# Link Both Views: Cross-Image Routing Attention for Dual-Endpoint V2I Beam-Pair Power Prediction

arXiv: https://arxiv.org/abs/2610.18195 · HTML: https://mlsanity.com/paper/2610.18195/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 8 of its 12 references that are in the map.
- First posted on arXiv 13 Oct 2026.

## Builds on (most cited first, 8 of 8)

- [Grad-CAM: Visual Explanations from Deep Networks via Gradient-based Localization](https://mlsanity.com/paper/1610.02391/) (2016)
- [BiFormer: Vision Transformer with Bi-Level Routing Attention](https://mlsanity.com/paper/2303.08810/) (2023)
- [Computer Vision Aided mmWave Beam Alignment in V2X Communications](https://mlsanity.com/paper/2207.11409/) (2022)
- [Intelligent Multi-Modal Sensing-Communication Integration: Synesthesia of Machines](https://mlsanity.com/paper/2306.14143/) (2023)
- [Camera Based mmWave Beam Prediction: Towards Multi-Candidate Real-World Scenarios](https://mlsanity.com/paper/2308.06868/) (2023)
- [SynthSoM: A synthetic intelligent multi-modal sensing-communication dataset for Synesthesia of Machines (SoM)](https://mlsanity.com/paper/2501.07459/) (2025)
- [Multi-Modal Intelligent Channel Modeling: A New Modeling Paradigm via Synesthesia of Machines](https://mlsanity.com/paper/2411.03711/) (2024)
- [A BEV-Fusion Based Framework for Sequential Multi-Modal Beam Prediction in mmWave Systems](https://mlsanity.com/paper/2604.05668/) (2026)

## Abstract (arXiv)

For sensing-aided communications, single-endpoint sensing offers only a partial view of propagation, motivating link-centric sensing across both endpoints. We propose cross-image routing attention (CIRA) for sparse association and mutual enhancement of propagation-relevant features from dual-endpoint RGB images. Building on CIRA, CiFormer predicts millimeter-wave (mmWave) beam-pair power matrices for vehicle-to-infrastructure (V2I) communications. Experiments show that CiFormer reduces mean absolute error and improves top-1 beam-pair selection accuracy by 3.15 percentage points over the strongest baseline. Visualizations and ablation studies support dual-endpoint sensing and selective cross-view interaction in capturing propagation-relevant dependencies, suggesting broader applications in wireless tasks beyond beam prediction.