# GAPrompt: Geometry-Aware Point Cloud Prompt for 3D Vision Model

arXiv: https://arxiv.org/abs/2505.04119 · HTML: https://mlsanity.com/paper/2505.04119/

## Key facts

- Cited by 13 papers in the map (data through 14 Oct 2026).
- Builds on 34 of its 42 references that are in the map.
- First posted on arXiv 7 May 2025.

## Builds on (most cited first, 30 of 34)

- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [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)
- [Parameter-Efficient Transfer Learning for NLP](https://mlsanity.com/paper/1902.00751/) (2019)
- [Prefix-Tuning: Optimizing Continuous Prompts for Generation](https://mlsanity.com/paper/2101.00190/) (2021)
- [The Power of Scale for Parameter-Efficient Prompt Tuning](https://mlsanity.com/paper/2104.08691/) (2021)
- [Visual Prompt Tuning](https://mlsanity.com/paper/2203.12119/) (2022)
- [BitFit: Simple Parameter-efficient Fine-tuning for Transformer-based Masked Language-models](https://mlsanity.com/paper/2106.10199/) (2021)
- [Towards a Unified View of Parameter-Efficient Transfer Learning](https://mlsanity.com/paper/2110.04366/) (2021)
- [AdaptFormer: Adapting Vision Transformers for Scalable Visual Recognition](https://mlsanity.com/paper/2205.13535/) (2022)
- [Scaffold-GS: Structured 3D Gaussians for View-Adaptive Rendering](https://mlsanity.com/paper/2312.00109/) (2023)
- [Point-BERT: Pre-training 3D Point Cloud Transformers with Masked Point Modeling](https://mlsanity.com/paper/2111.14819/) (2021)
- [Revisiting Point Cloud Classification: A New Benchmark Dataset and Classification Model on Real-World Data](https://mlsanity.com/paper/1908.04616/) (2019)
- [Point-NeRF: Point-based Neural Radiance Fields](https://mlsanity.com/paper/2201.08845/) (2022)
- [Compacter: Efficient Low-Rank Hypercomplex Adapter Layers](https://mlsanity.com/paper/2106.04647/) (2021)
- [Masked Autoencoders for Point Cloud Self-supervised Learning](https://mlsanity.com/paper/2203.06604/) (2022)
- [Relation-Shape Convolutional Neural Network for Point Cloud Analysis](https://mlsanity.com/paper/1904.07601/) (2019)
- [Scaling & Shifting Your Features: A New Baseline for Efficient Model Tuning](https://mlsanity.com/paper/2210.08823/) (2022)
- [Point-M2AE: Multi-scale Masked Autoencoders for Hierarchical Point Cloud Pre-training](https://mlsanity.com/paper/2205.14401/) (2022)
- [PointCLIP V2: Prompting CLIP and GPT for Powerful 3D Open-world Learning](https://mlsanity.com/paper/2211.11682/) (2022)
- [Unsupervised Point Cloud Pre-Training via Occlusion Completion](https://mlsanity.com/paper/2010.01089/) (2020)
- [Contrast with Reconstruct: Contrastive 3D Representation Learning Guided by Generative Pretraining](https://mlsanity.com/paper/2302.02318/) (2023)
- [CLIP2Point: Transfer CLIP to Point Cloud Classification with Image-Depth Pre-training](https://mlsanity.com/paper/2210.01055/) (2022)
- [Masked Discrimination for Self-Supervised Learning on Point Clouds](https://mlsanity.com/paper/2203.11183/) (2022)
- [ShapeLLM: Universal 3D Object Understanding for Embodied Interaction](https://mlsanity.com/paper/2402.17766/) (2024)
- [FacT: Factor-Tuning for Lightweight Adaptation on Vision Transformer](https://mlsanity.com/paper/2212.03145/) (2022)
- [Autoencoders as Cross-Modal Teachers: Can Pretrained 2D Image Transformers Help 3D Representation Learning?](https://mlsanity.com/paper/2212.08320/) (2022)
- [PointGPT: Auto-regressively Generative Pre-training from Point Clouds](https://mlsanity.com/paper/2305.11487/) (2023)
- [Instance-aware Dynamic Prompt Tuning for Pre-trained Point Cloud Models](https://mlsanity.com/paper/2304.07221/) (2023)

