diff --git a/helper/calc_metrics.ipynb b/helper/calc_metrics.ipynb
index 289c891..f2bd746 100644
--- a/helper/calc_metrics.ipynb
+++ b/helper/calc_metrics.ipynb
@@ -2,7 +2,7 @@
  "cells": [
   {
    "cell_type": "code",
-   "execution_count": 87,
+   "execution_count": 79,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -11,7 +11,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 88,
+   "execution_count": 80,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -44,16 +44,16 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 89,
+   "execution_count": 81,
    "metadata": {},
    "outputs": [],
    "source": [
-    "df = pd.read_csv(\"../results/results_nds.csv\")"
+    "df = pd.read_csv(\"../evaluation/evaluations_nds.csv\")"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 90,
+   "execution_count": 82,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -62,7 +62,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 91,
+   "execution_count": 83,
    "metadata": {},
    "outputs": [
     {
@@ -120,8 +120,8 @@
        "      <td>0.6462</td>\n",
        "      <td>0.5860</td>\n",
        "      <td>0.5367</td>\n",
-       "      <td>0.7257</td>\n",
-       "      <td>0.7180</td>\n",
+       "      <td>0.7012</td>\n",
+       "      <td>0.6834</td>\n",
        "      <td>...</td>\n",
        "      <td>0.6786</td>\n",
        "      <td>0.7284</td>\n",
@@ -144,8 +144,8 @@
        "      <td>0.5863</td>\n",
        "      <td>0.5014</td>\n",
        "      <td>0.4267</td>\n",
-       "      <td>0.6859</td>\n",
-       "      <td>0.6772</td>\n",
+       "      <td>0.6522</td>\n",
+       "      <td>0.6242</td>\n",
        "      <td>...</td>\n",
        "      <td>0.6254</td>\n",
        "      <td>0.6845</td>\n",
@@ -168,8 +168,8 @@
        "      <td>0.5708</td>\n",
        "      <td>0.4761</td>\n",
        "      <td>0.4095</td>\n",
-       "      <td>0.7027</td>\n",
-       "      <td>0.6908</td>\n",
+       "      <td>0.6554</td>\n",
+       "      <td>0.6190</td>\n",
        "      <td>...</td>\n",
        "      <td>0.6978</td>\n",
        "      <td>0.7080</td>\n",
@@ -192,8 +192,8 @@
        "      <td>0.6061</td>\n",
        "      <td>0.5149</td>\n",
        "      <td>0.4461</td>\n",
-       "      <td>0.7272</td>\n",
-       "      <td>0.7175</td>\n",
+       "      <td>0.6881</td>\n",
+       "      <td>0.6578</td>\n",
        "      <td>...</td>\n",
        "      <td>0.6978</td>\n",
        "      <td>0.7302</td>\n",
@@ -216,8 +216,8 @@
        "      <td>0.5903</td>\n",
        "      <td>0.4943</td>\n",
        "      <td>0.4266</td>\n",
-       "      <td>0.7096</td>\n",
-       "      <td>0.6978</td>\n",
+       "      <td>0.6684</td>\n",
+       "      <td>0.6379</td>\n",
        "      <td>...</td>\n",
        "      <td>0.6861</td>\n",
        "      <td>0.7126</td>\n",
@@ -251,11 +251,11 @@
        "4                   0.4085                  0.5903                  0.4943   \n",
        "\n",
        "   spatialmisalignment_s3  pointsreducing_s1  pointsreducing_s2  ...  dark_s3  \\\n",
-       "0                  0.5367             0.7257             0.7180  ...   0.6786   \n",
-       "1                  0.4267             0.6859             0.6772  ...   0.6254   \n",
-       "2                  0.4095             0.7027             0.6908  ...   0.6978   \n",
-       "3                  0.4461             0.7272             0.7175  ...   0.6978   \n",
-       "4                  0.4266             0.7096             0.6978  ...   0.6861   \n",
+       "0                  0.5367             0.7012             0.6834  ...   0.6786   \n",
+       "1                  0.4267             0.6522             0.6242  ...   0.6254   \n",
+       "2                  0.4095             0.6554             0.6190  ...   0.6978   \n",
+       "3                  0.4461             0.6881             0.6578  ...   0.6978   \n",
+       "4                  0.4266             0.6684             0.6379  ...   0.6861   \n",
        "\n",
        "   brightness_s1  brightness_s2  brightness_s3  beamsreducing_s1  \\\n",
        "0         0.7284         0.7212         0.7037            0.6826   \n",
@@ -274,7 +274,7 @@
        "[5 rows x 32 columns]"
       ]
      },
-     "execution_count": 91,
+     "execution_count": 83,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -292,7 +292,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 92,
+   "execution_count": 84,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -307,7 +307,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 93,
+   "execution_count": 85,
    "metadata": {},
    "outputs": [
     {
@@ -355,11 +355,11 @@
        "      <td>0.806356</td>\n",
        "      <td>0.973845</td>\n",
        "      <td>0.841198</td>\n",
-       "      <td>0.982853</td>\n",
+       "      <td>0.924829</td>\n",
        "      <td>0.833425</td>\n",
        "      <td>0.808825</td>\n",
        "      <td>0.788294</td>\n",
