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Annan Zhang

Publications and source records attributed to Annan Zhang.

10 recordsLinked to original sources

Sensitivity Inflation from Cross-Record Precision Routing in Private Quantized Fine-Tuning

Private fine-tuning of large language models increasingly pairs DP-SGD with low-rank adapters on frozen, quantized backbones, and every such stack inherits one unstated premise: frozen layers keep each record's clipped gradient a function of that record alone. We show that LLM.int8 breaks this premise. It routes outlier activation columns to a higher-precision path using a union over the whole batch, so one record decides how every other record's activations are computed, even though the weights are frozen and the quantization scales are per row. We bound the resulting sensitivity inflation, state a record-isolation contract that restores the standard bound, and define record-owned precision dispatch that meets it with the same GEMMs as batched LLM.int8, so isolation needs no extra arithmetic. We then audit the native CUDA stack (bitsandbytes, PEFT, Opacus) against four matched controls. A constructed LoRA-Opacus witness reaches $15.0\times$ the add/remove bound. On pretrained OPT-125M with natural text, other records alter 20% of record-layer precision splits at batch size 16. An exploratory re-clipping analysis finds 10 of 64 candidate neighbors above the bound once every gradient is clipped; the top pair, revalidated natively, reaches $1.065C$ while every control stays within $C$, and forcing one layer's outlier mask removes the excess. A two-million-draw audit of the released adapters yields $\varepsilon$ lower bounds ($3.25$ at $δ=10^{-5}$) below the advertised guarantee ($4.38$). Resolving an excess this small at the release level would take about 200 times more draws, whereas checking the sensitivity contract directly exposes it in a few native runs, which makes contract checking the practical audit for private quantized training.

cs.LG↗

Guarded Compression of Adam Optimizer State with Shared-Gradient Bounds

Adam keeps two FP32 moments per parameter, twice the bytes of the FP32 weights, yet compressing them is risky: the update divides by the square root of the second moment, so small reconstruction errors can change the restored computation substantially. We study guarded moment compression, in which a coordinate's decoded moments are accepted only if they reproduce the native FP32 Adam update to within a tolerance $τ$, in units of the learning rate, for every gradient in a clipped domain; all other coordinates are stored exactly. The natural certificate, which ranges each update separately over gradient intervals, fails: on one million trained OPT-125M coordinates it escapes 98.9% of coordinates and the payload grows to 126.6% of raw FP32. Our key observation is that both updates consume the same gradient and parameter. Bounding their difference directly, with FP32 rounding-error allowances and a fixed mixed linear-logarithmic gradient partition, cuts escapes to 0.53% and the payload to 28.3% at $τ=0.01$. Across 120 complete-checkpoint restores of OPT-125M and ResNet-18, with four trained seeds and three training fractions per model, guarded 8-bit log codes shrink moment payloads by 69.5% and 71.9% relative to FP32, 40.8% and 45.4% relative to equally guarded BF16, and 29.3% and 37.6% relative to equally guarded blockwise 8-bit, and every restored first update stays within tolerance. Encoding and restoration together take 2.3-2.6$\times$ as long as guarded BF16 but less time than guarded blockwise 8-bit. Searching both moment codes jointly saves under 0.001% more bytes at 6% more codec time, so per-moment rounding suffices. The guarantee covers the first restored update under a pinned Torch operation model; we measure subsequent training empirically.

cs.LG↗

State-Aware Activation Recomputation with Replay Contracts and Selective Preservation

Activation recomputation saves accelerator memory by replaying forward segments during the backward pass, but replay is only correct if it sees the state the original forward pass saw. Mutable buffers, aliased bytes and random-generator state can change in between, so re-executing unchanged code can differentiate a different computation. We make this state explicit. A versioned replay contract specifies what replay must restore, and a joint planner chooses, per segment, between activation retention, whole-buffer snapshots and selective-region preservation, charging each option its measured memory and recovery cost. Independent derivative and byte-level checks validate the contract, and a Torch/JAX cohort retains all 5,900 execution records, including matches, rejections and divergences. On frozen sparse-write H100 workloads, each measured over fifty fresh processes, joint planning reduces paired step time by 18.16% against a correctly costed eager/whole planner at a 44 GiB budget (approximate 97.5% ratio interval $[.8172,.8195]$). At 32 GiB, where the eager/whole planner has no feasible static policy, joint planning is 4.98% faster than fixed regions at 29.94 rather than 26.20 GiB. A complete CIFAR-100 dense-queue application runs seven methods for 100 encoder and 25 probe epochs at six training seeds, with byte-identical test scores within each seed. There, joint planning uses 22.41% more allocated memory than whole snapshots, with a process-time geometric-mean ratio of 1.0080 (seed range $[.9845,1.0191]$). Together, the results map where selective preservation pays off: sparse writes with large activations benefit, while in the dense-queue workload whole snapshots use less allocated memory.

