Jun 2026· arXiv.org· Vol abs/2606.27375· 4 citations· 38 references
Computer Science
Abstract
We introduce ABC, a fully open-source stack for manipulation with behavior cloning. At its core is ABC-130K: the largest open-source teleoperation dataset to date, featuring 3,500 hours of data spanning over 130K episodes across 195 diverse tasks. Furthermore, we open-source our accessible hardware setup, training infrastructure, and simulation pipeline. We also release 400 hours of sim-teleop data and provide a co-training recipe that produces correlated simulation and real-world evaluation, offering a reliable proxy for ablating model-design and training decisions before costly real-world evaluation. We explore various training recipes and compare common architectural choices for Diffusion Transformers (DiT) and Vision-Language-Action (VLA) models, grounding our findings in real-world evaluations. The resulting policies successfully execute dexterous tasks such as box folding and extracting credit cards from wallets. By providing a reproducible toolkit, we aim to place researchers on an equal footing, establishing the necessary foundation to learn the ABCs of Behavior Cloning together as a community.
A reproducible, license-aware knowledge-distillation recipe addressing the constraint of deploying a safety layer for large language models on commodity hardware by partitioning the corpus into seven safety categories aligned to a public hazard taxonomy.
Edson Rodrigues da Cruz Filho, Paulo Ricardo Ferreira Neves, P. H. Falsetti et al.· 0 citations
Large language models have become increasingly capable agents for low-level code and kernel optimization, but isolated kernel benchmarks provide only a proxy for the deployment behavior that matters in language-model inference. We identify a benchmark-to-deployment gap: candidate kernels that appear correct and fast in standalone harnesses can exhibit different performance, safety, or phase behavior after integration into a real inference workload. We introduce LLM4LLM, a deployment-aware closed-loop optimization framework that starts from a target inference script, extracts phase-aware optimization tasks, searches with an experience-guided episodic agent, and accepts patches through in-model validation. Across ten language-model inference workloads on A100 and H100 GPUs, LLM4LLM improves end-to-end latency for every evaluated model, achieving 3.91$\times$/6.98$\times$ geometric-mean speedups on A100/H100; as supporting kernel-level evidence, it also attains up to 2.745$\times$ GeoMean speedup on KernelBench Level 2.
Hui Zeng, Pengfei Yang, Yanxin Chen et al.· 0 citations
The design of transformer-based Large Language Models (LLMs) is being radically changed through new architectures that are able to overcome scalability limitations of previous designs, including Mixture-of-Experts (MoE), Multi-Head Latent Attention (MLA), and Multi-Token Prediction (MTP). As an open-weighted model released at the end of 2024, which has both state of the art architectural transparency and production scale efficiency, DeepSeeek-V3 represents the ultimate testing ground for investigating these modern technologies. This paper provides a comprehensive analysis of the architectural structure of DeepSeek-V3 based upon information from the DeepSeek-V3 Technical Report, industry benchmarking data and independent latency testing, to demonstrate how various techniques can be used to optimize training while still providing competitive performance in code generation and mathematical reasoning. In addition, latency testing conducted on a Distilled version of DeepSeek-V3, with approximately 14 billion parameters, running on a T4 GPU, reveals that although significant improvements have been made in optimizing latency there remains substantial barriers to deploying these models. Through this context, this research will serve as a reference document for practitioners and researchers who wish to understand current trends and challenges in increasing accessibility to high performance AI models.
Yassine Zouhdi, B. Hdioud· EPJ Web of Conferences· 0 citations
We present EVA-Client, an open-source framework for deployment, data collection, and evaluation of trained manipulation policies on real robots. Sitting between a policy server and the physical hardware, EVA-Client unifies the real-robot stages of the policy iteration loop within a single codebase. It makes three contributions. First, a component-decoupled architecture in which robot backends, inference strategies, and transport middlewares form an orthogonal grid: adding a robot or a strategy touches only its own layer. Second, inspectable execution through Debug, Collect, and Eval workflows, with modes ranging from open-loop simulation to continuous real-time control. Third, every evaluation run doubles as a data collection, recording full rollouts in training-ready format alongside exhaustive logs and a side-by-side comparison viewer, so each evaluation feeds the next round of training rather than ending as an unrecorded impression. EVA-Client further consolidates major real-time inference strategies, synchronous and asynchronous execution, ACT-style temporal ensembling, Real-Time Chunking, and a naive-async ablation baseline, behind a single configuration surface.
Despite the success of Large Language Models (LLMs) in structured query generation, OData—a critical RESTful protocol for enterprise APIs—remains under-researched due to a lack of high-fidelity, execution-validated datasets. To bridge this gap, we introduce O M - NI OD ATA , a framework that generates S YN O-D ATA , the first large-scale OData corpus featuring execution-grounded queries and reasoning traces. Using this corpus, we develop O MNI OD ATA -R1 (1.5B–3B parameters), a family of models that match or surpass frontier proprietary systems, such as GPT-4o and Gemini 3, on realistic industrial benchmarks. Our results demonstrate that the synergy of execution-verified synthetic data and Reinforcement Learning (RL) effectively unlocks the latent reasoning of Small Language Models (SLMs), providing a high-performance, low-latency solution for specialized enterprise query generation. The code and data will be released under an open-source license.
Tao Bai, Zhaochen Li, Hongxin Shao et al.· Proceedings of the 64th Annu...· 0 citations
OptGear-1M is the first generative language model to achieve 20 TPS with W4A32 quantization on the ARM Cortex-M7 CPU of the STM32H747I-DISCO, and is the most data-efficient of the existing foundation models.