e4a6222cdb5b34375400904f03d8e6a5-Supplemental.pdf

The split of training, validation and test sets follows the settings of the previous method[10]. The inputpointcloudconsists of2048pointsrepresented bytheirEuclidean coordinates sampled from a normalized object, and the indexes of keypoints are given. The learning rate is set to1 10 3 andhalvedevery10epochs. Wesetthetargetvarianceσ2t to4,thelossweight ofvariance regularization to1, and the loss weight of distributions regularization to0.01 to achieve the best results after tuning. Wesetthetargetvarianceσ2t to4,thelossweightofvariance regularization to1, and the loss weight of distributions regularization to0.01 to achieve the best results after tuning.