arXiv AI By Chenlei Fang, Jingchen Li, Hongzong LI, Qingyao Li, Yixuan Zhang, Huarui Wu, Haobin Shi, Chunjiang Zhao

EMAN: Optimization-Driven Capacity Growth through Path Emergence in Multi-Task Learning

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The paper introduces EMAN, an optimization-driven framework that allows a multi‑task network to grow a second independent path only when persistent optimization evidence justifies it. EMAN exposes an antisymmetric growth direction through latent relative phases and monitors multiple decision signals during training to convert local optimization evidence into a structural decision. The resulting architecture allocates shared and task‑specific capacity adaptively, and experiments on controlled rank settings, PASCAL‑Context, and NYUv2 demonstrate improved performance at a competitive computational cost.

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arXiv AI
Sep 10

AtomicVLA: Unlocking the Potential of Atomic Skill Learning in Robots

AtomicVLA is a unified planning-and-execution framework that generates task-level plans, atomic skill abstractions, and fine-grained actions for robotic manipulation. It builds a scalable atomic skill library using a Skill‑Guided Mixture‑of‑Experts (SG‑MoE) and a flexible routing encoder that assigns new skills to dedicated experts, enabling continual learning. Experiments show that AtomicVLA outperforms baseline models on both simulated and real‑world long‑horizon tasks, achieving significant improvements in task performance and learning efficiency.

By Likui Zhang, Tao Tang, Zhihao Zhan, Xiuwei Chen, Zisheng Chen, Jianhua Han, Jiangtong Zhu, Pei Xu, Hang Xu, Hefeng Wu, Liang Lin, Xiaodan Liang