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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.
Escalating to a larger LLM is counterproductive when it corrupts correct answers, meaning optimal cascading requires routing on net rescue-versus-harm rather than model uncertainty.
