arXiv subjects

Anke Tang

Publications and source records attributed to Anke Tang.

17 recordsLinked to original sources

arXiv2026

ACE-Brain-0.5: A Unified Embodied Foundational Model for Physical Agentic AI

Embodied AI is moving from isolated perception or action modules toward physical agents that understand, plan under goals, act through robot bodies, monitor progress, and improve from experience. Existing systems address this loop only in parts: end-to-end policies generate actions but often lack spatial reasoning, planning, and execution assessment, while robot-agent systems orchestrate tools or specialists but do not learn a shared representation. This fragmentation limits general Physical Agentic AI. We present ACE-Brain-0.5, a unified embodied foundation model that organizes robot intelligence into five coupled functions: spatial perception, decision making, embodied interaction, self-monitoring, and self-improvement. Built on ACE-Brain-0, which established spatial intelligence as a shared scaffold across robot platforms, ACE-Brain-0.5 extends an understanding-centric model into a closed-loop foundation model. A single 8B backbone instantiates the first four functions: grounding objects and affordances, reasoning over 3D and egocentric spatial relations, decomposing instructions into subgoals, generating navigation and manipulation actions, and estimating progress for verification and recovery. To unify these capabilities without cross-task interference, we introduce SSR+, which extends Scaffold-Specialize-Reconcile with a Reactivate stage after task-vector merging. The fifth function, self-improvement, is realized by a companion framework that updates external execution state, including task schemas, spatial memory, and failure-recovery cases, from rollouts. Across fifteen benchmarks, ACE-Brain-0.5 improves over ACE-Brain-0 on 14 of 18 spatial perception and grounding benchmarks, achieves competitive navigation and manipulation performance, and provides strong progress estimation in ID and OOD settings. Together, these results mark an early step toward general Physical Agentic AI.

cs.RO↗

arXiv2026

ACE-Brain-0: Spatial Intelligence as a Shared Scaffold for Universal Embodiments

Universal embodied intelligence demands robust generalization across heterogeneous embodiments, such as autonomous driving, robotics, and unmanned aerial vehicles (UAVs). However, existing embodied brain in training a unified model over diverse embodiments frequently triggers long-tail data, gradient interference, and catastrophic forgetting, making it notoriously difficult to balance universal generalization with domain-specific proficiency. In this report, we introduce ACE-Brain-0, a generalist foundation brain that unifies spatial reasoning, autonomous driving, and embodied manipulation within a single multimodal large language model~(MLLM). Our key insight is that spatial intelligence serves as a universal scaffold across diverse physical embodiments: although vehicles, robots, and UAVs differ drastically in morphology, they share a common need for modeling 3D mental space, making spatial cognition a natural, domain-agnostic foundation for cross-embodiment transfer. Building on this insight, we propose the Scaffold-Specialize-Reconcile~(SSR) paradigm, which first establishes a shared spatial foundation, then cultivates domain-specialized experts, and finally harmonizes them through data-free model merging. Furthermore, we adopt Group Relative Policy Optimization~(GRPO) to strengthen the model's comprehensive capability. Extensive experiments demonstrate that ACE-Brain-0 achieves competitive and even state-of-the-art performance across 24 spatial and embodiment-related benchmarks.

cs.RO↗

arXiv2026

A Unified Generalization Framework for Model Merging: Trade-offs, Non-Linearity, and Scaling Laws

