Sen Shen

Xiaojun Xiao, Sen Shen, Qiming Bao et al.

In fine-tuning large language models (LLMs), conserving computational resources while maintaining effectiveness and improving outcomes within the same computational constraints is crucial. The Low-Rank Adaptation (LoRA) strategy balances efficiency and performance in fine-tuning large models by reducing the number of trainable parameters and computational costs. However, current advancements in LoRA might be focused on its fine-tuning methodologies, with not as much exploration as might be expected into further compression of LoRA. Since most of LoRA's parameters might still be superfluous, this may lead to unnecessary wastage of computational resources. In this paper, we propose \textbf{CoRA}: leveraging shared knowledge to optimize LoRA training by substituting its matrix $B$ with a common subspace from large models. Our two-fold method includes (1) Freezing the substitute matrix $B$ to halve parameters while training matrix $A$ for specific tasks and (2) Using the substitute matrix $B$ as an enhanced initial state for the original matrix $B$, achieving improved results with the same parameters. Our experiments show that the first approach achieves the same efficacy as the original LoRA fine-tuning while being more efficient than halving parameters. At the same time, the second approach has some improvements compared to LoRA's original fine-tuning performance. They generally attest to the effectiveness of our work.

Ning Liu, Sen Shen, Zheng Li et al.

Hierarchical multi-robot exploration commonly decouples frontier allocation from local navigation, which can make the system brittle in dense and dynamic environments. Because the allocator lacks direct awareness of execution difficulty, robots may cluster at bottlenecks, trigger oscillatory replanning, and generate redundant coverage. We propose VORL-EXPLORE, a hybrid learning and planning framework that addresses this limitation through execution fidelity, a shared estimate of local navigability that couples task allocation with motion execution. This fidelity signal is incorporated into a fidelity-coupled Voronoi objective with inter-robot repulsion to reduce contention before it emerges. It also drives a risk-aware adaptive arbitration mechanism between global A* guidance and a reactive reinforcement learning policy, balancing long-range efficiency with safe interaction in confined spaces. The framework further supports online self-supervised recalibration of the fidelity model using pseudo-labels derived from recent progress and safety outcomes, enabling adaptation to non-stationary obstacles without manual risk tuning. We evaluate this capability separately in a dedicated severe-traffic ablation. Extensive experiments in randomized grids and a Gazebo factory scenario show high success rates, shorter path length, lower overlap, and robust collision avoidance. The source code will be made publicly available upon acceptance.