Remember, Command, Tell
This video presents the same text shown beside it, spoken and on screen. It adds nothing the text does not say.
State
Each control layer remembers, commands, and tells — updating its own belief state on its own clock, sending outputs down, and passing a tidied summary up.
Show
A middle layer remembers the current waypoint, commands steering below, and tells the planner above "waypoint reached."
Watch for
The upward messages are summaries, not raw feeds — each layer sees its neighbors' abstractions, never the world whole.