Thanks for your question. First the diagram is not meant to illustrate the 
exact links between the hierarchies. It is meant to illustrate that control 
binons (nodes) are needed between percepts and acts. One type of control binon 
connects percepts to acts such that if the action habit is active and the 
percept is recognized it triggers the act to be done. A second type of control 
binon connects acts to percepts such that when an act is done the resulting 
percept can be expected. The challenge in forming these structures and 
controlling their performance is that given a trigger percept many acts may be 
done and given an act there are many possible resulting stimuli that could be 
expected. And given a resulting percept there may be many acts that may produce 
it. And an act (like talking on the phone) must be reusable  in many different 
context situations. The control nodes provide the relational structure for the 
forward and inverse models in motor control. 
https://www.cs.bham.ac.uk/research/projects/cogaff/aiib/Symposium_6/Papers/Cooper.pdf
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