diff --git a/README.md b/README.md
index 94a13eb0e0..e8f2fb4a47 100644
--- a/README.md
+++ b/README.md
@@ -162,10 +162,10 @@ Results and models are available in the [model zoo](docs/en/model_zoo.md).
   <tbody>
     <tr align="center" valign="middle">
       <td>
-        <b>3D Object Detection</b>
+        <b>LiDAR-based 3D Object Detection</b>
       </td>
       <td>
-        <b>Monocular 3D Object Detection</b>
+        <b>Camera-based 3D Object Detection</b>
       </td>
       <td>
         <b>Multi-modal 3D Object Detection</b>
@@ -187,6 +187,7 @@ Results and models are available in the [model zoo](docs/en/model_zoo.md).
             <li><a href="configs/parta2">Part-A2 (TPAMI'2020)</a></li>
             <li><a href="configs/centerpoint">CenterPoint (CVPR'2021)</a></li>
             <li><a href="configs/pv_rcnn">PV-RCNN (CVPR'2020)</a></li>
+            <li><a href="projects/CenterFormer">CenterFormer (ECCV'2022)</a></li>
         </ul>
         <li><b>Indoor</b></li>
         <ul>
@@ -194,6 +195,7 @@ Results and models are available in the [model zoo](docs/en/model_zoo.md).
             <li><a href="configs/h3dnet">H3DNet (ECCV'2020)</a></li>
             <li><a href="configs/groupfree3d">Group-Free-3D (ICCV'2021)</a></li>
             <li><a href="configs/fcaf3d">FCAF3D (ECCV'2022)</a></li>
+            <li><a href="projects/TR3D">TR3D (ArXiv'2023)</a></li>
       </ul>
       </td>
       <td>
@@ -204,6 +206,8 @@ Results and models are available in the [model zoo](docs/en/model_zoo.md).
           <li><a href="configs/fcos3d">FCOS3D (ICCVW'2021)</a></li>
           <li><a href="configs/pgd">PGD (CoRL'2021)</a></li>
           <li><a href="configs/monoflex">MonoFlex (CVPR'2021)</a></li>
+          <li><a href="projects/DETR3D">DETR3D (CoRL'2021)</a></li>
+          <li><a href="projects/PETR">PETR (ECCV'2022)</a></li>
         </ul>
         <li><b>Indoor</b></li>
         <ul>
@@ -214,6 +218,7 @@ Results and models are available in the [model zoo](docs/en/model_zoo.md).
         <li><b>Outdoor</b></li>
         <ul>
           <li><a href="configs/mvxnet">MVXNet (ICRA'2019)</a></li>
+          <li><a href="projects/BEVFusion">BEVFusion (ICRA'2023)</a></li>
         </ul>
         <li><b>Indoor</b></li>
         <ul>
@@ -226,6 +231,7 @@ Results and models are available in the [model zoo](docs/en/model_zoo.md).
           <li><a href="configs/minkunet">MinkUNet (CVPR'2019)</a></li>
           <li><a href="configs/spvcnn">SPVCNN (ECCV'2020)</a></li>
           <li><a href="configs/cylinder3d">Cylinder3D (CVPR'2021)</a></li>
+          <li><a href="projects/TPVFormer">TPVFormer (CVPR'2023)</a></li>
         </ul>
         <li><b>Indoor</b></li>
         <ul>
@@ -241,34 +247,40 @@ Results and models are available in the [model zoo](docs/en/model_zoo.md).
   </tbody>
 </table>
 
