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新论文 · v1arXiv:2611.07542

FlashOffloading: Low-Latency KV Cache Offloading for Long-Context LLM Serving

Xuan Wang, Zhuanhao Wu, Tingzhu Fang, Xushi Li, Sicheng Zhang, Zhenyu Yang, Feng Liu, Zhaohui Fan 等 20 位作者

原文摘要

In large language model (LLM) serving systems, the key-value (KV) cache grows linearly with sequence length and concurrency, so long-context inference easily hits the high-bandwidth memory (HBM) capacity wall and results in low concurrency. Offloading the KV cache to host dynamic random-access memory (DRAM) frees HBM space and raises concurrency, but the additional cache management and host-to-device (H2D) load overhead inflates inference latency, higher concurrency fails to translate into effective throughput. We present FlashOffloading, a host-DRAM-centric inference architecture that fully offloads the KV cache in both the prefill and decode phases. FlashOffloading builds rolling HBM cache for prefill, a hot cache for decode, a reverse sparse index with zero extra miss-lookup overhead, and a compute--load overlapped kernel, optimizing KV offloading latency across the entire pipeline and delivering throughput gains under a time-per-output-token (TPOT) service-level objective (SLO). In experiments deploying GLM-5.2 with multi-token prediction (MTP3) speculative decoding on an Ascend910C prefill--decode (PD)-disaggregated platform, FlashOffloading improves prefill throughput by up to 1.38\(\times\) and decode throughput by up to 1.91\(\times\) under a 30 ms TPOT constraint. FlashOffloading is integrated into an open-source serving framework: https://github.com/vllm-project/vllm-ascend/tree/releases/v0.30.0.

cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.06881

VABAR：面向智能体机器人的变异性自动化基准

VABAR: A Variational Automation Benchmark for Agentic Robotics

Shuangyu Xie, Kaiyuan Chen, Uksang Yoo, Xinyue Zhu, Meadow Shen, Jaimyn Drake, Eugen Solowjow, Lionel Gulich 等 19 位作者

AI 速读 基于摘要

提出一套智能体机器人基准设计准则，并据此构建基于开源仿真、含六类操作任务与33个可泛化技能的变异性自动化基准 VABAR。

cs.RO

arXiv ↗PDF ↗
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For robots to operate reliably in commercial and industrial applications, they must persistently perform specific tasks with known variations in object shape and pose. We call this Variational Automation (VA) to differentiate these settings from fixed automation. Inspired by recent papers on Agentic Robotics, where pretrained LLM and VLM coding agents combine interpretable robot programming with the open-world adaptability of model free policies, we propose a general set of agentic robotics benchmark design criteria that includes accessibility, repeatability, diversity, relevance to agentic robotics and practical applications, physical realizability, resistance to benchmark saturation, and computational efficiency. We instantiate these principles in six manipulation task classes spanning industrial, medical, and infrastructure applications: tool sorting, tool hanging, gear meshing, syringe packing, cable insertion, and cable routing. We introduce the Variational Automation Benchmark for Agentic Robotics (VABAR), an open, easily replicable, simulation-based manipulation benchmark to systematically evaluating agentic robotics systems. Built fully on open-source tools, VABAR features detailed implementations using the Newton physics engine, standardized task variations, difficulty tiers, success metrics, and a library of 33 generalizable skills with human-authored programmatic reference solutions. We provide initial baseline evaluations using an open agentic manipulation harness, Graph-as-Policy (GaP), and Isaac Lab Arena.

版本更新 · v3arXiv:2607.05369

GaP: A Graph-as-Policy Multi-Agent Self-Learning Harness For Variational Automation Tasks

Kaiyuan Chen, Shuangyu Xie, Letian Fu, Justin Yu, William Pacini, Sandeep Bajamahal, Hudson Kim, Jaimyn Drake 等 24 位作者

原文摘要

For robots to work reliably in commercial and industrial applications, recent advances in agentic coding systems have potential to combine interpretable robot programming with the open-world adaptability of model-free policies. We focus on "Variational Automation" (VA), a class of tasks that have larger variations in object geometry and pose than fixed automation. Model-free policies often struggle to close the reliability gap for VA tasks, which must be executed persistently and reliably in commercial and industrial applications. Motivated by prior work on Task and Motion Planning (TAMP) and the Robot Operating System (ROS), we introduce Graph-as-Policy (GaP), a multi-agent coding harness that generates directed computation graphs with perception, planning, and control nodes from a Modular Open Robot Skill Library (MORSL). GaP generates an internal simulation environment to rehearse task instances with different graphs in parallel to iteratively refine the graph structure and parameters to improve success rates and throughput. Evaluation with 8 new open VA task benchmarks, 4 in simulation and 4 in real-world, suggests that GaP can achieve success rates that significantly outperform baselines. Details, code, and data: https://graph-robots.github.io/gap

cs.RO · cs.AI · cs.CL · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39429

