Haitao Lin

Siyuan Li, Zedong Wang, Zicheng Liu et al.

By contextualizing the kernel as global as possible, Modern ConvNets have shown great potential in computer vision tasks. However, recent progress on multi-order game-theoretic interaction within deep neural networks (DNNs) reveals the representation bottleneck of modern ConvNets, where the expressive interactions have not been effectively encoded with the increased kernel size. To tackle this challenge, we propose a new family of modern ConvNets, dubbed MogaNet, for discriminative visual representation learning in pure ConvNet-based models with favorable complexity-performance trade-offs. MogaNet encapsulates conceptually simple yet effective convolutions and gated aggregation into a compact module, where discriminative features are efficiently gathered and contextualized adaptively. MogaNet exhibits great scalability, impressive efficiency of parameters, and competitive performance compared to state-of-the-art ViTs and ConvNets on ImageNet and various downstream vision benchmarks, including COCO object detection, ADE20K semantic segmentation, 2D&3D human pose estimation, and video prediction. Notably, MogaNet hits 80.0% and 87.8% accuracy with 5.2M and 181M parameters on ImageNet-1K, outperforming ParC-Net and ConvNeXt-L, while saving 59% FLOPs and 17M parameters, respectively. The source code is available at https://github.com/Westlake-AI/MogaNet.

Haitao Lin, Lirong Wu, Guojiang Zhao et al.

Temporal point process (TPP) is commonly used to model the asynchronous event sequence featuring occurrence timestamps and revealed by probabilistic models conditioned on historical impacts. While lots of previous works have focused on `goodness-of-fit' of TPP models by maximizing the likelihood, their predictive performance is unsatisfactory, which means the timestamps generated by models are far apart from true observations. Recently, deep generative models such as denoising diffusion and score matching models have achieved great progress in image generating tasks by demonstrating their capability of generating samples of high quality. However, there are no complete and unified works exploring and studying the potential of generative models in the context of event occurence modeling for TPP. In this work, we try to fill the gap by designing a unified \textbf{g}enerative framework for \textbf{n}eural \textbf{t}emporal \textbf{p}oint \textbf{p}rocess (\textsc{GNTPP}) model to explore their feasibility and effectiveness, and further improve models' predictive performance. Besides, in terms of measuring the historical impacts, we revise the attentive models which summarize influence from historical events with an adaptive reweighting term considering events' type relation and time intervals. Extensive experiments have been conducted to illustrate the improved predictive capability of \textsc{GNTPP} with a line of generative probabilistic decoders, and performance gain from the revised attention. To the best of our knowledge, this is the first work that adapts generative models in a complete unified framework and studies their effectiveness in the context of TPP. Our codebase including all the methods given in Section.5.1.1 is open in \url{https://github.com/BIRD-TAO/GNTPP}. We hope the code framework can facilitate future research in Neural TPPs.

Lirong Wu, Yufei Huang, Haitao Lin et al.

Proteins are fundamental biological entities that play a key role in life activities. The amino acid sequences of proteins can be folded into stable 3D structures in the real physicochemical world, forming a special kind of sequence-structure data. With the development of Artificial Intelligence (AI) techniques, Protein Representation Learning (PRL) has recently emerged as a promising research topic for extracting informative knowledge from massive protein sequences or structures. To pave the way for AI researchers with little bioinformatics background, we present a timely and comprehensive review of PRL formulations and existing PRL methods from the perspective of model architectures, pretext tasks, and downstream applications. We first briefly introduce the motivations for protein representation learning and formulate it in a general and unified framework. Next, we divide existing PRL methods into three main categories: sequence-based, structure-based, and sequence-structure co-modeling. Finally, we discuss some technical challenges and potential directions for improving protein representation learning. The latest advances in PRL methods are summarized in a GitHub repository https://github.com/LirongWu/awesome-protein-representation-learning.

Haitao Lin, Yufei Huang, Odin Zhang et al.

Generating molecules that bind to specific proteins is an important but challenging task in drug discovery. Previous works usually generate atoms in an auto-regressive way, where element types and 3D coordinates of atoms are generated one by one. However, in real-world molecular systems, the interactions among atoms in an entire molecule are global, leading to the energy function pair-coupled among atoms. With such energy-based consideration, the modeling of probability should be based on joint distributions, rather than sequentially conditional ones. Thus, the unnatural sequentially auto-regressive modeling of molecule generation is likely to violate the physical rules, thus resulting in poor properties of the generated molecules. In this work, a generative diffusion model for molecular 3D structures based on target proteins as contextual constraints is established, at a full-atom level in a non-autoregressive way. Given a designated 3D protein binding site, our model learns the generative process that denoises both element types and 3D coordinates of an entire molecule, with an equivariant network. Experimentally, the proposed method shows competitive performance compared with prevailing works in terms of high affinity with proteins and appropriate molecule sizes as well as other drug properties such as drug-likeness of the generated molecules.

Lirong Wu, Haitao Lin, Yufei Huang et al.

To bridge the gaps between topology-aware Graph Neural Networks (GNNs) and inference-efficient Multi-Layer Perceptron (MLPs), GLNN proposes to distill knowledge from a well-trained teacher GNN into a student MLP. Despite their great progress, comparatively little work has been done to explore the reliability of different knowledge points (nodes) in GNNs, especially their roles played during distillation. In this paper, we first quantify the knowledge reliability in GNN by measuring the invariance of their information entropy to noise perturbations, from which we observe that different knowledge points (1) show different distillation speeds (temporally); (2) are differentially distributed in the graph (spatially). To achieve reliable distillation, we propose an effective approach, namely Knowledge-inspired Reliable Distillation (KRD), that models the probability of each node being an informative and reliable knowledge point, based on which we sample a set of additional reliable knowledge points as supervision for training student MLPs. Extensive experiments show that KRD improves over the vanilla MLPs by 12.62% and outperforms its corresponding teacher GNNs by 2.16% averaged over 7 datasets and 3 GNN architectures.

Chilam Cheang, Haitao Lin, Yanwei Fu et al.

This paper studies the task of any objects grasping from the known categories by free-form language instructions. This task demands the technique in computer vision, natural language processing, and robotics. We bring these disciplines together on this open challenge, which is essential to human-robot interaction. Critically, the key challenge lies in inferring the category of objects from linguistic instructions and accurately estimating the 6-DoF information of unseen objects from the known classes. In contrast, previous works focus on inferring the pose of object candidates at the instance level. This significantly limits its applications in real-world scenarios.In this paper, we propose a language-guided 6-DoF category-level object localization model to achieve robotic grasping by comprehending human intention. To this end, we propose a novel two-stage method. Particularly, the first stage grounds the target in the RGB image through language description of names, attributes, and spatial relations of objects. The second stage extracts and segments point clouds from the cropped depth image and estimates the full 6-DoF object pose at category-level. Under such a manner, our approach can locate the specific object by following human instructions, and estimate the full 6-DoF pose of a category-known but unseen instance which is not utilized for training the model. Extensive experimental results show that our method is competitive with the state-of-the-art language-conditioned grasp method. Importantly, we deploy our approach on a physical robot to validate the usability of our framework in real-world applications. Please refer to the supplementary for the demo videos of our robot experiments.

