2 papers
cs.LG2026
AdaPreLoRA: Adafactor Preconditioned Low-Rank Adaptation
Ziyun Liu, Fengmiao Bian, Jian-Feng Cai
Low-Rank Adaptation (LoRA) reparameterizes a weight update as a product of two low-rank factors, but the Jacobian of the generator mapping the factors to the weight matrix…
cs.RO2026
OmniDP: Beyond-FOV Large-Workspace Humanoid Manipulation with Omnidirectional 3D Perception
Pei Qu, Zheng Li, Yufei Jia +5
The deployment of humanoid robots for dexterous manipulation in unstructured environments remains challenging due to perceptual limitations that constrain the effective workspace.…