1. Center for Research on Intelligent Perception and Computing (CRIPAC), State Key Laboratory of Multimodal Artificial Intelligence Systems (MAIS), Institute of Automation, Chinese Academy of Sciences (CASIA), Beijing, China
2. TuSimple, Beijing, China
3. Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences (HKISI CAS), Hong Kong, China