CooperScene: Multi-Modal Cooperative Autonomy Benchmark with C-V2X Communication Characterization
Cellular vehicle-to-everything (C-V2X) enables cooperative perception, prediction, and planning beyond the field of view of individual agents. However, existing datasets often overlook the complexities of real-world deployment, such as limited communication bandwidth and its dynamics, heterogeneous sensing modalities, and scalability beyond a single cooperative partner. In this paper, we introduce CooperScene, a high-fidelity cooperative autonomy dataset with real-world C-V2X communication characterization. The dataset is organized into diverse scenes, including intersections, highway ramps, and parking lots. These scenes involve three connected and autonomous vehicles (CAVs) and one infr...
| Authors | Bo Wu, Ruoshen Mo, Justin Yue et al. |
|---|---|
| Primary category | cs.CV |
| Published | 30 June 2026 |
| Last updated at source | 30 June 2026 |
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