-|               | ResNet | PointNet++ | SECOND | DGCNN | RegNetX | DLA | MinkResNet | Cylinder3D | MinkUNet |
-| :-----------: | :----: | :--------: | :----: | :---: | :-----: | :-: | :--------: | :--------: | :------: |
-|    SECOND     |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-| PointPillars  |   ✗    |     ✗      |   ✓    |   ✗   |    ✓    |  ✗  |     ✗      |     ✗      |    ✗     |
-|  FreeAnchor   |   ✗    |     ✗      |   ✗    |   ✗   |    ✓    |  ✗  |     ✗      |     ✗      |    ✗     |
-|    VoteNet    |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|    H3DNet     |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|     3DSSD     |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|    Part-A2    |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|    MVXNet     |   ✓    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|  CenterPoint  |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|      SSN      |   ✗    |     ✗      |   ✗    |   ✗   |    ✓    |  ✗  |     ✗      |     ✗      |    ✗     |
-|   ImVoteNet   |   ✓    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|    FCOS3D     |   ✓    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|  PointNet++   |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-| Group-Free-3D |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|  ImVoxelNet   |   ✓    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|    PAConv     |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|     DGCNN     |   ✗    |     ✗      |   ✗    |   ✓   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|     SMOKE     |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✓  |     ✗      |     ✗      |    ✗     |
-|      PGD      |   ✓    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|   MonoFlex    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✓  |     ✗      |     ✗      |    ✗     |
-|    SA-SSD     |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|    FCAF3D     |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✓      |     ✗      |    ✗     |
-|    PV-RCNN    |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|  Cylinder3D   |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✓      |    ✗     |
-|   MinkUNet    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✓     |
-|    SPVCNN     |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✓     |
+|               | ResNet | VoVNet | Swin-T | PointNet++ | SECOND | DGCNN | RegNetX | DLA | MinkResNet | Cylinder3D | MinkUNet |
+| :-----------: | :----: | :----: | :----: | :--------: | :----: | :---: | :-----: | :-: | :--------: | :--------: | :------: |
+|    SECOND     |   ✗    |   ✗    |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+| PointPillars  |   ✗    |   ✗    |   ✗    |     ✗      |   ✓    |   ✗   |    ✓    |  ✗  |     ✗      |     ✗      |    ✗     |
+|  FreeAnchor   |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✓    |  ✗  |     ✗      |     ✗      |    ✗     |
+|    VoteNet    |   ✗    |   ✗    |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|    H3DNet     |   ✗    |   ✗    |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|     3DSSD     |   ✗    |   ✗    |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|    Part-A2    |   ✗    |   ✗    |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|    MVXNet     |   ✓    |   ✗    |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|  CenterPoint  |   ✗    |   ✗    |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|      SSN      |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✓    |  ✗  |     ✗      |     ✗      |    ✗     |
+|   ImVoteNet   |   ✓    |   ✗    |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|    FCOS3D     |   ✓    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|  PointNet++   |   ✗    |   ✗    |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+| Group-Free-3D |   ✗    |   ✗    |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|  ImVoxelNet   |   ✓    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|    PAConv     |   ✗    |   ✗    |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|     DGCNN     |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✓   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|     SMOKE     |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✓  |     ✗      |     ✗      |    ✗     |
+|      PGD      |   ✓    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|   MonoFlex    |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✓  |     ✗      |     ✗      |    ✗     |
+|    SA-SSD     |   ✗    |   ✗    |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|    FCAF3D     |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✓      |     ✗      |    ✗     |
+|    PV-RCNN    |   ✗    |   ✗    |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|  Cylinder3D   |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✓      |    ✗     |
+|   MinkUNet    |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✓     |
+|    SPVCNN     |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✓     |
+|   BEVFusion   |   ✗    |   ✗    |   ✓    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+| CenterFormer  |   ✗    |   ✗    |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|     TR3D      |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✓      |     ✗      |    ✗     |
+|    DETR3D     |   ✓    |   ✓    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|     PETR      |   ✗    |   ✓    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|   TPVFormer   |   ✓    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
 
 **Note:** All the about **300+ models, methods of 40+ papers** in 2D detection supported by [MMDetection](https://github.com/open-mmlab/mmdetection/blob/3.x/docs/en/model_zoo.md) can be trained or used in this codebase.
 
