The proposed solutions are to have the agent exploit the inherent physics of its environment, to exploit the constraints of its niche, and to have agent morphology based on parsimony and the principle of Redundancy. Redundancy reflects the desire for the error-correction of signals afforded by duplicating like channels. Additionally, it reflects the desire to exploit the associations between sensory modalities. (See redundant modalities). In terms of design, this implies that redundancy should be introduced with respect not only to one sensory modality but to several. It has been suggested that the fusion and transfer of knowledge between modalities can be the basis of reducing the size of the sense data taken from the real world. This again addresses the scalability problem.