The data format does not match the code

[13596673883]

Hello, I met the following problem in my replaying SparseDrive closed-loop project, I hope to help me answer it, thank you.

2025-12-04 19:32:24,143 - mmdet - INFO - Checkpoints will be saved to /home/sjm/SparseDrive-main/close_loop/SparseDrive_MomAD/work_dirs/sparsedrive_small_b2d_stage1 by HardDiskBackend.
Traceback (most recent call last):
File "adzoo/sparsedrive/train.py", line 323, in
main()
File "adzoo/sparsedrive/train.py", line 298, in main
custom_train_model(
File "/home/sjm/SparseDrive-main/close_loop/SparseDrive_MomAD/mmdet3d_plugin/apis/train.py", line 29, in custom_train_model
custom_train_detector(
File "/home/sjm/SparseDrive-main/close_loop/SparseDrive_MomAD/mmdet3d_plugin/apis/mmdet_train.py", line 219, in custom_train_detector
runner.run(data_loaders, cfg.workflow)
File "/home/sjm/.conda/envs/zoo/lib/python3.8/site-packages/mmcv/runner/iter_based_runner.py", line 144, in run
iter_runner(iter_loaders[i], **kwargs)
File "/home/sjm/.conda/envs/zoo/lib/python3.8/site-packages/mmcv/runner/iter_based_runner.py", line 61, in train
data_batch = next(data_loader)
File "/home/sjm/.conda/envs/zoo/lib/python3.8/site-packages/mmcv/runner/iter_based_runner.py", line 34, in next
data = next(self.iter_loader)
File "/home/sjm/.conda/envs/zoo/lib/python3.8/site-packages/torch/utils/data/dataloader.py", line 530, in next
data = self._next_data()
File "/home/sjm/.conda/envs/zoo/lib/python3.8/site-packages/torch/utils/data/dataloader.py", line 1224, in _next_data
return self._process_data(data)
File "/home/sjm/.conda/envs/zoo/lib/python3.8/site-packages/torch/utils/data/dataloader.py", line 1250, in _process_data
data.reraise()
File "/home/sjm/.conda/envs/zoo/lib/python3.8/site-packages/torch/_utils.py", line 457, in reraise
raise exception
KeyError: Caught KeyError in DataLoader worker process 0.
Original Traceback (most recent call last):
File "/home/sjm/.conda/envs/zoo/lib/python3.8/site-packages/torch/utils/data/_utils/worker.py", line 287, in _worker_loop
data = fetcher.fetch(index)
File "/home/sjm/.conda/envs/zoo/lib/python3.8/site-packages/torch/utils/data/_utils/fetch.py", line 49, in fetch
data = [self.dataset[idx] for idx in possibly_batched_index]
File "/home/sjm/.conda/envs/zoo/lib/python3.8/site-packages/torch/utils/data/_utils/fetch.py", line 49, in
data = [self.dataset[idx] for idx in possibly_batched_index]
File "/home/sjm/SparseDrive-main/close_loop/SparseDrive_MomAD/mmdet3d_plugin/datasets/b2d_3d_dataset.py", line 272, in getitem
data = self.get_data_info(idx)
File "/home/sjm/SparseDrive-main/close_loop/SparseDrive_MomAD/mmdet3d_plugin/datasets/b2d_3d_dataset.py", line 294, in get_data_info
token=info['token'],
KeyError: 'token'