Publication

COARSE: Collaborative Pseudo-Labeling with Coarse Real Labels for Off-Road Semantic Segmentation

Alexandre Massoud Alahi
2025

Abstract

Autonomous off-road navigation faces challenges due to diverse, unstructured environments, requiring robust perception with both geometric and semantic understanding. However, scarce densely labeled semantic data limits generalization across domains. Simulated data helps, but introduces domain adaptation issues. We propose COARSE, a semi-supervised domain adaptation framework for off-road semantic segmentation, leveraging sparse, coarse in-domain labels and densely labeled out-of-domain data. Using pretrained vision transformers, we bridge domain gaps with complementary pixel-level and patch-level decoders, enhanced by a collaborative pseudo-labeling strategy on unlabeled data. Evaluations on RUGD and Rellis-3D datasets show significant improvements of 9.7% and 8.4% respectively, versus only using coarse data. Tests on real-world off-road vehicle data in a multi-biome setting further demonstrate COARSE’s applicability.

Official source

https://infoscience.epfl.ch/entities/publication/70e774f2-29df-49f2-b7ae-aa3ebac3cbec

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Alexandre Massoud Alahi
2025

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/70e774f2-29df-49f2-b7ae-aa3ebac3cbec

About this result

Related concepts (31)

Word-sense disambiguation

Word-sense disambiguation (WSD) is the process of identifying which sense of a word is meant in a sentence or other segment of context. In human language processing and cognition, it is usually subconscious/automatic but can often come to conscious attention when ambiguity impairs clarity of communication, given the pervasive polysemy in natural language. In computational linguistics, it is an open problem that affects other computer-related writing, such as discourse, improving relevance of search engines, anaphora resolution, coherence, and inference.

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A transformer is a deep learning architecture that relies on the parallel multi-head attention mechanism. The modern transformer was proposed in the 2017 paper titled 'Attention Is All You Need' by Ashish Vaswani et al., Google Brain team. It is notable for requiring less training time than previous recurrent neural architectures, such as long short-term memory (LSTM), and its later variation has been prevalently adopted for training large language models on large (language) datasets, such as the Wikipedia corpus and Common Crawl, by virtue of the parallelized processing of input sequence.

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Labeled data is a group of samples that have been tagged with one or more labels. Labeling typically takes a set of unlabeled data and augments each piece of it with informative tags. For example, a data label might indicate whether a photo contains a horse or a cow, which words were uttered in an audio recording, what type of action is being performed in a video, what the topic of a news article is, what the overall sentiment of a tweet is, or whether a dot in an X-ray is a tumor.

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