While behavior cloning has recently emerged as a highly successful paradigm for autonomous driving, humans rarely learn to perform complex tasks, such as driving, via imitation or behavior cloning alone. In contrast, learning in humans often involves additional detailed guidance throughout the interactive learning process, i.e., where feedback, often via language, provides detailed information as to which part of their trial was performed incorrectly or suboptimally and why. Motivated by this observation, we introduce an efficient feedback-based framework for improving behavior-cloning-based training of sensorimotor driving agents. Our key insight is to leverage recent advances in Large Language Models (LLMs) to provide corrective fine-grained feedback regarding the underlying reason behind driving prediction failures. Moreover, our introduced network architecture is efficient, enabling the first sensorimotor end-to-end training and evaluation of LLM-based driving models. The resulting agent achieves state-of-the-art performance in open-loop evaluation on nuScenes, outperforming prior state-of-the-art by over 8.1% and 57.1% in accuracy and collision rate, respectively. In CARLA, our camera-based agent improves by 16.6% in driving score over prior LIDAR-based approaches.

We propose a novel knowledge distillation framework for effectively teaching a sensorimotor student agent to drive from the supervision of a privileged teacher agent. Current distillation for sensorimotor agents methods tend to result in suboptimal learned driving behavior by the student, which we hypothesize is due to inherent differences between the input, modeling capacity, and optimization processes of the two agents. We develop a novel distillation scheme that can address these limitations and close the gap between the sensorimotor agent and its privileged teacher. Our key insight is to design a student which learns to align their input features with the teacher's privileged Bird's Eye View (BEV) space. The student then can benefit from direct supervision by the teacher over the internal representation learning. To scaffold the difficult sensorimotor learning task, the student model is optimized via a student-paced coaching mechanism with various auxiliary supervision. We further propose a high-capacity imitation learned privileged agent that surpasses prior privileged agents in CARLA and ensures the student learns safe driving behavior. Our proposed sensorimotor agent results in a robust image-based behavior cloning agent in CARLA, improving over current models by over 20.6% in driving score without requiring LiDAR, historical observations, ensemble of models, on-policy data aggregation or reinforcement learning.

We propose XVO, a semi-supervised learning method for training generalized monocular Visual Odometry (VO) models with robust off-the-self operation across diverse datasets and settings. In contrast to standard monocular VO approaches which often study a known calibration within a single dataset, XVO efficiently learns to recover relative pose with real-world scale from visual scene semantics, i.e., without relying on any known camera parameters. We optimize the motion estimation model via self-training from large amounts of unconstrained and heterogeneous dash camera videos available on YouTube. Our key contribution is twofold. First, we empirically demonstrate the benefits of semi-supervised training for learning a general-purpose direct VO regression network. Second, we demonstrate multi-modal supervision, including segmentation, flow, depth, and audio auxiliary prediction tasks, to facilitate generalized representations for the VO task. Specifically, we find audio prediction task to significantly enhance the semi-supervised learning process while alleviating noisy pseudo-labels, particularly in highly dynamic and out-of-domain video data. Our proposed teacher network achieves state-of-the-art performance on the commonly used KITTI benchmark despite no multi-frame optimization or knowledge of camera parameters. Combined with the proposed semi-supervised step, XVO demonstrates off-the-shelf knowledge transfer across diverse conditions on KITTI, nuScenes, and Argoverse without fine-tuning.

Effectively utilizing the vast amounts of ego-centric navigation data that is freely available on the internet can advance generalized intelligent systems, i.e., to robustly scale across perspectives, platforms, environmental conditions, scenarios, and geographical locations. However, it is difficult to directly leverage such large amounts of unlabeled and highly diverse datafor complex 3D reasoning and planning tasks. Consequently, researchers have primarily focused on its use for various auxiliary pixel- and image-level computer vision tasks that do not consider an ultimate navigational objective. In this work, we introduce SelfD, a framework for learning scalable driving by utilizing large amounts of online monocular images. Our key idea is to leverage iterative semi-supervised training when learning imitative agents from unlabeled data. To handle unconstrained viewpoints, scenes, and camera parameters, we train an image-based model that directly learns to plan in the Bird's Eye View (BEV) space. Next, we use unla-beled data to augment the decision-making knowledge and robustness of an initially trained model via self-training. In particular, we propose a pseudo-labeling step which enables making full use of highly diverse demonstration data through “hypothetical” planning-based data augmentation. We employ a large dataset of publicly available YouTube videos to train SelfD and comprehensively analyze its generalization benefits across challenging navigation scenarios. Without requiring any additional data collection or annotation efforts, SelfD demonstrates consistent improvements (by up to 24%) in driving performance evaluation on nuScenes, Argoverse, Waymo, and CARLA.

