And the supervision, coordination and learning/ evolution modules are established in the layer to supervise and coordinate the implementation of the reactive layer and the deliberative one. It also has the ability of learning and behavior prediction in the unknown environment. 监督层中设置监督、协调和学习/进化单元,用来监督、协调反应层和慎思层行为的执行情况,并对未知环境中的行为进行学习和预测。