If you were the designer of a hierarchical controller, which layer would you assign to have the fastest update frequency?
- Ideally the lowest level of the hierarchy should have the highest update frequency. Higher levels of the hierarchy deal with higher level information that doesn't change as often. Lower levels of the hierarchy deal with percepts closer to the real world. It is more important for these lower levels to update frequently so that the agent can quickly react to changes in the environment.
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