7 papers
IndexMem: Learned KV-Cache Eviction with Latent Memory for Long-Context LLM Inference
Xintong Yang, Hao Gu, Binxing Xu +6
Large Language Models (LLMs) are increasingly expected to operate over long contexts, yet standard softmax attention incurs a KV cache that grows linearly with sequence length, qui…
Bit-by-Bit: Progressive QAT Strategy with Outlier Channel Splitting for Stable Low-Bit LLMs
Binxing Xu, Hao Gu, Lujun Li +8
Training LLMs at ultra-low precision remains a formidable challenge. Direct low-bit QAT often suffers from convergence instability and substantial training costs, exacerbated by qu…
QaRL: Rollout-Aligned Quantization-Aware RL for Fast and Stable Training under Training--Inference Mismatch
Hao Gu, Hao Wang, Jiacheng Liu +9
Large language model (LLM) reinforcement learning (RL) pipelines are often bottlenecked by rollout generation, making end-to-end training slow. Recent work mitigates this by runnin…
DDBot: Differentiable Physics-based Digging Robot for Unknown Granular Materials
Xintong Yang, Minglun Wei, Yu-Kun Lai +1
Automating the manipulation of granular materials poses significant challenges due to complex contact dynamics, unpredictable material properties, and intricate system states. Exis…
Differentiable Skill Optimisation for Powder Manipulation in Laboratory Automation
Minglun Wei, Xintong Yang, Yu-Kun Lai +1
Robotic automation is accelerating scientific discovery by reducing manual effort in laboratory workflows. However, precise manipulation of powders remains challenging, particularl…
A Physics-informed Demonstration-guided Learning Framework for Granular Material Manipulation
Minglun Wei, Xintong Yang, Yu-Kun Lai +2
Due to the complex physical properties of granular materials, research on robot learning for manipulating such materials predominantly either disregards the consideration of their…