SMoDP routes action chunks in a diffusion policy to semantically specialized experts via a VLM-supervised skill predictor and dual contrastive alignment, achieving better efficiency and compositional transfer than baselines.
Mentor: Mixture-of-experts net- work with task-oriented perturbation for visual reinforce- ment learning
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Semantically Structured Mixture-of-Experts for Compositional Robotic Manipulation
SMoDP routes action chunks in a diffusion policy to semantically specialized experts via a VLM-supervised skill predictor and dual contrastive alignment, achieving better efficiency and compositional transfer than baselines.