Table 5. Results on Cityscapes, using models trained on SIM10K (from SIM10K to Cityscapes) (%).

Method	img	ins	CTX	L	mimg	mins	mcons	Car AP
Faster R-CNN(baseline)								34.3
DA Model [9]	✓	✓						39.4
SW-DA [10]	✓		✓	✓				40.1
SW-DA(γ = 3) [10]	✓		✓					42.3
SC-DA(Type3) [11]								43.0
SLNO-S1(ours)	✓	✓			✓			41.3
SLNO-S2(ours)	✓	✓				✓		41.6
SLNO-S3(ours)	✓	✓			✓	✓		42.4
SLNO-S4(ours)	✓	✓			✓	✓	✓	42.7
SLNO(λ = 0.15)(ours)	✓	✓			✓	✓	✓	43.0