-       "      <td>0.875405</td>\n",
+       "      <td>0.869602</td>\n",
        "    </tr>\n",
        "    <tr>\n",
        "      <th>1</th>\n",
@@ -370,11 +370,11 @@
        "      <td>0.583008</td>\n",
        "      <td>0.841994</td>\n",
        "      <td>0.831765</td>\n",
-       "      <td>0.974912</td>\n",
+       "      <td>0.882038</td>\n",
        "      <td>0.759058</td>\n",
        "      <td>0.730641</td>\n",
        "      <td>0.768080</td>\n",
-       "      <td>0.805770</td>\n",
+       "      <td>0.796483</td>\n",
        "    </tr>\n",
        "    <tr>\n",
        "      <th>2</th>\n",
@@ -385,11 +385,11 @@
        "      <td>0.754329</td>\n",
        "      <td>0.985460</td>\n",
        "      <td>0.825758</td>\n",
-       "      <td>0.968991</td>\n",
+       "      <td>0.850508</td>\n",
        "      <td>0.747553</td>\n",
        "      <td>0.685300</td>\n",
        "      <td>0.776821</td>\n",
-       "      <td>0.836293</td>\n",
+       "      <td>0.824445</td>\n",
        "    </tr>\n",
        "    <tr>\n",
        "      <th>3</th>\n",
@@ -400,11 +400,11 @@
        "      <td>0.767100</td>\n",
        "      <td>0.953930</td>\n",
        "      <td>0.847801</td>\n",
-       "      <td>0.975849</td>\n",
+       "      <td>0.879335</td>\n",
        "      <td>0.770107</td>\n",
        "      <td>0.714103</td>\n",
        "      <td>0.776760</td>\n",
-       "      <td>0.844931</td>\n",
+       "      <td>0.835279</td>\n",
        "    </tr>\n",
        "    <tr>\n",
        "      <th>4</th>\n",
@@ -415,11 +415,11 @@
        "      <td>0.752146</td>\n",
        "      <td>0.973871</td>\n",
        "      <td>0.865668</td>\n",
-       "      <td>0.973078</td>\n",
+       "      <td>0.872107</td>\n",
        "      <td>0.773936</td>\n",
        "      <td>0.705114</td>\n",
        "      <td>0.741741</td>\n",
-       "      <td>0.841727</td>\n",
+       "      <td>0.831630</td>\n",
        "    </tr>\n",
        "  </tbody>\n",
        "</table>\n",
@@ -434,21 +434,21 @@
        "4        BEVfusion          0.676278       0.986749  0.968692  0.752146   \n",
        "\n",
        "   RA_missingcamera  RA_motionblur  RA_pointsreducing   RA_snow  \\\n",
-       "0          0.973845       0.841198           0.982853  0.833425   \n",
-       "1          0.841994       0.831765           0.974912  0.759058   \n",
-       "2          0.985460       0.825758           0.968991  0.747553   \n",
-       "3          0.953930       0.847801           0.975849  0.770107   \n",
-       "4          0.973871       0.865668           0.973078  0.773936   \n",
+       "0          0.973845       0.841198           0.924829  0.833425   \n",
+       "1          0.841994       0.831765           0.882038  0.759058   \n",
+       "2          0.985460       0.825758           0.850508  0.747553   \n",
+       "3          0.953930       0.847801           0.879335  0.770107   \n",
+       "4          0.973871       0.865668           0.872107  0.773936   \n",
        "\n",
        "   RA_spatialmisalignment  RA_temporalmisalignment       mRA  \n",
-       "0                0.808825                 0.788294  0.875405  \n",
-       "1                0.730641                 0.768080  0.805770  \n",
-       "2                0.685300                 0.776821  0.836293  \n",
-       "3                0.714103                 0.776760  0.844931  \n",
-       "4                0.705114                 0.741741  0.841727  "
+       "0                0.808825                 0.788294  0.869602  \n",
+       "1                0.730641                 0.768080  0.796483  \n",
+       "2                0.685300                 0.776821  0.824445  \n",
+       "3                0.714103                 0.776760  0.835279  \n",
+       "4                0.705114                 0.741741  0.831630  "
       ]
      },
-     "execution_count": 93,
+     "execution_count": 85,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -466,7 +466,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 94,
+   "execution_count": 86,
    "metadata": {},
    "outputs": [
     {
@@ -475,13 +475,13 @@
      "text": [
       "\\begin{tabular}{lrrrrrrrrrrr}\n",
       "\\toprule\n",
-      "{Model} & {Beams Red.} & {Brightness} & {Darkness} & {Fog} & {Missing Cam.} & {Motion Blur} & {Points Red.} & {Snow} & {Spatial Mis.} & {Temporal Mis.} & {mRA} \\\\\n",
+      "Model & Beams Red. & Brightness & Darkness & Fog & Missing Cam. & Motion Blur & Points Red. & Snow & Spatial Mis. & Temporal Mis. & mRA \\\\\n",
       "\\midrule\n",
-      "CMT & \\textbf{0.786} & 0.985 & 0.948 & \\textbf{0.806} & 0.974 & 0.841 & \\textbf{0.983} & \\textbf{0.833} & \\textbf{0.809} & \\textbf{0.788} & \\textbf{0.875} \\\\\n",
-      "DeepInteraction & 0.655 & 0.984 & 0.929 & 0.583 & 0.842 & 0.832 & 0.975 & 0.759 & 0.731 & 0.768 & 0.806 \\\\\n",
-      "\\textbf{TransFusion} & 0.633 & \\textbf{0.998} & \\textbf{0.988} & 0.754 & \\textbf{0.985} & 0.826 & 0.969 & 0.748 & 0.685 & 0.777 & 0.836 \\\\\n",
