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Graph Neural Networks (GNNs) have become essential tools for learning on relational data, yet the performance of a single GNN is often limited by the heterogeneity present in real-world graphs. Recent advances in Mixture-of-Experts (MoE)…

Mixture-of-Experts (MoE) language models organize knowledge into explicitly routed expert modules, making expert-level representations traceable and analyzable. By analyzing expert activation patterns in MoE large language models (LLMs), we…

Vision-Language Models (VLMs) based on Mixture-of-Experts (MoE) architectures have emerged as a pivotal paradigm in multimodal understanding, offering a powerful framework for integrating visual and linguistic information. However, the…

Meta-learning is a branch of machine learning which aims to quickly adapt models, such as neural networks, to perform new tasks by learning an underlying structure across related tasks. In essence, models are being trained to learn new…

Reinforcement learning (RL) is a powerful approach for acquiring a good-performing policy. However, learning diverse skills is challenging in RL due to the commonly used Gaussian policy parameterization. We propose \textbf{Di}verse…

Combining pre-trained expert models offers substantial potential for scalable multimodal reasoning, but building a unified framework remains challenging due to the increasing diversity of input modalities and task complexity. For instance,…

Gradient-based meta-learners such as MAML are able to learn a meta-prior from similar tasks to adapt to novel tasks from the same distribution with few gradient updates. One important limitation of such frameworks is that they seek a common…

Reinforcement learning (RL) has demonstrated remarkable capability in acquiring robot skills, but learning each new skill still requires substantial data collection for training. The pretrain-and-finetune paradigm offers a promising…

The Mixture-of-Experts (MoE) approach has demonstrated outstanding scalability in multi-task learning including low-level upstream tasks such as concurrent removal of multiple adverse weather effects. However, the conventional MoE…

Multi-robot navigation is a challenging task in which multiple robots must be coordinated simultaneously within dynamic environments. We apply deep reinforcement learning (DRL) to learn a decentralized end-to-end policy which maps raw…

Mixture-of-Experts (MoE) architectures have emerged as a cornerstone of modern AI systems. In particular, MoEs route inputs dynamically to specialized experts whose outputs are aggregated through weighted summation. Despite their widespread…

Legged robots have significant potential to operate in highly unstructured environments. The design of locomotion control is, however, still challenging. Currently, controllers must be either manually designed for specific robots and tasks,…

Large Language Models (LLMs) have shown great promise in multilingual machine translation (MT), even with limited bilingual supervision. However, fine-tuning LLMs with parallel corpora presents major challenges, namely parameter…

Manipulation tasks often consist of subtasks, each representing a distinct skill. Mastering these skills is essential for robots, as it enhances their autonomy, efficiency, adaptability, and ability to work in their environment. Learning…

Mixture-of-Experts (MoE) approaches have recently gained traction in robotics applications due to their ability to dynamically allocate computational resources and specialize sub-networks for distinct tasks or environmental contexts,…

Legged robots pose one of the greatest challenges in robotics. Dynamic and agile maneuvers of animals cannot be imitated by existing methods that are crafted by humans. A compelling alternative is reinforcement learning, which requires…

Mixed Reality (MR) has recently shown great success as an intuitive interface for enabling end-users to teach robots. Related works have used MR interfaces to communicate robot intents and beliefs to a co-located human, as well as developed…

Model-Agnostic Meta-Learning (MAML) and its variants have achieved success in meta-learning tasks on many datasets and settings. On the other hand, we have just started to understand and analyze how they are able to adapt fast to new tasks.…

The robotic systems continuously interact with complex dynamical systems in the physical world. Reliable predictions of spatiotemporal evolution of these dynamical systems, with limited knowledge of system dynamics, are crucial for…

Large multi-modal models (LMMs) exhibit remarkable performance across numerous tasks. However, generalist LMMs often suffer from performance degradation when tuned over a large collection of tasks. Recent research suggests that Mixture of…