arXiv subjects

Yiming Huang

Publications and source records attributed to Yiming Huang.

At least 55 records · Page 3Linked to original sources

arXiv2026

Leveling3D: Leveling Up 3D Reconstruction with Feed-Forward 3D Gaussian Splatting and Geometry-Aware Generation

Feed-forward 3D reconstruction has revolutionized 3D vision, providing a powerful baseline for downstream tasks such as novel-view synthesis with 3D Gaussian Splatting. Previous works explore fixing the corrupted rendering results with a diffusion model. However, they lack geometric concern and fail at filling the missing area on the extrapolated view. In this work, we introduce Leveling3D, a novel pipeline that integrates feed-forward 3D reconstruction with geometrical-consistent generation to enable holistic simultaneous reconstruction and generation. We propose a geometry-aware leveling adapter, a lightweight technique that aligns internal knowledge in the diffusion model with the geometry prior from the feed-forward model. The leveling adapter enables generation on the artifact area of the extrapolated novel views caused by underconstrained regions of the 3D representation. Specifically, to learn a more diverse distributed generation, we introduce the palette filtering strategy for training, and a test-time masking refinement to prevent messy boundaries along the fixing regions. More importantly, the enhanced extrapolated novel views from Leveling3D could be used as the inputs for feed-forward 3DGS, leveling up the 3D reconstruction. We achieve SOTA performance on public datasets, including tasks such as novel-view synthesis and depth estimation.

cs.CV↗

arXiv2026

LiDAR-EVS: Enhance Extrapolated View Synthesis for 3D Gaussian Splatting with Pseudo-LiDAR Supervision

3D Gaussian Splatting (3DGS) has emerged as a powerful technique for real-time LiDAR and camera synthesis in autonomous driving simulation. However, simulating LiDAR with 3DGS remains challenging for extrapolated views beyond the training trajectory, as existing methods are typically trained on single-traversal sensor scans, suffer from severe overfitting and poor generalization to novel ego-vehicle paths. To enable reliable simulation of LiDAR along unseen driving trajectories without external multi-pass data, we present LiDAR-EVS, a lightweight framework for robust extrapolated-view LiDAR simulation in autonomous driving. Designed to be plug-and-play, LiDAR-EVS readily extends to diverse LiDAR sensors and neural rendering baselines with minimal modification. Our framework comprises two key components: (1) pseudo extrapolated-view point cloud supervision with multi-frame LiDAR fusion, view transformation, occlusion curling, and intensity adjustment; (2) spatially-constrained dropout regularization that promotes robustness to diverse trajectory variations encountered in real-world driving. Extensive experiments demonstrate that LiDAR-EVS achieves SOTA performance on extrapolated-view LiDAR synthesis across three datasets, making it a promising tool for data-driven simulation, closed-loop evaluation, and synthetic data generation in autonomous driving systems.

cs.RO↗

arXiv2026

HOG-Diff: Higher-Order Guided Diffusion for Graph Generation

Graph generation is a critical yet challenging task, as empirical analyses require a deep understanding of complex, non-Euclidean structures. Diffusion models have recently made significant advances in graph generation, but these models are typically adapted from image generation frameworks and overlook inherent higher-order topology, limiting their ability to capture graph topology. In this work, we propose Higher-order Guided Diffusion (HOG-Diff), a principled framework that progressively generates plausible graphs with inherent topological structures. HOG-Diff follows a coarse-to-fine generation curriculum, guided by higher-order topology and implemented via diffusion bridges. We further prove that our model admits stronger theoretical guarantees than classical diffusion frameworks. Extensive experiments across eight graph generation benchmarks, spanning diverse domains and including large-scale settings, demonstrate the scalability of our method and its superior performance on both pairwise and higher-order topological metrics. Our project page is available \href{https://circle-group.github.io/research/hog-diff/}{here}.

cs.LG↗

arXiv2026

FetalAgents: A Multi-Agent System for Fetal Ultrasound Image and Video Analysis

Fetal ultrasound (US) is the primary imaging modality for prenatal screening, yet its interpretation relies heavily on the expertise of the clinician. Despite advances in deep learning and foundation models, existing automated tools for fetal US analysis struggle to balance task-specific accuracy with the whole-process versatility required to support end-to-end clinical workflows. To address these limitations, we propose FetalAgents, the first multi-agent system for comprehensive fetal US analysis. Through a lightweight, agentic coordination framework, FetalAgents dynamically orchestrates specialized vision experts to maximize performance across diagnosis, measurement, and segmentation. Furthermore, FetalAgents advances beyond static image analysis by supporting end-to-end video stream summarization, where keyframes are automatically identified across multiple anatomical planes, analyzed by coordinated experts, and synthesized with patient metadata into a structured clinical report. Extensive multi-center external evaluations across eight clinical tasks demonstrate that FetalAgents consistently delivers the most robust and accurate performance when compared against specialized models and multimodal large language models (MLLMs), ultimately providing an auditable, workflow-aligned solution for fetal ultrasound analysis and reporting.

