A Training Objectives Our model is trained from scratch with the semantic loss L

The computational overhead of CluB is 1.2 / 1.3 times that of the BEV -only A detailed comparison is shown in the following table. GPUs and the batch size per GPU is set as 2. Table 2: Ablation study on the effect of the two kinds of object queries for the transformer decoder. Red boxes and green boxes are the predictions and ground-truth, respectively. Transfusion: Robust lidar-camera fusion for 3d object detection with transformers. Fully sparse 3d object detection.