Knowledge distillation (KD) has become a pivotal technique for transferring knowledge from large-scale teacher models to lightweight student models. However, traditional feature-based distillation methods necessitate the direct exposure of the teacher’s intermediate representations, raising concerns regarding data privacy and the leakage of proprietary model details. These concerns often hinder the deployment of distillation in collaborative or cloud-based scenarios. To address these challenges, we propose a privacy-aware teacher-oriented projected feature distillation framework that reduces direct feature exposure while preserving distillation effectiveness. Specifically, our method employs a low-rank projection strategy to obfuscate the teacher’s features into a compact subspace. Authorized student models leverage this projection matrix to align their own features, enabling effective knowledge transfer while reducing direct exposure of the teacher’s original spatial patterns. Extensive experiments on benchmark datasets demonstrate empirical feature obfuscation and reconstruction resistance while maintaining competitive performance in object detection and semantic segmentation, with gains in several settings even when learning from projected representations.
Junfei Yi, Sihao Lin, Hui Zhang et al.· IEEE Transactions on Image P...· 0 citations
Autonomous embodied agents must sustain a long decision-making loop that involves perceiving, acting, verifying, and self-correcting over many steps. Current systems sustain this loop through task-specific workflows or embodied policies. However, these fixed workflows and policies offer limited flexibility across environments and often lack effective recovery strategies when execution goes wrong. We find that a general-purpose agent can instead sustain the loop on its own. We term this organization agentic embodied control: the reasoning model directly steers every action, keeping reasoning and control aligned. Using zero-shot navigation as a controlled testbed, we equip three coding-agent harnesses with only a monocular RGB camera and discrete actions. At default effort, replicated opus-5 runs average $70.7\pm3.5$% success, while fable-5 reaches 78% at maximum effort. When a trained waypoint tool is offered alongside primitives, the hybrid fable-5 agent reaches $76.7\pm0.6$% at default effort, using half the environment steps and under a quarter of the wall time. Across the ablations, model choice dominates performance variation. Observed harness differences are modest, and forced waypoints help weaker models but can hinder stronger ones. Although longer horizons, latency, and context growth remain barriers to sustained autonomy, these results show that a general-purpose model can already achieve competitive embodied control without a navigation policy.
Jian Zhou, Xunyi Zhao, G. Zhou et al.· 0 citations
Embodied agents are typically built as hand-designed compositions of perception, memory, planning, and action modules. This modularity exposes a large architectural design space, but current systems still rely on researcher intuition to choose where information is stored, how observations are processed, and how model calls are connected. Agent Architecture Search (AAS) automates such design for text-domain agents, but has not been systematically evaluated on perceptual embodied agents through simulator rollouts. We study this transfer. We introduce AgentCanvas, a typed-graph runtime that hosts embodied executors as editable node-and-wire programs with simulator-aware execution and episode-level logs, and KDLoop, a coding-agent search procedure that cycles through proposal, critique, experiment, and distillation, with triggered reflection after stalls. We evaluate three AAS variants across four embodied executors spanning vision-language navigation, embodied question answering, and language-conditioned manipulation. The resulting 3x4 matrix shows that architecture-level search can produce deployable and directional success-rate gains on embodied tasks, while one apparent high-scoring candidate is rejected as leak-bearing. At the same time, the experiments expose constraints that are muted in text-domain AAS: optimization signals can be masked by rollout noise, search can become trapped in local edit basins, and episode-level credit assignment only partially emerges even when detailed logs are available. These results characterize both the promise and the current limits of automated architecture search for embodied agents.
Jian Zhou, Sihao Lin, Jin Li et al.· arXiv.org· 1 citation