Hengyi Zhou | Searcharxiv

arXiv2026

Neural Control: Adjoint Learning Through Equilibrium Constraints

Many physical AI tasks require sequential implicit computation: at each step, boundary controls are applied, and the resulting configuration is obtained by solving an equilibrium problem. This setting arises naturally in deformable object manipulation, where even bending a deformable linear object (DLO) to a target shape can be nonlinear and multistable: identical boundary conditions may produce different configurations depending on actuation history. Unlike explicit transition models, the control-to-configuration relation is implicit and history-dependent, making long-horizon learning and control brittle; backpropagating through iterative solves is also memory- and compute-intensive. We propose Neural Control, a boundary-control framework that propagates gradients through branch-dependent sequences of equilibrium solves rather than a single fixed point. Neural Control computes trajectory-dependent proxy gradients by differentiating equilibrium conditions with an adjoint formulation, avoiding solver unrolling while keeping forward rollouts on converged equilibria. Combined with receding-horizon continuation, Neural Control re-anchors optimization to realized equilibria and mitigates basin switching. We validate Neural Control on simulated and real DLO manipulation, compare against SPSA and iCEM, and demonstrate applicability to a learned DEQ-style implicit equilibrium model.

cs.RO↗

arXiv2026

PCR: A Prefetch-Enhanced Cache Reuse System for Low-Latency RAG Serving

Retrieval-Augmented Generation (RAG) systems enhance the performance of large language models (LLMs) by incorporating supplementary retrieved documents, enabling more accurate and context-aware responses. However, integrating these external documents often results in very long input sequences, which significantly increases computation costs during the prefill stage, where key-value (KV) representations for all input tokens are generated. This latency bottleneck becomes especially pronounced under high-throughput serving scenarios. KV-cache reuse offers a promising solution by storing previously computed KV states for shared input prefixes, thereby avoiding redundant computation across requests that contain overlapping context. Yet, the effectiveness of cache reuse is often limited by three practical challenges: low cache hit rates due to naive eviction policies, high CPU-GPU data transfer overhead, and slow SSD I/O when caches spill to storage. To address these issues, we propose PCR, a system designed to maximize KV-cache reuse efficiency through intelligent prefetching and pipelined data movement. Specifically, PCR introduces three key techniques: (1) a prefix-tree caching structure with a look-ahead LRU replacement policy that uses pending requests in the scheduler queue to improve cache hit ratios; (2) layer-wise overlapping that pipelines KV-cache loading and GPU computation across CUDA streams to hide communication latency; and (3) queue-based prefetching that proactively loads relevant KV caches from SSD into DRAM before they are needed. Extensive experiments show that PCR outperforms existing KV-cache reuse methods, achieving up to a 2.47x speedup in terms of average TTFT.

cs.DC↗