What this does is encode incoming information in a way that renders it ready to be of use in guiding behavior, since the equivalence classes are precisely those for which a given kind of motor program is appropriate. The next part corresponds to how this information, so represented, can be used to produce the details of such a motor program. For every type of action in a creature’s behavioral repertoire (grasp, approach, avoid, foveate, bite, etc.) its motor areas have a set of linear coefficients, easily implemented as a set of neural connection strengths, and when these are applied to a set of basis function values, a detailed behavior is specified. For example, when a creature senses an object O1, a set of basis function values B1 for that stimulus is produced. If the creature decides to execute overt action A1, then the B1 basis function values are multiplied by the coefficient corresponding to A1. The result is an instance of behavior type A1 executed with respect to object O1. If the creature had decide instead to execute action A2, with respect to O1, the B1 basis function values would have been multiplied by the A2 set of coefficients, and the result would be a motor behavior executing A2 on object O1.