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Low-Rank Adaptation (LoRA) has emerged as a dominant method in Parameter-Efficient Fine-Tuning (PEFT) for large language models, which augments the transformer layer with one down-projection $A$ and one up-projection $B$. However, LoRA's…

Low-rank adaptation (LoRA) is one of the most popular task-specific parameter-efficient fine-tuning (PEFT) methods on pre-trained language models for its good performance and computational efficiency. LoRA injects a product of two trainable…

Libraries of Low-Rank Adaptation (LoRA) adapters are becoming a practical by-product of parameter-efficient adaptation. Once such adapters accumulate, a natural question is no longer how to train one adapter for one task, but how to reuse…

Recent Vision-Language-Action (VLA) models reformulate vision-language models by tuning them with millions of robotic demonstrations. While they perform well when fine-tuned for a single embodiment or task family, extending them to…

Adapting large pretrained models to new tasks efficiently and continually is crucial for real-world deployment but remains challenging due to catastrophic forgetting and the high cost of retraining. While parameter-efficient tuning methods…

Owing to the capability for reliable and all-weather long-range sensing, the fusion of LiDAR and Radar has been widely applied to autonomous vehicles for robust perception. In practical operation, well manually calibrated extrinsic…

Adapting foundation models under resource budgets relies heavily on Parameter-Efficient Fine-Tuning (PEFT), with LoRA being a standard modular solution. However, LoRA suffers from spectral interference. Low-rank updates often concentrate…

Intermediate layer output (ILO) regularization by means of multitask training on encoder side has been shown to be an effective approach to yielding improved results on a wide range of end-to-end ASR frameworks. In this paper, we propose a…

Adaptability has been regarded as a central feature in the foundation models, enabling them to effectively acclimate to unseen downstream tasks. Parameter-efficient fine-tuning methods such as celebrated LoRA facilitate efficient adaptation…

In recent years, Parameter-Efficient Fine-Tuning (PEFT) methods like Low-Rank Adaptation (LoRA) have significantly enhanced the adaptability of large-scale pre-trained models. Weight-Decomposed Low-Rank Adaptation (DoRA) improves upon LoRA…

Model merging combines multiple fine-tuned models into a single model by adding their weight updates, providing a lightweight alternative to retraining. Existing methods primarily target resolving conflicts between task updates, leaving the…

Recent advances in cross-prompt automated essay scoring (AES) typically train models jointly on all source prompts, often requiring additional access to unlabeled target prompt essays simultaneously. However, using all sources is suboptimal…

Enabling multi-task adaptation in pre-trained Low-Rank Adaptation (LoRA) models is crucial for enhancing their generalization capabilities. Most existing pre-trained LoRA fusion methods decompose weight matrices, sharing similar parameters…

We propose Orthogonal Monte Carlo Dropout, a mechanism that enforces strict orthogonality when combining sparse semantic vectors without extra time complexity. Low-Rank Adaptation (LoRA), a popular fine-tuning method for large models,…

Parameter-efficient fine-tuning (PEFT) has become a practical route for adapting large language models to downstream tasks, with LoRA-style methods being particularly attractive because they are inexpensive to train and easy to deploy. Most…

Fine-tuning large language models (LLMs) is computationally expensive, and Low-Rank Adaptation (LoRA) provides a cost-effective solution by approximating weight updates through low-rank matrices. In real-world scenarios, LLMs are fine-tuned…

Today's autonomous vehicles rely on a multitude of sensors to perceive their environment. To improve the perception or create redundancy, the sensor's alignment relative to each other must be known. With Multi-LiCa, we present a novel…

In order to streamline the fine-tuning of foundation models, Low-Rank Adapters (LoRAs) have been substantially adopted across various fields, including instruction tuning and domain adaptation. The underlying concept of LoRA involves…

Low-rank Adaptation (LoRA) has gained popularity as a fine-tuning approach for Large Language Models (LLMs) due to its low resource requirements and good performance. While a plethora of work has investigated improving LoRA serving…

Multi-robot collaboration is becoming increasingly critical and presents significant challenges in modern robotics, especially for building a globally consistent, accurate map. Traditional multi-robot pose graph optimization (PGO) methods…