cs.CV↗

arXiv2026

A New Method for Identifying Contaminating Sources and Locating Target Sources through the Cross-Arm Features of Micro Pore Optics

The Pathfinder of the Type-A satellites in the Chasing All Transients Constellation Hunters (CATCH) space mission is equipped with Micro-Pore Optics (MPOs) and four single-pixel Silicon Drift Detectors (SDDs). Due to the lack of position resolution in an individual SDD, we propose a new method based on the cross-arms in the point spread function (PSF) of MPOs to enhance the satellite's capability in identifying contaminating sources and locating target sources. By placing one detector on each of the horizontal and vertical cross-arms on the focal plane, we can use the changes in the relative counts on the cross-arms detectors to deduce the location of the source. Simulated observations demonstrate that, for a target source with a flux of 1 Crab and an exposure time of 200 s, the cross-arms detectors can identify contaminating source with the same flux level at an off-axis angle larger than 8', and improve positioning accuracy to 6'. Furthermore, we extend the simulation study to CATCH Type-A, which plans to use an SDD array. In situations where sources exhibit the same flux of 1 Crab and the exposure time is merely 1 s, a 16x16 SDD array is capable of identifying contaminating source with an off-axis angle greater than 2.4' and can achieve a positioning precision of 1.8'.

astro-ph.IM↗

arXiv2026

TMR-VLA:Vision-Language-Action Model for Magnetic Motion Control of Tri-leg Silicone-based Soft Robot

In-vivo environments, magnetically actuated soft robots offer advantages such as wireless operation and precise control, showing promising potential for painless detection and therapeutic procedures. We developed a trileg magnetically driven soft robot (TMR) whose multi-legged design enables more flexible gaits and diverse motion patterns. For the silicone made of reconfigurable soft robots, its navigation ability can be separated into sequential motions, namely squatting, rotation, lifting a leg, walking and so on. Its motion and behavior depend on its bending shapes. To bridge motion type description and specific low-level voltage control, we introduced TMR-VLA, an end-to-end multi-modal system for a trileg magnetic soft robot capable of performing hybrid motion types, which is promising for developing a navigation ability by adapting its shape to language-constrained motion types. The TMR-VLA deploys embodied endoluminal localization ability from EndoVLA, and fuses sequential frames and natural language commands as input. Low-level voltage output is generated based on the current observation state and specific motion type description. The result shows the TMR-VLA can predict how the voltage applied to TMR will change the dynamics of a silicon-made soft robot. The TMR-VLA reached a 74% average success rate.

cs.RO↗

arXiv2026

EndoDDC: Learning Sparse to Dense Reconstruction for Endoscopic Robotic Navigation via Diffusion Depth Completion

Accurate depth estimation plays a critical role in the navigation of endoscopic surgical robots, forming the foundation for 3D reconstruction and safe instrument guidance. Fine-tuning pretrained models heavily relies on endoscopic surgical datasets with precise depth annotations. While existing self-supervised depth estimation techniques eliminate the need for accurate depth annotations, their performance degrades in environments with weak textures and variable lighting, leading to sparse reconstruction with invalid depth estimation. Depth completion using sparse depth maps can mitigate these issues and improve accuracy. Despite the advances in depth completion techniques in general fields, their application in endoscopy remains limited. To overcome these limitations, we propose EndoDDC, an endoscopy depth completion method that integrates images, sparse depth information with depth gradient features, and optimizes depth maps through a diffusion model, addressing the issues of weak texture and light reflection in endoscopic environments. Extensive experiments on two publicly available endoscopy datasets show that our approach outperforms state-of-the-art models in both depth accuracy and robustness. This demonstrates the potential of our method to reduce visual errors in complex endoscopic environments. Our code will be released at https://github.com/yinheng-lin/EndoDDC.

