arXiv subjects

Haipeng Dai

Publications and source records attributed to Haipeng Dai.

At least 19 recordsLinked to original sources

arXiv2026

EBRL: Asynchronous Embodied RL by Multi-Grained Resource Management

Embodied reinforcement learning (RL) improves model capabilities with a pipeline of environment simulation, action generation, and model updates. These stages show heterogeneous CPU and GPU demands, making efficient resource utilization difficult. Recent systems overlap rollout (simulation and generation) with training for efficiency, but exclusive GPU allocation and synchronized barrier in rollout still leave substantial hardware resource waste. In this paper, we present EBRL, an asynchronous embodied RL training system with two core techniques. The asynchronous pipelined scheduler overlaps rollout and training, pipelines simulation and generation across environment groups, and carries out each environment independently, eliminating synchronization stalls. The fine-grained resource manager pools CPU cores and GPU streaming multiprocessors, and uses stage profiles and runtime feedback to adjust resource quotas and batch sizes to meet the shifting demands among stages. We implement EBRL on RLinf and evaluate it with four embodied policies and four simulation benchmarks across heterogeneous GPU testbeds. Experiments show that EBRL achieves 1.30-3.47 times the end-to-end rollout throughput and 2.5 times of training convergency compared to the SOTA embodied RL systems.

cs.LG↗

arXiv2026

SmartRAG: Native Graph-Based RAG for Mobile Device

Deploying large language models (LLMs) as personal assistants on mobile devices demands privacy, low latency, and offline availability, yet the computational cost of giant models clashes with strict edge-hardware budgets. We argue that this tension cannot be resolved by model compression alone; it requires decomposing on-device intelligence into complementary functional roles. We present SmartRAG, a fully on-device framework that organizes an intelligent assistant around four coordinated modules -- Perception, Memory, Focus, and Thinking. At the core of SmartRAG is EvoNER, a continually learnable named-entity recognizer that incrementally expands its label inventory through teacher-distilled updates, enabling the system to absorb previously unseen entity types without retraining the backbone LLM. Extracted knowledge is stored in MRGraph, a three-layer provenance-preserving knowledge graph, and retrieved at query time through a hybrid pipeline combining graph traversal, lexical matching, and dense semantic search. The on-device LLM is invoked only for high-value semantic operations -- labeling, planning, and answer synthesis -- keeping inference costs bounded. Experiments on four QA benchmarks (TriviaQA, Natural Questions, HotpotQA, MultiHopQA) show that SmartRAG with a quantized 1.7B-parameter backbone achieves multi-hop reasoning performance competitive with models up to 18$\times$ larger, while running entirely on commodity smartphones within practical memory and latency envelopes.

cs.AI↗

arXiv2026

Scalable LLM Agent Tool Access in the Cloud

LLM agents increasingly rely on tool calling to act on external systems, and the Model Context Protocol (MCP) has quickly become its de facto interface. Operating MCP at cloud scale, however, becomes difficult. On the tool provider side, legacy services are not directly callable through MCP; the rapid protocol development also creates ongoing compatibility cost. On the agent side, the number of accessible tool is limited by the LLM context window and inference overhead; mounting a large tool set increases token usage and inference latency and can reduce task success rate. Moreover, for stateful MCP backends with multiple replicas, preserving session affinity increases client-side complexity. We present a cloud-scale gateway system for MCP service. It breaks the direct-connect model on the data plane and offloads legacy service integration, consolidating incompatible MCP variants, access control, tool recommendation, and session-aware routing to the gateway. Hybrid retrieval sustains 98% Top-15 recall; it scales agent tool access to 3,000+ with high tool selection accuracy, and reduces tool selection time by $8.9\times$ and token usage by $23.8\times$, with low per-call overhead, stable under scale-out. Finally, we share the lessons learned from deploying the gateway system in production.

