Haiyuan Li

Shihan Wu, Xuecheng Liu, Shaoxuan Xie et al.

Despite the critical role of bimanual manipulation in endowing robots with human-like dexterity, large-scale and diverse datasets remain scarce due to the significant hardware heterogeneity across bimanual robotic platforms. To bridge this gap, we introduce RoboCOIN, a large-scale multi-embodiment bimanual manipulation dataset comprising over 180,000 demonstrations collected from 15 distinct robotic platforms. Spanning 16 diverse environments-including residential, commercial, and industrial settings-the dataset features 421 bimanual tasks systematically categorized by 39 bimanual collaboration actions and 432 objects. A key innovation of our work is the hierarchical capability pyramid, which provides granular annotations ranging from trajectory-level concepts to segment-level subtasks and frame-level kinematics. Furthermore, we present CoRobot, an efficient data processing pipeline powered by the Robot Trajectory Markup Language (RTML), designed to facilitate quality assessment, automated annotation, and unified multi-embodiment and data management. Extensive experiments demonstrate the effectiveness of RoboCOIN in enhancing the performance of various bimanual manipulation models across a wide spectrum of robotic embodiments. The entire dataset and codebase are fully open-sourced, providing a valuable resource for advancing research in bimanual and multi-embodiment manipulation.

Haiyuan Li, Yulei Wu, Dimitra Simeonidou

AI-RAN consolidates AI services and Radio Access Network (RAN) functions onto a unified, GPU-accelerated infrastructure at the network edge. However, compute sharing between real-time RAN functions and highly heterogeneous AI services requires coordination of scheduling decisions at mismatched timescales, and placement adaptation may require service migration across nodes with non-negligible interruptions. This paper proposes a hierarchical agentic framework (HAF) for compute sharing in AI-RAN that combines a large language model (LLM)-based agent for slow-timescale placement of AI services and RAN functions with a closed-form, deadline-aware convex algorithm for fast-timescale GPU/CPU allocation. The LLM agent is further equipped with a predictive critic that filters out migrations when the induced service interruption outweighs the expected service-level objective (SLO) benefit. Experimental results show that HAF reaches 90.0% overall SLO fulfillment, a 20.5% improvement over the strongest baseline, and raises AI service request fulfillment from 51% to 85.3%. Further evaluations show that HAF retains its advantage under diverse load conditions, while the critic consistently improves SLO fulfillment across multiple open-source LLM agents.

Haiyuan Li, Hari Madhukumar, Shuangyi Yan et al.

Generative AI (GenAI) has transformed applications in natural language processing and content creation, yet centralized inference remains hindered by high latency, limited customizability, and privacy concerns. Deploying large models (LMs) in mobile edge networks emerges as a promising solution. However, it also poses new challenges, including heterogeneous multi-modal LMs with diverse resource demands and inference speeds, varied prompt/output modalities that complicate orchestration, and resource-limited infrastructure ill-suited for concurrent LM execution. In response, we propose a Multi-Agentic AI framework for latency- and fairness-aware multi-modal LM inference in mobile edge networks. Our solution includes a long-term planning agent, a short-term prompt scheduling agent, and multiple on-node LM deployment agents, all powered by foundation language models. These agents cooperatively optimize prompt routing and LM deployment through natural language reasoning over runtime telemetry and historical experience. To evaluate its performance, we further develop a city-wide testbed that supports network monitoring, containerized LM deployment, intra-server resource management, and inter-server communications. Experiments demonstrate that our solution reduces average latency by over 80% and improves fairness (Normalized Jain index) to 0.90 compared to other baselines. Moreover, our solution adapts quickly without fine-tuning, offering a generalizable solution for optimizing GenAI services in edge environments.

Yuelin Liu, Haiyuan Li, Xenofon Vasilakos et al.

Future networks (including 6G) are poised to accelerate the realisation of Internet of Everything. However, it will result in a high demand for computing resources to support new services. Mobile Edge Computing (MEC) is a promising solution, enabling to offload computation-intensive tasks to nearby edge servers from the end-user devices, thereby reducing latency and energy consumption. However, relying solely on a single MEC server for task offloading can lead to uneven resource utilisation and suboptimal performance in complex scenarios. Additionally, traditional task offloading strategies specialise in centralised policy decisions, which unavoidably entail extreme transmission latency and reach computational bottleneck. To fill the gaps, we propose a latency and energy efficient Cooperative Task Offloading framework with Transformer-driven Prediction (CTO-TP), leveraging asynchronous multi-agent deep reinforcement learning to address these challenges. This approach fosters edge-edge cooperation and decreases the synchronous waiting time by performing asynchronous training, optimising task offloading, and resource allocation across distributed networks. The performance evaluation demonstrates that the proposed CTO-TP algorithm reduces up to 80% overall system latency and 87% energy consumption compared to the baseline schemes.

Haiyuan Li, Hari Madhukumar, Peizheng Li et al.

Deep Reinforcement Learning (DRL) has emerged as a powerful solution for meeting the growing demands for connectivity, reliability, low latency and operational efficiency in advanced networks. However, most research has focused on theoretical analysis and simulations, with limited investigation into real-world deployment. To bridge the gap and support practical DRL deployment for network management, we first present an orchestration framework that integrates ETSI Multi-access Edge Computing (MEC) with Open RAN, enabling seamless adoption of DRL-based strategies across different time scales while enhancing agent lifecycle management. We then identify three critical challenges hindering DRL's real-world deployment, including (1) asynchronous requests from unpredictable or bursty traffic, (2) adaptability and generalization across heterogeneous topologies and evolving service demands, and (3) prolonged convergence and service interruptions due to exploration in live operational environments. To address these challenges, we propose a three-fold solution strategy: (a) advanced time-series integration for handling asynchronized traffic, (b) flexible architecture design such as multi-agent DRL and incremental learning to support heterogeneous scenarios, and (c) simulation-driven deployment with transfer learning to reduce convergence time and service disruptions. Lastly, the feasibility of the MEC-O-RAN architecture is validated on an urban-wide testing infrastructure, and two real-world use cases are presented, showcasing the three identified challenges and demonstrating the effectiveness of the proposed solutions.