arXiv subjects

Yongqi Zhu

Publications and source records attributed to Yongqi Zhu.

7 recordsLinked to original sources

arXiv2026

LANTERN: A Closed-Loop Benchmark for VLM-Based Cooperative Driving with Temporally Grounded Warnings

We present LANTERN, a closed-loop benchmark for temporally grounded cooperative warnings. LANTERN separates warning onset, hazard onset, warning termination, and post-hazard recovery, and evaluates each physical event under matched warning and no-warning executions so that the warning's contribution is measured in isolation rather than confounded with onboard vision. The benchmark spans six safety-critical scenario families and provides 3,272 sequences with 236,309 frames for training, together with 120 matched route pairs for closed-loop evaluation. Each hazard route is evaluated under the warning and no-warning conditions, while its no-hazard control penalizes unconditional braking. We further introduce the Cooperative Unified Score (CUS), a safety-gated metric that jointly rewards route progress, anticipation, clearance, and recovery. Fine-tuning a representative VLM driving model raises CUS from 34.6 without warnings to 75.5 with them, demonstrating both the value of cooperative warnings and the discriminative power of the paired protocol. All resources will be made publicly available.

cs.RO↗

arXiv2026

Mind the Hitch: Dynamic Calibration and Articulated Perception for Autonomous Trucks

Autonomous trucking poses unique challenges due to articulated tractor-trailer geometry, and time-varying sensor poses caused by the fifth-wheel joint and trailer flex. Existing perception and calibration methods assume static baselines or rely on high-parallax and texture-rich scenes, limiting their reliability under real-world settings. We propose dCAP (dynamic Calibration and Articulated Perception), a vision-based framework that continuously estimates the 6-DoF (degree of freedom) relative pose between tractor and trailer cameras. dCAP employs a transformer with cross-view and temporal attention to robustly aggregate spatial cues while maintaining temporal consistency, enabling accurate perception under rapid articulation and occlusion. Integrated with BEVFormer, dCAP improves 3D object detection by replacing static calibration with dynamically predicted extrinsics. To facilitate evaluation, we introduce STT4AT, a CARLA-based benchmark simulating semi-trailer trucks with synchronized multi-sensor suites and time-varying inter-rig geometry across diverse environments. Experiments demonstrate that dCAP achieves stable, accurate perception while addressing the limitations of static calibration in autonomous trucking. The dataset, development kit, and source code will be publicly released.

cs.CV↗

arXiv2026

M3CAD: Towards Generic Cooperative Autonomous Driving Benchmark

We introduce M$^3$CAD, a comprehensive benchmark designed to advance research in generic cooperative autonomous driving. M$^3$CAD comprises 204 sequences with 30,000 frames. Each sequence includes data from multiple vehicles and different types of sensors, e.g., LiDAR point clouds, RGB images, and GPS/IMU, supporting a variety of autonomous driving tasks, including object detection and tracking, mapping, motion forecasting, occupancy prediction, and path planning. This rich multimodal setup enables M$^3$CAD to support both single-vehicle and multi-vehicle cooperative autonomous driving research. To the best of our knowledge, M$^3$CAD is the most complete benchmark specifically designed for cooperative, multi-task autonomous driving research. To test its effectiveness, we use M$^3$CAD to evaluate both state-of-the-art single-vehicle and cooperative driving solutions, setting baseline performance results. Since most existing cooperative perception methods focus on merging features but often ignore network bandwidth requirements, we propose a new multi-level fusion approach which adaptively balances communication efficiency and perception accuracy based on the current network conditions. We release M$^3$CAD, along with the baseline models and evaluation results, to support the development of robust cooperative autonomous driving systems. All resources will be made publicly available on https://github.com/zhumorui/M3CAD

cs.RO↗

arXiv2026

From Features to Reference Points: Lightweight and Adaptive Fusion for Cooperative Autonomous Driving

