Embodied and embedded ecological rationality: A common vertebrate mechanism for action selection underlies cognition and heuristic decision-making in humans.

The last common ancestor shared by humans and other vertebrates lived over half a billion years ago. In the time since that ancestral line diverged, evolution by natural selection has produced an impressive diversity-from fish to birds to elephants-of vertebrate morphology; yet despite the great species-level differences that otherwise exist across the brains of many animals, the neural circuitry that underlies motor control features a functional architecture that is virtually unchanged in every living species of vertebrate. In this article, we review how that circuitry facilitates motor control, trial-and-error-based procedural learning, and habit formation; we then develop a model that describes how this circuitry (embodied in an agent) works to build and refine sequences of goal-directed actions that are molded to fit the structure of the environment (in which the agent is embedded).

Self-control (or willpower) seeks to bias the resolution of motivational conflicts toward an individual's long-term interests.

We define self-control as an individual's efforts to bias the outcome of present or anticipated motivational conflicts in order to increase the likelihood that subsequent behavior serves perceived long-term interests. We suggest suppression and resolve are not "mechanisms" that underlie self-control, but rather are classes of strategies that influence motivations in order to increase the likelihood of successful self-control outcomes.

Habit formation generates secondary modules that emulate the efficiency of evolved behavior.

We discuss the evolutionary implications of connections drawn between the authors' learned "secondary modules" and the habit-formation system that appears to be ubiquitous among vertebrates. Prior to any subsequent coevolution with social learning, we suggest that aspects of general intelligence likely arose in tandem with mechanisms of adaptive motor control that rely on basal ganglia circuitry.