{"id":"https://openalex.org/W4416749304","doi":"https://doi.org/10.1109/iros60139.2025.11246905","title":"Reusing Attention for One-stage Lane Topology Understanding","display_name":"Reusing Attention for One-stage Lane Topology Understanding","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749304","doi":"https://doi.org/10.1109/iros60139.2025.11246905"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246905","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246905","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100421612","display_name":"Yang Li","orcid":"https://orcid.org/0000-0002-7134-5685"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yang Li","raw_affiliation_strings":["Institute for AI Industry Research, Tsinghua University"],"affiliations":[{"raw_affiliation_string":"Institute for AI Industry Research, Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060954437","display_name":"Zongzheng Zhang","orcid":"https://orcid.org/0009-0001-4419-7250"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zongzheng Zhang","raw_affiliation_strings":["Institute for AI Industry Research, Tsinghua University"],"affiliations":[{"raw_affiliation_string":"Institute for AI Industry Research, Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044682489","display_name":"Xuchong Qiu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210120115","display_name":"Robert Bosch (United States)","ror":"https://ror.org/02venad53","country_code":"US","type":"company","lineage":["https://openalex.org/I4210120115","https://openalex.org/I889804353"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xuchong Qiu","raw_affiliation_strings":["Bosch Corporate Research,China"],"affiliations":[{"raw_affiliation_string":"Bosch Corporate Research,China","institution_ids":["https://openalex.org/I4210120115"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028776321","display_name":"Xinrun Li","orcid":"https://orcid.org/0000-0002-2548-2187"},"institutions":[{"id":"https://openalex.org/I4210120115","display_name":"Robert Bosch (United States)","ror":"https://ror.org/02venad53","country_code":"US","type":"company","lineage":["https://openalex.org/I4210120115","https://openalex.org/I889804353"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xinrun Li","raw_affiliation_strings":["Bosch Corporate Research,China"],"affiliations":[{"raw_affiliation_string":"Bosch Corporate Research,China","institution_ids":["https://openalex.org/I4210120115"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076825933","display_name":"Ziming Liu","orcid":"https://orcid.org/0000-0002-8867-2682"},"institutions":[{"id":"https://openalex.org/I4210120115","display_name":"Robert Bosch (United States)","ror":"https://ror.org/02venad53","country_code":"US","type":"company","lineage":["https://openalex.org/I4210120115","https://openalex.org/I889804353"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ziming Liu","raw_affiliation_strings":["Bosch Corporate Research,China"],"affiliations":[{"raw_affiliation_string":"Bosch Corporate Research,China","institution_ids":["https://openalex.org/I4210120115"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025130828","display_name":"Leichen Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210120115","display_name":"Robert Bosch (United States)","ror":"https://ror.org/02venad53","country_code":"US","type":"company","lineage":["https://openalex.org/I4210120115","https://openalex.org/I889804353"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Leichen Wang","raw_affiliation_strings":["Bosch Corporate Research,China"],"affiliations":[{"raw_affiliation_string":"Bosch Corporate Research,China","institution_ids":["https://openalex.org/I4210120115"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056488045","display_name":"Ruikai Li","orcid":"https://orcid.org/0000-0003-0092-8880"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruikai Li","raw_affiliation_strings":["Beihang University,State Key Lab of Intelligent Transportation System"],"affiliations":[{"raw_affiliation_string":"Beihang University,State Key Lab of Intelligent Transportation System","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103075733","display_name":"Zhenxin Zhu","orcid":"https://orcid.org/0000-0003-4622-6446"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenxin Zhu","raw_affiliation_strings":["Institute for AI Industry Research, Tsinghua University"],"affiliations":[{"raw_affiliation_string":"Institute for AI Industry Research, Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102641337","display_name":"Huan-ang Gao","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huan-ang Gao","raw_affiliation_strings":["Institute for AI Industry Research, Tsinghua