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To support future spatial machine intelligence applications, lifelong simultaneous localization and mapping (SLAM) has drawn significant attentions. SLAM is usually realized based on various types of mobile robots performing simultaneous and continuous sensing and communication. This paper focuses on analyzing the energy efficiency of robot operation for lifelong SLAM by jointly considering sensing, communication and mechanical factors. The system model is built based on a robot equipped with a 2D light detection and ranging (LiDAR) and an odometry. The cloud point raw data as well as the odometry data are wirelessly transmitted to data center where real-time map reconstruction is realized based on an unsupervised deep learning based method. The sensing duration, transmit power, transmit duration and exploration speed are jointly optimized to minimize the energy consumption. Simulations and experiments demonstrate the performance of our proposed method.

This paper presents HyperGraphOS, a significant innovation in the domain of operating systems, specifically designed to address the needs of scientific and engineering domains. This platform aims to combine model-based engineering, graph modeling, data containers, and documents, along with tools for handling computational elements. HyperGraphOS functions as an Operating System offering to users an infinite workspace for creating and managing complex models represented as graphs with customizable semantics. By leveraging a web-based architecture, it requires only a modern web browser for access, allowing organization of knowledge, documents, and content into models represented in a network of workspaces. Elements of the workspace are defined in terms of domain-specific languages (DSLs). These DSLs are pivotal for navigating workspaces, generating code, triggering AI components, and organizing information and processes. The models' dual nature as both visual drawings and data structures allows dynamic modifications and inspections both interactively as well as programaticaly. We evaluated HyperGraphOS's efficiency and applicability across a large set of diverse domains, including the design and development of a virtual Avatar dialog system, a robotic task planner based on large language models (LLMs), a new meta-model for feature-based code development and many others. Our findings show that HyperGraphOS offers substantial benefits in the interaction with a computer as information system, as platoform for experiments and data analysis, as streamlined engineering processes, demonstrating enhanced flexibility in managing data, computation and documents, showing an innovative approaches to persistent desktop environments.

Given recent advancements of Large Language Models (LLMs), code generation tasks attract immense attention for wide application in different domains. In an effort to evaluate and select a best model to automatically remediate system incidents discovered by Application Performance Monitoring (APM) platforms, it is crucial to verify if the generated code is syntactically and semantically correct, and whether it can be executed correctly as intended. However, current methods for evaluating the quality of code generated by LLMs heavily rely on surface form similarity metrics (e.g. BLEU, ROUGE, and exact/partial match) which have numerous limitations. In contrast, execution based evaluation focuses more on code functionality and does not constrain the code generation to any fixed solution. Nevertheless, designing and implementing such execution-based evaluation platform is not a trivial task. There are several works creating execution-based evaluation platforms for popular programming languages such as SQL, Python, Java, but limited or no attempts for scripting languages such as Bash and PowerShell. In this paper, we present the first execution-based evaluation platform in which we created three test suites (total 125 handcrafted test cases) to evaluate Bash (both single-line commands and multiple-line scripts) and PowerShell codes generated by LLMs. We benchmark seven closed and open-source LLMs using our platform with different techniques (zero-shot vs. few-shot learning).

Modular reconfigurable manipulators enable quick adaptation and versatility to address different application environments and tailor to the specific requirements of the tasks. Task performance significantly depends on the manipulator's mounted pose and morphology design, therefore posing the need of methodologies for selecting suitable modular robot configurations and mounted pose that can address the specific task requirements and required performance. Morphological changes in modular robots can be derived through a discrete optimization process involving the selective addition or removal of modules. In contrast, the adjustment of the mounted pose operates within a continuous space, allowing for smooth and precise alterations in both orientation and position. This work introduces a computational framework that simultaneously optimizes modular manipulators' mounted pose and morphology. The core of the work is that we design a mapping function that \textit{implicitly} captures the morphological state of manipulators in the continuous space. This transformation function unifies the optimization of mounted pose and morphology within a continuous space. Furthermore, our optimization framework incorporates a array of performance metrics, such as minimum joint effort and maximum manipulability, and considerations for trajectory execution error and physical and safety constraints. To highlight our method's benefits, we compare it with previous methods that framed such problem as a combinatorial optimization problem and demonstrate its practicality in selecting the modular robot configuration for executing a drilling task with the CONCERT modular robotic platform.

Large language model (LLM)-based applications consist of both LLM and non-LLM components, each contributing to the end-to-end latency. Despite great efforts to optimize LLM inference, end-to-end workflow optimization has been overlooked. Existing frameworks employ coarse-grained orchestration with task modules, which confines optimizations to within each module and yields suboptimal scheduling decisions. We propose fine-grained end-to-end orchestration, which utilizes task primitives as the basic units and represents each query's workflow as a primitive-level dataflow graph. This explicitly exposes a much larger design space, enables optimizations in parallelization and pipelining across primitives of different modules, and enhances scheduling to improve application-level performance. We build Teola, a novel orchestration framework for LLM-based applications that implements this scheme. Comprehensive experiments show that Teola can achieve up to 2.09x speedup over existing systems across various popular LLM applications.

