HaLoRA: Hardware-aware Low-Rank Adaptation for Large Language Models Based on Hybrid Compute-in-Memory Architecture

Low-rank adaptation (LoRA) is a predominant parameter-efficient finetuning method to adapt large language models (LLMs) for downstream tasks. In this paper, we first propose to deploy the LoRA-finetuned LLMs on the hybrid compute-in-memory (CIM) architecture (i.e., pretrained weights onto RRAM and LoRA onto SRAM). To address performance degradation from RRAM's inherent noise, we design a novel Hardware-aware Low-rank Adaption (HaLoRA) method, aiming to train a LoRA branch that is both robust and accurate by aligning the training objectives under both ideal and noisy conditions. Experiments finetuning LLaMA 3.2 1B and 3B demonstrate HaLoRA's effectiveness across multiple reasoning tasks, achieving up to 22.7 improvement in average score while maintaining robustness at various noise levels.

Instance by Instance: An Iterative Framework for Multi-instance 3D Registration

Multi-instance registration is a challenging problem in computer vision and robotics, where multiple instances of an object need to be registered in a standard coordinate system. In this work, we propose the first iterative framework called instance-by-instance (IBI) for multi-instance 3D registration (MI-3DReg). It successively registers all instances in a given scenario, starting from the easiest and progressing to more challenging ones. Throughout the iterative process, outliers are eliminated continuously, leading to an increasing inlier rate for the remaining and more challenging instances. Under the IBI framework, we further propose a sparse-to-dense-correspondence-based multi-instance registration method (IBI-S2DC) to achieve robust MI-3DReg. Experiments on the synthetic and real datasets have demonstrated the effectiveness of IBI and suggested the new state-of-the-art performance of IBI-S2DC, e.g., our MHF1 is 12.02%/12.35% higher than the existing state-of-the-art method ECC on the synthetic/real datasets.