point (x, y, z) and waveform ⁃ ∈ ℝ!×#, $ = $, $, $, $ , $ ∈ ℝ# ‣ K: #points, M: x, y, z and length of waveform • Output: segmentation result ⁃ ∈ ℝ!×&, $ = $,', $,(, ⋯ , $,& , $ ∈ ℝ& ‣ K: #points, C: #classes 7 Our model predict segmentation results from input points and waveforms. Input Output