meaning of provided result files

[yrt1993]

Hi, I want to know the detailed meaning of the result file in the resources provides in the link:
https://github.com/tusen-ai/SST/blob/main/docs/CTRL_instructions.md#results

specifically, how do you get these files? i.e., their difference?
fsd_base_ped_val.bin
fsd_base_ped_val_forward10.bin
ped_result.bin
ped_result_forward10_no_empty.bin

[Abyssaledge]

fsd_base_ped_val.bin: tracking/detection results of base detector
fsd_base_ped_val_forward10.bin: tracking/detection results of the base detector with filling missing boxes in forward extension.
ped_result.bin: CTRL baseline results on Pedestrian without bidirectional extension
ped_result_forward10_no_empty.bin: CTRL results on Pedestrian with forward extension and the empty boxes are removed.
forward10 means filling missing boxes in forward extension, filling at most 10 consecutively missing timestamps.

[yrt1993]

I tried to use the four files to compute waymo metrics. The following is what I get.
It's really large just using fsd_base_ped_val.bin. Are you sure it's just the results of base detector？

And what's the detector?

fsd_base_ped_val.bin
OBJECT_TYPE_TYPE_PEDESTRIAN_LEVEL_1: [mAP 0.863252] [mAPH 0.838515]
OBJECT_TYPE_TYPE_PEDESTRIAN_LEVEL_2: [mAP 0.798981] [mAPH 0.774175]
fsd_base_ped_val_forward10.bin
OBJECT_TYPE_TYPE_PEDESTRIAN_LEVEL_1: [mAP 0.870338] [mAPH 0.845087]
OBJECT_TYPE_TYPE_PEDESTRIAN_LEVEL_2: [mAP 0.808826] [mAPH 0.783306]
ped_result.bin
OBJECT_TYPE_TYPE_PEDESTRIAN_LEVEL_1: [mAP 0.872514] [mAPH 0.845624]
OBJECT_TYPE_TYPE_PEDESTRIAN_LEVEL_2: [mAP 0.809663] [mAPH 0.782687]
ped_result_forward10_no_empty.bin
OBJECT_TYPE_TYPE_PEDESTRIAN_LEVEL_1: [mAP 0.887341] [mAPH 0.859652]
OBJECT_TYPE_TYPE_PEDESTRIAN_LEVEL_2: [mAP 0.828941] [mAPH 0.800911]