{"paper":{"title":"4DR360: State Reasoning for Joint 3D Detection and Occupancy Prediction in 4D Radar-Camera Full-Scene Perception","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.CV","authors_text":"Hui-Liang Shen, Lianqing Zheng, Runwei Guan, Siyuan Cao, Songkai Wang, Xiaokai Bai","submitted_at":"2026-07-10T17:26:19Z","abstract_excerpt":"Reliable autonomous driving requires full-scene perception that couples foreground objects with dense semantic layout. Recently, 4D millimeter-wave radar has emerged as a robust and affordable sensor, yet its sparse returns make radar-camera fusion necessary for comprehensive scene understanding. Existing radar-camera methods mainly optimize detection, while dual-task systems usually decode boxes and occupancy with limited interaction. To address this gap and advance radar-based multi-task learning, we propose \\method, a 4D radar-camera framework for 360$^\\circ$ full-scene perception, which mo"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.09629","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/2607.09629/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"}