Up: PLANNING SIMPLE TRAJECTORIES USING
Previous: ARCHITECTURE 2
With both architectures we want to minimize
In words, we wish to find a sequence of subgoals such that the sum of
the costs of all involved subprograms is minimized.
This will be done by using gradient descent techniques to be described
in the next section.
Back to Subgoal learning - Hierarchical Learning
Pages with Subgoal learning pictures