Hi! First of all, thanks for sharing this excellent work.
In the semantic-kitti.yaml configuration file, you list 34 labels, most of them (28) corresponding to the KITTI classes. The rest of them (6) are not included in the KITTI classes. Also, in your paper, you explain that you conducted an experiment with the KITTI dataset that has 28 annotated semantic classes. Where does this discrepancy come from? Did you use this class list for training the model, or you just used the KITTIs?
Thanks in advance!!