Just read Bert Kappen on delayed reward. There is optimal behavior between being driven by (stochastic) environmental input and executing control. Optimal in Be

Just read Bert Kappen on delayed reward. There is optimal behavior between being driven by (stochastic) environmental input and executing control. Optimal in Bellman's sense. Apart from that. Why optimal behaviour arises should not be a question. :-) Why there are goals in itself is probably also governed by entropic forces about the flow of information. Read on empowerment by Polani et al. Or study the robots from Ralf Der.