The sensorimotor approach argues that in order to perceive one needs to first “master” the relevant sensorimotor contingencies, and then exercise the acquired practical know-how to become “attuned” to the actual and potential contingencies a particular situation entails. But the approach provides no further detail about how this mastery is achieved or what precisely it means to become attuned to a situation. We here present an agent-based model to show how sen- sorimotor attunement can be understood as a dynamic and non-representational process in which a particular sensorimotor coordination is enacted as a response to a given environmental context, without requiring deliberative action selection.

Key words: sensorimotor contingencies, know-how, mastery, attunement

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

Learning to perceive is faced with a classical paradox: if understanding is required for perception, how can we learn to perceive something new, something we do not yet understand? According to the sensorimotor approach, perception involves mastery of regular sensorimotor co-variations that depend on the agent and the environment, also known as the “laws” of sensorimotor contingencies (SMCs) In this sense, perception involves enacting relevant sensorimotor skills in each situation. It is important for this proposal that such skills can be learned and refined with experience and yet up to this date, the sensorimotor approach has had no explicit theory of perceptual learning. The situation is made more complex if we acknowledge the open-ended nature of human learning. In this paper we propose Piaget’s theory of equilibration as a potential candidate to fulfill this role. This theory highlights the importance of intrinsic sensorimotor norms, in terms of the closure of sensorimotor schemes. It also explains how the equilibration of a sensorimotor organization faced with novelty or breakdowns proceeds by re-shaping pre-existing structures in coupling with dynamical regularities of the world. This way learning to perceive is guided by the equilibration of emerging forms of skillful coping with the world. We demonstrate the compatibility between Piaget’s theory and the sensorimotor approach by providing a dynamical formalization of equilibration to give an explicit micro-genetic account of sensorimotor learning and, by extension, of how we learn to perceive. This allows us to draw important lessons in the form of general principles for open-ended sensorimotor learning, including the need for an intrinsic normative evaluation by the agent itself. We also explore implications of our micro-genetic account at the personal level.