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çµ
Categorisation
VI
VI PTM
reflex link
MI
‘‘recognition’’ level
Reinforcement
Movements MO
Environment
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1t&7('14;)(-0V&)69¤-(+E; (F «úG1t: 1t?; 1t;f± Ë ?(-3&)V?5{35)(; 695f,8(1t&)?68?0F:&7-(-5)5W;7v-&)(gµ 1t;7(5)(+?5)V&)VµÁ;7&{1t575)-61t;769?5g²-@·}(-;'.68;f5 3,8G (?V;)(- ; 1t;; 695:&)69V&¨7'1t;7(-0V&)69¤'14;)69?©G4AÕ; (v5);768v3,86(+?2 (gµ 1*69&76857;)5 (-,969(gA
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&)(-3-(@V±( 1*V((-*V(-,9: (-S14? (-¥:(-&769E(-?;69?v 69 1W&7 ;Õ1451t,8(f;7W0W;);/}W6NÖU(+&/µ (-?;:,1t-(+5Õ14--&769?0W;); ({,9(-*V(-,4AU;/}69?;)(-&7?1t,*14&)61t,8(+5 ª-VE:14&L1t,8(}f69; ¨AB2T,9(-*(+,8©T1t?¨7Õ14;)(-&,9(-*V(-,9©2²+@t± (-? ; (&7 ;f695v¨ 3?0&)©ªÎ68;75v¨/ABG,9(-*(-,9©T*1t&76È14,9(W685f3?(-& 1v069*V(-?; &)(-5 ,9²+.
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ª 6 C S J [ C ² ü ± 69,9(G; (?(-;G685?;5);g1t,9(ªÎ1t¥Ô695);g1t?-( (gµ ;/(+(-?; (v-3&7&)(-?;?2(E1t?; (v01t,69?-V??(-gµ ;)69?5?3v (-&L² ±( 1*V(:&)t*(+F; 1t;; 6951t,90V&)69; 695 AB&71t,9,9f(-à369*Vµ 1t,9(-?;;7Ú}(-,9,91t? Å 5£5 V&);)(+5);Z0&g1t: 695);L14?-(14,90&769; ªÚ}(-,9,914?p.®ÜVɲ-@ ¶¥W; (f69(1t5'.,9(-; 35;L1t¦V(; (}(-¥1tE:,8(4A; (}?1*69021>µ ;)69V?E6NA; (W1t¤+({&)(+:&)(-57(-?;)(-?¶0V3&)(¶0V3&)(Ü@ Ë AB;7(-&f(-¥Vµ :,9&g1t;768V?p. (-?v; (f&)VV;695&730 ;1tg¦;7; (f5);g1t&7;)69?0 : 69?g ; fF. 69;f5 V3,9: (-&AB&7º5)(-à3(-?-* ( f3hji\hjk3hjlG. 69?5);7('1t£t=A fmhni3hnomhnpOhrq3hnkOhrlG@
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(-&7(-?; 5)69¤-(",8(1t69?0"AB&)V Ë ;)ET@ ³OA§?(-3&)?ú-69?0sl 1t-;768*69;/´685ßABV&)-(-ú;7Àæ3( ;)69;75,969?¦f69; E;769*1t;)69t?p.WªÎ5)(-(Z¶ 03&7(ðÝV²-.14--&769?0 ;)æ?(-3&7?º1t-;769*269;/¢(-à314;)69? R C3I G1t¥ S ª>6BC S J R S ²tI 14¥ S >ª 6BU4VuW0J R S ²-.1t?6NQ A 69U4VuW0IÄ vq®. k¢1t?. qæ1t-;768*69;/ 695Ä vq®@ p1t-;769*269;/G695Ä vq® / InwÄ vqÉ. 1t? oI685WÄ vq® x0I¢Ä vqÇVÆ®@ Ú}(-5)69(-5.14y 5 iæ1t-;768*69;/695}-:3;)(+E1t--V&)69?0";)T; (1t¥
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Motivation
A B
0.81
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1
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p¬ 690V3&)({Ý f (GE;769*1t;)69V?1t,?(-3&)?14-;)69*1t;7(-5v; (&7(--V0tµ ?69;)69?4AylG@p3(v;7; (T,869?¦5W,9('1t&7?(-3&768?0; (v(-¥:,9tµ &L1t;769?G: 145)(. ; (-&)(T695{1T1tg¦:&)V:1t01t;768V?GtA; (T1t-;768*69;/@ f (G?(-3&7?5G1t-;768*69;/695F68&7(--;7,8Z1E('145)3&7(-E(+?2;TtAW; ( 695);L14?-(W;)v; (0V21t,/@ ±(5769v3,1t;)(+; (T( 1*269V&{tAf1t?14?691t;f(+*,9*69?0v69? 1 +E:,8(+¥14¤-(69? 69 69;W-3,8¶ ?6NÖU(+&)(-?;¨AB2© E 5)3&)-(-5ªÈ¶03&)(Dz+@ f (&)VV;F57;L1t&7;)5TEt*69?014;F&g1t? 1t?0V&L1t31t,9,9Z695)-t*V(-&)569;)5(-?*69&)V?E(-?;ªf1t,9,95'.Ѩ/AB 5)3&)-(-57©2²+@f± (-?1ÔEt*V(-E(-?;T695E: 5)5769,9( (-;/}(-(-?;/} ¨):,1t+(-5)©Zª;/}½14'¾-14-(-?;v5)à314&)(-5tA; (G695)-&7(-;)69¤-(+(-?*6`µ &)?E(-?;L²+.
