{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/monowad-weather-adaptive-diffusion-model-for","title":"MonoWAD: Weather-Adaptive Diffusion Model for Robust Monocular 3D Object Detection","arxiv_id":"2407.16448","date":"2024-07-23","proceeding":null,"authors":["Youngmin Oh","Hyung-Il Kim","Seong Tae Kim","Jung Uk Kim"],"abstract":"Monocular 3D object detection is an important challenging task in autonomous driving. Existing methods mainly focus on performing 3D detection in ideal weather conditions, characterized by scenarios with clear and optimal visibility. However, the challenge of autonomous driving requires the ability to handle changes in weather conditions, such as foggy weather, not just clear weather. We introduce MonoWAD, a novel weather-robust monocular 3D object detector with a weather-adaptive diffusion model. It contains two components: (1) the weather codebook to memorize the knowledge of the clear weather and generate a weather-reference feature for any input, and (2) the weather-adaptive diffusion model to enhance the feature representation of the input feature by incorporating a weather-reference feature. This serves an attention role in indicating how much improvement is needed for the input feature according to the weather conditions. To achieve this goal, we introduce a weather-adaptive enhancement loss to enhance the feature representation under both clear and foggy weather conditions. Extensive experiments under various weather conditions demonstrate that MonoWAD achieves weather-robust monocular 3D object detection. The code and dataset are released at https://github.com/VisualAIKHU/MonoWAD.","url_abs":"https://arxiv.org/abs/2407.16448v1","url_pdf":"https://arxiv.org/pdf/2407.16448v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"monowad-weather-adaptive-diffusion-model-for","repo_url":"https://github.com/visualaikhu/monowad","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"3d-object-detection","task_name":"3D Object Detection"},{"task_slug":"autonomous-driving","task_name":"Autonomous Driving"},{"task_slug":"denoising","task_name":"Denoising"},{"task_slug":"monocular-3d-object-detection","task_name":"Monocular 3D Object Detection"},{"task_slug":"object","task_name":"Object"},{"task_slug":"object-detection","task_name":"Object Detection"},{"task_slug":"object-detection-1","task_name":"object-detection"}],"methods":[{"method_slug":"attention","method_name":"Attention"},{"method_slug":"diffusion","method_name":"Diffusion"},{"method_slug":"focus","method_name":"Focus"},{"method_slug":"softmax","method_name":"Softmax"}],"datasets_introduced":[{"slug":"foggy-kitti","name":"Foggy KITTI","full_name":""}],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2407.16448","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2407.16448"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"deterministic:regex_extraction","url":"https://github.com/VisualAIKHU/MonoWAD","reach":null}],"summary":{"ran":15,"unverified":11},"by_repo_kind":{"official":{"samples":26,"ran":15,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"360e36fe7ea92c19","entry":"Attend","repo":"VisualAIKHU/MonoWAD","repo_kind":"official","path":"visualDet3D/networks/detectors/MonoWAD.py","file_url":"https://github.com/VisualAIKHU/MonoWAD/blob/HEAD/visualDet3D/networks/detectors/MonoWAD.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":true,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"360e36fe7ea92c19"}},{"code_sha256_prefix":"dfac04afda97fe38","entry":"Attention","repo":"VisualAIKHU/MonoWAD","repo_kind":"official","path":"visualDet3D/networks/detectors/MonoWAD.py","file_url":"https://github.com/VisualAIKHU/MonoWAD/blob/HEAD/visualDet3D/networks/detectors/MonoWAD.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":"invariant","behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"dfac04afda97fe38"}},{"code_sha256_prefix":"f7f588495112f1d3","entry":"Bottleneck","repo":"VisualAIKHU/MonoWAD","repo_kind":"official","path":"visualDet3D/networks/detectors/MonoWAD.py","file_url":"https://github.com/VisualAIKHU/MonoWAD/blob/HEAD/visualDet3D/networks/detectors/MonoWAD.