Table 6. Results with different loss function on Cityscapes, using models trained on SIM10K (%).

Method	L multi-img	L multi-ins	L multi-cst	Car AP
Faster R-CNN(baseline)				34.3
DA Model [9]				39.4
SLNO-S5(ours)				41.5
SLNO-S6(ours)	✓			41.8
SLNO-S7(ours)		✓		42.2
SLNO-S8(ours)	✓	✓		42.6
SLNO-S9(ours)	✓	✓	✓	42.7
SLNO(λ = 0.15)(ours)	✓	✓	✓	43.0