cs.CV↗

arXiv2026

RPG: A Repository Planning Graph for Unified and Scalable Codebase Generation

Large language models excel at generating individual functions or single files of code, yet generating complete repositories from scratch remains a fundamental challenge. This capability is key to building coherent software systems from high-level specifications and realizing the full potential of automated code generation. The process requires planning at two levels: deciding what features and modules to build (proposal stage) and defining their implementation details (implementation stage). Current approaches rely on natural language planning, which often produces unclear specifications, misaligned components, and brittle designs due to its inherent ambiguity and lack of structure. To address these limitations, we introduce the Repository Planning Graph (RPG), a structured representation that encodes capabilities, file structures, data flows, and functions in a unified graph. By replacing free-form natural language with an explicit blueprint, RPG enables consistent long-horizon planning for repository generation. Building on RPG, we develop ZeroRepo, a graph-driven framework that operates in three stages: proposal-level planning, implementation-level construction, and graph-guided code generation with test validation. To evaluate, we construct RepoCraft, a benchmark of six real-world projects with 1,052 tasks. On RepoCraft, ZeroRepo produces nearly 36K Code Lines and 445K Code Tokens, on average 3.9$\times$ larger than the strongest baseline (Claude Code), and 68$\times$ larger than other baselines. It achieves 81.5% coverage and 69.7% test accuracy, improving over Claude Code by 27.3 and 35.8 points. Further analysis shows that RPG models complex dependencies, enables more sophisticated planning through near-linear scaling, and improves agent understanding of repositories, thus accelerating localization. Our data and code are available at https://github.com/microsoft/RPG-ZeroRepo.

cs.CL↗

arXiv2026

TermiGen: High-Fidelity Environment and Robust Trajectory Synthesis for Terminal Agents

Executing complex terminal tasks remains a significant challenge for open-weight LLMs, constrained by two fundamental limitations. First, high-fidelity, executable training environments are scarce: environments synthesized from real-world repositories are not diverse and scalable, while trajectories synthesized by LLMs suffer from hallucinations. Second, standard instruction tuning uses expert trajectories that rarely exhibit simple mistakes common to smaller models. This creates a distributional mismatch, leaving student models ill-equipped to recover from their own runtime failures. To bridge these gaps, we introduce TermiGen, an end-to-end pipeline for synthesizing verifiable environments and resilient expert trajectories. Termi-Gen first generates functionally valid tasks and Docker containers via an iterative multi-agent refinement loop. Subsequently, we employ a Generator-Critic protocol that actively injects errors during trajectory collection, synthesizing data rich in error-correction cycles. Fine-tuned on this TermiGen-generated dataset, our TermiGen-Qwen2.5-Coder-32B achieves a 31.3% pass rate on TerminalBench. This establishes a new open-weights state-of-the-art, outperforming existing baselines and notably surpassing capable proprietary models such as o4-mini. Dataset is avaiable at https://github.com/ucsb-mlsec/terminal-bench-env.

cs.AI↗

arXiv2026

SurgVidLM: Towards Multi-grained Surgical Video Understanding with Large Language Model

Surgical scene understanding is critical for surgical training and robotic decision-making in robot-assisted surgery. Recent advances in Multimodal Large Language Models (MLLMs) have demonstrated great potential for advancing scene perception in the medical domain, facilitating surgeons to understand surgical scenes and procedures. However, these methods are primarily oriented towards image-based analysis or global video understanding, overlooking the fine-grained video reasoning that is crucial for analyzing specific processes and capturing detailed task execution within a surgical procedure. To bridge this gap, we propose SurgVidLM, the first video language model designed to address both full and fine-grained surgical video comprehension. To train our SurgVidLM, we construct the SVU-31K that is a large-scale dataset with over 31K video-instruction pairs, enabling both holistic understanding and detailed analysis of surgical procedures. Building on this resource, SurgVidLM incorporates a two-stage StageFocus mechanism: the first stage extracts global procedural context, while the second stage performs high-frequency local analysis guided by temporal cues. We also develop the Multi-frequency Fusion Attention to effectively integrate low- and high-frequency visual tokens, ensuring the preservation of critical task-specific details. Experimental results demonstrate that SurgVidLM significantly outperforms state-of-the-art Vid-LLMs of comparable parameter scale in both full and fine-grained video understanding tasks, showcasing its superior capability in capturing the context of complex robot-assisted surgeries. Our code and dataset will be publicly accessible soon.

