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Traffic Light query和Waypoint queries作为query #92

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CoderXuans opened this issue Nov 1, 2024 · 1 comment
Open

Traffic Light query和Waypoint queries作为query #92

CoderXuans opened this issue Nov 1, 2024 · 1 comment

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@CoderXuans
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@deepcs233
我在memfuser.py文件中发现Memfuser类最终返回经过预测头的traffic、经过预测头的waypoints、经过预测头的traffic_light_state、经过预测头的stop_sign、BEV特征图，请问将Traffic Light query和Waypoint queries作为query输入给BEV Decoder在哪里体现出来的呢？
@CoderXuans
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我的理解是在训练视觉编码器的时候将下一个航点作为输入给decoder，从而成为query，对吗？

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@CoderXuans