Xinwang Liu

Yuhang Huang, Jiazhao Zhang, Shilong Zou et al.

Predictive manipulation has recently gained considerable attention in the Embodied AI community due to its potential to improve robot policy performance by leveraging predicted states. However, generating accurate future visual states of robot-object interactions from world models remains a well-known challenge, particularly in achieving high-quality pixel-level representations. To this end, we propose LaDi-WM, a world model that predicts the latent space of future states using diffusion modeling. Specifically, LaDi-WM leverages the well-established latent space aligned with pre-trained Visual Foundation Models (VFMs), which comprises both geometric features (DINO-based) and semantic features (CLIP-based). We find that predicting the evolution of the latent space is easier to learn and more generalizable than directly predicting pixel-level images. Building on LaDi-WM, we design a diffusion policy that iteratively refines output actions by incorporating forecasted states, thereby generating more consistent and accurate results. Extensive experiments on both synthetic and real-world benchmarks demonstrate that LaDi-WM significantly enhances policy performance by 27.9\% on the LIBERO-LONG benchmark and 20\% on the real-world scenario. Furthermore, our world model and policies achieve impressive generalizability in real-world experiments.

Yuhan Kang, Yang Shi, Mei We et al.

Post-training pruning, as one of the key techniques for compressing large language models, plays a vital role in lightweight model deployment and model sparsity. However, current mainstream pruning methods dependent on the Hessian matrix face significant limitations in both pruning speed and practical effectiveness due to the computationally intensive nature of second-order derivative calculations. This paper presents SwiftPrune, a novel Hessian-free weight pruning method that achieves hardware-efficient model compression through two key innovations: 1) SwiftPrune eliminates the need for computationally intensive Hessian matrix calculations by introducing a contribution-based weight metric, which evaluates the importance of weights without relying on second-order derivatives. 2) we employ the Exponentially Weighted Moving Average (EWMA) technique to bypass weight sorting, enabling the selection of weights that contribute most to LLM accuracy and further reducing time complexity. Our approach is extended to support structured sparsity pruning, facilitating efficient execution on modern hardware accelerators. We validate the SwiftPrune on three LLMs (namely LLaMA2, LLaMA3, and Pythia), demonstrating that it significantly enhances compression performance. The experimental findings reveal that SwiftPrune completes the pruning process within seconds, achieving an average speedup of 12.29x (up to 56.02x) over existing SOTA approaches.