Equation 5 · Part 2 · How Embodied AI Actually Works
subscript
subscript
What this part means
The lower label selects a particular version, component, or indexed member of the quantity. For example, x₀ and xₜ can be values at different positions.
Its job in the formula
A subscript distinguishes a version, component, step, or member of a quantity. It does not automatically mean multiplication.
Full expression→subscript→Article meaning
The passage around this formula
Here and q are the desired and measured joint positions, and set how stiff and how damped that virtual spring-and-damper is, and is a feedforward term — gravity compensation, or a reaction-force term handed down from a higher-level controller — added on top. The learned policy’s contribution to this equation is : a target, updated at whatever rate the policy runs. Everything else in the equation runs at a much higher rate, underneath the policy, and it is what actually decides how the robot responds to unexpected resistance in the interval between two policy decisions. Lower the gains and the joint yields to contact instead of fighting it; that yielding, not any…
Learn the underlying idea
A subscript is a label attached below a symbol. It often selects a time step, component, category, or member of a sequence.
Open the illustrated subscripts: which member of a family? guide →
Sources cited in the article section
These citations provide research context; check each source for the exact claim it supports.