arXiv:2603.06748v1 Announce Type: cross Abstract: Protein sequence design must balance designability, defined as the ability to recover a target backbone, with multiple, often competing, developability properties such as solubility, thermostability, and expression. Existing approaches address these properties through post hoc mutation, inference-time biasing, or retraining on property-specific subsets, yet they are target dependent and demand substantial domain expertise or careful hyperparameter tuning. In this paper, we introduce ProtAlign, a multi-objective preference alignment framework that fine-tunes pretrained inverse folding models to satisfy diverse developability objectives while preserving structural fidelity. ProtAlign employs a semi-online Direct Preference Optimization strategy with a flexible preference margin to mitigate conflicts among competing objectives and constructs preference pairs using in silico property predictors. Applied to the widely used ProteinMPNN backbone, the resulting model MoMPNN enhances developability without compromising designability across tasks including sequence design for CATH 4.3 crystal structures, de novo generated backbones, and real-world binder design scenarios, making it an appealing framework for practical protein sequence design.

arXiv:2506.06683v4 Announce Type: replace-cross Abstract: Dual-arm robots play a crucial role in improving efficiency and flexibility in complex multitasking scenarios. While existing methods have achieved promising results in task planning, they often fail to fully optimize task parallelism, limiting the potential of dual-arm collaboration. To address this issue, we propose RoboPARA, a novel large language model (LLM)-driven framework for dual-arm task parallelism planning. RoboPARA employs a two-stage process: (1) Dependency Graph-based Planning Candidates Generation, which constructs directed acyclic graphs (DAGs) to model task dependencies and eliminate redundancy, and (2) Graph Re-Traversal-based Dual-Arm Parallel Planning, which optimizes DAG traversal to maximize parallelism while maintaining task coherence. In addition, we introduce the Cross-Scenario Dual-Arm Parallel Task dataset (X-DAPT dataset), the first dataset specifically designed to evaluate dual-arm task parallelism across diverse scenarios and difficulty levels. Extensive experiments demonstrate that RoboPARA significantly outperforms existing planning methods, achieving higher efficiency and reliability, particularly in complex task combinations. Our code is publicly available at https://github.com/AiDuanshiying/RoboPARA.