University"],"affiliations":[{"raw_affiliation_string":"Institute for AI Industry Research, Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082305010","display_name":"Xiaojian Lin","orcid":"https://orcid.org/0000-0002-5972-9838"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaojian Lin","raw_affiliation_strings":["Institute for AI Industry Research, Tsinghua University"],"affiliations":[{"raw_affiliation_string":"Institute for AI Industry Research, Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103909070","display_name":"Zhiyong Cui","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyong Cui","raw_affiliation_strings":["Beihang University,State Key Lab of Intelligent Transportation System"],"affiliations":[{"raw_affiliation_string":"Beihang University,State Key Lab of Intelligent Transportation System","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100418988","display_name":"Hang Zhao","orcid":"https://orcid.org/0009-0008-7252-3827"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hang Zhao","raw_affiliation_strings":["Institute for AI Industry Research, Tsinghua University","Institute for Interdisciplinary Information Sciences, Tsinghua University"],"affiliations":[{"raw_affiliation_string":"Institute for AI Industry Research, Tsinghua University","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Institute for Interdisciplinary Information Sciences, Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101213342","display_name":"Hao Zhao","orcid":"https://orcid.org/0000-0002-7578-9910"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Zhao","raw_affiliation_strings":["Institute for AI Industry Research, Tsinghua University","Institute for Interdisciplinary Information Sciences, Tsinghua University"],"affiliations":[{"raw_affiliation_string":"Institute for AI Industry Research, Tsinghua University","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Institute for Interdisciplinary Information Sciences, Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":13,"corresponding_author_ids":["https://openalex.org/A5100421612"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.42707358,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"16977","last_page":"16984"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.8614000082015991,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.8614000082015991,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.05139999836683273,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.02070000022649765,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reuse","display_name":"Reuse","score":0.6922000050544739},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.6575999855995178},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.570900022983551},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.49559998512268066},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.45399999618530273},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.44589999318122864},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.32350000739097595},{"id":"https://openalex.org/keywords/topological-graph-theory","display_name":"Topological graph theory","score":0.30979999899864197}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7283999919891357},{"id":"https://openalex.org/C206588197","wikidata":"https://www.wikidata.org/wiki/Q846574","display_name":"Reuse","level":2,"score":0.6922000050544739},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.6575999855995178},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.570900022983551},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.49559998512268066},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.45399999618530273},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.44589999318122864},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3953999876976013},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.32350000739097595},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3176000118255615},{"id":"https://openalex.org/C157406716","wikidata":"https://www.wikidata.org/wiki/Q4115842","display_name":"Topological graph theory","level":5,"score":0.30979999899864197},{"id":"https://openalex.org/C117729477","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Logical topology","level":3,"score":0.30379998683929443},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28529998660087585},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.28519999980926514},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.28209999203681946},{"id":"https://openalex.org/C200288055","wikidata":"https://www.wikidata.org/wiki/Q2621792","display_name":"Element (criminal