# QuantV2X: A Fully Quantized Multi-Agent System for Cooperative Perception

arXiv: https://arxiv.org/abs/2509.03704 · HTML: https://mlsanity.com/paper/2509.03704/

## Key facts

- Cited by 11 papers in the map (data through 14 Oct 2026).
- Builds on 47 of its 60 references that are in the map.
- First posted on arXiv 3 Sep 2025.

## Builds on (most cited first, 30 of 47)

- [Deep Compression: Compressing Deep Neural Networks with Pruning, Trained Quantization and Huffman Coding](https://mlsanity.com/paper/1510.00149/) (2015)
- [GPTQ: Accurate Post-Training Quantization for Generative Pre-trained Transformers](https://mlsanity.com/paper/2210.17323/) (2022)
- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [SmoothQuant: Accurate and Efficient Post-Training Quantization for Large Language Models](https://mlsanity.com/paper/2211.10438/) (2022)
- [AWQ: Activation-aware Weight Quantization for LLM Compression and Acceleration](https://mlsanity.com/paper/2306.00978/) (2023)
- [Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3D](https://mlsanity.com/paper/2008.05711/) (2020)
- [Learned Step Size Quantization](https://mlsanity.com/paper/1902.08153/) (2019)
- [Up or Down? Adaptive Rounding for Post-Training Quantization](https://mlsanity.com/paper/2004.10568/) (2020)
- [Quantizing deep convolutional networks for efficient inference: A whitepaper](https://mlsanity.com/paper/1806.08342/) (2018)
- [BRECQ: Pushing the Limit of Post-Training Quantization by Block Reconstruction](https://mlsanity.com/paper/2102.05426/) (2021)
- [HAQ: Hardware-Aware Automated Quantization with Mixed Precision](https://mlsanity.com/paper/1811.08886/) (2018)
- [V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformer](https://mlsanity.com/paper/2203.10638/) (2022)
- [OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communication](https://mlsanity.com/paper/2109.07644/) (2021)
- [V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Prediction](https://mlsanity.com/paper/2008.07519/) (2020)
- [Post-Training Quantization for Vision Transformer](https://mlsanity.com/paper/2106.14156/) (2021)
- [DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detection](https://mlsanity.com/paper/2204.05575/) (2022)
- [Motion Transformer with Global Intention Localization and Local Movement Refinement](https://mlsanity.com/paper/2209.13508/) (2022)
- [Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Maps](https://mlsanity.com/paper/2209.12836/) (2022)
- [CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformers](https://mlsanity.com/paper/2207.02202/) (2022)
- [Learning Distilled Collaboration Graph for Multi-Agent Perception](https://mlsanity.com/paper/2111.00643/) (2021)
- [PTQ4ViT: Post-training quantization for vision transformers with twin uniform quantization](https://mlsanity.com/paper/2111.12293/) (2021)
- [F-Cooper: Feature based Cooperative Perception for Autonomous Vehicle Edge Computing System Using 3D Point Clouds](https://mlsanity.com/paper/1909.06459/) (2019)
- [Cooper: Cooperative Perception for Connected Autonomous Vehicles based on 3D Point Clouds](https://mlsanity.com/paper/1905.05265/) (2019)
- [When2com: Multi-Agent Perception via Communication Graph Grouping](https://mlsanity.com/paper/2006.00176/) (2020)
- [MTR++: Multi-Agent Motion Prediction with Symmetric Scene Modeling and Guided Intention Querying](https://mlsanity.com/paper/2306.17770/) (2023)
- [Who2com: Collaborative Perception via Learnable Handshake Communication](https://mlsanity.com/paper/2003.09575/) (2020)
- [Loss Aware Post-training Quantization](https://mlsanity.com/paper/1911.07190/) (2019)
- [An Extensible Framework for Open Heterogeneous Collaborative Perception](https://mlsanity.com/paper/2401.13964/) (2024)
- [PD-Quant: Post-Training Quantization based on Prediction Difference Metric](https://mlsanity.com/paper/2212.07048/) (2022)
- [HM-ViT: Hetero-modal Vehicle-to-Vehicle Cooperative perception with vision transformer](https://mlsanity.com/paper/2304.10628/) (2023)

## Built on by (most cited first, 11 of 11)

- [BridgeSim: Unveiling the OL-CL Gap in End-to-End Autonomous Driving](https://mlsanity.com/paper/2604.10856/) (2026)
- [MDrive: Benchmarking Closed-Loop Cooperative Driving for End-to-End Multi-agent Systems](https://mlsanity.com/paper/2605.10904/) (2026)
- [JigsawComm: Joint Semantic Feature Encoding and Transmission for Communication-Efficient Cooperative Perception](https://mlsanity.com/paper/2511.17843/) (2025)
- [CMU-Drive and V2V-VLA: Cooperative Multi-agent Unified Driving with Reasoning Benchmark and Vehicle-to-Vehicle Vision-Language-Action Models](https://mlsanity.com/paper/2608.07621/) (2026)
- [Dense Coverage, Sparse Refinement: Byte-Constrained Cooperative Perception](https://mlsanity.com/paper/2609.29456/) (2026)
- [FleetAgent: Teleoperation Assistant for Autonomous Fleets via Vectorized V2N Messages](https://mlsanity.com/paper/2606.21222/) (2026)
- [CERF: Communication-Efficient and Retraining-Free Collaborative Perception](https://mlsanity.com/paper/2609.00951/) (2026)
- [Investigating Adversarial Robustness of Heterogeneous Cooperative Perception](https://mlsanity.com/paper/2609.17856/) (2026)
- [DreamStream: Towards Policy-Oriented Generative Simulation for End-to-End Driving](https://mlsanity.com/paper/2609.26792/) (2026)
- [Temporal Residual Bottleneck for Robust Asynchronous Collaborative Perception](https://mlsanity.com/paper/2610.10090/) (2026)
- [LR-V2X: Loss-Resilient Collaborative Perception under Low-Bandwidth Communication](https://mlsanity.com/paper/2610.11264/) (2026)

## Abstract (arXiv)

Cooperative perception through Vehicle-to-Everything (V2X) communication offers significant potential for enhancing vehicle perception by mitigating occlusions and expanding the field of view. However, past research has predominantly focused on improving accuracy metrics without addressing the crucial system-level considerations of efficiency, latency, and real-world deployability. Noticeably, most existing systems rely on full-precision models, which incur high computational and transmission costs, making them impractical for real-time operation in resource-constrained environments. In this paper, we introduce QuantV2X, the first fully quantized multi-agent system designed specifically for efficient and scalable deployment of multi-modal, multi-agent V2X cooperative perception. QuantV2X introduces a unified end-to-end quantization strategy across both neural network models and transmitted message representations that simultaneously reduces computational load and transmission bandwidth. Remarkably, despite operating under low-bit constraints, QuantV2X achieves accuracy comparable to full-precision systems. More importantly, when evaluated under deployment-oriented metrics, QuantV2X reduces system-level latency by 3.2× and achieves a +9.5 improvement in mAP30 over full-precision baselines. Furthermore, QuantV2X scales more effectively, enabling larger and more capable models to fit within strict memory budgets. These results highlight the viability of a fully quantized multi-agent intermediate fusion system for real-world deployment. The system will be publicly released to promote research in this field: https://github.com/ucla-mobility/QuantV2X.