Daniel Bauer

Daniel Bauer, Luis Garces-Erice, Deepak Majeti et al.

We describe how we extended Presto to be GPU-aware. We focus on two critical challenges: efficiently moving data from storage to GPU operators, and enabling data exchange between operators without leaving GPU memory even when a query is distributed. To guide our design, we conducted a series of initial experiments in which we executed queries derived from the TPC-H benchmark on a multi-GPU cluster using NVIDIA's C++ cuDF data-frame library, and measured how different architectures and configurations influenced performance. We show how these insights inform our extensions to Presto, detailing the architectural changes required to integrate GPU execution into the existing Presto framework. Our initial evaluation demonstrates substantial cost/performance (up to 6x) improvements over CPU Presto on standard analytical benchmarks. Our code is available as part of open-source Presto/Velox, and we have started to use it to run customer production workloads.

Leonard Bärmann, Chad DeChant, Joana Plewnia et al.

Verbalization of robot experience, i.e., summarization of and question answering about a robot's past, is a crucial ability for improving human-robot interaction. Previous works applied rule-based systems or fine-tuned deep models to verbalize short (several-minute-long) streams of episodic data, limiting generalization and transferability. In our work, we apply large pretrained models to tackle this task with zero or few examples, and specifically focus on verbalizing life-long experiences. For this, we derive a tree-like data structure from episodic memory (EM), with lower levels representing raw perception and proprioception data, and higher levels abstracting events to natural language concepts. Given such a hierarchical representation built from the experience stream, we apply a large language model as an agent to interactively search the EM given a user's query, dynamically expanding (initially collapsed) tree nodes to find the relevant information. The approach keeps computational costs low even when scaling to months of robot experience data. We evaluate our method on simulated household robot data, human egocentric videos, and real-world robot recordings, demonstrating its flexibility and scalability.