# Quantization-Aware Collaborative Inference for Large Embodied AI Models

arXiv: https://arxiv.org/abs/2602.13052 · HTML: https://mlsanity.com/paper/2602.13052/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 32 of its 41 references that are in the map.
- First posted on arXiv 13 Feb 2026.

## Builds on (most cited first, 30 of 32)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [BLIP-2: Bootstrapping Language-Image Pre-training with Frozen Image Encoders and Large Language Models](https://mlsanity.com/paper/2301.12597/) (2023)
- [VideoMAE: Masked Autoencoders are Data-Efficient Learners for Self-Supervised Video Pre-Training](https://mlsanity.com/paper/2203.12602/) (2022)
- [GIT: A Generative Image-to-text Transformer for Vision and Language](https://mlsanity.com/paper/2205.14100/) (2022)
- [VATEX: A Large-Scale, High-Quality Multilingual Dataset for Video-and-Language Research](https://mlsanity.com/paper/1904.03493/) (2019)
- [Incremental Network Quantization: Towards Lossless CNNs with Low-Precision Weights](https://mlsanity.com/paper/1702.03044/) (2017)
- [Embodied Intelligence via Learning and Evolution](https://mlsanity.com/paper/2102.02202/) (2021)
- [Fixed Point Quantization of Deep Convolutional Networks](https://mlsanity.com/paper/1511.06393/) (2015)
- [LLM Pruning and Distillation in Practice: The Minitron Approach](https://mlsanity.com/paper/2408.11796/) (2024)
- [EdgeMoE: Empowering Sparse Large Language Models on Mobile Devices](https://mlsanity.com/paper/2308.14352/) (2023)
- [CoEdge: Cooperative DNN Inference with Adaptive Workload Partitioning over Heterogeneous Edge Devices](https://mlsanity.com/paper/2012.03257/) (2020)
- [Task-Oriented Communication for Multi-Device Cooperative Edge Inference](https://mlsanity.com/paper/2109.00172/) (2021)
- [When Large Language Model Agents Meet 6G Networks: Perception, Grounding, and Alignment](https://mlsanity.com/paper/2401.07764/) (2024)
- [M'elange: Cost Efficient Large Language Model Serving by Exploiting GPU Heterogeneity](https://mlsanity.com/paper/2404.14527/) (2024)
- [TAPAS: Thermal- and Power-Aware Scheduling for LLM Inference in Cloud Platforms](https://mlsanity.com/paper/2501.02600/) (2025)
- [A Survey on Collaborative DNN Inference for Edge Intelligence](https://mlsanity.com/paper/2207.07812/) (2022)
- [ThunderServe: High-performance and Cost-efficient LLM Serving in Cloud Environments](https://mlsanity.com/paper/2502.09334/) (2025)
- [Uncertainty-Aware Hybrid Inference with On-Device Small and Remote Large Language Models](https://mlsanity.com/paper/2412.12687/) (2024)
- [Semantic Communications for Image Recovery and Classification via Deep Joint Source and Channel Coding](https://mlsanity.com/paper/2304.02317/) (2023)
- [Neuromorphic Wireless Cognition: Event-Driven Semantic Communications for Remote Inference](https://mlsanity.com/paper/2206.06047/) (2022)
- [AI-RAN: Transforming RAN with AI-driven Computing Infrastructure](https://mlsanity.com/paper/2501.09007/) (2025)
- [Device-Cloud Collaborative LLM Inference with Multi-Modal, Multi-Task, Multi-Turn Conversations](https://mlsanity.com/paper/2502.11007/) (2025)
- [Rethinking Resource Management in Edge Learning: A Joint Pre-training and Fine-tuning Design Paradigm](https://mlsanity.com/paper/2404.00836/) (2024)
- [Adaptive Layer Splitting for Wireless LLM Inference in Edge Computing: A Model-Based Reinforcement Learning Approach](https://mlsanity.com/paper/2406.02616/) (2024)
- [Goal-Oriented Semantic Communications for 6G Networks](https://mlsanity.com/paper/2210.09372/) (2022)
- [The Larger the Merrier? Efficient Large AI Model Inference in Wireless Edge Networks](https://mlsanity.com/paper/2505.09214/) (2025)
- [Vision Transformer-based Semantic Communications With Importance-Aware Quantization](https://mlsanity.com/paper/2412.06038/) (2024)

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

- [Personalized Federated Learning by Energy-Efficient UAV Communications](https://mlsanity.com/paper/2605.25212/) (2026)

## Abstract (arXiv)

Large artificial intelligence models (LAIMs) are increasingly regarded as a core intelligence engine for embodied AI applications. However, the massive parameter scale and computational demands of LAIMs pose significant challenges for resource-limited embodied agents. To address this issue, we investigate quantization-aware collaborative inference (co-inference) for embodied AI systems. First, we develop a tractable approximation for quantization-induced inference distortion. Based on this approximation, we derive lower and upper bounds on the quantization rate-inference distortion function, characterizing its dependence on LAIM statistics, including the quantization bit-width. Next, we formulate a joint quantization bit-width and computation frequency design problem under delay and energy constraints, aiming to minimize the distortion upper bound while ensuring tightness through the corresponding lower bound. Extensive evaluations validate the proposed distortion approximation, the derived rate-distortion bounds, and the effectiveness of the proposed joint design. Particularly, simulations and real-world testbed experiments demonstrate the effectiveness of the proposed joint design in balancing inference quality, latency, and energy consumption in edge embodied AI systems.