Pretrained vision-language-action (VLA) models offer semantic and spatial priors for robot manipulation, but their parallel-gripper interfaces leave multi-finger contact coordination implicit. Adapting these models requires both timely grasp transitions and embodiment-specific hand trajectories. We introduce InDex, an intent-conditioned framework that connects these two requirements. A normalized aperture signal, derived from retargeted demonstrations, supervises a scalar grasp intent while preserving full hand-action supervision. Stage 1 learns synchronized end-effector-intent chunks; Stage 2 conditions a diffusion hand decoder on these predictions, visual-language context, and proprioception. Sequential optimization establishes the upstream interface before learning dexterous control with low-rate co-adaptation. Across four simulated tasks, InDex with $π_{0.5}$ achieves 85.8% mean task success, improving the native policy by 35.5 percentage points, and reaches 69.0% on held-out objects with similar geometry without fine-tuning or recalibration. Improvements also hold across three VLA backbones and separately trained real-world policies, where mean success increases from 71.0% to 83.0%. Component ablations and timing interventions support the value of explicit grasp-intent conditioning and expressive hand generation. These results identify arm-hand coordination as an actionable bottleneck in adapting parallel-gripper priors to dexterous manipulation.
Qi Xu, Zhigang Hua, Zijie Lei, Yan Xie, Jizhe Zhang, Lynn Lu, Delun Du, Sha Hua 等 13 位作者
Whole-page ranking jointly optimizes advertisements and organic content to balance business outcomes and user engagement under complex layout and business constraints. Existing non-autoregressive (NAR) approaches enable efficient page generation but typically score candidate items independently of previously selected items, limiting their ability to capture order-dependent interactions. Autoregressive (AR) methods address this limitation through sequential conditioning, but incur substantial inference overhead that challenges large-scale deployment. Bridging this quality-efficiency gap remains a challenge in industrial whole-page ranking. We propose Multi-Item Scoring (MIS), a prefix-aware NAR-style framework that incorporates sequential context into efficient multi-item scoring. MIS integrates global candidate interactions, localized prefix conditioning, and position-aware scoring within a shared representation architecture. By computing reusable representations once per request and performing lightweight prefix-conditioned scoring during constrained beam search, MIS captures important sequential dependencies without repeated full-model inference. Experiments on KuaiRand-1K and RL4RS demonstrate that MIS approaches the generation quality of an autoregressive CGA baseline while achieving 4.07x and 3.54x faster CPU decoding, respectively. In a randomized evaluation on a large-scale social-video platform, MIS improves the realization metric by 0.104% and watch time by 0.058%, while reducing ranking-service CPU consumption by 9.73%. These results demonstrate that prefix-aware multi-item scoring can narrow the quality gap between NAR and AR generation while retaining the efficiency required for industrial scalability.
Jacky Wong, Jacob Alexandrou, Yinting Huang, Luke Panayi, Lev Mukhanov, Sam Ainsworth, Paul Kelly
Modern processors rely heavily on data prefetching to bridge the growing performance gap between computation and memory accesses. In offset prefetching, prefetches are issued at an address delta relative to the most recently observed access, selecting deltas that have exhibited high coverage in the recent access-stream history. The Best-Offset Prefetcher (BOP) exemplifies this approach by selecting a single uniformly-issued global offset that delivers timely prefetches. However, its lack of context-sensitive accuracy tracking results in significantly increased DRAM traffic and sometimes disappointing performance. Conversely, Berti, the state-of-the-art offset prefetcher, achieves impressive prefetching performance and accuracy. However, its Program-Counter (PC)-local approach to extracting offsets limits its ability to capture global memory patterns, meaning there are many scenarios where simpler global offset prefetchers, such as BOP, outperform it. Observing the limitations of contemporary offset prefetchers, we present Caerus: an offset prefetcher that employs PC-local filtering on multiple non-overlapping globally derived offsets. Caerus extracts multiple offsets from the global memory trace and maximizes their combined coverage by training each offset only on accesses not already covered by previously learned offsets. The accuracy of each extracted offset is tracked per-PC based on whether it can cover future accesses for any PC. This allows Caerus to address complex delta patterns while maintaining high accuracy. In SPECspeed 2017, Caerus gains a geomean speedup of 8.3%, outperforming Berti by 2.0% while achieving low hardware and DRAM-traffic overhead.
We introduce Gemma 3, a multimodal addition to the Gemma family of lightweight open models, ranging in scale from 1 to 27 billion parameters. This version introduces vision understanding abilities, a wider coverage of languages and longer context - at least 128K tokens. We also change the architecture of the model to reduce the KV-cache memory that tends to explode with long context. This is achieved by increasing the ratio of local to global attention layers, and keeping the span on local attention short. The Gemma 3 models are trained with distillation and achieve superior performance to Gemma 2 for both pre-trained and instruction finetuned versions. In particular, our novel post-training recipe significantly improves the math, chat, instruction-following and multilingual abilities, making Gemma3-4B-IT competitive with Gemma2-27B-IT and Gemma3-27B-IT comparable to Gemini-1.5-Pro across benchmarks. We release all our models to the community.