# UniPre3D: Unified Pre-training of 3D Point Cloud Models with Cross-Modal Gaussian Splatting

arXiv: https://arxiv.org/abs/2506.09952 · HTML: https://mlsanity.com/paper/2506.09952/

## Key facts

- Cited by 6 papers in the map (data through 14 Oct 2026).
- Builds on 74 of its 85 references that are in the map.
- First posted on arXiv 11 Jun 2025.

## Builds on (most cited first, 30 of 74)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [A Simple Framework for Contrastive Learning of Visual Representations](https://mlsanity.com/paper/2002.05709/) (2020)
- [Momentum Contrast for Unsupervised Visual Representation Learning](https://mlsanity.com/paper/1911.05722/) (2019)
- [Masked Autoencoders Are Scalable Vision Learners](https://mlsanity.com/paper/2111.06377/) (2021)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (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)
- [Point Transformer](https://mlsanity.com/paper/2011.00931/) (2020)
- [4D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networks](https://mlsanity.com/paper/1904.08755/) (2019)
- [KPConv: Flexible and Deformable Convolution for Point Clouds](https://mlsanity.com/paper/1904.08889/) (2019)
- [pixelSplat: 3D Gaussian Splats from Image Pairs for Scalable Generalizable 3D Reconstruction](https://mlsanity.com/paper/2312.12337/) (2023)
- [Point-BERT: Pre-training 3D Point Cloud Transformers with Masked Point Modeling](https://mlsanity.com/paper/2111.14819/) (2021)
- [Deep Hough Voting for 3D Object Detection in Point Clouds](https://mlsanity.com/paper/1904.09664/) (2019)
- [Point Transformer V3: Simpler, Faster, Stronger](https://mlsanity.com/paper/2312.10035/) (2023)
- [MVSplat: Efficient 3D Gaussian Splatting from Sparse Multi-View Images](https://mlsanity.com/paper/2403.14627/) (2024)
- [Revisiting Point Cloud Classification: A New Benchmark Dataset and Classification Model on Real-World Data](https://mlsanity.com/paper/1908.04616/) (2019)
- [PointContrast: Unsupervised Pre-training for 3D Point Cloud Understanding](https://mlsanity.com/paper/2007.10985/) (2020)
- [Masked Autoencoders for Point Cloud Self-supervised Learning](https://mlsanity.com/paper/2203.06604/) (2022)
- [PointNeXt: Revisiting PointNet++ with Improved Training and Scaling Strategies](https://mlsanity.com/paper/2206.04670/) (2022)
- [Unified-IO: A Unified Model for Vision, Language, and Multi-Modal Tasks](https://mlsanity.com/paper/2206.08916/) (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)
- [Splatter Image: Ultra-Fast Single-View 3D Reconstruction](https://mlsanity.com/paper/2312.13150/) (2023)
- [DISN: Deep Implicit Surface Network for High-quality Single-view 3D Reconstruction](https://mlsanity.com/paper/1905.10711/) (2019)
- [PointGroup: Dual-Set Point Grouping for 3D Instance Segmentation](https://mlsanity.com/paper/2004.01658/) (2020)

## Built on by (most cited first, 6 of 6)

- [Chorus: Multi-Teacher Pretraining for Holistic 3D Gaussian Scene Encoding](https://mlsanity.com/paper/2512.17817/) (2025)
- [Investigating Domain Gaps for Indoor 3D Object Detection](https://mlsanity.com/paper/2508.17439/) (2025)
- [Rethinking Point Clouds as Sequences: A Causal Next-Token Predictive Learning Framework](https://mlsanity.com/paper/2605.17566/) (2026)
- [Dual-Branch Center-Surrounding Contrast: Rethinking Contrastive Learning for 3D Point Clouds](https://mlsanity.com/paper/2512.08673/) (2025)
- [G2P: Gaussian-to-Point Attribute Alignment for Boundary-Aware 3D Segmentation](https://mlsanity.com/paper/2601.03510/) (2026)
- [Deformation-based In-Context Learning for Point Cloud Understanding](https://mlsanity.com/paper/2604.02845/) (2026)

## Abstract (arXiv)

The scale diversity of point cloud data presents significant challenges in developing unified representation learning techniques for 3D vision. Currently, there are few unified 3D models, and no existing pre-training method is equally effective for both object- and scene-level point clouds. In this paper, we introduce UniPre3D, the first unified pre-training method that can be seamlessly applied to point clouds of any scale and 3D models of any architecture. Our approach predicts Gaussian primitives as the pre-training task and employs differentiable Gaussian splatting to render images, enabling precise pixel-level supervision and end-to-end optimization. To further regulate the complexity of the pre-training task and direct the model's focus toward geometric structures, we integrate 2D features from pre-trained image models to incorporate well-established texture knowledge. We validate the universal effectiveness of our proposed method through extensive experiments across a variety of object- and scene-level tasks, using diverse point cloud models as backbones. Code is available at https://github.com/wangzy22/UniPre3D.