Search arXiv⌕ Search

arXiv subjects

Zhiping Wu

Publications and source records attributed to Zhiping Wu.

2 recordsLinked to original sources

RGSQ: Riemannian Geometry-Sensitive Quantization for Large Vision-Language Models

Large vision-language models (VLMs) can be efficiently deployed under stringent memory and latency constraints through post training quantization (PTQ). However, most PTQ methods are designed for unimodal large language models (LLMs). These methods treat quantization errors as isotropic perturbations under the Euclidean assumption, which provides weak guidance on directions most sensitive to quantization in VLMs. Consequently, directly adapting unimodal PTQ approaches or solely employing modality-specific scaling often leads to uneven bit-width distribution and inconsistent performance in low-bit settings. To address these challenges, we propose Riemannian Geometry-Sensitive Quantization (RGSQ), which formulates quantization as a reconstruction problem under a unified Fisher-Riemannian metric. RGSQ identifies modality-specific sensitive directions via Riemannian manifold mappings built from modality-partitioned empirical Fisher factors and fused into a modality-aware Kronecker-structured metric. We then apply geometry-aligned rotations to reorient the local tangent frame, steering low-bit perturbations toward loss-insensitive axes. Finally, we apply a whitening transformation that maps the Riemannian objective to an equivalent Euclidean form, enabling standard unimodal PTQ methods to evaluate multimodal quantization error under their original assumptions. Across an extensive and diverse set of mainstream VLM benchmarks, RGSQ achieves the highest accuracy and stability under extremely low-bit settings (W2A8 and W3A8). It outperforms VLM-aware baselines, such as MBQ and MQuant, by up to 5.9% and surpasses single-modality improvements by up to 8.6%.

cs.CV↗

Vision-Augmented On-Track System Identification for Autonomous Racing via Attention-Based Priors and Iterative Neural Correction

Operating autonomous vehicles at the absolute limits of handling requires precise, real-time identification of highly non-linear tire dynamics. However, traditional online optimization methods suffer from "cold-start" initialization failures and struggle to model high-frequency transient dynamics. To address these bottlenecks, this paper proposes a novel vision-augmented, iterative system identification framework. First, a lightweight CNN (MobileNetV3) translates visual road textures into a continuous heuristic friction prior, providing a robust "warm-start" for parameter optimization. Next, a S4 model captures complex temporal dynamic residuals, circumventing the memory and latency limitations of traditional MLPs and RNNs. Finally, a derivative-free Nelder-Mead algorithm iteratively extracts physically interpretable Pacejka tire parameters via a hybrid virtual simulation. Co-simulation in CarSim demonstrates that the lightweight vision backbone reduces friction estimation error by 76.1 using 85 fewer FLOPs, accelerating cold-start convergence by 71.4. Furthermore, the S4-augmented framework improves parameter extraction accuracy and decreases lateral force RMSE by over 60 by effectively capturing complex vehicle dynamics, demonstrating superior performance compared to conventional neural architectures.

cs.RO↗