1G,968?¦1t;F1Ѷ¥(-Ô*1t,93(G>ª 6 U4VuW I´Ä vq®²695-&7(gµ 1t;)(+p@± (-?G1G¨/AO2©"5)3&)-(695}&)('14 (-p.; (W?(-3&7?145)57tµ -61t;)(+f68; ; (v-3&7&)(-?;T:V5)69;)69V?695F14,857145)5)-614;)(-Ôf68; ; (Z¨ 3?0(-&7©E;769*1t;)69V?p@ ³/?§; 695v69E:,9(-(-?;L1t;769?p. 69;v695 -?5769(-&)(+; 14;{('14 ;)69E(; ("&) ;ft*(-5.69;f-V?5)3E(-5 1t?v69?;)(-&7?1t,&7(-5)V3&)+(F1t575)-61t;7(-v;)F14?¨)(-?(-&)0Vv,8(+*(-,9©*14&)6Nµ 1t,9(@± (-?G; 695f*1t&761t,9({,9(-*V(-,
695f;)v,9tnªB14--V&)69?0v;7E1 069*(-?; &7(-5 ,9²-.; (W&)VV;f(-0V69?5; (W:,1t?6N¶1t;)69V?p@³OA69; 1t51t,9&7('1tG6957-t*(-&7(-?(&W5)(+*(-&g1t,¨AB2©E5)V3&)+(-5'. 69; à2368g¦,9v&)('14 (-5{; (?(1t&)(+5);'@ «GV&)(-t*V(-&'.69?G3&;7(-5);75'. ( 1*(14(-G; (: 575)6969,969;/ tA,9('14&)?69?0;)1*V6814&)('14569?&7(-&W;)G;)(+5);W6NA; (v575);)(+ Õ1451t,8(;){1*V69$1069*(+?$14&)('14A¡; (}1t¤+((+*(-?T6NA¡+&)575)69?0 ; 695E1t&7('169;vV3,9&7('1t ; (Z¨/AB©5)3&)-(à369L¦V(-&'@³/? AÁ1t-;.69; 1t5}(-(+?: 575)69,9({V?,9S145)572+6È14;)69?0F1",9t(+&(+680 ; *1t,93(vªBÄ@ ÇV²};); (T,968?¦E; 1t;{}3,8GG1t¦(W; (&)VV;{(-?;7(-& 1¨7;)E1*V69©F1t&7('1@ ±( 1*V(¿14,95)5)69v3,14;)(-Ô; ( ( 1*69&v4AF1t?14?691t; :,1t-(-69?n14?: (-?n(-?*69&)V?E(-?;@ f 1t?¦25£;)1ßE(- 1>µ ?695)n1t,9,9tf69?0v¨):,È14-(},8(1t&)?68?0©FªÈAB35768V?69?0f; (f&)(--V0?69;768V? { ªBô¨714 3 5)571t68;7(+© &p(-{ ;f141t?,/@9.; ® ®(vÇV²): ²+.g57; 68 ;769(}&)? V{ V;p¨) '14 ?(-&),9(-('© 1t&7{ ?4 AÕ ,(-14&7?(F¨AB142&)¦© 5 1t?¨7Õ14;)(-&7©5)V3&)-(+51t&7(E (+?69;'14?¶?; (-@p«G&7(gµ t*(-&. (+?E69;(+¥2:,8V&)(-5}; ((+?2*69&)V?E(+?2;.t69;'14?E,9('1t&7?E?(+ :,1t-(-514557?1t5W; (-14&)(v6NÖ
(-&)(-?;(+?30 AO&)º:,È14-(-5 68; 1t5v1t,9&)(1t,9('14&)?(-Ô(ÊAB&7(½ªO1t-+&)68?0;)1¨7&)(-+0?6`µ ;)69?©T; &)(-5 ,9²f14?G68;},9('1t&7?5{;7F,969?¦v; (-´f68; ; (,1t57; :,1t-(f(-?-3?;7(-&)(- @¬&)æ;)69E(;);768(.; (W1t?69G1t;p369,85 1{;7: ,90V69'1t,V&)(-:&7(-5)(+?2;g1t;768V?E4AU69;)5(-?*69&)V?E(-?; 68;'14?v35)( ;)E:,È14?69;)5W1t-;768V?p@ Ú(+5)69(-5.
