From 7903eadbcf5a5592b90990c02ab9ff15ba332129 Mon Sep 17 00:00:00 2001 From: ilnehc Date: Mon, 7 Aug 2023 07:04:09 +0000 Subject: [PATCH] fix planning cumsum dimension --- projects/mmdet3d_plugin/uniad/dense_heads/planning_head.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/projects/mmdet3d_plugin/uniad/dense_heads/planning_head.py b/projects/mmdet3d_plugin/uniad/dense_heads/planning_head.py index a264b84..6eb5a56 100644 --- a/projects/mmdet3d_plugin/uniad/dense_heads/planning_head.py +++ b/projects/mmdet3d_plugin/uniad/dense_heads/planning_head.py @@ -188,7 +188,7 @@ def forward(self, plan_query = self.attn_module(plan_query, bev_feat) # [1, 1, 256] sdc_traj_all = self.reg_branch(plan_query).view((-1, self.planning_steps, 2)) - sdc_traj_all[...,:2] = torch.cumsum(sdc_traj_all[...,:2], dim=2) + sdc_traj_all[...,:2] = torch.cumsum(sdc_traj_all[...,:2], dim=1) sdc_traj_all[0] = bivariate_gaussian_activation(sdc_traj_all[0]) if self.use_col_optim and not self.training: # post process, only used when testing