Where is the Safety Mind Map?

[smspsenior]

Hi InterFuser developers,

In the Introduction section of the InterFuser research paper, you mentioned that the model also outputs a Safety Mind Map that provides information on surrounding objects and traffic signs (shown in the image attached). However, I couldn't find any explanation on how to generate it in the paper or the github page.

Have you considered revealing the code or the concept to generate it? Thank you very much!