arXiv subjects

Zidong Liu

Publications and source records attributed to Zidong Liu.

8 recordsLinked to original sources

arXiv2026

Clustering-Embedded Model Predictive Path Integral Control: Avoiding Averaging-Induced Failure and Enabling Efficient Cluster Selection for Dynamic Obstacles

With the widespread availability of parallel computing hardware, sampling-based motion planning methods such as Model Predictive Path Integral (MPPI) control have become increasingly powerful for complex nonlinear systems in non-smooth task spaces. However, the sampling and forward-simulation pipeline in MPPI suffers from averaging-induced failure in cluttered environments, where the importance-weighted update averages incompatible rollouts and leads to hesitation or even collision when an obstacle lies directly ahead. This paper proposes Clustering-Embedded MPPI (CE-MPPI), a framework that architecturally resolves the averaging-induced failures inherent in standard MPPI within non-convex environments. Rather than simply mitigating interference, CE-MPPI redefines the control law by integrating a high-fidelity pruning and clustering stage. By leveraging density-based spatial clustering of applications with noise (DBSCAN) alongside a novel geometric direction feature that is extracted from collision-derived reference points, the system isolates feasible trajectory modes from the noise of infeasible rollouts. This is paired with an intelligent selection logic that optimizes for minimum cost in static scenes while actively steering opposite to obstacle flux in dynamic environments. Experiments in 2-D JAX-accelerated simulations show that CE-MPPI alleviates obstacle-front hesitation and avoids persistent coupling with moving obstacles in dynamic scenes. In particular, real-world tests on a 6-DoF UR5e manipulator with CUDA-parallel rollouts in Isaac Gym achieve a 48\% reduction in time-to-goal and a 12\% shorter end-effector path.

cs.RO↗

arXiv2026

TeachAnything: A Multimodal Crowdsourcing Platform for Training Embodied AI Agents in Symmetrical Reality

Symmetrical Reality (SR) is emerging as a future trend for human-agent coexistence, placing higher demands on agents to acquire human-like intelligence. It calls for richer and more diverse human guidance. We introduce a three-stage demonstration paradigm integrating multimodal demonstration signals. Building on this paradigm, we developed TeachAnything, a cloud-based, crowdsourcing-oriented demonstration platform with physics simulation capable of collecting diverse demonstration data across varied scenes, tasks, and embodiments. By unifying virtual and physical interactions through both methodological design and physics simulation, the system serves as a practical foundation for developing embodied agents aligned with Symmetrical Reality.

cs.AI↗

arXiv2026

Learning Dynamics of Zeroth-Order Optimization: A Kernel Perspective

Classical optimization theory establishes that zeroth-order (ZO) algorithms suffer from a dimension-dependent slowdown, with convergence rates typically scaling with the model dimension compared to first-order methods. However, in contrast to these theoretical expectations, a growing body of recent work demonstrates the successful application of ZO methods to fine-tuning Large Language Models (LLMs) with billions of parameters. To explain this paradox, we derive the one-step learning dynamics of ZO SGD, where the empirical Neural Tangent Kernel (eNTK) naturally emerges as the key term governing the learning behavior. Inspection of the eNTK produced by ZO SGD reveals that each element corresponds to the inner product of neural tangent vectors projected onto a random low-dimensional subspace. Thus, by invoking the Johnson-Lindenstrauss Lemma, our analysis shows that the fidelity of the ZO eNTK is governed primarily by the number of perturbations. Crucially, the approximation error depends on the model output size rather than the massive parameter dimension. This dimension-free property provides a theoretical justification for the scalability of ZO methods to LLMs finetuning tasks. We believe that this kernel-based framework offers a novel perspective for understanding ZO methods within the context of learning dynamics.

cs.LG↗

arXiv2025

Can Language Models Compose Skills In-Context?

Composing basic skills from simple tasks to accomplish composite tasks is crucial for modern intelligent systems. We investigate the in-context composition ability of language models to perform composite tasks that combine basic skills demonstrated in in-context examples. This is more challenging than the standard setting, where skills and their composition can be learned in training. We conduct systematic experiments on various representative open-source language models, utilizing linguistic and logical tasks designed to probe composition abilities. The results reveal that simple task examples can have a surprising negative impact on the performance, because the models generally struggle to recognize and assemble the skills correctly, even with Chain-of-Thought examples. Theoretical analysis further shows that it is crucial to align examples with the corresponding steps in the composition. This inspires a method for the probing tasks, whose improved performance provides positive support for our insights.

