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Level 3 APIs: Prospective Action Primitives
Cognitive
Architecture
Level 2 APIs: Ontogenetic Action Primitives
Level 1 APIs: Phylogenetic Sensorimotor Primitives
Level 0 APIs: data acquisition & motor control
Multiple YARP processes
Running on multiple processors
Software
Architecture
Gbit ethernet
HUB
DSP
DSP
DSP
DSP
iCub
Embedded
Systems
Sensors & Actuators
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simulated sensory signals
Perturbation
Motor/Sensory
Auto-associative
Memory
Sensory/Motor
Auto-associative
Memory
Prospection by
action simulation
Perturbation
simulated motor signals
Motivation
(Amygdala)
Action
Selection
Auto-associative
Memory
Modulation circuit:
homeostatic action selection
by disinhibition of perceptuomotor skills
(Basal Ganglia)
(Hippocampus)
Phylogenetic self-organizing
perceptuo-motor skills
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