# Robust Test-Time Adaptation in Dynamic Scenarios

arXiv: https://arxiv.org/abs/2303.13899 · HTML: https://mlsanity.com/paper/2303.13899/

## Key facts

- Cited by 189 papers in the map (data through 14 Oct 2026).
- Builds on 59 of its 85 references that are in the map.
- First posted on arXiv 24 Mar 2023.

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

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [Batch Normalization: Accelerating Deep Network Training by Reducing Internal Covariate Shift](https://mlsanity.com/paper/1502.03167/) (2015)
- [Overcoming catastrophic forgetting in neural networks](https://mlsanity.com/paper/1612.00796/) (2016)
- [Wide Residual Networks](https://mlsanity.com/paper/1605.07146/) (2016)
- [Domain-Adversarial Training of Neural Networks](https://mlsanity.com/paper/1505.07818/) (2015)
- [Benchmarking Neural Network Robustness to Common Corruptions and Perturbations](https://mlsanity.com/paper/1903.12261/) (2019)
- [Aggregated Residual Transformations for Deep Neural Networks](https://mlsanity.com/paper/1611.05431/) (2016)
- [Learning without Forgetting](https://mlsanity.com/paper/1606.09282/) (2016)
- [iCaRL: Incremental Classifier and Representation Learning](https://mlsanity.com/paper/1611.07725/) (2016)
- [Moment Matching for Multi-Source Domain Adaptation](https://mlsanity.com/paper/1812.01754/) (2018)
- [Adversarial Discriminative Domain Adaptation](https://mlsanity.com/paper/1702.05464/) (2017)
- [Do We Really Need to Access the Source Data? Source Hypothesis Transfer for Unsupervised Domain Adaptation](https://mlsanity.com/paper/2002.08546/) (2020)
- [Generalizing to Unseen Domains: A Survey on Domain Generalization](https://mlsanity.com/paper/2103.03097/) (2021)
- [Domain Generalization: A Survey](https://mlsanity.com/paper/2103.02503/) (2021)
- [Learning to Generalize: Meta-Learning for Domain Generalization](https://mlsanity.com/paper/1710.03463/) (2017)
- [Maximum Classifier Discrepancy for Unsupervised Domain Adaptation](https://mlsanity.com/paper/1712.02560/) (2017)
- [RobustBench: a standardized adversarial robustness benchmark](https://mlsanity.com/paper/2010.09670/) (2020)
- [Deep Visual Domain Adaptation: A Survey](https://mlsanity.com/paper/1802.03601/) (2018)
- [Domain Generalization via Invariant Feature Representation](https://mlsanity.com/paper/1301.2115/) (2013)
- [End-to-End Incremental Learning](https://mlsanity.com/paper/1807.09536/) (2018)
- [Learning to Adapt Structured Output Space for Semantic Segmentation](https://mlsanity.com/paper/1802.10349/) (2018)
- [Gradient based sample selection for online continual learning](https://mlsanity.com/paper/1903.08671/) (2019)
- [Domain Generalization with MixStyle](https://mlsanity.com/paper/2104.02008/) (2021)
- [Continual Test-Time Domain Adaptation](https://mlsanity.com/paper/2203.13591/) (2022)
- [Efficient Test-Time Model Adaptation without Forgetting](https://mlsanity.com/paper/2204.02610/) (2022)
- [Domain Adaptive Faster R-CNN for Object Detection in the Wild](https://mlsanity.com/paper/1803.03243/) (2018)
- [Test-Time Prompt Tuning for Zero-Shot Generalization in Vision-Language Models](https://mlsanity.com/paper/2209.07511/) (2022)

