{"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/mixcycle-mixup-assisted-semi-supervised-3d","title":"MixCycle: Mixup Assisted Semi-Supervised 3D Single Object Tracking with Cycle Consistency","arxiv_id":"2303.09219","date":"2023-03-16","proceeding":"ICCV 2023 1","authors":["Qiao Wu","Jiaqi Yang","Kun Sun","Chu'ai Zhang","Yanning Zhang","Mathieu Salzmann"],"abstract":"3D single object tracking (SOT) is an indispensable part of automated driving. Existing approaches rely heavily on large, densely labeled datasets. However, annotating point clouds is both costly and time-consuming. Inspired by the great success of cycle tracking in unsupervised 2D SOT, we introduce the first semi-supervised approach to 3D SOT. Specifically, we introduce two cycle-consistency strategies for supervision: 1) Self tracking cycles, which leverage labels to help the model converge better in the early stages of training; 2) forward-backward cycles, which strengthen the tracker's robustness to motion variations and the template noise caused by the template update strategy. Furthermore, we propose a data augmentation strategy named SOTMixup to improve the tracker's robustness to point cloud diversity. SOTMixup generates training samples by sampling points in two point clouds with a mixing rate and assigns a reasonable loss weight for training according to the mixing rate. The resulting MixCycle approach generalizes to appearance matching-based trackers. On the KITTI benchmark, based on the P2B tracker, MixCycle trained with $\\textbf{10\\%}$ labels outperforms P2B trained with $\\textbf{100\\%}$ labels, and achieves a $\\textbf{28.4\\%}$ precision improvement when using $\\textbf{1\\%}$ labels. Our code will be released at \\url{https://github.com/Mumuqiao/MixCycle}.","url_abs":"https://arxiv.org/abs/2303.09219v2","url_pdf":"https://arxiv.org/pdf/2303.09219v2.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":"mixcycle-mixup-assisted-semi-supervised-3d","repo_url":"https://github.com/mumuqiao/mixcycle","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[{"task_slug":"3d-single-object-tracking","task_name":"3D Single Object Tracking"},{"task_slug":"data-augmentation","task_name":"Data Augmentation"},{"task_slug":"object-tracking","task_name":"Object Tracking"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2303.09219","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2303.09219"}},"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. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"deterministic:regex_extraction","url":"https://github.com/Mumuqiao/MixCycle","reach":{"status":"ok","spdx":"MIT"}}],"summary":{"unverified":1},"by_repo_kind":{"official":{"samples":1,"ran":0,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"e9a48d30d91ffb7f","entry":"lood_pickle","repo":"Mumuqiao/MixCycle","repo_kind":"official","path":"datasets/generate_waymo_sot.py","file_url":"https://github.com/Mumuqiao/MixCycle/blob/HEAD/datasets/generate_waymo_sot.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"e9a48d30d91ffb7f"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}