Yifan Sun

Rui Chen, Shangtao Li, Yifan Sun et al.

We introduce $λ$-Reachability, a scalable approach to Hamilton--Jacobi safety analysis for high-dimensional robotic systems. Unlike prior discounted formulations that rely on fixed one-step Bellman updates, $λ$-Reachability employs a stochastic multi-step estimator of the safety value, using a geometrically distributed rollout horizon together with a randomly absorbed terminal. Conceptually analogous to TD($λ$), $λ$-Reachability interpolates between local self-consistency updates and long-horizon max-over-trajectory safety targets via an interpretable horizon-control parameter. Unlike TD($λ$), where the terminal value is always incorporated in learning targets, the terminal safety value in $λ$-Reachability is only used at a probability controlled by parameter $δ$. We formally show that for $δ<1$, the update induces a contraction mapping that allows temporal-difference learning; as $λ\to 1$, the estimator recovers the undiscounted reachability objective. We apply $λ$-Reachability to high-dimensional safety learning problems with both simulated and real humanoid robots under balance and collision avoidance constraints. Experimental results demonstrate that $λ$-Reachability significantly improves both safe-set boundary classification and safety margin estimation compared to single-step temporal-difference baselines.

Yifan Sun, Zhexiang Zhang, Jiantong Jiang et al.

Serving Mixture-of-Experts (MoE) large language models (LLMs) is challenging because dynamic request workloads interact with sparse expert routing, creating both data-parallel (DP) engine imbalance and expert-level hotspots. Existing LLM serving systems typically make these decisions in isolation: frontend schedulers route requests using coarse request counters, while backend expert balancers rely mainly on aggregate expert activation counts. This separation prevents the serving system from reacting to fine-grained engine pressure, backend MoE pressure, and source-dependent expert traffic. To address this gap, we propose Gimbal, a coordinated cross-level scheduling system for efficient MoE-based LLM serving. First, Gimbal presents a fine-grained DP-engine scheduler that uses online backend pressure signals, including key-value (KV) cache usage, remaining prefill work, queue pressure, and MoE expert pressure, to dispatch requests away from overloaded engines. Inside each engine, Gimbal further applies a lightweight prefill-aware queue ordering policy with aging to reduce head-of-line blocking without output-length prediction. Second, Gimbal extends expert load balancing with online source-DP-to-expert routing statistics and uses a heuristic guided by a mixed-integer nonlinear program (MINLP) to place experts while jointly considering expert load, source-aware communication, and migration stability. Our evaluation shows that Gimbal reduces average Time To First Token (TTFT) by 42.9% and average Time Per Output Token (TPOT) by 33.3% compared with the state-of-the-art serving system vLLM, while improving high-load request throughput by 3.0%.