TRAIN · SEPARATE UPDATES

SYSTEM 1 Latent Policy πlatent(θ1)

UPDATEθ₁ ← L_latent

NO SHARED
GRADIENT

SYSTEM 0 Whole-Body Tracker Dtracker(θ0)

UPDATEθ₀ ← L_track

INFER · ONE SERIAL PATH

CONTEXTX_t

SYSTEM 1π_latent

Zₜ

SYSTEM 0D_tracker

ACTIONA_t