Rethinking LoRA for Privacy-Preserving Federated Learning in Large Models

Fine-tuning large vision models (LVMs) and large language models (LLMs) under differentially private federated learning (DPFL) is hindered by a fundamental privacy-utility trade-off. Low-Rank Adaptation (LoRA), a promising parameter-efficient fine-tuning (PEFT) method, reduces computational and communication costs by introducing two trainable low-rank matrices while freezing pre-trained weights. However, directly applying LoRA in DPFL settings leads to performance degradation, especially in LVMs. Our analysis reveals three previously underexplored challenges: (1) gradient coupling caused by the simultaneous update of two asymmetric low-rank matrices, (2) compounded noise amplification under differential privacy, and (3) sharpness of the global aggregated model in the parameter space. To address these issues, we propose LA-LoRA (\textbf{L}ocal \textbf{A}lternating \textbf{LoRA}), a novel approach that decouples gradient interactions and aligns update directions across clients to enhance robustness under stringent privacy constraints. Theoretically, LA-LoRA strengthens convergence guarantees in noisy federated environments. Extensive experiments demonstrate that LA-LoRA achieves state-of-the-art (SOTA) performance on Swin Transformer and RoBERTa models, showcasing robustness to DP noise and broad applicability across both LVMs and LLMs. For example, when fine-tuning the Swin-B model on the Tiny-ImageNet dataset under a strict privacy budget ($ε= 1$), LA-LoRA outperforms the best baseline, RoLoRA, by 16.83\% in test accuracy. Code is provided in \repolink.

DP-FedAdamW: An Efficient Optimizer for Differentially Private Federated Large Models

Balancing convergence efficiency and robustness under Differential Privacy (DP) is a central challenge in Federated Learning (FL). While AdamW accelerates training and fine-tuning in large-scale models, we find that directly applying it to Differentially Private FL (DPFL) suffers from three major issues: (i) data heterogeneity and privacy noise jointly amplify the variance of second-moment estimator, (ii) DP perturbations bias the second-moment estimator, and (iii) DP amplify AdamW sensitivity to local overfitting, worsening client drift. We propose DP-FedAdamW, the first AdamW-based optimizer for DPFL. It restores AdamW under DP by stabilizing second-moment variance, removing DP-induced bias, and aligning local updates to the global descent to curb client drift. Theoretically, we establish an unbiased second-moment estimator and prove a linearly accelerated convergence rate without any heterogeneity assumption, while providing tighter $(\varepsilon,δ)$-DP guarantees. Our empirical results demonstrate the effectiveness of DP-FedAdamW across language and vision Transformers and ResNet-18. On Tiny-ImageNet (Swin-Base, $\varepsilon=1$), DP-FedAdamW outperforms the state-of-the-art (SOTA) by 5.83\%. The code is available in Appendix.

Taming Preconditioner Drift: Unlocking the Potential of Second-Order Optimizers for Federated Learning on Non-IID Data

Second-order optimizers can significantly accelerate large-scale training, yet their naive federated variants are often unstable or even diverge on non-IID data. We show that a key culprit is \emph{preconditioner drift}: client-side second-order training induces heterogeneous \emph{curvature-defined geometries} (i.e., preconditioner coordinate systems), and server-side model averaging updates computed under incompatible metrics, corrupting the global descent direction. To address this geometric mismatch, we propose \texttt{FedPAC}, a \emph{preconditioner alignment and correction} framework for reliable federated second-order optimization. \texttt{FedPAC} explicitly decouples parameter aggregation from geometry synchronization by: (i) \textbf{Alignment} (i.e.,aggregating local preconditioners into a global reference and warm-starting clients via global preconditioner); and (ii) \textbf{Correction} (i.e., steering local preconditioned updates using a global preconditioned direction to suppress long-term drift). We provide drift-coupled non-convex convergence guarantees with linear speedup under partial participation. Empirically, \texttt{FedPAC} consistently improves stability and accuracy across vision and language tasks, achieving up to $5.8\%$ absolute accuracy gain on CIFAR-100 with ViTs. Code is available at https://anonymous.4open.science/r/FedPAC-8B24.

