Cai, Jiaxin, Rui Lin, Jingze Su, Qi Li, Wenjie Yang, Yuanlong Yu, and Wenxi Liu. 2026. “Seeing in Double: Dual-Granularity BEV Segmentation via Mamba-Driven Alignment and Polar-Decoupled Experts”. Proceedings of the AAAI Conference on Artificial Intelligence 40 (4):2516-24. https://doi.org/10.1609/aaai.v40i4.37238.