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.  ...