Chenyang Ma

Fengyu Yang, Chenyang Ma, Jiacheng Zhang et al.

The ability to associate touch with sight is essential for tasks that require physically interacting with objects in the world. We propose a dataset with paired visual and tactile data called Touch and Go, in which human data collectors probe objects in natural environments using tactile sensors, while simultaneously recording egocentric video. In contrast to previous efforts, which have largely been confined to lab settings or simulated environments, our dataset spans a large number of "in the wild" objects and scenes. To demonstrate our dataset's effectiveness, we successfully apply it to a variety of tasks: 1) self-supervised visuo-tactile feature learning, 2) tactile-driven image stylization, i.e., making the visual appearance of an object more consistent with a given tactile signal, and 3) predicting future frames of a tactile signal from visuo-tactile inputs.

Tai-Yu Pan, Chenyang Ma, Tianle Chen et al.

Accurate 3D object detection and understanding for self-driving cars heavily relies on LiDAR point clouds, necessitating large amounts of labeled data to train. In this work, we introduce an innovative pre-training approach, Grounded Point Colorization (GPC), to bridge the gap between data and labels by teaching the model to colorize LiDAR point clouds, equipping it with valuable semantic cues. To tackle challenges arising from color variations and selection bias, we incorporate color as "context" by providing ground-truth colors as hints during colorization. Experimental results on the KITTI and Waymo datasets demonstrate GPC's remarkable effectiveness. Even with limited labeled data, GPC significantly improves fine-tuning performance; notably, on just 20% of the KITTI dataset, GPC outperforms training from scratch with the entire dataset. In sum, we introduce a fresh perspective on pre-training for 3D object detection, aligning the objective with the model's intended role and ultimately advancing the accuracy and efficiency of 3D object detection for autonomous vehicles.

Chenyang Ma, Xinchi Qiu, Daniel J. Beutel et al.

The privacy-sensitive nature of decentralized datasets and the robustness of eXtreme Gradient Boosting (XGBoost) on tabular data raise the needs to train XGBoost in the context of federated learning (FL). Existing works on federated XGBoost in the horizontal setting rely on the sharing of gradients, which induce per-node level communication frequency and serious privacy concerns. To alleviate these problems, we develop an innovative framework for horizontal federated XGBoost which does not depend on the sharing of gradients and simultaneously boosts privacy and communication efficiency by making the learning rates of the aggregated tree ensembles learnable. We conduct extensive evaluations on various classification and regression datasets, showing our approach achieves performance comparable to the state-of-the-art method and effectively improves communication efficiency by lowering both communication rounds and communication overhead by factors ranging from 25x to 700x. Project Page: https://flower.ai/blog/2023-04-19-xgboost-with-flower/

Chengbo He, Sheng Li, Chenyang Ma et al.

Robotic assistants in long-term human-robot collaboration need to assist users under partial observations while leveraging cross-day interaction history. However, human traits and routines are often unknown at the beginning of collaboration, making passive infer-then-act assistance ineffective and inefficient. To address this challenge, we study a cross-day proactive asking setting for continual task assistance and propose PACT (Proactive Asking for Continual Task Assistance), an ask-or-act framework that determines whether clarification should be sought before taking action. PACT leverages current observations together with accumulated interaction history to evaluate contextual sufficiency, enabling the robot to provide more reliable assistance and progressively adapt to the user over time. We implement its primary learned instantiation using reinforcement learning and evaluate alternative instantiations under the same framework. To assess such behavior, we further introduce a clarification utility metric that quantifies the trade-off between assistance accuracy and the frequency of clarification requests. Experiments in multi-day embodied collaboration scenarios demonstrate that, compared with passive inference baselines, PACT consistently improves both assistance accuracy and clarification utility, highlighting the importance of proactive asking in continual human-robot collaboration.

Ye Wang, Kai Huang, Sumin Shen et al.

Referring Camouflaged Object Detection (Ref-COD) focuses on segmenting specific camouflaged targets in a query image using category-aligned references. Despite recent advances, existing methods struggle with reference-target semantic alignment, explicit uncertainty modeling, and robust boundary preservation. To address these issues, we propose EviRCOD, an integrated framework consisting of three core components: (1) a Reference-Guided Deformable Encoder (RGDE) that employs hierarchical reference-driven modulation and multi-scale deformable aggregation to inject semantic priors and align cross-scale representations; (2) an Uncertainty-Aware Evidential Decoder (UAED) that incorporates Dirichlet evidence estimation into hierarchical decoding to model uncertainty and propagate confidence across scales; and (3) a Boundary-Aware Refinement Module (BARM) that selectively enhances ambiguous boundaries by exploiting low-level edge cues and prediction confidence. Experiments on the Ref-COD benchmark demonstrate that EviRCOD achieves state-of-the-art detection performance while providing well-calibrated uncertainty estimates. Code is available at: https://github.com/blueecoffee/EviRCOD.

Chuyan Chen, Chenyang Ma, Zhangxin Li et al.