Tianyu Wang, Yifan Li, Haitao Lin et al.

Enabling robots to understand language instructions and react accordingly to visual perception has been a long-standing goal in the robotics research community. Achieving this goal requires cutting-edge advances in natural language processing, computer vision, and robotics engineering. Thus, this paper mainly investigates the potential of integrating the most recent Large Language Models (LLMs) and existing visual grounding and robotic grasping system to enhance the effectiveness of the human-robot interaction. We introduce the WALL-E (Embodied Robotic WAiter load lifting with Large Language model) as an example of this integration. The system utilizes the LLM of ChatGPT to summarize the preference object of the users as a target instruction via the multi-round interactive dialogue. The target instruction is then forwarded to a visual grounding system for object pose and size estimation, following which the robot grasps the object accordingly. We deploy this LLM-empowered system on the physical robot to provide a more user-friendly interface for the instruction-guided grasping task. The further experimental results on various real-world scenarios demonstrated the feasibility and efficacy of our proposed framework. See the project website at: https://star-uu-wang.github.io/WALL-E/

Haitao Lin, Chilam Cheang, Yanwei Fu et al.

In this paper, we are interested in the problem of generating target grasps by understanding freehand sketches. The sketch is useful for the persons who cannot formulate language and the cases where a textual description is not available on the fly. However, very few works are aware of the usability of this novel interactive way between humans and robots. To this end, we propose a method to generate a potential grasp configuration relevant to the sketch-depicted objects. Due to the inherent ambiguity of sketches with abstract details, we take the advantage of the graph by incorporating the structure of the sketch to enhance the representation ability. This graph-represented sketch is further validated to improve the generalization of the network, capable of learning the sketch-queried grasp detection by using a small collection (around 100 samples) of hand-drawn sketches. Additionally, our model is trained and tested in an end-to-end manner which is easy to be implemented in real-world applications. Experiments on the multi-object VMRD and GraspNet-1Billion datasets demonstrate the good generalization of the proposed method. The physical robot experiments confirm the utility of our method in object-cluttered scenes.

Yufei Huang, Lirong Wu, Haitao Lin et al.

Learning meaningful protein representation is important for a variety of biological downstream tasks such as structure-based drug design. Having witnessed the success of protein sequence pretraining, pretraining for structural data which is more informative has become a promising research topic. However, there are three major challenges facing protein structure pretraining: insufficient sample diversity, physically unrealistic modeling, and the lack of protein-specific pretext tasks. To try to address these challenges, we present the 3D Geometric Pretraining. In this paper, we propose a unified framework for protein pretraining and a 3D geometric-based, data-efficient, and protein-specific pretext task: RefineDiff (Refine the Diffused Protein Structure Decoy). After pretraining our geometric-aware model with this task on limited data(less than 1% of SOTA models), we obtained informative protein representations that can achieve comparable performance for various downstream tasks.

Haitao Lin, Lirong Wu, Yongjie Xu et al.

Solving partial differential equations is difficult. Recently proposed neural resolution-invariant models, despite their effectiveness and efficiency, usually require equispaced spatial points of data. However, sampling in spatial domain is sometimes inevitably non-equispaced in real-world systems, limiting their applicability. In this paper, we propose a Non-equispaced Fourier PDE Solver (\textsc{NFS}) with adaptive interpolation on resampled equispaced points and a variant of Fourier Neural Operators as its components. Experimental results on complex PDEs demonstrate its advantages in accuracy and efficiency. Compared with the spatially-equispaced benchmark methods, it achieves superior performance with $42.85\%$ improvements on MAE, and is able to handle non-equispaced data with a tiny loss of accuracy. Besides, to our best knowledge, \textsc{NFS} is the first ML-based method with mesh invariant inference ability to successfully model turbulent flows in non-equispaced scenarios, with a minor deviation of the error on unseen spatial points.

Lirong Wu, Jun Xia, Haitao Lin et al.

Recent years have witnessed great success in handling graph-related tasks with Graph Neural Networks (GNNs). Despite their great academic success, Multi-Layer Perceptrons (MLPs) remain the primary workhorse for practical industrial applications. One reason for this academic-industrial gap is the neighborhood-fetching latency incurred by data dependency in GNNs, which make it hard to deploy for latency-sensitive applications that require fast inference. Conversely, without involving any feature aggregation, MLPs have no data dependency and infer much faster than GNNs, but their performance is less competitive. Motivated by these complementary strengths and weaknesses, we propose a Graph Self-Distillation on Neighborhood (GSDN) framework to reduce the gap between GNNs and MLPs. Specifically, the GSDN framework is based purely on MLPs, where structural information is only implicitly used as prior to guide knowledge self-distillation between the neighborhood and the target, substituting the explicit neighborhood information propagation as in GNNs. As a result, GSDN enjoys the benefits of graph topology-awareness in training but has no data dependency in inference. Extensive experiments have shown that the performance of vanilla MLPs can be greatly improved with self-distillation, e.g., GSDN improves over stand-alone MLPs by 15.54% on average and outperforms the state-of-the-art GNNs on six datasets. Regarding inference speed, GSDN infers 75X-89X faster than existing GNNs and 16X-25X faster than other inference acceleration methods.

Min Xiao, Junnan Zhu, Haitao Lin et al.

Multimodal summarization usually suffers from the problem that the contribution of the visual modality is unclear. Existing multimodal summarization approaches focus on designing the fusion methods of different modalities, while ignoring the adaptive conditions under which visual modalities are useful. Therefore, we propose a novel Coarse-to-Fine contribution network for multimodal Summarization (CFSum) to consider different contributions of images for summarization. First, to eliminate the interference of useless images, we propose a pre-filter module to abandon useless images. Second, to make accurate use of useful images, we propose two levels of visual complement modules, word level and phrase level. Specifically, image contributions are calculated and are adopted to guide the attention of both textual and visual modalities. Experimental results have shown that CFSum significantly outperforms multiple strong baselines on the standard benchmark. Furthermore, the analysis verifies that useful images can even help generate non-visual words which are implicitly represented in the image.

Lirong Wu, Yufei Huang, Haitao Lin et al.

Self-supervised learning on graphs has recently achieved remarkable success in graph representation learning. With hundreds of self-supervised pretext tasks proposed over the past few years, the research community has greatly developed, and the key is no longer to design more powerful but complex pretext tasks, but to make more effective use of those already on hand. This paper studies the problem of how to automatically, adaptively, and dynamically learn instance-level self-supervised learning strategies for each node from a given pool of pretext tasks. In this paper, we propose a novel multi-teacher knowledge distillation framework for Automated Graph Self-Supervised Learning (AGSSL), which consists of two main branches: (i) Knowledge Extraction: training multiple teachers with different pretext tasks, so as to extract different levels of knowledge with different inductive biases; (ii) Knowledge Integration: integrating different levels of knowledge and distilling them into the student model. Without simply treating different teachers as equally important, we provide a provable theoretical guideline for how to integrate the knowledge of different teachers, i.e., the integrated teacher probability should be close to the true Bayesian class-probability. To approach the theoretical optimum in practice, two adaptive knowledge integration strategies are proposed to construct a relatively "good" integrated teacher. Extensive experiments on eight datasets show that AGSSL can benefit from multiple pretext tasks, outperforming the corresponding individual tasks; by combining a few simple but classical pretext tasks, the resulting performance is comparable to other leading counterparts.

