| # 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. | |