[mooneater]

Sounds similar to what Google's SayCan is doing. https://say-can.github.io/

They taught it separate skills. When a situation arises, the skills (which you could almost consider sub-agents) compete to decide who is most likely to be relevant here. Then that skill takes over for a bit.

They also have a version called "Inner Monologue" in which the different parts "talk to each other" in the sense of collaboratively creating a single inner monologue, allowing for reactiveness/closed loop behaviour.

I interviewed 2 authors of SayCan/Inner Monologue here: https://podcasts.apple.com/us/podcast/karol-hausman-and-fei-...