SSQA: Sibling-Selective Quadtree Attention for Hierarchical Modeling in Perception Tasks

Abstract

Perception tasks for navigation in robotics, including aerial platforms such as drones and autonomous driving systems, are inherently structured. Drone-mounted cameras typically capture sky above, terrain below, and obstacles or man-made structures in between, while driving data often contains organized road layouts, lane markings, and surrounding agents. Motivated by these axis-aligned structural priors, we note that such information is typically more structured than in generic image tasks. We hypothesize that processing information in a quadtree-esque manner can not only model features effectively in a hierarchical manner, but also offers an efficient linear-time alternative to vanilla attention mechanisms, which run in quadratic time. In this paper, we propose Sibling-Selective Quadtree Attention (SSQA), which models image tokens hierarchically as a structured, full quadtree. We show analytical complexity analysis that guarantees linear-time feature modeling, in addition to empirical experiments comparing inference speeds with other popular modeling approaches, such as Mamba 2 and Quadtree Attention. Our results, benchmarked across several tasks, show that we achieve results at least as good, if not notably better, as others at a fraction of the computational costs.

arXiv comment8 pages, 6 figures, 4 tables. Published at ICRA 2026 (oral)