moe-rsl-rl

moe-rsl-rl is a reinforcement learning library that extends the Proximal Policy Optimization (PPO) implementation of RSL-RL to incorporate Mixture-of-Experts (MoE).

Features:

• explicit experts selection
• explicit experts with different actions size
• dense gating
• sparse gating
• top-k
• shared-layers between experts

Installation

Install this package with:

pip install -e .

How to use

See here.

Citing this work

If you find the work useful, please consider citing:

Mixture-of-Experts RL for Fault-Tolerant Legged Locomotion (ArXiv)

@inproceedings{turrisi2026moefault,
  author={Turrisi, Giulio and Pali, Ozan and Oneto, Luca and Semini, Claudio},
  booktitle={arXiv}, 
  title={Mixture-of-Experts RL for Fault-Tolerant Legged Locomotion}, 
  year={2026},
  doi={arXiv:2606.25965}
}

Maintainer

This repository is maintained by Giulio Turrisi