Semantic Segmentation on GTA5 to Cityscapes
73.8mIoUHRDA
Evaluation results
| Method | Links | |||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| HRDA2022.04 | 73.8 | 96.4 | 74.4 | 91 | 61.6 | 51.5 | 57.1 | 63.9 | 69.3 | 91.3 | 48.4 | 94.2 | 79 | 52.9 | 93.9 | 84.1 | 85.7 | 75.9 | 63.9 | 67.5 | — | |
| FREDOMNetwork=Trans.2023.04 | 73.6 | 96.7 | 74.8 | 90.9 | 58.1 | 49 | 57.5 | 63.4 | 71.4 | 91.6 | 52.1 | 94.4 | 78.4 | 53.1 | 94.1 | 83.9 | 85.2 | 72.5 | 62.8 | 68.9 | 15.8 | |
| FSTsetting=UDA, base_method=DAFormer2022.09 | 69.3 | 95.3 | 67.7 | 89.3 | 55.5 | 47.1 | 50.1 | 57.2 | 58.6 | 89.9 | 51 | 92.9 | 72.7 | 46.3 | 92.5 | 78 | 81.6 | 74.4 | 57.7 | 62.6 | — | |
| ProCSTNetwork=Trans.2023.04 | 68.7 | 95.8 | 69.6 | 89.8 | 55.8 | 45 | 49.8 | 56.8 | 63.3 | 90.2 | 50.3 | 93 | 72.2 | 44.9 | 92.3 | 72.2 | 78.8 | 65.1 | 56.4 | 63.1 | 17.1 | |
| DAFormer2022.04 | 68.3 | 95.7 | 70.2 | 89.4 | 53.5 | 48.1 | 49.6 | 55.8 | 59.4 | 89.9 | 47.9 | 92.5 | 72.2 | 44.7 | 92.3 | 74.5 | 78.2 | 65.1 | 55.9 | 61.8 | — | |
| DAFormersetting=UDA2022.09 | 68.3 | 95.7 | 70.2 | 89.4 | 53.5 | 48.1 | 49.6 | 55.8 | 59.4 | 89.9 | 47.9 | 92.5 | 72.2 | 44.7 | 92.3 | 74.5 | 78.2 | 65.1 | 55.9 | 61.8 | — | |
| DAFormerNetwork=Trans.2023.04 | 68.3 | 95.7 | 70.2 | 89.4 | 53.5 | 48.1 | 49.6 | 55.8 | 59.4 | 89.9 | 47.9 | 92.5 | 72.2 | 44.7 | 92.3 | 74.5 | 78.2 | 65.1 | 55.9 | 61.8 | 17.3 | |
| TransDANetwork=Trans.2023.04 | 63.9 | 94.7 | 64.2 | 89.2 | 48.1 | 45.8 | 50.1 | 60.2 | 40.8 | 90.4 | 50.2 | 93.7 | 76.7 | 47.6 | 92.5 | 56.8 | 60.1 | 47.6 | 49.6 | 55.4 | 19.1 | |
| DDB-round2Input size=(512,512), Total GPUs=1, Total iterations=160K, Pseudo-label generation=false, Prototype generation=true2022.09 | 62.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FREDOMNetwork=DL-V22023.04 | 61.3 | 90.9 | 54.1 | 87.8 | 44.1 | 32.6 | 45.2 | 51.4 | 57.1 | 88.6 | 42.6 | 89.5 | 68.8 | 40 | 89.7 | 58.4 | 62.6 | 55.3 | 47.7 | 58.1 | 19.1 | |
| DDB-round1Input size=(512,512), Total GPUs=1, Total iterations=80K, Pseudo-label generation=false, Prototype generation=true2022.09 | 61.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CPSLsetting=UDA2022.09 | 60.8 | 92.3 | 59.9 | 84.9 | 45.7 | 29.7 | 52.8 | 61.5 | 59.5 | 87.9 | 41.5 | 85 | 73 | 35.5 | 90.4 | 48.7 | 73.9 | 26.3 | 53.8 | 53.9 | — | |
