MuSCLE: Multi Sweep Compression of LiDAR using Deep Entropy Models
Why this work is in the frame
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Bibliographic record
Abstract
We present a novel compression algorithm for reducing the storage of LiDAR sensor data streams. Our model exploits spatio-temporal relationships across multiple LiDAR sweeps to reduce the bitrate of both geometry and intensity values. Towards this goal, we propose a novel conditional entropy model that models the probabilities of the octree symbols by considering both coarse level geometry and previous sweeps' geometric and intensity information. We then use the learned probability to encode the full data stream into a compact one. Our experiments demonstrate that our method significantly reduces the joint geometry and intensity bitrate over prior state-of-the-art LiDAR compression methods, with a reduction of 7-17% and 15-35% on the UrbanCity and SemanticKITTI datasets respectively.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it