TouchGuide: Inference-Time Steering of Visuomotor Policies via Touch Guidance

Fine-grained and contact-rich manipulation remain challenging for robots, largely due to the underutilization of tactile feedback. To address this, we introduce TouchGuide, a novel cross-policy visuo-tactile fusion paradigm that fuses modalities within a low-dimensional action space. Specifically, TouchGuide operates in two stages to guide a pre-trained diffusion or flow-matching visuomotor policy at inference time. First, the policy produces a coarse, visually-plausible action using only visual inputs during early sampling. Second, a task-specific Contact Physical Model (CPM) provides tactile guidance to steer and refine the action, ensuring it aligns with realistic physical contact conditions. Trained through contrastive learning on limited expert demonstrations, the CPM provides a tactile-informed feasibility score to steer the sampling process toward refined actions that satisfy physical contact constraints. Furthermore, to facilitate TouchGuide training with high-quality and cost-effective data, we introduce TacUMI, a data collection system. TacUMI achieves a favorable trade-off between precision and affordability; by leveraging rigid fingertips, it obtains direct tactile feedback, thereby enabling the collection of reliable tactile data. Extensive experiments on five challenging contact-rich tasks, such as shoe lacing and chip handover, show that TouchGuide consistently and significantly outperforms state-of-the-art visuo-tactile policies.

VC-Bench: Pioneering the Video Connecting Benchmark with a Dataset and Evaluation Metrics

While current video generation focuses on text or image conditions, practical applications like video editing and vlogging often need to seamlessly connect separate clips. In our work, we introduce Video Connecting, an innovative task that aims to generate smooth intermediate video content between given start and end clips. However, the absence of standardized evaluation benchmarks has hindered the development of this task. To bridge this gap, we proposed VC-Bench, a novel benchmark specifically designed for video connecting. It includes 1,579 high-quality videos collected from public platforms, covering 15 main categories and 72 subcategories to ensure diversity and structure. VC-Bench focuses on three core aspects: Video Quality Score VQS, Start-End Consistency Score SECS, and Transition Smoothness Score TSS. Together, they form a comprehensive framework that moves beyond conventional quality-only metrics. We evaluated multiple state-of-the-art video generation models on VC-Bench. Experimental results reveal significant limitations in maintaining start-end consistency and transition smoothness, leading to lower overall coherence and fluidity. We expect that VC-Bench will serve as a pioneering benchmark to inspire and guide future research in video connecting. The evaluation metrics and dataset are publicly available at: https://anonymous.4open.science/r/VC-Bench-1B67/.

Average shortest-path length in word-adjacency networks: Chinese versus English

Complex networks provide powerful tools for analyzing and understanding the intricate structures present in various systems, including natural language. Here, we analyze topology of growing word-adjacency networks constructed from Chinese and English literary works written in different periods. Unconventionally, instead of considering dictionary words only, we also include punctuation marks as if they were ordinary words. Our approach is based on two arguments: (1) punctuation carries genuine information related to emotional state, allows for logical grouping of content, provides a pause in reading, and facilitates understanding by avoiding ambiguity, and (2) our previous works have shown that punctuation marks behave like words in a Zipfian analysis and, if considered together with regular words, can improve authorship attribution in stylometric studies. We focus on a functional dependence of the average shortest path length $L(N)$ on a network size $N$ for different epochs and individual novels in their original language as well as for translations of selected novels into the other language. We approximate the empirical results with a growing network model and obtain satisfactory agreement between the two. We also observe that $L(N)$ behaves asymptotically similar for both languages if punctuation marks are included but becomes sizably larger for Chinese if punctuation marks are neglected.

Opt3DGS: Optimizing 3D Gaussian Splatting with Adaptive Exploration and Curvature-Aware Exploitation

3D Gaussian Splatting (3DGS) has emerged as a leading framework for novel view synthesis, yet its core optimization challenges remain underexplored. We identify two key issues in 3DGS optimization: entrapment in suboptimal local optima and insufficient convergence quality. To address these, we propose Opt3DGS, a robust framework that enhances 3DGS through a two-stage optimization process of adaptive exploration and curvature-guided exploitation. In the exploration phase, an Adaptive Weighted Stochastic Gradient Langevin Dynamics (SGLD) method enhances global search to escape local optima. In the exploitation phase, a Local Quasi-Newton Direction-guided Adam optimizer leverages curvature information for precise and efficient convergence. Extensive experiments on diverse benchmark datasets demonstrate that Opt3DGS achieves state-of-the-art rendering quality by refining the 3DGS optimization process without modifying its underlying representation.

