Recognition (ASR), we show strong baseline performance on predicting key-presses using sEMG signals alone.

Personalized federated learning (PFL) has been widely investigated to address the challenge of data heterogeneity, especially when a single generic model is inadequate in satisfying the diverse performance requirements of local clients simultaneously.

Recognition (ASR), we show strong baseline performance on predicting key-presses using sEMG signals alone.

We present a model-agnostic algorithm to learn participatory systems for personalization with categorical group attributes.

Machine learning models are routinely trained on a mixture of different data domains. Different domain weights yield very different downstream performances. We propose the Soup-of-Experts, a novel architecture that can instantiate a model at test time for any domain weights with minimal computational cost and without re-training the model. Our architecture consists of a bank of expert parameters, which are linearly combined to instantiate one model. We learn the linear combination coefficients as a function of the input domain weights. To train this architecture, we sample random domain weights, instantiate the corresponding model, and backprop through one batch of data sampled with these domain weights. We demonstrate how our approach obtains small specialized models on several language modeling tasks quickly. Soup-of-Experts are particularly appealing when one needs to ship many different specialist models quickly under a model size constraint.

Robotic grasping is one of the most fundamental robotic manipulation tasks and has been the subject of extensive research. However, swiftly teaching a robot to grasp a novel target object in clutter remains challenging. This paper attempts to address the challenge by leveraging object attributes that facilitate recognition, grasping, and rapid adaptation to new domains. In this work, we present an end-to-end encoder-decoder network to learn attribute-based robotic grasping with data-efficient adaptation capability. We first pre-train the end-to-end model with a variety of basic objects to learn generic attribute representation for recognition and grasping. Our approach fuses the embeddings of a workspace image and a query text using a gated-attention mechanism and learns to predict instance grasping affordances. To train the joint embedding space of visual and textual attributes, the robot utilizes object persistence before and after grasping. Our model is self-supervised in a simulation that only uses basic objects of various colors and shapes but generalizes to novel objects in new environments. To further facilitate generalization, we propose two adaptation methods, adversarial adaption and one-grasp adaptation. Adversarial adaptation regulates the image encoder using augmented data of unlabeled images, whereas one-grasp adaptation updates the overall end-to-end model using augmented data from one grasp trial. Both adaptation methods are data-efficient and considerably improve instance grasping performance. Experimental results in both simulation and the real world demonstrate that our approach achieves over 81% instance grasping success rate on unknown objects, which outperforms several baselines by large margins.

The advancement in deep learning and internet-of-things have led to diverse human sensing applications. However, distinct patterns in human sensing, influenced by various factors or contexts, challenge the generic neural network model's performance due to natural distribution shifts. To address this, personalization tailors models to individual users. Yet most personalization studies overlook intra-user heterogeneity across contexts in sensory data, limiting intra-user generalizability. This limitation is especially critical in clinical applications, where limited data availability hampers both generalizability and personalization. Notably, intra-user sensing attributes are expected to change due to external factors such as treatment progression, further complicating the challenges. To address the intra-user generalization challenge, this work introduces CRoP, a novel static personalization approach. CRoP leverages off-the-shelf pre-trained models as generic starting points and captures user-specific traits through adaptive pruning on a minimal sub-network while preserving generic knowledge in the remaining parameters. CRoP demonstrates superior personalization effectiveness and intra-user robustness across four human-sensing datasets, including two from real-world health domains, underscoring its practical and social impact. Additionally, to support CRoP's generalization ability and design choices, we provide empirical justification through gradient inner product analysis, ablation studies, and comparisons against state-of-the-art baselines.

Surface electromyography (sEMG) non-invasively measures signals generated by muscle activity with sufficient sensitivity to detect individual spinal neurons and richness to identify dozens of gestures and their nuances. Wearable wrist-based sEMG sensors have the potential to offer low friction, subtle, information rich, always available human-computer inputs. To this end, we introduce emg2qwerty, a large-scale dataset of non-invasive electromyographic signals recorded at the wrists while touch typing on a QWERTY keyboard, together with ground-truth annotations and reproducible baselines. With 1,135 sessions spanning 108 users and 346 hours of recording, this is the largest such public dataset to date. These data demonstrate non-trivial, but well defined hierarchical relationships both in terms of the generative process, from neurons to muscles and muscle combinations, as well as in terms of domain shift across users and user sessions. Applying standard modeling techniques from the closely related field of Automatic Speech Recognition (ASR), we show strong baseline performance on predicting key-presses using sEMG signals alone. We believe the richness of this task and dataset will facilitate progress in several problems of interest to both the machine learning and neuroscientific communities. Dataset and code can be accessed at https://github.com/facebookresearch/emg2qwerty.