How to do ablation experiment?

[lzf18]

Dear @Yihanhu ,

I hope this message finds you well. My username is @lzf18, and I've been exploring UniAD with great interest. First and foremost, I would like to express my appreciation for your valuable contributions.

I came across your project and was particularly intrigued by the topic of "ablation experiments". I am interested in learning more about how you conducted these experiments and was wondering if you could kindly provide some insights on the methodology.

My understanding is that we only need to modify the coefficients corresponding to the loss function of different modules. For example, we should set track=0, map=0, motion=0, occ=0, planning=1 if we want to do the Exp.10 in the picture.

task_loss_weight=dict( track=1.0, map=1.0, motion=1.0, occ=1.0, planning=1.0 )

Is that right?

Thank you very much for your time and consideration. Looking forward to your kind response.

Best regards

[Yihanhu]

Hi @lzf18 , Thanks for your interest, The plan query only used command and learned embedding, and planning has no connection with other tasks.