This paper focuses on the hierarchical learning of high level strategy of soccer robot system.
本文集中研究足球机器人高层策略的分层学习。
The multi-level control structure is also established on the basis of hierarchical control structure.
并在大系统递阶控制结构的基础上，构建了模型体系的多级控制结构。
The two-level hierarchical model optimization method is applied to find the solution.
根据模型的结构特点，采用两级递阶优化方法进行求解。
The two-level hierarchical model optimization method is applied to find the solution.
根据模型的结构特点，采用两级递阶优化方法进行求解。
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