There are three types of inputs to each layer at each time

(9th-March-2020)

There are three types of inputs to each layer at each time are following points.

• The features that come from the belief state, which are referred to as the remembered or previous values of these features;

• The features representing the percepts from the layer below in the hierarchy; and

• The features representing the commands from the layer above in the hierarchy.

Also There are three types of outputs to each layer at each time

• The higher-level percepts for the layer above,

• The lower-level commands for the layer below, and

• The next values for the belief-state features.