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Initially, the agent is only endowed with a simple value system and the means to extract low\u2010level features from an image. In the interaction with the environment, it acquires a visuo\u2010tactile forward model that allows the agent to predict how the visual input is changing under its movements, and whether movements will lead to a collision. From short\u2010term predictions based on the forward model, the agent learns an inverse model. 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