MoE-DP: An MoE-Enhanced Diffusion Policy for Robust Long-Horizon Robotic Manipulation with Skill Decomposition and Failure Recovery. - Baiye Cheng; Tianhai Liang; Suning Huang; Maanping Shao; Feihong Zhang; Botian Xu; Zhengrong Xue; Huazhe Xu (CoRR, 2025)