Ron D. babbled something about the activation of the Dylan Four a while back. It was something about think of them has reached a point in space where it was time for them to know who they really were. Whatever is "deep within" them simply recognized the location (Ionian nebula or whatever) and made itself aware.

And you can firmly put me in the camp of the Head characters being real entities and not hallucinations. They are agents(angels ) of something that is directing things. The actions of Baltar and CapSix, influenced by their head entities greatly influenced the direction of the humans and cylons and their interaction with each other. It's a "Plan" all right, just not a cylon plan, but one of a larger force. The two head characters know human and cylon nature very well, and know just how to play Baltar and CapSix to have maximum effect.

Of course, Ron D. will leave it ambiguous to the end and never make it clear, and we can argue if they were real or hallucinations to the end of time.

And it's clear Baltar is on a redemption arc, and you can thank HeadSix for that (again part of the plan -- take the sleazebag down as low as possible, them redeem him). The child wasn't saved until HeadSix was convinced that Baltar was really willing to sacrifice himself for the child. She smiled.

And last episode, note how she told him his role as the religious leader/phrophet would give him personal prestige and be great for his ego and all that. He angrily rejected that as not important. She smilled again -- the Plan is working.

And I'm certain she did pick him up. He (and presumably CapSix and maybe Starbuck) must choose of their own free will to do something. They can plead their case and try to influence their charges, but they can't force them to do something.

However, when the spirit is willing but the flesh is too weak, they can intervene. And that's what she did when she picked him up. He was too addled to get up on his own, and so she picked him right up.

-Richard