Related papers: LAR-MoE: Latent-Aligned Routing for Mixture of Exp…

Expert parallelism is vital for effectively training Mixture-of-Experts (MoE) models, enabling different devices to host distinct experts, with each device processing different input data. However, during expert parallel training, dynamic…

Imitation learning has achieved remarkable success in robotic manipulation, yet its application to surgical robotics remains challenging due to data scarcity, constrained workspaces, and the need for an exceptional level of safety and…

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…

Mixture-of-Experts (MoE) architectures have emerged as a key strategy for scaling large language models (LLMs) efficiently. However, current MoE systems suffer from severe load imbalance, where only a small subset of experts is consistently…

We present MoE-MLA-RoPE, a novel architecture combination that combines Mixture of Experts (MoE) with Multi-head Latent Attention (MLA) and Rotary Position Embeddings (RoPE) for efficient language modeling. Our approach addresses the…

To meet the growing demand for smarter, faster, and more efficient embodied AI solutions, we introduce a novel Mixture-of-Expert (MoE) method that significantly boosts reasoning and learning efficiency for embodied autonomous systems.…

Mixture-of-Experts (MoE) models have emerged as a dominant paradigm for efficient LLM scaling, yet adapting them to non-English downstream tasks remains challenging. Existing fine-tuning approaches treat MoE models as monolithic learners,…

Sparse Mixture of Experts (MoE) models offer a scalable and efficient architecture for training large neural networks by activating only a subset of parameters ("experts") for each input. A learned router computes a distribution over these…

We present MoE-Loco, a Mixture of Experts (MoE) framework for multitask locomotion for legged robots. Our method enables a single policy to handle diverse terrains, including bars, pits, stairs, slopes, and baffles, while supporting…

Reinforcement learning (RL) has equipped LLM agents with a strong ability to solve complex tasks. However, existing RL methods normally use a \emph{single} policy network, causing \emph{simplicity bias} where simple tasks occupy most…

In this paper, we introduce a model of evolution and learning in robots that co-optimizes a distribution of latent design vectors (genotypes) and a mixture of control experts (neural modules), which are gated by the latent coordinates of…

Sparse Mixture-of-Experts (MoE) is a neural architecture design that can be utilized to add learnable parameters to Large Language Models (LLMs) without increasing inference cost. Instruction tuning is a technique for training LLMs to…

Mixture of Experts (MoE) has become a key architectural paradigm for efficiently scaling Large Language Models (LLMs) by selectively activating a subset of parameters for each input token. However, standard MoE architectures face…

Mixture-of-Experts (MoE) enhances model performance while maintaining computational efficiency, making it well-suited for large-scale applications. Conventional mixture-of-experts (MoE) architectures suffer from suboptimal coordination…

Recently, mixture of experts (MoE) has become a popular paradigm for achieving the trade-off between modal capacity and efficiency of multi-modal large language models (MLLMs). Different from previous efforts, we are dedicated to exploring…

Mixture-of-Experts (MoE) models enable efficient scaling of large language models (LLMs) by activating only a subset of experts per input. However, we observe that the commonly used auxiliary load balancing loss often leads to expert…

The advent of Large Language Models (LLMs) has ushered in a new era of artificial intelligence, with the potential to transform various sectors through automation and insightful analysis. The Mixture of Experts (MoE) architecture has been…

The ability of robots to handle multiple tasks under a unified policy is critical for deploying embodied intelligence in real-world household and industrial applications. However, out-of-distribution variation across tasks often causes…

The Mixture of Experts (MoE) architecture enables the scaling of Large Language Models (LLMs) to trillions of parameters by activating a sparse subset of weights for each input, maintaining constant computational cost during inference.…

Mixture of Experts (MoE) pretraining is more scalable than dense Transformer pretraining, because MoEs learn to route inputs to a sparse set of their feedforward parameters. However, this means that MoEs only receive a sparse backward…