# EMERGE: Resolution-Agnostic Point Cloud Generation with Equivariant Graph-Based Diffusion

arXiv: https://arxiv.org/abs/2609.26039 · HTML: https://mlsanity.com/paper/2609.26039/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 37 of its 43 references that are in the map.
- First posted on arXiv 22 Sep 2026.

## Builds on (most cited first, 30 of 37)

- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [Deep Unsupervised Learning using Nonequilibrium Thermodynamics](https://mlsanity.com/paper/1503.03585/) (2015)
- [Scalable Diffusion Models with Transformers](https://mlsanity.com/paper/2212.09748/) (2022)
- [ShapeNet: An Information-Rich 3D Model Repository](https://mlsanity.com/paper/1512.03012/) (2015)
- [FiLM: Visual Reasoning with a General Conditioning Layer](https://mlsanity.com/paper/1709.07871/) (2017)
- [Dynamic Graph CNN for Learning on Point Clouds](https://mlsanity.com/paper/1801.07829/) (2018)
- [SDEdit: Guided Image Synthesis and Editing with Stochastic Differential Equations](https://mlsanity.com/paper/2108.01073/) (2021)
- [E(n) Equivariant Graph Neural Networks](https://mlsanity.com/paper/2102.09844/) (2021)
- [Diffusion Probabilistic Models for 3D Point Cloud Generation](https://mlsanity.com/paper/2103.01458/) (2021)
- [E(3)-Equivariant Graph Neural Networks for Data-Efficient and Accurate Interatomic Potentials](https://mlsanity.com/paper/2101.03164/) (2021)
- [Equivariant Diffusion for Molecule Generation in 3D](https://mlsanity.com/paper/2203.17003/) (2022)
- [LION: Latent Point Diffusion Models for 3D Shape Generation](https://mlsanity.com/paper/2210.06978/) (2022)
- [DeepGCNs: Can GCNs Go as Deep as CNNs?](https://mlsanity.com/paper/1904.03751/) (2019)
- [DiGress: Discrete Denoising diffusion for graph generation](https://mlsanity.com/paper/2209.14734/) (2022)
- [3D Shape Generation and Completion through Point-Voxel Diffusion](https://mlsanity.com/paper/2104.03670/) (2021)
- [PointFlow: 3D Point Cloud Generation with Continuous Normalizing Flows](https://mlsanity.com/paper/1906.12320/) (2019)
- [Point-GNN: Graph Neural Network for 3D Object Detection in a Point Cloud](https://mlsanity.com/paper/2003.01251/) (2020)
- [Efficient Diffusion Training via Min-SNR Weighting Strategy](https://mlsanity.com/paper/2303.09556/) (2023)
- [Learning Gradient Fields for Shape Generation](https://mlsanity.com/paper/2008.06520/) (2020)
- [Vision GNN: An Image is Worth Graph of Nodes](https://mlsanity.com/paper/2206.00272/) (2022)
- [E(n) Equivariant Normalizing Flows](https://mlsanity.com/paper/2105.09016/) (2021)
- [Strike (with) a Pose: Neural Networks Are Easily Fooled by Strange Poses of Familiar Objects](https://mlsanity.com/paper/1811.11553/) (2018)
- [SoftFlow: Probabilistic Framework for Normalizing Flow on Manifolds](https://mlsanity.com/paper/2006.04604/) (2020)
- [Discrete Point Flow Networks for Efficient Point Cloud Generation](https://mlsanity.com/paper/2007.10170/) (2020)
- [Equivariant Point Network for 3D Point Cloud Analysis](https://mlsanity.com/paper/2103.14147/) (2021)
- [SetVAE: Learning Hierarchical Composition for Generative Modeling of Set-Structured Data](https://mlsanity.com/paper/2103.15619/) (2021)
- [SE(3) Equivariant Graph Neural Networks with Complete Local Frames](https://mlsanity.com/paper/2110.14811/) (2021)
- [Fast Point Cloud Generation with Straight Flows](https://mlsanity.com/paper/2212.01747/) (2022)
- [Does equivariance matter at scale?](https://mlsanity.com/paper/2410.23179/) (2024)
- [The Surprising Effectiveness of Equivariant Models in Domains with Latent Symmetry](https://mlsanity.com/paper/2211.09231/) (2022)

## Abstract (arXiv)

Point cloud generation has emerged as a crucial task for accurately capturing and reproducing the complexity of the physical world. However, existing generative approaches, predominantly relying on Transformers and Variational Autoencoders (VAEs), frequently ignore the continuous, non-grid topologies inherent to 3D spaces. Although the integration of graph-based structures has yielded significant benefits in related discriminative vision tasks, such geometric architectures remain noticeably absent from 3D generative modeling. To address this gap, we introduce EMERGE (Equivariant Multi-scale GNN for Resolution-agnostic point cloud GEneration), the first fully SE(3)-equivariant graph-based diffusion backbone explicitly designed to generate point clouds while preserving continuous spatial symmetries. Our framework bypasses the rigid resolution dependencies of standard generative pipelines, enabling zero-shot inference at multiple, arbitrary spatial resolutions. Extensive empirical evaluations demonstrate that EMERGE achieves State-of-the-Art generation quality across standard metrics, while the strong inherent geometric inductive biases enable significantly faster training convergence compared to existing baseline methods.