ResearchBenchmarksMulti-modal Perception on nuScenesFollow68.9mAPPaPE-RI66.19666.89867.668.302Feb 1, 2026Evaluation ResultsMethodMethodLinksmAPPaPE-RIrotation-invariant=truerotation-invariant=true2026.0268.9PaPE2026.0268.7nD-ALiBi2026.0268.5RoPE2026.0268.3nD-sincos2026.0267.4RoPE-Mixed2026.0266.3