4 papers
Expert Merging in Sparse Mixture of Experts with Nash Bargaining
Dung V. Nguyen, Anh T. Nguyen, Minh H. Nguyen +6
Existing expert merging strategies for Sparse Mixture of Experts (SMoE) typically rely on input-dependent or input-independent averaging of expert parameters, but often lack a prin…
VOFA: Visual Object Goal Pushing with Force-Adaptive Control for Humanoids
Zichao Hu, Zifan Xu, Dongsik Chang +6
The ability to push large objects in a goal-directed manner using onboard egocentric perception is an essential skill for humanoid robots to perform complex tasks such as material…
Lookahead Anchoring: Preserving Character Identity in Audio-Driven Human Animation
Junyoung Seo, Rodrigo Mira, Alexandros Haliassos +6
Audio-driven human animation models often suffer from identity drift during temporal autoregressive generation, where characters gradually lose their identity over time. One soluti…
CAMEx: Curvature-aware Merging of Experts
Dung V. Nguyen, Minh H. Nguyen, Luc Q. Nguyen +3
Existing methods for merging experts during model training and fine-tuning predominantly rely on Euclidean geometry, which assumes a flat parameter space. This assumption can limit…