To promote better performance-bandwidth trade-off for multi-agent perception, weproposeanovel distilledcollaborationgraph (DiscoGraph)tomodeltrainable, pose-aware, and adaptive collaboration among agents. Our key novelties lie in twoaspects.

Utilizing mutual learning can effectively enhance the performance of peer BNNs.

Foundation models have achieved remarkable results in 2D and language tasks like image segmentation, object detection, and visual-language understanding. However, their potential to enrich 3D scene representation learning is largely untapped due to the existence of the domain gap. In this work, we propose an innovative methodology called Bridge3D to address this gap by pre-training 3D models using features, semantic masks, and captions sourced from foundation models. Specifically, our method employs semantic masks from foundation models to guide the masking and reconstruction process for the masked autoen-coder, enabling more focused attention on foreground representations.

Knowledge distillation is a popular approach for enhancing the performance of "student" models, with lower representational capacity, by taking advantage of

Knowledge Distillation is the mechanism by which the insights gained from a larger teacher model are transferred to a smaller student model.