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But the KV cache is created for each transformer layer. By sending each layer’s KV cache after it’s computed, we overlap communication with computation. We stream the KV cache and hide the network delay. We achieve a 4x speedup in prefill & 3x in decode, with 0 network delay.
22,604 просмотров • 7 месяцев назад •via X (Twitter)
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![Robots can now reconstruct 3D scenes in real time from a single RGB camera. [📍 Projects page + paper] No depth sensor. No retraining. 30 FPS. Researchers at the Imperial College London introduced KV-Tracker, a training-free method that makes heavy models like π³ and Depth Anything 3 fast enough for real-time tracking. The idea is simple. These models use global self-attention, which is powerful but computationally expensive. KV-Tracker caches the key and value pairs from selected keyframes and reuses them for new frames. That cache becomes an implicit scene representation. Result: • Up to 30 FPS • 10 to 15x speedup • Accurate 6-DoF tracking on benchmarks like TUM RGB-D and 7-Scenes • Works with monocular RGB only It also supports object-level tracking with masks and allows saving the KV-cache for later reuse. For robotics, this reduces hardware constraints and moves real-time 3D perception closer to practical deployment. Credit to Marwan Taher (Marwan Taher) at Imperial’s Dyson Robotics Lab and many others who contributed to this! 📍 Save projects page + paper for later: Video: ——- if it matters in AI or Robotics you'll read it here first:](https://image.24vids.com/tw-2041062366025031787/ext_tw_video_thumb/2041062352678776832/pu/img/Zpv7-4QTzuOTgs7h.jpg)
