Abstract

One can study the the evolution of sensorimotor functionality by synthesizing this process in an abstract arti cial life model, speci cally, a population of agents that interact with each other and with their environment in a way that allows natural selection implicitly to shape their sensorimotor couplings. The present paper de nes very general measures of environmental and sensory uncertainty, and of action's direct and indirect e ects on perception, and reports a series of observations of these quantities in the context of the model