Difference between scene_level_offset_embedding and scene_level_ego_embedding.

[TonyPeng-2018]

Hello! I found 2 scene level embedding from Motionformer which are scene_level_offset_embedding and scene_level_ego_embedding. I am confused about them. Which one should be I^S_T and what is the meaning of the other one? Thanks.

[Yihanhu]

Hi @TonyPeng-2018, Those two are both scene level embeddings. one in local frame and the other one in global frame.

[ZhoubinXM]

scene leve

hi，why rotation_transform used in local frame.