mlsanityData to 7 Oct 2026

Bridging the Domain Gap for Multi-Agent Perception

arXiv 2210.08451 ↗First posted 16 Oct 2022cs.CVcited by 60

Not on the map. Why?

Abstract (arXiv)

Existing multi-agent perception algorithms usually select to share deep neural features extracted from raw sensing data between agents, achieving a trade-off between accuracy and communication bandwidth limit. However, these methods assume all agents have identical neural networks, which might not be practical in the real world. The transmitted features can have a large domain gap when the models differ, leading to a dramatic performance drop in multi-agent perception. In this paper, we propose the first lightweight framework to bridge such domain gaps for multi-agent perception, which can be a plug-in module for most existing systems while maintaining confidentiality. Our framework consists of a learnable feature resizer to align features in multiple dimensions and a sparse cross-domain transformer for domain adaption. Extensive experiments on the public multi-agent perception dataset V2XSet have demonstrated that our method can effectively bridge the gap for features from different domains and outperform other baseline methods significantly by at least 8% for point-cloud-based 3D object detection.

Key facts. Cited by 60 papers in the map (data through 7 Oct 2026). Builds on 46 of its 75 references that are in the map. First posted on arXiv 16 Oct 2022.

Builds on

46 of 75 references.

References · 46

  1. 2017Attention Is All You Needcited by 59,932
  2. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  3. 2020An Image is Worth 16x16 Words: Transformers for Image Recognition at Scalecited by 29,915
  4. 2021Swin Transformer: Hierarchical Vision Transformer using Shifted Windowscited by 12,082
  5. 2017CARLA: An Open Urban Driving Simulatorcited by 2,431
  6. 2014Unsupervised Domain Adaptation by Backpropagationcited by 1,906
  7. 2018PointPillars: Fast Encoders for Object Detection from Point Cloudscited by 1,707
  8. 2015Learning Transferable Features with Deep Adaptation Networkscited by 1,323
  9. 2017VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detectioncited by 1,323
  10. 2016Deep CORAL: Correlation Alignment for Deep Domain Adaptationcited by 1,194
  11. 2022Diffusion Models: A Comprehensive Survey of Methods and Applicationscited by 1,107
  12. 2016Paying More Attention to Attention: Improving the Performance of Convolutional Neural Networks via Attention Transfercited by 1,059
34 more
  1. 2022MaxViT: Multi-Axis Vision Transformercited by 476
  2. 2018Domain Adaptive Faster R-CNN for Object Detection in the Wildcited by 442
  3. 2022V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformercited by 320
  4. 2021OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communicationcited by 304
  5. 2022MAXIM: Multi-Axis MLP for Image Processingcited by 301
  6. 2018Taking A Closer Look at Domain Shift: Category-level Adversaries for Semantics Consistent Domain Adaptationcited by 295
  7. 2017Dilated Residual Networkscited by 293
  8. 2020V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Predictioncited by 292
  9. 2022CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformerscited by 227
  10. 2021Learning Distilled Collaboration Graph for Multi-Agent Perceptioncited by 194
  11. 2021CDTrans: Cross-domain Transformer for Unsupervised Domain Adaptationcited by 129
  12. 2019Domain-Symmetric Networks for Adversarial Domain Adaptationcited by 120
  13. 2022Unsupervised Time-Series Representation Learning with Iterative Bilinear Temporal-Spectral Fusioncited by 96
  14. 2022Latency-Aware Collaborative Perceptioncited by 86
  15. 2020DPGN: Distribution Propagation Graph Network for Few-shot Learningcited by 79
  16. 2021Cross-Domain Gradient Discrepancy Minimization for Unsupervised Domain Adaptationcited by 67
  17. 2022Uncertainty Quantification of Collaborative Detection for Self-Drivingcited by 46
  18. 2021Learning to Resize Images for Computer Vision Taskscited by 45
  19. 2021Keypoints-Based Deep Feature Fusion for Cooperative Vehicle Detection of Autonomous Drivingcited by 45
  20. 2022BMD: A General Class-balanced Multicentric Dynamic Prototype Strategy for Source-free Domain Adaptationcited by 39
  21. 2021SVT-Net: Super Light-Weight Sparse Voxel Transformer for Large Scale Place Recognitioncited by 36
  22. 2022Tracking Objects as Pixel-wise Distributionscited by 36
  23. 2021Deep Learning on Monocular Object Pose Detection and Tracking: A Comprehensive Overviewcited by 31
  24. 2020DASGIL: Domain Adaptation for Semantic and Geometric-aware Image-based Localizationcited by 28
  25. 2021Investigating the Impact of Multi-LiDAR Placement on Object Detection for Autonomous Drivingcited by 22
  26. 2021Multi-Source Domain Adaptation for Object Detectioncited by 21
  27. 2021ProTo: Program-Guided Transformer for Program-Guided Taskscited by 19
  28. 2022Robustness and Adaptability of Reinforcement Learning based Cooperative Autonomous Driving in Mixed-autonomy Trafficcited by 15
  29. 2021Let There be Light: Improved Traffic Surveillance via Detail Preserving Night-to-Day Transfercited by 11
  30. 2022Federated Learning Framework Coping with Hierarchical Heterogeneity in Cooperative ITScited by 7
  31. 2020FADACS: A Few-shot Adversarial Domain Adaptation Architecture for Context-Aware Parking Availability Sensingcited by 5
  32. 2022Reconstruction-Aware Prior Distillation for Semi-supervised Point Cloud Completioncited by 5
  33. 2022End-to-end View Synthesis via NeRF Attentioncited by 5
  34. 2022Edge-Aided Sensor Data Sharing in Vehicular Communication Networkscited by 3

