Ask for control estimates -- and update internal state -- from all modules during operation.
Instead of using the mean, always draw a new sample for state estimates. Also, expose accrual parameter.
Add zero-noise parameter to default experiment set.
Re-namespace numpy as np. Add command-line flags for module accrual. Add code for generating nice state plots after a single simulation. Update look scheduling to handle non-integral numbers of frames.
Update plot colors, and save small plots (same size as cogsci paper) by default.