Haoyang Weng

h-index3
2papers
34citations

2 Papers

2.7CLDec 15, 2025
SkipCat: Rank-Maximized Low-Rank Compression of Large Language Models via Shared Projection and Block Skipping

Yu-Chen Lu, Sheng-Feng Yu, Hui-Hsien Weng et al.

Large language models (LLM) have achieved remarkable performance across a wide range of tasks. However, their substantial parameter sizes pose significant challenges for deployment on edge devices with limited computational and memory resources. Low-rank compression is a promising approach to address this issue, as it reduces both computational and memory costs, making LLM more suitable for resource-constrained environments. Nonetheless, naïve low-rank compression methods require a significant reduction in the retained rank to achieve meaningful memory and computation savings. For a low-rank model, the ranks need to be reduced by more than half to yield efficiency gains. Such aggressive truncation, however, typically results in substantial performance degradation. To address this trade-off, we propose SkipCat, a novel low-rank compression framework that enables the use of higher ranks while achieving the same compression rates. First, we introduce an intra-layer shared low-rank projection method, where multiple matrices that share the same input use a common projection. This reduces redundancy and improves compression efficiency. Second, we propose a block skipping technique that omits computations and memory transfers for selected sub-blocks within the low-rank decomposition. These two techniques jointly enable our compressed model to retain more effective ranks under the same compression budget. Experimental results show that, without any additional fine-tuning, our method outperforms previous low-rank compression approaches by 7% accuracy improvement on zero-shot tasks under the same compression rate. These results highlight the effectiveness of our rank-maximized compression strategy in preserving model performance under tight resource constraints.

13.5ROMay 11, 2025
FACET: Force-Adaptive Control via Impedance Reference Tracking for Legged Robots

Botian Xu, Haoyang Weng, Qingzhou Lu et al.

Reinforcement learning (RL) has made significant strides in legged robot control, enabling locomotion across diverse terrains and complex loco-manipulation capabilities. However, the commonly used position or velocity tracking-based objectives are agnostic to forces experienced by the robot, leading to stiff and potentially dangerous behaviors and poor control during forceful interactions. To address this limitation, we present \emph{Force-Adaptive Control via Impedance Reference Tracking} (FACET). Inspired by impedance control, we use RL to train a control policy to imitate a virtual mass-spring-damper system, allowing fine-grained control under external forces by manipulating the virtual spring. In simulation, we demonstrate that our quadruped robot achieves improved robustness to large impulses (up to 200 Ns) and exhibits controllable compliance, achieving an 80% reduction in collision impulse. The policy is deployed to a physical robot to showcase both compliance and the ability to engage with large forces by kinesthetic control and pulling payloads up to 2/3 of its weight. Further extension to a legged loco-manipulator and a humanoid shows the applicability of our method to more complex settings to enable whole-body compliance control. Project Website: https://facet.pages.dev/