Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for training a machine learning model to perform a machine learning task by processing input data to the model. For example, the input data can include image, video, or point cloud data, and the task can be a perception task such as classification or detection task. In one aspect, the method includes receiving training data including a plurality of training inputs; receiving a plurality of data augmentation policy parameters that define different transformation operations for transforming training inputs before the training inputs are used to train the machine learning model; maintaining a plurality of candidate machine learning models; for each of the plurality of candidate machine learning models: repeatedly determining an augmented batch of training data; training the candidate machine learning model using the augmented batch of the training data; and updating the maintained data.
LEARNING POINT CLOUD AUGMENTATION POLICIES