# MICAS: Multi-grained In-Context Adaptive Sampling for 3D Point Cloud Processing

arXiv: https://arxiv.org/abs/2411.16773 · HTML: https://mlsanity.com/paper/2411.16773/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Builds on 63 of its 84 references that are in the map.
- First posted on arXiv 25 Nov 2024.

## Builds on (most cited first, 30 of 63)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [LLaMA: Open and Efficient Foundation Language Models](https://mlsanity.com/paper/2302.13971/) (2023)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [SGDR: Stochastic Gradient Descent with Warm Restarts](https://mlsanity.com/paper/1608.03983/) (2016)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [ShapeNet: An Information-Rich 3D Model Repository](https://mlsanity.com/paper/1512.03012/) (2015)
- [Dynamic Graph CNN for Learning on Point Clouds](https://mlsanity.com/paper/1801.07829/) (2018)
- [KPConv: Flexible and Deformable Convolution for Point Clouds](https://mlsanity.com/paper/1904.08889/) (2019)
- [What Makes Good In-Context Examples for GPT-3?](https://mlsanity.com/paper/2101.06804/) (2021)
- [A Point Set Generation Network for 3D Object Reconstruction from a Single Image](https://mlsanity.com/paper/1612.00603/) (2016)
- [A Survey on Multi-Task Learning](https://mlsanity.com/paper/1707.08114/) (2017)
- [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-E: A System for Generating 3D Point Clouds from Complex Prompts](https://mlsanity.com/paper/2212.08751/) (2022)
- [Automatic Chain of Thought Prompting in Large Language Models](https://mlsanity.com/paper/2210.03493/) (2022)
- [Point-BERT: Pre-training 3D Point Cloud Transformers with Masked Point Modeling](https://mlsanity.com/paper/2111.14819/) (2021)
- [Learning To Retrieve Prompts for In-Context Learning](https://mlsanity.com/paper/2112.08633/) (2021)
- [RandLA-Net: Efficient Semantic Segmentation of Large-Scale Point Clouds](https://mlsanity.com/paper/1911.11236/) (2019)
- [PointCLIP: Point Cloud Understanding by CLIP](https://mlsanity.com/paper/2112.02413/) (2021)
- [Masked Autoencoders for Point Cloud Self-supervised Learning](https://mlsanity.com/paper/2203.06604/) (2022)
- [Large-scale Point Cloud Semantic Segmentation with Superpoint Graphs](https://mlsanity.com/paper/1711.09869/) (2017)
- [Rethinking Network Design and Local Geometry in Point Cloud: A Simple Residual MLP Framework](https://mlsanity.com/paper/2202.07123/) (2022)
- [Relation-Shape Convolutional Neural Network for Point Cloud Analysis](https://mlsanity.com/paper/1904.07601/) (2019)
- [PointLLM: Empowering Large Language Models to Understand Point Clouds](https://mlsanity.com/paper/2308.16911/) (2023)
- [Images Speak in Images: A Generalist Painter for In-Context Visual Learning](https://mlsanity.com/paper/2212.02499/) (2022)
- [Generate rather than Retrieve: Large Language Models are Strong Context Generators](https://mlsanity.com/paper/2209.10063/) (2022)
- [TEASER: Fast and Certifiable Point Cloud Registration](https://mlsanity.com/paper/2001.07715/) (2020)
- [Visual Prompting via Image Inpainting](https://mlsanity.com/paper/2209.00647/) (2022)
- [PointASNL: Robust Point Clouds Processing using Nonlocal Neural Networks with Adaptive Sampling](https://mlsanity.com/paper/2003.00492/) (2020)

## Built on by (most cited first, 5 of 5)

- [Towards Predicting Any Human Trajectory In Context](https://mlsanity.com/paper/2506.00871/) (2025)
- [VIOLA: Towards Video In-Context Learning with Minimal Annotations](https://mlsanity.com/paper/2601.15549/) (2026)
- [Efficient Encoder-Free Fourier-based 3D Large Multimodal Model](https://mlsanity.com/paper/2602.23153/) (2026)
- [Deformation-based In-Context Learning for Point Cloud Understanding](https://mlsanity.com/paper/2604.02845/) (2026)
- [PromptPath: Prompt-Adaptive Computational Pathways for In-Context Learning](https://mlsanity.com/paper/2608.02129/) (2026)

## Abstract (arXiv)

Point cloud processing (PCP) encompasses tasks like reconstruction, denoising, registration, and segmentation, each often requiring specialized models to address unique task characteristics. While in-context learning (ICL) has shown promise across tasks by using a single model with task-specific demonstration prompts, its application to PCP reveals significant limitations. We identify inter-task and intra-task sensitivity issues in current ICL methods for PCP, which we attribute to inflexible sampling strategies lacking context adaptation at the point and prompt levels. To address these challenges, we propose MICAS, an advanced ICL framework featuring a multi-grained adaptive sampling mechanism tailored for PCP. MICAS introduces two core components: task-adaptive point sampling, which leverages inter-task cues for point-level sampling, and query-specific prompt sampling, which selects optimal prompts per query to mitigate intra-task sensitivity. To our knowledge, this is the first approach to introduce adaptive sampling tailored to the unique requirements of point clouds within an ICL framework. Extensive experiments show that MICAS not only efficiently handles various PCP tasks but also significantly outperforms existing methods. Notably, it achieves a remarkable 4.1% improvement in the part segmentation task and delivers consistent gains across various PCP applications.