The expert swapping architecture is very nice. Have you considered doing nested reinforcement learning where you use the nesting as a sort of low pass filter?

The concept is as follows: You train a critic to mimic the datastream and then you train against the critic instead of training against the data. The idea behind this is that the critic will memorize the training data so you do not need to store the full training data anymore. One of the biggest issues with current online stochastic gradient descent is that it is inherently a memory-less technique where the training data acts as the memory.

You can spin this further by going deeper with the nesting and then dropping the supervised critic. I forgot how to put it in words but the goal is that by having a model train against a critic of the critic, you can then drop the top level critic and instead use the mid level critic itself as your meta learning objective to train the actor against an unlabeled data stream.

Top level critic: learns to mimic the labeled training data via online SGD, then you add a simple hand written loss function to compare the predicted output with a given input. Basically you build a model specifically for distillation. Mid level critic: learns a reward function that mimics the top level critic directly but only gets to see the unlabeled training data and the result of the top level critic. Actor: The actor is exclusively trained against the mid level critic

Through this concept you end up with the existing training data stored as objective inside the mid level critic so you end up training not only against the latest data but also the already memorized data which should lower catastrophic forgetting. Of course at some point you might need to update the mid level critic again and to avoid that you might get away with just adding a very very wide Linear RNN / State Space Model / Mamba / Gated Delta Net as the middle critic (shower thought: use internal RNN states to represent LoRA vectors).