-      "Sparsefusion & 0.689 & 0.992 & 0.963 & 0.767 & 0.954 & 0.848 & 0.976 & 0.770 & 0.714 & 0.777 & 0.845 \\\\\n",
-      "BEVfusion & 0.676 & 0.987 & 0.969 & 0.752 & 0.974 & \\textbf{0.866} & 0.973 & 0.774 & 0.705 & 0.742 & 0.842 \\\\\n",
+      "CMT & \\textbf{0.786} & 0.985 & 0.948 & \\textbf{0.806} & 0.974 & 0.841 & \\textbf{0.925} & \\textbf{0.833} & \\textbf{0.809} & \\textbf{0.788} & \\textbf{0.870} \\\\\n",
+      "DeepInteraction & 0.655 & 0.984 & 0.929 & 0.583 & 0.842 & 0.832 & 0.882 & 0.759 & 0.731 & 0.768 & 0.796 \\\\\n",
+      "\\textbf{TransFusion} & 0.633 & \\textbf{0.998} & \\textbf{0.988} & 0.754 & \\textbf{0.985} & 0.826 & 0.851 & 0.748 & 0.685 & 0.777 & 0.824 \\\\\n",
+      "Sparsefusion & 0.689 & 0.992 & 0.963 & 0.767 & 0.954 & 0.848 & 0.879 & 0.770 & 0.714 & 0.777 & 0.835 \\\\\n",
+      "BEVfusion & 0.676 & 0.987 & 0.969 & 0.752 & 0.974 & \\textbf{0.866} & 0.872 & 0.774 & 0.705 & 0.742 & 0.832 \\\\\n",
       "\\bottomrule\n",
       "\\end{tabular}\n",
       "\n"
@@ -492,7 +492,7 @@
     "rn = {f\"RA_{c}\": NICE_NAMES[c] for c in CORRUPTIONS}\n",
     "rn.update({MODEL_COLUMN: \"Model\"})\n",
     "df_latex = df[[MODEL_COLUMN]+[f\"RA_{c}\" for c in CORRUPTIONS] + [\"mRA\"]].rename(columns=rn)\n",
-    "df_latex = df_latex.style.format(precision=3).hide_index().highlight_max(axis=0, props=\"textbf:--rwrap;\")\n",
+    "df_latex = df_latex.style.format(precision=3).hide().highlight_max(axis=0, props=\"textbf:--rwrap;\")\n",
     "print(df_latex.to_latex(hrules=True))"
    ]
   },
@@ -505,7 +505,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 95,
+   "execution_count": 87,
    "metadata": {},
    "outputs": [
     {
@@ -514,11 +514,11 @@
      "text": [
       "| Model                                                           | Clean     | Beams Red.   | Brightness   | Darkness   | Fog       | Missing Cam.   | Motion Blur   | Points Red.   | Snow      | Spatial Mis.   | Temporal Mis.   | mRA       |\n",
       "|:----------------------------------------------------------------|:----------|:-------------|:-------------|:-----------|:----------|:---------------|:--------------|:--------------|:----------|:---------------|:----------------|:----------|\n",
-      "| [CMT](https://github.com/junjie18/CMT)                          | 0.729     | **0.786**    | 0.985        | 0.948      | **0.806** | 0.974          | 0.841         | **0.983**     | **0.833** | **0.809**      | **0.788**       | **0.875** |\n",
-      "| [Sparsefusion](https://github.com/yichen928/SparseFusion)       | **0.732** | 0.689        | 0.992        | 0.963      | 0.767     | 0.954          | 0.848         | 0.976         | 0.770     | 0.714          | 0.777           | 0.845     |\n",
-      "| [BEVfusion](https://github.com/mit-han-lab/bevfusion)           | 0.714     | 0.676        | 0.987        | 0.969      | 0.752     | 0.974          | **0.866**     | 0.973         | 0.774     | 0.705          | 0.742           | 0.842     |\n",
-      "| [TransFusion](https://github.com/XuyangBai/TransFusion)         | 0.708     | 0.633        | **0.998**    | **0.988**  | 0.754     | **0.985**      | 0.826         | 0.969         | 0.748     | 0.685          | 0.777           | 0.836     |\n",
-      "| [DeepInteraction](https://github.com/fudan-zvg/DeepInteraction) | 0.691     | 0.655        | 0.984        | 0.929      | 0.583     | 0.842          | 0.832         | 0.975         | 0.759     | 0.731          | 0.768           | 0.806     |\n"
+      "| [CMT](https://github.com/junjie18/CMT)                          | 0.729     | **0.786**    | 0.985        | 0.948      | **0.806** | 0.974          | 0.841         | **0.925**     | **0.833** | **0.809**      | **0.788**       | **0.870** |\n",
+      "| [Sparsefusion](https://github.com/yichen928/SparseFusion)       | **0.732** | 0.689        | 0.992        | 0.963      | 0.767     | 0.954          | 0.848         | 0.879         | 0.770     | 0.714          | 0.777           | 0.835     |\n",
+      "| [BEVfusion](https://github.com/mit-han-lab/bevfusion)           | 0.714     | 0.676        | 0.987        | 0.969      | 0.752     | 0.974          | **0.866**     | 0.872         | 0.774     | 0.705          | 0.742           | 0.832     |\n",
+      "| [TransFusion](https://github.com/XuyangBai/TransFusion)         | 0.708     | 0.633        | **0.998**    | **0.988**  | 0.754     | **0.985**      | 0.826         | 0.851         | 0.748     | 0.685          | 0.777           | 0.824     |\n",
+      "| [DeepInteraction](https://github.com/fudan-zvg/DeepInteraction) | 0.691     | 0.655        | 0.984        | 0.929      | 0.583     | 0.842          | 0.832         | 0.882         | 0.759     | 0.731          | 0.768           | 0.796     |\n"
      ]
     }
    ],
@@ -561,120 +561,120 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 96,
+   "execution_count": 88,
    "metadata": {},
    "outputs": [
     {
      "data": {
