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新论文 · v1arXiv:2611.15105

VecDBLens: An Evaluatology-Based Framework for Vector Database Diagnosis

Yutong Zhou, Guoxin Kang, Wenxin Zhou, Haoyu He, Yuedong Zhu, Lei Wang, Wanling Gao, Fanda Fan 等 9 位作者

原文摘要

Vector databases are increasingly deployed as retrieval pipelines in which representation, indexing, and query-time execution jointly determine accuracy, throughput, and cost. Existing vector database evaluations primarily focus on indexing while treating embeddings as fixed inputs and ignoring the role of query-time execution, making it difficult to decide whether a bottleneck should be addressed by changing the embedding model, the index, or the query-processing functions. To address the above limitation, we introduce VecDBLens, an Evaluatology-based framework that treats the function under diagnosis as an evaluated object and all remaining dataset, workload, parameter, and runtime factors as matched evaluation conditions. VecDBLens attributes performance differences to individual evaluated objects through comparisons under matched evaluation conditions, summarizing their performance and stability across multiple datasets and workloads. It further analyzes interactions among objects using analysis of variance (ANOVA), thereby turning vector database benchmarking from leaderboard ranking into a reproducible diagnostic procedure. VecDBLens reveals two key insights. First, retrieval performance is fundamentally upper-bounded by embedding quality, revealing that many apparent indexing failures are therefore representation-side limitations. Second, stronger index parameterization is not always beneficial: overly aggressive configurations can reshape neighborhood topology and cause recall regression. These results challenge the common practice of evaluating vector databases primarily through indexing and show that real-world limitations arise from constraints across retrieval functions rather than any single function alone. VecDBLens provides a principled basis for identifying the true performance drivers of vector databases and for guiding their design in practical applications.

cs.DB

版本更新 · v2arXiv:2607.14203

Instant NuRec: Feed-Forward 3D Gaussian Reconstruction for Driving Scene Simulation

NVIDIA, :, Jiahui Huang, Jiawei Ren, Michal Tyszkiewicz, Bjoern Haefner, Michael Shelley, Xin Kang 等 17 位作者

原文摘要

3D simulation platforms are critical for autonomous driving because they enable end-to-end policy evaluation, thereby reducing development costs and improving safety. In recent years, neural simulation has become predominant, with methods such as NuRec playing a central role; however, these methods remain relatively slow and typically require per-scene tuning. In this work, we present Instant NuRec, a feed-forward neural reconstruction model that turns a short multi-view driving log into a fully simulatable 3D Gaussian Splatting (3DGS) world in a single forward pass. The model accepts multi-view input from a calibrated camera rig and emits a layered output consisting of static and dynamic 3DGS layers, a sky cubemap, and per-camera ISP corrections, while providing native support for non-pinhole camera models via 3DGUT. It reconstructs a 10-20-second multi-camera scene in roughly 1.5 seconds and achieves a PSNR on the Waymo Open Dataset that is 2.01 dB above the strongest evaluated baseline. Instant NuRec is deeply integrated into NuRec and is compatible with AlpaSim for closed-loop simulation.

cs.GR · cs.AI · cs.CV

版本更新 · v3arXiv:2511.18127

Predictive Representation Learning for Manipulation via Streaming Egocentric 3D Hand Forecasting

Ruicong Liu, Yifei Huang, Liangyang Ouyang, Caixin Kang, Yoichi Sato

原文摘要

Learning embodied manipulation from egocentric human data offers a scalable path, reducing the cost of collecting robot-specific demonstrations. However, existing representation learning methods largely stop at perceptual understanding, such as extracting what a scene contains or what an action is. A capable embodied agent is more than understanding: it predicts the next motion. We propose that forecasting 3D human hand motion is one suitable pretraining task, as the representation jointly learns how to manipulate objects and how the motion will unfold next. Building on this hypothesis, we introduce SFHand, the first representation learning method via streaming egocentric 3D hand forecasting. SFHand learns by autoregressively predicting future 3D hand states, including hand type, 2D bounding box, 3D pose, and trajectory, from a continuous stream of video and language instructions. Its autoregressive architecture is equipped with an ROI-enhanced memory layer, capturing temporal context while focusing on salient hand-centric regions. To enable this research, we also introduce SFHand, the first open-source large-scale dataset pairing synchronized 3D hand poses with fine-grained language instructions (247K clips, 3.95M frames). Transferred to downstream embodied control, the learned representation shows state-of-the-art performance on both simulation and real-world manipulation benchmarks, improving success rate by up to 13.4%. Our method also achieves leading 3D hand forecasting accuracy, with 35.8% lower ADE than baseline methods. These results suggest that forecasting hand motion is a better pretraining task for representation learning in embodied manipulation. Projec page: https://ruicongliu.github.io/sfhand/.

cs.CV