# DAPoinTr: Domain Adaptive Point Transformer for Point Cloud Completion

arXiv: https://arxiv.org/abs/2412.19062 · HTML: https://mlsanity.com/paper/2412.19062/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 22 of its 30 references that are in the map.
- First posted on arXiv 26 Dec 2024.

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

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [Matterport3D: Learning from RGB-D Data in Indoor Environments](https://mlsanity.com/paper/1709.06158/) (2017)
- [AtlasNet: A Papier-Mach'e Approach to Learning 3D Surface Generation](https://mlsanity.com/paper/1802.05384/) (2018)
- [PCN: Point Completion Network](https://mlsanity.com/paper/1808.00671/) (2018)
- [3D-FUTURE: 3D Furniture shape with TextURE](https://mlsanity.com/paper/2009.09633/) (2020)
- [PoinTr: Diverse Point Cloud Completion with Geometry-Aware Transformers](https://mlsanity.com/paper/2108.08839/) (2021)
- [Shape Completion using 3D-Encoder-Predictor CNNs and Shape Synthesis](https://mlsanity.com/paper/1612.00101/) (2016)
- [GRNet: Gridding Residual Network for Dense Point Cloud Completion](https://mlsanity.com/paper/2006.03761/) (2020)
- [SnowflakeNet: Point Cloud Completion by Snowflake Point Deconvolution with Skip-Transformer](https://mlsanity.com/paper/2108.04444/) (2021)
- [PF-Net: Point Fractal Network for 3D Point Cloud Completion](https://mlsanity.com/paper/2003.00410/) (2020)
- [Cascaded Refinement Network for Point Cloud Completion](https://mlsanity.com/paper/2004.03327/) (2020)
- [TransVOD: End-to-End Video Object Detection with Spatial-Temporal Transformers](https://mlsanity.com/paper/2201.05047/) (2022)
- [Unsupervised 3D Shape Completion through GAN Inversion](https://mlsanity.com/paper/2104.13366/) (2021)
- [AdaPoinTr: Diverse Point Cloud Completion with Adaptive Geometry-Aware Transformers](https://mlsanity.com/paper/2301.04545/) (2023)
- [Unpaired Point Cloud Completion on Real Scans using Adversarial Training](https://mlsanity.com/paper/1904.00069/) (2019)
- [Cycle4Completion: Unpaired Point Cloud Completion using Cycle Transformation with Missing Region Coding](https://mlsanity.com/paper/2103.07838/) (2021)
- [End-to-End Video Object Detection with Spatial-Temporal Transformers](https://mlsanity.com/paper/2105.10920/) (2021)
- [Voxel-based Network for Shape Completion by Leveraging Edge Generation](https://mlsanity.com/paper/2108.09936/) (2021)
- [DG-PIC: Domain Generalized Point-In-Context Learning for Point Cloud Understanding](https://mlsanity.com/paper/2407.08801/) (2024)

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

- [Mamba Learns in Context: Structure-Aware Domain Generalization for Multi-Task Point Cloud Understanding](https://mlsanity.com/paper/2603.20739/) (2026)
- [SUMI: Scalable Unified Model for 3D Point Cloud Inference](https://mlsanity.com/paper/2608.08115/) (2026)

## Abstract (arXiv)

Point Transformers (PoinTr) have shown great potential in point cloud completion recently. Nevertheless, effective domain adaptation that improves transferability toward target domains remains unexplored. In this paper, we delve into this topic and empirically discover that direct feature alignment on point Transformer's CNN backbone only brings limited improvements since it cannot guarantee sequence-wise domain-invariant features in the Transformer. To this end, we propose a pioneering Domain Adaptive Point Transformer (DAPoinTr) framework for point cloud completion. DAPoinTr consists of three key components: Domain Query-based Feature Alignment (DQFA), Point Token-wise Feature alignment (PTFA), and Voted Prediction Consistency (VPC). In particular, DQFA is presented to narrow the global domain gaps from the sequence via the presented domain proxy and domain query at the Transformer encoder and decoder, respectively. PTFA is proposed to close the local domain shifts by aligning the tokens, i.e., point proxy and dynamic query, at the Transformer encoder and decoder, respectively. VPC is designed to consider different Transformer decoders as multiple of experts (MoE) for ensembled prediction voting and pseudo-label generation. Extensive experiments with visualization on several domain adaptation benchmarks demonstrate the effectiveness and superiority of our DAPoinTr compared with state-of-the-art methods. Code will be publicly available at: https://github.com/Yinghui-Li-New/DAPoinTr