相关论文: Sequence of Expert: Boosting Imitation Planners fo…

Despite over a decade of development, autonomous driving trajectory planning in complex urban environments continues to encounter significant challenges. These challenges include the difficulty in accommodating the multi-modal nature of…

End-to-end (E2E) autonomous driving models that take only camera images as input and directly predict a future trajectory are appealing for their computational efficiency and potential for improved generalization via unified optimization;…

We propose a novel adaptive Mixture-of-Experts (MoE) framework for time series forecasting that enhances expert specialization by incorporating expert-specific loss information directly into the training process. Notably, the overall…

Continual fine-tuning of large language models (LLMs) suffers from catastrophic forgetting. Rehearsal-based methods mitigate this problem by retaining a small set of old data. Nevertheless, they still suffer inevitable performance loss.…

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.…

Imitation learning (IL) is widely used for motion planning in autonomous driving due to its data efficiency and access to real-world driving data. For safe and robust real-world driving, IL-based planning requires capturing the complex…

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…

Machine learning models often need to adapt to new data after deployment due to structured or unstructured real-world dynamics. The Continual Learning (CL) framework enables continuous model adaptation, but most existing approaches either…

The generation quality of large language models (LLMs) is often improved by utilizing inference-time sequence-level scaling methods (e.g., Chain-of-Thought). We introduce hyper-parallel scaling, a complementary framework that improves…

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…

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…

Learning-based autonomous driving requires continuous integration of diverse knowledge in complex traffic , yet existing methods exhibit significant limitations in adaptive capabilities. Addressing this gap demands autonomous driving…

Sparse mixture of experts (SMoE) have emerged as an effective approach for scaling large language models while keeping a constant computational cost. Regardless of several notable successes of SMoE, effective training such architecture…

Learning-based approaches, such as reinforcement learning (RL) and imitation learning (IL), have indicated superiority over rule-based approaches in complex urban autonomous driving environments, showing great potential to make intelligent…

In the context of urban autonomous driving, imitation learning-based methods have shown remarkable effectiveness, with a typical practice to minimize the discrepancy between expert driving logs and predictive decision sequences. As expert…

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…

Achieving self-evolution in intelligent agents requires the continual accumulation of new knowledge across changing task sequences without forgetting previously acquired abilities. Existing approaches either internalize knowledge by…

End-to-end autonomous driving is typically built upon imitation learning (IL), yet its performance is constrained by the quality of human demonstrations. To overcome this limitation, recent methods incorporate reinforcement learning (RL)…

Non-recurrent conditions caused by incidents are different from recurrent conditions that follow periodic patterns. Existing traffic speed prediction studies are incident-agnostic and use one single model to learn all possible patterns from…

In real-world industrial settings, large language models (LLMs) must learn continually to keep pace with diverse and evolving tasks, requiring self-evolution to refine knowledge under dynamic data distributions. However, existing continual…