{"paper":{"title":"Invaria: Learning Scale and Density Invariance in Point Clouds via Next-Resolution Prediction","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Alain Pagani, Chun-peng Chang, Dariu Gavrila, Holger Caesar, Shaoxiang Wang","submitted_at":"2026-05-15T13:06:41Z","abstract_excerpt":"Modern image encoders achieve high generalization by decoupling semantic meaning from resolution, an ability yet to be fully realized in the 3D domain. We investigate the failure of 3D point cloud encoders to achieve similar generalization and find that existing models are highly sensitive to sampling resolution and scale changes, leading to significant performance degradation. This sensitivity is a major bottleneck for real-world deployment in robotics, as it suggests models overfit to specific quantization densities and object scales rather than learning invariant semantic features. To mitig"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.15923","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.15923/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"ai_meta_artifact","ran_at":"2026-05-19T17:33:46.550630Z","status":"skipped","version":"1.0.0","findings_count":0},{"name":"claim_evidence","ran_at":"2026-05-19T17:01:55.749362Z","status":"completed","version":"1.0.0","findings_count":0}],"snapshot_sha256":"f63ab454dc3054dc993c3bdc67c8935be733ff859252f3c1d5a8e3822e61b7ca"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}