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woodfrog / maptracker

Code for paper "MapTracker: Tracking with Strided Memory Fusion for Consistent Vector HD Mapping", ECCV 2024 (Oral)
https://map-tracker.github.io/
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Stage training problem #4

Closed TmacTmac1992 closed 5 months ago

TmacTmac1992 commented 5 months ago

Hi, thanks for open-souring this awesome work! Have you compare stage 1-3 training method verse only stage 3 joint training?

woodfrog commented 5 months ago

The three-stage training is better than only stage-3 joint training with our computation resources (8xA5000, 24GB memory each). A large batch size benefits the convergence at early training of the vector module, so the stage-2 warmup is important (the BEV module is pre-trained and frozen, making it possible for a large batch size). I'm not sure if the conclusion would change when training stage 3 only on GPUs with larger memory (like A100 80G).