Yue Hu

Contact-rich manipulation requires precise tracking and mechanical compliance, where variable impedance control can improve robustness in ta… (see more)sk success, whereas static compliance cannot adapt to varying contact constraints. Variable impedance skills can be learned from demonstrations, avoiding complex modeling, but compliance is a hidden variable in force-agnostic kinematic data. While existing methods infer compliance from trajectory variations, these variations may reflect geometric adaptation and not intentional compliance when subject to changing spatial layouts. Therefore, this letter introduces Variable Impedance Diffusion Policy (VIDP), an imitation learning-based variable impedance control framework leveraging a Task-Parameterized Directionality-Aware Mixture Model (TP-DAMM) to extract physically consistent trajectory distributions from diverse demonstrations. By mapping distributions to stiffness profiles, VIDP jointly predicts pose actions and task compliance without force sensors. Real-world experiments show that VIDP significantly outperforms fixed-impedance baselines in task success rate while reducing interaction forces with respect to high stiffness controllers and tracking errors with respect to low stiffness baselines.

Understanding complex interactions in biomedical networks is crucial for advancements in biomedic… (see more)ine, but traditional link prediction (LP) methods are limited in capturing this complexity. Representation-based learning techniques improve prediction accuracy by mapping nodes to low-dimensional embeddings, yet they often struggle with interpretability and scalability. We present BioPathNet, a novel graph neural network framework based on the Neural Bellman-Ford Network (NBFNet), addressing these limitations through path-based reasoning for LP in biomedical knowledge graphs. Unlike node-embedding frameworks, BioPathNet learns representations between node pairs by considering all relations along paths, enhancing prediction accuracy and interpretability. This allows visualization of influential paths and facilitates biological validation. BioPathNet leverages a background regulatory graph (BRG) for enhanced message passing and uses stringent negative sampling to improve precision. In evaluations across various LP tasks, such as gene function annotation, drug-disease indication, synthetic lethality, and lncRNA-mRNA interaction prediction, BioPathNet consistently outperformed shallow node embedding methods, relational graph neural networks and task-specific state-of-the-art methods, demonstrating robust performance and versatility. Our study predicts novel drug indications for diseases like acute lymphoblastic leukemia (ALL) and Alzheimer’s, validated by medical experts and clinical trials. We also identified new synthetic lethality gene pairs and regulatory interactions involving lncRNAs and target genes, confirmed through literature reviews. BioPathNet's interpretability will enable researchers to trace prediction paths and gain molecular insights, making it a valuable tool for drug discovery, personalized medicine and biology in general.

Understanding complex interactions in biomedical networks is crucial for advancements in biomedicine, but traditional link prediction (LP) m… (see more)ethods are limited in capturing this complexity. Representation-based learning techniques improve prediction accuracy by mapping nodes to low-dimensional embeddings, yet they often struggle with interpretability and scalability. We present BioPathNet, a novel graph neural network framework based on the Neural Bellman-Ford Network (NBFNet), addressing these limitations through path-based reasoning for LP in biomedical knowledge graphs. Unlike node-embedding frameworks, BioPathNet learns representations between node pairs by considering all relations along paths, enhancing prediction accuracy and interpretability. This allows visualization of influential paths and facilitates biological validation. BioPathNet leverages a background regulatory graph (BRG) for enhanced message passing and uses stringent negative sampling to improve precision. In evaluations across various LP tasks, such as gene function annotation, drug-disease indication, synthetic lethality, and lncRNA-mRNA interaction prediction, BioPathNet consistently outperformed shallow node embedding methods, relational graph neural networks and task-specific state-of-the-art methods, demonstrating robust performance and versatility. Our study predicts novel drug indications for diseases like acute lymphoblastic leukemia (ALL) and Alzheimer’s, validated by medical experts and clinical trials. We also identified new synthetic lethality gene pairs and regulatory interactions involving lncRNAs and target genes, confirmed through literature reviews. BioPathNet’s interpretability will enable researchers to trace prediction paths and gain molecular insights, making it a valuable tool for drug discovery, personalized medicine and biology in general.