However, their large size poses a barrier to deployment on resource-constrained space hardware. To address this, we present compact variants of a Vision Transformer (ViT)-based GeoFM that preserve downstream task performance while enabling onboard execution. Evaluation across five downstream tasks and validation in two representative flight environments show that model compression and domain adaptation are critical to reducing size and resource demands while maintaining high performance under operational conditions. We further demonstrate reliable on-orbit inference with the IMAGIN-e payload aboard the International Space Station. These results establish a pathway from large GeoFMs to flight-ready, resource-efficient deployments, expanding the feasibility of onboard AI for EO missions.

This requires balancing the plasticity for new knowledge with the stability for old [37].

As embodied AI systems become increasingly multi-modal, personalized, and interactive, they must learn effectively from diverse sensory inputs, adapt continually to user preferences, and operate safely under resource and privacy constraints. These challenges expose a pressing need for machine learning models capable of swift, context-aware adaptation while balancing model generalization and personalization. Here, two methods emerge as suitable candidates, each offering parts of these capabilities: multi-modal multi-task foundation models (M3T-FMs) provide a pathway toward generalization across tasks and modalities, whereas federated learning (FL) offers the infrastructure for distributed, privacy-preserving model updates and user-level model personalization. However, when used in isolation, each of these approaches falls short of meeting the complex and diverse capability requirements of real-world embodied AI environments. In this vision paper, we introduce multi-modal multi-task federated foundation models (M3T-FFMs) for embodied AI, a new paradigm that unifies the strengths of M3T-FMs with the privacy-preserving distributed training nature of FL, enabling intelligent systems at the wireless edge. We collect critical deployment dimensions of M3T-FFMs in embodied AI ecosystems under a unified framework, which we name "EMBODY": Embodiment heterogeneity, Modality richness and imbalance, Bandwidth and compute constraints, On-device continual learning, Distributed control and autonomy, and Yielding safety, privacy, and personalization. For each, we identify concrete challenges and envision actionable research directions. We also present an evaluation framework for deploying M3T-FFMs in embodied AI systems, along with the associated trade-offs. Finally, we present a prototype implementation of M3T-FFMs and evaluate their energy and latency performance.

Foundation models (FMs) exhibit remarkable generalization but require adaptation to downstream tasks, particularly in privacy-sensitive applications. Due to data privacy regulations, cloud-based FMs cannot directly access private edge data, limiting their adaptation. Federated learning (FL) provides a privacy-aware alternative, but existing FL approaches overlook the constraints imposed by edge devices -- namely, limited computational resources and the scarcity of labeled data. To address these challenges, we introduce Practical Semi-Supervised Federated Learning (PSSFL), where edge devices hold only unlabeled, low-resolution data, while the server has limited labeled, high-resolution data. In this setting, we propose the Federated Mixture of Experts (FedMox), a novel framework that enhances FM adaptation in FL. FedMox tackles computational and resolution mismatch challenges via a sparse Mixture-of-Experts architecture, employing a spatial router to align features across resolutions and a Soft-Mixture strategy to stabilize semi-supervised learning. We take object detection as a case study, and experiments on real-world autonomous driving datasets demonstrate that FedMox effectively adapts FMs under PSSFL, significantly improving performance with constrained memory costs on edge devices. Our work paves the way for scalable and privacy-preserving FM adaptation in federated scenarios.

Deploying multiple machine learning models on resource-constrained robotic platforms for different perception tasks often results in redundant computations, large memory footprints, and complex integration challenges. In response, this work presents Visual Perception Engine (VPEngine), a modular framework designed to enable efficient GPU usage for visual multitasking while maintaining extensibility and developer accessibility. Our framework architecture leverages a shared foundation model backbone that extracts image representations, which are efficiently shared, without any unnecessary GPU-CPU memory transfers, across multiple specialized task-specific model heads running in parallel. This design eliminates the computational redundancy inherent in feature extraction component when deploying traditional sequential models while enabling dynamic task prioritization based on application demands. We demonstrate our framework's capabilities through an example implementation using DINOv2 as the foundation model with multiple task (depth, object detection and semantic segmentation) heads, achieving up to 3x speedup compared to sequential execution. Building on CUDA Multi-Process Service (MPS), VPEngine offers efficient GPU utilization and maintains a constant memory footprint while allowing per-task inference frequencies to be adjusted dynamically during runtime. The framework is written in Python and is open source with ROS2 C++ (Humble) bindings for ease of use by the robotics community across diverse robotic platforms. Our example implementation demonstrates end-to-end real-time performance at $\geq$50 Hz on NVIDIA Jetson Orin AGX for TensorRT optimized models.

Machine learning techniques have enabled researchers to leverage neuroimaging data to decode speech from brain activity, with some amazing recent successes achieved by applications built using invasive devices. However, research requiring surgical implants has a number of practical limitations. Non-invasive neuroimaging techniques provide an alternative but come with their own set of challenges, the limited scale of individual studies being among them. Without the ability to pool the recordings from different non-invasive studies, data on the order of magnitude needed to leverage deep learning techniques to their full potential remains out of reach. In this work, we focus on non-invasive data collected using magnetoencephalography (MEG). We leverage two different, leading speech decoding models to investigate how an adversarial domain adaptation framework augments their ability to generalize across datasets. We successfully improve the performance of both models when training across multiple datasets. To the best of our knowledge, this study is the first ever application of feature-level, deep learning based harmonization for MEG neuroimaging data. Our analysis additionally offers further evidence of the impact of demographic features on neuroimaging data, demonstrating that participant age strongly affects how machine learning models solve speech decoding tasks using MEG data. Lastly, in the course of this study we produce a new open-source implementation of one of these models to the benefit of the broader scientific community. Applications leveraging recent advancements to decode representations of speech in the brain stand to positively impact the lives of individuals across the world who suffer from impaired verbal communication. While surgically invasive modalities provide the most direct access to the brain, they are practically and ethically prohibitive to conduct at scale. Thus, researchers have increasingly turned towards non-invasive approaches instead. However, non-invasive modalities also come with a unique set of challenges, including a difficult signal-to-noise ratio. We choose to focus on magnetoencephalography (MEG) as our neuroimaging modality of interest and speech decoding as the principle class of the objectives for the models we train.

In the domain of multimedia and multimodal processing, the efficient handling of diverse data streams such as images, video, and sensor data is paramount. Model compression and multitask learning (MTL) are crucial in this field, offering the potential to address the resource-intensive demands of processing and interpreting multiple forms of media simultaneously. However, effectively compressing a multitask model presents significant challenges due to the complexities of balancing sparsity allocation and accuracy performance across multiple tasks. To tackle these challenges, we propose AdapMTL, an adaptive pruning framework for MTL models. AdapMTL leverages multiple learnable soft thresholds independently assigned to the shared backbone and the task-specific heads to capture the nuances in different components' sensitivity to pruning. During training, it co-optimizes the soft thresholds and MTL model weights to automatically determine the suitable sparsity level at each component to achieve both high task accuracy and high overall sparsity. It further incorporates an adaptive weighting mechanism that dynamically adjusts the importance of task-specific losses based on each task's robustness to pruning. We demonstrate the effectiveness of AdapMTL through comprehensive experiments on popular multitask datasets, namely NYU-v2 and Tiny-Taskonomy, with different architectures, showcasing superior performance compared to state-of-the-art pruning methods.