DRAE: ロボティクスにおける生涯学習とタスク適応のための動的検索拡張エキスパートネットワーク
DRAE: Dynamic Retrieval-Augmented Expert Networks for Lifelong Learning and Task Adaptation in Robotics
Mixture-of-Expertsの動的ルーティングと検索拡張生成、階層型強化学習を組み合わせ、ロボットの生涯学習と破滅的忘却の克服を実現したアーキテクチャを提案。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
※ AIが要旨から生成した要約です。正確性は原文をご確認ください。
著者: Yayu Long, Kewei Chen, Long Jin, Mingsheng Shang
分類: cs.RO
原文アブストラクト
We introduce Dynamic Retrieval-Augmented Expert Networks (DRAE), a groundbreaking architecture that addresses the challenges of lifelong learning, catastrophic forgetting, and task adaptation by combining the dynamic routing capabilities of Mixture-of-Experts (MoE); leveraging the knowledge-enhancement power of Retrieval-Augmented Generation (RAG); incorporating a novel hierarchical reinforcement learning (RL) framework; and coordinating through ReflexNet-SchemaPlanner-HyperOptima (RSHO).DRAE dynamically routes expert models via a sparse MoE gating mechanism, enabling efficient resource allocation while leveraging external knowledge through parametric retrieval (P-RAG) to augment the learning process. We propose a new RL framework with ReflexNet for low-level task execution, SchemaPlanner for symbolic reasoning, and HyperOptima for long-term context modeling, ensuring continuous adaptation and memory retention. Experimental results show that DRAE significantly outperforms baseline approaches in long-term task retention and knowledge reuse, achieving an average task success rate of 82.5% across a set of dynamic robotic manipulation tasks, compared to 74.2% for traditional MoE models. Furthermore, DRAE maintains an extremely low forgetting rate, outperforming state-of-the-art methods in catastrophic forgetting mitigation. These results demonstrate the effectiveness of our approach in enabling flexible, scalable, and efficient lifelong learning for robotics.
