Rethinking Bimanual Robotic Manipulation: Learning with Decoupled Interaction Framework

Bimanual robotic manipulation is an emerging and critical topic in the robotics community. Previous works primarily rely on integrated control models that take the perceptions and states of both arms as inputs to directly predict their actions. However, we think bimanual manipulation involves not only coordinated tasks but also various uncoordinated tasks that do not require explicit cooperation during execution, such as grasping objects with the closest hand, which integrated control frameworks ignore to consider due to their enforced cooperation in the early inputs. In this paper, we propose a novel decoupled interaction framework that considers the characteristics of different tasks in bimanual manipulation. The key insight of our framework is to assign an independent model to each arm to enhance the learning of uncoordinated tasks, while introducing a selective interaction module that adaptively learns weights from its own arm to improve the learning of coordinated tasks. Extensive experiments on seven tasks in the RoboTwin dataset demonstrate that: (1) Our framework achieves outstanding performance, with a 23.5% boost over the SOTA method. (2) Our framework is flexible and can be seamlessly integrated into existing methods. (3) Our framework can be effectively extended to multi-agent manipulation tasks, achieving a 28% boost over the integrated control SOTA. (4) The performance boost stems from the decoupled design itself, surpassing the SOTA by 16.5% in success rate with only 1/6 of the model size.

iManip: Skill-Incremental Learning for Robotic Manipulation

The development of a generalist agent with adaptive multiple manipulation skills has been a long-standing goal in the robotics community. In this paper, we explore a crucial task, skill-incremental learning, in robotic manipulation, which is to endow the robots with the ability to learn new manipulation skills based on the previous learned knowledge without re-training. First, we build a skill-incremental environment based on the RLBench benchmark, and explore how traditional incremental methods perform in this setting. We find that they suffer from severe catastrophic forgetting due to the previous methods on classification overlooking the characteristics of temporality and action complexity in robotic manipulation tasks. Towards this end, we propose an incremental Manip}ulation framework, termed iManip, to mitigate the above issues. We firstly design a temporal replay strategy to maintain the integrity of old skills when learning new skill. Moreover, we propose the extendable PerceiverIO, consisting of an action prompt with extendable weight to adapt to new action primitives in new skill. Extensive experiments show that our framework performs well in Skill-Incremental Learning. Codes of the skill-incremental environment with our framework will be open-source.

AffordDexGrasp: Open-set Language-guided Dexterous Grasp with Generalizable-Instructive Affordance

Language-guided robot dexterous generation enables robots to grasp and manipulate objects based on human commands. However, previous data-driven methods are hard to understand intention and execute grasping with unseen categories in the open set. In this work, we explore a new task, Open-set Language-guided Dexterous Grasp, and find that the main challenge is the huge gap between high-level human language semantics and low-level robot actions. To solve this problem, we propose an Affordance Dexterous Grasp (AffordDexGrasp) framework, with the insight of bridging the gap with a new generalizable-instructive affordance representation. This affordance can generalize to unseen categories by leveraging the object's local structure and category-agnostic semantic attributes, thereby effectively guiding dexterous grasp generation. Built upon the affordance, our framework introduces Affordacne Flow Matching (AFM) for affordance generation with language as input, and Grasp Flow Matching (GFM) for generating dexterous grasp with affordance as input. To evaluate our framework, we build an open-set table-top language-guided dexterous grasp dataset. Extensive experiments in the simulation and real worlds show that our framework surpasses all previous methods in open-set generalization.

Benchmarking LLMs in Recommendation Tasks: A Comparative Evaluation with Conventional Recommenders

In recent years, integrating large language models (LLMs) into recommender systems has created new opportunities for improving recommendation quality. However, a comprehensive benchmark is needed to thoroughly evaluate and compare the recommendation capabilities of LLMs with traditional recommender systems. In this paper, we introduce RecBench, which systematically investigates various item representation forms (including unique identifier, text, semantic embedding, and semantic identifier) and evaluates two primary recommendation tasks, i.e., click-through rate prediction (CTR) and sequential recommendation (SeqRec). Our extensive experiments cover up to 17 large models and are conducted across five diverse datasets from fashion, news, video, books, and music domains. Our findings indicate that LLM-based recommenders outperform conventional recommenders, achieving up to a 5% AUC improvement in the CTR scenario and up to a 170% NDCG@10 improvement in the SeqRec scenario. However, these substantial performance gains come at the expense of significantly reduced inference efficiency, rendering the LLM-as-RS paradigm impractical for real-time recommendation environments. We aim for our findings to inspire future research, including recommendation-specific model acceleration methods. We will release our code, data, configurations, and platform to enable other researchers to reproduce and build upon our experimental results.

SolBench: A Dataset and Benchmark for Evaluating Functional Correctness in Solidity Code Completion and Repair

Smart contracts are crucial programs on blockchains, and their immutability post-deployment makes functional correctness vital. Despite progress in code completion models, benchmarks for Solidity, the primary smart contract language, are lacking. Existing metrics like BLEU do not adequately assess the functional correctness of generated smart contracts. To fill this gap, we introduce SolBench, a benchmark for evaluating the functional correctness of Solidity smart contracts generated by code completion models. SolBench includes 4,178 functions from 1,155 Ethereum-deployed contracts. Testing advanced models revealed challenges in generating correct code without context, as Solidity functions rely on context-defined variables and interfaces. To address this, we propose a Retrieval-Augmented Code Repair framework. In this framework, an executor verifies functional correctness, and if necessary, an LLM repairs the code using retrieved snippets informed by executor traces. We conduct a comprehensive evaluation of both closed-source and open-source LLMs across various model sizes and series to assess their performance in smart contract completion. The results show that code repair and retrieval techniques effectively enhance the correctness of smart contract completion while reducing computational costs.

