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Simultaneous localization and mapping (SLAM) plays a vital role in mapping unknown spaces and aiding autonomous navigation. Virtually all state-of-the-art solutions today for 2D SLAM are designed for dense and accurate sensors such as laser…

Robotics · Computer Science 2023-12-06 Hanzhi Zhou , Zichao Hu , Sihang Liu , Samira Khan

The resource requirements of neural networks can be significantly reduced through pruning - the removal of seemingly less important parameters. However, for LLMs, full retraining to recover pruning-induced performance degradation is often…

Machine Learning · Computer Science 2026-02-03 Max Zimmer , Christophe Roux , Moritz Wagner , Deborah Hendrych , Sebastian Pokutta

Neural networks augmented with external memory have the ability to learn algorithmic solutions to complex tasks. These models appear promising for applications such as language modeling and machine translation. However, they scale poorly in…

Machine Learning · Computer Science 2016-10-31 Jack W Rae , Jonathan J Hunt , Tim Harley , Ivo Danihelka , Andrew Senior , Greg Wayne , Alex Graves , Timothy P Lillicrap

In vision-language models (VLMs), visual tokens usually bear a significant amount of computational overhead despite sparsity of information in them when compared to text tokens. To address this, most existing methods learn a network to…

Computer Vision and Pattern Recognition · Computer Science 2025-06-04 Yuan Zhang , Chun-Kai Fan , Junpeng Ma , Wenzhao Zheng , Tao Huang , Kuan Cheng , Denis Gudovskiy , Tomoyuki Okuno , Yohei Nakata , Kurt Keutzer , Shanghang Zhang

Pretraining optimizers are tuned to produce the strongest possible base model, on the assumption that a stronger starting point yields a stronger model after subsequent changes like post-training and quantization. This overlooks the…

Machine Learning · Computer Science 2026-05-05 Ishaan Watts , Catherine Li , Sachin Goyal , Jacob Mitchell Springer , Aditi Raghunathan

We study the Sparse Plus Low-Rank decomposition problem (SLR), which is the problem of decomposing a corrupted data matrix into a sparse matrix of perturbations plus a low-rank matrix containing the ground truth. SLR is a fundamental…

Machine Learning · Statistics 2023-11-15 Dimitris Bertsimas , Ryan Cory-Wright , Nicholas A. G. Johnson

Recently, Sharma et al. suggested a method called Layer-SElective-Rank reduction (LASER) which demonstrated that pruning high-order components of carefully chosen LLM's weight matrices can boost downstream accuracy -- without any…

Machine Learning · Computer Science 2025-10-24 Shiva Sreeram , Alaa Maalouf , Pratyusha Sharma , Daniela Rus

Visual AutoRegressive (VAR) modeling has garnered significant attention for its innovative next-scale prediction paradigm. However, mainstream VAR paradigms attend to all tokens across historical scales at each autoregressive step. As the…

Computer Vision and Pattern Recognition · Computer Science 2026-03-31 Zekun Li , Ning Wang , Tongxin Bai , Changwang Mei , Peisong Wang , Shuang Qiu , Jian Cheng

Pruning has recently been widely adopted to reduce the parameter scale and improve the inference efficiency of Large Language Models (LLMs). Mainstream pruning techniques often rely on uniform layerwise pruning strategies, which can lead to…

Computation and Language · Computer Science 2025-06-04 Yuli Chen , Bo Cheng , Jiale Han , Yingying Zhang , Yingting Li , Shuhao Zhang

Long-context inference in large language models (LLMs) is increasingly constrained by the KV cache bottleneck: memory usage grows linearly with sequence length, while attention computation scales quadratically. Existing approaches address…

Computation and Language · Computer Science 2025-11-13 Huanxuan Liao , Yixing Xu , Shizhu He , Guanchen Li , Xuanwu Yin , Dong Li , Emad Barsoum , Jun Zhao , Kang Liu

Classic zeroth-order optimization approaches typically optimize for a smoothed version of the original function, i.e., the expected objective under randomly perturbed model parameters. This can be interpreted as encouraging the loss values…

Machine Learning · Computer Science 2025-10-21 Xuchen Gong , Tian Li

Large language models (LLMs) deliver impressive performance but incur prohibitive memory and compute costs at deployment. Model pruning is an effective way to reduce these overheads, yet existing approaches face challenges: unstructured…

Machine Learning · Computer Science 2026-04-30 Younes Hourri , Mohammad Mozaffari , Maryam Mehri Dehnavi

Semi-structured sparsity provides a practical path to accelerate large language models (LLMs) with native hardware support, but post-training semi-structured pruning often suffers from substantial quality degradation due to strong…

Machine Learning · Computer Science 2026-05-08 Liu Hanzuo , Chaofan Lin , Weixuan Sun , Yulong Wang , Key , Rayying , Mingyu Gao

Recently, foundation models have been introduced demonstrating various tasks in the field of computer vision. These models such as Segment Anything Model (SAM) are generalized models trained using huge datasets. Currently, ongoing research…

Computer Vision and Pattern Recognition · Computer Science 2023-06-23 Shurong Chai , Rahul Kumar Jain , Shiyu Teng , Jiaqing Liu , Yinhao Li , Tomoko Tateyama , Yen-wei Chen

Multimodal LLMs are powerful but prone to object hallucinations, which describe non-existent entities and harm reliability. While recent unlearning methods attempt to mitigate this, we identify a critical flaw: structural fragility. We…

Machine Learning · Computer Science 2026-05-19 Xianya Fang , Feiyang Ren , Xiang Chen , Yu Tian , Zhen Bi , Haiyang Yu , Sheng-Jun Huang

Large pre-trained transformers have revolutionized artificial intelligence across various domains, and fine-tuning remains the dominant approach for adapting these models to downstream tasks due to the cost of training from scratch.…

Computer Vision and Pattern Recognition · Computer Science 2025-07-16 Wei Chen , Jingxi Yu , Zichen Miao , Qiang Qiu

In an effort to improve generalization in deep learning and automate the process of learning rate scheduling, we propose SALR: a sharpness-aware learning rate update technique designed to recover flat minimizers. Our method dynamically…

Machine Learning · Computer Science 2023-07-04 Xubo Yue , Maher Nouiehed , Raed Al Kontar

Accelerating the inference speed of CNNs is critical to their deployment in real-world applications. Among all the pruning approaches, those implementing a sparsity learning framework have shown to be effective as they learn and prune the…

Computer Vision and Pattern Recognition · Computer Science 2020-07-31 Jun Shi , Jianfeng Xu , Kazuyuki Tasaka , Zhibo Chen

While the Segment Anything Model (SAM) excels in semantic segmentation for general-purpose images, its performance significantly deteriorates when applied to medical images, primarily attributable to insufficient representation of medical…

Computer Vision and Pattern Recognition · Computer Science 2023-11-07 Yiming Zhang , Tianang Leng , Kun Han , Xiaohui Xie

Scaled sparse linear regression jointly estimates the regression coefficients and noise level in a linear model. It chooses an equilibrium with a sparse regression method by iteratively estimating the noise level via the mean residual…

Machine Learning · Statistics 2012-06-22 Tingni Sun , Cun-Hui Zhang
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