Chen Chen

Umar Khalid, Hasan Iqbal, Saeed Vahidian et al.

Human-robot interaction (HRI) is a rapidly growing field that encompasses social and industrial applications. Machine learning plays a vital role in industrial HRI by enhancing the adaptability and autonomy of robots in complex environments. However, data privacy is a crucial concern in the interaction between humans and robots, as companies need to protect sensitive data while machine learning algorithms require access to large datasets. Federated Learning (FL) offers a solution by enabling the distributed training of models without sharing raw data. Despite extensive research on Federated learning (FL) for tasks such as natural language processing (NLP) and image classification, the question of how to use FL for HRI remains an open research problem. The traditional FL approach involves transmitting large neural network parameter matrices between the server and clients, which can lead to high communication costs and often becomes a bottleneck in FL. This paper proposes a communication-efficient FL framework for human-robot interaction (CEFHRI) to address the challenges of data heterogeneity and communication costs. The framework leverages pre-trained models and introduces a trainable spatiotemporal adapter for video understanding tasks in HRI. Experimental results on three human-robot interaction benchmark datasets: HRI30, InHARD, and COIN demonstrate the superiority of CEFHRI over full fine-tuning in terms of communication costs. The proposed methodology provides a secure and efficient approach to HRI federated learning, particularly in industrial environments with data privacy concerns and limited communication bandwidth. Our code is available at https://github.com/umarkhalidAI/CEFHRI-Efficient-Federated-Learning.

Xueluan Gong, Yuji Wang, Shuaike Li et al.

Federated Learning (FL) emerged as a paradigm for conducting machine learning across broad and decentralized datasets, promising enhanced privacy by obviating the need for direct data sharing. However, recent studies show that attackers can steal private data through model manipulation or gradient analysis. Existing attacks are constrained by low theft quantity or low-resolution data, and they are often detected through anomaly monitoring in gradients or weights. In this paper, we propose a novel data-reconstruction attack leveraging malicious code injection, supported by two key techniques, i.e., distinctive and sparse encoding design and block partitioning. Unlike conventional methods that require detectable changes to the model, our method stealthily embeds a hidden model using parameter sharing to systematically extract sensitive data. The Fibonacci-based index design ensures efficient, structured retrieval of memorized data, while the block partitioning method enhances our method's capability to handle high-resolution images by dividing them into smaller, manageable units. Extensive experiments on 4 datasets confirmed that our method is superior to the five state-of-the-art data-reconstruction attacks under the five respective detection methods. Our method can handle large-scale and high-resolution data without being detected or mitigated by state-of-the-art data reconstruction defense methods. In contrast to baselines, our method can be directly applied to both FedAVG and FedSGD scenarios, underscoring the need for developers to devise new defenses against such vulnerabilities. We will open-source our code upon acceptance.

Matias Mendieta, Taojiannan Yang, Pu Wang et al.

Federated learning (FL) is a promising strategy for performing privacy-preserving, distributed learning with a network of clients (i.e., edge devices). However, the data distribution among clients is often non-IID in nature, making efficient optimization difficult. To alleviate this issue, many FL algorithms focus on mitigating the effects of data heterogeneity across clients by introducing a variety of proximal terms, some incurring considerable compute and/or memory overheads, to restrain local updates with respect to the global model. Instead, we consider rethinking solutions to data heterogeneity in FL with a focus on local learning generality rather than proximal restriction. To this end, we first present a systematic study informed by second-order indicators to better understand algorithm effectiveness in FL. Interestingly, we find that standard regularization methods are surprisingly strong performers in mitigating data heterogeneity effects. Based on our findings, we further propose a simple and effective method, FedAlign, to overcome data heterogeneity and the pitfalls of previous methods. FedAlign achieves competitive accuracy with state-of-the-art FL methods across a variety of settings while minimizing computation and memory overhead. Code is available at https://github.com/mmendiet/FedAlign

Yu Liu, Zibo Wang, Yifei Zhu et al.

Federated learning (FL) has emerged as a prevalent distributed machine learning scheme that enables collaborative model training without aggregating raw data. Cloud service providers further embrace Federated Learning as a Service (FLaaS), allowing data analysts to execute their FL training pipelines over differentially-protected data. Due to the intrinsic properties of differential privacy, the enforced privacy level on data blocks can be viewed as a privacy budget that requires careful scheduling to cater to diverse training pipelines. Existing privacy budget scheduling studies prioritize either efficiency or fairness individually. In this paper, we propose DPBalance, a novel privacy budget scheduling mechanism that jointly optimizes both efficiency and fairness. We first develop a comprehensive utility function incorporating data analyst-level dominant shares and FL-specific performance metrics. A sequential allocation mechanism is then designed using the Lagrange multiplier method and effective greedy heuristics. We theoretically prove that DPBalance satisfies Pareto Efficiency, Sharing Incentive, Envy-Freeness, and Weak Strategy Proofness. We also theoretically prove the existence of a fairness-efficiency tradeoff in privacy budgeting. Extensive experiments demonstrate that DPBalance outperforms state-of-the-art solutions, achieving an average efficiency improvement of $1.44\times \sim 3.49 \times$, and an average fairness improvement of $1.37\times \sim 24.32 \times$.

Umar Khalid, Kashif Munir, Hasan Iqbal et al.

Editing complex visual content from ambiguous or partially specified instructions remains a core challenge in vision-language modeling. Existing models can contextualize content but often fail to infer the underlying intent within a reference image or scene, leading to inconsistent or misaligned edits. We introduce the Editing Vision-Language Model (EVLM), a system that interprets ambiguous instructions in conjunction with reference visuals to produce precise, context-aware editing prompts. EVLM's key innovation is a reflective reasoning framework that translates subjective user intent into structured, actionable outputs by aligning with human-rated rationales through Reflection-Aware KL-Divergence Target Optimization (RKTO). By combining Chain-of-Thought (CoT) reasoning with RKTO alignment, EVLM captures fine-grained editing preferences without relying on binary supervision. Trained on a dataset of 30,000 CoT examples with human-annotated rationale quality, EVLM achieves substantial gains in alignment with human intent. Experiments across image, video, 3D, and 4D editing tasks show that EVLM generates coherent and high-quality instructions, providing a scalable foundation for multimodal editing and reasoning.

Chen Chen, Qizhen Weng, Wei Wang et al.

Machine learning (ML) models are increasingly trained in clusters with non-dedicated workers possessing heterogeneous resources. In such scenarios, model training efficiency can be negatively affected by stragglers -- workers that run much slower than others. Efficient model training requires eliminating such stragglers, yet for modern ML workloads, existing load balancing strategies are inefficient and even infeasible. In this paper, we propose a novel strategy called semi-dynamic load balancing to eliminate stragglers of distributed ML workloads. The key insight is that ML workers shall be load-balanced at iteration boundaries, being non-intrusive to intra-iteration execution. We develop LB-BSP based on such an insight, which is an integrated worker coordination mechanism that adapts workers' load to their instantaneous processing capabilities by right-sizing the sample batches at the synchronization barriers. We have custom-designed the batch sizing algorithm respectively for CPU and GPU clusters based on their own characteristics. LB-BSP has been implemented as a Python module for ML frameworks like TensorFlow and PyTorch. Our EC2 deployment confirms that LB-BSP is practical, effective and light-weight, and is able to accelerating distributed training by up to $54\%$.