Chinese Kung Fu not only emphasizes external techniques and movements but also places great importance on the cultivation of internal states such as Fa Li (force exertion) and Qi (energy control). However, existing motor learning systems predominantly focus on improving movement accuracy, with limited attention to the awareness and guidance of these internal states. Kung Fu films often use visual effects (VFX) to vividly express traditional cultural imagery. Inspired by this, we designed and developed a wearable motor learning system and interactive interface that integrates interactive VFX and haptic feedback to enhance users’ awareness of internal states such as force exertion and Qi, thereby improving both learning effectiveness and user experience. Through prototyping and an exploratory study, we found that the system significantly improved users’ awareness of Qi and force exertion, as well as their overall training experience. In addition, we identified several usability issues and proposed corresponding design improvements. This study introduces a novel visualization framework for internal state cues in Kung Fu training, offering new perspectives and practical approaches for the design of motor learning systems.

Visual Prompt Learning (VPL) has emerged as a powerful strategy for harnessing the capabilities of large-scale pretrained models (PTMs) to tackle specific downstream tasks. However, the opaque nature of PTMs in many real-world applications has led to a growing interest in gradient-free approaches within VPL. A significant challenge with existing black-box VPL methods lies in the high dimensionality of visual prompts, which necessitates considerable API queries for tuning, thereby impacting efficiency. To address this issue, we propose a novel query-efficient framework for blackbox visual prompting, designed to generate input-dependent visual prompts efficiently for large-scale black-box PTMs. Our framework is built upon the insight of reparameterizing prompts using neural networks, improving the typical pretraining-fine-tuning paradigm through the subspace learning strategy to maximize efficiency and adaptability from both the perspective of initial weights and parameter dimensionality. This tuning intrinsically optimizes low-dimensional representations within the well-learned subspace, enabling the efficient adaptation of the network to downstream tasks. Our approach significantly reduces the necessity for substantial API queries to PTMs, presenting an efficient method for leveraging large-scale black-box PTMs in visual prompting tasks. Most experimental results across various benchmarks demonstrate the effectiveness of our method, showcasing substantial reductions in the number of required API queries to PTMs while maintaining or even enhancing performance on downstream tasks.

Large Scale Pre-Trained Language Models (PTMs) have demonstrated unprecedented capabilities across diverse natural language processing tasks. Adapting such models to downstream tasks is computationally intensive and time-consuming, particularly in black-box scenarios common in Language-Model-as-a-Service (LMaaS) environments, where model parameters and gradients are inaccessible. Recently, black-box prompt learning using zeroth-order gradients has emerged as a promising approach to address these challenges by optimizing learnable continuous prompts in embedding spaces, starting with \textit{randomly initialized discrete text prompts}. However, its reliance on randomly initialized discrete prompts limits adaptability to diverse downstream tasks or models. To address this limitation, this paper introduces ZO-PoG, a novel framework that optimizes prompts through a collaborative approach, combining Policy Gradient optimization for initial discrete text prompts and Zeroth-Order optimization for continuous prompts in embedding space. By optimizing collaboratively between discrete and continuous prompts, ZO-PoG maximizes adaptability to downstream tasks, achieving superior results without direct access to the model’s internal structures. Importantly, we establish the sub-linear convergence of ZO-PoG under mild assumptions. The experiments on different datasets demonstrate significant improvements in various tasks compared to the baselines.

Affective robots can elicit psychological responses such as attachment and intimacy, which may help alleviate anxiety and enrich users’ emotional experiences. While such robots can take the form of agents (controlled by algorithms) or avatars (controlled by humans or animals), the differential effects of these embodiment forms on users’ emotional responses remain underexplored, particularly in scenarios where avatars are controlled by animals. In this study, we conducted a Wizard of Oz experiment to compare the emotional experience and anxiety relief provided by a robotic cat under different embodiment forms and interaction modes (unidirectional vs. bidirectional). The results indicate that the avatar embodiment significantly enhances users’ affective experiences, fostering stronger emotional bonds and more effective anxiety relief. However, no significant differences were found between the interaction modes with respect to either anxiety relief or emotional outcomes. These findings offer valuable insights for the design of emotionally engaging embodied intelligent systems in contexts such as emotional companionship and mental health interventions. • A wearable robot prototype enables remote interaction between humans and real cats. • Robot embodiment forms and interaction modes affect users’ anxiety and affective experience. • The avatar form leads to greater anxiety relief and stronger affective experiences. • No significant emotional differences are found between interaction modes.

