{"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/spatiotemporal-self-supervised-learning-for","title":"Spatiotemporal Self-supervised Learning for Point Clouds in the Wild","arxiv_id":"2303.16235","date":"2023-03-28","proceeding":"CVPR 2023 1","authors":["Yanhao Wu","Tong Zhang","Wei Ke","Sabine Süsstrunk","Mathieu Salzmann"],"abstract":"Self-supervised learning (SSL) has the potential to benefit many applications, particularly those where manually annotating data is cumbersome. One such situation is the semantic segmentation of point clouds. In this context, existing methods employ contrastive learning strategies and define positive pairs by performing various augmentation of point clusters in a single frame. As such, these methods do not exploit the temporal nature of LiDAR data. In this paper, we introduce an SSL strategy that leverages positive pairs in both the spatial and temporal domain. To this end, we design (i) a point-to-cluster learning strategy that aggregates spatial information to distinguish objects; and (ii) a cluster-to-cluster learning strategy based on unsupervised object tracking that exploits temporal correspondences. We demonstrate the benefits of our approach via extensive experiments performed by self-supervised training on two large-scale LiDAR datasets and transferring the resulting models to other point cloud segmentation benchmarks. Our results evidence that our method outperforms the state-of-the-art point cloud SSL methods.","url_abs":"https://arxiv.org/abs/2303.16235v1","url_pdf":"https://arxiv.org/pdf/2303.16235v1.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":"spatiotemporal-self-supervised-learning-for","repo_url":"https://github.com/yanhaowu/stssl","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[{"task_slug":"contrastive-learning","task_name":"Contrastive Learning"},{"task_slug":"object-tracking","task_name":"Object Tracking"},{"task_slug":"point-cloud-segmentation","task_name":"Point Cloud Segmentation"},{"task_slug":"self-supervised-learning","task_name":"Self-Supervised Learning"},{"task_slug":"semantic-segmentation","task_name":"Semantic Segmentation"}],"methods":[{"method_slug":"contrastive-learning","method_name":"Contrastive Learning"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/2303.16235","atlas_url":"https://app.syntology.ai/?focus=2303.16235","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2303.16235"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-25T09:33:49+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":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/yanhaowu/stssl","reach":{"status":"ok","spdx":"MIT"}},{"provenance":"deterministic:regex_extraction","url":"https://github.com/YanhaoWu/STSSL","reach":{"status":"ok","spdx":"MIT"}}],"summary":{"ran":1},"by_repo_kind":{"official":{"samples":1,"ran":1,"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":"61bc781f7014aac0","entry":"Byol_Pix","repo":"YanhaoWu/STSSL","repo_kind":"official","path":"models/byol_pix.py","file_url":"https://github.com/YanhaoWu/STSSL/blob/HEAD/models/byol_pix.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"61bc781f7014aac0"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}