We propose some domain-independent techniques for bringing well-founded partial-order planners closer to practicality. The first two techniques are aimed at improving search control while keeping overhead costs low. One is based on a simple adjustment to the default A* heuristic used by UCPOP to select plans for refinement. The other is based on preferring ``zero commitment'' (forced) plan refinements whenever possible, and using LIFO prioritization otherwise. A more radical technique is the use of operator parameter domains to prune search. These domains are initially computed from the definitions of the operators and the initial and goal conditions, using a polynomial-time algorithm that propagates sets of constants through the operator graph, starting in the initial conditions. During planning, parameter domains can be used to prune nonviable operator instances and to remove spurious clobbering threats. In experiments based on modifications of UCPOP, our improved plan and goal selection strategies gave speedups by factors ranging from 5 to more than 1000 for a variety of problems that are nontrivial for the unmodified version. Crucially, the hardest problems gave the greatest improvements. The pruning technique based on parameter domains often gave speedups by an order of magnitude or more for difficult problems, both with the default UCPOP search strategy and with our improved strategy. The Lisp code for our techniques and for the test problems is provided in on-line appendices.
HIPPO: Accelerating Video Large Language Models Inference via Holistic-aware Parallel Speculative Decoding
University of Science and Technology of China（中国科学技术大学）；Shanghai AI Laboratory（上海人工智能实验室）；Department of Electronic Engineering, Tsinghua University（清华大学电子工程系）
Shanghai Jiao Tong University（上海交通大学）；NVIDIA（英伟达）；Shanghai Qi Zhi Institute（上海期智研究院）；University of Rochester（罗切斯特大学）
Network pruning can reduce the high computation cost of deep neural network (DNN) models. However, to maintain their accuracies, sparse models often carry randomly-distributed weights, leading to irregular computations. Consequently, sparse models cannot achieve meaningful speedup on commodity hardware (e.g., GPU) built for dense matrix computations. As such, prior works usually modify or design completely new sparsity-optimized architectures for exploiting sparsity. We propose an algorithm-software co-designed pruning method that achieves latency speedups on existing dense architectures. Our …
As robots play an increasingly important role in the industrial, the expectations about their applications for everyday living tasks are getting higher. Robots need to perform long-horizon tasks that consist of several sub-tasks that need to be accomplished. Task and Motion Planning (TAMP) provides a hierarchical framework to handle the sequential nature of manipulation tasks by interleaving a symbolic task planner that generates a possible action sequence, with a motion planner that checks the kinematic feasibility in the geometric world, generating robot trajectories if several constraints a…
Streaming-dLLM: Accelerating Diffusion LLMs via Suffix Pruning and Dynamic Decoding
School of information（信息学院）；Electronics, Beijing Institute of Technology, Beijing（电子学院，北京理工大学，北京）；Department of Computer Science, City University of Hong Kong, Hong Kong（计算机科学系，香港城市大学，香港）；School of Computer Science, Wuhan University, Wuhan（计算机科学学院，武汉大学，武汉）；School of Economics（经济学院）；Management, Communication University of China, Beijing（管理学院，中国传媒大学，北京）；School of Science（科学学院）；Engineering, The Chinese University of Hong Kong (Shenzhen), Shenzhen（工程学院，香港中文大学（深圳），深圳）
Inspire or Predict? Exploring New Paradigms in Assisting Classical Planners with Large Language Models
State Key Laboratory of Public Big Data, Guizhou University（贵州大学公共大数据国家重点实验室）；College of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics（南京航空航天大学计算机科学与技术学院）；School of Mechanical Engineering, Guizhou University（贵州大学机械工程学院）；Meta-Networking Research Center, The University of Electro-Communications（电气通信大学元网络研究中心）；School of Artificial Intelligence, Nanjing University（南京大学人工智能学院）
Width-based search methods have demonstrated state-of-the-art performance in a wide range of testbeds, from classical planning problems to image-based simulators such as Atari games. These methods scale independently of the size of the state-space, but exponentially in the problem width. In practice, running the algorithm with a width larger than 1 is computationally intractable, prohibiting IW from solving higher width problems. In this paper, we present a hierarchical algorithm that plans at two levels of abstraction. A high-level planner uses abstract features that are incrementally discove…
Northeastern University（东北大学）；Syracuse University（雪城大学）；College of William and Mary（威廉与玛丽学院）；DiDi AI Labs（滴滴人工智能实验室）
Accelerating DNN execution on various resource-limited computing platforms has been a long-standing problem. Prior works utilize l1-based group lasso or dynamic regularization such as ADMM to perform structured pruning on DNN models to leverage the parallel computing architectures. However, both of the pruning dimensions and pruning methods lack universality, which leads to degraded performance and limited applicability. To solve the problem, we propose a new block-based pruning framework that comprises a general and flexible structured pruning dimension as well as a powerful and efficient rew…
With the development of Natural Language Processing (NLP), more and more systems want to adopt NLP in User Interface Module to process user input, in order to communicate with user in a natural way. However, this raises a speed problem. That is, if NLP module can not process sentences in durable time delay, users will never use the system. As a result, systems which are strict with processing time, such as dialogue systems, web search systems, automatic customer service systems, especially real-time systems, have to abandon NLP module in order to get a faster system response. This paper aims t…
