Tharun Kumar Tiruppali Kalidoss

Emergent Compositional Skills in Mixture-of-Experts VLAs

Shlok Shah, Rhiaan Jhaveri, Tharun Kumar Tiruppali Kalidoss, Chirayu Nimonkar, Ishaan Javali

We consider the problem of learning compositional robot policies end-to-end from expert demonstrations, without any pre-specified notion of task decomposition or hierarchy. We ask whether a VLA trained with a simplified Mixture-of-Experts (MoE) action head can emergently learn to…Read more