Jiamu Zhang

Fangyu Wu, Dequan Wang, Minjune Hwang et al. · berkeley

A significant portion of roads, particularly in densely populated developing countries, lacks explicitly defined right-of-way rules. These understructured roads pose substantial challenges for autonomous vehicle motion planning, where efficient and safe navigation relies on understanding decentralized human coordination for collision avoidance. This coordination, often termed "social driving etiquette," remains underexplored due to limited open-source empirical data and suitable modeling frameworks. In this paper, we present a novel dataset and modeling framework designed to study motion planning in these understructured environments. The dataset includes 20 aerial videos of representative scenarios, an image dataset for training vehicle detection models, and a development kit for vehicle trajectory estimation. We demonstrate that a consensus-based modeling approach can effectively explain the emergence of priority orders observed in our dataset, and is therefore a viable framework for decentralized collision avoidance planning.

Jiamu Zhang, Liang Wu, Mayank Darbari et al.

Modern Mixture-of-Experts (MoE) models place most of their parameters in expert layers, yet only a small fraction of those experts are used for any token. The unused weights must still be stored where the GPU can reach them. On commodity GPUs the common fix is layer-level CPU offloading, which keeps memory low but streams all of a layer's experts across PCIe on every forward pass, losing much of MoE's sparsity benefit. We cast low-resource MoE serving as a working-set management problem on the GPU: routed expert weights and the key-value (KV) cache are two streams of memory demand competing for limited VRAM. We realize this in WiSP (Working-Set Paging), a routing-aware expert pager that plugs into an unmodified serving engine with byte-identical outputs. Keeping resident only the experts a workload reuses, WiSP reaches up to 1.95x the decode throughput of static offload at the same memory budget when the model does not fit. We also find that prefetching experts from predicted routing helps little in single-stream decode: the bottleneck is PCIe bandwidth, not prediction accuracy. This shifts the question from prefetching to allocation: how should VRAM be split between experts and the KV cache? We answer with MV-WSA (Marginal-Value Working-Set Allocation), which equalizes marginal latency benefit per byte subject to a KV admission floor. MV-WSA runs either as an offline configurator or as an online controller that resizes both pools while serving. In real serving the offline configurator is the only policy we test that does well on both prefill and decode; in trace-driven simulation it stays within a few percent of a per-workflow oracle while fixed splits are about 20% worse. The online controller adds a further 1.20x without changing model outputs.