diff --git a/README_zh-CN.md b/README_zh-CN.md
index 800c52f1ad..a693270615 100644
--- a/README_zh-CN.md
+++ b/README_zh-CN.md
@@ -158,10 +158,10 @@ MMDetection3D 是一个基于 PyTorch 的目标检测开源工具箱，下一代
   <tbody>
     <tr align="center" valign="middle">
       <td>
-        <b>3D 目标检测</b>
+        <b>激光雷达 3D 目标检测</b>
       </td>
       <td>
-        <b>单目 3D 目标检测</b>
+        <b>相机 3D 目标检测</b>
       </td>
       <td>
         <b>多模态 3D 目标检测</b>
@@ -182,6 +182,8 @@ MMDetection3D 是一个基于 PyTorch 的目标检测开源工具箱，下一代
             <li><a href="configs/point_rcnn">PointRCNN (CVPR'2019)</a></li>
             <li><a href="configs/parta2">Part-A2 (TPAMI'2020)</a></li>
             <li><a href="configs/centerpoint">CenterPoint (CVPR'2021)</a></li>
+            <li><a href="configs/pv_rcnn">PV-RCNN (CVPR'2020)</a></li>
+            <li><a href="projects/CenterFormer">CenterFormer (ECCV'2022)</a></li>
         </ul>
         <li><b>室内</b></li>
         <ul>
@@ -189,6 +191,7 @@ MMDetection3D 是一个基于 PyTorch 的目标检测开源工具箱，下一代
             <li><a href="configs/h3dnet">H3DNet (ECCV'2020)</a></li>
             <li><a href="configs/groupfree3d">Group-Free-3D (ICCV'2021)</a></li>
             <li><a href="configs/fcaf3d">FCAF3D (ECCV'2022)</a></li>
+            <li><a href="projects/TR3D">TR3D (ArXiv'2023)</a></li>
       </ul>
       </td>
       <td>
@@ -199,6 +202,8 @@ MMDetection3D 是一个基于 PyTorch 的目标检测开源工具箱，下一代
           <li><a href="configs/fcos3d">FCOS3D (ICCVW'2021)</a></li>
           <li><a href="configs/pgd">PGD (CoRL'2021)</a></li>
           <li><a href="configs/monoflex">MonoFlex (CVPR'2021)</a></li>
+          <li><a href="projects/DETR3D">DETR3D (CoRL'2021)</a></li>
+          <li><a href="projects/PETR">PETR (ECCV'2022)</a></li>
         </ul>
         <li><b>Indoor</b></li>
         <ul>
@@ -209,6 +214,7 @@ MMDetection3D 是一个基于 PyTorch 的目标检测开源工具箱，下一代
         <li><b>室外</b></li>
         <ul>
           <li><a href="configs/mvxnet">MVXNet (ICRA'2019)</a></li>
+          <li><a href="projects/BEVFusion">BEVFusion (ICRA'2023)</a></li>
         </ul>
         <li><b>室内</b></li>
         <ul>
@@ -221,6 +227,7 @@ MMDetection3D 是一个基于 PyTorch 的目标检测开源工具箱，下一代
           <li><a href="configs/minkunet">MinkUNet (CVPR'2019)</a></li>
           <li><a href="configs/spvcnn">SPVCNN (ECCV'2020)</a></li>
           <li><a href="configs/cylinder3d">Cylinder3D (CVPR'2021)</a></li>
+          <li><a href="projects/TPVFormer">TPVFormer (CVPR'2023)</a></li>
         </ul>
         <li><b>室内</b></li>
         <ul>
@@ -236,34 +243,40 @@ MMDetection3D 是一个基于 PyTorch 的目标检测开源工具箱，下一代
   </tbody>
 </table>
 
