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版本更新 · v2arXiv:2512.17262

SHARP-QoS: Sparsely-gated Hierarchical Adaptive Routing for Joint Prediction of QoS

Suraj Kumar, Arvind Kumar, Soumi Chattopadhyay

原文摘要

Dependable service-oriented computing relies on multiple Quality-of-Service (QoS) parameters to assess service performance. However, real-world QoS data are often sparse, noisy, and shaped by hierarchical dependencies arising from QoS interactions, geographical constraints, and network-level factors, making accurate prediction challenging. Existing deep learning-based methods often predict each QoS parameter separately, requiring multiple similar models, which increases computational overhead and limits their suitability for applications requiring joint decisions across multiple QoS parameters. Although recent joint QoS prediction studies employ shared architectures, differences in numerical ranges across QoS parameters can lead to task imbalance and negative transfer, while inadequate representation learning and suboptimal joint optimization can degrade prediction accuracy. We present SHARP-QoS, a joint QoS prediction framework with three components. First, hyperbolic graph and hypergraph convolutions in the Poincaré ball extract hierarchical features from QoS invocation and contextual graphs. Second, sparsely gated sub-network routing selectively shares contextual and cross-QoS features, and a gated fusion module combines them with the structural features. Third, an EMA-based loss-balancing strategy smooths short-term fluctuations in task losses to provide less fluctuating task weights. Experiments on three multi-QoS datasets covering two, three, and four QoS parameters show that SHARP-QoS achieves lower prediction errors than existing joint QoS prediction methods. Because its contextual branch relies only on public region and AS attributes, it supports prediction for new users and services. Ablation, hyperparameter, outlier, and scalability analyses further assess its performance, highlighting the trade-off between prediction accuracy and computational cost.

cs.LG

新论文 · v1arXiv:2610.37199

A Bi-level Co-design Framework for Lunar Monoped with 2D Jump and Landing Control

Sanjay Ramkumar, Suraj Kumar

原文摘要

Legged robots for lunar exploration must be designed for low gravity, where reduced contact forces and long flight phases make leg morphology and controller choice interdependent. We study this for a planar monoped in lunar gravity ($1.625$ m/s$^2$) using a bi-level co-design framework: a differential evolution outer loop searches over link lengths, and each candidate is evaluated on a vertical jump by either a quadratic program based task-space controller (QP-TSC) or a direct-collocation based trajectory optimization. The two controllers yield different optimal link lengths, and trajectory optimization outperforms the QP-TSC across most of the design space, with 17% lower Cost of Transport (COT) at their respective optima. We then extend to a 2D jump, where trajectory optimization with centroidal angular momentum regulation produces stable in-place and forward jumps, and an LQR controller absorbs impact and stabilizes the robot after touchdown. This is demonstrated on a baseline morphology with both links 0.3 m long.

cs.RO · eess.SY