Author

Lazaros Nalpantidis

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Preprint Aug 2026

Scale Matters: Adaptive Granularity Selection for Cross-Species 3D Plant Organ Segmentation

Recent 3D foundation models provide powerful feature representations for point cloud learning by controlling spatial granularity. However, relying on a fixed spatial granularity severely limits generalization in applications like plant phenotyping, where organ morphology and size vary substantially across species and g...

C. Salazar, Lazaros Nalpantidis · 0 citations

Preprint Oct 2026

PAGER: Partial-to-global Alignment via Geometric and Relational Distillation

Pretrained 3D encoders are typically developed on globally reconstructed scenes expressed in a consistent world coordinate frame, whereas embodied systems must reason from partial, viewpoint-dependent observations in camera coordinates. We show that this shift from globally learned 3D feature spaces to realistic partia...

Akira-Miranda Adeyomi Adeniran-Lowe, B. Singh, Lars Arnold Dethlefsen et al. · 0 citations