I think that is overly harsh, the beauty of it for me continues to be that it is default stable. No input and things are stable. That makes it very resilient in low compute environments. That is the same reason I would recommend it for a smart house architecture, when the upper (planning) layer fails (or is broken) you can always get the lower layers to do what you want (lights turn on, or thermostat adjusts) because the local command the top of the 'if-then' tree in your lexicon.
But it isn't. In order for two layers to interact properly you have to specifically engineer them that way. If a higher layer starts or stops subsuming at the wrong time you can get catastrophic failures.
Also, smart houses are a very different problem than autonomous mobile robots.
