. However, in our previous experiment, it's not helpful to online mapping, so we keep all layers for mapping.