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Vincent Liu

Publications and source records attributed to Vincent Liu.

At least 19 recordsLinked to original sources

Dynamic Rebatching for Efficient Early-Exit Inference with DREX

Early-Exit (EE) is a Large Language Model (LLM) architecture that accelerates inference by allowing easier tokens to be generated using only a subset of the model's layers. However, traditional batching frameworks are ill-suited for EE LLMs, as not all requests in a batch may be ready to exit at the same time. Existing solutions either force a uniform decision on the batch, which overlooks EE opportunities, or degrade output quality by forcing premature exits. We propose Dynamic Rebatching, a solution where we dynamically reorganize the batch at each early-exit point. Requests that meet the exit criteria are immediately processed, while those that continue are held in a buffer, re-grouped into a new batch, and forwarded to deeper layers. We introduce DREX, an early-exit inference system that implements Dynamic Rebatching with two key optimizations: 1) a copy-free rebatching buffer that avoids physical data movement, and 2) an EE and SLA-aware scheduler that analytically predicts whether a given rebatching operation will be profitable. DREX also efficiently handles the missing KV cache from skipped layers using memory-efficient state-copying. Our evaluation shows that DREX improves throughput by 2-12% compared to baseline approaches while maintaining output quality. Crucially, DREX completely eliminates involuntary exits, providing a key guarantee for preserving the output quality intended by the EE model.

cs.DC

Context-Action Embedding Learning for Off-Policy Evaluation in Contextual Bandits

We consider off-policy evaluation (OPE) in contextual bandits with finite action space. Inverse Propensity Score (IPS) weighting is a widely used method for OPE due to its unbiased, but it suffers from significant variance when the action space is large or when some parts of the context-action space are underexplored. Recently introduced Marginalized IPS (MIPS) estimators mitigate this issue by leveraging action embeddings. However, these embeddings do not minimize the mean squared error (MSE) of the estimators and do not consider context information. To address these limitations, we introduce Context-Action Embedding Learning for MIPS, or CAEL-MIPS, which learns context-action embeddings from offline data to minimize the MSE of the MIPS estimator. Building on the theoretical analysis of bias and variance of MIPS, we present an MSE-minimizing objective for CAEL-MIPS. In the empirical studies on a synthetic dataset and a real-world dataset, we demonstrate that our estimator outperforms baselines in terms of MSE.

cs.LG

CausalMesh: A Formally Verified Causally Consistent Distributed Cache with Support for Client Migration

Cloud applications often insert a caching lay\-er in front of a database in order to reduce I/O latency and improve throughput. One complication occurs when a client fetches some data from one cache node, then migrates to another (e.g., due to failures, load balancing, or client mobility), where it fetches the remaining data. If the data in the cache nodes is inconsistent, the client could observe states that undermine the application's correctness. One example of a situation where this is common is stateful serverless workflows, which consist of multiple serverless functions that access state in a remote database. In serverless, functions in the same workflow may be scheduled to different nodes with different caches, resulting in the migration pattern described above -- the same client (the workflow) reads some data from one cache and other data from another. To address this issue, this paper presents CausalMesh, a novel approach to causally consistent distributed caching in environments where computations may migrate between machines. CausalMesh is the first cache system to support coordination-free, abort-free read/write operations and read transactions when clients migrate across multiple servers. CausalMesh also supports read-write transactional causal consistency in the presence of client migration, but at the cost of abort-freedom. Our experimental evaluation shows that CausalMesh has lower latency and higher throughput than existing proposals. Finally, we have formally verified the correctness of \sys's protocol in Dafny.

cs.DC

Feel the Force: Contact-Driven Learning from Humans

Controlling fine-grained forces during manipulation remains a core challenge in robotics. While robot policies learned from robot-collected data or simulation show promise, they struggle to generalize across the diverse range of real-world interactions. Learning directly from humans offers a scalable solution, enabling demonstrators to perform skills in their natural embodiment and in everyday environments. However, visual demonstrations alone lack the information needed to infer precise contact forces. We present FeelTheForce (FTF): a robot learning system that models human tactile behavior to learn force-sensitive manipulation. Using a tactile glove to measure contact forces and a vision-based model to estimate hand pose, we train a closed-loop policy that continuously predicts the forces needed for manipulation. This policy is re-targeted to a Franka Panda robot with tactile gripper sensors using shared visual and action representations. At execution, a PD controller modulates gripper closure to track predicted forces-enabling precise, force-aware control. Our approach grounds robust low-level force control in scalable human supervision, achieving a 77% success rate across 5 force-sensitive manipulation tasks. Code and videos are available at https://feel-the-force-ftf.github.io.

