# Hierarchical Supervision and Shuffle Data Augmentation for 3D Semi-Supervised Object Detection

arXiv: https://arxiv.org/abs/2304.01464 · HTML: https://mlsanity.com/paper/2304.01464/

## Key facts

- Cited by 24 papers in the map (data through 14 Oct 2026).
- Placed in Detection and dense prediction distillation, one of 12 directions in Knowledge distillation.
- Builds on 49 of its 58 references that are in the map.
- First posted on arXiv 4 Apr 2023.

## Placed in

- Knowledge distillation / [Detection and dense prediction distillation](https://mlsanity.com/distill/detection-and-dense-prediction-distillation/)

## Builds on (most cited first, 30 of 49)

- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [mixup: Beyond Empirical Risk Minimization](https://mlsanity.com/paper/1710.09412/) (2017)
- [SGDR: Stochastic Gradient Descent with Warm Restarts](https://mlsanity.com/paper/1608.03983/) (2016)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [FixMatch: Simplifying Semi-Supervised Learning with Consistency and Confidence](https://mlsanity.com/paper/2001.07685/) (2020)
- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [YOLOv4: Optimal Speed and Accuracy of Object Detection](https://mlsanity.com/paper/2004.10934/) (2020)
- [Improved Regularization of Convolutional Neural Networks with Cutout](https://mlsanity.com/paper/1708.04552/) (2017)
- [MixMatch: A Holistic Approach to Semi-Supervised Learning](https://mlsanity.com/paper/1905.02249/) (2019)
- [VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detection](https://mlsanity.com/paper/1711.06396/) (2017)
- [Self-training with Noisy Student improves ImageNet classification](https://mlsanity.com/paper/1911.04252/) (2019)
- [Unsupervised Data Augmentation for Consistency Training](https://mlsanity.com/paper/1904.12848/) (2019)
- [PointRCNN: 3D Object Proposal Generation and Detection from Point Cloud](https://mlsanity.com/paper/1812.04244/) (2018)
- [Virtual Adversarial Training: A Regularization Method for Supervised and Semi-Supervised Learning](https://mlsanity.com/paper/1704.03976/) (2017)
- [PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection](https://mlsanity.com/paper/1912.13192/) (2019)
- [Deep Hough Voting for 3D Object Detection in Point Clouds](https://mlsanity.com/paper/1904.09664/) (2019)
- [Pseudo-Labeling and Confirmation Bias in Deep Semi-Supervised Learning](https://mlsanity.com/paper/1908.02983/) (2019)
- [3DSSD: Point-based 3D Single Stage Object Detector](https://mlsanity.com/paper/2002.10187/) (2020)
- [Voxel R-CNN: Towards High Performance Voxel-based 3D Object Detection](https://mlsanity.com/paper/2012.15712/) (2020)
- [Point-GNN: Graph Neural Network for 3D Object Detection in a Point Cloud](https://mlsanity.com/paper/2003.01251/) (2020)
- [End-to-End Semi-Supervised Object Detection with Soft Teacher](https://mlsanity.com/paper/2106.09018/) (2021)
- [Label Propagation for Deep Semi-supervised Learning](https://mlsanity.com/paper/1904.04717/) (2019)
- [STD: Sparse-to-Dense 3D Object Detector for Point Cloud](https://mlsanity.com/paper/1907.10471/) (2019)
- [A Simple Semi-Supervised Learning Framework for Object Detection](https://mlsanity.com/paper/2005.04757/) (2020)
- [Voxel Transformer for 3D Object Detection](https://mlsanity.com/paper/2109.02497/) (2021)
- [PV-RCNN++: Point-Voxel Feature Set Abstraction With Local Vector Representation for 3D Object Detection](https://mlsanity.com/paper/2102.00463/) (2021)
- [Not All Points Are Equal: Learning Highly Efficient Point-based Detectors for 3D LiDAR Point Clouds](https://mlsanity.com/paper/2203.11139/) (2022)
- [Mix3D: Out-of-Context Data Augmentation for 3D Scenes](https://mlsanity.com/paper/2110.02210/) (2021)

