{"ID":2863688,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2509.24903","arxiv_id":"2509.24903","title":"DRCP: Diffusion on Reinforced Cooperative Perception for Perceiving Beyond Limits","abstract":"Cooperative perception enabled by Vehicle-to-Everything communication has shown great promise in enhancing situational awareness for autonomous vehicles and other mobile robotic platforms. Despite recent advances in perception backbones and multi-agent fusion, real-world deployments remain challenged by hard detection cases, exemplified by partial detections and noise accumulation which limit downstream detection accuracy. This work presents Diffusion on Reinforced Cooperative Perception (DRCP), a real-time deployable framework designed to address aforementioned issues in dynamic driving environments. DRCP integrates two key components: (1) Precise-Pyramid-Cross-Modality-Cross-Agent, a cross-modal cooperative perception module that leverages camera-intrinsic-aware angular partitioning for attention-based fusion and adaptive convolution to better exploit external features; and (2) Mask-Diffusion-Mask-Aggregation, a novel lightweight diffusion-based refinement module that encourages robustness against feature perturbations and aligns bird's-eye-view features closer to the task-optimal manifold. The proposed system achieves real-time performance on mobile platforms while significantly improving robustness under challenging conditions. Code will be released in late 2025.","short_abstract":"Cooperative perception enabled by Vehicle-to-Everything communication has shown great promise in enhancing situational awareness for autonomous vehicles and other mobile robotic platforms. Despite recent advances in perception backbones and multi-agent fusion, real-world deployments remain challenged by hard detection...","url_abs":"https://arxiv.org/abs/2509.24903","url_pdf":"https://arxiv.org/pdf/2509.24903v1","authors":"[\"Lantao Li\",\"Kang Yang\",\"Rui Song\",\"Chen Sun\"]","published":"2025-09-29T15:13:03Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.CV\",\"eess.IV\"]","methods":"[\"Diffusion Model\"]","has_code":false}