arXiv subjects

David Chu

Publications and source records attributed to David Chu.

5 recordsLinked to original sources

arXiv2025

Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning

We present Isaac Lab, the natural successor to Isaac Gym, which extends the paradigm of GPU-native robotics simulation into the era of large-scale multi-modal learning. Isaac Lab combines high-fidelity GPU parallel physics, photorealistic rendering, and a modular, composable architecture for designing environments and training robot policies. Beyond physics and rendering, the framework integrates actuator models, multi-frequency sensor simulation, data collection pipelines, and domain randomization tools, unifying best practices for reinforcement and imitation learning at scale within a single extensible platform. We highlight its application to a diverse set of challenges, including whole-body control, cross-embodiment mobility, contact-rich and dexterous manipulation, and the integration of human demonstrations for skill acquisition. Finally, we discuss upcoming integration with the differentiable, GPU-accelerated Newton physics engine, which promises new opportunities for scalable, data-efficient, and gradient-based approaches to robot learning. We believe Isaac Lab's combination of advanced simulation capabilities, rich sensing, and data-center scale execution will help unlock the next generation of breakthroughs in robotics research.

cs.RO↗

arXiv2025

Rollbaccine : Herd Immunity against Storage Rollback Attacks in TEEs [Technical Report]

Today, users can "lift-and-shift" unmodified applications into modern, VM-based Trusted Execution Environments (TEEs) in order to gain hardware-based security guarantees. However, TEEs do not protect applications against disk rollback attacks, where persistent storage can be reverted to an earlier state after a crash; existing rollback resistance solutions either only support a subset of applications or require code modification. Our key insight is that restoring disk consistency after a rollback attack guarantees rollback resistance for any application. We present Rollbaccine, a device mapper that provides automatic rollback resistance for all applications by provably preserving disk consistency. Rollbaccine intercepts and replicates writes to disk, restores lost state from backups during recovery, and minimizes overheads by taking advantage of the weak, multi-threaded semantics of disk operations. Rollbaccine performs on-par with state-of-the-art, non-automatic rollback resistant solutions; in fact, across benchmarks over PostgreSQL, HDFS, and two file systems (ext4 and xfs), Rollbaccine adds only 19% overhead, except for the fsync-heavy Filebench Varmail.

cs.CR↗

arXiv2024

Towards Safer Online Spaces: Simulating and Assessing Intervention Strategies for Eating Disorder Discussions

Eating disorders are complex mental health conditions that affect millions of people around the world. Effective interventions on social media platforms are crucial, yet testing strategies in situ can be risky. We present a novel LLM-driven experimental testbed for simulating and assessing intervention strategies in ED-related discussions. Our framework generates synthetic conversations across multiple platforms, models, and ED-related topics, allowing for controlled experimentation with diverse intervention approaches. We analyze the impact of various intervention strategies on conversation dynamics across four dimensions: intervention type, generative model, social media platform, and ED-related community/topic. We employ cognitive domain analysis metrics, including sentiment, emotions, etc., to evaluate the effectiveness of interventions. Our findings reveal that civility-focused interventions consistently improve positive sentiment and emotional tone across all dimensions, while insight-resetting approaches tend to increase negative emotions. We also uncover significant biases in LLM-generated conversations, with cognitive metrics varying notably between models (Claude-3 Haiku $>$ Mistral $>$ GPT-3.5-turbo $>$ LLaMA3) and even between versions of the same model. These variations highlight the importance of model selection in simulating realistic discussions related to ED. Our work provides valuable information on the complex dynamics of ED-related discussions and the effectiveness of various intervention strategies.

cs.CL↗

arXiv2024

Optimizing Distributed Protocols with Query Rewrites [Technical Report]

Distributed protocols such as 2PC and Paxos lie at the core of many systems in the cloud, but standard implementations do not scale. New scalable distributed protocols are developed through careful analysis and rewrites, but this process is ad hoc and error-prone. This paper presents an approach for scaling any distributed protocol by applying rule-driven rewrites, borrowing from query optimization. Distributed protocol rewrites entail a new burden: reasoning about spatiotemporal correctness. We leverage order-insensitivity and data dependency analysis to systematically identify correct coordination-free scaling opportunities. We apply this analysis to create preconditions and mechanisms for coordination-free decoupling and partitioning, two fundamental vertical and horizontal scaling techniques. Manual rule-driven applications of decoupling and partitioning improve the throughput of 2PC by $5\times$ and Paxos by $3\times$, and match state-of-the-art throughput in recent work. These results point the way toward automated optimizers for distributed protocols based on correct-by-construction rewrite rules.

cs.DC↗

arXiv2022

SQP: Congestion Control for Low-Latency Interactive Video Streaming

This paper presents the design and evaluation of SQP, a congestion control algorithm (CCA) for interactive video streaming applications that need to stream high-bitrate compressed video with very low end-to-end frame delay (eg. AR streaming, cloud gaming). SQP uses frame-coupled, paced packet trains to sample the network bandwidth, and uses an adaptive one-way delay measurement to recover from queuing, for low, bounded queuing delay. SQP rapidly adapts to changes in the link bandwidth, ensuring high utilization and low frame delay, and also achieves competitive bandwidth shares when competing with queue-building flows within an acceptable delay envelope. SQP has good fairness properties, and works well on links with shallow buffers. In real-world A/B testing of SQP against Copa in Google's AR streaming platform, SQP achieves 27% and 15% more sessions with high bitrate and low frame delay for LTE and Wi-Fi, respectively. When competing with queue-building traffic like Cubic and BBR, SQP achieves 2-3X higher bandwidth compared to GoogCC (WebRTC), Sprout, and PCC-Vivace, and comparable performance to Copa (with mode switching).

cs.NI↗