Autonomous vehicle (AV) systems rely on robust perception models as a cornerstone of safety assurance. However, objects encountered on the road exhibit a long-tailed distribution, with rare or unseen categories posing challenges to a deployed perception model. This necessitates an expensive process of continuously curating and annotating data with significant human effort. We propose to leverage recent advances in vision-language and large language models to design an Automatic Data Engine (AIDE) that automatically identifies issues, efficiently curates data, improves the model through auto-labeling, and verifies the model through generation of diverse scenarios. This process operates iteratively, allowing for continuous self-improvement of the model. We further establish a benchmark for open-world detection on AV datasets to comprehensively evaluate various learning paradigms, demonstrating our method's superior performance at a reduced cost.

Generating a video given the first several static frames is challenging as it anticipates reasonable future frames with temporal coherence. Besides video prediction, the ability to rewind from the last frame or infilling between the head and tail is also crucial, but they have rarely been explored for video completion. Since there could be different outcomes from the hints of just a few frames, a system that can follow natural language to perform video completion may significantly improve controllability. Inspired by this, we introduce a novel task, text-guided video completion (TVC), which requests the model to generate a video from partial frames guided by an instruction. We then propose Multimodal Masked Video Generation (MMVG) to address this TVC task. During training, MMVG discretizes the video frames into visual tokens and masks most of them to perform video completion from any time point. At inference time, a single MMVG model can address all 3 cases of TVC, including video prediction, rewind, and infilling, by applying corresponding masking conditions. We evaluate MMVG in various video scenarios, including egocentric, animation, and gaming. Extensive experimental results indicate that MMVG is effective in generating high-quality visual appearances with text guidance for TVC.

Semi-supervised learning aims to train a model using limited labels. State-of-theart semi-supervised methods for image classification such as PAWS rely on selfsupervised representations learned with large-scale unlabeled but curated data. However, PAWS is often less effective when using real-world unlabeled data that is uncurated, e.g., contains out-of-class data. We propose RoPAWS, a robust extension of PAWS that can work with real-world unlabeled data. From this probabilistic perspective, we calibrate its prediction based on the densities of labeled and unlabeled data, which leads to a simple closed-form solution from the Bayes' rule. Semi-supervised learning aims to address the fundamental challenge of training models with limited labeled data by leveraging large-scale unlabeled data. Recent works exploit the success of selfsupervised learning (He et al., 2020; Chen et al., 2020a) in learning representations from unlabeled data for training large-scale semi-supervised models (Chen et al., 2020b; Cai et al., 2022). Instead of self-supervised pre-training followed by semi-supervised fine-tuning, PAWS (Assran et al., 2021) proposed a single-stage approach that combines supervised and self-supervised learning and achieves state-of-the-art accuracy and convergence speed. While PAWS can leverage curated unlabeled data, we empirically show that it is not robust to realworld uncurated data, which often contains out-of-class data. A common approach to tackle uncurated data in semi-supervised learning is to filter unlabeled data using out-of-distribution (OOD) classification (Chen et al., 2020d; Saito et al., 2021; Liu et al., 2022). However, OOD filtering methods did not fully utilize OOD data, which could be beneficial to learn the representations especially on large-scale realistic datasets. Furthermore, filtering OOD data could be ineffective since in-class and out-of-class data are often hard to discriminate in practical scenarios. To this end, we propose RoPAWS, a robust semi-supervised learning method that can leverage uncurated unlabeled data. PAWS predicts out-of-class data overconfidently in the known classes since it assigns the pseudo-label to nearby labeled data. To handle this, RoPAWS regularizes the pseudolabels by measuring the similarities between labeled and unlabeled data. These pseudo-labels are further calibrated by label propagation between unlabeled data. Figure 1 shows the conceptual illustration of RoPAWS and Figure 4 visualizes the learned representations. We first introduce a new interpretation of PAWS as a generative classifier, modeling densities over representation by kernel density estimation (KDE) (Rosenblatt, 1956).

We present a technique to improve the transferability of deep representations learned on small labeled datasets by introducing self-supervised tasks as auxiliary loss functions. While recent approaches for self-supervised learning have shown the benefits of training on large unlabeled datasets, we find improvements in generalization even on small datasets and when combined with strong supervision. Learning representations with self-supervised losses reduces the relative error rate of a state-of-the-art meta-learner by 5-25% on several few-shot learning benchmarks, as well as off-the-shelf deep networks on standard classification tasks when training from scratch. We find the benefits of self-supervision increase with the difficulty of the task. Our approach utilizes the images within the dataset to construct self-supervised losses and hence is an effective way of learning transferable representations without relying on any external training data.