Zhongyue Zhang

Weixin Mao, Weiheng Zhong, Zhou Jiang et al.

Existing robot policies predominantly adopt the task-centric approach, requiring end-to-end task data collection. This results in limited generalization to new tasks and difficulties in pinpointing errors within long-horizon, multi-stage tasks. To address this, we propose RoboMatrix, a skill-centric hierarchical framework designed for scalable robot task planning and execution in open-world environments. RoboMatrix extracts general meta-skills from diverse complex tasks, enabling the completion of unseen tasks through skill composition. Its architecture consists of a high-level scheduling layer that utilizes large language models (LLMs) for task decomposition, an intermediate skill layer housing meta-skill models, and a low-level hardware layer for robot control. A key innovation of our work is the introduction of the first unified vision-language-action (VLA) model capable of seamlessly integrating both movement and manipulation within one model. This is achieved by combining vision and language prompts to generate discrete actions. Experimental results demonstrate that RoboMatrix achieves a 50% higher success rate than task-centric baselines when applied to unseen objects, scenes, and tasks. To advance open-world robotics research, we will open-source code, hardware designs, model weights, and datasets at https://github.com/WayneMao/RoboMatrix.

Shuangjia Zheng, Jiahua Rao, Zhongyue Zhang et al.

Synthesis planning is the process of recursively decomposing target molecules into available precursors. Computer-aided retrosynthesis can potentially assist chemists in designing synthetic routes, but at present it is cumbersome and provides results of dissatisfactory quality. In this study, we develop a template-free self-corrected retrosynthesis predictor (SCROP) to perform a retrosynthesis prediction task trained by using the Transformer neural network architecture. In the method, the retrosynthesis planning is converted as a machine translation problem between molecular linear notations of reactants and the products. Coupled with a neural network-based syntax corrector, our method achieves an accuracy of 59.0% on a standard benchmark dataset, which increases >21% over other deep learning methods, and >6% over template-based methods. More importantly, our method shows an accuracy 1.7 times higher than other state-of-the-art methods for compounds not appearing in the training set.

James McQueen, Marina Meila, Jacob VanderPlas et al.

Manifold Learning is a class of algorithms seeking a low-dimensional non-linear representation of high-dimensional data. Thus manifold learning algorithms are, at least in theory, most applicable to high-dimensional data and sample sizes to enable accurate estimation of the manifold. Despite this, most existing manifold learning implementations are not particularly scalable. Here we present a Python package that implements a variety of manifold learning algorithms in a modular and scalable fashion, using fast approximate neighbors searches and fast sparse eigendecompositions. The package incorporates theoretical advances in manifold learning, such as the unbiased Laplacian estimator and the estimation of the embedding distortion by the Riemannian metric method. In benchmarks, even on a single-core desktop computer, our code embeds millions of data points in minutes, and takes just 200 minutes to embed the main sample of galaxy spectra from the Sloan Digital Sky Survey --- consisting of 0.6 million samples in 3750-dimensions --- a task which has not previously been possible.