Lan Lu

Lan Lu, Peiqi Yin, Isaac Yang et al.

Graph-based ANNS algorithms have gained increasing research interest and market adoption due to their efficiency and accuracy in retrieval. Existing approaches primarily rely on CPUs for graph index construction and retrieval, but this often requires significant time, especially for large-scale and high-dimensional datasets. Some studies have explored GPU-based solutions. However, GPUs are costly and their limited memory makes handling large datasets challenging. In this paper, we propose a novel end-to-end system ScaleGANN that enables users to efficiently construct graph indexes for large-scale, high-dimensional datasets by leveraging low-cost spot GPU resources in a distributed cloud system. ScaleGANN utilized the idea of divide-and-merge, with an optimized vector partitioning algorithm to further improve the indexing time and space efficiency while guaranteeing good index quality. Its novel resource allocation strategy realized multi-GPU indexing parallelism and overall cost-effectiveness for both build and query. Besides, we designed a task scheduler and cost model for better spot instance management and evaluation. We tested our system on large real-world datasets. Experiment results show that our approach can significantly accelerate the index build time to up to 9x times at even 6x lower price compared with the state-of-the-art extendable ANNS benchmark DiskANN.

Haochen Wang, Zhiwei Shi, Chengxi Zhu et al.

Learning-based methods, such as imitation learning (IL) and reinforcement learning (RL), can produce excel control policies over challenging agile robot tasks, such as sports robot. However, no existing work has harmonized learning-based policy with model-based methods to reduce training complexity and ensure the safety and stability for agile badminton robot control. In this paper, we introduce Hamlet, a novel hybrid control system for agile badminton robots. Specifically, we propose a model-based strategy for chassis locomotion which provides a base for arm policy. We introduce a physics-informed "IL+RL" training framework for learning-based arm policy. In this train framework, a model-based strategy with privileged information is used to guide arm policy training during both IL and RL phases. In addition, we train the critic model during IL phase to alleviate the performance drop issue when transitioning from IL to RL. We present results on our self-engineered badminton robot, achieving 94.5% success rate against the serving machine and 90.7% success rate against human players. Our system can be easily generalized to other agile mobile manipulation tasks such as agile catching and table tennis. Our project website: https://dreamstarring.github.io/HAMLET/.