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&7(-,1t;)69“V?5 ‘ 69:5"(-;/š}(-(-?Z0V68*V(-?—¨)5769;)314;)69“?57©Œªš ‘ 1t;)(+*(-& ; ‘ (-™Z’G1™‹('²Ñ5)“Z1t5E;7“Œ357(‚; ‘ (-’âAB“&:,1t?6N¶•1t;)69“V?p@±‹( :&)“V:“V5)(T35)69?0; ‘ 695„14,90“&769; ‘ ’´;)“5)“,9*V(:&)“V,9(-’º“tAf1t•-;768“V? 5)(-,9(-•-;769“?‹69?Œ1’ƒ1t¤+(S14?œ‹69?½14?–“V:(-?Ô(-?*68&7“?’(-?;{š ‘ (+&)( 5)(-*V(-&L14,p’E“V;)69*1t;769“?5•'14?¿14:: ('1t&@ ³/?‰; ‘ (T; ‘ 68&7œ–57(-•-;768“V?p.…š}(F•+,È1469’º68;695„?(-•-(-575L1t&7™‚AO“&W; ‘ ( :,1t?6N¶•'14;)69“?‰5)™57;)(-’¹;7“‚,1™‚“?‹57(-?57“&)™Vµ/’E“V;)“&"5)™5);7(-’¹69? “&)œ(-&{;7“E (0&7“3?œ(-œ–;7“v; ‘ (‰¨)&7('1t, š“V&),9œ© @·(-;.š}(5 ‘ “tš 68;"685"?(-•-(-575L14&)™Œ;7“‚;L14¦(v69?;)“–14•-•-“V3?;F1Gœ™?14’E69•'1t,&7(-:&)(ʵ 5)(-?;L14;)69“?v“4Ap; ‘ (5)69;)3 1t;)69“V?5
AO“&
; ‘ ({•-“V0?69;768*V(f’ƒ14:S14?œv; ‘ ( 5)(-?57“&7™µ/’E“V;)“V&57™257;)(-’º;7“vš“V&)¦v;7“0(+; ‘ (-&@ ³/?‰•-“?•-,935)69“? .…š(v:&)(-57(-?;3?6N¶•'14;)69“?‰: (-&)57:(-•+;)69*(-5v“4A “3&
1t::&)“1t• ‘ .t1t?œ"š(}:&)“V:“V5)(f;7“{*1t,969œ14;)(
“V3&’E“œ(-,Všf68; ‘ 69“,9“0V68•1t,œ14;L1@  äKåeê,ïOê7#  äeêäfå«ï¡Ïã[óMèKêuëOàæ[…
çµ

