def forward(self, return_loss=True, **kwargs):
        """Calls either forward_train or forward_test depending on whether
        return_loss=True.
        Note this setting will change the expected inputs. When
        `return_loss=True`, img and img_metas are single-nested (i.e.
        torch.Tensor and list[dict]), and when `resturn_loss=False`, img and
        img_metas should be double nested (i.e.  list[torch.Tensor],
        list[list[dict]]), with the outer list indicating test time
        augmentations.
        """
        if return_loss:
            return self.forward_train(**kwargs)
        else:
            return self.forward_test(**kwargs)
Calls either forward_train or forward_test depending on whether
        return_loss=True.
        Note this setting will change the expected inputs. When
        `return_loss=True`, img and img_metas are single-nested (i.e.
        torch.Tensor and list[dict]), and when `resturn_loss=False`, img and
        img_metas should be double nested (i.e.  list[torch.Tensor],
        list[list[dict]]), with the outer list indicating test time
        augmentations.
        
projects/mmdet3d_plugin/VAD/VAD.py