Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for performing training of a neural network that is configured to process a network input comprising a point cloud to generate a network output for a point cloud processing task. The system obtains a set of labeled training examples and a set of unlabeled point clouds, generates a respective pseudo-label for each unlabeled point cloud, generates a plurality of pseudo-elements based on the respective pseudo-label for the unlabeled point cloud, generates augmented training data by augmenting the labeled training examples using the pseudo-elements generated for the unlabeled point clouds, and performing training of the neural network on the augmented training data.