A method for generating a neural network for detecting one or more objects in images includes generating one or more self-supervised proposal learning losses based on the one or more proposal features and corresponding proposal feature predictions. One or more consistency-based proposal learning losses are generated based on noisy proposal feature predictions and the corresponding proposal predictions without noise. A combined loss is generated using the one or more self-supervised proposal learning losses and one or more consistency-based proposal learning losses. The neural network is updated based on the combined loss.