       "text/html": [
        "<style type=\"text/css\">\n",
-       "#T_187bd_row0_col2, #T_187bd_row0_col5, #T_187bd_row0_col8, #T_187bd_row0_col9, #T_187bd_row0_col10, #T_187bd_row0_col11, #T_187bd_row0_col12, #T_187bd_row1_col1, #T_187bd_row2_col7, #T_187bd_row3_col3, #T_187bd_row3_col4, #T_187bd_row3_col6 {\n",
+       "#T_85d81_row0_col2, #T_85d81_row0_col5, #T_85d81_row0_col8, #T_85d81_row0_col9, #T_85d81_row0_col10, #T_85d81_row0_col11, #T_85d81_row0_col12, #T_85d81_row1_col1, #T_85d81_row2_col7, #T_85d81_row3_col3, #T_85d81_row3_col4, #T_85d81_row3_col6 {\n",
        "  background: grey;\n",
        "  font-weight: bold;\n",
        "}\n",
        "</style>\n",
-       "<table id=\"T_187bd_\">\n",
+       "<table id=\"T_85d81\">\n",
        "  <thead>\n",
        "    <tr>\n",
-       "      <th class=\"col_heading level0 col0\" >Model</th>\n",
-       "      <th class=\"col_heading level0 col1\" >Clean</th>\n",
-       "      <th class=\"col_heading level0 col2\" >Beams Red.</th>\n",
-       "      <th class=\"col_heading level0 col3\" >Brightness</th>\n",
-       "      <th class=\"col_heading level0 col4\" >Darkness</th>\n",
-       "      <th class=\"col_heading level0 col5\" >Fog</th>\n",
-       "      <th class=\"col_heading level0 col6\" >Missing Cam.</th>\n",
-       "      <th class=\"col_heading level0 col7\" >Motion Blur</th>\n",
-       "      <th class=\"col_heading level0 col8\" >Points Red.</th>\n",
-       "      <th class=\"col_heading level0 col9\" >Snow</th>\n",
-       "      <th class=\"col_heading level0 col10\" >Spatial Mis.</th>\n",
-       "      <th class=\"col_heading level0 col11\" >Temporal Mis.</th>\n",
-       "      <th class=\"col_heading level0 col12\" >mRA</th>\n",
+       "      <th id=\"T_85d81_level0_col0\" class=\"col_heading level0 col0\" >Model</th>\n",
+       "      <th id=\"T_85d81_level0_col1\" class=\"col_heading level0 col1\" >Clean</th>\n",
+       "      <th id=\"T_85d81_level0_col2\" class=\"col_heading level0 col2\" >Beams Red.</th>\n",
+       "      <th id=\"T_85d81_level0_col3\" class=\"col_heading level0 col3\" >Brightness</th>\n",
+       "      <th id=\"T_85d81_level0_col4\" class=\"col_heading level0 col4\" >Darkness</th>\n",
+       "      <th id=\"T_85d81_level0_col5\" class=\"col_heading level0 col5\" >Fog</th>\n",
+       "      <th id=\"T_85d81_level0_col6\" class=\"col_heading level0 col6\" >Missing Cam.</th>\n",
+       "      <th id=\"T_85d81_level0_col7\" class=\"col_heading level0 col7\" >Motion Blur</th>\n",
+       "      <th id=\"T_85d81_level0_col8\" class=\"col_heading level0 col8\" >Points Red.</th>\n",
+       "      <th id=\"T_85d81_level0_col9\" class=\"col_heading level0 col9\" >Snow</th>\n",
+       "      <th id=\"T_85d81_level0_col10\" class=\"col_heading level0 col10\" >Spatial Mis.</th>\n",
+       "      <th id=\"T_85d81_level0_col11\" class=\"col_heading level0 col11\" >Temporal Mis.</th>\n",
+       "      <th id=\"T_85d81_level0_col12\" class=\"col_heading level0 col12\" >mRA</th>\n",
        "    </tr>\n",
        "  </thead>\n",
        "  <tbody>\n",
        "    <tr>\n",
-       "      <td id=\"T_187bd_row0_col0\" class=\"data row0 col0\" >CMT</td>\n",
-       "      <td id=\"T_187bd_row0_col1\" class=\"data row0 col1\" >0.729</td>\n",
-       "      <td id=\"T_187bd_row0_col2\" class=\"data row0 col2\" >0.786</td>\n",
-       "      <td id=\"T_187bd_row0_col3\" class=\"data row0 col3\" >0.985</td>\n",
-       "      <td id=\"T_187bd_row0_col4\" class=\"data row0 col4\" >0.948</td>\n",
-       "      <td id=\"T_187bd_row0_col5\" class=\"data row0 col5\" >0.806</td>\n",
-       "      <td id=\"T_187bd_row0_col6\" class=\"data row0 col6\" >0.974</td>\n",
-       "      <td id=\"T_187bd_row0_col7\" class=\"data row0 col7\" >0.841</td>\n",
-       "      <td id=\"T_187bd_row0_col8\" class=\"data row0 col8\" >0.983</td>\n",
-       "      <td id=\"T_187bd_row0_col9\" class=\"data row0 col9\" >0.833</td>\n",
-       "      <td id=\"T_187bd_row0_col10\" class=\"data row0 col10\" >0.809</td>\n",
-       "      <td id=\"T_187bd_row0_col11\" class=\"data row0 col11\" >0.788</td>\n",
-       "      <td id=\"T_187bd_row0_col12\" class=\"data row0 col12\" >0.875</td>\n",
+       "      <td id=\"T_85d81_row0_col0\" class=\"data row0 col0\" >CMT</td>\n",
+       "      <td id=\"T_85d81_row0_col1\" class=\"data row0 col1\" >0.729</td>\n",
+       "      <td id=\"T_85d81_row0_col2\" class=\"data row0 col2\" >0.786</td>\n",
+       "      <td id=\"T_85d81_row0_col3\" class=\"data row0 col3\" >0.985</td>\n",
+       "      <td id=\"T_85d81_row0_col4\" class=\"data row0 col4\" >0.948</td>\n",
+       "      <td id=\"T_85d81_row0_col5\" class=\"data row0 col5\" >0.806</td>\n",
+       "      <td id=\"T_85d81_row0_col6\" class=\"data row0 col6\" >0.974</td>\n",
+       "      <td id=\"T_85d81_row0_col7\" class=\"data row0 col7\" >0.841</td>\n",
+       "      <td id=\"T_85d81_row0_col8\" class=\"data row0 col8\" >0.925</td>\n",
