The lowest level sensory input and motor commands which control the “body” (using this term loosely) will be hard-coded. The models however will be learned on-line by the organism itself, and due to random tie-breaker logic (as well as randomness in the tasks each organism encounters) will self-assemble.
In other words, classification will happen, but I don’t need to write a classifier that can be interpreted by a third party. “Labeling” will happen via some pooling algorithm (currently exploring hex-grid formation in something like TBT’s output/object layer for this particular task).