Chengguang Xu

Lingfeng Tang, Daoping Zhang, Junjie Chen et al.

Host-GPU data movement has become a latency-critical bottleneck in LLM serving, surfacing in common paths such as model-weight movement and KV cache offload/fetch. Today, each host-GPU copy is effectively confined to the PCIe path of the target GPU, even though modern multi-GPU servers contain additional PCIe links on peer GPUs and high bandwidth GPU interconnects. This leaves substantial intra-server I/O capacity unused. To address this issue, we present Multipath Memory Access (MMA), a software-defined multipath memory access system for host--GPU data transfer. To the best of our knowledge, MMA is the first software-defined system to enable efficient multipath host--GPU data transfer within a single multi-GPU server. MMA expands a single host--GPU copy across available direct and relay paths without hardware, driver, or application changes. It preserves CUDA stream semantics with a dependency-preserving Dummy Task, coordinates distributed micro-transfer completion through a lightweight synchronization mechanism, and uses queue backpressure to route traffic without explicit link-state feedback. On an 8-GPU NVIDIA H20 server, MMA achieves 245 GB/s peak host-to-GPU bandwidth, a 4.62x improvement over native CUDA copies, and reduces TTFT for KV cache fetching by 1.14-2.38x and model wake-up/switching latency by 1.12-2.48x.

Chengguang Xu, Hieu T. Nguyen, Christopher Amato et al.

Navigating in unseen environments is crucial for mobile robots. Enhancing them with the ability to follow instructions in natural language will further improve navigation efficiency in unseen cases. However, state-of-the-art (SOTA) vision-and-language navigation (VLN) methods are mainly evaluated in simulation, neglecting the complex and noisy real world. Directly transferring SOTA navigation policies trained in simulation to the real world is challenging due to the visual domain gap and the absence of prior knowledge about unseen environments. In this work, we propose a novel navigation framework to address the VLN task in the real world. Utilizing the powerful foundation models, the proposed framework includes four key components: (1) an LLMs-based instruction parser that converts the language instruction into a sequence of pre-defined macro-action descriptions, (2) an online visual-language mapper that builds a real-time visual-language map to maintain a spatial and semantic understanding of the unseen environment, (3) a language indexing-based localizer that grounds each macro-action description into a waypoint location on the map, and (4) a DD-PPO-based local controller that predicts the action. We evaluate the proposed pipeline on an Interbotix LoCoBot WX250 in an unseen lab environment. Without any fine-tuning, our pipeline significantly outperforms the SOTA VLN baseline in the real world.

Chengguang Xu, Christopher Amato, Lawson L. S. Wong

In robot navigation, generalizing quickly to unseen environments is essential. Hierarchical methods inspired by human navigation have been proposed, typically consisting of a high-level landmark proposer and a low-level controller. However, these methods either require precise high-level information to be given in advance or need to construct such guidance from extensive interaction with the environment. In this work, we propose an approach that leverages a rough 2-D map of the environment to navigate in novel environments without requiring further learning. In particular, we introduce a dynamic topological map that can be initialized from the rough 2-D map along with a high-level planning approach for proposing reachable 2-D map patches of the intermediate landmarks between the start and goal locations. To use proposed 2-D patches, we train a deep generative model to generate intermediate landmarks in observation space which are used as subgoals by low-level goal-conditioned reinforcement learning. Importantly, because the low-level controller is only trained with local behaviors (e.g. go across the intersection, turn left at a corner) on existing environments, this framework allows us to generalize to novel environments given only a rough 2-D map, without requiring further learning. Experimental results demonstrate the effectiveness of the proposed framework in both seen and novel environments.