# DRCP: Diffusion on Reinforced Cooperative Perception for Perceiving Beyond Limits

arXiv: https://arxiv.org/abs/2509.24903 · HTML: https://mlsanity.com/paper/2509.24903/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 33 of its 38 references that are in the map.
- First posted on arXiv 29 Sep 2025.

## Builds on (most cited first, 30 of 33)

- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [Occupancy Networks: Learning 3D Reconstruction in Function Space](https://mlsanity.com/paper/1812.03828/) (2018)
- [VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detection](https://mlsanity.com/paper/1711.06396/) (2017)
- [Tokens-to-Token ViT: Training Vision Transformers from Scratch on ImageNet](https://mlsanity.com/paper/2101.11986/) (2021)
- [Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3D](https://mlsanity.com/paper/2008.05711/) (2020)
- [One Step Diffusion via Shortcut Models](https://mlsanity.com/paper/2410.12557/) (2024)
- [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)
- [BEVFormer v2: Adapting Modern Image Backbones to Bird's-Eye-View Recognition via Perspective Supervision](https://mlsanity.com/paper/2211.10439/) (2022)
- [DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detection](https://mlsanity.com/paper/2204.05575/) (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)
- [Predicting Semantic Map Representations from Images using Pyramid Occupancy Networks](https://mlsanity.com/paper/2003.13402/) (2020)
- [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)
- [V2V4Real: A Real-world Large-scale Dataset for Vehicle-to-Vehicle Cooperative Perception](https://mlsanity.com/paper/2303.07601/) (2023)
- [Robust Collaborative 3D Object Detection in Presence of Pose Errors](https://mlsanity.com/paper/2211.07214/) (2022)
- [Who2com: Collaborative Perception via Learnable Handshake Communication](https://mlsanity.com/paper/2003.09575/) (2020)
- [COOPERNAUT: End-to-End Driving with Cooperative Perception for Networked Vehicles](https://mlsanity.com/paper/2205.02222/) (2022)
- [An Extensible Framework for Open Heterogeneous Collaborative Perception](https://mlsanity.com/paper/2401.13964/) (2024)
- [HM-ViT: Hetero-modal Vehicle-to-Vehicle Cooperative perception with vision transformer](https://mlsanity.com/paper/2304.10628/) (2023)
- [TUMTraf V2X Cooperative Perception Dataset](https://mlsanity.com/paper/2403.01316/) (2024)
- [DiffBEV: Conditional Diffusion Model for Bird's Eye View Perception](https://mlsanity.com/paper/2303.08333/) (2023)
- [V2X-Radar: A Multi-modal Dataset with 4D Radar for Cooperative Perception](https://mlsanity.com/paper/2411.10962/) (2024)
- [BM2CP: Efficient Collaborative Perception with LiDAR-Camera Modalities](https://mlsanity.com/paper/2310.14702/) (2023)
- [DifFUSER: Diffusion Model for Robust Multi-Sensor Fusion in 3D Object Detection and BEV Segmentation](https://mlsanity.com/paper/2404.04629/) (2024)
- [FedBEVT: Federated Learning Bird's Eye View Perception Transformer in Road Traffic Systems](https://mlsanity.com/paper/2304.01534/) (2023)
- [A Spatial Calibration Method for Robust Cooperative Perception](https://mlsanity.com/paper/2304.12033/) (2023)
- [Lift-Attend-Splat: Bird's-eye-view camera-lidar fusion using transformers](https://mlsanity.com/paper/2312.14919/) (2023)

## Abstract (arXiv)

Cooperative perception enabled by Vehicle-to-Everything communication has shown great promise in enhancing situational awareness for autonomous vehicles and other mobile robotic platforms. Despite recent advances in perception backbones and multi-agent fusion, real-world deployments remain challenged by hard detection cases, exemplified by partial detections and noise accumulation which limit downstream detection accuracy. This work presents Diffusion on Reinforced Cooperative Perception (DRCP), a real-time deployable framework designed to address aforementioned issues in dynamic driving environments. DRCP integrates two key components: (1) Precise-Pyramid-Cross-Modality-Cross-Agent, a cross-modal cooperative perception module that leverages camera-intrinsic-aware angular partitioning for attention-based fusion and adaptive convolution to better exploit external features; and (2) Mask-Diffusion-Mask-Aggregation, a novel lightweight diffusion-based refinement module that encourages robustness against feature perturbations and aligns bird's-eye-view features closer to the task-optimal manifold. The proposed system achieves real-time performance on mobile platforms while significantly improving robustness under challenging conditions. Code will be released in late 2025.