The problem of occupancy prediction by bevformer

[LucasYang567]

Hello,

occupancy_classes is set to 16 in the paper, but there are 17 labels in gt_occ (consider free space). So I wanted to ask whether the first (from the original) or the second is more appropriate.

occupancy_preds = occupancy_preds.view(-1, self.occupancy_classes)
occupancy_preds = occupancy_preds.view(-1, self.occupancy_classes + 1)

I also found that both options can be trained and the initial loss of the first is much lower than that of the second.