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This text is a discussion of the article “A (cybernetic) modelisation of Freud’s ‘Project for a Scientific Psychology’”. It focuses on the model of the curious robot described therein, but sees it more as a reflection on the construction of the pleasure principle than a real reevaluation of primary narcissism. While insisting, with the author, on the importance of self-organisation, the pertinence of robotic models and a certain relativisation of the notion of representation, he rejects the ambition of the article to modelise Freud’s text, ‘Project for a Scientific Psychology’ as a whole, the energetic dimension of which remains essential, but emphasises the contribution of the article to the notion of the construction of the drive and to the genesis of desire.