In today's Zoom and also podcast this issue was discussed as a result of David Sedley's article "Epicurean Anti-Reductionism. The basic concept as I understand it it likely this:
Epicurus would have understood just as we do today that it is not intuitive how atoms, which have no properties other than shape, size, and weight, can no matter how they combine have the ability to think and assume all the other complex phenomena that we see around us. In even simpler terms, how can atoms which do not possess the property of color combine into bodies that do have the property of color. Has something been added to the body that was not present in the originating atoms?
It is one thing to say that these phenomena "emerge" from the atoms, and another to offer any kind of coherent and persuasive conceptual model of how this might be possible. And note that I say "model" rather than "explanation," as "explanation might imply we can somehow list what might be an infinite series of causes.
In "Epicurean Anti-Reductionism" Sedley builds the Epicurean case for providing an explanation how this could occur, and he gives citations to where the phenomena is discussed in the texts, including Lucretius in Book 2 discussing how the mind of a horse issues orders for the horse to emerge onto the racetrack.
This also has obvious relevance for issues of determinism.
This is a very interesting area to develop and it continues to be a matter of discussion today, often under the name of "downward causation."
Here's a clip from Sedley's article and after that I will post a number of resources. I have not read them other than to glance at the first, which came from Joshua:
(There are many more references I will add as time allows.)
Crossreference to the Zoom where this arose.