Open-Vocabulary object detectors can generalize to an unrestricted set of categories through simple textual prompting. However, adapting these models to rare classes or reinforcing their abilities on multiple specialized domains remains essential. While recent methods rely on monolithic adaptation strategies with a single set of weights, we embrace modular deep learning. We introduce DitHub, a framework designed to build and maintain a library of efficient adaptation modules. Inspired by Version Control Systems, DitHub manages expert modules as branches that can be fetched and merged as needed. This modular approach allows us to conduct an in-depth exploration of the compositional properties of adaptation modules, marking the first such study in Object Detection. Our method achieves state-of-the-art performance on the ODinW-13 benchmark and ODinW-O, a newly introduced benchmark designed to assess class reappearance.

The massive growth in the utilization of edge AI has made the applications of machine learning models ubiquitous in different domains. Despite the computation and communication efficiency of these systems, due to limited computation resources on edge devices, relying on more computationally rich systems on the cloud side is inevitable in most cases. Cloud inference systems can achieve the best performance while the computation and communication cost is dramatically increasing by the expansion of a number of edge devices relying on these systems. Hence, there is a trade-off between the computation, communication, and performance of these systems. In this paper, we propose a novel framework, dubbed as Eccentric that learns models with different levels of trade-offs between these conflicting objectives. This framework, based on an adaptation of knowledge from the edge model to the cloud one, reduces the computation and communication costs of the system during inference while achieving the best performance possible. The Eccentric framework can be considered as a new form of compression method suited for edge-cloud inference systems to reduce both computation and communication costs. Empirical studies on classification and object detection tasks corroborate the efficacy of this framework.

Sequential scientific data span many resolutions and domains, and unifying them into a common representation is a key step toward developing foundation models for the sciences. Astronomical spectra exemplify this challenge: massive surveys have collected millions of spectra across a wide range of wavelengths and resolutions, yet analyses remain fragmented across spectral domains (e.g., optical vs. infrared) and object types (e.g., stars vs. galaxies), limiting the ability to pool information across datasets. We present a deep learning model that jointly learns from heterogeneous spectra in a self-supervised manner. Our universal spectral tokenizer processes spectra from a variety of object types and resolutions directly on their native wavelength grids, producing intrinsically aligned, homogeneous, and physically meaningful representations that can be efficiently adapted to achieve competitive performance across a range of downstream tasks. For the first time, we demonstrate that a single model can unify spectral data across resolutions and domains, suggesting that our model can serve as a powerful building block for foundation models in astronomy -- and potentially extend to other scientific domains with heterogeneous sequential data, such as climate and healthcare.

With climate change intensifying, urban waterlogging poses an increasingly severe threat to global public safety and infrastructure. However, existing monitoring approaches rely heavily on manual reporting and fail to provide timely and comprehensive assessments. In this study, we present Urban Waterlogging Assessment (UWAssess), a foundation model-driven framework that automatically identif ies waterlogged areas in surveillance images and generates structured assessment reports. To address the scarcity of labeled data, we design a semi-supervised fine-tuning strategy and a chain-of-thought (CoT) prompting strategy to unleash the potential of the foundation model for data-scarce downstream tasks. Evaluations on challenging visual benchmarks demonstrate substantial improvements in perception performance . GPT-based evaluations confirm the ability of UWAssess to generate reliable textual reports that accurately describe waterlogging extent, depth, risk and impact. This dual capability enables a shift of waterlogging monitoring from perception to generation, while the collaborative framework of multiple foundation models lays the groundwork for intelligent and scalable systems, supporting urban management, disaster response and climate resilience.

Federated Learning has emerged as a leading paradigm for decentralized, privacy-preserving learning, particularly relevant in the era of interconnected edge devices equipped with sensors. However, the practical implementation of Federated Learning faces three primary challenges: the need for human involvement in costly data labelling processes for target adaptation, covariate shift in client device data collection due to environmental factors affecting sensors, leading to discrepancies between source and target samples, and the impracticality of continuous or regular model updates in resource-constrained environments due to limited data transmission capabilities and technical constraints on channel availability and energy efficiency. To tackle these issues, we expand upon an efficient and scalable Federated Learning framework tailored for real-world client adaptation in industrial settings. This framework leverages a pre-trained source model comprising a deep backbone, an adaptation module, and a classifier running on a powerful server. By freezing the backbone and classifier during client adaptation on resource-constrained devices, we allow the domain adaptive linear layer to handle target domain adaptation, thus minimizing overall computational overhead. Furthermore, this setup, designated as FedAcross+, is extended to encompass the processing of streaming data, thereby rendering the solution suitable for non-stationary environments. Extensive experimental results demonstrate the effectiveness of FedAcross+ in achieving competitive adaptation on low-end client devices with limited target samples, successfully addressing the challenge of domain shift. Moreover, our framework accommodates sporadic model updates within resource-constrained environments, ensuring practical and seamless deployment.

