Before revision:  However, there is no theory explaining the effectiveness of layered control architectures that connects speed-accuracy trade-offs (SATs) in neurophysiology to the resulting SATs in sensorimotor control. In this paper, we introduce a theoretical framework that provides a synthetic perspective to explain why there exists extreme diversity across layers and within levels.
After revision:  However, there is no theory explaining the effectiveness of layered control architectures that connects speed-accuracy trade-offs (SATs) motivated a theoretical framework that provides a synthetic perspective to explain why there exists extreme diversity across layers and within levels.