Label of drivabel area

[Jena-Peanut]

Hi

Thanks for the remarkable work.

During testing of my own model on your dataset, I find a weird thing: it seems that there's no specific label for drivable area, right? Instead there's only background surface, which not only contain drivable path, but also some other staffs on the side of the road, such as some terrain and vegetation. Following is an instance:

this is the visualized occ

this is the lidar

and this is the front view of camera

you can see there are some voxel grids that are labeled same as the path in the middle, which is bg_surface, while they are actually not part of it. It seems to me that you don't distinguish drivabel area. Do I get it right? How can I distinguish the drivable area specifically?