# CoDTS: Enhancing Sparsely Supervised Collaborative Perception with a Dual Teacher-Student Framework

arXiv: https://arxiv.org/abs/2412.08344 · HTML: https://mlsanity.com/paper/2412.08344/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Placed in General knowledge distillation methods, one of 12 directions in Knowledge distillation.
- Builds on 9 of its 23 references that are in the map.
- First posted on arXiv 11 Dec 2024.

## Placed in

- Knowledge distillation / [General knowledge distillation methods](https://mlsanity.com/distill/general-knowledge-distillation-methods/)

## Builds on (most cited first, 9 of 9)

- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformer](https://mlsanity.com/paper/2203.10638/) (2022)
- [Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Maps](https://mlsanity.com/paper/2209.12836/) (2022)
- [Learning Distilled Collaboration Graph for Multi-Agent Perception](https://mlsanity.com/paper/2111.00643/) (2021)
- [V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Driving](https://mlsanity.com/paper/2202.08449/) (2022)
- [V2V4Real: A Real-world Large-scale Dataset for Vehicle-to-Vehicle Cooperative Perception](https://mlsanity.com/paper/2303.07601/) (2023)
- [3DIoUMatch: Leveraging IoU Prediction for Semi-Supervised 3D Object Detection](https://mlsanity.com/paper/2012.04355/) (2020)
- [Weakly Supervised 3D Object Detection from Lidar Point Cloud](https://mlsanity.com/paper/2007.11901/) (2020)
- [What Makes Good Collaborative Views? Contrastive Mutual Information Maximization for Multi-Agent Perception](https://mlsanity.com/paper/2403.10068/) (2024)

## Built on by (most cited first, 3 of 3)

- [Guiding Diffusion-based Reconstruction with Contrastive Signals for Balanced Visual Representation](https://mlsanity.com/paper/2603.04803/) (2026)
- [CoDS: Enhancing Collaborative Perception in Heterogeneous Scenarios via Domain Separation](https://mlsanity.com/paper/2510.13432/) (2025)
- [CoLC: Communication-Efficient Collaborative Perception with LiDAR Completion](https://mlsanity.com/paper/2603.00682/) (2026)

## Abstract (arXiv)

Current collaborative perception methods often rely on fully annotated datasets, which can be expensive to obtain in practical situations. To reduce annotation costs, some works adopt sparsely supervised learning techniques and generate pseudo labels for the missing instances. However, these methods fail to achieve an optimal confidence threshold that harmonizes the quality and quantity of pseudo labels. To address this issue, we propose an end-to-end Collaborative perception Dual Teacher-Student framework (CoDTS), which employs adaptive complementary learning to produce both high-quality and high-quantity pseudo labels. Specifically, the Main Foreground Mining (MFM) module generates high-quality pseudo labels based on the prediction of the static teacher. Subsequently, the Supplement Foreground Mining (SFM) module ensures a balance between the quality and quantity of pseudo labels by adaptively identifying missing instances based on the prediction of the dynamic teacher. Additionally, the Neighbor Anchor Sampling (NAS) module is incorporated to enhance the representation of pseudo labels. To promote the adaptive complementary learning, we implement a staged training strategy that trains the student and dynamic teacher in a mutually beneficial manner. Extensive experiments demonstrate that the CoDTS effectively ensures an optimal balance of pseudo labels in both quality and quantity, establishing a new state-of-the-art in sparsely supervised collaborative perception. The code is available at https://github.com/CatOneTwo/CoDTS.