Described is a system for autonomous behavior generation. The system includes both a high-level controller and a low-level controller. The high-level controller receives observations from an environment and, using a neural net, selects a high-level behavior based on the observations from the environment. The low-level controller generates an output command for a scripted action based on the selected one high-level behavior. After generating the output command, the system can implement an action, such as causing a device to perform the scripted action.
AUTONOMOUS BEHAVIOR GENERATION WITH HIERARCHICAL REINFORCEMENT LEARNING