# An Expert Ensemble for Detecting Anomalous Scenes, Interactions, and Behaviors in Autonomous Driving

arXiv: https://arxiv.org/abs/2502.16389 · HTML: https://mlsanity.com/paper/2502.16389/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 52 of its 85 references that are in the map.
- First posted on arXiv 23 Feb 2025.

## Builds on (most cited first, 30 of 52)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [Mask R-CNN](https://mlsanity.com/paper/1703.06870/) (2017)
- [MobileNetV2: Inverted Residuals and Linear Bottlenecks](https://mlsanity.com/paper/1801.04381/) (2018)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [Fast R-CNN](https://mlsanity.com/paper/1504.08083/) (2015)
- [YOLOv3: An Incremental Improvement](https://mlsanity.com/paper/1804.02767/) (2018)
- [RAFT: Recurrent All-Pairs Field Transforms for Optical Flow](https://mlsanity.com/paper/2003.12039/) (2020)
- [RT-1: Robotics Transformer for Real-World Control at Scale](https://mlsanity.com/paper/2212.06817/) (2022)
- [Towards Robust Monocular Depth Estimation: Mixing Datasets for Zero-shot Cross-dataset Transfer](https://mlsanity.com/paper/1907.01341/) (2019)
- [Convolutional LSTM Network: A Machine Learning Approach for Precipitation Nowcasting](https://mlsanity.com/paper/1506.04214/) (2015)
- [ORB-SLAM: a Versatile and Accurate Monocular SLAM System](https://mlsanity.com/paper/1502.00956/) (2015)
- [Simple Online and Realtime Tracking with a Deep Association Metric](https://mlsanity.com/paper/1703.07402/) (2017)
- [ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM](https://mlsanity.com/paper/2007.11898/) (2020)
- [Simple Online and Realtime Tracking](https://mlsanity.com/paper/1602.00763/) (2016)
- [Open X-Embodiment: Robotic Learning Datasets and RT-X Models](https://mlsanity.com/paper/2310.08864/) (2023)
- [Unsupervised Monocular Depth Estimation with Left-Right Consistency](https://mlsanity.com/paper/1609.03677/) (2016)
- [ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras](https://mlsanity.com/paper/1610.06475/) (2016)
- [Multi-View 3D Object Detection Network for Autonomous Driving](https://mlsanity.com/paper/1611.07759/) (2016)
- [Memorizing Normality to Detect Anomaly: Memory-augmented Deep Autoencoder for Unsupervised Anomaly Detection](https://mlsanity.com/paper/1904.02639/) (2019)
- [Future Frame Prediction for Anomaly Detection -- A New Baseline](https://mlsanity.com/paper/1712.09867/) (2017)
- [Deep Learning for Anomaly Detection: A Survey](https://mlsanity.com/paper/1901.03407/) (2019)
- [Ensemble deep learning: A review](https://mlsanity.com/paper/2104.02395/) (2021)
- [Learning Memory-guided Normality for Anomaly Detection](https://mlsanity.com/paper/2003.13228/) (2020)
- [Learning Temporal Regularity in Video Sequences](https://mlsanity.com/paper/1604.04574/) (2016)
- [LSTM-based Encoder-Decoder for Multi-sensor Anomaly Detection](https://mlsanity.com/paper/1607.00148/) (2016)
- [A Multimodal Anomaly Detector for Robot-Assisted Feeding Using an LSTM-based Variational Autoencoder](https://mlsanity.com/paper/1711.00614/) (2017)
- [A Language Agent for Autonomous Driving](https://mlsanity.com/paper/2311.10813/) (2023)
- [MVX-Net: Multimodal VoxelNet for 3D Object Detection](https://mlsanity.com/paper/1904.01649/) (2019)

## Built on by (most cited first, 1 of 1)

- [Aligning Perception, Reasoning, Modeling and Interaction: A Survey on Physical AI](https://mlsanity.com/paper/2510.04978/) (2025)

## Abstract (arXiv)

As automated vehicles enter public roads, safety in a near-infinite number of driving scenarios becomes one of the major concerns for the widespread adoption of fully autonomous driving. The ability to detect anomalous situations outside of the operational design domain is a key component in self-driving cars, enabling us to mitigate the impact of abnormal ego behaviors and to realize trustworthy driving systems. On-road anomaly detection in egocentric videos remains a challenging problem due to the difficulties introduced by complex and interactive scenarios. We conduct a holistic analysis of common on-road anomaly patterns, from which we propose three unsupervised anomaly detection experts: a scene expert that focuses on frame-level appearances to detect abnormal scenes and unexpected scene motions; an interaction expert that models normal relative motions between two road participants and raises alarms whenever anomalous interactions emerge; and a behavior expert which monitors abnormal behaviors of individual objects by future trajectory prediction. To combine the strengths of all the modules, we propose an expert ensemble (Xen) using a Kalman filter, in which the final anomaly score is absorbed as one of the states and the observations are generated by the experts. Our experiments employ a novel evaluation protocol for realistic model performance, demonstrate superior anomaly detection performance than previous methods, and show that our framework has potential in classifying anomaly types using unsupervised learning on a large-scale on-road anomaly dataset.