Yufei Huang, Siyuan Li, Jin Su et al.

Protein structure-based property prediction has emerged as a promising approach for various biological tasks, such as protein function prediction and sub-cellular location estimation. The existing methods highly rely on experimental protein structure data and fail in scenarios where these data are unavailable. Predicted protein structures from AI tools (e.g., AlphaFold2) were utilized as alternatives. However, we observed that current practices, which simply employ accurately predicted structures during inference, suffer from notable degradation in prediction accuracy. While similar phenomena have been extensively studied in general fields (e.g., Computer Vision) as model robustness, their impact on protein property prediction remains unexplored. In this paper, we first investigate the reason behind the performance decrease when utilizing predicted structures, attributing it to the structure embedding bias from the perspective of structure representation learning. To study this problem, we identify a Protein 3D Graph Structure Learning Problem for Robust Protein Property Prediction (PGSL-RP3), collect benchmark datasets, and present a protein Structure embedding Alignment Optimization framework (SAO) to mitigate the problem of structure embedding bias between the predicted and experimental protein structures. Extensive experiments have shown that our framework is model-agnostic and effective in improving the property prediction of both predicted structures and experimental structures. The benchmark datasets and codes will be released to benefit the community.

Haitao Lin, Junnan Zhu, Lu Xiang et al.

Role-oriented dialogue summarization is to generate summaries for different roles in the dialogue, e.g., merchants and consumers. Existing methods handle this task by summarizing each role's content separately and thus are prone to ignore the information from other roles. However, we believe that other roles' content could benefit the quality of summaries, such as the omitted information mentioned by other roles. Therefore, we propose a novel role interaction enhanced method for role-oriented dialogue summarization. It adopts cross attention and decoder self-attention interactions to interactively acquire other roles' critical information. The cross attention interaction aims to select other roles' critical dialogue utterances, while the decoder self-attention interaction aims to obtain key information from other roles' summaries. Experimental results have shown that our proposed method significantly outperforms strong baselines on two public role-oriented dialogue summarization datasets. Extensive analyses have demonstrated that other roles' content could help generate summaries with more complete semantics and correct topic structures.

Lirong Wu, Yunfan Liu, Haitao Lin et al.

To bridge the gaps between powerful Graph Neural Networks (GNNs) and lightweight Multi-Layer Perceptron (MLPs), GNN-to-MLP Knowledge Distillation (KD) proposes to distill knowledge from a well-trained teacher GNN into a student MLP. In this paper, we revisit the knowledge samples (nodes) in teacher GNNs from the perspective of hardness, and identify that hard sample distillation may be a major performance bottleneck of existing graph KD algorithms. The GNN-to-MLP KD involves two different types of hardness, one student-free knowledge hardness describing the inherent complexity of GNN knowledge, and the other student-dependent distillation hardness describing the difficulty of teacher-to-student distillation. However, most of the existing work focuses on only one of these aspects or regards them as one thing. This paper proposes a simple yet effective Hardness-aware GNN-to-MLP Distillation (HGMD) framework, which decouples the two hardnesses and estimates them using a non-parametric approach. Finally, two hardness-aware distillation schemes (i.e., HGMD-weight and HGMD-mixup) are further proposed to distill hardness-aware knowledge from teacher GNNs into the corresponding nodes of student MLPs. As non-parametric distillation, HGMD does not involve any additional learnable parameters beyond the student MLPs, but it still outperforms most of the state-of-the-art competitors. HGMD-mixup improves over the vanilla MLPs by 12.95% and outperforms its teacher GNNs by 2.48% averaged over seven real-world datasets.

Haitao Lin, Guojiang Zhao, Lirong Wu et al.

Graph-based spatio-temporal neural networks are effective to model the spatial dependency among discrete points sampled irregularly from unstructured grids, thanks to the great expressiveness of graph neural networks. However, these models are usually spatially-transductive -- only fitting the signals for discrete spatial nodes fed in models but unable to generalize to `unseen' spatial points with zero-shot. In comparison, for forecasting tasks on continuous space such as temperature prediction on the earth's surface, the \textit{spatially-inductive} property allows the model to generalize to any point in the spatial domain, demonstrating models' ability to learn the underlying mechanisms or physics laws of the systems, rather than simply fit the signals. Besides, in temporal domains, \textit{irregularly-sampled} time series, e.g. data with missing values, urge models to be temporally-continuous. Motivated by the two issues, we propose a spatio-temporal framework based on neural operators for PDEs, which learn the underlying mechanisms governing the dynamics of spatially-continuous physical quantities. Experiments show our model's improved performance on forecasting spatially-continuous physic quantities, and its superior generalization to unseen spatial points and ability to handle temporally-irregular data.

Lirong Wu, Haitao Lin, Guojiang Zhao et al.

Recent years have witnessed great success in handling graph-related tasks with Graph Neural Networks (GNNs). However, most existing GNNs are based on message passing to perform feature aggregation and transformation, where the structural information is explicitly involved in the forward propagation by coupling with node features through graph convolution at each layer. As a result, subtle feature noise or structure perturbation may cause severe error propagation, resulting in extremely poor robustness. In this paper, we rethink the roles played by graph structural information in graph data training and identify that message passing is not the only path to modeling structural information. Inspired by this, we propose a simple but effective Graph Structure Self-Contrasting (GSSC) framework that learns graph structural information without message passing. The proposed framework is based purely on Multi-Layer Perceptrons (MLPs), where the structural information is only implicitly incorporated as prior knowledge to guide the computation of supervision signals, substituting the explicit message propagation as in GNNs. Specifically, it first applies structural sparsification to remove potentially uninformative or noisy edges in the neighborhood, and then performs structural self-contrasting in the sparsified neighborhood to learn robust node representations. Finally, structural sparsification and self-contrasting are formulated as a bi-level optimization problem and solved in a unified framework. Extensive experiments have qualitatively and quantitatively demonstrated that the GSSC framework can produce truly encouraging performance with better generalization and robustness than other leading competitors.

Tencent Robotics X, HY Vision Team, Xumin Yu et al. · tencent-ai

We introduce HY-Embodied-0.5, a family of foundation models specifically designed for real-world embodied agents. To bridge the gap between general Vision-Language Models (VLMs) and the demands of embodied agents, our models are developed to enhance the core capabilities required by embodied intelligence: spatial and temporal visual perception, alongside advanced embodied reasoning for prediction, interaction, and planning. The HY-Embodied-0.5 suite comprises two primary variants: an efficient model with 2B activated parameters designed for edge deployment, and a powerful model with 32B activated parameters targeted for complex reasoning. To support the fine-grained visual perception essential for embodied tasks, we adopt a Mixture-of-Transformers (MoT) architecture to enable modality-specific computing. By incorporating latent tokens, this design effectively enhances the perceptual representation of the models. To improve reasoning capabilities, we introduce an iterative, self-evolving post-training paradigm. Furthermore, we employ on-policy distillation to transfer the advanced capabilities of the large model to the smaller variant, thereby maximizing the performance potential of the compact model. Extensive evaluations across 22 benchmarks, spanning visual perception, spatial reasoning, and embodied understanding, demonstrate the effectiveness of our approach. Our MoT-2B model outperforms similarly sized state-of-the-art models on 16 benchmarks, while the 32B variant achieves performance comparable to frontier models such as Gemini 3.0 Pro. In downstream robot control experiments, we leverage our robust VLM foundation to train an effective Vision-Language-Action (VLA) model, achieving compelling results in real-world physical evaluations. Code and models are open-sourced at https://github.com/Tencent-Hunyuan/HY-Embodied.

