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. Existing PFL methods are inherently based on the idea that the relations between the generic global and personalized local models are captured by the similarity of model weights. Such a similarity is primarily based on either partitioning the model architecture into generic versus personalized components, or modeling client relationships via model weights. To better capture similar (yet distinct) generic versus personalized model representations, we propose spectral distillation, a novel distillation method based on model spectrum information. Building upon spectral distillation, we also introduce a co-distillation framework that establishes a two-way bridge between generic and personalized model training. Moreover, to utilize the local idle time in conventional PFL, we propose a waitfree local training protocol. Through extensive experiments on multiple datasets over diverse heterogeneous data settings, we demonstrate the outperformance and efficacy of our proposed spectral co-distillation method, as well as our wait-free training protocol.

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.

This paper investigates artificial intelligence (AI) methodologies for the synthesis and transpilation of permutation circuits across generic topologies. Our approach uses Reinforcement Learning (RL) techniques to achieve near-optimal synthesis of permutation circuits up to 25 qubits. Rather than developing specialized models for individual topologies, we train a foundational model on a generic rectangular lattice, and employ masking mechanisms to dynamically select subsets of topologies during the synthesis. This enables the synthesis of permutation circuits on any topology that can be embedded within the rectangular lattice, without the need to re-train the model. In this paper we show results for 5x5 lattice and compare them to previous AI topology-oriented models and classical methods, showing that they outperform classical heuristics, and match previous specialized AI models, and performs synthesis even for topologies that were not seen during training. We further show that the model can be fine tuned to strengthen the performance for selected topologies of interest. This methodology allows a single trained model to efficiently synthesize circuits across diverse topologies, allowing its practical integration into transpilation workflows.

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.