A Discussions

We provide comprehensive supplementary materials for better understanding of our paper and show more evidence to support our idea. The appendices are organized as follows: Sec. A first provides some discussions for certain points. Then we further provide detailed experiment settings, results, analysis and visualizations in Sec. B. Finally, we show details for STL-C and ConceptFactory asset in Sec. C. A.1 Purpose behind ConceptFactory In this paper, we present the idea of ConceptFactory to facilitate more efficient annotation of 3D object knowledge by recognizing 3D objects through generalized concepts. We would like to emphasize that our purpose mainly focuses on providing an advanced practice in annotation collection.