{"paper":{"title":"Reusing Attention for One-stage Lane Topology Understanding","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Hang Zhao, Hao Zhao, Huan-ang Gao, Leichen Wang, Ruikai Li, Xiaojian Lin, Xinrun Li, Xuchong Qiu, Yang Li, Zhenxin Zhu, Zhiyong Cui, Ziming Liu, Zongzheng Zhang","submitted_at":"2025-07-23T15:48:16Z","abstract_excerpt":"Understanding lane toplogy relationships accurately is critical for safe autonomous driving. However, existing two-stage methods suffer from inefficiencies due to error propagations and increased computational overheads. To address these challenges, we propose a one-stage architecture that simultaneously predicts traffic elements, lane centerlines and topology relationship, improving both the accuracy and inference speed of lane topology understanding for autonomous driving. Our key innovation lies in reusing intermediate attention resources within distinct transformer decoders. This approach "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.17617","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2507.17617/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}