{"id":"https://openalex.org/W7163517875","doi":"https://doi.org/10.48550/arxiv.2606.04437","title":"INTACT: Ego-Guided Typed Sparse Evidence Retrieval for Heterogeneous Collaborative Perception","display_name":"INTACT: Ego-Guided Typed Sparse Evidence Retrieval for Heterogeneous Collaborative Perception","publication_year":2026,"publication_date":"2026-06-03","ids":{"openalex":"https://openalex.org/W7163517875","doi":"https://doi.org/10.48550/arxiv.2606.04437"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.04437","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.04437","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.2606.04437","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5137845095","display_name":"Chen Li (54018)","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Chen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137891435","display_name":"Shengrong Yuan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuan, Shengrong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100580693","display_name":"Jialong Zuo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zuo, Jialong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137909339","display_name":"Xinzhong Zhu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhu, Xinzhong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137914376","display_name":"Nong Sang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sang, Nong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137915489","display_name":"Changxin Gao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gao, Changxin","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/T10036","display_name":"Advanced Neural Network Applications","score":0.18770000338554382,"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"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.18770000338554382,"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"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.15610000491142273,"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/T13553","display_name":"Age of Information Optimization","score":0.047600001096725464,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/interpretability","display_name":"Interpretability","score":0.6700999736785889},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5164999961853027},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.504800021648407},{"id":"https://openalex.org/keywords/comparability","display_name":"Comparability","score":0.4675999879837036},{"id":"https://openalex.org/keywords/federated-learning","display_name":"Federated learning","score":0.46540001034736633},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4542999863624573},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.37450000643730164},{"id":"https://openalex.org/keywords/protocol","display_name":"Protocol (science)","score":0.3310999870300293}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.808899998664856},{"id":"https://openalex.org/C2781067378","wikidata":"https://www.wikidata.org/wiki/Q17027399","display_name":"Interpretability","level":2,"score":0.6700999736785889},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5164999961853027},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5072000026702881},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.504800021648407},{"id":"https://openalex.org/C197947376","wikidata":"https://www.wikidata.org/wiki/Q5155608","display_name":"Comparability","level":2,"score":0.4675999879837036},{"id":"https://openalex.org/C2992525071","wikidata":"https://www.wikidata.org/wiki/Q50818671","display_name":"Federated learning","level":2,"score":0.46540001034736633},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4542999863624573},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3873000144958496},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.37450000643730164},{"id":"https://openalex.org/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","level":1,"score":0.337799996137619},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.3310999870300293},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3278999924659729},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.31380000710487366},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.29670000076293945},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.2921999990940094},{"id":"https://openalex.org/C12590798","wikidata":"https://www.wikidata.org/wiki/Q3933199","display_name":"Replication (statistics)","level":2,"score":0.2906999886035919},{"id":"https://openalex.org/C177212765","wikidata":"https://www.wikidata.org/wiki/Q627335","display_name":"Workflow","level":2,"score":0.2831000089645386},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.27649998664855957},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.2750999927520752},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.273499995470047},{"id":"https://openalex.org/C559553711","wikidata":"https://www.wikidata.org/wiki/Q1145523","display_name":"Collaboration","level":2,"score":0.2517000138759613},{"id":"https://openalex.org/C172430144","wikidata":"https://www.wikidata.org/wiki/Q17111997","display_name":"Symmetric multiprocessor system","level":2,"score":0.2515999972820282}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.04437","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.04437","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.2606.04437","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.04437","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":{"Collaborative":[0],"perception":[1,18,188],"extends":[2],"the":[3,102,126,144,167,191],"perceptual":[4],"range":[5],"of":[6,93,195],"autonomous":[7],"vehicles":[8],"by":[9],"sharing":[10],"information":[11],"across":[12],"agents,":[13],"but":[14,58],"heterogeneous":[15,30,69,89,162,186],"sensors":[16],"and":[17,65,113,125,135,173,184,193,208],"models":[19],"make":[20,66],"intermediate":[21],"feature":[22,98,220],"fusion":[23],"difficult":[24],"to":[25,62,72,151,214],"deploy":[26],"at":[27,122],"scale.":[28],"Existing":[29],"collaboration":[31],"methods":[32],"typically":[33],"follow":[34],"a":[35,160],"translation-first":[36],"paradigm:":[37],"collaborator":[38,97],"features":[39],"must":[40],"be":[41],"aligned,":[42],"adapted,":[43],"or":[44],"projected":[45],"into":[46],"an":[47,81,95],"ego-compatible":[48],"space":[49],"before":[50],"fusion.":[51],"Such":[52],"feature-compatibility":[53],"contracts":[54],"improve":[55],"fixed-system":[56],"performance,":[57],"they":[59],"couple":[60],"deployment":[61],"collaborator-specific":[63],"adaptation":[64],"newly":[67],"joined":[68],"agents":[70],"costly":[71],"integrate.":[73],"To":[74],"address":[75],"this":[76],"gap,":[77],"we":[78],"propose":[79],"INTACT,":[80],"ego-guided":[82],"typed":[83,106,153],"sparse":[84,132],"evidence":[85,107,121],"retrieval":[86],"framework":[87],"for":[88],"collaborative":[90,187],"perception.":[91],"Instead":[92],"translating":[94],"entire":[96],"map,":[99],"INTACT":[100,199,224],"lets":[101],"ego":[103,127,168],"vehicle":[104],"issue":[105],"queries":[108],"that":[109],"express":[110],"suspected":[111],"objects":[112],"evidence-deficient":[114],"regions.":[115],"Collaborators":[116],"respond":[117],"only":[118,204],"with":[119,203],"local":[120],"queried":[123],"locations,":[124],"selects":[128],"useful":[129],"responses":[130],"through":[131,138,177],"per-query":[133],"routing":[134],"injects":[136],"them":[137],"gated":[139],"residual":[140],"write-back.":[141],"This":[142],"changes":[143],"compatibility":[145],"requirement":[146],"from":[147],"global":[148],"feature-map":[149],"interpretability":[150],"local,":[152],"response":[154],"comparability":[155],"under":[156,228],"ego-issued":[157],"queries,":[158],"enabling":[159],"zero-training":[161],"insertion":[163],"protocol":[164],"in":[165],"which":[166],"interface":[169],"is":[170],"trained":[171],"once":[172],"new":[174],"collaborators":[175],"join":[176],"checkpoint":[178],"merging.":[179],"Extensive":[180],"experiments":[181],"on":[182],"simulated":[183],"real-world":[185,230],"benchmarks":[189],"validate":[190],"effectiveness":[192],"deployability":[194],"INTACT.":[196],"On":[197,222],"OPV2V-H,":[198],"achieves":[200,225],"80.1":[201],"AP70":[202],"0.52M":[205],"additional":[206],"parameters":[207],"18.0":[209],"$\\log_2$":[210],"communication":[211],"volume,":[212],"corresponding":[213],"about":[215],"16$\\times$":[216],"compression":[217],"over":[218],"dense":[219],"transmission.":[221],"DAIR-V2X,":[223],"43.8":[226],"AP50":[227],"challenging":[229],"conditions.":[231]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-05T00:00:00"}