Simulating Rain: Why Our LiDAR Model Lied to Us in CARLA
Six weeks of validation numbers told us we'd solved rain. They were answering a different question than the one we asked.
YOLO models, dataset edge cases, and the simulation gap between synthetic rain and the real thing.

Six weeks of validation numbers told us we'd solved rain. They were answering a different question than the one we asked.

Model optimization matters more than your motion model. Here are the numbers.

The scale, the method, and the top five failure patterns nobody put in the original training set.