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arXiv · 2604.06825

RePL: Pseudo-label Refinement for Semi-supervised LiDAR Semantic Segmentation

Donghyeon Kwon·Taegyu Park·Suha Kwak
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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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Donghyeon Kwon, Taegyu Park, Suha Kwak. 2026-04-08. RePL: Pseudo-label Refinement for Semi-supervised LiDAR Semantic Segmentation. https://arxiv.org/abs/2604.06825

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