# Rethinking Exemplars for Continual Semantic Segmentation in Endoscopy Scenes: Entropy-based Mini-Batch Pseudo-Replay

arXiv: https://arxiv.org/abs/2308.14100 · HTML: https://mlsanity.com/paper/2308.14100/

## Key facts

- Cited by 20 papers in the map (data through 14 Oct 2026).
- Builds on 56 of its 75 references that are in the map.
- First posted on arXiv 27 Aug 2023.

## Builds on (most cited first, 30 of 56)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [The Unreasonable Effectiveness of Deep Features as a Perceptual Metric](https://mlsanity.com/paper/1801.03924/) (2018)
- [Generative Adversarial Networks](https://mlsanity.com/paper/2203.00667/) (2022)
- [Overcoming catastrophic forgetting in neural networks](https://mlsanity.com/paper/1612.00796/) (2016)
- [Benchmarking Neural Network Robustness to Common Corruptions and Perturbations](https://mlsanity.com/paper/1903.12261/) (2019)
- [Learning without Forgetting](https://mlsanity.com/paper/1606.09282/) (2016)
- [iCaRL: Incremental Classifier and Representation Learning](https://mlsanity.com/paper/1611.07725/) (2016)
- [Variational Inference with Normalizing Flows](https://mlsanity.com/paper/1505.05770/) (2015)
- [Rethinking Atrous Convolution for Semantic Image Segmentation](https://mlsanity.com/paper/1706.05587/) (2017)
- [Memory Aware Synapses: Learning what (not) to forget](https://mlsanity.com/paper/1711.09601/) (2017)
- [Riemannian Walk for Incremental Learning: Understanding Forgetting and Intransigence](https://mlsanity.com/paper/1801.10112/) (2018)
- [ADVENT: Adversarial Entropy Minimization for Domain Adaptation in Semantic Segmentation](https://mlsanity.com/paper/1811.12833/) (2018)
- [SinGAN: Learning a Generative Model from a Single Natural Image](https://mlsanity.com/paper/1905.01164/) (2019)
- [Semi-Supervised Semantic Segmentation Using Unreliable Pseudo-Labels](https://mlsanity.com/paper/2203.03884/) (2022)
- [Modeling the Background for Incremental Learning in Semantic Segmentation](https://mlsanity.com/paper/2002.00718/) (2020)
- [PLOP: Learning without Forgetting for Continual Semantic Segmentation](https://mlsanity.com/paper/2011.11390/) (2020)
- [2017 Robotic Instrument Segmentation Challenge](https://mlsanity.com/paper/1902.06426/) (2019)
- [Incremental Learning Techniques for Semantic Segmentation](https://mlsanity.com/paper/1907.13372/) (2019)
- [2018 Robotic Scene Segmentation Challenge](https://mlsanity.com/paper/2001.11190/) (2020)
- [Synthetic Data for Deep Learning](https://mlsanity.com/paper/1909.11512/) (2019)
- [Continual Learning for Robotics: Definition, Framework, Learning Strategies, Opportunities and Challenges](https://mlsanity.com/paper/1907.00182/) (2019)
- [RECALL: Replay-based Continual Learning in Semantic Segmentation](https://mlsanity.com/paper/2108.03673/) (2021)
- [Representation Compensation Networks for Continual Semantic Segmentation](https://mlsanity.com/paper/2203.05402/) (2022)
- [SSUL: Semantic Segmentation with Unknown Label for Exemplar-based Class-Incremental Learning](https://mlsanity.com/paper/2106.11562/) (2021)
- [ISINet: An Instance-Based Approach for Surgical Instrument Segmentation](https://mlsanity.com/paper/2007.05533/) (2020)
- [Drop the GAN: In Defense of Patches Nearest Neighbors as Single Image Generative Models](https://mlsanity.com/paper/2103.15545/) (2021)
- [A Lifelong Learning Approach to Brain MR Segmentation Across Scanners and Protocols](https://mlsanity.com/paper/1805.10170/) (2018)
- [SinDiffusion: Learning a Diffusion Model from a Single Natural Image](https://mlsanity.com/paper/2211.12445/) (2022)
- [Learning and Reasoning with the Graph Structure Representation in Robotic Surgery](https://mlsanity.com/paper/2007.03357/) (2020)

