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The brain in conjunction with the body is able to adapt to new environmentsand perform multiple behaviors through reuse of neural resources and transferof existing behavioral traits. Although mechanisms that underlie this abilityare not well understood, they are largely attributed to neuromodulation. Inthis work, we demonstrate that an agent can be multifunctional using the samesensory and motor systems across behaviors, in the absence of modulatorymechanisms. Further, we lay out the different levels at which neural reuse canoccur through a dynamical filtering of the brain-body-environment system'soperation: structural network, autonomous dynamics, and transient dynamics.Notably, transient dynamics reuse could only be explained by studying thebrain-body-environment system as a whole and not just the brain. Themultifunctional agent we present here demonstrates neural reuse at all threelevels.

Multifunctionality in embodied agents: Three levels of neural reuse