# PMA: Towards Parameter-Efficient Point Cloud Understanding via Point Mamba Adapter

arXiv: https://arxiv.org/abs/2505.20941 · HTML: https://mlsanity.com/paper/2505.20941/

## Key facts

- Cited by 9 papers in the map (data through 14 Oct 2026).
- Placed in Point clouds, detection and remote sensing, one of 10 directions in State-space sequence models (S4, Mamba).
- Builds on 55 of its 64 references that are in the map.
- First posted on arXiv 27 May 2025.

## Placed in

- State-space sequence models (S4, Mamba) / [Point clouds, detection and remote sensing](https://mlsanity.com/ssm/point-clouds-detection-and-remote-sensing/)

## Builds on (most cited first, 30 of 55)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [LoRA: Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2106.09685/) (2021)
- [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)
- [Parameter-Efficient Transfer Learning for NLP](https://mlsanity.com/paper/1902.00751/) (2019)
- [The Power of Scale for Parameter-Efficient Prompt Tuning](https://mlsanity.com/paper/2104.08691/) (2021)
- [ShapeNet: An Information-Rich 3D Model Repository](https://mlsanity.com/paper/1512.03012/) (2015)
- [Efficiently Modeling Long Sequences with Structured State Spaces](https://mlsanity.com/paper/2111.00396/) (2021)
- [Learning to Prompt for Vision-Language Models](https://mlsanity.com/paper/2109.01134/) (2021)
- [Dynamic Graph CNN for Learning on Point Clouds](https://mlsanity.com/paper/1801.07829/) (2018)
- [Visual Prompt Tuning](https://mlsanity.com/paper/2203.12119/) (2022)
- [Conditional Prompt Learning for Vision-Language Models](https://mlsanity.com/paper/2203.05557/) (2022)
- [BitFit: Simple Parameter-efficient Fine-tuning for Transformer-based Masked Language-models](https://mlsanity.com/paper/2106.10199/) (2021)
- [Vision Mamba: Efficient Visual Representation Learning with Bidirectional State Space Model](https://mlsanity.com/paper/2401.09417/) (2024)
- [VMamba: Visual State Space Model](https://mlsanity.com/paper/2401.10166/) (2024)
- [Simplified State Space Layers for Sequence Modeling](https://mlsanity.com/paper/2208.04933/) (2022)
- [AdaptFormer: Adapting Vision Transformers for Scalable Visual Recognition](https://mlsanity.com/paper/2205.13535/) (2022)
- [P-Tuning v2: Prompt Tuning Can Be Comparable to Fine-tuning Universally Across Scales and Tasks](https://mlsanity.com/paper/2110.07602/) (2021)
- [Multimodal Few-Shot Learning with Frozen Language Models](https://mlsanity.com/paper/2106.13884/) (2021)
- [Point-BERT: Pre-training 3D Point Cloud Transformers with Masked Point Modeling](https://mlsanity.com/paper/2111.14819/) (2021)
- [Combining Recurrent, Convolutional, and Continuous-time Models with Linear State-Space Layers](https://mlsanity.com/paper/2110.13985/) (2021)
- [HiPPO: Recurrent Memory with Optimal Polynomial Projections](https://mlsanity.com/paper/2008.07669/) (2020)
- [Point Transformer V3: Simpler, Faster, Stronger](https://mlsanity.com/paper/2312.10035/) (2023)
- [Revisiting Point Cloud Classification: A New Benchmark Dataset and Classification Model on Real-World Data](https://mlsanity.com/paper/1908.04616/) (2019)
- [Masked Autoencoders for Point Cloud Self-supervised Learning](https://mlsanity.com/paper/2203.06604/) (2022)
- [On the Parameterization and Initialization of Diagonal State Space Models](https://mlsanity.com/paper/2206.11893/) (2022)
- [Point Transformer V2: Grouped Vector Attention and Partition-based Pooling](https://mlsanity.com/paper/2210.05666/) (2022)
- [Rethinking Network Design and Local Geometry in Point Cloud: A Simple Residual MLP Framework](https://mlsanity.com/paper/2202.07123/) (2022)
- [Tip-Adapter: Training-free Adaption of CLIP for Few-shot Classification](https://mlsanity.com/paper/2207.09519/) (2022)

## Built on by (most cited first, 9 of 9)

- [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)
- [CloudMamba: Grouped Selective State Spaces for Point Cloud Analysis](https://mlsanity.com/paper/2511.07823/) (2025)
- [PointTPA: Dynamic Network Parameter Adaptation for 3D Scene Understanding](https://mlsanity.com/paper/2604.04933/) (2026)
- [TowerDataset: A Heterogeneous Benchmark for Transmission Corridor Segmentation with a Global-Local Fusion Framework](https://mlsanity.com/paper/2604.16848/) (2026)
- [Aerial-ground LiDAR place recognition with patch-level self-supervised learning and expanded reciprocal re-ranking](https://mlsanity.com/paper/2606.18583/) (2026)
- [Point Ladder Tuning: Parameter-Efficient Hierarchical Adaptation for 3D Point Cloud Understanding](https://mlsanity.com/paper/2607.19171/) (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)

## Abstract (arXiv)

Applying pre-trained models to assist point cloud understanding has recently become a mainstream paradigm in 3D perception. However, existing application strategies are straightforward, utilizing only the final output of the pre-trained model for various task heads. It neglects the rich complementary information in the intermediate layer, thereby failing to fully unlock the potential of pre-trained models. To overcome this limitation, we propose an orthogonal solution: Point Mamba Adapter (PMA), which constructs an ordered feature sequence from all layers of the pre-trained model and leverages Mamba to fuse all complementary semantics, thereby promoting comprehensive point cloud understanding. Constructing this ordered sequence is non-trivial due to the inherent isotropy of 3D space. Therefore, we further propose a geometry-constrained gate prompt generator (G2PG) shared across different layers, which applies shared geometric constraints to the output gates of the Mamba and dynamically optimizes the spatial order, thus enabling more effective integration of multi-layer information. Extensive experiments conducted on challenging point cloud datasets across various tasks demonstrate that our PMA elevates the capability for point cloud understanding to a new level by fusing diverse complementary intermediate features. Code is available at https://github.com/zyh16143998882/PMA.