Trajectory prediction

[JaneFo]

I would like to ask you how this waypoint queries are initialized, i.e., whether it is unimodal or multimodal for predicting the trajectory of the ego vehicle?

[liyingyanUCAS]

Hi @JaneFo, we use unimodal queries. When predicting future waypoints for N steps, we randomly initialize N learnable embeddings as waypoint queries.

[JaneFo]

您好，我是付峥，来信我已收到，我会在查收邮件之后给您回复。

[drilistbox]

@liyingyanUCAS May I ask what is the detail setting for query and query_pos of waypoints.

[JaneFo]

您好，我是付峥，来信我已收到，我会在查收邮件之后给您回复。

[liyingyanUCAS]

@liyingyanUCAS May I ask what is the detail setting for query and query_pos of waypoints.

They are learnable embeddings, which are fulfilled by nn.Parameter.