Modern GPUs offer far higher throughput in low precision than in FP64, but exploiting this in conjugate gradient (CG) solvers is difficult because tolerance to reduced precision evolves with the Krylov state. We present EvoCG, a mixed-precision CG solver that treats tile-wise precision as an online control action rather than a fixed setting: a reinforcement-learning policy in the iteration loop selects per-tile precision from the evolving solver state, made profitable by co-design with a Tile-CSC unified mixed-precision SpMV kernel and a low-overhead in-loop runtime. Across 47 SPD matrices from eight scientific domains, EvoCG is the fastest solver overall, with geometric-mean speedups of 2.52x, 3.06x, 2.48x, 1.93x, and 6.99x over cuSPARSE, PETSc, Ginkgo, Mille-FP64, and Mille-Mixed. On the same substrate, it improves time-to-solution over EvoCG-FP64 by 1.28x at only 11.4% more iterations and 1.09% overhead, with FP64-recomputed final true-residual norms nearly identical to those of FP64, and extends to Jacobi-preconditioned CG without retraining, yielding a further 1.15x geometric-mean speedup over EvoCG-FP64.
Zhenduo Shang, Xiyao Liu, Bohan Li, Xudong Wang, Teng Ren, Lianqing Liu, Zhi Han
Imitation Learning aims to learn skills from extensive observations and demonstrations for robots, so it suffers from data scarcity and environment generalization. The existing methods predominantly focus on imitation from in-domain tasks and consequently struggle with generalization to unseen tasks. To bridge this generalization gap, we propose the \textbf{D}ynamics-\textbf{A}ware \textbf{M}eta-\textbf{I}mitation (DAMI) framework. By integrating meta-learning to construct a shared skill space, DAMI equips agents for rapid adaptation to novel tasks. We introduce the Visual-Motor Trajectory (VMT) module to capture complex spatio-temporal dynamics within the task latent space. Furthermore, we propose the Unpaired Unified Task (U2T) block to fuse unstructured multimodal observations. To coordinate these representations, we integrate a Task-Conditioned Feature Modulation (TCFM) mechanism customized for modulating low-level 3D features. By capturing intrinsic dynamics from a random complete reference demonstration, our framework learns the underlying task logic rather than memorizing static cues, ensuring effective generalization. Extensive experiments in both simulation and real-world settings demonstrate that our approach outperforms state-of-the-art baselines regarding direct inference on seen tasks and adaptation to unseen tasks via few-shot fine-tuning.