@ARTICLE{li2026spatial,
  author={Haotian Li and Henry K. Chu and Yuxiang Sun},
  journal={IEEE Transactions on Robotics}, 
  title={Spatial Balancing for RGB-Thermal Semantic Segmentation in Autonomous Driving: A Study From Analysis to Improvement}, 
  year={2026},
  volume={42},
  number={},
  pages={1840-1855},
  doi={10.1109/TRO.2026.3677009}}