Multirotors play a significant role in diverse field robotics applications but remain highly susceptible to actuator failures, leading to rapid instability and compromised mission reliability. While various fault-tolerant control (FTC) strategies using reinforcement learning (RL) have been widely explored, most previous approaches require prior knowledge of the multirotor model or struggle to adapt to new configurations. To address these limitations, we propose a novel hybrid RL-based FTC framework integrated with a transformer-based online adaptation module. Our framework leverages a transformer architecture to infer latent representations in real time, enabling adaptation to previously unseen system models without retraining. We evaluate our method in a PyBullet simulation under loss-of-effectiveness actuator faults, achieving a 95% success rate and a positional root mean square error (RMSE) of 0.129 m, outperforming existing adaptation methods with 86% success and an RMSE of 0.153 m. Further evaluations on quadrotors with varying configurations confirm the robustness of our framework across untrained dynamics. These results demonstrate the potential of our framework to enhance the adaptability and reliability of multirotors, enabling efficient fault management in dynamic and uncertain environments. Website is available at http://00dhkim.me/paper/rl-ftc

This work focuses on building a task planner for Embodied Instruction Following (EIF) using Large Language Models (LLMs). Previous works typically train a planner to imitate expert trajectories, treating this as a supervised task. While these methods achieve competitive performance, they often lack sufficient robustness. When a suboptimal action is taken, the planner may encounter an out-of-distribution state, which can lead to task failure. In contrast, we frame the task as a Partially Observable Markov Decision Process (POMDP) and aim to develop a robust planner under a few-shot assumption. Thus, we propose a closed-loop planner with an adaptation module and a novel hindsight method, aiming to use as much information as possible to assist the planner. Our experiments on the ALFRED dataset indicate that our planner achieves competitive performance under a few-shot assumption. For the first time, our few-shot agent's performance approaches and even surpasses that of the full-shot supervised agent.

The reliable deployment of deep reinforcement learning in real-world settings requires the ability to generalize across a variety of conditions, including both in-distribution scenarios seen during training as well as novel out-of-distribution scenarios. In this work, we present a framework for dynamics generalization in deep reinforcement learning that unifies these two distinct types of generalization within a single architecture. We introduce a robust adaptation module that provides a mechanism for identifying and reacting to both in-distribution and outof-distribution environment dynamics, along with a joint training pipeline that combines the goals of in-distribution adaptation and out-of-distribution robustness. Our algorithm GRAM achieves strong generalization performance across indistribution and out-of-distribution scenarios upon deployment, which we demonstrate on a variety of realistic simulated locomotion tasks with a quadruped robot. Due to the diverse and uncertain nature of real-world settings, generalization is an important capability for the reliable deployment of data-driven, learning-based frameworks such as deep reinforcement learning (RL). Policies trained with deep RL must be capable of generalizing to a variety of different environment dynamics at deployment time, including both familiar training conditions and novel unseen scenarios, as the complex nature of real-world environments makes it difficult to capture all possible variations in the training process. Existing approaches to zero-shot dynamics generalization in deep RL have focused on two complementary concepts: adaptation and robustness. Contextual RL techniques (Hallak et al., 2015) learn to identify and adapt to the current environment dynamics to achieve the best performance, but this adaptation is only reliable for the range of in-distribution (ID) scenarios seen during training. Robust RL methods (Nilim & Ghaoui, 2005; Iyengar, 2005), on the other hand, maximize the worst-case performance across a range of possible environment dynamics, providing generalization to out-of-distribution (OOD) scenarios at the cost of conservative performance in ID environments.

Effectively modeling the interaction between human hands and objects is challenging due to the complex physical constraints and the requirement for high generation efficiency in applications. Prior approaches often employ computationally intensive two-stage approaches, which first generate an intermediate representation, such as contact maps, followed by an iterative optimization procedure that updates hand meshes to capture the hand-object relation. However, due to the high computation complexity during the optimization stage, such strategies often suffer from low efficiency in inference. To address this limitation, this work introduces a novel diffusion-model-based approach that generates the grasping pose in a one-stage manner. This allows us to significantly improve generation speed and the diversity of generated hand poses. In particular, we develop a Latent Diffusion Model with an Adaptation Module for object-conditioned hand pose generation and a contact-aware loss to enforce the physical constraints between hands and objects. Extensive experiments demonstrate that our method achieves faster inference, higher diversity, and superior pose quality than state-of-the-art approaches. Code is available at \href{https://github.com/wuxiaofei01/FastGrasp}{https://github.com/wuxiaofei01/FastGrasp.}

Parameter-efficient fine-tuning for continual learning (PEFT-CL) has shown promise in adapting pre-trained models to sequential tasks while mitigating catastrophic forgetting problem. However, understanding the mechanisms that dictate continual performance in this paradigm remains elusive. To tackle this complexity, we undertake a rigorous analysis of PEFT-CL dynamics to derive relevant metrics for continual scenarios using Neural Tangent Kernel (NTK) theory. With the aid of NTK as a mathematical analysis tool, we recast the challenge of test-time forgetting into the quantifiable generalization gaps during training, identifying three key factors that influence these gaps and the performance of PEFT-CL: training sample size, task-level feature orthogonality, and regularization. To address these challenges, we introduce NTK-CL, a novel framework that eliminates task-specific parameter storage while adaptively generating task-relevant features. Aligning with theoretical guidance, NTK-CL triples the feature representation of each sample, theoretically and empirically reducing the magnitude of both task-interplay and task-specific generalization gaps. Grounded in NTK analysis, our approach imposes an adaptive exponential moving average mechanism and constraints on task-level feature orthogonality, maintaining intra-task NTK forms while attenuating inter-task NTK forms. Ultimately, by fine-tuning optimizable parameters with appropriate regularization, NTK-CL achieves state-of-the-art performance on established PEFT-CL benchmarks. This work provides a theoretical foundation for understanding and improving PEFT-CL models, offering insights into the interplay between feature representation, task orthogonality, and generalization, contributing to the development of more efficient continual learning systems.