Route by Kinematics, Act by Observation: Kinematics-Supervised Expert Routing in MoE-Augmented VLA

Source: arXiv cs.RO·2026-08-21 12:00Publish time unverified

arXiv:2607.26807v2 Announce Type: replace Abstract: While MoE augments VLA via expert specialization, router suffers from ineffective expert routing owing to the kinematic heterogeneity of actions across manipulation tasks and, even worse, the unavailability of the kinematic signals at inference time. In this work, we first observe that most semantically distinct manipulation tasks reduce to multiple kinematic archetypes.