-|               | ResNet | PointNet++ | SECOND | DGCNN | RegNetX | DLA | MinkResNet | Cylinder3D | MinkUNet |
-| :-----------: | :----: | :--------: | :----: | :---: | :-----: | :-: | :--------: | :--------: | :------: |
-|    SECOND     |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-| PointPillars  |   ✗    |     ✗      |   ✓    |   ✗   |    ✓    |  ✗  |     ✗      |     ✗      |    ✗     |
-|  FreeAnchor   |   ✗    |     ✗      |   ✗    |   ✗   |    ✓    |  ✗  |     ✗      |     ✗      |    ✗     |
-|    VoteNet    |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|    H3DNet     |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|     3DSSD     |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|    Part-A2    |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|    MVXNet     |   ✓    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|  CenterPoint  |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|      SSN      |   ✗    |     ✗      |   ✗    |   ✗   |    ✓    |  ✗  |     ✗      |     ✗      |    ✗     |
-|   ImVoteNet   |   ✓    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|    FCOS3D     |   ✓    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|  PointNet++   |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-| Group-Free-3D |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|  ImVoxelNet   |   ✓    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|    PAConv     |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|     DGCNN     |   ✗    |     ✗      |   ✗    |   ✓   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|     SMOKE     |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✓  |     ✗      |     ✗      |    ✗     |
-|      PGD      |   ✓    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|   MonoFlex    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✓  |     ✗      |     ✗      |    ✗     |
-|    SA-SSD     |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|    FCAF3D     |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✓      |     ✗      |    ✗     |
-|    PV-RCNN    |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
-|  Cylinder3D   |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✓      |    ✗     |
-|   MinkUNet    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✓     |
-|    SPVCNN     |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✓     |
+|               | ResNet | VoVNet | Swin-T | PointNet++ | SECOND | DGCNN | RegNetX | DLA | MinkResNet | Cylinder3D | MinkUNet |
+| :-----------: | :----: | :----: | :----: | :--------: | :----: | :---: | :-----: | :-: | :--------: | :--------: | :------: |
+|    SECOND     |   ✗    |   ✗    |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+| PointPillars  |   ✗    |   ✗    |   ✗    |     ✗      |   ✓    |   ✗   |    ✓    |  ✗  |     ✗      |     ✗      |    ✗     |
+|  FreeAnchor   |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✓    |  ✗  |     ✗      |     ✗      |    ✗     |
+|    VoteNet    |   ✗    |   ✗    |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|    H3DNet     |   ✗    |   ✗    |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|     3DSSD     |   ✗    |   ✗    |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|    Part-A2    |   ✗    |   ✗    |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|    MVXNet     |   ✓    |   ✗    |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|  CenterPoint  |   ✗    |   ✗    |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|      SSN      |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✓    |  ✗  |     ✗      |     ✗      |    ✗     |
+|   ImVoteNet   |   ✓    |   ✗    |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|    FCOS3D     |   ✓    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|  PointNet++   |   ✗    |   ✗    |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+| Group-Free-3D |   ✗    |   ✗    |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|  ImVoxelNet   |   ✓    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|    PAConv     |   ✗    |   ✗    |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|     DGCNN     |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✓   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|     SMOKE     |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✓  |     ✗      |     ✗      |    ✗     |
+|      PGD      |   ✓    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|   MonoFlex    |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✓  |     ✗      |     ✗      |    ✗     |
+|    SA-SSD     |   ✗    |   ✗    |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|    FCAF3D     |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✓      |     ✗      |    ✗     |
+|    PV-RCNN    |   ✗    |   ✗    |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|  Cylinder3D   |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✓      |    ✗     |
+|   MinkUNet    |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✓     |
+|    SPVCNN     |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✓     |
+|   BEVFusion   |   ✗    |   ✗    |   ✓    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+| CenterFormer  |   ✗    |   ✗    |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|     TR3D      |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✓      |     ✗      |    ✗     |
+|    DETR3D     |   ✓    |   ✓    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|     PETR      |   ✗    |   ✓    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|   TPVFormer   |   ✓    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
 
 **注意：**[MMDetection](https://github.com/open-mmlab/mmdetection/blob/3.x/docs/zh_cn/model_zoo.md) 支持的基于 2D 检测的 **300+ 个模型，40+ 的论文算法**在 MMDetection3D 中都可以被训练或使用。
 
diff --git a/docs/en/model_zoo.md b/docs/en/model_zoo.md
index a16ee554cb..562fd25743 100644
--- a/docs/en/model_zoo.md
+++ b/docs/en/model_zoo.md
@@ -112,6 +112,30 @@ Please refer to [FCAF3D](https://github.com/open-mmlab/mmdetection3d/blob/main/c
 
 Please refer to [PV-RCNN](https://github.com/open-mmlab/mmdetection3d/blob/dev-1.x/configs/pv_rcnn) for details. We provide PV-RCNN baselines on the KITTI dataset.
 