cs.RO

EgoZero: Robot Learning from Smart Glasses

Despite recent progress in general purpose robotics, robot policies still lag far behind basic human capabilities in the real world. Humans interact constantly with the physical world, yet this rich data resource remains largely untapped in robot learning. We propose EgoZero, a minimal system that learns robust manipulation policies from human demonstrations captured with Project Aria smart glasses, $\textbf{and zero robot data}$. EgoZero enables: (1) extraction of complete, robot-executable actions from in-the-wild, egocentric, human demonstrations, (2) compression of human visual observations into morphology-agnostic state representations, and (3) closed-loop policy learning that generalizes morphologically, spatially, and semantically. We deploy EgoZero policies on a gripper Franka Panda robot and demonstrate zero-shot transfer with 70% success rate over 7 manipulation tasks and only 20 minutes of data collection per task. Our results suggest that in-the-wild human data can serve as a scalable foundation for real-world robot learning - paving the way toward a future of abundant, diverse, and naturalistic training data for robots. Code and videos are available at https://egozero-robot.github.io.

cs.RO

The Dawn of Disaggregation and the Coherence Conundrum: A Call for Federated Coherence

Disaggregated memory is an upcoming data center technology that will allow nodes (servers) to share data efficiently. Sharing data creates a debate on the level of cache coherence the system should provide. While current proposals aim to provide coherence for all or parts of the disaggregated memory, we argue that this approach is problematic, because of scalability limitations and hardware complexity. Instead, we propose and formally define federated coherence, a model that provides coherence only within nodes, not across nodes. Federated coherence can use current intra-node coherence provided by processors without requiring expensive mechanisms for inter-node coherence. Developers can use federated coherence with a few simple programming paradigms and a synchronization library. We sketch some potential applications.

cs.DC

Advancing Education through Tutoring Systems: A Systematic Literature Review

This study systematically reviews the transformative role of Tutoring Systems, encompassing Intelligent Tutoring Systems (ITS) and Robot Tutoring Systems (RTS), in addressing global educational challenges through advanced technologies. As many students struggle with proficiency in core academic areas, Tutoring Systems emerge as promising solutions to bridge learning gaps by delivering personalized and adaptive instruction. ITS leverages artificial intelligence (AI) models, such as Bayesian Knowledge Tracing and Large Language Models, to provide precise cognitive support, while RTS enhances social and emotional engagement through human-like interactions. This systematic review, adhering to the PRISMA framework, analyzed 86 representative studies. We evaluated the pedagogical and technological advancements, engagement strategies, and ethical considerations surrounding these systems. Based on these parameters, Latent Class Analysis was conducted and identified three distinct categories: computer-based ITS, robot-based RTS, and multimodal systems integrating various interaction modes. The findings reveal significant advancements in AI techniques that enhance adaptability, engagement, and learning outcomes. However, challenges such as ethical concerns, scalability issues, and gaps in cognitive adaptability persist. The study highlights the complementary strengths of ITS and RTS, proposing integrated hybrid solutions to maximize educational benefits. Future research should focus on bridging gaps in scalability, addressing ethical considerations comprehensively, and advancing AI models to support diverse educational needs.

cs.CY

Upper and Lower Bounds for a Class of Constrained Linear Time-Varying Games

This paper develops an algorithm for upper- and lower-bounding the value function for a class of linear time-varying games subject to convex control sets. In particular, a two-player zero-sum differential game is considered where the respective players aim to minimise and maximise a convex terminal state cost. A collection of solutions of a single-player dynamical system subject to a trimmed control set is used to characterise a viscosity supersolution of a Hamilton-Jacobi (HJ) equation, which in turn yields an upper bound for the value function. Analogously, a collection of hyperplanes is used to characterise a viscosity subsolution of the HJ equation, which yields a lower bound. The computational complexity and memory requirement of the proposed algorithm scales with the number of solutions and hyperplanes that characterise the bounds, which is not explicitly tied to the number of system states. Thus, the algorithm is tractable for systems of moderately high dimension whilst preserving rigorous guarantees for optimal control and differential game applications.

math.OC

Carbon Connect: An Ecosystem for Sustainable Computing

Computing is at a moment of profound opportunity. Emerging applications -- such as capable artificial intelligence, immersive virtual realities, and pervasive sensor systems -- drive unprecedented demand for computer. Despite recent advances toward net zero carbon emissions, the computing industry's gross energy usage continues to rise at an alarming rate, outpacing the growth of new energy installations and renewable energy deployments. A shift towards sustainability is needed to spark a transformation in how computer systems are manufactured, allocated, and consumed. Carbon Connect envisions coordinated research thrusts that produce design and management strategies for sustainable, next-generation computer systems. These strategies must flatten and then reverse growth trajectories for computing power and carbon for society's most rapidly growing applications such as artificial intelligence and virtual spaces. We will require accurate models for carbon accounting in computing technology. For embodied carbon, we must re-think conventional design strategies -- over-provisioned monolithic servers, frequent hardware refresh cycles, custom silicon -- and adopt life-cycle design strategies that more effectively reduce, reuse and recycle hardware at scale. For operational carbon, we must not only embrace renewable energy but also design systems to use that energy more efficiently. Finally, new hardware design and management strategies must be cognizant of economic policy and regulatory landscape, aligning private initiatives with societal goals. Many of these broader goals will require computer scientists to develop deep, enduring collaborations with researchers in economics, law, and industrial ecology to spark change in broader practice.

