HENet++: Hybrid Encoding and Multi-task Learning for 3D Perception and End-to-end Autonomous Driving
HENet++ develops a system for 3D perception and autonomous driving using hybrid image encoding and multi-task learning on nuScenes data. It combines different image encoders for short and long frames, fuses temporal features, and uses independent feature encoding to achieve state-of-the-art perception accuracy while significantly reducing collisions in end-to-end driving.