AAAI 2026

January 25, 2026

Singapore, Singapore

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Domain generalization (DG) and domain adaptation (DA) for 3D semantic segmentation enable the model to maintain high performance while avoiding labor-intensive and time-consuming annotation of target-domain data. However, under adverse weather conditions, the injection of spatial noise will affect the reflectivity of LiDAR point clouds, exacerbate domain distribution discrepancies, and degrade the generalization ability of the model. Current methods mainly rely on sparse convolution-based architecture. Due to its limited receptive field, the model captures varying local geometric information when dealing with point clouds of different sparsities, thereby limiting its transferability. To this end, we propose \textbf{BeyondSparse}, a novel cross-domain 3D semantic segmentation method under adverse weather that incorporates a state-space model into a 3D sparse convolution-based architecture, sequentially modeling all features to learn domain-invariant representations. This method consists of two main components: domain feature decoupling and Mamba-based encoder. The former performs feature disentanglement before sequential modeling, while the latter performs global modeling on voxelized point cloud data. In addition, we introduce a token-style augmentation to capture the intrinsic properties of input data. Extensive experimental results demonstrate that our method outperforms SOTA competitors in both DG and DA tasks, for instance, achieving +4.6\% and +0.8\% mIoU on SynLiDAR$\rightarrow$SemanticSTF.

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Topology-Aware Vision Transformers for Enhanced Scene Recognition
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Topology-Aware Vision Transformers for Enhanced Scene Recognition

AAAI 2026

+2
Qiling Li and 4 other authors

25 January 2026

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