Sheng Zang

Yikai Tang, Haoran Geng, Jindou Jia et al.

Imitation learning has emerged as a crucial approach for acquiring visuomotor skills from demonstrations, where designing effective observation encoders is essential for policy generalization. However, existing methods tend to struggle once test-time conditions differ from the demonstrations, such as changes in lighting, texture, viewpoint, object placement, or object identity. To address this challenge, we propose DIffusion POlicy with compLementarity Encoders (DIPOLE), a visuomotor policy that learns to fuse complementary modalities through a training-time mechanism rather than a specialized fusion architecture. A modality-wise dropout masks one branch at each training step, encouraging each modality to remain individually informative. A lightweight cross-attention layer then exchanges complementary cues between the two. This design endows DIPOLE with five core strengths: stable high performance across diverse tasks, robustness to visual changes, spatial generalization at sub-centimeter precision, emergent capability beyond either modality, and zero-shot transfer to unseen objects. Across 18 simulated and 4 real-world tasks, DIPOLE outperforms six baselines by 39.1% on average, with gains of 41.5% under unseen visual distractors and 15.2% under randomized object placement.

Zhuoyi Lin, Sheng Zang, Rundong Wang et al.

Re-ranking models refine item recommendation lists generated by the prior global ranking model, which have demonstrated their effectiveness in improving the recommendation quality. However, most existing re-ranking solutions only learn from implicit feedback with a shared prediction model, which regrettably ignore inter-item relationships under diverse user intentions. In this paper, we propose a novel Intention-aware Re-ranking Model with Dynamic Transformer Encoder (RAISE), aiming to perform user-specific prediction for each individual user based on her intentions. Specifically, we first propose to mine latent user intentions from text reviews with an intention discovering module (IDM). By differentiating the importance of review information with a co-attention network, the latent user intention can be explicitly modeled for each user-item pair. We then introduce a dynamic transformer encoder (DTE) to capture user-specific inter-item relationships among item candidates by seamlessly accommodating the learned latent user intentions via IDM. As such, one can not only achieve more personalized recommendations but also obtain corresponding explanations by constructing RAISE upon existing recommendation engines. Empirical study on four public datasets shows the superiority of our proposed RAISE, with up to 13.95%, 9.60%, and 13.03% relative improvements evaluated by Precision@5, MAP@5, and NDCG@5 respectively.