Tianyu Wang, Haitao Lin, Junqiu Yu et al.

This paper investigates the task of the open-ended interactive robotic manipulation on table-top scenarios. While recent Large Language Models (LLMs) enhance robots' comprehension of user instructions, their lack of visual grounding constrains their ability to physically interact with the environment. This is because the robot needs to locate the target object for manipulation within the physical workspace. To this end, we introduce an interactive robotic manipulation framework called Polaris, which integrates perception and interaction by utilizing GPT-4 alongside grounded vision models. For precise manipulation, it is essential that such grounded vision models produce detailed object pose for the target object, rather than merely identifying pixels belonging to them in the image. Consequently, we propose a novel Synthetic-to-Real (Syn2Real) pose estimation pipeline. This pipeline utilizes rendered synthetic data for training and is then transferred to real-world manipulation tasks. The real-world performance demonstrates the efficacy of our proposed pipeline and underscores its potential for extension to more general categories. Moreover, real-robot experiments have showcased the impressive performance of our framework in grasping and executing multiple manipulation tasks. This indicates its potential to generalize to scenarios beyond the tabletop. More information and video results are available here: https://star-uu-wang.github.io/Polaris/

Jinyu Zhang, Yongchong Gu, Jianxiong Gao et al.

This paper addresses the challenge of perceiving complete object shapes through visual perception. While prior studies have demonstrated encouraging outcomes in segmenting the visible parts of objects within a scene, amodal segmentation, in particular, has the potential to allow robots to infer the occluded parts of objects. To this end, this paper introduces a new framework that explores amodal segmentation for robotic grasping in cluttered scenes, thus greatly enhancing robotic grasping abilities. Initially, we use a conventional segmentation algorithm to detect the visible segments of the target object, which provides shape priors for completing the full object mask. Particularly, to explore how to utilize semantic features from RGB images and geometric information from depth images, we propose a Linear-fusion Attention-guided Convolutional Network (LAC-Net). LAC-Net utilizes the linear-fusion strategy to effectively fuse this cross-modal data, and then uses the prior visible mask as attention map to guide the network to focus on target feature locations for further complete mask recovery. Using the amodal mask of the target object provides advantages in selecting more accurate and robust grasp points compared to relying solely on the visible segments. The results on different datasets show that our method achieves state-of-the-art performance. Furthermore, the robot experiments validate the feasibility and robustness of this method in the real world. Our code and demonstrations are available on the project page: https://jrryzh.github.io/LAC-Net.

Haitao Lin, Hanyang Yu, Jingshun Huang et al.

Existing Vision-Language-Action (VLA) models often suffer from feature collapse and low training efficiency because they entangle high-level perception with sparse, embodiment-specific action supervision. Since these models typically rely on VLM backbones optimized for Visual Question Answering (VQA), they excel at semantic identification but often overlook subtle 3D state variations that dictate distinct action patterns. To resolve these misalignments, we propose Pose-VLA, a decoupled paradigm that separates VLA training into a pre-training phase for extracting universal 3D spatial priors in a unified camera-centric space, and a post-training phase for efficient embodiment alignment within robot-specific action space. By introducing discrete pose tokens as a universal representation, Pose-VLA seamlessly integrates spatial grounding from diverse 3D datasets with geometry-level trajectories from robotic demonstrations. Our framework follows a two-stage pre-training pipeline, establishing fundamental spatial grounding via poses followed by motion alignment through trajectory supervision. Extensive evaluations demonstrate that Pose-VLA achieves state-of-the-art results on RoboTwin 2.0 with a 79.5% average success rate and competitive performance on LIBERO at 96.0%. Real-world experiments further showcase robust generalization across diverse objects using only 100 demonstrations per task, validating the efficiency of our pre-training paradigm.

Tianyu Fan, Lirong Wu, Yufei Huang et al.

Recent years have witnessed the great success of graph pre-training for graph representation learning. With hundreds of graph pre-training tasks proposed, integrating knowledge acquired from multiple pre-training tasks has become a popular research topic. In this paper, we identify two important collaborative processes for this topic: (1) select: how to select an optimal task combination from a given task pool based on their compatibility, and (2) weigh: how to weigh the selected tasks based on their importance. While there currently has been a lot of work focused on weighing, comparatively little effort has been devoted to selecting. This paper proposes a novel instance-level framework for integrating multiple graph pre-training tasks, Weigh And Select (WAS), where the two collaborative processes, weighing and selecting, are combined by decoupled siamese networks. Specifically, it first adaptively learns an optimal combination of tasks for each instance from a given task pool, based on which a customized instance-level task weighing strategy is learned. Extensive experiments on 16 graph datasets across node-level and graph-level downstream tasks have demonstrated that by combining a few simple but classical tasks, WAS can achieve comparable performance to other leading counterparts. The code is available at https://github.com/TianyuFan0504/WAS.

Haitao Lin, Boxin Zhao, Mladen Kolar et al.

We study how Bayesian optimization (BO) can be accelerated on a target task with historical knowledge transferred from related source tasks. Existing works on BO with knowledge transfer either do not have theoretical guarantees or achieve the same regret as BO in the non-transfer setting, $\tilde{\mathcal{O}}(\sqrt{T γ_f})$, where $T$ is the number of evaluations of the target function and $γ_f$ denotes its information gain. In this paper, we propose the DeltaBO algorithm, in which a novel uncertainty-quantification approach is built on the difference function $δ$ between the source and target functions, which are allowed to belong to different reproducing kernel Hilbert spaces (RKHSs). Under mild assumptions, we prove that the regret of DeltaBO is of order $\tilde{\mathcal{O}}(\sqrt{T (T/N + γ_δ)})$, where $N$ denotes the number of evaluations from source tasks and typically $N \gg T$. In many applications, source and target tasks are similar, which implies that $γ_δ$ can be much smaller than $γ_f$. Empirical studies on both real-world hyperparameter tuning tasks and synthetic functions show that DeltaBO outperforms other baseline methods and support our theoretical claims.

Guanxing Lu, Rui Zhao, Haitao Lin et al.

Reinforcement learning (RL) is widely used to produce robust robotic manipulation policies, but fine-tuning vision-language-action (VLA) models with RL can be unstable due to inaccurate value estimates and sparse supervision at intermediate steps. In contrast, imitation learning (IL) is easy to train but often underperforms due to its offline nature. In this paper, we propose Hi-ORS, a simple yet effective post-training method that utilizes rejection sampling to achieve both training stability and high robustness. Hi-ORS stabilizes value estimation by filtering out negatively rewarded samples during online fine-tuning, and adopts a reward-weighted supervised training objective to provide dense intermediate-step supervision. For systematic study, we develop an asynchronous inference-training framework that supports flexible online human-in-the-loop corrections, which serve as explicit guidance for learning error-recovery behaviors. Across three real-world tasks and two embodiments, Hi-ORS fine-tunes a pi-base policy to master contact-rich manipulation in just 1.5 hours of real-world training, outperforming RL and IL baselines by a substantial margin in both effectiveness and efficiency. Notably, the fine-tuned policy exhibits strong test-time scalability by reliably executing complex error-recovery behaviors to achieve better performance.

