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Self-supervised learning (SSL), which leverages unlabeled data only for representation learning, might be a promising way to improve model performance. ... Experiments show that, when pre-trained on Waymo dataset, our method called Multi-instance Siamese Network (MultiSiam) remarkably improves generalization ability and achieves state-of-the-art transfer ... Visualization Conclusion This paper explores self-supervised learning in multiinstance autonomous driving circumstances. ...arXiv:2108.12178v1 fatcat:ftjh6j4nb5eh5esphbxrgikfme