# Self-improving object detection via disagreement reconciliation

arXiv: https://arxiv.org/abs/2302.10624 · HTML: https://mlsanity.com/paper/2302.10624/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 18 of its 22 references that are in the map.
- First posted on arXiv 21 Feb 2023.

## Builds on (most cited first, 18 of 18)

- [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)
- [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)
- [Mask R-CNN](https://mlsanity.com/paper/1703.06870/) (2017)
- [FaceNet: A Unified Embedding for Face Recognition and Clustering](https://mlsanity.com/paper/1503.03832/) (2015)
- [Big Self-Supervised Models are Strong Semi-Supervised Learners](https://mlsanity.com/paper/2006.10029/) (2020)
- [Self-training with Noisy Student improves ImageNet classification](https://mlsanity.com/paper/1911.04252/) (2019)
- [Habitat 2.0: Training Home Assistants to Rearrange their Habitat](https://mlsanity.com/paper/2106.14405/) (2021)
- [Pseudo-Labeling and Confirmation Bias in Deep Semi-Supervised Learning](https://mlsanity.com/paper/1908.02983/) (2019)
- [Gibson Env: Real-World Perception for Embodied Agents](https://mlsanity.com/paper/1808.10654/) (2018)
- [Object Goal Navigation using Goal-Oriented Semantic Exploration](https://mlsanity.com/paper/2007.00643/) (2020)
- [Learning to Explore using Active Neural SLAM](https://mlsanity.com/paper/2004.05155/) (2020)
- [3D Scene Graph: A Structure for Unified Semantics, 3D Space, and Camera](https://mlsanity.com/paper/1910.02527/) (2019)
- [Billion-scale semi-supervised learning for image classification](https://mlsanity.com/paper/1905.00546/) (2019)
- [Semantic MapNet: Building Allocentric Semantic Maps and Representations from Egocentric Views](https://mlsanity.com/paper/2010.01191/) (2020)
- [SEAL: Self-supervised Embodied Active Learning using Exploration and 3D Consistency](https://mlsanity.com/paper/2112.01001/) (2021)
- [Semantic Curiosity for Active Visual Learning](https://mlsanity.com/paper/2006.09367/) (2020)

## Built on by (most cited first, 1 of 1)

- [QueryAdapter: Rapid Adaptation of Vision-Language Models in Response to Natural Language Queries](https://mlsanity.com/paper/2502.18735/) (2025)

## Abstract (arXiv)

Object detectors often experience a drop in performance when new environmental conditions are insufficiently represented in the training data. This paper studies how to automatically fine-tune a pre-existing object detector while exploring and acquiring images in a new environment without relying on human intervention, i.e., in a self-supervised fashion. In our setting, an agent initially explores the environment using a pre-trained off-the-shelf detector to locate objects and associate pseudo-labels. By assuming that pseudo-labels for the same object must be consistent across different views, we devise a novel mechanism for producing refined predictions from the consensus among observations. Our approach improves the off-the-shelf object detector by 2.66% in terms of mAP and outperforms the current state of the art without relying on ground-truth annotations.