{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,21]],"date-time":"2026-04-21T14:55:49Z","timestamp":1776783349534,"version":"3.51.2"},"reference-count":54,"publisher":"IEEE","license":[{"start":{"date-parts":[[2025,10,19]],"date-time":"2025-10-19T00:00:00Z","timestamp":1760832000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,10,19]],"date-time":"2025-10-19T00:00:00Z","timestamp":1760832000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,10,19]]},"DOI":"10.1109\/iros60139.2025.11246585","type":"proceedings-article","created":{"date-parts":[[2025,11,27]],"date-time":"2025-11-27T18:54:45Z","timestamp":1764269685000},"page":"14218-14225","source":"Crossref","is-referenced-by-count":2,"title":["MoE-Loco: Mixture of Experts for Multitask Locomotion"],"prefix":"10.1109","author":[{"given":"Runhan","family":"Huang","sequence":"first","affiliation":[{"name":"Tsinghua University,IIIS,Beijing,China"}]},{"given":"Shaoting","family":"Zhu","sequence":"additional","affiliation":[{"name":"Tsinghua University,IIIS,Beijing,China"}]},{"given":"Yilun","family":"Du","sequence":"additional","affiliation":[{"name":"Massachusetts Institute of Technology,MA,USA"}]},{"given":"Hang","family":"Zhao","sequence":"additional","affiliation":[{"name":"Tsinghua University,IIIS,Beijing,China"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3286171"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS55552.2023.10341709"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2021.XVII.011"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/IROS58592.2024.10802439"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3151396"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/icra55743.2025.11128333"},{"key":"ref7","article-title":"Robot parkour learning","author":"Zhuang","year":"2023"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3290509"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3459797"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10610200"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV51070.2023.02142"},{"key":"ref12","first-page":"38 103","article-title":"On the convergence of stochastic multi-objective gradient manipulation and beyond","volume":"35","author":"Zhou","year":"2022","journal-title":"Advances in Neural Information Processing Systems"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1162\/neco.1991.3.1.79"},{"key":"ref14","article-title":"Mixtures of experts unlock parameter scaling for deep rl","author":"Obando-Ceron","year":"2024"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1145\/3677052.3698691"},{"key":"ref16","article-title":"Acquiring diverse skills using curriculum reinforcement learning with mixture of experts","author":"Celik","year":"2024"},{"key":"ref17","article-title":"Isaac gym: High performance gpu-based physics simulation for robot learning","author":"Makoviychuk","year":"2021"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3270034"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aau5872"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/icra55743.2025.11128309"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abc5986"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1177\/02783649231224053"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2024.XX.059"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10611442"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2023.XIX.051"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/IROS58592.2024.10801507"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.adi7566"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1023\/A:1007379606734"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1145\/1390156.1390177"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2021.3054719"},{"key":"ref31","article-title":"Recurrent neural network for text classification with multi-task learning","author":"Liu","year":"2016"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989249"},{"key":"ref33","first-page":"5824","article-title":"Gradient surgery for multi-task learning","volume":"33","author":"Yu","year":"2020","journal-title":"Advances in Neural Information Processing Systems"},{"key":"ref34","first-page":"18 878","article-title":"Conflict-averse gradient descent for multi-task learning","volume":"34","author":"Liu","year":"2021","journal-title":"Advances in Neural Information Processing Systems"},{"key":"ref35","article-title":"Mentor: Mixture-of-experts network with task-oriented perturbation for visual reinforcement learning","author":"Huang","year":"2024"},{"key":"ref36","first-page":"1126","article-title":"Model-agnostic meta-learning for fast adaptation of deep networks","volume-title":"International conference on machine learning","author":"Finn"},{"key":"ref37","article-title":"Rl2: Fast reinforcement learning via slow reinforcement learning","author":"Duan","year":"2016"},{"key":"ref38","first-page":"9767","article-title":"Multi-task reinforcement learning with context-based representations","volume-title":"International Conference on Machine Learning","author":"Sodhani"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abb2174"},{"key":"ref40","first-page":"284","article-title":"Gnfactor: Multi-task real robot learning with generalizable neural feature fields","volume-title":"Conference on Robot Learning","author":"Ze"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10610155"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abb2174"},{"key":"ref43","article-title":"Mtac: Hierarchical reinforcement learning-based multi-gait terrain-adaptive quadruped controller","author":"Shah","year":"2023"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1162\/neco.1994.6.2.181"},{"key":"ref45","first-page":"1481","article-title":"Distributed gaussian processes","volume-title":"International conference on machine learning","author":"Deisenroth"},{"key":"ref46","article-title":"Gshard: Scaling giant models with conditional computation and automatic sharding","author":"Lepikhin","year":"2020"},{"key":"ref47","article-title":"Mixtral of experts","author":"Jiang","year":"2024"},{"key":"ref48","article-title":"Deepseek-v3 technical report","author":"Liu","year":"2024"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1145\/3626772.3657686"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1145\/3583780.3614773"},{"key":"ref51","article-title":"Mixture of cluster-conditional lora experts for vision-language instruction tuning","author":"Gou","year":"2023"},{"key":"ref52","article-title":"Llava-mole: Sparse mixture of lora experts for mitigating data conflicts in instruction finetuning mllms","author":"Chen","year":"2024"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.12794\/metadc1505267"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/icra55743.2025.11128428"}],"event":{"name":"2025 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","location":"Hangzhou, China","start":{"date-parts":[[2025,10,19]]},"end":{"date-parts":[[2025,10,25]]}},"container-title":["2025 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/11245651\/11245652\/11246585.pdf?arnumber=11246585","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,12,12]],"date-time":"2025-12-12T06:12:18Z","timestamp":1765519938000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11246585\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,10,19]]},"references-count":54,"URL":"https:\/\/doi.org\/10.1109\/iros60139.2025.11246585","relation":{},"subject":[],"published":{"date-parts":[[2025,10,19]]}}}