the role of state

• SPA:

  • Uses extensive internal state
  • Plans slowly and infrequently
  • Gets into trouble when its internal state loses sync with the world

• Reactive:

  • “The World is its Own Best Model”
  • No internal state
  • Tight sensor to actuator coupling
  • Runs headlong into the problem of extracting state information from the world using sensors

• Hybrid/Three Layer

  • Can’t we all just get along?

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