针对未知环境下的移动机器人导航问题，本文提出了一种基于分层式强化学习的混合式控制方法。

According to the problem of mobile robot navigation in the unknown environment, a hybrid control method based on hierarchical reinforcement learning (HRL) is proposed.

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数学教学是基于“问题解决学习”的教学，数学教学设计应当是问题式教学与问题式学习的对立统一关系的设计。

Mathematics teaching is based on problem - solving learning, Mathematics teaching design should be the design which combined question - teaching and question - learning.

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本文结合机器人路径规划问题介绍了增强式学习方法，实现了动态环境中基于增强式学习的自适应路径规划。

To solve the robots path planning problem in dynamic environment, this paper applies adaptive learning to path planning based on reinforcement learning.

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