DRCP: Diffusion on Reinforced Cooperative Perception for Perceiving Beyond Limits

Abstract-- Cooperative perception enabled by V ehicle-to-Everything communication has shown great promise in enhancing situational awareness for autonomous vehicles and other mobile robotic platforms. Despite recent advances in perception backbones and multi-agent fusion, real-world deployments remain challenged by hard detection cases, exemplified by partial detections and noise accumulation which limit downstream detection accuracy. This work presents Diffusion on Reinforced Cooperative Perception (DRCP), a real-time de-ployable framework designed to address aforementioned issues in dynamic driving environments. The proposed system achieves real-time performance on mobile platforms while significantly improving robustness under challenging conditions. Code will be released in late 2025. I. INTRODUCTION Robotic systems such as autonomous vehicles and mobile agents rely heavily on perception to understand their surroundings and make informed decisions.