| Long-horizon choice and rapid correction | A larger look-ahead can improve a plan while consuming time needed for reaction. |
| Simplification and lost interaction | An easier subproblem can omit actuator limits, memory or coupling that determines feasibility. |
| Local improvement and whole performance | A better isolated planner can issue commands that make the combined system worse. |
| Functional separation and realization | Different decision rates do not require different processors; shared processors introduce interference. |