cs.AI↗

A Model-Based Decoupling Strategy for Proprioception and Contact Sensing in an Architected Soft Manipulator

Soft continuum robots require embedded sensing for proprioception and contact detection, yet integrating sensors into sparse, highly deformable architected structures remains challenging. We present a model-based strategy that decouples proprioceptive and contact signals from a common set of fluidic pressure sensors embedded in a soft architected segment. Each segment of the Innervated Trimmed Helicoid (ITH) contains six air channels routed in a localized zigzag pattern along the circumference. With only three principal kinematic degrees of freedom (axial compression, bending in x, bending in y), the six pressure readings form an overdetermined system. A piecewise constant curvature model maps pressures to shape, and Huber regression identifies outlier channels whose residuals indicate external contact. On a single ITH segment, this approach achieves proprioceptive shape estimation with a relative bending error of 0.11 +/- 0.02 and a contact detection rate of 97% across 178 trials. We integrate eight ITH segments into Air-Helix, a tendon-driven soft continuum manipulator, and present exploratory whole-arm demonstrations that include tactile teaching by demonstration, admittance-controlled force regulation, and tactile object reconstruction. The results suggest that localized fluidic innervation combined with model-based redundancy resolution is a practical path toward concurrent proprioception and contact sensing in architected soft robots.

cs.RO↗

Printed helicoids with embedded air channels make sensorized segments for soft continuum robots

Soft robots enable safe, adaptive interaction with complex environments but remain difficult to sense and control due to their highly deformable structures. Architected soft materials such as helicoid lattices offer tunable stiffness and strength but are challenging to instrument because of their sparse geometry. We introduce a fabrication method for embedding air channels into helicoid-based soft continuum robots. Multi-material segments fabricated via vision-controlled jetting in a single print interface with PCBs housing miniature pressure sensors and IMUs for distributed deformation sensing. We characterize the mechanical properties of four helicoid designs and validate the sensor response to fundamental deformation modes. To demonstrate the platform's scalability, we construct and mechanically evaluate a meter-scale, 14-DoF cable-driven soft arm capable of open-loop trajectory tracking and object grasping, with tactile-based stiffness detection demonstrated using the gripper sensors. This approach establishes a scalable fabrication strategy for sensorized architected materials in large-scale soft robotic systems.

cs.RO↗

Fluidically Innervated Lattices Make Versatile and Durable Tactile Sensors

Tactile sensing plays a fundamental role in enabling robots to navigate dynamic and unstructured environments, particularly in applications such as delicate object manipulation, surface exploration, and human-robot interaction. In this paper, we introduce a passive soft robotic fingertip with integrated tactile sensing, fabricated using a 3D-printed elastomer lattice with embedded air channels. This sensorization approach, termed fluidic innervation, transforms the lattice into a tactile sensor by detecting pressure changes within sealed air channels, providing a simple yet robust solution to tactile sensing in robotics. Unlike conventional methods that rely on complex materials or designs, fluidic innervation offers a simple, scalable, single-material fabrication process. We characterize the sensors' response, develop a geometric model to estimate tip displacement, and train a neural network to accurately predict contact location and contact force. Additionally, we integrate the fingertip with an admittance controller to emulate spring-like behavior, demonstrate its capability for environment exploration through tactile feedback, and validate its durability under high impact and cyclic loading conditions. This tactile sensing technique offers advantages in terms of simplicity, adaptability, and durability and opens up new opportunities for versatile robotic manipulation.

cs.RO↗

Controlling diverse robots by inferring Jacobian fields with deep networks

Mirroring the complex structures and diverse functions of natural organisms is a long-standing challenge in robotics. Modern fabrication techniques have greatly expanded the feasible hardware, but using these systems requires control software to translate the desired motions into actuator commands. Conventional robots can easily be modeled as rigid links connected by joints, but it remains an open challenge to model and control biologically inspired robots that are often soft or made of several materials, lack sensing capabilities, and may change their material properties with use. Here, we introduce a method that uses deep neural networks to map a video stream of a robot to its visuomotor Jacobian field (the sensitivity of all 3D points to the robot's actuators). Our method enables the control of robots from only a single camera, makes no assumptions about the robots' materials, actuation, or sensing, and is trained without expert intervention by observing the execution of random commands. We demonstrate our method on a diverse set of robot manipulators that vary in actuation, materials, fabrication, and cost. Our approach achieves accurate closed-loop control and recovers the causal dynamic structure of each robot. Because it enables robot control using a generic camera as the only sensor, we anticipate that our work will broaden the design space of robotic systems and serve as a starting point for lowering the barrier to robotic automation.

