Thank you very much for the link, and nice summary. This looks very interesting, I'm grateful: my learning habits mean I'm liable to playing with second-hand scraps of ideas, and missing out on sources.
http://people.csail.mit.edu/brooks/papers/representation.pdf
E.g. Task: grasp an egg without cracking it
Physical platform 1: actuators, no pressure sensors
Physical platform 2: actuators, pressure sensors where egg contacts robot
Inarguably, the simplest successful implementation of the task in driving code will be much more concise for platform 2 than platform 1.
... Now generalize the same idea to trying to teach disembodied AI to be human.