8 papers
FastForward Pruning: Efficient LLM Pruning via Single-Step Reinforcement Learning
Xin Yuan, Siqi Li, Jiateng Wei +7
Pruning is an effective method for compressing Large Language Models, but finding an optimal, non-uniform layer-wise sparsity allocation remains a key challenge. While heuristic me…
RuN: Residual Policy for Natural Humanoid Locomotion
Qingpeng Li, Chengrui Zhu, Yanming Wu +4
Enabling humanoid robots to achieve natural and dynamic locomotion across a wide range of speeds, including smooth transitions from walking to running, presents a significant chall…
L2Calib: -Manifold Reinforcement Learning for Robust Extrinsic Calibration with Degenerate Motion Resilience
Baorun Li, Chengrui Zhu, Siyi Du +5
Extrinsic calibration is essential for multi-sensor fusion, existing methods rely on structured targets or fully-excited data, limiting real-world applicability. Online calibration…
LITE: A Learning-Integrated Topological Explorer for Multi-Floor Indoor Environments
Junhao Chen, Zhen Zhang, Chengrui Zhu +4
This work focuses on multi-floor indoor exploration, which remains an open area of research. Compared to traditional methods, recent learning-based explorers have demonstrated sign…
Efficient Learning of A Unified Policy For Whole-body Manipulation and Locomotion Skills
Dianyong Hou, Chengrui Zhu, Zhen Zhang +3
Equipping quadruped robots with manipulators provides unique loco-manipulation capabilities, enabling diverse practical applications. This integration creates a more complex system…
NeAS: 3D Reconstruction from X-ray Images using Neural Attenuation Surface
Chengrui Zhu, Ryoichi Ishikawa, Masataka Kagesawa +3
Reconstructing three-dimensional (3D) structures from two-dimensional (2D) X-ray images is a valuable and efficient technique in medical applications that requires less radiation e…
AutoDFP: Automatic Data-Free Pruning via Channel Similarity Reconstruction
Siqi Li, Jun Chen, Jingyang Xiang +2
Structured pruning methods are developed to bridge the gap between the massive scale of neural networks and the limited hardware resources. Most current structured pruning methods…
Multilingual and crosslingual speech recognition using phonological-vector based phone embeddings
Chengrui Zhu, Keyu An, Huahuan Zheng +1
The use of phonological features (PFs) potentially allows language-specific phones to remain linked in training, which is highly desirable for information sharing for multilingual…