# Point-MoE: Large-Scale Multi-Dataset Training with Mixture-of-Experts for 3D Semantic Segmentation

arXiv: https://arxiv.org/abs/2505.23926 · HTML: https://mlsanity.com/paper/2505.23926/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Placed in Vision mixture-of-experts, one of 12 directions in Mixture-of-experts.
- Builds on 28 of its 98 references that are in the map.
- First posted on arXiv 29 May 2025.

## Placed in

- Mixture-of-experts / [Vision mixture-of-experts](https://mlsanity.com/moe/vision-mixture-of-experts/)

## Builds on (most cited first, 28 of 28)

- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [Layer Normalization](https://mlsanity.com/paper/1607.06450/) (2016)
- [Outrageously Large Neural Networks: The Sparsely-Gated Mixture-of-Experts Layer](https://mlsanity.com/paper/1701.06538/) (2017)
- [Mixtral of Experts](https://mlsanity.com/paper/2401.04088/) (2024)
- [GShard: Scaling Giant Models with Conditional Computation and Automatic Sharding](https://mlsanity.com/paper/2006.16668/) (2020)
- [Matterport3D: Learning from RGB-D Data in Indoor Environments](https://mlsanity.com/paper/1709.06158/) (2017)
- [DeepSeek-V2: A Strong, Economical, and Efficient Mixture-of-Experts Language Model](https://mlsanity.com/paper/2405.04434/) (2024)
- [DeepSeekMoE: Towards Ultimate Expert Specialization in Mixture-of-Experts Language Models](https://mlsanity.com/paper/2401.06066/) (2024)
- [DeepSeek-V3 Technical Report](https://mlsanity.com/paper/2412.19437/) (2024)
- [DeepSeek-VL: Towards Real-World Vision-Language Understanding](https://mlsanity.com/paper/2403.05525/) (2024)
- [DeepSeek-VL2: Mixture-of-Experts Vision-Language Models for Advanced Multimodal Understanding](https://mlsanity.com/paper/2412.10302/) (2024)
- [ST-MoE: Designing Stable and Transferable Sparse Expert Models](https://mlsanity.com/paper/2202.08906/) (2022)
- [MoE-LLaVA: Mixture of Experts for Large Vision-Language Models](https://mlsanity.com/paper/2401.15947/) (2024)
- [MixLoRA: Enhancing Large Language Models Fine-Tuning with LoRA-based Mixture of Experts](https://mlsanity.com/paper/2404.15159/) (2024)
- [DEMix Layers: Disentangling Domains for Modular Language Modeling](https://mlsanity.com/paper/2108.05036/) (2021)
- [3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations](https://mlsanity.com/paper/2403.03954/) (2024)
- [Vehicle Detection from 3D Lidar Using Fully Convolutional Network](https://mlsanity.com/paper/1608.07916/) (2016)
- [3D Point Cloud Processing and Learning for Autonomous Driving](https://mlsanity.com/paper/2003.00601/) (2020)
- [Multi-Source Domain Adaptation with Mixture of Experts](https://mlsanity.com/paper/1809.02256/) (2018)
- [Skywork-MoE: A Deep Dive into Training Techniques for Mixture-of-Experts Language Models](https://mlsanity.com/paper/2406.06563/) (2024)
- [PolarNet: 3D Point Clouds for Language-Guided Robotic Manipulation](https://mlsanity.com/paper/2309.15596/) (2023)
- [Demons in the Detail: On Implementing Load Balancing Loss for Training Specialized Mixture-of-Expert Models](https://mlsanity.com/paper/2501.11873/) (2025)
- [ChartMoE: Mixture of Diversely Aligned Expert Connector for Chart Understanding](https://mlsanity.com/paper/2409.03277/) (2024)
- [UMoE: Unifying Attention and FFN with Shared Experts](https://mlsanity.com/paper/2505.07260/) (2025)
- [CartesianMoE: Boosting Knowledge Sharing among Experts via Cartesian Product Routing in Mixture-of-Experts](https://mlsanity.com/paper/2410.16077/) (2024)
- [Investigating the potential of Sparse Mixtures-of-Experts for multi-domain neural machine translation](https://mlsanity.com/paper/2407.01126/) (2024)
- [Precise Workcell Sketching from Point Clouds Using an AR Toolbox](https://mlsanity.com/paper/2410.00479/) (2024)

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

- [Bridging the Scale Gap: Balanced Tiny and General Object Detection in Remote Sensing Imagery](https://mlsanity.com/paper/2512.01665/) (2025)
- [Learning Subset-Shared Invariances for Domain Generalization with Mixture-of-Experts](https://mlsanity.com/paper/2606.25665/) (2026)
- [PromptPath: Prompt-Adaptive Computational Pathways for In-Context Learning](https://mlsanity.com/paper/2608.02129/) (2026)

## Abstract (arXiv)

While massively scaling both data and models have become central in NLP and 2D vision, their benefits for 3D point cloud understanding remain limited. We study the initial step of scaling 3D point cloud understanding under a realistic regime: large-scale multi-dataset joint training for 3D semantic segmentation, with no dataset labels available at training or inference time. Point clouds arise from a wide range of sensors (e.g., depth cameras, LiDAR) and scenes (eg, indoor, outdoor), yielding heterogeneous scanning patterns, sampling densities, and semantic biases; naively mixing such datasets degrades standard models. Therefore, we introduce Point-MoE, a Mixture-of-Experts design that expands model capacity through sparsely activated expert MLPs and a lightweight top-k router, allowing tokens to select specialized experts without requiring dataset supervision. Trained jointly on a diverse mix of indoor and outdoor datasets, and evaluated on seen datasets as well as in zero-shot settings, Point-MoE outperforms prior methods without using dataset labels for either training or inference. This outlines a scalable path for 3D perception: letting the model discover structure in heterogeneous 3D data rather than imposing it via manual curation or dataset-specific heuristics.