Model merging efficiently aggregates capabilities from multiple fine-tuned models into a single one, operating purely in parameter space without original data or expensive re-computation. Despite empirical successes, a unified theory for its effectiveness under heterogeneous finetuning hyperparameters (e.g., varying learning rates, batch sizes) remains missing. Existing federated learning theories focus purely on optimization, which fails to explain model merging and inherently leads to theoretical paradoxes. To address this challenge, we pioneer the integration of $L_2$-Stability theory into heterogeneous environments to rigorously decouple the excess risk of the merged model $\boldsymbol{x}_{avg}$ into optimization and generalization errors. This comprehensive analysis yields three main contributions: (i) We mathematically establish the fundamental \textit{Optimization-Generalization Trade-off}, explicitly resolving the paradox of why over-trained experts lead to catastrophic merging collapse. (ii) \textit{A unified theoretical framework} is provided to explain not only linear merging algorithms (e.g., TA, AdaMerging) but also state-of-the-art \textit{non-linear} merging algorithms (e.g., TIES, DARE), proving how sparsification operators strictly tighten the generalization bound by suppressing task heterogeneity. (iii) Rather than heuristic guidelines, we derive \textit{Quantitative Scaling Laws} that theoretically predict the precise impact of hyperparameter choices, enabling practitioners to strategically construct ``merge-friendly'' experts. Extensive experiments on the ResNet and ViT architectures across 20 visual classification tasks, involving thousands of finetuning models, robustly confirm that our theoretical scaling laws accurately predict the empirical generalization behaviors of $\boldsymbol{x}_{avg}$.

cs.LG↗

arXiv2025

Unsupervised deep learning model for fast energy layer pre-selection of delivery-efficient proton arc therapy plan optimization of nasopharyngeal carcinoma

Proton arc therapy (PAT) is an emerging and promising modality in radiotherapy, offering improved dose distribution and treatment robustness over intensity-modulated proton therapy. Yet, identifying the optimal energy layer (EL) sequence remains challenging due to the intensive computational demand and prolonged treatment delivery time. This study proposes an unsupervised deep learning model for fast EL pre-selection that minimizes EL switch (ELS) time while maintaining high plan quality. We introduce a novel data representation method, spot-count representation, which encodes the number of proton spots intersecting the target and organs at risk (OAR) in a matrix structured by sorted gantry angles and energy layers. This representation serves as the input of an U-Net style architecture, SPArc_dl, which is trained using a tri-objective function: maximizing spot-counts on target, minimizing spot-counts on OAR, and reducing ELS time. The model is evaluated on 35 nasopharyngeal cancer cases, and its performance is compared to SPArc_particle_swarm (SPArc_ps). SPArc_dl produces EL pre-selection that significantly improves both plan quality and delivery efficiency. Compared to SPArc_ps, it enhances the conformity index by 0.1 (p<0.01), reduces the homogeneity index by 0.71 (p<0.01), lowers the brainstem mean dose by 0.25 (p<0.01), and shortens the ELS time by 37.2% (p < 0.01). The results unintentionally reveal employing unchanged ELS is more time-wise efficient than descended ELS. SPArc_dl's inference time is within 1 second. However, SPArc_dl plan demonstrates limitation in robustness. The proposed spot-count representation lays a foundation for incorporating unsupervised deep learning approaches into EL pre-selection task. SPArc_dl is a fast tool for generating high-quality PAT plans by strategically pre-selecting EL to reduce delivery time while maintaining excellent dosimetric performance.

physics.med-ph↗

arXiv2025

Mix Data or Merge Models? Balancing the Helpfulness, Honesty, and Harmlessness of Large Language Model via Model Merging

Achieving balanced alignment of large language models (LLMs) in terms of Helpfulness, Honesty, and Harmlessness (3H optimization) constitutes a cornerstone of responsible AI. Existing methods like data mixture strategies face limitations, including heavy reliance on expert knowledge and conflicting optimization signals. While model merging offers parameter-level conflict-resolution strategies through integrating specialized models' parameters, its potential for 3H optimization remains underexplored. This paper systematically compares the effectiveness of model merging and data mixture methods in constructing 3H-aligned LLMs for the first time, revealing previously overlooked collaborative and conflict relationships among the 3H dimensions and discussing the advantages and drawbacks of data mixture (\textit{data-level}) and model merging (\textit{parameter-level}) methods in mitigating the conflict for balanced 3H optimization. Specially, we propose a novel \textbf{R}eweighting \textbf{E}nhanced task \textbf{S}ingular \textbf{M}erging method, \textbf{RESM}, through outlier weighting and sparsity-aware rank selection strategies to address the challenges of preference noise accumulation and layer sparsity adaptation inherent in 3H-aligned LLM merging. Extensive evaluations can verify the effectiveness and robustness of RESM compared to previous data mixture (2\%-5\% gain) and model merging (1\%-3\% gain) methods in achieving balanced LLM alignment. We release our models through \href{https://huggingface.co/Jinluan}{3H\_Merging} for further investigations.

