Evaluation results of the scene flow estimates in the KITTI dataset. `↑' represents larger values as better and `↓' represents smaller values as better. $W_{gan}$ represents the weight coefficient of the GAN loss function. `Full' represents the model with supervised learning on the FlyingThings3D. `Self + Full ft' represents the model with Self-supervised learning on the FlyingThings3D and then with supervised fine-tuning on the KITTI dataset. `Self + Self ft' represents the model with self-supervised training on the FlyingThings3D and then with self-supervised fine-tuning on the KITTI dataset.