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 2; 2023: 17; 2024: 12; 2025: 18; 2026: 11.

60 papers.

Sort:

By area:

  1. 2023V2V4Real: A Real-world Large-scale Dataset for Vehicle-to-Vehicle Cooperative Perceptioncited by 155
  2. 2023Motion Planning for Autonomous Driving: The State of the Art and Future Perspectivescited by 112
  3. 2023Collaborative Perception in Autonomous Driving: Methods, Datasets and Challengescited by 87
  4. 2023SSCBench: A Large-Scale 3D Semantic Scene Completion Benchmark for Autonomous Drivingcited by 72
  5. 2024Communication-Efficient Collaborative Perception via Information Filling with Codebookcited by 67
  6. 2023Spatio-Temporal Domain Awareness for Multi-Agent Collaborative Perceptioncited by 52
  7. 2022Learning for Vehicle-to-Vehicle Cooperative Perception under Lossy Communicationcited by 47
  8. 2025STAMP: Scalable Task And Model-agnostic Collaborative Perceptioncited by 44
  9. 2022Domain Adaptive Object Detection for Autonomous Driving under Foggy Weathercited by 41
  10. 2023AIDE: A Vision-Driven Multi-View, Multi-Modal, Multi-Tasking Dataset for Assistive Driving Perceptioncited by 39
  11. 2023Towards Vehicle-to-everything Autonomous Driving: A Survey on Collaborative Perceptioncited by 38
  12. 2023DI-V2X: Learning Domain-Invariant Representation for Vehicle-Infrastructure Collaborative 3D Object Detectioncited by 34
38 more
  1. 2025LangCoop: Collaborative Driving with Languagecited by 25
  2. 2023S2R-ViT for Multi-Agent Cooperative Perception: Bridging the Gap from Simulation to Realitycited by 18
  3. 2023DUSA: Decoupled Unsupervised Sim2Real Adaptation for Vehicle-to-Everything Collaborative Perceptioncited by 17
  4. 2023Vehicle-to-Everything Cooperative Perception for Autonomous Drivingcited by 15
  5. 2024One is Plenty: A Polymorphic Feature Interpreter for Immutable Heterogeneous Collaborative Perceptioncited by 15
  6. 2024Directed-CP: Directed Collaborative Perception for Connected and Autonomous Vehicles via Proactive Attentioncited by 14
  7. 2025Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directionscited by 14
  8. 2024A Survey on Intermediate Fusion Methods for Collaborative Perception Categorized by Real World Challengescited by 13
  9. 2024V2X-DGW: Domain Generalization for Multi-agent Perception under Adverse Weather Conditionscited by 12
  10. 2024What Makes Good Collaborative Views? Contrastive Mutual Information Maximization for Multi-Agent Perceptioncited by 11
  11. 2023Generating Evidential BEV Maps in Continuous Driving Spacecited by 10
  12. 2023Deep Transfer Learning for Intelligent Vehicle Perception: a Surveycited by 10
  13. 2024CoMamba: Real-time Cooperative Perception Unlocked with State Space Modelscited by 9