Haitao Lin, Guojiang Zhao, Odin Zhang et al.

Structure-based drug design (SBDD) aims to generate potential drugs that can bind to a target protein and is greatly expedited by the aid of AI techniques in generative models. However, a lack of systematic understanding persists due to the diverse settings, complex implementation, difficult reproducibility, and task singularity. Firstly, the absence of standardization can lead to unfair comparisons and inconclusive insights. To address this dilemma, we propose CBGBench, a comprehensive benchmark for SBDD, that unifies the task as a generative heterogeneous graph completion, analogous to fill-in-the-blank of the 3D complex binding graph. By categorizing existing methods based on their attributes, CBGBench facilitates a modular and extensible framework that implements various cutting-edge methods. Secondly, a single task on \textit{de novo} molecule generation can hardly reflect their capabilities. To broaden the scope, we have adapted these models to a range of tasks essential in drug design, which are considered sub-tasks within the graph fill-in-the-blank tasks. These tasks include the generative designation of \textit{de novo} molecules, linkers, fragments, scaffolds, and sidechains, all conditioned on the structures of protein pockets. Our evaluations are conducted with fairness, encompassing comprehensive perspectives on interaction, chemical properties, geometry authenticity, and substructure validity. We further provide the pre-trained versions of the state-of-the-art models and deep insights with analysis from empirical studies. The codebase for CBGBench is publicly accessible at \url{https://github.com/Edapinenut/CBGBench}.

Zhangyang Gao, Haitao Lin, Cheng Tan et al.

\textbf{A}ccuracy, \textbf{R}obustness to noises and scales, \textbf{I}nterpretability, \textbf{S}peed, and \textbf{E}asy to use (ARISE) are crucial requirements of a good clustering algorithm. However, achieving these goals simultaneously is challenging, and most advanced approaches only focus on parts of them. Towards an overall consideration of these aspects, we propose a novel clustering algorithm, namely GIT (Clustering Based on \textbf{G}raph of \textbf{I}ntensity \textbf{T}opology). GIT considers both local and global data structures: firstly forming local clusters based on intensity peaks of samples, and then estimating the global topological graph (topo-graph) between these local clusters. We use the Wasserstein Distance between the predicted and prior class proportions to automatically cut noisy edges in the topo-graph and merge connected local clusters as final clusters. Then, we compare GIT with seven competing algorithms on five synthetic datasets and nine real-world datasets. With fast local cluster detection, robust topo-graph construction and accurate edge-cutting, GIT shows attractive ARISE performance and significantly exceeds other non-convex clustering methods. For example, GIT outperforms its counterparts about $10\%$ (F1-score) on MNIST and FashionMNIST. Code is available at \color{red}{https://github.com/gaozhangyang/GIT}.

Lirong Wu, Haitao Lin, Zhangyang Gao et al.

Deep learning on graphs has recently achieved remarkable success on a variety of tasks, while such success relies heavily on the massive and carefully labeled data. However, precise annotations are generally very expensive and time-consuming. To address this problem, self-supervised learning (SSL) is emerging as a new paradigm for extracting informative knowledge through well-designed pretext tasks without relying on manual labels. In this survey, we extend the concept of SSL, which first emerged in the fields of computer vision and natural language processing, to present a timely and comprehensive review of existing SSL techniques for graph data. Specifically, we divide existing graph SSL methods into three categories: contrastive, generative, and predictive. More importantly, unlike other surveys that only provide a high-level description of published research, we present an additional mathematical summary of existing works in a unified framework. Furthermore, to facilitate methodological development and empirical comparisons, we also summarize the commonly used datasets, evaluation metrics, downstream tasks, open-source implementations, and experimental study of various algorithms. Finally, we discuss the technical challenges and potential future directions for improving graph self-supervised learning. Latest advances in graph SSL are summarized in a GitHub repository https://github.com/LirongWu/awesome-graph-self-supervised-learning.

Zhangyang Gao, Haitao Lin, Stan. Z Li

Data clustering with uneven distribution in high level noise is challenging. Currently, HDBSCAN is considered as the SOTA algorithm for this problem. In this paper, we propose a novel clustering algorithm based on what we call graph of density topology (GDT). GDT jointly considers the local and global structures of data samples: firstly forming local clusters based on a density growing process with a strategy for properly noise handling as well as cluster boundary detection; and then estimating a GDT from relationship between local clusters in terms of a connectivity measure, givingglobal topological graph. The connectivity, measuring similarity between neighboring local clusters, is based on local clusters rather than individual points, ensuring its robustness to even very large noise. Evaluation results on both toy and real-world datasets show that GDT achieves the SOTA performance by far on almost all the popular datasets, and has a low time complexity of O(nlogn). The code is available at https://github.com/gaozhangyang/DGC.git.

Jiashun Wang, Chao Wen, Yanwei Fu et al.

Pose transfer has been studied for decades, in which the pose of a source mesh is applied to a target mesh. Particularly in this paper, we are interested in transferring the pose of source human mesh to deform the target human mesh, while the source and target meshes may have different identity information. Traditional studies assume that the paired source and target meshes are existed with the point-wise correspondences of user annotated landmarks/mesh points, which requires heavy labelling efforts. On the other hand, the generalization ability of deep models is limited, when the source and target meshes have different identities. To break this limitation, we proposes the first neural pose transfer model that solves the pose transfer via the latest technique for image style transfer, leveraging the newly proposed component -- spatially adaptive instance normalization. Our model does not require any correspondences between the source and target meshes. Extensive experiments show that the proposed model can effectively transfer deformation from source to target meshes, and has good generalization ability to deal with unseen identities or poses of meshes. Code is available at https://github.com/jiashunwang/Neural-Pose-Transfer .

Lirong Wu, Yijun Tian, Yufei Huang et al.

Protein-Protein Interactions (PPIs) are fundamental in various biological processes and play a key role in life activities. The growing demand and cost of experimental PPI assays require computational methods for efficient PPI prediction. While existing methods rely heavily on protein sequence for PPI prediction, it is the protein structure that is the key to determine the interactions. To take both protein modalities into account, we define the microenvironment of an amino acid residue by its sequence and structural contexts, which describe the surrounding chemical properties and geometric features. In addition, microenvironments defined in previous work are largely based on experimentally assayed physicochemical properties, for which the "vocabulary" is usually extremely small. This makes it difficult to cover the diversity and complexity of microenvironments. In this paper, we propose Microenvironment-Aware Protein Embedding for PPI prediction (MPAE-PPI), which encodes microenvironments into chemically meaningful discrete codes via a sufficiently large microenvironment "vocabulary" (i.e., codebook). Moreover, we propose a novel pre-training strategy, namely Masked Codebook Modeling (MCM), to capture the dependencies between different microenvironments by randomly masking the codebook and reconstructing the input. With the learned microenvironment codebook, we can reuse it as an off-the-shelf tool to efficiently and effectively encode proteins of different sizes and functions for large-scale PPI prediction. Extensive experiments show that MAPE-PPI can scale to PPI prediction with millions of PPIs with superior trade-offs between effectiveness and computational efficiency than the state-of-the-art competitors.

