@inproceedings{liu2022prototype,
  title={Prototype-Voxel Contrastive Learning for LiDAR Point Cloud Panoptic Segmentation},
  author={Liu, Minzhe and Zhou, Qiang and Zhao, Hengshuang and Li, Jianing and Du, Yuan and Keutzer, Kurt and Du, Li and Zhang, Shanghang},
  booktitle={ICRA},
  year={2022}
}