Semantically Structured Mixture-of-Experts for Compositional Robotic Manipulation

arXiv:2605.23477 · cs.RO · Submitted 2026-05-22 · Read on arXiv

cs.RO

Submitted: 2026-05-22

Updated: 2026-05-22

Comments: Accepted to Robotics: Science and Systems (RSS) 2026

Journal ref: Proceedings of Robotics: Science and Systems XXII, 2026

DOI: 10.15607/RSS.2026.XXII.057

Project page: https://deng-cy20.github.io/SMoDP

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Consistency — 15× in this paper · explained in 3 episodes
• Alignment — 14× in this paper · explained in 1 episode
• Benchmark — 13× in this paper · explained in 2 episodes
• Abstraction — 12× in this paper · explained in 1 episode
• Contrastive Learning — 9× in this paper · explained in 5 episodes
• Embeddings — 9× in this paper · explained in 2 episodes
• Fine-Tuning — 9× in this paper · explained in 5 episodes
• Transformer — 9× in this paper · explained in 2 episodes
• Generalization — 7× in this paper · explained in 13 episodes
• Semantic Similarity — 7× in this paper · explained in 2 episodes
• Parameter Efficiency — 6× in this paper · explained in 3 episodes
• Interpretability — 5× in this paper · explained in 15 episodes
• Mixture-of-Experts (MoE) — 4× in this paper · explained in 7 episodes
• Parameter-Efficient Fine-Tuning — 4× in this paper · explained in 2 episodes
• Regularization — 4× in this paper · explained in 3 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Adaptation — 3× in this paper · explained in 1 episode
• Compositional Generalization — 3× in this paper · explained in 4 episodes
• Transferability — 3× in this paper · explained in 4 episodes
• Cosine Similarity — 2× in this paper · explained in 3 episodes
• Diffusion Model — 2× in this paper · explained in 8 episodes
• Diffusion Models — 2× in this paper · explained in 6 episodes
• Foundation Model — 2× in this paper · explained in 3 episodes
• Generative Modeling — 2× in this paper · explained in 3 episodes
• Grounding — 2× in this paper · explained in 3 episodes
• Hallucination — 2× in this paper · explained in 3 episodes
• Mixture of Experts — 2× in this paper · explained in 2 episodes
• Semantically Structured Mixture-of-Experts Diffusion Policy — 2× in this paper
• Sparse Diffusion Policy — 2× in this paper
• Ablation Studies — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Actor — 1× in this paper · explained in 3 episodes
• Affordance — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Consistency Distillation — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Flow Matching — 1× in this paper · explained in 7 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Generative Models — 1× in this paper · explained in 2 episodes
• Latent Representation — 1× in this paper · explained in 2 episodes
• Latent Representations — 1× in this paper · explained in 3 episodes
• Latent Space — 1× in this paper · explained in 7 episodes
• LoRA Fine-Tuning — 1× in this paper · explained in 3 episodes
• Modular Architecture — 1× in this paper · explained in 4 episodes
• Modularity — 1× in this paper · explained in 9 episodes
• Motion Primitives — 1× in this paper · explained in 2 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Semantic Alignment — 1× in this paper · explained in 3 episodes
• Sparsity — 1× in this paper · explained in 4 episodes
• Structured Prompting — 1× in this paper · explained in 2 episodes
• Vision-Language Models (VLMs) — 1× in this paper · explained in 6 episodes

Sources

• Qwen3-VL Technical Report
• A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• SViP: Sequencing Bimanual Visuomotor Policies with Object-Centric Motion Primitives
• MoE-DP: An MoE-Enhanced Diffusion Policy for Robust Long-Horizon Robotic Manipulation with Skill Decomposition and Failure Recovery
• Abstracting Robot Manipulation Skills via Mixture-of-Experts Diffusion Policies
• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• Load Balancing Mixture of Experts with Similarity Preserving Routers
• BiKC: Keypose-Conditioned Consistency Policy for Bimanual Robotic Manipulation
• Affordance-based Robot Manipulation with Flow Matching

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