Categorisation

VI

VI PTM

reflex link

MI

‘‘recognition’’ level

Reinforcement

Movements MO

Environment

¬ 680V3&)(Wà f‘ ( (-& Ë •F14&)• ‘ 69;)(-•+;)3&7( ;)69“V?v“?T“¾g(-•+;&7(-•-“0V?69;)69“?v1t?œv:,1t•-(f,9('14&)?69?0²-@ f‘ (f’G1t69? 69œ('1ѓtA
; ‘ 695{14&)• ‘ 69;)(-•+;)3&7(v685f; ‘ 1t;“V; ‘ •1t;)(+0“&769¤'1t;768“V?‚1t?œ 5)(+?5)“V&)™VµÁ’“;7“&„145)57“2•+6È14;)69“?£’v35);f (F•+“?;)&7“,9,9(-œ‚™E; ‘ (F(ÊAµ AB(-•+;{“tA; ‘ ("’E“t*(+’E(-?;)5“V?ƒ; ‘ (W(-?*68&7“?’(-?;'@Â1t&7;)69•-3,14&),9™2. 6NAp; ‘ (’E“t*V(-’E(-?; ; ‘ 14; ‘ 1t5†(-(+?ƒ: (-&ŠAB“&7’E(-œE14;1W069*V(-?v’E“4µ ’E(+?2;T695v&)(-69?AO“&)•+(-œp.
69;v:&7“14,9™‹’E('14?5T; ‘ 695v5)69;731t;768“V?Œ695 69’E: “&7;L1t?;14?œE5 ‘ “3,8œ(W “; ‘ •1t;)(+0“&769¤-(-œ‚1t?œ,968?¦(-œ“& 3?,969?¦V(-œGšf68; ‘ ; ‘ 695f’E“t*(+’E(-?;'@ f‘ (Ø (-& Ë •Ø14&)• ‘ 69;)(+•-;)3&7(õªOô1t3575)69(-&î14?œ÷ö &)( ‘ (-?p. ­'®V®t¯1²/695’ƒ1tœ(„“4A¯E,8“•g¦5vªBÓ(-("¶0V3&)(vò Þ ; ‘ (TÛ{695)314,³/?µ :3;.…; ‘ (E1t5)57“•-61t;)69“V?–’G1t:ŒªÎ“&WÛ{695)3 1t,
»3;):3;Wµ{Û{»W²-.…; ‘ ( «G“V;)“& ³/?:3;
14?œW; ‘ (f«G“;7“&»{3;):3;@ f‘ (*695)3 1t,69?:3;p695p1 &)(+:&)(-57(-?;L14;)69“?‹“4AQ*695)3 1t,p69?AO“&)’G1t;768“V?E; ‘ (&)“V“V;{: (-&)•+(-69*(-5 ; ‘ &)“30 ‘ 69;75•'14’E(-&g1@ f‘ („145)57“2•+6È14;)69“?’ƒ14:F695
œ(+œ69•'1t;7(-œG;)“ ; ‘ (F&7(-•-“0V?69;)69“?G“4AQ69?:3;{:14;);7(-&)?5@…³/?G“3&(-¥:(+&)69’E(-?;š( 357(; ‘ (TÂ&)“V1t69,9695);768•  “: “,9“0V68•1t,«‚14:‹ªB  «‚²}œ(-5)•-&769(-œ 69?nªBô"1t3575)69(-&‚1t?œ˜ö &)( ‘ (+?p.­'®V®t¯V²-@ f‘ (G¶&75);G69?2;7(-&)(+5);‚“4A ; ‘ 685}5)(+,`AεÁ“V&)0214?69¤-(-œv’G1t:695};)“:&7(-5)(+&)*(W;7“: “,9“0V™Eª;/š}“5)69’ѵ 69,1t&E5769;)314;)69“?5G1t&7(–•-“œ(+œ“V?”•-,9“57(–?(+3&)“V?5L²‚14?œ”;7“§1t,Nµ ,9“tšn69’E’v(+œ61t;)(W,9('14&)?69?0 @ Ë 5W,8(1t&)?68?0ƒ695W3?573: (-&)*695)(-œ .p69; 695W?