cs.DC↗

arXiv2026

Hash Table Design for RDMA:Challenges and Opportunities

Hash tables complete the insertion, lookup, and deletion of a single key in constant time on average, and they are widely used in databases, key-value stores, and network systems. In the Internet of Things (IoT), the number of devices and the volume of sensed data keep growing, so the hash tables that store or index these data consume more and more memory. When a single server runs out of memory, the system can place part of the data in the memory of other nodes. One-sided operations in Remote Direct Memory Access (RDMA) let one machine read and write the memory of another machine directly, with low latency and high bandwidth, and are therefore widely used to build disaggregated memory systems. Deploying a hash table on RDMA-based remote memory exploits the memory of other nodes and thus relieves the capacity limit of a single server. However, this deployment raises three problems. First, one logical hash-table access may translate into one or more remote network accesses, and collision handling and probing further increase the number of RDMA requests. Second, because the remote CPU is bypassed, traditional concurrency control that relies on remote threads no longer applies directly. Third, the limited resources of RDMA network interface cards, such as queues, caches, memory registration, and atomic operations, impose new constraints on hash table structures. This paper focuses on hash table design for RDMA. We review existing work, distill the key challenges, and discuss promising optimization directions and coping strategies, aiming to provide a reference for designing remote hash tables in IoT big-data scenarios.

cs.DC↗

arXiv2026

EmbodiSkill: Skill-Aware Reflection for Self-Evolving Embodied Agents

Embodied agents can benefit from skills that guide object search, action execution, and state changes across diverse environments. Since embodied environments vary across layouts, object states, and other execution factors, these skills must self-evolve from trajectories generated during task execution. However, existing skill self-evolution methods are mainly developed in digital environments and often convert trajectories into coarse skill updates. Directly applying this paradigm to embodied settings is problematic, because a failed task execution may reflect not only incorrect skill content, but also an execution lapse in which the agent fails to follow valid guidance. We propose EmbodiSkill, a training-free framework for embodied skill self-evolution through skill-aware reflection and targeted revision. EmbodiSkill interprets each trajectory with respect to the current skill, uses skill-changing evidence to update the skill body, and uses execution-lapse evidence to preserve and emphasize valid guidance. Experiments on ALFWorld and EmbodiedBench show that EmbodiSkill consistently improves embodied task success. On ALFWorld, EmbodiSkill enables a frozen Qwen3.5-27B executor to reach 93.28% task success, outperforming GPT-5.2 used as a direct agent without skills by 31.58%. These results show that skill-aware self-evolution helps embodied agents accumulate reusable procedural knowledge from their own trajectories.

cs.AI↗

arXiv2026

Efficient Remote KV Cache Reuse with GPU-native Video Codec

Remote KV cache reuse fetches KV cache for identical contexts from remote storage, avoiding recomputation, accelerating LLM inference. While it excels in high-speed networks, its performance degrades significantly in bandwidth-limited scenarios. Recent studies address this by transmitting KV caches in compressed form, but the associated heavyweight decompression counteracts the KV reuse benefits. In this paper, we propose an efficient and widely deployable remote KV cache reuse solution that leverages GPU-native video codecs. Our system, KVCodec, enables effective KV cache coding with two techniques. The codec-friendly tensor layout compresses the KV cache in a highly compact video format, enabling fast transmission. The efficient KV fetcher orchestrates the transmission, decoding, and restoration of compressed KV caches in an efficient pipelined manner, eliminating resource contention, masking network fluctuations, and achieving minimum time-to-first-token (TTFT). We prototype KVCodec on diverse GPUs from high- to low-end. Experiments reveal that it reduces TTFT by up to 3.51 times while maintaining lossless accuracy, compared to SOTA methods.

cs.DC↗

arXiv2026

AccLock: Unlocking Identity with Heartbeat Using In-Ear Accelerometers

The widespread use of earphones has enabled various sensing applications, including activity recognition, health monitoring, and context-aware computing. Among these, earphone-based user authentication has become a key technique by leveraging unique biometric features. However, existing earphone-based authentication systems face key limitations: they either require explicit user interaction or active speaker output, or suffer from poor accessibility and vulnerability to environmental noise, which hinders large-scale deployment. In this paper, we propose a passive authentication system, called AccLock, which leverages distinctive features extracted from in-ear BCG signals to enable secure and unobtrusive user verification. Our system offers several advantages over previous systems, including zero-involvement for both the device and the user, ubiquitous, and resilient to environmental noise. To realize this, we first design a two-stage denoising scheme to suppress both inherent and sporadic interference. To extract user-specific features, we then propose a disentanglement-based deep learning model, HIDNet, which explicitly separates user-specific features from shared nuisance components. Lastly, we develop a scalable authentication framework based on a Siamese network that eliminates the need for per-user classifier training. We conduct extensive experiments with 33 participants, achieving an average FAR of 3.13% and FRR of 2.99%, which demonstrates the practical feasibility of AccLock.

