The reproduced results differ significantly.

[doraemonaaaa]

Hi, I used default config and checkpoint, but the experiment results is quiet different in collision rate:
-------------- Planning --------------
plan_L2_1s:0.2827293607058326
plan_L2_2s:0.5788101905728457
plan_L2_3s:0.9886183583406499
plan_obj_col_1s:0.0
plan_obj_col_2s:4.883766360617308e-05
plan_obj_col_3s:3.255844337443258e-05
plan_obj_box_col_1s:0.0002930259816370385
plan_obj_box_col_2s:0.0009279156085172885
plan_obj_box_col_3s:0.0028325845561099254
fut_valid_flag:1.0

[doraemonaaaa]

I also encountered another issue. When I used the same config and code you provided to train a checkpoint, the test results from my checkpoint were different from the results you reported

plan_L2_1s:0.27676415518614
plan_L2_2s:0.5551009093724723
plan_L2_3s:0.9383020224113705
plan_obj_col_1s:0.0
plan_obj_col_2s:0.0
plan_obj_col_3s:3.255844337443258e-05
plan_obj_box_col_1s:0.0012697792537605002
plan_obj_box_col_2s:0.001172103926548154
plan_obj_box_col_3s:0.00406980541598217
fut_valid_flag:1.0