Safety-Aligned 3D Object Detection: Single-Vehicle, Cooperative, and End-to-End Perspectives

arXiv:2604.03325v1 Announce Type: cross Abstract: Perception plays a central role in connected and autonomous vehicles (CAVs), underpinning not only conventional modular driving stacks, but also cooperative perception systems and recent end-to-end driving models. While deep learning has greatly improved perception performance, its statistical nature makes perfect predictions difficult to attain. Meanwhile, standard training objectives and evaluation benchmarks treat all perception errors equally