Multi-task reinforcement learning employs a single policy to complete various tasks, aiming to develop an agent with generalizability across different scenarios. Given the shared characteristics of tasks, the agent's learning efficiency can be enhanced through parameter sharing. Existing approaches typically use a routing network to generate specific routes for each task and reconstruct a set of modules into diverse models to complete multiple tasks simultaneously. However, due to the inherent difference between tasks, it is crucial to allocate resources based on task difficulty, which is constrained by the model's structure. To this end, we propose a Model Evolution framework with Genetic Algorithm (MEGA), which enables the model to evolve during training according to the difficulty of the tasks. When the current model is insufficient for certain tasks, the framework will automatically incorporate additional modules, enhancing the model's capabilities. Moreover, to adapt to our model evolution framework, we introduce a genotype module-level model, using binary sequences as genotype policies for model reconstruction, while leveraging a non-gradient genetic algorithm to optimize these genotype policies. Unlike routing networks with fixed output dimensions, our approach allows for the dynamic adjustment of the genotype policy length, enabling it to accommodate models with a varying number of modules. We conducted experiments on various robotics manipulation tasks in the Meta-World benchmark. Our state-of-the-art performance demonstrated the effectiveness of the MEGA framework. We will release our source code to the public.

In recent years, a great deal of attention has been paid to the Transformer network for speech recognition tasks due to its excellent model performance. However, the Transformer network always involves heavy computation and large number of parameters, causing serious deployment problems in devices with limited computation sources or storage memory. In this paper, a new lightweight model called Sim-T has been proposed to expand the generality of the Transformer model. Under the help of the newly developed multiplexing technique, the Sim-T can efficiently compress the model with negligible sacrifice on its performance. To be more precise, the proposed technique includes two parts, that are, module weight multiplexing and attention score multiplexing. Moreover, a novel decoder structure has been proposed to facilitate the attention score multiplexing. Extensive experiments have been conducted to validate the effectiveness of Sim-T. In Aishell-1 dataset, when the proposed Sim-T is 48% parameter less than the baseline Transformer, 0.4% CER improvement can be obtained. Alternatively, 69% parameter reduction can be achieved if the Sim-T gives the same performance as the baseline Transformer. With regard to the HKUST and WSJ eval92 datasets, CER and WER will be improved by 0.3% and 0.2%, respectively, when parameters in Sim-T are 40% less than the baseline Transformer.