cs.LG↗

arXiv2025

Converge Faster, Talk Less: Hessian-Informed Federated Zeroth-Order Optimization

Zeroth-order (ZO) optimization enables dimension-free communication in federated learning (FL), making it attractive for fine-tuning of large language models (LLMs) due to significant communication savings. However, existing ZO-FL methods largely overlook curvature information, despite its well-established benefits for convergence acceleration. To address this, we propose HiSo, a Hessian-informed ZO federated optimization method that accelerates convergence by leveraging global diagonal Hessian approximations, while strictly preserving scalar-only communication without transmitting any second-order information. Theoretically, for non-convex functions, we show that HiSo can achieve an accelerated convergence rate that is independent of the Lipschitz constant $L$ and model dimension $d$ under some Hessian approximation assumptions, offering a plausible explanation for the observed phenomenon of ZO convergence being much faster than its worst-case $\mathscr{O}(d)$-bound. Empirically, across diverse LLM fine-tuning benchmarks, HiSo delivers a 1$\sim$5$\times$ speedup in communication rounds over existing state-of-the-art ZO-FL baselines. This superior convergence not only cuts communication costs but also provides strong empirical evidence that Hessian information acts as an effective accelerator in federated ZO optimization settings. Our source code is provided at https://github.com/ZidongLiu/DeComFL.

cs.LG↗

arXiv2024

Achieving Dimension-Free Communication in Federated Learning via Zeroth-Order Optimization

Federated Learning (FL) offers a promising framework for collaborative and privacy-preserving machine learning across distributed data sources. However, the substantial communication costs associated with FL significantly challenge its efficiency. Specifically, in each communication round, the communication costs scale linearly with the model's dimension, which presents a formidable obstacle, especially in large model scenarios. Despite various communication-efficient strategies, the intrinsic dimension-dependent communication cost remains a major bottleneck for current FL implementations. This paper proposes a novel dimension-free communication algorithm - DeComFL, which leverages the zeroth-order optimization techniques and reduces the communication cost from $\mathscr{O}(d)$ to $\mathscr{O}(1)$ by transmitting only a constant number of scalar values between clients and the server in each round, regardless of the dimension $d$ of the model parameters. Theoretically, in non-convex functions, we prove that our algorithm achieves state-of-the-art rates, which show a linear speedup of the number of clients and local steps under standard assumptions. With additional low effective rank assumption, we can further show the convergence rate is independent of the model dimension $d$ as well. Empirical evaluations, encompassing both classic deep learning training and large language model fine-tuning, demonstrate significant reductions in communication overhead. Notably, DeComFL achieves this by transmitting only around 1MB of data in total between the server and a client to fine-tune a model with billions of parameters. Our code is available at https://github.com/ZidongLiu/DeComFL.

cs.LG↗

arXiv2024

VeCAF: Vision-language Collaborative Active Finetuning with Training Objective Awareness

Finetuning a pretrained vision model (PVM) is a common technique for learning downstream vision tasks. However, the conventional finetuning process with randomly sampled data points results in diminished training efficiency. To address this drawback, we propose a novel approach, Vision-language Collaborative Active Finetuning (VeCAF). With the emerging availability of labels and natural language annotations of images through web-scale crawling or controlled generation, VeCAF makes use of these information to perform parametric data selection for PVM finetuning. VeCAF incorporates the finetuning objective to select significant data points that effectively guide the PVM towards faster convergence to meet the performance goal. This process is assisted by the inherent semantic richness of the text embedding space which we use to augment image features. Furthermore, the flexibility of text-domain augmentation allows VeCAF to handle out-of-distribution scenarios without external data. Extensive experiments show the leading performance and high computational efficiency of VeCAF that is superior to baselines in both in-distribution and out-of-distribution image classification tasks. On ImageNet, VeCAF uses up to 3.3x less training batches to reach the target performance compared to full finetuning, and achieves an accuracy improvement of 2.7% over the state-of-the-art active finetuning method with the same number of batches.

cs.CV↗

arXiv2024

InstructPix2NeRF: Instructed 3D Portrait Editing from a Single Image

With the success of Neural Radiance Field (NeRF) in 3D-aware portrait editing, a variety of works have achieved promising results regarding both quality and 3D consistency. However, these methods heavily rely on per-prompt optimization when handling natural language as editing instructions. Due to the lack of labeled human face 3D datasets and effective architectures, the area of human-instructed 3D-aware editing for open-world portraits in an end-to-end manner remains under-explored. To solve this problem, we propose an end-to-end diffusion-based framework termed InstructPix2NeRF, which enables instructed 3D-aware portrait editing from a single open-world image with human instructions. At its core lies a conditional latent 3D diffusion process that lifts 2D editing to 3D space by learning the correlation between the paired images' difference and the instructions via triplet data. With the help of our proposed token position randomization strategy, we could even achieve multi-semantic editing through one single pass with the portrait identity well-preserved. Besides, we further propose an identity consistency module that directly modulates the extracted identity signals into our diffusion process, which increases the multi-view 3D identity consistency. Extensive experiments verify the effectiveness of our method and show its superiority against strong baselines quantitatively and qualitatively. Source code and pre-trained models can be found on our project page: \url{https://mybabyyh.github.io/InstructPix2NeRF}.

cs.CV↗