The obvious thing to make a brain want is novelty. I built it, and it lost to a coin flip in seven of eight seeds. Every hour of a finite life spent somewhere new is an hour not spent getting good at something.
impire.io/poseres-boo...
impire.io
Wanting things - The PRA Book
Why frozen models fail, what a sensorimotor triplet is, and how a population of competing frames learns structure nobody specified.