+       "      <td id=\"T_85d81_row0_col9\" class=\"data row0 col9\" >0.833</td>\n",
+       "      <td id=\"T_85d81_row0_col10\" class=\"data row0 col10\" >0.809</td>\n",
+       "      <td id=\"T_85d81_row0_col11\" class=\"data row0 col11\" >0.788</td>\n",
+       "      <td id=\"T_85d81_row0_col12\" class=\"data row0 col12\" >0.870</td>\n",
        "    </tr>\n",
        "    <tr>\n",
-       "      <td id=\"T_187bd_row1_col0\" class=\"data row1 col0\" >Sparsefusion</td>\n",
-       "      <td id=\"T_187bd_row1_col1\" class=\"data row1 col1\" >0.732</td>\n",
-       "      <td id=\"T_187bd_row1_col2\" class=\"data row1 col2\" >0.689</td>\n",
-       "      <td id=\"T_187bd_row1_col3\" class=\"data row1 col3\" >0.992</td>\n",
-       "      <td id=\"T_187bd_row1_col4\" class=\"data row1 col4\" >0.963</td>\n",
-       "      <td id=\"T_187bd_row1_col5\" class=\"data row1 col5\" >0.767</td>\n",
-       "      <td id=\"T_187bd_row1_col6\" class=\"data row1 col6\" >0.954</td>\n",
-       "      <td id=\"T_187bd_row1_col7\" class=\"data row1 col7\" >0.848</td>\n",
-       "      <td id=\"T_187bd_row1_col8\" class=\"data row1 col8\" >0.976</td>\n",
-       "      <td id=\"T_187bd_row1_col9\" class=\"data row1 col9\" >0.770</td>\n",
-       "      <td id=\"T_187bd_row1_col10\" class=\"data row1 col10\" >0.714</td>\n",
-       "      <td id=\"T_187bd_row1_col11\" class=\"data row1 col11\" >0.777</td>\n",
-       "      <td id=\"T_187bd_row1_col12\" class=\"data row1 col12\" >0.845</td>\n",
+       "      <td id=\"T_85d81_row1_col0\" class=\"data row1 col0\" >Sparsefusion</td>\n",
+       "      <td id=\"T_85d81_row1_col1\" class=\"data row1 col1\" >0.732</td>\n",
+       "      <td id=\"T_85d81_row1_col2\" class=\"data row1 col2\" >0.689</td>\n",
+       "      <td id=\"T_85d81_row1_col3\" class=\"data row1 col3\" >0.992</td>\n",
+       "      <td id=\"T_85d81_row1_col4\" class=\"data row1 col4\" >0.963</td>\n",
+       "      <td id=\"T_85d81_row1_col5\" class=\"data row1 col5\" >0.767</td>\n",
+       "      <td id=\"T_85d81_row1_col6\" class=\"data row1 col6\" >0.954</td>\n",
+       "      <td id=\"T_85d81_row1_col7\" class=\"data row1 col7\" >0.848</td>\n",
+       "      <td id=\"T_85d81_row1_col8\" class=\"data row1 col8\" >0.879</td>\n",
+       "      <td id=\"T_85d81_row1_col9\" class=\"data row1 col9\" >0.770</td>\n",
+       "      <td id=\"T_85d81_row1_col10\" class=\"data row1 col10\" >0.714</td>\n",
+       "      <td id=\"T_85d81_row1_col11\" class=\"data row1 col11\" >0.777</td>\n",
+       "      <td id=\"T_85d81_row1_col12\" class=\"data row1 col12\" >0.835</td>\n",
        "    </tr>\n",
        "    <tr>\n",
-       "      <td id=\"T_187bd_row2_col0\" class=\"data row2 col0\" >BEVfusion</td>\n",
-       "      <td id=\"T_187bd_row2_col1\" class=\"data row2 col1\" >0.714</td>\n",
-       "      <td id=\"T_187bd_row2_col2\" class=\"data row2 col2\" >0.676</td>\n",
-       "      <td id=\"T_187bd_row2_col3\" class=\"data row2 col3\" >0.987</td>\n",
-       "      <td id=\"T_187bd_row2_col4\" class=\"data row2 col4\" >0.969</td>\n",
-       "      <td id=\"T_187bd_row2_col5\" class=\"data row2 col5\" >0.752</td>\n",
-       "      <td id=\"T_187bd_row2_col6\" class=\"data row2 col6\" >0.974</td>\n",
-       "      <td id=\"T_187bd_row2_col7\" class=\"data row2 col7\" >0.866</td>\n",
-       "      <td id=\"T_187bd_row2_col8\" class=\"data row2 col8\" >0.973</td>\n",
-       "      <td id=\"T_187bd_row2_col9\" class=\"data row2 col9\" >0.774</td>\n",
-       "      <td id=\"T_187bd_row2_col10\" class=\"data row2 col10\" >0.705</td>\n",
-       "      <td id=\"T_187bd_row2_col11\" class=\"data row2 col11\" >0.742</td>\n",
-       "      <td id=\"T_187bd_row2_col12\" class=\"data row2 col12\" >0.842</td>\n",
+       "      <td id=\"T_85d81_row2_col0\" class=\"data row2 col0\" >BEVfusion</td>\n",
+       "      <td id=\"T_85d81_row2_col1\" class=\"data row2 col1\" >0.714</td>\n",
+       "      <td id=\"T_85d81_row2_col2\" class=\"data row2 col2\" >0.676</td>\n",
+       "      <td id=\"T_85d81_row2_col3\" class=\"data row2 col3\" >0.987</td>\n",
+       "      <td id=\"T_85d81_row2_col4\" class=\"data row2 col4\" >0.969</td>\n",
+       "      <td id=\"T_85d81_row2_col5\" class=\"data row2 col5\" >0.752</td>\n",
+       "      <td id=\"T_85d81_row2_col6\" class=\"data row2 col6\" >0.974</td>\n",
+       "      <td id=\"T_85d81_row2_col7\" class=\"data row2 col7\" >0.866</td>\n",
+       "      <td id=\"T_85d81_row2_col8\" class=\"data row2 col8\" >0.872</td>\n",
+       "      <td id=\"T_85d81_row2_col9\" class=\"data row2 col9\" >0.774</td>\n",
+       "      <td id=\"T_85d81_row2_col10\" class=\"data row2 col10\" >0.705</td>\n",
+       "      <td id=\"T_85d81_row2_col11\" class=\"data row2 col11\" >0.742</td>\n",
+       "      <td id=\"T_85d81_row2_col12\" class=\"data row2 col12\" >0.832</td>\n",
        "    </tr>\n",
        "    <tr>\n",
-       "      <td id=\"T_187bd_row3_col0\" class=\"data row3 col0\" >TransFusion</td>\n",
