Multi-scale Mixture of World Models for Embodied Agents in Evolving Environments

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arXiv:2607.00457v1 Announce Type: new Abstract: Embodied agents operating in the real world require multi-scale reasoning and knowledge adaptation as conditions change. We identify two challenges in applying Mixture of Experts (MoE) to this setting: routing lacks an explicit notion of scale, preventing targeted updates at specific scales, and a uniform update policy cannot accommodate the different rates at which knowledge at each scale becomes outdated. We present MuSix, a framework that addre