Question about the distributions of the image and BEV reconstruction

[KevinDu1]

In the paper, the BEV reconstruction is modeled as the categorical distribution p(yt|ht, st) ∼ Categorical(lθ(ht, st)), and the image reconstruction ot ∼ N (gθ(ht, st), I), but it's not clear to me in the code how these two distributions are implemented. So please tell me how the categorical distribution and normal distribution is done and exactly where in the code.

[anthonyhu]

The model outputs the logits of the BEV categorical representation in https://github.com/wayveai/mile/blob/main/mile/models/mile.py#L197

The corresponding segmentation loss is defined here: https://github.com/wayveai/mile/blob/main/mile/losses.py#L8