cs.CR↗

arXiv2026

SMoE: An Algorithm-System Co-Design for Pushing MoE to the Edge via Expert Substitution

The Mixture of Experts (MoE) architecture has emerged as a key technique for scaling Large Language Models by activating only a subset of experts per query. Deploying MoE on consumer-grade edge hardware, however, is constrained by limited device memory, making dynamic expert offloading essential. Unlike prior work that treats offloading purely as a scheduling problem, we leverage expert importance to guide decisions, substituting low-importance activated experts with functionally similar ones already cached in GPU memory, thereby preserving accuracy. As a result, this design reduces memory usage and data transfer, while largely eliminating PCIe overhead. In addition, we introduce a scheduling policy that maximizes the reuse ratio of GPU-cached experts, further boosting efficiency. Extensive evaluations show that our approach delivers 48% lower decoding latency with over 60% expert cache hit rate, while maintaining nearly lossless accuracy.

cs.AI↗

arXiv2025

Region-based Content Enhancement for Efficient Video Analytics at the Edge

Video analytics is widespread in various applications serving our society. Recent advances of content enhancement in video analytics offer significant benefits for the bandwidth saving and accuracy improvement. However, existing content-enhanced video analytics systems are excessively computationally expensive and provide extremely low throughput. In this paper, we present region-based content enhancement, that enhances only the important regions in videos, to improve analytical accuracy. Our system, RegenHance, enables high-accuracy and high-throughput video analytics at the edge by 1) a macroblock-based region importance predictor that identifies the important regions fast and precisely, 2) a region-aware enhancer that stitches sparsely distributed regions into dense tensors and enhances them efficiently, and 3) a profile-based execution planer that allocates appropriate resources for enhancement and analytics components. We prototype RegenHance on five heterogeneous edge devices. Experiments on two analytical tasks reveal that region-based enhancement improves the overall accuracy of 10-19% and achieves 2-3x throughput compared to the state-of-the-art frame-based enhancement methods.

cs.NI↗

arXiv2025

Empower Vision Applications with LoRA LMM

Large Multimodal Models (LMMs) have shown significant progress in various complex vision tasks with the solid linguistic and reasoning capacity inherited from large language models (LMMs). Low-rank adaptation (LoRA) offers a promising method to integrate external knowledge into LMMs, compensating for their limitations on domain-specific tasks. However, the existing LoRA model serving is excessively computationally expensive and causes extremely high latency. In this paper, we present an end-to-end solution that empowers diverse vision tasks and enriches vision applications with LoRA LMMs. Our system, VaLoRA, enables accurate and efficient vision tasks by 1) an accuracy-aware LoRA adapter generation approach that generates LoRA adapters rich in domain-specific knowledge to meet application-specific accuracy requirements, 2) an adaptive-tiling LoRA adapters batching operator that efficiently computes concurrent heterogeneous LoRA adapters, and 3) a flexible LoRA adapter orchestration mechanism that manages application requests and LoRA adapters to achieve the lowest average response latency. We prototype VaLoRA on five popular vision tasks on three LMMs. Experiment results reveal that VaLoRA improves 24-62% of the accuracy compared to the original LMMs and reduces 20-89% of the latency compared to the state-of-the-art LoRA model serving systems.

cs.CV↗

arXiv2024

Empowering the Edge Intelligence by Air-Ground Integrated Federated Learning

Ubiquitous intelligence has been widely recognized as a critical vision of the future sixth generation (6G) networks, which implies the intelligence over the whole network from the core to the edge including end devices. Nevertheless, fulfilling such vision, particularly the intelligence at the edge, is extremely challenging, due to the limited resources of edge devices as well as the ubiquitous coverage envisioned by 6G. To empower the edge intelligence, in this article, we propose a novel framework called AGIFL (Air-Ground Integrated Federated Learning), which organically integrates air-ground integrated networks and federated learning (FL). In the AGIFL, leveraging the flexible on-demand 3D deployment of aerial nodes such as unmanned aerial vehicles (UAVs), all the nodes can collaboratively train an effective learning model by FL. We also conduct a case study to evaluate the effect of two different deployment schemes of the UAV over the learning and network performance. Last but not the least, we highlight several technical challenges and future research directions in the AGIFL.