cs.CL↗

arXiv2025

Merging Models on the Fly Without Retraining: A Sequential Approach to Scalable Continual Model Merging

Deep model merging represents an emerging research direction that combines multiple fine-tuned models to harness their specialized capabilities across different tasks and domains. Current model merging techniques focus on merging all available models simultaneously, with weight interpolation-based methods being the predominant approaches. However, these conventional approaches are not well-suited for scenarios where models become available sequentially, and they often suffer from high memory requirements and potential interference between tasks. In this study, we propose a training-free projection-based continual merging method that processes models sequentially through orthogonal projections of weight matrices and adaptive scaling mechanisms. Our method operates by projecting new parameter updates onto subspaces orthogonal to existing merged parameter updates while using an adaptive scaling mechanism to maintain stable parameter distances, enabling efficient sequential integration of task-specific knowledge. Our approach maintains constant memory complexity to the number of models, minimizes interference between tasks through orthogonal projections, and retains the performance of previously merged models through adaptive task vector scaling. Extensive experiments on CLIP-ViT models demonstrate that our method achieves a 5-8% average accuracy improvement while maintaining robust performance in different task orderings.

cs.LG↗

arXiv2025

Modeling Multi-Task Model Merging as Adaptive Projective Gradient Descent

Merging multiple expert models offers a promising approach for performing multi-task learning without accessing their original data. Existing methods attempt to alleviate task conflicts by sparsifying task vectors or promoting orthogonality among them. However, they overlook the fundamental target of model merging: the merged model performs as closely as possible to task-specific models on respective tasks. We find these methods inevitably discard task-specific information that, while causing conflicts, is crucial for performance. Based on our findings, we frame model merging as a constrained optimization problem ($\textit{i.e.}$, minimizing the gap between the merged model and individual models, subject to the constraint of retaining shared knowledge) and solve it via adaptive projective gradient descent. Specifically, we align the merged model with individual models by decomposing and reconstituting the loss function, alleviating conflicts through $\textit{data-free}$ optimization of task vectors. To retain shared knowledge, we optimize this objective by projecting gradients within a $\textit{shared subspace}$ spanning all tasks. Moreover, we view merging coefficients as adaptive learning rates and propose a task-aware, training-free strategy. Experiments show that our plug-and-play approach consistently outperforms previous methods, achieving state-of-the-art results across diverse architectures and tasks in both vision and NLP domains.

cs.LG↗

arXiv2024

Efficient and Effective Weight-Ensembling Mixture of Experts for Multi-Task Model Merging

Multi-task learning (MTL) leverages a shared model to accomplish multiple tasks and facilitate knowledge transfer. Recent research on task arithmetic-based MTL demonstrates that merging the parameters of independently fine-tuned models can effectively achieve MTL. However, existing merging methods primarily seek a static optimal solution within the original model parameter space, which often results in performance degradation due to the inherent diversity among tasks and potential interferences. To address this challenge, in this paper, we propose a Weight-Ensembling Mixture of Experts (WEMoE) method for multi-task model merging. Specifically, we first identify critical (or sensitive) modules by analyzing parameter variations in core modules of Transformer-based models before and after finetuning. Then, our WEMoE statically merges non-critical modules while transforming critical modules into a mixture-of-experts (MoE) structure. During inference, expert modules in the MoE are dynamically merged based on input samples, enabling a more flexible and adaptive merging approach. Building on WEMoE, we further introduce an efficient-and-effective WEMoE (E-WEMoE) method, whose core mechanism involves eliminating non-essential elements in the critical modules of WEMoE and implementing shared routing across multiple MoE modules, thereby significantly reducing both the trainable parameters, the overall parameter count, and computational overhead of the merged model by WEMoE. Experimental results across various architectures and tasks demonstrate that both WEMoE and E-WEMoE outperform state-of-the-art (SOTA) model merging methods in terms of MTL performance, generalization, and robustness.

