Computationally efficient model selection

A device comprising:

• one or more processors;
• a non-transitory memory;
• and
• one or more programs stored in the non-transitory memory, which, when executed by the one or more processors, cause the device to:
• obtain a first environment state associated with a first environment time of an environment and a first timestep value;
• in accordance with a determination that the first timestep value satisfies a first criterion, select a first model from among a plurality of models and determine, according to the first model and based on the first environment state, a second environment state associated with a second environment time;
• and
• in accordance with a determination that the first timestep value satisfies a second criterion different from the first criterion, select a second model different from the first model from among a plurality of models and determine, according to the second model and based on the first environment state, a third environment state associated with a third environment time.

A non-transitory memory storing one or more programs, which, when executed by one or more processors of a device, cause the device to:

• obtain a first environment state associated with a first environment time of an environment and a first timestep value;
• in accordance with a determination that the first timestep value satisfies a first criterion, select a first model from among a plurality of models and determine, according to the first model and based on the first environment state, a second environment state associated with a second environment time;
• and
• in accordance with a determination that the first timestep value satisfies a second criterion different from the first criterion, select a second model different from the first model from among a plurality of models and determine, according to the second model and based on the first environment state, a third environment state associated with a third environment time.