hipad_b2d_stage2.py epcohs?

[jjk-l]

In the hipad_b2d_stage2 setup that you released, the number of epochs is set to 18, but in the paper it is stated as 6. Which one is correct?
Should I set load_from to the Stage 1 checkpoint path and train for 6 epochs?

[InchSoup]

The code we released simplifies the training workflow, we recommend 18 epochs for training, since more iterations lead to more stable perception which benefits planning. Empirically, 6 epochs can still achieve competitive performance.

[jjk-l]

After training Stage 1 for 12 epochs, would it be okay to use the resulting checkpoint and then train Stage 2 for 6 epochs?

[yyongjae]

Im also confused with it.
stage1 for 12 epochs, stage2 for 6 epochs -> is it right?