{"id":"https://openalex.org/W7166861680","doi":"https://doi.org/10.48550/arxiv.2606.31219","title":"CooperScene: Multi-Modal Cooperative Autonomy Benchmark with C-V2X Communication Characterization","display_name":"CooperScene: Multi-Modal Cooperative Autonomy Benchmark with C-V2X Communication Characterization","publication_year":2026,"publication_date":"2026-06-30","ids":{"openalex":"https://openalex.org/W7166861680","doi":"https://doi.org/10.48550/arxiv.2606.31219"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.31219","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.31219","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.2606.31219","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5139779507","display_name":"Bo Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Bo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139838381","display_name":"Ruoshen Mo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mo, Ruoshen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139748052","display_name":"Justin Yue","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yue, Justin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139849299","display_name":"Yanyu Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Yanyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135404661","display_name":"Janice Nguyen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nguyen, Janice","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139748903","display_name":"Guoyuan Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Guoyuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127793669","display_name":"Amit Roy-Chowdhury","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Roy-Chowdhury, Amit","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139832218","display_name":"Matthew J. Barth","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Barth, Matthew J.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139750906","display_name":"Hang Qiu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qiu, Hang","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/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.5249999761581421,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.5249999761581421,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.13819999992847443,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.08309999853372574,"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/scalability","display_name":"Scalability","score":0.7430999875068665},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.7416999936103821},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5511999726295471},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.415800005197525},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.39640000462532043},{"id":"https://openalex.org/keywords/scaling","display_name":"Scaling","score":0.3528999984264374},{"id":"https://openalex.org/keywords/multidimensional-scaling","display_name":"Multidimensional scaling","score":0.32260000705718994}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.746999979019165},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.7430999875068665},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7416999936103821},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5511999726295471},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.46810001134872437},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.415800005197525},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.39640000462532043},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.36640000343322754},{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.3528999984264374},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3301999866962433},{"id":"https://openalex.org/C91682802","wikidata":"https://www.wikidata.org/wiki/Q620538","display_name":"Multidimensional scaling","level":2,"score":0.32260000705718994},{"id":"https://openalex.org/C158156997","wikidata":"https://www.wikidata.org/wiki/Q1416645","display_name":"Models of communication","level":2,"score":0.31850001215934753},{"id":"https://openalex.org/C65414064","wikidata":"https://www.wikidata.org/wiki/Q484105","display_name":"Autonomy","level":2,"score":0.31610000133514404},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.3091000020503998},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2736000120639801},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.26980000734329224},{"id":"https://openalex.org/C2780841128","wikidata":"https://www.wikidata.org/wiki/Q5073781","display_name":"Characterization (materials science)","level":2,"score":0.26660001277923584},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.265500009059906},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.262800008058548},{"id":"https://openalex.org/C12269588","wikidata":"https://www.wikidata.org/wiki/Q132364","display_name":"Communications protocol","level":2,"score":0.2590000033378601},{"id":"https://openalex.org/C30436405","wikidata":"https://www.wikidata.org/wiki/Q210973","display_name":"Cellular communication","level":3,"score":0.2572999894618988},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.25679999589920044}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.31219","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.31219","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.2606.31219","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.31219","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":[{"id":"https://metadata.un.org/sdg/9","score":0.6079784631729126,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Cellular":[0],"vehicle-to-everything":[1],"(C-V2X)":[2],"enables":[3],"cooperative":[4,43,53],"perception,":[5],"prediction,":[6],"and":[7,32,38,72,80,84,95,123,127,133,146,157],"planning":[8],"beyond":[9,40],"the":[10,22],"field":[11],"of":[12,14,24],"view":[13],"individual":[15],"agents.":[16],"However,":[17],"existing":[18],"datasets":[19],"often":[20],"overlook":[21],"complexities":[23],"real-world":[25,57,150],"deployment,":[26],"such":[27],"as":[28],"limited":[29],"communication":[30,59,99],"bandwidth":[31],"its":[33],"dynamics,":[34],"heterogeneous":[35],"sensing":[36],"modalities,":[37],"scalability":[39],"a":[41,51,139],"single":[42],"partner.":[44],"In":[45],"this":[46],"paper,":[47],"we":[48],"introduce":[49],"CooperScene,":[50],"high-fidelity":[52],"autonomy":[54],"dataset":[55,62],"with":[56,92,105],"C-V2X":[58,98,135],"characterization.":[60],"The":[61],"is":[63],"organized":[64],"into":[65],"diverse":[66],"scenes,":[67],"including":[68],"intersections,":[69],"highway":[70],"ramps,":[71],"parking":[73],"lots.":[74],"These":[75],"scenes":[76,102],"involve":[77],"three":[78],"connected":[79],"autonomous":[81],"vehicles":[82],"(CAVs)":[83],"one":[85],"infrastructure":[86],"roadside":[87],"unit":[88],"(RSU),":[89],"all":[90],"equipped":[91],"multi-modal":[93],"sensors":[94],"commercial":[96],"off-the-shelf":[97],"radios.":[100],"All":[101],"are":[103],"annotated":[104],"globally":[106],"consistent":[107],"3D":[108],"labels":[109],"at":[110],"10":[111],"Hz,":[112],"totaling":[113],"344K":[114],"objects":[115],"across":[116],"59K":[117],"frames,":[118],"underpinned":[119],"by":[120],"tight":[121],"sensor-":[122],"agent-synchronization,":[124],"centimeter-level":[125],"localization":[126],"spatial":[128],"alignment,":[129],"precise":[130],"cross-modality":[131],"calibration,":[132],"3GPP-standard-compliant":[134],"communication.":[136],"CooperScene":[137],"establishes":[138],"rigorous":[140],"benchmark":[141],"for":[142,155],"evaluating":[143],"multi-agent":[144],"scaling":[145],"actual":[147],"performance":[148],"in":[149],"deployable":[151],"settings.":[152],"Project":[153],"website":[154],"data":[156],"benchmark:":[158],"https://cisl.ucr.edu/CooperScene":[159]},"counts_by_year":[],"updated_date":"2026-07-02T06:18:51.028212","created_date":"2026-07-02T00:00:00"}