cs.LG↗

arXiv2024

Mitigating the Backdoor Effect for Multi-Task Model Merging via Safety-Aware Subspace

Model merging has gained significant attention as a cost-effective approach to integrate multiple single-task fine-tuned models into a unified one that can perform well on multiple tasks. However, existing model merging techniques primarily focus on resolving conflicts between task-specific models, they often overlook potential security threats, particularly the risk of backdoor attacks in the open-source model ecosystem. In this paper, we first investigate the vulnerabilities of existing model merging methods to backdoor attacks, identifying two critical challenges: backdoor succession and backdoor transfer. To address these issues, we propose a novel Defense-Aware Merging (DAM) approach that simultaneously mitigates task interference and backdoor vulnerabilities. Specifically, DAM employs a meta-learning-based optimization method with dual masks to identify a shared and safety-aware subspace for model merging. These masks are alternately optimized: the Task-Shared mask identifies common beneficial parameters across tasks, aiming to preserve task-specific knowledge while reducing interference, while the Backdoor-Detection mask isolates potentially harmful parameters to neutralize security threats. This dual-mask design allows us to carefully balance the preservation of useful knowledge and the removal of potential vulnerabilities. Compared to existing merging methods, DAM achieves a more favorable balance between performance and security, reducing the attack success rate by 2-10 percentage points while sacrificing only about 1% in accuracy. Furthermore, DAM exhibits robust performance and broad applicability across various types of backdoor attacks and the number of compromised models involved in the merging process. Our codes and models are available at https://github.com/Yangjinluan/DAM.

cs.CR↗

arXiv2024

SMILE: Zero-Shot Sparse Mixture of Low-Rank Experts Construction From Pre-Trained Foundation Models

Deep model training on extensive datasets is increasingly becoming cost-prohibitive, prompting the widespread adoption of deep model fusion techniques to leverage knowledge from pre-existing models. From simple weight averaging to more sophisticated methods like AdaMerging, model fusion effectively improves model performance and accelerates the development of new models. However, potential interference between parameters of individual models and the lack of interpretability in the fusion progress remain significant challenges. Existing methods often try to resolve the parameter interference issue by evaluating attributes of parameters, such as their magnitude or sign, or by parameter pruning. In this study, we begin by examining the fine-tuning of linear layers through the lens of subspace analysis and explicitly define parameter interference as an optimization problem to shed light on this subject. Subsequently, we introduce an innovative approach to model fusion called zero-shot Sparse MIxture of Low-rank Experts (SMILE) construction, which allows for the upscaling of source models into an MoE model without extra data or further training. Our approach relies on the observation that fine-tuning mostly keeps the important parts from the pre-training, but it uses less significant or unused areas to adapt to new tasks. Also, the issue of parameter interference, which is intrinsically intractable in the original parameter space, can be managed by expanding the dimensions. We conduct extensive experiments across diverse scenarios, such as image classification and text generation tasks, using full fine-tuning and LoRA fine-tuning, and we apply our method to large language models (CLIP models, Flan-T5 models, and Mistral-7B models), highlighting the adaptability and scalability of SMILE. Code is available at https://github.com/tanganke/fusion_bench

cs.LG↗

arXiv2024

Towards Efficient Pareto Set Approximation via Mixture of Experts Based Model Fusion

