Cai, Jiaxin, et al. “Seeing in Double: Dual-Granularity BEV Segmentation via Mamba-Driven Alignment and Polar-Decoupled Experts”. Proceedings of the AAAI Conference on Artificial Intelligence, vol. 40, no. 4, Mar. 2026, pp. 2516-24, doi:10.1609/aaai.v40i4.37238.