MoE-ACT: Scaling Multi-Task Bimanual Manipulation with Sparse Task-Conditioned Mixture-of-Experts Transformers

Developing a unified policy for multi-task robotic manipulation remains challenging due to policy degradation from task interference and negative transfer. In this work, we propose Mixture-of-Experts-Enhanced Action Chunking Transformer (MoE-ACT), a parameter-efficient multi-task visuomotor framewor