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arXiv 最近完成扫描:2026-11-16 01:34 · 全站最近入库:2026-11-14 15:09各信源进度 →

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版本更新 · v2arXiv:2610.22621

Noise-shaped Sampling and Annealing for Scalable On-the-edge Training of Binary and Ternary AI Models

Zihao Chen, Zhili Xiao, Rui-Jie Zhu, Yipeng Wang, Jason Eshraghian, Shantanu Chakrabartty

原文摘要

The training loss of binary and ternary neural networks, expanded as a multilinear polynomial over the discrete weights, is structurally equivalent to the energy of a hierarchical high-order Ising model. We exploit this equivalence to apply Ising solvers to discrete-weight network training, while accounting for a fundamental difference in objectives: an Ising solver seeks the ground state of a fixed energy function, whereas training seeks solutions that generalize to unseen data. Our key contribution is $ΣΔ$-Sampler, an optimizer that reconciles these objectives by embedding a stochastic sampling-and-annealing step as a noisy quantizer inside a first-order $ΣΔ$ noise-shaping loop. The loop pushes noise from weight quantization, high-order frustration, and mini-batch sampling out of the low-frequency adaptation band, so that discrete weight updates follow the smooth descent trajectories embedded in the rugged loss landscape. We validate the framework on a planted quadratic unconstrained binary optimization (QUBO) benchmark with a known minimizer; on CIFAR-10, where a $13$M-parameter ternary model comes within $1\%$ of full-precision accuracy; on ImageNet-1k, where a ternary ResNet-18 comes within $0.4\%$ Top-5 accuracy of a ternary baseline; on class-incremental continual learning, where prior-task accuracy is preserved; and on MatMul-free language models up to $2.7$B parameters, where it outperforms a straight-through-estimator baseline under matched continued pre-training. Compared with standard quantization-aware training, $ΣΔ$-Sampler reduces the training memory footprint by over $50\%$, delivers an order-of-magnitude speed-up, and reduces weight-update memory traffic by four orders of magnitude, making it attractive for on-device training and fine-tuning of large binary and ternary models.

cs.LG

新论文 · v1arXiv:2611.04083

MABEL: An Open Anthropomorphic Mobile Bimanual Platform for Teleoperation and Learning

Qilong Cheng, Rooholla Khorrambakht, Mohamed Yassine Kabouri, Quang Nam Nguyen, Luca Macesanu, Haoran Zhou, Yipeng Wang, Ludovic Righetti

原文摘要

As robot learning moves beyond the tabletop, many tasks require mobility, adjustable reach, active perception, and bimanual dexterity. Commercial platforms combining these capabilities are costly, while affordable open-source alternatives cover only a subset and require software integration. We present MABEL, an open-source anthropomorphic mobile bimanual robot with 56 degrees of freedom (DOF) and a US$8.1k parts cost. It combines two 7-DOF arms with 17-DOF hands, a pitching torso, a lift, a 3-DOF neck, and a holonomic base. Back-drivable arms and torso support compliant interaction, with fingertip reach from floor level to 2.23 m. The head and torso roughly triple modeled camera coverage relative to a torso-fixed camera. Apple Vision Pro head and hand tracking enables whole-body teleoperation without handheld controllers, with 137 ms mean glass-to-glass stereo video latency over the robot's Wi-Fi hotspot. We demonstrate an end-to-end imitation learning pipeline, from teleoperated data collection to policy deployment, using a shared command interface and whole-body controller.

cs.RO