Infinite Mobility: Scalable High-Fidelity Synthesis of Articulated Objects via Procedural Generation

Large-scale articulated objects with high quality are desperately needed for multiple tasks related to embodied AI. Most existing methods for creating articulated objects are either data-driven or simulation based, which are limited by the scale and quality of the training data or the fidelity and heavy labour of the simulation. In this paper, we propose Infinite Mobility, a novel method for synthesizing high-fidelity articulated objects through procedural generation. User study and quantitative evaluation demonstrate that our method can produce results that excel current state-of-the-art methods and are comparable to human-annotated datasets in both physics property and mesh quality. Furthermore, we show that our synthetic data can be used as training data for generative models, enabling next-step scaling up. Code is available at https://github.com/Intern-Nexus/Infinite-Mobility

Universal Checkpointing: Efficient and Flexible Checkpointing for Large Scale Distributed Training

Existing checkpointing approaches seem ill-suited for distributed training even though hardware limitations make model parallelism, i.e., sharding model state across multiple accelerators, a requirement for model scaling. Consolidating distributed model state into a single checkpoint unacceptably slows down training, and is impractical at extreme scales. Distributed checkpoints, in contrast, are tightly coupled to the model parallelism and hardware configurations of the training run, and thus unusable on different configurations. To address this problem, we propose Universal Checkpointing, a technique that enables efficient checkpoint creation while providing the flexibility of resuming on arbitrary parallelism strategy and hardware configurations. Universal Checkpointing unlocks unprecedented capabilities for large-scale training such as improved resilience to hardware failures through continued training on remaining healthy hardware, and reduced training time through opportunistic exploitation of elastic capacity. The key insight of Universal Checkpointing is the selection of the optimal representation in each phase of the checkpointing life cycle: distributed representation for saving, and consolidated representation for loading. This is achieved using two key mechanisms. First, the universal checkpoint format, which consists of a consolidated representation of each model parameter and metadata for mapping parameter fragments into training ranks of arbitrary model-parallelism configuration. Second, the universal checkpoint language, a simple but powerful specification language for converting distributed checkpoints into the universal checkpoint format. Our evaluation demonstrates the effectiveness and generality of Universal Checkpointing on state-of-the-art model architectures and a wide range of parallelism techniques.

Configuration Validation with Large Language Models

Misconfigurations are the major causes of software failures. Existing configuration validation techniques rely on manually written rules or test cases, which are expensive to implement and maintain, and are hard to be comprehensive. Leveraging machine learning (ML) and natural language processing (NLP) for configuration validation is considered a promising direction, but has been facing challenges such as the need of not only large-scale configuration data, but also system-specific features and models which are hard to generalize. Recent advances in Large Language Models (LLMs) show the promises to address some of the long-lasting limitations of ML/NLP-based configuration validation techniques. In this paper, we present an exploratory analysis on the feasibility and effectiveness of using LLMs like GPT and Codex for configuration validation. Specifically, we take a first step to empirically evaluate LLMs as configuration validators without additional fine-tuning or code generation. We develop a generic LLM-based validation framework, named Ciri, which integrates different LLMs. Ciri devises effective prompt engineering with few-shot learning based on both valid configuration and misconfiguration data. Ciri also validates and aggregates the outputs of LLMs to generate validation results, coping with known hallucination and nondeterminism of LLMs. We evaluate the validation effectiveness of Ciri on five popular LLMs using configuration data of six mature, widely deployed open-source systems. Our analysis (1) confirms the potential of using LLMs for configuration validation, (2) understands the design space of LLMbased validators like Ciri, especially in terms of prompt engineering with few-shot learning, and (3) reveals open challenges such as ineffectiveness in detecting certain types of misconfigurations and biases to popular configuration parameters.