Semi-Supervised Online Continual Learning for 3D Object Detection in Mobile Robotics
Bibliographic record
Abstract
Continual learning addresses the challenge of acquiring and retaining knowledge over time across multiple tasks and environments. Previous research primarily focuses on offline settings where models learn through increasing tasks from samples paired with ground truth annotations. In this work, we focus on an unsolved, challenging, yet practical scenario, specifically, the semi-supervised online continual learning in autonomous driving and mobile robotics. In our settings, models are tasked with learning new distributions from streaming unlabeled samples and performing 3D object detection as soon as the LiDAR point cloud arrives. Additionally, we conducted experiments on both the KITTI dataset, our newly built IUSL dataset and Canadian Adverse Driving Conditions (CADC) Dataset. The results indicate that our method achieves a balance between rapid adaptation and knowledge retention, showcasing its effectiveness in the dynamic and complex environment of autonomous driving and mobile robotics. The developed ROS packages and IUSL dataset will be publicly available at: https://github.com/npu-ius-lab/OCL3D .
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.003 | 0.006 |
| Meta-epidemiology (narrow) | 0.002 | 0.001 |
| Meta-epidemiology (broad) | 0.002 | 0.001 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.001 | 0.002 |
| Scholarly communication | 0.002 | 0.003 |
| Open science | 0.006 | 0.003 |
| Research integrity | 0.002 | 0.003 |
| Insufficient payload (model declined to judge) | 0.002 | 0.002 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".