Topic: hierarchical policy

Maintaining physiological homeostasis is essential for survival. To achieve this, brains integrate various inputs, such as internal physiological and external environmental signals, to guide behavior. Inspired by brain-body literature, we consider three key axes along which the dynamics of these inputs can differ: their timescales, dependence on actions, and contribution to error signals that drive behavior. To understand how these axes impact physiological homeostasis, we consider an agent that can influence its internal physiology through interactions with the environment. We assume that env