# Contrastive Learning for Cross-Domain Open World Recognition

arXiv: https://arxiv.org/abs/2203.09257 · HTML: https://mlsanity.com/paper/2203.09257/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 49 of its 56 references that are in the map.
- First posted on arXiv 17 Mar 2022.

## Builds on (most cited first, 30 of 49)

- [A Simple Framework for Contrastive Learning of Visual Representations](https://mlsanity.com/paper/2002.05709/) (2020)
- [Momentum Contrast for Unsupervised Visual Representation Learning](https://mlsanity.com/paper/1911.05722/) (2019)
- [Overcoming catastrophic forgetting in neural networks](https://mlsanity.com/paper/1612.00796/) (2016)
- [Simple and Scalable Predictive Uncertainty Estimation using Deep Ensembles](https://mlsanity.com/paper/1612.01474/) (2016)
- [Domain-Adversarial Training of Neural Networks](https://mlsanity.com/paper/1505.07818/) (2015)
- [Supervised Contrastive Learning](https://mlsanity.com/paper/2004.11362/) (2020)
- [Learning without Forgetting](https://mlsanity.com/paper/1606.09282/) (2016)
- [A Baseline for Detecting Misclassified and Out-of-Distribution Examples in Neural Networks](https://mlsanity.com/paper/1610.02136/) (2016)
- [iCaRL: Incremental Classifier and Representation Learning](https://mlsanity.com/paper/1611.07725/) (2016)
- [Understanding Contrastive Representation Learning through Alignment and Uniformity on the Hypersphere](https://mlsanity.com/paper/2005.10242/) (2020)
- [Learning Transferable Features with Deep Adaptation Networks](https://mlsanity.com/paper/1502.02791/) (2015)
- [Learning to Generalize: Meta-Learning for Domain Generalization](https://mlsanity.com/paper/1710.03463/) (2017)
- [Deep Visual Domain Adaptation: A Survey](https://mlsanity.com/paper/1802.03601/) (2018)
- [A Survey on Contrastive Self-supervised Learning](https://mlsanity.com/paper/2011.00362/) (2020)
- [Towards Open Set Deep Networks](https://mlsanity.com/paper/1511.06233/) (2015)
- [CSI: Novelty Detection via Contrastive Learning on Distributionally Shifted Instances](https://mlsanity.com/paper/2007.08176/) (2020)
- [Self-Challenging Improves Cross-Domain Generalization](https://mlsanity.com/paper/2007.02454/) (2020)
- [Understanding the Behaviour of Contrastive Loss](https://mlsanity.com/paper/2012.09740/) (2020)
- [Unified Deep Supervised Domain Adaptation and Generalization](https://mlsanity.com/paper/1709.10190/) (2017)
- [CORe50: a New Dataset and Benchmark for Continuous Object Recognition](https://mlsanity.com/paper/1705.03550/) (2017)
- [Towards Open World Recognition](https://mlsanity.com/paper/1412.5687/) (2014)
- [Sim-to-Real via Sim-to-Sim: Data-efficient Robotic Grasping via Randomized-to-Canonical Adaptation Networks](https://mlsanity.com/paper/1812.07252/) (2018)
- [Generative OpenMax for Multi-Class Open Set Classification](https://mlsanity.com/paper/1707.07418/) (2017)
- [Supervised Contrastive Replay: Revisiting the Nearest Class Mean Classifier in Online Class-Incremental Continual Learning](https://mlsanity.com/paper/2103.13885/) (2021)
- [SS-IL: Separated Softmax for Incremental Learning](https://mlsanity.com/paper/2003.13947/) (2020)
- [Open Domain Generalization with Domain-Augmented Meta-Learning](https://mlsanity.com/paper/2104.03620/) (2021)
- [On the Effectiveness of Image Rotation for Open Set Domain Adaptation](https://mlsanity.com/paper/2007.12360/) (2020)
- [Incremental Adversarial Domain Adaptation for Continually Changing Environments](https://mlsanity.com/paper/1712.07436/) (2017)
- [Unleashing the Power of Contrastive Self-Supervised Visual Models via Contrast-Regularized Fine-Tuning](https://mlsanity.com/paper/2102.06605/) (2021)
- [Self-Supervised Learning Across Domains](https://mlsanity.com/paper/2007.12368/) (2020)

## Abstract (arXiv)

The ability to evolve is fundamental for any valuable autonomous agent whose knowledge cannot remain limited to that injected by the manufacturer. Consider for example a home assistant robot: it should be able to incrementally learn new object categories when requested, but also to recognize the same objects in different environments (rooms) and poses (hand-held/on the floor/above furniture), while rejecting unknown ones. Despite its importance, this scenario has started to raise interest in the robotic community only recently and the related research is still in its infancy, with existing experimental testbeds but no tailored methods. With this work, we propose the first learning approach that deals with all the previously mentioned challenges at once by exploiting a single contrastive objective. We show how it learns a feature space perfectly suitable to incrementally include new classes and is able to capture knowledge which generalizes across a variety of visual domains. Our method is endowed with a tailored effective stopping criterion for each learning episode and exploits a self-paced thresholding strategy that provides the classifier with a reliable rejection option. Both these novel contributions are based on the observation of the data statistics and do not need manual tuning. An extensive experimental analysis confirms the effectiveness of the proposed approach in establishing the new state-of-the-art. The code is available at https://github.com/FrancescoCappio/Contrastive_Open_World.