 On the back of his rejection of the Principle of Alternative Possibilities, Harry Frankfurt (1971) developed a compatibilist theory that does not appeal to regulative control in any way. Frankfurt’s hierarchical mesh theory can instead be seen as a development of classical compatibilist attempts to understand freedom in terms of an agent’s unencumbered ability to get what she wants (see Section 3.1.). More precisely, Frankfurt explains freely willed action in terms of actions that issue from desires that suitably mesh with hierarchically ordered elements of a person’s psychology. The key idea is that a person who acts of her own free will acts from desires that are nested within more encompassing elements of her self. On this view, when a freely willing agent acts, her actions emanate from her rather than from something foreign.