What does it imply for the agent to adapt to be poised near a critical point? It should be remarked here that agents are given no explicit goal. They only tend to adapt to behavioural patterns maintaining a distribution of correlations randomly sampled from the distribution shown in Fig. 1. To explore this issue, we examine the different behavioural modes of the agent while exploring its parameter space by changing the value of β. The behaviour of the Mountain Car can be described just by its horizontal position x and speed v at different moments of time. As well, the horizontal and vertical positions of the tip of the Acrobot’s links is a good description of its behaviour.