;/69?2;7(-&)? 1t,*1t&76È14,9(-5{+&)&7(gµ 5): ?69?0;)Ô¨/ABG,8(+*(-,9©14?Z¨)f1t;7(-&W,8(+*(-,9©E1t&7(F2? 1tE6Nµ '1t,9,9E3: 14;)(-14--V&)69?0;)v6NÖ
(-&)(-?;76È14,(-à31t;768V?5'@± (-?
N F N F
FN
Walls
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To avoid
F
Food
¬ 6903&7(Çn}VE:,9(-¥G1t¤-(G357(-;);7(-5);3&:,1t?6N¶1t;)69V? 1t,90V&)69; (gÌE-69(-?-2@ ; (-69&{,9(-*(+,695f;72,9t.68;{14-;)69*14;)(-5W1vEV;)69*1t;769t?1t,?(-3&)V? 1t575)-61t;7(-Gf69; ; ({+&)&7(-5): ?69?0vEV;)69*1t;768V?Eª-¨ 3?0(+&)© &)(+5):p@"¨); 68&75);7©2²" 1t;T14¦(v; (&7 ;T:,1t?69;)5v1t+;)69?Ô;) &)(1t ; (v?('14&)(-57;:,1t-(v (-&)(68;W'14?5g1t;7685AB69;)5"E;769*1µ ;)69V?p@±( 1*V(W;)(-57;)(-; 695{1t&7 68;7(--;73&)(V?EG1t?F6`Ö
(-&7(-?; 5)69v3,14;)(-W: (-?T(-?*68&7?(-?;)5.'1t?69;p5)(+(-E5 ;){}&7¦W:&)V:µ (-&7,8(-*(+?6NA Þ ü ; (-&7(F1t&7(57(-*(+&L1t, :,1t-(+5f (-&)("; (1t?68G1t;1t?E (&7(gµ f1t&7(-p@ ü ; (G¨/AB©T&v¨7Õ14;)(-&7©v5)3&)-(-5W695g1t:: ('1t&@ ü ; (}?23v(-& tA;768*14;)69?f69569?-&7('1t57(-ª(@ 0 @¨ 69?0© ( 1*69&g² ³/?(1t '145)(.; (5)5);7(-¹695v1t,9(E;75)V,9*(E ; 5 &7;)(-57; :14; ¶?69?0E14?14-;)69V?57(-,9(--;768V?G:&)V,9(-@ ·(-;'.V69?v; V5)(5)69v3,1t;768V?p.-}( 1*(f5)3::V5)(-5}; 1t;}; (-&7( }(-&)(?G:&)V,9(-¼;7&)(-+0?68¤+(v5)69;)314;)69?5$14?; (vEt*(ʵ E(+?2;Õ1455)(-,9(-+;)(-ABV,8,9tf69?0f; ({0V&L1t68(+?2;tAp; ({-V0?69;)69*V( 14:?(+3&)V?5E1t-;769*269;/@ f (:&)V,9(-¹695v; 1t;'. AO&v1t?Z(-¥Vµ : (-&)69E(+?2;69?ð1&7('1t,W(-?*69&)V?E(-?;.(5 3,8Z (½14,9(G;) &)(+-0V?69¤-(5769;)314;)69?5v1t?§;7¦?t;) 68 Et*V(-E(+?2;75 ; (-'1t? (E,969?¦V(-p@
³/?AÁ14-;'. ; (E:,1t?6`¶ '1t;768V?½14,90&769; 5 3,9G69?2;7(-&L14-;}f68; 1T57(-?5)V&)Vµ/E;7&145)572+6È14;)69?5)5);7(- 5)6968,14&;)v; (1t&) 69;7(--;)3&)(T(W(-57-&)69 (-68?5)(-+;)69?Æ@ @
Þ
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1t&7(;)&7('1t;7(- &7(-5)V,93;)69?Ô5)5);7(-E5"1t57(-V?AB&71t,,90V69@ f (v:&769?µ -69:,9(W-?5)695);75{69?E&7(-:&)(+5)(-?;)69?0¦?tf,9(-0(W1t5{1":&)69V&)6
&)3,8(+5
Animat
Learned places Landmarks (visible or not according to the animat position) Links between situations
