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Hao Ren

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6 papers
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6

AAAI Conference 2025 Conference Paper

Federated Learning with Sample-level Client Drift Mitigation

  • Haoran Xu
  • Jiaze Li
  • Wanyi Wu
  • Hao Ren

Federated Learning (FL) suffers from severe performance degradation due to the data heterogeneity among clients. Existing works reveal that the fundamental reason is that data heterogeneity can cause client drift where the local model update deviates from the global one, and thus they usually tackle this problem from the perspective of calibrating the obtained local update. Despite effectiveness, existing methods substantially lack a deep understanding of how heterogeneous data samples contribute to the formation of client drift. In this paper, we bridge this gap by identifying that the drift can be viewed as a cumulative manifestation of biases present in all local samples and the bias between samples is different. Besides, the bias dynamically changes as the FL training progresses. Motivated by this, we propose FedBSS that first mitigates the heterogeneity issue in a sample-level manner, orthogonal to existing methods. Specifically, the core idea of our method is to adopt a bias-aware sample selection scheme that dynamically selects the samples from small biases to large epoch by epoch to train progressively the local model in each round. In order to ensure the stability of training, we set the diversified knowledge acquisition stage as the warm-up stage to avoid the local optimality caused by knowledge deviation in the early stage of the model. Evaluation results show that FedBSS outperforms state-of-the-art baselines. In addition, we also achieved effective results on feature distribution skew and noise label dataset setting, which proves that FedBSS can not only reduce heterogeneity, but also has scalability and robustness.

EAAI Journal 2025 Journal Article

Layer-wise feature refinement for accurate three-dimensional lane detection with enhanced bird’s eye view transformation

  • Hao Ren
  • Mingwei Wang
  • Yanyang Deng
  • Wenping Li
  • Chen Liu

Three-dimensional (3D) lane line detection from images is a fundamental yet challenging problem in autonomous driving, with existing methods often lacking scene robustness and computational efficiency. We propose a new method for 3D lane line detection using a simple and efficient view transformation module and layer-wise refined bird’s eye view (BEV) features. Our approach introduces a dual-branch perspective transformation module combining deformable convolution and perspective relationship modules to enhance robustness across diverse scenes. Additionally, we design a cross-attention-based view transformation module with spatial position encoding and BEV spatial query to improve detail learning and transformation effectiveness. Our method further refines BEV features layer by layer to fully exploit multi-level information. Experimental results on two datasets demonstrate the superiority of our approach, showing a significant increase in F1-score compared to existing methods.

AAAI Conference 2025 Conference Paper

PrivDNFIS: Privacy-preserving and Efficient Deep Neuro-Fuzzy Inference System

  • Hao Ren
  • Xiao Lan
  • Rui Tang
  • Xingshu Chen

Deep Neuro-Fuzzy Inference Systems (DNFIS) seamlessly fuse neural networks with the fuzzy inference system enabling intricate decision-making and knowledge representation, while upholding a commendable degree of adaptability and interpretability. However, the challenge of privacy-preserving inference (PI) over DNFIS has remained largely uncharted, with no prior research addressing this critical issue. In this paper, we embark on an exploration of this issue. We introduce an efficient and secure PI framework for DNFIS, named PrivDNFIS, which leverages the post-quantum lattice-based homomorphic encryption to implement secure computation protocols for PI over DNFIS. Our work incorporates several non-trivial performance enhancements. Firstly, it consolidates multiple elements of input feature vectors into a single message, reducing encryption/decryption overhead. Secondly, building upon this novel encoding approach, PrivDNFIS can perform ciphertext aggregation and vector-vector inner production without necessitating time-consuming ciphertext rotation operations. Thirdly, we replace the softmax function in the DNFIS layer with a quadratic function to further enhance inference efficiency, without compromising the inference accuracy. Under the given threat model, we provide formal security proof for PrivDNFIS. In comprehensive experimental results, PrivDNFIS demonstrates an approximately 1.9 to 4.4 times reduction in end-to-end time cost compared to the benchmark.

