arXiv subjects

Xinzhe Chen

Publications and source records attributed to Xinzhe Chen.

6 recordsLinked to original sources

arXiv2026

Hierarchical Shared Memory-Aware Optimization for TRSM on GPU Platforms

Triangular Solve with Multiple Right-hand Sides (TRSM) is a fundamental BLAS Level-3 operation that underpins LU/Cholesky decomposition, sparse direct solvers, and matrix inversion. In the left-side lower-triangular case studied in this paper, efficient GPU implementation remains challenging because forward substitution introduces strict row-wise dependencies, and shared memory is too scarce to hold both operand matrices for wide data types such as double complex. This paper presents HSMA-TRSM, a hierarchical shared memory-aware optimization framework for left-side lower-triangular TRSM on NVIDIA A100, NVIDIA H800, and Hygon DCU Z100 accelerators. For the small-scale regime (m,n<=64), we design a pipelined compute-memory overlap mechanism through loop unrolling and instruction reordering, and propose a dual thread-group seven-stage pipeline strategy to address shared memory constraints for double complex types. For large-scale problems, we introduce a diagonal block decoupling optimization with an O(IB)shared-memory footprint for diagonal block inversion, enabling adaptive block size selection based on matrix scale and hardware characteristics. A compile-time configuration selection framework based on offline profiling and online lookup selects the optimal block size per platform with zero runtime overhead. Evaluated on NVIDIA A100, H800, and Hygon DCU Z100, HSMA-TRSM achieves peak speedups of 2.05xover cuBLAS and 2.06xover rocBLAS. The gains are strongest in shared-memory-constrained double-complex small cases and in large real-type cases where adaptive blocking improves GEMM-dominated updates, while mature vendor kernels leave less optimization headroom in some regimes.

cs.DC↗

arXiv2026

OASIS: Observation-Action Space Alignment via SE(3) Trajectory Prediction for Robotic Manipulation

Recent vision-language-action (VLA) models and world action models (WAMs) advance robotic manipulation by enriching intermediate representations with auxiliary spatial features or future visual-state prediction. However, these representations largely remain within the observation space and do not share the rigid-body geometry of the action space, forcing the action decoder to implicitly recover this geometry. We propose OASIS, a visuomotor policy that aligns the intermediate representation with the action space via $SE(3)$ end-effector trajectory prediction. OASIS couples a 3D-aware feature encoder that fuses vision-language and metric-depth features with an $SE(3)$ trajectory predictor that produces a camera-frame end-effector trajectory. Conditioned on the predictor's pose-supervised hidden states, the action decoder generates action chunks consistent with rigid-body motion. Across simulation and real-world experiments, OASIS outperforms VLA and WAM baselines in success rate and out-of-distribution generalization. Our project page is available at https://npuhandsome.github.io/OASIS_web.

cs.RO↗

arXiv2026

AffordSim: A Scalable Data Generator and Benchmark for Affordance-Aware Robotic Manipulation

Many everyday robot manipulation skills are affordance-dependent, with success determined by whether the robot contacts the functional object region required by the subsequent action. Current simulation data generators obtain contacts from generic grasp estimators or per-object manual contact annotations, but generic estimators rank stable grasps without task semantics and often select contacts that are misaligned with the downstream action, while manual contact annotations must be rewritten for each new object and task. To solve these challenges, we introduce AffordSim, a scalable data generator and benchmark that integrates open-vocabulary 3D affordance prediction into simulation-based trajectory generation. Given a natural-language task description, AffordSim synthesizes a task-relevant scene, emits affordance queries, grounds them on object surfaces, samples region-conditioned grasps, and selects executable candidates with motion planning. It further randomizes object pose, texture, lighting, image noise, and cross-viewpoint backgrounds for sim-to-real transfer. We instantiate AffordSim as a 50-task benchmark across diverse manipulation skills, five robot embodiments, and 500+ rigid and articulated objects. AffordSim achieves 93% of the trajectory collection success rate of manual contact annotations on affordance-critical tasks and 89% on hard composite tasks. Vision-language-action policies trained on AffordSim data transfer zero-shot to a real Franka FR3, reaching 24% average success.

cs.RO↗

arXiv2026

TileQ: Efficient Low-Rank Quantization of Mixture-of-Experts with 2D Tiling

Mixture-of-Experts (MoE) models achieve remarkable performance by sparsely activating specialized experts, yet their massive parameters in experts pose significant challenges for deployment. While low-rank quantization offers a promising route to compress MoE models, existing methods still incur nonnegligible memory overhead and inference latency. To address these limitations, we propose \textsc{TileQ}, a fine-tuning-free post-training quantization (PTQ) method that employs 2D-tiling structured low-rank quantization to share low-rank factors across both input and output dimensions of MoE experts. Furthermore, we introduce an efficient inference technique for \textsc{TileQ} that fuses multiple low-rank expert computations into a single-pass operation, significantly improving hardware utilization. Experiments show that \textsc{TileQ} cuts down additional memory usage up to 10$\times$ and reduces inference latency to $\sim$5\% while preserving state-of-the-art accuracy.

cs.LG↗

arXiv2026

VoxAfford: Multi-Scale Voxel-Token Fusion for Open-Vocabulary 3D Affordance Detection

Open-vocabulary 3D affordance detection requires localizing interaction regions on point clouds given novel affordance descriptions. Recent methods extend multimodal large language models (MLLMs) with special output tokens that are decoded into segmentation masks. However, these tokens are produced through autoregressive generation, which models sequential dependencies rather than spatial neighborhood relations, leaving them semantically rich but spatially impoverished for 3D localization. We propose Voxel-enhanced Affordance detection (VoxAfford), which bypasses this bottleneck by injecting multi-scale geometric features from a frozen pre-trained 3D VQVAE encoder into the output tokens after generation. Each output token uses its affordance semantics as a query to retrieve relevant geometric patterns from its paired voxel scale via cross-attention, with a learned compatibility gate controlling the injection strength. The enhanced tokens are then aggregated into a spatially-aware affordance prompt through semantic-conditioned attention and propagated alongside per-point features to generate the final mask. Experiments on open-vocabulary affordance detection tasks show that VoxAfford achieves state-of-the-art performance with approximately an 8% improvement in mIoU, and real robot experiments confirm zero-shot transfer to novel objects.

cs.CV↗

arXiv2023

Significant improvement of lossy compression rate and speed of HPC data using perceptron parallelized compression

The escalating surge in data generation presents formidable challenges to information technology, necessitating advancements in storage, retrieval, and utilization. With the proliferation of artificial intelligence and big data, the "Data Age 2025" report forecasts an exponential increase in global data production. The escalating data volumes raise concerns about efficient data processing. The paper addresses the predicament of achieving a lower compression ratio while maintaining or surpassing the compression performance of state-of-the-art techniques. This paper introduces a lossy compression framework grounded in the perceptron model for data prediction, striving for high compression quality. The contributions of this study encompass the introduction of positive and negative factors within the relative-to-absolute domain transformation algorithm, the utilization of a three-layer perceptron for improved predictive accuracy, and data selection rule modifications for parallelized compression within compression blocks. Comparative experiments with SZ2.1's PW_REL mode demonstrate a maximum compression ratio reduction of 17.78%. The article is structured as follows: the introduction highlights the data explosion challenge; related work delves into existing solutions; optimization of mapping algorithms in the relative and absolute domains is expounded in Section 3,the design of the new compression framework is detailed in Section 4,In Section 5 we describe the whole process and give pseudo-code, and in Section 6, our solution is evaluated. Finally, in Section 7, we provide an outlook for future work.

cs.DC↗