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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…
Mixture of Experts (MoEs) have become a central component of many state-of-the-art open-source and proprietary large language models. Despite their widespread adoption, it remains unclear how close existing MoE architectures are to optimal…
Mixture-of-Experts (MoE) architectures in Large Language Models (LLMs) have significantly reduced inference costs through sparse activation. However, this sparse activation paradigm also introduces new safety challenges. Since only a subset…
As large language models scale, training them requires thousands of GPUs over extended durations--making frequent failures an inevitable reality. While checkpointing remains the primary fault-tolerance mechanism, existing methods fall short…
As large language models continue to scale up, distributed training systems have expanded beyond 10k nodes, intensifying the importance of fault tolerance. Checkpoint has emerged as the predominant fault tolerance strategy, with extensive…
Originally introduced as a neural network for ensemble learning, mixture of experts (MoE) has recently become a fundamental building block of highly successful modern deep neural networks for heterogeneous data analysis in several…
Mixture-of-Experts (MoE) layers have emerged as an important tool in scaling up modern neural networks by decoupling total trainable parameters from activated parameters in the forward pass for each token. However, sparse MoEs add…
Sparse Mixture-of-Experts (MoE) models scale parameters while fixing active computation per token, but the specialization of individual experts remains opaque. In a companion paper we showed that routing topology is quality-neutral: five…
Mixture-of-Experts (MoE) is an emerging technique for scaling large models with sparse activation. MoE models are typically trained in a distributed manner with an expert parallelism scheme, where experts in each MoE layer are distributed…
Sparse Mixture of Experts (SMoE) has become the key to unlocking unparalleled scalability in deep learning. SMoE has the potential to exponentially increase parameter count while maintaining the efficiency of the model by only activating a…
Empirical scaling laws for language models have encouraged the development of ever-larger LLMs, despite their growing computational and memory costs. Sparse Mixture-of-Experts (MoEs) offer a promising alternative by activating only a subset…
A pivotal advancement in the progress of large language models (LLMs) is the emergence of the Mixture-of-Experts (MoE) LLMs. Compared to traditional LLMs, MoE LLMs can achieve higher performance with fewer parameters, but it is still hard…
Quadruped platforms have become an active topic of research due to their high mobility and traversability in rough terrain. However, it is highly challenging to determine whether the clattered environment could be passed by the robot and…
Legged robots, particularly quadrupeds, excel at navigating rough terrains, yet their performance under vertical ground perturbations, such as those from oscillating surfaces, remains underexplored. This study introduces a novel approach to…
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.…
The Mixture of Experts (MoE) for language models has been proven effective in augmenting the capacity of models by dynamically routing each input token to a specific subset of experts for processing. Despite the success, most existing…
Sparse Mixture-of-Experts (MoE) allows scaling of language and vision models efficiently by activating only a small subset of experts per input. While this reduces computation, the large number of parameters still incurs substantial memory…
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…
While recent advances in humanoid locomotion have achieved stable walking on varied terrains, capturing the agility and adaptivity of highly dynamic human motions remains an open challenge. In particular, agile parkour in complex…
Sparsely-activated Mixture of Experts (MoE) transformers are promising architectures for foundation models. Compared to dense transformers that require the same amount of floating-point operations (FLOPs) per forward pass, MoEs benefit from…