law)","level":2,"score":0.2818000018596649},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.2757999897003174},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.2718000113964081},{"id":"https://openalex.org/C43126263","wikidata":"https://www.wikidata.org/wiki/Q128751","display_name":"Source code","level":2,"score":0.26910001039505005},{"id":"https://openalex.org/C189216461","wikidata":"https://www.wikidata.org/wiki/Q2443456","display_name":"Topology optimization","level":3,"score":0.2671999931335449},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2578999996185303},{"id":"https://openalex.org/C2982832238","wikidata":"https://www.wikidata.org/wiki/Q5531640","display_name":"General purpose","level":2,"score":0.2578999996185303},{"id":"https://openalex.org/C88230418","wikidata":"https://www.wikidata.org/wiki/Q131476","display_name":"Graph theory","level":2,"score":0.2563999891281128}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246905","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246905","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W2479423890","https://openalex.org/W2565639579","https://openalex.org/W2579549467","https://openalex.org/W2886970679","https://openalex.org/W2963037989","https://openalex.org/W2963536419","https://openalex.org/W2963938081","https://openalex.org/W3034538190","https://openalex.org/W3035017890","https://openalex.org/W3096609285","https://openalex.org/W3173181410","https://openalex.org/W3174293538","https://openalex.org/W3181556077","https://openalex.org/W3184784650","https://openalex.org/W3198923361","https://openalex.org/W3200711907","https://openalex.org/W3201861986","https://openalex.org/W4214549494","https://openalex.org/W4292983147","https://openalex.org/W4312563197","https://openalex.org/W4312578903","https://openalex.org/W4312587667","https://openalex.org/W4313129917","https://openalex.org/W4366352717","https://openalex.org/W4383108216","https://openalex.org/W4383108505","https://openalex.org/W4383109298","https://openalex.org/W4386066500","https://openalex.org/W4389917917","https://openalex.org/W4390872211","https://openalex.org/W4390873003","https://openalex.org/W4390873619","https://openalex.org/W4390873633","https://openalex.org/W4392904609","https://openalex.org/W4401416274","https://openalex.org/W4401416505","https://openalex.org/W4402715983","https://openalex.org/W4402952251","https://openalex.org/W4402961448","https://openalex.org/W4403780708","https://openalex.org/W4413945512"],"related_works":[],"abstract_inverted_index":{"Understanding":[0],"lane":[1,40,53,163],"topology":[2,43,54,90,169],"relationships":[3,91],"accurately":[4],"is":[5,173],"critical":[6],"for":[7,56],"safe":[8],"autonomous":[9,57],"driving.":[10,58],"However,":[11],"existing":[12],"two-stage":[13],"methods":[14,153],"suffer":[15],"from":[16,116],"inefficiencies":[17],"due":[18],"to":[19,85,109,124],"error":[20],"propagations":[21],"and":[22,42,49,95,157,168],"increased":[23],"computational":[24],"overheads.":[25],"To":[26],"address":[27],"these":[28],"challenges,":[29],"we":[30,105],"propose":[31],"a":[32],"one-stage":[33],"architecture":[34],"that":[35,111,118,148],"simultaneously":[36],"predicts":[37],"traffic":[38,93,165],"elements,":[39],"centerlines":[41],"relationship,":[44],"improving":[45],"both":[46,155],"the":[47,76,81,87,107,136,144],"accuracy":[48,156],"inference":[50],"speed":[51],"of":[52,89,138],"understanding":[55],"Our":[59,171],"key":[60],"innovation":[61],"lies":[62],"in":[63,135,154,162],"reusing":[64],"intermediate":[65],"attention":[66],"resources":[67],"within":[68,80],"distinct":[69],"transformer":[70],"decoders.":[71],"This":[72],"approach":[73,150],"effectively":[74],"leverages":[75],"inherent":[77],"relational":[78],"knowledge":[79,112],"element":[82,166],"detection":[83],"module":[84],"enable":[86],"modeling":[88],"among":[92],"elements":[94],"lanes":[96],"without":[97,127],"requiring":[98],"additional":[99],"computationally":[100],"expensive":[101],"graph":[102],"networks.":[103],"Furthermore,":[104],"are":[106],"first":[108],"demonstrate":[110],"can":[113],"be":[114],"distilled":[115],"models":[117],"utilize":[119],"standard":[120],"definition":[121],"(SD)":[122],"maps":[123],"those":[125],"operates":[126],"using":[128],"SD":[129,139],"maps,":[130],"enabling":[131],"superior":[132,160],"performance":[133],"even":[134],"absence":[137],"maps.":[140],"Extensive":[141],"experiments":[142],"on":[143],"OpenLane-V2":[145],"dataset":[146],"show":[147],"our":[149],"outperforms":[151],"baseline":[152],"efficiency,":[158],"achieving":[159],"results":[161],"detection,":[164],"identification,":[167],"reasoning.":[170],"code":[172],"available":[174],"at":[175],"https://github.com/Yang-Li-2000/one-stage.git.":[176]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}
