P$^3$-VLM: A Point-based Alternative for Grounded 3D Vision-Language Models

Anna-Maria Halacheva, Jan-Nico Zaech, Sombit Dey, Luc Van Gool, Danda Pani Paudel

Examining existing benchmarks for grounding in 3D VLMs reveals a pervasive "semantic leakage" in the evaluation and prompting protocols: a heavy reliance on bounding boxes as spatial prompts or representation primitives. Because bounding boxes are highly informative of object categories, they introduce a shortcut for the models to neglect visual information during 3D VLM training. We demonstrate this with a "blind" LLM that, prompted only with the box coordinates, can perform surprisingly well. To further analyze this shortcut, we propose point-based grounding prompting - querying models with a single 3D point instead of a box. Under this protocol, the accuracy of the blind LLM drops from 36.4% to 18.0% on ScanNet's Nr3D, and similarly degrades for 3D VLMs (e.g. LL3DA). Building on this insight, we introduce P$^3$-VLM, a novel tri-pathway 3D VLM that supports point-based prompts and achieves 52.1% state-of-the-art accuracy on location-grounded captioning under this setting. To achieve this, we redesign the architecture while keeping it detector-free, scene-centric, and suitable for 3D GS inputs. P$^3$-VLM utilizes three complementary pathways (location-, task-, and…