Thanks for posting these. The third link in particular applies a very similar approach to the inverted pendulum example, in depth and with clarity. I also note

Thanks for posting these. The third link in particular applies a very similar approach to the inverted pendulum example, in depth and with clarity. I also note the modest concluding paragraph for comparison to the grand claims of the OP. "Finally, we conclude that it would be desirable to transfer some of the generality of the underlying empowerment concept into methods for empowerment calculation in systems combining continuous and discrete dynamics, especially systems of real-world relevance."