DexEXO: A Wearability-First Dexterous Exoskeleton for Operator-Agnostic Demonstration and Learning

Scaling dexterous robot learning is constrained by the difficulty of collecting high-quality demonstrations across diverse operators. Existing wearable interfaces often trade comfort and cross-user adaptability for kinematic fidelity, while embodiment mismatch between demonstration and deployment requires visual post-processing before policy training. We present DexEXO, a wearability-first hand exoskeleton that aligns visual appearance, contact geometry, and kinematics at the hardware level. DexEXO features a pose-tolerant thumb mechanism and a slider-based finger interface analytically modeled to support hand lengths from 140~mm to 217~mm, reducing operator-specific fitting and enabling scalable cross-operator data collection. A passive hand visually matches the deployed robot, allowing direct policy training from raw wrist-mounted RGB observations. User studies demonstrate improved comfort and usability compared to prior wearable systems. Using visually aligned observations alone, we train diffusion policies that achieve competitive performance while substantially simplifying the end-to-end pipeline. These results show that prioritizing wearability and hardware-level embodiment alignment reduces both human and algorithmic bottlenecks without sacrificing task performance. Project Page: https://dexexo-research.github.io/

Enhancing TCR-Peptide Interaction Prediction with Pretrained Language Models and Molecular Representations

Understanding the binding specificity between T-cell receptors (TCRs) and peptide-major histocompatibility complexes (pMHCs) is central to immunotherapy and vaccine development. However, current predictive models struggle with generalization, especially in data-scarce settings and when faced with novel epitopes. We present LANTERN (Large lAnguage model-powered TCR-Enhanced Recognition Network), a deep learning framework that combines large-scale protein language models with chemical representations of peptides. By encoding TCR \b{eta}-chain sequences using ESM-1b and transforming peptide sequences into SMILES strings processed by MolFormer, LANTERN captures rich biological and chemical features critical for TCR-peptide recognition. Through extensive benchmarking against existing models such as ChemBERTa, TITAN, and NetTCR, LANTERN demonstrates superior performance, particularly in zero-shot and few-shot learning scenarios. Our model also benefits from a robust negative sampling strategy and shows significant clustering improvements via embedding analysis. These results highlight the potential of LANTERN to advance TCR-pMHC binding prediction and support the development of personalized immunotherapies.

Bidirectional Mamba for Single-Cell Data: Efficient Context Learning with Biological Fidelity

Single-cell RNA sequencing (scRNA-seq) enables high-resolution analysis of cellular heterogeneity, but its complexity, which is marked by high dimensionality, sparsity, and batch effects, which poses major computational challenges. Transformer-based models have made significant advances in this domain but are often limited by their quadratic complexity and suboptimal handling of long-range dependencies. In this work, we introduce GeneMamba, a scalable and efficient foundation model for single-cell transcriptomics built on state space modeling. Leveraging the Bi-Mamba architecture, GeneMamba captures bidirectional gene context with linear-time complexity, offering substantial computational gains over transformer baselines. The model is pretrained on nearly 30 million cells and incorporates biologically informed objectives, including pathway-aware contrastive loss and rank-based gene encoding. We evaluate GeneMamba across diverse tasks, including multi-batch integration, cell type annotation, and gene-gene correlation, demonstrating strong performance, interpretability, and robustness. These results position GeneMamba as a practical and powerful alternative to transformer-based methods, advancing the development of biologically grounded, scalable tools for large-scale single-cell data analysis.