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The paper introduces CanDO, a test‑time canonicalization technique that restores performance of score‑only black‑box point cloud models when faced with pose shifts. CanDO searches for an input transformation that maximizes model confidence using derivative‑free optimization, requiring only forward queries. Experiments show that it recovers 76% of the oracle gap for azimuthal misorientation and 51% for arbitrary SO(3) rotations in object part segmentation tasks.
arXiv:2606. 24178v1 Announce Type: cross Abstract: Pretrained vision models often misclassify inputs that are rotated, scaled, or sheared, even though these affine transformations leave the object class unchanged.
arXiv:2603.14254v2 Announce Type: replace Abstract: Test-time adaptation (TTA) aims to improve model robustness under distribution shifts by adapting to unlabeled test data, but most existing methods...
arXiv:2608. 15260v1 Announce Type: cross Abstract: Maintaining global geometric consistency is a central challenge in long-sequence 3D reconstruction, with scale drift being the most critical failure mode.
Vision Foundation Models (VFMs) have significantly advanced dense feature matching, yet severe in-plane rotation remains a critical challenge. Existing solutions face a fundamental dilemma: data-driven methods require inefficient parameter scaling to implicitly learn rotations, whereas strictly equivariant networks lack the semantic capacity of modern VFMs.
GAPrompt++ is a multi-granular geometry-aware prompting method designed to adapt pre-trained 3D vision models to downstream tasks efficiently. It introduces a Point Shift Prompter for multi-scale geometric feature extraction, a Keypoint Prompter for local geometric saliency, and a Prompt Propagation mechanism to embed these cues throughout the model hierarchy. Experiments demonstrate that GAPrompt++ outperforms other prompting-based PEFT methods and even surpasses full fine-tuning while using less than 2% trainable parameters, and the authors provide two new challenging benchmarks for future research.