readme typo fix
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## Problem Context
Octopuses have flexible limbs made up of muscles with no internal bone structure. These limbs, know as muscular hydrostats, have an almost infinite number of degrees of freedom, allowing an octopus to perform complex actions with its arms, but also making them difficult to mathematically model. Attempts to model octopus arms are motivated not only by a desire to understand them biologically, but also to adapt their control ability and decision making processes to the rapidly developing field of soft robotics. We have developed a simulation package Elastica that models flexible 1-d rods, which can be used to represent octopus arms as a long, slender rod. We now want to learn methods for controlling these arms.
-You are being provided with a model of an octopus that consists of two arms connected by a head. Each arm can be controlled independently. These arms are actuated through the contraction of muscles in the arms. This muscle activation produces a torque profile along the arm, resulting in movement of the arm. The arms interact with the ground through friction. You goal is to teach the octopus to crawl towards an object, grab it, and bring it back to where the octopus started.
+You are being provided with a model of an octopus that consists of two arms connected by a head. Each arm can be controlled independently. These arms are actuated through the contraction of muscles in the arms. This muscle activation produces a torque profile along the arm, resulting in movement of the arm. The arms interact with the ground through friction. Your goal is to teach the octopus to crawl towards an object, grab it, and bring it back to where the octopus started.
## Controlling octopus arms with hierarchical basis functions
For this problem, we abstract the activation of the octopus muscles to the generation of a torque profile defined by the activation of a set of hierarchical radial basis function. Here we are using Gaussian basis functions.
