Context: Direct realism is a non-reductive, anti-representationalist theory of perception lying at the heart of mainstream analytic philosophy, where it is currently generating a lot of interest. For all that, it is widely held to be both controversial and anti-scientific. On the other hand, the sensorimotor theory of perception (which is a specific development of Gibsonian approaches to perception) initially generated a lot of interest within enactive philosophy of cognitive science, but has arguably not yet delivered on its initial promise. Problem: I aim to show that the sensorimotor theory and direct realism complement each other, and that the result is a philosophically radical, but fully scientifically realised, theory of perception. Method: The article uses (non-reductive) philosophical analysis and discussion. It also draws on empirical evidence from the relevant cognitive sciences. Results: Direct realism can be augmented by sensorimotor theory to become a scientifically tractable alternative to the mainstream, representationalist research programme within cognitive science. Implications: The article aims to further clarify the philosophical importance of the sensorimotor approach to perception. It also aims to show that the apparently radical claim that we perceive objects themselves is amenable to normal scientific study. Constructivist content: Objects are analysed as a kind of collaboration between the world and the perceiver. On this account, we can never perceive outside the categories of our own understanding, but we do perceive genuinely outside our own heads. Thus, the approach here is not exactly constructivism, though it shares many goals and results with constructivism.

Key words: Sensorimotor theory of perception, direct realism, phenomenology, non-reductive ontology, consciousness.

The sensorimotor approach to perception addresses various aspects of perceptual experience, but not the subjectivity of intentional action. Conversely, the problem that current accounts of the sense of agency deal with is primarily one of subjectivity. But the proposed models, based on internal signal comparisons, arguably fail to make the transition from subpersonal computations to personal experience. In this paper we suggest an alternative direction towards explaining the sense of agency by braiding three theoretical strands: a world-involving, dynamical interpretation of the sensorimotor approach, an enactive description of sensorimotor agency as contrasted with organic agency in general, and a dynamical theory of equilibration within and between sensorimotor schemes. On this new account, the sense of oneself as the author of one’s own actions corresponds to what we experience during the ongoing adventure of establishing, losing, and re-establishing meaningful interactions with the world. The meaningful relation between agent and world is given by the precarious constitution of sensorimotor agency as a self-asserting network of schemes and dispositions. Acts are owned as they adaptively assert the constitution of the agent. Thus, awareness for different aspects of agency experience, such as the initiation of action, the effort exerted in controlling it, or the achievement of the desired effect, can be accounted for by processes involved in maintaining the sensorimotor organization that enables these interactions with the world. We discuss these processes in detail from a non-representational, dynamical perspective and show how they cohere with the personal experience of agency.

Key words: enactive cognitive science, agency, sense of agency, sensorimotor contingencies, equilibration, metastability.

According to the sensorimotor approach, perception is a form of embodied know-how, constituted by lawful regularities in the sensorimotor flow or in sensorimotor contingencies (SMCs) in an active and situated agent. Despite the attention that this approach has attracted, there have been few attempts to define its core concepts formally. In this paper, we examine the idea of SMCs and argue that its use involves notions that need to be distinguished. We introduce four distinct kinds of SMCs, which we define operationally. These are the notions of sensorimotor environment (open-loop motor-induced sensory variations), sensorimotor habitat (closed-loop sensorimotor trajectories), sensorimotor coordination (reliable sensorimotor patterns playing a functional role), and sensorimotor strategy (normative organization of sensorimotor coordinations). We make use of a minimal dynamical model of visually guided categorization to test the explanatory value of the different kinds of SMCs. Finally, we discuss the impact of our definitions on the conceptual development and empirical as well as model-based testing of the claims of the sensorimotor approach.

Key words: embodied cognition, sensorimotor contingencies, dynamical systems, sensorimotor approach to perception, minimal cognition