arXiv subjects

Zeyuan Ding

Publications and source records attributed to Zeyuan Ding.

9 recordsLinked to original sources

arXiv2026

Global Simulation-Guided Dynamic Operator Scheduling for Efficient Multi-Tenant Model Serving

Container-granularity scheduling leaves abundant short-lived idle slices within containers unexploited. Reallocating containers is too heavyweight to utilize such fine-grained opportunities under SLA constraints, and operator-level scheduling requires reasoning about dependencies, memory safety, and cluster-wide execution dynamics in real time. In this paper, we present SliceScheduler, a dynamic operator-level scheduling system for multi-tenant model serving. The key idea is to expose cluster-wide operator execution state and enable what-if reasoning over scheduling decisions. SliceScheduler consists of four key components. First, we introduce the Global Mapping Graph (GMG), a unified abstraction that captures operator dependencies, tensor shapes, resource mappings, and execution states, providing a real-time, cluster-wide view with explicit resource semantics. Second, we build a global simulator on top of GMG to predict operator-level execution and memory evolution under candidate placements. Third, we design an incremental, simulation-based scheduling module that selects placements to exploit fragmented idle slices while avoiding memory violations and preserving SLA. Finally, we develop an operator executor that materializes scheduling decisions on GPUs and coordinates computation and cross-accelerator transfers. We implement SliceScheduler as a PyTorch backend and evaluate it using production trace replay. Experimental results show that SliceScheduler improves token throughput by 1.10--2.29$\times$ compared to existing approaches, while maintaining SLA violations within 9\%. SliceScheduler demonstrates that operator-level scheduling is a practical and effective approach to improving GPU utilization for multi-tenant LLM serving.

cs.OS↗

arXiv2026

Pelican-VLA 0.5: Attending Before Acting Benefits Generalization

In this report, we present Pelican-VLA 0.5, a unified VLA model that integrates vision-language understanding, future-frame generation, and action prediction within a single architecture. Pelican-VLA 0.5 achieves attention-level generalization: without object annotations, segmentation masks, attention supervision, or task-specific fine-tuning, its action pathway already focuses on the manipulation-relevant object and contact region. This behavior persists across unseen scenes and unseen robot embodiments, and is substantially stronger than in other open-source VLA baselines. We verify that this ability originates from the learnable Bottleneck Token inserted between perception and action: by routing task-relevant visual information through a compact bottleneck, the tokens interface induces manipulation-centric attention during pre-training and remains effective across different policy structures, including a MoT-style architecture.

cs.RO↗

arXiv2026

Robo-Cortex: A Self-Evolving Embodied Agent via Dual-Grain Cognitive Memory and Autonomous Knowledge Induction

The ability to navigate and interact with complex environments is central to real-world embodied agents, yet navigation in unseen environments remains challenging due to "experiential amnesia," where existing trajectory-driven or reactive policies fail to synthesize generalizable strategies from past interactions. We propose Robo-Cortex, a self-evolving framework that enables robots to autonomously induce navigation heuristics and refine cognitive strategies through a continuous reflection-adaptation loop. By abstracting success patterns and failure pitfalls into natural-language heuristics, Robo-Cortex enables a transition from passive execution to active strategy evolution. Our core innovation is an Autonomous Knowledge Induction (AKI) mechanism that distills multimodal trajectories into a structured Navigation Heuristic Library for knowledge generalization. The architecture further incorporates a Dual-Grain Cognitive Memory system, comprising a Short-term Reflective Memory (SRM) for real-time local progress analysis, and a Long-term Principle Memory (LPM) that abstracts past trajectories into reusable guiding and cautionary principles. To ensure robust decision-making, we introduce a multimodal Imagine-then-Verify loop, where a world model simulates potential outcomes and a VLM-based evaluator validates action plans. Extensive evaluations on IGNav, AR, and AEQA show that Robo-Cortex consistently outperforms strong baselines in both task success and exploration efficiency, with gains of up to +4.16% SPL over the strongest prior method and up to +15.30% SPL under heuristic transfer to unseen environments. Preliminary real-world robotic experiments further support the effectiveness of Robo-Cortex in physical settings.

cs.RO↗

arXiv2026

Pelican-Unify 1.0: A Unified Embodied Intelligence Model for Understanding, Reasoning, Imagination and Action

We present Pelican-Unify 1.0, the first embodied foundation model trained according to the principle of unification. Pelican-Unify 1.0 uses a single VLM as a unified understanding module, mapping scenes, instructions, visual contexts, and action histories into a shared semantic space. The same VLM also serves as a unified reasoning module, autoregressively producing task-, action-, and future-oriented chains of thought in a single forward pass and projecting the final hidden state into a dense latent variable. A Unified Future Generator (UFG) then conditions on this latent variable and jointly generates future videos and future actions through two modality-specific output heads within the same denoising process. The language, video, and action losses are all backpropagated into the shared representation, enabling the model to jointly optimize understanding, reasoning, imagination, and action during training, rather than training three isolated expert systems. Experiments demonstrate that unification does not imply compromise. With a single checkpoint, Pelican-Unify 1.0 achieves strong performance across all three capabilities: 64.7 on eight VLM benchmarks, the best among comparable-scale models; 66.03 on WorldArena, ranking first; and 93.5 on RoboTwin, the second-best average among compared action methods. These results show that the unified paradigm succeeds in preserving specialist strength while bringing understanding, reasoning, imagination, and action into one model.

cs.RO↗

arXiv2026

SWIFT: Spatio-temporal Wavelet Integrated Forecasting Framework for Workload Traces

