 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.
<clarity>  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.
 Our model is a deep, hierarchical, modular architecture with a high-level planner that composes primitives sequentially and a low-level controller which integrates primitive dynamics modules and inverse kinematics control.