Figure 4.

Scenes perceived through the eyes of the iCub robot during Experiment 3. Labeled green rectangles indicate visual features recognized by the robot. The robot chose (by pointing to) one of four cubes on a table (A,B). The human revealed the hidden side of the indicated cube. One of the cubes had a circle on its hidden face, indicating a reward (C). At the end of a problem, the human could hide the cubes with a wooden board (D), and changed the position of the rewarded cube. In early stages, this was followed by an error (E). Once the robot learned the appropriate meta-value of the board, the human could cheat by unexpectedly changing the reward location (F–H).