I'm a bit confused as to why a Mixture of Experts (MOE) isn't one of the comparators. That seems like the most relevant direct comparator, rather than the several other paradigms that they cited.
What you are describing would indeed be an MoE model, but that's not where it ends. The manuscript continues [1]: "all agents become identical after all tasks have been learned and shared, and they all can master all tasks."
That is a substantial divergence from the MoE model!
To the extent that there is an MoE-like stage in their training, I think it's odd that the term "mixture of experts" is not mentioned nor is the literature on the topic cited.