Fully-supervised semantic segmentation machine learning models are augmented by ancillary machine learning models which generate high-detail predictions from low-detail, weakly-supervised data. The combined model can be trained over both fully- and weakly-supervised data. Only the primary model is required for inference, post-training. The combined model can be made self-correcting during training by adjusting the ancillary model's output based on parameters learned over both the fully- and weakly-supervised data. The self-correction module may combine the output of the primary and ancillary models in various ways, including through linear combinations and via neural networks. The self-correction module and ancillary model may benefit from disclosed pre-training techniques.