CLFT/CLFCN Pretrain Models and Waymo Dataset

Gu Junyi (Claude)

Feb 5, 2026 Open Dataset, Machine Learning

Here provided the pre-trained models for Camera-LiDAR-Fusion-Transformer (CLFT) and Camera-LiDAR-Fully-Convolutional-Netwrok (CLFCN) that based on part of the Waymo Open Dataset.

The source code of CLFT and CLFCN, together with the description and usage of these pre-trained models are available on GitHub Link

Please refer to this post for the details of the CLFT models, and this post for the detail of the CLFCN models.

The archive of CLFT models are approximate 8.5 GB. Click to download.

The archive of CLCN models are approximate 2.4 GB. Click to download.

Open Dataset Machine Learning CLFT CLFCN