arXiv subjects

Zihe Ye

Publications and source records attributed to Zihe Ye.

6 recordsLinked to original sources

arXiv2026

MemRec: Collaborative Memory-Augmented Agentic Recommender System

The evolution of recommender systems has shifted from traditional collaborative filtering to LLM-based agentic systems, which rely on semantic user and item memories to make predictions. However, existing agents maintain these memories in isolation. This overlooks crucial collaborative signals, such as user-item co-engagements and peer relationships across the community, which significantly limits their ability to uncover hidden preferences and accurately infer user needs, particularly for data-sparse users. To bridge this gap, we introduce collaborative memory, a paradigm that connects isolated semantics to enable the sharing of relational insights. Yet, naively utilizing collaborative memory causes severe context overload and introduces noise to downstream LLMs, alongside prohibitive computational costs. To resolve this, we propose MemRec, a framework that architecturally decouples memory management from reasoning. MemRec introduces a dedicated, lightweight language model (LM_Mem) to efficiently manage and synthesize a dynamic collaborative memory graph in the background. It provides only distilled, high-signal contexts to a downstream, heavyweight large language model (LLM_Rec) for the final recommendation. Extensive experiments on four benchmarks demonstrate that MemRec achieves state-of-the-art performance. Code: https://github.com/rutgerswiselab/memrec and Homepage: https://memrec.weixinchen.com/

cs.IR↗

arXiv2025

From Aggregation to Selection: User-Validated Distributed Social Recommendation

Social recommender systems facilitate social connections by identifying potential friends for users. Each user maintains a local social network centered around themselves, resulting in a naturally distributed social structure. Recent research on distributed modeling for social recommender systems has gained increasing attention, as it naturally aligns with the user-centric structure of user interactions. Current distributed social recommender systems rely on automatically combining predictions from multiple models, often overlooking the user's active role in validating whether suggested connections are appropriate. Moreover, recommendation decisions are validated by individual users rather than derived from a single global ordering of candidates. As a result, standard ranking-based evaluation metrics make it difficult to evaluate whether a user-confirmed recommendation decision is actually correct. To address these limitations, we propose DeSocial, a distributed social recommendation framework with user-validation. DeSocial enables users to select recommendation algorithms to validate their potential connections, and the verification is processed through majority consensus among multiple independent user validators. To evaluate the distributed recommender system with user validator, we formulate this setting as a link prediction and verification task and introduce Acc@K, a consensus-based evaluation metric that measures whether user-approved recommendations are correct. Experiments on 4 real-world social networks shows that DeSocial improves decision correctness and robustness compared to single-point and distributed baselines. These findings highlight the potential of user-validated distributed recommender systems as a practical approach to social recommendation, with broader applicability to distributed and decentralized recommendations. Code: https://github.com/agiresearch/DeSocial.

cs.SI↗

arXiv2025

Benchmarking Multi-Object Grasping

In this work, we describe a multi-object grasping benchmark to evaluate the grasping and manipulation capabilities of robotic systems in both pile and surface scenarios. The benchmark introduces three robot multi-object grasping benchmarking protocols designed to challenge different aspects of robotic manipulation. These protocols are: 1) the Only-Pick-Once protocol, which assesses the robot's ability to efficiently pick multiple objects in a single attempt; 2) the Accurate pick-trnsferring protocol, which evaluates the robot's capacity to selectively grasp and transport a specific number of objects from a cluttered environment; and 3) the Pick-transferring-all protocol, which challenges the robot to clear an entire scene by sequentially grasping and transferring all available objects. These protocols are intended to be adopted by the broader robotics research community, providing a standardized method to assess and compare robotic systems' performance in multi-object grasping tasks. We establish baselines for these protocols using standard planning and perception algorithms on a Barrett hand, Robotiq parallel jar gripper, and the Pisa/IIT Softhand-2, which is a soft underactuated robotic hand. We discuss the results in relation to human performance in similar tasks we well.

cs.RO↗

arXiv2024

Asymptotically-Optimal Multi-Query Path Planning for a Polygonal Robot

Shortest-path roadmaps, also known as reduced visibility graphs, provides a highly efficient multi-query method for computing optimal paths in two-dimensional environments. Combined with Minkowski sum computations, shortest-path roadmaps can compute optimal paths for a translating robot in 2D. In this study, we explore the intuitive idea of stacking up a set of reduced visibility graphs at different orientations for a polygonal holonomic robot to support the fast computation of near-optimal paths, allowing simultaneous 2D translation and rotation. The resulting algorithm, rotation-stacked visibility graph (RVG), is shown to be resolution-complete and asymptotically optimal. Extensive computational experiments show RVG significantly outperforms state-of-the-art single- and multi-query sampling-based methods on both computation time and solution optimality fronts.

cs.RO↗

arXiv2024

Toward Holistic Planning and Control Optimization for Dual-Arm Rearrangement

Long-horizon task and motion planning (TAMP) is notoriously difficult to solve, let alone optimally, due to the tight coupling between the interleaved (discrete) task and (continuous) motion planning phases, where each phase on its own is frequently an NP-hard or even PSPACE-hard computational challenge. In this study, we tackle the even more challenging goal of jointly optimizing task and motion plans for a real dual-arm system in which the two arms operate in close vicinity to solve highly constrained tabletop multi-object rearrangement problems. Toward that, we construct a tightly integrated planning and control optimization pipeline, Makespan-Optimized Dual-Arm Planner (MODAP) that combines novel sampling techniques for task planning with state-of-the-art trajectory optimization techniques. Compared to previous state-of-the-art, MODAP produces task and motion plans that better coordinate a dual-arm system, delivering significantly improved execution time improvements while simultaneously ensuring that the resulting time-parameterized trajectory conforms to specified acceleration and jerk limits.

cs.RO↗

arXiv2023

Only Pick Once -- Multi-Object Picking Algorithms for Picking Exact Number of Objects Efficiently

Picking up multiple objects at once is a grasping skill that makes a human worker efficient in many domains. This paper presents a system to pick a requested number of objects by only picking once (OPO). The proposed Only-Pick-Once System (OPOS) contains several graph-based algorithms that convert the layout of objects into a graph, cluster nodes in the graph, rank and select candidate clusters based on their topology. OPOS also has a multi-object picking predictor based on a convolutional neural network for estimating how many objects would be picked up with a given gripper location and orientation. This paper presents four evaluation metrics and three protocols to evaluate the proposed OPOS. The results show OPOS has very high success rates for two and three objects when only picking once. Using OPOS can significantly outperform two to three times single object picking in terms of efficiency. The results also show OPOS can generalize to unseen size and shape objects.

cs.RO↗