| CPSL+distillInput size=(896,512), Total GPUs=4, Total iterations=238K, Pseudo-label generation=true, Prototype generation=true2022.09 | 60.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UndoDA+distillInput size=(896,512), Total GPUs=4, Total iterations=238K, Pseudo-label generation=true, Prototype generation=true2022.09 | 59.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ProDA2022.04 | 57.5 | 87.8 | 56 | 79.7 | 46.3 | 44.8 | 45.6 | 53.5 | 39.2 | 88.8 | 45.5 | 59.4 | 1 | 48.9 | 56.4 | 45.5 | 59.4 | 1 | 48.9 | 56.4 | — | |
| ProDAsetting=UDA2022.09 | 57.5 | 87.8 | 56 | 79.7 | 46.3 | 44.8 | 45.6 | 53.5 | 53.5 | 88.6 | 45.2 | 82.1 | 70.7 | 39.2 | 88.8 | 45.5 | 59.4 | 1 | 48.9 | 56.4 | — | |
| ProDA+distillInput size=(896,512), Total GPUs=4, Total iterations=238K, Pseudo-label generation=true, Prototype generation=true2022.09 | 57.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ProDANetwork=DL-V22023.04 | 57.5 | 87.8 | 56 | 79.7 | 46.3 | 44.8 | 45.6 | 53.5 | 53.5 | 88.6 | 45.2 | 82.1 | 70.7 | 39.2 | 88.8 | 45.5 | 59.4 | 1 | 48.9 | 56.4 | 21.7 | |
| BAPA2022.04 | 57.4 | 94.4 | 61 | 88 | 26.8 | 39.9 | 38.3 | 46.1 | 40 | 90.2 | 60.4 | 59 | 0 | 45.1 | 54.2 | 57.4 | 84.5 | 0 | 45.1 | 54.2 | — | |
| CorDA2022.04 | 56.6 | 94.7 | 63.1 | 87.6 | 30.7 | 40.6 | 40.2 | 47.8 | 47 | 89.7 | 51.6 | 87.6 | 66.7 | 35.9 | 90.2 | 48.9 | 57.5 | 0 | 39.8 | 56 | — | |
| SACNetwork=DL-V22023.04 | 53.8 | 90.3 | 53.9 | 86.6 | 42.5 | 27.4 | 45.1 | 48.6 | 42.9 | 87.5 | 40.2 | 86 | 67.6 | 29.7 | 88.5 | 49 | 54.6 | 9.8 | 26.6 | 45.1 | 24.2 | |
| Uniform Phase MarginalizationBackbone=DINOv3/F, K (Phase Marginalization)=42026.06 | 52.76 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| IAST-MST(ours)Arch.=A&S2020.08 | 52.2 | 94.1 | 58.8 | 85.4 | 39.7 | 29.2 | 25.1 | 43.1 | 34.2 | 84.8 | 34.6 | 88.7 | 62.7 | 30.3 | 87.6 | 42.3 | 50.3 | 24.7 | 35.2 | 40.2 | — | |
| DACS2022.04 | 52.1 | 89.9 | 39.7 | 87.9 | 30.7 | 39.5 | 38.5 | 46.4 | 44 | 88.8 | 47.2 | 67.2 | 52.8 | 35.8 | 84.5 | 45.7 | 50.2 | 0 | 27.3 | 34 | — | |
| BaselineBackbone=DINOv3/F, K (Phase Marginalization)=12026.06 | 51.94 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| IAST(ours)Arch.=A&S2020.08 | 51.5 | 93.8 | 57.8 | 85.1 | 39.5 | 26.7 | 26.2 | 43.1 | 34.7 | 84.9 | 32.9 | 88 | 62.6 | 29 | 87.3 | 39.2 | 49.6 | 23.2 | 34.7 | 39.6 | — | |
