Related papers: Language-Conditioned Representations and Mixture-o…

Multi-task learning (MTL) for dense prediction has shown promising results but still faces challenges in balancing shared representations with task-specific specialization. In this paper, we introduce a novel Fine-Grained Mixture of Experts…

In text-to-image person retrieval tasks, the diversity of natural language expressions and the implicitness of visual semantics often lead to the problem of Expression Drift, where semantically equivalent texts exhibit significant feature…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

Mixture of Vision Encoders (MoVE) has emerged as a powerful approach to enhance the fine-grained visual understanding of multimodal large language models (MLLMs), improving their ability to handle tasks such as complex optical character…

Large Language Models (LLMs) have gained popularity in task planning for long-horizon manipulation tasks. To enhance the validity of LLM-generated plans, visual demonstrations and online videos have been widely employed to guide the…

Mixture-of-Experts (MoE) architectures have emerged as a promising paradigm for scaling large language models (LLMs) with sparse activation of task-specific experts. Despite their computational efficiency during inference, the massive…

Vision-Language Models (VLMs) have achieved substantial progress across a wide range of understanding and reasoning tasks, driven by large-scale image-text training aimed at multimodal fusion. Ideally, replacing a textual question with its…

Despite recent advancements in offline multi-task reinforcement learning (MTRL) have harnessed the powerful capabilities of the Transformer architecture, most approaches focus on a limited number of tasks, with scaling to extremely massive…

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…

Visual model-based reinforcement learning (RL) has the potential to enable sample-efficient robot learning from visual observations. Yet the current approaches typically train a single model end-to-end for learning both visual…

We present a unified framework for multi-task locomotion and manipulation policy learning grounded in a contact-explicit representation. Instead of designing different policies for different tasks, our approach unifies the definition of a…

For effective deployment in real-world environments, humanoid robots must autonomously navigate a diverse range of complex terrains with abrupt transitions. While the Vanilla mixture of experts (MoE) framework is theoretically capable of…

Mixture-of-Experts (MoE) architectures have emerged as a promising approach to scale Large Language Models (LLMs). MoE boosts the efficiency by activating a subset of experts per token. Recent works show that fine-grained experts…

Despite recent advancements in language models (LMs), their application to dialogue management (DM) problems and ability to carry on rich conversations remain a challenge. We use reinforcement learning (RL) to develop a dialogue agent that…

Mixture-of-Experts (MoE) models scale large language models through conditional computation, but inference becomes memory-bound once expert weights exceed the capacity of GPU memory. In this case, weights must be offloaded to external…

Combining Large Language Models (LLMs) with Reinforcement Learning (RL) enables agents to interpret language instructions more effectively for task execution. However, LLMs typically lack direct perception of the physical environment, which…

Continuous control tasks often involve high-dimensional, dynamic, and non-linear environments. State-of-the-art performance in these tasks is achieved through complex closed-box policies that are effective, but suffer from an inherent…

Robotic manipulation requires understanding both the 3D spatial structure of the environment and its temporal evolution, yet most existing policies overlook one or both. They typically rely on 2D visual observations and backbones pretrained…

Despite rapid advancements, current text-to-image (T2I) models predominantly rely on a single-step generation paradigm, which struggles with complex semantics and faces diminishing returns from parameter scaling. While recent multi-step…

Large Vision-Language Models (LVLMs) have demonstrated remarkable performance across multi-modal tasks by scaling model size and training data. However, these dense LVLMs incur significant computational costs and motivate the exploration of…