{"id":"https://openalex.org/W4401416227","doi":"https://doi.org/10.1109/icra57147.2024.10610767","title":"Fine-Tuning Point Cloud Transformers with Dynamic Aggregation","display_name":"Fine-Tuning Point Cloud Transformers with Dynamic Aggregation","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416227","doi":"https://doi.org/10.1109/icra57147.2024.10610767"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610767","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610767","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061265936","display_name":"Jiajun Fei","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiajun Fei","raw_affiliation_strings":["Tsinghua University,Institute for Artificial Intelligence, Tsinghua University (THUAI), State Key Laboratory of Intelligent Technology and Systems, Beijing National Research Center for Information Science and Technology (BNRist),Department of Computer Science and Technology,Beijing,China,100084"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Institute for Artificial Intelligence, Tsinghua University (THUAI), State Key Laboratory of Intelligent Technology and Systems, Beijing National Research Center for Information Science and Technology (BNRist),Department of Computer Science and Technology,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102011846","display_name":"Zhidong Deng","orcid":"https://orcid.org/0000-0001-9970-1023"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhidong Deng","raw_affiliation_strings":["Tsinghua University,Institute for Artificial Intelligence, Tsinghua University (THUAI), State Key Laboratory of Intelligent Technology and Systems, Beijing National Research Center for Information Science and Technology (BNRist),Department of Computer Science and Technology,Beijing,China,100084"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Institute for Artificial Intelligence, Tsinghua University (THUAI), State Key Laboratory of Intelligent Technology and Systems, Beijing National Research Center for Information Science and Technology (BNRist),Department of Computer Science and Technology,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9455","last_page":"9462"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9873999953269958,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5584807991981506},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5515668988227844},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.43531256914138794},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.42872360348701477},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3528415560722351},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.18969854712486267},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12960049510002136},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.10461166501045227},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0804203450679779}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5584807991981506},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5515668988227844},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.43531256914138794},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.42872360348701477},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3528415560722351},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.18969854712486267},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12960049510002136},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.10461166501045227},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0804203450679779},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610767","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610767","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":73,"referenced_works":["https://openalex.org/W1920022804","https://openalex.org/W2187089797","https://openalex.org/W2321533354","https://openalex.org/W2326925005","https://openalex.org/W2553307952","https://openalex.org/W2594519801","https://openalex.org/W2796426482","https://openalex.org/W2963121255","https://openalex.org/W2963211188","https://openalex.org/W2963460174","https://openalex.org/W2964228567","https://openalex.org/W2979750740","https://openalex.org/W2981440248","https://openalex.org/W2986615800","https://openalex.org/W3035524453","https://openalex.org/W3095319910","https://openalex.org/W3097823560","https://openalex.org/W3099793224","https://openalex.org/W3113151582","https://openalex.org/W3116959466","https://openalex.org/W3153675281","https://openalex.org/W3166573884","https://openalex.org/W3171007011","https://openalex.org/W3173788106","https://openalex.org/W3174770825","https://openalex.org/W3176828726","https://openalex.org/W3185341429","https://openalex.org/W4205991051","https://openalex.org/W4206778101","https://openalex.org/W4221146657","https://openalex.org/W4281732104","https://openalex.org/W4281838252","https://openalex.org/W4281922683","https://openalex.org/W4282005462","https://openalex.org/W4285247752","https://openalex.org/W4290055897","https://openalex.org/W4292779060","https://openalex.org/W4299518610","https://openalex.org/W4312270234","https://openalex.org/W4312651322","https://openalex.org/W4312788538","https://openalex.org/W4312818263","https://openalex.org/W4313125078","https://openalex.org/W4313156423","https://openalex.org/W4313250726","https://openalex.org/W4313449037","https://openalex.org/W4383108398","https://openalex.org/W4385245566","https://openalex.org/W4386075814","https://openalex.org/W4386249538","https://openalex.org/W4390874204","https://openalex.org/W4401109685","https://openalex.org/W6682132143","https://openalex.org/W6738045163","https://openalex.org/W6739778489","https://openalex.org/W6748208425","https://openalex.org/W6755207826","https://openalex.org/W6755466756","https://openalex.org/W6759579507","https://openalex.org/W6763422710","https://openalex.org/W6774314701","https://openalex.org/W6778883912","https://openalex.org/W6784333009","https://openalex.org/W6785440099","https://openalex.org/W6791353385","https://openalex.org/W6796581206","https://openalex.org/W6810249204","https://openalex.org/W6838701581","https://openalex.org/W6838865580","https://openalex.org/W6839294089","https://openalex.org/W6839446344","https://openalex.org/W6841095953","https://openalex.org/W6849622024"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W4244478748","https://openalex.org/W4223488648","https://openalex.org/W2134969820","https://openalex.org/W2251605416","https://openalex.org/W2560439919","https://openalex.org/W4389340727","https://openalex.org/W3150465815","https://openalex.org/W1997222214"],"abstract_inverted_index":{"Point":[0],"clouds":[1],"play":[2],"an":[3],"important":[4],"role":[5,88],"in":[6,13,26,64,91],"3D":[7],"analysis,":[8],"which":[9,45],"has":[10,22,166],"broad":[11],"applications":[12],"robotics":[14],"and":[15,42,48,84,136,155,172],"autonomous":[16],"driving.":[17],"The":[18,177],"pre-training":[19],"fine-tuning":[20,32,59,92,148,171,175],"paradigm":[21],"shown":[23],"great":[24],"potential":[25],"the":[27,51,80,86,131],"point":[28,72,118],"cloud":[29,119],"domain.":[30],"Full":[31],"is":[33,179],"generally":[34,68],"effective":[35],"but":[36],"leads":[37],"to":[38,106,146],"a":[39,100,140],"heavy":[40],"storage":[41],"computational":[43],"burden,":[44],"becomes":[46],"inefficient":[47],"unacceptable":[49],"as":[50,125],"size":[52],"of":[53,89,133,143],"pre-trained":[54,117],"models":[55],"scales.":[56],"Although":[57],"efficient":[58,174],"approaches":[60],"have":[61],"significant":[62],"progress":[63],"other":[65,173],"domains,":[66],"they":[67],"perform":[69],"worse":[70],"for":[71,116,139],"clouds.":[73],"To":[74],"overcome":[75],"this":[76],"dilemma,":[77],"we":[78,98,129],"revisit":[79],"official":[81],"Point-MAE":[82],"implementation":[83],"find":[85],"critical":[87],"aggregation":[90,103,110],"performances.":[93],"Inspired":[94],"by":[95],"such":[96,124],"discoveries,":[97],"propose":[99],"novel":[101],"dynamic":[102],"(DA)":[104],"method":[105,145],"replace":[107],"previous":[108],"static":[109],"like":[111],"mean":[112],"or":[113,127],"max":[114],"pooling":[115],"Transformers.":[120],"Besides":[121],"standard":[122],"metrics":[123],"accuracy":[126],"mIoU,":[128],"evaluate":[130],"number":[132],"tunable":[134],"parameters":[135],"additional":[137],"FLOPs":[138],"fair":[141],"comparison":[142],"our":[144],"different":[147],"approaches.":[149,176],"We":[150],"construct":[151],"several":[152],"DA":[153,165],"variants":[154],"validate":[156],"them":[157],"through":[158],"extensive":[159],"experiments.":[160],"Experimental":[161],"results":[162],"demonstrate":[163],"that":[164],"competitive":[167],"performances":[168],"against":[169],"full":[170],"code":[178],"publicly":[180],"available":[181],"at":[182],"https://github.com/JaronTHU/DynamicAggregation.":[183]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}