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However, current approaches typically treat VFMs as black-box teachers, relying exclusively on frame-wise feature similarity. Consequently, they do not fully exploit the teacher's layer-wise semantic structure and global context, as well as the rich spatiotemporal information inherent in LiDAR sequences. We propose HilDA, a self-supervised pretraining framework for LiDAR backbones that better captures the semantic what and geometric where needed for driving tasks. HilDA combines hierarchical distillation comprising multi-layer distillation for progressive semantic alignment and global context distillation for scene-level semantics, with a temporal occupancy diffusion objective pr","title":"HilDA: Hierarchical Distillation with Diffusion for Advancing Self-Supervised LiDAR Pre-training","url":"https://arxiv.org/abs/2606.20189","vendor":"arxiv_cs_ai"},"summary":"arXiv:2606.20189v3 Announce Type: replace-cross \nAbstract: Leveraging Vision Foundation Models (VFMs) for camera-to-LiDAR knowledge distillation offers a promising solution to the scarcity of annotated data needed to represent the immense geometric and kinematic diversity of real-world autonomous driving (AD). However, current approaches typically treat VFMs as black-box teachers, relying exclusively on frame-wise feature similarity. Consequently, they do not fully exploit the teacher's layer-wise semantic structure and global context, as well as the rich spatiotemporal information inherent in LiDAR sequences. We propose HilDA, a self-supervised pretraining framework for LiDAR backbones that better captures the semantic what and geometric where needed for driving tasks. HilDA combines hierarchical distillation comprising multi-layer distillation for progressive semantic alignment and global context distillation for scene-level semantics, with a temporal occupancy diffusion objective pr","title":"HilDA: Hierarchical Distillation with Diffusion for Advancing Self-Supervised LiDAR Pre-training","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-06-24T04:43:17Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2606.20189"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:c7f1c52918bbbf54ae3a474e3faa5a20654a4763c6e59b79745fd30305bf88baba5c0c461c448e95319ed1a064bb980d34771e6102a638d02f0b4fc10921850c","signer":"crovia.substrate","subject":{"observed_at":"2026-06-24T04:43:17Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2606.20189"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"4bca60e77a52748d349fe132f776038a61e5c6074f9a3eef557c50848d7f6209","leaf_index":244701,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"0d8e609d470c8e08c16df2d1b9d2ae2df6129b11d1d947c1da0448f5515b3117","side":"left"},{"sibling":"8ef00185e0a04c639b76afa68686d000c840455c482fbd993a1a0cbd24b2bad6","side":"right"},{"sibling":"6bcdb9c5bfa1f263ffd74bb8cf2fdea0387dd907782ecba63d5182f2257b2f3e","side":"left"},{"sibling":"f2f3dc3ab9177d03ecb657447b1f63bc3400aadf263b45d0839c232aadfefc07","side":"left"},{"sibling":"53ce8c63e6ec2ac31fa111c90d89a8956f2db13d788b7a45537763f165d2eb6b","side":"left"},{"sibling":"7a711443f4c957277ce934d7ccc6397ff7b98a9cea608f5a632b0b61a56e85c6","side":"right"},{"sibling":"f9b1fe33b7dba934e275700d56e19a00cdd926dd2e99d161657f4d244c435d9f","side":"left"},{"sibling":"6a0452a49c95630662e0ea8383207f49cc3a62727b575152a766fcfccfdc3998","side":"left"},{"sibling":"0fa23771b702ff726ed1fc5a44f9b416b2a7861c2f957fcac2d95392276d4784","side":"left"},{"sibling":"bc74ebb08462da8a50fc65ea75f8a8a3418d10ebd471d830f1c67f33dd54dfd1","side":"left"},{"sibling":"6dafd355e5d54c60e61c6c02d3842984e234b1f5bca1623fcdd3def7b8931973","side":"right"},{"sibling":"3107b9d4dbf9456a39f99de694a4dd4da2c0600f9f8855f125161335fe8810af","side":"left"},{"sibling":"86118ab4500c3055a2af70062751a960423c464405b18ca1c37411bf0ce3f52e","side":"left"},{"sibling":"3a42039065acac6d3e4088ec61d9c116ecf7a26c7b7163d23da8fd0b3362e038","side":"left"},{"sibling":"c044f2bd864a0e8e8af5a7f6e3124def7fc4b4511b2b166ea8f9de321e8d385e","side":"right"},{"sibling":"a04392fb9f2a3a620840e3b3fecd93d12e6d224e481c162389d8ae64e7194599","side":"left"},{"sibling":"c300cf0154c136afc09b1702a0be98f4ba5b6dc5cf57e8cc714ec1eaf4196eff","side":"left"},{"sibling":"d841ad93efda0869e5eb97678f348f03f5caab4353e05ff4bf18f47fb945b822","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":244827,"merkle_root":"274e133c6dfa2781a9cfb85337d01cc6b72688ce5e810149f3183e400ffab136","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260624T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-06-24T05:37:55Z","sig_algorithm":"ed25519","signature":"22ca3cee4de2447b3d281e30e09fe566461996bb7be4d4465f08a3f4cf59cea58f22683a4aa10ef4d5d17a19b03f4212392bfd26f2b51f289f0cdf1042a03800","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_c2a8eb6a148cc284b9a9dd6ee9f53f34c3c347e4c857575cb14ae5916ea0cf16"}}