# WinMamba: Multi-Scale Shifted Windows in State Space Model for 3D Object Detection

arXiv: https://arxiv.org/abs/2511.13138 · HTML: https://mlsanity.com/paper/2511.13138/

## Key facts

- No citing papers in the map yet (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 19 of its 34 references that are in the map.
- First posted on arXiv 17 Nov 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, 19 of 19)

- [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)
- [Center-based 3D Object Detection and Tracking](https://mlsanity.com/paper/2006.11275/) (2020)
- [PointRCNN: 3D Object Proposal Generation and Detection from Point Cloud](https://mlsanity.com/paper/1812.04244/) (2018)
- [PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection](https://mlsanity.com/paper/1912.13192/) (2019)
- [Deep Hough Voting for 3D Object Detection in Point Clouds](https://mlsanity.com/paper/1904.09664/) (2019)
- [Frustum PointNets for 3D Object Detection from RGB-D Data](https://mlsanity.com/paper/1711.08488/) (2017)
- [3DSSD: Point-based 3D Single Stage Object Detector](https://mlsanity.com/paper/2002.10187/) (2020)
- [Voxel R-CNN: Towards High Performance Voxel-based 3D Object Detection](https://mlsanity.com/paper/2012.15712/) (2020)
- [From Points to Parts: 3D Object Detection from Point Cloud with Part-aware and Part-aggregation Network](https://mlsanity.com/paper/1907.03670/) (2019)
- [STD: Sparse-to-Dense 3D Object Detector for Point Cloud](https://mlsanity.com/paper/1907.10471/) (2019)
- [Group-Free 3D Object Detection via Transformers](https://mlsanity.com/paper/2104.00678/) (2021)
- [3D Object Detection with Pointformer](https://mlsanity.com/paper/2012.11409/) (2020)
- [Fast Point R-CNN](https://mlsanity.com/paper/1908.02990/) (2019)
- [TANet: Robust 3D Object Detection from Point Clouds with Triple Attention](https://mlsanity.com/paper/1912.05163/) (2019)
- [Back-tracing Representative Points for Voting-based 3D Object Detection in Point Clouds](https://mlsanity.com/paper/2104.06114/) (2021)
- [LinK: Linear Kernel for LiDAR-based 3D Perception](https://mlsanity.com/paper/2303.16094/) (2023)
- [PVT-SSD: Single-Stage 3D Object Detector with Point-Voxel Transformer](https://mlsanity.com/paper/2305.06621/) (2023)

## Abstract (arXiv)

3D object detection is critical for autonomous driving, yet it remains fundamentally challenging to simultaneously maximize computational efficiency and capture long-range spatial dependencies. We observed that Mamba-based models, with their linear state-space design, capture long-range dependencies at lower cost, offering a promising balance between efficiency and accuracy. However, existing methods rely on axis-aligned scanning within a fixed window, inevitably discarding spatial information. To address this problem, we propose WinMamba, a novel Mamba-based 3D feature-encoding backbone composed of stacked WinMamba blocks. To enhance the backbone with robust multi-scale representation, the WinMamba block incorporates a window-scale-adaptive module that compensates voxel features across varying resolutions during sampling. Meanwhile, to obtain rich contextual cues within the linear state space, we equip the WinMamba layer with a learnable positional encoding and a window-shift strategy. Extensive experiments on the KITTI and Waymo datasets demonstrate that WinMamba significantly outperforms the baseline. Ablation studies further validate the individual contributions of the WSF and AWF modules in improving detection accuracy. The code will be made publicly available.