Figure 1

Sensory motor architecture allowing the learning of personal identity through motor imitation

(a) (PR = Posture Recognition). The novelty detection coupling (b) allows the robot to detect novelty in the visual sensations. Three principles are used: (i) prediction error; (ii) derivative of error; (iii) detection of rising edge (novelty). The robot learns the sensory-motor contingency of a given strategy by learning to predict the current sensation from the previous perception.