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Jiuru Wang

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AAAI Conference 2026 Conference Paper

D2MoRA: Diversity-Regulated Asymmetric MoE-LoRA Decomposition for Efficient Multi-Task Adaptation

  • Jianhui Zuo
  • Xuemeng Song
  • Haokun Wen
  • Meng Liu
  • Yupeng Hu
  • Jiuru Wang
  • Liqiang Nie

Low-Rank Adaptation (LoRA) has emerged as a powerful parameter-efficient fine-tuning method for adapting large language models to downstream tasks. Recent studies have leveraged Mixture-of-Experts (MoE) mechanism to effectively integrate multiple LoRA modules, facilitating efficient parameter adaptation for multi-task scenarios. It has been shown that fostering knowledge sharing across LoRA experts can greatly enhance parameter adaptation efficiency. However, the existing approach for LoRA expert knowledge sharing still faces two key limitations: constrained functional specialization and induced expert homogenization. To address these issues, we propose a novel diversity-regulated asymmetric MoE-LoRA decomposition framework, which achieves flexible knowledge sharing through asymmetric expert decomposition and guarantees expert diversity with a dual orthogonality regularization. Extensive experiments on eight public benchmarks, spanning both multi-task and single-task settings, demonstrate the superiority of our approach over existing methods.

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AAAI Conference 2026 Conference Paper

H-GAR: A Hierarchical Interaction Framework via Goal-Driven Observation-Action Refinement for Robotic Manipulation

  • Yijie Zhu
  • Rui Shao
  • Ziyang Liu
  • Jie He
  • Jizhihui Liu
  • Jiuru Wang
  • Zitong Yu

Unified video and action prediction models hold great potential for robotic manipulation, as future observations offer contextual cues for planning, while actions reveal how interactions shape the environment. However, most existing approaches treat observation and action generation in a monolithic and goal-agnostic manner, often leading to semantically misaligned predictions and incoherent behaviors. To this end, we propose H-GAR, a Hierarchical interaction framework via Goal-driven observation-Action Refinement. To anchor prediction to the task objective, H-GAR first produces a goal observation and a coarse action sketch that outline a high-level route toward the goal. To enable explicit interaction between observation and action under the guidance of the goal observation for more coherent decision-making, we devise two synergistic modules. (1) Goal-Conditioned Observation Synthesizer (GOS) synthesizes intermediate observations based on the coarse-grained actions and the predicted goal observation. (2) Interaction-Aware Action Refiner (IAAR) refines coarse actions into fine-grained, goal-consistent actions by leveraging feedback from the intermediate observations and a Historical Action Memory Bank that encodes prior actions to ensure temporal consistency. By integrating goal grounding with explicit action-observation interaction in a coarse-to-fine manner, H-GAR enables more accurate manipulation. Extensive experiments on both simulation and real-world robotic manipulation tasks demonstrate that H-GAR achieves state-of-the-art performance.

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