How Do You Test Neural Networks?

The language models help us in two ways. The first way is that it lets us predict lanes that we couldn't have otherwise. If you just don't have sufficient visual information to know precisely how things look on the other side of the intersection, so you need a method that can generalize and produce coherent predictions. You don't want to be predicting two lanes and three lanes at the same time. It's just not possible to do that without making it a graph prediction.

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