# SODA10M: A Large-Scale 2D Self/Semi-Supervised Object Detection Dataset for Autonomous Driving

arXiv: https://arxiv.org/abs/2106.11118 · HTML: https://mlsanity.com/paper/2106.11118/

## Key facts

- Cited by 43 papers in the map (data through 14 Oct 2026).
- Builds on 52 of its 74 references that are in the map.
- First posted on arXiv 21 Jun 2021.

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

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [A Simple Framework for Contrastive Learning of Visual Representations](https://mlsanity.com/paper/2002.05709/) (2020)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [Representation Learning with Contrastive Predictive Coding](https://mlsanity.com/paper/1807.03748/) (2018)
- [Momentum Contrast for Unsupervised Visual Representation Learning](https://mlsanity.com/paper/1911.05722/) (2019)
- [Feature Pyramid Networks for Object Detection](https://mlsanity.com/paper/1612.03144/) (2016)
- [Bootstrap your own latent: A new approach to self-supervised Learning](https://mlsanity.com/paper/2006.07733/) (2020)
- [Training data-efficient image transformers & distillation through attention](https://mlsanity.com/paper/2012.12877/) (2020)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [SSD: Single Shot MultiBox Detector](https://mlsanity.com/paper/1512.02325/) (2015)
- [CutMix: Regularization Strategy to Train Strong Classifiers with Localizable Features](https://mlsanity.com/paper/1905.04899/) (2019)
- [Unsupervised Learning of Visual Features by Contrasting Cluster Assignments](https://mlsanity.com/paper/2006.09882/) (2020)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [Improved Baselines with Momentum Contrastive Learning](https://mlsanity.com/paper/2003.04297/) (2020)
- [RandAugment: Practical automated data augmentation with a reduced search space](https://mlsanity.com/paper/1909.13719/) (2019)
- [Pyramid Vision Transformer: A Versatile Backbone for Dense Prediction without Convolutions](https://mlsanity.com/paper/2102.12122/) (2021)
- [Unsupervised Representation Learning by Predicting Image Rotations](https://mlsanity.com/paper/1803.07728/) (2018)
- [Context Encoders: Feature Learning by Inpainting](https://mlsanity.com/paper/1604.07379/) (2016)
- [Unsupervised Learning of Visual Representations by Solving Jigsaw Puzzles](https://mlsanity.com/paper/1603.09246/) (2016)
- [Self-training with Noisy Student improves ImageNet classification](https://mlsanity.com/paper/1911.04252/) (2019)
- [BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learning](https://mlsanity.com/paper/1805.04687/) (2018)
- [Cascade R-CNN: Delving into High Quality Object Detection](https://mlsanity.com/paper/1712.00726/) (2017)
- [Colorful Image Colorization](https://mlsanity.com/paper/1603.08511/) (2016)
- [Unsupervised Visual Representation Learning by Context Prediction](https://mlsanity.com/paper/1505.05192/) (2015)
- [Virtual Adversarial Training: A Regularization Method for Supervised and Semi-Supervised Learning](https://mlsanity.com/paper/1704.03976/) (2017)
- [Spatial Pyramid Pooling in Deep Convolutional Networks for Visual Recognition](https://mlsanity.com/paper/1406.4729/) (2014)
- [Large Batch Training of Convolutional Networks](https://mlsanity.com/paper/1708.03888/) (2017)

