用扩散模型提升恶劣环境下多智能体协作感知的鲁棒性

Cooperative perception lets agents share information to expand coverage and improve scene understanding. However, in real-world scenarios, diverse and unpredictable corruptions undermine its robustness and generalization. To address these challenges, we introduce CoopDiff, a diffusion-based cooperative perception framework that mitigates corruptions via a denoising mechanism. CoopDiff adopts a teacher-student paradigm: the Quality-Aware Teacher performs voxel-level early fusion with Quality of Interest weighting and semantic guidance, then produces clean supervision features via a diffusion denoiser. The Dual-Branch Diffusion Student first separates ego and cooperative streams in encoding to reconstruct the teacher's clean targets. And then, an Ego-Guided Cross-Attention mechanism facilitates balanced decoding under degradation by adaptively integrating ego and cooperative features. We evaluate CoopDiff on two constructed multi-degradation benchmarks, OPV2Vn and DAIR-V2Xn, each incorporating six corruption types, including environmental and sensor-level distortions. Benefiting from the inherent denoising properties of diffusion, CoopDiff consistently outperforms prior methods across all degradation types and lowers the relative corruption error. Furthermore, it offers a tunable balance between precision and inference efficiency.