Ke‐Ke Yang

Yifan Wang, Wei Fan, Keke Yang et al.

Federated Learning (FL) is a novel framework of decentralized machine learning. Due to the decentralized feature of FL, it is vulnerable to adversarial attacks in the training procedure, e.g. , backdoor attacks. A backdoor attack aims to inject a backdoor into the machine learning model such that the model will make arbitrarily incorrect behavior on the test sample with some specific backdoor trigger. Even though a range of backdoor attack methods of FL has been introduced, there are also methods defending against them. Many of the defending methods utilize the abnormal characteristics of the models with backdoor or the difference between the models with backdoor and the regular models. To bypass these defenses, we need to reduce the difference and the abnormal characteristics. We find a source of such abnormality is that backdoor attack would directly flip the label of data when poisoning the data. However, current studies of the backdoor attack in FL are not mainly focus on reducing the difference between the models with backdoor and the regular models. In this paper, we propose Adversarial Knowledge Distillation(ADVKD), a method combine knowledge distillation with backdoor attack in FL. With knowledge distillation, we can reduce the abnormal characteristics in model result from the label flipping, thus the model can bypass the defenses. Compared to current methods, we show that ADVKD can not only reach a higher attack success rate, but also successfully bypass the defenses when other methods fails. To further explore the performance of ADVKD, we test how the parameters affect the performance of ADVKD under different scenarios. According to the experiment result, we summarize how to adjust the parameter for better performance under different scenarios. We also use several methods to visualize the effect of different attack and explain the effectiveness of ADVKD.

Hanyang Chen, Mark Zhao, Rui Yang et al.

Recent advances in embodied AI highlight the potential of vision language models (VLMs) as agents capable of perception, reasoning, and interaction in complex environments. However, top-performing systems rely on large-scale models that are costly to deploy, while smaller VLMs lack the necessary knowledge and skills to succeed. To bridge this gap, we present \textit{Embodied Reasoning Agent (ERA)}, a two-stage framework that integrates prior knowledge learning and online reinforcement learning (RL). The first stage, \textit{Embodied Prior Learning}, distills foundational knowledge from three types of data: (1) Trajectory-Augmented Priors, which enrich existing trajectory data with structured reasoning generated by stronger models; (2) Environment-Anchored Priors, which provide in-environment knowledge and grounding supervision; and (3) External Knowledge Priors, which transfer general knowledge from out-of-environment datasets. In the second stage, we develop an online RL pipeline that builds on these priors to further enhance agent performance. To overcome the inherent challenges in agent RL, including long horizons, sparse rewards, and training instability, we introduce three key designs: self-summarization for context management, dense reward shaping, and turn-level policy optimization. Extensive experiments on both high-level planning (EB-ALFRED) and low-level control (EB-Manipulation) tasks demonstrate that ERA-3B surpasses both prompting-based large models and previous training-based baselines. Specifically, it achieves overall improvements of 8.4\% on EB-ALFRED and 19.4\% on EB-Manipulation over GPT-4o, and exhibits strong generalization to unseen tasks. Overall, ERA offers a practical path toward scalable embodied intelligence, providing methodological insights for future embodied AI systems.