[Submitted on 16 Sep 2026]
Title:REACT: A Fully Spiking State-Space Model for Real-Time Event-Driven Temporal Perception
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Abstract:Robotic systems operating in dynamic environments require visual perception that evolves continuously with the incoming sensory stream. Event cameras provide microsecond temporal resolution and asynchronous sensing, but most learning-based methods accumulate events into frames or temporal bins, introducing an integration delay that can limit fast reaction. Here we propose REACT, a fully spiking state-space model for event-driven temporal perception that processes raw events one by one, without temporal accumulation. REACT uses a complex-valued spiking neuron, C-SiLIF, whose continuous-time dynamics are driven by the physical inter-event interval, allowing its internal state to evolve at the temporal resolution of individual events. We evaluate REACT on gesture recognition and time-to-collision (TTC) estimation from full-field event streams, without a target bounding box or localization input. On EvTTC, REACT achieves a 9.59% relative TTC error with 4.6 ms end-to-end inference latency, within 0.15 percentage points of the best learned method while requiring no target prior. At the dataset's mean approach speed, this latency corresponds to only 4 cm of vehicle motion, compared with 1 m for the fastest competing learned method. REACT further supports anytime TTC prediction, zero-shot transfer to a different driving sequence, and INT8 quantization, reducing the estimated energy consumption from 18.5 to 2.8 mJ per 32,768 events. These results show that event-driven spiking state-space dynamics can provide low-latency, continuously updated temporal perception for reactive robotic systems.
Subjects:
Robotics (cs.RO); Artificial Intelligence (cs.AI)
Cite as: arXiv:2609.19204 [cs.RO]
(or arXiv:2609.19204v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2609.19204
arXiv-issued DOI via DataCite
Submission history
From: Geoffroy Keime [view email] [v1] Wed, 16 Sep 2026 10:06:06 UTC (2,845 KB)
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