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":true,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"f7f588495112f1d3"}},{"code_sha256_prefix":"9f54fd544c431a89","entry":"Conv2d","repo":"VisualAIKHU/MonoWAD","repo_kind":"official","path":"visualDet3D/networks/detectors/MonoWAD.py","file_url":"https://github.com/VisualAIKHU/MonoWAD/blob/HEAD/visualDet3D/networks/detectors/MonoWAD.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":"invariant","behaviour_fingerprint":true,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"9f54fd544c431a89"}},{"code_sha256_prefix":"c3a2aeb5e289231e","entry":"DLAUp","repo":"VisualAIKHU/MonoWAD","repo_kind":"official","path":"visualDet3D/networks/detectors/MonoWAD.py","file_url":"https://github.com/VisualAIKHU/MonoWAD/blob/HEAD/visualDet3D/networks/detectors/MonoWAD.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"c3a2aeb5e289231e"}},{"code_sha256_prefix":"4660642fa4ba3464","entry":"DepthAwareFE","repo":"VisualAIKHU/MonoWAD","repo_kind":"official","path":"visualDet3D/networks/detectors/MonoWAD.py","file_url":"https://github.com/VisualAIKHU/MonoWAD/blob/HEAD/visualDet3D/networks/detectors/MonoWAD.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"4660642fa4ba3464"}},{"code_sha256_prefix":"f6dbf7aa2006b4ba","entry":"IDAUp","repo":"VisualAIKHU/MonoWAD","repo_kind":"official","path":"visualDet3D/networks/detectors/MonoWAD.py","file_url":"https://github.com/VisualAIKHU/MonoWAD/blob/HEAD/visualDet3D/networks/detectors/MonoWAD.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"f6dbf7aa2006b4ba"}},{"code_sha256_prefix":"e483acb4ed97bccf","entry":"LinearAttention","repo":"VisualAIKHU/MonoWAD","repo_kind":"official","path":"visualDet3D/networks/detectors/MonoWAD.py","file_url":"https://github.com/VisualAIKHU/MonoWAD/blob/HEAD/visualDet3D/networks/detectors/MonoWAD.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":"invariant","behaviour_fingerprint":true,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"e483acb4ed97bccf"}},{"code_sha256_prefix":"234fd6dd12768c7d","entry":"RMSNorm","repo":"VisualAIKHU/MonoWAD","repo_kind":"official","path":"visualDet3D/networks/detectors/MonoWAD.py","file_url":"https://github.com/VisualAIKHU/MonoWAD/blob/HEAD/visualDet3D/networks/detectors/MonoWAD.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":"invariant","behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"234fd6dd12768c7d"}},{"code_sha256_prefix":"49db9b9ea5686382","entry":"RandomOrLearnedSinusoidalPosEmb","repo":"VisualAIKHU/MonoWAD","repo_kind":"official","path":"visualDet3D/networks/detectors/MonoWAD.py","file_url":"https://github.com/VisualAIKHU/MonoWAD/blob/HEAD/visualDet3D/networks/detectors/MonoWAD.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":"invariant","behaviour_fingerprint":true,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"49db9b9ea5686382"}},{"code_sha256_prefix":"68df791593973dbe","entry":"TransDecoderLayer","repo":"VisualAIKHU/MonoWAD","repo_kind":"official","path":"visualDet3D/networks/detectors/MonoWAD.py","file_url":"https://github.com/VisualAIKHU/MonoWAD/blob/HEAD/visualDet3D/networks/detectors/MonoWAD.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"68df791593973dbe"}},{"code_sha256_prefix":"721c301e49b3f514","entry":"TransEncoderLayer","repo":"VisualAIKHU/MonoWAD","repo_kind":"official","path":"visualDet3D/networks/detectors/MonoWAD.py","file_url":"https://github.com/VisualAIKHU/MonoWAD/blob/HEAD/visualDet3D/networks/detectors/MonoWAD.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"721c301e49b3f514"}},{"code_sha256_prefix":"8862f92d2180b857","entry":"Tree","repo":"VisualAIKHU/MonoWAD","repo_kind":"official","path":"visualDet3D/networks/detectors/MonoWAD.py","file_url":"https://github.com/VisualAIKHU/MonoWAD/blob/HEAD/visualDet3D/networks/detectors/MonoWAD.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":true,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"8862f92d2180b857"}},{"code_sha256_prefix":"a26331af1d2a725c","entry":"WeatherCodebook","repo":"VisualAIKHU/MonoWAD","repo_kind":"official","path":"visualDet3D/networks/detectors/MonoWAD.py","file_url":"https://github.com/VisualAIKHU/MonoWAD/blob/HEAD/visualDet3D/networks/detectors/MonoWAD.