mlsanityData to 7 Oct 2026

SHIFT: A Synthetic Driving Dataset for Continuous Multi-Task Domain Adaptation

arXiv 2206.08367 ↗First posted 16 Jun 2022cs.CV cs.LGcited by 146

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Abstract (arXiv)

Adapting to a continuously evolving environment is a safety-critical challenge inevitably faced by all autonomous driving systems. Existing image and video driving datasets, however, fall short of capturing the mutable nature of the real world. In this paper, we introduce the largest multi-task synthetic dataset for autonomous driving, SHIFT. It presents discrete and continuous shifts in cloudiness, rain and fog intensity, time of day, and vehicle and pedestrian density. Featuring a comprehensive sensor suite and annotations for several mainstream perception tasks, SHIFT allows investigating the degradation of a perception system performance at increasing levels of domain shift, fostering the development of continuous adaptation strategies to mitigate this problem and assess model robustness and generality. Our dataset and benchmark toolkit are publicly available at www.vis.xyz/shift.

Key facts. Cited by 146 papers in the map (data through 7 Oct 2026). Builds on 74 of its 95 references that are in the map. First posted on arXiv 16 Jun 2022.

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74 of 95 references.

References · 74

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50 most cited of 74 All 74 (JSON)

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 5; 2023: 36; 2024: 37; 2025: 41; 2026: 27.

146 papers.

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  1. 2024DriveArena: A Closed-loop Generative Simulation Platform for Autonomous Drivingcited by 98
  2. 2024Prompting Depth Anything for 4K Resolution Accurate Metric Depth Estimationcited by 73
  3. 2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 65
  4. 2023Synthetic Datasets for Autonomous Driving: A Surveycited by 48
  5. 2025Foundation Models in Autonomous Driving: A Survey on Scenario Generation and Scenario Analysiscited by 37
  6. 2024SimGen: Simulator-conditioned Driving Scene Generationcited by 34
  7. 2022A System-Level View on Out-of-Distribution Data in Roboticscited by 33
  8. 20232PCNet: Two-Phase Consistency Training for Day-to-Night Unsupervised Domain Adaptive Object Detectioncited by 30
  9. 2023Survey on LiDAR Perception in Adverse Weather Conditionscited by 23
  10. 2023Towards Motion Forecasting with Real-World Perception Inputs: Are End-to-End Approaches Competitive?cited by 22
  11. 2024HiLo: A Learning Framework for Generalized Category Discovery Robust to Domain Shiftscited by 22
  12. 2023A Survey on Continual Semantic Segmentation: Theory, Challenge, Method and Applicationcited by 21
38 more
  1. 2025Zero-Shot Monocular Scene Flow Estimation in the Wildcited by 20
  2. 2022Online Domain Adaptation for Semantic Segmentation in Ever-Changing Conditionscited by 16
  3. 2023DCPT: Darkness Clue-Prompted Tracking in Nighttime UAVscited by 16
  4. 2023DARTH: Holistic Test-time Adaptation for Multiple Object Trackingcited by 15
  5. 2023What, How, and When Should Object Detectors Update in Continually Changing Test Domains?cited by 15
  6. 2024DMFourLLIE: Dual-Stage and Multi-Branch Fourier Network for Low-Light Image Enhancementcited by 15
  7. 2023To Adapt or Not to Adapt? Real-Time Adaptation for Semantic Segmentationcited by 14
  8. 2023AmodalSynthDrive: A Synthetic Amodal Perception Dataset for Autonomous Drivingcited by 13
  9. 2023InfraParis: A multi-modal and multi-task autonomous driving datasetcited by 12
  10. 2023Action-slot: Visual Action-centric Representations for Multi-label Atomic Activity Recognition in Traffic Scenescited by 12
  11. 2023RiskBench: A Scenario-based Benchmark for Risk Identificationcited by 12
  12. 2023SkyScenes: A Synthetic Dataset for Aerial Scene Understandingcited by 12
  13. 2025Decoupled Diffusion Sparks Adaptive Scene Generationcited by 12
  14. 2022AnoShift: A Distribution Shift Benchmark for Unsupervised Anomaly Detectioncited by 11
  15. 2024SmartCooper: Vehicular Collaborative Perception with Adaptive Fusion and Judger Mechanismcited by 11
  16. 2023Distribution-Aware Continual Test-Time Adaptation for Semantic Segmentationcited by 10
  17. 2022Learning with Style: Continual Semantic Segmentation Across Tasks and Domainscited by 9
  18. 2023Towards Generalizable Multi-Camera 3D Object Detection via Perspective Debiasingcited by 9
  19. 2024Semantically-aware Neural Radiance Fields for Visual Scene Understanding: A Comprehensive Reviewcited by 9
  20. 2024SynFog: A Photo-realistic Synthetic Fog Dataset based on End-to-end Imaging Simulation for Advancing Real-World Defogging in Autonomous Drivingcited by 9
  21. 2023Video Task Decathlon: Unifying Image and Video Tasks in Autonomous Drivingcited by 8
  22. 2023AR-TTA: A Simple Method for Real-World Continual Test-Time Adaptationcited by 8
  23. 2022Semantic Segmentation under Adverse Conditions: A Weather and Nighttime-aware Synthetic Data-based Approachcited by 7
  24. 2024Safety Implications of Explainable Artificial Intelligence in End-to-End Autonomous Drivingcited by 7
  25. 2024Exploring Generative AI for Sim2Real in Driving Data Synthesiscited by 7
  26. 2024Animal Identification with Independent Foreground and Background Modelingcited by 7
  27. 2025Semantic Library Adaptation: LoRA Retrieval and Fusion for Open-Vocabulary Semantic Segmentationcited by 7
  28. 2023Online Distillation with Continual Learning for Cyclic Domain Shiftscited by 6
  29. 2024Benchmarking Segmentation Models with Mask-Preserved Attribute Editingcited by 6
  30. 2024Scaling Multi-Camera 3D Object Detection through Weak-to-Strong Elicitingcited by 6
  31. 2024The BRAVO Semantic Segmentation Challenge Results in UNCV2024cited by 6
  32. 2024DrIFT: Autonomous Drone Dataset with Integrated Real and Synthetic Data, Flexible Views, and Transformed Domainscited by 6
  33. 2026ACCIDENT: A Benchmark Dataset for Vehicle Accident Detection from Traffic Surveillance Videoscited by 6
  34. 2023M3Act: Learning from Synthetic Human Group Activitiescited by 5
  35. 2023VisionKG: Unleashing the Power of Visual Datasets via Knowledge Graphcited by 5
  36. 2023The Robust Semantic Segmentation UNCV2023 Challenge Resultscited by 5
  37. 2024Continual Test-Time Adaptation for Object Detection with Adaptive Monitoring and Randomized Restorationcited by 5
  38. 2024Multi-View Pedestrian Occupancy Prediction with a Novel Synthetic Datasetcited by 5

50 most cited of 146 All 146 (JSON)