Related papers: MENTOR: Mixture-of-Experts Network with Task-Orien…

Robot assistants for older adults and people with disabilities need to interact with their users in collaborative tasks. The core component of these systems is an interaction manager whose job is to observe and assess the task, and infer…

Large language models like ChatGPT have shown substantial progress in natural language understanding and generation, proving valuable across various disciplines, including the medical field. Despite advancements, challenges persist due to…

Mixture-of-Experts (MoE) architectures have become the key to scaling modern LLMs, yet little is understood about how their sparse routing dynamics respond to multilingual data. In this work, we analyze expert routing patterns using…

Reinforcement learning (RL) is crucial for data science decision-making but suffers from sample inefficiency, particularly in real-world scenarios with costly physical interactions. This paper introduces a novel human-inspired framework to…

Reinforcement learning (RL) has shown great effectiveness in quadrotor control, enabling specialized policies to develop even human-champion-level performance in single-task scenarios. However, these specialized policies often struggle with…

Deep reinforcement learning (RL) is a powerful approach to complex decision making. However, one issue that limits its practical application is its brittleness, sometimes failing to train in the presence of small changes in the environment.…

Meta-reinforcement learning (meta-RL) is a promising approach that enables the agent to learn new tasks quickly. However, most meta-RL algorithms show poor generalization in multi-task scenarios due to the insufficient task information…

Mixture-of-Experts (MoE) activates only a subset of experts during inference, allowing the model to maintain low inference FLOPs and latency even as the parameter count scales up. However, since MoE dynamically selects the experts, all the…

Learning skills by imitation is a promising concept for the intuitive teaching of robots. A common way to learn such skills is to learn a parametric model by maximizing the likelihood given the demonstrations. Yet, human demonstrations are…

Recent breakthroughs in Go play and strategic games have witnessed the great potential of reinforcement learning in intelligently scheduling in uncertain environment, but some bottlenecks are also encountered when we generalize this…

Imitation learning has demonstrated strong performance in robotic manipulation by learning from large-scale human demonstrations. While existing models excel at single-task learning, it is observed in practical applications that their…

Deep reinforcement learning has shown promising results on an abundance of robotic tasks in simulation, including visual navigation and manipulation. Prior work generally aims to build embodied agents that solve their assigned tasks as…

Cooperative Multi-Agent Reinforcement Learning (MARL) faces two major design bottlenecks: crafting dense reward functions and constructing curricula that avoid local optima in high-dimensional, non-stationary environments. Existing…

Mixture-of-Experts (MoE) has emerged as a powerful framework for multi-task learning (MTL). However, existing MoE-MTL methods often rely on single-task pretrained backbones and suffer from redundant adaptation and inefficient knowledge…

Recent advances in reinforcement learning (RL) for large language model (LLM) fine-tuning show promise in addressing multi-objective tasks but still face significant challenges, including competing objective balancing, low training…

In large multimodal models (LMMs), the perception of non-language modalities (e.g., visual representations) is usually not on par with the large language models (LLMs)' powerful reasoning capabilities, deterring LMMs' performance on…

By planning through a learned dynamics model, model-based reinforcement learning (MBRL) offers the prospect of good performance with little environment interaction. However, it is common in practice for the learned model to be inaccurate,…

Multi-objective combinatorial optimization problems (MOCOPs), one type of complex optimization problems, widely exist in various real applications. Although meta-heuristics have been successfully applied to address MOCOPs, the calculation…

Current Vision-Language-Action (VLA) models predominantly rely on end-to-end fine-tuning. While effective, this paradigm compromises the inherent generalization capabilities of Vision-Language Models (VLMs) and incurs catastrophic…

Mixture-of-Experts (MoE) based Large Language Models (LLMs) have demonstrated impressive performance and computational efficiency. However, their deployment is often constrained by substantial memory demands, primarily due to the need to…