SetPlanner: A Lightweight Plug-in Point-Set Planner for Frozen SAM
Segment Anything Models provide reusable priors, yet they require user prompts and cannot support fully automatic instrument segmentation. Automatic prompting is difficult for thin, articulated, reflective, and partly occluded tools, where several configurations can be valid. We formulate automatic prompting as lightweight point-set planning and isolate the point source under a frozen pathway. To this end, we present SetPlanner, a 1.52M-parameter plug-in point-set planner for frozen SAM. The plug-in preserves SAM's point-prompt interface and enables reuse across backbones. SetPlanner plans complete unordered K-point sets from geometry-aware targets with a permutation-aware conditional flo...
| Authors | Dawei Yan, Yuezhe Yang, Menglan Ruan et al. |
|---|---|
| Primary category | cs.CV |
| Published | 16 September 2026 |
| Last updated at source | 16 September 2026 |
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