# CONDA: Continual Unsupervised Domain Adaptation Learning in Visual Perception for Self-Driving Cars

arXiv: https://arxiv.org/abs/2212.00621 · HTML: https://mlsanity.com/paper/2212.00621/

## Key facts

- Cited by 11 papers in the map (data through 14 Oct 2026).
- Builds on 59 of its 79 references that are in the map.
- First posted on arXiv 1 Dec 2022.

## Builds on (most cited first, 30 of 59)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [Fully Convolutional Networks for Semantic Segmentation](https://mlsanity.com/paper/1411.4038/) (2014)
- [Overcoming catastrophic forgetting in neural networks](https://mlsanity.com/paper/1612.00796/) (2016)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [DeepLab: Semantic Image Segmentation with Deep Convolutional Nets, Atrous Convolution, and Fully Connected CRFs](https://mlsanity.com/paper/1606.00915/) (2016)
- [Encoder-Decoder with Atrous Separable Convolution for Semantic Image Segmentation](https://mlsanity.com/paper/1802.02611/) (2018)
- [SegFormer: Simple and Efficient Design for Semantic Segmentation with Transformers](https://mlsanity.com/paper/2105.15203/) (2021)
- [Learning without Forgetting](https://mlsanity.com/paper/1606.09282/) (2016)
- [Rethinking Atrous Convolution for Semantic Image Segmentation](https://mlsanity.com/paper/1706.05587/) (2017)
- [Density estimation using Real NVP](https://mlsanity.com/paper/1605.08803/) (2016)
- [Unsupervised Domain Adaptation by Backpropagation](https://mlsanity.com/paper/1409.7495/) (2014)
- [Gradient Episodic Memory for Continual Learning](https://mlsanity.com/paper/1706.08840/) (2017)
- [Glow: Generative Flow with Invertible 1x1 Convolutions](https://mlsanity.com/paper/1807.03039/) (2018)
- [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)
- [Multi-Scale Context Aggregation by Dilated Convolutions](https://mlsanity.com/paper/1511.07122/) (2015)
- [CyCADA: Cycle-Consistent Adversarial Domain Adaptation](https://mlsanity.com/paper/1711.03213/) (2017)
- [NICE: Non-linear Independent Components Estimation](https://mlsanity.com/paper/1410.8516/) (2014)
- [Playing for Data: Ground Truth from Computer Games](https://mlsanity.com/paper/1608.02192/) (2016)
- [ADVENT: Adversarial Entropy Minimization for Domain Adaptation in Semantic Segmentation](https://mlsanity.com/paper/1811.12833/) (2018)
- [Learning to Adapt Structured Output Space for Semantic Segmentation](https://mlsanity.com/paper/1802.10349/) (2018)
- [RefineNet: Multi-Path Refinement Networks for High-Resolution Semantic Segmentation](https://mlsanity.com/paper/1611.06612/) (2016)
- [Contrastive Adaptation Network for Unsupervised Domain Adaptation](https://mlsanity.com/paper/1901.00976/) (2019)
- [DAFormer: Improving Network Architectures and Training Strategies for Domain-Adaptive Semantic Segmentation](https://mlsanity.com/paper/2111.14887/) (2021)
- [Towards Open World Object Detection](https://mlsanity.com/paper/2103.02603/) (2021)
- [Prototypical Pseudo Label Denoising and Target Structure Learning for Domain Adaptive Semantic Segmentation](https://mlsanity.com/paper/2101.10979/) (2021)
- [FCNs in the Wild: Pixel-level Adversarial and Constraint-based Adaptation](https://mlsanity.com/paper/1612.02649/) (2016)
- [Unsupervised Intra-domain Adaptation for Semantic Segmentation through Self-Supervision](https://mlsanity.com/paper/2004.07703/) (2020)
- [Modeling the Background for Incremental Learning in Semantic Segmentation](https://mlsanity.com/paper/2002.00718/) (2020)

## Built on by (most cited first, 11 of 11)

- [A Comprehensive Survey on Test-Time Adaptation under Distribution Shifts](https://mlsanity.com/paper/2303.15361/) (2023)
- [FREDOM: Fairness Domain Adaptation Approach to Semantic Scene Understanding](https://mlsanity.com/paper/2304.02135/) (2023)
- [A Survey on Continual Semantic Segmentation: Theory, Challenge, Method and Application](https://mlsanity.com/paper/2310.14277/) (2023)
- [FALCON: Fairness Learning via Contrastive Attention Approach to Continual Semantic Scene Understanding](https://mlsanity.com/paper/2311.15965/) (2023)
- [Fairness in Visual Clustering: A Novel Transformer Clustering Approach](https://mlsanity.com/paper/2304.07408/) (2023)
- [EAGLE: Efficient Adaptive Geometry-based Learning in Cross-view Understanding](https://mlsanity.com/paper/2406.01429/) (2024)
- [varphi-Adapt: A Physics-Informed Adaptation Learning Approach to 2D Quantum Material Discovery](https://mlsanity.com/paper/2507.05184/) (2025)
- [CLIFF: Continual Learning for Incremental Flake Features in 2D Material Identification](https://mlsanity.com/paper/2508.17261/) (2025)
- [AI-Powered CPS-Enabled Vulnerable-User-Aware Urban Transportation Digital Twin: Methods and Applications](https://mlsanity.com/paper/2501.10396/) (2024)
- [OpenQlaw: An Agentic AI Assistant for Analysis of 2D Quantum Materials](https://mlsanity.com/paper/2603.17043/) (2026)
- [ReFu: Recursive Fusion for Exemplar-Free 3D Class-Incremental Learning](https://mlsanity.com/paper/2409.12326/) (2024)

## Abstract (arXiv)

Although unsupervised domain adaptation methods have achieved remarkable performance in semantic scene segmentation in visual perception for self-driving cars, these approaches remain impractical in real-world use cases. In practice, the segmentation models may encounter new data that have not been seen yet. Also, the previous data training of segmentation models may be inaccessible due to privacy problems. Therefore, to address these problems, in this work, we propose a Continual Unsupervised Domain Adaptation (CONDA) approach that allows the model to continuously learn and adapt with respect to the presence of the new data. Moreover, our proposed approach is designed without the requirement of accessing previous training data. To avoid the catastrophic forgetting problem and maintain the performance of the segmentation models, we present a novel Bijective Maximum Likelihood loss to impose the constraint of predicted segmentation distribution shifts. The experimental results on the benchmark of continual unsupervised domain adaptation have shown the advanced performance of the proposed CONDA method.