arXiv subjects

Yimin Pan

Publications and source records attributed to Yimin Pan.

3 recordsLinked to original sources

arXiv2026

VGM-VS: Rethinking Visual Geometry Model for High-Precision Visual Servoing

We present VGM-VS, a visual servoing method built on a pretrained feed-forward visual geometry model. Given the current view and a reference image captured at the target configuration, we estimate the relative camera pose with a visual geometry model and apply it iteratively as the pose increment of a closed-loop pose-based visual servoing (PBVS) scheme. The geometry-aware representation acquired from large-scale pretraining keeps this estimate reliable when the target is occluded, weakly textured, or covers only a small part of the image. However, the scale ambiguity inherent to these models leaves the predicted translation defined up to an unknown scale, while the pose increment must be metric for robot control. We close this gap with a scene-specific metric adaptation: the robot autonomously records image--pose pairs along a predefined motion starting from the target pose, and we fine-tune the camera head on these data, jointly learning the hand--eye transform and thus removing the need for a dedicated calibration process. We evaluate our method on three real-world assembly tasks with demanding tolerances: USB-C cable picking, cable insertion, and RAM insertion. Running in real time at 30Hz, VGM-VS converges to submillimeter terminal accuracy on the cable tasks, and reaches success rates of 90--100\% when the target is moved during servoing. It converges in all trials under initial displacements of up to 30cm from the reference pose and with 50\% of the target object occluded, outperforming the compared visual servoing baselines.

cs.RO↗

arXiv2025

Falcon: A Comprehensive Chinese Text-to-SQL Benchmark for Enterprise-Grade Evaluation

We introduce Falcon, a cross-domain Chinese text-to-SQL benchmark grounded in an enterprise-compatible dialect (MaxCompute/Hive). It contains 600 Chinese questions over 28 databases; 77% require multi-table reasoning and over half touch more than four tables. Each example is annotated along SQL-computation features and Chinese semantics. For evaluation, we release a robust execution comparator and an automated evaluation pipeline, under which all current state-of-the-art large-scale models (including Deepseek) achieve accuracies of at most 50%. Major errors originate from two sources: (1) schema linking in large enterprise landscapes - hundreds of tables, denormalized fields, ambiguous column names, implicit foreign-key relations and domain-specific synonyms that make correct join/column selection difficult; and (2) mapping concise, colloquial Chinese into the exact operators and predicates required for analytics - e.g., choosing the correct aggregation and group-by keys, expressing time windows and granularities, applying unit conversions, handling NULLs and data-quality rules, and formulating nested or windowed subqueries. Falcon therefore targets Chinese-specific semantics and enterprise dialects (abbreviations, business jargon, fuzzy entity references) and provides a reproducible middle ground before full production deployment by using realistic enterprise schemas, query templates, an execution comparator, and an automated evaluation pipeline for end-to-end validation.

cs.CL↗

arXiv2025

HairGS: Hair Strand Reconstruction based on 3D Gaussian Splatting

Human hair reconstruction is a challenging problem in computer vision, with growing importance for applications in virtual reality and digital human modeling. Recent advances in 3D Gaussians Splatting (3DGS) provide efficient and explicit scene representations that naturally align with the structure of hair strands. In this work, we extend the 3DGS framework to enable strand-level hair geometry reconstruction from multi-view images. Our multi-stage pipeline first reconstructs detailed hair geometry using a differentiable Gaussian rasterizer, then merges individual Gaussian segments into coherent strands through a novel merging scheme, and finally refines and grows the strands under photometric supervision. While existing methods typically evaluate reconstruction quality at the geometric level, they often neglect the connectivity and topology of hair strands. To address this, we propose a new evaluation metric that serves as a proxy for assessing topological accuracy in strand reconstruction. Extensive experiments on both synthetic and real-world datasets demonstrate that our method robustly handles a wide range of hairstyles and achieves efficient reconstruction, typically completing within one hour. The project page can be found at: https://yimin-pan.github.io/hair-gs/

cs.CV↗