(-•-(-575L14&)™‹;)“G (S14,9(F;7“G5)(-,9(-•-;"; ‘ (T5L14,869(-?;W69?AB“V&)’ƒ14;)69“? ; ‘ 1t;’v357;{ (E•-“œ(+œp@ f‘ 695695W’ƒ14œ(F: “575)69,9(T; ‘ 14?¦5;)“‚1 *69069,1t?•-(v;7(-&)’ø(-à369*1t,9(-?;W;)“‰; ‘ (“?(œ(-5)•+&)69(+œ§69? Ë ó  ª Ë œ1t:;)69*(óf(+5)“? 1t?•-( f‘ (-“&7™vµ„ªOôW&)“V5)57(-&70. ­'®ÇVݲ7²-@ f‘ 695 ’ƒ14:G685W1v:&7(-•-69“35„;7““, AB“&; ‘ ("&)“ “;W;7“E (S14,9(;)“369,9œ &L14:69œ,9™E1t?G69?;)(-&7?1t,…&7(-:&)(+5)(-?;L14;)69“?‰“tA; ‘ ("(-?*269&7“?’(-?;'@ f‘ (½«¿“;)“V&G³/?:3;‹ªB«¿³)²E1t&7(–&7(gÙ(-¥˜,969?¦5ƒ1t,9&7('1tœ™”14•gµ à369&)(-œÔ“&W0(+?(-;)69•'14,9,8™‹1t•+à2368&7(-œp@ ³/?‹; ‘ (v•+“?;)(-¥;T“tAf•-,1t575)6Nµ •'14,p•-“V?œ69;)69“?68?0.; ‘ 685f,8“•g¦Eš ‘ 68• ‘ š}“3,9œGœ&)69*V(„ù?•-“V?œ6Nµ ;)69“V?(-œ”óf(-57:“V?5)(+5½ªÎ69?§“V3&E1t::,968•1t;)69“V?p.p; ‘ (–«G³T0&7“3:Z695 1‰&)(ÊÙ(-¥Z¦(-(+:69?0‹; ‘ (G&7“ “;v69?Z; ‘ (G’E69œœ,8(v“4A•-“&7&)69œ“&75L²+@ f‘ (W«G“;7“&f»{3;):3;}0&7“3:‚ªO«‚»W²
57(-,9(-•-;75fš ‘ 69• ‘ ’E“t*V(-’E(-?; ’v357;f(T:(+&/AB“V&)’E(+œ‚™ƒ; ‘ (&7“ “;'@ f‘ ("¶?14,9,8™v: (-&ŠAB“&7’E(-œ 1t•+;)69“?•-“&7&)(-57:“V?œ5W;)“T; ‘ (W’“5);f1t•+;)69*1t;7(-œE?(+3&)“V?p@ Ë ’E“4µ ;)“V&f’E“t*V(-’E(-?;
695}; ‘ (+?‚:&)“V:“V5)(-œ£2™v; ‘ (±  Ë @ f‘ (E0V(-?(-&g1t,
 ( ‘ 1*69“&“4AÕ; ‘ 695F1t&7• ‘ 69;)(-•-;73&)( ‘ 690 ‘ ,9™‚œ(gµ : (-?œ5‰“?˜; ‘ (‹šf1™”,969?¦5G(-;/š}(-(-?æ; ‘ (‹&7(-•-“V0?69;)69“V?’G1t: ªÛ{»W²T1t?œ‰; ‘ (E’E“V;)“V&{“3;):3;"0&)“V3:‹1t&)(,9('1t&7?(-œ”ªB145)573’vµ 69?0v; ‘ 1t;{69?:3;f5);768’v3,86…1t&7(•'14;)(-0V“&)69¤-(+œ‚™E; ‘ (F  «ú’G1t: 1t?œƒ; ‘ 1t;f±  Ë ?(-3&)“V?5{35)(; ‘ 695f,8(1t&)?68?0F:&7“•-(-5)5W;7“v•-&)(gµ 1t;7(5)(+?5)“V&)™VµÁ’“;7“&{1t575)“•-61t;769“?5g²-@·}(-;'.68;f5 ‘ “3,8œG (?“V;)(-œ ; ‘ 1t;; ‘ 695:&)69“V&ƒ¨7•'1t;7(-0“V&)69¤'14;)69“?©G“4AÕ; ‘ (v5);768’v3,86œ(+?2™‰ (gµ ‘ 1*69“&76857;)5 (-,969(gA…; ‘ 14;p•-“V?œ69;)69“V?69?0f?(-(-œv?“{69?;)(-&7?1t,&)(+:&)(gµ

