“…The spinal cord predates the pallium, and models of spinal circuits for locomotion routinely implicate a layered organization as being necessary for the flexibility of motor rhythms and patterns (e.g., Danner et al., 2017 , Lafreniere-Roula and McCrea, 2005 ). But evidence that supports layered processing in the spinal cord has been indirect, and results largely from studies of “errors” in stepping called deletions ( Dyck et al., 2012 , Griener et al., 2017 , Rybak et al., 2006 , Zhong et al., 2012 ). Another approach to examine layered processing in the spinal cord has been to quantify the changes in locomotor behavior when whole cardinal classes of genetically defined neurons are silenced or eliminated from spinal motor circuits ( Andersson et al., 2012 , Caldeira et al., 2017 , Crone et al., 2008 , Crone et al., 2009 , Dougherty et al., 2013 , Enjin et al., 2017 , Gosgnach et al., 2006 , Lanuza et al., 2004 , Talpalar et al., 2013 , Zhang et al., 2008 , Zhang et al., 2014 ).…”