Robotics paper index

MALT: Lightweight Curvature-Aware Muon via Diagonal Preconditioning

2026-08-05 · arXiv: 2608.05088

One-line summary

A robotics research paper on MALT: Lightweight Curvature-Aware Muon via Diagonal Preconditioning.

Engineering notes

Engineering notes will be added by the Robot Papers editorial team.

Chinese explanation / 中文解读

中文解读待补充:本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

Muon has recently emerged as a promising alternative to AdamW for language model pretraining by orthogonalizing momentum matrices using Newton-Schulz iterations. Although Muon mitigates gradient anisotropy, it does not explicitly account for the curvature geometry of the loss landscape and may therefore remain sensitive to curvature anisotropy. We bridge this gap by proposing MALT (Muon Augmented by Lightweight Two-sided Preconditioning), which uses lightweight diagonal preconditioners to reduce the sensitivity of Muon to curvature anisotropy. Specifically, MALT uses two-sided diagonal preconditioners with low memory and computational overhead to approximately capture the curvature geometry of the loss landscape. It orthogonalizes the preconditioned momentum using Newton-Schulz iterations and maps the result back to define the update direction, while norm grafting controls the update magnitude. To improve the robustness of MALT to stochastic gradient noise, we further propose MALTER (MALT with Adaptive stEpsize Rescaling). Convergence guarantees are provided for MALT in the stochastic non-convex setting. Experiments on GPT-2 Small, Medium, and Large pretraining show that the proposed methods outperform Muon while maintaining nearly the same memory footprint and wall-clock time.

5.0Engineering value
7.0Research novelty
4.0Business relevance

Links and sources

Need this topic turned into a technical roadmap?

Robot Papers can prepare a custom robotics literature review, code map, dataset map, and B2B technology assessment.

Request B2B research

Comments

No comments yet. Be the first to share your thoughts on this paper.
Login or register to leave a comment