Generating a machine learning model that is trained using retrospective loss is described. A retrospective loss system receives an untrained machine learning model and a task for training the model. The retrospective loss system initially trains the model over warm-up iterations using task-specific loss that is determined based on a difference between predictions output by the model during training on input data and a ground truth dataset for the input data. Following the warm-up training iterations, the retrospective loss system continues to train the model using retrospective loss, which is model-agnostic and constrains the model such that a subsequently output prediction is more similar to the ground truth dataset than the previously output prediction. After determining that the model's outputs are within a threshold similarity to the ground truth dataset, the model is output with its current parameters as a trained model.
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