Robotics paper index
Group-Shared Low-Rank Approximation for Mobile-Efficient Pointwise Convolutions in Large-Kernel CNNs
One-line summary
A robotics research paper on Group-Shared Low-Rank Approximation for Mobile-Efficient Pointwise Convolutions in Large-Kernel CNNs.
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Chinese explanation / 中文解读
中文解读待补充:本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。
Original abstract
Large-kernel Convolutional Neural Networks (CNNs) deliver remarkable performance in vision tasks by significantly expanding receptive fields, yet their quadratic parameter growth critically impedes storage-efficient edge deployment. While existing efficient architectures adopt parameter-efficient depthwise separable convolution backbones that leverage techniques like low-rank approximation and weight sharing to compress depthwise convolutions, we identify a critical oversight: pointwise convolutions dominate parameter volume (>87% in models like RepLKNet-31B) and constitute the primary deployment bottleneck on resource-constrained edge devices. This results in prohibitive storage costs and severe memory-loading constraints on resource-limited devices (e.g., smartphones with 4-12 GB Random Access Memory (RAM)). To overcome this, we propose Channel Group-Shared (CGS) low-rank approximation, a novel Singular Value Decomposition (SVD)-based parameter-sharing strategy. CGS constructs a structured low-rank paradigm isomorphic to SVD decomposition, comprising shared (high-parameter-cost) down/up-projection matrices across channel groups within a layer and channel-group-specific (low-parameter-cost) scalable diagonal matrices. This group-sharing design achieves significant parameter reduction. Extensive experiments demonstrate that large-kernel CNNs (RepLKNet, ConvNeXt, SLaK) enhanced with CGS strike an empirically favorable balance between competitive performance and substantially reduced storage costs. Crucially, by alleviating storage constraints, reducing memory bandwidth pressure during loading, and minimizing model loading latency, CGS enables the feasible deployment of pre-trained large-kernel CNN models on edge devices, thereby bridging the gap between high-performance vision models and practical edge deployment.
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