+### BEVFusion
+
+Please refer to [BEVFusion](https://github.com/open-mmlab/mmdetection3d/blob/dev-1.x/projects/BEVFusion) for details. We provide BEVFusion baselines on the NuScenes dataset.
+
+### CenterFormer
+
+Please refer to [CenterFormer](https://github.com/open-mmlab/mmdetection3d/blob/dev-1.x/projects/CenterFormer) for details. We provide CenterFormer baselines on the Waymo dataset.
+
+### TR3D
+
+Please refer to [TR3D](https://github.com/open-mmlab/mmdetection3d/blob/dev-1.x/projects/TR3D) for details. We provide TR3D baselines on the ScanNet, SUN RGB-D and S3DIS dataset.
+
+### DETR3D
+
+Please refer to [DETR3D](https://github.com/open-mmlab/mmdetection3d/blob/dev-1.x/projects/DETR3D) for details. We provide DETR3D baselines on the nuScenes dataset.
+
+### PETR
+
+Please refer to [PETR](https://github.com/open-mmlab/mmdetection3d/blob/dev-1.x/projects/PETR) for details. We provide PETR baselines on the nuScenes dataset.
+
+### TPVFormer
+
+Please refer to [TPVFormer](https://github.com/open-mmlab/mmdetection3d/blob/dev-1.x/projects/TPVFormer) for details. We provide TPVFormer baselines on the nuScenes dataset.
+
 ### Mixed Precision (FP16) Training
 
 Please refer to [Mixed Precision (FP16) Training on PointPillars](https://github.com/open-mmlab/mmdetection3d/tree/v1.0.0.dev0/configs/pointpillars/hv_pointpillars_fpn_sbn-all_fp16_2x8_2x_nus-3d.py) for details.
diff --git a/docs/zh_cn/model_zoo.md b/docs/zh_cn/model_zoo.md
index 56739f8015..ec08bb25ea 100644
--- a/docs/zh_cn/model_zoo.md
+++ b/docs/zh_cn/model_zoo.md
@@ -108,6 +108,34 @@
 
 请参考 [FCAF3D](https://github.com/open-mmlab/mmdetection3d/blob/main/configs/fcaf3d) 获取更多的细节，我们在 ScanNet, S3DIS 和 SUN RGB-D 数据集上给出了相应的基准结果。
 
+### PV-RCNN
+
+请参考 [PV-RCNN](https://github.com/open-mmlab/mmdetection3d/blob/dev-1.x/configs/pv_rcnn) 获取更多的细节，我们在 KITTI 数据集上给出了相应的基准结果。
+
+### BEVFusion
+
+请参考 [BEVFusion](https://github.com/open-mmlab/mmdetection3d/blob/dev-1.x/projects/BEVFusion) 获取更多的细节, 我们在 NuScenes 数据集上给出了相应的基准结果。
+
+### CenterFormer
+
+请参考 [CenterFormer](https://github.com/open-mmlab/mmdetection3d/blob/dev-1.x/projects/CenterFormer) 获取更多的细节, 我们在 Waymo 数据集上给出了相应的基准结果。
+
+### TR3D
+
+请参考 [TR3D](https://github.com/open-mmlab/mmdetection3d/blob/dev-1.x/projects/TR3D) 获取更多的细节, 我们在 ScanNet, SUN RGB-D 和 S3DIS 数据集上给出了相应的基准结果。
+
+### DETR3D
+
+请参考 [DETR3D](https://github.com/open-mmlab/mmdetection3d/blob/dev-1.x/projects/DETR3D) 获取更多的细节, 我们在 NuScenes 数据集上给出了相应的基准结果。
+
+### PETR
+
+请参考 [PETR](https://github.com/open-mmlab/mmdetection3d/blob/dev-1.x/projects/PETR) 获取更多的细节, 我们在 NuScenes 数据集上给出了相应的基准结果。
+
+### TPVFormer
+
+请参考 [TPVFormer](https://github.com/open-mmlab/mmdetection3d/blob/dev-1.x/projects/TPVFormer) 获取更多的细节, 我们在 NuScenes 数据集上给出了相应的基准结果。
+
 ### Mixed Precision (FP16) Training
 
 细节请参考 [Mixed Precision (FP16) Training 在 PointPillars 训练的样例](https://github.com/open-mmlab/mmdetection3d/blob/main/configs/pointpillars/pointpillars_hv_fpn_sbn-all_8xb2-amp-2x_nus-3d.py)。