Yingsheng Zhang

Tianxing Chen, Yuran Wang, Mingleyang Li et al.

Robotic manipulation policies have made rapid progress in recent years, yet most existing approaches give limited consideration to memory capabilities. Consequently, they struggle to solve tasks that require reasoning over historical observations and maintaining task-relevant information over time, which are common requirements in real-world manipulation scenarios. Although several memory-aware policies have been proposed, systematic evaluation of memory-dependent manipulation remains underexplored, and the relationship between architectural design choices and memory performance is still not well understood. To address this gap, we introduce RMBench, a simulation benchmark comprising 9 manipulation tasks that span multiple levels of memory complexity, enabling systematic evaluation of policy memory capabilities. We further propose Mem-0, a modular manipulation policy with explicit memory components designed to support controlled ablation studies. Through extensive simulation and real-world experiments, we identify memory-related limitations in existing policies and provide empirical insights into how architectural design choices influence memory performance. The website is available at https://rmbench.github.io/.

Zaiyun Lin, Shiqiu Yin, Lei Shi et al.

Retrosynthesis prediction is one of the fundamental challenges in organic chemistry and related fields. The goal is to find reactants molecules that can synthesize product molecules. To solve this task, we propose a new graph-to-graph transformation model, G2GT, in which the graph encoder and graph decoder are built upon the standard transformer structure. We also show that self-training, a powerful data augmentation method that utilizes unlabeled molecule data, can significantly improve the model's performance. Inspired by the reaction type label and ensemble learning, we proposed a novel weak ensemble method to enhance diversity. We combined beam search, nucleus, and top-k sampling methods to further improve inference diversity and proposed a simple ranking algorithm to retrieve the final top-10 results. We achieved new state-of-the-art results on both the USPTO-50K dataset, with top1 accuracy of 54%, and the larger data set USPTO-full, with top1 accuracy of 50%, and competitive top-10 results.