Odin Zhang, Haitao Lin, Hui Zhang et al.

The idea of using deep-learning-based molecular generation to accelerate discovery of drug candidates has attracted extraordinary attention, and many deep generative models have been developed for automated drug design, termed molecular generation. In general, molecular generation encompasses two main strategies: de novo design, which generates novel molecular structures from scratch, and lead optimization, which refines existing molecules into drug candidates. Among them, lead optimization plays an important role in real-world drug design. For example, it can enable the development of me-better drugs that are chemically distinct yet more effective than the original drugs. It can also facilitate fragment-based drug design, transforming virtual-screened small ligands with low affinity into first-in-class medicines. Despite its importance, automated lead optimization remains underexplored compared to the well-established de novo generative models, due to its reliance on complex biological and chemical knowledge. To bridge this gap, we conduct a systematic review of traditional computational methods for lead optimization, organizing these strategies into four principal sub-tasks with defined inputs and outputs. This review delves into the basic concepts, goals, conventional CADD techniques, and recent advancements in AIDD. Additionally, we introduce a unified perspective based on constrained subgraph generation to harmonize the methodologies of de novo design and lead optimization. Through this lens, de novo design can incorporate strategies from lead optimization to address the challenge of generating hard-to-synthesize molecules; inversely, lead optimization can benefit from the innovations in de novo design by approaching it as a task of generating molecules conditioned on certain substructures.

Haitao Lin, Odin Zhang, Huifeng Zhao et al.

Therapeutic peptides have proven to have great pharmaceutical value and potential in recent decades. However, methods of AI-assisted peptide drug discovery are not fully explored. To fill the gap, we propose a target-aware peptide design method called \textsc{PPFlow}, based on conditional flow matching on torus manifolds, to model the internal geometries of torsion angles for the peptide structure design. Besides, we establish a protein-peptide binding dataset named PPBench2024 to fill the void of massive data for the task of structure-based peptide drug design and to allow the training of deep learning methods. Extensive experiments show that PPFlow reaches state-of-the-art performance in tasks of peptide drug generation and optimization in comparison with baseline models, and can be generalized to other tasks including docking and side-chain packing.

Yufei Huang, Odin Zhang, Lirong Wu et al.

Accurate prediction of protein-ligand binding structures, a task known as molecular docking is crucial for drug design but remains challenging. While deep learning has shown promise, existing methods often depend on holo-protein structures (docked, and not accessible in realistic tasks) or neglect pocket sidechain conformations, leading to limited practical utility and unrealistic conformation predictions. To fill these gaps, we introduce an under-explored task, named flexible docking to predict poses of ligand and pocket sidechains simultaneously and introduce Re-Dock, a novel diffusion bridge generative model extended to geometric manifolds. Specifically, we propose energy-to-geometry mapping inspired by the Newton-Euler equation to co-model the binding energy and conformations for reflecting the energy-constrained docking generative process. Comprehensive experiments on designed benchmark datasets including apo-dock and cross-dock demonstrate our model's superior effectiveness and efficiency over current methods.

Lirong Wu, Haitao Lin, Zhangyang Gao et al.

Recent years have witnessed great success in handling graph-related tasks with Graph Neural Networks (GNNs). Despite their great academic success, Multi-Layer Perceptrons (MLPs) remain the primary workhorse for practical industrial applications. One reason for such an academic-industry gap is the neighborhood-fetching latency incurred by data dependency in GNNs. To reduce their gaps, Graph Knowledge Distillation (GKD) is proposed, usually based on a standard teacher-student architecture, to distill knowledge from a large teacher GNN into a lightweight student GNN or MLP. However, we found in this paper that neither teachers nor GNNs are necessary for graph knowledge distillation. We propose a Teacher-Free Graph Self-Distillation (TGS) framework that does not require any teacher model or GNNs during both training and inference. More importantly, the proposed TGS framework is purely based on MLPs, where structural information is only implicitly used to guide dual knowledge self-distillation between the target node and its neighborhood. As a result, TGS enjoys the benefits of graph topology awareness in training but is free from data dependency in inference. Extensive experiments have shown that the performance of vanilla MLPs can be greatly improved with dual self-distillation, e.g., TGS improves over vanilla MLPs by 15.54% on average and outperforms state-of-the-art GKD algorithms on six real-world datasets. In terms of inference speed, TGS infers 75X-89X faster than existing GNNs and 16X-25X faster than classical inference acceleration methods.

Lirong Wu, Yufei Huang, Cheng Tan et al.

Compound-Protein Interaction (CPI) prediction aims to predict the pattern and strength of compound-protein interactions for rational drug discovery. Existing deep learning-based methods utilize only the single modality of protein sequences or structures and lack the co-modeling of the joint distribution of the two modalities, which may lead to significant performance drops in complex real-world scenarios due to various factors, e.g., modality missing and domain shifting. More importantly, these methods only model protein sequences and structures at a single fixed scale, neglecting more fine-grained multi-scale information, such as those embedded in key protein fragments. In this paper, we propose a novel multi-scale Protein Sequence-structure Contrasting framework for CPI prediction (PSC-CPI), which captures the dependencies between protein sequences and structures through both intra-modality and cross-modality contrasting. We further apply length-variable protein augmentation to allow contrasting to be performed at different scales, from the amino acid level to the sequence level. Finally, in order to more fairly evaluate the model generalizability, we split the test data into four settings based on whether compounds and proteins have been observed during the training stage. Extensive experiments have shown that PSC-CPI generalizes well in all four settings, particularly in the more challenging ``Unseen-Both" setting, where neither compounds nor proteins have been observed during training. Furthermore, even when encountering a situation of modality missing, i.e., inference with only single-modality protein data, PSC-CPI still exhibits comparable or even better performance than previous approaches.

Lirong Wu, Yijun Tian, Haitao Lin et al.

Protein-protein bindings play a key role in a variety of fundamental biological processes, and thus predicting the effects of amino acid mutations on protein-protein binding is crucial. To tackle the scarcity of annotated mutation data, pre-training with massive unlabeled data has emerged as a promising solution. However, this process faces a series of challenges: (1) complex higher-order dependencies among multiple (more than paired) structural scales have not yet been fully captured; (2) it is rarely explored how mutations alter the local conformation of the surrounding microenvironment; (3) pre-training is costly, both in data size and computational burden. In this paper, we first construct a hierarchical prompt codebook to record common microenvironmental patterns at different structural scales independently. Then, we develop a novel codebook pre-training task, namely masked microenvironment modeling, to model the joint distribution of each mutation with their residue types, angular statistics, and local conformational changes in the microenvironment. With the constructed prompt codebook, we encode the microenvironment around each mutation into multiple hierarchical prompts and combine them to flexibly provide information to wild-type and mutated protein complexes about their microenvironmental differences. Such a hierarchical prompt learning framework has demonstrated superior performance and training efficiency over state-of-the-art pre-training-based methods in mutation effect prediction and a case study of optimizing human antibodies against SARS-CoV-2.

