docs/METHOD.md

Method

Motivation

RGB-D addresses local geometric observability, while a decoder MoE increases capacity for heterogeneous local action roles. Local-ARCA showed that unconstrained role routing can become nearly uniform and semantically unstable. Stereo-CoRE therefore couples routing decisions to the experts' measured action capability instead of task labels or inaccessible team state.

Capability coupling

For the same ground-truth action chunk, each expert is evaluated counterfactually. If expert e has action error E_e, the capability teacher forms a soft target q_cap(e) favouring low-error experts. The router distribution p_router(e|o_i,q_i,query_k) is optimized with KL(q_cap || p_router). Inputs remain strictly local at training and deployment.

Information boundary

No task/agent identity, language, communication, global view, peer view/action, or privileged team state is used by Stereo-CoRE. Synchronized-team relation and capability-anchor variants are released only as ablations.