Before revision:  Our model is a deep, hierarchical, modular architecture with a high-level planner that learns to compose primitives sequentially and a low-level controller which integrates primitive dynamics modules and inverse kinematics control.
After revision:  Our model is a deep, hierarchical, modular architecture with a high-level planner that learns to compose primitives sequentially and a low-level controller to combine primitive dynamics and inverse kinematics control.