A computer-implemented method includes obtaining a labeled data set of images including data from a rehearsal memory and new input data, augmenting the labeled data set to generate a first data set and a second data set, wherein each image of the first data set corresponds to a corresponding image of the second data set, inputting the first data set into a query encoder and inputting the second data set into a momentum encoder to obtain encodings output by the query encoder and the momentum encoder, obtaining a contrastive loss based on the encodings using a sum of a first contrastive loss function and a second contrastive loss function, updating parameters of the query encoder based on the obtained contrastive loss, and updating parameters of the momentum encoder based on parameters of the query encoder.