ScheduleGen: Demonstration Generation via Skill Scheduling for Multi-Arm Imitation Learning

Neel Jawale, Stephan Pleines, Soha Pouya, Yuke Zhu, Ajay Mandlekar, Caelan Garrett

原文摘要

Multi-arm robot platforms, including bimanual and humanoid robots, have the capability to complete tasks with lower cycle times than single-arm systems, but they are more difficult to safely control due to the presence of multi-arm constraints. The paradigm of training generalist robot policies from massive datasets is a promising approach to address general-purpose multi-arm manipulation, but the acquisition of large multi-arm manipulation datasets remains a bottleneck. Automated demonstration generation can alleviate this burden by synthesizing new demonstrations from a handful of source demonstrations, but existing algorithms ignore multi-arm constraints and as a result often induce unsafe and unsuccessful behaviors. We address this limitation by introducing ScheduleGen, an integrated planning & scheduling algorithm for multi-arm demonstration generation. We evaluate ScheduleGen on 28 simulation task variants, including seven externally authored RoboDojo tasks and settings inaccessible to prior systems; it achieves 79.6% mean data-generation success and trains policies with 65.5% mean success. ScheduleGen policies outperform those trained on a state-of-the-art data generation baseline, and achieve 50-80% success across eight real-world variants through zero-shot sim-to-real and real-to-sim-to-real transfer. Videos and more at: https://schedulegen.github.io/

cs.RO

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arXiv ↗PDF ↗
首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1396ACL Anthology · ACL 2026

Towards Interpretable Tabular Reasoning: Enhancing LLM Reasoning on Tabular Data with Pre-Constructed Logic Graph

Lirong Gao, Zewei Yu, Zhongrui Yin, Qi Zhang, Yuke Zhu Alibaba Group, Bo Zheng, Haobo Wang Zhejiang University, Junbo Zhao Zhejiang University 等 10 位作者

原文摘要

Tabular data is widely used in fields such as finance and healthcare. Traditional tree-based models are prevalent for tabular prediction tasks due to their ability to handle heterogeneous features. However, their heavy reliance on feature engineering limits both their generalizability and their human-readable interpretability. On the other hand, Large Language Models (LLMs) naturally provide intermediate reasoning steps, thus offering greater transparency in decision-making. Nevertheless, LLMs often fail to match the predictive performance of tree-based models on tabular data. To address these challenges, we propose a novel Logic-Graph-Enhanced LLM Reasoning (LogGER) framework that integrates the strengths of tree-based models and LLMs. Specifically, we reformulate the traditional decision tree as a human-readable logic graph, which explicitly models the causal relationships between features and targets. This logic graph is automatically constructed using LLMs based on data priors and serves as the foundation for LogGER. To fully leverage the logic graph, we further introduce a logic-graph-guided process supervision approach, which evaluates and enhances the quality of LLM’s intermediate reasoning steps using logic-graph-aided process reward. Extensive experiments demonstrate that LogGER consistently outperforms both tree-based models and state-of-the-art LLM methods on a variety of tabular prediction tasks, achieving superior accuracy and interpretability.

cs.CL

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.504ACL Anthology · ACL 2026

Learning from the Irrecoverable: Error-Localized Policy Optimization for Tool-Integrated LLM Reasoning

Qiao Liang, Yuke Zhu Alibaba Group, Chao Ge Alibaba Group, Lei Yang Ant Group, Ying Shen Tongji University, Bo Zheng, Sheng Guo

原文摘要

Tool-integrated reasoning (TIR) enables LLM agents to solve tasks through planning, tool use, and iterative revision, but outcome-only reinforcement learning in this setting suffers from sparse, delayed rewards and weak step-level credit assignment. In long-horizon TIR trajectories, an early irrecoverable mistake can determine success or failure, making it crucial to localize the first irrecoverable step and leverage it for fine-grained credit assignment. We propose Error-Localized Policy Optimization (ELPO), which localizes the first irrecoverable step via binary-search rollout trees under a fixed rollout budget, converts the resulting tree into stable learning signals through hierarchical advantage attribution, and applies error-localized adaptive clipping to strengthen corrective updates on the critical step and its suffix. Across TIR benchmarks in math, science QA, and code execution, ELPO consistently outperforms strong Agentic RL baselines under comparable sampling budgets, with additional gains in Pass@K and Major@K scaling, rollout ranking quality, and tool-call efficiency. Our code is publicly released for reproducibility at https://anonymous.4open.science/r/ELPO-7C19.

cs.CL · cs.AI

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表