Hongli Xu

Yunming Liao, Yang Xu, Hongli Xu et al.

Recently, federated learning (FL) has emerged as a popular technique for edge AI to mine valuable knowledge in edge computing (EC) systems. To mitigate the computing/communication burden on resource-constrained workers and protect model privacy, split federated learning (SFL) has been released by integrating both data and model parallelism. Despite resource limitations, SFL still faces two other critical challenges in EC, i.e., statistical heterogeneity and system heterogeneity. To address these challenges, we propose a novel SFL framework, termed MergeSFL, by incorporating feature merging and batch size regulation in SFL. Concretely, feature merging aims to merge the features from workers into a mixed feature sequence, which is approximately equivalent to the features derived from IID data and is employed to promote model accuracy. While batch size regulation aims to assign diverse and suitable batch sizes for heterogeneous workers to improve training efficiency. Moreover, MergeSFL explores to jointly optimize these two strategies upon their coupled relationship to better enhance the performance of SFL. Extensive experiments are conducted on a physical platform with 80 NVIDIA Jetson edge devices, and the experimental results show that MergeSFL can improve the final model accuracy by 5.82% to 26.22%, with a speedup by about 1.74x to 4.14x, compared to the baselines.

Yang Xu, Yunming Liao, Hongli Xu et al.

Federated Learning (FL) has emerged to allow multiple clients to collaboratively train machine learning models on their private data at the network edge. However, training and deploying large-scale models on resource-constrained devices is challenging. Fortunately, Split Federated Learning (SFL) offers a feasible solution by alleviating the computation and/or communication burden on clients. However, existing SFL works often assume sufficient labeled data on clients, which is usually impractical. Besides, data non-IIDness poses another challenge to ensure efficient model training. To our best knowledge, the above two issues have not been simultaneously addressed in SFL. Herein, we propose a novel Semi-supervised SFL system, termed SemiSFL, which incorporates clustering regularization to perform SFL with unlabeled and non-IID client data. Moreover, our theoretical and experimental investigations into model convergence reveal that the inconsistent training processes on labeled and unlabeled data have an influence on the effectiveness of clustering regularization. To mitigate the training inconsistency, we develop an algorithm for dynamically adjusting the global updating frequency, so as to improve training performance. Extensive experiments on benchmark models and datasets show that our system provides a 3.8x speed-up in training time, reduces the communication cost by about 70.3% while reaching the target accuracy, and achieves up to 5.8% improvement in accuracy under non-IID scenarios compared to the state-of-the-art baselines.

Kaixin Bai, Huajian Zeng, Lei Zhang et al.

Transparent object depth perception poses a challenge in everyday life and logistics, primarily due to the inability of standard 3D sensors to accurately capture depth on transparent or reflective surfaces. This limitation significantly affects depth map and point cloud-reliant applications, especially in robotic manipulation. We developed a vision transformer-based algorithm for stereo depth recovery of transparent objects. This approach is complemented by an innovative feature post-fusion module, which enhances the accuracy of depth recovery by structural features in images. To address the high costs associated with dataset collection for stereo camera-based perception of transparent objects, our method incorporates a parameter-aligned, domain-adaptive, and physically realistic Sim2Real simulation for efficient data generation, accelerated by AI algorithm. Our experimental results demonstrate the model's exceptional Sim2Real generalizability in real-world scenarios, enabling precise depth mapping of transparent objects to assist in robotic manipulation. Project details are available at https://sites.google.com/view/cleardepth/ .

Lei Cheng, Mahdi Saleh, Qing Cheng et al.

Despite the advancements in 3D full-shape generation, accurately modeling complex geometries and semantics of shape parts remains a significant challenge, particularly for shapes with varying numbers of parts. Current methods struggle to effectively integrate the contextual and structural information of 3D shapes into their generative processes. We address these limitations with PRISM, a novel compositional approach for 3D shape generation that integrates categorical diffusion models with Statistical Shape Models (SSM) and Gaussian Mixture Models (GMM). Our method employs compositional SSMs to capture part-level geometric variations and uses GMM to represent part semantics in a continuous space. This integration enables both high fidelity and diversity in generated shapes while preserving structural coherence. Through extensive experiments on shape generation and manipulation tasks, we demonstrate that our approach significantly outperforms previous methods in both quality and controllability of part-level operations. Our code will be made publicly available.

Chenxia Tang, Jianchun Liu, Hongli Xu et al.

Large language models (LLMs) typically employ greedy decoding or low-temperature sampling for reasoning tasks, reflecting a perceived trade-off between diversity and accuracy. We challenge this convention by introducing top-$nσ$, a novel sampling method that operates directly on pre-softmax logits by leveraging a statistical threshold. Our key insight is that logits naturally separate into a Gaussian-distributed noisy region and a distinct informative region, enabling efficient token filtering without complex probability manipulations. Unlike existing methods (e.g., top-$p$, min-$p$) that inadvertently include more noise tokens at higher temperatures, top-$nσ$ maintains a stable sampling space regardless of temperature scaling. We also provide a theoretical analysis of top-$nσ$ to better understand its behavior. The extensive experimental results across four reasoning-focused datasets demonstrate that our method not only outperforms existing sampling approaches but also surpasses greedy decoding, while maintaining consistent performance even at high temperatures.

Hongli Xu, Lei Zhang, Xiaoyue Hu et al.

General-purpose robotic skills from end-to-end demonstrations often leads to task-specific policies that fail to generalize beyond the training distribution. Therefore, we introduce FunCanon, a framework that converts long-horizon manipulation tasks into sequences of action chunks, each defined by an actor, verb, and object. These chunks focus policy learning on the actions themselves, rather than isolated tasks, enabling compositionality and reuse. To make policies pose-aware and category-general, we perform functional object canonicalization for functional alignment and automatic manipulation trajectory transfer, mapping objects into shared functional frames using affordance cues from large vision language models. An object centric and action centric diffusion policy FuncDiffuser trained on this aligned data naturally respects object affordances and poses, simplifying learning and improving generalization ability. Experiments on simulated and real-world benchmarks demonstrate category-level generalization, cross-task behavior reuse, and robust sim2real deployment, showing that functional canonicalization provides a strong inductive bias for scalable imitation learning in complex manipulation domains. Details of the demo and supplemental material are available on our project website https://sites.google.com/view/funcanon.