cs.DC

Switching the Loss Reduces the Cost in Batch (Offline) Reinforcement Learning

We propose training fitted Q-iteration with log-loss (FQI-log) for batch reinforcement learning (RL). We show that the number of samples needed to learn a near-optimal policy with FQI-log scales with the accumulated cost of the optimal policy, which is zero in problems where acting optimally achieves the goal and incurs no cost. In doing so, we provide a general framework for proving small-cost bounds, i.e. bounds that scale with the optimal achievable cost, in batch RL. Moreover, we empirically verify that FQI-log uses fewer samples than FQI trained with squared loss on problems where the optimal policy reliably achieves the goal.

cs.LG

Under the Surface: Tracking the Artifactuality of LLM-Generated Data

This work delves into the expanding role of large language models (LLMs) in generating artificial data. LLMs are increasingly employed to create a variety of outputs, including annotations, preferences, instruction prompts, simulated dialogues, and free text. As these forms of LLM-generated data often intersect in their application, they exert mutual influence on each other and raise significant concerns about the quality and diversity of the artificial data incorporated into training cycles, leading to an artificial data ecosystem. To the best of our knowledge, this is the first study to aggregate various types of LLM-generated text data, from more tightly constrained data like "task labels" to more lightly constrained "free-form text". We then stress test the quality and implications of LLM-generated artificial data, comparing it with human data across various existing benchmarks. Despite artificial data's capability to match human performance, this paper reveals significant hidden disparities, especially in complex tasks where LLMs often miss the nuanced understanding of intrinsic human-generated content. This study critically examines diverse LLM-generated data and emphasizes the need for ethical practices in data creation and when using LLMs. It highlights the LLMs' shortcomings in replicating human traits and behaviors, underscoring the importance of addressing biases and artifacts produced in LLM-generated content for future research and development. All data and code are available on our project page.

cs.CL

A Hamilton-Jacobi-Bellman Approach to Ellipsoidal Approximations of Reachable Sets for Linear Time-Varying Systems

Reachable sets for a dynamical system describe collections of system states that can be reached in finite time, subject to system dynamics. They can be used to guarantee goal satisfaction in controller design or to verify that unsafe regions will be avoided. However, general-purpose methods for computing these sets suffer from the curse of dimensionality, which typically prohibits their use for systems with more than a small number of states, even if they are linear. In this paper, we demonstrate that viscosity supersolutions and subsolutions of a Hamilton-Jacobi-Bellman equation can be used to generate, respectively, under-approximating and over-approximating reachable sets for time-varying nonlinear systems. Based on this observation, we derive dynamics for a union and intersection of ellipsoidal sets that, respectively, under-approximate and over-approximate the reachable set for linear time-varying systems subject to an ellipsoidal input constraint and an ellipsoidal terminal (or initial) set. We demonstrate that the dynamics for these ellipsoids can be selected to ensure that their boundaries coincide with the boundary of the exact reachable set along a solution of the system. The ellipsoidal sets can be generated with polynomial computational complexity in the number of states, making our approximation scheme computationally tractable for continuous-time linear time-varying systems of relatively high dimension.

math.OC

When is Offline Policy Selection Sample Efficient for Reinforcement Learning?

Offline reinforcement learning algorithms often require careful hyperparameter tuning. Before deployment, we need to select amongst a set of candidate policies. However, there is limited understanding about the fundamental limits of this offline policy selection (OPS) problem. In this work we provide clarity on when sample efficient OPS is possible, primarily by connecting OPS to off-policy policy evaluation (OPE) and Bellman error (BE) estimation. We first show a hardness result, that in the worst case, OPS is just as hard as OPE, by proving a reduction of OPE to OPS. As a result, no OPS method can be more sample efficient than OPE in the worst case. We then connect BE estimation to the OPS problem, showing how BE can be used as a tool for OPS. While BE-based methods generally require stronger requirements than OPE, when those conditions are met they can be more sample efficient. Building on this insight, we propose a BE method for OPS, called Identifiable BE Selection (IBES), that has a straightforward method for selecting its own hyperparameters. We conclude with an empirical study comparing OPE and IBES, and by showing the difficulty of OPS on an offline Atari benchmark dataset.

cs.LG

Spectroscopy of elementary excitations from quench dynamics in a dipolar XY Rydberg simulator

