Model card for litept-small.nuscenes.prs-eth

A LitePT point cloud semantic segmentation model (convolutions in the early stages, attention with 3D rotary embedding in the late ones). Trained on nuScenes.

Model Details

• Model Type: Point cloud semantic segmentation
• Model Stats:
  • Params (M): 12.7
  • Input channels: 4
  • Classes: 16
  • Features: 72
• Dataset: nuScenes
• Metrics: simple/mIoU 80.47, simple/OA 94.68
• Paper: LitePT: Lighter Yet Stronger Point Transformer
• Converted from: prs-eth/LitePT (MIT)
• Library: torch-pointcloud

Install

pip install torch-pointcloud

This checkpoint also needs spconv and flash-attn, which need a build matching your torch and CUDA: see the installation guide.

Usage

import torch
import torch_pointcloud as tp
from torch_pointcloud.utils.data import collate

model, info = tp.create_model(
    "litept-small.nuscenes.prs-eth",
    pretrained=True,
    return_info=True,
)
model = model.cuda().eval()  # GPU-only kernels

# synthetic sample with the keys a dataset provides
num_points = 8192
sample = {
    "pos": torch.randn(num_points, 3),
    "intensity": torch.rand(num_points, 1),
    "segment": torch.zeros(num_points, dtype=torch.long),
}
data = info["transform"](sample)
data = collate([data])
data = {key: value.cuda() for key, value in data.items()}

with torch.no_grad():
    logits = model(data.get("x"), data["pos_grid"], data["batch"])

Feature extraction

with torch.no_grad():
    features = model.forward_features(data.get("x"), data["pos_grid"], data["batch"])

model.reset_classifier(num_classes=0)
with torch.no_grad():
    features = model(data.get("x"), data["pos_grid"], data["batch"])  # (N, 72)

Citation

@inproceedings{yue2026litept,
  title   = {LitePT: Lighter Yet Stronger Point Transformer},
  author  = {Yuanwen Yue and Damien Robert and Jianyuan Wang and Sunghwan Hong and Jan Dirk Wegner and Christian Rupprecht and Konrad Schindler},
  booktitle = {CVPR},
  year    = {2026}
}

@inproceedings{caesar2020nuscenes,
  title   = {nuScenes: A multimodal dataset for autonomous driving},
  author  = {Holger Caesar and Varun Bankiti and Alex H. Lang and Sourabh Vora and Venice Erin Liong and Qiang Xu and Anush Krishnan and Yu Pan and Giancarlo Baldan and Oscar Beijbom},
  booktitle = {CVPR},
  year    = {2020}
}

@software{dujardin2026pytorchpointcloud,
  author  = {Arthur Dujardin},
  title   = {PyTorch PointCloud},
  year    = {2026},
  doi     = {10.5281/zenodo.22159632},
  url     = {https://github.com/arthurdjn/pytorch-pointcloud},
}