# Dual-Curriculum Teacher for Domain-Inconsistent Object Detection in Autonomous Driving

arXiv: https://arxiv.org/abs/2210.08748 · HTML: https://mlsanity.com/paper/2210.08748/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 41 of its 54 references that are in the map.
- First posted on arXiv 17 Oct 2022.

## Builds on (most cited first, 30 of 41)

- [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)
- [Distilling the Knowledge in a Neural Network](https://mlsanity.com/paper/1503.02531/) (2015)
- [Feature Pyramid Networks for Object Detection](https://mlsanity.com/paper/1612.03144/) (2016)
- [FixMatch: Simplifying Semi-Supervised Learning with Consistency and Confidence](https://mlsanity.com/paper/2001.07685/) (2020)
- [Unsupervised Domain Adaptation by Backpropagation](https://mlsanity.com/paper/1409.7495/) (2014)
- [MixMatch: A Holistic Approach to Semi-Supervised Learning](https://mlsanity.com/paper/1905.02249/) (2019)
- [Learning Transferable Features with Deep Adaptation Networks](https://mlsanity.com/paper/1502.02791/) (2015)
- [Adversarial Discriminative Domain Adaptation](https://mlsanity.com/paper/1702.05464/) (2017)
- [Unsupervised Data Augmentation for Consistency Training](https://mlsanity.com/paper/1904.12848/) (2019)
- [Co-teaching: Robust Training of Deep Neural Networks with Extremely Noisy Labels](https://mlsanity.com/paper/1804.06872/) (2018)
- [FlexMatch: Boosting Semi-Supervised Learning with Curriculum Pseudo Labeling](https://mlsanity.com/paper/2110.08263/) (2021)
- [Domain Adaptive Faster R-CNN for Object Detection in the Wild](https://mlsanity.com/paper/1803.03243/) (2018)
- [Deep Long-Tailed Learning: A Survey](https://mlsanity.com/paper/2110.04596/) (2021)
- [A Survey of Deep Learning Techniques for Autonomous Driving](https://mlsanity.com/paper/1910.07738/) (2019)
- [ReMixMatch: Semi-Supervised Learning with Distribution Alignment and Augmentation Anchoring](https://mlsanity.com/paper/1911.09785/) (2019)
- [Deep Multi-modal Object Detection and Semantic Segmentation for Autonomous Driving: Datasets, Methods, and Challenges](https://mlsanity.com/paper/1902.07830/) (2019)
- [Unbiased Teacher for Semi-Supervised Object Detection](https://mlsanity.com/paper/2102.09480/) (2021)
- [A Simple Semi-Supervised Learning Framework for Object Detection](https://mlsanity.com/paper/2005.04757/) (2020)
- [Strong-Weak Distribution Alignment for Adaptive Object Detection](https://mlsanity.com/paper/1812.04798/) (2018)
- [Computer Vision for Autonomous Vehicles: Problems, Datasets and State of the Art](https://mlsanity.com/paper/1704.05519/) (2017)
- [Unbiased Mean Teacher for Cross-domain Object Detection](https://mlsanity.com/paper/2003.00707/) (2020)
- [Exploring Object Relation in Mean Teacher for Cross-Domain Detection](https://mlsanity.com/paper/1904.11245/) (2019)
- [Progressive Domain Adaptation for Object Detection](https://mlsanity.com/paper/1910.11319/) (2019)
- [Instant-Teaching: An End-to-End Semi-Supervised Object Detection Framework](https://mlsanity.com/paper/2103.11402/) (2021)
- [When Do Curricula Work?](https://mlsanity.com/paper/2012.03107/) (2020)
- [Curriculum Domain Adaptation for Semantic Segmentation of Urban Scenes](https://mlsanity.com/paper/1707.09465/) (2017)
- [Self-Supervised Aggregation of Diverse Experts for Test-Agnostic Long-Tailed Recognition](https://mlsanity.com/paper/2107.09249/) (2021)
- [Memory Replay with Data Compression for Continual Learning](https://mlsanity.com/paper/2202.06592/) (2022)
- [Re-distributing Biased Pseudo Labels for Semi-supervised Semantic Segmentation: A Baseline Investigation](https://mlsanity.com/paper/2107.11279/) (2021)

## Built on by (most cited first, 2 of 2)

- [Expanding Small-Scale Datasets with Guided Imagination](https://mlsanity.com/paper/2211.13976/) (2022)
- [Robustness May be More Brittle than We Think under Different Degrees of Distribution Shifts](https://mlsanity.com/paper/2310.06622/) (2023)

## Abstract (arXiv)

Object detection for autonomous vehicles has received increasing attention in recent years, where labeled data are often expensive while unlabeled data can be collected readily, calling for research on semi-supervised learning for this area. Existing semi-supervised object detection (SSOD) methods usually assume that the labeled and unlabeled data come from the same data distribution. In autonomous driving, however, data are usually collected from different scenarios, such as different weather conditions or different times in a day. Motivated by this, we study a novel but challenging domain inconsistent SSOD problem. It involves two kinds of distribution shifts among different domains, including (1) data distribution discrepancy, and (2) class distribution shifts, making existing SSOD methods suffer from inaccurate pseudo-labels and hurting model performance. To address this problem, we propose a novel method, namely Dual-Curriculum Teacher (DucTeacher). Specifically, DucTeacher consists of two curriculums, i.e., (1) domain evolving curriculum seeks to learn from the data progressively to handle data distribution discrepancy by estimating the similarity between domains, and (2) distribution matching curriculum seeks to estimate the class distribution for each unlabeled domain to handle class distribution shifts. In this way, DucTeacher can calibrate biased pseudo-labels and handle the domain-inconsistent SSOD problem effectively. DucTeacher shows its advantages on SODA10M, the largest public semi-supervised autonomous driving dataset, and COCO, a widely used SSOD benchmark. Experiments show that DucTeacher achieves new state-of-the-art performance on SODA10M with 2.2 mAP improvement and on COCO with 0.8 mAP improvement.