Add README.md

README.md

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+---
+license: other
+tags:
+  - heal
+  - horizon
+  - occupancy
+---
+
+# FlashOcc + HENet + LSS
+
+FlashOcc uses LSS (Lift-Splat-Shoot) view transformation: HENet extracts multi-view camera features; `LSSTransformer` predicts depth distribution and lifts 2D features to 3D voxel space (`depth=45`, `num_points=10`, `bev_size=(40,40,0.625)`); fused via `BevEncoder` (`BiFPN`); `FlashOccDetDecoder`/`BEVOCCHead2D` outputs 18-class 3D occupancy predictions.
+
+---
+
+## Deployment Metrics
+
+### Model Parameters
+
+| Model | Model Input | Backbone | Neck | Model Output |
+|---|---|---|---|---|
+| FlashOcc | 6-camera multi-view images `(B,6,3,512,960)` | HENet | FPN + LSSTransformer + BevEncoder | Occupancy grid `(B,C,H,W)` |
+
+### Accuracy Metrics
+
+| March | Metric | float | calibration | qat | hbm |
+| --- | --- | --- | --- | --- | --- |
+| J6M | Occ mIoU (MeanIOU) | 0.3664 | 0.3688 | — | 0.369 |
+
+> Results are based on `march = March.NASH_M` (J6M) configuration; this task has no QAT stage (qat column is `—`).
+>
+> HEAL version: heal 0.0.2 / hbdk4-compiler 4.11.11 / horizon_plugin_pytorch 3.3.10.
+
+### Performance Metrics
+
+> **Performance measurement**: FPS is measured with single-core eight-thread; Latency is measured with single-core single-thread; Memory is peak DDR usage.
+
+| March | latency (ms) | fps | Memory Usage |
+|---|---|---|---|
+| J6M | 7.65 | 136.07 | 73.80 |
+| J6P | 5.62 | 731.18 | 78.10 |
+| J6B | 30.51 | 33.66 | 82.00 |
+
+---
+
+## Model Overview
+
+### Core Design
+
+FlashOcc uses LSS (Lift-Splat-Shoot) view transformation: HENet extracts multi-view camera features; `LSSTransformer` predicts depth distribution and lifts 2D features to 3D voxel space (`depth=45`, `num_points=10`, `bev_size=(40,40,0.625)`); fused via `BevEncoder` (`BiFPN`); `FlashOccDetDecoder`/`BEVOCCHead2D` outputs 18-class 3D occupancy predictions.
+
+- **Task type**: BEV 3D occupancy prediction (BEV Occupancy Prediction).
+- **backbone**: HENet (`type=HENet`, `depth=45`, `num_points=10`), extracts multi-view camera features.
+- **neck**: `FPN` + `LSSTransformer` (Lift-Splat-Shoot view transformation, `bev_size=(40,40,0.625)`, `grid_size=(128,128)`) + `BevEncoder` (`BiFPN`).
+- **Occupancy head**: `FlashOccDetDecoder` (`BEVOCCHead2D`, `num_classes=18`, `ignore_index=17`).
+- **Loss**: `CrossEntropyLoss` (occ seg).
+- **Model input**: 6-view camera images `(B,6,3,512,960)` (`data_shape=(3,512,960)`).
+- **Model output**: 18-class 3D occupancy grid `(B,C,H,W)` (`occ3d_seg_class` 18 classes, includes `others`/`ignore_index=17`).
+
+### Official Repo and Paper
+
+Official repo: https://github.com/Yzichen/FlashOCC
+Paper: https://arxiv.org/abs/2311.12058
+
+Note: camera backbone HENet is HEAL-developed; official repo uses a different backbone.
+
+### Reference
+
+For more J6 chip deployment details, see https://developer.horizon.auto/blog/10154