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RePL: Pseudo-label Refinement for Semi-supervised LiDAR Semantic Segmentation
arXiv:2604.06825v2 Announce Type: replace Abstract: Semi-supervised learning for LiDAR semantic segmentation often suffers from error propagation and confirmation bias caused by noisy pseudo-labels. T
arXiv:2604.06825v2 Announce Type: replace Abstract: Semi-supervised learning for LiDAR semantic segmentation often suffers from error propagation and confirmation bias caused by noisy pseudo-labels. To tackle this chronic issue, we introduce RePL, a novel framework that enhances pseudo-label quality by identifying and correcting potential errors in pseudo-labels through masked reconstruction, along with a dedicated training strategy. We also provide a theoretical analysis demonstrating the condition under which the pseudo-label refinement is beneficial, and empirically confirm that the condition is mild and clearly met by RePL. Extensive evaluations on the nuScenes-lidarseg and SemanticKITTI datasets show that RePL improves pseudo-label quality substantially, and in consequence, achieves the state of the art in semi-supervised LiDAR semantic segmentation.
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- Collaborative Learning for Semi-Supervised LiDAR Semantic Segmentation
- CW-BASS v2: Saturation-Aware Pseudo-Label Selection for Semi-Supervised Segmentation under Foundation-Model Teachers
Source: arXiv cs.CV | 2026-08-26