{"id":"https://openalex.org/W7156575682","doi":"https://doi.org/10.48550/arxiv.2604.24119","title":"TopoHR: Hierarchical Centerline Representation for Cyclic Topology Reasoning in Driving Scenes with Point-to-Instance Relations","display_name":"TopoHR: Hierarchical Centerline Representation for Cyclic Topology Reasoning in Driving Scenes with Point-to-Instance Relations","publication_year":2026,"publication_date":"2026-04-27","ids":{"openalex":"https://openalex.org/W7156575682","doi":"https://doi.org/10.48550/arxiv.2604.24119"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.24119","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.24119","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.24119","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5134771299","display_name":"Yifeng Bai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bai, Yifeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134808213","display_name":"Zhirong Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Zhirong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Song, Bo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Song, Bo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134813024","display_name":"Erkang Cheng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cheng, Erkang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Ling, Haibin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ling, Haibin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12536","display_name":"Topological and Geometric Data Analysis","score":0.37049999833106995,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12536","display_name":"Topological and Geometric Data Analysis","score":0.37049999833106995,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T11273","display_name":"Advanced Graph Neural Networks","score":0.0551999993622303,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.0494999997317791,"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/topology","display_name":"Topology (electrical circuits)","score":0.7706000208854675},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6881999969482422},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5141000151634216},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.508899986743927},{"id":"https://openalex.org/keywords/relation","display_name":"Relation (database)","score":0.34880000352859497},{"id":"https://openalex.org/keywords/hierarchical-database-model","display_name":"Hierarchical database model","score":0.3310999870300293},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.3303999900817871}],"concepts":[{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.7706000208854675},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6881999969482422},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6769999861717224},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5141000151634216},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.508899986743927},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4302000105381012},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3822000026702881},{"id":"https://openalex.org/C25343380","wikidata":"https://www.wikidata.org/wiki/Q277521","display_name":"Relation (database)","level":2,"score":0.34880000352859497},{"id":"https://openalex.org/C144986985","wikidata":"https://www.wikidata.org/wiki/Q871236","display_name":"Hierarchical database model","level":2,"score":0.3310999870300293},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.3303999900817871},{"id":"https://openalex.org/C129089157","wikidata":"https://www.wikidata.org/wiki/Q621550","display_name":"General topology","level":3,"score":0.32589998841285706},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.3237999975681305},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.3019999861717224},{"id":"https://openalex.org/C143913944","wikidata":"https://www.wikidata.org/wiki/Q5421952","display_name":"Extension topology","level":4,"score":0.2953000068664551},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.28519999980926514},{"id":"https://openalex.org/C161301231","wikidata":"https://www.wikidata.org/wiki/Q3478658","display_name":"Knowledge representation and reasoning","level":2,"score":0.27090001106262207},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2549999952316284},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.251800000667572}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.24119","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.24119","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.24119","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.24119","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Topology":[0],"reasoning":[1,24,109],"is":[2],"crucial":[3],"for":[4,14,22],"autonomous":[5],"driving.":[6],"Current":[7],"methods":[8],"primarily":[9],"focus":[10],"on":[11,27,162,171],"instance-level":[12],"learning":[13],"centerline":[15,63,80,101],"detection,":[16],"followed":[17],"by":[18],"a":[19,54,78,99,106,123],"sequential":[20],"module":[21,110],"topology":[23,42,66,108,135],"that":[25,58,111],"relies":[26],"simplified":[28],"MLP":[29],"layers.":[30],"Moreover,":[31],"they":[32],"often":[33],"neglect":[34],"the":[35,138,174,177],"importance":[36],"of":[37,176],"\\textit{point-to-instance}":[38],"(P2I)":[39],"relationships":[40,116],"in":[41,157,160,166,169],"reasoning.":[43,136],"To":[44],"address":[45],"these":[46,127],"limitations,":[47],"we":[48,76,104],"present":[49],"TopoHR":[50,130,141,154],"(Topological":[51],"Hierarchical":[52],"Representation),":[53],"novel":[55,128],"end-to-end":[56],"framework":[57],"establishes":[59],"cyclic":[60],"interaction":[61],"between":[62],"detection":[64],"and":[65,87,96,117,133,164],"reasoning,":[67],"allowing":[68],"them":[69],"to":[70],"iteratively":[71],"enhance":[72],"each":[73],"other.":[74],"Specifically,":[75],"introduce":[77],"hierarchical":[79,100,107],"representation":[81],"including":[82],"point":[83],"queries,":[84,86],"instance":[85],"semantic":[88],"representations.":[89],"These":[90],"multi-level":[91],"features":[92],"are":[93],"seamlessly":[94],"integrated":[95],"fused":[97],"within":[98,122],"decoder.":[102],"Furthermore,":[103],"design":[105],"captures":[112],"both":[113],"fine-grained":[114],"P2I":[115],"global":[118],"instance-to-instance":[119],"(I2I)":[120],"connections":[121],"unified":[124],"architecture.":[125],"With":[126],"components,":[129],"ensures":[131],"accurate":[132],"robust":[134],"On":[137],"OpenLane-V2":[139],"benchmark,":[140],"refreshes":[142],"state-of-the-art":[143],"performance":[144],"with":[145,150],"significant":[146],"improvements.":[147],"Notably,":[148],"compared":[149],"previous":[151],"best":[152],"results,":[153],"achieves":[155],"+3.8":[156],"$\\mathrm{DET}_{\\text{l}}$,":[158,167],"+5.4":[159],"$\\mathrm{TOP}_{\\text{ll}}$":[161,170],"$\\text{subset_A}$":[163],"+11.0":[165],"+7.9":[168],"$\\text{subset_B}$,":[172],"validating":[173],"effectiveness":[175],"proposed":[178],"components.":[179],"The":[180],"code":[181],"will":[182],"be":[183],"shared":[184],"publicly":[185],"at":[186],"https://github.com/Yifeng-Bai/TopoHR.git.":[187]},"counts_by_year":[],"updated_date":"2026-07-21T08:15:58.654021","created_date":"2026-04-29T00:00:00"}
