Wang, J., Zhu, H., Guo, H., Mamun, A. A., Xiang, C., & Lee, T. H. (2026). EPSegFZ: Efficient Point Cloud Semantic Segmentation for Few- and Zero-Shot Scenarios with Language Guidance. Proceedings of the AAAI Conference on Artificial Intelligence, 40(12), 9885–9893. https://doi.org/10.1609/aaai.v40i12.37953
Abstract:
Recent approaches for few-shot 3D point cloud semantic segmentation typically require a two-stage learning process, i.e., a pre-training stage followed by a few-shot training stage. While effective, these methods face overreliance on pre-training, which hinders model flexibility and adaptability. Some models tried to avoid pre-training yet failed to capture ample information. In addition, current approaches focus on visual information in the support set and neglect or do not fully exploit other useful data, such as textual annotations. This inadequate utilization of support information impairs the performance of the model and restricts its zero-shot ability. To address these limitations, we present a novel pre-training-free network, named Efficient Point Cloud Semantic Segmentation for Few- and Zero-shot scenarios. Our EPSegFZ incorporates three key components. A Prototype-Enhanced Registers Attention (ProERA) module and a Dual Relative Positional Encoding (DRPE)-based cross-attention mechanism for improved feature extraction and accurate query-prototype correspondence construction without pre-training. A Language-Guided Prototype Embedding (LGPE) module that effectively leverages textual information from the support set to improve few-shot performance and enable zero-shot inference.Extensive experiments show that our method outperforms the state-of-the-art method by 5.68% and 3.82% on the S3DIS and ScanNet benchmarks, respectively.
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Funding Info:
This research / project is supported by the National Research Foundation - “Centre for Advanced Robotics Technology Inno vation (CARTIN)”
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This research / project is supported by the National Research Foundation - National Robotics Programme (NRP) 2.0
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