cs.NI↗

arXiv2024

BiSwift: Bandwidth Orchestrator for Multi-Stream Video Analytics on Edge

High-definition (HD) cameras for surveillance and road traffic have experienced tremendous growth, demanding intensive computation resources for real-time analytics. Recently, offloading frames from the front-end device to the back-end edge server has shown great promise. In multi-stream competitive environments, efficient bandwidth management and proper scheduling are crucial to ensure both high inference accuracy and high throughput. To achieve this goal, we propose BiSwift, a bi-level framework that scales the concurrent real-time video analytics by a novel adaptive hybrid codec integrated with multi-level pipelines, and a global bandwidth controller for multiple video streams. The lower-level front-back-end collaborative mechanism (called adaptive hybrid codec) locally optimizes the accuracy and accelerates end-to-end video analytics for a single stream. The upper-level scheduler aims to accuracy fairness among multiple streams via the global bandwidth controller. The evaluation of BiSwift shows that BiSwift is able to real-time object detection on 9 streams with an edge device only equipped with an NVIDIA RTX3070 (8G) GPU. BiSwift improves 10%$\sim$21% accuracy and presents 1.2$\sim$9$\times$ throughput compared with the state-of-the-art video analytics pipelines.

cs.NI↗

arXiv2023

AccDecoder: Accelerated Decoding for Neural-enhanced Video Analytics

The quality of the video stream is key to neural network-based video analytics. However, low-quality video is inevitably collected by existing surveillance systems because of poor quality cameras or over-compressed/pruned video streaming protocols, e.g., as a result of upstream bandwidth limit. To address this issue, existing studies use quality enhancers (e.g., neural super-resolution) to improve the quality of videos (e.g., resolution) and eventually ensure inference accuracy. Nevertheless, directly applying quality enhancers does not work in practice because it will introduce unacceptable latency. In this paper, we present AccDecoder, a novel accelerated decoder for real-time and neural-enhanced video analytics. AccDecoder can select a few frames adaptively via Deep Reinforcement Learning (DRL) to enhance the quality by neural super-resolution and then up-scale the unselected frames that reference them, which leads to 6-21% accuracy improvement. AccDecoder provides efficient inference capability via filtering important frames using DRL for DNN-based inference and reusing the results for the other frames via extracting the reference relationship among frames and blocks, which results in a latency reduction of 20-80% than baselines.

cs.CV↗

arXiv2022

Quick and Reliable LoRa Physical-layer Data Aggregation through Multi-Packet Reception

This paper presents a Long Range (LoRa) physical-layer data aggregation system (LoRaPDA) that aggregates data (e.g., sum, average, min, max) directly in the physical layer. In particular, after coordinating a few nodes to transmit their data simultaneously, the gateway leverages a new multi-packet reception (MPR) approach to compute aggregate data from the phase-asynchronous superimposed signal. Different from the analog approach which requires additional power synchronization and phase synchronization, our MRP-based digital approach is compatible with commercial LoRa nodes and is more reliable. Different from traditional MPR approaches that are designed for the collision decoding scenario, our new MPR approach allows simultaneous transmissions with small packet arrival time offsets, and addresses a new co-located peak problem through the following components: 1) an improved channel and offset estimation algorithm that enables accurate phase tracking in each symbol, 2) a new symbol demodulation algorithm that finds the maximum likelihood sequence of nodes' data, and 3) a soft-decision packet decoding algorithm that utilizes the likelihoods of several sequences to improve decoding performance. Trace-driven simulation results show that the symbol demodulation algorithm outperforms the state-of-the-art MPR decoder by 5.3$\times$ in terms of physical-layer throughput, and the soft decoder is more robust to unavoidable adverse phase misalignment and estimation error in practice. Moreover, LoRaPDA outperforms the state-of-the-art MPR scheme by at least 2.1$\times$ for all SNRs in terms of network throughput, demonstrating quick and reliable data aggregation.

eess.SP↗

arXiv2022

ALT: Boosting Deep Learning Performance by Breaking the Wall between Graph and Operator Level Optimizations