## Built on by (most cited first, 30 of 43)

- [Towards Large-Scale Small Object Detection: Survey and Benchmarks](https://mlsanity.com/paper/2207.14096/) (2022)
- [Motion Planning for Autonomous Driving: The State of the Art and Future Perspectives](https://mlsanity.com/paper/2303.09824/) (2023)
- [Baichuan-Omni-1.5 Technical Report](https://mlsanity.com/paper/2501.15368/) (2025)
- [CODA: A Real-World Road Corner Case Dataset for Object Detection in Autonomous Driving](https://mlsanity.com/paper/2203.07724/) (2022)
- [A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlook](https://mlsanity.com/paper/2401.01454/) (2024)
- [RDumb: A simple approach that questions our progress in continual test-time adaptation](https://mlsanity.com/paper/2306.05401/) (2023)
- [Visible-Thermal Tiny Object Detection: A Benchmark Dataset and Baselines](https://mlsanity.com/paper/2406.14482/) (2024)
- [Fine-Grained Evaluation of Large Vision-Language Models in Autonomous Driving](https://mlsanity.com/paper/2503.21505/) (2025)
- [Task-Customized Self-Supervised Pre-training with Scalable Dynamic Routing](https://mlsanity.com/paper/2205.13267/) (2022)
- [Perception Datasets for Anomaly Detection in Autonomous Driving: A Survey](https://mlsanity.com/paper/2302.02790/) (2023)
- [Task-customized Masked AutoEncoder via Mixture of Cluster-conditional Experts](https://mlsanity.com/paper/2402.05382/) (2024)
- [A Survey on Approximate Edge AI for Energy Efficient Autonomous Driving Services](https://mlsanity.com/paper/2304.14271/) (2023)
- [Learning to Name Classes for Vision and Language Models](https://mlsanity.com/paper/2304.01830/) (2023)
- [Mixture of insighTful Experts (MoTE): The Synergy of Thought Chains and Expert Mixtures in Self-Alignment](https://mlsanity.com/paper/2405.00557/) (2024)
- [Open-Vocabulary Object Detection via Language Hierarchy](https://mlsanity.com/paper/2410.20371/) (2024)
- [Spotting the Unexpected (STU): A 3D LiDAR Dataset for Anomaly Segmentation in Autonomous Driving](https://mlsanity.com/paper/2505.02148/) (2025)
- [AR-TTA: A Simple Method for Real-World Continual Test-Time Adaptation](https://mlsanity.com/paper/2309.10109/) (2023)
- [Cross-domain Federated Object Detection](https://mlsanity.com/paper/2206.14996/) (2022)
- [Cross-Domain Car Detection Model with Integrated Convolutional Block Attention Mechanism](https://mlsanity.com/paper/2305.20055/) (2023)
- [Semi-Supervised U-statistics](https://mlsanity.com/paper/2402.18921/) (2024)
- [RICO: Two Realistic Benchmarks and an In-Depth Analysis for Incremental Learning in Object Detection](https://mlsanity.com/paper/2508.13878/) (2025)
- [Navigating Data Heterogeneity in Federated Learning A Semi-Supervised Federated Object Detection](https://mlsanity.com/paper/2310.17097/) (2023)
- [PLoc: A New Evaluation Criterion Based on Physical Location for Autonomous Driving Datasets](https://mlsanity.com/paper/2403.19893/) (2024)
- [Online Analytic Exemplar-Free Continual Learning with Large Models for Imbalanced Autonomous Driving Task](https://mlsanity.com/paper/2405.17779/) (2024)
- [3rd Continual Learning Workshop Challenge on Egocentric Category and Instance Level Object Understanding](https://mlsanity.com/paper/2212.06833/) (2022)
- [MR-MLLM: Mutual Reinforcement of Multimodal Comprehension and Vision Perception](https://mlsanity.com/paper/2406.15768/) (2024)
- [Weakly Supervised Test-Time Domain Adaptation for Object Detection](https://mlsanity.com/paper/2407.05607/) (2024)
- [XS-VID: A Large-Scale Benchmark for Small Object Detection and Tracking in Videos](https://mlsanity.com/paper/2407.18137/) (2024)
- [OpenNet: Incremental Learning for Autonomous Driving Object Detection with Balanced Loss](https://mlsanity.com/paper/2311.14939/) (2023)
- [BadODD: Bangladeshi Autonomous Driving Object Detection Dataset](https://mlsanity.com/paper/2401.10659/) (2024)

## Abstract (arXiv)

Aiming at facilitating a real-world, ever-evolving and scalable autonomous driving system, we present a large-scale dataset for standardizing the evaluation of different self-supervised and semi-supervised approaches by learning from raw data, which is the first and largest dataset to date. Existing autonomous driving systems heavily rely on `perfect' visual perception models (i.e., detection) trained using extensive annotated data to ensure safety. However, it is unrealistic to elaborately label instances of all scenarios and circumstances (i.e., night, extreme weather, cities) when deploying a robust autonomous driving system. Motivated by recent advances of self-supervised and semi-supervised learning, a promising direction is to learn a robust detection model by collaboratively exploiting large-scale unlabeled data and few labeled data. Existing datasets either provide only a small amount of data or covers limited domains with full annotation, hindering the exploration of large-scale pre-trained models. Here, we release a Large-Scale 2D Self/semi-supervised Object Detection dataset for Autonomous driving, named as SODA10M, containing 10 million unlabeled images and 20K images labeled with 6 representative object categories. To improve diversity, the images are collected within 27833 driving hours under different weather conditions, periods and location scenes of 32 different cities. We provide extensive experiments and deep analyses of existing popular self/semi-supervised approaches, and give some interesting findings in autonomous driving scope. Experiments show that SODA10M can serve as a promising pre-training dataset for different self-supervised learning methods, which gives superior performance when fine-tuning with different downstream tasks (i.e., detection, semantic/instance segmentation) in autonomous driving domain. More information can refer to https://soda-2d.github.io.