Zhuoxiao Li, Xinyi Liu, Hongye Hou, Jing OU, Kang Du, Shuai Zhang, Dongli Wu, Taoyu Wu 等 11 位作者
Long-sequence panoramic reconstruction requires detailed scene geometry and globally consistent camera poses across distant revisits. Panoramic SLAM and incremental SfM rely on feature correspondences, but repeated, similar structures and small partial overlap make reliable long-range connections difficult to establish, leaving accumulated drift unresolved. Feed-forward models offer detailed local geometry, but their high computational costs limit inference window size, necessitating additional constraints for global consistency. This motivates combining continuous feature-based tracking and sparse mapping with rapid, high-quality local reconstruction from feed-forward models to achieve accurate localization and globally consistent dense mapping over long sequences. We therefore propose a panoramic reconstruction framework that couples an ORB-based sparse panoramic mapping frontend with a fine-tuned feed-forward model. Our key insight is that predicted local geometry enables 3D verification of feature matches across distant revisits, yielding long-range camera constraints even between regions. We calibrate predicted depths with sparse landmarks and use verified connections to optimize the global pose graph, updating dense geometry with the corrected camera poses. We also introduce PanoRecon, a seven-scene benchmark with repetitive architecture, large and small loops, and reference camera poses and LiDAR geometry for evaluating global consistency. Our method achieves the lowest mean absolute trajectory error and high F-1 Score among the evaluated methods. Project Page:https://zhuoxiaoli.github.io/HoloRecon_page/
Qiuyuan Ai, Zenghuang Fu, Zhaoyang Li, Ping Jiang Peking University, Haoyu Wu Mininglamp.com, Jie Song Peking University, Guannan He Peking University
Scaling LLM-based agents to long-horizon deep research is constrained by the context-noise trade-off, where linear history accumulation degrades reasoning and dilutes fine-grained evidence. To address this, we introduce the Cognitive Scaffold, a factorized memory architecture that decouples the cognitive state into a Fluid Working Context for immediate reasoning and a persistent Knowledge Graph for long-term retention. Unlike unstructured summarization, our framework employs a Rejection Sampling Fine-Tuning (RFT) pipeline to crystallize saturated context into structured event snapshots, strictly enforcing atomic constraints to preserve numerical values and entities. During reasoning, a thought-driven dual-path retrieval mechanism enables the agent to proactively recover precise evidence. Empirical evaluations on Xbench-DeepSearch, BrowseComp-ZH, and GAIA demonstrate that Cognitive Scaffold consistently outperforms baselines, achieving 74.7% Avg@3 and 87.0% Pass@3 on Xbench-DeepSearch, 48.5% Avg@3 and 65.9% Pass@3 on BrowseComp-ZH, and 72.8% Avg@3 and 88.3% Pass@3 on GAIA, while reducing compression hallucinations to 5.3%. We open-source our codebase to facilitate future research.
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cs.CL
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表