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A cognitive architecture aimed at cumulative learning must provide the necessary information and control structures to allow agents to learn incrementally and autonomously from their experience. This involves managing an agent's goals as well as continuously relating sensory information to these in its perception-cognition information stack. The more varied the environment of a learning agent is, the more general and flexible must be these mechanisms to handle a wider variety of relevantarXiv:2112.01603v1 fatcat:g5iphl7vvnhihfebgrtppqv4cu