5)(-?;L14;)69“? @ f‘ (FÂ
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; ‘ ({•1t;)(+0“&769¤'1t;768“V? ;)“E69;75„35)(T68?£; ‘ (T(-?*68&7“?’(-?;'@³/?‚AÁ14•-;'. 35769?0ƒ145„“4AB;)(+?–1t5 :“V5)5)69,9(; ‘ (&)(-0V3,1t&)69;768(+5F“4A„; ‘ (E(-?*69&)“?’E(-?;695v1G’ƒ1-¾Ê“& •-“?•+(-&)?‚69?G“3&Õ14::&)“1t• ‘ @ f‘ 695f685}’ƒ14œ({: “575)69,9(Wœ3(;7“ Þ ü ; ‘ (G;)“V:“V,9“0™‰:&7(-5)(-&7*1t;768“V?p.š ‘ 69• ‘ (-¥:,9“V68;75F; ‘ (G(-?*6`µ &)“?’E(-?;•-“V?;)69?369;/™§ªO1t5š}(-,9,Õ14;F; ‘ (E: (-&7•-(-:;731t,,8(+*(-, 1t5{1t;f; ‘ (F14•-;)69“?,9(-*(-,²+@ ; ü ‘ (¢0(+?(-&L14,968¤1t;)69“V?¼•'14:1t69,969;)69(-5”“4A§; ‘ (¢&)(-•-“V0?69;768“V? ’ƒ1t: .tš ‘ 69• ‘ 1t,9,9“tšf5
;7“,9('1t&7?E“?,8™vš ‘ (-?E69;}685†?(-•-(-575L14&)™ ³/;f’v357;{1t,95)“T (?“;7(-œ‚; ‘ 1t;f; ‘ (5)(+?5)“V&)™VµÁ’“;7“&{1t575)“•-6Nµ t1 ;)69“V?–57™257;)(-’ø,È1™£“?Œ1&)(gÙ (-¥‹5)™5);7(-’¹š ‘ 69• ‘ &)(+:&)(-57(-?;)5G1 :&)69“&76“V?v; ‘ (W(-?*69&)“V?’E(-?;3;}?“V;“V?E; ‘ ({;L145)¦v;7“F&7('1t,969¤-(@ ³/;v•'1t?Z (‚; ‘ “V30 ‘ ;v1t5G1–14œ1t:;769“?Œ“4A; ‘ (‚1t?68’G1t;;7“‹; ‘ ( (-?*269&7“?’(-?;69;},869*V(-5f69?p@ Ë ,8“V?0E; ‘ 695W5)(-•-;769“?‹š}( ‘ 1*V(F5 ‘ “tšf?‰68;šÕ145W:“V5)5)69,9(v;7“ 369,9œƒ1t&7• ‘ 69;)(-•-;73&)(+5{šf69; ‘ ,9('1t&7?69?0T&)3,9(-5f69?57:69&)(-œAB&7“’› (gµ ‘ 1*68“V&)695)’‰.pš ‘ 68• ‘ 14,9,8“tš}(-œ”1t?68’G1t;T;)“Ô&)('14,869¤-(‹1‹•+“’E:,8(+¥ ( ‘ 1*269“V&'@·}(-;'.†68;v•1t?” (‚?“V;)69•-(-œ”; ‘ 1t;E14;ƒ14?2™Ô,9(-*(-,; ‘ ( &)“ “;•'1t?ߨ)• ‘ ““57(-©G68;75{ ( ‘ 1*69“&@³/?GAÁ14•-;'. ’(-• ‘ 1t?6957’›š( ‘ 1*(Wœ(-*V(-,9“: (-œ–14,8,9“tš”; ‘ (&7“ “;f;)“v,9('14&)?¶¥(-œ–14•-;)69“V?5{“V& 5)(-à3(-?•-(-5W“tA
1t•-;768“V?5'@ ±‹(; ‘ 35š}“?œ(-&‡14“V3;p; ‘ (
•'14:1t•-69;/™1f&7“ “; ’v35); ‘ 1*V( ;)“{ (14,9(
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œ(-*V(-,9“: (-œS14? (-¥:(-&769’E(-?;69?vš ‘ 69• ‘ 1W&7“ “;šÕ1451t,8(f;7“W0“W;)“;/š}“Wœ6NÖU(+&/µ (-?;
:,1t•-(+5Õ14•-•-“&7œ69?0W;)“; ‘ ({,9(-*V(-,“4AU;/š}“69?;)(-&7?1t,*14&)61t,8(+5 ª•-“V’E:14&L1t,8(}šf69; ‘ ¨ŠAB““2œT,9(-*(+,8©T1t?œ‹¨7šÕ14;)(-&
,9(-*V(-,9©2²+@t± ‘ (-? ; ‘ (&7“ “;f695v¨ ‘ 3?0&)™©‚ªÎ68;75v¨/AB““œG,9(-*(-,9©T*1t&76È14,9(W685f3?œ(-& 1v069*V(-?‚; ‘ &)(-5 ‘ “,9œ²+.…69;„’v35);f0“G;7“E; ‘ (F:,14•-(F69;W,9('1t&7?(-œ‰69; •-“&7&)(-57:“V?œ(-œ;)“W; ‘ (f:,È14•-(f69;p•'14?T¶?œ‰¨/AB““œ© @ f‘ 685•'14?v( œ“?(f*V(-&)™v(1t5)69,9™,9('14&)?69?0 ‘ “tš§;7“0“W;7“; ‘ “V5)(:,1t•-(Tª35768?0 ; ‘ (‚¨7:,1t•-(",8(1t&)?68?0©E1t,90V“&)69; ‘ ’ƒ²
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69?2;7(-&)? 1t,p*14&)61t,8(+5ª69? ‘ 6969;)69?0v; ‘ (:,14•-(•-“œ69?0‹¨ŠAB““2œ© š ‘ (-?‰; ‘ (T•-“&7&)(-57:“V?œ69?0G*1t&761t,9(W695{,9“tšn1t?œ£*269•-("*(-&75L1²+@ Ú3;f; ‘ 695’(-• ‘ 1t?6857’¢685};)““v5768’:,9(;7“E1t,9,9“tš§1"&)('14,p:,14?6N¶µ •'1t;768“V?p@¬“&
