# RobIA: Robust Instance-aware Continual Test-time Adaptation for Deep Stereo

arXiv: https://arxiv.org/abs/2511.10107 · HTML: https://mlsanity.com/paper/2511.10107/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 41 of its 53 references that are in the map.
- First posted on arXiv 13 Nov 2025.

## Builds on (most cited first, 30 of 41)

- [Batch Normalization: Accelerating Deep Network Training by Reducing Internal Covariate Shift](https://mlsanity.com/paper/1502.03167/) (2015)
- [MobileNetV2: Inverted Residuals and Linear Bottlenecks](https://mlsanity.com/paper/1801.04381/) (2018)
- [Squeeze-and-Excitation Networks](https://mlsanity.com/paper/1709.01507/) (2017)
- [Outrageously Large Neural Networks: The Sparsely-Gated Mixture-of-Experts Layer](https://mlsanity.com/paper/1701.06538/) (2017)
- [A Large Dataset to Train Convolutional Networks for Disparity, Optical Flow, and Scene Flow Estimation](https://mlsanity.com/paper/1512.02134/) (2015)
- [Unsupervised Monocular Depth Estimation with Left-Right Consistency](https://mlsanity.com/paper/1609.03677/) (2016)
- [Continual Test-Time Domain Adaptation](https://mlsanity.com/paper/2203.13591/) (2022)
- [Improving robustness against common corruptions by covariate shift adaptation](https://mlsanity.com/paper/2006.16971/) (2020)
- [Towards Stable Test-Time Adaptation in Dynamic Wild World](https://mlsanity.com/paper/2302.12400/) (2023)
- [End-to-End Learning of Geometry and Context for Deep Stereo Regression](https://mlsanity.com/paper/1703.04309/) (2017)
- [RAFT-Stereo: Multilevel Recurrent Field Transforms for Stereo Matching](https://mlsanity.com/paper/2109.07547/) (2021)
- [DSEC: A Stereo Event Camera Dataset for Driving Scenarios](https://mlsanity.com/paper/2103.06011/) (2021)
- [Unifying Flow, Stereo and Depth Estimation](https://mlsanity.com/paper/2211.05783/) (2022)
- [Practical Stereo Matching via Cascaded Recurrent Network with Adaptive Correlation](https://mlsanity.com/paper/2203.11483/) (2022)
- [Revisiting Stereo Depth Estimation From a Sequence-to-Sequence Perspective with Transformers](https://mlsanity.com/paper/2011.02910/) (2020)
- [Iterative Geometry Encoding Volume for Stereo Matching](https://mlsanity.com/paper/2303.06615/) (2023)
- [NOTE: Robust Continual Test-time Adaptation Against Temporal Correlation](https://mlsanity.com/paper/2208.05117/) (2022)
- [EcoTTA: Memory-Efficient Continual Test-time Adaptation via Self-distilled Regularization](https://mlsanity.com/paper/2303.01904/) (2023)
- [Entropy is not Enough for Test-Time Adaptation: From the Perspective of Disentangled Factors](https://mlsanity.com/paper/2403.07366/) (2024)
- [Dual Student: Breaking the Limits of the Teacher in Semi-supervised Learning](https://mlsanity.com/paper/1909.01804/) (2019)
- [Decorate the Newcomers: Visual Domain Prompt for Continual Test Time Adaptation](https://mlsanity.com/paper/2212.04145/) (2022)
- [Sparse Mixture-of-Experts are Domain Generalizable Learners](https://mlsanity.com/paper/2206.04046/) (2022)
- [Real-time self-adaptive deep stereo](https://mlsanity.com/paper/1810.05424/) (2018)
- [ViDA: Homeostatic Visual Domain Adapter for Continual Test Time Adaptation](https://mlsanity.com/paper/2306.04344/) (2023)
- [Multi-Task Dense Prediction via Mixture of Low-Rank Experts](https://mlsanity.com/paper/2403.17749/) (2024)
- [Theory on Mixture-of-Experts in Continual Learning](https://mlsanity.com/paper/2406.16437/) (2024)
- [Correlate-and-Excite: Real-Time Stereo Matching via Guided Cost Volume Excitation](https://mlsanity.com/paper/2108.05773/) (2021)
- [TaskExpert: Dynamically Assembling Multi-Task Representations with Memorial Mixture-of-Experts](https://mlsanity.com/paper/2307.15324/) (2023)
- [Mixture of Experts Meets Prompt-Based Continual Learning](https://mlsanity.com/paper/2405.14124/) (2024)
- [Learning to Adapt for Stereo](https://mlsanity.com/paper/1904.02957/) (2019)

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

- [Fed-ADE: Adaptive Learning Rate for Federated Post-adaptation under Distribution Shift](https://mlsanity.com/paper/2603.01040/) (2026)

## Abstract (arXiv)

Stereo Depth Estimation in real-world environments poses significant challenges due to dynamic domain shifts, sparse or unreliable supervision, and the high cost of acquiring dense ground-truth labels. While recent Test-Time Adaptation (TTA) methods offer promising solutions, most rely on static target domain assumptions and input-invariant adaptation strategies, limiting their effectiveness under continual shifts. In this paper, we propose RobIA, a novel Robust, Instance-Aware framework for Continual Test-Time Adaptation (CTTA) in stereo depth estimation. RobIA integrates two key components: (1) Attend-and-Excite Mixture-of-Experts (AttEx-MoE), a parameter-efficient module that dynamically routes input to frozen experts via lightweight self-attention mechanism tailored to epipolar geometry, and (2) Robust AdaptBN Teacher, a PEFT-based teacher model that provides dense pseudo-supervision by complementing sparse handcrafted labels. This strategy enables input-specific flexibility, broad supervision coverage, improving generalization under domain shift. Extensive experiments demonstrate that RobIA achieves superior adaptation performance across dynamic target domains while maintaining computational efficiency.