cs.RO↗

Fabrica: Dual-Arm Assembly of General Multi-Part Objects via Integrated Planning and Learning

Multi-part assembly poses significant challenges for robots to execute long-horizon, contact-rich manipulation with generalization across complex geometries. We present Fabrica, a dual-arm robotic system capable of end-to-end planning and control for autonomous assembly of general multi-part objects. For planning over long horizons, we develop hierarchies of precedence, sequence, grasp, and motion planning with automated fixture generation, enabling general multi-step assembly on any dual-arm robots. The planner is made efficient through a parallelizable design and is optimized for downstream control stability. For contact-rich assembly steps, we propose a lightweight reinforcement learning framework that trains generalist policies across object geometries, assembly directions, and grasp poses, guided by equivariance and residual actions obtained from the plan. These policies transfer zero-shot to the real world and achieve 80% successful steps. For systematic evaluation, we propose a benchmark suite of multi-part assemblies resembling industrial and daily objects across diverse categories and geometries. By integrating efficient global planning and robust local control, we showcase the first system to achieve complete and generalizable real-world multi-part assembly without domain knowledge or human demonstrations. Project website: http://fabrica.csail.mit.edu/

cs.RO↗

Certified Polyhedral Decompositions of Collision-Free Configuration Space

Understanding the geometry of collision-free configuration space (C-free) in the presence of task-space obstacles is an essential ingredient for collision-free motion planning. While it is possible to check for collisions at a point using standard algorithms, to date no practical method exists for computing C-free regions with rigorous certificates due to the complexity of mapping task-space obstacles through the kinematics. In this work, we present the first to our knowledge rigorous method for approximately decomposing a rational parametrization of C-free into certified polyhedral regions. Our method, called C-IRIS (C-space Iterative Regional Inflation by Semidefinite programming), generates large, convex polytopes in a rational parameterization of the configuration space which are rigorously certified to be collision-free. Such regions have been shown to be useful for both optimization-based and randomized motion planning. Based on convex optimization, our method works in arbitrary dimensions, only makes assumptions about the convexity of the obstacles in the task space, and is fast enough to scale to realistic problems in manipulation. We demonstrate our algorithm's ability to fill a non-trivial amount of collision-free C-space in several 2-DOF examples where the C-space can be visualized, as well as the scalability of our algorithm on a 7-DOF KUKA iiwa, a 6-DOF UR3e and 12-DOF bimanual manipulators. An implementation of our algorithm is open-sourced in Drake. We furthermore provide examples of our algorithm in interactive Python notebooks.

cs.RO↗

Finding and Optimizing Certified, Collision-Free Regions in Configuration Space for Robot Manipulators

Configuration space (C-space) has played a central role in collision-free motion planning, particularly for robot manipulators. While it is possible to check for collisions at a point using standard algorithms, to date no practical method exists for computing collision-free C-space regions with rigorous certificates due to the complexities of mapping task-space obstacles through the kinematics. In this work, we present the first to our knowledge method for generating such regions and certificates through convex optimization. Our method, called C-Iris (C-space Iterative Regional Inflation by Semidefinite programming), generates large, convex polytopes in a rational parametrization of the configuration space which are guaranteed to be collision-free. Such regions have been shown to be useful for both optimization-based and randomized motion planning. Our regions are generated by alternating between two convex optimization problems: (1) a simultaneous search for a maximal-volume ellipse inscribed in a given polytope and a certificate that the polytope is collision-free and (2) a maximal expansion of the polytope away from the ellipse which does not violate the certificate. The volume of the ellipse and size of the polytope are allowed to grow over several iterations while being collision-free by construction. Our method works in arbitrary dimensions, only makes assumptions about the convexity of the obstacles in the task space, and scales to realistic problems in manipulation. We demonstrate our algorithm's ability to fill a non-trivial amount of collision-free C-space in a 3-DOF example where the C-space can be visualized, as well as the scalability of our algorithm on a 7-DOF KUKA iiwa and a 12-DOF bimanual manipulator.

cs.RO↗