Training a Vision Transformer from scratch in less than 24 hours with 1 GPUSaghar Irandoust, Thibaut Durand, Yunduz Rakhmangulova et al.
Transformers have become central to recent advances in computer vision. However, training a vision Transformer (ViT) model from scratch can be resource intensive and time consuming. In this paper, we aim to explore approaches to reduce the training costs of ViT models. We introduce some algorithmic improvements to enable training a ViT model from scratch with limited hardware (1 GPU) and time (24 hours) resources. First, we propose an efficient approach to add locality to the ViT architecture. Second, we develop a new image size curriculum learning strategy, which allows to reduce the number of patches extracted from each image at the beginning of the training. Finally, we propose a new variant of the popular ImageNet1k benchmark by adding hardware and time constraints. We evaluate our contributions on this benchmark, and show they can significantly improve performances given the proposed training budget. We will share the code in https://github.com/BorealisAI/efficient-vit-training.
11.3ROJun 11
An Attention-based Model for Robust Forecasting with Missing ModalityZhitian Zhang, Wenjie Zi, Yunduz Rakhmangulova et al.
Learning with missing modalities is a fundamental challenge in multimodal robot learning, as real-world robotic systems often operate in environments with incomplete sensor data. Attention-based models are appealing for processing multimodal data because they can handle multiple modalities with a single backbone network. However, most multimodal models assume that all modalities are available during both training and inference, limiting their applicability in robotic perception and decision-making. In this paper, we introduce a multimodal model designed to handle missing modalities during both training and inference. The model is formulated as a conditional variational autoencoder (CVAE) and incorporates a transformer-based architecture that leverages attention mechanisms to learn a unified, fixed-dimensional representation, even when some modalities are missing. We show that our proposed model can be trained with missing modalities while approximating a robust representation of all modalities. We evaluate our approach on five multimodal datasets across two robot learning tasks: human trajectory prediction and robot manipulation forecasting. Experimental results demonstrate that our model effectively learns from incomplete data and is superior to prior multimodal fusion approaches.