Object Detection on Cityscapes to Foggy Cityscapes

61.1mAPOracle

Evaluation Results

Method
Oracle2026.03	61.1	61.8	69	72.4	46.8	69.5	57.6	52.7	58.9
DA-Ada2024.10	58.5	57.8	65.1	71.3	43.1	64	58.6	48.8	58.7
DA-Ada2024.10	58.5	57.8	65.1	71.3	43.1	64	58.6	48.8	58.7
DA-Mamba2026.03	58.1	59.3	61.5	71	43.5	66.2	55.1	50.1	57.8
SEEN-DA2025.12	57.5	58.5	64.5	71.7	42	61.2	54.8	47.1	59.9
DA-Pro2024.10	55.9	55.4	62.9	70.9	40.3	63.4	54	42.3	58
DA-Pro2024.10	55.9	55.4	62.9	70.9	40.3	63.4	54	42.3	58
DA-Pro2026.03	55.9	55.4	62.9	70.9	40.3	63.4	54	42.3	58
DT2026.03	55.4	48.5	60	65.4	47.2	66.5	52.9	46.2	56.7
DATR2026.03	53.4	61.6	60.4	74.3	35.7	60.3	35.4	43.6	55.9
REACT2026.03	53.1	51.4	57.9	67.4	37.7	58.4	52.8	44.6	54.6
NSA-UDA2024.10	52.7	50.3	60.1	67.7	37.4	57.4	46.9	47.3	54.3
NSA-UDA2024.10	52.7	50.3	60.1	67.7	37.4	57.4	46.9	47.3	54.3
NSA-UDA2026.03	52.7	50.3	60.1	67.7	37.4	57.4	46.9	47.3	54.3
CAT2026.03	52.5	44.6	57.1	63.7	40.8	66	49.7	44.9	53
DSD-DA2026.03	52.3	49	59.6	65.3	35.7	61	46.5	43.9	57.3
Baseline(UDA)2026.03	52.3	57.5	45.9	68.5	38.4	61.2	50.9	40.8	55.5
MRT2026.03	51.2	52.8	51.7	68.7	35.9	58.1	54.5	41	47.1
SOCCER2026.03	51.1	51.7	57.7	68.6	38.2	51.6	47.5	41.6	51.7
AT2024.10	50.9	56.3	51.9	64.2	38.5	45.5	55.1	54.3	35
AT2024.10	50.9	56.3	51.9	64.2	38.5	45.5	55.1	54.3	35
AT2026.03	50.9	56.3	51.9	64.2	38.5	45.5	55.1	54.3	35
D2-UDA2024.10	50.6	46.9	53.3	64.5	38.9	61	48.5	42.6	54.2
D2-UDA2024.10	50.6	46.9	53.3	64.5	38.9	61	48.5	42.6	54.2
HT2024.10	50.4	52.1	55.8	67.5	32.7	55.9	49.1	40.1	50.3
HT2024.10	50.4	52.1	55.8	67.5	32.7	55.9	49.1	40.1	50.3
MTM2025.12	48.9	51	53.4	67.2	37.2	54.4	41.6	38.4	47.7
MTM2026.03	48.9	51	53.4	67.2	37.2	54.4	41.6	38.4	47.7
FALCON-SFOD2025.12	46.9	41	48.3	58.7	33.6	54.8	54.3	38.6	46.2
CSDA2024.10	45.8	46.6	46.3	63.1	28.1	56.3	53.7	33.1	39.1
CSDA2024.10	45.8	46.6	46.3	63.1	28.1	56.3	53.7	33.1	39.1
OADA2024.10	45.4	47.8	46.5	62.9	32.1	48.5	50.9	34.3	39.8
SAD2024.10	45.2	38.3	47.2	58.8	34.9	57.7	48.3	35.7	42
Simple-SFOD2025.12	45	40.9	48	58.9	29.6	51.9	50.2	36.2	44.1
CIGAR2024.10	44.9	46.1	47.3	62.1	27.8	56.6	44.3	33.7	41.3
