The problem of model feature extraction from decoder

[pisces365]

Hello, thank you for your excellent work. In memfuser.py, how are 2500 and 2501:2506 determined in the features queried from decoder?

        traffic_feature = hs[:, :2500]
        traffic_light_state_feature = hs[:, 2500]
        stop_sign_feature = hs[:, 2500]
        waypoints_feature = hs[:, 2501:2506]

Thanks!

[deepcs233]

Hi!

Sorry for the late reply. I've been very busy lately.

The five features represent the query tokens for the next five waypoints. Waypoints are the coordinates that the autonomous vehicle must reach at specific times.

[pisces365]

Thank you for your reply! By the way, I have another question. How was the number 2500 determined and where is the detailed explanation? @deepcs233

[deepcs233]

Hi!

The number 2500 comes from the 50 $\times$ 50 BEV feature map size.