Zeroth-order optimization algorithms are widely used for black-box optimization problems, such as those in machine learning and prompt engineering, where the gradients are approximated using function evaluations. Recently, a generalization result was provided for zeroth-order stochastic gradient descent (SGD) algorithms through stability analysis. However, this result was limited to the vanilla 2-point zeroth-order estimate of Gaussian distribution used in SGD algorithms. To address these limitations, we propose a general proof framework for stability analysis that applies to convex, strongly convex, and non-convex conditions, and yields results for popular zeroth-order optimization algorithms, including SGD, GD, and SVRG, as well as various zeroth-order estimates, such as 1-point and 2-point with different distributions and coordinate estimates. Our general analysis shows that coordinate estimation can lead to tighter generalization bounds for SGD, GD, and SVRG versions of zeroth-order optimization algorithms, due to the smaller expansion brought by coordinate estimates to stability analysis.

In this paper, we introduce a novel framework for black-box prompt tuning with a subspace learning and selection strategy, leveraging derivative-free optimization algorithms. This approach is crucial for scenarios where user interaction with language models is restricted to API usage, without direct access to their internal structures or gradients, a situation typical in Language-Model-as-a-Service (LMaaS). Our framework focuses on exploring the low-dimensional subspace of continuous prompts. Previous work on black-box prompt tuning necessitates a substantial number of API calls due to the random choice of the subspace. To tackle this problem, we propose to use a simple zeroth-order optimization algorithm to tackle nonconvex optimization challenges with nonsmooth nonconvex regularizers: the Zeroth-Order Mini-Batch Stochastic Proximal Gradient method (ZO-MB-SPG). A key innovation is the incorporation of nonsmooth nonconvex regularizers, including the indicator function of the l0 constraint, which enhances our ability to select optimal subspaces for prompt optimization. The experimental results show that our proposed black-box prompt tuning method on a few labeled samples can attain similar performance to the methods applicable to LMaaS with much fewer API calls.

On-device learning faces memory constraints when optimizing or fine-tuning on edge devices with limited resources. Current techniques for training deep models on edge devices rely heavily on backpropagation. However, its high memory usage calls for a reassessment of its dominance. In this paper, we propose forward gradient descent (FGD) as a potential solution to overcome the memory capacity limitation in on-device learning. However, FGD's dependencies across layers hinder parallel computation and can lead to inefficient resource utilization. To mitigate this limitation, we propose AsyncFGD, an asynchronous framework that decouples dependencies, utilizes module-wise stale parameters, and maximizes parallel computation. We demonstrate its convergence to critical points through rigorous theoretical analysis. Empirical evaluations conducted on NVIDIA's AGX Orin, a popular embedded device, show that AsyncFGD reduces memory consumption and enhances hardware efficiency, offering a novel approach to on-device learning.

$\ell_0$ constrained optimization is prevalent in machine learning, particularly for high-dimensional problems, because it is a fundamental approach to achieve sparse learning. Hard-thresholding gradient descent is a dominant technique to solve this problem. However, first-order gradients of the objective function may be either unavailable or expensive to calculate in a lot of real-world problems, where zeroth-order (ZO) gradients could be a good surrogate. Unfortunately, whether ZO gradients can work with the hard-thresholding operator is still an unsolved problem.To solve this puzzle, in this paper, we focus on the $\ell_0$ constrained black-box stochastic optimization problems, and propose a new stochastic zeroth-order gradient hard-thresholding (SZOHT) algorithm with a general ZO gradient estimator powered by a novel random support sampling. We provide the convergence analysis of SZOHT under standard assumptions. Importantly, we reveal a conflict between the deviation of ZO estimators and the expansivity of the hard-thresholding operator, and provide a theoretical minimal value of the number of random directions in ZO gradients. In addition, we find that the query complexity of SZOHT is independent or weakly dependent on the dimensionality under different settings. Finally, we illustrate the utility of our method on a portfolio optimization problem as well as black-box adversarial attacks.

We consider escaping saddle points of nonconvex problems where only the function evaluations can be accessed. Although a variety of works have been proposed, the majority of them require either second or first-order information, and only a few of them have exploited zeroth-order methods, particularly the technique of negative curvature finding with zeroth-order methods which has been proven to be the most efficient method for escaping saddle points. To fill this gap, in this paper, we propose two zeroth-order negative curvature finding frameworks that can replace Hessian-vector product computations without increasing the iteration complexity. We apply the proposed frameworks to ZO-GD, ZO-SGD, ZO-SCSG, ZO-SPIDER and prove that these ZO algorithms can converge to $(\epsilon,\delta)$-approximate second-order stationary points with less query complexity compared with prior zeroth-order works for finding local minima.