# OWLed: Outlier-weighed Layerwise Pruning for Efficient Autonomous Driving Framework

arXiv: https://arxiv.org/abs/2411.07711 · HTML: https://mlsanity.com/paper/2411.07711/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in VLMs for autonomous driving, one of 9 directions in End-to-end autonomous driving.
- Builds on 46 of its 53 references that are in the map.
- First posted on arXiv 12 Nov 2024.

## Placed in

- End-to-end autonomous driving / [VLMs for autonomous driving](https://mlsanity.com/driving/vlms-for-autonomous-driving/)

## Builds on (most cited first, 30 of 46)

- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [Exploring the Limits of Transfer Learning with a Unified Text-to-Text Transformer](https://mlsanity.com/paper/1910.10683/) (2019)
- [LLaMA: Open and Efficient Foundation Language Models](https://mlsanity.com/paper/2302.13971/) (2023)
- [Sparks of Artificial General Intelligence: Early experiments with GPT-4](https://mlsanity.com/paper/2303.12712/) (2023)
- [Deep Compression: Compressing Deep Neural Networks with Pruning, Trained Quantization and Huffman Coding](https://mlsanity.com/paper/1510.00149/) (2015)
- [G-Eval: NLG Evaluation using GPT-4 with Better Human Alignment](https://mlsanity.com/paper/2303.16634/) (2023)
- [Learning both Weights and Connections for Efficient Neural Networks](https://mlsanity.com/paper/1506.02626/) (2015)
- [BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformers](https://mlsanity.com/paper/2203.17270/) (2022)
- [SparseGPT: Massive Language Models Can Be Accurately Pruned in One-Shot](https://mlsanity.com/paper/2301.00774/) (2023)
- [Planning-oriented Autonomous Driving](https://mlsanity.com/paper/2212.10156/) (2022)
- [A Simple and Effective Pruning Approach for Large Language Models](https://mlsanity.com/paper/2306.11695/) (2023)
- [LLM-Pruner: On the Structural Pruning of Large Language Models](https://mlsanity.com/paper/2305.11627/) (2023)
- [Rethinking the Value of Network Pruning](https://mlsanity.com/paper/1810.05270/) (2018)
- [What is the State of Neural Network Pruning?](https://mlsanity.com/paper/2003.03033/) (2020)
- [Rigging the Lottery: Making All Tickets Winners](https://mlsanity.com/paper/1911.11134/) (2019)
- [End-to-end Autonomous Driving: Challenges and Frontiers](https://mlsanity.com/paper/2306.16927/) (2023)
- [DriveVLM: The Convergence of Autonomous Driving and Large Vision-Language Models](https://mlsanity.com/paper/2402.12289/) (2024)
- [The State of Sparsity in Deep Neural Networks](https://mlsanity.com/paper/1902.09574/) (2019)
- [DriveGPT4: Interpretable End-to-end Autonomous Driving via Large Language Model](https://mlsanity.com/paper/2310.01412/) (2023)
- [Is ChatGPT a Good NLG Evaluator? A Preliminary Study](https://mlsanity.com/paper/2303.04048/) (2023)
- [GPTScore: Evaluate as You Desire](https://mlsanity.com/paper/2302.04166/) (2023)
- [GPT-Driver: Learning to Drive with GPT](https://mlsanity.com/paper/2310.01415/) (2023)
- [LMDrive: Closed-Loop End-to-End Driving with Large Language Models](https://mlsanity.com/paper/2312.07488/) (2023)
- [A Survey on Multimodal Large Language Models for Autonomous Driving](https://mlsanity.com/paper/2311.12320/) (2023)
- [Motion Transformer with Global Intention Localization and Local Movement Refinement](https://mlsanity.com/paper/2209.13508/) (2022)
- [Comparing Rewinding and Fine-tuning in Neural Network Pruning](https://mlsanity.com/paper/2003.02389/) (2020)
- [Driving with LLMs: Fusing Object-Level Vector Modality for Explainable Autonomous Driving](https://mlsanity.com/paper/2310.01957/) (2023)
- [DiLu: A Knowledge-Driven Approach to Autonomous Driving with Large Language Models](https://mlsanity.com/paper/2309.16292/) (2023)
- [LanguageMPC: Large Language Models as Decision Makers for Autonomous Driving](https://mlsanity.com/paper/2310.03026/) (2023)
- [Outlier Weighed Layerwise Sparsity (OWL): A Missing Secret Sauce for Pruning LLMs to High Sparsity](https://mlsanity.com/paper/2310.05175/) (2023)

## Abstract (arXiv)

The integration of Large Language Models (LLMs) into autonomous driving systems offers promising enhancements in environmental understanding and decision-making. However, the substantial computational demands of deploying LLMs locally on vehicles render this approach unfeasible for real-world automotive applications. To address this challenge, we introduce OWLed, the Outlier-Weighed Layerwise Pruning for Efficient Autonomous Driving Framework that leverages outlier-weighted layerwise sparsity for model compression. Our method assigns non-uniform sparsity ratios to different layers based on the distribution of outlier features, significantly reducing the model size without the need for fine-tuning. To ensure the compressed model adapts well to autonomous driving tasks, we incorporate driving environment data into both the calibration and pruning processes. Our empirical studies reveal that the encoder component is more sensitive to pruning than the LLM, highlighting its critical role in the system. Experimental results demonstrate that OWLed outperforms existing methods in perception, action prediction, and language understanding while substantially lowering computational requirements. These findings underscore the potential of combining advanced pruning techniques with LLMs to develop efficient and robust autonomous driving systems capable of handling complex scenarios. Code will be made publicly available.