Difference between revisions of "Resource:Seminar"

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{{SemNote
{{SemNote
|time='''2025-09-25 10:30'''
|time='''2025-12-12 10:30'''
|addr=4th Research Building A518
|addr=4th Research Building A518
|note=Useful links: [[Resource:Reading_List|📚 Readling list]]; [[Resource:Seminar_schedules|📆 Schedules]]; [[Resource:Previous_Seminars|🧐 Previous seminars]].
|note=Useful links: [[Resource:Reading_List|📚 Readling list]]; [[Resource:Seminar_schedules|📆 Schedules]]; [[Resource:Previous_Seminars|🧐 Previous seminars]].
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{{Latest_seminar
{{Latest_seminar
|abstract = Distributed Edge Computing (DEC) has emerged as a novel paradigm, owing to its superior performance in communication latency, parallel computing efficiency, and energy consumption. With the surge of tasks in generative artificial intelligence, DEC faces higher demands for parallel computing efficiency. Scheduling multiple tasks for simultaneous processing, rather than one-by-one handling, could enhance parallel efficiency. Multiple tasks have multi-dependencies, i.e., sequence dependency, attribute similarity, and attribute correlation. Utilizing the bidirectional edges of traditional graphs to represent multi-dependencies can lead to an explosion in quantity. A hypergraph, with its hyperedges capable of connecting any number of vertices, can significantly solve the above problem. However, the multi-dependencies are rarely studied in the current research, posing the challenges, including incapable representing and unable capturing of multi-dependency hypergraph. In this work, we introduce a Joint communication and computation scheduling for hypErgraph Tasks in DEC, namely HypeJet, To effectively represent multi-dependencies, we employ hypergraph construction to represent task attributes and utilize hypergraph partitioning to clarify and refine task attribute correlations, enhancing parallel efficiency. In response to the challenge of capturing multi-dependencies, we employ a scheduling mechanism with the hypergraph neural network that efficiently acquires higher-order attribute correlated information among convolution matrices, providing enriched contextual information on multi-dependencies that supports decision-making in scheduling tasks. The evaluations using real-world traces demonstrate an 18.07% improvement in parallel efficiency of task scheduling.
|abstract = Code translation is a crucial activity in the software development and maintenance process, and researchers have recently begun to focus on using pre-trained large language models (LLMs) for code translation. However, existing LLMs only learn the contextual semantics of code during pre-training, neglecting executability information closely related to the execution state of the code, which results in unguaranteed code executability and unreliable automated code translation. To address this issue, we propose ExeCoder, an LLM specifically designed for code translation, aimed at utilizing executability representations such as functional semantics, syntax structures, and variable dependencies to enhance the capabilities of LLMs in code translation. To evaluate the effectiveness of ExeCoder, we manually enhanced the widely used benchmark TransCoder-test, resulting in a benchmark called TransCoder-test-X that serves LLMs. Evaluation of TransCoder-test-X indicates that ExeCoder achieves state-of-the-art performance in code translation, surpassing existing open-source code LLMs by over 10.88% to 38.78% and over 27.44% to 42.97% on two metrics, and even outperforms the renowned closed-source LLM GPT-4o.  
|confname =INFOCOM'25
|confname =EMNLP'25
|link = https://ieeexplore.ieee.org/abstract/document/11044587
|link = https://arxiv.org/abs/2501.18460
|title= HyperJet: Joint Communication and Computation Scheduling for Hypergraph Tasks in Distributed Edge Computing
|title= ExeCoder: Empowering Large Language Models with Executability Representation for Code Translation
|speaker= Yi Zhou
|speaker=Youwei Ran
|date=2025-9-26
|date=2025-12-12
}}{{Latest_seminar
}}
|abstract = Localization of networked nodes is an essential problem in emerging applications, including first-responder navigation, automated manufacturing lines, vehicular and drone navigation, asset tracking, Internet of Things, and 5G communication networks. In this paper, we present Locate3D, a novel system for peer-to-peer node localization and orientation estimation in large networks. Unlike traditional range-only methods, Locate3D introduces angle-of-arrival (AoA) data as an added network topology constraint. The system solves three key challenges: it uses angles to reduce the number of measurements required by 4× and jointly uses range and angle data for location estimation. We develop a spanning-tree approach for fast location updates, and to ensure the output graphs are rigid and uniquely realizable, even in occluded or weakly connected areas. Locate3D cuts down latency by up to 75% without compromising accuracy, surpassing standard range-only solutions. It has a 0.86 meter median localization error for building-scale multi-floor networks (32 nodes, 0 anchors) and 12.09 meters for large-scale networks (100,000 nodes, 15 anchors).
{{Latest_seminar
|confname =NSDI'25
|abstract =Imitation learning from human demonstrations has shown impressive performance in robotics. However, most results focus on table-top manipulation, lacking the mobility and dexterity necessary for generally useful tasks. In this work, we develop a system for imitating mobile manipulation tasks that are bimanual and require whole-body control. We first present Mobile ALOHA, a low-cost and whole-body teleoperation system for data collection. It augments the ALOHA system with a mobile base, and a whole-body teleoperation interface. Using data collected with Mobile ALOHA, we then perform supervised behavior cloning and find that co-training with existing static ALOHA datasets boosts performance on mobile manipulation tasks. With 50 demonstrations for each task, co-training can increase success rates by up to 90%, allowing Mobile ALOHA to autonomously complete complex mobile manipulation tasks such as sauteing and serving a piece of shrimp, opening a two-door wall cabinet to store heavy cooking pots, calling and entering an elevator, and lightly rinsing a used pan using a kitchen faucet. We will open-source all the hardware and software implementations upon publication.
|link = https://www.usenix.org/conference/nsdi25/presentation/garg
|confname =CoRL'24
|title= Large Network UWB Localization: Algorithms and Implementation
|link = https://openreview.net/forum?id=FO6tePGRZj
|speaker=Bangguo
|title= Mobile ALOHA: Learning Bimanual Mobile Manipulation using Low-Cost Whole-Body Teleoperation
|date=2025-9-26
|speaker=Yi Zhou
|date=2025-12-12
}}
}}
{{Resource:Previous_Seminars}}
{{Resource:Previous_Seminars}}

