# CoRA: A Collaborative Robust Architecture with Hybrid Fusion for Efficient Perception

arXiv: https://arxiv.org/abs/2512.13191 · HTML: https://mlsanity.com/paper/2512.13191/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 13 of its 27 references that are in the map.
- First posted on arXiv 15 Dec 2025.

## Builds on (most cited first, 13 of 13)

- [Mamba: Linear-Time Sequence Modeling with Selective State Spaces](https://mlsanity.com/paper/2312.00752/) (2023)
- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [Deformable Convolutional Networks](https://mlsanity.com/paper/1703.06211/) (2017)
- [V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformer](https://mlsanity.com/paper/2203.10638/) (2022)
- [V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Prediction](https://mlsanity.com/paper/2008.07519/) (2020)
- [Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Maps](https://mlsanity.com/paper/2209.12836/) (2022)
- [F-Cooper: Feature based Cooperative Perception for Autonomous Vehicle Edge Computing System Using 3D Point Clouds](https://mlsanity.com/paper/1909.06459/) (2019)
- [Robust Collaborative 3D Object Detection in Presence of Pose Errors](https://mlsanity.com/paper/2211.07214/) (2022)
- [Communication-Efficient Collaborative Perception via Information Filling with Codebook](https://mlsanity.com/paper/2405.04966/) (2024)
- [Uncertainty Quantification of Collaborative Detection for Self-Driving](https://mlsanity.com/paper/2209.08162/) (2022)
- [CORE: Cooperative Reconstruction for Multi-Agent Perception](https://mlsanity.com/paper/2307.11514/) (2023)
- [CoSDH: Communication-Efficient Collaborative Perception via Supply-Demand Awareness and Intermediate-Late Hybridization](https://mlsanity.com/paper/2503.03430/) (2025)
- [A Survey on Intermediate Fusion Methods for Collaborative Perception Categorized by Real World Challenges](https://mlsanity.com/paper/2404.16139/) (2024)

## Built on by (most cited first, 4 of 4)

- [WhisperNet: A Scalable Solution for Bandwidth-Efficient Collaboration](https://mlsanity.com/paper/2603.01708/) (2026)
- [CoopDiff: A Diffusion-Guided Approach for Cooperation under Corruptions](https://mlsanity.com/paper/2603.01688/) (2026)
- [CATNet: Collaborative Alignment and Transformation Network for Cooperative Perception](https://mlsanity.com/paper/2603.05255/) (2026)
- [CoAnchor: Robust Collaborative Perception under Spatio-Temporal Misalignment via Object-Level Anchors](https://mlsanity.com/paper/2608.21055/) (2026)

## Abstract (arXiv)

Collaborative perception has garnered significant attention as a crucial technology to overcome the perceptual limitations of single-agent systems. Many state-of-the-art (SOTA) methods have achieved communication efficiency and high performance via intermediate fusion. However, they share a critical vulnerability: their performance degrades under adverse communication conditions due to the misalignment induced by data transmission, which severely hampers their practical deployment. To bridge this gap, we re-examine different fusion paradigms, and recover that the strengths of intermediate and late fusion are not a trade-off, but a complementary pairing. Based on this key insight, we propose CoRA, a novel collaborative robust architecture with a hybrid approach to decouple performance from robustness with low communication. It is composed of two components: a feature-level fusion branch and an object-level correction branch. Its first branch selects critical features and fuses them efficiently to ensure both performance and scalability. The second branch leverages semantic relevance to correct spatial displacements, guaranteeing resilience against pose errors. Experiments demonstrate the superiority of CoRA. Under extreme scenarios, CoRA improves upon its baseline performance by approximately 19% in AP@0.7 with more than 5x less communication volume, which makes it a promising solution for robust collaborative perception.