Yes, that's right. The ostensible idea behind subsumption is dead (because it was wrong). But what subsumption did was open up the possibility of putting the

Yes, that's right. The ostensible idea behind subsumption is dead (because it was wrong). But what subsumption did was open up the possibility of putting the AI into the run-time feedback loop rather than the deliberative planning, and that is what all robotic control architectures do today.