# Structured Intelligence

Venue: ICML 2026

Authors: Yibin Wang, Muhan Li, Zihan Guo, Sam Kriegman

Embodiment-conditioned mixtures of control experts co-evolve with latent robot morphologies.

- [Paper](https://arxiv.org/abs/2605.24225): ECo-MoE: Embodiment-Conditioned Mixture of Experts Increases the Evolvability of Robots
- [Code](https://github.com/phenoweave/eco-moe)
- [Website](https://eco-moe.github.io/)
- [Interactive page](https://www.beyond-infinity.top/research/eco-moe/)

## Steps

### 1. SHARED EXPERTS, A BLEND FOR EACH BODY

One brain for every body plays safe; one for each body learns nothing from the rest. ECo-MoE shares a few experts, and a gate reads each body's genetic code to blend them.

- EXPERTS: 4
- BODIES PER RUN: 7 680
- BODY: 25 / 49
- MIX: 0.95 · 0.01 · 0.00 · 0.03

![Lines rise from a square of body tiles to one stack of network layers, which splits into four expert stacks fed by a gate that blends them for each body.](https://www.beyond-infinity.top/agent/shots/eco-moe_step1.jpg)

#### Shot 1

One brain for every body plays safe; one for each body learns nothing from the rest.

![SHARED EXPERTS, A BLEND FOR EACH BODY, Shot 1](https://www.beyond-infinity.top/agent/shots/eco-moe_step1_shot1.jpg)

#### Shot 2

ECo-MoE shares a few experts, and a gate reads each body's genetic code to blend them.

![SHARED EXPERTS, A BLEND FOR EACH BODY, Shot 2](https://www.beyond-infinity.top/agent/shots/eco-moe_step1_shot2.jpg)

#### Shot 3

ECo-MoE shares a few experts, and a gate reads each body's genetic code to blend them.

![SHARED EXPERTS, A BLEND FOR EACH BODY, Shot 3](https://www.beyond-infinity.top/agent/shots/eco-moe_step1_shot3.jpg)

### 2. EVOLUTION GOES FURTHER

Over the generations each body comes to lean on one or two experts. Because each body now gets moves that suit it, evolution finds bodies that walk farther than with one shared brain.

- GEN: 120
- EXPERTS IN USE: 3.6 → 2.2
- UPRIGHT: +21 %
- POTHOLES: +15 %

![Each tile's four bars shift from nearly even to one or two tall ones, and two curves on a wall behind the tiles rise, the four experts ending above one shared brain.](https://www.beyond-infinity.top/agent/shots/eco-moe_step2.jpg)

#### Shot 1

Over the generations each body comes to lean on one or two experts.

![EVOLUTION GOES FURTHER, Shot 1](https://www.beyond-infinity.top/agent/shots/eco-moe_step2_shot1.jpg)

#### Shot 2

Over the generations each body comes to lean on one or two experts.

![EVOLUTION GOES FURTHER, Shot 2](https://www.beyond-infinity.top/agent/shots/eco-moe_step2_shot2.jpg)

#### Shot 3

Because each body now gets moves that suit it, evolution finds bodies that walk farther than with one shared brain.

![EVOLUTION GOES FURTHER, Shot 3](https://www.beyond-infinity.top/agent/shots/eco-moe_step2_shot3.jpg)

### 3. TEACH A SKILL, STEER EVOLUTION

Experts can also be swapped. Plug in one trained on a hand-built four-legged walker, start near its design, and evolution grows bodies with more legs, closer to the demo.

- GEN: 60
- LIMBS: 2.4 → 3.7
- DEMO: 4

![A hand-built four-legged walker joins the expert stacks, and a row of evolved bodies grows more legs on the way toward it.](https://www.beyond-infinity.top/agent/shots/eco-moe_step3.jpg)

#### Shot 1

Experts can also be swapped: here, one trained on a hand-built four-legged walker.

![TEACH A SKILL, STEER EVOLUTION, Shot 1](https://www.beyond-infinity.top/agent/shots/eco-moe_step3_shot1.jpg)

#### Shot 2

Experts can also be swapped: here, one trained on a hand-built four-legged walker.

![TEACH A SKILL, STEER EVOLUTION, Shot 2](https://www.beyond-infinity.top/agent/shots/eco-moe_step3_shot2.jpg)

#### Shot 3

Started near its design, evolution grows bodies with more legs, closer to the demo.

![TEACH A SKILL, STEER EVOLUTION, Shot 3](https://www.beyond-infinity.top/agent/shots/eco-moe_step3_shot3.jpg)