arXiv subjects

Zhuochen Fan

Publications and source records attributed to Zhuochen Fan.

4 recordsLinked to original sources

arXiv2026

Can a Robot Walk the Robotic Dog: Triple-Zero Collaborative Navigation for Heterogeneous Multi-Agent Systems

We present Triple Zero Path Planning (TZPP), a collaborative framework for heterogeneous multi-robot systems that requires zero training, zero prior knowledge, and zero simulation. TZPP employs a coordinator--explorer architecture: a humanoid robot handles task coordination, while a quadruped robot explores and identifies feasible paths using guidance from a multimodal large language model. We implement TZPP on Unitree G1 and Go2 robots and evaluate it across diverse indoor and outdoor environments, including obstacle-rich and landmark-sparse settings. Experiments show that TZPP achieves robust, human-comparable efficiency and strong adaptability to unseen scenarios. By eliminating reliance on training and simulation, TZPP offers a practical path toward real-world deployment of heterogeneous robot cooperation. Our code and video are provided at: https://github.com/triple-zeropp/Triple-zero-robot-agent

cs.RO↗

arXiv2026

Crane: An Accurate and Scalable Neural Sketch for Graph Stream Summarization

Graph streams are rapidly evolving sequences of edges that convey continuously changing relationships among entities, playing a crucial role in domains such as networking, finance, and cybersecurity. Their massive scale and high dynamism make obtaining accurate statistics challenging with limited memory constraints. Traditional methods summarize graph streams through hand-crafted sketches, while recent studies have begun to replace these sketches with neural counterparts to improve adaptability and accuracy. However, this shift faces a major challenge: under limited memory, dominant frequent items tend to overshadow rare ones, hindering the neural network's ability to recover accurate statistics. To address this, we propose Crane, a hierarchical neural sketch architecture for graph stream summarization. Crane uses a hierarchical carry mechanism that automatically elevates frequent items to higher memory layers, reducing interference between frequent and infrequent items within the same layer. To better accommodate real-world deployment, Crane further adopts an adaptive memory expansion strategy that dynamically adds new layers once the occupancy of the top layer exceeds a threshold, enabling scalability across diverse data magnitudes. Extensive experiments on various datasets ranging from 20K to 60M edges demonstrate that Crane reduces estimation error by roughly 10x compared to state-of-the-art methods.

cs.DB↗

arXiv2025

Gryphon: Scaling Hyperscale Multi-Tenant Gateways Beyond the Petabit-Era via DPU-Augmented Hierarchical Co-Offloading

At ByteDance, cloud gateway clusters orchestrate petabit-scale aggregate traffic. Traditional ASIC-only gateways fail to meet these escalating demands due to severe on-chip resource constraints and limited programmable flexibility, while pure software solutions or alternatives like disaggregated SmartNICs struggle to match terabit-scale line-rate throughput. To bridge this gap, we present Gryphon, a hyperscale cloud gateway built on a hybrid architecture that integrates DPUs directly into the switching ASIC's forwarding path. This design resolves the fundamental tension between capacity and speed, expanding table scale by up to 1000$\times$ and augmenting programmability, while sustaining 1.6 Tbps line-rate throughput at a cost of only ~8$\mu s$ in additional average latency. To manage this hardware heterogeneity, we introduce Hierarchical Co-Offloading (HLCO) in the data plane, achieving >99.9% fast path hit rate, while retaining software fallback for complex operations. In the control plane, we develop an abstraction layer (P4Bridge) that decouples hardware specifics from policy configuration. Gryphon has been operating at production scale for over a year, deployed on hundreds of nodes across multiple Availability Zones. We also share production measurements and operational experiences that serve as the first hyperscale-proven guidelines for next-generation DPU-augmented cloud gateways.

cs.NI↗

arXiv2024

CuckooGraph: A Scalable and Space-Time Efficient Data Structure for Large-Scale Dynamic Graphs

Graphs play an increasingly important role in various big data applications. However, existing graph data structures cannot simultaneously address the performance bottlenecks caused by the dynamic updates, large scale, and high query complexity of current graphs. This paper proposes a novel data structure for large-scale dynamic graphs called CuckooGraph. It does not require any prior knowledge of the upcoming graphs, and can adaptively resize to the most memory-efficient form while requiring few memory accesses for very fast graph data processing. The key techniques of CuckooGraph include TRANSFORMATION and DENYLIST. TRANSFORMATION fully utilizes the limited memory by designing related data structures that allow flexible space transformations to smoothly expand/tighten the required space depending on the number of incoming items. DENYLIST efficiently handles item insertion failures and further improves processing speed. Our experimental results show that compared with the most competitive solution Spruce, CuckooGraph achieves about $33\times$ higher insertion throughput while requiring only about $68\%$ of the memory space.

cs.DB↗