| MRNet+OursDescription=MRNet with proposed variance regularization2020.03 | 50.3 | 90.4 | 31.2 | 85.1 | 36.9 | 25.6 | 37.5 | 48.8 | 48.5 | 85.3 | 34.8 | 81.1 | 64.4 | 36.8 | 86.3 | 34.9 | 52.2 | 1.7 | 29 | 44.6 | — | |
| BLFArch.=ST2020.08 | 48.5 | 91 | 44.7 | 84.2 | 34.6 | 27.6 | 30.2 | 36 | 36 | 85 | 43.6 | 83 | 58.6 | 31.6 | 83.3 | 35.3 | 49.7 | 3.3 | 28.8 | 35.6 | — | |
| AdaptMRArch.=A&S2020.08 | 48.3 | 90.5 | 35 | 84.6 | 34.3 | 24 | 36.8 | 44.1 | 42.7 | 84.5 | 33.6 | 82.5 | 63.1 | 34.4 | 85.8 | 32.9 | 38.2 | 2 | 27.1 | 41.8 | — | |
| MRNet+PseudoDescription=MRNet with conventional pseudo label learning2020.03 | 48.3 | 90.5 | 35 | 84.6 | 34.3 | 24 | 36.8 | 44.1 | 42.7 | 84.5 | 33.6 | 82.5 | 63.1 | 34.4 | 85.8 | 32.9 | 38.2 | 2 | 27.1 | 41.8 | — | |
| PyCDAArch.=ST2020.08 | 47.4 | 90.5 | 36.3 | 84.4 | 32.4 | 28.7 | 34.6 | 36.4 | 31.5 | 86.8 | 37.9 | 78.5 | 62.3 | 21.5 | 85.6 | 27.9 | 34.8 | 18 | 22.9 | 49.3 | — | |
| BiMaLNetwork=DL-V22023.04 | 47.3 | 91.2 | 39.6 | 82.7 | 29.4 | 25.2 | 29.6 | 34.3 | 25.5 | 85.4 | 44 | 80.8 | 59.7 | 30.4 | 86.6 | 38.5 | 47.6 | 1.2 | 34 | 36.8 | 25.9 | |
| MRKLDArch.=ST2020.08 | 47.1 | 91 | 55.4 | 80 | 33.7 | 21.4 | 37.3 | 32.9 | 24.5 | 85 | 34.1 | 80.8 | 57.7 | 24.6 | 84.1 | 27.8 | 30.1 | 26.9 | 26 | 42.3 | — | |
| MRKLDReference=[Zou et al., 2019]2020.03 | 47.1 | 91 | 55.4 | 80 | 33.7 | 21.4 | 37.3 | 32.9 | 24.5 | 85 | 34.1 | 80.8 | 57.7 | 24.6 | 84.1 | 27.8 | 30.1 | 26.9 | 26 | 42.3 | — | |
| FCANReference=[Zhang et al., 2018]2020.03 | 46.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PatchAlignArch.=ST2020.08 | 46.5 | 92.3 | 51.9 | 82.1 | 29.2 | 25.1 | 24.5 | 33.8 | 33 | 82.4 | 32.8 | 82.2 | 58.6 | 27.2 | 84.3 | 33.4 | 26.3 | 2.2 | 29.5 | 32.3 | — | |
| PatchAlignReference=[Tsai et al., 2019]2020.03 | 46.5 | 92.3 | 51.9 | 82.1 | 29.2 | 25.1 | 24.5 | 33.8 | 33 | 82.4 | 32.8 | 82.2 | 58.6 | 27.2 | 84.3 | 33.4 | 46.3 | 2.2 | 29.5 | 32.3 | — | |
| IntraDANetwork=DL-V22023.04 | 46.3 | 90.6 | 36.1 | 82.6 | 29.5 | 21.3 | 27.6 | 31.4 | 23.1 | 85.2 | 39.3 | 80.2 | 59.3 | 29.4 | 86.4 | 33.6 | 53.9 | 0 | 32.7 | 37.6 | 26.7 | |
| SourceOnlysetting=UDA2022.09 | 46.1 | 76.1 | 18.7 | 84.6 | 29.8 | 31.4 | 34.5 | 44.8 | 23.4 | 87.5 | 42.6 | 87.3 | 63.4 | 21.2 | 81.1 | 39.3 | 44.6 | 2.9 | 33.2 | 29.7 | — | |