NeurIPS Conference 2025 Conference Paper

RAPID Hand: Robust, Affordable, Perception-Integrated, Dexterous Manipulation Platform for Embodied Intelligence

  • Zhaoliang Wan
  • Zetong Bi
  • Zida Zhou
  • Hao Ren
  • Yiming Zeng
  • Yihan Li
  • Lu Qi
  • Xu Yang

This paper addresses the scarcity of low-cost but high-dexterity platforms for collecting real-world multi-fingered robot manipulation data towards generalist robot autonomy. To achieve it, we propose the RAPID Hand, a co-optimized hardware and software platform where the compact 20-DoF hand, robust whole-hand perception, and high-DoF teleoperation interface are jointly designed. Specifically, RAPID Hand adopts a compact and practical hand ontology and a hardware-level perception framework that stably integrates wrist-mounted vision, fingertip tactile sensing, and proprioception with sub-7 ms latency and spatial alignment. Collecting high-quality demonstrations on high-DoF hands is challenging, as existing teleoperation methods struggle with precision and stability on complex multi-fingered systems. We address this by co-optimizing hand design, perception integration, and teleoperation interface through a universal actuation scheme, custom perception electronics, and two retargeting constraints. We evaluate the platform’s hardware, perception, and teleoperation interface. Training a diffusion policy on collected data shows superior performance over prior works, validating the system’s capability for reliable, high-quality data collection. The platform is constructed from low-cost and off-the-shelf components and will be made public to ensure reproducibility and ease of adoption.

EAAI Journal 2023 Journal Article

Fault-tolerant control for second-order nonlinear systems with actuator faults via zero-sum differential game

  • Yajie Ma
  • Qingyuan Meng
  • Bin Jiang
  • Hao Ren

Stable operations of control systems play a vital role in mission accomplishments of the second-order nonlinear systems, such as six-axis robots used in intelligent production lines, industrial equipment and control systems. In this paper, a fault-tolerant control scheme is developed for a class of second-order nonlinear control system under actuator bias faults and loss of effectiveness faults via the zero-sum differential game method. Based on the backstepping method, a controller is designed to ensure system tracking performance. Then by the zero-sum differential game method, a fault-tolerant controller is designed for the equivalent error system. Simulation results show the validity of the designed fault-tolerant control scheme.

EAAI Journal 2022 Journal Article

Pose estimation and robotic insertion tasks based on YOLO and layout features

  • Fangli Mou
  • Hao Ren
  • Bin Wang
  • Dan Wu

In this study, we proposed a practical scheme for the challenging robotic cable insertion task. In general, the applied architecture is based on two YOLOs, vision-based pose estimation and admittance control. A precise and effective method was developed to estimate the pose of a manipulated connector. Our method uses a deep convolutional neural network to detect the relevant regions in the image. The characteristics of these relevant regions along with the pins’ layout manifold are combined to conduct the estimation. Practical problems such as error examination and time efficiency were considered in the proposed method for real applications. An admittance controller is introduced to experimentally validate the performance of pose estimation and provide compliant insertion by the proposed architecture. Our method is only based on less prior layout knowledge and does not require a precise model, which facilitates modeling and deployment. In addition, our method is robust to image quality and has low computational complexity, which makes it highly suitable for online manipulation. Besides, our method can handle multiple connector types which can cover most cases in aeronautical manufacturing and guide the design of connectors in the production process. The advantages of our method were demonstrated by extensive testing using both synthetic data and experiments. We also designed an insertion controller and realized a complete insertion task using a PC with a 12 GB RTX 3060 GPU and 32 GB RAM. These experimental results show that our method can achieve precise and reliable estimation with mean absolute errors less than 0. 44 deg and 0. 36 mm, an estimation accuracy of over 99%, and a successful manipulation rate of over 94%. This reveals that the proposed method displays potential for the challenging robotic cable insertion task.