FedAdamW: A Communication-Efficient Optimizer with Convergence and Generalization Guarantees for Federated Large Models

AdamW has become one of the most effective optimizers for training large-scale models. We have also observed its effectiveness in the context of federated learning (FL). However, directly applying AdamW in federated learning settings poses significant challenges: (1) due to data heterogeneity, AdamW often yields high variance in the second-moment estimate $\boldsymbol{v}$; (2) the local overfitting of AdamW may cause client drift; and (3) Reinitializing moment estimates ($\boldsymbol{v}$, $\boldsymbol{m}$) at each round slows down convergence. To address these challenges, we propose the first \underline{Fed}erated \underline{AdamW} algorithm, called \texttt{FedAdamW}, for training and fine-tuning various large models. \texttt{FedAdamW} aligns local updates with the global update using both a \textbf{local correction mechanism} and decoupled weight decay to mitigate local overfitting. \texttt{FedAdamW} efficiently aggregates the \texttt{mean} of the second-moment estimates to reduce their variance and reinitialize them. Theoretically, we prove that \texttt{FedAdamW} achieves a linear speedup convergence rate of $\mathcal{O}(\sqrt{(L \Delta \sigma_l^2)/(S K R \epsilon^2)}+(L \Delta)/R)$ without \textbf{heterogeneity assumption}, where $S$ is the number of participating clients per round, $K$ is the number of local iterations, and $R$ is the total number of communication rounds. We also employ PAC-Bayesian generalization analysis to explain the effectiveness of decoupled weight decay in local training. Empirically, we validate the effectiveness of \texttt{FedAdamW} on language and vision Transformer models. Compared to several baselines, \texttt{FedAdamW} significantly reduces communication rounds and improves test accuracy. The code is available in https://github.com/junkangLiu0/FedAdamW.

FedMuon: Accelerating Federated Learning with Matrix Orthogonalization

The core bottleneck of Federated Learning (FL) lies in the communication rounds. That is, how to achieve more effective local updates is crucial for reducing communication rounds. Existing FL methods still primarily use element-wise local optimizers (Adam/SGD), neglecting the geometric structure of the weight matrices. This often leads to the amplification of pathological directions in the weights during local updates, leading deterioration in the condition number and slow convergence. Therefore, we introduce the Muon optimizer in local, which has matrix orthogonalization to optimize matrix-structured parameters. Experimental results show that, in IID setting, Local Muon significantly accelerates the convergence of FL and reduces communication rounds compared to Local SGD and Local AdamW. However, in non-IID setting, independent matrix orthogonalization based on the local distributions of each client induces strong client drift. Applying Muon in non-IID FL poses significant challenges: (1) client preconditioner leading to client drift; (2) moment reinitialization. To address these challenges, we propose a novel Federated Muon optimizer (FedMuon), which incorporates two key techniques: (1) momentum aggregation, where clients use the aggregated momentum for local initialization; (2) local-global alignment, where the local gradients are aligned with the global update direction to significantly reduce client drift. Theoretically, we prove that \texttt{FedMuon} achieves a linear speedup convergence rate without the heterogeneity assumption, where $S$ is the number of participating clients per round, $K$ is the number of local iterations, and $R$ is the total number of communication rounds. Empirically, we validate the effectiveness of FedMuon on language and vision models. Compared to several baselines, FedMuon significantly reduces communication rounds and improves test accuracy.

UniTac2Pose: A Unified Approach Learned in Simulation for Category-level Visuotactile In-hand Pose Estimation

Accurate estimation of the in-hand pose of an object based on its CAD model is crucial in both industrial applications and everyday tasks, ranging from positioning workpieces and assembling components to seamlessly inserting devices like USB connectors. While existing methods often rely on regression, feature matching, or registration techniques, achieving high precision and generalizability to unseen CAD models remains a significant challenge. In this paper, we propose a novel three-stage framework for in-hand pose estimation. The first stage involves sampling and pre-ranking pose candidates, followed by iterative refinement of these candidates in the second stage. In the final stage, post-ranking is applied to identify the most likely pose candidates. These stages are governed by a unified energy-based diffusion model, which is trained solely on simulated data. This energy model simultaneously generates gradients to refine pose estimates and produces an energy scalar that quantifies the quality of the pose estimates. Additionally, borrowing the idea from the computer vision domain, we incorporate a render-compare architecture within the energy-based score network to significantly enhance sim-to-real performance, as demonstrated by our ablation studies. We conduct comprehensive experiments to show that our method outperforms conventional baselines based on regression, matching, and registration techniques, while also exhibiting strong intra-category generalization to previously unseen CAD models. Moreover, our approach integrates tactile object pose estimation, pose tracking, and uncertainty estimation into a unified framework, enabling robust performance across a variety of real-world conditions.