Federated Cooperative 3D Object Detection for Autonomous Driving
Bibliographic record
Abstract
Federated learning has shown great potential in improving the accuracy of models designed for connected autonomous vehicles (CAVs). However, existing approaches only focus on data collected by CAVs, ignoring the valuable insights provided by other types of clients, such as road-side units (RSUs). In this paper, we propose an approach that combines federated learning with cooperative perception to create a more comprehensive and robust global model. Our approach adopts a multi-layered structure that partitions CAVs and RSUs into local clusters. By incorporating the data captured by both CAVs and RSUs, this novel approach can lead to a more accurate and comprehensive global model that reflects the collective knowledge of all agents. We evaluate the proposed approach on the V2X-Set benchmark. The overall average precision of our approach using RSUs reaches 68.62% at Intersection-over-Union threshold of 0.5, significantly outperforming traditional CAV-based federated learning.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.012 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.007 | 0.024 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; both teacher heads agree on what is shown here.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".