¬p690V3&)({ÉæÓ69v3,1t;)69V?tA14?1t?68G1t; 69 :,14?569;)5}Et*V(gµ E(-?;)569?E1t?T: (-?(-?*269&7?(-?;p69?v 69 V; ¨/AO2©14? ¨)f1t;)(+&)©v5)V3&)+(-5{'14?G(WAO3? @ 57(:&)(+-?68;769?5(-: (-?5W?£; (: (-&7-(-69*(-5)69;731t;768V? 1t? V5)(v&7(-5)3,9;75F-V?5)6957;)5v69?: (-&AB&7E69?0G:1t&7;)69-3,14&$14gµ ;)69?5@Â,1t?Ô0(-?(+&L1t;769?Z5)5);7(-E5vG1t¦V(v; (ABV&)14,+&)&7(gµ 5): ?(+?-(14,9,8tf69?0v;7G(g¶?(V.p57;L1t&7;)69?0AB&7º; (v-3&)&7(-?; 5)69;)314;)69? .t; (5)(-;}tAp&73,9(-5};) 1468?v;7&)(1t ; ({0V21t,/@·}(-;'. 68?WV&)(-&;7E¨)0V&)V3?©;)f; (&7('1t,}&),9p.+69?2;7(-&/A/1t-(-5 (-;/}(-(-? 5)vV,95+&)&7(-5): ?69?0F;7F; ({&73,9({:&7(--V?69;)69?5Õ14?v; ( 5)69;)314;)69?5f; (-£-&7&)(-57:V?;)v69?; (F&7('1t, V&),9v357;f( (g¶?(+p@ Motivation
¬p690V3&)({® f (69?AB&714;)69?1,}Ù t¼-V&)&)(+5): ?69?0ß;)Z; ( &)(--V0?69;768V?½14?;)G; (v:,È14?6N¶'14;)69?14&)(T5)3E(-1t;W; ( 5L1t({,9(-*V(-,/@ ³/?3&":69?69? .}(v; 69?¦69;W695W?(--(-575L14&);7G68?;7(-0&g1t;)( f68; 69?{; (1t&7 69;)(--;73&)(f(-69'1t;7(-;7f:,1t?6N¶'14;)69?W1}E(- µ 1t?695)û 69 1t,9,9tf5{; (E14?69:3,1t;769?E4A{69?2;7(-&)? 1t,&7(-:&)(ʵ 5)(-?;L14;)69?5v(-,1t &L14;)(-ðAB&)V¹; (G: (-&)+(-:;)69V?4A; ((-?*6`µ
&)V?E(+?2;@pù5)314,9,8. 69;F695?(+0,9(--;7(-Z; 14;; (69?2;7(-&)? 1t,f&)(+:µ &)(+5)(-?;L14;)69?Ôv35);(v+?57;)&)3-;)(-Z?14E69'14,8,9. 68,9(T(-¥Vµ :,9&g1t;768?0E; (F(-?*69&)V?E(-?;@³/;Wv35);(T?V;)(-; 14;W:,1t?µ 6N¶'14;)69?1t?V?,9 (T?("?14,8&7('1t¦?tf?£5)69;)314;)69?5'@ f (-&7(1t??V;p ( ; ,9('1t&7?69?0{1t?35)(tA; (69?ABV&)14;)69? 1t;"; (5L1t(F;769E(@ ³/;T685"; 35?(+-(-5)5g1t&7;)£68?;7(-0&g1t;)(;/ }&)¦69?0(-5 Þ 1t?(-¥:,9&g1t;)69V?F2({1t?G1W:,1t?6N¶1t;)69V? E(V@p3&)69?0(+¥2:,8V&L14;)69?p. ; (E5)57;)(-¹v35); (14,9(v;) ,9('1t&7?6NÖ
(-&)(-?;W:,1t+(-5vª6NA; (-&7(E1t&7(:(+&)-(-:;)314,8,96`Ö
(-&7(-?; (-?V30 ²-.};),9('14&)?; (;7: ,90V69'1t,}&)(-,14;)69?5 69: (-;/(+(-? ; 5)(":,1t-(-5.;)T,9('1t&7?; (WEt*V(-E(-?;1t,9,9tf69?0W;)T0"AB&)V ?(v:,1t-(T;)G1t?V; (-&T1t?;7G,8(1t&)?; (v:,1t-(-5W 69 '1t? ({1t5)57-61t;)(+F;7101t,/@-3&)69?0:,1t?6N¶'14;)69? .-69?ABV&)14;)69? ,9('1t&7?(-3&)69?0T(-¥:,9&g1t;768V?F1t?E ({35)(-G;)"&)('14 ; (01t, ,969?¦(-ß;); (1t::14&)69;)69V?