; ‘ 1t;}:3&7:“V5)(.š}( ‘ 1*(f (-(-?G69?2;7(-&)(+5);)(+œƒ™T; ‘ ( •-“?•+(-:;W“tA69?;)(+&)?14,‡&7(-:&7(-5)(-?;g1t;)69“V?Œ1t51‹¨7•-“0V?69;)69*(W’ƒ14:© 68?;7&)“œ3•-(+œƒ™; ‘ (:5)™• ‘ “,9“0V695);  “V,9’ƒ1t?Gª  “V,8’G1t?p.­'®t¯É²+@ ý ÞEþ¹ïOê„áãïOà'å«îeâãäeê/ÿW[ãï ê7#ä ³/?§; ‘ 695v5)(-•+;)69“?p.}š ‘ 14;vš(‰1t&)(G69?;)(-&7(-5);7(-œ˜68?Z695v;)“‹œ(-5)690? 1E?(-3&L14,Õ14&)• ‘ 69;)(+•-;)3&7(ƒ14,8,9“tšf69?0; ‘ (v&7“ “;W;)“‚:,È14?–69;75$14•gµ ;)69“?5;7“„&7('1t• ‘ 10“1t,/@³/?F; ‘ ({ÃÄÅ 5'.  “,9’ƒ14?„&7('1t,969¤-(-œv1’ƒ14¤-( (-¥:(-&769’E(-?;šf69; ‘ &L14;)5.t; ‘ 14;
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•1t?E (&7(gµ šf1t&7œ(-œp@ ü ; ‘ (G¨/AB““œ©T“&v¨7šÕ14;)(-&7©v5)“3&)•-(-5Wœ695g1t:: ('1t&@ ü ; ‘ (}?23’v(-& “tA’“;768*14;)69“?f69569?•-&7('1t57(-œ‚ª(@ 0 @¨ ‘ “’69?0©  ( ‘ 1*69“&g² ³/?Œ(1t• ‘ •'145)(.†; ‘ (5)™5);7(-’¹695v1t,9(E;7“‚5)“V,9*(E “; ‘ 5 ‘ “&7;)(-57; :14; ‘ ¶?œ69?0E14?œƒ14•-;)69“V?ƒ57(-,9(-•-;768“V?G:&)“V,9(-’–@ ·(-;'.V69?v; ‘ “V5)(5)69’v3,1t;768“V?p.-š}( ‘ 1*(f5)3::“V5)(-5}; ‘ 1t;}; ‘ (-&7( š}(-&)(?“G:&)“V,9(-’¼;7“‚&)(-•+“0?68¤+(v5)69;)314;)69“?5$14?œ‹; ‘ (v’E“t*(ʵ ’E(+?2;†šÕ145
5)(-,9(-•+;)(-œAB“V,8,9“tšf69?0f; ‘ ({0V&L1tœ68(+?2;†“tAp; ‘ ({•-“V0?69;)69*V( ’ƒ14:Œ?(+3&)“V?5E1t•-;769*269;/™@ f‘ (‚:&)“V,9(-’¹695v; ‘ 1t;'. AO“&v1t?Z(-¥Vµ : (-&)69’E(+?2;69?ð1‰&7('1t,W(-?*69&)“V?’E(-?;.š(‚5 ‘ “3,8œZ (½14,9(G;)“ &)(+•-“0V?69¤-(–5769;)314;)69“?5v1t?œ§;7“‹¦?“tš›;)“‹š ‘ 68• ‘ ’E“t*V(-’E(+?2;75 ; ‘ (-™‹•'1t?‹ (E,969?¦V(-œp@…³/?‰AÁ14•-;'. ; ‘ (E:,1t?6`¶ •'1t;768“V?½14,90“&769; ‘ ’ 5 ‘ “3,9œG69?2;7(-&L14•-;}šf68; ‘ 1T57(-?5)“V&)™Vµ/’E“;7“&145)57“2•+6È14;)69“?5)™5);7(-’ 5)69’68,14&
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Animat

Learned places Landmarks (visible or not according to the animat position) Links between situations

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69;)5}’E“t*V(gµ ’E(-?;)569?E1t?T“: (-?(-?*269&7“?’(-?;p69?vš ‘ 69• ‘ “V; ‘ ¨/AO“2“œ©14?œ ¨)šf1t;)(+&)©v5)“V3&)•+(-5{•'14?G(WAO“3?œ @ š ‘ “57(:&)(+•-“?œ68;769“?5œ(-: (-?œ5W“?£; ‘ (: (-&7•-(-69*(-œ‰5)69;731t;768“V? 1t?œ‹š ‘ “V5)(v&7(-5)3,9;75F•-“V?5)6957;)5v69?–: (-&ŠAB“&7’E69?0G:1t&7;)69•-3,14&$14•gµ ;)69“?5@
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Delay

Learning

B

C

D

Scenes recognition

B C

BC

D

› ޣ䖏#ä{[âèeé)ê)ä

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; ‘ („;7&L14?5)69;)69“V?p@

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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