Deep learning models rely on highly optimized tensor libraries for efficient inference on heterogeneous hardware. Current deep compilers typically predetermine layouts of tensors and then optimize loops of operators. However, such unidirectional and one-off workflow strictly separates graph-level optimization and operator-level optimization into different system layers, missing opportunities for unified tuning. This paper proposes ALT, a compiler that performs joint graph- and operator-level optimizations for deep models. ALT provides a generic transformation module to manipulate layouts and loops with easy-to-use primitive functions. ALT further integrates an auto-tuning module that jointly optimizes graph-level data layouts and operator-level loops while guaranteeing efficiency. Experimental results show that ALT significantly outperforms state-of-the-art compilers (e.g., Ansor) in terms of both single operator performance (e.g., 1.5x speedup on average) and end-to-end inference performance (e.g., 1.4x speedup on average).

cs.LG↗

arXiv2021

Decentralized Federated Learning for UAV Networks: Architecture, Challenges, and Opportunities

Unmanned aerial vehicles (UAVs), or say drones, are envisioned to support extensive applications in next-generation wireless networks in both civil and military fields. Empowering UAVs networks intelligence by artificial intelligence (AI) especially machine learning (ML) techniques is inevitable and appealing to enable the aforementioned applications. To solve the problems of traditional cloud-centric ML for UAV networks such as privacy concern, unacceptable latency, and resource burden, a distributed ML technique, \textit(i.e.), federated learning (FL), has been recently proposed to enable multiple UAVs to collaboratively train ML model without letting out raw data. However, almost all existing FL paradigms are still centralized, \textit{i.e.}, a central entity is in charge of ML model aggregation and fusion over the whole network, which could result in the issue of a single point of failure and are inappropriate to UAV networks with both unreliable nodes and links. Thus motivated, in this article, we propose a novel architecture called DFL-UN (\underline{D}ecentralized \underline{F}ederated \underline{L}earning for \underline{U}AV \underline{N}etworks), which enables FL within UAV networks without a central entity. We also conduct a preliminary simulation study to validate the feasibility and effectiveness of the DFL-UN architecture. Finally, we discuss the main challenges and potential research directions in the DFL-UN.

cs.NI↗

arXiv2021

Hash Adaptive Bloom Filter

Bloom filter is a compact memory-efficient probabilistic data structure supporting membership testing, i.e., to check whether an element is in a given set. However, as Bloom filter maps each element with uniformly random hash functions, few flexibilities are provided even if the information of negative keys (elements are not in the set) are available. The problem gets worse when the misidentification of negative keys brings different costs. To address the above problems, we propose a new Hash Adaptive Bloom Filter (HABF) that supports the customization of hash functions for keys. The key idea of HABF is to customize the hash functions for positive keys (elements are in the set) to avoid negative keys with high cost, and pack customized hash functions into a lightweight data structure named HashExpressor. Then, given an element at query time, HABF follows a two-round pattern to check whether the element is in the set. Further, we theoretically analyze the performance of HABF and bound the expected false positive rate. We conduct extensive experiments on representative datasets, and the results show that HABF outperforms the standard Bloom filter and its cutting-edge variants on the whole in terms of accuracy, construction time, query time, and memory space consumption (Note that source codes are available in [1]).

cs.DB↗

arXiv2021

Air-Ground Collaborative Mobile Edge Computing: Architecture, Challenges, and Opportunities

By pushing computation, cache, and network control to the edge, mobile edge computing (MEC) is expected to play a leading role in fifth generation (5G) and future sixth generation (6G). Nevertheless, facing ubiquitous fast-growing computational demands, it is impossible for a single MEC paradigm to effectively support high-quality intelligent services at end user equipments (UEs). To address this issue, we propose an air-ground collaborative MEC (AGC-MEC) architecture in this article. The proposed AGC-MEC integrates all potentially available MEC servers within air and ground in the envisioned 6G, by a variety of collaborative ways to provide computation services at their best for UEs. Firstly, we introduce the AGC-MEC architecture and elaborate three typical use cases. Then, we discuss four main challenges in the AGC-MEC as well as their potential solutions. Next, we conduct a case study of collaborative service placement for AGC-MEC to validate the effectiveness of the proposed collaborative service placement strategy. Finally, we highlight several potential research directions of the AGC-MEC.

cs.NI↗