# AdaptAV: Continuous Adaption of Vision Models for Autonomous Vehicles Using Cloud-based Oracle

arXiv: https://arxiv.org/abs/2608.28673 · HTML: https://mlsanity.com/paper/2608.28673/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 17 of its 28 references that are in the map.
- First posted on arXiv 24 Aug 2026.

## Builds on (most cited first, 17 of 17)

- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [Mask R-CNN](https://mlsanity.com/paper/1703.06870/) (2017)
- [MobileNets: Efficient Convolutional Neural Networks for Mobile Vision Applications](https://mlsanity.com/paper/1704.04861/) (2017)
- [SSD: Single Shot MultiBox Detector](https://mlsanity.com/paper/1512.02325/) (2015)
- [Fast R-CNN](https://mlsanity.com/paper/1504.08083/) (2015)
- [YOLOv3: An Incremental Improvement](https://mlsanity.com/paper/1804.02767/) (2018)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [YOLOv4: Optimal Speed and Accuracy of Object Detection](https://mlsanity.com/paper/2004.10934/) (2020)
- [BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learning](https://mlsanity.com/paper/1805.04687/) (2018)
- [Simple Online and Realtime Tracking](https://mlsanity.com/paper/1602.00763/) (2016)
- [YOLOv6: A Single-Stage Object Detection Framework for Industrial Applications](https://mlsanity.com/paper/2209.02976/) (2022)
- [Edge AI: On-Demand Accelerating Deep Neural Network Inference via Edge Computing](https://mlsanity.com/paper/1910.05316/) (2019)
- [SPINN: Synergistic Progressive Inference of Neural Networks over Device and Cloud](https://mlsanity.com/paper/2008.06402/) (2020)
- [Ekya: Continuous Learning of Video Analytics Models on Edge Compute Servers](https://mlsanity.com/paper/2012.10557/) (2020)
- [Real-Time Video Inference on Edge Devices via Adaptive Model Streaming](https://mlsanity.com/paper/2006.06628/) (2020)

## Abstract (arXiv)

Deploying vision perception models in autonomous vehicles requires that we prioritize inference speeds, resulting in a model with shallower architectures and lesser model parameters (i.e., more pruned). Such small models do not generalize well, which could result in poor performance when encountered with novel scenarios. We propose a system that overcomes this by continuously retraining the vision models on the cloud with data uploaded by vehicles. We leverage the abundant compute resources, including machine learning accelerators, of the cloud to run a highly-accurate oracle model that will guide the retraining process of the on-vehicle model. This newly trained model is transmitted to the vehicle over the network and is utilized by the vehicle for perceptions, leading to improved inference accuracy over time.