The number of NMS

[hangxu124]

The number of NMS

[neeharperi]

We need to perform NMS on each timestep independently to avoid suppressing future detections from stationary objects. You may be able to modify the NMS code to take into consideration the timestep of each future prediction to avoid the issue described above so you only need to run NMS once.

I am currently working on a newer version of this code that is based on the mmdetection3d framework, supports nuScenes and Argoverse 2, and allows for multi-class FutureDet. I can try to address this problem here. I expect to release this in the next few days.