MoE-DP: An MoE-Enhanced Diffusion Policy for Robust Long-Horizon Robotic Manipulation with Skill Decomposition and Failure Recovery

Diffusion policies have emerged as a powerful framework for robotic visuomotor control, yet they often lack the robustness to recover from subtask failures in long-horizon, multi-stage tasks and their learned representations of observations are often difficult to interpret. In this work, we propose the Mixture of Experts-Enhanced Diffusion Policy (MoE-DP), where the core idea is to insert a Mixture of Experts (MoE) layer between the visual encoder and the diffusion model. This layer decomposes the policy's knowledge into a set of specialized experts, which are dynamically activated to handle different phases of a task. We demonstrate through extensive experiments that MoE-DP exhibits a strong capability to recover from disturbances, significantly outperforming standard baselines in robustness. On a suite of 6 long-horizon simulation tasks, this leads to a 36% average relative improvement in success rate under disturbed conditions. This enhanced robustness is further validated in the real world, where MoE-DP also shows significant performance gains. We further show that MoE-DP learns an interpretable skill decomposition, where distinct experts correspond to semantic task primitives (e.g., approaching, grasping). This learned structure can be leveraged for inference-time control, allowing for the rearrangement of subtasks without any re-training.Our video and code are available at the https://moe-dp-website.github.io/MoE-DP-Website/.

NANO-SLAM : Natural Gradient Gaussian Approximation for Vehicle SLAM

Accurate localization is a challenging task for autonomous vehicles, particularly in GPS-denied environments such as urban canyons and tunnels. In these scenarios, simultaneous localization and mapping (SLAM) offers a more robust alternative to GPS-based positioning, enabling vehicles to determine their position using onboard sensors and surrounding environment's landmarks. Among various vehicle SLAM approaches, Rao-Blackwellized particle filter (RBPF) stands out as one of the most widely adopted methods due to its efficient solution with logarithmic complexity relative to the map size. RBPF approximates the posterior distribution of the vehicle pose using a set of Monte Carlo particles through two main steps: sampling and importance weighting. The key to effective sampling lies in solving a distribution that closely approximates the posterior, known as the sampling distribution, to accelerate convergence. Existing methods typically derive this distribution via linearization, which introduces significant approximation errors due to the inherent nonlinearity of the system. To address this limitation, we propose a novel vehicle SLAM method called \textit{N}atural Gr\textit{a}dient Gaussia\textit{n} Appr\textit{o}ximation (NANO)-SLAM, which avoids linearization errors by modeling the sampling distribution as the solution to an optimization problem over Gaussian parameters and solving it using natural gradient descent. This approach improves the accuracy of the sampling distribution and consequently enhances localization performance. Experimental results on the long-distance Sydney Victoria Park vehicle SLAM dataset show that NANO-SLAM achieves over 50\% improvement in localization accuracy compared to the most widely used vehicle SLAM algorithms, with minimal additional computational cost.