# PointDGMamba: Domain Generalization of Point Cloud Classification via Generalized State Space Model

arXiv: https://arxiv.org/abs/2408.13574 · HTML: https://mlsanity.com/paper/2408.13574/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 22 of its 36 references that are in the map.
- First posted on arXiv 24 Aug 2024.

## Builds on (most cited first, 22 of 22)

- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [Mamba: Linear-Time Sequence Modeling with Selective State Spaces](https://mlsanity.com/paper/2312.00752/) (2023)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [Categorical Reparameterization with Gumbel-Softmax](https://mlsanity.com/paper/1611.01144/) (2016)
- [Dynamic Graph CNN for Learning on Point Clouds](https://mlsanity.com/paper/1801.07829/) (2018)
- [Point Transformer](https://mlsanity.com/paper/2011.00931/) (2020)
- [PointCNN: Convolution On X-Transformed Points](https://mlsanity.com/paper/1801.07791/) (2018)
- [PCT: Point cloud transformer](https://mlsanity.com/paper/2012.09688/) (2020)
- [Point-BERT: Pre-training 3D Point Cloud Transformers with Masked Point Modeling](https://mlsanity.com/paper/2111.14819/) (2021)
- [PointNeXt: Revisiting PointNet++ with Improved Training and Scaling Strategies](https://mlsanity.com/paper/2206.04670/) (2022)
- [3D-FUTURE: 3D Furniture shape with TextURE](https://mlsanity.com/paper/2009.09633/) (2020)
- [PointDAN: A Multi-Scale 3D Domain Adaption Network for Point Cloud Representation](https://mlsanity.com/paper/1911.02744/) (2019)
- [Motion Mamba: Efficient and Long Sequence Motion Generation](https://mlsanity.com/paper/2403.07487/) (2024)
- [PointMixup: Augmentation for Point Clouds](https://mlsanity.com/paper/2008.06374/) (2020)
- [3D Semantic Segmentation in the Wild: Learning Generalized Models for Adverse-Condition Point Clouds](https://mlsanity.com/paper/2304.00690/) (2023)
- [Explore In-Context Learning for 3D Point Cloud Understanding](https://mlsanity.com/paper/2306.08659/) (2023)
- [Geometry-Aware Self-Training for Unsupervised Domain Adaptationon Object Point Clouds](https://mlsanity.com/paper/2108.09169/) (2021)
- [MetaSets: Meta-Learning on Point Sets for Generalizable Representations](https://mlsanity.com/paper/2204.07311/) (2022)
- [Domain Generalization via Frequency-domain-based Feature Disentanglement and Interaction](https://mlsanity.com/paper/2201.08029/) (2022)
- [VG4D: Vision-Language Model Goes 4D Video Recognition](https://mlsanity.com/paper/2404.11605/) (2024)
- [X-3D: Explicit 3D Structure Modeling for Point Cloud Recognition](https://mlsanity.com/paper/2404.15010/) (2024)
- [SUG: Single-dataset Unified Generalization for 3D Point Cloud Classification](https://mlsanity.com/paper/2305.09160/) (2023)

## Built on by (most cited first, 2 of 2)

- [Domain Generalization via Discrete Codebook Learning](https://mlsanity.com/paper/2504.06572/) (2025)
- [MEGA-PCC: A Mamba-based Efficient Approach for Joint Geometry and Attribute Point Cloud Compression](https://mlsanity.com/paper/2512.22463/) (2025)

## Abstract (arXiv)

Domain Generalization (DG) has been recently explored to improve the generalizability of point cloud classification (PCC) models toward unseen domains. However, they often suffer from limited receptive fields or quadratic complexity due to using convolution neural networks or vision Transformers. In this paper, we present the first work that studies the generalizability of state space models (SSMs) in DG PCC and find that directly applying SSMs into DG PCC will encounter several challenges: the inherent topology of the point cloud tends to be disrupted and leads to noise accumulation during the serialization stage. Besides, the lack of designs in domain-agnostic feature learning and data scanning will introduce unanticipated domain-specific information into the 3D sequence data. To this end, we propose a novel framework, PointDGMamba, that excels in strong generalizability toward unseen domains and has the advantages of global receptive fields and efficient linear complexity. PointDGMamba consists of three innovative components: Masked Sequence Denoising (MSD), Sequence-wise Cross-domain Feature Aggregation (SCFA), and Dual-level Domain Scanning (DDS). In particular, MSD selectively masks out the noised point tokens of the point cloud sequences, SCFA introduces cross-domain but same-class point cloud features to encourage the model to learn how to extract more generalized features. DDS includes intra-domain scanning and cross-domain scanning to facilitate information exchange between features. In addition, we propose a new and more challenging benchmark PointDG-3to1 for multi-domain generalization. Extensive experiments demonstrate the effectiveness and state-of-the-art performance of PointDGMamba.