## Built on by (most cited first, 13 of 13)

- [Prompt-based Adaptation in Large-scale Vision Models: A Survey](https://mlsanity.com/paper/2510.13219/) (2025)
- [Mantis: Mamba-native Tuning is Efficient for 3D Point Cloud Foundation Models](https://mlsanity.com/paper/2605.03438/) (2026)
- [Tri-Efficient Transfer Learning for Point Cloud Videos](https://mlsanity.com/paper/2606.24175/) (2026)
- [On Geometry-Enhanced Parameter-Efficient Fine-Tuning for 3D Scene Segmentation](https://mlsanity.com/paper/2505.22444/) (2025)
- [UPP: Unified Point-Level Prompting for Robust Point Cloud Analysis](https://mlsanity.com/paper/2507.18997/) (2025)
- [CKDA: Cross-modality Knowledge Disentanglement and Alignment for Visible-Infrared Lifelong Person Re-identification](https://mlsanity.com/paper/2511.15016/) (2025)
- [Fast 3D Foundation Model Initialized Gaussian Splatting](https://mlsanity.com/paper/2607.03209/) (2026)
- [Point Ladder Tuning: Parameter-Efficient Hierarchical Adaptation for 3D Point Cloud Understanding](https://mlsanity.com/paper/2607.19171/) (2026)
- [Point-Selection Fine-Tuning Framework for Robust Point Cloud Classification](https://mlsanity.com/paper/2607.19711/) (2026)
- [Scal3R: Learning Efficient Multi-Relative Pose Query for Scalable Online 3D Reconstruction](https://mlsanity.com/paper/2609.04201/) (2026)
- [Position Anchor Tuning: Towards Efficient Adaptation of Pre-Trained Point Cloud Transformers](https://mlsanity.com/paper/2609.18056/) (2026)
- [GAPrompt++: Multi-Granular Geometry-Aware Point Cloud Prompt for 3D Vision Model](https://mlsanity.com/paper/2609.19716/) (2026)
- [Refine Then Fusion: Training-Free 3D Point Cloud Adaptation with Priority Refinement and Multi-Modal Knowledge Fusion](https://mlsanity.com/paper/2609.21522/) (2026)

## Abstract (arXiv)

Pre-trained 3D vision models have gained significant attention for their promising performance on point cloud data. However, fully fine-tuning these models for downstream tasks is computationally expensive and storage-intensive. Existing parameter-efficient fine-tuning (PEFT) approaches, which focus primarily on input token prompting, struggle to achieve competitive performance due to their limited ability to capture the geometric information inherent in point clouds. To address this challenge, we propose a novel Geometry-Aware Point Cloud Prompt (GAPrompt) that leverages geometric cues to enhance the adaptability of 3D vision models. First, we introduce a Point Prompt that serves as an auxiliary input alongside the original point cloud, explicitly guiding the model to capture fine-grained geometric details. Additionally, we present a Point Shift Prompter designed to extract global shape information from the point cloud, enabling instance-specific geometric adjustments at the input level. Moreover, our proposed Prompt Propagation mechanism incorporates the shape information into the model's feature extraction process, further strengthening its ability to capture essential geometric characteristics. Extensive experiments demonstrate that GAPrompt significantly outperforms state-of-the-art PEFT methods and achieves competitive results compared to full fine-tuning on various benchmarks, while utilizing only 2.19% of trainable parameters. Our code is available at https://github.com/zhoujiahuan1991/ICML2025-GAPrompt.