# LoKO: Low-Rank Kalman Optimizer for Online Fine-Tuning of Large Models

arXiv: https://arxiv.org/abs/2410.11551 · HTML: https://mlsanity.com/paper/2410.11551/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 45 of its 75 references that are in the map.
- First posted on arXiv 15 Oct 2024.

## Builds on (most cited first, 30 of 45)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [LoRA: Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2106.09685/) (2021)
- [RoBERTa: A Robustly Optimized BERT Pretraining Approach](https://mlsanity.com/paper/1907.11692/) (2019)
- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [Emerging Properties in Self-Supervised Vision Transformers](https://mlsanity.com/paper/2104.14294/) (2021)
- [Densely Connected Convolutional Networks](https://mlsanity.com/paper/1608.06993/) (2016)
- [Delving Deep into Rectifiers: Surpassing Human-Level Performance on ImageNet Classification](https://mlsanity.com/paper/1502.01852/) (2015)
- [QLoRA: Efficient Finetuning of Quantized LLMs](https://mlsanity.com/paper/2305.14314/) (2023)
- [Matching Networks for One Shot Learning](https://mlsanity.com/paper/1606.04080/) (2016)
- [BitFit: Simple Parameter-efficient Fine-tuning for Transformer-based Masked Language-models](https://mlsanity.com/paper/2106.10199/) (2021)
- [An overview of gradient descent optimization algorithms](https://mlsanity.com/paper/1609.04747/) (2016)
- [CLIP-Adapter: Better Vision-Language Models with Feature Adapters](https://mlsanity.com/paper/2110.04544/) (2021)
- [Neural Network Acceptability Judgments](https://mlsanity.com/paper/1805.12471/) (2018)
- [Few-Shot Parameter-Efficient Fine-Tuning is Better and Cheaper than In-Context Learning](https://mlsanity.com/paper/2205.05638/) (2022)
- [On the Convergence of Adam and Beyond](https://mlsanity.com/paper/1904.09237/) (2019)
- [DoRA: Weight-Decomposed Low-Rank Adaptation](https://mlsanity.com/paper/2402.09353/) (2024)
- [Parameter-Efficient Fine-Tuning for Large Models: A Comprehensive Survey](https://mlsanity.com/paper/2403.14608/) (2024)
- [AdaLoRA: Adaptive Budget Allocation for Parameter-Efficient Fine-Tuning](https://mlsanity.com/paper/2303.10512/) (2023)
- [Sophia: A Scalable Stochastic Second-order Optimizer for Language Model Pre-training](https://mlsanity.com/paper/2305.14342/) (2023)
- [Cal-QL: Calibrated Offline RL Pre-Training for Efficient Online Fine-Tuning](https://mlsanity.com/paper/2303.05479/) (2023)
- [DyLoRA: Parameter Efficient Tuning of Pre-trained Models using Dynamic Search-Free Low-Rank Adaptation](https://mlsanity.com/paper/2210.07558/) (2022)
- [Training Neural Networks with Fixed Sparse Masks](https://mlsanity.com/paper/2111.09839/) (2021)
- [Online Decision Transformer](https://mlsanity.com/paper/2202.05607/) (2022)
- [LoftQ: LoRA-Fine-Tuning-Aware Quantization for Large Language Models](https://mlsanity.com/paper/2310.08659/) (2023)
- [QA-LoRA: Quantization-Aware Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2309.14717/) (2023)
- [Raise a Child in Large Language Model: Towards Effective and Generalizable Fine-tuning](https://mlsanity.com/paper/2109.05687/) (2021)
- [A Unified Continual Learning Framework with General Parameter-Efficient Tuning](https://mlsanity.com/paper/2303.10070/) (2023)
- [Online Continual Learning with Natural Distribution Shifts: An Empirical Study with Visual Data](https://mlsanity.com/paper/2108.09020/) (2021)
- [Tied-Lora: Enhancing parameter efficiency of LoRA with weight tying](https://mlsanity.com/paper/2311.09578/) (2023)

## Built on by (most cited first, 1 of 1)

- [Bayesian Natural Gradient Fine-Tuning of CLIP Models via Kalman Filtering](https://mlsanity.com/paper/2511.01694/) (2025)

## Abstract (arXiv)

Training large models with millions or even billions of parameters from scratch incurs substantial computational costs. Parameter Efficient Fine-Tuning (PEFT) methods, particularly Low-Rank Adaptation (LoRA), address this challenge by adapting only a reduced number of parameters to specific tasks with gradient-based optimizers. In this paper, we cast PEFT as an optimal filtering/state estimation problem and present Low-Rank Kalman Optimizer (LoKO) to estimate the optimal trainable parameters in an online manner. We leverage the low-rank decomposition in LoRA to significantly reduce matrix sizes in Kalman iterations and further capitalize on a diagonal approximation of the covariance matrix to effectively decrease computational complexity from quadratic to linear in the number of trainable parameters. Moreover, we discovered that the initialization of the covariance matrix within the Kalman algorithm and the accurate estimation of the observation noise covariance are the keys in this formulation, and we propose robust approaches that work well across a vast range of well-established computer vision and language models. Our results show that LoKO converges with fewer iterations and yields better performance models compared to commonly used optimizers with LoRA in both image classifications and language tasks. Our study opens up the possibility of leveraging the Kalman filter as an effective optimizer for the online fine-tuning of large models.