When in a new situation or geographical location, human drivers have an extraordinary ability to watch others and learn maneuvers that they themselves may have never performed. In contrast, existing techniques for learning to drive preclude such a possibility as they assume direct access to an instrumented ego-vehicle with fully known observations and expert driver actions. However, such measurements cannot be directly accessed for the non-ego vehicles when learning by watching others. Therefore, in an application where data is regarded as a highly valuable asset, current approaches completely discard the vast portion of the training data that can be potentially obtained through indirect observation of surrounding vehicles. Motivated by this key insight, we propose the Learning by Watching (LbW) framework which enables learning a driving policy without requiring full knowledge of neither the state nor expert actions. To increase its data, i.e., with new perspectives and maneuvers, LbW makes use of the demonstrations of other vehicles in a given scene by (1) transforming the egovehicle’s observations to their points of view, and (2) inferring their expert actions. Our LbW agent learns more robust driving policies while enabling data-efficient learning, including quick adaptation of the policy to rare and novel scenarios. In particular, LbW drives robustly even with a fraction of available driving data required by existing methods, achieving an average success rate of 92% on the original CARLA benchmark with only 30 minutes of total driving data and 82% with only 10 minutes.

An important issue facing vision-based intelligent systems today is the lack of accessibility-aware development. A main reason for this issue is the absence of any large-scale, standardized vision benchmarks that incorporate relevant tasks and scenarios related to people with disabilities. This lack of representation hinders even preliminary analysis with respect to underlying pose, appearance, and occlusion characteristics of diverse pedestrians. What is the impact of significant occlusion from a wheelchair on instance segmentation quality? How can interaction with mobility aids, e.g., a long and narrow walking cane, be recognized robustly? To begin addressing such questions, we introduce X-World, an accessibility-centered development environment for vision-based autonomous systems. We tackle inherent data scarcity by leveraging a simulation environment to spawn dynamic agents with various mobility aids. The simulation supports generation of ample amounts of finely annotated, multi-modal data in a safe, cheap, and privacy-preserving manner. Our analysis highlights novel challenges introduced by our benchmark and tasks, as well as numerous opportunities for future developments. We further broaden our analysis using a complementary real-world evaluation benchmark of in-situ navigation by pedestrians with disabilities. Our contributions provide an initial step towards widespread deployment of vision-based agents that can perceive and model the interaction needs of diverse people with disabilities.

Salient object detection has undergone a very rapid development with the blooming of Deep Neural Network (DNN), which is usually taken as an important preprocessing procedure in various computer vision tasks. However, the down-sampling operations, such as pooling and striding, always make the final predictions blurred at edges, which has seriously degenerated the performance of salient object detection. In this paper, we propose a simple yet effective approach, i.e., Hierarchical and Interactive Refinement Network (HIRN), to preserve the edge structures in detecting salient objects. In particular, a novel multi-stage and dual-path network structure is designed to estimate the salient edges and regions from the low-level and high-level feature maps, respectively. As a result, the predicted regions will become more accurate by enhancing the weak responses at edges, while the predicted edges will become more semantic by suppressing the false positives in background. Once the salient maps of edges and regions are obtained at the output layers, a novel edge-guided inference algorithm is introduced to further filter the resulting regions along the predicted edges. Extensive experiments on several benchmark datasets have been conducted, in which the results show that our method significantly outperforms a variety of state-of-the-art approaches.

Salient object detection aims at locating the most conspicuous objects in natural images, which usually acts as a very important pre-processing procedure in many computer vision tasks. In this paper, we propose a simple yet effective Hierarchical U-shape Attention Network (HUAN) to learn a robust mapping function for salient object detection. Firstly, a novel attention mechanism is formulated to improve the well-known U-shape network [1], in which the memory consumption can be extensively reduced and the mask quality can be significantly improved by the resulting U-shape Attention Network (UAN). Secondly, a novel hierarchical structure is constructed to well bridge the low-level and high-level feature representations between different UANs, in which both the intra-network and inter-network connections are considered to explore the salient patterns from a local to global view. Thirdly, a novel Mask Fusion Network (MFN) is designed to fuse the intermediate prediction results, so as to generate a salient mask which is in higher-quality than any of those inputs. Our HUAN can be trained together with any backbone network in an end-to-end manner, and high-quality masks can be finally learned to represent the salient objects. Extensive experimental results on several benchmark datasets show that our method significantly outperforms most of the state-of-the-art approaches.