Motor System Improvements

Improvements we would like to add to the motor system.

These are the things we would like to implement:

• Interpret goal states in motor system & switch policies #goalpolicy
• Implement switching between learning and inference-focused policies #learning
• Bottom-up exploration policy for surface agent #learning
• Top-down exploration policy #learning #numsteps
• Implement efficient saccades driven by model-free and model-based signals #numsteps #multiobj
• Learn policy using RL and simplified action space #numsteps #speed
• Decompose goals into subgoals & communicate #goalpolicy
• Reuse hypothesis testing policy target points #goalpolicy #numsteps
• Implement a simple cross-modal policy #learning #multiobj #goalpolicy #numsteps

Please see the instructions here if you would like to tackle one of these tasks.