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arXiv 最近完成扫描:2026-11-15 01:33 · 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:2605.07317

Amortized-Precision Quantization for Early-Exit Vision Transformers

Rui Fang, Hsi-Wen Chen, Ming-Syan Chen

原文摘要

Vision Transformers (ViTs) achieve strong performance across vision tasks, yet their deployment with low-precision early exiting remains fragile. Existing quantization methods assume static full-depth execution, making them unstable when exit decisions are perturbed by quantization noise, which can amplify errors along dynamic inference paths. In this paper, we introduce Amortized-Precision Quantization (APQ), a utilization-aware formulation that accounts for layer utilization when modeling quantization error and reveals depth-precision trade-offs. Building on APQ, we propose Mutual Adaptive Quantization with Early Exiting (MAQEE), a bi-level framework that jointly optimizes exit thresholds and bit-widths under explicit risk control to improve inference stability. MAQEE establishes a superior Pareto frontier in the accuracy-efficiency trade-off across classification, detection, and segmentation, with comparisons at predefined task-specific performance targets. On ImageNet, it achieves 79.41% Top-1 accuracy while reducing BOPs by 10.9% relative to utilization-only allocation. Measurements of the deployed models on an RTX 5090 show GPU throughput improvements of $2.26\times$ on ImageNet and $3.06\times$ on CIFAR-100 over full-depth FP32 inference. Source code is available at https://github.com/Rui-Fang/MAQEE.

cs.CV · cs.AI

版本更新 · v3arXiv:2610.40016

LOGIV: Graph-Verified Execution with Causal Local Repair for Long-Horizon Robot Tasks

Enqiao Lu, Yuxiang Xie, Xingrui Yu, Yuyang Wang, Yipeng Gu, Zhirui Fang, Xinrun Xu, Zhenglin Wan 等 13 位作者

原文摘要

Agentic robots must turn a high-level goal into actions while keeping the physical conditions needed for future steps valid. A completed action does not ensure that its effects will persist: a later disturbance can invalidate support that the remaining plan still assumes. We present LOGIV, a graph engineering framework for agentic robot execution that uses an explicit task graph to connect symbolic planning, observation-based verification, and embodied action. LOGIV compiles a validated plan into condition-support and resource-ordering edges, checks their physical validity during execution, and uses dependency tracing to determine what must be restored after a failure. Repair is constrained by retained unfinished actions, and the combined continuation is symbolically validated before execution resumes. The framework operates above existing Vision-Language-Action (VLA) and World Action Model (WAM) policies without adding trainable components. Across 20 dual-arm tasks from RoboTwin V2 and BiCoord with three execution backbones, LOGIV improves mean task success without injected disturbances by 10.67 and 15.33 percentage points, respectively. Under predefined perturbations, it achieves higher task completion and condition restoration than three adapted recovery baselines for every backbone on both benchmarks. On three real-robot tasks, successful trials increase from 12/30 to 17/30. These results support explicit, continuously checked task dependencies as a practical interface for reliable agentic robot execution.

cs.RO

版本更新 · v2arXiv:2610.37509

Ego-CEVR: Learning Cross-Embodiment Visual Representations from Human Egocentric Videos

Keru Zhou, Zhirui Fang, Xinrun Xu, Yaopeng Lou, Zeyuan He, Zihao Zhu, Xinze Niu, Chen Wang 等 22 位作者

原文摘要

As egocentric video becomes increasingly available for embodied learning, an important research question is how to turn this low-cost, scalable source of data into robot manipulation capabilities. Egocentric videos naturally provide rich context for high-level task understanding, while real-robot demonstrations with wrist observations and action annotations provide supervision for fine-grained action alignment. We present Ego-CEVR, a data-native framework for hierarchical visual representation learning that assigns distinct learning objectives to global and interaction representations. The global module learns object relations, task state, and temporal progress through future prediction on egocentric video. The Interaction module interprets wrist observations in global context and learns local alignment and contact cues through robot action supervision. Separate residual paths expose both representations to the action policy, preserving direct access to task context alongside fine-grained execution information. Ego-CEVR supports independent pretraining of its global video module on large-scale human egocentric videos and videos from diverse robot embodiments, without requiring robot action labels or paired wrist observations.

cs.RO