Actually, Keiwan, if you started with a set of possible inputs for all modes and then simply didn't bother to stimulate the inputs that have no value in a given task mode, it should be possible to have the neural network learn any of the tasks with the same basic configuration. Also, adding the fitness criteria as an input would allow the creature's neural network to evolve the ability to incorporate that input and in a sense be able to switch between learned tasks. Adding another input (or inputs) that categorizes or somehow "describe" the environment or elements of the environment, would allow the neural network evolution to also evolve accommodation for applying the same fitness criterion to different environments.