Toward Robust LiDAR Semantic Segmentation for Real-World Deployment: Evaluation under Coarse Labels, Adverse Conditions, and Domain Shifts

LiDAR-based semantic segmentation is a core perception module for autonomous vehicles and mobile robots. Despite the strong performance of recent state-of-the-art methods on standard benchmarks, existing evaluation protocols remain focused on clean, single-domain settings and fine-grained label taxo...