  14. 2025Pragmatic Heterogeneous Collaborative Perception via Generative Communication Mechanismcited by 9
  15. 2024CoPeD-Advancing Multi-Robot Collaborative Perception: A Comprehensive Dataset in Real-World Environmentscited by 7
  16. 2024UVCPNet: A UAV-Vehicle Collaborative Perception Network for 3D Object Detectioncited by 7
  17. 2025CoST: Efficient Collaborative Perception From Unified Spatiotemporal Perspectivecited by 7
  18. 2023Practical Collaborative Perception: A Framework for Asynchronous and Multi-Agent 3D Object Detectioncited by 6
  19. 2023HPL-ViT: A Unified Perception Framework for Heterogeneous Parallel LiDARs in V2Vcited by 6
  20. 2024RCDN: Towards Robust Camera-Insensitivity Collaborative Perception via Dynamic Feature-based 3D Neural Modelingcited by 6
  21. 2024AdvGPS: Adversarial GPS for Multi-Agent Perception Attackcited by 5
  22. 2024Breaking Data Silos: Cross-Domain Learning for Multi-Agent Perception from Independent Private Sourcescited by 5
  23. 2025Automated Vehicles Should be Connected with Natural Languagecited by 5
  24. 2025NegoCollab: A Common Representation Negotiation Approach for Heterogeneous Collaborative Perceptioncited by 5
  25. 2023MULLER: Multilayer Laplacian Resizer for Visioncited by 4
  26. 2026CHORUS: Decentralized Multi-Embodiment Collaboration with One VLA Policycited by 4
  27. 2023Energy Management of Multi-mode Plug-in Hybrid Electric Vehicle using Multi-agent Deep Reinforcement Learningcited by 3
  28. 2025V2X-DGPE: Addressing Domain Gaps and Pose Errors for Robust Collaborative 3D Object Detectioncited by 3
  29. 2025Residual Vector Quantization For Communication-Efficient Multi-Agent Perceptioncited by 3
  30. 2025You Share Beliefs, I Adapt: Progressive Heterogeneous Collaborative Perceptioncited by 2
  31. 2025SafeCoop: Unravelling Full Stack Safety in Agentic Collaborative Drivingcited by 2
  32. 2025FocalComm: Hard Instance-Aware Multi-Agent Perceptioncited by 2
  33. 2026Linking Modality Isolation in Heterogeneous Collaborative Perceptioncited by 2
  34. 2026Faster-HEAL: An Efficient and Privacy-Preserving Collaborative Perception Framework for Heterogeneous Autonomous Vehiclescited by 2
  35. 2025S2S-Net: Addressing the Domain Gap of Heterogeneous Sensor Systems in LiDAR-Based Collective Perceptioncited by 1
  36. 2025CoDS: Enhancing Collaborative Perception in Heterogeneous Scenarios via Domain Separationcited by 1
  37. 2025Wireless Communication as an Information Sensor for Multi-agent Cooperative Perception: A Surveycited by 0
  38. 2025DenoiseCP-Net: Efficient Collective Perception in Adverse Weather via Joint LiDAR-Based 3D Object Detection and Denoisingcited by 0

50 most cited of 60 All 60 (JSON)