cs.CV↗

arXiv2026

Closing the Loop: Universal Repository Representation with RPG-Encoder

Current repository agents encounter a reasoning disconnect due to fragmented representations, as existing methods rely on isolated API documentation or dependency graphs that lack semantic depth. We consider repository comprehension and generation to be inverse processes within a unified cycle: generation expands intent into implementation, while comprehension compresses implementation back into intent. To address this, we propose RPG-Encoder, a framework that generalizes the Repository Planning Graph (RPG) from a static generative blueprint into a unified, high-fidelity representation. RPG-Encoder closes the reasoning loop through three mechanisms: (1) Encoding raw code into the RPG that combines lifted semantic features with code dependencies; (2) Evolving the topology incrementally to decouple maintenance costs from repository scale, reducing overhead by 95.7%; and (3) Operating as a unified interface for structure-aware navigation. In evaluations, RPG-Encoder establishes state-of-the-art localization performance on SWE-bench Verified with 93.7% Acc@5 and exceeds the best baseline by over 10% in localization accuracy on SWE-bench Live Lite. These results highlight our superior fine-grained precision in complex codebases. Furthermore, it achieves 98.5% reconstruction coverage on RepoCraft, confirming RPG's high-fidelity capacity to mirror the original codebase and closing the loop between intent and implementation.

cs.CL↗

arXiv2026

RePPL: Recalibrating Perplexity by Uncertainty in Semantic Propagation and Language Generation for Explainable QA Hallucination Detection

Large Language Models (LLMs) have become powerful, but hallucinations remain a vital obstacle to their trustworthy use. Previous works improved the capability of hallucination detection by measuring uncertainty. But they can not explain the provenance behind why hallucinations occur, particularly in identifying which part of the inputs tends to trigger hallucinations. Recent works on the prompt attack indicate that uncertainty exists in semantic propagation, where attention mechanisms gradually fuse local token information into high-level semantics across layers. Meanwhile, uncertainty also emerges in language generation, due to its probability-based selection of high-level semantics for sampled generations. Based on that, we propose RePPL to recalibrate uncertainty measurement by these two aspects, which dispatches explainable uncertainty scores to each token and aggregates in Perplexity-style Log-Average form as a total score. Experiments show that it achieves the best comprehensive detection performance across various QA datasets on advanced models (average AUC of 0.833), and it is capable of producing token-level uncertainty scores as explanations of hallucination.

cs.CL↗

arXiv2026

Explanova: Automatically Discover Data Insights in N \times M Table via XAI Combined LLM Workflow

Automation in data analysis has been a long-time pursuit. Current agentic LLM shows a promising solution towards it. Like DeepAnalyze, DataSage, and Datawise. They are all powerful agentic frameworks for automatic fine-grained analysis and are powered by LLM-based agentic tool calling ability. However, what about powered by a preset AutoML-like workflow? If we traverse all possible exploration, like Xn itself`s statistics, Xn1-Xn2 relationships, Xn to all other, and finally explain? Our Explanova is such an attempt: Cheaper due to a Local Small LLM.

cs.LG↗

arXiv2026

Can LLMs Generate Reliable Test Case Generators? A Study on Competition-Level Programming Problems

Large Language Models (LLMs) have demonstrated remarkable capabilities in code generation, capable of tackling complex tasks during inference. However, the extent to which LLMs can be utilized for code checking or debugging through test case generation remains largely unexplored. We investigate this problem from the perspective of competition-level programming (CP) programs and propose TCGBench, a Benchmark for (LLM generation of) Test Case Generators. This benchmark comprises two tasks, aimed at studying the capabilities of LLMs in (1) generating valid test case generators for a given CP problem, and further (2) generating targeted test case generators that expose bugs in human-written code. Experimental results indicate that while state-of-the-art LLMs can generate valid test case generators in most cases, most LLMs struggle to generate targeted test cases that reveal flaws in human code effectively. Especially, even advanced reasoning models (e.g., o3-mini) fall significantly short of human performance in the task of generating targeted generators. Furthermore, we construct a high-quality, manually curated dataset of instructions for generating targeted generators. Analysis demonstrates that the performance of LLMs can be enhanced with the aid of this dataset, by both prompting and fine-tuning.

cs.CL↗

arXiv2025

More than Segmentation: Benchmarking SAM 3 for Segmentation, 3D Perception, and Reconstruction in Robotic Surgery

The recent SAM 3 and SAM 3D have introduced significant advancements over the predecessor, SAM 2, particularly with the integration of language-based segmentation and enhanced 3D perception capabilities. SAM 3 supports zero-shot segmentation across a wide range of prompts, including point, bounding box, and language-based prompts, allowing for more flexible and intuitive interactions with the model. In this empirical evaluation, we assess the performance of SAM 3 in robot-assisted surgery, benchmarking its zero-shot segmentation with point and bounding box prompts and exploring its effectiveness in dynamic video tracking, alongside its newly introduced language prompt segmentation. While language prompts show potential, their performance in the surgical domain is currently suboptimal, highlighting the need for further domain-specific training. Additionally, we investigate SAM 3D's depth reconstruction abilities, demonstrating its capacity to process surgical scene data and reconstruct 3D anatomical structures from 2D images. Through comprehensive testing on the MICCAI EndoVis 2017 and EndoVis 2018 benchmarks, SAM 3 shows clear improvements over SAM and SAM 2 in both image and video segmentation under spatial prompts, while the zero-shot evaluations of SAM 3D on SCARED, StereoMIS, and EndoNeRF indicate strong monocular depth estimation and realistic 3D instrument reconstruction, yet also reveal remaining limitations in complex, highly dynamic surgical scenes.