GeoEdit: Geometric Knowledge Editing for Large Language Models

Regular updates are essential for maintaining up-to-date knowledge in large language models (LLMs). Consequently, various model editing methods have been developed to update specific knowledge within LLMs. However, training-based approaches often struggle to effectively incorporate new knowledge while preserving unrelated general knowledge. To address this challenge, we propose a novel framework called Geometric Knowledge Editing (GeoEdit). GeoEdit utilizes the geometric relationships of parameter updates from fine-tuning to differentiate between neurons associated with new knowledge updates and those related to general knowledge perturbations. By employing a direction-aware knowledge identification method, we avoid updating neurons with directions approximately orthogonal to existing knowledge, thus preserving the model's generalization ability. For the remaining neurons, we integrate both old and new knowledge for aligned directions and apply a "forget-then-learn" editing strategy for opposite directions. Additionally, we introduce an importance-guided task vector fusion technique that filters out redundant information and provides adaptive neuron-level weighting, further enhancing model editing performance. Extensive experiments on two publicly available datasets demonstrate the superiority of GeoEdit over existing state-of-the-art methods.

Recurrent Knowledge Identification and Fusion for Language Model Continual Learning

Continual learning (CL) is crucial for deploying large language models (LLMs) in dynamic real-world environments without costly retraining. While recent model ensemble and model merging methods guided by parameter importance have gained popularity, they often struggle to balance knowledge transfer and forgetting, mainly due to the reliance on static importance estimates during sequential training. In this paper, we present Recurrent-KIF, a novel CL framework for Recurrent Knowledge Identification and Fusion, which enables dynamic estimation of parameter importance distributions to enhance knowledge transfer. Inspired by human continual learning, Recurrent-KIF employs an inner loop that rapidly adapts to new tasks while identifying important parameters, coupled with an outer loop that globally manages the fusion of new and historical knowledge through redundant knowledge pruning and key knowledge merging. These inner-outer loops iteratively perform multiple rounds of fusion, allowing Recurrent-KIF to leverage intermediate training information and adaptively adjust fusion strategies based on evolving importance distributions. Extensive experiments on two CL benchmarks with various model sizes (from 770M to 13B) demonstrate that Recurrent-KIF effectively mitigates catastrophic forgetting and enhances knowledge transfer.

Unlocking the Potential of Classic GNNs for Graph-level Tasks: Simple Architectures Meet Excellence

Message-passing Graph Neural Networks (GNNs) are often criticized for their limited expressiveness, issues like over-smoothing and over-squashing, and challenges in capturing long-range dependencies, while Graph Transformers (GTs) are considered superior due to their global attention mechanisms. Literature frequently suggests that GTs outperform GNNs, particularly in graph-level tasks such as graph classification and regression. In this study, we explore the untapped potential of GNNs through an enhanced framework, GNN+, which integrates six widely used techniques: edge feature integration, normalization, dropout, residual connections, feed-forward networks, and positional encoding, to effectively tackle graph-level tasks. We conduct a systematic evaluation of three classic GNNs, namely GCN, GIN, and GatedGCN, enhanced by the GNN+ framework across 14 well-known graph-level datasets. Our results show that, contrary to the prevailing belief, classic GNNs excel in graph-level tasks, securing top three rankings across all datasets and achieving first place in eight, while also demonstrating greater efficiency than GTs. This highlights the potential of simple GNN architectures, challenging the belief that complex mechanisms in GTs are essential for superior graph-level performance.

Legommenders: A Comprehensive Content-Based Recommendation Library with LLM Support

We present Legommenders, a unique library designed for content-based recommendation that enables the joint training of content encoders alongside behavior and interaction modules, thereby facilitating the seamless integration of content understanding directly into the recommendation pipeline. Legommenders allows researchers to effortlessly create and analyze over 1,000 distinct models across 15 diverse datasets. Further, it supports the incorporation of contemporary large language models, both as feature encoder and data generator, offering a robust platform for developing state-of-the-art recommendation models and enabling more personalized and effective content delivery.

GEMeX: A Large-Scale, Groundable, and Explainable Medical VQA Benchmark for Chest X-ray Diagnosis

Medical Visual Question Answering (VQA) is an essential technology that integrates computer vision and natural language processing to automatically respond to clinical inquiries about medical images. However, current medical VQA datasets exhibit two significant limitations: (1) they often lack visual and textual explanations for answers, which impedes their ability to satisfy the comprehension needs of patients and junior doctors; (2) they typically offer a narrow range of question formats, inadequately reflecting the diverse requirements encountered in clinical scenarios. These limitations pose significant challenges to the development of a reliable and user-friendly Med-VQA system. To address these challenges, we introduce a large-scale, Groundable, and Explainable Medical VQA benchmark for chest X-ray diagnosis (GEMeX), featuring several innovative components: (1) A multi-modal explainability mechanism that offers detailed visual and textual explanations for each question-answer pair, thereby enhancing answer comprehensibility; (2) Four distinct question types, open-ended, closed-ended, single-choice, and multiple-choice, that better reflect diverse clinical needs. We evaluated 10 representative large vision language models on GEMeX and found that they underperformed, highlighting the dataset's complexity. However, after fine-tuning a baseline model using the training set, we observed a significant performance improvement, demonstrating the dataset's effectiveness. The project is available at www.med-vqa.com/GEMeX.