Specialized Experts in Mixture of Flow Architecture

[Cherryjingyao]

Thanks for your great work!

In the paper, you introduce the Mixture of Flow architecture, which consists of

1. Foundation Experts for shared dynamics, and
2. Specialized Experts for embodiment- and task-aware routing.

However, when reading through the released code, I could only find the use_expert configuration related to MoT-style routing. I did not see an explicit MoE-style implementation corresponding to the Specialized Experts described in the paper.

Could you please clarify how the Specialized Experts are realized in the current codebase?
For example, are they implemented implicitly via conditional routing or parameter sharing, or is an explicit MoE module for embodiment/task specialization planned but not yet released?

Looking forward to your reply, and thank you again for the excellent work!

[zawnpn]

Hello, your understanding of MoF is correct, it is an additional module that further enhances specialization, and we currently do not have plans to release this part. The currently released cosebase and checkpoints use the standard version, which are suitable for most use cases.