P3T: Prototypical Point-level Prompt Tuning with Enhanced Generalization for 3D Vision-Language Models

With the rise of pre-trained models in the 3D point cloud domain for a wide range of real-world applications, adapting them to downstream tasks has become increasingly important. However, conventional full fine-tuning methods are computationally expensive and storage-intensive. Although prompt tuning has emerged as an efficient alternative, it often suffers from overfitting, thereby compromising generalization capability. To address this issue, we propose Prototypical Point-level Prompt Tuning (P3T), a parameter-efficient prompt tuning method designed for pre-trained 3D vision-language models (VLMs). P3T consists of two components: 1) textitPoint Prompter, which generates instance-aware point-level prompts for the input point cloud, and 2) textitText Prompter, which employs learnable prompts into the input text instead of hand-crafted ones. Since both prompters operate directly on input data, P3T enables task-specific adaptation of 3D VLMs without sacrificing generalizability. Furthermore, to enhance embedding space alignment, which is key to fine-tuning 3D VLMs, we introduce a prototypical loss that reduces intra-category variance. Extensive experiments demonstrate that our method matches or outperforms full fine-tuning in classification and few-shot learning, and further exhibits robust generalization under data shift in the cross-dataset setting. The code is available at textcolorviolethttps://github.com/gyjung975/P3T.