HMAD integrates BEVFormer, DiffusionDrive-style anchor offsets, and a Hydra-MDP-style scoring network to achieve 65.94 EPDMS on the NAVSIM warmup benchmark and 44.5% on the CVPR 2025 private test set.
From semi-supervised to omni-supervised room layout esti- mation using point clouds
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HMAD: Advancing E2E Driving with Anchored Offset Proposals and Simulation-Supervised Multi-target Scoring
HMAD integrates BEVFormer, DiffusionDrive-style anchor offsets, and a Hydra-MDP-style scoring network to achieve 65.94 EPDMS on the NAVSIM warmup benchmark and 44.5% on the CVPR 2025 private test set.