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. 2017 Jun 20;11:27. doi: 10.3389/fnbot.2017.00027

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Copyright © 2017 Pointeau and Dominey.

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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Use of the mental simulation as forward model in the case of the action “put-object-left” where center column in blue is a success and right columns in red is a failure. Mental image (Forward Model) and actual physical state (Real world) before and after the action in each case are represented. The action to perform is to put the object to the left of the robot in the delimited location. Pre—indicates the state prior to the action. Post (success) shows the predicted and observed view of the outcome that match. Post (fail) shows that the predicted forward model outcome does not match the actually perceived real world outcome, thus indicating that the action failed. (modified from Pointeau et al., 2013).