Kaige Liu

Kaige Liu, Yang Li, Lijun Zhu et al.

Living organisms exhibit persistent autonomy through internally generated goals and self-sustaining behavioral organization, yet current embodied agents remain driven by externally scripted objectives. This dependence on predefined task specifications limits their capacity for long-term deployment in dynamic, unstructured environments where continuous human intervention is impractical. We propose that personality traits provide an intrinsic organizational principle for achieving persistent autonomy. Analogous to genotypic biases shaping biological behavioral tendencies, personalities enable agents to autonomously generate goals and sustain behavioral evolution without external supervision. To realize this, we develop PEPA, a three-layer cognitive architecture that operates through three interacting systems: Sys3 autonomously synthesizes personality-aligned goals and refines them via episodic memory and daily self-reflection; Sys2 performs deliberative reasoning to translate goals into executable action plans; Sys1 grounds the agent in sensorimotor interaction, executing actions and recording experiences. We validate the framework through real-world deployment on a quadruped robot in a multi-floor office building. Operating without reliance on fixed task specifications, the robot autonomously arbitrates between user requests and personality-driven motivations, navigating elevators and exploring environments accordingly. Quantitative analysis across five distinct personality prototypes demonstrates stable, trait-aligned behaviors. The results confirm that personality-driven cognitive architectures enable sustained autonomous operation characteristic of persistent embodied systems. Code and demo videos are available at https://sites.google.com/view/pepa-persistent/.

Kaige Liu, Jack Kosaian, K. V. Rashmi

Deep-learning-based recommendation models (DLRMs) are widely deployed to serve personalized content to users. DLRMs are large in size due to their use of large embedding tables, and are trained by distributing the model across the memory of tens or hundreds of servers. Server failures are common in such large distributed systems and must be mitigated to enable training to progress. Checkpointing is the primary approach used for fault tolerance in these systems, but incurs significant training-time overhead both during normal operation and when recovering from failures. As these overheads increase with DLRM size, checkpointing is slated to become an even larger overhead for future DLRMs, which are expected to grow in size. This calls for rethinking fault tolerance in DLRM training. We present ECRM, a DLRM training system that achieves efficient fault tolerance using erasure coding. ECRM chooses which DLRM parameters to encode, correctly and efficiently updates parities, and enables training to proceed without any pauses, while maintaining consistency of the recovered parameters. We implement ECRM atop XDL, an open-source, industrial-scale DLRM training system. Compared to checkpointing, ECRM reduces training-time overhead for large DLRMs by up to 88%, recovers from failures up to 10.3$\times$ faster, and allows training to proceed during recovery. These results show the promise of erasure coding in imparting efficient fault tolerance to training current and future DLRMs.