Table 6.

Behaviors observed on the iCub.

Behavior	Description	Time of appearance (min)
Saccading	Eye movements only, trying to fixate on stimuli	0
Gazing	Eyes and head move to fixate on stimuli	20
Guided reaching	Successful and smoother reaches toward visual targets	60
Torso movement	Moves at waist to reach objects	120
Repeated touching	Repeatedly reaches out and touches objects	140
Pointing	Points to objects out of reach	160
Object play	Explores object affordances and actions	170
Stacks objects	Places one object on top of another	210
Learning ends	Experiment ends	230