arXiv subjects

David He

Publications and source records attributed to David He.

8 recordsLinked to original sources

arXiv2026

Action Chunk Scheduling for Batched Robot Policy Serving

Deploying robot foundation models at scale is the next step towards realizing the potential of general-purpose robots. However, Vision-Language-Action (VLA) and other foundation models are computationally demanding, and on-device compute is constrained by power and space. In this paper, we introduce the problem of serving a robot policy to multiple robots from a remote GPU and formulate it as a scheduling problem. We build Armory, a serving system validated on fleets of both simulated and real robots. Our experiments show that naive scheduling heuristics perform well when all robots are the same, but fall short when robots consume action chunks at different rates, uncovering a mismatch between conventional batching methods and the closed-loop requirements of robot policy execution. To address this, we propose a scheduling algorithm that accounts for this heterogeneity and improves overall system throughput by up to $18\%$ in real-world experiments. Additional details are available at https://gatech-rl2.github.io/actionchunkscheduling.

cs.RO↗

arXiv2026

Presentations for categories of crystals

We give generators and relations for the monoidal categories of crystals generated by the fundamental crystals of a simple complex Lie algebra. We also spell out several small-rank examples.

math.RT↗

arXiv2026

Electrically pumped AlGaN edge-emitting UV-B laser diodes grown by molecular beam epitaxy

Mid and deep ultraviolet (UV) laser diodes remain among the least explored devices in semiconductor optoelectronics, despite their importance for spectroscopy, biochemical sensing, disinfection, and emerging quantum photonics. Here, we demonstrate an electrically pumped AlGaN-based laser diode operating in the UV-B band (280-315 nm). The device is grown by molecular beam epitaxy (MBE) on single-crystal AlN substrate and fabricated in a ridge-waveguide geometry. The laser diode operates at 298.5 nm and exhibits a relatively low threshold current density of 3.4 kA/cm$^2$. Clear nonlinear light-current characteristics and pronounced spectral narrowing with a full-width-at-half-maximum (FWHM) of 0.2 nm are measured above threshold.

physics.optics↗

arXiv2025

Compositional Diffusion with Guided Search for Long-Horizon Planning

Generative models have emerged as powerful tools for planning, with compositional approaches offering particular promise for modeling long-horizon task distributions by composing together local, modular generative models. This compositional paradigm spans diverse domains, from multi-step manipulation planning to panoramic image synthesis to long video generation. However, compositional generative models face a critical challenge: when local distributions are multimodal, existing composition methods average incompatible modes, producing plans that are neither locally feasible nor globally coherent. We propose Compositional Diffusion with Guided Search (CDGS), which addresses this mode averaging problem by embedding search directly within the diffusion denoising process. Our method explores diverse combinations of local modes through population-based sampling, prunes infeasible candidates using likelihood-based filtering, and enforces global consistency through iterative resampling between overlapping segments. CDGS matches oracle performance on seven robot manipulation tasks, outperforming baselines that lack compositionality or require long-horizon training data. The approach generalizes across domains, enabling coherent text-guided panoramic images and long videos through effective local-to-global message passing. More details: https://cdgsearch.github.io/

cs.RO↗

arXiv2025

Affine diagram categories, algebras and monoids

We introduce and study several affine (=annular in this paper) versions of the classical diagram algebras such as Temperley-Lieb, partition, Brauer, Motzkin, rook Brauer, rook, planar partition, and planar rook algebras. We give generators and relation presentation for them and their associated categories, study their representation theory, and the asymptotic behavior of tensor products of their representations in the monoid case. Under a mild hypothesis, we also prove a previous conjecture concerning the asymptotic growth of the number of indecomposable summands in the tensor powers of representations for finite monoids.

math.RT↗

arXiv2025

Tensor powers of representations of (diagram) monoids

We study tensor powers of representations of finite monoids, focusing on the growth behavior of their composition length and the number of indecomposable summands. Special attention is given to diagram monoids such as the Temperley-Lieb, Motzkin, and Brauer monoids. For these examples, we compute explicit data, including some character tables, and analyze patterns in the decomposition of their tensor powers.

math.RT↗

arXiv2025

Growth Problems for Representations of Finite Monoids

We give a conjecture for the asymptotic growth rate of the number of indecomposable summands in the tensor powers of representations of finite monoids, expressing it in terms of the (Brauer) character table of the monoid's group of units. We prove it under an additional hypothesis. We also give (exact and asymptotic) formulas for the growth rate of the length of the tensor powers when working over a good characteristic. As examples, we compute the growth rates for the full transformation monoid, the symmetric inverse monoid, and the monoid of 2 by 2 matrices. We also provide code used for our calculation.

math.RT↗

arXiv2024

Growth Problems for Representations of Finite Groups

We give a general asymptotic formula for the growth rate of the number of indecomposable summands in the tensor powers of representations of finite groups, over a field of arbitrary characteristic. In characteristic zero we obtain additional results, including an exact formula for the growth rate. We compute various examples and also provide code used to compute our formulas.

math.RT↗