Ben Zandonati

Ben Zandonati, Adrian Alan Pol, Maurizio Pierini et al.

Model compression is vital to the deployment of deep learning on edge devices. Low precision representations, achieved via quantization of weights and activations, can reduce inference time and memory requirements. However, quantifying and predicting the response of a model to the changes associated with this procedure remains challenging. This response is non-linear and heterogeneous throughout the network. Understanding which groups of parameters and activations are more sensitive to quantization than others is a critical stage in maximizing efficiency. For this purpose, we propose FIT. Motivated by an information geometric perspective, FIT combines the Fisher information with a model of quantization. We find that FIT can estimate the final performance of a network without retraining. FIT effectively fuses contributions from both parameter and activation quantization into a single metric. Additionally, FIT is fast to compute when compared to existing methods, demonstrating favourable convergence properties. These properties are validated experimentally across hundreds of quantization configurations, with a focus on layer-wise mixed-precision quantization.

Ben Zandonati, Glenn Bucagu, Adrian Alan Pol et al.

Model compression is instrumental in optimizing deep neural network inference on resource-constrained hardware. The prevailing methods for network compression, namely quantization and pruning, have been shown to enhance efficiency at the cost of performance. Determining the most effective quantization and pruning strategies for individual layers and parameters remains a challenging problem, often requiring computationally expensive and ad hoc numerical optimization techniques. This paper introduces FITCompress, a novel method integrating layer-wise mixed-precision quantization and unstructured pruning using a unified heuristic approach. By leveraging the Fisher Information Metric and path planning through compression space, FITCompress optimally selects a combination of pruning mask and mixed-precision quantization configuration for a given pre-trained model and compression constraint. Experiments on computer vision and natural language processing benchmarks demonstrate that our proposed approach achieves a superior compression-performance trade-off compared to existing state-of-the-art methods. FITCompress stands out for its principled derivation, making it versatile across tasks and network architectures, and represents a step towards achieving optimal compression for neural networks.

Ben Zandonati, Tomás Lozano-Pérez, Leslie Pack Kaelbling

Humans can observe a single, imperfect demonstration and immediately generalize to very different problem settings. Robots, in contrast, often require hundreds of examples and still struggle to generalize beyond the training conditions. We argue that this limitation arises from the inability to recover the latent explanations that underpin intelligent behavior, and that these explanations can take the form of structured programs consisting of high-level goals, sub-task decomposition, and execution constraints. In this work, we introduce Rational Inverse Reasoning (RIR), a framework for inferring these latent programs through a hierarchical generative model of behavior. RIR frames few-shot imitation as Bayesian program induction: a vision-language model iteratively proposes structured symbolic task hypotheses, while a planner-in-the-loop inference scheme scores each by the likelihood of the observed demonstration under that hypothesis. This loop yields a posterior over concise, executable programs. We evaluate RIR on a suite of continuous manipulation tasks designed to test one-shot and few-shot generalization across variations in object pose, count, geometry, and layout. With as little as one demonstration, RIR infers the intended task structure and generalizes to novel settings, outperforming state-of-the-art vision-language model baselines.