cs.CV↗

arXiv2025

DAComp: Benchmarking Data Agents across the Full Data Intelligence Lifecycle

Real-world enterprise data intelligence workflows encompass data engineering that turns raw sources into analytical-ready tables and data analysis that convert those tables into decision-oriented insights. We introduce DAComp, a benchmark of 210 tasks that mirrors these complex workflows. Data engineering (DE) tasks require repository-level engineering on industrial schemas, including designing and building multi-stage SQL pipelines from scratch and evolving existing systems under evolving requirements. Data analysis (DA) tasks pose open-ended business problems that demand strategic planning, exploratory analysis through iterative coding, interpretation of intermediate results, and the synthesis of actionable recommendations. Engineering tasks are scored through execution-based, multi-metric evaluation. Open-ended tasks are assessed by a reliable, experimentally validated LLM-judge, which is guided by hierarchical, meticulously crafted rubrics. Our experiments reveal that even state-of-the-art agents falter on DAComp. Performance on DE tasks is particularly low, with success rates under 20%, exposing a critical bottleneck in holistic pipeline orchestration, not merely code generation. Scores on DA tasks also average below 40%, highlighting profound deficiencies in open-ended reasoning and demonstrating that engineering and analysis are distinct capabilities. By clearly diagnosing these limitations, DAComp provides a rigorous and realistic testbed to drive the development of truly capable autonomous data agents for enterprise settings. Our data and code are available at https://da-comp.github.io

cs.CL↗

arXiv2025

Revitalizing Canonical Pre-Alignment for Irregular Multivariate Time Series Forecasting

Irregular multivariate time series (IMTS), characterized by uneven sampling and inter-variate asynchrony, fuel many forecasting applications yet remain challenging to model efficiently. Canonical Pre-Alignment (CPA) has been widely adopted in IMTS modeling by padding zeros at every global timestamp, thereby alleviating inter-variate asynchrony and unifying the series length, but its dense zero-padding inflates the pre-aligned series length, especially when numerous variates are present, causing prohibitive compute overhead. Recent graph-based models with patching strategies sidestep CPA, but their local message passing struggles to capture global inter-variate correlations. Therefore, we posit that CPA should be retained, with the pre-aligned series properly handled by the model, enabling it to outperform state-of-the-art graph-based baselines that sidestep CPA. Technically, we propose KAFNet, a compact architecture grounded in CPA for IMTS forecasting that couples (1) Pre-Convolution module for sequence smoothing and sparsity mitigation, (2) Temporal Kernel Aggregation module for learnable compression and modeling of intra-series irregularity, and (3) Frequency Linear Attention blocks for the low-cost inter-series correlations modeling in the frequency domain. Experiments on multiple IMTS datasets show that KAFNet achieves state-of-the-art forecasting performance, with a 7.2$\times$ parameter reduction and a 8.4$\times$ training-inference acceleration.

cs.LG↗

arXiv2025

PhysCtrl: Generative Physics for Controllable and Physics-Grounded Video Generation

Existing video generation models excel at producing photo-realistic videos from text or images, but often lack physical plausibility and 3D controllability. To overcome these limitations, we introduce PhysCtrl, a novel framework for physics-grounded image-to-video generation with physical parameters and force control. At its core is a generative physics network that learns the distribution of physical dynamics across four materials (elastic, sand, plasticine, and rigid) via a diffusion model conditioned on physics parameters and applied forces. We represent physical dynamics as 3D point trajectories and train on a large-scale synthetic dataset of 550K animations generated by physics simulators. We enhance the diffusion model with a novel spatiotemporal attention block that emulates particle interactions and incorporates physics-based constraints during training to enforce physical plausibility. Experiments show that PhysCtrl generates realistic, physics-grounded motion trajectories which, when used to drive image-to-video models, yield high-fidelity, controllable videos that outperform existing methods in both visual quality and physical plausibility. Project Page: https://cwchenwang.github.io/physctrl

cs.CV↗