MoIRA: Modular Instruction Routing Architecture for Multi-Task Robotics

Understand

Mixture-of-Experts (MoE) approaches have recently gained traction in robotics applications due to their ability to dynamically allocate computational resources and specialize sub-networks for distinct tasks or environmental contexts, enabling more efficient decision-making.

• Such systems often comprise sparsely activated experts combined under a single monolithic architecture and require a well-configured internal routing mechanism, which does not allow for selective low-level expert and router customization and requires additional training.
• We propose MoIRA, an architecture-agnostic modular MoE framework designed to coordinate existing experts with an external text-based router.
• MoIRA incorporates two zero-shot routing options: embedding-based similarity and prompt-driven language model inference.