Xingyi Wang

Mingxuan Jia, Wen Huang, Weixin Zhao et al.

How to synthesize a dataset while achieving differential privacy for AI model training is a meaningful but challenging problem. To address this problem, state-of-the-art methods first select original private dataset's multiple low-dimensional distributions that have the potential to approximate the distribution of original private dataset with high precision, and then synthesize a dataset obeying all selected low-dimensional distributions as the synthetic dataset. However, it is difficult to select suitable low-dimensional distributions, which in turn degrades the data utility of resulting synthetic dataset. To improve differentially private dataset synthesis, we propose to train a differentially private AI model for downstream tasks on the original private dataset and utilize the trained model to synthesize datasets. In particular, on the one hand, the AI model satisfies differential privacy so no matter how to use the model does not disclose private information of original private dataset. On the other hand, the AI model is trained to complete the downstream task so the AI model preserves critical information for completing downstream tasks. We utilize the AI model to synthesize datasets to achieve the goal of improving data utility while preserving privacy. Empirical evaluations on four benchmark datasets demonstrate that our proposed DPDSyn consistently outperforms eight state-of-the-art baselines with a maximum improvement of 2.40x in accuracy and 333.73x in synthesis efficiency. Further experiments also validate that DPDSyn has strong scalability across varying data scales.

Xingyi Wang, Chenyun Zhang, Weiji Xie et al.

Humanoid robots deployed in real-world scenarios often need to carry unknown payloads, which introduce significant mismatch and degrade the effectiveness of simulation-to-reality reinforcement learning methods. To address this challenge, we propose a two-stage gradient-based system identification framework built on the differentiable simulator MuJoCo XLA. The first stage calibrates the nominal robot model using real-world data to reduce intrinsic sim-to-real discrepancies, while the second stage further identifies the mass distribution of the unknown payload. By explicitly reducing structured model bias prior to policy training, our approach enables zero-shot transfer of reinforcement learning policies to hardware under heavy-load conditions. Extensive simulation and real-world experiments demonstrate more precise parameter identification, improved motion tracking accuracy, and substantially enhanced agility and robustness compared to existing baselines. Project Page: https://mwondering.github.io/halo-humanoid/