 The policy network receives guidance from a motion planner that provides waypoints to follow a globally planned trajectory, whereas the reinforcement component handles the local interactions.
<clarity>  The policy network receives guidance from a motion planner that provides waypoints to follow a globally planned trajectory, whereas the reinforcement component handles the local interactions.
 The policy network receives guidance from a motion planner that provides waypoints to follow a globally planned trajectory, whereas RL handles the local interactions.