arXiv:2603.27756v2 Announce Type: replace-cross Abstract: Achieving general-purpose humanoid control requires a delicate balance between the precise execution of commanded motions and the flexible, anthropomorphic adaptability needed to recover from unpredictable environmental perturbations. Current general controllers predominantly formulate motion control as a rigid reference-tracking problem. While effective in nominal conditions, these trackers often exhibit brittle, non-anthropomorphic failure modes under severe disturbances, lacking the generative adaptability inherent to human motor control. To overcome this limitation, we propose Heracles, a novel state-conditioned diffusion middleware that bridges precise motion tracking and generative synthesis. Rather than relying on rigid tracking paradigms or complex explicit mode-switching, Heracles operates as an intermediary layer between high-level reference motions and low-level physics trackers. By conditioning on the robot's real-time state, the diffusion model implicitly adapts its behavior: it approximates an identity map when the state closely aligns with the reference, preserving zero-shot tracking fidelity. Conversely, when encountering significant state deviations, it seamlessly transitions into a generative synthesizer to produce natural, anthropomorphic recovery trajectories. Our framework demonstrates that integrating generative priors into the control loop not only significantly enhances robustness against extreme perturbations but also elevates humanoid control from a rigid tracking paradigm to an open-ended, generative general-purpose architecture.

arXiv:2603.22369v1 Announce Type: cross Abstract: Accurate prediction of synthetic lethality (SL) is important for guiding the development of cancer drugs and therapies. SL prediction faces significant challenges in the effective fusion of heterogeneous multi-source data. Existing multimodal methods often suffer from "modality laziness" due to disparate convergence speeds, which hinders the exploitation of complementary information. This is also one reason why most existing SL prediction models cannot perform well on both pan-cancer and single-cancer SL pair prediction. In this study, we propose SynLeaF, a dual-stage multimodal fusion framework for SL prediction across pan- and single-cancer contexts. The framework employs a VAE-based cross-encoder with a product of experts mechanism to fuse four omics data types (gene expression, mutation, methylation, and CNV), while simultaneously utilizing a relational graph convolutional network to capture structured gene representations from biomedical knowledge graphs. To mitigate modality laziness, SynLeaF introduces a dual-stage training mechanism employing featurelevel knowledge distillation with adaptive uni-modal teacher and ensemble strategies. In extensive experiments across eight specific cancer types and a pancancer dataset, SynLeaF achieves superior performance in 17 out of 19 scenarios. Ablation studies and gradient analyses further validate the critical contributions of the proposed fusion and distillation mechanisms to model robustness and generalization. To facilitate community use, a web server is available at https://synleaf.bioinformatics-lilab.cn.