Thank you, Rupert. Excellent presentation, quite rich.
Using genetic algorithms to develop control hierarchies was particularly illuminating. Genetic algorithms are ‘directed’. Warren, Eetu, and I have had some discussion that suggests (to me at least) how control associated with the language branch of the hierarchy could have an ‘directive’ influence on reorganization. There are at least three branches of the hierarchy at its lower levels: the somatic branch and the language branch in addition to the familiar behavioral branch. That discussion is in Fundamentals/How are new input functions created?.