Allen Tu, Meher Gitika Karumuri, Shifan Zhu, Hailing Wang, Yen-Liang Lin, David Held, Matthias Zwicker, Tom Goldstein
Robots, autonomous vehicles, and consumer 360° cameras use fisheye lenses for wide fields of view (FoVs). Simulation-ready digital twins require photorealistic rendering across the full FoV and an aligned collision mesh. However, prior fisheye Gaussian Splatting methods only rasterize up to 180° and do not produce meshes, while Gaussian surface reconstruction methods assume pinhole training images. We present GOFish, the first 3D Gaussian Splatting surface reconstruction method to train directly on fisheye images, rasterize FoVs beyond 180°, and extract an aligned mesh from the same scene. Calibrated densification recovers the surface across the entire FoV, while Calibrated Mip Filtering and Wide-Angle Appearance Modeling keep pixel blur and lens falloff out of the scene and mesh. Across the 200° FIORD and 205° FullCircle benchmarks, GOFish improves PSNR over the best prior method by 2.28 and 1.97 dB, respectively. It also outperforms fisheye rendering baselines within their own FoVs and achieves the highest mesh F-score on FIORD and the main ScanNet++ set. Together, the Gaussian scene and mesh form a LiDAR-free, simulation-ready digital twin that renders in real time, ray traces the full FoV, and provides collision geometry.
Post-training quantization (PTQ) has emerged as a promising approach for reducing the memory footprint and computational cost of large language models (LLMs), enabling efficient deployment without full model retraining. However, existing PTQ methods struggle to simultaneously support weight–activation joint quantization and extreme low-bit weight quantization. This limitation primarily arises from the depth of LLMs and their strong cross-layer dependencies, which cause quantization errors to propagate and accumulate across layers, ultimately leading to significant performance degradation. In this paper, we present ACBQ, a simple yet effective framework that simultaneously addresses weight–activation joint quantization and extreme weight quantization. We first propose a granular quantization strategy that treats self-attention and FFN as separate quantization units with module-specific optimization objectives. To mitigate the propagation and accumulation of quantization errors across layers, we introduce an adaptive cross-block quantization strategy that explicitly accounts for cross-layer dependencies by encouraging consistency across blocks. Extensive experiments across diverse LLMs, including OPT and the LLaMA family, demonstrate that ACBQ achieves superior performance under both W4A4 and highly aggressive W2 settings, while incurring negligible additional computational overhead.
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Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表