“…After Nicod, this line of research was for long time discontinued, until it was reinitiated in the field of artificial intelligence and robotics (Kuipers, 1978;Pierce and Kuipers, 1997). Nowadays, a whole body of work has accumulated describing how robotic agents can build models of themselves and their environments (Kaplan and Oudeyer, 2004;Klyubin et al, 2004Klyubin et al, , 2005Gloye et al, 2005;Bongard et al, 2006;Hersch et al, 2008;Hoffmann et al, 2010;Gordon and Ahissar, 2011;Sigaud et al, 2011;Koos et al, 2013). However, the question of the acquisition of the spatial concepts as something independent of particular sensory coding remains rather poorly studied [however, see Philipona et al (2003), Roschin et al (2011), and Laflaquiere et al (2012)].…”