Question about long-term fusion performance

[hanchunrui]

What's the difference in the setting between the two experiments about long-term fusion? I think their results should be the same.

[Divadi]

The released codebase, Table 6, and the final models use BEVDepth repository's formulation for the depth loss. Table 4 is from slightly earlier experiments I did where I used BEVDet's reproduction of BEVDepth's depth loss. the two implementations have some minor differences, and I adopted BEVDepth's loss for its slightly better performance. Each table is self-consistent, however (same in all settings besides the ablated components).