Embodiments described herein provide an approach (referred to as “Co-training” mechanism throughout this disclosure) that jointly learns two representations of the training data, their class probabilities and low-dimensional embeddings. Specifically, two representations of each image sample are generated: a class probability produced by the classification head and a low-dimensional embedding produced by the projection head. The classification head is trained using memory-smoothed pseudo-labels, where pseudo-labels are smoothed by aggregating information from nearby samples in the embedding space. The projection head is trained using contrastive learning on a pseudo-label graph, where samples with similar pseudo-labels are encouraged to have similar embeddings.