PROCESSING POINT-CLOUD DATA

Systems and techniques are described herein for processing point-cloud data. For instance, a method for processing point-cloud data is provided. The method may include providing numerical values as input to a diffusion model; providing an input point cloud as a conditioning input to the diffusion model; and processing the numerical values using the diffusion model based on the input point cloud to generate an output point cloud, wherein the diffusion model is trained to generate output point clouds based on input point clouds and wherein the output point clouds include more points than are included in the input point clouds.