²²(Kording et al., 2007). This is an example of the principle of feedback for successful control and action. Feedback is a general principle in action selection, which is important if there is uncertainty in the world. Just finding the best path to the goal is not sufficient if the environment is uncertain and may change. For example, if you calculate the best possible path to a restaurant, that is usually fine, and you can just walk there. But unexpected things might happen: A road might be blocked by a delivery truck; there might be construction work. This is another limitation of purely planning-based action selection, and something more similar to habit-based action selection is better in a changing, uncertain environment.