Collaborative Learning for Semi-Supervised LiDAR Semantic Segmentation

摘要

Annotating large-scale LiDAR point clouds for 3D semantic segmentation is costly and time-consuming, which motivates the use of semi-supervised learning (SemiSL). Standard LiDAR SemiSL methods typically adopt a two-step training paradigm, where pseudo-labels are separately generated from a single distillation source, either from the same or an another LiDAR representation. Such supervision relies on a unique source of pseudo-labels, which can reinforce confirmation bias and propagate errors during training, ultimately limiting performance. To address this challenge, We introduce *CoLLiS*, a novel framework that leverages **Co**llaborative **L**earning for **Li**DAR **S**emi-supervised segmentation. Unlike prior paradigms with decoupled pseudo-labeling and training phases, *CoLLiS* trains multiple representations collaboratively in a single step by treating them as coequal students. Each student is adaptively distilled from multiple representations, while inter-student disparities are monitored online to resolve contradictory supervision and effectively mitigate confirmation bias. Extensive experiments on three datasets demonstrate that *CoLLiS* consistently outperforms state-of-the-art LiDAR SemiSL methods, with particularly strong gains in low-label regimes. The code will be released upon acceptance.