相关论文: MoE-Loco: Mixture of Experts for Multitask Locomot…

Imitation learning enables robots to acquire manipulation skills from demonstrations, yet deploying a policy across tasks with heterogeneous dynamics remains challenging, as models tend to average over distinct behavioral modes present in…

Mixture-of-Experts (MoE) has emerged as an effective approach to reduce the computational overhead of Transformer architectures by sparsely activating a subset of parameters for each token while preserving high model capacity. This paradigm…

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…

Mixture-of-Experts (MoE) presents a naturally compatible and scalable framework for multimodal learning, demonstrating strong adaptability across diverse modalities and tasks. Despite its growing success, a comprehensive and systematic…

Mixture-of-Experts (MoE) models scale large language models efficiently by sparsely activating experts, but once an expert is selected, it is executed fully. Hence, the trade-off between accuracy and computation in an MoE model typically…

Reinforcement learning has shown strong promise for quadrupedal agile locomotion, even with proprioception-only sensing. In practice, however, sim-to-real gap and reward overfitting in complex terrains can produce policies that fail to…

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.…

Real-world model deployment across multiple domains requires multimodal models to operate under two complementary regimes: (1) multi-task pretraining, tasks are co-available at design time where related tasks could borrow representational…

Multimodal large language models (MLLMs) have demonstrated impressive capabilities across various vision-language tasks. However, a generalist MLLM typically underperforms compared with a specialist MLLM on most VL tasks, which can be…

While quadruped robots usually have good stability and load capacity, bipedal robots offer a higher level of flexibility / adaptability to different tasks and environments. A multi-modal legged robot can take the best of both worlds. In…

Next location prediction plays a critical role in understanding human mobility patterns. However, existing approaches face two core limitations: (1) they fall short in capturing the complex, multi-functional semantics of real-world…

Mixture-of-experts (MoE) architecture has been proven a powerful method for diverse tasks in training deep models in many applications. However, current MoE implementations are task agnostic, treating all tokens from different tasks in the…

Loco-manipulation of quadrupedal robots has broadened robotic applications, but using legs as manipulators often compromises locomotion, while mounting arms complicates the system. To mitigate this issue, we introduce bipedalism for…

The Mixture-of-Experts (MoE) approach has demonstrated outstanding scalability in multi-task learning including low-level upstream tasks such as concurrent removal of multiple adverse weather effects. However, the conventional MoE…

While Large Language Models (LLMs) are commonly fine-tuned to handle domain-specific tasks before being applied to vertical applications, adapting them to complex scenarios with diverse specialized knowledge remains challenging. Meanwhile,…

MoE-PEFT methods combine Mixture of Experts with parameter-efficient fine-tuning for multi-task adaptation, but require separate adapters per expert causing trainable parameters to scale linearly with expert count and limiting applicability…

Mixtures of Experts (MoEs) have gained prominence in (self-)supervised learning due to their enhanced inference efficiency, adaptability to distributed training, and modularity. Previous research has illustrated that MoEs can significantly…

Recent advancements in Multimodal Large Language Models (MLLMs) underscore the significance of scalable models and data to boost performance, yet this often incurs substantial computational costs. Although the Mixture of Experts (MoE)…

Recent advancements in general-purpose or domain-specific multimodal large language models (LLMs) have witnessed remarkable progress for medical decision-making. However, they are designated for specific classification or generative tasks,…

A long-cherished vision in robotics is to equip robots with skills that match the versatility and precision of humans. For example, when playing table tennis, a robot should be capable of returning the ball in various ways while precisely…