PhyAI, a Physical AI inference engine with a single runtime that keeps architecture-specific conditioning, solver, cache, and output logic in model adapters while sharing graph execution, kernels, memory management, and parallel services, is built.
Abstract
Physical AI policies require inference throughout their lifecycle, including model evaluation, cloud reinforcement learning rollout, edge GPU serving, and onboard deployment. Although these settings share the same checkpoint and action semantics, they often rely on separate inference programs. To unify them, we build PhyAI, a Physical AI inference engine with a single runtime that keeps architecture-specific conditioning, solver, cache, and output logic in model adapters while sharing graph execution, kernels, memory management, and parallel services. The same codebase runs vision-language-action (VLA) models and world-action models (WAMs) on single or multiple GPUs across onboard, edge, and cloud deployments. We used the adapter interface to add MiniCPM-Robot on the day of its release. PhyAI achieves 1.40x-4.65x speedups over the official implementations of pi0, pi0.5, GR00T N1.7, and MiniCPM-Robot. On Cosmos3-Nano-Policy-DROID it reduces latency from 2.46 to 1.18 s on eight H20 GPUs (CFG=2, TP=4), a 2.08x speedup. Specialized runtimes remain faster in several configurations, so our goal is one runtime with competitive latency rather than the fastest result in every case. Detailed profiles reveal why different models need different execution policies: on a Hopper-series GPU at batch size one, the pi0.5 action expert accounts for 8.8% of FLOPs but 57.2% of latency; at batch size 32 its share drops to 13.5% and throughput reaches about 100 samples/s. Cosmos3 remains generation-dominated and gains only 14.3% throughput as batch size increases from 1 to 16. We further introduce the control-time Roofline, which distinguishes inference-bound from environment-bound control; the measured pi0.5 points on four LIBERO suites are environment-bound while Cosmos3 stays inference-bound. Code and benchmarks: https://github.com/mingti-org/phyai.
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Edge AI is evolving from isolated inference toward long-running services that coordinate model pipelines, data streams, state, and accelerators near users and physical environments. Cloud-native and edge-native platforms offer useful foundations, but their primary control objects–containers, nodes, links, and enrolled sites–generally do not expose the model, data, state, quality, and participation semantics required by these services. This paper presents eAI+, a vision for an edgeAI-native service platform built around three first-class control objects: AI service graphs, dynamic edge resource fabrics, and participant contracts. eAI+ aims to preserve service quality under latency, privacy, reliability, cost, and participation constraints through three coordinated mechanisms. Runtime would select safe execution adaptations based on current workload, environment, and contract signals. Deployment would map service-graph components and prepared fallbacks to heterogeneous resources. PolyLink is the participant-contract module for plug-and-play resource onboarding; it would register contributors, verified resource offers, capabilities, and participation terms. Once a resource is onboarded, it would become available to Deployment for placing eligible service-graph components under the registered contract, while PolyLink would maintain metering, reputation, rewards, and exit events. Migration would transfer only continuity-critical state or control when mobility, overload, policy changes, or contributor lifecycle events invalidate the current placement. This framing treats edge AI as a coordinated service-platform problem across models, data, state, resources, and contracts.
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EPIC mitigates imbalance via performance-aware expert migration and runtime expert activation, and then improves communication with topology-adaptive transport kernels and fine-grained computation-communication overlap.
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