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[Submitted on 16 Sep 2026] Title:REACT: A Fully Spiking State-Space Model for Real-Time Event-Driven Temporal Perception View a PDF of the paper titled REACT: A Fully Spiking State-Space Model for Real-Time Event-Driven Temporal Perception, by Geoffroy Keime and Nicolas Cuperlier and Benoit R. Cottereau View PDF HTML (experimental) 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) Full-text links: Access Paper: View a PDF of the paper titled REACT: A Fully Spiking State-Space Model for Real-Time Event-Driven Temporal Perception, by Geoffroy Keime and Nicolas Cuperlier and Benoit R. Cottereau View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-09 Change to browse by: cs cs.AI References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)