-       "      <td id=\"T_187bd_row3_col1\" class=\"data row3 col1\" >0.708</td>\n",
-       "      <td id=\"T_187bd_row3_col2\" class=\"data row3 col2\" >0.633</td>\n",
-       "      <td id=\"T_187bd_row3_col3\" class=\"data row3 col3\" >0.998</td>\n",
-       "      <td id=\"T_187bd_row3_col4\" class=\"data row3 col4\" >0.988</td>\n",
-       "      <td id=\"T_187bd_row3_col5\" class=\"data row3 col5\" >0.754</td>\n",
-       "      <td id=\"T_187bd_row3_col6\" class=\"data row3 col6\" >0.985</td>\n",
-       "      <td id=\"T_187bd_row3_col7\" class=\"data row3 col7\" >0.826</td>\n",
-       "      <td id=\"T_187bd_row3_col8\" class=\"data row3 col8\" >0.969</td>\n",
-       "      <td id=\"T_187bd_row3_col9\" class=\"data row3 col9\" >0.748</td>\n",
-       "      <td id=\"T_187bd_row3_col10\" class=\"data row3 col10\" >0.685</td>\n",
-       "      <td id=\"T_187bd_row3_col11\" class=\"data row3 col11\" >0.777</td>\n",
-       "      <td id=\"T_187bd_row3_col12\" class=\"data row3 col12\" >0.836</td>\n",
+       "      <td id=\"T_85d81_row3_col0\" class=\"data row3 col0\" >TransFusion</td>\n",
+       "      <td id=\"T_85d81_row3_col1\" class=\"data row3 col1\" >0.708</td>\n",
+       "      <td id=\"T_85d81_row3_col2\" class=\"data row3 col2\" >0.633</td>\n",
+       "      <td id=\"T_85d81_row3_col3\" class=\"data row3 col3\" >0.998</td>\n",
+       "      <td id=\"T_85d81_row3_col4\" class=\"data row3 col4\" >0.988</td>\n",
+       "      <td id=\"T_85d81_row3_col5\" class=\"data row3 col5\" >0.754</td>\n",
+       "      <td id=\"T_85d81_row3_col6\" class=\"data row3 col6\" >0.985</td>\n",
+       "      <td id=\"T_85d81_row3_col7\" class=\"data row3 col7\" >0.826</td>\n",
+       "      <td id=\"T_85d81_row3_col8\" class=\"data row3 col8\" >0.851</td>\n",
+       "      <td id=\"T_85d81_row3_col9\" class=\"data row3 col9\" >0.748</td>\n",
+       "      <td id=\"T_85d81_row3_col10\" class=\"data row3 col10\" >0.685</td>\n",
+       "      <td id=\"T_85d81_row3_col11\" class=\"data row3 col11\" >0.777</td>\n",
+       "      <td id=\"T_85d81_row3_col12\" class=\"data row3 col12\" >0.824</td>\n",
        "    </tr>\n",
        "    <tr>\n",
-       "      <td id=\"T_187bd_row4_col0\" class=\"data row4 col0\" >DeepInteraction</td>\n",
-       "      <td id=\"T_187bd_row4_col1\" class=\"data row4 col1\" >0.691</td>\n",
-       "      <td id=\"T_187bd_row4_col2\" class=\"data row4 col2\" >0.655</td>\n",
-       "      <td id=\"T_187bd_row4_col3\" class=\"data row4 col3\" >0.984</td>\n",
-       "      <td id=\"T_187bd_row4_col4\" class=\"data row4 col4\" >0.929</td>\n",
-       "      <td id=\"T_187bd_row4_col5\" class=\"data row4 col5\" >0.583</td>\n",
-       "      <td id=\"T_187bd_row4_col6\" class=\"data row4 col6\" >0.842</td>\n",
-       "      <td id=\"T_187bd_row4_col7\" class=\"data row4 col7\" >0.832</td>\n",
-       "      <td id=\"T_187bd_row4_col8\" class=\"data row4 col8\" >0.975</td>\n",
-       "      <td id=\"T_187bd_row4_col9\" class=\"data row4 col9\" >0.759</td>\n",
-       "      <td id=\"T_187bd_row4_col10\" class=\"data row4 col10\" >0.731</td>\n",
-       "      <td id=\"T_187bd_row4_col11\" class=\"data row4 col11\" >0.768</td>\n",
-       "      <td id=\"T_187bd_row4_col12\" class=\"data row4 col12\" >0.806</td>\n",
+       "      <td id=\"T_85d81_row4_col0\" class=\"data row4 col0\" >DeepInteraction</td>\n",
+       "      <td id=\"T_85d81_row4_col1\" class=\"data row4 col1\" >0.691</td>\n",
+       "      <td id=\"T_85d81_row4_col2\" class=\"data row4 col2\" >0.655</td>\n",
+       "      <td id=\"T_85d81_row4_col3\" class=\"data row4 col3\" >0.984</td>\n",
+       "      <td id=\"T_85d81_row4_col4\" class=\"data row4 col4\" >0.929</td>\n",
+       "      <td id=\"T_85d81_row4_col5\" class=\"data row4 col5\" >0.583</td>\n",
+       "      <td id=\"T_85d81_row4_col6\" class=\"data row4 col6\" >0.842</td>\n",
+       "      <td id=\"T_85d81_row4_col7\" class=\"data row4 col7\" >0.832</td>\n",
+       "      <td id=\"T_85d81_row4_col8\" class=\"data row4 col8\" >0.882</td>\n",
+       "      <td id=\"T_85d81_row4_col9\" class=\"data row4 col9\" >0.759</td>\n",
+       "      <td id=\"T_85d81_row4_col10\" class=\"data row4 col10\" >0.731</td>\n",
+       "      <td id=\"T_85d81_row4_col11\" class=\"data row4 col11\" >0.768</td>\n",
+       "      <td id=\"T_85d81_row4_col12\" class=\"data row4 col12\" >0.796</td>\n",
        "    </tr>\n",
        "  </tbody>\n",
        "</table>\n"
       ],
       "text/plain": [
-       "<pandas.io.formats.style.Styler at 0x7faf6cfbcd90>"
+       "<pandas.io.formats.style.Styler at 0x7f600c93a320>"
       ]
      },
-     "execution_count": 96,
+     "execution_count": 88,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -688,7 +688,7 @@
     "    return ['background: grey; font-weight: bold' if cell else '' for cell in is_max] \n",
     "\n",
     "\n",
-    "df_ra.style.hide_index().format(precision=3).apply(html_highlight_max)\n",
