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. 2014 Jul 25;8:21. doi: 10.3389/fnbot.2014.00021

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Copyright © 2014 Cyr, Boukadoum and Thériault.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Neural dynamics details of the OC-Arm-Down simulation when the robot passes through the first three zones. The graphic shows the sensory color neurons (A,B) which are the Cues and leads to the Arm-Down behavior (C), followed by touches on the floor (D). These actions trigger automatically a rewarding light (E) or a punishing heat (G) from the 3D-world, depending of the zone and the color. The associated Predictor neuron eventually spikes to get or avoid a reward (F) or a punishment (H) without the reinforcer stimuli.