arXiv subjects

Tian Zhi

Publications and source records attributed to Tian Zhi.

4 recordsLinked to original sources

arXiv2026

Discrete Diffusion for Complex and Congested Multi-Agent Path Finding with Sparse Social Attention

Multi-Agent Path Finding (MAPF) is a coordination problem that requires computing globally consistent, collision-free trajectories from individual start positions to assigned goal positions under combinatorial planning complexity. In dense environments, suboptimal initial plans induce compound conflicts that hinder feasible repair. For repair-based solvers like LNS2, initial plan quality critically affects downstream repair, yet this factor remains underexplored. We propose DiffLNS, a hybrid framework that integrates a discrete denoising diffusion probabilistic model (D3PM) with LNS2. The D3PM serves as an initializer with sparse social attention that learns a spatiotemporal prior over coordinated multi-agent action trajectories from expert demonstrations and samples multiple joint plans. Operating directly on the categorical action space, our discrete diffusion preserves the MAPF action structure and samples from a multimodal joint-plan distribution to produce diverse drafts well suited for neighborhood repair. These drafts act as warm starts for downstream repair, which completes unfinished trajectories and resolves remaining conflicts under hard MAPF constraints. Experimental results show that despite being trained only on instances with at most 96 agents, the initializer generalizes to scenarios with up to 312 agents at inference time. Across 20 complex and congested settings, DiffLNS achieves an average success rate of 95.8%, outperforming the strongest tested baseline by 9.6 percentage points and matching or exceeding all baselines in all 20 settings. To the best of our knowledge, this is the first work to leverage discrete diffusion for warm-starting an LNS-based MAPF solver.

cs.AI↗

arXiv2025

MM-LINS: a Multi-Map LiDAR-Inertial System for Over-Degenerate Environments

SLAM plays a crucial role in automation tasks, such as warehouse logistics, healthcare robotics, and restaurant delivery. These scenes come with various challenges, including navigating around crowds of people, dealing with flying plastic bags that can temporarily blind sensors, and addressing reduced LiDAR density caused by cooking smoke. Such scenarios can result in over-degeneracy, causing the map to drift. To address this issue, this paper presents a multi-map LiDAR-inertial system (MM-LINS) for the first time. The front-end employs an iterated error state Kalman filter for state estimation and introduces a reliable evaluation strategy for degeneracy detection. If over-degeneracy is detected, the active map will be stored into sleeping maps. Subsequently, the system continuously attempts to construct new maps using a dynamic initialization method to ensure successful initialization upon leaving the over-degeneracy. Regarding the back-end, the Scan Context descriptor is utilized to detect inter-map similarity. Upon successful recognition of a sleeping map that shares a common region with the active map, the overlapping trajectory region is utilized to constrain the positional transformation near the edge of the prior map. In response to this, a constraint-enhanced map fusion strategy is proposed to achieve high-precision positional and mapping results. Experiments have been conducted separately on both public datasets that exhibited over-degenerate conditions and in real-world environments. These tests demonstrated the effectiveness of MM-LINS in over-degeneracy environment. Our codes are open-sourced on Github.

cs.RO↗

arXiv2024

Cambricon-LLM: A Chiplet-Based Hybrid Architecture for On-Device Inference of 70B LLM

Deploying advanced large language models on edge devices, such as smartphones and robotics, is a growing trend that enhances user data privacy and network connectivity resilience while preserving intelligent capabilities. However, such a task exhibits single-batch computing with incredibly low arithmetic intensity, which poses the significant challenges of huge memory footprint and bandwidth demands on limited edge resources. To address these issues, we introduce Cambricon-LLM, a chiplet-based hybrid architecture with NPU and a dedicated NAND flash chip to enable efficient on-device inference of 70B LLMs. Such a hybrid architecture utilizes both the high computing capability of NPU and the data capacity of the NAND flash chip, with the proposed hardware-tiling strategy that minimizes the data movement overhead between NPU and NAND flash chip. Specifically, the NAND flash chip, enhanced by our innovative in-flash computing and on-die ECC techniques, excels at performing precise lightweight on-die processing. Simultaneously, the NPU collaborates with the flash chip for matrix operations and handles special function computations beyond the flash's on-die processing capabilities. Overall, Cambricon-LLM enables the on-device inference of 70B LLMs at a speed of 3.44 token/s, and 7B LLMs at a speed of 36.34 token/s, which is over 22X to 45X faster than existing flash-offloading technologies, showing the potentiality of deploying powerful LLMs in edge devices.

cs.AR↗

arXiv2020

DWM: A Decomposable Winograd Method for Convolution Acceleration

Winograd's minimal filtering algorithm has been widely used in Convolutional Neural Networks (CNNs) to reduce the number of multiplications for faster processing. However, it is only effective on convolutions with kernel size as 3x3 and stride as 1, because it suffers from significantly increased FLOPs and numerical accuracy problem for kernel size larger than 3x3 and fails on convolution with stride larger than 1. In this paper, we propose a novel Decomposable Winograd Method (DWM), which breaks through the limitation of original Winograd's minimal filtering algorithm to a wide and general convolutions. DWM decomposes kernels with large size or large stride to several small kernels with stride as 1 for further applying Winograd method, so that DWM can reduce the number of multiplications while keeping the numerical accuracy. It enables the fast exploring of larger kernel size and larger stride value in CNNs for high performance and accuracy and even the potential for new CNNs. Comparing against the original Winograd, the proposed DWM is able to support all kinds of convolutions with a speedup of ~2, without affecting the numerical accuracy.

cs.LG↗