A perception model is trained to classify inputs in relation to a discrete set of leaf node classes. A hierarchical classification tree encodes hierarchical relationships between the leaf node classes. A training loss function is dependent on a classification score for a given training input a its ground truth leaf node class of the training input, but also classification scores for at least some others of the leaf node classes, with the classification scores of the other leaf node classes weighted in dependence on their hierarchical relationship to the ground truth leaf node class within the hierarchical classification tree.
STRUCTURE DETECTION MODELS