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In line with the sensorimotor contingency theory, we investigate the problemof the perception of space from a fundamental sensorimotor perspective. Despiteits pervasive nature in our perception of the world, the origin of the conceptof space remains largely mysterious. For example in the context of artificialperception, this issue is usually circumvented by having engineers pre-definethe spatial structure of the problem the agent has to face. We here show thatthe structure of space can be autonomously discovered by a naive agent in theform of sensorimotor regularities, that correspond to so called compensablesensory experiences: these are experiences that can be generated either by theagent or its environment. By detecting such compensable experiences the agentcan infer the topological and metric structure of the external space in whichits body is moving. We propose a theoretical description of the nature of theseregularities and illustrate the approach on a simulated robotic arm equippedwith an eye-like sensor, and which interacts with an object. Finally we showhow these regularities can be used to build an internal representation of thesensor's external spatial configuration.

Discovering space - Grounding spatial topology and metric regularity in a naive agent's sensorimotor experience