Before revision:  Our new CRL architecture, as a concrete realization of DAC multi-agent theory, implements a low-level sensorimotor control loop handling the agent's reactive behaviors (pre-wired reflexes), along with a layer based on model-free reinforcement learning that maximizes long-term reward.
After revision:  Our new CRL architecture, as a concrete realization of DAC multi-agent theory, implements a low-level sensorimotor control is modulated through perceptual and behavioral learning in a layered structure. CRL follows these principles by implementing a feedback control loop handling the agent's reactive behaviors (pre-wired reflexes), along with a layer based on model-free reinforcement learning that maximizes long-term reward.