We use a Rydberg quantum simulator to demonstrate a new form of spectroscopy, called quench spectroscopy, which probes the low-energy excitations of a many-body system. We illustrate the method on a two-dimensional simulation of the spin-1/2 dipolar XY model. Through microscopic measurements of the spatial spin correlation dynamics following a quench, we extract the dispersion relation of the elementary excitations for both ferro- and anti-ferromagnetic couplings. We observe qualitatively different behaviors between the two cases that result from the long-range nature of the interactions, and the frustration inherent in the antiferromagnet. In particular, the ferromagnet exhibits elementary excitations behaving as linear spin waves. In the anti-ferromagnet, spin waves appear to decay, suggesting the presence of strong nonlinearities. Our demonstration highlights the importance of power-law interactions on the excitation spectrum of a many-body system.

cond-mat.quant-gas

Isotope engineering for spin defects in van der Waals materials

Spin defects in van der Waals materials offer a promising platform for advancing quantum technologies. Here, we propose and demonstrate a powerful technique based on isotope engineering of host materials to significantly enhance the coherence properties of embedded spin defects. Focusing on the recently-discovered negatively charged boron vacancy center ($\mathrm{V}_{\mathrm{B}}^-$) in hexagonal boron nitride (hBN), we grow isotopically purified $\mathrm{h}{}^{10}\mathrm{B}{}^{15}\mathrm{N}$ crystals. Compared to $\mathrm{V}_{\mathrm{B}}^-$ in hBN with the natural distribution of isotopes, we observe substantially narrower and less crowded $\mathrm{V}_{\mathrm{B}}^-$ spin transitions as well as extended coherence time $T_2$ and relaxation time $T_1$. For quantum sensing, $\mathrm{V}_{\mathrm{B}}^-$ centers in our $\mathrm{h}{}^{10}\mathrm{B}{}^{15}\mathrm{N}$ samples exhibit a factor of $4$ ($2$) enhancement in DC (AC) magnetic field sensitivity. For additional quantum resources, the individual addressability of the $\mathrm{V}_{\mathrm{B}}^-$ hyperfine levels enables the dynamical polarization and coherent control of the three nearest-neighbor ${}^{15}\mathrm{N}$ nuclear spins. Our results demonstrate the power of isotope engineering for enhancing the properties of quantum spin defects in hBN, and can be readily extended to improving spin qubits in a broad family of van der Waals materials.

quant-ph

Measuring and Mitigating Interference in Reinforcement Learning

Catastrophic interference is common in many network-based learning systems, and many proposals exist for mitigating it. Before overcoming interference we must understand it better. In this work, we provide a definition and novel measure of interference for value-based reinforcement learning methods such as Fitted Q-Iteration and DQN. We systematically evaluate our measure of interference, showing that it correlates with instability in control performance, across a variety of network architectures. Our new interference measure allows us to ask novel scientific questions about commonly used deep learning architectures and study learning algorithms which mitigate interference. Lastly, we outline a class of algorithms which we call online-aware that are designed to mitigate interference, and show they do reduce interference according to our measure and that they improve stability and performance in several classic control environments.

cs.LG

Asymptotically Unbiased Off-Policy Policy Evaluation when Reusing Old Data in Nonstationary Environments

In this work, we consider the off-policy policy evaluation problem for contextual bandits and finite horizon reinforcement learning in the nonstationary setting. Reusing old data is critical for policy evaluation, but existing estimators that reuse old data introduce large bias such that we can not obtain a valid confidence interval. Inspired from a related field called survey sampling, we introduce a variant of the doubly robust (DR) estimator, called the regression-assisted DR estimator, that can incorporate the past data without introducing a large bias. The estimator unifies several existing off-policy policy evaluation methods and improves on them with the use of auxiliary information and a regression approach. We prove that the new estimator is asymptotically unbiased, and provide a consistent variance estimator to a construct a large sample confidence interval. Finally, we empirically show that the new estimator improves estimation for the current and future policy values, and provides a tight and valid interval estimation in several nonstationary recommendation environments.

cs.LG

AlpaServe: Statistical Multiplexing with Model Parallelism for Deep Learning Serving

Model parallelism is conventionally viewed as a method to scale a single large deep learning model beyond the memory limits of a single device. In this paper, we demonstrate that model parallelism can be additionally used for the statistical multiplexing of multiple devices when serving multiple models, even when a single model can fit into a single device. Our work reveals a fundamental trade-off between the overhead introduced by model parallelism and the opportunity to exploit statistical multiplexing to reduce serving latency in the presence of bursty workloads. We explore the new trade-off space and present a novel serving system, AlpaServe, that determines an efficient strategy for placing and parallelizing collections of large deep learning models across a distributed cluster. Evaluation results on production workloads show that AlpaServe can process requests at up to 10x higher rates or 6x more burstiness while staying within latency constraints for more than 99% of requests.

cs.LG