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Reinforcement learning has achieved great success in various applications. To learn an effective policy for the agent, it usually requires a huge amount of data by interacting with the environment, which could be computational costly and…

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…

The sparse Mixture-of-Experts (MoE) model is powerful for large-scale pre-training and has achieved promising results due to its model capacity. However, with trillions of parameters, MoE is hard to be deployed on cloud or mobile…

Mechanistic models with differential equations are a key component of scientific applications of machine learning. Inference in such models is usually computationally demanding, because it involves repeatedly solving the differential…

Federated Learning (FL) is a promising framework for distributed learning when data is private and sensitive. However, the state-of-the-art solutions in this framework are not optimal when data is heterogeneous and non-Independent and…

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…

Mixture-of-Experts (MoE) models mostly use a router to assign tokens to specific expert modules, activating only partial parameters and often outperforming dense models. We argue that the separation between the router's decision-making and…

We describe an algorithm for motion planning based on expert demonstrations of a skill. In order to teach robots to perform complex object manipulation tasks that can generalize robustly to new environments, we must (1) learn a…

By increasing model parameters but activating them sparsely when performing a task, the use of Mixture-of-Experts (MoE) architecture significantly improves the performance of Large Language Models (LLMs) without increasing the inference…

3D vision and spatial reasoning have long been recognized as preferable for accurately perceiving our three-dimensional world, especially when compared with traditional visual reasoning based on 2D images. Due to the difficulties in…

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…

Machine learning is typically framed from a perspective of i.i.d., and more importantly, isolated data. In parts, federated learning lifts this assumption, as it sets out to solve the real-world challenge of collaboratively learning a…

Deep reinforcement learning (DRL) has successfully solved various problems recently, typically with a unimodal policy representation. However, grasping distinguishable skills for some tasks with non-unique optima can be essential for…

Reaching tasks with random targets and obstacles is a challenging task for robotic manipulators. In this study, we propose a novel model-free reinforcement learning approach based on proximal policy optimization (PPO) for training a deep…

This article proposes a method for learning and robotic replication of dynamic collaborative tasks from offline videos. The objective is to extend the concept of learning from demonstration (LfD) to dynamic scenarios, benefiting from widely…

This paper provides a structured and practical roadmap for practitioners to integrate Learning from Demonstration (LfD ) into manufacturing tasks, with a specific focus on industrial manipulators. Motivated by the paradigm shift from mass…

Sparse Mixture of Experts (sMoE) has become a pivotal approach for scaling large vision-language models, offering substantial capacity while maintaining computational efficiency through dynamic, sparse activation of experts. However,…

Learning from demonstrations (LfD) enables humans to easily teach collaborative robots (cobots) new motions that can be generalized to new task configurations without retraining. However, state-of-the-art LfD methods require manually tuning…

This work introduces Variational Diffusion Distillation (VDD), a novel method that distills denoising diffusion policies into Mixtures of Experts (MoE) through variational inference. Diffusion Models are the current state-of-the-art in…

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…