Inference with navi cmd

[Jacobew]

Hi, i wonder is there any information leak in the training of SSR, since navi cmd is generated by the ground truth of future ego trajectory.

In other words, how can we obtain the navi cmd during inference? I believe that the 3 types of cmd is not enough to cover the complex scene in real world scenarios and obtaining the "gt" cmd during inference is not trivial.

Looking forward to your reply and i will really appreciate it if you point out any misunderstandings above~

[PeidongLi]

The generation of navi command follows previous work VAD. I think the discrete representation should not be seemed as a leak.
For inference, the command can also transformed from navigation routing. Furthermore, the navigation routing can also be directly used to enhance the BEV feature instead of the commands.