@article{focalformer3dfocusingonhardinstancefor,
  title = {FocalFormer3D : Focusing on Hard Instance for 3D Object Detection},
  author = {Yilun Chen and Zhiding Yu and Yukang Chen and Shiyi Lan and Animashree Anandkumar and Jiaya Jia and Jose Alvarez},
  year = {2023},
  eprint = {2308.04556},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2308.04556v1},
}