Layers of Control
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State
An embodied agent runs layers of control at different speeds — fast lower layers react within fractions of a second, while slower upper layers deliberate over goals.
Show
Reflexes below, waypoints in the middle, route-planning on top: responsiveness at the bottom, purpose at the top, one body affording both.
Watch for
Neither virtue is asked of the other's machinery — the split is what makes both affordable.