Solving multi-objective optimization problems for large deep neural networks is a challenging task due to the complexity of the loss landscape and the expensive computational cost of training and evaluating models. Efficient Pareto front approximation of large models enables multi-objective optimization for various tasks such as multi-task learning and trade-off analysis. Existing algorithms for learning Pareto set, including (1) evolutionary, hypernetworks, and hypervolume-maximization methods, are computationally expensive and have restricted scalability to large models; (2) Scalarization algorithms, where a separate model is trained for each objective ray, which is inefficient for learning the entire Pareto set and fails to capture the objective trade-offs effectively. Inspired by the recent success of model merging, we propose a practical and scalable approach to Pareto set learning problem via mixture of experts (MoE) based model fusion. By ensembling the weights of specialized single-task models, the MoE module can effectively capture the trade-offs between multiple objectives and closely approximate the entire Pareto set of large neural networks. Once the routers are learned and a preference vector is set, the MoE module can be unloaded, thus no additional computational cost is introduced during inference. We conduct extensive experiments on vision and language tasks using large-scale models such as CLIP-ViT and GPT-2. The experimental results demonstrate that our method efficiently approximates the entire Pareto front of large models. Using only hundreds of trainable parameters of the MoE routers, our method even has lower memory usage compared to linear scalarization and algorithms that learn a single Pareto optimal solution, and are scalable to both the number of objectives and the size of the model.

cs.LG↗

arXiv2024

FusionBench: A Unified Library and Comprehensive Benchmark for Deep Model Fusion

Deep model fusion is an emerging technique that unifies the predictions or parameters of several deep neural networks into a single better-performing model in a cost-effective and data-efficient manner. Although a variety of deep model fusion techniques have been introduced, their evaluations tend to be inconsistent and often inadequate to validate their effectiveness and robustness. We present FusionBench, the first benchmark and a unified library designed specifically for deep model fusion. Our benchmark consists of multiple tasks, each with different settings of models and datasets. This variety allows us to compare fusion methods across different scenarios and model scales. Additionally, FusionBench serves as a unified library for easy implementation and testing of new fusion techniques. FusionBench is open source and actively maintained, with community contributions encouraged. Homepage https://github.com/tanganke/fusion_bench

cs.LG↗

arXiv2024

Merging Multi-Task Models via Weight-Ensembling Mixture of Experts

Merging various task-specific Transformer-based models trained on different tasks into a single unified model can execute all the tasks concurrently. Previous methods, exemplified by task arithmetic, have been proven to be both effective and scalable. Existing methods have primarily focused on seeking a static optimal solution within the original model parameter space. A notable challenge is mitigating the interference between parameters of different models, which can substantially deteriorate performance. In this paper, we propose to merge most of the parameters while upscaling the MLP of the Transformer layers to a weight-ensembling mixture of experts (MoE) module, which can dynamically integrate shared and task-specific knowledge based on the input, thereby providing a more flexible solution that can adapt to the specific needs of each instance. Our key insight is that by identifying and separating shared knowledge and task-specific knowledge, and then dynamically integrating them, we can mitigate the parameter interference problem to a great extent. We conduct the conventional multi-task model merging experiments and evaluate the generalization and robustness of our method. The results demonstrate the effectiveness of our method and provide a comprehensive understanding of our method. The code is available at https://github.com/tanganke/weight-ensembling_MoE

cs.LG↗

arXiv2023

Concrete Subspace Learning based Interference Elimination for Multi-task Model Fusion

Merging models fine-tuned from a common, extensively pre-trained large model but specialized for different tasks has been demonstrated as a cheap and scalable strategy to construct a multi-task model that performs well across diverse tasks. Recent research, exemplified by task arithmetic, highlights that this multi-task model can be derived through arithmetic operations on task vectors. Nevertheless, current merging techniques frequently resolve potential conflicts among parameters from task-specific models by evaluating individual attributes, such as the parameters' magnitude or sign, overlooking their collective impact on the overall functionality of the model. In this work, we propose the CONtinuous relaxation of disCRETE (Concrete) subspace learning method to identify a common low-dimensional subspace and utilize its shared information to track the interference problem without sacrificing much performance. Specifically, we model the problem as a bi-level optimization problem and introduce a meta-learning framework to find the Concrete subspace mask through gradient-based techniques. At the upper level, we focus on learning a shared Concrete mask to identify the subspace, while at the inner level, model merging is performed to maximize the performance of the merged model. We conduct extensive experiments on both vision domain and language domain, and the results demonstrate the effectiveness of our method. The code is available at https://github.com/tanganke/subspace_fusion

