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.

To promote better performance-bandwidth trade-off for multi-agent perception, we propose a novel distilled collaboration graph (DiscoGraph) to model trainable, pose-aware, and adaptive collaboration among agents. Our key novelties lie in two aspects. First, we propose a teacher-student framework to train DiscoGraph via knowledge distillation. The teacher model employs an early collaboration with holistic-view inputs; the student model is based on intermediate collaboration with single-view inputs. Our framework trains DiscoGraph by constraining post-collaboration feature maps in the student model to match the correspondences in the teacher model.