We focus on bridging domain discrepancy in lane detection among different scenarios to greatly reduce extra annotation and re-training costs for autonomous driving. Critical factors hinder the performance improvement of cross-domain lane detection that conventional methods only focus on pixel-wise loss while ignoring shape and position priors of lanes. To address the issue, we propose the Multi-level Domain Adaptation (MLDA) framework, a new perspective to handle cross-domain lane detection at three complementary semantic levels of pixel, instance and category. Specifically, at pixel level, we propose to apply cross-class confidence constraints in self-training to tackle the imbalanced confidence distribution of lane and background. At instance level, we go beyond pixels to treat segmented lanes as instances and facilitate discriminative features in target domain with triplet learning, which effectively rebuilds the semantic context of lanes and contributes to alleviating the feature confusion. At category level, we propose an adaptive inter-domain embedding module to utilize the position prior of lanes during adaptation. In two challenging datasets, ie TuSimple and CULane, our approach improves lane detection performance by a large margin with gains of 8.8% on accuracy and 7.4% on F1-score respectively, compared with state-of-the-art domain adaptation algorithms.

Continual learning (CL) is widely regarded as crucial challenge for lifelong AI. However, existing CL benchmarks, e.g. Permuted-MNIST and Split-CIFAR, make use of artificial temporal variation and do not align with or generalize to the real-world. In this paper, we introduce CLEAR, the first continual image classification benchmark dataset with a natural temporal evolution of visual concepts in the real world that spans a decade (2004-2014). We build CLEAR from existing large-scale image collections (YFCC100M) through a novel and scalable low-cost approach to visio-linguistic dataset curation. Our pipeline makes use of pretrained vision-language models (e.g. CLIP) to interactively build labeled datasets, which are further validated with crowd-sourcing to remove errors and even inappropriate images (hidden in original YFCC100M). The major strength of CLEAR over prior CL benchmarks is the smooth temporal evolution of visual concepts with real-world imagery, including both high-quality labeled data along with abundant unlabeled samples per time period for continual semi-supervised learning. We find that a simple unsupervised pre-training step can already boost state-of-the-art CL algorithms that only utilize fully-supervised data. Our analysis also reveals that mainstream CL evaluation protocols that train and test on iid data artificially inflate performance of CL system. To address this, we propose novel "streaming" protocols for CL that always test on the (near) future. Interestingly, streaming protocols (a) can simplify dataset curation since today's testset can be repurposed for tomorrow's trainset and (b) can produce more generalizable models with more accurate estimates of performance since all labeled data from each time-period is used for both training and testing (unlike classic iid train-test splits).