Zicheng Liu, Li Wang, Siyuan Li et al.

Transformer models have been successful in various sequence processing tasks, but the self-attention mechanism's computational cost limits its practicality for long sequences. Although there are existing attention variants that improve computational efficiency, they have a limited ability to abstract global information effectively based on their hand-crafted mixing strategies. On the other hand, state-space models (SSMs) are tailored for long sequences but cannot capture complicated local information. Therefore, the combination of them as a unified token mixer is a trend in recent long-sequence models. However, the linearized attention degrades performance significantly even when equipped with SSMs. To address the issue, we propose a new method called LongVQ. LongVQ uses the vector quantization (VQ) technique to compress the global abstraction as a length-fixed codebook, enabling the linear-time computation of the attention matrix. This technique effectively maintains dynamic global and local patterns, which helps to complement the lack of long-range dependency issues. Our experiments on the Long Range Arena benchmark, autoregressive language modeling, and image and speech classification demonstrate the effectiveness of LongVQ. Our model achieves significant improvements over other sequence models, including variants of Transformers, Convolutions, and recent State Space Models.

Odin Zhang, Yufei Huang, Shichen Cheng et al.

Most earlier 3D structure-based molecular generation approaches follow an atom-wise paradigm, incrementally adding atoms to a partially built molecular fragment within protein pockets. These methods, while effective in designing tightly bound ligands, often overlook other essential properties such as synthesizability. The fragment-wise generation paradigm offers a promising solution. However, a common challenge across both atom-wise and fragment-wise methods lies in their limited ability to co-design plausible chemical and geometrical structures, resulting in distorted conformations. In response to this challenge, we introduce the Deep Geometry Handling protocol, a more abstract design that extends the design focus beyond the model architecture. Through a comprehensive review of existing geometry-related models and their protocols, we propose a novel hybrid strategy, culminating in the development of FragGen - a geometry-reliable, fragment-wise molecular generation method. FragGen marks a significant leap forward in the quality of generated geometry and the synthesis accessibility of molecules. The efficacy of FragGen is further validated by its successful application in designing type II kinase inhibitors at the nanomolar level.

Fanmeng Wang, Wentao Guo, Qi Ou et al.

Polymer conformation generation is a critical task that enables atomic-level studies of diverse polymer materials. While significant advances have been made in designing conformation generation methods for small molecules and proteins, these methods struggle to generate polymer conformations due to their unique structural characteristics. Meanwhile, the scarcity of polymer conformation datasets further limits the progress, making this important area largely unexplored. In this work, we propose PolyConf, a pioneering tailored polymer conformation generation method that leverages hierarchical generative models to unlock new possibilities. Specifically, we decompose the polymer conformation into a series of local conformations (i.e., the conformations of its repeating units), generating these local conformations through an autoregressive model, and then generating their orientation transformations via a diffusion model to assemble them into the complete polymer conformation. Moreover, we develop the first benchmark with a high-quality polymer conformation dataset derived from molecular dynamics simulations to boost related research in this area. The comprehensive evaluation demonstrates that PolyConf consistently outperforms existing conformation generation methods, thus facilitating advancements in polymer modeling and simulation.

Rui Sun, Lirong Wu, Haitao Lin et al.

Augmentation is an effective alternative to utilize the small amount of labeled protein data. However, most of the existing work focuses on design-ing new architectures or pre-training tasks, and relatively little work has studied data augmentation for proteins. This paper extends data augmentation techniques previously used for images and texts to proteins and then benchmarks these techniques on a variety of protein-related tasks, providing the first comprehensive evaluation of protein augmentation. Furthermore, we propose two novel semantic-level protein augmentation methods, namely Integrated Gradients Substitution and Back Translation Substitution, which enable protein semantic-aware augmentation through saliency detection and biological knowledge. Finally, we integrate extended and proposed augmentations into an augmentation pool and propose a simple but effective framework, namely Automated Protein Augmentation (APA), which can adaptively select the most suitable augmentation combinations for different tasks. Extensive experiments have shown that APA enhances the performance of five protein related tasks by an average of 10.55% across three architectures compared to vanilla implementations without augmentation, highlighting its potential to make a great impact on the field.

Zhen Yang, Haitao Lin, Jiawei xue et al.

In the past year, Generative Recommendations (GRs) have undergone substantial advancements, especially in leveraging the powerful sequence modeling and reasoning capabilities of Large Language Models (LLMs) to enhance overall recommendation performance. LLM-based GRs are forming a new paradigm that is distinctly different from discriminative recommendations, showing strong potential to replace traditional recommendation systems heavily dependent on complex hand-crafted features. In this paper, we provide a comprehensive survey aimed at facilitating further research of LLM-based GRs. Initially, we outline the general preliminaries and application cases of LLM-based GRs. Subsequently, we introduce the main considerations when LLM-based GRs are applied in real industrial scenarios. Finally, we explore promising directions for LLM-based GRs. We hope that this survey contributes to the ongoing advancement of the GR domain.

Haitao Lin, Odin Zhang, Jia Xu et al.

The affinity and specificity of protein-molecule binding directly impact functional outcomes, uncovering the mechanisms underlying biological regulation and signal transduction. Most deep-learning-based prediction approaches focus on structures of atoms or fragments. However, quantum chemical properties, such as electronic structures, are the key to unveiling interaction patterns but remain largely underexplored. To bridge this gap, we propose ECBind, a method for tokenizing electron cloud signals into quantized embeddings, enabling their integration into downstream tasks such as binding affinity prediction. By incorporating electron densities, ECBind helps uncover binding modes that cannot be fully represented by atom-level models. Specifically, to remove the redundancy inherent in electron cloud signals, a structure-aware transformer and hierarchical codebooks encode 3D binding sites enriched with electron structures into tokens. These tokenized codes are then used for specific tasks with labels. To extend its applicability to a wider range of scenarios, we utilize knowledge distillation to develop an electron-cloud-agnostic prediction model. Experimentally, ECBind demonstrates state-of-the-art performance across multiple tasks, achieving improvements of 6.42\% and 15.58\% in per-structure Pearson and Spearman correlation coefficients, respectively.

Lirong Wu, Haitao Lin, Yufei Huang et al.

Antibodies are Y-shaped proteins that protect the host by binding to specific antigens, and their binding is mainly determined by the Complementary Determining Regions (CDRs) in the antibody. Despite the great progress made in CDR design, existing computational methods still encounter several challenges: 1) poor capability of modeling complex CDRs with long sequences due to insufficient contextual information; 2) conditioned on pre-given antigenic epitopes and their static interaction with the target antibody; 3) neglect of specificity during antibody optimization leads to non-specific antibodies. In this paper, we take into account a variety of node features, edge features, and edge relations to include more contextual and geometric information. We propose a novel Relation-Aware Antibody Design (RAAD) framework, which dynamically models antigen-antibody interactions for co-designing the sequences and structures of antigen-specific CDRs. Furthermore, we propose a new evaluation metric to better measure antibody specificity and develop a contrasting specificity-enhancing constraint to optimize the specificity of antibodies. Extensive experiments have demonstrated the superior capability of RAAD in terms of antibody modeling, generation, and optimization across different CDR types, sequence lengths, pre-training strategies, and input contexts.

