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arXiv 最近完成扫描:2026-11-15 02:35 · 全站最近入库:2026-11-14 15:09各信源进度 →

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版本更新 · v2arXiv:2512.15705

Batched Early-Exit LLM Inference Done Right with DREX

Xuting Liu, Daniel Alexander, Jiaheng Lu, Siva Kesava Reddy Kakarla, Behnaz Arzani, Vincent Liu

原文摘要

Early-exit (EE) LLMs let confident tokens skip a model's deep layers, but batched serving loses most of this gain. Current systems either force tokens to exit before their own ramp is confident, an error the ramp does not bound, or save almost nothing when decoding is weight-bound, because any continuing token makes a step read the deep weights. We present DREX, a batched EE serving system that never forces a token to exit. DREX introduces cross-iteration batching: tokens that continue past the exit layer wait there, and every few steps one deep pass over all waiting tokens reads the deep weights once for several steps. Its two policies differ in what such a token's request does: holding pauses it until the deep pass, and speculative holding lets it keep decoding from the exit layer's own guess, which the next deep pass verifies. Exited tokens are trusted and never verified. Using a calibrated cost model, a controller picks speculative holding where reading weights dominates a step and guesses are often right, and holding elsewhere. DREX keeps vLLM's asynchronous scheduling by planning each deep pass from exit counts of earlier steps. With synthetic exits where 90% of tokens exit at a quarter of the depth and 40% of guesses are correct, DREX achieves 2.22-2.24$\times$ decode speedup over non-EE across batch sizes on Llama-2-70B, while per-row skipping (vSkipper's design) gains at most 7.0%. On LayerSkip models, DREX adds no statistically resolved quality loss to the EE model's own. On CNN/DM at full memory, DREX with LayerSkip achieves 1.58-1.91$\times$ decode speedup while remaining within 1.4 ROUGE-2 points of the non-EE model. These speedups are 9-63% larger than EAGLE's across the evaluated model sizes, with each method measured against its own non-EE target.

cs.DC · cs.LG

新论文 · v1arXiv:2611.10994

RoboMoCap: A Large-Scale Whole-Body Motion Capture Dataset with Egocentric Vision for Robot Learning

Mayur Deshmukh, Aaron Tung, Junyi Li, Nikash Bhardwaj, Ademi Adeniji, Vincent Liu, Michael Cho, Jiafei Duan

原文摘要

Humanoid robots must coordinate locomotion and manipulation to navigate complex environments and perform everyday tasks. Learning such behaviours from human demonstrations requires accurate whole-body motion paired with egocentric vision, particularly for lower-body movements and foot placements that are frequently invisible from a first-person perspective. However, existing egocentric datasets often lack high-fidelity optical motion capture or systematic coverage of diverse loco-manipulation behaviours. To address this gap, we introduce RoboMoCap, a large-scale multimodal dataset combining egocentric vision with marker-based optical motion capture, specifically designed for locomotion-centric humanoid learning. RoboMoCap comprises over 200 hours of recordings from 14 participants, featuring six head-mounted cameras, wrist-mounted visual and inertial sensing, and optical full-body motion capture at 120 Hz. The dataset systematically covers diverse locomotion primitives, dynamic whole-body movements, and loco-manipulation tasks, including variable-speed walking, turning, constrained navigation, terrain traversal, object transportation, and manipulation during locomotion. It provides temporally aligned multimodal observations and metric whole-body motion representations, enabling the study of human movement beyond directly observable body regions. We systematically evaluate existing methods on three benchmark tasks: egocentric full-body motion reconstruction, foot contact and placement estimation, and human-to-humanoid motion retargeting. By pairing egocentric vision with high-fidelity human motion across diverse locomotion and interaction scenarios, RoboMoCap provides a foundation for egocentric motion understanding and humanoid learning from human demonstrations.

cs.RO