We present RefPtsFusion, a lightweight and interpretable framework for cooperative autonomous driving. Instead of sharing large feature maps or query embeddings, vehicles exchange compact reference points, e.g., objects' positions, velocities, and size information. This approach shifts the focus from "what is seen" to "where to see", creating a sensor- and model-independent interface that works well across vehicles with heterogeneous perception models while greatly reducing communication bandwidth. To enhance the richness of shared information, we further develop a selective Top-K query fusion that selectively adds high-confidence queries from the sender. It thus achieves a strong balance between accuracy and communication cost. Experiments on the M3CAD dataset show that RefPtsFusion maintains stable perception performance while reducing communication overhead by five orders of magnitude, dropping from hundreds of MB/s to only a few KB/s at 5 FPS (frame per second), compared to traditional feature-level fusion methods. Extensive experiments also demonstrate RefPtsFusion's strong robustness and consistent transmission behavior, highlighting its potential for scalable, real-time cooperative driving systems.

cs.CV↗

arXiv2024

HEAD: A Bandwidth-Efficient Cooperative Perception Approach for Heterogeneous Connected and Autonomous Vehicles

In cooperative perception studies, there is often a trade-off between communication bandwidth and perception performance. While current feature fusion solutions are known for their excellent object detection performance, transmitting the entire sets of intermediate feature maps requires substantial bandwidth. Furthermore, these fusion approaches are typically limited to vehicles that use identical detection models. Our goal is to develop a solution that supports cooperative perception across vehicles equipped with different modalities of sensors. This method aims to deliver improved perception performance compared to late fusion techniques, while achieving precision similar to the state-of-art intermediate fusion, but requires an order of magnitude less bandwidth. We propose HEAD, a method that fuses features from the classification and regression heads in 3D object detection networks. Our method is compatible with heterogeneous detection networks such as LiDAR PointPillars, SECOND, VoxelNet, and camera Bird's-eye View (BEV) Encoder. Given the naturally smaller feature size in the detection heads, we design a self-attention mechanism to fuse the classification head and a complementary feature fusion layer to fuse the regression head. Our experiments, comprehensively evaluated on the V2V4Real and OPV2V datasets, demonstrate that HEAD is a fusion method that effectively balances communication bandwidth and perception performance.

cs.CV↗

arXiv2023

A Clustering-guided Contrastive Fusion for Multi-view Representation Learning

The past two decades have seen increasingly rapid advances in the field of multi-view representation learning due to it extracting useful information from diverse domains to facilitate the development of multi-view applications. However, the community faces two challenges: i) how to learn robust representations from a large amount of unlabeled data to against noise or incomplete views setting, and ii) how to balance view consistency and complementary for various downstream tasks. To this end, we utilize a deep fusion network to fuse view-specific representations into the view-common representation, extracting high-level semantics for obtaining robust representation. In addition, we employ a clustering task to guide the fusion network to prevent it from leading to trivial solutions. For balancing consistency and complementary, then, we design an asymmetrical contrastive strategy that aligns the view-common representation and each view-specific representation. These modules are incorporated into a unified method known as CLustering-guided cOntrastiVE fusioN (CLOVEN). We quantitatively and qualitatively evaluate the proposed method on five datasets, demonstrating that CLOVEN outperforms 11 competitive multi-view learning methods in clustering and classification. In the incomplete view scenario, our proposed method resists noise interference better than those of our competitors. Furthermore, the visualization analysis shows that CLOVEN can preserve the intrinsic structure of view-specific representation while also improving the compactness of view-commom representation. Our source code will be available soon at https://github.com/guanzhou-ke/cloven.

cs.CV↗

arXiv2022

MORI-RAN: Multi-view Robust Representation Learning via Hybrid Contrastive Fusion

Multi-view representation learning is essential for many multi-view tasks, such as clustering and classification. However, there are two challenging problems plaguing the community: i)how to learn robust multi-view representation from mass unlabeled data and ii) how to balance the view consistency and the view specificity. To this end, in this paper, we proposed a hybrid contrastive fusion algorithm to extract robust view-common representation from unlabeled data. Specifically, we found that introducing an additional representation space and aligning representations on this space enables the model to learn robust view-common representations. At the same time, we designed an asymmetric contrastive strategy to ensure that the model does not obtain trivial solutions. Experimental results demonstrated that the proposed method outperforms 12 competitive multi-view methods on four real-world datasets in terms of clustering and classification. Our source code will be available soon at \url{https://github.com/guanzhou-ke/mori-ran}.

cs.CV↗