Latest revision as of 23:32, 11 December 2025

Time: 2025-12-12 10:30
Address: 4th Research Building A518
Useful links: 📚 Readling list; 📆 Schedules; 🧐 Previous seminars.

Latest

  1. [EMNLP'25] ExeCoder: Empowering Large Language Models with Executability Representation for Code Translation, Youwei Ran
    Abstract: Code translation is a crucial activity in the software development and maintenance process, and researchers have recently begun to focus on using pre-trained large language models (LLMs) for code translation. However, existing LLMs only learn the contextual semantics of code during pre-training, neglecting executability information closely related to the execution state of the code, which results in unguaranteed code executability and unreliable automated code translation. To address this issue, we propose ExeCoder, an LLM specifically designed for code translation, aimed at utilizing executability representations such as functional semantics, syntax structures, and variable dependencies to enhance the capabilities of LLMs in code translation. To evaluate the effectiveness of ExeCoder, we manually enhanced the widely used benchmark TransCoder-test, resulting in a benchmark called TransCoder-test-X that serves LLMs. Evaluation of TransCoder-test-X indicates that ExeCoder achieves state-of-the-art performance in code translation, surpassing existing open-source code LLMs by over 10.88% to 38.78% and over 27.44% to 42.97% on two metrics, and even outperforms the renowned closed-source LLM GPT-4o.
  2. [CoRL'24] Mobile ALOHA: Learning Bimanual Mobile Manipulation using Low-Cost Whole-Body Teleoperation, Yi Zhou
    Abstract: Imitation learning from human demonstrations has shown impressive performance in robotics. However, most results focus on table-top manipulation, lacking the mobility and dexterity necessary for generally useful tasks. In this work, we develop a system for imitating mobile manipulation tasks that are bimanual and require whole-body control. We first present Mobile ALOHA, a low-cost and whole-body teleoperation system for data collection. It augments the ALOHA system with a mobile base, and a whole-body teleoperation interface. Using data collected with Mobile ALOHA, we then perform supervised behavior cloning and find that co-training with existing static ALOHA datasets boosts performance on mobile manipulation tasks. With 50 demonstrations for each task, co-training can increase success rates by up to 90%, allowing Mobile ALOHA to autonomously complete complex mobile manipulation tasks such as sauteing and serving a piece of shrimp, opening a two-door wall cabinet to store heavy cooking pots, calling and entering an elevator, and lightly rinsing a used pan using a kitchen faucet. We will open-source all the hardware and software implementations upon publication.

History

2024

2023

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2020

  • [Topic] [ The path planning algorithm for multiple mobile edge servers in EdgeGO], Rong Cong, 2020-11-18

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