Jing Gao

Feijie Wu, Xingchen Wang, Yaqing Wang et al.

In federated learning (FL), accommodating clients' varied computational capacities poses a challenge, often limiting the participation of those with constrained resources in global model training. To address this issue, the concept of model heterogeneity through submodel extraction has emerged, offering a tailored solution that aligns the model's complexity with each client's computational capacity. In this work, we propose Federated Importance-Aware Submodel Extraction (FIARSE), a novel approach that dynamically adjusts submodels based on the importance of model parameters, thereby overcoming the limitations of previous static and dynamic submodel extraction methods. Compared to existing works, the proposed method offers a theoretical foundation for the submodel extraction and eliminates the need for additional information beyond the model parameters themselves to determine parameter importance, significantly reducing the overhead on clients. Extensive experiments are conducted on various datasets to showcase the superior performance of the proposed FIARSE.

Jing Gao, Ning Cheng, Bin Fang et al.

The Transformer model, initially achieving significant success in the field of natural language processing, has recently shown great potential in the application of tactile perception. This review aims to comprehensively outline the application and development of Transformers in tactile technology. We first introduce the two fundamental concepts behind the success of the Transformer: the self-attention mechanism and large-scale pre-training. Then, we delve into the application of Transformers in various tactile tasks, including but not limited to object recognition, cross-modal generation, and object manipulation, offering a concise summary of the core methodologies, performance benchmarks, and design highlights. Finally, we suggest potential areas for further research and future work, aiming to generate more interest within the community, tackle existing challenges, and encourage the use of Transformer models in the tactile field.

Ning Cheng, You Li, Jing Gao et al.

Tactility provides crucial support and enhancement for the perception and interaction capabilities of both humans and robots. Nevertheless, the multimodal research related to touch primarily focuses on visual and tactile modalities, with limited exploration in the domain of language. Beyond vocabulary, sentence-level descriptions contain richer semantics. Based on this, we construct a touch-language-vision dataset named TLV (Touch-Language-Vision) by human-machine cascade collaboration, featuring sentence-level descriptions for multimode alignment. The new dataset is used to fine-tune our proposed lightweight training framework, STLV-Align (Synergistic Touch-Language-Vision Alignment), achieving effective semantic alignment with minimal parameter adjustments (1%). Project Page: https://xiaoen0.github.io/touch.page/.