# MIRACLE3D: Memory-efficient Integrated Robust Approach for Continual Learning on Point Clouds via Shape Model Construction

arXiv: https://arxiv.org/abs/2410.06418 · HTML: https://mlsanity.com/paper/2410.06418/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 48 of its 68 references that are in the map.
- First posted on arXiv 8 Oct 2024.

## Builds on (most cited first, 30 of 48)

- [Distilling the Knowledge in a Neural Network](https://mlsanity.com/paper/1503.02531/) (2015)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [ShapeNet: An Information-Rich 3D Model Repository](https://mlsanity.com/paper/1512.03012/) (2015)
- [Learning without Forgetting](https://mlsanity.com/paper/1606.09282/) (2016)
- [iCaRL: Incremental Classifier and Representation Learning](https://mlsanity.com/paper/1611.07725/) (2016)
- [Dynamic Graph CNN for Learning on Point Clouds](https://mlsanity.com/paper/1801.07829/) (2018)
- [Progressive Neural Networks](https://mlsanity.com/paper/1606.04671/) (2016)
- [Continual Learning with Deep Generative Replay](https://mlsanity.com/paper/1705.08690/) (2017)
- [Memory Aware Synapses: Learning what (not) to forget](https://mlsanity.com/paper/1711.09601/) (2017)
- [PackNet: Adding Multiple Tasks to a Single Network by Iterative Pruning](https://mlsanity.com/paper/1711.05769/) (2017)
- [Riemannian Walk for Incremental Learning: Understanding Forgetting and Intransigence](https://mlsanity.com/paper/1801.10112/) (2018)
- [Large Scale Incremental Learning](https://mlsanity.com/paper/1905.13260/) (2019)
- [End-to-End Incremental Learning](https://mlsanity.com/paper/1807.09536/) (2018)
- [Learning an Animatable Detailed 3D Face Model from In-The-Wild Images](https://mlsanity.com/paper/2012.04012/) (2020)
- [Rethinking Network Design and Local Geometry in Point Cloud: A Simple Residual MLP Framework](https://mlsanity.com/paper/2202.07123/) (2022)
- [3D Morphable Face Models -- Past, Present and Future](https://mlsanity.com/paper/1909.01815/) (2019)
- [Learning without Memorizing](https://mlsanity.com/paper/1811.08051/) (2018)
- [Improving the Adversarial Robustness and Interpretability of Deep Neural Networks by Regularizing their Input Gradients](https://mlsanity.com/paper/1711.09404/) (2017)
- [Fishr: Invariant Gradient Variances for Out-of-Distribution Generalization](https://mlsanity.com/paper/2109.02934/) (2021)
- [Learning to Remember: A Synaptic Plasticity Driven Framework for Continual Learning](https://mlsanity.com/paper/1904.03137/) (2019)
- [Walk in the Cloud: Learning Curves for Point Clouds Shape Analysis](https://mlsanity.com/paper/2105.01288/) (2021)
- [Towards Metrical Reconstruction of Human Faces](https://mlsanity.com/paper/2204.06607/) (2022)
- [Revisiting Point Cloud Shape Classification with a Simple and Effective Baseline](https://mlsanity.com/paper/2106.05304/) (2021)
- [Memory-Efficient Incremental Learning Through Feature Adaptation](https://mlsanity.com/paper/2004.00713/) (2020)
- [Deep Projective 3D Semantic Segmentation](https://mlsanity.com/paper/1705.03428/) (2017)
- [Learning Geometry-Disentangled Representation for Complementary Understanding of 3D Object Point Cloud](https://mlsanity.com/paper/2012.10921/) (2020)
- [Memory Efficient Class-Incremental Learning for Image Classification](https://mlsanity.com/paper/2008.01411/) (2020)
- [Scaleable input gradient regularization for adversarial robustness](https://mlsanity.com/paper/1905.11468/) (2019)

## Built on by (most cited first, 3 of 3)

- [SLE-FNO: Single-Layer Extensions for Task-Agnostic Continual Learning in Fourier Neural Operators](https://mlsanity.com/paper/2603.20410/) (2026)
- [BRAIN: Bias-Mitigation Continual Learning Approach to Vision-Brain Understanding](https://mlsanity.com/paper/2508.18187/) (2025)
- [RoAD Benchmark: How LiDAR Models Fail under Coupled Domain Shifts and Label Evolution](https://mlsanity.com/paper/2601.07855/) (2026)

## Abstract (arXiv)

In this paper, we introduce a novel framework for memory-efficient and privacy-preserving continual learning in 3D object classification. Unlike conventional memory-based approaches in continual learning that require storing numerous exemplars, our method constructs a compact shape model for each class, retaining only the mean shape along with a few key modes of variation. This strategy not only enables the generation of diverse training samples while drastically reducing memory usage but also enhances privacy by eliminating the need to store original data. To further improve model robustness against input variations, an issue common in 3D domains due to the absence of strong backbones and limited training data, we incorporate Gradient Mode Regularization. This technique enhances model stability and broadens classification margins, resulting in accuracy improvements. We validate our approach through extensive experiments on the ModelNet40, ShapeNet, and ScanNet datasets, where we achieve state-of-the-art performance. Notably, our method consumes only 15% of the memory required by competing methods on the ModelNet40 and ShapeNet, while achieving comparable performance on the challenging ScanNet dataset with just 8.5% of the memory. These results underscore the scalability, effectiveness, and privacy-preserving strengths of our framework for 3D object classification.