+    "df_ra.style.hide().format(precision=3).apply(html_highlight_max)\n",
     "# print(df_markdown.style.hide_index().format(precision=3).apply(html_highlight_max).to_html())"
    ]
   },
@@ -701,7 +701,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 97,
+   "execution_count": 89,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -716,7 +716,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 98,
+   "execution_count": 90,
    "metadata": {},
    "outputs": [
     {
@@ -766,11 +766,11 @@
        "      <td>9.398263</td>\n",
        "      <td>2.041012</td>\n",
        "      <td>-0.840834</td>\n",
-       "      <td>3.068808</td>\n",
+       "      <td>8.212509</td>\n",
        "      <td>9.887261</td>\n",
        "      <td>17.052673</td>\n",
        "      <td>8.448135</td>\n",
-       "      <td>6.942168</td>\n",
+       "      <td>7.456538</td>\n",
        "    </tr>\n",
        "    <tr>\n",
        "      <th>1</th>\n",
@@ -782,11 +782,11 @@
        "      <td>-25.037221</td>\n",
        "      <td>-16.385588</td>\n",
        "      <td>-7.077023</td>\n",
-       "      <td>-3.107169</td>\n",
+       "      <td>-2.188219</td>\n",
        "      <td>-5.148610</td>\n",
        "      <td>0.211752</td>\n",
        "      <td>0.144681</td>\n",
-       "      <td>-7.352705</td>\n",
+       "      <td>-7.260810</td>\n",
        "    </tr>\n",
        "    <tr>\n",
        "      <th>2</th>\n",
@@ -798,11 +798,11 @@
        "      <td>-0.552109</td>\n",
        "      <td>0.340169</td>\n",
        "      <td>-5.411524</td>\n",
-       "      <td>-1.256293</td>\n",
+       "      <td>-3.295704</td>\n",
        "      <td>-4.220172</td>\n",
        "      <td>-3.626257</td>\n",
        "      <td>3.849783</td>\n",
-       "      <td>-1.667038</td>\n",
+       "      <td>-1.870979</td>\n",
        "    </tr>\n",
        "    <tr>\n",
        "      <th>3</th>\n",
@@ -814,11 +814,11 @@
        "      <td>4.429280</td>\n",
        "      <td>0.297049</td>\n",
        "      <td>0.280278</td>\n",
-       "      <td>2.685207</td>\n",
+       "      <td>3.242202</td>\n",
        "      <td>1.887020</td>\n",
        "      <td>3.699047</td>\n",
        "      <td>7.227779</td>\n",
-       "      <td>2.950302</td>\n",
+       "      <td>3.006002</td>\n",
        "    </tr>\n",
        "    <tr>\n",
        "      <th>4</th>\n",
@@ -849,21 +849,21 @@
        "4        BEVfusion  0.7144           0.000000        0.000000  0.000000   \n",
        "\n",
        "     RRA_fog  RRA_missingcamera  RRA_motionblur  RRA_pointsreducing  RRA_snow  \\\n",
-       "0   9.398263           2.041012       -0.840834            3.068808  9.887261   \n",
-       "1 -25.037221         -16.385588       -7.077023           -3.107169 -5.148610   \n",
-       "2  -0.552109           0.340169       -5.411524           -1.256293 -4.220172   \n",
-       "3   4.429280           0.297049        0.280278            2.685207  1.887020   \n",
+       "0   9.398263           2.041012       -0.840834            8.212509  9.887261   \n",
+       "1 -25.037221         -16.385588       -7.077023           -2.188219 -5.148610   \n",
+       "2  -0.552109           0.340169       -5.411524           -3.295704 -4.220172   \n",
+       "3   4.429280           0.297049        0.280278            3.242202  1.887020   \n",
        "4   0.000000           0.000000        0.000000            0.000000  0.000000   \n",
        "\n",
        "   RRA_spatialmisalignment  RRA_temporalmisalignment      mRRA  \n",
-       "0                17.052673                  8.448135  6.942168  \n",
-       "1                 0.211752                  0.144681 -7.352705  \n",
-       "2                -3.626257                  3.849783 -1.667038  \n",
-       "3                 3.699047                  7.227779  2.950302  \n",
+       "0                17.052673                  8.448135  7.456538  \n",
+       "1                 0.211752                  0.144681 -7.260810  \n",
+       "2                -3.626257                  3.849783 -1.870979  \n",
+       "3                 3.699047                  7.227779  3.006002  \n",
        "4                 0.000000                  0.000000  0.000000  "
       ]
      },
-     "execution_count": 98,
+     "execution_count": 90,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -881,7 +881,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 99,
+   "execution_count": 91,
    "metadata": {},
    "outputs": [
     {
@@ -890,12 +890,12 @@
      "text": [
       "\\begin{tabular}{lrrrrrrrrrrr}\n",
       "\\toprule\n",
-      "{Model} & {Beams Red.} & {Brightness} & {Darkness} & {Fog} & {Missing Cam.} & {Motion Blur} & {Points Red.} & {Snow} & {Spatial Mis.} & {Temporal Mis.} & {mRRA} \\\\\n",
+      "Model & Beams Red. & Brightness & Darkness & Fog & Missing Cam. & Motion Blur & Points Red. & Snow & Spatial Mis. & Temporal Mis. & mRRA \\\\\n",
       "\\midrule\n",
