Introduces PKL to rank planning-critical occluded agents, creates a VLM-annotated benchmark on nuScenes, and shows fine-tuning on this data improves performance ~30% over random selection with smaller models outperforming larger zero-shot counterparts.
The efficacy of neural planning metrics: A meta-analysis of pkl on nuscenes.arXiv preprint arXiv:2010.09350, 2020
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What's Hidden Matters: Identifying Planning-Critical Occluded Agents using Vision-Language Models
Introduces PKL to rank planning-critical occluded agents, creates a VLM-annotated benchmark on nuScenes, and shows fine-tuning on this data improves performance ~30% over random selection with smaller models outperforming larger zero-shot counterparts.