Hi,
I evaluated the pretrained model provided in this repo, whose result is similar to the StretchBEV-P model in the paper.
However, it seems that ground truth labels for history and current timeframe are involved in the evaluation process. In inference_srvp_generate() function, hx_z contains feature generated from label input.
Under this setting, the comparison with fiery in the paper seems unfair, and the extra data usage in the evaluation doesn't match the caption of table 1 in the paper
... the two versions of our model with (StretchBEV-P) and without (StretchBEV) using the labels for the output modalities in the posterior while learning the temporal dynamics ...