arXiv:2606.18144cs.AIcs.CY2026-06

为机器人内存磨损定价,优化数据存储位置以延长寿命。

Memory as a Wasting Asset: Pricing Flash Endurance for Embodied Agents, and the Limits of Doing So

  • 将内存视为会损耗的资产,用单一磨损价格η决定数据存哪里。
  • 在廉价QLC/eMMC上,磨损预算成瓶颈,可节省成本30%以上。
  • 适合关注边缘机器人长期运行与存储成本的工程师和研究者。

机器人的闪存寿命是不可再生的资源:每次写入都会消耗有限的编程/擦除周期(约1000-3000次),且无法恢复。然而当前无人为内存价值定价其擦除成本。本文将实体记忆视为折旧资本,引入单一磨损影子价格η,使在RAM / 本地NVM / 云端间的成本最小化存储决策转化为一个带磨损增强的每字节索引阈值。该索引在任意价值-写入关联χ符号下均最优;仅当χ > 0时,最优策略非单调,导致最有价值的记忆被移出闪存。该拐点由实际部署决定:在长时序操作任务中χ ≈ +1.0 × 10⁻³(显著为正),短任务中为零,非重复遥控中为负。两个边界限定结果:在高端TLC(3000 P/E)下磨损预算未激活,在商品级QLC/eMMC(~1000 P/E)上成为关键约束。此时,学习型磨损感知控制器仅依赖任务价值进行路由,因真实价值在不同层级间无差异——租金决定设备寿命与成本,而非任务性能。磨损感知放置是否提升任务价值仍待验证,因χ基于代理指标测量,且非单调最优虽理论成立,尚未在数据中观测到。

原文摘要 · Abstract (English)

A robot's flash endurance is a non-renewable stock: every persisted write spends one of a few thousand program/erase cycles and never refills, yet no fielded robot memory system prices which memories are worth an erase cycle. We treat embodied memory as depreciating capital and price that stock with a single endurance shadow price $η$, which makes cost-minimizing placement across a RAM / on-board NVM / cloud hierarchy a threshold in a wear-augmented per-byte index. The index is cost-optimal whatever the sign of the value-write association $χ$; only when $χ> 0$ does the optimum turn non-monotone, sending a robot's most valuable memories off its flash. The pivot is thus empirical, and we measure $χ$ on real robot logs at a pre-specified gate: its sign is a property of the deployment regime -- positive on recurrent long-horizon manipulation ($\hatχ \approx +1.0 \times 10^{-3}$, replicated at full power), null on a shorter-horizon suite, and negative on non-recurrent teleoperation. Two boundaries scope the result. The endurance budget is dormant on premium 3,000-P/E TLC at datasheet prices and binding on the commodity QLC/eMMC ($\sim$1,000 P/E) that cheaper edge robots run. And where it binds, a learned wear-aware controller only ties price-based routing on task value, because realized value is tier-invariant across RAM, NVM, and cloud: the rent governs device lifetime and cost, not task performance. Whether wear-aware placement improves task value remains open -- $χ$ is measured against a value proxy, and the non-monotone optimum, while proven, is not yet observed in data.

机器人存储优化边缘计算磨损管理

Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品;中文卡片由大模型生成,请以原文为准。