[tetrazine]

Yeah leaving aside the (possibly warranted) cynical tone in GP... It seems to me that ensembles (and related structures, I'm playing fast and loose here) are the modern ML counterpart of subsumption.. driving an ensemble, MOE, etc with more complex supervisor models (especially reinforcement models) essentially gets us the Brooks architecture, but with less of a demand for explicit programming of individual behaviors. That demand is the part of Brook's vision that strikes me as unrealistic, especially for tasks like driving. Though of course everything was more optimistic in the 80s.