Qingbo Hao

Ziyu Wang, Chenyuan Liu, Yushun Xiang et al.

Recently, with the rapid development of robot learning and imitation learning, numerous datasets and methods have emerged. However, these datasets and their task designs often lack systematic consideration and principles. This raises important questions: Do the current datasets and task designs truly advance the capabilities of robotic agents? Do evaluations on a few common tasks accurately reflect the differentiated performance of various methods proposed by different teams and evaluated on different tasks? To address these issues, we introduce the Great March 100 (\textbf{GM-100}) as the first step towards a robot learning Olympics. GM-100 consists of 100 carefully designed tasks that cover a wide range of interactions and long-tail behaviors, aiming to provide a diverse and challenging set of tasks to comprehensively evaluate the capabilities of robotic agents and promote diversity and complexity in robot dataset task designs. These tasks are developed through systematic analysis and expansion of existing task designs, combined with insights from human-object interaction primitives and object affordances. We collect a large amount of trajectory data on different robotic platforms and evaluate several baseline models. Experimental results demonstrate that the GM-100 tasks are 1) feasible to execute and 2) sufficiently challenging to effectively differentiate the performance of current VLA models. Our data and code are available at https://rhos.ai/research/gm-100.

Xudong Wang, Qingbo Hao, Xu Cheng et al.

Federated learning offers a privacy-preserving framework for recommendation systems by enabling local data processing; however, data localization introduces substantial obstacles. Traditional federated recommendation approaches treat each user as an isolated entity, failing to construct global user relationship graphs that capture collaborative signals, which limits the accuracy of recommendations. To address this limitation, we derive insight from the insight that semantic similarity reflects preference. similarity, which can be used to improve the construction of user relationship graphs. This paper proposes UFGraphFR, a novel framework with three key components: 1) On the client side, private structured data is first transformed into text descriptions. These descriptions are then encoded into semantic vectors using pre-trained models; 2) On the server side, user relationship graphs are securely reconstructed using aggregated model weights without accessing raw data, followed by information propagation through lightweight graph neural networks; 3) On the client side, user behavior sequences are personalized using Transformer architectures. Extensive experiments conducted on four benchmark datasets demonstrate that UFGraphFR significantly outperforms state-of-the-art baselines in both recommendation accuracy and personalization. The framework also maintains robustness across different pre-trained models, as evidenced by the consistent performance metrics obtained. This work provides a practical method for efficient federated recommendations with strict privacy by using semantic vectors, secure user relationship graphs, and personalized behavior sequences. The code is available at: https://github.com/trueWangSyutung/UFGraphFR