Digital agents are increasingly employed to automate tasks in interactive digital environments such as web pages, software applications, and operating systems. While text-based agents built on Large Language Models (LLMs) often require frequent updates due to platform-specific APIs, visual agents leveraging Multimodal Large Language Models (MLLMs) offer enhanced adaptability by interacting directly with Graphical User Interfaces (GUIs). However, these agents face significant challenges in visual perception, particularly when handling high-resolution, visually complex digital environments. This paper introduces Iris, a foundational visual agent that addresses these challenges through two key innovations: Information-Sensitive Cropping (ISC) and Self-Refining Dual Learning (SRDL). ISC dynamically identifies and prioritizes visually dense regions using a edge detection algorithm, enabling efficient processing by allocating more computational resources to areas with higher information density. SRDL enhances the agent's ability to handle complex tasks by leveraging a dual-learning loop, where improvements in referring (describing UI elements) reinforce grounding (locating elements) and vice versa, all without requiring additional annotated data. Empirical evaluations demonstrate that Iris achieves state-of-the-art performance across multiple benchmarks with only 850K GUI annotations, outperforming methods using 10x more training data. These improvements further translate to significant gains in both web and OS agent downstream tasks.

This paper presents HyperGraphOS, a significant innovation in the domain of operating systems, specifically designed to address the needs of scientific and engineering domains. This platform aims to combine model-based engineering, graph modeling, data containers, and documents, along with tools for handling computational elements. HyperGraphOS functions as an Operating System offering to users an infinite workspace for creating and managing complex models represented as graphs with customizable semantics. By leveraging a web-based architecture, it requires only a modern web browser for access, allowing organization of knowledge, documents, and content into models represented in a network of workspaces. Elements of the workspace are defined in terms of domain-specific languages (DSLs). These DSLs are pivotal for navigating workspaces, generating code, triggering AI components, and organizing information and processes. The models' dual nature as both visual drawings and data structures allows dynamic modifications and inspections both interactively as well as programaticaly. We evaluated HyperGraphOS's efficiency and applicability across a large set of diverse domains, including the design and development of a virtual Avatar dialog system, a robotic task planner based on large language models (LLMs), a new meta-model for feature-based code development and many others. Our findings show that HyperGraphOS offers substantial benefits in the interaction with a computer as information system, as platoform for experiments and data analysis, as streamlined engineering processes, demonstrating enhanced flexibility in managing data, computation and documents, showing an innovative approaches to persistent desktop environments.

Large language models (LLMs) are now at the core of conversational AI services such as real-time translation and chatbots, which provide live user interaction by incrementally streaming text to the user. However, existing LLM serving systems fail to provide good user experience because their optimization metrics are not always aligned with user experience. In this paper, we first introduce and define the notion of Quality-of-Experience (QoE) for text streaming services by considering each user's end-to-end interaction timeline. Based on this, we propose Andes, a QoE-aware LLM serving system that enhances user experience by ensuring that users receive the first token promptly and subsequent tokens at a smooth, digestible pace, even during surge periods. This is enabled by Andes's preemptive request scheduler that dynamically prioritizes requests at the token granularity based on each request's expected QoE gain and GPU resource usage. Our evaluations demonstrate that, compared to state-of-the-art LLM serving systems, Andes improves the average QoE by up to $4.7\times$ given the same GPU resource, or saves up to 61% GPU resources while maintaining the same high QoE.

Visual information extraction (VIE) has attracted considerable attention recently owing to its various advanced applications such as document understanding, automatic marking and intelligent education. Most existing works decoupled this problem into several independent sub-tasks of text spotting (text detection and recognition) and information extraction, which completely ignored the high correlation among them during optimization. In this paper, we propose a robust visual information extraction system (VIES) towards real-world scenarios, which is a unified end-to-end trainable framework for simultaneous text detection, recognition and information extraction by taking a single document image as input and outputting the structured information. Specifically, the information extraction branch collects abundant visual and semantic representations from text spotting for multimodal feature fusion and conversely, provides higher-level semantic clues to contribute to the optimization of text spotting. Moreover, regarding the shortage of public benchmarks, we construct a fully-annotated dataset called EPHOIE (//github.com/HCIILAB/EPHOIE), which is the first Chinese benchmark for both text spotting and visual information extraction. EPHOIE consists of 1,494 images of examination paper head with complex layouts and background, including a total of 15,771 Chinese handwritten or printed text instances. Compared with the state-of-the-art methods, our VIES shows significant superior performance on the EPHOIE dataset and achieves a 9.01% F-score gain on the widely used SROIE dataset under the end-to-end scenario.

Graph convolutional network (GCN) has been successfully applied to many graph-based applications; however, training a large-scale GCN remains challenging. Current SGD-based algorithms suffer from either a high computational cost that exponentially grows with number of GCN layers, or a large space requirement for keeping the entire graph and the embedding of each node in memory. In this paper, we propose Cluster-GCN, a novel GCN algorithm that is suitable for SGD-based training by exploiting the graph clustering structure. Cluster-GCN works as the following: at each step, it samples a block of nodes that associate with a dense subgraph identified by a graph clustering algorithm, and restricts the neighborhood search within this subgraph. This simple but effective strategy leads to significantly improved memory and computational efficiency while being able to achieve comparable test accuracy with previous algorithms. To test the scalability of our algorithm, we create a new Amazon2M data with 2 million nodes and 61 million edges which is more than 5 times larger than the previous largest publicly available dataset (Reddit). For training a 3-layer GCN on this data, Cluster-GCN is faster than the previous state-of-the-art VR-GCN (1523 seconds vs 1961 seconds) and using much less memory (2.2GB vs 11.2GB). Furthermore, for training 4 layer GCN on this data, our algorithm can finish in around 36 minutes while all the existing GCN training algorithms fail to train due to the out-of-memory issue. Furthermore, Cluster-GCN allows us to train much deeper GCN without much time and memory overhead, which leads to improved prediction accuracy---using a 5-layer Cluster-GCN, we achieve state-of-the-art test F1 score 99.36 on the PPI dataset, while the previous best result was 98.71 by [16]. Our codes are publicly available at //github.com/google-research/google-research/tree/master/cluster_gcn.