Linux AGX: An Adaptive GPU eXtension to Linux Fair Scheduling for Physical AI and Robotic Systems

Linux fair scheduling (EEVDF in kernel ≥ 6.6, CFS in older releases) is the default time-sharing policy on many production robots. ML-driven robotic pipelines, combining perception, planning, and on-device LLM/VLM inference, create workloads in which short CPU preparation steps gate GPU launches and the active task graph reconfigures at runtime as scenes change, humans intervene, or new behaviors are triggered. Because Linux fair scheduling observes only CPU service and sleep-wake events, it cannot identify GPU-gating feeder slices or adapt as the critical path shifts, leading to avoidable GPU idle time and inflated end-to-end latency on single-GPU embedded platforms.