§4AF; (-V&)&7(-5): ?68?0§69?;)(+&)?14, EV;)69*1t;769?p@ f (-?p. v?;f35)69?0E1TE69¥(-*(-&75)69?GtA; ("5)(-?57&7µ EV;)V&p,9('1t&7?69?01t&7 68;7(--;73&)(:&)(-57(-?;)(-G69?T5)(--;769?EÆ14@ ?; ( :,1t?6`¶ '1t;768V?1t&7 69;)(--;73&)(:&)(+5)(-?;)(+69?57(--;768V?½ÃáT@ ù?AB&µ ;)3?1t;7(-,92.69;}685f69:V5)5)69,9(f;7F68¥T:,1t?6`¶ '1t;768V?E1t?G&7(--04µ ?69;)69V?v?E; ({5g1t(f?(-3&7?p@³/?(-(-p.5768;731t;769?v&)(+-0V?69;)69? 1t?EV;)69*1t;768V?v1tg¦:&7:14021t;769?G-&7&)(-57:V?;);/v685µ ;)69?+;69?AB&714;)69?14, Ùtf5'@ f (v(-?;768&7(v5)(-;TtAf69?ABV&)14;)69? '14??;"(v;7&)('14;)(-Ô2£; (5L1t(?(-3&)?G1t:p@ ³OA{15)69?0,9( ?(-3&)?Zv357;WV; (--69(G 69 5)69;)314;)69?695T&)(-+0?68¤+(- 1t?§:&): 1t0214;)(; (GEV;)69*1t;768V?1t,68?¡AB&71t;769?£AB&)V¹01t, ;)T5)3µÁ0V214,85.; (-&7(695}*69357,8T1t?14v690369;/W?v; (W&)('1>µ 5)V?G ; ("?(-3&7?G695{1t-;768*14;)(-ª57(-(¶ 03&7($®V²-@ Ë ;v,8(1t5);T;/},9(-*(-,95v1t&7(; 35F?(--(-575L1t&7Z5)1t5v;)£5)(-:µ 1t&g1t;7(v; (T69?AB&714;)69?14, Ùtf5 Þ V?(v-&7&)(-57:V?69?0;7E; ( ¨)0V214,8©W,9(-*V(-,/.214?; (-&}-&7&)(-57:V?69?0v;)"; (&)(--V0?69;768V?E4A ; (F-3&)&)(+?2;W5768;731t;769?1t?£68;75{1t575)-61t;768V?;)E1ÑEt*V(-E(-?; ª-¨75)(-?5)&7VµÁ;)V&)©,8(+*(-,²-@ Ë 5; (T68?¡AB&71t;769?E+2(-1 ?(-3&)?v35);{ ; ;L14¦(T68?;7¿14--V3?;; (v;/}¿145): (--;75F4A ; (v68?¡AB&71t;769?G69;{-(-5Gª-¨701t,9©v&¨7&)(-+0?68;769?©²-. -&µ &)(+5): ?69?0G?(+3&)V?5WtA; (";/,8(+*(-,95{v35);f (,968?¦(-G;)4µ 0(+; (-&@ f (G?(-3&7?5G1t-;768*69;/3: 1t;)69?0(-:(+?5EV?; ( }&)¦69?0GE("68? 69 ; (v5)57;)(-¹695@U3&769?0G,8(1t&)?68?0. ; (69?AB&714;)69?Tv35);}0¨) ;7;)Vvµ/3:©WAB&7; (&7(--0V?6Nµ ;)69V?E,9(-*(+,p;)T; (¨701t,9©,9(-*(+,p5)v1t5f;7S14,9,8tZ; (-V0?69;)69*V( 14:,9('1t&7?69?0@t}V?2*V(-&)57(-,92.43&)69?0W:,14?6N¶'1t;769?p.+; (f69?ABV&/µ 14;)69?-69?0AO&); (¨70214,9©f,8(+*(-,v357;
0v¨);7:µ/tf?© 69?V&)(+&;)57(-,9(--;; (E1t+;)69?;7½ªÎ5)(-(Ѷ03&)(²-@ f 695 }&)¦69?0E(- 14?695)ú-V&)&)(+5): ?5;); (G?(-3&769,9V069'1t, E(+,tA
