Imitation with Spatial-Temporal Heatmap: 2nd Place Solution for NuPlan Challenge

no code implementations • 26 Jun 2023 • Yihan Hu, Kun Li, Pingyuan Liang, Jingyu Qian, Zhening Yang, Haichao Zhang, Wenxin Shao, Zhuangzhuang Ding, Wei Xu, Qiang Liu

This paper presents our 2nd place solution for the NuPlan Challenge 2023.

Autonomous Driving

HOPE: Hierarchical Spatial-temporal Network for Occupancy Flow Prediction

no code implementations • 21 Jun 2022 • Yihan Hu, Wenxin Shao, Bo Jiang, Jiajie Chen, Siqi Chai, Zhening Yang, Jingyu Qian, Helong Zhou, Qiang Liu

In this report, we introduce our solution to the Occupancy and Flow Prediction challenge in the Waymo Open Dataset Challenges at CVPR 2022, which ranks 1st on the leaderboard.

AFDetV2: Rethinking the Necessity of the Second Stage for Object Detection from Point Clouds

no code implementations • 16 Dec 2021 • Yihan Hu, Zhuangzhuang Ding, Runzhou Ge, Wenxin Shao, Li Huang, Kun Li, Qiang Liu

From this observation, we have devised a single-stage anchor-free network that can fulfill these requirements.

Computational Efficiency object-detection +1

Real-Time Anchor-Free Single-Stage 3D Detection with IoU-Awareness

no code implementations • 29 Jul 2021 • Runzhou Ge, Zhuangzhuang Ding, Yihan Hu, Wenxin Shao, Li Huang, Kun Li, Qiang Liu

Extended from our last year's award-winning model AFDet, we have made a handful of modifications to the base model, to improve the accuracy and at the same time to greatly reduce the latency.

Data Augmentation