## Built on by (most cited first, 20 of 20)

- [Continual Learning in Medical Image Analysis: A Comprehensive Review of Recent Advancements and Future Prospects](https://mlsanity.com/paper/2312.17004/) (2023)
- [A Survey on Continual Semantic Segmentation: Theory, Challenge, Method and Application](https://mlsanity.com/paper/2310.14277/) (2023)
- [SAM 2 in Robotic Surgery: An Empirical Evaluation for Robustness and Generalization in Surgical Video Segmentation](https://mlsanity.com/paper/2408.04593/) (2024)
- [kNN-CLIP: Retrieval Enables Training-Free Segmentation on Continually Expanding Large Vocabularies](https://mlsanity.com/paper/2404.09447/) (2024)
- [Surgical-VQLA++: Adversarial Contrastive Learning for Calibrated Robust Visual Question-Localized Answering in Robotic Surgery](https://mlsanity.com/paper/2408.04958/) (2024)
- [LighTDiff: Surgical Endoscopic Image Low-Light Enhancement with T-Diffusion](https://mlsanity.com/paper/2405.10550/) (2024)
- [EndoOOD: Uncertainty-aware Out-of-distribution Detection in Capsule Endoscopy Diagnosis](https://mlsanity.com/paper/2402.11476/) (2024)
- [Learning to Adapt Foundation Model DINOv2 for Capsule Endoscopy Diagnosis](https://mlsanity.com/paper/2406.10508/) (2024)
- [EndoUIC: Promptable Diffusion Transformer for Unified Illumination Correction in Capsule Endoscopy](https://mlsanity.com/paper/2406.13705/) (2024)
- [OSSAR: Towards Open-Set Surgical Activity Recognition in Robot-assisted Surgery](https://mlsanity.com/paper/2402.06985/) (2024)
- [Continual Panoptic Perception: Towards Multi-modal Incremental Interpretation of Remote Sensing Images](https://mlsanity.com/paper/2407.14242/) (2024)
- [Transferring Knowledge from High-Quality to Low-Quality MRI for Adult Glioma Diagnosis](https://mlsanity.com/paper/2410.18698/) (2024)
- [CFSSeg: Closed-Form Solution for Class-Incremental Semantic Segmentation of 2D Images and 3D Point Clouds](https://mlsanity.com/paper/2412.10834/) (2024)
- [TSUBF-Net: Trans-Spatial UNet-like Network with Bi-direction Fusion for Segmentation of Adenoid Hypertrophy in CT](https://mlsanity.com/paper/2412.00787/) (2024)
- [EndoARSS: Adapting Spatially-Aware Foundation Model for Efficient Activity Recognition and Semantic Segmentation in Endoscopic Surgery](https://mlsanity.com/paper/2506.06830/) (2025)
- [CapsDT: Diffusion-Transformer for Capsule Robot Manipulation](https://mlsanity.com/paper/2506.16263/) (2025)
- [Continual Alignment for SAM: Rethinking Foundation Models for Medical Image Segmentation in Continual Learning](https://mlsanity.com/paper/2511.17201/) (2025)
- [V2-SfMLearner: Learning Monocular Depth and Ego-motion for Multimodal Wireless Capsule Endoscopy](https://mlsanity.com/paper/2412.17595/) (2024)
- [Evolving Without Ending: Unifying Multimodal Incremental Learning for Continual Panoptic Perception](https://mlsanity.com/paper/2601.15643/) (2026)
- [Restoring Without Forgetting: Continual Learning Across Image Degradations](https://mlsanity.com/paper/2608.23799/) (2026)

## Abstract (arXiv)

Endoscopy is a widely used technique for the early detection of diseases or robotic-assisted minimally invasive surgery (RMIS). Numerous deep learning (DL)-based research works have been developed for automated diagnosis or processing of endoscopic view. However, existing DL models may suffer from catastrophic forgetting. When new target classes are introduced over time or cross institutions, the performance of old classes may suffer severe degradation. More seriously, data privacy and storage issues may lead to the unavailability of old data when updating the model. Therefore, it is necessary to develop a continual learning (CL) methodology to solve the problem of catastrophic forgetting in endoscopic image segmentation. To tackle this, we propose a Endoscopy Continual Semantic Segmentation (EndoCSS) framework that does not involve the storage and privacy issues of exemplar data. The framework includes a mini-batch pseudo-replay (MB-PR) mechanism and a self-adaptive noisy cross-entropy (SAN-CE) loss. The MB-PR strategy circumvents privacy and storage issues by generating pseudo-replay images through a generative model. Meanwhile, the MB-PR strategy can also correct the model deviation to the replay data and current training data, which is aroused by the significant difference in the amount of current and replay images. Therefore, the model can perform effective representation learning on both new and old tasks. SAN-CE loss can help model fitting by adjusting the model's output logits, and also improve the robustness of training. Extensive continual semantic segmentation (CSS) experiments on public datasets demonstrate that our method can robustly and effectively address the catastrophic forgetting brought by class increment in endoscopy scenes. The results show that our framework holds excellent potential for real-world deployment in a streaming learning manner.