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We extend the framework of efficient coding, which has been used to model thedevelopment of sensory processing in isolation, to model the development of theperception/action cycle. Our extension combines sparse coding and reinforcementlearning so that sensory processing and behavior co-develop to optimize ashared intrinsic motivational signal: the fidelity of the neural encoding ofthe sensory input under resource constraints. Applying this framework to amodel system consisting of an active eye behaving in a time varyingenvironment, we find that this generic principle leads to the simultaneousdevelopment of both smooth pursuit behavior and model neurons whose propertiesare similar to those of primary visual cortical neurons selective for differentdirections of visual motion. We suggest that this general principle may formthe basis for a unified and integrated explanation of many perception/actionloops.

Intrinsically Motivated Learning of Visual Motion Perception and Smooth Pursuit