RoboGeo checkpoints
Trained checkpoints for RoboGeo: Benchmarking Camera-Geometry Robustness in Multi-Camera BEV Perception (WACV 2027) · Project page · Dataset
Each model is trained on one platform of RoboGeo. The Sedan models are evaluated under viewpoint perturbation and cross-platform transfer; the SUV and Bus models are the models trained on the target platforms of cross-platform transfer.
3D object detection
| model | platform | file | size | sha256 (first 16) |
|---|---|---|---|---|
| BEVFormer-tiny | Sedan | detection/bevformer_tiny/bevformer_tiny_sedan.pth |
134 MB | e166f0aec95b1cff |
| BEVFormer-tiny | SUV | detection/bevformer_tiny/bevformer_tiny_suv.pth |
134 MB | 68192ad4ce650624 |
| BEVFormer-tiny | Bus | detection/bevformer_tiny/bevformer_tiny_bus.pth |
134 MB | 2e5370a87ea68f81 |
| CAPE | Sedan | detection/cape/cape_sedan.pth |
245 MB | 664d2d6f53303c5f |
| CAPE | SUV | detection/cape/cape_suv.pth |
245 MB | e09f1e8893512ecf |
| CAPE | Bus | detection/cape/cape_bus.pth |
245 MB | 9b2d48e700db18ae |
BEV segmentation
| model | platform | file | size | sha256 (first 16) |
|---|---|---|---|---|
| GaussianLSS | Sedan | segmentation/gaussianlss/gaussianlss_sedan.pth |
33.8 MB | 4ca7cf0901b99c34 |
| GaussianLSS | SUV | segmentation/gaussianlss/gaussianlss_suv.pth |
33.8 MB | 087171e00240fcaf |
| GaussianLSS | Bus | segmentation/gaussianlss/gaussianlss_bus.pth |
33.8 MB | 149d3bd36c34cd17 |
| CVT | Sedan | segmentation/cvt/cvt_sedan.pth |
4.5 MB | ded6a2c934a89edb |
| CVT | SUV | segmentation/cvt/cvt_suv.pth |
4.5 MB | 946356200d2cdff1 |
| CVT | Bus | segmentation/cvt/cvt_bus.pth |
4.5 MB | 257bdae34378407e |
Full checksums are in SHA256SUMS. Detection checkpoints hold state_dict and meta.CLASSES;
segmentation checkpoints hold state_dict. All load with torch.load(path, weights_only=True).
Training and evaluation code: shdragron/RoboGeo.
License
Released under CC BY-NC-SA 4.0, the license of the RoboGeo dataset the models are trained on. The model architectures come from BEVFormer and CAPE (Apache-2.0), and from GaussianLSS and Cross View Transformers (MIT). When using these checkpoints, please cite RoboGeo, SimBEV and CARLA as listed in the dataset card.