Accurate cloud workload forecasting is pivotal for efficient resource management but remains challenging as workloads are highly volatile and prone to sudden bursts. Although wavelets preserve temporal locality, rigid fixed bases struggle with complex patterns and isolated processing neglects critical spatial dependencies. To address this, we propose SWIFT, a pure convolutional framework designed for high-efficiency workload forecasting. We introduce a Learnable Cascaded Wavelet Path that reformulates the traditional fixed wavelet bases into adaptive convolutional operators, enabling precise, data-driven feature peeling. Complementing this, our Multivariate Interaction Module sequentially models inter-variable spatial and intra-variable feature interactions to stabilize and refine noisy workload states. Extensive experiments demonstrate that SWIFT achieves SOTA accuracy with linear O(L) complexity, reducing prediction error by up to 31.04% while cutting latency by 79.74%.

cs.DC↗

arXiv2026

A2Eval: Agentic and Automated Evaluation for Embodied Brain

Current embodied VLM evaluation relies on static, expert-defined, manually annotated benchmarks that exhibit severe redundancy and coverage imbalance. This labor intensive paradigm drains computational and annotation resources, inflates costs, and distorts model rankings, ultimately stifling iterative development. To address this, we propose Agentic Automatic Evaluation (A2Eval), the first agentic framework that automates benchmark curation and evaluation through two collaborative agents. The Data Agent autonomously induces capability dimensions and assembles a balanced, compact evaluation suite, while the Eval Agent synthesizes and validates executable evaluation pipelines, enabling fully autonomous, high-fidelity assessment. Evaluated across 10 benchmarks and 13 models, A2Eval compresses evaluation suites by 85%, reduces overall computational costs by 77%, and delivers a 4.6x speedup while preserving evaluation quality. Crucially, A2Eval corrects systematic ranking biases, improves human alignment to Spearman's rho=0.85, and maintains high ranking fidelity (Kendall's tau=0.81), establishing a new standard for high-fidelity, low-cost embodied assessment. Our code and data will be public soon.

cs.CL↗

arXiv2025

Bridging VLMs and Embodied Intelligence with Deliberate Practice Policy Optimization

Developing a universal and versatile embodied intelligence system presents two primary challenges: the critical embodied data bottleneck, where real-world data is scarce and expensive, and the algorithmic inefficiency of existing methods, which are resource-prohibitive. To address these limitations, we introduce Deliberate Practice Policy Optimization (DPPO), a metacognitive ``Metaloop'' training framework that dynamically alternates between supervised fine-tuning (competence expansion) and reinforcement learning (skill refinement). This enables automatic weakness identification and targeted resource allocation, specifically designed to maximize learning efficiency from sparse, finite data. Theoretically, DPPO can be formalised as a unified preference-learning framework. Empirically, training a vision-language embodied model with DPPO, referred to as Pelican-VL 1.0, yields a 20.3% performance improvement over the base model and surpasses open-source models at the 100B-parameter scale by 10.6%. We are open-sourcing both the models and code, providing the first systematic framework that alleviates the data and resource bottleneck and enables the community to build versatile embodied agents efficiently.

cs.AI↗

arXiv2025

Pelican-VL 1.0: A Foundation Brain Model for Embodied Intelligence

This report presents Pelican-VL 1.0, a new family of open-source embodied brain models with parameter scales ranging from 7 billion to 72 billion. Our explicit mission is clearly stated as: To embed powerful intelligence into various embodiments. Pelican-VL 1.0 is currently the largest-scale open-source embodied multimodal brain model. Its core advantage lies in the in-depth integration of data power and intelligent adaptive learning mechanisms. Specifically, metaloop distilled a high-quality dataset from a raw dataset containing 4+ billion tokens. Pelican-VL 1.0 is trained on a large-scale cluster of 1000+ A800 GPUs, consuming over 50k+ A800 GPU-hours per checkpoint. This translates to a 20.3% performance uplift from its base model and outperforms 100B-level open-source counterparts by 10.6%, placing it on par with leading proprietary systems on well-known embodied benchmarks. We establish a novel framework, DPPO (Deliberate Practice Policy Optimization), inspired by human metacognition to train Pelican-VL 1.0. We operationalize this as a metaloop that teaches the AI to practice deliberately, which is a RL-Refine-Diagnose-SFT loop.

cs.LG↗

arXiv2023

Taiyi: A Bilingual Fine-Tuned Large Language Model for Diverse Biomedical Tasks

Objective: Most existing fine-tuned biomedical large language models (LLMs) focus on enhancing performance in monolingual biomedical question answering and conversation tasks. To investigate the effectiveness of the fine-tuned LLMs on diverse biomedical NLP tasks in different languages, We present Taiyi, a bilingual fine-tuned LLM for diverse biomedical tasks. Materials and Methods: We first curated a comprehensive collection of 140 existing biomedical text mining datasets (102 English and 38 Chinese datasets) across over 10 task types. Subsequently, a two-stage strategy is proposed for supervised fine-tuning to optimize the model performance across varied tasks. Results: Experimental results on 13 test sets covering named entity recognition, relation extraction, text classification, question answering tasks demonstrate that Taiyi achieves superior performance compared to general LLMs. The case study involving additional biomedical NLP tasks further shows Taiyi's considerable potential for bilingual biomedical multi-tasking. Conclusion: Leveraging rich high-quality biomedical corpora and developing effective fine-tuning strategies can significantly improve the performance of LLMs within the biomedical domain. Taiyi shows the bilingual multi-tasking capability through supervised fine-tuning. However, those tasks such as information extraction that are not generation tasks in nature remain challenging for LLM-based generative approaches, and they still underperform the conventional discriminative approaches of smaller language models.

cs.CL↗