ALF converts box-level messages from unseen agents into ego-compatible features via pseudo-BEV maps, enabling zero-shot heterogeneous collaboration and improving mAP by 35.91% relative on V2X-Real.
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Adaptation-Free Heterogeneous Collaborative Perception with Unseen Agent Configurations
ALF converts box-level messages from unseen agents into ego-compatible features via pseudo-BEV maps, enabling zero-shot heterogeneous collaboration and improving mAP by 35.91% relative on V2X-Real.