From 166eb6ce8364402e3e79de3c38192f9ff9eb7475 Mon Sep 17 00:00:00 2001 From: TJU-Lu Date: Thu, 16 Oct 2025 22:18:32 +0800 Subject: [PATCH] change goal cost to L1 distance --- YOPO/loss/guidance_loss.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/YOPO/loss/guidance_loss.py b/YOPO/loss/guidance_loss.py index 66e111b..e8f00b2 100644 --- a/YOPO/loss/guidance_loss.py +++ b/YOPO/loss/guidance_loss.py @@ -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):