Cai J, Lin R, Su J, Li Q, Yang W, Yu Y, et al. Seeing in Double: Dual-Granularity BEV Segmentation via Mamba-Driven Alignment and Polar-Decoupled Experts. AAAI [Internet]. 2026 Mar. 14 [cited 2026 May 28];40(4):2516-24. Available from: https://ojs.aaai.org/index.php/AAAI/article/view/37238