Blockquote(1) the belief that there exists a real physical world which is the source of our sensory inputs
Oh, that’s a tricky one. I am reminded of Morhpeus’ statement to Neo in The Matrix: “What is ‘real’? How do you define ‘real’?”
It is even further complicated by the fact that our own brains are creating representations of something that we conceive of as “reality” that is most likes the furthest thing from.
Our perception of colors for example. Colors do not exist in nature at all, and the “physical reality” that we’re responding to is just a tiny slice of the entire EM spectrum. That’s a trivial example, of course, and temperature is another, but much of “reality” is completely inaccessible to us, let alone the representations our brain/mind creates being totally fictitious.
Blockquote (2) the ability to apply logical thought processes to construct mental models of the RPW
So now we entail creating “models” of the models our sensate represents, which are totally fictitious to begin with?
Aside from the trivial examples I gave above, what about a much deeper one: Our sense of “time” and “space”? In physics, time has no “arrow”, and yet everything in us strongly suggests an arrow of time, and we construct our very complicated models around that base assumption.
There is some research – I’ll have to look it up – that states that when we get rid of our misconceptions of time and space, that the equations of physics are greatly simplified. I have not been afforded the time (!) to delve into that yet, so I’ll have to get back to you on that.
Blockquote(3) the means to select and apply motor outputs to affect the RPW, thus closing the loop.
And, of course, given the first two above, one must ask what exactly are we “closing the loop on”?
Evolution evolved us for just enough of a tiny slice of “reality” that was necessary for our survival. Once evolution or nature created the very scalable neocortex, we took on massive layers of abstraction that nature never really intended us to achieve. Understanding, say, quantum physics has nothing to do with the 4 F’s of evolution – Fleeing, Fighting, Feeding, and Reproduction. 
In a very real way, we repeat the above when we create SDRs. We want to fashion only the salient features of the input stream necessary for HTM to work, and nothing more.