| SIBANArch.=AT2020.08 | 45.9 | 88.5 | 35.4 | 79.5 | 26.3 | 24.3 | 28.5 | 32.5 | 18.3 | 81.2 | 40 | 76.5 | 58.1 | 25.8 | 82.6 | 30.3 | 34.4 | 3.4 | 21.6 | 21.5 | — | |
| APODAArch.=AT2020.08 | 45.9 | 85.6 | 32.8 | 79 | 29.5 | 25.5 | 26.8 | 34.6 | 19.9 | 83.7 | 40.6 | 77.9 | 59.2 | 28.3 | 84.6 | 34.6 | 49.2 | 8 | 32.6 | 39.6 | — | |
| CBSTArch.=ST2020.08 | 45.9 | 91.8 | 53.5 | 80.5 | 32.7 | 21 | 34 | 28.9 | 20.4 | 83.9 | 34.2 | 80.9 | 53.1 | 24 | 82.7 | 30.3 | 35.9 | 16 | 25.9 | 42.8 | — | |
| APODAReference=[Yang et al., 2020]2020.03 | 45.9 | 85.6 | 32.8 | 79 | 29.5 | 25.5 | 26.8 | 34.6 | 19.9 | 83.7 | 40.6 | 77.9 | 59.2 | 28.3 | 84.6 | 34.6 | 49.2 | 8 | 32.6 | 39.6 | — | |
| CBSTReference=[Zou et al., 2018]2020.03 | 45.9 | 91.8 | 53.5 | 80.5 | 32.7 | 21 | 34 | 28.9 | 20.4 | 83.9 | 34.2 | 80.9 | 53.1 | 24 | 82.7 | 30.3 | 35.9 | 16 | 25.9 | 42.8 | — | |
| CBST2022.04 | 45.9 | 91.8 | 53.5 | 80.5 | 32.7 | 21 | 34 | 28.9 | 20.4 | 83.9 | 34.2 | 80.9 | 53.1 | 24 | 82.7 | 30.3 | 35.9 | 16 | 25.9 | 42.8 | — | |
| AdvEntReference=[Vu et al., 2019]2020.03 | 45.5 | 89.4 | 33.1 | 81 | 26.6 | 26.8 | 27.2 | 33.5 | 24.7 | 83.9 | 36.7 | 78.8 | 58.7 | 30.5 | 84.8 | 38.5 | 44.5 | 1.7 | 31.6 | 32.4 | — | |
| MRNetReference=[Zheng and Yang, 2020]2020.03 | 45.5 | 89.1 | 23.9 | 82.2 | 19.5 | 20.1 | 33.5 | 42.2 | 39.1 | 85.3 | 33.7 | 76.4 | 60.2 | 33.7 | 86 | 36.1 | 43.3 | 5.9 | 22.8 | 30.8 | — | |
| SSF-DANArch.=AT2020.08 | 45.4 | 90.3 | 38.9 | 81.7 | 24.8 | 22.9 | 30.5 | 37 | 21.2 | 84.8 | 38.8 | 76.9 | 58.8 | 30.7 | 85.7 | 30.6 | 38.1 | 5.9 | 28.3 | 36.9 | — | |
| AdventArch.=AT2020.08 | 45.4 | 89.4 | 33.1 | 81 | 26.6 | 26.8 | 27.2 | 33.5 | 24.7 | 83.9 | 36.7 | 78.8 | 58.7 | 30.5 | 84.8 | 38.5 | 44.5 | 1.7 | 31.6 | 32.4 | — | |
| MR-DCoTDomain Adaptation=Zero-shot, Source=GTA52026.07 | 43.96 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MR-DCoTZero-shot=true2026.07 | 43.96 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CLANReference=[Luo et al., 2019b]2020.03 | 43.2 | 87 | 27.1 | 79.6 | 27.3 | 23.3 | 28.3 | 35.5 | 24.2 | 83.6 | 27.4 | 74.2 | 58.6 | 28 | 76.2 | 33.1 | 36.7 | 6.7 | 31.9 | 31.4 | — | |
| SIBANReference=[Luo et al., 2019a]2020.03 | 42.6 | 88.5 | 35.4 | 79.5 | 26.3 | 24.3 | 28.5 | 32.5 | 18.3 | 81.2 | 40 | 76.5 | 58.1 | 25.8 | 82.6 | 30.3 | 34.4 | 3.4 | 21.6 | 21.5 | — | |
