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change goal cost to L1 distance

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This commit is contained in:
TJU-Lu 2025-10-16 22:18:32 +08:00
parent cd0008c94e
commit 166eb6ce83
1 changed files with 4 additions and 3 deletions
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7
YOPO/loss/guidance_loss.py
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@ -26,9 +26,10 @@ class GuidanceLoss(nn.Module):
traj_dir = end_pos - cur_pos # [B, 3]
goal_dir = goal - cur_pos # [B, 3]
# NOTE: distance_loss performs better in general tasks, while we choose terminal_aware_similarity_loss only for higher speed in large-scale scenario.
# guidance_loss = self.distance_loss(traj_dir, goal_dir)
guidance_loss = self.terminal_aware_similarity_loss(traj_dir, goal_dir)
# NOTE: trajectory with distance_loss is straighter and reaches the goal more accurately,
# while our pre-trained model choose terminal_aware_similarity_loss only for higher speed in large-scale scenario.
guidance_loss = self.distance_loss(traj_dir, goal_dir)
# guidance_loss = self.terminal_aware_similarity_loss(traj_dir, goal_dir)
return guidance_loss
def distance_loss(self, traj_dir, goal_dir):