Wu Yan

Hefeng Zhou, Xuan Liu, Sicheng Chen et al.

Federated cross-modal retrieval faces severe challenges from heterogeneous client data, particularly non-IID semantic distributions and missing modalities. Under such heterogeneity, a single global model is often insufficient to capture both shared cross-modal knowledge and client-specific characteristics. We propose RCSR, a personalization-friendly federated framework that integrates prototype anchoring, retrieval-centric semantic routing, and optional client-specific adapters. Built on a frozen CLIP backbone, RCSR leverages lightweight shared adapters for global knowledge transfer while supporting efficient local personalization. Prototype anchoring helps unimodal clients align with global cross-modal semantics, and a server-side semantic router adaptively assigns aggregation weights based on retrieval consistency to mitigate alignment drift during heterogeneous updates. Extensive experiments on MS-COCO, Flickr30K, and other benchmarks show that RCSR consistently improves global retrieval accuracy and training stability, while further enhancing client-level retrieval performance, especially for clients with incomplete modalities. Code is available at https://github.com/RezinChow/RCSR-Retrieval-Centric-Semantic-Routing.

Chin-Hung Chen, Boris Karanov, Wim van Houtum et al.

Recently, a data-driven Bahl-Cocke-Jelinek-Raviv (BCJR) algorithm tailored to channels with intersymbol interference has been introduced. This so-called BCJRNet algorithm utilizes neural networks to calculate channel likelihoods. BCJRNet has demonstrated resilience against inaccurate channel tap estimations when applied to a time-invariant channel with ideal exponential decay profiles. However, its generalization capabilities for practically-relevant time-varying channels, where the receiver can only access incorrect channel parameters, remain largely unexplored. The primary contribution of this paper is to expand upon the results from existing literature to encompass a variety of imperfect channel knowledge cases that appear in real-world transmissions. Our findings demonstrate that BCJRNet significantly outperforms the conventional BCJR algorithm for stationary transmission scenarios when learning from noisy channel data and with imperfect channel decay profiles. However, this advantage is shown to diminish when the operating channel is also rapidly time-varying. Our results also show the importance of memory assumptions for conventional BCJR and BCJRNet. An underestimation of the memory largely degrades the performance of both BCJR and BCJRNet, especially in a slow-decaying channel. To mimic a situation closer to a practical scenario, we also combined channel tap uncertainty with imperfect channel memory knowledge. Somewhat surprisingly, our results revealed improved performance when employing the conventional BCJR with an underestimated memory assumption. BCJRNet, on the other hand, showed a consistent performance improvement as the level of accurate memory knowledge increased.

Caixia Cai, Ying Siu Liang, Nikhil Somani et al.

In this paper we present a framework to learn skills from human demonstrations in the form of geometric nullspaces, which can be executed using a robot. We collect data of human demonstrations, fit geometric nullspaces to them, and also infer their corresponding geometric constraint models. These geometric constraints provide a powerful mathematical model as well as an intuitive representation of the skill in terms of the involved objects. To execute the skill using a robot, we combine this geometric skill description with the robot's kinematics and other environmental constraints, from which poses can be sampled for the robot's execution. The result of our framework is a system that takes the human demonstrations as input, learns the underlying skill model, and executes the learnt skill with different robots in different dynamic environments. We evaluate our approach on a simulated industrial robot, and execute the final task on the iCub humanoid robot.