Abstract
Bio-inspired Spiking Neural Networks (SNNs) provide an energy-efficient way to extract 3D spatio-temporal features. However, existing 3D SNNs have struggled with long-range dependencies until the recent emergence of Mamba, which offers superior computational efficiency and sequence modeling capability. In this work, we propose Spiking Point Mamba (SPM), the first Mamba-based SNN in the 3D domain. Naively adapting Mamba to 3D SNNs, though, is hindered by temporal dynamics mismatch and spike-induced information loss. Thus, we first introduce Hierarchical Dynamic Encoding (HDE), an improved direct encoding method that effectively introduces dynamic temporal mechanism. Then, we propose Spiking Mamba Block , which builds upon Mamba while learning inter-time-step features and minimizing information loss caused by spikes. Finally, to further boost performance, we adopt an asymmetric SNN …
本文提出 Spiking Point Mamba (SPM)，这是首个将 Mamba 引入三维点云分析的脉冲神经网络。针对直接适配 Mamba 时存在的时序动态不匹配和脉冲引起的信息损失问题，作者设计了层次动态编码 (HDE) 以增强动态时序建模，并提出 Spiking Mamba Block (SMB) 来学习跨时间步特征并减少脉冲信息丢失。此外，采用非对称 SNN 训练策略进一步提升性能。SPM 可作为高效骨干网络，适用于点云分类、部件分割与重建等任务。