Thelen et al. offer an inspiring behavior-based theory of a long-standing cognitive problem. They demonstrate how joining traditions, old (the Gestaltist field theory) and new (dynamical systems theory) may open up the path towards embodied cognition. We discuss possible next steps. Self-organization theory (synergetics) could be used to address the formation of gaze/reach attractors and their optimality, given environmental control parameters. Finally, some clinical applications of the field model are advocated.