Yihao Wang
Yihao Wang — researcher or builder tracked in the Angestrom contributor network.
Papers · 3
PRM-as-a-Judge 1.5: A Toolkit for Robot Process Assessment
Fine-grained robotic evaluation matters for understanding embodied models, going beyond binary success rates and rule-based process scores. We present PRM-as-a-Judge 1.5, a toolkit for robot process assessment that turns rollout videos into dense progress curves and derives multiple fine metrics. PRM-as-a-Judge 1.5 introduces three metrics, building on version 1.0, that characterize failure-side progress, post-drawdown recovery, and success-side execution quality, helping users understand embodied model capability. Based on the rollout videos from benchmarks, we perform a comprehensive assessm
SplatGuide: Geometric Priors from 3D Gaussians for Pose-Free Novel View Synthesis
Generating photorealistic novel views from unposed images requires both 3D geometric understanding and the ability to synthesize unseen content. A natural strategy combines feed-forward 3DGS reconstruction with multi-view diffusion. Yet prior pipelines extract at most one signal from the reconstruction, either pixel rendering or learned features, while none exploits per-Gaussian visibility for occlusion-aware reference selection. This *information disconnect* leaves renderable geometry, visibility cues, and learned features unused. SplatGuide closes this disconnect by reusing a single 3DGS sce
KV Cache Compression Through the Lens of Transform Coding
The key-value (KV) cache stores information from past tokens and is a major memory bottleneck in long-context inference. Existing quantization methods address this bottleneck by representing the KV cache uniformly with lower-precision data types and designing quantization schemes to minimize reconstruction error in the cache itself, without accounting for how that error propagates through attention mechanisms. We prove that, under a white-noise quantization model, the expected attention-aware distortion decomposes into additive key and value contributions that factor across tokens and channels