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arXiv:2608.21055v1 Announce Type: cross Abstract: Collaborative perception extends the sensing range of a single vehicle by fusing observations from nearby agents, which improves the robustness of au...
Connected Autonomous Vehicles (CAVs) increasingly exploit Vehicle-to-Everything (V2X) communication to exchange multi-source sensor information, enabling advanced Collaborative Perception (CP) capabilities. Extending beyond these capabilities, this work focuses on Collaborative Joint Perception and Prediction (Co-P&P), a paradigm that unifies CP with motion prediction to mitigate two persistent challenges: the accumulation of perception errors and visual occlusions.
BOLT is a lightweight plug‑and‑play module that enables preparation‑free heterogeneous cooperative perception by adapting neighboring features online through ego‑as‑teacher distillation. It requires only ego predictions, no ground‑truth labels, and uses high‑confidence ego features to align cross‑agent feature domains while allowing neighbors to contribute in low‑confidence regions. With just 0.9 M trainable parameters, BOLT boosts AP@50 by up to 32.3 points over unadapted fusion and consistently outperforms ego‑only results on DAIR‑V2X and OPV2V.
arXiv:2605. 20301v2 Announce Type: replace-cross Abstract: In autonomous driving, 3D object detection is essential for accurate perception and reliable decision-making.
arXiv:2511.17681v2 Announce Type: replace Abstract: Referring Multi-Object Tracking (RMOT) extends conventional multi-object tracking (MOT) by introducing natural language references for multi-modal...
MC-DeTra is a reimplementation of the DeTra model that jointly performs object detection and socially-aware trajectory forecasting in bird's-eye-view images. It introduces motion-consistency mechanisms that add supervision from each actor’s past motion, surrounding traffic occupancy, and a consistency constraint aligning predicted heading with motion direction. The added losses are train‑only and inference‑safe, improving dynamic trajectory forecasting on the Waymo Open Dataset while maintaining or enhancing detection accuracy.