**Softplus** is an activation function $f\left(x\right) = \log\left(1+\exp\left(x\right)\right)$. It can be viewed as a smooth version of [ReLU](https://paperswithcode.com/method/relu).

CARLA is an open-source simulator for autonomous driving research. CARLA has been developed from the ground up to support development, training, and validation of autonomous urban driving systems. In addition to open-source code and protocols, CARLA provides open digital assets (urban layouts, buildings, vehicles) that were created for this purpose and can be used freely. 

Source: [Dosovitskiy et al.](https://arxiv.org/pdf/1711.03938v1.pdf)

Image source: [Dosovitskiy et al.](https://arxiv.org/pdf/1711.03938v1.pdf)

CARLA

CARLA: An Open Urban Driving Simulator

Softplus

**CBNet** is a backbone architecture that consists of multiple identical backbones (specially called Assistant Backbones and Lead Backbone) and composite connections between neighbor backbones. From left to right, the output of each stage in an Assistant Backbone, namely higher-level
features, flows to the parallel stage of the succeeding backbone as part of inputs through composite connections. Finally, the feature maps of the last backbone named Lead
Backbone are used for object detection. The features extracted by CBNet for object detection fuse the high-level and low-level features of multiple backbones, hence improve the detection performance.

Year	2000
Data Source	CC BY-SA - https://paperswithcode.com