cs.LG↗

arXiv2023

Learning from models beyond fine-tuning

Foundation models (FM) have demonstrated remarkable performance across a wide range of tasks (especially in the fields of natural language processing and computer vision), primarily attributed to their ability to comprehend instructions and access extensive, high-quality data. This not only showcases their current effectiveness but also sets a promising trajectory towards the development of artificial general intelligence. Unfortunately, due to multiple constraints, the raw data of the model used for large model training are often inaccessible, so the use of end-to-end models for downstream tasks has become a new research trend, which we call Learn From Model (LFM) in this article. LFM focuses on the research, modification, and design of FM based on the model interface, so as to better understand the model structure and weights (in a black box environment), and to generalize the model to downstream tasks. The study of LFM techniques can be broadly categorized into five major areas: model tuning, model distillation, model reuse, meta learning and model editing. Each category encompasses a repertoire of methods and strategies that aim to enhance the capabilities and performance of FM. This paper gives a comprehensive review of the current methods based on FM from the perspective of LFM, in order to help readers better understand the current research status and ideas. To conclude, we summarize the survey by highlighting several critical areas for future exploration and addressing open issues that require further attention from the research community. The relevant papers we investigated in this article can be accessed at https://github.com/ruthless-man/Awesome-Learn-from-Model

cs.AI↗

arXiv2023

Parameter Efficient Multi-task Model Fusion with Partial Linearization

Large pre-trained models have enabled significant advances in machine learning and served as foundation components. Model fusion methods, such as task arithmetic, have been proven to be powerful and scalable to incorporate fine-tuned weights from different tasks into a multi-task model. However, efficiently fine-tuning large pre-trained models on multiple downstream tasks remains challenging, leading to inefficient multi-task model fusion. In this work, we propose a novel method to improve multi-task fusion for parameter-efficient fine-tuning techniques like LoRA fine-tuning. Specifically, our approach partially linearizes only the adapter modules and applies task arithmetic over the linearized adapters. This allows us to leverage the the advantages of model fusion over linearized fine-tuning, while still performing fine-tuning and inference efficiently. We demonstrate that our partial linearization technique enables a more effective fusion of multiple tasks into a single model, outperforming standard adapter tuning and task arithmetic alone. Experimental results demonstrate the capabilities of our proposed partial linearization technique to effectively construct unified multi-task models via the fusion of fine-tuned task vectors. We evaluate performance over an increasing number of tasks and find that our approach outperforms standard parameter-efficient fine-tuning techniques. The results highlight the benefits of partial linearization for scalable and efficient multi-task model fusion. The code is available at https://github.com/tanganke/peta

cs.LG↗

arXiv2023

Improving Heterogeneous Model Reuse by Density Estimation

This paper studies multiparty learning, aiming to learn a model using the private data of different participants. Model reuse is a promising solution for multiparty learning, assuming that a local model has been trained for each party. Considering the potential sample selection bias among different parties, some heterogeneous model reuse approaches have been developed. However, although pre-trained local classifiers are utilized in these approaches, the characteristics of the local data are not well exploited. This motivates us to estimate the density of local data and design an auxiliary model together with the local classifiers for reuse. To address the scenarios where some local models are not well pre-trained, we further design a multiparty cross-entropy loss for calibration. Upon existing works, we address a challenging problem of heterogeneous model reuse from a decision theory perspective and take advantage of recent advances in density estimation. Experimental results on both synthetic and benchmark data demonstrate the superiority of the proposed method.

cs.LG↗