DCDA uses 4D radar-conditioned diffusion with dual critics to align degraded LiDAR features to a clean manifold, enabling generalization to unseen weather types and severities without paired data or labels.
IEEE Robotics and Automation Letters8(7), 4322–4329 (2023)
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Open-Weather Robust 3D Detection via Dual-Critic Diffusion Alignment
DCDA uses 4D radar-conditioned diffusion with dual critics to align degraded LiDAR features to a clean manifold, enabling generalization to unseen weather types and severities without paired data or labels.