One World Model, Not One Control Language
TL;DR for operators Robotics teams often maintain separate models for navigation, arm manipulation, and hand interaction. That duplicates infrastructure and prevents each system from learning from the organization’s full pool of visual and physical experience. Worldscape-MoE1 shows that these controls can share one model without being forced through identical computation. Camera paths, robot commands, and hand-joint maps enter through pathways suited to their different structures, while the model activates shared computation alongside control-specific pathways. Under the reported shared training budget, this routed design outperforms dense mixed training in locomotion, manipulation, and hand-motion evaluation. The expected collapse from pooling unlike controls did not occur; performance weakened when every control had to use the same dense computation. ...
