{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/ad-pt-autonomous-driving-pre-training-with-1","title":"AD-PT: Autonomous Driving Pre-Training with Large-scale Point Cloud Dataset","arxiv_id":"2306.00612","date":"2023-06-01","proceeding":"NeurIPS 2023 11","authors":["Jiakang Yuan","Bo Zhang","Xiangchao Yan","Tao Chen","Botian Shi","Yikang Li","Yu Qiao"],"abstract":"It is a long-term vision for Autonomous Driving (AD) community that the perception models can learn from a large-scale point cloud dataset, to obtain unified representations that can achieve promising results on different tasks or benchmarks. Previous works mainly focus on the self-supervised pre-training pipeline, meaning that they perform the pre-training and fine-tuning on the same benchmark, which is difficult to attain the performance scalability and cross-dataset application for the pre-training checkpoint. In this paper, for the first time, we are committed to building a large-scale pre-training point-cloud dataset with diverse data distribution, and meanwhile learning generalizable representations from such a diverse pre-training dataset. We formulate the point-cloud pre-training task as a semi-supervised problem, which leverages the few-shot labeled and massive unlabeled point-cloud data to generate the unified backbone representations that can be directly applied to many baseline models and benchmarks, decoupling the AD-related pre-training process and downstream fine-tuning task. During the period of backbone pre-training, by enhancing the scene- and instance-level distribution diversity and exploiting the backbone's ability to learn from unknown instances, we achieve significant performance gains on a series of downstream perception benchmarks including Waymo, nuScenes, and KITTI, under different baseline models like PV-RCNN++, SECOND, CenterPoint.","url_abs":"https://arxiv.org/abs/2306.00612v3","url_pdf":"https://arxiv.org/pdf/2306.00612v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"ad-pt-autonomous-driving-pre-training-with-1","repo_url":"https://github.com/pjlab-adg/3dtrans","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"Apache-2.0"}}],"tasks":[{"task_slug":"autonomous-driving","task_name":"Autonomous Driving"},{"task_slug":"point-cloud-pre-training","task_name":"Point Cloud Pre-training"}],"methods":[{"method_slug":"focus","method_name":"Focus"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2306.00612","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2306.00612"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. 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