-      "CMT & \\textbf{18.642} & 1.821 & -0.096 & \\textbf{9.398} & \\textbf{2.041} & -0.841 & \\textbf{3.069} & \\textbf{9.887} & \\textbf{17.053} & \\textbf{8.448} & \\textbf{6.942} \\\\\n",
-      "DeepInteraction & -6.361 & -3.551 & -7.215 & -25.037 & -16.386 & -7.077 & -3.107 & -5.149 & 0.212 & 0.145 & -7.353 \\\\\n",
-      "\\textbf{TransFusion} & -7.210 & 0.270 & 1.146 & -0.552 & 0.340 & -5.412 & -1.256 & -4.220 & -3.626 & 3.850 & -1.667 \\\\\n",
-      "Sparsefusion & 4.264 & \\textbf{2.913} & \\textbf{1.821} & 4.429 & 0.297 & \\textbf{0.280} & 2.685 & 1.887 & 3.699 & 7.228 & 2.950 \\\\\n",
+      "CMT & \\textbf{18.642} & 1.821 & -0.096 & \\textbf{9.398} & \\textbf{2.041} & -0.841 & \\textbf{8.213} & \\textbf{9.887} & \\textbf{17.053} & \\textbf{8.448} & \\textbf{7.457} \\\\\n",
+      "DeepInteraction & -6.361 & -3.551 & -7.215 & -25.037 & -16.386 & -7.077 & -2.188 & -5.149 & 0.212 & 0.145 & -7.261 \\\\\n",
+      "\\textbf{TransFusion} & -7.210 & 0.270 & 1.146 & -0.552 & 0.340 & -5.412 & -3.296 & -4.220 & -3.626 & 3.850 & -1.871 \\\\\n",
+      "Sparsefusion & 4.264 & \\textbf{2.913} & \\textbf{1.821} & 4.429 & 0.297 & \\textbf{0.280} & 3.242 & 1.887 & 3.699 & 7.228 & 3.006 \\\\\n",
       "BEVfusion & 0.000 & 0.000 & 0.000 & 0.000 & 0.000 & 0.000 & 0.000 & 0.000 & 0.000 & 0.000 & 0.000 \\\\\n",
       "\\bottomrule\n",
       "\\end{tabular}\n",
@@ -908,7 +908,7 @@
     "rn.update({MODEL_COLUMN:\"Model\"})\n",
     "rn.update({\"clean\": \"Clean\"})\n",
     "df_latex = df[[MODEL_COLUMN]+[f\"RRA_{c}\" for c in CORRUPTIONS] + [\"mRRA\"]].rename(columns=rn)\n",
-    "df_latex = df_latex.style.format(precision=3).hide_index().highlight_max(axis=0, props=\"textbf:--rwrap;\")\n",
+    "df_latex = df_latex.style.format(precision=3).hide().highlight_max(axis=0, props=\"textbf:--rwrap;\")\n",
     "print(df_latex.to_latex(hrules=True))"
    ]
   },
@@ -921,7 +921,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 100,
+   "execution_count": 92,
    "metadata": {},
    "outputs": [
     {
@@ -931,10 +931,10 @@
       "| Model                                                           | Clean     | Beams Red.   | Brightness   | Darkness   | Fog       | Missing Cam.   | Motion Blur   | Points Red.   | Snow      | Spatial Mis.   | Temporal Mis.   | mRRA      |\n",
       "|:----------------------------------------------------------------|:----------|:-------------|:-------------|:-----------|:----------|:---------------|:--------------|:--------------|:----------|:---------------|:----------------|:----------|\n",
       "| [BEVfusion](https://github.com/mit-han-lab/bevfusion)           | 0.714     | 0.000        | 0.000        | 0.000      | 0.000     | 0.000          | 0.000         | 0.000         | 0.000     | 0.000          | 0.000           | 0.000     |\n",
-      "| [CMT](https://github.com/junjie18/CMT)                          | 0.729     | **18.642**   | 1.821        | -0.096     | **9.398** | **2.041**      | -0.841        | **3.069**     | **9.887** | **17.053**     | **8.448**       | **6.942** |\n",
-      "| [Sparsefusion](https://github.com/yichen928/SparseFusion)       | **0.732** | 4.264        | **2.913**    | **1.821**  | 4.429     | 0.297          | **0.280**     | 2.685         | 1.887     | 3.699          | 7.228           | 2.950     |\n",
-      "| [TransFusion](https://github.com/XuyangBai/TransFusion)         | 0.708     | -7.210       | 0.270        | 1.146      | -0.552    | 0.340          | -5.412        | -1.256        | -4.220    | -3.626         | 3.850           | -1.667    |\n",
-      "| [DeepInteraction](https://github.com/fudan-zvg/DeepInteraction) | 0.691     | -6.361       | -3.551       | -7.215     | -25.037   | -16.386        | -7.077        | -3.107        | -5.149    | 0.212          | 0.145           | -7.353    |\n"
+      "| [CMT](https://github.com/junjie18/CMT)                          | 0.729     | **18.642**   | 1.821        | -0.096     | **9.398** | **2.041**      | -0.841        | **8.213**     | **9.887** | **17.053**     | **8.448**       | **7.457** |\n",
+      "| [Sparsefusion](https://github.com/yichen928/SparseFusion)       | **0.732** | 4.264        | **2.913**    | **1.821**  | 4.429     | 0.297          | **0.280**     | 3.242         | 1.887     | 3.699          | 7.228           | 3.006     |\n",
+      "| [TransFusion](https://github.com/XuyangBai/TransFusion)         | 0.708     | -7.210       | 0.270        | 1.146      | -0.552    | 0.340          | -5.412        | -3.296        | -4.220    | -3.626         | 3.850           | -1.871    |\n",
+      "| [DeepInteraction](https://github.com/fudan-zvg/DeepInteraction) | 0.691     | -6.361       | -3.551       | -7.215     | -25.037   | -16.386        | -7.077        | -2.188        | -5.149    | 0.212          | 0.145           | -7.261    |\n"
      ]
     }
    ],
@@ -973,7 +973,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.7.11"
+   "version": "3.10.12"
   }
  },
  "nbformat": 4,