Hi,
Mainly I want to clarify the intent of how the images are paired for the loss in case I misunderstand.. MapNet ensures global consistency via its clever relative loss. I'm just having hardtime grasping intuitively why a value of skip defaults to 10. It is a hyperparam and for sure can be optimized but you providing it as the default must mean you had good results for that value.

To that extent, skip=10 means if the dataloader picks an index of say 36, given steps=3, the loader would pick the images indexed: [26, 36, 46] with a gap of 10 images.

But doesn't it mean you're picking images which are farther apart chronologically, and thus also in translation. (a person collecting the data moving at 1m/sec means the 3 images would be 10 meters apart, so we loose the point of relative loss).

Actually I trained my own model with the default hyperparams and then with skip=1 and I got poorer results so I wanted to clarify the intent of how the images are paired for the loss in case I misunderstand.

Thank you for your time.