Fudnamentally the genes have to code for a biologicaly system that is able to adapt its behaviour well enough to allow for dynamic behaviour while also keeping it on guiderails to make it function as a bee. Importantly a bee emerging from its brood cell immediately gets to work without any training. Where does this information come from if it is not genetic?
Per the paper, one of the first jobs is the 'nurse stage', where they care for other developing bees. It's not impossible that they do that based on their recent experience in the developmental stage. Maybe unlike humans, they don't forget everything from that experience (at what point do human babies forget that?).
