Query-based methods with dense features have demonstrated remarkable success in 3D object detection tasks. However, the computational demands of these models, particularly with large image sizes and multiple transformer layers, pose significant challenges for efficient running on edge devices. Existing pruning and distillation methods either need retraining or are designed for ViT models, which are hard to migrate to 3D detectors. To address this issue, we propose a zero-shot runtime pruning method for transformer decoders in 3D object detection models. The method, termed tgGBC (trim keys gradually Guided By Classification scores), systematically trims keys in transformer modules based on their importance. We expand the classification score to multiply it with the attention map to get the importance score of each key and then prune certain keys after each transformer layer according to their importance scores. Our method achieves a 1.99x speedup in the transformer decoder of the latest ToC3D model, with only a minimal performance loss of less than 1%. Interestingly, for certain models, our method even enhances their performance. Moreover, we deploy 3D detectors with tgGBC on an edge device, further validating the effectiveness of our method. The code can be found atthis https URL.
View on arXiv@article{xu2025_2503.08101,
title={ Accelerate 3D Object Detection Models via Zero-Shot Attention Key Pruning },
author={ Lizhen Xu and Xiuxiu Bai and Xiaojun Jia and Jianwu Fang and Shanmin Pang },
journal={arXiv preprint arXiv:2503.08101},
year={ 2025 }
}