HilDA pre-trains LiDAR backbones via multi-layer and global distillation from vision models plus temporal occupancy diffusion, yielding SOTA results on detection, flow, and occupancy tasks.
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HilDA: Hierarchical Distillation with Diffusion for Advancing Self-Supervised LiDAR Pre-training
HilDA pre-trains LiDAR backbones via multi-layer and global distillation from vision models plus temporal occupancy diffusion, yielding SOTA results on detection, flow, and occupancy tasks.