9 SupplementaryMaterial

We use the default train/validation split from nuScenes. All numbers reported in the paper are on the validation split ofnuScenes. Adapt Version (Images) To solve the minimax objective in a single forward-backward pass we usethegradient-reversal layer GRL andwarm-up schedule from [16,15]. Adapt Version (Lidar) Similar to the image version, we solve the minimax objective in a single forward-backward pass using the gradient-reversal layer GRL and the warm-up schedule from [16,15]. We remove the rotation operation from the augmentation pool.