Supplementary Material: Learning Distilled Collaboration Graph for Multi-Agent Perception

V ehicles are spawned in CARLA via SUMO, and managed by the Traffic Manager. We employ the dataset format of the nuScenes and extend it to multi-agent scenarios, seen in Fig. IV. Each log file can produce 100 scenes, and each scene includes 100 frames. The input BEV map's dimension is (c, w,h) = (13, 256, 256). II.1 Architecture of student/teacher encoder We describe the architecture of the encoder below.