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This work studies a route-conditioned order of unavoidable stages that every successful executor must traverse, recoverable from offline trajectories and belonging to none of them: a route-conditioned order of unavoidable stages that every successful executor must traverse.
Angular-to-Cartesian projection distortions have long bottlenecked spherical 3D perception, but explicitly modulating voxel features with spherical range-azimuth geometry outperforms top surround-view models like SurroundOcc and TPVFormer across varied wild environments.