Guojiang Zhao, Sihang Li, Zixiang Lu et al.

Large Language Models(LLMs) have demonstrated remarkable performance across various domains, yet their capabilities in molecular reasoning remain insufficiently explored. Current approaches tend to rely heavily on general-purpose prompting, which lacks domain-specific molecular semantics, while those that use fine-tuning strategies often face challenges with interpretability and reasoning depth. To address these issues, we introduce MolReasoner, a two-stage framework designed to transition LLMs from memorization towards chemical reasoning. First, we propose Mol-SFT, which initializes the model's reasoning abilities via synthetic Chain-of-Thought(CoT) samples generated by GPT-4o and verified for chemical accuracy. Subsequently, Mol-RL applies reinforcement learning with specialized reward functions designed explicitly to align chemical structures with linguistic descriptions, thereby enhancing molecular reasoning capabilities. Our approach notably enhances interpretability, improving the model 's molecular understanding and enabling better generalization. Extensive experiments demonstrate that MolReasoner outperforms existing methods, and marking a significant shift from memorization-based outputs to robust chemical reasoning.

Jingshun Huang, Haitao Lin, Tianyu Wang et al.

This paper tackles category-level pose estimation of articulated objects in robotic manipulation tasks and introduces a new benchmark dataset. While recent methods estimate part poses and sizes at the category level, they often rely on geometric cues and complex multi-stage pipelines that first segment parts from the point cloud, followed by Normalized Part Coordinate Space (NPCS) estimation for 6D poses. These approaches overlook dense semantic cues from RGB images, leading to suboptimal accuracy, particularly for objects with small parts. To address these limitations, we propose a single-stage Network, CAP-Net, for estimating the 6D poses and sizes of Categorical Articulated Parts. This method combines RGB-D features to generate instance segmentation and NPCS representations for each part in an end-to-end manner. CAP-Net uses a unified network to simultaneously predict point-wise class labels, centroid offsets, and NPCS maps. A clustering algorithm then groups points of the same predicted class based on their estimated centroid distances to isolate each part. Finally, the NPCS region of each part is aligned with the point cloud to recover its final pose and size. To bridge the sim-to-real domain gap, we introduce the RGBD-Art dataset, the largest RGB-D articulated dataset to date, featuring photorealistic RGB images and depth noise simulated from real sensors. Experimental evaluations on the RGBD-Art dataset demonstrate that our method significantly outperforms the state-of-the-art approach. Real-world deployments of our model in robotic tasks underscore its robustness and exceptional sim-to-real transfer capabilities, confirming its substantial practical utility. Our dataset, code and pre-trained models are available on the project page.

Jiawei Xue, Zhen Yang, Haitao Lin et al.

Graph Contrastive Learning (GCL), which fuses graph neural networks with contrastive learning, has evolved as a pivotal tool in user-item recommendations. While promising, existing GCL methods often lack explicit modeling of hierarchical item structures, which represent item similarities across varying resolutions. Such hierarchical item structures are ubiquitous in various items (e.g., online products and local businesses), and reflect their inherent organizational properties that serve as critical signals for enhancing recommendation accuracy. In this paper, we propose Hierarchical Graph Contrastive Learning (HGCL), a novel GCL method that incorporates hierarchical item structures for user-item recommendations. First, HGCL pre-trains a GCL module using cross-layer contrastive learning to obtain user and item representations. Second, HGCL employs a representation compression and clustering method to construct a two-hierarchy user-item bipartite graph. Ultimately, HGCL fine-tunes user and item representations by learning on the hierarchical graph, and then provides recommendations based on user-item interaction scores. Experiments on three widely adopted benchmark datasets ranging from 70K to 382K nodes confirm the superior performance of HGCL over existing baseline models, highlighting the contribution of hierarchical item structures in enhancing GCL methods for recommendation tasks.

Junqiu Yu, Xinlin Ren, Yongchong Gu et al.

Language-guided robotic grasping is a rapidly advancing field where robots are instructed using human language to grasp specific objects. However, existing methods often depend on dense camera views and struggle to quickly update scenes, limiting their effectiveness in changeable environments. In contrast, we propose SparseGrasp, a novel open-vocabulary robotic grasping system that operates efficiently with sparse-view RGB images and handles scene updates fastly. Our system builds upon and significantly enhances existing computer vision modules in robotic learning. Specifically, SparseGrasp utilizes DUSt3R to generate a dense point cloud as the initialization for 3D Gaussian Splatting (3DGS), maintaining high fidelity even under sparse supervision. Importantly, SparseGrasp incorporates semantic awareness from recent vision foundation models. To further improve processing efficiency, we repurpose Principal Component Analysis (PCA) to compress features from 2D models. Additionally, we introduce a novel render-and-compare strategy that ensures rapid scene updates, enabling multi-turn grasping in changeable environments. Experimental results show that SparseGrasp significantly outperforms state-of-the-art methods in terms of both speed and adaptability, providing a robust solution for multi-turn grasping in changeable environment.

Cheng Tan, Yijie Zhang, Zhangyang Gao et al.

The development of therapeutic antibodies heavily relies on accurate predictions of how antigens will interact with antibodies. Existing computational methods in antibody design often overlook crucial conformational changes that antigens undergo during the binding process, significantly impacting the reliability of the resulting antibodies. To bridge this gap, we introduce dyAb, a flexible framework that incorporates AlphaFold2-driven predictions to model pre-binding antigen structures and specifically addresses the dynamic nature of antigen conformation changes. Our dyAb model leverages a unique combination of coarse-grained interface alignment and fine-grained flow matching techniques to simulate the interaction dynamics and structural evolution of the antigen-antibody complex, providing a realistic representation of the binding process. Extensive experiments show that dyAb significantly outperforms existing models in antibody design involving changing antigen conformations. These results highlight dyAb's potential to streamline the design process for therapeutic antibodies, promising more efficient development cycles and improved outcomes in clinical applications.

Jinyu Zhang, Haitao Lin, Jiashu Hou et al.

Estimating an object's 6D pose, size, and shape from visual input is a fundamental problem in computer vision, with critical applications in robotic grasping and manipulation. Existing methods either rely on object-specific priors such as CAD models or templates, or suffer from limited generalization across categories due to pose-shape entanglement and multi-stage pipelines. In this work, we propose a unified, category-agnostic framework that simultaneously predicts 6D pose, size, and dense shape from a single RGB-D image, without requiring templates, CAD models, or category labels at test time. Our model fuses dense 2D features from vision foundation models with partial 3D point clouds using a Transformer encoder enhanced by a Mixture-of-Experts, and employs parallel decoders for pose-size estimation and shape reconstruction, achieving real-time inference at 28 FPS. Trained solely on synthetic data from 149 categories in the SOPE dataset, our framework is evaluated on four diverse benchmarks SOPE, ROPE, ObjaversePose, and HANDAL, spanning over 300 categories. It achieves state-of-the-art accuracy on seen categories while demonstrating remarkably strong zero-shot generalization to unseen real-world objects, establishing a new standard for open-set 6D understanding in robotics and embodied AI.