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"a26331af1d2a725c"}},{"code_sha256_prefix":"3c9867a84d7c18d9","entry":"get_model_url","repo":"VisualAIKHU/MonoWAD","repo_kind":"official","path":"visualDet3D/networks/detectors/MonoWAD.py","file_url":"https://github.com/VisualAIKHU/MonoWAD/blob/HEAD/visualDet3D/networks/detectors/MonoWAD.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":true,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"3c9867a84d7c18d9"}},{"code_sha256_prefix":"822bbc27c98772b9","entry":"BasicBlock","repo":"VisualAIKHU/MonoWAD","repo_kind":"official","path":"visualDet3D/networks/detectors/MonoWAD.py","file_url":"https://github.com/VisualAIKHU/MonoWAD/blob/HEAD/visualDet3D/networks/detectors/MonoWAD.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"822bbc27c98772b9"}},{"code_sha256_prefix":"056357c296407ea2","entry":"CrossAttention","repo":"VisualAIKHU/MonoWAD","repo_kind":"official","path":"visualDet3D/networks/detectors/MonoWAD.py","file_url":"https://github.com/VisualAIKHU/MonoWAD/blob/HEAD/visualDet3D/networks/detectors/MonoWAD.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"056357c296407ea2"}},{"code_sha256_prefix":"66e5d28ac311f7fe","entry":"DLA","repo":"VisualAIKHU/MonoWAD","repo_kind":"official","path":"visualDet3D/networks/detectors/MonoWAD.py","file_url":"https://github.com/VisualAIKHU/MonoWAD/blob/HEAD/visualDet3D/networks/detectors/MonoWAD.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"66e5d28ac311f7fe"}},{"code_sha256_prefix":"2f1466316451a519","entry":"DepthAwarePosEnc","repo":"VisualAIKHU/MonoWAD","repo_kind":"official","path":"visualDet3D/networks/detectors/MonoWAD.py","file_url":"https://github.com/VisualAIKHU/MonoWAD/blob/HEAD/visualDet3D/networks/detectors/MonoWAD.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"2f1466316451a519"}},{"code_sha256_prefix":"1440222618f4b897","entry":"DepthAwareTransformer","repo":"VisualAIKHU/MonoWAD","repo_kind":"official","path":"visualDet3D/networks/detectors/MonoWAD.py","file_url":"https://github.com/VisualAIKHU/MonoWAD/blob/HEAD/visualDet3D/networks/detectors/MonoWAD.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"1440222618f4b897"}},{"code_sha256_prefix":"c41056f8a4f34abd","entry":"GaussianDiffusion","repo":"VisualAIKHU/MonoWAD","repo_kind":"official","path":"visualDet3D/networks/detectors/MonoWAD.py","file_url":"https://github.com/VisualAIKHU/MonoWAD/blob/HEAD/visualDet3D/networks/detectors/MonoWAD.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"c41056f8a4f34abd"}},{"code_sha256_prefix":"64099da24b02e2be","entry":"MonoWAD","repo":"VisualAIKHU/MonoWAD","repo_kind":"official","path":"visualDet3D/networks/detectors/MonoWAD.py","file_url":"https://github.com/VisualAIKHU/MonoWAD/blob/HEAD/visualDet3D/networks/detectors/MonoWAD.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"64099da24b02e2be"}},{"code_sha256_prefix":"0aff889aa4679890","entry":"Root","repo":"VisualAIKHU/MonoWAD","repo_kind":"official","path":"visualDet3D/networks/detectors/MonoWAD.py","file_url":"https://github.com/VisualAIKHU/MonoWAD/blob/HEAD/visualDet3D/networks/detectors/MonoWAD.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"0aff889aa4679890"}},{"code_sha256_prefix":"e275d60eaaba6a01","entry":"Unet","repo":"VisualAIKHU/MonoWAD","repo_kind":"official","path":"visualDet3D/networks/detectors/MonoWAD.py","file_url":"https://github.com/VisualAIKHU/MonoWAD/blob/HEAD/visualDet3D/networks/detectors/MonoWAD.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"e275d60eaaba6a01"}},{"code_sha256_prefix":"e28ea7c71f77af75","entry":"dfe_module","repo":"VisualAIKHU/MonoWAD","repo_kind":"official","path":"visualDet3D/networks/detectors/MonoWAD.py","file_url":"https://github.com/VisualAIKHU/MonoWAD/blob/HEAD/visualDet3D/networks/detectors/MonoWAD.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"e28ea7c71f77af75"}},{"code_sha256_prefix":"f6223e37e1c97520","entry":"dla102","repo":"VisualAIKHU/MonoWAD","repo_kind":"official","path":"visualDet3D/networks/detectors/MonoWAD.py","file_url":"https://github.com/VisualAIKHU/MonoWAD/blob/HEAD/visualDet3D/networks/detectors/MonoWAD.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"f6223e37e1c97520"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}