Zijing Huang | Searcharxiv

arXiv2026

From Simulation to the Real-World: An In-Field 6D Pose Dataset and Baseline for Robotic Strawberry Harvesting

Robotic strawberry harvesting requires precise 6D pose estimation; however, collecting 6D pose ground truth in real agricultural fields is inherently challenging. Existing strawberry 6D pose estimation studies have therefore relied mainly on synthetic data, leaving their in-field performance unquantified. In this work, we obtain ground truth indirectly, by recovering camera poses via PnP, reconstructing each scene at metric scale, and annotating a single 3D bounding box per strawberry that is propagated across all frames, yielding, to the best of our knowledge, the first real-world 6D pose ground-truth dataset of red-stage strawberries collected at an actual strawberry farm (12,040 images). We also introduce a synthetic dataset rendered in NVIDIA Isaac Sim, featuring scene-level realism and domain randomization. Despite this improved simulation setup, models trained on synthetic data alone fail to transfer to in-field images, while introducing a small amount of real data improves both translation and rotation accuracy across all backbones. Under the monocular RGB setting evaluated here, rotation is largely recovered once real data is used, and depth is what limits pose accuracy. These baselines across backbone encoders serve as a reference for future work. The real-world dataset is publicly available at https://huggingface.co/datasets/WoojungSon/FieldStraw6D, and the data-collection pipeline is available at https://github.com/wjson2435/FieldStraw6D-pipeline.

cs.CV↗

arXiv2025

U-NIAH: Unified RAG and LLM Evaluation for Long Context Needle-In-A-Haystack

Recent advancements in Large Language Models (LLMs) have expanded their context windows to unprecedented lengths, sparking debates about the necessity of Retrieval-Augmented Generation (RAG). To address the fragmented evaluation paradigms and limited cases in existing Needle-in-a-Haystack (NIAH), this paper introduces U-NIAH, a unified framework that systematically compares LLMs and RAG methods in controlled long context settings. Our framework extends beyond traditional NIAH by incorporating multi-needle, long-needle, and needle-in-needle configurations, along with different retrieval settings, while leveraging the synthetic Starlight Academy dataset-a fictional magical universe-to eliminate biases from pre-trained knowledge. Through extensive experiments, we investigate three research questions: (1) performance trade-offs between LLMs and RAG, (2) error patterns in RAG, and (3) RAG's limitations in complex settings. Our findings show that RAG significantly enhances smaller LLMs by mitigating the "lost-in-the-middle" effect and improving robustness, achieving an 82.58% win-rate over LLMs. However, we observe that retrieval noise and reverse chunk ordering degrade performance, while surprisingly, advanced reasoning LLMs exhibit reduced RAG compatibility due to sensitivity to semantic distractors. We identify typical error patterns including omission due to noise, hallucination under high noise critical condition, and self-doubt behaviors. Our work not only highlights the complementary roles of RAG and LLMs, but also provides actionable insights for optimizing deployments. Code: https://github.com/Tongji-KGLLM/U-NIAH.

cs.CL↗