Communication remains a central bottleneck in large-scale distributed machine learning, and gradient sparsification has emerged as a promising strategy to alleviate this challenge. However, existing gradient compressors face notable limitations: Rand-$K$ discards structural information and performs poorly in practice, while Top-$K$ preserves informative entries but loses the contraction property and requires costly All-Gather operations. In this paper, we propose ARC-Top-$K$, an {All-Reduce}-Compatible Top-$K$ compressor that aligns sparsity patterns across nodes using a lightweight sketch of the gradient, enabling index-free All-Reduce while preserving globally significant information. ARC-Top-$K$ is provably contractive and, when combined with momentum error feedback (EF21M), achieves linear speedup and sharper convergence rates than the original EF21M under standard assumptions. Empirically, ARC-Top-$K$ matches the accuracy of Top-$K$ while reducing wall-clock training time by up to 60.7\%, offering an efficient and scalable solution that combines the robustness of Rand-$K$ with the strong performance of Top-$K$.

Chenyang Ma, Kai Lu, Ta-Ying Cheng et al.

Current state-of-the-art spatial reasoning-enhanced VLMs are trained to excel at spatial visual question answering (VQA). However, we believe that higher-level 3D-aware tasks, such as articulating dynamic scene changes and motion planning, require a fundamental and explicit 3D understanding beyond current spatial VQA datasets. In this work, we present SpatialPIN, a framework designed to enhance the spatial reasoning capabilities of VLMs through prompting and interacting with priors from multiple 3D foundation models in a zero-shot, training-free manner. Extensive experiments demonstrate that our spatial reasoning-imbued VLM performs well on various forms of spatial VQA and can extend to help in various downstream robotics tasks such as pick and stack and trajectory planning.

Chenyang Ma, Clyde Fare, Matthew Wilson et al.

Most web agents operate at the human interface level, observing screenshots or raw DOM trees without application-level access, which limits robustness and action expressiveness. In enterprise settings, however, explicit control of both the frontend and backend is available. We present EmbeWebAgent, a framework for embedding agents directly into existing UIs using lightweight frontend hooks (curated ARIA and URL-based observations, and a per-page function registry exposed via a WebSocket) and a reusable backend workflow that performs reasoning and takes actions. EmbeWebAgent is stack-agnostic (e.g., React or Angular), supports mixed-granularity actions ranging from GUI primitives to higher-level composites, and orchestrates navigation, manipulation, and domain-specific analytics via MCP tools. Our demo shows minimal retrofitting effort and robust multi-step behaviors grounded in a live UI setting. Live Demo: https://youtu.be/Cy06Ljee1JQ

Xinchi Qiu, Heng Pan, Wanru Zhao et al.

Most work in privacy-preserving federated learning (FL) has focused on horizontally partitioned datasets where clients hold the same features and train complete client-level models independently. However, individual data points are often scattered across different institutions, known as clients, in vertical FL (VFL) settings. Addressing this category of FL necessitates the exchange of intermediate outputs and gradients among participants, resulting in potential privacy leakage risks and slow convergence rates. Additionally, in many real-world scenarios, VFL training also faces the acute issue of client stragglers and drop-outs, a serious challenge that can significantly hinder the training process but has been largely overlooked in existing studies. In this work, we present vFedSec, a first dropout-tolerant VFL protocol, which can support the most generalized vertical framework. It achieves secure and efficient model training by using an innovative Secure Layer alongside an embedding-padding technique. We provide theoretical proof that our design attains enhanced security while maintaining training performance. Empirical results from extensive experiments also demonstrate vFedSec is robust to client dropout and provides secure training with negligible computation and communication overhead. Compared to widely adopted homomorphic encryption (HE) methods, our approach achieves a remarkable > 690x speedup and reduces communication costs significantly by > 9.6x.

Xinchi Qiu, Heng Pan, Wanru Zhao et al.

The majority of work in privacy-preserving federated learning (FL) has been focusing on horizontally partitioned datasets where clients share the same sets of features and can train complete models independently. However, in many interesting problems, such as financial fraud detection and disease detection, individual data points are scattered across different clients/organizations in vertical federated learning. Solutions for this type of FL require the exchange of gradients between participants and rarely consider privacy and security concerns, posing a potential risk of privacy leakage. In this work, we present a novel design for training vertical FL securely and efficiently using state-of-the-art security modules for secure aggregation. We demonstrate empirically that our method does not impact training performance whilst obtaining 9.1e2 ~3.8e4 speedup compared to homomorphic encryption (HE).

Chenyang Ma, Boyuan Xu, Hesheng Liu

The objective of this work is to optimize the performance of a constant flow parallel mechanical displacement micropump, which has parallel pump chambers and incorporates passive check valves. The critical task is to minimize the pressure pulse caused by regurgitation, which negatively impacts the constant flow rate, during the reciprocating motion when the left and right pumps interchange their role of aspiration and transfusion. Previous works attempt to solve this issue via the mechanical design of passive check valves. In this work, the novel concept of overlap time is proposed, and the issue is solved from the aspect of control theory by implementing a RBF neural network trained by both unsupervised and supervised learning. The experimental results indicate that the pressure pulse is optimized in the range of 0.15 - 0.25 MPa, which is a significant improvement compared to the maximum pump working pressure of 40 MPa.