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Sergey Zagoruyko

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2 papers

2 author rows

NeurIPS Conference 2025 Conference Paper

ReplaceMe: Network Simplification via Depth Pruning and Transformer Block Linearization

Dmitriy Shopkhoev
Ammar Ali
Magauiya Zhussip
Valentin Malykh
Stamatios Lefkimmiatis
Nikos Komodakis
Sergey Zagoruyko

We introduce ReplaceMe, a generalized training-free depth pruning method that effectively replaces transformer blocks with a linear operation, while maintaining high performance for low compression ratios. In contrast to conventional pruning approaches that require additional training or fine-tuning, our approach requires only a small calibration dataset that is used to estimate a linear transformation, which approximates the pruned blocks. The estimated linear mapping can be seam- lessly merged with the remaining transformer blocks, eliminating the need for any additional network parameters. Our experiments show that ReplaceMe consistently outperforms other training-free approaches and remains highly competitive with state-of-the-art pruning methods that involve extensive retraining/fine-tuning and architectural modifications. Applied to several large language models (LLMs), ReplaceMe achieves up to 25% pruning while retaining approximately 90% of the original model’s performance on open benchmarks—without any training or healing steps, resulting in minimal computational overhead. We provide an open- source library implementing ReplaceMe alongside several state-of-the-art depth pruning techniques, available at https: //github. com/mts-ai/ReplaceMe.

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ICRA Conference 2023 Conference Paper

Safe Real-World Autonomous Driving by Learning to Predict and Plan with a Mixture of Experts

Stefano Pini
Christian S. Perone
Aayush Ahuja
Ana Sofia Rufino Ferreira
Moritz Niendorf
Sergey Zagoruyko

The goal of autonomous vehicles is to navigate public roads safely and comfortably. To enforce safety, traditional planning approaches rely on handcrafted rules to generate trajectories. Machine learning-based systems, on the other hand, scale with data and are able to learn more complex behaviors. However, they often ignore that agents and self-driving vehicle trajectory distributions can be leveraged to improve safety. In this paper, we propose modeling a distribution over multiple future trajectories for both the self-driving vehicle and other road agents, using a unified neural network architecture for prediction and planning. During inference, we select the planning trajectory that minimizes a cost taking into account safety and the predicted probabilities. Our approach does not depend on any rule-based planners for trajectory generation or optimization, improves with more training data and is simple to implement. We extensively evaluate our method through a realistic simulator and show that the predicted trajectory distribution corresponds to different driving profiles. We also successfully deploy it on a self-driving vehicle on urban public roads, confirming that it drives safely without compromising comfort. The code for training and testing our model on a public prediction dataset and the video of the road test are available at https://woven.mobi/safepathnet.

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