The automatic detection of surface-level irregularities—defects or anomalies—in 3D data is of significant interest for various real-world purposes, such as industrial quality inspection, infrastructure monitoring, robotics, and autonomous systems. However, collecting annotated defect examples at a large scale is costly, and existing 3D anomaly detection methods either require templates or heavy memory, multiple inference passes, and brittle heuristic clustering. These shortcomings limit real-life deployment.The automatic detection of surface-level irregularities—defects or anomalies—in 3D data is of significant interest for various real-world purposes, such as industrial quality inspection, infrastructure monitoring, robotics, and autonomous systems. However, collecting annotated defect examples at a large scale is costly, and existing 3D anomaly detection methods either require templates or heavy memory, multiple inference passes, and brittle heuristic clustering. These shortcomings limit real-life deployment.[#item_full_content]