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If It Moves, Radar Knows: A Physics-Aware Radar Transformer for Class-Agnostic Moving-Object Detection

arXiv · AI, language, vision and robotics · article · Sep 2, 2026 · UTC

Detectors trained on closed-set annotations can miss rare moving objects outside the training taxonomy. Automotive radar provides category-independent Doppler motion cues and is less affected by adverse illumination and weather, but sparse, noisy returns hinder class-aware 3D box detection. Surface location and velocity remain useful for motion reasoning and collision avoidance when full box geometry is difficult to recover. We present the Physics-Aware Radar Transformer (PART), a fully sparse radar-only detector that predicts existence confidence, a representative surface point, and 2D ground

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