Vision-Language Navigation (VLN) requires an embodied agent to interpret a natural-language instruction and predict actions from temporally ordered visual observations. Adapting a multimodal large language model to VLN requires visual-language alignment, compact temporal inputs, action-space grounding, and stable training on the target hardware. This technical report presents PGN (Pangu Navigator), an offline VLN action-prediction system built on OpenPangu-7B. Training proceeds in two stages. First, PGMM aligns a frozen EVA-ViT-G/14 vision encoder with the frozen language backbone by training a Q-Former and a two-layer MLP projector. Second, PGN adapts the aligned model to expert navigation trajectories using five-observation windows, epoch-dependent temporal sampling, and a reasoning-then-action output format; this stage freezes the aligned visual pathway and updates three structural-token embeddings and LoRA adapters. The implementation combines mixed-precision computation, selective FP32 computation, and DeepSpeed ZeRO-2 on eight Ascend 910B NPUs. Under teacher-forced, open-loop evaluation on 500 held-out expert trajectories, V9 reports a 62.29% Normalized Action Match (NAM) and a 100.00% Non-empty Rate (NER). These metrics quantify offline expert-action alignment rather than closed-loop navigation success; evaluating error accumulation, path efficiency, and goal completion remains future work.
Li Xian, Mingxi Li, Yizheng Wang et al.· 0 citations
Long-context inference is becoming a fundamental capability for modern LLM serving, especially driven by emerging agentic applications. Yet it faces a severe memory wall that the KV cache scales proportionally with increasing context length and request concurrency. Existing sparse KV cache methods offload most KV entries to host memory and retrieve only the critical KV entries needed by each decoding step. However, they commonly introduce substantial auxiliary states in GPU memory for KV retrieval management. Our measurements show that these often-overlooked auxiliary states introduce significant memory overhead and become a new bottleneck under high-concurrency workloads. In this paper, we present DualDecoder, a lightweight serving system for long-context LLM inference that enables efficient sparse KV cache retrieval from host memory. Our key insight is that the critical KV entries required for decoding the next token can be accurately predicted from the preceding speculated token. This predictability enables KV retrieval to be proactively prefetched and overlapped with decoding computation, effectively eliminating the GPU memory overhead of auxiliary states. To achieve this prefetching efficiently, DualDecoder leverages a novel dual-token decoding pipeline that accurately identifies critical KV entries with negligible computational overhead, and designs a layer-aware transfer schedule to overlap KV prefetching with model computation and a layer-scoped memory manager to reduce the GPU runtime buffer. Experimental results show that DualDecoder improves decoding throughput by up to 2.62$\times$ over state-of-the-art systems while preserving decoding latency and model quality.
Zuning Liang, Zhiyi Yao, Qi Chen et al.· 0 citations