## Built on by (most cited first, 24 of 24)

- [Multi-Modal Data-Efficient 3D Scene Understanding for Autonomous Driving](https://mlsanity.com/paper/2405.05258/) (2024)
- [Advancements in Point Cloud Data Augmentation for Deep Learning: A Survey](https://mlsanity.com/paper/2308.12113/) (2023)
- [A Survey of Label-Efficient Deep Learning for 3D Point Clouds](https://mlsanity.com/paper/2305.19812/) (2023)
- [Doubly Robust Self-Training](https://mlsanity.com/paper/2306.00265/) (2023)
- [Generalized Few-shot 3D Point Cloud Segmentation with Vision-Language Model](https://mlsanity.com/paper/2503.16282/) (2025)
- [MixSup: Mixed-grained Supervision for Label-efficient LiDAR-based 3D Object Detection](https://mlsanity.com/paper/2401.16305/) (2024)
- [Diff3DETR:Agent-based Diffusion Model for Semi-supervised 3D Object Detection](https://mlsanity.com/paper/2408.00286/) (2024)
- [Learning to Detect Objects from Multi-Agent LiDAR Scans without Manual Labels](https://mlsanity.com/paper/2503.08421/) (2025)
- [SP3D: Boosting Sparsely-Supervised 3D Object Detection via Accurate Cross-Modal Semantic Prompts](https://mlsanity.com/paper/2503.06467/) (2025)
- [LiDAR Remote Sensing Meets Weak Supervision: Concepts, Methods, and Perspectives](https://mlsanity.com/paper/2503.18384/) (2025)
- [Label-Efficient 3D Object Detection For Road-Side Units](https://mlsanity.com/paper/2404.06256/) (2024)
- [Are Dense Labels Always Necessary for 3D Object Detection from Point Cloud?](https://mlsanity.com/paper/2403.02818/) (2024)
- [Instance Consistency Regularization for Semi-Supervised 3D Instance Segmentation](https://mlsanity.com/paper/2406.16776/) (2024)
- [Exploring Scene Affinity for Semi-Supervised LiDAR Semantic Segmentation](https://mlsanity.com/paper/2408.11280/) (2024)
- [EffiPerception: an Efficient Framework for Various Perception Tasks](https://mlsanity.com/paper/2403.12317/) (2024)
- [SSF3D: Strict Semi-Supervised 3D Object Detection with Switching Filter](https://mlsanity.com/paper/2403.17390/) (2024)
- [SADA: Safe and Adaptive Aggregation of Multiple Black-Box Predictions in Semi-Supervised Learning](https://mlsanity.com/paper/2509.21707/) (2025)
- [GeoTeacher: Geometry-Guided Semi-Supervised 3D Object Detection](https://mlsanity.com/paper/2512.23147/) (2025)
- [Power of Cooperative Supervision: Multiple Teachers Framework for Enhanced 3D Semi-Supervised Object Detection](https://mlsanity.com/paper/2405.20720/) (2024)
- [TrajSSL: Trajectory-Enhanced Semi-Supervised 3D Object Detection](https://mlsanity.com/paper/2409.10901/) (2024)
- [Decoupled Competitive Framework for Semi-supervised Medical Image Segmentation](https://mlsanity.com/paper/2505.24667/) (2025)
- [Transferable Class Statistics and Multi-scale Feature Approximation for 3D Object Detection](https://mlsanity.com/paper/2508.11951/) (2025)
- [Learning Adaptive Pseudo-Label Selection for Semi-Supervised 3D Object Detection](https://mlsanity.com/paper/2509.23880/) (2025)
- [LetOccVote: Learning Weakly Supervised 3D Occupancy through Consensus](https://mlsanity.com/paper/2609.04846/) (2026)

## Abstract (arXiv)

State-of-the-art 3D object detectors are usually trained on large-scale datasets with high-quality 3D annotations. However, such 3D annotations are often expensive and time-consuming, which may not be practical for real applications. A natural remedy is to adopt semi-supervised learning (SSL) by leveraging a limited amount of labeled samples and abundant unlabeled samples. Current pseudolabeling-based SSL object detection methods mainly adopt a teacher-student framework, with a single fixed threshold strategy to generate supervision signals, which inevitably brings confused supervision when guiding the student network training. Besides, the data augmentation of the point cloud in the typical teacher-student framework is too weak, and only contains basic down sampling and flip-and-shift (i.e., rotate and scaling), which hinders the effective learning of feature information. Hence, we address these issues by introducing a novel approach of Hierarchical Supervision and Shuffle Data Augmentation (HSSDA), which is a simple yet effective teacher-student framework. The teacher network generates more reasonable supervision for the student network by designing a dynamic dual-threshold strategy. Besides, the shuffle data augmentation strategy is designed to strengthen the feature representation ability of the student network. Extensive experiments show that HSSDA consistently outperforms the recent state-of-the-art methods on different datasets. The code will be released at https://github.com/azhuantou/HSSDA.