Title: CooperTrim: Adaptive Data Selection for Uncertainty-Aware Cooperative Perception
Primary area: applications to robotics, autonomy, planning
Keywords: Cooperative Perception, Intermediate Fusion, Uncertainty Estimation

Abstract: Cooperative perception enables autonomous agents to share encoded representations over wireless communication to enhance each other’s live situational awareness. However, the tension between the limited communication bandwidth and the rich sensor information
hinders its practical deployment. Recent studies have explored selection strategies that share only a subset of features per frame while striving to keep the performance on par. Nevertheless, the bandwidth requirement still stresses current wireless technologies. To
fundamentally ease the tension, we take a proactive approach, exploiting the temporal continuity to identify features that capture environment dynamics, while avoiding repetitive and redundant transmission of static information. By incorporating temporal awareness,
agents are empowered to dynamically adapt the sharing quantity according to environment complexity. We instantiate this intuition into an adaptive selection framework, COOPERTRIM, which introduces a novel conformal temporal uncertainty metric to gauge feature
relevance, and a data-driven mechanism to dynamically determine the sharing quantity. To evaluate COOPERTRIM, we take semantic segmentation as an example task. Across multiple open-source cooperative segmentation models, COOPERTRIM achieves up to 80.28% bandwidth reduction while maintaining a comparable accuracy. Relative to other selection strategies, COOPERTRIM also improves IoU by as much as 45.54% with up to 72% less bandwidth. Qualitative results show COOPERTRIM gracefully adapt to environmental dynamics, demonstrating the flexibility and paving the way towards real-world deployment.

TL;DR: This paper introduces CooperTrim, a temporal uncertainty-guided adaptive feature selection mechanism to balance network overhead and task performance in Cooperative Perception..