# Online Analytic Exemplar-Free Continual Learning with Large Models for Imbalanced Autonomous Driving Task

arXiv: https://arxiv.org/abs/2405.17779 · HTML: https://mlsanity.com/paper/2405.17779/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 53 of its 95 references that are in the map.
- First posted on arXiv 28 May 2024.

## Builds on (most cited first, 30 of 53)

- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [LoRA: Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2106.09685/) (2021)
- [Distilling the Knowledge in a Neural Network](https://mlsanity.com/paper/1503.02531/) (2015)
- [Overcoming catastrophic forgetting in neural networks](https://mlsanity.com/paper/1612.00796/) (2016)
- [The Power of Scale for Parameter-Efficient Prompt Tuning](https://mlsanity.com/paper/2104.08691/) (2021)
- [Learning without Forgetting](https://mlsanity.com/paper/1606.09282/) (2016)
- [iCaRL: Incremental Classifier and Representation Learning](https://mlsanity.com/paper/1611.07725/) (2016)
- [Efficient Lifelong Learning with A-GEM](https://mlsanity.com/paper/1812.00420/) (2018)
- [Large Scale Incremental Learning](https://mlsanity.com/paper/1905.13260/) (2019)
- [DualPrompt: Complementary Prompting for Rehearsal-free Continual Learning](https://mlsanity.com/paper/2204.04799/) (2022)
- [End-to-End Incremental Learning](https://mlsanity.com/paper/1807.09536/) (2018)
- [CODA-Prompt: COntinual Decomposed Attention-based Prompting for Rehearsal-Free Continual Learning](https://mlsanity.com/paper/2211.13218/) (2022)
- [A Survey of Autonomous Driving: Common Practices and Emerging Technologies](https://mlsanity.com/paper/1906.05113/) (2019)
- [Online Continual Learning with Maximally Interfered Retrieval](https://mlsanity.com/paper/1908.04742/) (2019)
- [FOSTER: Feature Boosting and Compression for Class-Incremental Learning](https://mlsanity.com/paper/2204.04662/) (2022)
- [Revisiting Class-Incremental Learning with Pre-Trained Models: Generalizability and Adaptivity are All You Need](https://mlsanity.com/paper/2303.07338/) (2023)
- [RanPAC: Random Projections and Pre-trained Models for Continual Learning](https://mlsanity.com/paper/2307.02251/) (2023)
- [Adaptive Aggregation Networks for Class-Incremental Learning](https://mlsanity.com/paper/2010.05063/) (2020)
- [Supervised Contrastive Replay: Revisiting the Nearest Class Mean Classifier in Online Class-Incremental Continual Learning](https://mlsanity.com/paper/2103.13885/) (2021)
- [Memory Efficient Experience Replay for Streaming Learning](https://mlsanity.com/paper/1809.05922/) (2018)
- [Rotate your Networks: Better Weight Consolidation and Less Catastrophic Forgetting](https://mlsanity.com/paper/1802.02950/) (2018)
- [FeTrIL: Feature Translation for Exemplar-Free Class-Incremental Learning](https://mlsanity.com/paper/2211.13131/) (2022)
- [Self-Sustaining Representation Expansion for Non-Exemplar Class-Incremental Learning](https://mlsanity.com/paper/2203.06359/) (2022)
- [Expandable Subspace Ensemble for Pre-Trained Model-Based Class-Incremental Learning](https://mlsanity.com/paper/2403.12030/) (2024)
- [A Comprehensive Study of Class Incremental Learning Algorithms for Visual Tasks](https://mlsanity.com/paper/2011.01844/) (2020)
- [Less-forgetting Learning in Deep Neural Networks](https://mlsanity.com/paper/1607.00122/) (2016)
- [Lifelong Machine Learning with Deep Streaming Linear Discriminant Analysis](https://mlsanity.com/paper/1909.01520/) (2019)
- [Milestones in Autonomous Driving and Intelligent Vehicles: Survey of Surveys](https://mlsanity.com/paper/2303.17220/) (2023)
- [Imbalanced Continual Learning with Partitioning Reservoir Sampling](https://mlsanity.com/paper/2009.03632/) (2020)

## Built on by (most cited first, 4 of 4)

- [Vision-Language-Action Models for Autonomous Driving: Past, Present, and Future](https://mlsanity.com/paper/2512.16760/) (2025)
- [AIR: Analytic Imbalance Rectifier for Continual Learning](https://mlsanity.com/paper/2408.10349/) (2024)
- [Non-Forgetting Knowledge Allocation with Bi-level Competition for Class-Incremental Learning](https://mlsanity.com/paper/2605.29592/) (2026)
- [SPARCL: Spectral Partitioned Analytic Continual Learning](https://mlsanity.com/paper/2608.21307/) (2026)

## Abstract (arXiv)

In autonomous driving, even a meticulously trained model can encounter failures when facing unfamiliar scenarios. One of these scenarios can be formulated as an online continual learning (OCL) problem. That is, data come in an online fashion, and models are updated according to these streaming data. Two major OCL challenges are catastrophic forgetting and data imbalance. To address these challenges, in this paper, we propose an Analytic Exemplar-Free Online Continual Learning algorithm (AEF-OCL). The AEF-OCL leverages analytic continual learning principles and employs ridge regression as a classifier for features extracted by a large backbone network. It solves the OCL problem by recursively calculating the analytical solution, ensuring an equalization between the continual learning and its joint-learning counterpart, and works without the need to save any used samples (i.e., exemplar-free). Additionally, we introduce a Pseudo-Features Generator (PFG) module that recursively estimates the mean and the variance of real features for each class. It over-samples offset pseudo-features from the same normal distribution as the real features, thereby addressing the data imbalance issue. Experimental results demonstrate that despite being an exemplar-free strategy, our method outperforms various methods on the autonomous driving SODA10M dataset. Source code is available at https://github.com/ZHUANGHP/Analytic-continual-learning.