COMMASCOD

    def _setup_router(self, control_types: List[str] = ['hdmap', 'lidar']):
        """为self.model.model.net设置Router"""
        if self.router_type == "original":
            log.info("Using original control weights for multi-control mode")
            return
        # FIXME:这里是硬编码
        self.router_type = "mlp"
        # self.model.model.net设置router参数以及ControlRouterManager
        if hasattr(self.model.model, "net"):
            self.model.model.net.control_router = ControlRouterManager(