Self-Supervised Learning for Domain Adaptation on Point-Clouds

Self-supervised learning (SSL) allows to learn useful representations from unlabeled data and has been applied effectively for domain adaptation (DA) on images. It is still unknown if and how it can be leveraged for domain adaptation for 3D perception. Here we describe the first study of SSL for DA on point-clouds. We introduce a new pretext task, Region Reconstruction, motivated by the deformations encountered in sim-to-real transformation. We also demonstrate how it can be combined with a training procedure motivated by the MixUp method. Evaluations on six domain adaptations across synthetic and real furniture data, demonstrate large improvement over previous work.