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Saaketh Narayan

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3 papers
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3

ICML Conference 2025 Conference Paper

µnit Scaling: Simple and Scalable FP8 LLM Training

  • Saaketh Narayan
  • Abhay Gupta
  • Mansheej Paul
  • Davis W. Blalock

Large language model training with 8-bit floating point (FP8) formats promises significant efficiency improvements, but reduced numerical precision makes training challenging. It is currently possible to train in FP8 only if one is willing to tune various hyperparameters, reduce model scale, or accept the overhead of computing dynamic scale factors. We demonstrate simple, scalable FP8 training that requires no dynamic scaling factors or special hyperparameters, even at large model sizes. Our method, $\bm{\mu}$nit Scaling ($\bm{\mu}$S), also enables simple hyperparameter transfer across model widths, matched numerics across training and inference, and other desirable properties. $\bm{\mu}$nit Scaling is straightforward to implement, consisting of a set of minimal interventions based on a first-principles analysis of transformer operations. We validate our method by training models with parameters ranging from 1B to 13B, performing all hidden linear layer computations in FP8. We achieve quality equal to higher-precision baselines while also training up to 33% faster.

ICRA Conference 2023 Conference Paper

Multi-Robot Coordination and Cooperation with Task Precedence Relationships

  • Walker Gosrich
  • Siddharth Mayya
  • Saaketh Narayan
  • Matthew Malencia
  • Saurav Agarwal
  • Vijay Kumar 0001

We propose a new formulation for the multi-robot task planning and allocation problem that incorporates (a) precedence relationships between tasks; (b) coordination for tasks allowing multiple robots to achieve increased efficiency; and (c) cooperation through the formation of robot coalitions for tasks that cannot be performed by individual robots alone. In our formulation, the tasks and the relationships between the tasks are specified by a task graph. We define a set of reward functions over the task graph's nodes and edges. These functions model the effect of robot coalition size on task performance while incorporating the influence of one task's performance on a dependent task. Solving this problem optimally is NP-hard. However, using the task graph formulation allows us to leverage min-cost network flow approaches to obtain approximate solutions efficiently. Additionally, we explore a mixed integer programming approach, which gives optimal solutions for small instances of the problem but is computationally expensive. We also develop a greedy heuristic algorithm as a baseline. Our modeling and solution approaches result in task plans that leverage task precedence relationships and robot coordination and cooperation to achieve high mission performance, even in large missions with many agents.

IROS Conference 2021 Conference Paper

Combined Routing and Scheduling of Heterogeneous Transport and Service Agents

  • Saaketh Narayan
  • James Paulos
  • Steven W. Chen
  • Sandeep Manjanna
  • Vijay Kumar 0001

This paper investigates servicing waypoints in a wide area using collaborative deployments of vehicles with heterogeneous range and mobility constraints. We formulate a joint planning problem for a single transport truck and multiple service drones in which the truck is constrained to a road and must deploy a team of range-constrained drones to visit waypoints. The need to deploy, collect, and redeploy drones over multiple flights introduces both route finding and scheduling aspects to this problem. We solve large problem instances by decoupling our approach into a service drone route finding phase and a transport truck scheduling phase. Numerical simulations explore the qualitative character of the driving schedule and the quantitative marginal value of adding additional drones to the team as a function of agent number and relative speed. The combination of road network constraints and range constraints make this problem especially relevant to wide area forestry, last-mile delivery, and ecological monitoring applications.

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