Agents should work through the same patterns and actions that humans use.

You have to completely comprehend your idea in order to fully realize it.

those who don’t usually end up in jail

Yet the lack of technical formalizability does not imply there is nothing systematic about achieving legibility.

Let us call this goal “fidelity”, as it tries to make the formal system as true to the world as possible and contrasts with “optimality”. Yet, as the same time, they must recognize that whatever they design, it will fail to capture critical elements of the world. In order to allow these failures to be corrected, it will be necessary for the designed system to be comprehensible by those outside the formal community, so they can incorporate the unformalized information through critique, reuse, recombination and broader conversation in informal language. Let us call this goal “legibility”.

Ways will be found to make communities sustainable,

This  imposed simplification, in service of legibility to the state’s eye, makes the rich reality brittle

Or at least more legible to the all-seeing statist eye in the sky (many of the pictures in the book are literally aerial views) than to the local, embedded, eye on the ground.