## Built on by (most cited first, 30 of 189)

- [A Comprehensive Survey on Test-Time Adaptation under Distribution Shifts](https://mlsanity.com/paper/2303.15361/) (2023)
- [DriveSuprim: Towards Precise Trajectory Selection for End-to-End Planning](https://mlsanity.com/paper/2506.06659/) (2025)
- [Universal Test-time Adaptation through Weight Ensembling, Diversity Weighting, and Prior Correction](https://mlsanity.com/paper/2306.00650/) (2023)
- [SoTTA: Robust Test-Time Adaptation on Noisy Data Streams](https://mlsanity.com/paper/2310.10074/) (2023)
- [ViDA: Homeostatic Visual Domain Adapter for Continual Test Time Adaptation](https://mlsanity.com/paper/2306.04344/) (2023)
- [In Search of Lost Online Test-time Adaptation: A Survey](https://mlsanity.com/paper/2310.20199/) (2023)
- [Test-Time Training on Video Streams](https://mlsanity.com/paper/2307.05014/) (2023)
- [Frustratingly Easy Test-Time Adaptation of Vision-Language Models](https://mlsanity.com/paper/2405.18330/) (2024)
- [Towards Real-World Test-Time Adaptation: Tri-Net Self-Training with Balanced Normalization](https://mlsanity.com/paper/2309.14949/) (2023)
- [DPCore: Dynamic Prompt Coreset for Continual Test-Time Adaptation](https://mlsanity.com/paper/2406.10737/) (2024)
- [Continual-MAE: Adaptive Distribution Masked Autoencoders for Continual Test-Time Adaptation](https://mlsanity.com/paper/2312.12480/) (2023)
- [Fast-Slow Test-Time Adaptation for Online Vision-and-Language Navigation](https://mlsanity.com/paper/2311.13209/) (2023)
- [The Entropy Enigma: Success and Failure of Entropy Minimization](https://mlsanity.com/paper/2405.05012/) (2024)
- [Protected Test-Time Adaptation via Online Entropy Matching: A Betting Approach](https://mlsanity.com/paper/2408.07511/) (2024)
- [DOTA: Distributional Test-Time Adaptation of Vision-Language Models](https://mlsanity.com/paper/2409.19375/) (2024)
- [Advances in Multimodal Adaptation and Generalization: From Traditional Approaches to Foundation Models](https://mlsanity.com/paper/2501.18592/) (2025)
- [Historical Test-time Prompt Tuning for Vision Foundation Models](https://mlsanity.com/paper/2410.20346/) (2024)
- [Test3R: Learning to Reconstruct 3D at Test Time](https://mlsanity.com/paper/2506.13750/) (2025)
- [Unified Entropy Optimization for Open-Set Test-Time Adaptation](https://mlsanity.com/paper/2404.06065/) (2024)
- [Persistent Test-time Adaptation in Recurring Testing Scenarios](https://mlsanity.com/paper/2311.18193/) (2023)
- [Test-Time Training Provably Improves Transformers as In-context Learners](https://mlsanity.com/paper/2503.11842/) (2025)
- [Evaluation of Test-Time Adaptation Under Computational Time Constraints](https://mlsanity.com/paper/2304.04795/) (2023)
- [Realistic Test-Time Adaptation of Vision-Language Models](https://mlsanity.com/paper/2501.03729/) (2025)
- [MINGLE: Mixture of Null-Space Gated Low-Rank Experts for Test-Time Continual Model Merging](https://mlsanity.com/paper/2505.11883/) (2025)
- [Learning to Adapt Frozen CLIP for Few-Shot Test-Time Domain Adaptation](https://mlsanity.com/paper/2506.17307/) (2025)
- [Distribution Alignment for Fully Test-Time Adaptation with Dynamic Online Data Streams](https://mlsanity.com/paper/2407.12128/) (2024)
- [STAMP: Outlier-Aware Test-Time Adaptation with Stable Memory Replay](https://mlsanity.com/paper/2407.15773/) (2024)
- [Calibration-free online test-time adaptation for electroencephalography motor imagery decoding](https://mlsanity.com/paper/2311.18520/) (2023)
- [Towards Robust Multimodal Open-set Test-time Adaptation via Adaptive Entropy-aware Optimization](https://mlsanity.com/paper/2501.13924/) (2025)
- [A Lost Opportunity for Vision-Language Models: A Comparative Study of Online Test-Time Adaptation for Vision-Language Models](https://mlsanity.com/paper/2405.14977/) (2024)

## Abstract (arXiv)

Test-time adaptation (TTA) intends to adapt the pretrained model to test distributions with only unlabeled test data streams. Most of the previous TTA methods have achieved great success on simple test data streams such as independently sampled data from single or multiple distributions. However, these attempts may fail in dynamic scenarios of real-world applications like autonomous driving, where the environments gradually change and the test data is sampled correlatively over time. In this work, we explore such practical test data streams to deploy the model on the fly, namely practical test-time adaptation (PTTA). To do so, we elaborate a Robust Test-Time Adaptation (RoTTA) method against the complex data stream in PTTA. More specifically, we present a robust batch normalization scheme to estimate the normalization statistics. Meanwhile, a memory bank is utilized to sample category-balanced data with consideration of timeliness and uncertainty. Further, to stabilize the training procedure, we develop a time-aware reweighting strategy with a teacher-student model. Extensive experiments prove that RoTTA enables continual testtime adaptation on the correlatively sampled data streams. Our method is easy to implement, making it a good choice for rapid deployment. The code is publicly available at https://github.com/BIT-DA/RoTTA