CIGAR2024.10	44.9	46.1	47.3	62.1	27.8	56.6	44.3	33.7	41.3
FA-TDCA2026.03	44.9	43.5	51.7	58.8	34.1	52.6	40.4	36	42.3
SIGMA++2024.10	44.5	46.4	45.1	61	32.1	52.2	44.6	34.8	39.9
SIGMA++2024.10	44.5	46.4	45.1	61	32.1	52.2	44.6	34.8	39.9
SIGMA++2026.03	44.5	46.4	45.1	61	32.1	52.2	44.6	34.8	39.9
SIGMA2024.10	44.2	44	43.9	60.3	31.6	50.4	51.5	31.7	40.6
DRU2025.12	43.7	48.3	51.5	62.5	26.2	43.2	34.1	34.2	48.6
LRA2026.03	43.5	45.6	47.1	59.7	31.2	52.4	44.6	28.1	39.5
PT2025.12	42.7	40.2	48.8	59.7	30.7	51.8	30.6	35.4	44.5
SF-YOLO2025.12	42.5	47.4	50.6	64.1	26	49.7	32.5	25.9	44.1
TIA2024.10	42.3	52.1	38.1	49.7	37.7	34.8	46.3	48.6	31.1
DDF2024.10	42.3	37.6	45.5	56.1	30.7	50.4	47	31.1	39.8
SCAN2024.10	42.1	41.7	43.9	57.3	28.7	48.6	48.7	31	37.3
MEGA2024.10	41.8	37.7	49	52.4	25.4	49.2	46.9	34.5	39
DSS2024.10	40.9	42.9	51.2	53.6	33.6	49.2	18.9	36.2	41.8
SFOD + HCL2021.10	40.3	39.3	46.7	48.6	32.9	46.2	38.2	33.9	36.9
VDD2024.10	40	33.4	44	51.7	33.9	52	34.7	34.2	36.8
HCL2021.10	39.7	38.7	46	47.9	33	45.7	38.9	32.8	34.9
SSAL2025.12	39.6	45.1	47.4	59.4	24.5	50	25.7	26	38.7
DA-Faster w/ SDAT-Classification2022.06	38	—	—	—	—	—	—	—	—
DA-Faster w/ SDAT2022.06	37.47	—	—	—	—	—	—	—	—
CRDA2021.10	37.4	32.9	43.8	49.2	27.2	45.1	36.4	30.3	34.6
IRG2025.12	37.1	37.4	45.2	51.9	24.4	39.6	25.2	31.5	41.6
MLDA2021.10	36	33.2	44.2	44.8	28.2	41.8	28.7	30.5	36.5
CAFA2021.10	36	41.9	38.7	56.7	22.6	41.5	26.8	24.6	35.5
PETS2025.12	35.9	42	48.7	56.3	19.3	39.3	5.5	34.2	41.6
LODS2025.12	35.8	34	45.7	48.8	27.3	39.7	19.6	33.2	37.8
DA-Faster2022.06	35.21	—	—	—	—	—	—	—	—
DMA2021.10	34.6	30.8	40.5	44.3	27.2	38.4	34.5	28.4	32.2
SWDA2021.10	34.3	36.2	35.3	43.5	30	29.9	42.3	32.6	24.5
SFOD2021.10	33.5	25.5	44.5	40.7	33.2	22.2	28.4	34.1	39
SFOD-Mosaic2025.12	33.5	25.5	44.5	40.7	33.2	22.2	28.4	34.1	39
DA-Faster2024.10	32	29.2	40.4	43.4	19.7	38.3	28.5	23.7	32.7
DA-Faster2024.10	32	29.2	40.4	43.4	19.7	38.3	28.5	23.7	32.7
DA-Faster2026.03	32	29.2	40.4	43.4	19.7	38.3	28.5	23.7	32.7
SFOD2025.12	30.6	21.7	44	40.4	32.2	11.8	25.3	34.5	34.3
DA2021.10	27.6	25	31	40.5	22.1	35.3	20.2	20	27.1
Source Only2025.12	25.2	29.3	34.1	35.8	15.4	26	9.09	22.4	29.7