Vaesen asks whether goal maintenance and planning ahead are critical for innovative tool use. We suggest that these aptitudes may have an evolutionary foundation in motor planning abilities that span all primate species. Anticipatory effects evidenced in the reaching behaviors of lemurs, tamarins, and rhesus monkeys similarly bear on the evolutionary origins of foresight as it pertains to tool use.

Recent computational models of motor planning have relied heavily on anticipating the consequences of motor acts. Such anticipation is vital for dealing with the redundancy problem of motor control (i.e., the problem of selecting a particular motor solution when more than one is possible to achieve a goal). Computational approaches to motor planning support the Theory of Event Coding (TEC).