@inproceedings{long-etal-2025-drae,
    title = "{DRAE}: Dynamic Retrieval-Augmented Expert Networks for Lifelong Learning and Task Adaptation in Robotics",
    author = "Long, Yayu  and
      Chen, Kewei  and
      Jin, Long  and
      Shang, Mingsheng",
    editor = "Che, Wanxiang  and
      Nabende, Joyce  and
      Shutova, Ekaterina  and
      Pilehvar, Mohammad Taher",
    booktitle = "Proceedings of the 63rd Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers)",
    month = jul,
    year = "2025",
    address = "Vienna, Austria",
    publisher = "Association for Computational Linguistics",
    url = "https://preview.aclanthology.org/ingest-emnlp/2025.acl-long.1127/",
    doi = "10.18653/v1/2025.acl-long.1127",
    pages = "23098--23141",
    ISBN = "979-8-89176-251-0",
    abstract = "We introduce \textbf{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."
}