Adaptive Augmentation-Aware Latent Learning for Robust LiDAR Semantic Segmentation

ICLR 2026 Conference Submission16762 Authors

Keywords: LiDAR Semantic Segmentation, Autonomous Driving, Robust Learning for Adverse Weather, Data Augmentation, Domain Generalization

Abstract:

Adverse weather conditions significantly degrade the performance of LiDAR point cloud semantic segmentation networks by introducing large distribution shifts.
Existing augmentation-based methods attempt to enhance robustness by simulating weather interference during training.
However, they struggle to fully exploit the potential of augmentations due to the trade-off between minor and aggressive augmentations.
To address this, we propose A3Point, an adaptive augmentation-aware latent learning framework that effectively utilizes a diverse range of augmentations while mitigating the semantic shift, which refers to the change in the semantic meaning caused by augmentations.
A3Point consists of two key components:
semantic confusion prior (SCP) latent learning, which captures the model's inherent semantic confusion information, and semantic shift region (SSR) localization, which
decouples semantic confusion and semantic shift, enabling adaptive optimization strategies for different disturbance levels.
Extensive experiments on multiple standard generalized LiDAR segmentation benchmarks under adverse weather demonstrate the effectiveness of our method, setting new state-of-the-art results. The code will be released.

Primary Area: applications to computer vision, audio, language, and other modalities

Submission Number: 16762