This presentation highlights recent efforts at the Johns Hopkins Applied Physics Laboratory to advance agentic AI for collaborative robotic teams. It begins by framing the core challenges of enabling autonomy, coordination, and adaptability across heterogeneous systems, then introduces a scalable architecture designed to support agentic behaviors in multi-robot environments. The talk concludes with key challenges encountered and practical lessons learned from ongoing research and development.

Improving the performance of deep networks in data-limited regimes has warranted much attention. In this work, we empirically show that "winning tickets" (small subnetworks) obtained via magnitude pruning based on the lottery ticket hypothesis [1], apart from being sparse are also effective recognizers in data-limited regimes. Based on extensive experiments, we find that in low data regimes (datasets of 50-100 examples per class), sparse winning tickets substantially outperform the original dense networks. This approach, when combined with augmentations or fine-tuning from a self-supervised backbone network, shows further improvements in performance by as much as 16% (absolute) on low sample datasets and longtailed classification. Further, sparse winning tickets are more robust to synthetic noise and distribution shifts compared to their dense counterparts. Our analysis of winning tickets on small datasets indicates that, though sparse, the networks retain density in the initial layers and their representations are more generalizable.

The lottery ticket hypothesis (LTH) [20] states that learning on a properly pruned network (the winning ticket) improves test accuracy over the original unpruned network. Although LTH has been justified empirically in a broad range of deep neural network (DNN) involved applications like computer vision and natural language processing, the theoretical validation of the improved generalization of a winning ticket remains elusive. To the best of our knowledge, our work, for the first time, characterizes the performance of training a pruned neural network by analyzing the geometric structure of the objective function and the sample complexity to achieve zero generalization error. We show that the convex region near a desirable model with guaranteed generalization enlarges as the neural network model is pruned, indicating the structural importance of a winning ticket. Moreover, when the algorithm for training a pruned neural network is specified as an (accelerated) stochastic gradient descent algorithm, we theoretically show that the number of samples required for achieving zero generalization error is proportional to the number of the non-pruned weights in the hidden layer. With a fixed number of samples, training a pruned neural network enjoys a faster convergence rate to the desired model than training the original unpruned one, providing a formal justification of the improved generalization of the winning ticket. Our theoretical results are acquired from learning a pruned neural network of one hidden layer, while experimental results are further provided to justify the implications in pruning multi-layer neural networks.

Neural Information Processing Systems http://nips.cc/

However,sincetheinitial large learning rate generally helps the optimizer to converge to flatter minima, we hypothesize that the winning tickets have relatively sharp minima, which is considered a disadvantage in terms of generalization ability.

Work was done when the author interned at Microsoft.