# DODA: Data-oriented Sim-to-Real Domain Adaptation for 3D Semantic Segmentation

arXiv: https://arxiv.org/abs/2204.01599 · HTML: https://mlsanity.com/paper/2204.01599/

## Key facts

- Cited by 13 papers in the map (data through 14 Oct 2026).
- Builds on 59 of its 75 references that are in the map.
- First posted on arXiv 4 Apr 2022.

## Builds on (most cited first, 30 of 59)

- [Explaining and Harnessing Adversarial Examples](https://mlsanity.com/paper/1412.6572/) (2014)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [CutMix: Regularization Strategy to Train Strong Classifiers with Localizable Features](https://mlsanity.com/paper/1905.04899/) (2019)
- [Dynamic Graph CNN for Learning on Point Clouds](https://mlsanity.com/paper/1801.07829/) (2018)
- [Unsupervised Domain Adaptation by Backpropagation](https://mlsanity.com/paper/1409.7495/) (2014)
- [Learning Transferable Features with Deep Adaptation Networks](https://mlsanity.com/paper/1502.02791/) (2015)
- [Self-training with Noisy Student improves ImageNet classification](https://mlsanity.com/paper/1911.04252/) (2019)
- [4D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networks](https://mlsanity.com/paper/1904.08755/) (2019)
- [KPConv: Flexible and Deformable Convolution for Point Clouds](https://mlsanity.com/paper/1904.08889/) (2019)
- [CyCADA: Cycle-Consistent Adversarial Domain Adaptation](https://mlsanity.com/paper/1711.03213/) (2017)
- [PointCNN: Convolution On X-Transformed Points](https://mlsanity.com/paper/1801.07791/) (2018)
- [3D Semantic Segmentation with Submanifold Sparse Convolutional Networks](https://mlsanity.com/paper/1711.10275/) (2017)
- [Maximum Classifier Discrepancy for Unsupervised Domain Adaptation](https://mlsanity.com/paper/1712.02560/) (2017)
- [PointConv: Deep Convolutional Networks on 3D Point Clouds](https://mlsanity.com/paper/1811.07246/) (2018)
- [ADVENT: Adversarial Entropy Minimization for Domain Adaptation in Semantic Segmentation](https://mlsanity.com/paper/1811.12833/) (2018)
- [Deep Transfer Learning with Joint Adaptation Networks](https://mlsanity.com/paper/1605.06636/) (2016)
- [Simple Copy-Paste is a Strong Data Augmentation Method for Instance Segmentation](https://mlsanity.com/paper/2012.07177/) (2020)
- [RandLA-Net: Efficient Semantic Segmentation of Large-Scale Point Clouds](https://mlsanity.com/paper/1911.11236/) (2019)
- [Learning to Adapt Structured Output Space for Semantic Segmentation](https://mlsanity.com/paper/1802.10349/) (2018)
- [Semantic Scene Completion from a Single Depth Image](https://mlsanity.com/paper/1611.08974/) (2016)
- [Large-scale Point Cloud Semantic Segmentation with Superpoint Graphs](https://mlsanity.com/paper/1711.09869/) (2017)
- [3D-FRONT: 3D Furnished Rooms with layOuts and semaNTics](https://mlsanity.com/paper/2011.09127/) (2020)
- [3D-FUTURE: 3D Furniture shape with TextURE](https://mlsanity.com/paper/2009.09633/) (2020)
- [Dynamic Edge-Conditioned Filters in Convolutional Neural Networks on Graphs](https://mlsanity.com/paper/1704.02901/) (2017)
- [Unbiased Teacher for Semi-Supervised Object Detection](https://mlsanity.com/paper/2102.09480/) (2021)
- [Structured3D: A Large Photo-realistic Dataset for Structured 3D Modeling](https://mlsanity.com/paper/1908.00222/) (2019)
- [Strong-Weak Distribution Alignment for Adaptive Object Detection](https://mlsanity.com/paper/1812.04798/) (2018)
- [FCNs in the Wild: Pixel-level Adversarial and Constraint-based Adaptation](https://mlsanity.com/paper/1612.02649/) (2016)

## Built on by (most cited first, 13 of 13)

- [3D Vision and Language Pretraining with Large-Scale Synthetic Data](https://mlsanity.com/paper/2407.06084/) (2024)
- [DG-PIC: Domain Generalized Point-In-Context Learning for Point Cloud Understanding](https://mlsanity.com/paper/2407.08801/) (2024)
- [Recent Advances in Multi-modal 3D Intelligence: A Comprehensive Survey and Evaluation](https://mlsanity.com/paper/2310.15676/) (2023)
- [Can 3D Vision-Language Models Truly Understand Natural Language?](https://mlsanity.com/paper/2403.14760/) (2024)
- [Annotator: A Generic Active Learning Baseline for LiDAR Semantic Segmentation](https://mlsanity.com/paper/2310.20293/) (2023)
- [AugRefer: Advancing 3D Visual Grounding via Cross-Modal Augmentation and Spatial Relation-based Referring](https://mlsanity.com/paper/2501.09428/) (2025)
- [Synthetic-to-Real Domain Generalized Semantic Segmentation for 3D Indoor Point Clouds](https://mlsanity.com/paper/2212.04668/) (2022)
- [GeoAdapt: Self-Supervised Test-Time Adaptation in LiDAR Place Recognition Using Geometric Priors](https://mlsanity.com/paper/2308.04638/) (2023)
- [Cross-modal & Cross-domain Learning for Unsupervised LiDAR Semantic Segmentation](https://mlsanity.com/paper/2308.02883/) (2023)
- [Investigating Domain Gaps for Indoor 3D Object Detection](https://mlsanity.com/paper/2508.17439/) (2025)
- [Generalized Robot 3D Vision-Language Model with Fast Rendering and Pre-Training Vision-Language Alignment](https://mlsanity.com/paper/2312.00663/) (2023)
- [Deep Polycuboid Fitting for Compact 3D Representation of Indoor Scenes](https://mlsanity.com/paper/2503.14912/) (2025)
- [CVKD-UDA: Cross-View Knowledge Distillation for 3D Unsupervised Domain Adaptive Segmentation](https://mlsanity.com/paper/2607.10087/) (2026)

## Abstract (arXiv)

Deep learning approaches achieve prominent success in 3D semantic segmentation. However, collecting densely annotated real-world 3D datasets is extremely time-consuming and expensive. Training models on synthetic data and generalizing on real-world scenarios becomes an appealing alternative, but unfortunately suffers from notorious domain shifts. In this work, we propose a Data-Oriented Domain Adaptation (DODA) framework to mitigate pattern and context gaps caused by different sensing mechanisms and layout placements across domains. Our DODA encompasses virtual scan simulation to imitate real-world point cloud patterns and tail-aware cuboid mixing to alleviate the interior context gap with a cuboid-based intermediate domain. The first unsupervised sim-to-real adaptation benchmark on 3D indoor semantic segmentation is also built on 3D-FRONT, ScanNet and S3DIS along with 7 popular Unsupervised Domain Adaptation (UDA) methods. Our DODA surpasses existing UDA approaches by over 13% on both 3D-FRONT -> ScanNet and 3D-FRONT -> S3DIS. Code is available at https://github.com/CVMI-Lab/DODA.