-&7;)69'14,-V,93E?5:&7: 57(-vFÚ}3&)?2ªÚ}3&)?2 . '®VÉ®V²-@ f ( 690 (-&W,9(-*V(-,tA}; (v-V,93E?G-V&)&)(+5): ?69?0£;) ; ({-V&);)69'14,,9(-*V(-,14?v; (f,9t}(-&,9(-*V(-,;)"; (; 14,È14E69?(V@ ±(1t?}?(-&v6NA$}(G'1t?ß69&)(--;7,95)3:(-&769E: 5)(G; ( :,1t?6`¶ '1t;768V?G,8(+*(-,;); ("5)(-?57&7µ/EV;)V&1t&7 69;)(--;73&)(v(gµ 5)+&)69(+68?Æ@}@ {3&)69?0; ((-¥:,9&g1t;)69V?: 145)(.}; (5)5);7(- -V3,9,9('14&)?: (-&)+(-69*(-5768;731t;769?14? tº;7,969?¦Z; (- f69; 1t+;)69?5@Ú}(-5)69(+5'. 3(;7F; (573:(+&)69E: 5768;769?E4A; ( ¨)0V214,8©",8(+*(-,/.1G¨)-V0?69;768*V({G1t:©W-V3,9v(W,9('1t&7?(-1t+-&7µ 69?0v;)T'14;)(-0V&)69¤-(+5)69;)3 1t;)69V?5'@ ¬V&F69?57;L1t?-(.69?Ô; (G14¤-(E&7(-:&7(-5)(-?;7(-V?¶0V3&)(Ä.
Et*V(-E(+?2;75'@
B
D Motivation
G oa
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C
MO
Re c
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ni
tio
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A
BC BD
AB PTM2
¬ 6903&7(F'Æù5)(}tA; (;7&L1t?5)69;)69?5
ABV&p1t-;768V?5p:,È14?6N¶'14;)69?p@
¬p690V3&)(T'Ä«14¤-((-¥1t:,9(}AB&f:,È14?6N¶'14;)69? 5)69;)314;)69?Bfæ685W1t575)-61t;7(-f69; ¨70E1 ('1t©.iI ; f68; ¨);)3&)?,8(ÊAB;)©G1t?¨);73&)?&)690 ;7©. kf69; ; (v5g1t;7685AÁ1t+;)69?4A ; (WEV;)69*1t;769?p. lI695{1('1tµ/(-? @ 3&768?0E:,1t?6`¶ '1t;768V?p.; (v5)57;)(-ûv35);35)(v; (F69?AO&/µ 1t;769?G-69?0vAB&7û; (¦2?tf,8(+0(T; (01t,69569 ? k´;7 :(-&AB&7º; (E14-;)69V?5)(-à3(+?-(E1t,9,9tf69?0v;)&)('14 ; 6950V214, 5);L14&);768?0EAO&)s fT@ f (v:&7,9(-û695; 1t;W (+?; (E14?691t; 1t&)&769*(-5f699 ? iæ; (-&)(W695f?TÕ1v;7F V5)(W 69 ?(v35);}( :(-&AB&7E(-ª i¢695f,969?¦(+Ef69; ;/vt*(-(-?;)5ïq²+@ C
Motivation
G
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B
D
A
on
B
C
iti
D
gn co Re
MO
A PTM2
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Delay
Learning
B
C
D
Scenes recognition
B C
BC
D
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Prefrontal cortex
Cognitive map
Motivation Planification
Complexification and data abstraction
Drives
Posterior association cortices
Premotor cortex
Primary sensory cortex
Primary motor cortex
‘‘goal’’ level
τ Perception
VI
Categorisation
VO PTM1
VO’
Fusion
Action
‘‘recognition’’ level
PTM2
External environment
Movements
MI
MO
Sensory-motor associations learning
Environment
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