2 papers
cs.RO2025
MoE-DP: An MoE-Enhanced Diffusion Policy for Robust Long-Horizon Robotic Manipulation with Skill Decomposition and Failure Recovery
Baiye Cheng, Tianhai Liang, Suning Huang +5
Diffusion policies have emerged as a powerful framework for robotic visuomotor control, yet they often lack the robustness to recover from subtask failures in long-horizon, multi-s…
cs.RO2024
MENTOR: Mixture-of-Experts Network with Task-Oriented Perturbation for Visual Reinforcement Learning
Suning Huang, Zheyu Zhang, Tianhai Liang +6
Visual deep reinforcement learning (RL) enables robots to acquire skills from visual input for unstructured tasks. However, current algorithms suffer from low sample efficiency, li…