Some of this is being re-theorized over the past few years. Even Lucy's evolutionary time line is being questioned. Main, that recent finds in the same time frame are more advanced.
Also, what is innate and what is learned. There is a PBS special 'The People Who Walk Like Bears'. Basically, a family of mentally challenged who bear crawl in adult life. They never learned to walk upright. There was a intervention with parallel bars, to teach them to walk upright. One of them, did not participate in the training. He was shown walking at the end of the show.
There was a crane in Florida that would put a piece of bread to attract fish, then catch them. So, not learned from previous behavior.