Tao Chang

Yuejie Wang, Tao Chang, Yuanyuan Zhao et al.

Training Large Language Models (LLMs) on heterogeneous clusters presents significant challenges for collective communication, as hardware from multiple vendors introduces diverse network and computational characteristics. Existing collective communication frameworks (e.g., NCCL, RCCL) designed for homogeneous environments fail to address mixed-hardware setups, while communication libraries with heterogeneous support (e.g., Gloo, OpenMPI) incur heavy overhead in the data path. This paper presents HetCCL, a framework that enables heterogeneous collective communication by efficient P2P transport across heterogeneous devices (e.g., GPUs), eliminating the host-device memory copy overhead while offloading the control to the CPUs. For combining collectives (e.g., AllReduce, ReduceScatter), HetCCL introduces a border-communicator mechanism that achieves vendor independence by using the intrinsic reduction in the combining collectives in vendor collective communication libraries. With efficient heterogeneous P2P transport and portable reduction mechanism, HetCCL proposes a hierarchical topology abstraction for heterogeneous clusters, dissecting collective communication into cluster-level primitives that guarantee optimal cross-cluster data transfer volume and optimal bandwidth utilization. We implement HetCCL with 4 different vendor support and evaluate it in 4 heterogeneous settings with benchmarks and end-to-end LLM tasks. Our evaluation shows that HetCCL achieves 17-19x higher bandwidth than Gloo in heterogeneous communications, and speeds up end-to-end training by up to 16.9% in the per-step-time.

Cui Miao, Tao Chang, Meihan Wu et al.

Vision-language-action (VLA) models have significantly advanced robotic manipulation by enabling robots to interpret language instructions for task execution. However, training these models often relies on large-scale user-specific data, raising concerns about privacy and security, which in turn limits their broader adoption. To address this, we propose FedVLA, the first federated VLA learning framework, enabling distributed model training that preserves data privacy without compromising performance. Our framework integrates task-aware representation learning, adaptive expert selection, and expert-driven federated aggregation, enabling efficient and privacy-preserving training of VLA models. Specifically, we introduce an Instruction Oriented Scene-Parsing mechanism, which decomposes and enhances object-level features based on task instructions, improving contextual understanding. To effectively learn diverse task patterns, we design a Dual Gating Mixture-of-Experts (DGMoE) mechanism, where not only input tokens but also self-aware experts adaptively decide their activation. Finally, we propose an Expert-Driven Aggregation strategy at the federated server, where model aggregation is guided by activated experts, ensuring effective cross-client knowledge transfer.Extensive simulations and real-world robotic experiments demonstrate the effectiveness of our proposals. Notably, DGMoE significantly improves computational efficiency compared to its vanilla counterpart, while FedVLA achieves task success rates comparable to centralized training, effectively preserving data privacy.

Meihan Wu, Tao Chang, Cui Miao et al.

Federated learning research has recently shifted from Convolutional Neural Networks (CNNs) to Vision Transformers (ViTs) due to their superior capacity. ViTs training demands higher computational resources due to the lack of 2D inductive biases inherent in CNNs. However, efficient federated training of ViTs on resource-constrained edge devices remains unexplored in the community. In this paper, we propose EFTViT, a hierarchical federated framework that leverages masked images to enable efficient, full-parameter training on resource-constrained edge devices, offering substantial benefits for learning on heterogeneous data. In general, we patchify images and randomly mask a portion of the patches, observing that excluding them from training has minimal impact on performance while substantially reducing computation costs and enhancing data content privacy protection. Specifically, EFTViT comprises a series of lightweight local modules and a larger global module, updated independently on clients and the central server, respectively. The local modules are trained on masked image patches, while the global module is trained on intermediate patch features uploaded from the local client, balanced through a proposed median sampling strategy to erase client data distribution privacy. We analyze the computational complexity and privacy protection of EFTViT. Extensive experiments on popular benchmarks show that EFTViT achieves up to 28.17% accuracy improvement, reduces local training computational cost by up to 2.8$\times$, and cuts local training time by up to 4.4$\times$ compared to existing methods.

Wansen Wu, Tao Chang, Xinmeng Li

Vision-Language Navigation (VLN) tasks require an agent to follow human language instructions to navigate in previously unseen environments. This challenging field involving problems in natural language processing, computer vision, robotics, etc., has spawn many excellent works focusing on various VLN tasks. This paper provides a comprehensive survey and an insightful taxonomy of these tasks based on the different characteristics of language instructions in these tasks. Depending on whether the navigation instructions are given for once or multiple times, this paper divides the tasks into two categories, i.e., single-turn and multi-turn tasks. For single-turn tasks, we further subdivide them into goal-oriented and route-oriented based on whether the instructions designate a single goal location or specify a sequence of multiple locations. For multi-turn tasks, we subdivide them into passive and interactive tasks based on whether the agent is allowed to question the instruction or not. These tasks require different capabilities of the agent and entail various model designs. We identify progress made on the tasks and look into the limitations of existing VLN models and task settings. Finally, we discuss several open issues of VLN and point out some opportunities in the future, i.e., incorporating knowledge with VLN models and implementing them in the real physical world.