| AdaptSegNetArch.=AT2020.08 | 42.4 | 86.5 | 36 | 79.9 | 23.4 | 23.3 | 23.9 | 35.2 | 14.8 | 83.4 | 33.3 | 75.6 | 58.5 | 27.6 | 73.7 | 32.5 | 35.4 | 3.9 | 30.1 | 28.1 | — | |
| AdaptSegNetReference=[Tsai et al., 2018]2020.03 | 42.4 | 86.5 | 36 | 79.9 | 23.4 | 23.3 | 23.9 | 35.2 | 14.8 | 83.4 | 33.3 | 75.6 | 58.5 | 27.6 | 73.7 | 32.5 | 35.4 | 3.9 | 30.1 | 28.1 | — | |
| ULDADomain Adaptation=Zero-shot, Source=GTA52026.07 | 41.73 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ULDAZero-shot=true2026.07 | 41.73 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PØDADomain Adaptation=Zero-shot, Source=GTA52026.07 | 40.02 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PØDAZero-shot=true2026.07 | 40.02 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SourceSetup=Group 4 Baseline2020.03 | 37.2 | 51.1 | 18.3 | 75.8 | 18.8 | 16.8 | 34.7 | 36.3 | 27.2 | 80 | 23.3 | 64.9 | 59.2 | 19.3 | 74.6 | 26.7 | 13.8 | 0.1 | 32.4 | 34 | — | |
| SourceArch.=AT2020.08 | 36.6 | 75.8 | 16.8 | 77.2 | 12.5 | 21 | 25.5 | 30.1 | 20.1 | 81.3 | 24.6 | 70.3 | 53.8 | 26.4 | 49.9 | 17.2 | 25.9 | 6.5 | 25.3 | 36 | — | |
| SourceSetup=Group 1 Baseline2020.03 | 36.6 | 75.8 | 16.8 | 77.2 | 12.5 | 21 | 25.5 | 30.1 | 20.1 | 81.3 | 24.6 | 70.3 | 53.8 | 26.4 | 49.9 | 17.2 | 25.9 | 6.5 | 25.3 | 36 | — | |
| Source-onlyDomain Adaptation=Zero-shot, Source=GTA52026.07 | 36.38 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Source-onlyZero-shot=true2026.07 | 36.38 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Source(ours)Arch.=A&S2020.08 | 35.6 | 64.8 | 21.7 | 74.3 | 15.4 | 21.2 | 18.2 | 30.7 | 13 | 80.9 | 33.7 | 76.3 | 55.6 | 20 | 43.9 | 27 | 35.5 | 4.4 | 24.9 | 14.3 | — | |
| SourceArch.=ST2020.08 | 33.8 | 71.3 | 19.2 | 69.1 | 18.4 | 10 | 35.7 | 27.3 | 6.8 | 79.6 | 24.8 | 72.1 | 57.6 | 19.5 | 55.5 | 15.5 | 15.1 | 11.7 | 21.1 | 12 | — | |
| SourceSetup=Group 3 Baseline2020.03 | 33.8 | 71.3 | 19.2 | 69.1 | 18.4 | 10 | 35.7 | 27.3 | 6.8 | 79.6 | 24.8 | 72.1 | 57.6 | 19.5 | 55.5 | 15.5 | 15.1 | 11.7 | 21.1 | 12 | — | |
| CLIPstylerDomain Adaptation=Zero-shot, Source=GTA52026.07 | 32.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CLIPstylerZero-shot=true2026.07 | 32.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SourceSetup=Group 2 Baseline2020.03 | 29.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |